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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9045

Last change on this file since 9045 was 9034, checked in by stuerze, 4 years ago
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File size: 37.3 KB

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1	/* -------------------------------------------------------------------------
2	* BKG NTRIP Server
3	* -------------------------------------------------------------------------
4	*
5	* Class: bncRtnetUploadCaster
6	*
7	* Purpose: Connection to NTRIP Caster
8	*
9	* Author: L. Mervart
10	*
11	* Created: 29-Mar-2011
12	*
13	* Changes:
14	*
15	* -----------------------------------------------------------------------*/
16
17	#include <math.h>
18	#include "bncrtnetuploadcaster.h"
19	#include "bncsettings.h"
20	#include "bncephuser.h"
21	#include "bncclockrinex.h"
22	#include "bncsp3.h"
23	#include "gnss.h"
24
25	using namespace std;
26
27	// Constructor
28	////////////////////////////////////////////////////////////////////////////
29	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
30	const QString& outHost, int outPort,
31	const QString& ntripVersion,
32	const QString& userName, const QString& password,
33	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
34	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
35	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
36
37	if (!mountpoint.isEmpty()) {
38	_casterID += mountpoint;
39	}
40	if (!outHost.isEmpty()) {
41	_casterID += " " + outHost;
42	if (outPort) {
43	_casterID += ":" + QString("%1").arg(outPort, 10);
44	}
45	}
46	if (!crdTrafo.isEmpty()) {
47	_casterID += " " + crdTrafo;
48	}
49	if (!sp3FileName.isEmpty()) {
50	_casterID += " " + sp3FileName;
51	}
52	if (!rnxFileName.isEmpty()) {
53	_casterID += " " + rnxFileName;
54	}
55
56	_crdTrafo = crdTrafo;
57
58	_ssrFormat = ssrFormat;
59
60	_ssrCorr = 0;
61	if (_ssrFormat == "IGS-SSR") {
62	_ssrCorr = new SsrCorrIgs();
63	}
64	else if (_ssrFormat == "RTCM-SSR") {
65	_ssrCorr = new SsrCorrRtcm();
66	}
67
68	_CoM = CoM;
69	_PID = PID;
70	_SID = SID;
71	_IOD = IOD;
72
73	// Member that receives the ephemeris
74	// ----------------------------------
75	_ephUser = new bncEphUser(true);
76
77	bncSettings settings;
78	QString intr = settings.value("uploadIntr").toString();
79	QStringList hlp = settings.value("cmbStreams").toStringList();
80	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
81	if (hlp.size() > 1) { // combination stream upload
82	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
83	}
84	else { // single stream upload or sp3 file generation
85	_samplRtcmClkCorr = 5; // default
86	}
87	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
88	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
89
90	if (_samplRtcmEphCorr == 0.0) {
91	_usedEph = 0;
92	}
93	else {
94	_usedEph = new QMap<QString, const t_eph*>;
95	}
96
97	// RINEX writer
98	// ------------
99	if (!rnxFileName.isEmpty()) {
100	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
101	}
102	else {
103	_rnx = 0;
104	}
105
106	// SP3 writer
107	// ----------
108	if (!sp3FileName.isEmpty()) {
109	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
110	}
111	else {
112	_sp3 = 0;
113	}
114
115	// Set Transformation Parameters
116	// -----------------------------
117	// Transformation Parameters from ITRF2014 to ETRF2000
118	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
119	// Zuheir Altamimi, June 28, 2018
120	if (_crdTrafo == "ETRF2000") {
121	_dx = 0.0547;
122	_dy = 0.0522;
123	_dz = -0.0741;
124
125	_dxr = 0.0001;
126	_dyr = 0.0001;
127	_dzr = -0.0019;
128
129	_ox = 0.001701;
130	_oy = 0.010290;
131	_oz = -0.016632;
132
133	_oxr = 0.000081;
134	_oyr = 0.000490;
135	_ozr = -0.000729;
136
137	_sc = 2.12;
138	_scr = 0.11;
139
140	_t0 = 2010.0;
141	}
142	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
143	else if (_crdTrafo == "GDA2020") {
144	_dx = 0.0;
145	_dy = 0.0;
146	_dz = 0.0;
147
148	_dxr = 0.0;
149	_dyr = 0.0;
150	_dzr = 0.0;
151
152	_ox = 0.0;
153	_oy = 0.0;
154	_oz = 0.0;
155
156	_oxr = 0.00150379;
157	_oyr = 0.00118346;
158	_ozr = 0.00120716;
159
160	_sc = 0.0;
161	_scr = 0.0;
162
163	_t0 = 2020.0;
164	}
165	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
166	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
167	else if (_crdTrafo == "SIRGAS2000") {
168	_dx = -0.0027;
169	_dy = -0.0025;
170	_dz = -0.0042;
171
172	_dxr = 0.0000;
173	_dyr = 0.0000;
174	_dzr = 0.0000;
175
176	_ox = 0.000000;
177	_oy = 0.000000;
178	_oz = 0.000000;
179
180	_oxr = 0.000000;
181	_oyr = 0.000000;
182	_ozr = 0.000000;
183
184	_sc = 1.20000;
185	_scr = 0.00000;
186	_t0 = 2000.0;
187	}
188	// Transformation Parameters from ITRF2014 to DREF91
189	else if (_crdTrafo == "DREF91") {
190	_dx = 0.0547;
191	_dy = 0.0522;
192	_dz = -0.0741;
193
194	_dxr = 0.0001;
195	_dyr = 0.0001;
196	_dzr = -0.0019;
197	// ERTF200 + rotation parameters (ETRF200 => DREF91)
198	_ox = 0.001701 + 0.000658;
199	_oy = 0.010290 - 0.000208;
200	_oz = -0.016632 + 0.000755;
201
202	_oxr = 0.000081;
203	_oyr = 0.000490;
204	_ozr = -0.000729;
205
206	_sc = 2.12;
207	_scr = 0.11;
208
209	_t0 = 2010.0;
210	}
211	else if (_crdTrafo == "Custom") {
212	_dx = settings.value("trafo_dx").toDouble();
213	_dy = settings.value("trafo_dy").toDouble();
214	_dz = settings.value("trafo_dz").toDouble();
215	_dxr = settings.value("trafo_dxr").toDouble();
216	_dyr = settings.value("trafo_dyr").toDouble();
217	_dzr = settings.value("trafo_dzr").toDouble();
218	_ox = settings.value("trafo_ox").toDouble();
219	_oy = settings.value("trafo_oy").toDouble();
220	_oz = settings.value("trafo_oz").toDouble();
221	_oxr = settings.value("trafo_oxr").toDouble();
222	_oyr = settings.value("trafo_oyr").toDouble();
223	_ozr = settings.value("trafo_ozr").toDouble();
224	_sc = settings.value("trafo_sc").toDouble();
225	_scr = settings.value("trafo_scr").toDouble();
226	_t0 = settings.value("trafo_t0").toDouble();
227	}
228	}
229
230	// Destructor
231	////////////////////////////////////////////////////////////////////////////
232	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
233	if (isRunning()) {
234	wait();
235	}
236	delete _rnx;
237	delete _sp3;
238	delete _ephUser;
239	delete _usedEph;
240	delete _ssrCorr;
241	}
242
243	//
244	////////////////////////////////////////////////////////////////////////////
245	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
246
247	QMutexLocker locker(&_mutex);
248
249	// Append to internal buffer
250	// -------------------------
251	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
252
253	// Select buffer part that contains last epoch
254	// -------------------------------------------
255	QStringList lines;
256	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
257	if (iEpoBeg == -1) {
258	_rtnetStreamBuffer.clear();
259	return;
260	}
261	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
262	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
263	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
264	}
265	else {
266	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
267	}
268	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
269	if (iEpoEnd == -1) {
270	return;
271	}
272
273	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
274	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
275	int nextEpoch = rtnetStreamBuffer.indexOf('*');
276	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
277	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
278	}
279	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
280	break;
281	}
282	}
283
284	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
285	QString::SkipEmptyParts);
286	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
287
288	if (lines.size() < 2) {
289	return;
290	}
291
292	// Read first line (with epoch time)
293	// ---------------------------------
294	QTextStream in(lines[0].toLatin1());
295	QString hlp;
296	int year, month, day, hour, min;
297	double sec;
298	in >> hlp >> year >> month >> day >> hour >> min >> sec;
299	bncTime epoTime;
300	epoTime.set(year, month, day, hour, min, sec);
301
302	emit(newMessage(
303	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
304	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
305	+ _casterID.toLatin1(), false));
306
307	struct SsrCorr::ClockOrbit co;
308	memset(&co, 0, sizeof(co));
309	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
310	if (_ssrFormat == "RTCM-SSR") {
311	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
312	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
313	}
314	else if (_ssrFormat == "IGS-SSR") {
315	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
316	}
317	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
318	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
319	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
320	if (_ssrFormat == "RTCM-SSR") {
321	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
322	}
323	else if (_ssrFormat == "IGS-SSR") {
324	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
325	}
326	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
327	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
328	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
329	co.SSRIOD = _IOD;
330	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
331	co.SSRSolutionID = _SID;
332
333	struct SsrCorr::CodeBias bias;
334	memset(&bias, 0, sizeof(bias));
335	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
336	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
337	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
338	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
339	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
340	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
341	bias.SSRIOD = _IOD;
342	bias.SSRProviderID = _PID;
343	bias.SSRSolutionID = _SID;
344
345	struct SsrCorr::PhaseBias phasebias;
346	memset(&phasebias, 0, sizeof(phasebias));
347	unsigned int dispersiveBiasConsistenyIndicator = 0;
348	unsigned int mwConsistencyIndicator = 0;
349	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
350	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
351	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
352	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
353	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
354	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
355	phasebias.SSRIOD = _IOD;
356	phasebias.SSRProviderID = _PID;
357	phasebias.SSRSolutionID = _SID;
358
359	struct SsrCorr::VTEC vtec;
360	memset(&vtec, 0, sizeof(vtec));
361	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
362	vtec.SSRIOD = _IOD;
363	vtec.SSRProviderID = _PID;
364	vtec.SSRSolutionID = _SID;
365
366	// Default Update Interval
367	// -----------------------
368	int clkUpdInd = 2; // 5 sec
369	int ephUpdInd = clkUpdInd; // default
370
371	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
372	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
373	}
374	if (_samplRtcmClkCorr > 5.0) {
375	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
376	}
377	if (_samplRtcmEphCorr > 5.0) {
378	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
379	}
380
381	co.UpdateInterval = clkUpdInd;
382	bias.UpdateInterval = clkUpdInd;
383	phasebias.UpdateInterval = clkUpdInd;
384
385	for (int ii = 1; ii < lines.size(); ii++) {
386	QString key; // prn or key VTEC, IND (phase bias indicators)
387	double rtnUra = 0.0; // [m]
388	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
389	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
390	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
391	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
392	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
393	t_prn prn;
394
395	QTextStream in(lines[ii].toLatin1());
396
397	in >> key;
398
399	// non-satellite specific parameters
400	if (key.contains("IND", Qt::CaseSensitive)) {
401	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
402	continue;
403	}
404	// non-satellite specific parameters
405	if (key.contains("VTEC", Qt::CaseSensitive)) {
406	double ui;
407	in >> ui >> vtec.NumLayers;
408	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
409	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
410	int dummy;
411	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
412	>> vtec.Layers[ll].Height;
413	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
414	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
415	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
416	}
417	}
418	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
419	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
420	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
421	}
422	}
423	}
424	continue;
425	}
426	// satellite specific parameters
427	char sys = key.mid(0, 1).at(0).toLatin1();
428	int number = key.mid(1, 2).toInt();
429	int flags = 0;
430	if (sys == 'E') { // I/NAV
431	flags = 1;
432	}
433	prn.set(sys, number, flags);
434	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
435	QString prnStr = QString::fromStdString(prn.toString());
436
437	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
438	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
439	const t_eph* eph = ephLast;
440	if (eph) {
441
442	// Use previous ephemeris if the last one is too recent
443	// ----------------------------------------------------
444	const int MINAGE = 60; // seconds
445	if (ephPrev && eph->receptDateTime().isValid()
446	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
447	eph = ephPrev;
448	}
449
450	// Make sure the clock messages refer to same IOD as orbit messages
451	// ----------------------------------------------------------------
452	if (_usedEph) {
453	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
454	(*_usedEph)[prnInternalStr] = eph;
455	}
456	else {
457	eph = 0;
458	if (_usedEph->contains(prnInternalStr)) {
459	const t_eph* usedEph = _usedEph->value(prnInternalStr);
460	if (usedEph == ephLast) {
461	eph = ephLast;
462	}
463	else if (usedEph == ephPrev) {
464	eph = ephPrev;
465	}
466	}
467	}
468	}
469	}
470
471	if (eph &&
472	eph->checkState() != t_eph::bad &&
473	eph->checkState() != t_eph::unhealthy &&
474	eph->checkState() != t_eph::outdated) {
475	QMap<QString, double> codeBiases;
476	QList<phaseBiasSignal> phaseBiasList;
477	phaseBiasesSat pbSat;
478
479	while (true) {
480	QString key;
481	int numVal = 0;
482	in >> key;
483	if (in.status() != QTextStream::Ok) {
484	break;
485	}
486	if (key == "APC") {
487	in >> numVal;
488	rtnAPC.ReSize(3); rtnAPC = 0.0;
489	for (int ii = 0; ii < numVal; ii++) {
490	in >> rtnAPC[ii];
491	}
492	}
493	else if (key == "Ura") {
494	in >> numVal;
495	if (numVal == 1)
496	in >> rtnUra;
497	}
498	else if (key == "Clk") {
499	in >> numVal;
500	rtnClk.ReSize(3); rtnClk = 0.0;
501	for (int ii = 0; ii < numVal; ii++) {
502	in >> rtnClk[ii];
503	}
504	}
505	else if (key == "ClkSig") {
506	in >> numVal;
507	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
508	for (int ii = 0; ii < numVal; ii++) {
509	in >> rtnClkSig[ii];
510	}
511	}
512	else if (key == "Vel") {
513	in >> numVal;
514	rtnVel.ReSize(3); rtnVel = 0.0;
515	for (int ii = 0; ii < numVal; ii++) {
516	in >> rtnVel[ii];
517	}
518	}
519	else if (key == "CoM") {
520	in >> numVal;
521	rtnCoM.ReSize(3); rtnCoM = 0.0;
522	for (int ii = 0; ii < numVal; ii++) {
523	in >> rtnCoM[ii];
524	}
525	}
526	else if (key == "CodeBias") {
527	in >> numVal;
528	for (int ii = 0; ii < numVal; ii++) {
529	QString type;
530	double value;
531	in >> type >> value;
532	codeBiases[type] = value;
533	}
534	}
535	else if (key == "YawAngle") {
536	in >> numVal >> pbSat.yawAngle;
537	if (pbSat.yawAngle < 0.0) {
538	pbSat.yawAngle += (2*M_PI);
539	}
540	else if (pbSat.yawAngle > 2*M_PI) {
541	pbSat.yawAngle -= (2*M_PI);
542	}
543	}
544	else if (key == "YawRate") {
545	in >> numVal >> pbSat.yawRate;
546	}
547	else if (key == "PhaseBias") {
548	in >> numVal;
549	for (int ii = 0; ii < numVal; ii++) {
550	phaseBiasSignal pb;
551	in >> pb.type >> pb.bias >> pb.integerIndicator
552	>> pb.wlIndicator >> pb.discontinuityCounter;
553	phaseBiasList.append(pb);
554	}
555	}
556	else {
557	in >> numVal;
558	for (int ii = 0; ii < numVal; ii++) {
559	double dummy;
560	in >> dummy;
561	}
562	emit(newMessage(" RTNET format error: "
563	+ lines[ii].toLatin1(), false));
564	}
565	}
566
567	struct SsrCorr::ClockOrbit::SatData* sd = 0;
568	if (prn.system() == 'G') {
569	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
570	++co.NumberOfSat[CLOCKORBIT_SATGPS];
571	}
572	else if (prn.system() == 'R') {
573	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
574	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
575	}
576	else if (prn.system() == 'E') {
577	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
578	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
579	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
580	}
581	else if (prn.system() == 'J') {
582	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
583	+ CLOCKORBIT_NUMGALILEO
584	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
585	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
586	}
587	else if (prn.system() == 'S') {
588	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
589	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
590	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
591	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
592	}
593	else if (prn.system() == 'C') {
594	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
595	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
596	+ CLOCKORBIT_NUMSBAS
597	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
598	++co.NumberOfSat[CLOCKORBIT_SATBDS];
599	}
600	if (sd) {
601	QString outLine;
602	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
603	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
604	if (irc != success) {
605	// very few cases: check states bad and unhealthy are excluded earlier
606	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
607	sd->IOD = eph->IOD();
608	}
609	}
610
611	// Code Biases
612	// -----------
613	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
614	if (!codeBiases.isEmpty()) {
615	if (prn.system() == 'G') {
616	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
617	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
618	}
619	else if (prn.system() == 'R') {
620	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
621	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
622	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
623	}
624	else if (prn.system() == 'E') {
625	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
626	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
627	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
628	}
629	else if (prn.system() == 'J') {
630	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
631	+ CLOCKORBIT_NUMGALILEO
632	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
633	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
634	}
635	else if (prn.system() == 'S') {
636	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
637	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
638	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
639	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
640	}
641	else if (prn.system() == 'C') {
642	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
643	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
644	+ CLOCKORBIT_NUMSBAS
645	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
646	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
647	}
648	}
649
650	if (biasSat) {
651	biasSat->ID = prn.number();
652	biasSat->NumberOfCodeBiases = 0;
653	QMapIterator<QString, double> it(codeBiases);
654	while (it.hasNext()) {
655	it.next();
656	int ii = biasSat->NumberOfCodeBiases;
657	if (ii >= CLOCKORBIT_NUMBIAS)
658	break;
659	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
660	if (type != _ssrCorr->RESERVED) {
661	biasSat->NumberOfCodeBiases += 1;
662	biasSat->Biases[ii].Type = type;
663	biasSat->Biases[ii].Bias = it.value();
664	}
665	}
666	}
667
668	// Phase Biases
669	// ------------
670	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
671	if (prn.system() == 'G') {
672	phasebiasSat = phasebias.Sat
673	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
674	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
675	}
676	else if (prn.system() == 'R') {
677	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
678	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
679	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
680	}
681	else if (prn.system() == 'E') {
682	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
683	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
684	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
685	}
686	else if (prn.system() == 'J') {
687	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
688	+ CLOCKORBIT_NUMGALILEO
689	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
690	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
691	}
692	else if (prn.system() == 'S') {
693	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
694	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
695	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
696	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
697	}
698	else if (prn.system() == 'C') {
699	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
700	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
701	+ CLOCKORBIT_NUMSBAS
702	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
703	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
704	}
705
706	if (phasebiasSat) {
707	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
708	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
709	phasebiasSat->ID = prn.number();
710	phasebiasSat->NumberOfPhaseBiases = 0;
711	phasebiasSat->YawAngle = pbSat.yawAngle;
712	phasebiasSat->YawRate = pbSat.yawRate;
713	QListIterator<phaseBiasSignal> it(phaseBiasList);
714	while (it.hasNext()) {
715	const phaseBiasSignal &pbSig = it.next();
716	int ii = phasebiasSat->NumberOfPhaseBiases;
717	if (ii >= CLOCKORBIT_NUMBIAS)
718	break;
719	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
720	if (type != _ssrCorr->RESERVED) {
721	phasebiasSat->NumberOfPhaseBiases += 1;
722	phasebiasSat->Biases[ii].Type = type;
723	phasebiasSat->Biases[ii].Bias = pbSig.bias;
724	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
725	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
726	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
727	}
728	}
729	}
730	}
731	}
732
733	QByteArray hlpBufferCo;
734
735	// Orbit and Clock Corrections together
736	// ------------------------------------
737	if (_samplRtcmEphCorr == 0.0) {
738	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
739	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
740	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
741	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
742	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
743	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
744	char obuffer[CLOCKORBIT_BUFFERSIZE];
745	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
746	if (len > 0) {
747	hlpBufferCo = QByteArray(obuffer, len);
748	}
749	}
750	}
751
752	// Orbit and Clock Corrections separately
753	// --------------------------------------
754	else {
755	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
756	char obuffer[CLOCKORBIT_BUFFERSIZE];
757	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
758	co.UpdateInterval = ephUpdInd;
759	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
760	sizeof(obuffer));
761	co.UpdateInterval = clkUpdInd;
762	if (len1 > 0) {
763	hlpBufferCo += QByteArray(obuffer, len1);
764	}
765	}
766	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
767	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
768	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
769	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
770	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
771	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
772	sizeof(obuffer));
773	if (len2 > 0) {
774	hlpBufferCo += QByteArray(obuffer, len2);
775	}
776	}
777	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
778	char obuffer[CLOCKORBIT_BUFFERSIZE];
779	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
780	co.UpdateInterval = ephUpdInd;
781	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
782	sizeof(obuffer));
783	co.UpdateInterval = clkUpdInd;
784	if (len1 > 0) {
785	hlpBufferCo += QByteArray(obuffer, len1);
786	}
787	}
788	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
789	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
790	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
791	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
792	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
793	sizeof(obuffer));
794	if (len2 > 0) {
795	hlpBufferCo += QByteArray(obuffer, len2);
796	}
797	}
798	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
799	char obuffer[CLOCKORBIT_BUFFERSIZE];
800	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
801	co.UpdateInterval = ephUpdInd;
802	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
803	sizeof(obuffer));
804	co.UpdateInterval = clkUpdInd;
805	if (len1 > 0) {
806	hlpBufferCo += QByteArray(obuffer, len1);
807	}
808	}
809	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
810	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
811	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
812	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
813	sizeof(obuffer));
814	if (len2 > 0) {
815	hlpBufferCo += QByteArray(obuffer, len2);
816	}
817	}
818	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
819	char obuffer[CLOCKORBIT_BUFFERSIZE];
820	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
821	co.UpdateInterval = ephUpdInd;
822	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
823	sizeof(obuffer));
824	co.UpdateInterval = clkUpdInd;
825	if (len1 > 0) {
826	hlpBufferCo += QByteArray(obuffer, len1);
827	}
828	}
829	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
830	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
831	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
832	sizeof(obuffer));
833	if (len2 > 0) {
834	hlpBufferCo += QByteArray(obuffer, len2);
835	}
836	}
837	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
838	char obuffer[CLOCKORBIT_BUFFERSIZE];
839	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
840	co.UpdateInterval = ephUpdInd;
841	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
842	sizeof(obuffer));
843	co.UpdateInterval = clkUpdInd;
844	if (len1 > 0) {
845	hlpBufferCo += QByteArray(obuffer, len1);
846	}
847	}
848	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
849	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
850	sizeof(obuffer));
851	if (len2 > 0) {
852	hlpBufferCo += QByteArray(obuffer, len2);
853	}
854	}
855	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
856	char obuffer[CLOCKORBIT_BUFFERSIZE];
857	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
858	co.UpdateInterval = ephUpdInd;
859	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
860	sizeof(obuffer));
861	co.UpdateInterval = clkUpdInd;
862	if (len1 > 0) {
863	hlpBufferCo += QByteArray(obuffer, len1);
864	}
865	}
866	int mmsg = 0;
867	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
868	sizeof(obuffer));
869	if (len2 > 0) {
870	hlpBufferCo += QByteArray(obuffer, len2);
871	}
872	}
873	}
874
875	// Code Biases
876	// -----------
877	QByteArray hlpBufferBias;
878	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
879	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
880	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
881	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
882	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
883	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
884	char obuffer[CLOCKORBIT_BUFFERSIZE];
885	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
886	if (len > 0) {
887	hlpBufferBias = QByteArray(obuffer, len);
888	}
889	}
890
891	// Phase Biases
892	// ------------
893	QByteArray hlpBufferPhaseBias;
894	if (phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
895	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
896	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
897	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
898	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
899	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
900	char obuffer[CLOCKORBIT_BUFFERSIZE];
901	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer,
902	sizeof(obuffer));
903	if (len > 0) {
904	hlpBufferPhaseBias = QByteArray(obuffer, len);
905	}
906	}
907
908	// VTEC
909	// ----
910	QByteArray hlpBufferVtec;
911	if (vtec.NumLayers > 0) {
912	char obuffer[CLOCKORBIT_BUFFERSIZE];
913	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
914	if (len > 0) {
915	hlpBufferVtec = QByteArray(obuffer, len);
916	}
917	}
918
919	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
920	+ hlpBufferVtec;
921	}
922
923	//
924	////////////////////////////////////////////////////////////////////////////
925	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
926	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
927	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
928	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
929	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
930
931	// Broadcast Position and Velocity
932	// -------------------------------
933	ColumnVector xB(6);
934	ColumnVector vB(3);
935	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
936
937	if (irc != success) {
938	return irc;
939	}
940
941	// Precise Position
942	// ----------------
943	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
944
945	if (xP.size() == 0) {
946	return failure;
947	}
948
949	double dc = 0.0;
950	if (_crdTrafo != "IGS14") {
951	crdTrafo(GPSweek, xP, dc);
952	}
953
954	// Difference in xyz
955	// -----------------
956	ColumnVector dx = xB.Rows(1, 3) - xP;
957	ColumnVector dv = vB - rtnVel;
958
959	// Difference in RSW
960	// -----------------
961	ColumnVector rsw(3);
962	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
963
964	ColumnVector dotRsw(3);
965	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
966
967	// Clock Correction
968	// ----------------
969	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
970	double dClkA1 = 0.0;
971	if (rtnClk(2)) {
972	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
973	}
974	double dClkA2 = 0.0;
975	if (rtnClk(3)) {
976	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
977	}
978
979	if (sd) {
980	sd->ID = prn.mid(1).toInt();
981	sd->IOD = eph->IOD();
982	sd->Clock.DeltaA0 = dClkA0;
983	sd->Clock.DeltaA1 = dClkA1;
984	sd->Clock.DeltaA2 = dClkA2;
985	sd->UserRangeAccuracy = rtnUra;
986	sd->Orbit.DeltaRadial = rsw(1);
987	sd->Orbit.DeltaAlongTrack = rsw(2);
988	sd->Orbit.DeltaCrossTrack = rsw(3);
989	sd->Orbit.DotDeltaRadial = dotRsw(1);
990	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
991	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
992	}
993
994	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
995	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
996	rsw(1), rsw(2), rsw(3));
997
998	// RTNET full clock for RINEX and SP3 file
999	// ---------------------------------------
1000	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1001	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1002	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1003	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1004
1005	if (_rnx) {
1006	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1007	int s = rtnClkSig.size();
1008	switch (s) {
1009	case 1:
1010	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1011	clkRnxRateSig = 0.0; // [s/s = -]
1012	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1013	break;
1014	case 2:
1015	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1016	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1017	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1018	break;
1019	case 3:
1020	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1021	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1022	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1023	break;
1024	}
1025	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1026	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1027	}
1028	if (_sp3) {
1029	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1030	}
1031	return success;
1032	}
1033
1034	// Transform Coordinates
1035	////////////////////////////////////////////////////////////////////////////
1036	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1037	double& dc) {
1038
1039	// Current epoch minus 2000.0 in years
1040	// ------------------------------------
1041	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1042
1043	ColumnVector dx(3);
1044
1045	dx(1) = _dx + dt * _dxr;
1046	dx(2) = _dy + dt * _dyr;
1047	dx(3) = _dz + dt * _dzr;
1048
1049	static const double arcSec = 180.0 * 3600.0 / M_PI;
1050
1051	double ox = (_ox + dt * _oxr) / arcSec;
1052	double oy = (_oy + dt * _oyr) / arcSec;
1053	double oz = (_oz + dt * _ozr) / arcSec;
1054
1055	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1056
1057	// Specify approximate center of area
1058	// ----------------------------------
1059	ColumnVector meanSta(3);
1060
1061	if (_crdTrafo == "ETRF2000") {
1062	meanSta(1) = 3661090.0;
1063	meanSta(2) = 845230.0;
1064	meanSta(3) = 5136850.0;
1065	}
1066	else if (_crdTrafo == "GDA2020") {
1067	meanSta(1) = -4052050.0;
1068	meanSta(2) = 4212840.0;
1069	meanSta(3) = -2545110.0;
1070	}
1071	else if (_crdTrafo == "SIRGAS2000") {
1072	meanSta(1) = 3740860.0;
1073	meanSta(2) = -4964290.0;
1074	meanSta(3) = -1425420.0;
1075	}
1076	else if (_crdTrafo == "DREF91") {
1077	meanSta(1) = 3959579.0;
1078	meanSta(2) = 721719.0;
1079	meanSta(3) = 4931539.0;
1080	}
1081	else if (_crdTrafo == "Custom") {
1082	meanSta(1) = 0.0; // TODO
1083	meanSta(2) = 0.0; // TODO
1084	meanSta(3) = 0.0; // TODO
1085	}
1086
1087	// Clock correction proportional to topocentric distance to satellites
1088	// -------------------------------------------------------------------
1089	double rho = (xyz - meanSta).NormFrobenius();
1090	dc = rho * (sc - 1.0) / sc / t_CST::c;
1091
1092	Matrix rMat(3, 3);
1093	rMat(1, 1) = 1.0;
1094	rMat(1, 2) = -oz;
1095	rMat(1, 3) = oy;
1096	rMat(2, 1) = oz;
1097	rMat(2, 2) = 1.0;
1098	rMat(2, 3) = -ox;
1099	rMat(3, 1) = -oy;
1100	rMat(3, 2) = ox;
1101	rMat(3, 3) = 1.0;
1102
1103	xyz = sc * rMat * xyz + dx;
1104	}
1105
1106	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1107
1108	if (samplingRate == 10.0) {
1109	return 3;
1110	}
1111	else if (samplingRate == 15.0) {
1112	return 4;
1113	}
1114	else if (samplingRate == 30.0) {
1115	return 5;
1116	}
1117	else if (samplingRate == 60.0) {
1118	return 6;
1119	}
1120	else if (samplingRate == 120.0) {
1121	return 7;
1122	}
1123	else if (samplingRate == 240.0) {
1124	return 8;
1125	}
1126	else if (samplingRate == 300.0) {
1127	return 9;
1128	}
1129	else if (samplingRate == 600.0) {
1130	return 10;
1131	}
1132	else if (samplingRate == 900.0) {
1133	return 11;
1134	}
1135	else if (samplingRate == 1800.0) {
1136	return 12;
1137	}
1138	else if (samplingRate == 3600.0) {
1139	return 13;
1140	}
1141	else if (samplingRate == 7200.0) {
1142	return 14;
1143	}
1144	else if (samplingRate == 10800.0) {
1145	return 15;
1146	}
1147	return 2; // default
1148	}

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