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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9245

Last change on this file since 9245 was 9245, checked in by stuerze, 3 years ago
another check is added, to prevent the usage of not updated nav data sets during ssr upload
File size: 38.7 KB

Line
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	#include "bncutils.h"
25
26
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32	const QString& outHost, int outPort,
33	const QString& ntripVersion,
34	const QString& userName, const QString& password,
35	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
37	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39	if (!mountpoint.isEmpty()) {
40	_casterID += mountpoint;
41	}
42	if (!outHost.isEmpty()) {
43	_casterID += " " + outHost;
44	if (outPort) {
45	_casterID += ":" + QString("%1").arg(outPort, 10);
46	}
47	}
48	if (!crdTrafo.isEmpty()) {
49	_casterID += " " + crdTrafo;
50	}
51	if (!sp3FileName.isEmpty()) {
52	_casterID += " " + sp3FileName;
53	}
54	if (!rnxFileName.isEmpty()) {
55	_casterID += " " + rnxFileName;
56	}
57
58	_crdTrafo = crdTrafo;
59
60	_ssrFormat = ssrFormat;
61
62	_ssrCorr = 0;
63	if (_ssrFormat == "IGS-SSR") {
64	_ssrCorr = new SsrCorrIgs();
65	}
66	else if (_ssrFormat == "RTCM-SSR") {
67	_ssrCorr = new SsrCorrRtcm();
68	}
69
70	_CoM = CoM;
71	_PID = PID;
72	_SID = SID;
73	_IOD = IOD;
74
75	// Member that receives the ephemeris
76	// ----------------------------------
77	_ephUser = new bncEphUser(true);
78
79	bncSettings settings;
80	QString intr = settings.value("uploadIntr").toString();
81	QStringList hlp = settings.value("cmbStreams").toStringList();
82	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
83	if (hlp.size() > 1) { // combination stream upload
84	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
85	}
86	else { // single stream upload or sp3 file generation
87	_samplRtcmClkCorr = 5; // default
88	}
89	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
90	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
91
92	if (_samplRtcmEphCorr == 0.0) {
93	_usedEph = 0;
94	}
95	else {
96	_usedEph = new QMap<QString, const t_eph*>;
97	}
98
99	// RINEX writer
100	// ------------
101	if (!rnxFileName.isEmpty()) {
102	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
103	}
104	else {
105	_rnx = 0;
106	}
107
108	// SP3 writer
109	// ----------
110	if (!sp3FileName.isEmpty()) {
111	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
112	}
113	else {
114	_sp3 = 0;
115	}
116
117	// Set Transformation Parameters
118	// -----------------------------
119	// Transformation Parameters from ITRF2014 to ETRF2000
120	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
121	// Zuheir Altamimi, June 28, 2018
122	if (_crdTrafo == "ETRF2000") {
123	_dx = 0.0547;
124	_dy = 0.0522;
125	_dz = -0.0741;
126
127	_dxr = 0.0001;
128	_dyr = 0.0001;
129	_dzr = -0.0019;
130
131	_ox = 0.001701;
132	_oy = 0.010290;
133	_oz = -0.016632;
134
135	_oxr = 0.000081;
136	_oyr = 0.000490;
137	_ozr = -0.000729;
138
139	_sc = 2.12;
140	_scr = 0.11;
141
142	_t0 = 2010.0;
143	}
144	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
145	else if (_crdTrafo == "GDA2020") {
146	_dx = 0.0;
147	_dy = 0.0;
148	_dz = 0.0;
149
150	_dxr = 0.0;
151	_dyr = 0.0;
152	_dzr = 0.0;
153
154	_ox = 0.0;
155	_oy = 0.0;
156	_oz = 0.0;
157
158	_oxr = 0.00150379;
159	_oyr = 0.00118346;
160	_ozr = 0.00120716;
161
162	_sc = 0.0;
163	_scr = 0.0;
164
165	_t0 = 2020.0;
166	}
167	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
168	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
169	else if (_crdTrafo == "SIRGAS2000") {
170	_dx = -0.0027;
171	_dy = -0.0025;
172	_dz = -0.0042;
173
174	_dxr = 0.0000;
175	_dyr = 0.0000;
176	_dzr = 0.0000;
177
178	_ox = 0.000000;
179	_oy = 0.000000;
180	_oz = 0.000000;
181
182	_oxr = 0.000000;
183	_oyr = 0.000000;
184	_ozr = 0.000000;
185
186	_sc = 1.20000;
187	_scr = 0.00000;
188	_t0 = 2000.0;
189	}
190	// Transformation Parameters from ITRF2014 to DREF91
191	else if (_crdTrafo == "DREF91") {
192	_dx = 0.0547;
193	_dy = 0.0522;
194	_dz = -0.0741;
195
196	_dxr = 0.0001;
197	_dyr = 0.0001;
198	_dzr = -0.0019;
199	// ERTF200 + rotation parameters (ETRF200 => DREF91)
200	_ox = 0.001701 + 0.000658;
201	_oy = 0.010290 - 0.000208;
202	_oz = -0.016632 + 0.000755;
203
204	_oxr = 0.000081;
205	_oyr = 0.000490;
206	_ozr = -0.000729;
207
208	_sc = 2.12;
209	_scr = 0.11;
210
211	_t0 = 2010.0;
212	}
213	else if (_crdTrafo == "Custom") {
214	_dx = settings.value("trafo_dx").toDouble();
215	_dy = settings.value("trafo_dy").toDouble();
216	_dz = settings.value("trafo_dz").toDouble();
217	_dxr = settings.value("trafo_dxr").toDouble();
218	_dyr = settings.value("trafo_dyr").toDouble();
219	_dzr = settings.value("trafo_dzr").toDouble();
220	_ox = settings.value("trafo_ox").toDouble();
221	_oy = settings.value("trafo_oy").toDouble();
222	_oz = settings.value("trafo_oz").toDouble();
223	_oxr = settings.value("trafo_oxr").toDouble();
224	_oyr = settings.value("trafo_oyr").toDouble();
225	_ozr = settings.value("trafo_ozr").toDouble();
226	_sc = settings.value("trafo_sc").toDouble();
227	_scr = settings.value("trafo_scr").toDouble();
228	_t0 = settings.value("trafo_t0").toDouble();
229	}
230	}
231
232	// Destructor
233	////////////////////////////////////////////////////////////////////////////
234	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
235	if (isRunning()) {
236	wait();
237	}
238	delete _rnx;
239	delete _sp3;
240	delete _ephUser;
241	delete _usedEph;
242	delete _ssrCorr;
243	}
244
245	//
246	////////////////////////////////////////////////////////////////////////////
247	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
248
249	QMutexLocker locker(&_mutex);
250
251	// Append to internal buffer
252	// -------------------------
253	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
254
255	// Select buffer part that contains last epoch
256	// -------------------------------------------
257	QStringList lines;
258	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
259	if (iEpoBeg == -1) {
260	_rtnetStreamBuffer.clear();
261	return;
262	}
263	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
264	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
265	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
266	}
267	else {
268	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
269	}
270	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
271	if (iEpoEnd == -1) {
272	return;
273	}
274
275	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
276	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
277	int nextEpoch = rtnetStreamBuffer.indexOf('*');
278	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
279	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
280	}
281	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
282	break;
283	}
284	}
285
286	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
287	QString::SkipEmptyParts);
288	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
289
290	if (lines.size() < 2) {
291	return;
292	}
293
294	// Read first line (with epoch time)
295	// ---------------------------------
296	QTextStream in(lines[0].toLatin1());
297	QString hlp;
298	int year, month, day, hour, min;
299	double sec;
300	in >> hlp >> year >> month >> day >> hour >> min >> sec;
301	bncTime epoTime;
302	epoTime.set(year, month, day, hour, min, sec);
303
304	emit(newMessage(
305	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
306	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
307	+ _casterID.toLatin1(), false));
308
309	struct SsrCorr::ClockOrbit co;
310	memset(&co, 0, sizeof(co));
311	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
312	if (_ssrFormat == "RTCM-SSR") {
313	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
314	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
315	}
316	else if (_ssrFormat == "IGS-SSR") {
317	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
318	}
319	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
320	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
321	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
322	if (_ssrFormat == "RTCM-SSR") {
323	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
324	}
325	else if (_ssrFormat == "IGS-SSR") {
326	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
327	}
328	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
329	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
330	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
331	co.SSRIOD = _IOD;
332	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
333	co.SSRSolutionID = _SID;
334
335	struct SsrCorr::CodeBias bias;
336	memset(&bias, 0, sizeof(bias));
337	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
338	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
339	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
340	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
341	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
342	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
343	bias.SSRIOD = _IOD;
344	bias.SSRProviderID = _PID;
345	bias.SSRSolutionID = _SID;
346
347	struct SsrCorr::PhaseBias phasebias;
348	memset(&phasebias, 0, sizeof(phasebias));
349	unsigned int dispersiveBiasConsistenyIndicator = 0;
350	unsigned int mwConsistencyIndicator = 0;
351	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
352	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
353	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
354	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
355	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
356	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
357	phasebias.SSRIOD = _IOD;
358	phasebias.SSRProviderID = _PID;
359	phasebias.SSRSolutionID = _SID;
360
361	struct SsrCorr::VTEC vtec;
362	memset(&vtec, 0, sizeof(vtec));
363	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
364	vtec.SSRIOD = _IOD;
365	vtec.SSRProviderID = _PID;
366	vtec.SSRSolutionID = _SID;
367
368	// Default Update Interval
369	// -----------------------
370	int clkUpdInd = 2; // 5 sec
371	int ephUpdInd = clkUpdInd; // default
372
373	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
374	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
375	}
376	if (_samplRtcmClkCorr > 5.0) {
377	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
378	}
379	if (_samplRtcmEphCorr > 5.0) {
380	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
381	}
382
383	co.UpdateInterval = clkUpdInd;
384	bias.UpdateInterval = ephUpdInd;
385	phasebias.UpdateInterval = ephUpdInd;
386
387	for (int ii = 1; ii < lines.size(); ii++) {
388	QString key; // prn or key VTEC, IND (phase bias indicators)
389	double rtnUra = 0.0; // [m]
390	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
391	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
392	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
393	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
394	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
395	t_prn prn;
396
397	QTextStream in(lines[ii].toLatin1());
398
399	in >> key;
400
401	// non-satellite specific parameters
402	if (key.contains("IND", Qt::CaseSensitive)) {
403	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
404	continue;
405	}
406	// non-satellite specific parameters
407	if (key.contains("VTEC", Qt::CaseSensitive)) {
408	double ui;
409	in >> ui >> vtec.NumLayers;
410	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
411	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
412	int dummy;
413	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
414	>> vtec.Layers[ll].Height;
415	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
416	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
417	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
418	}
419	}
420	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
421	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
422	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
423	}
424	}
425	}
426	continue;
427	}
428	// satellite specific parameters
429	char sys = key.mid(0, 1).at(0).toLatin1();
430	int number = key.mid(1, 2).toInt();
431	int flags = 0;
432	if (sys == 'E') { // I/NAV
433	flags = 1;
434	}
435	prn.set(sys, number, flags);
436	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
437	QString prnStr = QString::fromStdString(prn.toString());
438
439	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
440	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
441	const t_eph* eph = ephLast;
442	if (eph) {
443
444	// Use previous ephemeris if the last one is too recent
445	// ----------------------------------------------------
446	const int MINAGE = 60; // seconds
447	if (ephPrev && eph->receptDateTime().isValid()
448	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
449	eph = ephPrev;
450	}
451
452	// Make sure the clock messages refer to same IOD as orbit messages
453	// ----------------------------------------------------------------
454	if (_usedEph) {
455	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
456	(*_usedEph)[prnInternalStr] = eph;
457	}
458	else {
459	eph = 0;
460	if (_usedEph->contains(prnInternalStr)) {
461	const t_eph* usedEph = _usedEph->value(prnInternalStr);
462	if (usedEph == ephLast) {
463	eph = ephLast;
464	}
465	else if (usedEph == ephPrev) {
466	eph = ephPrev;
467	}
468	}
469	}
470	}
471	}
472
473	if (eph && !outDatedBcep(eph) && // detected from storage because of no update
474	eph->checkState() != t_eph::bad &&
475	eph->checkState() != t_eph::unhealthy &&
476	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
477	QMap<QString, double> codeBiases;
478	QList<phaseBiasSignal> phaseBiasList;
479	phaseBiasesSat pbSat;
480	_phaseBiasInformationDecoded = false;
481
482	while (true) {
483	QString key;
484	int numVal = 0;
485	in >> key;
486	if (in.status() != QTextStream::Ok) {
487	break;
488	}
489	if (key == "APC") {
490	in >> numVal;
491	rtnAPC.ReSize(3); rtnAPC = 0.0;
492	for (int ii = 0; ii < numVal; ii++) {
493	in >> rtnAPC[ii];
494	}
495	}
496	else if (key == "Ura") {
497	in >> numVal;
498	if (numVal == 1)
499	in >> rtnUra;
500	}
501	else if (key == "Clk") {
502	in >> numVal;
503	rtnClk.ReSize(3); rtnClk = 0.0;
504	for (int ii = 0; ii < numVal; ii++) {
505	in >> rtnClk[ii];
506	}
507	}
508	else if (key == "ClkSig") {
509	in >> numVal;
510	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
511	for (int ii = 0; ii < numVal; ii++) {
512	in >> rtnClkSig[ii];
513	}
514	}
515	else if (key == "Vel") {
516	in >> numVal;
517	rtnVel.ReSize(3); rtnVel = 0.0;
518	for (int ii = 0; ii < numVal; ii++) {
519	in >> rtnVel[ii];
520	}
521	}
522	else if (key == "CoM") {
523	in >> numVal;
524	rtnCoM.ReSize(3); rtnCoM = 0.0;
525	for (int ii = 0; ii < numVal; ii++) {
526	in >> rtnCoM[ii];
527	}
528	}
529	else if (key == "CodeBias") {
530	in >> numVal;
531	for (int ii = 0; ii < numVal; ii++) {
532	QString type;
533	double value;
534	in >> type >> value;
535	codeBiases[type] = value;
536	}
537	}
538	else if (key == "YawAngle") {
539	_phaseBiasInformationDecoded = true;
540	in >> numVal >> pbSat.yawAngle;
541	if (pbSat.yawAngle < 0.0) {
542	pbSat.yawAngle += (2*M_PI);
543	}
544	else if (pbSat.yawAngle > 2*M_PI) {
545	pbSat.yawAngle -= (2*M_PI);
546	}
547	}
548	else if (key == "YawRate") {
549	_phaseBiasInformationDecoded = true;
550	in >> numVal >> pbSat.yawRate;
551	}
552	else if (key == "PhaseBias") {
553	_phaseBiasInformationDecoded = true;
554	in >> numVal;
555	for (int ii = 0; ii < numVal; ii++) {
556	phaseBiasSignal pb;
557	in >> pb.type >> pb.bias >> pb.integerIndicator
558	>> pb.wlIndicator >> pb.discontinuityCounter;
559	phaseBiasList.append(pb);
560	}
561	}
562	else {
563	in >> numVal;
564	for (int ii = 0; ii < numVal; ii++) {
565	double dummy;
566	in >> dummy;
567	}
568	emit(newMessage(" RTNET format error: "
569	+ lines[ii].toLatin1(), false));
570	}
571	}
572
573	struct SsrCorr::ClockOrbit::SatData* sd = 0;
574	if (prn.system() == 'G') {
575	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
576	++co.NumberOfSat[CLOCKORBIT_SATGPS];
577	}
578	else if (prn.system() == 'R') {
579	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
580	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
581	}
582	else if (prn.system() == 'E') {
583	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
584	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
585	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
586	}
587	else if (prn.system() == 'J') {
588	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
589	+ CLOCKORBIT_NUMGALILEO
590	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
591	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
592	}
593	else if (prn.system() == 'S') {
594	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
595	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
596	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
597	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
598	}
599	else if (prn.system() == 'C') {
600	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
601	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
602	+ CLOCKORBIT_NUMSBAS
603	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
604	++co.NumberOfSat[CLOCKORBIT_SATBDS];
605	}
606	if (sd) {
607	QString outLine;
608	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
609	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
610	if (irc != success) {/*
611	// very few cases: check states bad and unhealthy are excluded earlier
612	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
613	sd->IOD = eph->IOD();
614	*/
615	continue;
616	}
617	}
618
619	// Code Biases
620	// -----------
621	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
622	if (!codeBiases.isEmpty()) {
623	if (prn.system() == 'G') {
624	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
625	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
626	}
627	else if (prn.system() == 'R') {
628	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
629	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
630	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
631	}
632	else if (prn.system() == 'E') {
633	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
634	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
635	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
636	}
637	else if (prn.system() == 'J') {
638	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
639	+ CLOCKORBIT_NUMGALILEO
640	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
641	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
642	}
643	else if (prn.system() == 'S') {
644	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
645	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
646	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
647	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
648	}
649	else if (prn.system() == 'C') {
650	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
651	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
652	+ CLOCKORBIT_NUMSBAS
653	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
654	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
655	}
656	}
657
658	if (biasSat) {
659	biasSat->ID = prn.number();
660	biasSat->NumberOfCodeBiases = 0;
661	QMapIterator<QString, double> it(codeBiases);
662	while (it.hasNext()) {
663	it.next();
664	int ii = biasSat->NumberOfCodeBiases;
665	if (ii >= CLOCKORBIT_NUMBIAS)
666	break;
667	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
668	if (type != _ssrCorr->RESERVED) {
669	biasSat->NumberOfCodeBiases += 1;
670	biasSat->Biases[ii].Type = type;
671	biasSat->Biases[ii].Bias = it.value();
672	}
673	}
674	}
675
676	// Phase Biases
677	// ------------
678	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
679	if (prn.system() == 'G') {
680	phasebiasSat = phasebias.Sat
681	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
682	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
683	}
684	else if (prn.system() == 'R') {
685	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
686	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
687	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
688	}
689	else if (prn.system() == 'E') {
690	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
691	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
692	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
693	}
694	else if (prn.system() == 'J') {
695	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
696	+ CLOCKORBIT_NUMGALILEO
697	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
698	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
699	}
700	else if (prn.system() == 'S') {
701	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
702	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
703	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
704	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
705	}
706	else if (prn.system() == 'C') {
707	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
708	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
709	+ CLOCKORBIT_NUMSBAS
710	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
711	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
712	}
713
714	if (phasebiasSat && _phaseBiasInformationDecoded) {
715	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
716	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
717	phasebiasSat->ID = prn.number();
718	phasebiasSat->NumberOfPhaseBiases = 0;
719	phasebiasSat->YawAngle = pbSat.yawAngle;
720	phasebiasSat->YawRate = pbSat.yawRate;
721	QListIterator<phaseBiasSignal> it(phaseBiasList);
722	while (it.hasNext()) {
723	const phaseBiasSignal &pbSig = it.next();
724	int ii = phasebiasSat->NumberOfPhaseBiases;
725	if (ii >= CLOCKORBIT_NUMBIAS)
726	break;
727	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
728	if (type != _ssrCorr->RESERVED) {
729	phasebiasSat->NumberOfPhaseBiases += 1;
730	phasebiasSat->Biases[ii].Type = type;
731	phasebiasSat->Biases[ii].Bias = pbSig.bias;
732	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
733	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
734	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
735	}
736	}
737	}
738	}
739	}
740
741	QByteArray hlpBufferCo;
742
743	// Orbit and Clock Corrections together
744	// ------------------------------------
745	if (_samplRtcmEphCorr == 0.0) {
746	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
747	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
748	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
749	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
750	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
751	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
752	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
753	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
754	if (len > 0) {
755	hlpBufferCo = QByteArray(obuffer, len);
756	}
757	}
758	}
759
760	// Orbit and Clock Corrections separately
761	// --------------------------------------
762	else {
763	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
764	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
765	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
766	co.UpdateInterval = ephUpdInd;
767	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
768	sizeof(obuffer));
769	co.UpdateInterval = clkUpdInd;
770	if (len1 > 0) {
771	hlpBufferCo += QByteArray(obuffer, len1);
772	}
773	}
774	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
775	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
776	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
777	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
778	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
779	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
780	sizeof(obuffer));
781	if (len2 > 0) {
782	hlpBufferCo += QByteArray(obuffer, len2);
783	}
784	}
785	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
786	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
787	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
788	co.UpdateInterval = ephUpdInd;
789	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
790	sizeof(obuffer));
791	co.UpdateInterval = clkUpdInd;
792	if (len1 > 0) {
793	hlpBufferCo += QByteArray(obuffer, len1);
794	}
795	}
796	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
797	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
798	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
799	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
800	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
801	sizeof(obuffer));
802	if (len2 > 0) {
803	hlpBufferCo += QByteArray(obuffer, len2);
804	}
805	}
806	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
807	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
808	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
809	co.UpdateInterval = ephUpdInd;
810	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
811	sizeof(obuffer));
812	co.UpdateInterval = clkUpdInd;
813	if (len1 > 0) {
814	hlpBufferCo += QByteArray(obuffer, len1);
815	}
816	}
817	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
818	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
819	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
820	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
821	sizeof(obuffer));
822	if (len2 > 0) {
823	hlpBufferCo += QByteArray(obuffer, len2);
824	}
825	}
826	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
827	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
828	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
829	co.UpdateInterval = ephUpdInd;
830	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
831	sizeof(obuffer));
832	co.UpdateInterval = clkUpdInd;
833	if (len1 > 0) {
834	hlpBufferCo += QByteArray(obuffer, len1);
835	}
836	}
837	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
838	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
839	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
840	sizeof(obuffer));
841	if (len2 > 0) {
842	hlpBufferCo += QByteArray(obuffer, len2);
843	}
844	}
845	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
846	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
847	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
848	co.UpdateInterval = ephUpdInd;
849	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
850	sizeof(obuffer));
851	co.UpdateInterval = clkUpdInd;
852	if (len1 > 0) {
853	hlpBufferCo += QByteArray(obuffer, len1);
854	}
855	}
856	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
857	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
858	sizeof(obuffer));
859	if (len2 > 0) {
860	hlpBufferCo += QByteArray(obuffer, len2);
861	}
862	}
863	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
864	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
865	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
866	co.UpdateInterval = ephUpdInd;
867	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
868	sizeof(obuffer));
869	co.UpdateInterval = clkUpdInd;
870	if (len1 > 0) {
871	hlpBufferCo += QByteArray(obuffer, len1);
872	}
873	}
874	int mmsg = 0;
875	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
876	sizeof(obuffer));
877	if (len2 > 0) {
878	hlpBufferCo += QByteArray(obuffer, len2);
879	}
880	}
881	}
882
883	// Code Biases
884	// -----------
885	QByteArray hlpBufferBias;
886	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
887	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
888	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
889	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
890	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
891	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
892	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
893	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
894	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
895	if (len > 0) {
896	hlpBufferBias = QByteArray(obuffer, len);
897	}
898	}
899	}
900
901	// Phase Biases
902	// ------------
903	QByteArray hlpBufferPhaseBias;
904	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
905	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
906	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
907	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
908	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
909	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
910	&& (_phaseBiasInformationDecoded)) {
911	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
912	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
913	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
914	if (len > 0) {
915	hlpBufferPhaseBias = QByteArray(obuffer, len);
916	}
917	}
918	}
919
920	// VTEC
921	// ----
922	QByteArray hlpBufferVtec;
923	if (vtec.NumLayers > 0) {
924	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
925	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
926	if (len > 0) {
927	hlpBufferVtec = QByteArray(obuffer, len);
928	}
929	}
930
931	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
932	+ hlpBufferVtec + '\0';
933	}
934
935	//
936	////////////////////////////////////////////////////////////////////////////
937	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
938	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
939	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
940	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
941	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
942
943	// Broadcast Position and Velocity
944	// -------------------------------
945	ColumnVector xB(6);
946	ColumnVector vB(3);
947	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
948
949	if (irc != success) {
950	return irc;
951	}
952
953	// Precise Position
954	// ----------------
955	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
956
957	if (xP.size() == 0) {
958	return failure;
959	}
960
961	double dc = 0.0;
962	if (_crdTrafo != "IGS14") {
963	crdTrafo(GPSweek, xP, dc);
964	}
965
966	// Difference in xyz
967	// -----------------
968	ColumnVector dx = xB.Rows(1, 3) - xP;
969	ColumnVector dv = vB - rtnVel;
970
971	// Difference in RSW
972	// -----------------
973	ColumnVector rsw(3);
974	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
975
976	ColumnVector dotRsw(3);
977	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
978
979	// Clock Correction
980	// ----------------
981	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
982	double dClkA1 = 0.0;
983	if (rtnClk(2)) {
984	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
985	}
986	double dClkA2 = 0.0;
987	if (rtnClk(3)) {
988	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
989	}
990
991	if (sd) {
992	sd->ID = prn.mid(1).toInt();
993	sd->IOD = eph->IOD();
994	sd->Clock.DeltaA0 = dClkA0;
995	sd->Clock.DeltaA1 = dClkA1;
996	sd->Clock.DeltaA2 = dClkA2;
997	sd->UserRangeAccuracy = rtnUra;
998	sd->Orbit.DeltaRadial = rsw(1);
999	sd->Orbit.DeltaAlongTrack = rsw(2);
1000	sd->Orbit.DeltaCrossTrack = rsw(3);
1001	sd->Orbit.DotDeltaRadial = dotRsw(1);
1002	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1003	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1004
1005	if (corrIsOutOfRange(sd)) {
1006	return failure;
1007	}
1008	}
1009
1010	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1011	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1012	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1013
1014	// RTNET full clock for RINEX and SP3 file
1015	// ---------------------------------------
1016	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1017	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1018	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1019	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1020
1021	if (_rnx) {
1022	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1023	int s = rtnClkSig.size();
1024	switch (s) {
1025	case 1:
1026	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1027	clkRnxRateSig = 0.0; // [s/s = -]
1028	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1029	break;
1030	case 2:
1031	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1032	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1033	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1034	break;
1035	case 3:
1036	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1037	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1038	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1039	break;
1040	}
1041	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1042	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1043	}
1044	if (_sp3) {
1045	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1046	}
1047	return success;
1048	}
1049
1050	// Transform Coordinates
1051	////////////////////////////////////////////////////////////////////////////
1052	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1053	double& dc) {
1054
1055	// Current epoch minus 2000.0 in years
1056	// ------------------------------------
1057	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1058
1059	ColumnVector dx(3);
1060
1061	dx(1) = _dx + dt * _dxr;
1062	dx(2) = _dy + dt * _dyr;
1063	dx(3) = _dz + dt * _dzr;
1064
1065	static const double arcSec = 180.0 * 3600.0 / M_PI;
1066
1067	double ox = (_ox + dt * _oxr) / arcSec;
1068	double oy = (_oy + dt * _oyr) / arcSec;
1069	double oz = (_oz + dt * _ozr) / arcSec;
1070
1071	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1072
1073	// Specify approximate center of area
1074	// ----------------------------------
1075	ColumnVector meanSta(3);
1076
1077	if (_crdTrafo == "ETRF2000") {
1078	meanSta(1) = 3661090.0;
1079	meanSta(2) = 845230.0;
1080	meanSta(3) = 5136850.0;
1081	}
1082	else if (_crdTrafo == "GDA2020") {
1083	meanSta(1) = -4052050.0;
1084	meanSta(2) = 4212840.0;
1085	meanSta(3) = -2545110.0;
1086	}
1087	else if (_crdTrafo == "SIRGAS2000") {
1088	meanSta(1) = 3740860.0;
1089	meanSta(2) = -4964290.0;
1090	meanSta(3) = -1425420.0;
1091	}
1092	else if (_crdTrafo == "DREF91") {
1093	meanSta(1) = 3959579.0;
1094	meanSta(2) = 721719.0;
1095	meanSta(3) = 4931539.0;
1096	}
1097	else if (_crdTrafo == "Custom") {
1098	meanSta(1) = 0.0; // TODO
1099	meanSta(2) = 0.0; // TODO
1100	meanSta(3) = 0.0; // TODO
1101	}
1102
1103	// Clock correction proportional to topocentric distance to satellites
1104	// -------------------------------------------------------------------
1105	double rho = (xyz - meanSta).NormFrobenius();
1106	dc = rho * (sc - 1.0) / sc / t_CST::c;
1107
1108	Matrix rMat(3, 3);
1109	rMat(1, 1) = 1.0;
1110	rMat(1, 2) = -oz;
1111	rMat(1, 3) = oy;
1112	rMat(2, 1) = oz;
1113	rMat(2, 2) = 1.0;
1114	rMat(2, 3) = -ox;
1115	rMat(3, 1) = -oy;
1116	rMat(3, 2) = ox;
1117	rMat(3, 3) = 1.0;
1118
1119	xyz = sc * rMat * xyz + dx;
1120	}
1121
1122	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1123
1124	if (samplingRate == 10.0) {
1125	return 3;
1126	}
1127	else if (samplingRate == 15.0) {
1128	return 4;
1129	}
1130	else if (samplingRate == 30.0) {
1131	return 5;
1132	}
1133	else if (samplingRate == 60.0) {
1134	return 6;
1135	}
1136	else if (samplingRate == 120.0) {
1137	return 7;
1138	}
1139	else if (samplingRate == 240.0) {
1140	return 8;
1141	}
1142	else if (samplingRate == 300.0) {
1143	return 9;
1144	}
1145	else if (samplingRate == 600.0) {
1146	return 10;
1147	}
1148	else if (samplingRate == 900.0) {
1149	return 11;
1150	}
1151	else if (samplingRate == 1800.0) {
1152	return 12;
1153	}
1154	else if (samplingRate == 3600.0) {
1155	return 13;
1156	}
1157	else if (samplingRate == 7200.0) {
1158	return 14;
1159	}
1160	else if (samplingRate == 10800.0) {
1161	return 15;
1162	}
1163	return 2; // default
1164	}
1165
1166	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1167
1168	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1169	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1170	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1171
1172	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1173	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1174	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1175
1176	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1177	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1178	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1179
1180	return false;
1181	}
1182

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