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

Last change on this file since 9245 was 9245, checked in by stuerze, 2 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
27using namespace std;
28
29// Constructor
30////////////////////////////////////////////////////////////////////////////
31bncRtnetUploadCaster::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////////////////////////////////////////////////////////////////////////////
234bncRtnetUploadCaster::~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////////////////////////////////////////////////////////////////////////////
247void 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////////////////////////////////////////////////////////////////////////////
937t_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////////////////////////////////////////////////////////////////////////////
1052void 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
1122int 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
1166bool 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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