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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9247

Last change on this file since 9247 was 9247, checked in by stuerze, 3 years ago
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File size: 38.7 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	#include "bncutils.h"
25
26	using namespace std;
27
28	// Constructor
29	////////////////////////////////////////////////////////////////////////////
30	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
31	const QString& outHost, int outPort,
32	const QString& ntripVersion,
33	const QString& userName, const QString& password,
34	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
35	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
36	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
37
38	if (!mountpoint.isEmpty()) {
39	_casterID += mountpoint;
40	}
41	if (!outHost.isEmpty()) {
42	_casterID += " " + outHost;
43	if (outPort) {
44	_casterID += ":" + QString("%1").arg(outPort, 10);
45	}
46	}
47	if (!crdTrafo.isEmpty()) {
48	_casterID += " " + crdTrafo;
49	}
50	if (!sp3FileName.isEmpty()) {
51	_casterID += " " + sp3FileName;
52	}
53	if (!rnxFileName.isEmpty()) {
54	_casterID += " " + rnxFileName;
55	}
56
57	_crdTrafo = crdTrafo;
58
59	_ssrFormat = ssrFormat;
60
61	_ssrCorr = 0;
62	if (_ssrFormat == "IGS-SSR") {
63	_ssrCorr = new SsrCorrIgs();
64	}
65	else if (_ssrFormat == "RTCM-SSR") {
66	_ssrCorr = new SsrCorrRtcm();
67	}
68
69	_CoM = CoM;
70	_PID = PID;
71	_SID = SID;
72	_IOD = IOD;
73
74	// Member that receives the ephemeris
75	// ----------------------------------
76	_ephUser = new bncEphUser(true);
77
78	bncSettings settings;
79	QString intr = settings.value("uploadIntr").toString();
80	QStringList hlp = settings.value("cmbStreams").toStringList();
81	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
82	if (hlp.size() > 1) { // combination stream upload
83	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
84	}
85	else { // single stream upload or sp3 file generation
86	_samplRtcmClkCorr = 5; // default
87	}
88	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
89	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
90
91	if (_samplRtcmEphCorr == 0.0) {
92	_usedEph = 0;
93	}
94	else {
95	_usedEph = new QMap<QString, const t_eph*>;
96	}
97
98	// RINEX writer
99	// ------------
100	if (!rnxFileName.isEmpty()) {
101	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
102	}
103	else {
104	_rnx = 0;
105	}
106
107	// SP3 writer
108	// ----------
109	if (!sp3FileName.isEmpty()) {
110	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
111	}
112	else {
113	_sp3 = 0;
114	}
115
116	// Set Transformation Parameters
117	// -----------------------------
118	// Transformation Parameters from ITRF2014 to ETRF2000
119	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
120	// Zuheir Altamimi, June 28, 2018
121	if (_crdTrafo == "ETRF2000") {
122	_dx = 0.0547;
123	_dy = 0.0522;
124	_dz = -0.0741;
125
126	_dxr = 0.0001;
127	_dyr = 0.0001;
128	_dzr = -0.0019;
129
130	_ox = 0.001701;
131	_oy = 0.010290;
132	_oz = -0.016632;
133
134	_oxr = 0.000081;
135	_oyr = 0.000490;
136	_ozr = -0.000729;
137
138	_sc = 2.12;
139	_scr = 0.11;
140
141	_t0 = 2010.0;
142	}
143	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
144	else if (_crdTrafo == "GDA2020") {
145	_dx = 0.0;
146	_dy = 0.0;
147	_dz = 0.0;
148
149	_dxr = 0.0;
150	_dyr = 0.0;
151	_dzr = 0.0;
152
153	_ox = 0.0;
154	_oy = 0.0;
155	_oz = 0.0;
156
157	_oxr = 0.00150379;
158	_oyr = 0.00118346;
159	_ozr = 0.00120716;
160
161	_sc = 0.0;
162	_scr = 0.0;
163
164	_t0 = 2020.0;
165	}
166	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
167	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
168	else if (_crdTrafo == "SIRGAS2000") {
169	_dx = -0.0027;
170	_dy = -0.0025;
171	_dz = -0.0042;
172
173	_dxr = 0.0000;
174	_dyr = 0.0000;
175	_dzr = 0.0000;
176
177	_ox = 0.000000;
178	_oy = 0.000000;
179	_oz = 0.000000;
180
181	_oxr = 0.000000;
182	_oyr = 0.000000;
183	_ozr = 0.000000;
184
185	_sc = 1.20000;
186	_scr = 0.00000;
187	_t0 = 2000.0;
188	}
189	// Transformation Parameters from ITRF2014 to DREF91
190	else if (_crdTrafo == "DREF91") {
191	_dx = 0.0547;
192	_dy = 0.0522;
193	_dz = -0.0741;
194
195	_dxr = 0.0001;
196	_dyr = 0.0001;
197	_dzr = -0.0019;
198	// ERTF200 + rotation parameters (ETRF200 => DREF91)
199	_ox = 0.001701 + 0.000658;
200	_oy = 0.010290 - 0.000208;
201	_oz = -0.016632 + 0.000755;
202
203	_oxr = 0.000081;
204	_oyr = 0.000490;
205	_ozr = -0.000729;
206
207	_sc = 2.12;
208	_scr = 0.11;
209
210	_t0 = 2010.0;
211	}
212	else if (_crdTrafo == "Custom") {
213	_dx = settings.value("trafo_dx").toDouble();
214	_dy = settings.value("trafo_dy").toDouble();
215	_dz = settings.value("trafo_dz").toDouble();
216	_dxr = settings.value("trafo_dxr").toDouble();
217	_dyr = settings.value("trafo_dyr").toDouble();
218	_dzr = settings.value("trafo_dzr").toDouble();
219	_ox = settings.value("trafo_ox").toDouble();
220	_oy = settings.value("trafo_oy").toDouble();
221	_oz = settings.value("trafo_oz").toDouble();
222	_oxr = settings.value("trafo_oxr").toDouble();
223	_oyr = settings.value("trafo_oyr").toDouble();
224	_ozr = settings.value("trafo_ozr").toDouble();
225	_sc = settings.value("trafo_sc").toDouble();
226	_scr = settings.value("trafo_scr").toDouble();
227	_t0 = settings.value("trafo_t0").toDouble();
228	}
229	}
230
231	// Destructor
232	////////////////////////////////////////////////////////////////////////////
233	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
234	if (isRunning()) {
235	wait();
236	}
237	delete _rnx;
238	delete _sp3;
239	delete _ephUser;
240	delete _usedEph;
241	delete _ssrCorr;
242	}
243
244	//
245	////////////////////////////////////////////////////////////////////////////
246	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
247
248	QMutexLocker locker(&_mutex);
249
250	// Append to internal buffer
251	// -------------------------
252	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
253
254	// Select buffer part that contains last epoch
255	// -------------------------------------------
256	QStringList lines;
257	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
258	if (iEpoBeg == -1) {
259	_rtnetStreamBuffer.clear();
260	return;
261	}
262	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
263	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
264	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
265	}
266	else {
267	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
268	}
269	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
270	if (iEpoEnd == -1) {
271	return;
272	}
273
274	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
275	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
276	int nextEpoch = rtnetStreamBuffer.indexOf('*');
277	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
278	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
279	}
280	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
281	break;
282	}
283	}
284
285	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
286	QString::SkipEmptyParts);
287	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
288
289	if (lines.size() < 2) {
290	return;
291	}
292
293	// Read first line (with epoch time)
294	// ---------------------------------
295	QTextStream in(lines[0].toLatin1());
296	QString hlp;
297	int year, month, day, hour, min;
298	double sec;
299	in >> hlp >> year >> month >> day >> hour >> min >> sec;
300	bncTime epoTime;
301	epoTime.set(year, month, day, hour, min, sec);
302
303	emit(newMessage(
304	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
305	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
306	+ _casterID.toLatin1(), false));
307
308	struct SsrCorr::ClockOrbit co;
309	memset(&co, 0, sizeof(co));
310	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
311	if (_ssrFormat == "RTCM-SSR") {
312	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
313	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
314	}
315	else if (_ssrFormat == "IGS-SSR") {
316	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
317	}
318	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
319	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
320	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
321	if (_ssrFormat == "RTCM-SSR") {
322	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
323	}
324	else if (_ssrFormat == "IGS-SSR") {
325	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
326	}
327	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
328	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
329	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
330	co.SSRIOD = _IOD;
331	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
332	co.SSRSolutionID = _SID;
333
334	struct SsrCorr::CodeBias bias;
335	memset(&bias, 0, sizeof(bias));
336	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
337	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
338	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
339	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
340	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
341	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
342	bias.SSRIOD = _IOD;
343	bias.SSRProviderID = _PID;
344	bias.SSRSolutionID = _SID;
345
346	struct SsrCorr::PhaseBias phasebias;
347	memset(&phasebias, 0, sizeof(phasebias));
348	unsigned int dispersiveBiasConsistenyIndicator = 0;
349	unsigned int mwConsistencyIndicator = 0;
350	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
351	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
352	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
353	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
354	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
355	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
356	phasebias.SSRIOD = _IOD;
357	phasebias.SSRProviderID = _PID;
358	phasebias.SSRSolutionID = _SID;
359
360	struct SsrCorr::VTEC vtec;
361	memset(&vtec, 0, sizeof(vtec));
362	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
363	vtec.SSRIOD = _IOD;
364	vtec.SSRProviderID = _PID;
365	vtec.SSRSolutionID = _SID;
366
367	// Default Update Interval
368	// -----------------------
369	int clkUpdInd = 2; // 5 sec
370	int ephUpdInd = clkUpdInd; // default
371
372	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
373	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
374	}
375	if (_samplRtcmClkCorr > 5.0) {
376	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
377	}
378	if (_samplRtcmEphCorr > 5.0) {
379	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
380	}
381
382	co.UpdateInterval = clkUpdInd;
383	bias.UpdateInterval = ephUpdInd;
384	phasebias.UpdateInterval = ephUpdInd;
385
386	for (int ii = 1; ii < lines.size(); ii++) {
387	QString key; // prn or key VTEC, IND (phase bias indicators)
388	double rtnUra = 0.0; // [m]
389	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
390	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
391	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
392	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
393	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
394	t_prn prn;
395
396	QTextStream in(lines[ii].toLatin1());
397
398	in >> key;
399
400	// non-satellite specific parameters
401	if (key.contains("IND", Qt::CaseSensitive)) {
402	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
403	continue;
404	}
405	// non-satellite specific parameters
406	if (key.contains("VTEC", Qt::CaseSensitive)) {
407	double ui;
408	in >> ui >> vtec.NumLayers;
409	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
410	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
411	int dummy;
412	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
413	>> vtec.Layers[ll].Height;
414	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
415	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
416	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
417	}
418	}
419	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
420	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
421	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
422	}
423	}
424	}
425	continue;
426	}
427	// satellite specific parameters
428	char sys = key.mid(0, 1).at(0).toLatin1();
429	int number = key.mid(1, 2).toInt();
430	int flags = 0;
431	if (sys == 'E') { // I/NAV
432	flags = 1;
433	}
434	prn.set(sys, number, flags);
435	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
436	QString prnStr = QString::fromStdString(prn.toString());
437
438	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
439	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
440	const t_eph* eph = ephLast;
441	if (eph) {
442
443	// Use previous ephemeris if the last one is too recent
444	// ----------------------------------------------------
445	const int MINAGE = 60; // seconds
446	if (ephPrev && eph->receptDateTime().isValid()
447	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
448	eph = ephPrev;
449	}
450
451	// Make sure the clock messages refer to same IOD as orbit messages
452	// ----------------------------------------------------------------
453	if (_usedEph) {
454	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
455	(*_usedEph)[prnInternalStr] = eph;
456	}
457	else {
458	eph = 0;
459	if (_usedEph->contains(prnInternalStr)) {
460	const t_eph* usedEph = _usedEph->value(prnInternalStr);
461	if (usedEph == ephLast) {
462	eph = ephLast;
463	}
464	else if (usedEph == ephPrev) {
465	eph = ephPrev;
466	}
467	}
468	}
469	}
470	}
471
472	if (eph && !outDatedBcep(eph) && // detected from storage because of no update
473	eph->checkState() != t_eph::bad &&
474	eph->checkState() != t_eph::unhealthy &&
475	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
476	QMap<QString, double> codeBiases;
477	QList<phaseBiasSignal> phaseBiasList;
478	phaseBiasesSat pbSat;
479	_phaseBiasInformationDecoded = false;
480
481	while (true) {
482	QString key;
483	int numVal = 0;
484	in >> key;
485	if (in.status() != QTextStream::Ok) {
486	break;
487	}
488	if (key == "APC") {
489	in >> numVal;
490	rtnAPC.ReSize(3); rtnAPC = 0.0;
491	for (int ii = 0; ii < numVal; ii++) {
492	in >> rtnAPC[ii];
493	}
494	}
495	else if (key == "Ura") {
496	in >> numVal;
497	if (numVal == 1)
498	in >> rtnUra;
499	}
500	else if (key == "Clk") {
501	in >> numVal;
502	rtnClk.ReSize(3); rtnClk = 0.0;
503	for (int ii = 0; ii < numVal; ii++) {
504	in >> rtnClk[ii];
505	}
506	}
507	else if (key == "ClkSig") {
508	in >> numVal;
509	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
510	for (int ii = 0; ii < numVal; ii++) {
511	in >> rtnClkSig[ii];
512	}
513	}
514	else if (key == "Vel") {
515	in >> numVal;
516	rtnVel.ReSize(3); rtnVel = 0.0;
517	for (int ii = 0; ii < numVal; ii++) {
518	in >> rtnVel[ii];
519	}
520	}
521	else if (key == "CoM") {
522	in >> numVal;
523	rtnCoM.ReSize(3); rtnCoM = 0.0;
524	for (int ii = 0; ii < numVal; ii++) {
525	in >> rtnCoM[ii];
526	}
527	}
528	else if (key == "CodeBias") {
529	in >> numVal;
530	for (int ii = 0; ii < numVal; ii++) {
531	QString type;
532	double value;
533	in >> type >> value;
534	codeBiases[type] = value;
535	}
536	}
537	else if (key == "YawAngle") {
538	_phaseBiasInformationDecoded = true;
539	in >> numVal >> pbSat.yawAngle;
540	if (pbSat.yawAngle < 0.0) {
541	pbSat.yawAngle += (2*M_PI);
542	}
543	else if (pbSat.yawAngle > 2*M_PI) {
544	pbSat.yawAngle -= (2*M_PI);
545	}
546	}
547	else if (key == "YawRate") {
548	_phaseBiasInformationDecoded = true;
549	in >> numVal >> pbSat.yawRate;
550	}
551	else if (key == "PhaseBias") {
552	_phaseBiasInformationDecoded = true;
553	in >> numVal;
554	for (int ii = 0; ii < numVal; ii++) {
555	phaseBiasSignal pb;
556	in >> pb.type >> pb.bias >> pb.integerIndicator
557	>> pb.wlIndicator >> pb.discontinuityCounter;
558	phaseBiasList.append(pb);
559	}
560	}
561	else {
562	in >> numVal;
563	for (int ii = 0; ii < numVal; ii++) {
564	double dummy;
565	in >> dummy;
566	}
567	emit(newMessage(" RTNET format error: "
568	+ lines[ii].toLatin1(), false));
569	}
570	}
571
572	struct SsrCorr::ClockOrbit::SatData* sd = 0;
573	if (prn.system() == 'G') {
574	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
575	++co.NumberOfSat[CLOCKORBIT_SATGPS];
576	}
577	else if (prn.system() == 'R') {
578	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
579	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
580	}
581	else if (prn.system() == 'E') {
582	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
583	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
584	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
585	}
586	else if (prn.system() == 'J') {
587	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
588	+ CLOCKORBIT_NUMGALILEO
589	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
590	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
591	}
592	else if (prn.system() == 'S') {
593	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
594	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
595	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
596	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
597	}
598	else if (prn.system() == 'C') {
599	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
600	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
601	+ CLOCKORBIT_NUMSBAS
602	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
603	++co.NumberOfSat[CLOCKORBIT_SATBDS];
604	}
605	if (sd) {
606	QString outLine;
607	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
608	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
609	if (irc != success) {/*
610	// very few cases: check states bad and unhealthy are excluded earlier
611	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
612	sd->IOD = eph->IOD();
613	*/
614	continue;
615	}
616	}
617
618	// Code Biases
619	// -----------
620	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
621	if (!codeBiases.isEmpty()) {
622	if (prn.system() == 'G') {
623	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
624	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
625	}
626	else if (prn.system() == 'R') {
627	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
628	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
629	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
630	}
631	else if (prn.system() == 'E') {
632	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
633	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
634	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
635	}
636	else if (prn.system() == 'J') {
637	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
638	+ CLOCKORBIT_NUMGALILEO
639	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
640	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
641	}
642	else if (prn.system() == 'S') {
643	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
644	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
645	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
646	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
647	}
648	else if (prn.system() == 'C') {
649	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
650	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
651	+ CLOCKORBIT_NUMSBAS
652	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
653	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
654	}
655	}
656
657	if (biasSat) {
658	biasSat->ID = prn.number();
659	biasSat->NumberOfCodeBiases = 0;
660	QMapIterator<QString, double> it(codeBiases);
661	while (it.hasNext()) {
662	it.next();
663	int ii = biasSat->NumberOfCodeBiases;
664	if (ii >= CLOCKORBIT_NUMBIAS)
665	break;
666	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
667	if (type != _ssrCorr->RESERVED) {
668	biasSat->NumberOfCodeBiases += 1;
669	biasSat->Biases[ii].Type = type;
670	biasSat->Biases[ii].Bias = it.value();
671	}
672	}
673	}
674
675	// Phase Biases
676	// ------------
677	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
678	if (prn.system() == 'G') {
679	phasebiasSat = phasebias.Sat
680	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
681	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
682	}
683	else if (prn.system() == 'R') {
684	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
685	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
686	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
687	}
688	else if (prn.system() == 'E') {
689	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
690	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
691	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
692	}
693	else if (prn.system() == 'J') {
694	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
695	+ CLOCKORBIT_NUMGALILEO
696	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
697	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
698	}
699	else if (prn.system() == 'S') {
700	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
701	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
702	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
703	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
704	}
705	else if (prn.system() == 'C') {
706	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
707	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
708	+ CLOCKORBIT_NUMSBAS
709	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
710	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
711	}
712
713	if (phasebiasSat && _phaseBiasInformationDecoded) {
714	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
715	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
716	phasebiasSat->ID = prn.number();
717	phasebiasSat->NumberOfPhaseBiases = 0;
718	phasebiasSat->YawAngle = pbSat.yawAngle;
719	phasebiasSat->YawRate = pbSat.yawRate;
720	QListIterator<phaseBiasSignal> it(phaseBiasList);
721	while (it.hasNext()) {
722	const phaseBiasSignal &pbSig = it.next();
723	int ii = phasebiasSat->NumberOfPhaseBiases;
724	if (ii >= CLOCKORBIT_NUMBIAS)
725	break;
726	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
727	if (type != _ssrCorr->RESERVED) {
728	phasebiasSat->NumberOfPhaseBiases += 1;
729	phasebiasSat->Biases[ii].Type = type;
730	phasebiasSat->Biases[ii].Bias = pbSig.bias;
731	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
732	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
733	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
734	}
735	}
736	}
737	}
738	}
739
740	QByteArray hlpBufferCo;
741
742	// Orbit and Clock Corrections together
743	// ------------------------------------
744	if (_samplRtcmEphCorr == 0.0) {
745	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
746	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
747	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
748	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
749	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
750	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
751	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
752	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
753	if (len > 0) {
754	hlpBufferCo = QByteArray(obuffer, len);
755	}
756	}
757	}
758
759	// Orbit and Clock Corrections separately
760	// --------------------------------------
761	else {
762	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
763	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
764	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
765	co.UpdateInterval = ephUpdInd;
766	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
767	sizeof(obuffer));
768	co.UpdateInterval = clkUpdInd;
769	if (len1 > 0) {
770	hlpBufferCo += QByteArray(obuffer, len1);
771	}
772	}
773	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
774	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
775	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
776	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
777	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
778	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
779	sizeof(obuffer));
780	if (len2 > 0) {
781	hlpBufferCo += QByteArray(obuffer, len2);
782	}
783	}
784	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
785	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
786	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
787	co.UpdateInterval = ephUpdInd;
788	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
789	sizeof(obuffer));
790	co.UpdateInterval = clkUpdInd;
791	if (len1 > 0) {
792	hlpBufferCo += QByteArray(obuffer, len1);
793	}
794	}
795	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
796	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
797	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
798	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
799	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
800	sizeof(obuffer));
801	if (len2 > 0) {
802	hlpBufferCo += QByteArray(obuffer, len2);
803	}
804	}
805	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
806	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
807	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
808	co.UpdateInterval = ephUpdInd;
809	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
810	sizeof(obuffer));
811	co.UpdateInterval = clkUpdInd;
812	if (len1 > 0) {
813	hlpBufferCo += QByteArray(obuffer, len1);
814	}
815	}
816	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
817	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
818	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
819	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
820	sizeof(obuffer));
821	if (len2 > 0) {
822	hlpBufferCo += QByteArray(obuffer, len2);
823	}
824	}
825	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
826	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
827	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
828	co.UpdateInterval = ephUpdInd;
829	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
830	sizeof(obuffer));
831	co.UpdateInterval = clkUpdInd;
832	if (len1 > 0) {
833	hlpBufferCo += QByteArray(obuffer, len1);
834	}
835	}
836	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
837	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
838	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
839	sizeof(obuffer));
840	if (len2 > 0) {
841	hlpBufferCo += QByteArray(obuffer, len2);
842	}
843	}
844	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
845	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
846	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
847	co.UpdateInterval = ephUpdInd;
848	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
849	sizeof(obuffer));
850	co.UpdateInterval = clkUpdInd;
851	if (len1 > 0) {
852	hlpBufferCo += QByteArray(obuffer, len1);
853	}
854	}
855	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
856	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
857	sizeof(obuffer));
858	if (len2 > 0) {
859	hlpBufferCo += QByteArray(obuffer, len2);
860	}
861	}
862	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
863	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
864	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
865	co.UpdateInterval = ephUpdInd;
866	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
867	sizeof(obuffer));
868	co.UpdateInterval = clkUpdInd;
869	if (len1 > 0) {
870	hlpBufferCo += QByteArray(obuffer, len1);
871	}
872	}
873	int mmsg = 0;
874	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
875	sizeof(obuffer));
876	if (len2 > 0) {
877	hlpBufferCo += QByteArray(obuffer, len2);
878	}
879	}
880	}
881
882	// Code Biases
883	// -----------
884	QByteArray hlpBufferBias;
885	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
886	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
887	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
888	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
889	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
890	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
891	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
892	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
893	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
894	if (len > 0) {
895	hlpBufferBias = QByteArray(obuffer, len);
896	}
897	}
898	}
899
900	// Phase Biases
901	// ------------
902	QByteArray hlpBufferPhaseBias;
903	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
904	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
905	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
906	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
907	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
908	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
909	&& (_phaseBiasInformationDecoded)) {
910	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
911	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
912	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
913	if (len > 0) {
914	hlpBufferPhaseBias = QByteArray(obuffer, len);
915	}
916	}
917	}
918
919	// VTEC
920	// ----
921	QByteArray hlpBufferVtec;
922	if (vtec.NumLayers > 0) {
923	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
924	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
925	if (len > 0) {
926	hlpBufferVtec = QByteArray(obuffer, len);
927	}
928	}
929
930	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
931	+ hlpBufferVtec + '\0';
932	}
933
934	//
935	////////////////////////////////////////////////////////////////////////////
936	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
937	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
938	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
939	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
940	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
941
942	// Broadcast Position and Velocity
943	// -------------------------------
944	ColumnVector xB(6);
945	ColumnVector vB(3);
946	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
947
948	if (irc != success) {
949	return irc;
950	}
951
952	// Precise Position
953	// ----------------
954	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
955
956	if (xP.size() == 0) {
957	return failure;
958	}
959
960	double dc = 0.0;
961	if (_crdTrafo != "IGS14") {
962	crdTrafo(GPSweek, xP, dc);
963	}
964
965	// Difference in xyz
966	// -----------------
967	ColumnVector dx = xB.Rows(1, 3) - xP;
968	ColumnVector dv = vB - rtnVel;
969
970	// Difference in RSW
971	// -----------------
972	ColumnVector rsw(3);
973	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
974
975	ColumnVector dotRsw(3);
976	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
977
978	// Clock Correction
979	// ----------------
980	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
981	double dClkA1 = 0.0;
982	if (rtnClk(2)) {
983	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
984	}
985	double dClkA2 = 0.0;
986	if (rtnClk(3)) {
987	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
988	}
989
990	if (sd) {
991	sd->ID = prn.mid(1).toInt();
992	sd->IOD = eph->IOD();
993	sd->Clock.DeltaA0 = dClkA0;
994	sd->Clock.DeltaA1 = dClkA1;
995	sd->Clock.DeltaA2 = dClkA2;
996	sd->UserRangeAccuracy = rtnUra;
997	sd->Orbit.DeltaRadial = rsw(1);
998	sd->Orbit.DeltaAlongTrack = rsw(2);
999	sd->Orbit.DeltaCrossTrack = rsw(3);
1000	sd->Orbit.DotDeltaRadial = dotRsw(1);
1001	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1002	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1003
1004	if (corrIsOutOfRange(sd)) {
1005	return failure;
1006	}
1007	}
1008
1009	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1010	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1011	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1012
1013	// RTNET full clock for RINEX and SP3 file
1014	// ---------------------------------------
1015	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1016	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1017	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1018	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1019
1020	if (_rnx) {
1021	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1022	int s = rtnClkSig.size();
1023	switch (s) {
1024	case 1:
1025	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1026	clkRnxRateSig = 0.0; // [s/s = -]
1027	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1028	break;
1029	case 2:
1030	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1031	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1032	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1033	break;
1034	case 3:
1035	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1036	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1037	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1038	break;
1039	}
1040	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1041	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1042	}
1043	if (_sp3) {
1044	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1045	}
1046	return success;
1047	}
1048
1049	// Transform Coordinates
1050	////////////////////////////////////////////////////////////////////////////
1051	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1052	double& dc) {
1053
1054	// Current epoch minus 2000.0 in years
1055	// ------------------------------------
1056	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1057
1058	ColumnVector dx(3);
1059
1060	dx(1) = _dx + dt * _dxr;
1061	dx(2) = _dy + dt * _dyr;
1062	dx(3) = _dz + dt * _dzr;
1063
1064	static const double arcSec = 180.0 * 3600.0 / M_PI;
1065
1066	double ox = (_ox + dt * _oxr) / arcSec;
1067	double oy = (_oy + dt * _oyr) / arcSec;
1068	double oz = (_oz + dt * _ozr) / arcSec;
1069
1070	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1071
1072	// Specify approximate center of area
1073	// ----------------------------------
1074	ColumnVector meanSta(3);
1075
1076	if (_crdTrafo == "ETRF2000") {
1077	meanSta(1) = 3661090.0;
1078	meanSta(2) = 845230.0;
1079	meanSta(3) = 5136850.0;
1080	}
1081	else if (_crdTrafo == "GDA2020") {
1082	meanSta(1) = -4052050.0;
1083	meanSta(2) = 4212840.0;
1084	meanSta(3) = -2545110.0;
1085	}
1086	else if (_crdTrafo == "SIRGAS2000") {
1087	meanSta(1) = 3740860.0;
1088	meanSta(2) = -4964290.0;
1089	meanSta(3) = -1425420.0;
1090	}
1091	else if (_crdTrafo == "DREF91") {
1092	meanSta(1) = 3959579.0;
1093	meanSta(2) = 721719.0;
1094	meanSta(3) = 4931539.0;
1095	}
1096	else if (_crdTrafo == "Custom") {
1097	meanSta(1) = 0.0; // TODO
1098	meanSta(2) = 0.0; // TODO
1099	meanSta(3) = 0.0; // TODO
1100	}
1101
1102	// Clock correction proportional to topocentric distance to satellites
1103	// -------------------------------------------------------------------
1104	double rho = (xyz - meanSta).NormFrobenius();
1105	dc = rho * (sc - 1.0) / sc / t_CST::c;
1106
1107	Matrix rMat(3, 3);
1108	rMat(1, 1) = 1.0;
1109	rMat(1, 2) = -oz;
1110	rMat(1, 3) = oy;
1111	rMat(2, 1) = oz;
1112	rMat(2, 2) = 1.0;
1113	rMat(2, 3) = -ox;
1114	rMat(3, 1) = -oy;
1115	rMat(3, 2) = ox;
1116	rMat(3, 3) = 1.0;
1117
1118	xyz = sc * rMat * xyz + dx;
1119	}
1120
1121	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1122
1123	if (samplingRate == 10.0) {
1124	return 3;
1125	}
1126	else if (samplingRate == 15.0) {
1127	return 4;
1128	}
1129	else if (samplingRate == 30.0) {
1130	return 5;
1131	}
1132	else if (samplingRate == 60.0) {
1133	return 6;
1134	}
1135	else if (samplingRate == 120.0) {
1136	return 7;
1137	}
1138	else if (samplingRate == 240.0) {
1139	return 8;
1140	}
1141	else if (samplingRate == 300.0) {
1142	return 9;
1143	}
1144	else if (samplingRate == 600.0) {
1145	return 10;
1146	}
1147	else if (samplingRate == 900.0) {
1148	return 11;
1149	}
1150	else if (samplingRate == 1800.0) {
1151	return 12;
1152	}
1153	else if (samplingRate == 3600.0) {
1154	return 13;
1155	}
1156	else if (samplingRate == 7200.0) {
1157	return 14;
1158	}
1159	else if (samplingRate == 10800.0) {
1160	return 15;
1161	}
1162	return 2; // default
1163	}
1164
1165	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1166
1167	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1168	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1169	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1170
1171	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1172	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1173	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1174
1175	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1176	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1177	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1178
1179	return false;
1180	}

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