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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9275

Last change on this file since 9275 was 9275, checked in by stuerze, 3 years ago
small bug fixed
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	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 (!_samplRtcmEphCorr) {
373	_samplRtcmEphCorr = 5.0;
374	}
375
376	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
377	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
378	}
379	if (_samplRtcmClkCorr > 5.0) {
380	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
381	}
382	if (_samplRtcmEphCorr > 5.0) {
383	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
384	}
385
386	co.UpdateInterval = clkUpdInd;
387	bias.UpdateInterval = ephUpdInd;
388	phasebias.UpdateInterval = ephUpdInd;
389
390	for (int ii = 1; ii < lines.size(); ii++) {
391	QString key; // prn or key VTEC, IND (phase bias indicators)
392	double rtnUra = 0.0; // [m]
393	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
394	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
395	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
396	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
397	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
398	t_prn prn;
399
400	QTextStream in(lines[ii].toLatin1());
401
402	in >> key;
403
404	// non-satellite specific parameters
405	if (key.contains("IND", Qt::CaseSensitive)) {
406	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
407	continue;
408	}
409	// non-satellite specific parameters
410	if (key.contains("VTEC", Qt::CaseSensitive)) {
411	double ui;
412	in >> ui >> vtec.NumLayers;
413	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
414	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
415	int dummy;
416	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
417	>> vtec.Layers[ll].Height;
418	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
419	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
420	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
421	}
422	}
423	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
424	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
425	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
426	}
427	}
428	}
429	continue;
430	}
431	// satellite specific parameters
432	char sys = key.mid(0, 1).at(0).toLatin1();
433	int number = key.mid(1, 2).toInt();
434	int flags = 0;
435	if (sys == 'E') { // I/NAV
436	flags = 1;
437	}
438	prn.set(sys, number, flags);
439	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
440	QString prnStr = QString::fromStdString(prn.toString());
441
442	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
443	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
444	const t_eph* eph = ephLast;
445	if (eph) {
446
447	// Use previous ephemeris if the last one is too recent
448	// ----------------------------------------------------
449	const int MINAGE = 60; // seconds
450	if (ephPrev && eph->receptDateTime().isValid()
451	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
452	eph = ephPrev;
453	}
454
455	// Make sure the clock messages refer to same IOD as orbit messages
456	// ----------------------------------------------------------------
457	if (_usedEph) {
458	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
459	(*_usedEph)[prnInternalStr] = eph;
460	}
461	else {
462	eph = 0;
463	if (_usedEph->contains(prnInternalStr)) {
464	const t_eph* usedEph = _usedEph->value(prnInternalStr);
465	if (usedEph == ephLast) {
466	eph = ephLast;
467	}
468	else if (usedEph == ephPrev) {
469	eph = ephPrev;
470	}
471	}
472	}
473	}
474	}
475
476	if (eph && !outDatedBcep(eph) && // detected from storage because of no update
477	eph->checkState() != t_eph::bad &&
478	eph->checkState() != t_eph::unhealthy &&
479	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
480	QMap<QString, double> codeBiases;
481	QList<phaseBiasSignal> phaseBiasList;
482	phaseBiasesSat pbSat;
483	_phaseBiasInformationDecoded = false;
484
485	while (true) {
486	QString key;
487	int numVal = 0;
488	in >> key;
489	if (in.status() != QTextStream::Ok) {
490	break;
491	}
492	if (key == "APC") {
493	in >> numVal;
494	rtnAPC.ReSize(3); rtnAPC = 0.0;
495	for (int ii = 0; ii < numVal; ii++) {
496	in >> rtnAPC[ii];
497	}
498	}
499	else if (key == "Ura") {
500	in >> numVal;
501	if (numVal == 1)
502	in >> rtnUra;
503	}
504	else if (key == "Clk") {
505	in >> numVal;
506	rtnClk.ReSize(3); rtnClk = 0.0;
507	for (int ii = 0; ii < numVal; ii++) {
508	in >> rtnClk[ii];
509	}
510	}
511	else if (key == "ClkSig") {
512	in >> numVal;
513	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
514	for (int ii = 0; ii < numVal; ii++) {
515	in >> rtnClkSig[ii];
516	}
517	}
518	else if (key == "Vel") {
519	in >> numVal;
520	rtnVel.ReSize(3); rtnVel = 0.0;
521	for (int ii = 0; ii < numVal; ii++) {
522	in >> rtnVel[ii];
523	}
524	}
525	else if (key == "CoM") {
526	in >> numVal;
527	rtnCoM.ReSize(3); rtnCoM = 0.0;
528	for (int ii = 0; ii < numVal; ii++) {
529	in >> rtnCoM[ii];
530	}
531	}
532	else if (key == "CodeBias") {
533	in >> numVal;
534	for (int ii = 0; ii < numVal; ii++) {
535	QString type;
536	double value;
537	in >> type >> value;
538	codeBiases[type] = value;
539	}
540	}
541	else if (key == "YawAngle") {
542	_phaseBiasInformationDecoded = true;
543	in >> numVal >> pbSat.yawAngle;
544	if (pbSat.yawAngle < 0.0) {
545	pbSat.yawAngle += (2*M_PI);
546	}
547	else if (pbSat.yawAngle > 2*M_PI) {
548	pbSat.yawAngle -= (2*M_PI);
549	}
550	}
551	else if (key == "YawRate") {
552	_phaseBiasInformationDecoded = true;
553	in >> numVal >> pbSat.yawRate;
554	}
555	else if (key == "PhaseBias") {
556	_phaseBiasInformationDecoded = true;
557	in >> numVal;
558	for (int ii = 0; ii < numVal; ii++) {
559	phaseBiasSignal pb;
560	in >> pb.type >> pb.bias >> pb.integerIndicator
561	>> pb.wlIndicator >> pb.discontinuityCounter;
562	phaseBiasList.append(pb);
563	}
564	}
565	else {
566	in >> numVal;
567	for (int ii = 0; ii < numVal; ii++) {
568	double dummy;
569	in >> dummy;
570	}
571	emit(newMessage(" RTNET format error: "
572	+ lines[ii].toLatin1(), false));
573	}
574	}
575
576	struct SsrCorr::ClockOrbit::SatData* sd = 0;
577	if (prn.system() == 'G') {
578	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
579	++co.NumberOfSat[CLOCKORBIT_SATGPS];
580	}
581	else if (prn.system() == 'R') {
582	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
583	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
584	}
585	else if (prn.system() == 'E') {
586	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
587	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
588	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
589	}
590	else if (prn.system() == 'J') {
591	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
592	+ CLOCKORBIT_NUMGALILEO
593	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
594	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
595	}
596	else if (prn.system() == 'S') {
597	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
598	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
599	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
600	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
601	}
602	else if (prn.system() == 'C') {
603	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
604	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
605	+ CLOCKORBIT_NUMSBAS
606	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
607	++co.NumberOfSat[CLOCKORBIT_SATBDS];
608	}
609	if (sd) {
610	QString outLine;
611	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
612	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
613	if (irc != success) {/*
614	// very few cases: check states bad and unhealthy are excluded earlier
615	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
616	sd->IOD = eph->IOD();
617	*/
618	continue;
619	}
620	}
621
622	// Code Biases
623	// -----------
624	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
625	if (!codeBiases.isEmpty()) {
626	if (prn.system() == 'G') {
627	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
628	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
629	}
630	else if (prn.system() == 'R') {
631	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
632	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
633	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
634	}
635	else if (prn.system() == 'E') {
636	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
637	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
638	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
639	}
640	else if (prn.system() == 'J') {
641	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
642	+ CLOCKORBIT_NUMGALILEO
643	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
644	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
645	}
646	else if (prn.system() == 'S') {
647	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
648	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
649	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
650	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
651	}
652	else if (prn.system() == 'C') {
653	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
654	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
655	+ CLOCKORBIT_NUMSBAS
656	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
657	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
658	}
659	}
660
661	if (biasSat) {
662	biasSat->ID = prn.number();
663	biasSat->NumberOfCodeBiases = 0;
664	QMapIterator<QString, double> it(codeBiases);
665	while (it.hasNext()) {
666	it.next();
667	int ii = biasSat->NumberOfCodeBiases;
668	if (ii >= CLOCKORBIT_NUMBIAS)
669	break;
670	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
671	if (type != _ssrCorr->RESERVED) {
672	biasSat->NumberOfCodeBiases += 1;
673	biasSat->Biases[ii].Type = type;
674	biasSat->Biases[ii].Bias = it.value();
675	}
676	}
677	}
678
679	// Phase Biases
680	// ------------
681	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
682	if (prn.system() == 'G') {
683	phasebiasSat = phasebias.Sat
684	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
685	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
686	}
687	else if (prn.system() == 'R') {
688	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
689	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
690	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
691	}
692	else if (prn.system() == 'E') {
693	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
694	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
695	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
696	}
697	else if (prn.system() == 'J') {
698	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
699	+ CLOCKORBIT_NUMGALILEO
700	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
701	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
702	}
703	else if (prn.system() == 'S') {
704	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
705	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
706	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
707	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
708	}
709	else if (prn.system() == 'C') {
710	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
711	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
712	+ CLOCKORBIT_NUMSBAS
713	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
714	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
715	}
716
717	if (phasebiasSat && _phaseBiasInformationDecoded) {
718	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
719	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
720	phasebiasSat->ID = prn.number();
721	phasebiasSat->NumberOfPhaseBiases = 0;
722	phasebiasSat->YawAngle = pbSat.yawAngle;
723	phasebiasSat->YawRate = pbSat.yawRate;
724	QListIterator<phaseBiasSignal> it(phaseBiasList);
725	while (it.hasNext()) {
726	const phaseBiasSignal &pbSig = it.next();
727	int ii = phasebiasSat->NumberOfPhaseBiases;
728	if (ii >= CLOCKORBIT_NUMBIAS)
729	break;
730	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
731	if (type != _ssrCorr->RESERVED) {
732	phasebiasSat->NumberOfPhaseBiases += 1;
733	phasebiasSat->Biases[ii].Type = type;
734	phasebiasSat->Biases[ii].Bias = pbSig.bias;
735	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
736	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
737	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
738	}
739	}
740	}
741	}
742	}
743
744	QByteArray hlpBufferCo;
745
746	// Orbit and Clock Corrections together
747	// ------------------------------------
748	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
749	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
750	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
751	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
752	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
753	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
754	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
755	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
756	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
757	if (len > 0) {
758	hlpBufferCo = QByteArray(obuffer, len);
759	}
760	}
761	}
762
763	// Orbit and Clock Corrections separately
764	// --------------------------------------
765	else {
766	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
767	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
768	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
769	co.UpdateInterval = ephUpdInd;
770	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
771	sizeof(obuffer));
772	co.UpdateInterval = clkUpdInd;
773	if (len1 > 0) {
774	hlpBufferCo += QByteArray(obuffer, len1);
775	}
776	}
777	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
778	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
779	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
780	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
781	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
782	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
783	sizeof(obuffer));
784	if (len2 > 0) {
785	hlpBufferCo += QByteArray(obuffer, len2);
786	}
787	}
788	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
789	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
790	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
791	co.UpdateInterval = ephUpdInd;
792	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
793	sizeof(obuffer));
794	co.UpdateInterval = clkUpdInd;
795	if (len1 > 0) {
796	hlpBufferCo += QByteArray(obuffer, len1);
797	}
798	}
799	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
800	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
801	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
802	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
803	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
804	sizeof(obuffer));
805	if (len2 > 0) {
806	hlpBufferCo += QByteArray(obuffer, len2);
807	}
808	}
809	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
810	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
811	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
812	co.UpdateInterval = ephUpdInd;
813	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
814	sizeof(obuffer));
815	co.UpdateInterval = clkUpdInd;
816	if (len1 > 0) {
817	hlpBufferCo += QByteArray(obuffer, len1);
818	}
819	}
820	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
821	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
822	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
823	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
824	sizeof(obuffer));
825	if (len2 > 0) {
826	hlpBufferCo += QByteArray(obuffer, len2);
827	}
828	}
829	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
830	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
831	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
832	co.UpdateInterval = ephUpdInd;
833	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
834	sizeof(obuffer));
835	co.UpdateInterval = clkUpdInd;
836	if (len1 > 0) {
837	hlpBufferCo += QByteArray(obuffer, len1);
838	}
839	}
840	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
841	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
842	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
843	sizeof(obuffer));
844	if (len2 > 0) {
845	hlpBufferCo += QByteArray(obuffer, len2);
846	}
847	}
848	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
849	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
850	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
851	co.UpdateInterval = ephUpdInd;
852	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
853	sizeof(obuffer));
854	co.UpdateInterval = clkUpdInd;
855	if (len1 > 0) {
856	hlpBufferCo += QByteArray(obuffer, len1);
857	}
858	}
859	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
860	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
861	sizeof(obuffer));
862	if (len2 > 0) {
863	hlpBufferCo += QByteArray(obuffer, len2);
864	}
865	}
866	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
867	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
868	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
869	co.UpdateInterval = ephUpdInd;
870	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
871	sizeof(obuffer));
872	co.UpdateInterval = clkUpdInd;
873	if (len1 > 0) {
874	hlpBufferCo += QByteArray(obuffer, len1);
875	}
876	}
877	int mmsg = 0;
878	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
879	sizeof(obuffer));
880	if (len2 > 0) {
881	hlpBufferCo += QByteArray(obuffer, len2);
882	}
883	}
884	}
885
886	// Code Biases
887	// -----------
888	QByteArray hlpBufferBias;
889	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
890	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
891	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
892	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
893	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
894	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
895	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
896	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
897	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
898	if (len > 0) {
899	hlpBufferBias = QByteArray(obuffer, len);
900	}
901	}
902	}
903
904	// Phase Biases
905	// ------------
906	QByteArray hlpBufferPhaseBias;
907	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
908	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
909	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
910	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
911	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
912	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
913	&& (_phaseBiasInformationDecoded)) {
914	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
915	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
916	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
917	if (len > 0) {
918	hlpBufferPhaseBias = QByteArray(obuffer, len);
919	}
920	}
921	}
922
923	// VTEC
924	// ----
925	QByteArray hlpBufferVtec;
926	if (vtec.NumLayers > 0) {
927	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
928	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
929	if (len > 0) {
930	hlpBufferVtec = QByteArray(obuffer, len);
931	}
932	}
933
934	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
935	+ hlpBufferVtec + '\0';
936	}
937
938	//
939	////////////////////////////////////////////////////////////////////////////
940	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
941	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
942	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
943	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
944	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
945
946	// Broadcast Position and Velocity
947	// -------------------------------
948	ColumnVector xB(6);
949	ColumnVector vB(3);
950	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
951
952	if (irc != success) {
953	return irc;
954	}
955
956	// Precise Position
957	// ----------------
958	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
959
960	if (xP.size() == 0) {
961	return failure;
962	}
963
964	double dc = 0.0;
965	if (_crdTrafo != "IGS14") {
966	crdTrafo(GPSweek, xP, dc);
967	}
968
969	// Difference in xyz
970	// -----------------
971	ColumnVector dx = xB.Rows(1, 3) - xP;
972	ColumnVector dv = vB - rtnVel;
973
974	// Difference in RSW
975	// -----------------
976	ColumnVector rsw(3);
977	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
978
979	ColumnVector dotRsw(3);
980	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
981
982	// Clock Correction
983	// ----------------
984	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
985	double dClkA1 = 0.0;
986	if (rtnClk(2)) {
987	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
988	}
989	double dClkA2 = 0.0;
990	if (rtnClk(3)) {
991	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
992	}
993
994	if (sd) {
995	sd->ID = prn.mid(1).toInt();
996	sd->IOD = eph->IOD();
997	sd->Clock.DeltaA0 = dClkA0;
998	sd->Clock.DeltaA1 = dClkA1;
999	sd->Clock.DeltaA2 = dClkA2;
1000	sd->UserRangeAccuracy = rtnUra;
1001	sd->Orbit.DeltaRadial = rsw(1);
1002	sd->Orbit.DeltaAlongTrack = rsw(2);
1003	sd->Orbit.DeltaCrossTrack = rsw(3);
1004	sd->Orbit.DotDeltaRadial = dotRsw(1);
1005	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1006	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1007
1008	if (corrIsOutOfRange(sd)) {
1009	return failure;
1010	}
1011	}
1012
1013	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1014	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1015	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1016
1017	// RTNET full clock for RINEX and SP3 file
1018	// ---------------------------------------
1019	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1020	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1021	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1022	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1023
1024	if (_rnx) {
1025	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1026	int s = rtnClkSig.size();
1027	switch (s) {
1028	case 1:
1029	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1030	clkRnxRateSig = 0.0; // [s/s = -]
1031	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1032	break;
1033	case 2:
1034	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1035	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1036	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1037	break;
1038	case 3:
1039	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1040	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1041	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1042	break;
1043	}
1044	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1045	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1046	}
1047	if (_sp3) {
1048	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1049	}
1050	return success;
1051	}
1052
1053	// Transform Coordinates
1054	////////////////////////////////////////////////////////////////////////////
1055	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1056	double& dc) {
1057
1058	// Current epoch minus 2000.0 in years
1059	// ------------------------------------
1060	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1061
1062	ColumnVector dx(3);
1063
1064	dx(1) = _dx + dt * _dxr;
1065	dx(2) = _dy + dt * _dyr;
1066	dx(3) = _dz + dt * _dzr;
1067
1068	static const double arcSec = 180.0 * 3600.0 / M_PI;
1069
1070	double ox = (_ox + dt * _oxr) / arcSec;
1071	double oy = (_oy + dt * _oyr) / arcSec;
1072	double oz = (_oz + dt * _ozr) / arcSec;
1073
1074	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1075
1076	// Specify approximate center of area
1077	// ----------------------------------
1078	ColumnVector meanSta(3);
1079
1080	if (_crdTrafo == "ETRF2000") {
1081	meanSta(1) = 3661090.0;
1082	meanSta(2) = 845230.0;
1083	meanSta(3) = 5136850.0;
1084	}
1085	else if (_crdTrafo == "GDA2020") {
1086	meanSta(1) = -4052050.0;
1087	meanSta(2) = 4212840.0;
1088	meanSta(3) = -2545110.0;
1089	}
1090	else if (_crdTrafo == "SIRGAS2000") {
1091	meanSta(1) = 3740860.0;
1092	meanSta(2) = -4964290.0;
1093	meanSta(3) = -1425420.0;
1094	}
1095	else if (_crdTrafo == "DREF91") {
1096	meanSta(1) = 3959579.0;
1097	meanSta(2) = 721719.0;
1098	meanSta(3) = 4931539.0;
1099	}
1100	else if (_crdTrafo == "Custom") {
1101	meanSta(1) = 0.0; // TODO
1102	meanSta(2) = 0.0; // TODO
1103	meanSta(3) = 0.0; // TODO
1104	}
1105
1106	// Clock correction proportional to topocentric distance to satellites
1107	// -------------------------------------------------------------------
1108	double rho = (xyz - meanSta).NormFrobenius();
1109	dc = rho * (sc - 1.0) / sc / t_CST::c;
1110
1111	Matrix rMat(3, 3);
1112	rMat(1, 1) = 1.0;
1113	rMat(1, 2) = -oz;
1114	rMat(1, 3) = oy;
1115	rMat(2, 1) = oz;
1116	rMat(2, 2) = 1.0;
1117	rMat(2, 3) = -ox;
1118	rMat(3, 1) = -oy;
1119	rMat(3, 2) = ox;
1120	rMat(3, 3) = 1.0;
1121
1122	xyz = sc * rMat * xyz + dx;
1123	}
1124
1125	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1126
1127	if (samplingRate == 10.0) {
1128	return 3;
1129	}
1130	else if (samplingRate == 15.0) {
1131	return 4;
1132	}
1133	else if (samplingRate == 30.0) {
1134	return 5;
1135	}
1136	else if (samplingRate == 60.0) {
1137	return 6;
1138	}
1139	else if (samplingRate == 120.0) {
1140	return 7;
1141	}
1142	else if (samplingRate == 240.0) {
1143	return 8;
1144	}
1145	else if (samplingRate == 300.0) {
1146	return 9;
1147	}
1148	else if (samplingRate == 600.0) {
1149	return 10;
1150	}
1151	else if (samplingRate == 900.0) {
1152	return 11;
1153	}
1154	else if (samplingRate == 1800.0) {
1155	return 12;
1156	}
1157	else if (samplingRate == 3600.0) {
1158	return 13;
1159	}
1160	else if (samplingRate == 7200.0) {
1161	return 14;
1162	}
1163	else if (samplingRate == 10800.0) {
1164	return 15;
1165	}
1166	return 2; // default
1167	}
1168
1169	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1170
1171	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1172	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1173	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1174
1175	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1176	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1177	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1178
1179	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1180	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1181	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1182
1183	return false;
1184	}

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