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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9488

Last change on this file since 9488 was 9488, checked in by stuerze, 3 years ago
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File size: 38.8 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 (!_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 &&
477	!outDatedBcep(eph) && // detected from storage because of no update
478	eph->checkState() != t_eph::bad &&
479	eph->checkState() != t_eph::unhealthy &&
480	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
481	QMap<QString, double> codeBiases;
482	QList<phaseBiasSignal> phaseBiasList;
483	phaseBiasesSat pbSat;
484	_phaseBiasInformationDecoded = false;
485
486	while (true) {
487	QString key;
488	int numVal = 0;
489	in >> key;
490	if (in.status() != QTextStream::Ok) {
491	break;
492	}
493	if (key == "APC") {
494	in >> numVal;
495	rtnAPC.ReSize(3); rtnAPC = 0.0;
496	for (int ii = 0; ii < numVal; ii++) {
497	in >> rtnAPC[ii];
498	}
499	}
500	else if (key == "Ura") {
501	in >> numVal;
502	if (numVal == 1)
503	in >> rtnUra;
504	}
505	else if (key == "Clk") {
506	in >> numVal;
507	rtnClk.ReSize(3); rtnClk = 0.0;
508	for (int ii = 0; ii < numVal; ii++) {
509	in >> rtnClk[ii];
510	}
511	}
512	else if (key == "ClkSig") {
513	in >> numVal;
514	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
515	for (int ii = 0; ii < numVal; ii++) {
516	in >> rtnClkSig[ii];
517	}
518	}
519	else if (key == "Vel") {
520	in >> numVal;
521	rtnVel.ReSize(3); rtnVel = 0.0;
522	for (int ii = 0; ii < numVal; ii++) {
523	in >> rtnVel[ii];
524	}
525	}
526	else if (key == "CoM") {
527	in >> numVal;
528	rtnCoM.ReSize(3); rtnCoM = 0.0;
529	for (int ii = 0; ii < numVal; ii++) {
530	in >> rtnCoM[ii];
531	}
532	}
533	else if (key == "CodeBias") {
534	in >> numVal;
535	for (int ii = 0; ii < numVal; ii++) {
536	QString type;
537	double value;
538	in >> type >> value;
539	codeBiases[type] = value;
540	}
541	}
542	else if (key == "YawAngle") {
543	_phaseBiasInformationDecoded = true;
544	in >> numVal >> pbSat.yawAngle;
545	if (pbSat.yawAngle < 0.0) {
546	pbSat.yawAngle += (2*M_PI);
547	}
548	else if (pbSat.yawAngle > 2*M_PI) {
549	pbSat.yawAngle -= (2*M_PI);
550	}
551	}
552	else if (key == "YawRate") {
553	_phaseBiasInformationDecoded = true;
554	in >> numVal >> pbSat.yawRate;
555	}
556	else if (key == "PhaseBias") {
557	_phaseBiasInformationDecoded = true;
558	in >> numVal;
559	for (int ii = 0; ii < numVal; ii++) {
560	phaseBiasSignal pb;
561	in >> pb.type >> pb.bias >> pb.integerIndicator
562	>> pb.wlIndicator >> pb.discontinuityCounter;
563	phaseBiasList.append(pb);
564	}
565	}
566	else {
567	in >> numVal;
568	for (int ii = 0; ii < numVal; ii++) {
569	double dummy;
570	in >> dummy;
571	}
572	emit(newMessage(" RTNET format error: "
573	+ lines[ii].toLatin1(), false));
574	}
575	}
576
577	struct SsrCorr::ClockOrbit::SatData* sd = 0;
578	if (prn.system() == 'G') {
579	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
580	++co.NumberOfSat[CLOCKORBIT_SATGPS];
581	}
582	else if (prn.system() == 'R') {
583	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
584	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
585	}
586	else if (prn.system() == 'E') {
587	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
588	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
589	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
590	}
591	else if (prn.system() == 'J') {
592	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
593	+ CLOCKORBIT_NUMGALILEO
594	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
595	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
596	}
597	else if (prn.system() == 'S') {
598	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
599	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
600	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
601	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
602	}
603	else if (prn.system() == 'C') {
604	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
605	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
606	+ CLOCKORBIT_NUMSBAS
607	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
608	++co.NumberOfSat[CLOCKORBIT_SATBDS];
609	}
610	if (sd) {
611	QString outLine;
612	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
613	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
614	if (irc != success) {/*
615	// very few cases: check states bad and unhealthy are excluded earlier
616	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
617	sd->IOD = eph->IOD();
618	*/
619	continue;
620	}
621	}
622
623	// Code Biases
624	// -----------
625	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
626	if (!codeBiases.isEmpty()) {
627	if (prn.system() == 'G') {
628	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
629	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
630	}
631	else if (prn.system() == 'R') {
632	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
633	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
634	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
635	}
636	else if (prn.system() == 'E') {
637	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
638	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
639	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
640	}
641	else if (prn.system() == 'J') {
642	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
643	+ CLOCKORBIT_NUMGALILEO
644	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
645	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
646	}
647	else if (prn.system() == 'S') {
648	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
649	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
650	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
651	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
652	}
653	else if (prn.system() == 'C') {
654	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
655	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
656	+ CLOCKORBIT_NUMSBAS
657	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
658	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
659	}
660	}
661
662	if (biasSat) {
663	biasSat->ID = prn.number();
664	biasSat->NumberOfCodeBiases = 0;
665	QMapIterator<QString, double> it(codeBiases);
666	while (it.hasNext()) {
667	it.next();
668	int ii = biasSat->NumberOfCodeBiases;
669	if (ii >= CLOCKORBIT_NUMBIAS)
670	break;
671	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
672	if (type != _ssrCorr->RESERVED) {
673	biasSat->NumberOfCodeBiases += 1;
674	biasSat->Biases[ii].Type = type;
675	biasSat->Biases[ii].Bias = it.value();
676	}
677	}
678	}
679
680	// Phase Biases
681	// ------------
682	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
683	if (prn.system() == 'G') {
684	phasebiasSat = phasebias.Sat
685	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
686	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
687	}
688	else if (prn.system() == 'R') {
689	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
690	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
691	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
692	}
693	else if (prn.system() == 'E') {
694	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
695	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
696	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
697	}
698	else if (prn.system() == 'J') {
699	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
700	+ CLOCKORBIT_NUMGALILEO
701	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
702	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
703	}
704	else if (prn.system() == 'S') {
705	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
706	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
707	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
708	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
709	}
710	else if (prn.system() == 'C') {
711	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
712	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
713	+ CLOCKORBIT_NUMSBAS
714	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
715	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
716	}
717
718	if (phasebiasSat && _phaseBiasInformationDecoded) {
719	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
720	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
721	phasebiasSat->ID = prn.number();
722	phasebiasSat->NumberOfPhaseBiases = 0;
723	phasebiasSat->YawAngle = pbSat.yawAngle;
724	phasebiasSat->YawRate = pbSat.yawRate;
725	QListIterator<phaseBiasSignal> it(phaseBiasList);
726	while (it.hasNext()) {
727	const phaseBiasSignal &pbSig = it.next();
728	int ii = phasebiasSat->NumberOfPhaseBiases;
729	if (ii >= CLOCKORBIT_NUMBIAS)
730	break;
731	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
732	if (type != _ssrCorr->RESERVED) {
733	phasebiasSat->NumberOfPhaseBiases += 1;
734	phasebiasSat->Biases[ii].Type = type;
735	phasebiasSat->Biases[ii].Bias = pbSig.bias;
736	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
737	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
738	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
739	}
740	}
741	}
742	}
743	}
744
745	QByteArray hlpBufferCo;
746
747	// Orbit and Clock Corrections together
748	// ------------------------------------
749	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
750	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
751	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
752	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
753	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
754	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
755	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
756	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
757	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
758	if (len > 0) {
759	hlpBufferCo = QByteArray(obuffer, len);
760	}
761	}
762	}
763
764	// Orbit and Clock Corrections separately
765	// --------------------------------------
766	else {
767	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
768	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
769	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
770	co.UpdateInterval = ephUpdInd;
771	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
772	sizeof(obuffer));
773	co.UpdateInterval = clkUpdInd;
774	if (len1 > 0) {
775	hlpBufferCo += QByteArray(obuffer, len1);
776	}
777	}
778	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
779	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
780	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
781	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
782	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
783	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
784	sizeof(obuffer));
785	if (len2 > 0) {
786	hlpBufferCo += QByteArray(obuffer, len2);
787	}
788	}
789	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
790	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
791	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
792	co.UpdateInterval = ephUpdInd;
793	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
794	sizeof(obuffer));
795	co.UpdateInterval = clkUpdInd;
796	if (len1 > 0) {
797	hlpBufferCo += QByteArray(obuffer, len1);
798	}
799	}
800	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
801	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
802	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
803	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
804	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
805	sizeof(obuffer));
806	if (len2 > 0) {
807	hlpBufferCo += QByteArray(obuffer, len2);
808	}
809	}
810	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
811	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
812	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
813	co.UpdateInterval = ephUpdInd;
814	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
815	sizeof(obuffer));
816	co.UpdateInterval = clkUpdInd;
817	if (len1 > 0) {
818	hlpBufferCo += QByteArray(obuffer, len1);
819	}
820	}
821	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
822	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
823	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
824	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
825	sizeof(obuffer));
826	if (len2 > 0) {
827	hlpBufferCo += QByteArray(obuffer, len2);
828	}
829	}
830	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
831	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
832	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
833	co.UpdateInterval = ephUpdInd;
834	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
835	sizeof(obuffer));
836	co.UpdateInterval = clkUpdInd;
837	if (len1 > 0) {
838	hlpBufferCo += QByteArray(obuffer, len1);
839	}
840	}
841	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
842	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
843	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
844	sizeof(obuffer));
845	if (len2 > 0) {
846	hlpBufferCo += QByteArray(obuffer, len2);
847	}
848	}
849	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
850	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
851	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
852	co.UpdateInterval = ephUpdInd;
853	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
854	sizeof(obuffer));
855	co.UpdateInterval = clkUpdInd;
856	if (len1 > 0) {
857	hlpBufferCo += QByteArray(obuffer, len1);
858	}
859	}
860	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
861	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
862	sizeof(obuffer));
863	if (len2 > 0) {
864	hlpBufferCo += QByteArray(obuffer, len2);
865	}
866	}
867	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
868	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
869	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
870	co.UpdateInterval = ephUpdInd;
871	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
872	sizeof(obuffer));
873	co.UpdateInterval = clkUpdInd;
874	if (len1 > 0) {
875	hlpBufferCo += QByteArray(obuffer, len1);
876	}
877	}
878	int mmsg = 0;
879	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
880	sizeof(obuffer));
881	if (len2 > 0) {
882	hlpBufferCo += QByteArray(obuffer, len2);
883	}
884	}
885	}
886
887	// Code Biases
888	// -----------
889	QByteArray hlpBufferBias;
890	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
891	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
892	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
893	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
894	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
895	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
896	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
897	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
898	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
899	if (len > 0) {
900	hlpBufferBias = QByteArray(obuffer, len);
901	}
902	}
903	}
904
905	// Phase Biases
906	// ------------
907	QByteArray hlpBufferPhaseBias;
908	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
909	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
910	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
911	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
912	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
913	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
914	&& (_phaseBiasInformationDecoded)) {
915	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
916	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
917	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
918	if (len > 0) {
919	hlpBufferPhaseBias = QByteArray(obuffer, len);
920	}
921	}
922	}
923
924	// VTEC
925	// ----
926	QByteArray hlpBufferVtec;
927	if (vtec.NumLayers > 0) {
928	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
929	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
930	if (len > 0) {
931	hlpBufferVtec = QByteArray(obuffer, len);
932	}
933	}
934
935	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
936	+ hlpBufferVtec + '\0';
937	}
938
939	//
940	////////////////////////////////////////////////////////////////////////////
941	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
942	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
943	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
944	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
945	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
946
947	if (eph->prn().number() == 0) {
948	return failure;
949	}
950	// Broadcast Position and Velocity
951	// -------------------------------
952	ColumnVector xB(6);
953	ColumnVector vB(3);
954	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
955
956	if (irc != success) {
957	return irc;
958	}
959
960	// Precise Position
961	// ----------------
962	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
963
964	if (xP.size() == 0) {
965	return failure;
966	}
967
968	double dc = 0.0;
969	if (_crdTrafo != "IGS14") {
970	crdTrafo(GPSweek, xP, dc);
971	}
972
973	// Difference in xyz
974	// -----------------
975	ColumnVector dx = xB.Rows(1, 3) - xP;
976	ColumnVector dv = vB - rtnVel;
977
978	// Difference in RSW
979	// -----------------
980	ColumnVector rsw(3);
981	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
982
983	ColumnVector dotRsw(3);
984	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
985
986	// Clock Correction
987	// ----------------
988	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
989	double dClkA1 = 0.0;
990	if (rtnClk(2)) {
991	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
992	}
993	double dClkA2 = 0.0;
994	if (rtnClk(3)) {
995	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
996	}
997
998	if (sd) {
999	sd->ID = prn.mid(1).toInt();
1000	sd->IOD = eph->IOD();
1001	sd->Clock.DeltaA0 = dClkA0;
1002	sd->Clock.DeltaA1 = dClkA1;
1003	sd->Clock.DeltaA2 = dClkA2;
1004	sd->UserRangeAccuracy = rtnUra;
1005	sd->Orbit.DeltaRadial = rsw(1);
1006	sd->Orbit.DeltaAlongTrack = rsw(2);
1007	sd->Orbit.DeltaCrossTrack = rsw(3);
1008	sd->Orbit.DotDeltaRadial = dotRsw(1);
1009	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1010	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1011
1012	if (corrIsOutOfRange(sd)) {
1013	return failure;
1014	}
1015	}
1016
1017	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1018	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1019	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1020
1021	// RTNET full clock for RINEX and SP3 file
1022	// ---------------------------------------
1023	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1024	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1025	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1026	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1027
1028	if (_rnx) {
1029	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1030	int s = rtnClkSig.size();
1031	switch (s) {
1032	case 1:
1033	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1034	clkRnxRateSig = 0.0; // [s/s = -]
1035	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1036	break;
1037	case 2:
1038	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1039	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1040	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1041	break;
1042	case 3:
1043	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1044	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1045	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1046	break;
1047	}
1048	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1049	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1050	}
1051	if (_sp3) {
1052	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1053	}
1054	return success;
1055	}
1056
1057	// Transform Coordinates
1058	////////////////////////////////////////////////////////////////////////////
1059	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1060	double& dc) {
1061
1062	// Current epoch minus 2000.0 in years
1063	// ------------------------------------
1064	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1065
1066	ColumnVector dx(3);
1067
1068	dx(1) = _dx + dt * _dxr;
1069	dx(2) = _dy + dt * _dyr;
1070	dx(3) = _dz + dt * _dzr;
1071
1072	static const double arcSec = 180.0 * 3600.0 / M_PI;
1073
1074	double ox = (_ox + dt * _oxr) / arcSec;
1075	double oy = (_oy + dt * _oyr) / arcSec;
1076	double oz = (_oz + dt * _ozr) / arcSec;
1077
1078	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1079
1080	// Specify approximate center of area
1081	// ----------------------------------
1082	ColumnVector meanSta(3);
1083
1084	if (_crdTrafo == "ETRF2000") {
1085	meanSta(1) = 3661090.0;
1086	meanSta(2) = 845230.0;
1087	meanSta(3) = 5136850.0;
1088	}
1089	else if (_crdTrafo == "GDA2020") {
1090	meanSta(1) = -4052050.0;
1091	meanSta(2) = 4212840.0;
1092	meanSta(3) = -2545110.0;
1093	}
1094	else if (_crdTrafo == "SIRGAS2000") {
1095	meanSta(1) = 3740860.0;
1096	meanSta(2) = -4964290.0;
1097	meanSta(3) = -1425420.0;
1098	}
1099	else if (_crdTrafo == "DREF91") {
1100	meanSta(1) = 3959579.0;
1101	meanSta(2) = 721719.0;
1102	meanSta(3) = 4931539.0;
1103	}
1104	else if (_crdTrafo == "Custom") {
1105	meanSta(1) = 0.0; // TODO
1106	meanSta(2) = 0.0; // TODO
1107	meanSta(3) = 0.0; // TODO
1108	}
1109
1110	// Clock correction proportional to topocentric distance to satellites
1111	// -------------------------------------------------------------------
1112	double rho = (xyz - meanSta).NormFrobenius();
1113	dc = rho * (sc - 1.0) / sc / t_CST::c;
1114
1115	Matrix rMat(3, 3);
1116	rMat(1, 1) = 1.0;
1117	rMat(1, 2) = -oz;
1118	rMat(1, 3) = oy;
1119	rMat(2, 1) = oz;
1120	rMat(2, 2) = 1.0;
1121	rMat(2, 3) = -ox;
1122	rMat(3, 1) = -oy;
1123	rMat(3, 2) = ox;
1124	rMat(3, 3) = 1.0;
1125
1126	xyz = sc * rMat * xyz + dx;
1127	}
1128
1129	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1130
1131	if (samplingRate == 10.0) {
1132	return 3;
1133	}
1134	else if (samplingRate == 15.0) {
1135	return 4;
1136	}
1137	else if (samplingRate == 30.0) {
1138	return 5;
1139	}
1140	else if (samplingRate == 60.0) {
1141	return 6;
1142	}
1143	else if (samplingRate == 120.0) {
1144	return 7;
1145	}
1146	else if (samplingRate == 240.0) {
1147	return 8;
1148	}
1149	else if (samplingRate == 300.0) {
1150	return 9;
1151	}
1152	else if (samplingRate == 600.0) {
1153	return 10;
1154	}
1155	else if (samplingRate == 900.0) {
1156	return 11;
1157	}
1158	else if (samplingRate == 1800.0) {
1159	return 12;
1160	}
1161	else if (samplingRate == 3600.0) {
1162	return 13;
1163	}
1164	else if (samplingRate == 7200.0) {
1165	return 14;
1166	}
1167	else if (samplingRate == 10800.0) {
1168	return 15;
1169	}
1170	return 2; // default
1171	}
1172
1173	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1174
1175	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1176	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1177	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1178
1179	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1180	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1181	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1182
1183	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1184	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1185	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1186
1187	return false;
1188	}

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