Context Navigation

source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9512

Last change on this file since 9512 was 9512, checked in by stuerze, 2 years ago
revert changes
File size: 38.6 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	if (number == 0) {
439	continue;
440	}
441	prn.set(sys, number, flags);
442	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
443	QString prnStr = QString::fromStdString(prn.toString());
444
445	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
446	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
447	const t_eph* eph = ephLast;
448	if (eph) {
449
450	// Use previous ephemeris if the last one is too recent
451	// ----------------------------------------------------
452	const int MINAGE = 60; // seconds
453	if (ephPrev && eph->receptDateTime().isValid()
454	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
455	eph = ephPrev;
456	}
457
458	// Make sure the clock messages refer to same IOD as orbit messages
459	// ----------------------------------------------------------------
460	if (_usedEph) {
461	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
462	(*_usedEph)[prnInternalStr] = eph;
463	}
464	else {
465	eph = 0;
466	if (_usedEph->contains(prnInternalStr)) {
467	const t_eph* usedEph = _usedEph->value(prnInternalStr);
468	if (usedEph == ephLast) {
469	eph = ephLast;
470	}
471	else if (usedEph == ephPrev) {
472	eph = ephPrev;
473	}
474	}
475	}
476	}
477	}
478
479	if (eph &&
480	!outDatedBcep(eph) && // detected from storage because of no update
481	eph->checkState() != t_eph::bad &&
482	eph->checkState() != t_eph::unhealthy &&
483	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
484	QMap<QString, double> codeBiases;
485	QList<phaseBiasSignal> phaseBiasList;
486	phaseBiasesSat pbSat;
487	_phaseBiasInformationDecoded = false;
488
489	while (true) {
490	QString key;
491	int numVal = 0;
492	in >> key;
493	if (in.status() != QTextStream::Ok) {
494	break;
495	}
496	if (key == "APC") {
497	in >> numVal;
498	rtnAPC.ReSize(3); rtnAPC = 0.0;
499	for (int ii = 0; ii < numVal; ii++) {
500	in >> rtnAPC[ii];
501	}
502	}
503	else if (key == "Ura") {
504	in >> numVal;
505	if (numVal == 1)
506	in >> rtnUra;
507	}
508	else if (key == "Clk") {
509	in >> numVal;
510	rtnClk.ReSize(3); rtnClk = 0.0;
511	for (int ii = 0; ii < numVal; ii++) {
512	in >> rtnClk[ii];
513	}
514	}
515	else if (key == "ClkSig") {
516	in >> numVal;
517	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
518	for (int ii = 0; ii < numVal; ii++) {
519	in >> rtnClkSig[ii];
520	}
521	}
522	else if (key == "Vel") {
523	in >> numVal;
524	rtnVel.ReSize(3); rtnVel = 0.0;
525	for (int ii = 0; ii < numVal; ii++) {
526	in >> rtnVel[ii];
527	}
528	}
529	else if (key == "CoM") {
530	in >> numVal;
531	rtnCoM.ReSize(3); rtnCoM = 0.0;
532	for (int ii = 0; ii < numVal; ii++) {
533	in >> rtnCoM[ii];
534	}
535	}
536	else if (key == "CodeBias") {
537	in >> numVal;
538	for (int ii = 0; ii < numVal; ii++) {
539	QString type;
540	double value;
541	in >> type >> value;
542	codeBiases[type] = value;
543	}
544	}
545	else if (key == "YawAngle") {
546	_phaseBiasInformationDecoded = true;
547	in >> numVal >> pbSat.yawAngle;
548	if (pbSat.yawAngle < 0.0) {
549	pbSat.yawAngle += (2*M_PI);
550	}
551	else if (pbSat.yawAngle > 2*M_PI) {
552	pbSat.yawAngle -= (2*M_PI);
553	}
554	}
555	else if (key == "YawRate") {
556	_phaseBiasInformationDecoded = true;
557	in >> numVal >> pbSat.yawRate;
558	}
559	else if (key == "PhaseBias") {
560	_phaseBiasInformationDecoded = true;
561	in >> numVal;
562	for (int ii = 0; ii < numVal; ii++) {
563	phaseBiasSignal pb;
564	in >> pb.type >> pb.bias >> pb.integerIndicator
565	>> pb.wlIndicator >> pb.discontinuityCounter;
566	phaseBiasList.append(pb);
567	}
568	}
569	else {
570	in >> numVal;
571	for (int ii = 0; ii < numVal; ii++) {
572	double dummy;
573	in >> dummy;
574	}
575	emit(newMessage(" RTNET format error: "
576	+ lines[ii].toLatin1(), false));
577	}
578	}
579
580	struct SsrCorr::ClockOrbit::SatData* sd = 0;
581	if (prn.system() == 'G') {
582	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
583	++co.NumberOfSat[CLOCKORBIT_SATGPS];
584	}
585	else if (prn.system() == 'R') {
586	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
587	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
588	}
589	else if (prn.system() == 'E') {
590	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
591	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
592	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
593	}
594	else if (prn.system() == 'J') {
595	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
596	+ CLOCKORBIT_NUMGALILEO
597	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
598	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
599	}
600	else if (prn.system() == 'S') {
601	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
602	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
603	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
604	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
605	}
606	else if (prn.system() == 'C') {
607	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
608	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
609	+ CLOCKORBIT_NUMSBAS
610	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
611	++co.NumberOfSat[CLOCKORBIT_SATBDS];
612	}
613	if (sd) {
614	QString outLine;
615	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
616	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
617	if (irc != success) {
618	/* !xP.size() */
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	// Broadcast Position and Velocity
948	// -------------------------------
949	ColumnVector xB(6);
950	ColumnVector vB(3);
951	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
952
953	if (irc != success) {
954	return irc;
955	}
956
957	// Precise Position
958	// ----------------
959	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
960
961	if (xP.size() == 0) {
962	return failure;
963	}
964
965	double dc = 0.0;
966	if (_crdTrafo != "IGS14") {
967	crdTrafo(GPSweek, xP, dc);
968	}
969
970	// Difference in xyz
971	// -----------------
972	ColumnVector dx = xB.Rows(1, 3) - xP;
973	ColumnVector dv = vB - rtnVel;
974
975	// Difference in RSW
976	// -----------------
977	ColumnVector rsw(3);
978	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
979
980	ColumnVector dotRsw(3);
981	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
982
983	// Clock Correction
984	// ----------------
985	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
986	double dClkA1 = 0.0;
987	if (rtnClk(2)) {
988	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
989	}
990	double dClkA2 = 0.0;
991	if (rtnClk(3)) {
992	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
993	}
994
995	if (sd) {
996	sd->ID = prn.mid(1).toInt();
997	sd->IOD = eph->IOD();
998	sd->Clock.DeltaA0 = dClkA0;
999	sd->Clock.DeltaA1 = dClkA1;
1000	sd->Clock.DeltaA2 = dClkA2;
1001	sd->UserRangeAccuracy = rtnUra;
1002	sd->Orbit.DeltaRadial = rsw(1);
1003	sd->Orbit.DeltaAlongTrack = rsw(2);
1004	sd->Orbit.DeltaCrossTrack = rsw(3);
1005	sd->Orbit.DotDeltaRadial = dotRsw(1);
1006	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1007	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1008
1009	if (corrIsOutOfRange(sd)) {
1010	return failure;
1011	}
1012	}
1013
1014	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1015	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1016	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1017
1018	// RTNET full clock for RINEX and SP3 file
1019	// ---------------------------------------
1020	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1021	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1022	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1023	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1024
1025	if (_rnx) {
1026	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1027	int s = rtnClkSig.size();
1028	switch (s) {
1029	case 1:
1030	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1031	clkRnxRateSig = 0.0; // [s/s = -]
1032	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1033	break;
1034	case 2:
1035	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1036	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1037	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1038	break;
1039	case 3:
1040	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1041	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1042	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1043	break;
1044	}
1045	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1046	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1047	}
1048	if (_sp3) {
1049	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1050	}
1051	return success;
1052	}
1053
1054	// Transform Coordinates
1055	////////////////////////////////////////////////////////////////////////////
1056	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1057	double& dc) {
1058
1059	// Current epoch minus 2000.0 in years
1060	// ------------------------------------
1061	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1062
1063	ColumnVector dx(3);
1064
1065	dx(1) = _dx + dt * _dxr;
1066	dx(2) = _dy + dt * _dyr;
1067	dx(3) = _dz + dt * _dzr;
1068
1069	static const double arcSec = 180.0 * 3600.0 / M_PI;
1070
1071	double ox = (_ox + dt * _oxr) / arcSec;
1072	double oy = (_oy + dt * _oyr) / arcSec;
1073	double oz = (_oz + dt * _ozr) / arcSec;
1074
1075	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1076
1077	// Specify approximate center of area
1078	// ----------------------------------
1079	ColumnVector meanSta(3);
1080
1081	if (_crdTrafo == "ETRF2000") {
1082	meanSta(1) = 3661090.0;
1083	meanSta(2) = 845230.0;
1084	meanSta(3) = 5136850.0;
1085	}
1086	else if (_crdTrafo == "GDA2020") {
1087	meanSta(1) = -4052050.0;
1088	meanSta(2) = 4212840.0;
1089	meanSta(3) = -2545110.0;
1090	}
1091	else if (_crdTrafo == "SIRGAS2000") {
1092	meanSta(1) = 3740860.0;
1093	meanSta(2) = -4964290.0;
1094	meanSta(3) = -1425420.0;
1095	}
1096	else if (_crdTrafo == "DREF91") {
1097	meanSta(1) = 3959579.0;
1098	meanSta(2) = 721719.0;
1099	meanSta(3) = 4931539.0;
1100	}
1101	else if (_crdTrafo == "Custom") {
1102	meanSta(1) = 0.0; // TODO
1103	meanSta(2) = 0.0; // TODO
1104	meanSta(3) = 0.0; // TODO
1105	}
1106
1107	// Clock correction proportional to topocentric distance to satellites
1108	// -------------------------------------------------------------------
1109	double rho = (xyz - meanSta).NormFrobenius();
1110	dc = rho * (sc - 1.0) / sc / t_CST::c;
1111
1112	Matrix rMat(3, 3);
1113	rMat(1, 1) = 1.0;
1114	rMat(1, 2) = -oz;
1115	rMat(1, 3) = oy;
1116	rMat(2, 1) = oz;
1117	rMat(2, 2) = 1.0;
1118	rMat(2, 3) = -ox;
1119	rMat(3, 1) = -oy;
1120	rMat(3, 2) = ox;
1121	rMat(3, 3) = 1.0;
1122
1123	xyz = sc * rMat * xyz + dx;
1124	}
1125
1126	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1127
1128	if (samplingRate == 10.0) {
1129	return 3;
1130	}
1131	else if (samplingRate == 15.0) {
1132	return 4;
1133	}
1134	else if (samplingRate == 30.0) {
1135	return 5;
1136	}
1137	else if (samplingRate == 60.0) {
1138	return 6;
1139	}
1140	else if (samplingRate == 120.0) {
1141	return 7;
1142	}
1143	else if (samplingRate == 240.0) {
1144	return 8;
1145	}
1146	else if (samplingRate == 300.0) {
1147	return 9;
1148	}
1149	else if (samplingRate == 600.0) {
1150	return 10;
1151	}
1152	else if (samplingRate == 900.0) {
1153	return 11;
1154	}
1155	else if (samplingRate == 1800.0) {
1156	return 12;
1157	}
1158	else if (samplingRate == 3600.0) {
1159	return 13;
1160	}
1161	else if (samplingRate == 7200.0) {
1162	return 14;
1163	}
1164	else if (samplingRate == 10800.0) {
1165	return 15;
1166	}
1167	return 2; // default
1168	}
1169
1170	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1171
1172	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1173	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1174	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1175
1176	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1177	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1178	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1179
1180	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1181	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1182	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1183	return false;
1184	}

Note: See TracBrowser for help on using the repository browser.

Download in other formats: