Context Navigation

source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9729

Last change on this file since 9729 was 9687, checked in by stuerze, 3 years ago
minor changes
File size: 39.3 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 "bncbiassinex.h"
23	#include "bncsp3.h"
24	#include "gnss.h"
25	#include "bncutils.h"
26
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32	const QString& outHost, int outPort,
33	const QString& ntripVersion,
34	const QString& userName, const QString& password,
35	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36	const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
37	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39	if (!mountpoint.isEmpty()) {
40	_casterID += mountpoint;
41	}
42	if (!outHost.isEmpty()) {
43	_casterID += " " + outHost;
44	if (outPort) {
45	_casterID += ":" + QString("%1").arg(outPort, 10);
46	}
47	}
48	if (!crdTrafo.isEmpty()) {
49	_casterID += " " + crdTrafo;
50	}
51	if (!sp3FileName.isEmpty()) {
52	_casterID += " " + sp3FileName;
53	}
54	if (!rnxFileName.isEmpty()) {
55	_casterID += " " + rnxFileName;
56	}
57
58	if (!bsxFileName.isEmpty()) {
59	_casterID += " " + bsxFileName;
60	}
61
62	_crdTrafo = crdTrafo;
63
64	_ssrFormat = ssrFormat;
65
66	_ssrCorr = 0;
67	if (_ssrFormat == "IGS-SSR") {
68	_ssrCorr = new SsrCorrIgs();
69	}
70	else if (_ssrFormat == "RTCM-SSR") {
71	_ssrCorr = new SsrCorrRtcm();
72	}
73
74	_CoM = CoM;
75	_PID = PID;
76	_SID = SID;
77	_IOD = IOD;
78
79	// Member that receives the ephemeris
80	// ----------------------------------
81	_ephUser = new bncEphUser(true);
82
83	bncSettings settings;
84	QString intr = settings.value("uploadIntr").toString();
85	QStringList hlp = settings.value("cmbStreams").toStringList();
86	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
87	if (hlp.size() > 1) { // combination stream upload
88	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
89	}
90	else { // single stream upload or sp3 file generation
91	_samplRtcmClkCorr = 5; // default
92	}
93	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
94	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
95	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
96
97	if (_samplRtcmEphCorr == 0.0) {
98	_usedEph = 0;
99	}
100	else {
101	_usedEph = new QMap<QString, const t_eph*>;
102	}
103
104	// RINEX writer
105	// ------------
106	if (!rnxFileName.isEmpty()) {
107	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
108	}
109	else {
110	_rnx = 0;
111	}
112
113	// SP3 writer
114	// ----------
115	if (!sp3FileName.isEmpty()) {
116	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
117	}
118	else {
119	_sp3 = 0;
120	}
121
122	// SINEX writer
123	// ------------
124	if (!bsxFileName.isEmpty()) {
125	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
126	}
127	else {
128	_bsx = 0;
129	}
130
131
132	// Set Transformation Parameters
133	// -----------------------------
134	// Transformation Parameters from ITRF2014 to ETRF2000
135	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
136	// Zuheir Altamimi, June 28, 2018
137	if (_crdTrafo == "ETRF2000") {
138	_dx = 0.0547;
139	_dy = 0.0522;
140	_dz = -0.0741;
141
142	_dxr = 0.0001;
143	_dyr = 0.0001;
144	_dzr = -0.0019;
145
146	_ox = 0.001701;
147	_oy = 0.010290;
148	_oz = -0.016632;
149
150	_oxr = 0.000081;
151	_oyr = 0.000490;
152	_ozr = -0.000729;
153
154	_sc = 2.12;
155	_scr = 0.11;
156
157	_t0 = 2010.0;
158	}
159	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
160	else if (_crdTrafo == "GDA2020") {
161	_dx = 0.0;
162	_dy = 0.0;
163	_dz = 0.0;
164
165	_dxr = 0.0;
166	_dyr = 0.0;
167	_dzr = 0.0;
168
169	_ox = 0.0;
170	_oy = 0.0;
171	_oz = 0.0;
172
173	_oxr = 0.00150379;
174	_oyr = 0.00118346;
175	_ozr = 0.00120716;
176
177	_sc = 0.0;
178	_scr = 0.0;
179
180	_t0 = 2020.0;
181	}
182	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
183	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
184	else if (_crdTrafo == "SIRGAS2000") {
185	_dx = -0.0027;
186	_dy = -0.0025;
187	_dz = -0.0042;
188
189	_dxr = 0.0000;
190	_dyr = 0.0000;
191	_dzr = 0.0000;
192
193	_ox = 0.000000;
194	_oy = 0.000000;
195	_oz = 0.000000;
196
197	_oxr = 0.000000;
198	_oyr = 0.000000;
199	_ozr = 0.000000;
200
201	_sc = 1.20000;
202	_scr = 0.00000;
203	_t0 = 2000.0;
204	}
205	// Transformation Parameters from ITRF2014 to DREF91
206	else if (_crdTrafo == "DREF91") {
207	_dx = 0.0547;
208	_dy = 0.0522;
209	_dz = -0.0741;
210
211	_dxr = 0.0001;
212	_dyr = 0.0001;
213	_dzr = -0.0019;
214	// ERTF200 + rotation parameters (ETRF200 => DREF91)
215	_ox = 0.001701 + 0.000658;
216	_oy = 0.010290 - 0.000208;
217	_oz = -0.016632 + 0.000755;
218
219	_oxr = 0.000081;
220	_oyr = 0.000490;
221	_ozr = -0.000729;
222
223	_sc = 2.12;
224	_scr = 0.11;
225
226	_t0 = 2010.0;
227	}
228	else if (_crdTrafo == "Custom") {
229	_dx = settings.value("trafo_dx").toDouble();
230	_dy = settings.value("trafo_dy").toDouble();
231	_dz = settings.value("trafo_dz").toDouble();
232	_dxr = settings.value("trafo_dxr").toDouble();
233	_dyr = settings.value("trafo_dyr").toDouble();
234	_dzr = settings.value("trafo_dzr").toDouble();
235	_ox = settings.value("trafo_ox").toDouble();
236	_oy = settings.value("trafo_oy").toDouble();
237	_oz = settings.value("trafo_oz").toDouble();
238	_oxr = settings.value("trafo_oxr").toDouble();
239	_oyr = settings.value("trafo_oyr").toDouble();
240	_ozr = settings.value("trafo_ozr").toDouble();
241	_sc = settings.value("trafo_sc").toDouble();
242	_scr = settings.value("trafo_scr").toDouble();
243	_t0 = settings.value("trafo_t0").toDouble();
244	}
245	}
246
247	// Destructor
248	////////////////////////////////////////////////////////////////////////////
249	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
250	if (isRunning()) {
251	wait();
252	}
253	delete _rnx;
254	delete _sp3;
255	delete _ephUser;
256	delete _usedEph;
257	delete _ssrCorr;
258	}
259
260	//
261	////////////////////////////////////////////////////////////////////////////
262	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
263
264	QMutexLocker locker(&_mutex);
265
266	// Append to internal buffer
267	// -------------------------
268	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
269
270	// Select buffer part that contains last epoch
271	// -------------------------------------------
272	QStringList lines;
273	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
274	if (iEpoBeg == -1) {
275	_rtnetStreamBuffer.clear();
276	return;
277	}
278	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
279	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
280	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
281	}
282	else {
283	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
284	}
285	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
286	if (iEpoEnd == -1) {
287	return;
288	}
289
290	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
291	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
292	int nextEpoch = rtnetStreamBuffer.indexOf('*');
293	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
294	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
295	}
296	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
297	break;
298	}
299	}
300
301	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
302
303	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
304
305	if (lines.size() < 2) {
306	return;
307	}
308
309	// Read first line (with epoch time)
310	// ---------------------------------
311	QTextStream in(lines[0].toLatin1());
312	QString hlp;
313	int year, month, day, hour, min;
314	double sec;
315	in >> hlp >> year >> month >> day >> hour >> min >> sec;
316	bncTime epoTime;
317	epoTime.set(year, month, day, hour, min, sec);
318
319	emit(newMessage(
320	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
321	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
322	+ _casterID.toLatin1(), false));
323
324	struct SsrCorr::ClockOrbit co;
325	memset(&co, 0, sizeof(co));
326	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
327	if (_ssrFormat == "RTCM-SSR") {
328	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
329	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
330	}
331	else if (_ssrFormat == "IGS-SSR") {
332	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
333	}
334	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
335	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
336	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
337	if (_ssrFormat == "RTCM-SSR") {
338	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
339	}
340	else if (_ssrFormat == "IGS-SSR") {
341	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
342	}
343	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
344	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
345	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
346	co.SSRIOD = _IOD;
347	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
348	co.SSRSolutionID = _SID;
349
350	struct SsrCorr::CodeBias bias;
351	memset(&bias, 0, sizeof(bias));
352	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
353	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
354	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
355	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
356	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
357	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
358	bias.SSRIOD = _IOD;
359	bias.SSRProviderID = _PID;
360	bias.SSRSolutionID = _SID;
361
362	struct SsrCorr::PhaseBias phasebias;
363	memset(&phasebias, 0, sizeof(phasebias));
364	unsigned int dispersiveBiasConsistenyIndicator = 0;
365	unsigned int mwConsistencyIndicator = 0;
366	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
367	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
368	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
369	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
370	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
371	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
372	phasebias.SSRIOD = _IOD;
373	phasebias.SSRProviderID = _PID;
374	phasebias.SSRSolutionID = _SID;
375
376	struct SsrCorr::VTEC vtec;
377	memset(&vtec, 0, sizeof(vtec));
378	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
379	vtec.SSRIOD = _IOD;
380	vtec.SSRProviderID = _PID;
381	vtec.SSRSolutionID = _SID;
382
383	// Default Update Interval
384	// -----------------------
385	int clkUpdInd = 2; // 5 sec
386	int ephUpdInd = clkUpdInd; // default
387
388	if (!_samplRtcmEphCorr) {
389	_samplRtcmEphCorr = 5.0;
390	}
391
392	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
393	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
394	}
395	if (_samplRtcmClkCorr > 5.0) {
396	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
397	}
398	if (_samplRtcmEphCorr > 5.0) {
399	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
400	}
401
402	co.UpdateInterval = clkUpdInd;
403	bias.UpdateInterval = ephUpdInd;
404	phasebias.UpdateInterval = ephUpdInd;
405
406	for (int ii = 1; ii < lines.size(); ii++) {
407	QString key; // prn or key VTEC, IND (phase bias indicators)
408	double rtnUra = 0.0; // [m]
409	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
410	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
411	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
412	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
413	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
414	t_prn prn;
415
416	QTextStream in(lines[ii].toLatin1());
417
418	in >> key;
419
420	// non-satellite specific parameters
421	if (key.contains("IND", Qt::CaseSensitive)) {
422	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
423	continue;
424	}
425	// non-satellite specific parameters
426	if (key.contains("VTEC", Qt::CaseSensitive)) {
427	double ui;
428	in >> ui >> vtec.NumLayers;
429	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
430	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
431	int dummy;
432	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
433	>> vtec.Layers[ll].Height;
434	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
435	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
436	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
437	}
438	}
439	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
440	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
441	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
442	}
443	}
444	}
445	continue;
446	}
447	// satellite specific parameters
448	char sys = key.mid(0, 1).at(0).toLatin1();
449	int number = key.mid(1, 2).toInt();
450	int flags = 0;
451	if (sys == 'E') { // I/NAV
452	flags = 1;
453	}
454	if (number == 0) {
455	continue;
456	}
457	prn.set(sys, number, flags);
458	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
459	QString prnStr = QString::fromStdString(prn.toString());
460
461	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
462	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
463	const t_eph* eph = ephLast;
464	if (eph) {
465
466	// Use previous ephemeris if the last one is too recent
467	// ----------------------------------------------------
468	const int MINAGE = 60; // seconds
469	if (ephPrev && eph->receptDateTime().isValid()
470	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
471	eph = ephPrev;
472	}
473
474	// Make sure the clock messages refer to same IOD as orbit messages
475	// ----------------------------------------------------------------
476	if (_usedEph) {
477	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
478	(*_usedEph)[prnInternalStr] = eph;
479	}
480	else {
481	eph = 0;
482	if (_usedEph->contains(prnInternalStr)) {
483	const t_eph* usedEph = _usedEph->value(prnInternalStr);
484	if (usedEph == ephLast) {
485	eph = ephLast;
486	}
487	else if (usedEph == ephPrev) {
488	eph = ephPrev;
489	}
490	}
491	}
492	}
493	}
494
495	if (eph &&
496	!outDatedBcep(eph) && // detected from storage because of no update
497	eph->checkState() != t_eph::bad &&
498	eph->checkState() != t_eph::unhealthy &&
499	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
500	QMap<QString, double> codeBiases;
501	QList<phaseBiasSignal> phaseBiasList;
502	phaseBiasesSat pbSat;
503	_phaseBiasInformationDecoded = false;
504
505	while (true) {
506	QString key;
507	int numVal = 0;
508	in >> key;
509	if (in.status() != QTextStream::Ok) {
510	break;
511	}
512	if (key == "APC") {
513	in >> numVal;
514	rtnAPC.ReSize(3); rtnAPC = 0.0;
515	for (int ii = 0; ii < numVal; ii++) {
516	in >> rtnAPC[ii];
517	}
518	}
519	else if (key == "Ura") {
520	in >> numVal;
521	if (numVal == 1)
522	in >> rtnUra;
523	}
524	else if (key == "Clk") {
525	in >> numVal;
526	rtnClk.ReSize(3); rtnClk = 0.0;
527	for (int ii = 0; ii < numVal; ii++) {
528	in >> rtnClk[ii];
529	}
530	}
531	else if (key == "ClkSig") {
532	in >> numVal;
533	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
534	for (int ii = 0; ii < numVal; ii++) {
535	in >> rtnClkSig[ii];
536	}
537	}
538	else if (key == "Vel") {
539	in >> numVal;
540	rtnVel.ReSize(3); rtnVel = 0.0;
541	for (int ii = 0; ii < numVal; ii++) {
542	in >> rtnVel[ii];
543	}
544	}
545	else if (key == "CoM") {
546	in >> numVal;
547	rtnCoM.ReSize(3); rtnCoM = 0.0;
548	for (int ii = 0; ii < numVal; ii++) {
549	in >> rtnCoM[ii];
550	}
551	}
552	else if (key == "CodeBias") {
553	in >> numVal;
554	for (int ii = 0; ii < numVal; ii++) {
555	QString type;
556	double value;
557	in >> type >> value;
558	codeBiases[type] = value;
559	}
560	}
561	else if (key == "YawAngle") {
562	_phaseBiasInformationDecoded = true;
563	in >> numVal >> pbSat.yawAngle;
564	if (pbSat.yawAngle < 0.0) {
565	pbSat.yawAngle += (2*M_PI);
566	}
567	else if (pbSat.yawAngle > 2*M_PI) {
568	pbSat.yawAngle -= (2*M_PI);
569	}
570	}
571	else if (key == "YawRate") {
572	_phaseBiasInformationDecoded = true;
573	in >> numVal >> pbSat.yawRate;
574	}
575	else if (key == "PhaseBias") {
576	_phaseBiasInformationDecoded = true;
577	in >> numVal;
578	for (int ii = 0; ii < numVal; ii++) {
579	phaseBiasSignal pb;
580	in >> pb.type >> pb.bias >> pb.integerIndicator
581	>> pb.wlIndicator >> pb.discontinuityCounter;
582	phaseBiasList.append(pb);
583	}
584	}
585	else {
586	in >> numVal;
587	for (int ii = 0; ii < numVal; ii++) {
588	double dummy;
589	in >> dummy;
590	}
591	emit(newMessage(" RTNET format error: "
592	+ lines[ii].toLatin1(), false));
593	}
594	}
595
596	struct SsrCorr::ClockOrbit::SatData* sd = 0;
597	if (prn.system() == 'G') {
598	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
599	++co.NumberOfSat[CLOCKORBIT_SATGPS];
600	}
601	else if (prn.system() == 'R') {
602	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
603	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
604	}
605	else if (prn.system() == 'E') {
606	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
607	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
608	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
609	}
610	else if (prn.system() == 'J') {
611	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
612	+ CLOCKORBIT_NUMGALILEO
613	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
614	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
615	}
616	else if (prn.system() == 'S') {
617	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
618	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
619	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
620	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
621	}
622	else if (prn.system() == 'C') {
623	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
624	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
625	+ CLOCKORBIT_NUMSBAS
626	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
627	++co.NumberOfSat[CLOCKORBIT_SATBDS];
628	}
629	if (sd) {
630	QString outLine;
631	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
632	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
633	if (irc != success) {
634	/* !xP.size() */
635	continue;
636	}
637	}
638
639	// Code Biases
640	// -----------
641	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
642	if (!codeBiases.isEmpty()) {
643	if (prn.system() == 'G') {
644	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
645	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
646	}
647	else if (prn.system() == 'R') {
648	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
649	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
650	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
651	}
652	else if (prn.system() == 'E') {
653	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
654	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
655	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
656	}
657	else if (prn.system() == 'J') {
658	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
659	+ CLOCKORBIT_NUMGALILEO
660	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
661	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
662	}
663	else if (prn.system() == 'S') {
664	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
665	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
666	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
667	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
668	}
669	else if (prn.system() == 'C') {
670	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
671	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
672	+ CLOCKORBIT_NUMSBAS
673	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
674	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
675	}
676	}
677
678	if (biasSat) {
679	biasSat->ID = prn.number();
680	biasSat->NumberOfCodeBiases = 0;
681	QMapIterator<QString, double> it(codeBiases);
682	while (it.hasNext()) {
683	it.next();
684	int ii = biasSat->NumberOfCodeBiases;
685	if (ii >= CLOCKORBIT_NUMBIAS)
686	break;
687	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
688	if (type != _ssrCorr->RESERVED) {
689	biasSat->NumberOfCodeBiases += 1;
690	biasSat->Biases[ii].Type = type;
691	biasSat->Biases[ii].Bias = it.value();
692	if (_bsx) {
693	QString obsCode = 'C' + it.key();
694	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
695	}
696	}
697	}
698	}
699
700	// Phase Biases
701	// ------------
702	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
703	if (prn.system() == 'G') {
704	phasebiasSat = phasebias.Sat
705	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
706	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
707	}
708	else if (prn.system() == 'R') {
709	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
710	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
711	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
712	}
713	else if (prn.system() == 'E') {
714	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
715	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
716	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
717	}
718	else if (prn.system() == 'J') {
719	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
720	+ CLOCKORBIT_NUMGALILEO
721	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
722	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
723	}
724	else if (prn.system() == 'S') {
725	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
726	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
727	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
728	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
729	}
730	else if (prn.system() == 'C') {
731	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
732	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
733	+ CLOCKORBIT_NUMSBAS
734	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
735	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
736	}
737
738	if (phasebiasSat && _phaseBiasInformationDecoded) {
739	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
740	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
741	phasebiasSat->ID = prn.number();
742	phasebiasSat->NumberOfPhaseBiases = 0;
743	phasebiasSat->YawAngle = pbSat.yawAngle;
744	phasebiasSat->YawRate = pbSat.yawRate;
745	QListIterator<phaseBiasSignal> it(phaseBiasList);
746	while (it.hasNext()) {
747	const phaseBiasSignal &pbSig = it.next();
748	int ii = phasebiasSat->NumberOfPhaseBiases;
749	if (ii >= CLOCKORBIT_NUMBIAS)
750	break;
751	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
752	if (type != _ssrCorr->RESERVED) {
753	phasebiasSat->NumberOfPhaseBiases += 1;
754	phasebiasSat->Biases[ii].Type = type;
755	phasebiasSat->Biases[ii].Bias = pbSig.bias;
756	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
757	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
758	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
759	if (_bsx) {
760	QString obsCode = 'L' + pbSig.type;
761	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
762	}
763	}
764	}
765	}
766	}
767	}
768
769	QByteArray hlpBufferCo;
770
771	// Orbit and Clock Corrections together
772	// ------------------------------------
773	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
774	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
775	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
776	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
777	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
778	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
779	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
780	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
781	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
782	if (len > 0) {
783	hlpBufferCo = QByteArray(obuffer, len);
784	}
785	}
786	}
787
788	// Orbit and Clock Corrections separately
789	// --------------------------------------
790	else {
791	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
792	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
793	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
794	co.UpdateInterval = ephUpdInd;
795	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
796	sizeof(obuffer));
797	co.UpdateInterval = clkUpdInd;
798	if (len1 > 0) {
799	hlpBufferCo += QByteArray(obuffer, len1);
800	}
801	}
802	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
803	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
804	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
805	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
806	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
807	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
808	sizeof(obuffer));
809	if (len2 > 0) {
810	hlpBufferCo += QByteArray(obuffer, len2);
811	}
812	}
813	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
814	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
815	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
816	co.UpdateInterval = ephUpdInd;
817	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
818	sizeof(obuffer));
819	co.UpdateInterval = clkUpdInd;
820	if (len1 > 0) {
821	hlpBufferCo += QByteArray(obuffer, len1);
822	}
823	}
824	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
825	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
826	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
827	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
828	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
829	sizeof(obuffer));
830	if (len2 > 0) {
831	hlpBufferCo += QByteArray(obuffer, len2);
832	}
833	}
834	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
835	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
836	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
837	co.UpdateInterval = ephUpdInd;
838	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
839	sizeof(obuffer));
840	co.UpdateInterval = clkUpdInd;
841	if (len1 > 0) {
842	hlpBufferCo += QByteArray(obuffer, len1);
843	}
844	}
845	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
846	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
847	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
848	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
849	sizeof(obuffer));
850	if (len2 > 0) {
851	hlpBufferCo += QByteArray(obuffer, len2);
852	}
853	}
854	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
855	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
856	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
857	co.UpdateInterval = ephUpdInd;
858	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
859	sizeof(obuffer));
860	co.UpdateInterval = clkUpdInd;
861	if (len1 > 0) {
862	hlpBufferCo += QByteArray(obuffer, len1);
863	}
864	}
865	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
866	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
867	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
868	sizeof(obuffer));
869	if (len2 > 0) {
870	hlpBufferCo += QByteArray(obuffer, len2);
871	}
872	}
873	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
874	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
875	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
876	co.UpdateInterval = ephUpdInd;
877	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
878	sizeof(obuffer));
879	co.UpdateInterval = clkUpdInd;
880	if (len1 > 0) {
881	hlpBufferCo += QByteArray(obuffer, len1);
882	}
883	}
884	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
885	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
886	sizeof(obuffer));
887	if (len2 > 0) {
888	hlpBufferCo += QByteArray(obuffer, len2);
889	}
890	}
891	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
892	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
893	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
894	co.UpdateInterval = ephUpdInd;
895	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
896	sizeof(obuffer));
897	co.UpdateInterval = clkUpdInd;
898	if (len1 > 0) {
899	hlpBufferCo += QByteArray(obuffer, len1);
900	}
901	}
902	int mmsg = 0;
903	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
904	sizeof(obuffer));
905	if (len2 > 0) {
906	hlpBufferCo += QByteArray(obuffer, len2);
907	}
908	}
909	}
910
911	// Code Biases
912	// -----------
913	QByteArray hlpBufferBias;
914	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
915	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
916	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
917	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
918	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
919	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
920	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
921	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
922	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
923	if (len > 0) {
924	hlpBufferBias = QByteArray(obuffer, len);
925	}
926	}
927	}
928
929	// Phase Biases
930	// ------------
931	QByteArray hlpBufferPhaseBias;
932	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
933	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
934	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
935	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
936	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
937	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
938	&& (_phaseBiasInformationDecoded)) {
939	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
940	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
941	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
942	if (len > 0) {
943	hlpBufferPhaseBias = QByteArray(obuffer, len);
944	}
945	}
946	}
947
948	// VTEC
949	// ----
950	QByteArray hlpBufferVtec;
951	if (vtec.NumLayers > 0) {
952	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
953	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
954	if (len > 0) {
955	hlpBufferVtec = QByteArray(obuffer, len);
956	}
957	}
958
959	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
960	+ hlpBufferVtec + '\0';
961	}
962
963	//
964	////////////////////////////////////////////////////////////////////////////
965	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
966	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
967	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
968	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
969	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
970
971	// Broadcast Position and Velocity
972	// -------------------------------
973	ColumnVector xB(6);
974	ColumnVector vB(3);
975	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
976
977	if (irc != success) {
978	return irc;
979	}
980
981	// Precise Position
982	// ----------------
983	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
984
985	if (xP.size() == 0) {
986	return failure;
987	}
988
989	double dc = 0.0;
990	if (_crdTrafo != "IGS14") {
991	crdTrafo(GPSweek, xP, dc);
992	}
993
994	// Difference in xyz
995	// -----------------
996	ColumnVector dx = xB.Rows(1, 3) - xP;
997	ColumnVector dv = vB - rtnVel;
998
999	// Difference in RSW
1000	// -----------------
1001	ColumnVector rsw(3);
1002	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1003
1004	ColumnVector dotRsw(3);
1005	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1006
1007	// Clock Correction
1008	// ----------------
1009	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1010	double dClkA1 = 0.0;
1011	if (rtnClk(2)) {
1012	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1013	}
1014	double dClkA2 = 0.0;
1015	if (rtnClk(3)) {
1016	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1017	}
1018
1019	if (sd) {
1020	sd->ID = prn.mid(1).toInt();
1021	sd->IOD = eph->IOD();
1022	sd->Clock.DeltaA0 = dClkA0;
1023	sd->Clock.DeltaA1 = dClkA1;
1024	sd->Clock.DeltaA2 = dClkA2;
1025	sd->UserRangeAccuracy = rtnUra;
1026	sd->Orbit.DeltaRadial = rsw(1);
1027	sd->Orbit.DeltaAlongTrack = rsw(2);
1028	sd->Orbit.DeltaCrossTrack = rsw(3);
1029	sd->Orbit.DotDeltaRadial = dotRsw(1);
1030	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1031	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1032
1033	if (corrIsOutOfRange(sd)) {
1034	return failure;
1035	}
1036	}
1037
1038	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1039	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1040	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1041
1042	// RTNET full clock for RINEX and SP3 file
1043	// ---------------------------------------
1044	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1045	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1046	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1047	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1048
1049	if (_rnx) {
1050	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1051	int s = rtnClkSig.size();
1052	switch (s) {
1053	case 1:
1054	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1055	clkRnxRateSig = 0.0; // [s/s = -]
1056	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1057	break;
1058	case 2:
1059	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1060	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1061	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1062	break;
1063	case 3:
1064	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1065	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1066	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1067	break;
1068	}
1069	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1070	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1071	}
1072	if (_sp3) {
1073	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1074	}
1075	return success;
1076	}
1077
1078	// Transform Coordinates
1079	////////////////////////////////////////////////////////////////////////////
1080	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1081	double& dc) {
1082
1083	// Current epoch minus 2000.0 in years
1084	// ------------------------------------
1085	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1086
1087	ColumnVector dx(3);
1088
1089	dx(1) = _dx + dt * _dxr;
1090	dx(2) = _dy + dt * _dyr;
1091	dx(3) = _dz + dt * _dzr;
1092
1093	static const double arcSec = 180.0 * 3600.0 / M_PI;
1094
1095	double ox = (_ox + dt * _oxr) / arcSec;
1096	double oy = (_oy + dt * _oyr) / arcSec;
1097	double oz = (_oz + dt * _ozr) / arcSec;
1098
1099	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1100
1101	// Specify approximate center of area
1102	// ----------------------------------
1103	ColumnVector meanSta(3);
1104
1105	if (_crdTrafo == "ETRF2000") {
1106	meanSta(1) = 3661090.0;
1107	meanSta(2) = 845230.0;
1108	meanSta(3) = 5136850.0;
1109	}
1110	else if (_crdTrafo == "GDA2020") {
1111	meanSta(1) = -4052050.0;
1112	meanSta(2) = 4212840.0;
1113	meanSta(3) = -2545110.0;
1114	}
1115	else if (_crdTrafo == "SIRGAS2000") {
1116	meanSta(1) = 3740860.0;
1117	meanSta(2) = -4964290.0;
1118	meanSta(3) = -1425420.0;
1119	}
1120	else if (_crdTrafo == "DREF91") {
1121	meanSta(1) = 3959579.0;
1122	meanSta(2) = 721719.0;
1123	meanSta(3) = 4931539.0;
1124	}
1125	else if (_crdTrafo == "Custom") {
1126	meanSta(1) = 0.0; // TODO
1127	meanSta(2) = 0.0; // TODO
1128	meanSta(3) = 0.0; // TODO
1129	}
1130
1131	// Clock correction proportional to topocentric distance to satellites
1132	// -------------------------------------------------------------------
1133	double rho = (xyz - meanSta).NormFrobenius();
1134	dc = rho * (sc - 1.0) / sc / t_CST::c;
1135
1136	Matrix rMat(3, 3);
1137	rMat(1, 1) = 1.0;
1138	rMat(1, 2) = -oz;
1139	rMat(1, 3) = oy;
1140	rMat(2, 1) = oz;
1141	rMat(2, 2) = 1.0;
1142	rMat(2, 3) = -ox;
1143	rMat(3, 1) = -oy;
1144	rMat(3, 2) = ox;
1145	rMat(3, 3) = 1.0;
1146
1147	xyz = sc * rMat * xyz + dx;
1148	}
1149
1150	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1151
1152	if (samplingRate == 10.0) {
1153	return 3;
1154	}
1155	else if (samplingRate == 15.0) {
1156	return 4;
1157	}
1158	else if (samplingRate == 30.0) {
1159	return 5;
1160	}
1161	else if (samplingRate == 60.0) {
1162	return 6;
1163	}
1164	else if (samplingRate == 120.0) {
1165	return 7;
1166	}
1167	else if (samplingRate == 240.0) {
1168	return 8;
1169	}
1170	else if (samplingRate == 300.0) {
1171	return 9;
1172	}
1173	else if (samplingRate == 600.0) {
1174	return 10;
1175	}
1176	else if (samplingRate == 900.0) {
1177	return 11;
1178	}
1179	else if (samplingRate == 1800.0) {
1180	return 12;
1181	}
1182	else if (samplingRate == 3600.0) {
1183	return 13;
1184	}
1185	else if (samplingRate == 7200.0) {
1186	return 14;
1187	}
1188	else if (samplingRate == 10800.0) {
1189	return 15;
1190	}
1191	return 2; // default
1192	}
1193
1194	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1195
1196	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1197	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1198	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1199
1200	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1201	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1202	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1203
1204	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1205	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1206	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1207	return false;
1208	}

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

Download in other formats: