Context Navigation

source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9823

Last change on this file since 9823 was 9823, checked in by stuerze, 20 months ago
try the old RTNET buffer reading code again
File size: 40.5 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
267
268
269	/* Append to internal buffer
270	// -------------------------
271	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
272
273	// Select buffer part that contains last epoch
274	// -------------------------------------------
275	QStringList lines;
276	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
277	if (iEpoBeg == -1) {
278	_rtnetStreamBuffer.clear();
279	return;
280	}
281	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
282	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
283	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
284	}
285	else {
286	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
287	}
288	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
289	if (iEpoEnd == -1) {
290	return;
291	}
292
293	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
294	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
295	int nextEpoch = rtnetStreamBuffer.indexOf('*');
296	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
297	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
298	}
299	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
300	break;
301	}
302	}
303
304	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
305
306	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
307
308	if (lines.size() < 2) {
309	emit(newMessage(
310	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
311	return;
312	}
313	*/
314
315
316	// Append to internal buffer
317	// -------------------------
318	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
319
320	// Select buffer part that contains last epoch
321	// -------------------------------------------
322	QStringList lines;
323	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
324	if (iEpoBeg == -1) {
325	_rtnetStreamBuffer.clear();
326	return;
327	}
328	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
329
330	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
331	if (iEpoEnd == -1) {
332	return;
333	}
334	else {
335	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
336	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
337	}
338
339	if (lines.size() < 2) {
340	emit(newMessage(
341	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
342	return;
343	}
344
345	// Keep the last unfinished line in buffer
346	// ---------------------------------------
347	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
348	if (iLastEOL != -1) {
349	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
350	}
351	// Read first line (with epoch time)
352	// ---------------------------------
353	QTextStream in(lines[0].toLatin1());
354	QString hlp;
355	int year, month, day, hour, min;
356	double sec;
357	in >> hlp >> year >> month >> day >> hour >> min >> sec;
358	bncTime epoTime;
359	epoTime.set(year, month, day, hour, min, sec);
360
361	emit(newMessage(
362	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
363	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
364	+ _casterID.toLatin1(), false));
365
366	struct SsrCorr::ClockOrbit co;
367	memset(&co, 0, sizeof(co));
368	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
369	if (_ssrFormat == "RTCM-SSR") {
370	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
371	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
372	}
373	else if (_ssrFormat == "IGS-SSR") {
374	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
375	}
376	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
377	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
378	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
379	if (_ssrFormat == "RTCM-SSR") {
380	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
381	}
382	else if (_ssrFormat == "IGS-SSR") {
383	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
384	}
385	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
386	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
387	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
388	co.SSRIOD = _IOD;
389	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
390	co.SSRSolutionID = _SID;
391
392	struct SsrCorr::CodeBias bias;
393	memset(&bias, 0, sizeof(bias));
394	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
395	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
396	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
397	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
398	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
399	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
400	bias.SSRIOD = _IOD;
401	bias.SSRProviderID = _PID;
402	bias.SSRSolutionID = _SID;
403
404	struct SsrCorr::PhaseBias phasebias;
405	memset(&phasebias, 0, sizeof(phasebias));
406	unsigned int dispersiveBiasConsistenyIndicator = 0;
407	unsigned int mwConsistencyIndicator = 0;
408	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
409	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
410	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
411	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
412	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
413	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
414	phasebias.SSRIOD = _IOD;
415	phasebias.SSRProviderID = _PID;
416	phasebias.SSRSolutionID = _SID;
417
418	struct SsrCorr::VTEC vtec;
419	memset(&vtec, 0, sizeof(vtec));
420	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
421	vtec.SSRIOD = _IOD;
422	vtec.SSRProviderID = _PID;
423	vtec.SSRSolutionID = _SID;
424
425	// Default Update Interval
426	// -----------------------
427	int clkUpdInd = 2; // 5 sec
428	int ephUpdInd = clkUpdInd; // default
429
430	if (!_samplRtcmEphCorr) {
431	_samplRtcmEphCorr = 5.0;
432	}
433
434	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
435	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
436	}
437	if (_samplRtcmClkCorr > 5.0) {
438	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
439	}
440	if (_samplRtcmEphCorr > 5.0) {
441	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
442	}
443
444	co.UpdateInterval = clkUpdInd;
445	bias.UpdateInterval = ephUpdInd;
446	phasebias.UpdateInterval = ephUpdInd;
447
448	for (int ii = 1; ii < lines.size(); ii++) {
449	QString key; // prn or key VTEC, IND (phase bias indicators)
450	double rtnUra = 0.0; // [m]
451	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
452	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
453	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
454	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
455	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
456	t_prn prn;
457
458	QTextStream in(lines[ii].toLatin1());
459
460	in >> key;
461
462	// non-satellite specific parameters
463	if (key.contains("IND", Qt::CaseSensitive)) {
464	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
465	continue;
466	}
467	// non-satellite specific parameters
468	if (key.contains("VTEC", Qt::CaseSensitive)) {
469	double ui;
470	in >> ui >> vtec.NumLayers;
471	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
472	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
473	int dummy;
474	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
475	>> vtec.Layers[ll].Height;
476	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
477	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
478	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
479	}
480	}
481	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
482	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
483	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
484	}
485	}
486	}
487	continue;
488	}
489	// satellite specific parameters
490	char sys = key.mid(0, 1).at(0).toLatin1();
491	int number = key.mid(1, 2).toInt();
492	int flags = 0;
493	if (sys == 'E') { // I/NAV
494	flags = 1;
495	}
496	if (number == 0) {
497	continue;
498	}
499	prn.set(sys, number, flags);
500	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
501	QString prnStr = QString::fromStdString(prn.toString());
502
503	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
504	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
505	const t_eph* eph = ephLast;
506	if (eph) {
507
508	// Use previous ephemeris if the last one is too recent
509	// ----------------------------------------------------
510	const int MINAGE = 60; // seconds
511	if (ephPrev && eph->receptDateTime().isValid()
512	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
513	eph = ephPrev;
514	}
515
516	// Make sure the clock messages refer to same IOD as orbit messages
517	// ----------------------------------------------------------------
518	if (_usedEph) {
519	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
520	(*_usedEph)[prnInternalStr] = eph;
521	}
522	else {
523	eph = 0;
524	if (_usedEph->contains(prnInternalStr)) {
525	const t_eph* usedEph = _usedEph->value(prnInternalStr);
526	if (usedEph == ephLast) {
527	eph = ephLast;
528	}
529	else if (usedEph == ephPrev) {
530	eph = ephPrev;
531	}
532	}
533	}
534	}
535	}
536
537	if (eph &&
538	!outDatedBcep(eph) && // detected from storage because of no update
539	eph->checkState() != t_eph::bad &&
540	eph->checkState() != t_eph::unhealthy &&
541	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
542	QMap<QString, double> codeBiases;
543	QList<phaseBiasSignal> phaseBiasList;
544	phaseBiasesSat pbSat;
545	_phaseBiasInformationDecoded = false;
546
547	while (true) {
548	QString key;
549	int numVal = 0;
550	in >> key;
551	if (in.status() != QTextStream::Ok) {
552	break;
553	}
554	if (key == "APC") {
555	in >> numVal;
556	rtnAPC.ReSize(3); rtnAPC = 0.0;
557	for (int ii = 0; ii < numVal; ii++) {
558	in >> rtnAPC[ii];
559	}
560	}
561	else if (key == "Ura") {
562	in >> numVal;
563	if (numVal == 1)
564	in >> rtnUra;
565	}
566	else if (key == "Clk") {
567	in >> numVal;
568	rtnClk.ReSize(3); rtnClk = 0.0;
569	for (int ii = 0; ii < numVal; ii++) {
570	in >> rtnClk[ii];
571	}
572	}
573	else if (key == "ClkSig") {
574	in >> numVal;
575	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
576	for (int ii = 0; ii < numVal; ii++) {
577	in >> rtnClkSig[ii];
578	}
579	}
580	else if (key == "Vel") {
581	in >> numVal;
582	rtnVel.ReSize(3); rtnVel = 0.0;
583	for (int ii = 0; ii < numVal; ii++) {
584	in >> rtnVel[ii];
585	}
586	}
587	else if (key == "CoM") {
588	in >> numVal;
589	rtnCoM.ReSize(3); rtnCoM = 0.0;
590	for (int ii = 0; ii < numVal; ii++) {
591	in >> rtnCoM[ii];
592	}
593	}
594	else if (key == "CodeBias") {
595	in >> numVal;
596	for (int ii = 0; ii < numVal; ii++) {
597	QString type;
598	double value;
599	in >> type >> value;
600	codeBiases[type] = value;
601	}
602	}
603	else if (key == "YawAngle") {
604	_phaseBiasInformationDecoded = true;
605	in >> numVal >> pbSat.yawAngle;
606	if (pbSat.yawAngle < 0.0) {
607	pbSat.yawAngle += (2*M_PI);
608	}
609	else if (pbSat.yawAngle > 2*M_PI) {
610	pbSat.yawAngle -= (2*M_PI);
611	}
612	}
613	else if (key == "YawRate") {
614	_phaseBiasInformationDecoded = true;
615	in >> numVal >> pbSat.yawRate;
616	}
617	else if (key == "PhaseBias") {
618	_phaseBiasInformationDecoded = true;
619	in >> numVal;
620	for (int ii = 0; ii < numVal; ii++) {
621	phaseBiasSignal pb;
622	in >> pb.type >> pb.bias >> pb.integerIndicator
623	>> pb.wlIndicator >> pb.discontinuityCounter;
624	phaseBiasList.append(pb);
625	}
626	}
627	else {
628	in >> numVal;
629	for (int ii = 0; ii < numVal; ii++) {
630	double dummy;
631	in >> dummy;
632	}
633	emit(newMessage(" RTNET format error: "
634	+ lines[ii].toLatin1(), false));
635	break;
636	}
637	}
638
639	struct SsrCorr::ClockOrbit::SatData* sd = 0;
640	if (prn.system() == 'G') {
641	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
642	++co.NumberOfSat[CLOCKORBIT_SATGPS];
643	}
644	else if (prn.system() == 'R') {
645	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
646	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
647	}
648	else if (prn.system() == 'E') {
649	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
650	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
651	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
652	}
653	else if (prn.system() == 'J') {
654	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
655	+ CLOCKORBIT_NUMGALILEO
656	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
657	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
658	}
659	else if (prn.system() == 'S') {
660	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
661	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
662	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
663	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
664	}
665	else if (prn.system() == 'C') {
666	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
667	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
668	+ CLOCKORBIT_NUMSBAS
669	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
670	++co.NumberOfSat[CLOCKORBIT_SATBDS];
671	}
672	if (sd) {
673	QString outLine;
674	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
675	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
676	if (irc != success) {
677	continue;
678	}
679	}
680
681	// Code Biases
682	// -----------
683	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
684	if (!codeBiases.isEmpty()) {
685	if (prn.system() == 'G') {
686	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
687	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
688	}
689	else if (prn.system() == 'R') {
690	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
691	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
692	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
693	}
694	else if (prn.system() == 'E') {
695	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
696	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
697	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
698	}
699	else if (prn.system() == 'J') {
700	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
701	+ CLOCKORBIT_NUMGALILEO
702	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
703	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
704	}
705	else if (prn.system() == 'S') {
706	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
707	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
708	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
709	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
710	}
711	else if (prn.system() == 'C') {
712	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
713	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
714	+ CLOCKORBIT_NUMSBAS
715	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
716	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
717	}
718	}
719
720	if (biasSat) {
721	biasSat->ID = prn.number();
722	biasSat->NumberOfCodeBiases = 0;
723	QMapIterator<QString, double> it(codeBiases);
724	while (it.hasNext()) {
725	it.next();
726	int ii = biasSat->NumberOfCodeBiases;
727	if (ii >= CLOCKORBIT_NUMBIAS)
728	break;
729	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
730	if (type != _ssrCorr->RESERVED) {
731	biasSat->NumberOfCodeBiases += 1;
732	biasSat->Biases[ii].Type = type;
733	biasSat->Biases[ii].Bias = it.value();
734	if (_bsx) {
735	QString obsCode = 'C' + it.key();
736	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
737	}
738	}
739	}
740	}
741
742	// Phase Biases
743	// ------------
744	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
745	if (prn.system() == 'G') {
746	phasebiasSat = phasebias.Sat
747	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
748	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
749	}
750	else if (prn.system() == 'R') {
751	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
752	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
753	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
754	}
755	else if (prn.system() == 'E') {
756	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
757	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
758	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
759	}
760	else if (prn.system() == 'J') {
761	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
762	+ CLOCKORBIT_NUMGALILEO
763	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
764	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
765	}
766	else if (prn.system() == 'S') {
767	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
768	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
769	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
770	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
771	}
772	else if (prn.system() == 'C') {
773	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
774	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
775	+ CLOCKORBIT_NUMSBAS
776	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
777	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
778	}
779
780	if (phasebiasSat && _phaseBiasInformationDecoded) {
781	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
782	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
783	phasebiasSat->ID = prn.number();
784	phasebiasSat->NumberOfPhaseBiases = 0;
785	phasebiasSat->YawAngle = pbSat.yawAngle;
786	phasebiasSat->YawRate = pbSat.yawRate;
787	QListIterator<phaseBiasSignal> it(phaseBiasList);
788	while (it.hasNext()) {
789	const phaseBiasSignal &pbSig = it.next();
790	int ii = phasebiasSat->NumberOfPhaseBiases;
791	if (ii >= CLOCKORBIT_NUMBIAS)
792	break;
793	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
794	if (type != _ssrCorr->RESERVED) {
795	phasebiasSat->NumberOfPhaseBiases += 1;
796	phasebiasSat->Biases[ii].Type = type;
797	phasebiasSat->Biases[ii].Bias = pbSig.bias;
798	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
799	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
800	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
801	if (_bsx) {
802	QString obsCode = 'L' + pbSig.type;
803	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
804	}
805	}
806	}
807	}
808	}
809	}
810
811	QByteArray hlpBufferCo;
812
813	// Orbit and Clock Corrections together
814	// ------------------------------------
815	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
816	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
817	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
818	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
819	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
820	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
821	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
822	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
823	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
824	if (len > 0) {
825	hlpBufferCo = QByteArray(obuffer, len);
826	}
827	}
828	}
829
830	// Orbit and Clock Corrections separately
831	// --------------------------------------
832	else {
833	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
834	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
835	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
836	co.UpdateInterval = ephUpdInd;
837	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
838	sizeof(obuffer));
839	co.UpdateInterval = clkUpdInd;
840	if (len1 > 0) {
841	hlpBufferCo += QByteArray(obuffer, len1);
842	}
843	}
844	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
845	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
846	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
847	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
848	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
849	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
850	sizeof(obuffer));
851	if (len2 > 0) {
852	hlpBufferCo += QByteArray(obuffer, len2);
853	}
854	}
855	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
856	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
857	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
858	co.UpdateInterval = ephUpdInd;
859	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
860	sizeof(obuffer));
861	co.UpdateInterval = clkUpdInd;
862	if (len1 > 0) {
863	hlpBufferCo += QByteArray(obuffer, len1);
864	}
865	}
866	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
867	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
868	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
869	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
870	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
871	sizeof(obuffer));
872	if (len2 > 0) {
873	hlpBufferCo += QByteArray(obuffer, len2);
874	}
875	}
876	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
877	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
878	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
879	co.UpdateInterval = ephUpdInd;
880	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
881	sizeof(obuffer));
882	co.UpdateInterval = clkUpdInd;
883	if (len1 > 0) {
884	hlpBufferCo += QByteArray(obuffer, len1);
885	}
886	}
887	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
888	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
889	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
890	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
891	sizeof(obuffer));
892	if (len2 > 0) {
893	hlpBufferCo += QByteArray(obuffer, len2);
894	}
895	}
896	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
897	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
898	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
899	co.UpdateInterval = ephUpdInd;
900	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
901	sizeof(obuffer));
902	co.UpdateInterval = clkUpdInd;
903	if (len1 > 0) {
904	hlpBufferCo += QByteArray(obuffer, len1);
905	}
906	}
907	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
908	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
909	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
910	sizeof(obuffer));
911	if (len2 > 0) {
912	hlpBufferCo += QByteArray(obuffer, len2);
913	}
914	}
915	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
916	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
917	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
918	co.UpdateInterval = ephUpdInd;
919	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
920	sizeof(obuffer));
921	co.UpdateInterval = clkUpdInd;
922	if (len1 > 0) {
923	hlpBufferCo += QByteArray(obuffer, len1);
924	}
925	}
926	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
927	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
928	sizeof(obuffer));
929	if (len2 > 0) {
930	hlpBufferCo += QByteArray(obuffer, len2);
931	}
932	}
933	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
934	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
935	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
936	co.UpdateInterval = ephUpdInd;
937	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
938	sizeof(obuffer));
939	co.UpdateInterval = clkUpdInd;
940	if (len1 > 0) {
941	hlpBufferCo += QByteArray(obuffer, len1);
942	}
943	}
944	int mmsg = 0;
945	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
946	sizeof(obuffer));
947	if (len2 > 0) {
948	hlpBufferCo += QByteArray(obuffer, len2);
949	}
950	}
951	}
952
953	// Code Biases
954	// -----------
955	QByteArray hlpBufferBias;
956	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
957	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
958	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
959	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
960	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
961	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
962	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
963	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
964	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
965	if (len > 0) {
966	hlpBufferBias = QByteArray(obuffer, len);
967	}
968	}
969	}
970
971	// Phase Biases
972	// ------------
973	QByteArray hlpBufferPhaseBias;
974	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
975	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
976	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
977	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
978	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
979	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
980	&& (_phaseBiasInformationDecoded)) {
981	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
982	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
983	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
984	if (len > 0) {
985	hlpBufferPhaseBias = QByteArray(obuffer, len);
986	}
987	}
988	}
989
990	// VTEC
991	// ----
992	QByteArray hlpBufferVtec;
993	if (vtec.NumLayers > 0) {
994	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
995	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
996	if (len > 0) {
997	hlpBufferVtec = QByteArray(obuffer, len);
998	}
999	}
1000
1001	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
1002	+ hlpBufferVtec + '\0';
1003	}
1004
1005	//
1006	////////////////////////////////////////////////////////////////////////////
1007	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1008	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1009	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1010	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1011	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1012
1013	// Broadcast Position and Velocity
1014	// -------------------------------
1015	ColumnVector xB(6);
1016	ColumnVector vB(3);
1017	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1018
1019	if (irc != success) {
1020	return irc;
1021	}
1022
1023	// Precise Position
1024	// ----------------
1025	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1026
1027	if (xP.size() == 0) {
1028	return failure;
1029	}
1030
1031	double dc = 0.0;
1032	if (_crdTrafo != "IGS14") {
1033	crdTrafo(GPSweek, xP, dc);
1034	}
1035
1036	// Difference in xyz
1037	// -----------------
1038	ColumnVector dx = xB.Rows(1, 3) - xP;
1039	ColumnVector dv = vB - rtnVel;
1040
1041	// Difference in RSW
1042	// -----------------
1043	ColumnVector rsw(3);
1044	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1045
1046	ColumnVector dotRsw(3);
1047	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1048
1049	// Clock Correction
1050	// ----------------
1051	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1052	double dClkA1 = 0.0;
1053	if (rtnClk(2)) {
1054	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1055	}
1056	double dClkA2 = 0.0;
1057	if (rtnClk(3)) {
1058	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1059	}
1060
1061	if (sd) {
1062	sd->ID = prn.mid(1).toInt();
1063	sd->IOD = eph->IOD();
1064	sd->Clock.DeltaA0 = dClkA0;
1065	sd->Clock.DeltaA1 = dClkA1;
1066	sd->Clock.DeltaA2 = dClkA2;
1067	sd->UserRangeAccuracy = rtnUra;
1068	sd->Orbit.DeltaRadial = rsw(1);
1069	sd->Orbit.DeltaAlongTrack = rsw(2);
1070	sd->Orbit.DeltaCrossTrack = rsw(3);
1071	sd->Orbit.DotDeltaRadial = dotRsw(1);
1072	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1073	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1074
1075	if (corrIsOutOfRange(sd)) {
1076	return failure;
1077	}
1078	}
1079
1080	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1081	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1082	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1083
1084	// RTNET full clock for RINEX and SP3 file
1085	// ---------------------------------------
1086	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1087	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1088	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1089	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1090
1091	if (_rnx) {
1092	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1093	int s = rtnClkSig.size();
1094	switch (s) {
1095	case 1:
1096	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1097	clkRnxRateSig = 0.0; // [s/s = -]
1098	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1099	break;
1100	case 2:
1101	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1102	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1103	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1104	break;
1105	case 3:
1106	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1107	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1108	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1109	break;
1110	}
1111	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1112	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1113	}
1114	if (_sp3) {
1115	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1116	}
1117	return success;
1118	}
1119
1120	// Transform Coordinates
1121	////////////////////////////////////////////////////////////////////////////
1122	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1123	double& dc) {
1124
1125	// Current epoch minus 2000.0 in years
1126	// ------------------------------------
1127	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1128
1129	ColumnVector dx(3);
1130
1131	dx(1) = _dx + dt * _dxr;
1132	dx(2) = _dy + dt * _dyr;
1133	dx(3) = _dz + dt * _dzr;
1134
1135	static const double arcSec = 180.0 * 3600.0 / M_PI;
1136
1137	double ox = (_ox + dt * _oxr) / arcSec;
1138	double oy = (_oy + dt * _oyr) / arcSec;
1139	double oz = (_oz + dt * _ozr) / arcSec;
1140
1141	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1142
1143	// Specify approximate center of area
1144	// ----------------------------------
1145	ColumnVector meanSta(3);
1146
1147	if (_crdTrafo == "ETRF2000") {
1148	meanSta(1) = 3661090.0;
1149	meanSta(2) = 845230.0;
1150	meanSta(3) = 5136850.0;
1151	}
1152	else if (_crdTrafo == "GDA2020") {
1153	meanSta(1) = -4052050.0;
1154	meanSta(2) = 4212840.0;
1155	meanSta(3) = -2545110.0;
1156	}
1157	else if (_crdTrafo == "SIRGAS2000") {
1158	meanSta(1) = 3740860.0;
1159	meanSta(2) = -4964290.0;
1160	meanSta(3) = -1425420.0;
1161	}
1162	else if (_crdTrafo == "DREF91") {
1163	meanSta(1) = 3959579.0;
1164	meanSta(2) = 721719.0;
1165	meanSta(3) = 4931539.0;
1166	}
1167	else if (_crdTrafo == "Custom") {
1168	meanSta(1) = 0.0; // TODO
1169	meanSta(2) = 0.0; // TODO
1170	meanSta(3) = 0.0; // TODO
1171	}
1172
1173	// Clock correction proportional to topocentric distance to satellites
1174	// -------------------------------------------------------------------
1175	double rho = (xyz - meanSta).NormFrobenius();
1176	dc = rho * (sc - 1.0) / sc / t_CST::c;
1177
1178	Matrix rMat(3, 3);
1179	rMat(1, 1) = 1.0;
1180	rMat(1, 2) = -oz;
1181	rMat(1, 3) = oy;
1182	rMat(2, 1) = oz;
1183	rMat(2, 2) = 1.0;
1184	rMat(2, 3) = -ox;
1185	rMat(3, 1) = -oy;
1186	rMat(3, 2) = ox;
1187	rMat(3, 3) = 1.0;
1188
1189	xyz = sc * rMat * xyz + dx;
1190	}
1191
1192	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1193
1194	if (samplingRate == 10.0) {
1195	return 3;
1196	}
1197	else if (samplingRate == 15.0) {
1198	return 4;
1199	}
1200	else if (samplingRate == 30.0) {
1201	return 5;
1202	}
1203	else if (samplingRate == 60.0) {
1204	return 6;
1205	}
1206	else if (samplingRate == 120.0) {
1207	return 7;
1208	}
1209	else if (samplingRate == 240.0) {
1210	return 8;
1211	}
1212	else if (samplingRate == 300.0) {
1213	return 9;
1214	}
1215	else if (samplingRate == 600.0) {
1216	return 10;
1217	}
1218	else if (samplingRate == 900.0) {
1219	return 11;
1220	}
1221	else if (samplingRate == 1800.0) {
1222	return 12;
1223	}
1224	else if (samplingRate == 3600.0) {
1225	return 13;
1226	}
1227	else if (samplingRate == 7200.0) {
1228	return 14;
1229	}
1230	else if (samplingRate == 10800.0) {
1231	return 15;
1232	}
1233	return 2; // default
1234	}
1235
1236	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1237
1238	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1239	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1240	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1241
1242	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1243	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1244	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1245
1246	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1247	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1248	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1249	return false;
1250	}

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

Download in other formats: