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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9841

Last change on this file since 9841 was 9841, checked in by stuerze, 19 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	/* Append to internal buffer
268	// -------------------------
269	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
270
271	// Select buffer part that contains last epoch
272	// -------------------------------------------
273	QStringList lines;
274	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
275	if (iEpoBeg == -1) {
276	_rtnetStreamBuffer.clear();
277	return;
278	}
279	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
280	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
281	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
282	}
283	else {
284	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
285	}
286	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
287	if (iEpoEnd == -1) {
288	return;
289	}
290
291	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
292	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
293	int nextEpoch = rtnetStreamBuffer.indexOf('*');
294	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
295	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
296	}
297	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
298	break;
299	}
300	}
301
302	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
303
304	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
305
306	if (lines.size() < 2) {
307	emit(newMessage(
308	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
309	return;
310	}
311	*/
312
313	// Append to internal buffer
314	// -------------------------
315	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
316
317	// Select buffer part that contains last epoch
318	// -------------------------------------------
319	QStringList lines;
320	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
321	if (iEpoBeg == -1) {
322	_rtnetStreamBuffer.clear();
323	return;
324	}
325	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
326
327	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
328	if (iEpoEnd == -1) {
329	return;
330	}
331	else {
332	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
333	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
334	}
335
336	if (lines.size() < 2) {
337	emit(newMessage(
338	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
339	return;
340	}
341
342	// Keep the last unfinished line in buffer
343	// ---------------------------------------
344	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
345	if (iLastEOL != -1) {
346	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
347	}
348
349	// Read first line (with epoch time)
350	// ---------------------------------
351	QTextStream in(lines[0].toLatin1());
352	QString hlp;
353	int year, month, day, hour, min;
354	double sec;
355	in >> hlp >> year >> month >> day >> hour >> min >> sec;
356	bncTime epoTime;
357	epoTime.set(year, month, day, hour, min, sec);
358
359	emit(newMessage(
360	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
361	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
362	+ _casterID.toLatin1(), false));
363
364	struct SsrCorr::ClockOrbit co;
365	memset(&co, 0, sizeof(co));
366	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
367	if (_ssrFormat == "RTCM-SSR") {
368	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
369	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
370	}
371	else if (_ssrFormat == "IGS-SSR") {
372	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
373	}
374	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
375	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
376	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
377	if (_ssrFormat == "RTCM-SSR") {
378	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
379	}
380	else if (_ssrFormat == "IGS-SSR") {
381	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
382	}
383	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
384	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
385	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
386	co.SSRIOD = _IOD;
387	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
388	co.SSRSolutionID = _SID;
389
390	struct SsrCorr::CodeBias bias;
391	memset(&bias, 0, sizeof(bias));
392	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
393	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
394	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
395	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
396	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
397	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
398	bias.SSRIOD = _IOD;
399	bias.SSRProviderID = _PID;
400	bias.SSRSolutionID = _SID;
401
402	struct SsrCorr::PhaseBias phasebias;
403	memset(&phasebias, 0, sizeof(phasebias));
404	unsigned int dispersiveBiasConsistenyIndicator = 0;
405	unsigned int mwConsistencyIndicator = 0;
406	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
407	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
408	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
409	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
410	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
411	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
412	phasebias.SSRIOD = _IOD;
413	phasebias.SSRProviderID = _PID;
414	phasebias.SSRSolutionID = _SID;
415
416	struct SsrCorr::VTEC vtec;
417	memset(&vtec, 0, sizeof(vtec));
418	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
419	vtec.SSRIOD = _IOD;
420	vtec.SSRProviderID = _PID;
421	vtec.SSRSolutionID = _SID;
422
423	// Default Update Interval
424	// -----------------------
425	int clkUpdInd = 2; // 5 sec
426	int ephUpdInd = clkUpdInd; // default
427
428	if (!_samplRtcmEphCorr) {
429	_samplRtcmEphCorr = 5.0;
430	}
431
432	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
433	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
434	}
435	if (_samplRtcmClkCorr > 5.0) {
436	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
437	}
438	if (_samplRtcmEphCorr > 5.0) {
439	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
440	}
441
442	co.UpdateInterval = clkUpdInd;
443	bias.UpdateInterval = ephUpdInd;
444	phasebias.UpdateInterval = ephUpdInd;
445
446	for (int ii = 1; ii < lines.size(); ii++) {
447	QString key; // prn or key VTEC, IND (phase bias indicators)
448	double rtnUra = 0.0; // [m]
449	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
450	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
451	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
452	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
453	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
454	t_prn prn;
455
456	QTextStream in(lines[ii].toLatin1());
457
458	in >> key;
459
460	// non-satellite specific parameters
461	if (key.contains("IND", Qt::CaseSensitive)) {
462	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
463	continue;
464	}
465	// non-satellite specific parameters
466	if (key.contains("VTEC", Qt::CaseSensitive)) {
467	double ui;
468	in >> ui >> vtec.NumLayers;
469	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
470	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
471	int dummy;
472	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
473	>> vtec.Layers[ll].Height;
474	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
475	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
476	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
477	}
478	}
479	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
480	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
481	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
482	}
483	}
484	}
485	continue;
486	}
487	// satellite specific parameters
488	char sys = key.mid(0, 1).at(0).toLatin1();
489	int number = key.mid(1, 2).toInt();
490	int flags = 0;
491	if (sys == 'E') { // I/NAV
492	flags = 1;
493	}
494	if (number == 0) {
495	continue;
496	}
497	prn.set(sys, number, flags);
498	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
499	QString prnStr = QString::fromStdString(prn.toString());
500
501	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
502	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
503	const t_eph* eph = ephLast;
504	if (eph) {
505
506	// Use previous ephemeris if the last one is too recent
507	// ----------------------------------------------------
508	const int MINAGE = 60; // seconds
509	if (ephPrev && eph->receptDateTime().isValid()
510	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
511	eph = ephPrev;
512	}
513
514	// Make sure the clock messages refer to same IOD as orbit messages
515	// ----------------------------------------------------------------
516	if (_usedEph) {
517	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
518	(*_usedEph)[prnInternalStr] = eph;
519	}
520	else {
521	eph = 0;
522	if (_usedEph->contains(prnInternalStr)) {
523	const t_eph* usedEph = _usedEph->value(prnInternalStr);
524	if (usedEph == ephLast) {
525	eph = ephLast;
526	}
527	else if (usedEph == ephPrev) {
528	eph = ephPrev;
529	}
530	}
531	}
532	}
533	}
534
535	if (eph &&
536	!outDatedBcep(eph) && // detected from storage because of no update
537	eph->checkState() != t_eph::bad &&
538	eph->checkState() != t_eph::unhealthy &&
539	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
540	QMap<QString, double> codeBiases;
541	QList<phaseBiasSignal> phaseBiasList;
542	phaseBiasesSat pbSat;
543	_phaseBiasInformationDecoded = false;
544
545	while (true) {
546	QString key;
547	int numVal = 0;
548	in >> key;
549	if (in.status() != QTextStream::Ok) {
550	break;
551	}
552	if (key == "APC") {
553	in >> numVal;
554	rtnAPC.ReSize(3); rtnAPC = 0.0;
555	for (int ii = 0; ii < numVal; ii++) {
556	in >> rtnAPC[ii];
557	}
558	}
559	else if (key == "Ura") {
560	in >> numVal;
561	if (numVal == 1)
562	in >> rtnUra;
563	}
564	else if (key == "Clk") {
565	in >> numVal;
566	rtnClk.ReSize(3); rtnClk = 0.0;
567	for (int ii = 0; ii < numVal; ii++) {
568	in >> rtnClk[ii];
569	}
570	}
571	else if (key == "ClkSig") {
572	in >> numVal;
573	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
574	for (int ii = 0; ii < numVal; ii++) {
575	in >> rtnClkSig[ii];
576	}
577	}
578	else if (key == "Vel") {
579	in >> numVal;
580	rtnVel.ReSize(3); rtnVel = 0.0;
581	for (int ii = 0; ii < numVal; ii++) {
582	in >> rtnVel[ii];
583	}
584	}
585	else if (key == "CoM") {
586	in >> numVal;
587	rtnCoM.ReSize(3); rtnCoM = 0.0;
588	for (int ii = 0; ii < numVal; ii++) {
589	in >> rtnCoM[ii];
590	}
591	}
592	else if (key == "CodeBias") {
593	in >> numVal;
594	for (int ii = 0; ii < numVal; ii++) {
595	QString type;
596	double value;
597	in >> type >> value;
598	codeBiases[type] = value;
599	}
600	}
601	else if (key == "YawAngle") {
602	_phaseBiasInformationDecoded = true;
603	in >> numVal >> pbSat.yawAngle;
604	if (pbSat.yawAngle < 0.0) {
605	pbSat.yawAngle += (2*M_PI);
606	}
607	else if (pbSat.yawAngle > 2*M_PI) {
608	pbSat.yawAngle -= (2*M_PI);
609	}
610	}
611	else if (key == "YawRate") {
612	_phaseBiasInformationDecoded = true;
613	in >> numVal >> pbSat.yawRate;
614	}
615	else if (key == "PhaseBias") {
616	_phaseBiasInformationDecoded = true;
617	in >> numVal;
618	for (int ii = 0; ii < numVal; ii++) {
619	phaseBiasSignal pb;
620	in >> pb.type >> pb.bias >> pb.integerIndicator
621	>> pb.wlIndicator >> pb.discontinuityCounter;
622	phaseBiasList.append(pb);
623	}
624	}
625	else {
626	in >> numVal;
627	for (int ii = 0; ii < numVal; ii++) {
628	double dummy;
629	in >> dummy;
630	}
631	emit(newMessage(" RTNET format error: "
632	+ lines[ii].toLatin1(), false));
633	break;
634	}
635	}
636
637	struct SsrCorr::ClockOrbit::SatData* sd = 0;
638	if (prn.system() == 'G') {
639	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
640	++co.NumberOfSat[CLOCKORBIT_SATGPS];
641	}
642	else if (prn.system() == 'R') {
643	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
644	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
645	}
646	else if (prn.system() == 'E') {
647	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
648	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
649	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
650	}
651	else if (prn.system() == 'J') {
652	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
653	+ CLOCKORBIT_NUMGALILEO
654	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
655	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
656	}
657	else if (prn.system() == 'S') {
658	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
659	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
660	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
661	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
662	}
663	else if (prn.system() == 'C') {
664	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
665	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
666	+ CLOCKORBIT_NUMSBAS
667	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
668	++co.NumberOfSat[CLOCKORBIT_SATBDS];
669	}
670	if (sd) {
671	QString outLine;
672	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
673	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
674	if (irc != success) {
675	continue;
676	}
677	}
678
679	// Code Biases
680	// -----------
681	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
682	if (!codeBiases.isEmpty()) {
683	if (prn.system() == 'G') {
684	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
685	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
686	}
687	else if (prn.system() == 'R') {
688	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
689	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
690	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
691	}
692	else if (prn.system() == 'E') {
693	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
694	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
695	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
696	}
697	else if (prn.system() == 'J') {
698	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
699	+ CLOCKORBIT_NUMGALILEO
700	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
701	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
702	}
703	else if (prn.system() == 'S') {
704	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
705	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
706	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
707	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
708	}
709	else if (prn.system() == 'C') {
710	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
711	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
712	+ CLOCKORBIT_NUMSBAS
713	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
714	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
715	}
716	}
717
718	if (biasSat) {
719	biasSat->ID = prn.number();
720	biasSat->NumberOfCodeBiases = 0;
721	QMapIterator<QString, double> it(codeBiases);
722	while (it.hasNext()) {
723	it.next();
724	int ii = biasSat->NumberOfCodeBiases;
725	if (ii >= CLOCKORBIT_NUMBIAS)
726	break;
727	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
728	if (type != _ssrCorr->RESERVED) {
729	biasSat->NumberOfCodeBiases += 1;
730	biasSat->Biases[ii].Type = type;
731	biasSat->Biases[ii].Bias = it.value();
732	if (_bsx) {
733	QString obsCode = 'C' + it.key();
734	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
735	}
736	}
737	}
738	}
739
740	// Phase Biases
741	// ------------
742	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
743	if (prn.system() == 'G') {
744	phasebiasSat = phasebias.Sat
745	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
746	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
747	}
748	else if (prn.system() == 'R') {
749	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
750	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
751	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
752	}
753	else if (prn.system() == 'E') {
754	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
755	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
756	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
757	}
758	else if (prn.system() == 'J') {
759	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
760	+ CLOCKORBIT_NUMGALILEO
761	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
762	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
763	}
764	else if (prn.system() == 'S') {
765	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
766	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
767	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
768	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
769	}
770	else if (prn.system() == 'C') {
771	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
772	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
773	+ CLOCKORBIT_NUMSBAS
774	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
775	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
776	}
777
778	if (phasebiasSat && _phaseBiasInformationDecoded) {
779	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
780	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
781	phasebiasSat->ID = prn.number();
782	phasebiasSat->NumberOfPhaseBiases = 0;
783	phasebiasSat->YawAngle = pbSat.yawAngle;
784	phasebiasSat->YawRate = pbSat.yawRate;
785	QListIterator<phaseBiasSignal> it(phaseBiasList);
786	while (it.hasNext()) {
787	const phaseBiasSignal &pbSig = it.next();
788	int ii = phasebiasSat->NumberOfPhaseBiases;
789	if (ii >= CLOCKORBIT_NUMBIAS)
790	break;
791	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
792	if (type != _ssrCorr->RESERVED) {
793	phasebiasSat->NumberOfPhaseBiases += 1;
794	phasebiasSat->Biases[ii].Type = type;
795	phasebiasSat->Biases[ii].Bias = pbSig.bias;
796	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
797	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
798	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
799	if (_bsx) {
800	QString obsCode = 'L' + pbSig.type;
801	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
802	}
803	}
804	}
805	}
806	}
807	}
808
809	QByteArray hlpBufferCo;
810
811	// Orbit and Clock Corrections together
812	// ------------------------------------
813	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
814	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
815	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
816	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
817	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
818	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
819	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
820	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
821	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
822	if (len > 0) {
823	hlpBufferCo = QByteArray(obuffer, len);
824	}
825	}
826	}
827
828	// Orbit and Clock Corrections separately
829	// --------------------------------------
830	else {
831	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
832	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
833	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
834	co.UpdateInterval = ephUpdInd;
835	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
836	sizeof(obuffer));
837	co.UpdateInterval = clkUpdInd;
838	if (len1 > 0) {
839	hlpBufferCo += QByteArray(obuffer, len1);
840	}
841	}
842	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
843	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
844	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
845	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
846	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
847	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
848	sizeof(obuffer));
849	if (len2 > 0) {
850	hlpBufferCo += QByteArray(obuffer, len2);
851	}
852	}
853	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
854	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
855	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
856	co.UpdateInterval = ephUpdInd;
857	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
858	sizeof(obuffer));
859	co.UpdateInterval = clkUpdInd;
860	if (len1 > 0) {
861	hlpBufferCo += QByteArray(obuffer, len1);
862	}
863	}
864	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
865	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
866	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
867	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
868	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
869	sizeof(obuffer));
870	if (len2 > 0) {
871	hlpBufferCo += QByteArray(obuffer, len2);
872	}
873	}
874	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
875	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
876	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
877	co.UpdateInterval = ephUpdInd;
878	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
879	sizeof(obuffer));
880	co.UpdateInterval = clkUpdInd;
881	if (len1 > 0) {
882	hlpBufferCo += QByteArray(obuffer, len1);
883	}
884	}
885	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
886	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
887	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
888	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
889	sizeof(obuffer));
890	if (len2 > 0) {
891	hlpBufferCo += QByteArray(obuffer, len2);
892	}
893	}
894	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
895	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
896	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
897	co.UpdateInterval = ephUpdInd;
898	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
899	sizeof(obuffer));
900	co.UpdateInterval = clkUpdInd;
901	if (len1 > 0) {
902	hlpBufferCo += QByteArray(obuffer, len1);
903	}
904	}
905	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
906	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
907	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
908	sizeof(obuffer));
909	if (len2 > 0) {
910	hlpBufferCo += QByteArray(obuffer, len2);
911	}
912	}
913	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
914	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
915	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
916	co.UpdateInterval = ephUpdInd;
917	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
918	sizeof(obuffer));
919	co.UpdateInterval = clkUpdInd;
920	if (len1 > 0) {
921	hlpBufferCo += QByteArray(obuffer, len1);
922	}
923	}
924	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
925	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
926	sizeof(obuffer));
927	if (len2 > 0) {
928	hlpBufferCo += QByteArray(obuffer, len2);
929	}
930	}
931	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
932	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
933	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
934	co.UpdateInterval = ephUpdInd;
935	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
936	sizeof(obuffer));
937	co.UpdateInterval = clkUpdInd;
938	if (len1 > 0) {
939	hlpBufferCo += QByteArray(obuffer, len1);
940	}
941	}
942	int mmsg = 0;
943	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
944	sizeof(obuffer));
945	if (len2 > 0) {
946	hlpBufferCo += QByteArray(obuffer, len2);
947	}
948	}
949	}
950
951	// Code Biases
952	// -----------
953	QByteArray hlpBufferBias;
954	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
955	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
956	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
957	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
958	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
959	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
960	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
961	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
962	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
963	if (len > 0) {
964	hlpBufferBias = QByteArray(obuffer, len);
965	}
966	}
967	}
968
969	// Phase Biases
970	// ------------
971	QByteArray hlpBufferPhaseBias;
972	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
973	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
974	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
975	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
976	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
977	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
978	&& (_phaseBiasInformationDecoded)) {
979	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
980	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
981	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
982	if (len > 0) {
983	hlpBufferPhaseBias = QByteArray(obuffer, len);
984	}
985	}
986	}
987
988	// VTEC
989	// ----
990	QByteArray hlpBufferVtec;
991	if (vtec.NumLayers > 0) {
992	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
993	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
994	if (len > 0) {
995	hlpBufferVtec = QByteArray(obuffer, len);
996	}
997	}
998
999	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
1000	+ hlpBufferVtec + '\0';
1001	}
1002
1003	//
1004	////////////////////////////////////////////////////////////////////////////
1005	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1006	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1007	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1008	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1009	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1010
1011	// Broadcast Position and Velocity
1012	// -------------------------------
1013	ColumnVector xB(6);
1014	ColumnVector vB(3);
1015	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1016
1017	if (irc != success) {
1018	return irc;
1019	}
1020
1021	// Precise Position
1022	// ----------------
1023	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1024
1025	if (xP.size() == 0) {
1026	return failure;
1027	}
1028
1029	double dc = 0.0;
1030	if (_crdTrafo != "IGS14") {
1031	crdTrafo(GPSweek, xP, dc);
1032	}
1033
1034	// Difference in xyz
1035	// -----------------
1036	ColumnVector dx = xB.Rows(1, 3) - xP;
1037	ColumnVector dv = vB - rtnVel;
1038
1039	// Difference in RSW
1040	// -----------------
1041	ColumnVector rsw(3);
1042	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1043
1044	ColumnVector dotRsw(3);
1045	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1046
1047	// Clock Correction
1048	// ----------------
1049	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1050	double dClkA1 = 0.0;
1051	if (rtnClk(2)) {
1052	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1053	}
1054	double dClkA2 = 0.0;
1055	if (rtnClk(3)) {
1056	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1057	}
1058
1059	if (sd) {
1060	sd->ID = prn.mid(1).toInt();
1061	sd->IOD = eph->IOD();
1062	sd->Clock.DeltaA0 = dClkA0;
1063	sd->Clock.DeltaA1 = dClkA1;
1064	sd->Clock.DeltaA2 = dClkA2;
1065	sd->UserRangeAccuracy = rtnUra;
1066	sd->Orbit.DeltaRadial = rsw(1);
1067	sd->Orbit.DeltaAlongTrack = rsw(2);
1068	sd->Orbit.DeltaCrossTrack = rsw(3);
1069	sd->Orbit.DotDeltaRadial = dotRsw(1);
1070	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1071	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1072
1073	if (corrIsOutOfRange(sd)) {
1074	return failure;
1075	}
1076	}
1077
1078	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1079	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1080	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1081
1082	// RTNET full clock for RINEX and SP3 file
1083	// ---------------------------------------
1084	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1085	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1086	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1087	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1088
1089	if (_rnx) {
1090	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1091	int s = rtnClkSig.size();
1092	switch (s) {
1093	case 1:
1094	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1095	clkRnxRateSig = 0.0; // [s/s = -]
1096	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1097	break;
1098	case 2:
1099	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1100	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1101	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1102	break;
1103	case 3:
1104	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1105	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1106	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1107	break;
1108	}
1109	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1110	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1111	}
1112	if (_sp3) {
1113	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1114	}
1115	return success;
1116	}
1117
1118	// Transform Coordinates
1119	////////////////////////////////////////////////////////////////////////////
1120	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1121	double& dc) {
1122
1123	// Current epoch minus 2000.0 in years
1124	// ------------------------------------
1125	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1126
1127	ColumnVector dx(3);
1128
1129	dx(1) = _dx + dt * _dxr;
1130	dx(2) = _dy + dt * _dyr;
1131	dx(3) = _dz + dt * _dzr;
1132
1133	static const double arcSec = 180.0 * 3600.0 / M_PI;
1134
1135	double ox = (_ox + dt * _oxr) / arcSec;
1136	double oy = (_oy + dt * _oyr) / arcSec;
1137	double oz = (_oz + dt * _ozr) / arcSec;
1138
1139	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1140
1141	// Specify approximate center of area
1142	// ----------------------------------
1143	ColumnVector meanSta(3);
1144
1145	if (_crdTrafo == "ETRF2000") {
1146	meanSta(1) = 3661090.0;
1147	meanSta(2) = 845230.0;
1148	meanSta(3) = 5136850.0;
1149	}
1150	else if (_crdTrafo == "GDA2020") {
1151	meanSta(1) = -4052050.0;
1152	meanSta(2) = 4212840.0;
1153	meanSta(3) = -2545110.0;
1154	}
1155	else if (_crdTrafo == "SIRGAS2000") {
1156	meanSta(1) = 3740860.0;
1157	meanSta(2) = -4964290.0;
1158	meanSta(3) = -1425420.0;
1159	}
1160	else if (_crdTrafo == "DREF91") {
1161	meanSta(1) = 3959579.0;
1162	meanSta(2) = 721719.0;
1163	meanSta(3) = 4931539.0;
1164	}
1165	else if (_crdTrafo == "Custom") {
1166	meanSta(1) = 0.0; // TODO
1167	meanSta(2) = 0.0; // TODO
1168	meanSta(3) = 0.0; // TODO
1169	}
1170
1171	// Clock correction proportional to topocentric distance to satellites
1172	// -------------------------------------------------------------------
1173	double rho = (xyz - meanSta).NormFrobenius();
1174	dc = rho * (sc - 1.0) / sc / t_CST::c;
1175
1176	Matrix rMat(3, 3);
1177	rMat(1, 1) = 1.0;
1178	rMat(1, 2) = -oz;
1179	rMat(1, 3) = oy;
1180	rMat(2, 1) = oz;
1181	rMat(2, 2) = 1.0;
1182	rMat(2, 3) = -ox;
1183	rMat(3, 1) = -oy;
1184	rMat(3, 2) = ox;
1185	rMat(3, 3) = 1.0;
1186
1187	xyz = sc * rMat * xyz + dx;
1188	}
1189
1190	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1191
1192	if (samplingRate == 10.0) {
1193	return 3;
1194	}
1195	else if (samplingRate == 15.0) {
1196	return 4;
1197	}
1198	else if (samplingRate == 30.0) {
1199	return 5;
1200	}
1201	else if (samplingRate == 60.0) {
1202	return 6;
1203	}
1204	else if (samplingRate == 120.0) {
1205	return 7;
1206	}
1207	else if (samplingRate == 240.0) {
1208	return 8;
1209	}
1210	else if (samplingRate == 300.0) {
1211	return 9;
1212	}
1213	else if (samplingRate == 600.0) {
1214	return 10;
1215	}
1216	else if (samplingRate == 900.0) {
1217	return 11;
1218	}
1219	else if (samplingRate == 1800.0) {
1220	return 12;
1221	}
1222	else if (samplingRate == 3600.0) {
1223	return 13;
1224	}
1225	else if (samplingRate == 7200.0) {
1226	return 14;
1227	}
1228	else if (samplingRate == 10800.0) {
1229	return 15;
1230	}
1231	return 2; // default
1232	}
1233
1234	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1235
1236	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1237	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1238	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1239
1240	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1241	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1242	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1243
1244	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1245	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1246	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1247	return false;
1248	}

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