Context Navigation

source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9842

Last change on this file since 9842 was 9842, checked in by stuerze, 19 months ago
restore RTNET buffer reading code
File size: 39.4 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	// Read first line (with epoch time)
313	// ---------------------------------
314	QTextStream in(lines[0].toLatin1());
315	QString hlp;
316	int year, month, day, hour, min;
317	double sec;
318	in >> hlp >> year >> month >> day >> hour >> min >> sec;
319	bncTime epoTime;
320	epoTime.set(year, month, day, hour, min, sec);
321
322	emit(newMessage(
323	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
324	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
325	+ _casterID.toLatin1(), false));
326
327	struct SsrCorr::ClockOrbit co;
328	memset(&co, 0, sizeof(co));
329	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
330	if (_ssrFormat == "RTCM-SSR") {
331	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
332	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
333	}
334	else if (_ssrFormat == "IGS-SSR") {
335	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
336	}
337	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
338	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
339	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
340	if (_ssrFormat == "RTCM-SSR") {
341	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
342	}
343	else if (_ssrFormat == "IGS-SSR") {
344	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
345	}
346	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
347	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
348	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
349	co.SSRIOD = _IOD;
350	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
351	co.SSRSolutionID = _SID;
352
353	struct SsrCorr::CodeBias bias;
354	memset(&bias, 0, sizeof(bias));
355	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
356	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
357	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
358	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
359	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
360	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
361	bias.SSRIOD = _IOD;
362	bias.SSRProviderID = _PID;
363	bias.SSRSolutionID = _SID;
364
365	struct SsrCorr::PhaseBias phasebias;
366	memset(&phasebias, 0, sizeof(phasebias));
367	unsigned int dispersiveBiasConsistenyIndicator = 0;
368	unsigned int mwConsistencyIndicator = 0;
369	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
370	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
371	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
372	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
373	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
374	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
375	phasebias.SSRIOD = _IOD;
376	phasebias.SSRProviderID = _PID;
377	phasebias.SSRSolutionID = _SID;
378
379	struct SsrCorr::VTEC vtec;
380	memset(&vtec, 0, sizeof(vtec));
381	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
382	vtec.SSRIOD = _IOD;
383	vtec.SSRProviderID = _PID;
384	vtec.SSRSolutionID = _SID;
385
386	// Default Update Interval
387	// -----------------------
388	int clkUpdInd = 2; // 5 sec
389	int ephUpdInd = clkUpdInd; // default
390
391	if (!_samplRtcmEphCorr) {
392	_samplRtcmEphCorr = 5.0;
393	}
394
395	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
396	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
397	}
398	if (_samplRtcmClkCorr > 5.0) {
399	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
400	}
401	if (_samplRtcmEphCorr > 5.0) {
402	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
403	}
404
405	co.UpdateInterval = clkUpdInd;
406	bias.UpdateInterval = ephUpdInd;
407	phasebias.UpdateInterval = ephUpdInd;
408
409	for (int ii = 1; ii < lines.size(); ii++) {
410	QString key; // prn or key VTEC, IND (phase bias indicators)
411	double rtnUra = 0.0; // [m]
412	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
413	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
414	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
415	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
416	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
417	t_prn prn;
418
419	QTextStream in(lines[ii].toLatin1());
420
421	in >> key;
422
423	// non-satellite specific parameters
424	if (key.contains("IND", Qt::CaseSensitive)) {
425	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
426	continue;
427	}
428	// non-satellite specific parameters
429	if (key.contains("VTEC", Qt::CaseSensitive)) {
430	double ui;
431	in >> ui >> vtec.NumLayers;
432	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
433	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
434	int dummy;
435	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
436	>> vtec.Layers[ll].Height;
437	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
438	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
439	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
440	}
441	}
442	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
443	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
444	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
445	}
446	}
447	}
448	continue;
449	}
450	// satellite specific parameters
451	char sys = key.mid(0, 1).at(0).toLatin1();
452	int number = key.mid(1, 2).toInt();
453	int flags = 0;
454	if (sys == 'E') { // I/NAV
455	flags = 1;
456	}
457	if (number == 0) {
458	continue;
459	}
460	prn.set(sys, number, flags);
461	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
462	QString prnStr = QString::fromStdString(prn.toString());
463
464	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
465	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
466	const t_eph* eph = ephLast;
467	if (eph) {
468
469	// Use previous ephemeris if the last one is too recent
470	// ----------------------------------------------------
471	const int MINAGE = 60; // seconds
472	if (ephPrev && eph->receptDateTime().isValid()
473	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
474	eph = ephPrev;
475	}
476
477	// Make sure the clock messages refer to same IOD as orbit messages
478	// ----------------------------------------------------------------
479	if (_usedEph) {
480	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
481	(*_usedEph)[prnInternalStr] = eph;
482	}
483	else {
484	eph = 0;
485	if (_usedEph->contains(prnInternalStr)) {
486	const t_eph* usedEph = _usedEph->value(prnInternalStr);
487	if (usedEph == ephLast) {
488	eph = ephLast;
489	}
490	else if (usedEph == ephPrev) {
491	eph = ephPrev;
492	}
493	}
494	}
495	}
496	}
497
498	if (eph &&
499	!outDatedBcep(eph) && // detected from storage because of no update
500	eph->checkState() != t_eph::bad &&
501	eph->checkState() != t_eph::unhealthy &&
502	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
503	QMap<QString, double> codeBiases;
504	QList<phaseBiasSignal> phaseBiasList;
505	phaseBiasesSat pbSat;
506	_phaseBiasInformationDecoded = false;
507
508	while (true) {
509	QString key;
510	int numVal = 0;
511	in >> key;
512	if (in.status() != QTextStream::Ok) {
513	break;
514	}
515	if (key == "APC") {
516	in >> numVal;
517	rtnAPC.ReSize(3); rtnAPC = 0.0;
518	for (int ii = 0; ii < numVal; ii++) {
519	in >> rtnAPC[ii];
520	}
521	}
522	else if (key == "Ura") {
523	in >> numVal;
524	if (numVal == 1)
525	in >> rtnUra;
526	}
527	else if (key == "Clk") {
528	in >> numVal;
529	rtnClk.ReSize(3); rtnClk = 0.0;
530	for (int ii = 0; ii < numVal; ii++) {
531	in >> rtnClk[ii];
532	}
533	}
534	else if (key == "ClkSig") {
535	in >> numVal;
536	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
537	for (int ii = 0; ii < numVal; ii++) {
538	in >> rtnClkSig[ii];
539	}
540	}
541	else if (key == "Vel") {
542	in >> numVal;
543	rtnVel.ReSize(3); rtnVel = 0.0;
544	for (int ii = 0; ii < numVal; ii++) {
545	in >> rtnVel[ii];
546	}
547	}
548	else if (key == "CoM") {
549	in >> numVal;
550	rtnCoM.ReSize(3); rtnCoM = 0.0;
551	for (int ii = 0; ii < numVal; ii++) {
552	in >> rtnCoM[ii];
553	}
554	}
555	else if (key == "CodeBias") {
556	in >> numVal;
557	for (int ii = 0; ii < numVal; ii++) {
558	QString type;
559	double value;
560	in >> type >> value;
561	codeBiases[type] = value;
562	}
563	}
564	else if (key == "YawAngle") {
565	_phaseBiasInformationDecoded = true;
566	in >> numVal >> pbSat.yawAngle;
567	if (pbSat.yawAngle < 0.0) {
568	pbSat.yawAngle += (2*M_PI);
569	}
570	else if (pbSat.yawAngle > 2*M_PI) {
571	pbSat.yawAngle -= (2*M_PI);
572	}
573	}
574	else if (key == "YawRate") {
575	_phaseBiasInformationDecoded = true;
576	in >> numVal >> pbSat.yawRate;
577	}
578	else if (key == "PhaseBias") {
579	_phaseBiasInformationDecoded = true;
580	in >> numVal;
581	for (int ii = 0; ii < numVal; ii++) {
582	phaseBiasSignal pb;
583	in >> pb.type >> pb.bias >> pb.integerIndicator
584	>> pb.wlIndicator >> pb.discontinuityCounter;
585	phaseBiasList.append(pb);
586	}
587	}
588	else {
589	in >> numVal;
590	for (int ii = 0; ii < numVal; ii++) {
591	double dummy;
592	in >> dummy;
593	}
594	emit(newMessage(" RTNET format error: "
595	+ lines[ii].toLatin1(), false));
596	break;
597	}
598	}
599
600	struct SsrCorr::ClockOrbit::SatData* sd = 0;
601	if (prn.system() == 'G') {
602	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
603	++co.NumberOfSat[CLOCKORBIT_SATGPS];
604	}
605	else if (prn.system() == 'R') {
606	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
607	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
608	}
609	else if (prn.system() == 'E') {
610	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
611	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
612	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
613	}
614	else if (prn.system() == 'J') {
615	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
616	+ CLOCKORBIT_NUMGALILEO
617	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
618	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
619	}
620	else if (prn.system() == 'S') {
621	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
622	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
623	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
624	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
625	}
626	else if (prn.system() == 'C') {
627	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
628	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
629	+ CLOCKORBIT_NUMSBAS
630	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
631	++co.NumberOfSat[CLOCKORBIT_SATBDS];
632	}
633	if (sd) {
634	QString outLine;
635	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
636	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
637	if (irc != success) {
638	continue;
639	}
640	}
641
642	// Code Biases
643	// -----------
644	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
645	if (!codeBiases.isEmpty()) {
646	if (prn.system() == 'G') {
647	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
648	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
649	}
650	else if (prn.system() == 'R') {
651	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
652	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
653	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
654	}
655	else if (prn.system() == 'E') {
656	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
657	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
658	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
659	}
660	else if (prn.system() == 'J') {
661	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
662	+ CLOCKORBIT_NUMGALILEO
663	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
664	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
665	}
666	else if (prn.system() == 'S') {
667	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
668	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
669	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
670	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
671	}
672	else if (prn.system() == 'C') {
673	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
674	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
675	+ CLOCKORBIT_NUMSBAS
676	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
677	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
678	}
679	}
680
681	if (biasSat) {
682	biasSat->ID = prn.number();
683	biasSat->NumberOfCodeBiases = 0;
684	QMapIterator<QString, double> it(codeBiases);
685	while (it.hasNext()) {
686	it.next();
687	int ii = biasSat->NumberOfCodeBiases;
688	if (ii >= CLOCKORBIT_NUMBIAS)
689	break;
690	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
691	if (type != _ssrCorr->RESERVED) {
692	biasSat->NumberOfCodeBiases += 1;
693	biasSat->Biases[ii].Type = type;
694	biasSat->Biases[ii].Bias = it.value();
695	if (_bsx) {
696	QString obsCode = 'C' + it.key();
697	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
698	}
699	}
700	}
701	}
702
703	// Phase Biases
704	// ------------
705	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
706	if (prn.system() == 'G') {
707	phasebiasSat = phasebias.Sat
708	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
709	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
710	}
711	else if (prn.system() == 'R') {
712	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
713	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
714	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
715	}
716	else if (prn.system() == 'E') {
717	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
718	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
719	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
720	}
721	else if (prn.system() == 'J') {
722	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
723	+ CLOCKORBIT_NUMGALILEO
724	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
725	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
726	}
727	else if (prn.system() == 'S') {
728	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
729	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
730	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
731	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
732	}
733	else if (prn.system() == 'C') {
734	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
735	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
736	+ CLOCKORBIT_NUMSBAS
737	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
738	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
739	}
740
741	if (phasebiasSat && _phaseBiasInformationDecoded) {
742	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
743	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
744	phasebiasSat->ID = prn.number();
745	phasebiasSat->NumberOfPhaseBiases = 0;
746	phasebiasSat->YawAngle = pbSat.yawAngle;
747	phasebiasSat->YawRate = pbSat.yawRate;
748	QListIterator<phaseBiasSignal> it(phaseBiasList);
749	while (it.hasNext()) {
750	const phaseBiasSignal &pbSig = it.next();
751	int ii = phasebiasSat->NumberOfPhaseBiases;
752	if (ii >= CLOCKORBIT_NUMBIAS)
753	break;
754	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
755	if (type != _ssrCorr->RESERVED) {
756	phasebiasSat->NumberOfPhaseBiases += 1;
757	phasebiasSat->Biases[ii].Type = type;
758	phasebiasSat->Biases[ii].Bias = pbSig.bias;
759	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
760	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
761	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
762	if (_bsx) {
763	QString obsCode = 'L' + pbSig.type;
764	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
765	}
766	}
767	}
768	}
769	}
770	}
771
772	QByteArray hlpBufferCo;
773
774	// Orbit and Clock Corrections together
775	// ------------------------------------
776	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
777	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
778	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
779	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
780	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
781	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
782	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
783	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
784	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
785	if (len > 0) {
786	hlpBufferCo = QByteArray(obuffer, len);
787	}
788	}
789	}
790
791	// Orbit and Clock Corrections separately
792	// --------------------------------------
793	else {
794	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
795	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
796	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
797	co.UpdateInterval = ephUpdInd;
798	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
799	sizeof(obuffer));
800	co.UpdateInterval = clkUpdInd;
801	if (len1 > 0) {
802	hlpBufferCo += QByteArray(obuffer, len1);
803	}
804	}
805	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
806	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
807	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
808	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
809	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
810	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
811	sizeof(obuffer));
812	if (len2 > 0) {
813	hlpBufferCo += QByteArray(obuffer, len2);
814	}
815	}
816	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
817	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
818	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
819	co.UpdateInterval = ephUpdInd;
820	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
821	sizeof(obuffer));
822	co.UpdateInterval = clkUpdInd;
823	if (len1 > 0) {
824	hlpBufferCo += QByteArray(obuffer, len1);
825	}
826	}
827	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
828	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
829	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
830	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
831	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
832	sizeof(obuffer));
833	if (len2 > 0) {
834	hlpBufferCo += QByteArray(obuffer, len2);
835	}
836	}
837	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
838	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
839	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
840	co.UpdateInterval = ephUpdInd;
841	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
842	sizeof(obuffer));
843	co.UpdateInterval = clkUpdInd;
844	if (len1 > 0) {
845	hlpBufferCo += QByteArray(obuffer, len1);
846	}
847	}
848	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
849	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
850	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
851	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
852	sizeof(obuffer));
853	if (len2 > 0) {
854	hlpBufferCo += QByteArray(obuffer, len2);
855	}
856	}
857	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
858	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
859	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
860	co.UpdateInterval = ephUpdInd;
861	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
862	sizeof(obuffer));
863	co.UpdateInterval = clkUpdInd;
864	if (len1 > 0) {
865	hlpBufferCo += QByteArray(obuffer, len1);
866	}
867	}
868	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
869	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
870	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
871	sizeof(obuffer));
872	if (len2 > 0) {
873	hlpBufferCo += QByteArray(obuffer, len2);
874	}
875	}
876	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 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_SBASORBIT, 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_SATBDS] > 0) ? 1 : 0;
888	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
889	sizeof(obuffer));
890	if (len2 > 0) {
891	hlpBufferCo += QByteArray(obuffer, len2);
892	}
893	}
894	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 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_BDSORBIT, 1, obuffer,
899	sizeof(obuffer));
900	co.UpdateInterval = clkUpdInd;
901	if (len1 > 0) {
902	hlpBufferCo += QByteArray(obuffer, len1);
903	}
904	}
905	int mmsg = 0;
906	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
907	sizeof(obuffer));
908	if (len2 > 0) {
909	hlpBufferCo += QByteArray(obuffer, len2);
910	}
911	}
912	}
913
914	// Code Biases
915	// -----------
916	QByteArray hlpBufferBias;
917	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
918	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
919	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
920	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
921	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
922	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
923	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
924	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
925	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
926	if (len > 0) {
927	hlpBufferBias = QByteArray(obuffer, len);
928	}
929	}
930	}
931
932	// Phase Biases
933	// ------------
934	QByteArray hlpBufferPhaseBias;
935	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
936	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
937	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
938	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
939	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
940	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
941	&& (_phaseBiasInformationDecoded)) {
942	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
943	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
944	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
945	if (len > 0) {
946	hlpBufferPhaseBias = QByteArray(obuffer, len);
947	}
948	}
949	}
950
951	// VTEC
952	// ----
953	QByteArray hlpBufferVtec;
954	if (vtec.NumLayers > 0) {
955	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
956	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
957	if (len > 0) {
958	hlpBufferVtec = QByteArray(obuffer, len);
959	}
960	}
961
962	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
963	+ hlpBufferVtec + '\0';
964	}
965
966	//
967	////////////////////////////////////////////////////////////////////////////
968	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
969	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
970	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
971	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
972	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
973
974	// Broadcast Position and Velocity
975	// -------------------------------
976	ColumnVector xB(6);
977	ColumnVector vB(3);
978	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
979
980	if (irc != success) {
981	return irc;
982	}
983
984	// Precise Position
985	// ----------------
986	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
987
988	if (xP.size() == 0) {
989	return failure;
990	}
991
992	double dc = 0.0;
993	if (_crdTrafo != "IGS14") {
994	crdTrafo(GPSweek, xP, dc);
995	}
996
997	// Difference in xyz
998	// -----------------
999	ColumnVector dx = xB.Rows(1, 3) - xP;
1000	ColumnVector dv = vB - rtnVel;
1001
1002	// Difference in RSW
1003	// -----------------
1004	ColumnVector rsw(3);
1005	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1006
1007	ColumnVector dotRsw(3);
1008	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1009
1010	// Clock Correction
1011	// ----------------
1012	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1013	double dClkA1 = 0.0;
1014	if (rtnClk(2)) {
1015	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1016	}
1017	double dClkA2 = 0.0;
1018	if (rtnClk(3)) {
1019	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1020	}
1021
1022	if (sd) {
1023	sd->ID = prn.mid(1).toInt();
1024	sd->IOD = eph->IOD();
1025	sd->Clock.DeltaA0 = dClkA0;
1026	sd->Clock.DeltaA1 = dClkA1;
1027	sd->Clock.DeltaA2 = dClkA2;
1028	sd->UserRangeAccuracy = rtnUra;
1029	sd->Orbit.DeltaRadial = rsw(1);
1030	sd->Orbit.DeltaAlongTrack = rsw(2);
1031	sd->Orbit.DeltaCrossTrack = rsw(3);
1032	sd->Orbit.DotDeltaRadial = dotRsw(1);
1033	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1034	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1035
1036	if (corrIsOutOfRange(sd)) {
1037	return failure;
1038	}
1039	}
1040
1041	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1042	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1043	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1044
1045	// RTNET full clock for RINEX and SP3 file
1046	// ---------------------------------------
1047	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1048	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1049	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1050	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1051
1052	if (_rnx) {
1053	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1054	int s = rtnClkSig.size();
1055	switch (s) {
1056	case 1:
1057	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1058	clkRnxRateSig = 0.0; // [s/s = -]
1059	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1060	break;
1061	case 2:
1062	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1063	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1064	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1065	break;
1066	case 3:
1067	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1068	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1069	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1070	break;
1071	}
1072	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1073	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1074	}
1075	if (_sp3) {
1076	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1077	}
1078	return success;
1079	}
1080
1081	// Transform Coordinates
1082	////////////////////////////////////////////////////////////////////////////
1083	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1084	double& dc) {
1085
1086	// Current epoch minus 2000.0 in years
1087	// ------------------------------------
1088	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1089
1090	ColumnVector dx(3);
1091
1092	dx(1) = _dx + dt * _dxr;
1093	dx(2) = _dy + dt * _dyr;
1094	dx(3) = _dz + dt * _dzr;
1095
1096	static const double arcSec = 180.0 * 3600.0 / M_PI;
1097
1098	double ox = (_ox + dt * _oxr) / arcSec;
1099	double oy = (_oy + dt * _oyr) / arcSec;
1100	double oz = (_oz + dt * _ozr) / arcSec;
1101
1102	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1103
1104	// Specify approximate center of area
1105	// ----------------------------------
1106	ColumnVector meanSta(3);
1107
1108	if (_crdTrafo == "ETRF2000") {
1109	meanSta(1) = 3661090.0;
1110	meanSta(2) = 845230.0;
1111	meanSta(3) = 5136850.0;
1112	}
1113	else if (_crdTrafo == "GDA2020") {
1114	meanSta(1) = -4052050.0;
1115	meanSta(2) = 4212840.0;
1116	meanSta(3) = -2545110.0;
1117	}
1118	else if (_crdTrafo == "SIRGAS2000") {
1119	meanSta(1) = 3740860.0;
1120	meanSta(2) = -4964290.0;
1121	meanSta(3) = -1425420.0;
1122	}
1123	else if (_crdTrafo == "DREF91") {
1124	meanSta(1) = 3959579.0;
1125	meanSta(2) = 721719.0;
1126	meanSta(3) = 4931539.0;
1127	}
1128	else if (_crdTrafo == "Custom") {
1129	meanSta(1) = 0.0; // TODO
1130	meanSta(2) = 0.0; // TODO
1131	meanSta(3) = 0.0; // TODO
1132	}
1133
1134	// Clock correction proportional to topocentric distance to satellites
1135	// -------------------------------------------------------------------
1136	double rho = (xyz - meanSta).NormFrobenius();
1137	dc = rho * (sc - 1.0) / sc / t_CST::c;
1138
1139	Matrix rMat(3, 3);
1140	rMat(1, 1) = 1.0;
1141	rMat(1, 2) = -oz;
1142	rMat(1, 3) = oy;
1143	rMat(2, 1) = oz;
1144	rMat(2, 2) = 1.0;
1145	rMat(2, 3) = -ox;
1146	rMat(3, 1) = -oy;
1147	rMat(3, 2) = ox;
1148	rMat(3, 3) = 1.0;
1149
1150	xyz = sc * rMat * xyz + dx;
1151	}
1152
1153	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1154
1155	if (samplingRate == 10.0) {
1156	return 3;
1157	}
1158	else if (samplingRate == 15.0) {
1159	return 4;
1160	}
1161	else if (samplingRate == 30.0) {
1162	return 5;
1163	}
1164	else if (samplingRate == 60.0) {
1165	return 6;
1166	}
1167	else if (samplingRate == 120.0) {
1168	return 7;
1169	}
1170	else if (samplingRate == 240.0) {
1171	return 8;
1172	}
1173	else if (samplingRate == 300.0) {
1174	return 9;
1175	}
1176	else if (samplingRate == 600.0) {
1177	return 10;
1178	}
1179	else if (samplingRate == 900.0) {
1180	return 11;
1181	}
1182	else if (samplingRate == 1800.0) {
1183	return 12;
1184	}
1185	else if (samplingRate == 3600.0) {
1186	return 13;
1187	}
1188	else if (samplingRate == 7200.0) {
1189	return 14;
1190	}
1191	else if (samplingRate == 10800.0) {
1192	return 15;
1193	}
1194	return 2; // default
1195	}
1196
1197	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1198
1199	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1200	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1201	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1202
1203	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1204	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1205	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1206
1207	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1208	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1209	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1210	return false;
1211	}

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

Download in other formats: