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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9846

Last change on this file since 9846 was 9846, checked in by stuerze, 19 months ago
restore RTNET buffer reading code
File size: 39.8 KB

Line
1	/* -------------------------------------------------------------------------
2	* BKG NTRIP Server
3	* -------------------------------------------------------------------------
4	*
5	* Class: bncRtnetUploadCaster
6	*
7	* Purpose: Connection to NTRIP Caster
8	*
9	* Author: L. Mervart
10	*
11	* Created: 29-Mar-2011
12	*
13	* Changes:
14	*
15	* -----------------------------------------------------------------------*/
16
17	#include <math.h>
18	#include "bncrtnetuploadcaster.h"
19	#include "bncsettings.h"
20	#include "bncephuser.h"
21	#include "bncclockrinex.h"
22	#include "bncbiassinex.h"
23	#include "bncsp3.h"
24	#include "gnss.h"
25	#include "bncutils.h"
26
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32	const QString& outHost, int outPort,
33	const QString& ntripVersion,
34	const QString& userName, const QString& password,
35	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36	const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
37	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39	if (!mountpoint.isEmpty()) {
40	_casterID += mountpoint;
41	}
42	if (!outHost.isEmpty()) {
43	_casterID += " " + outHost;
44	if (outPort) {
45	_casterID += ":" + QString("%1").arg(outPort, 10);
46	}
47	}
48	if (!crdTrafo.isEmpty()) {
49	_casterID += " " + crdTrafo;
50	}
51	if (!sp3FileName.isEmpty()) {
52	_casterID += " " + sp3FileName;
53	}
54	if (!rnxFileName.isEmpty()) {
55	_casterID += " " + rnxFileName;
56	}
57
58	if (!bsxFileName.isEmpty()) {
59	_casterID += " " + bsxFileName;
60	}
61
62	_crdTrafo = crdTrafo;
63
64	_ssrFormat = ssrFormat;
65
66	_ssrCorr = 0;
67	if (_ssrFormat == "IGS-SSR") {
68	_ssrCorr = new SsrCorrIgs();
69	}
70	else if (_ssrFormat == "RTCM-SSR") {
71	_ssrCorr = new SsrCorrRtcm();
72	}
73
74	_CoM = CoM;
75	_PID = PID;
76	_SID = SID;
77	_IOD = IOD;
78
79	// Member that receives the ephemeris
80	// ----------------------------------
81	_ephUser = new bncEphUser(true);
82
83	bncSettings settings;
84	QString intr = settings.value("uploadIntr").toString();
85	QStringList hlp = settings.value("cmbStreams").toStringList();
86	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
87	if (hlp.size() > 1) { // combination stream upload
88	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
89	}
90	else { // single stream upload or sp3 file generation
91	_samplRtcmClkCorr = 5; // default
92	}
93	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
94	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
95	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
96
97	if (_samplRtcmEphCorr == 0.0) {
98	_usedEph = 0;
99	}
100	else {
101	_usedEph = new QMap<QString, const t_eph*>;
102	}
103
104	// RINEX writer
105	// ------------
106	if (!rnxFileName.isEmpty()) {
107	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
108	}
109	else {
110	_rnx = 0;
111	}
112
113	// SP3 writer
114	// ----------
115	if (!sp3FileName.isEmpty()) {
116	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
117	}
118	else {
119	_sp3 = 0;
120	}
121
122	// SINEX writer
123	// ------------
124	if (!bsxFileName.isEmpty()) {
125	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
126	}
127	else {
128	_bsx = 0;
129	}
130
131
132	// Set Transformation Parameters
133	// -----------------------------
134	// Transformation Parameters from ITRF2014 to ETRF2000
135	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
136	// Zuheir Altamimi, June 28, 2018
137	if (_crdTrafo == "ETRF2000") {
138	_dx = 0.0547;
139	_dy = 0.0522;
140	_dz = -0.0741;
141
142	_dxr = 0.0001;
143	_dyr = 0.0001;
144	_dzr = -0.0019;
145
146	_ox = 0.001701;
147	_oy = 0.010290;
148	_oz = -0.016632;
149
150	_oxr = 0.000081;
151	_oyr = 0.000490;
152	_ozr = -0.000729;
153
154	_sc = 2.12;
155	_scr = 0.11;
156
157	_t0 = 2010.0;
158	}
159	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
160	else if (_crdTrafo == "GDA2020") {
161	_dx = 0.0;
162	_dy = 0.0;
163	_dz = 0.0;
164
165	_dxr = 0.0;
166	_dyr = 0.0;
167	_dzr = 0.0;
168
169	_ox = 0.0;
170	_oy = 0.0;
171	_oz = 0.0;
172
173	_oxr = 0.00150379;
174	_oyr = 0.00118346;
175	_ozr = 0.00120716;
176
177	_sc = 0.0;
178	_scr = 0.0;
179
180	_t0 = 2020.0;
181	}
182	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
183	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
184	else if (_crdTrafo == "SIRGAS2000") {
185	_dx = -0.0027;
186	_dy = -0.0025;
187	_dz = -0.0042;
188
189	_dxr = 0.0000;
190	_dyr = 0.0000;
191	_dzr = 0.0000;
192
193	_ox = 0.000000;
194	_oy = 0.000000;
195	_oz = 0.000000;
196
197	_oxr = 0.000000;
198	_oyr = 0.000000;
199	_ozr = 0.000000;
200
201	_sc = 1.20000;
202	_scr = 0.00000;
203	_t0 = 2000.0;
204	}
205	// Transformation Parameters from ITRF2014 to DREF91
206	else if (_crdTrafo == "DREF91") {
207	_dx = 0.0547;
208	_dy = 0.0522;
209	_dz = -0.0741;
210
211	_dxr = 0.0001;
212	_dyr = 0.0001;
213	_dzr = -0.0019;
214	// ERTF200 + rotation parameters (ETRF200 => DREF91)
215	_ox = 0.001701 + 0.000658;
216	_oy = 0.010290 - 0.000208;
217	_oz = -0.016632 + 0.000755;
218
219	_oxr = 0.000081;
220	_oyr = 0.000490;
221	_ozr = -0.000729;
222
223	_sc = 2.12;
224	_scr = 0.11;
225
226	_t0 = 2010.0;
227	}
228	else if (_crdTrafo == "Custom") {
229	_dx = settings.value("trafo_dx").toDouble();
230	_dy = settings.value("trafo_dy").toDouble();
231	_dz = settings.value("trafo_dz").toDouble();
232	_dxr = settings.value("trafo_dxr").toDouble();
233	_dyr = settings.value("trafo_dyr").toDouble();
234	_dzr = settings.value("trafo_dzr").toDouble();
235	_ox = settings.value("trafo_ox").toDouble();
236	_oy = settings.value("trafo_oy").toDouble();
237	_oz = settings.value("trafo_oz").toDouble();
238	_oxr = settings.value("trafo_oxr").toDouble();
239	_oyr = settings.value("trafo_oyr").toDouble();
240	_ozr = settings.value("trafo_ozr").toDouble();
241	_sc = settings.value("trafo_sc").toDouble();
242	_scr = settings.value("trafo_scr").toDouble();
243	_t0 = settings.value("trafo_t0").toDouble();
244	}
245	}
246
247	// Destructor
248	////////////////////////////////////////////////////////////////////////////
249	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
250	if (isRunning()) {
251	wait();
252	}
253	delete _rnx;
254	delete _sp3;
255	delete _ephUser;
256	delete _usedEph;
257	delete _ssrCorr;
258	}
259
260	//
261	////////////////////////////////////////////////////////////////////////////
262	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
263
264	QMutexLocker locker(&_mutex);
265
266	// Append to internal buffer
267	// -------------------------
268	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
269
270	// Select buffer part that contains last epoch
271	// -------------------------------------------
272	QStringList lines;
273	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
274	if (iEpoBeg == -1) {
275	_rtnetStreamBuffer.clear();
276	emit(newMessage(
277	"bncRtnetUploadCaster: no Epoch line found " + _casterID.toLatin1(), false));
278	return;
279	}
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
289	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
290	if (iEpoEnd == -1) {
291	_rtnetStreamBuffer.clear();
292	emit(newMessage(
293	"bncRtnetUploadCaster: no EOE found " + _casterID.toLatin1(), false));
294	return;
295	}
296
297	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
298	emit(newMessage(
299	"bncRtnetUploadCaster: more than 1 epoch line in buffer " + _rtnetStreamBuffer.count('*'), false));
300	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
301	int nextEpoch = rtnetStreamBuffer.indexOf('*');
302	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
303	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
304	}
305	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
306	break;
307	}
308	}
309
310	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
311
312	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
313
314	if (lines.size() < 2) {
315	emit(newMessage(
316	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
317	return;
318	}
319
320	// Read first line (with epoch time)
321	// ---------------------------------
322	QTextStream in(lines[0].toLatin1());
323	QString hlp;
324	int year, month, day, hour, min;
325	double sec;
326	in >> hlp >> year >> month >> day >> hour >> min >> sec;
327	bncTime epoTime;
328	epoTime.set(year, month, day, hour, min, sec);
329
330	emit(newMessage(
331	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
332	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
333	+ _casterID.toLatin1(), false));
334
335	struct SsrCorr::ClockOrbit co;
336	memset(&co, 0, sizeof(co));
337	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
338	if (_ssrFormat == "RTCM-SSR") {
339	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
340	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
341	}
342	else if (_ssrFormat == "IGS-SSR") {
343	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
344	}
345	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
346	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
347	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
348	if (_ssrFormat == "RTCM-SSR") {
349	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
350	}
351	else if (_ssrFormat == "IGS-SSR") {
352	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
353	}
354	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
355	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
356	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
357	co.SSRIOD = _IOD;
358	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
359	co.SSRSolutionID = _SID;
360
361	struct SsrCorr::CodeBias bias;
362	memset(&bias, 0, sizeof(bias));
363	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
364	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
365	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
366	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
367	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
368	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
369	bias.SSRIOD = _IOD;
370	bias.SSRProviderID = _PID;
371	bias.SSRSolutionID = _SID;
372
373	struct SsrCorr::PhaseBias phasebias;
374	memset(&phasebias, 0, sizeof(phasebias));
375	unsigned int dispersiveBiasConsistenyIndicator = 0;
376	unsigned int mwConsistencyIndicator = 0;
377	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
378	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
379	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
380	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
381	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
382	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
383	phasebias.SSRIOD = _IOD;
384	phasebias.SSRProviderID = _PID;
385	phasebias.SSRSolutionID = _SID;
386
387	struct SsrCorr::VTEC vtec;
388	memset(&vtec, 0, sizeof(vtec));
389	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
390	vtec.SSRIOD = _IOD;
391	vtec.SSRProviderID = _PID;
392	vtec.SSRSolutionID = _SID;
393
394	// Default Update Interval
395	// -----------------------
396	int clkUpdInd = 2; // 5 sec
397	int ephUpdInd = clkUpdInd; // default
398
399	if (!_samplRtcmEphCorr) {
400	_samplRtcmEphCorr = 5.0;
401	}
402
403	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
404	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
405	}
406	if (_samplRtcmClkCorr > 5.0) {
407	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
408	}
409	if (_samplRtcmEphCorr > 5.0) {
410	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
411	}
412
413	co.UpdateInterval = clkUpdInd;
414	bias.UpdateInterval = ephUpdInd;
415	phasebias.UpdateInterval = ephUpdInd;
416
417	for (int ii = 1; ii < lines.size(); ii++) {
418	QString key; // prn or key VTEC, IND (phase bias indicators)
419	double rtnUra = 0.0; // [m]
420	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
421	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
422	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
423	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
424	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
425	t_prn prn;
426
427	QTextStream in(lines[ii].toLatin1());
428
429	in >> key;
430
431	// non-satellite specific parameters
432	if (key.contains("IND", Qt::CaseSensitive)) {
433	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
434	continue;
435	}
436	// non-satellite specific parameters
437	if (key.contains("VTEC", Qt::CaseSensitive)) {
438	double ui;
439	in >> ui >> vtec.NumLayers;
440	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
441	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
442	int dummy;
443	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
444	>> vtec.Layers[ll].Height;
445	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
446	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
447	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
448	}
449	}
450	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
451	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
452	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
453	}
454	}
455	}
456	continue;
457	}
458	// satellite specific parameters
459	char sys = key.mid(0, 1).at(0).toLatin1();
460	int number = key.mid(1, 2).toInt();
461	int flags = 0;
462	if (sys == 'E') { // I/NAV
463	flags = 1;
464	}
465	if (number == 0) {
466	continue;
467	}
468	prn.set(sys, number, flags);
469	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
470	QString prnStr = QString::fromStdString(prn.toString());
471
472	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
473	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
474	const t_eph* eph = ephLast;
475	if (eph) {
476
477	// Use previous ephemeris if the last one is too recent
478	// ----------------------------------------------------
479	const int MINAGE = 60; // seconds
480	if (ephPrev && eph->receptDateTime().isValid()
481	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
482	eph = ephPrev;
483	}
484
485	// Make sure the clock messages refer to same IOD as orbit messages
486	// ----------------------------------------------------------------
487	if (_usedEph) {
488	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
489	(*_usedEph)[prnInternalStr] = eph;
490	}
491	else {
492	eph = 0;
493	if (_usedEph->contains(prnInternalStr)) {
494	const t_eph* usedEph = _usedEph->value(prnInternalStr);
495	if (usedEph == ephLast) {
496	eph = ephLast;
497	}
498	else if (usedEph == ephPrev) {
499	eph = ephPrev;
500	}
501	}
502	}
503	}
504	}
505
506	if (eph &&
507	!outDatedBcep(eph) && // detected from storage because of no update
508	eph->checkState() != t_eph::bad &&
509	eph->checkState() != t_eph::unhealthy &&
510	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
511	QMap<QString, double> codeBiases;
512	QList<phaseBiasSignal> phaseBiasList;
513	phaseBiasesSat pbSat;
514	_phaseBiasInformationDecoded = false;
515
516	while (true) {
517	QString key;
518	int numVal = 0;
519	in >> key;
520	if (in.status() != QTextStream::Ok) {
521	break;
522	}
523	if (key == "APC") {
524	in >> numVal;
525	rtnAPC.ReSize(3); rtnAPC = 0.0;
526	for (int ii = 0; ii < numVal; ii++) {
527	in >> rtnAPC[ii];
528	}
529	}
530	else if (key == "Ura") {
531	in >> numVal;
532	if (numVal == 1)
533	in >> rtnUra;
534	}
535	else if (key == "Clk") {
536	in >> numVal;
537	rtnClk.ReSize(3); rtnClk = 0.0;
538	for (int ii = 0; ii < numVal; ii++) {
539	in >> rtnClk[ii];
540	}
541	}
542	else if (key == "ClkSig") {
543	in >> numVal;
544	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
545	for (int ii = 0; ii < numVal; ii++) {
546	in >> rtnClkSig[ii];
547	}
548	}
549	else if (key == "Vel") {
550	in >> numVal;
551	rtnVel.ReSize(3); rtnVel = 0.0;
552	for (int ii = 0; ii < numVal; ii++) {
553	in >> rtnVel[ii];
554	}
555	}
556	else if (key == "CoM") {
557	in >> numVal;
558	rtnCoM.ReSize(3); rtnCoM = 0.0;
559	for (int ii = 0; ii < numVal; ii++) {
560	in >> rtnCoM[ii];
561	}
562	}
563	else if (key == "CodeBias") {
564	in >> numVal;
565	for (int ii = 0; ii < numVal; ii++) {
566	QString type;
567	double value;
568	in >> type >> value;
569	codeBiases[type] = value;
570	}
571	}
572	else if (key == "YawAngle") {
573	_phaseBiasInformationDecoded = true;
574	in >> numVal >> pbSat.yawAngle;
575	if (pbSat.yawAngle < 0.0) {
576	pbSat.yawAngle += (2*M_PI);
577	}
578	else if (pbSat.yawAngle > 2*M_PI) {
579	pbSat.yawAngle -= (2*M_PI);
580	}
581	}
582	else if (key == "YawRate") {
583	_phaseBiasInformationDecoded = true;
584	in >> numVal >> pbSat.yawRate;
585	}
586	else if (key == "PhaseBias") {
587	_phaseBiasInformationDecoded = true;
588	in >> numVal;
589	for (int ii = 0; ii < numVal; ii++) {
590	phaseBiasSignal pb;
591	in >> pb.type >> pb.bias >> pb.integerIndicator
592	>> pb.wlIndicator >> pb.discontinuityCounter;
593	phaseBiasList.append(pb);
594	}
595	}
596	else {
597	in >> numVal;
598	for (int ii = 0; ii < numVal; ii++) {
599	double dummy;
600	in >> dummy;
601	}
602	emit(newMessage(" RTNET format error: "
603	+ lines[ii].toLatin1(), false));
604	break;
605	}
606	}
607
608	struct SsrCorr::ClockOrbit::SatData* sd = 0;
609	if (prn.system() == 'G') {
610	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
611	++co.NumberOfSat[CLOCKORBIT_SATGPS];
612	}
613	else if (prn.system() == 'R') {
614	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
615	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
616	}
617	else if (prn.system() == 'E') {
618	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
619	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
620	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
621	}
622	else if (prn.system() == 'J') {
623	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
624	+ CLOCKORBIT_NUMGALILEO
625	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
626	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
627	}
628	else if (prn.system() == 'S') {
629	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
630	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
631	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
632	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
633	}
634	else if (prn.system() == 'C') {
635	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
636	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
637	+ CLOCKORBIT_NUMSBAS
638	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
639	++co.NumberOfSat[CLOCKORBIT_SATBDS];
640	}
641	if (sd) {
642	QString outLine;
643	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
644	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
645	if (irc != success) {
646	continue;
647	}
648	}
649
650	// Code Biases
651	// -----------
652	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
653	if (!codeBiases.isEmpty()) {
654	if (prn.system() == 'G') {
655	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
656	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
657	}
658	else if (prn.system() == 'R') {
659	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
660	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
661	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
662	}
663	else if (prn.system() == 'E') {
664	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
665	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
666	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
667	}
668	else if (prn.system() == 'J') {
669	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
670	+ CLOCKORBIT_NUMGALILEO
671	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
672	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
673	}
674	else if (prn.system() == 'S') {
675	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
676	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
677	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
678	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
679	}
680	else if (prn.system() == 'C') {
681	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
682	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
683	+ CLOCKORBIT_NUMSBAS
684	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
685	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
686	}
687	}
688
689	if (biasSat) {
690	biasSat->ID = prn.number();
691	biasSat->NumberOfCodeBiases = 0;
692	QMapIterator<QString, double> it(codeBiases);
693	while (it.hasNext()) {
694	it.next();
695	int ii = biasSat->NumberOfCodeBiases;
696	if (ii >= CLOCKORBIT_NUMBIAS)
697	break;
698	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
699	if (type != _ssrCorr->RESERVED) {
700	biasSat->NumberOfCodeBiases += 1;
701	biasSat->Biases[ii].Type = type;
702	biasSat->Biases[ii].Bias = it.value();
703	if (_bsx) {
704	QString obsCode = 'C' + it.key();
705	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
706	}
707	}
708	}
709	}
710
711	// Phase Biases
712	// ------------
713	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
714	if (prn.system() == 'G') {
715	phasebiasSat = phasebias.Sat
716	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
717	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
718	}
719	else if (prn.system() == 'R') {
720	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
721	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
722	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
723	}
724	else if (prn.system() == 'E') {
725	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
726	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
727	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
728	}
729	else if (prn.system() == 'J') {
730	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
731	+ CLOCKORBIT_NUMGALILEO
732	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
733	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
734	}
735	else if (prn.system() == 'S') {
736	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
737	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
738	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
739	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
740	}
741	else if (prn.system() == 'C') {
742	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
743	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
744	+ CLOCKORBIT_NUMSBAS
745	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
746	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
747	}
748
749	if (phasebiasSat && _phaseBiasInformationDecoded) {
750	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
751	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
752	phasebiasSat->ID = prn.number();
753	phasebiasSat->NumberOfPhaseBiases = 0;
754	phasebiasSat->YawAngle = pbSat.yawAngle;
755	phasebiasSat->YawRate = pbSat.yawRate;
756	QListIterator<phaseBiasSignal> it(phaseBiasList);
757	while (it.hasNext()) {
758	const phaseBiasSignal &pbSig = it.next();
759	int ii = phasebiasSat->NumberOfPhaseBiases;
760	if (ii >= CLOCKORBIT_NUMBIAS)
761	break;
762	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
763	if (type != _ssrCorr->RESERVED) {
764	phasebiasSat->NumberOfPhaseBiases += 1;
765	phasebiasSat->Biases[ii].Type = type;
766	phasebiasSat->Biases[ii].Bias = pbSig.bias;
767	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
768	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
769	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
770	if (_bsx) {
771	QString obsCode = 'L' + pbSig.type;
772	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
773	}
774	}
775	}
776	}
777	}
778	}
779
780	QByteArray hlpBufferCo;
781
782	// Orbit and Clock Corrections together
783	// ------------------------------------
784	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
785	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
786	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
787	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
788	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
789	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
790	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
791	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
792	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
793	if (len > 0) {
794	hlpBufferCo = QByteArray(obuffer, len);
795	}
796	}
797	}
798
799	// Orbit and Clock Corrections separately
800	// --------------------------------------
801	else {
802	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
803	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
804	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
805	co.UpdateInterval = ephUpdInd;
806	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
807	sizeof(obuffer));
808	co.UpdateInterval = clkUpdInd;
809	if (len1 > 0) {
810	hlpBufferCo += QByteArray(obuffer, len1);
811	}
812	}
813	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
814	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
815	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
816	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
817	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
818	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
819	sizeof(obuffer));
820	if (len2 > 0) {
821	hlpBufferCo += QByteArray(obuffer, len2);
822	}
823	}
824	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
825	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
826	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
827	co.UpdateInterval = ephUpdInd;
828	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
829	sizeof(obuffer));
830	co.UpdateInterval = clkUpdInd;
831	if (len1 > 0) {
832	hlpBufferCo += QByteArray(obuffer, len1);
833	}
834	}
835	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
836	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
837	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
838	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
839	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
840	sizeof(obuffer));
841	if (len2 > 0) {
842	hlpBufferCo += QByteArray(obuffer, len2);
843	}
844	}
845	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
846	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
847	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
848	co.UpdateInterval = ephUpdInd;
849	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
850	sizeof(obuffer));
851	co.UpdateInterval = clkUpdInd;
852	if (len1 > 0) {
853	hlpBufferCo += QByteArray(obuffer, len1);
854	}
855	}
856	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
857	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
858	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
859	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
860	sizeof(obuffer));
861	if (len2 > 0) {
862	hlpBufferCo += QByteArray(obuffer, len2);
863	}
864	}
865	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
866	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
867	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
868	co.UpdateInterval = ephUpdInd;
869	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
870	sizeof(obuffer));
871	co.UpdateInterval = clkUpdInd;
872	if (len1 > 0) {
873	hlpBufferCo += QByteArray(obuffer, len1);
874	}
875	}
876	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
877	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
878	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
879	sizeof(obuffer));
880	if (len2 > 0) {
881	hlpBufferCo += QByteArray(obuffer, len2);
882	}
883	}
884	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
885	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
886	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
887	co.UpdateInterval = ephUpdInd;
888	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
889	sizeof(obuffer));
890	co.UpdateInterval = clkUpdInd;
891	if (len1 > 0) {
892	hlpBufferCo += QByteArray(obuffer, len1);
893	}
894	}
895	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
896	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
897	sizeof(obuffer));
898	if (len2 > 0) {
899	hlpBufferCo += QByteArray(obuffer, len2);
900	}
901	}
902	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
903	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
904	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
905	co.UpdateInterval = ephUpdInd;
906	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
907	sizeof(obuffer));
908	co.UpdateInterval = clkUpdInd;
909	if (len1 > 0) {
910	hlpBufferCo += QByteArray(obuffer, len1);
911	}
912	}
913	int mmsg = 0;
914	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
915	sizeof(obuffer));
916	if (len2 > 0) {
917	hlpBufferCo += QByteArray(obuffer, len2);
918	}
919	}
920	}
921
922	// Code Biases
923	// -----------
924	QByteArray hlpBufferBias;
925	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
926	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
927	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
928	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
929	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
930	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
931	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
932	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
933	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
934	if (len > 0) {
935	hlpBufferBias = QByteArray(obuffer, len);
936	}
937	}
938	}
939
940	// Phase Biases
941	// ------------
942	QByteArray hlpBufferPhaseBias;
943	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
944	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
945	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
946	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
947	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
948	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
949	&& (_phaseBiasInformationDecoded)) {
950	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
951	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
952	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
953	if (len > 0) {
954	hlpBufferPhaseBias = QByteArray(obuffer, len);
955	}
956	}
957	}
958
959	// VTEC
960	// ----
961	QByteArray hlpBufferVtec;
962	if (vtec.NumLayers > 0) {
963	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
964	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
965	if (len > 0) {
966	hlpBufferVtec = QByteArray(obuffer, len);
967	}
968	}
969
970	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
971	+ hlpBufferVtec + '\0';
972	}
973
974	//
975	////////////////////////////////////////////////////////////////////////////
976	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
977	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
978	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
979	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
980	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
981
982	// Broadcast Position and Velocity
983	// -------------------------------
984	ColumnVector xB(6);
985	ColumnVector vB(3);
986	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
987
988	if (irc != success) {
989	return irc;
990	}
991
992	// Precise Position
993	// ----------------
994	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
995
996	if (xP.size() == 0) {
997	return failure;
998	}
999
1000	double dc = 0.0;
1001	if (_crdTrafo != "IGS14") {
1002	crdTrafo(GPSweek, xP, dc);
1003	}
1004
1005	// Difference in xyz
1006	// -----------------
1007	ColumnVector dx = xB.Rows(1, 3) - xP;
1008	ColumnVector dv = vB - rtnVel;
1009
1010	// Difference in RSW
1011	// -----------------
1012	ColumnVector rsw(3);
1013	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1014
1015	ColumnVector dotRsw(3);
1016	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1017
1018	// Clock Correction
1019	// ----------------
1020	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1021	double dClkA1 = 0.0;
1022	if (rtnClk(2)) {
1023	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1024	}
1025	double dClkA2 = 0.0;
1026	if (rtnClk(3)) {
1027	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1028	}
1029
1030	if (sd) {
1031	sd->ID = prn.mid(1).toInt();
1032	sd->IOD = eph->IOD();
1033	sd->Clock.DeltaA0 = dClkA0;
1034	sd->Clock.DeltaA1 = dClkA1;
1035	sd->Clock.DeltaA2 = dClkA2;
1036	sd->UserRangeAccuracy = rtnUra;
1037	sd->Orbit.DeltaRadial = rsw(1);
1038	sd->Orbit.DeltaAlongTrack = rsw(2);
1039	sd->Orbit.DeltaCrossTrack = rsw(3);
1040	sd->Orbit.DotDeltaRadial = dotRsw(1);
1041	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1042	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1043
1044	if (corrIsOutOfRange(sd)) {
1045	return failure;
1046	}
1047	}
1048
1049	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1050	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1051	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1052
1053	// RTNET full clock for RINEX and SP3 file
1054	// ---------------------------------------
1055	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1056	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1057	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1058	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1059
1060	if (_rnx) {
1061	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1062	int s = rtnClkSig.size();
1063	switch (s) {
1064	case 1:
1065	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1066	clkRnxRateSig = 0.0; // [s/s = -]
1067	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1068	break;
1069	case 2:
1070	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1071	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1072	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1073	break;
1074	case 3:
1075	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1076	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1077	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1078	break;
1079	}
1080	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1081	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1082	}
1083	if (_sp3) {
1084	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1085	}
1086	return success;
1087	}
1088
1089	// Transform Coordinates
1090	////////////////////////////////////////////////////////////////////////////
1091	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1092	double& dc) {
1093
1094	// Current epoch minus 2000.0 in years
1095	// ------------------------------------
1096	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1097
1098	ColumnVector dx(3);
1099
1100	dx(1) = _dx + dt * _dxr;
1101	dx(2) = _dy + dt * _dyr;
1102	dx(3) = _dz + dt * _dzr;
1103
1104	static const double arcSec = 180.0 * 3600.0 / M_PI;
1105
1106	double ox = (_ox + dt * _oxr) / arcSec;
1107	double oy = (_oy + dt * _oyr) / arcSec;
1108	double oz = (_oz + dt * _ozr) / arcSec;
1109
1110	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1111
1112	// Specify approximate center of area
1113	// ----------------------------------
1114	ColumnVector meanSta(3);
1115
1116	if (_crdTrafo == "ETRF2000") {
1117	meanSta(1) = 3661090.0;
1118	meanSta(2) = 845230.0;
1119	meanSta(3) = 5136850.0;
1120	}
1121	else if (_crdTrafo == "GDA2020") {
1122	meanSta(1) = -4052050.0;
1123	meanSta(2) = 4212840.0;
1124	meanSta(3) = -2545110.0;
1125	}
1126	else if (_crdTrafo == "SIRGAS2000") {
1127	meanSta(1) = 3740860.0;
1128	meanSta(2) = -4964290.0;
1129	meanSta(3) = -1425420.0;
1130	}
1131	else if (_crdTrafo == "DREF91") {
1132	meanSta(1) = 3959579.0;
1133	meanSta(2) = 721719.0;
1134	meanSta(3) = 4931539.0;
1135	}
1136	else if (_crdTrafo == "Custom") {
1137	meanSta(1) = 0.0; // TODO
1138	meanSta(2) = 0.0; // TODO
1139	meanSta(3) = 0.0; // TODO
1140	}
1141
1142	// Clock correction proportional to topocentric distance to satellites
1143	// -------------------------------------------------------------------
1144	double rho = (xyz - meanSta).NormFrobenius();
1145	dc = rho * (sc - 1.0) / sc / t_CST::c;
1146
1147	Matrix rMat(3, 3);
1148	rMat(1, 1) = 1.0;
1149	rMat(1, 2) = -oz;
1150	rMat(1, 3) = oy;
1151	rMat(2, 1) = oz;
1152	rMat(2, 2) = 1.0;
1153	rMat(2, 3) = -ox;
1154	rMat(3, 1) = -oy;
1155	rMat(3, 2) = ox;
1156	rMat(3, 3) = 1.0;
1157
1158	xyz = sc * rMat * xyz + dx;
1159	}
1160
1161	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1162
1163	if (samplingRate == 10.0) {
1164	return 3;
1165	}
1166	else if (samplingRate == 15.0) {
1167	return 4;
1168	}
1169	else if (samplingRate == 30.0) {
1170	return 5;
1171	}
1172	else if (samplingRate == 60.0) {
1173	return 6;
1174	}
1175	else if (samplingRate == 120.0) {
1176	return 7;
1177	}
1178	else if (samplingRate == 240.0) {
1179	return 8;
1180	}
1181	else if (samplingRate == 300.0) {
1182	return 9;
1183	}
1184	else if (samplingRate == 600.0) {
1185	return 10;
1186	}
1187	else if (samplingRate == 900.0) {
1188	return 11;
1189	}
1190	else if (samplingRate == 1800.0) {
1191	return 12;
1192	}
1193	else if (samplingRate == 3600.0) {
1194	return 13;
1195	}
1196	else if (samplingRate == 7200.0) {
1197	return 14;
1198	}
1199	else if (samplingRate == 10800.0) {
1200	return 15;
1201	}
1202	return 2; // default
1203	}
1204
1205	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1206
1207	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1208	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1209	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1210
1211	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1212	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1213	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1214
1215	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1216	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1217	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1218	return false;
1219	}

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