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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9861

Last change on this file since 9861 was 9861, checked in by stuerze, 18 months ago
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File size: 39.2 KB

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

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