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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9868

Last change on this file since 9868 was 9868, checked in by stuerze, 18 months ago
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File size: 40.3 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
273	// Find the begin of last epoch
274	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*');
275	if (iEpoBeg == -1) {
276	_rtnetStreamBuffer.clear();
277	emit(newMessage("bncRtnetUploadCaster: no Epoch line found " + _casterID.toLatin1(), false));
278	return;
279	}
280
281	// Find the begin of the first epoch
282	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
283	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) {
284	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
285	}
286	else {
287	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
288	}
289
290	// Find End of the last epoch
291	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE");
292	if (iEpoEnd == -1) {
293	_rtnetStreamBuffer.clear();
294	emit(newMessage("bncRtnetUploadCaster: no EOE found " + _casterID.toLatin1(), false));
295	return;
296	}
297
298	// If there is there more than 1 epoch line in the buffer
299	while (_rtnetStreamBuffer.count('*') > 1) {
300	emit(newMessage("bncRtnetUploadCaster: more than 1 epoch in buffer: " + _rtnetStreamBuffer.count('*') , false));
301	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
302	int nextEpoch = rtnetStreamBuffer.indexOf('*');
303	cout << "=============" << endl;
304	cout << "nextEpoch: " << nextEpoch << endl;
305	cout << "iEpoEnd : " << iEpoEnd << endl;
306	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
307	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
308	cout << _rtnetStreamBuffer.toStdString().c_str() << endl;
309	}
310	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
311	break;
312	}
313	else {
314	cout << _rtnetStreamBuffer.toStdString().c_str() << endl;
315	}
316	}
317
318	QStringList lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
319
320	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
321
322	if (lines.size() < 2) {
323	emit(newMessage(
324	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
325	return;
326	}
327
328	decodeRtnetEpoch(lines);
329
330	}
331
332	//
333	////////////////////////////////////////////////////////////////////////////
334	void bncRtnetUploadCaster::decodeRtnetEpoch(QStringList epochLines) {
335
336	// Read first line (with epoch time)
337	// ---------------------------------
338	QTextStream in(epochLines[0].toLatin1());
339	QString hlp;
340	int year, month, day, hour, min;
341	double sec;
342	in >> hlp >> year >> month >> day >> hour >> min >> sec;
343	bncTime epoTime;
344	epoTime.set(year, month, day, hour, min, sec);
345
346	emit(newMessage(
347	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
348	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
349	+ _casterID.toLatin1(), false));
350
351	struct SsrCorr::ClockOrbit co;
352	memset(&co, 0, sizeof(co));
353	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
354	if (_ssrFormat == "RTCM-SSR") {
355	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
356	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
357	}
358	else if (_ssrFormat == "IGS-SSR") {
359	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
360	}
361	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
362	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
363	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
364	if (_ssrFormat == "RTCM-SSR") {
365	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
366	}
367	else if (_ssrFormat == "IGS-SSR") {
368	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
369	}
370	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
371	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
372	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
373	co.SSRIOD = _IOD;
374	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
375	co.SSRSolutionID = _SID;
376
377	struct SsrCorr::CodeBias bias;
378	memset(&bias, 0, sizeof(bias));
379	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
380	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
381	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
382	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
383	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
384	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
385	bias.SSRIOD = _IOD;
386	bias.SSRProviderID = _PID;
387	bias.SSRSolutionID = _SID;
388
389	struct SsrCorr::PhaseBias phasebias;
390	memset(&phasebias, 0, sizeof(phasebias));
391	unsigned int dispersiveBiasConsistenyIndicator = 0;
392	unsigned int mwConsistencyIndicator = 0;
393	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
394	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
395	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
396	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
397	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
398	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
399	phasebias.SSRIOD = _IOD;
400	phasebias.SSRProviderID = _PID;
401	phasebias.SSRSolutionID = _SID;
402
403	struct SsrCorr::VTEC vtec;
404	memset(&vtec, 0, sizeof(vtec));
405	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
406	vtec.SSRIOD = _IOD;
407	vtec.SSRProviderID = _PID;
408	vtec.SSRSolutionID = _SID;
409
410	// Default Update Interval
411	// -----------------------
412	int clkUpdInd = 2; // 5 sec
413	int ephUpdInd = clkUpdInd; // default
414
415	if (!_samplRtcmEphCorr) {
416	_samplRtcmEphCorr = 5.0;
417	}
418
419	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
420	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
421	}
422	if (_samplRtcmClkCorr > 5.0) {
423	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
424	}
425	if (_samplRtcmEphCorr > 5.0) {
426	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
427	}
428
429	co.UpdateInterval = clkUpdInd;
430	bias.UpdateInterval = ephUpdInd;
431	phasebias.UpdateInterval = ephUpdInd;
432
433	for (int ii = 1; ii < epochLines.size(); ii++) {
434	QString key; // prn or key VTEC, IND (phase bias indicators)
435	double rtnUra = 0.0; // [m]
436	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
437	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
438	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
439	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
440	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
441	t_prn prn;
442
443	QTextStream in(epochLines[ii].toLatin1());
444
445	in >> key;
446
447	// non-satellite specific parameters
448	if (key.contains("IND", Qt::CaseSensitive)) {
449	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
450	continue;
451	}
452	// non-satellite specific parameters
453	if (key.contains("VTEC", Qt::CaseSensitive)) {
454	double ui;
455	in >> ui >> vtec.NumLayers;
456	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
457	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
458	int dummy;
459	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
460	>> vtec.Layers[ll].Height;
461	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
462	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
463	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
464	}
465	}
466	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
467	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
468	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
469	}
470	}
471	}
472	continue;
473	}
474	// satellite specific parameters
475	char sys = key.mid(0, 1).at(0).toLatin1();
476	int number = key.mid(1, 2).toInt();
477	int flags = 0;
478	if (sys == 'E') { // I/NAV
479	flags = 1;
480	}
481	if (number == 0) {
482	continue;
483	}
484	prn.set(sys, number, flags);
485	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
486	QString prnStr = QString::fromStdString(prn.toString());
487
488	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
489	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
490	const t_eph* eph = ephLast;
491	if (eph) {
492
493	// Use previous ephemeris if the last one is too recent
494	// ----------------------------------------------------
495	const int MINAGE = 60; // seconds
496	if (ephPrev && eph->receptDateTime().isValid()
497	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
498	eph = ephPrev;
499	}
500
501	// Make sure the clock messages refer to same IOD as orbit messages
502	// ----------------------------------------------------------------
503	if (_usedEph) {
504	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
505	(*_usedEph)[prnInternalStr] = eph;
506	}
507	else {
508	eph = 0;
509	if (_usedEph->contains(prnInternalStr)) {
510	const t_eph* usedEph = _usedEph->value(prnInternalStr);
511	if (usedEph == ephLast) {
512	eph = ephLast;
513	}
514	else if (usedEph == ephPrev) {
515	eph = ephPrev;
516	}
517	}
518	}
519	}
520	}
521
522	if (eph &&
523	!outDatedBcep(eph) && // detected from storage because of no update
524	eph->checkState() != t_eph::bad &&
525	eph->checkState() != t_eph::unhealthy &&
526	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
527	QMap<QString, double> codeBiases;
528	QList<phaseBiasSignal> phaseBiasList;
529	phaseBiasesSat pbSat;
530	_phaseBiasInformationDecoded = false;
531
532	while (true) {
533	QString key;
534	int numVal = 0;
535	in >> key;
536	if (in.status() != QTextStream::Ok) {
537	break;
538	}
539	if (key == "APC") {
540	in >> numVal;
541	rtnAPC.ReSize(3); rtnAPC = 0.0;
542	for (int ii = 0; ii < numVal; ii++) {
543	in >> rtnAPC[ii];
544	}
545	}
546	else if (key == "Ura") {
547	in >> numVal;
548	if (numVal == 1)
549	in >> rtnUra;
550	}
551	else if (key == "Clk") {
552	in >> numVal;
553	rtnClk.ReSize(3); rtnClk = 0.0;
554	for (int ii = 0; ii < numVal; ii++) {
555	in >> rtnClk[ii];
556	}
557	}
558	else if (key == "ClkSig") {
559	in >> numVal;
560	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
561	for (int ii = 0; ii < numVal; ii++) {
562	in >> rtnClkSig[ii];
563	}
564	}
565	else if (key == "Vel") {
566	in >> numVal;
567	rtnVel.ReSize(3); rtnVel = 0.0;
568	for (int ii = 0; ii < numVal; ii++) {
569	in >> rtnVel[ii];
570	}
571	}
572	else if (key == "CoM") {
573	in >> numVal;
574	rtnCoM.ReSize(3); rtnCoM = 0.0;
575	for (int ii = 0; ii < numVal; ii++) {
576	in >> rtnCoM[ii];
577	}
578	}
579	else if (key == "CodeBias") {
580	in >> numVal;
581	for (int ii = 0; ii < numVal; ii++) {
582	QString type;
583	double value;
584	in >> type >> value;
585	codeBiases[type] = value;
586	}
587	}
588	else if (key == "YawAngle") {
589	_phaseBiasInformationDecoded = true;
590	in >> numVal >> pbSat.yawAngle;
591	if (pbSat.yawAngle < 0.0) {
592	pbSat.yawAngle += (2*M_PI);
593	}
594	else if (pbSat.yawAngle > 2*M_PI) {
595	pbSat.yawAngle -= (2*M_PI);
596	}
597	}
598	else if (key == "YawRate") {
599	_phaseBiasInformationDecoded = true;
600	in >> numVal >> pbSat.yawRate;
601	}
602	else if (key == "PhaseBias") {
603	_phaseBiasInformationDecoded = true;
604	in >> numVal;
605	for (int ii = 0; ii < numVal; ii++) {
606	phaseBiasSignal pb;
607	in >> pb.type >> pb.bias >> pb.integerIndicator
608	>> pb.wlIndicator >> pb.discontinuityCounter;
609	phaseBiasList.append(pb);
610	}
611	}
612	else {
613	in >> numVal;
614	for (int ii = 0; ii < numVal; ii++) {
615	double dummy;
616	in >> dummy;
617	}
618	emit(newMessage(" RTNET format error: "
619	+ lines[ii].toLatin1(), false));
620	break;
621	}
622	}
623
624	struct SsrCorr::ClockOrbit::SatData* sd = 0;
625	if (prn.system() == 'G') {
626	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
627	++co.NumberOfSat[CLOCKORBIT_SATGPS];
628	}
629	else if (prn.system() == 'R') {
630	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
631	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
632	}
633	else if (prn.system() == 'E') {
634	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
635	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
636	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
637	}
638	else if (prn.system() == 'J') {
639	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
640	+ CLOCKORBIT_NUMGALILEO
641	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
642	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
643	}
644	else if (prn.system() == 'S') {
645	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
646	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
647	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
648	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
649	}
650	else if (prn.system() == 'C') {
651	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
652	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
653	+ CLOCKORBIT_NUMSBAS
654	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
655	++co.NumberOfSat[CLOCKORBIT_SATBDS];
656	}
657	if (sd) {
658	QString outLine;
659	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
660	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
661	if (irc != success) {
662	continue;
663	}
664	}
665
666	// Code Biases
667	// -----------
668	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
669	if (!codeBiases.isEmpty()) {
670	if (prn.system() == 'G') {
671	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
672	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
673	}
674	else if (prn.system() == 'R') {
675	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
676	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
677	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
678	}
679	else if (prn.system() == 'E') {
680	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
681	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
682	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
683	}
684	else if (prn.system() == 'J') {
685	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
686	+ CLOCKORBIT_NUMGALILEO
687	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
688	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
689	}
690	else if (prn.system() == 'S') {
691	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
692	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
693	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
694	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
695	}
696	else if (prn.system() == 'C') {
697	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
698	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
699	+ CLOCKORBIT_NUMSBAS
700	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
701	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
702	}
703	}
704
705	if (biasSat) {
706	biasSat->ID = prn.number();
707	biasSat->NumberOfCodeBiases = 0;
708	QMapIterator<QString, double> it(codeBiases);
709	while (it.hasNext()) {
710	it.next();
711	int ii = biasSat->NumberOfCodeBiases;
712	if (ii >= CLOCKORBIT_NUMBIAS)
713	break;
714	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
715	if (type != _ssrCorr->RESERVED) {
716	biasSat->NumberOfCodeBiases += 1;
717	biasSat->Biases[ii].Type = type;
718	biasSat->Biases[ii].Bias = it.value();
719	if (_bsx) {
720	QString obsCode = 'C' + it.key();
721	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
722	}
723	}
724	}
725	}
726
727	// Phase Biases
728	// ------------
729	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
730	if (prn.system() == 'G') {
731	phasebiasSat = phasebias.Sat
732	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
733	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
734	}
735	else if (prn.system() == 'R') {
736	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
737	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
738	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
739	}
740	else if (prn.system() == 'E') {
741	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
742	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
743	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
744	}
745	else if (prn.system() == 'J') {
746	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
747	+ CLOCKORBIT_NUMGALILEO
748	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
749	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
750	}
751	else if (prn.system() == 'S') {
752	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
753	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
754	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
755	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
756	}
757	else if (prn.system() == 'C') {
758	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
759	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
760	+ CLOCKORBIT_NUMSBAS
761	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
762	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
763	}
764
765	if (phasebiasSat && _phaseBiasInformationDecoded) {
766	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
767	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
768	phasebiasSat->ID = prn.number();
769	phasebiasSat->NumberOfPhaseBiases = 0;
770	phasebiasSat->YawAngle = pbSat.yawAngle;
771	phasebiasSat->YawRate = pbSat.yawRate;
772	QListIterator<phaseBiasSignal> it(phaseBiasList);
773	while (it.hasNext()) {
774	const phaseBiasSignal &pbSig = it.next();
775	int ii = phasebiasSat->NumberOfPhaseBiases;
776	if (ii >= CLOCKORBIT_NUMBIAS)
777	break;
778	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
779	if (type != _ssrCorr->RESERVED) {
780	phasebiasSat->NumberOfPhaseBiases += 1;
781	phasebiasSat->Biases[ii].Type = type;
782	phasebiasSat->Biases[ii].Bias = pbSig.bias;
783	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
784	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
785	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
786	if (_bsx) {
787	QString obsCode = 'L' + pbSig.type;
788	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
789	}
790	}
791	}
792	}
793	}
794	}
795
796	QByteArray hlpBufferCo;
797
798	// Orbit and Clock Corrections together
799	// ------------------------------------
800	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
801	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
802	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
803	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
804	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
805	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
806	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
807	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
808	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
809	if (len > 0) {
810	hlpBufferCo = QByteArray(obuffer, len);
811	}
812	}
813	}
814
815	// Orbit and Clock Corrections separately
816	// --------------------------------------
817	else {
818	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
819	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
820	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
821	co.UpdateInterval = ephUpdInd;
822	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
823	sizeof(obuffer));
824	co.UpdateInterval = clkUpdInd;
825	if (len1 > 0) {
826	hlpBufferCo += QByteArray(obuffer, len1);
827	}
828	}
829	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
830	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
831	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
832	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
833	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
834	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
835	sizeof(obuffer));
836	if (len2 > 0) {
837	hlpBufferCo += QByteArray(obuffer, len2);
838	}
839	}
840	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
841	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
842	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
843	co.UpdateInterval = ephUpdInd;
844	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
845	sizeof(obuffer));
846	co.UpdateInterval = clkUpdInd;
847	if (len1 > 0) {
848	hlpBufferCo += QByteArray(obuffer, len1);
849	}
850	}
851	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
852	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
853	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
854	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
855	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
856	sizeof(obuffer));
857	if (len2 > 0) {
858	hlpBufferCo += QByteArray(obuffer, len2);
859	}
860	}
861	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
862	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
863	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
864	co.UpdateInterval = ephUpdInd;
865	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
866	sizeof(obuffer));
867	co.UpdateInterval = clkUpdInd;
868	if (len1 > 0) {
869	hlpBufferCo += QByteArray(obuffer, len1);
870	}
871	}
872	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
873	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
874	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
875	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
876	sizeof(obuffer));
877	if (len2 > 0) {
878	hlpBufferCo += QByteArray(obuffer, len2);
879	}
880	}
881	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
882	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
883	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
884	co.UpdateInterval = ephUpdInd;
885	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
886	sizeof(obuffer));
887	co.UpdateInterval = clkUpdInd;
888	if (len1 > 0) {
889	hlpBufferCo += QByteArray(obuffer, len1);
890	}
891	}
892	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
893	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
894	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
895	sizeof(obuffer));
896	if (len2 > 0) {
897	hlpBufferCo += QByteArray(obuffer, len2);
898	}
899	}
900	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
901	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
902	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
903	co.UpdateInterval = ephUpdInd;
904	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
905	sizeof(obuffer));
906	co.UpdateInterval = clkUpdInd;
907	if (len1 > 0) {
908	hlpBufferCo += QByteArray(obuffer, len1);
909	}
910	}
911	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
912	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
913	sizeof(obuffer));
914	if (len2 > 0) {
915	hlpBufferCo += QByteArray(obuffer, len2);
916	}
917	}
918	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
919	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
920	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
921	co.UpdateInterval = ephUpdInd;
922	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
923	sizeof(obuffer));
924	co.UpdateInterval = clkUpdInd;
925	if (len1 > 0) {
926	hlpBufferCo += QByteArray(obuffer, len1);
927	}
928	}
929	int mmsg = 0;
930	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
931	sizeof(obuffer));
932	if (len2 > 0) {
933	hlpBufferCo += QByteArray(obuffer, len2);
934	}
935	}
936	}
937
938	// Code Biases
939	// -----------
940	QByteArray hlpBufferBias;
941	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
942	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
943	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
944	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
945	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
946	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
947	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
948	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
949	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
950	if (len > 0) {
951	hlpBufferBias = QByteArray(obuffer, len);
952	}
953	}
954	}
955
956	// Phase Biases
957	// ------------
958	QByteArray hlpBufferPhaseBias;
959	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
960	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
961	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
962	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
963	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
964	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
965	&& (_phaseBiasInformationDecoded)) {
966	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
967	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
968	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
969	if (len > 0) {
970	hlpBufferPhaseBias = QByteArray(obuffer, len);
971	}
972	}
973	}
974
975	// VTEC
976	// ----
977	QByteArray hlpBufferVtec;
978	if (vtec.NumLayers > 0) {
979	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
980	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
981	if (len > 0) {
982	hlpBufferVtec = QByteArray(obuffer, len);
983	}
984	}
985
986	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec + '\0';
987	}
988	//
989	////////////////////////////////////////////////////////////////////////////
990	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
991	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
992	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
993	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
994	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
995
996	// Broadcast Position and Velocity
997	// -------------------------------
998	ColumnVector xB(6);
999	ColumnVector vB(3);
1000	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1001
1002	if (irc != success) {
1003	return irc;
1004	}
1005
1006	// Precise Position
1007	// ----------------
1008	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1009
1010	if (xP.size() == 0) {
1011	return failure;
1012	}
1013
1014	double dc = 0.0;
1015	if (_crdTrafo != "IGS14") {
1016	crdTrafo(GPSweek, xP, dc);
1017	}
1018
1019	// Difference in xyz
1020	// -----------------
1021	ColumnVector dx = xB.Rows(1, 3) - xP;
1022	ColumnVector dv = vB - rtnVel;
1023
1024	// Difference in RSW
1025	// -----------------
1026	ColumnVector rsw(3);
1027	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1028
1029	ColumnVector dotRsw(3);
1030	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1031
1032	// Clock Correction
1033	// ----------------
1034	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1035	double dClkA1 = 0.0;
1036	if (rtnClk(2)) {
1037	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1038	}
1039	double dClkA2 = 0.0;
1040	if (rtnClk(3)) {
1041	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1042	}
1043
1044	if (sd) {
1045	sd->ID = prn.mid(1).toInt();
1046	sd->IOD = eph->IOD();
1047	sd->Clock.DeltaA0 = dClkA0;
1048	sd->Clock.DeltaA1 = dClkA1;
1049	sd->Clock.DeltaA2 = dClkA2;
1050	sd->UserRangeAccuracy = rtnUra;
1051	sd->Orbit.DeltaRadial = rsw(1);
1052	sd->Orbit.DeltaAlongTrack = rsw(2);
1053	sd->Orbit.DeltaCrossTrack = rsw(3);
1054	sd->Orbit.DotDeltaRadial = dotRsw(1);
1055	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1056	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1057
1058	if (corrIsOutOfRange(sd)) {
1059	return failure;
1060	}
1061	}
1062
1063	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1064	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1065	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1066
1067	// RTNET full clock for RINEX and SP3 file
1068	// ---------------------------------------
1069	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1070	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1071	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1072	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1073
1074	if (_rnx) {
1075	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1076	int s = rtnClkSig.size();
1077	switch (s) {
1078	case 1:
1079	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1080	clkRnxRateSig = 0.0; // [s/s = -]
1081	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1082	break;
1083	case 2:
1084	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1085	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1086	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1087	break;
1088	case 3:
1089	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1090	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1091	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1092	break;
1093	}
1094	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1095	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1096	}
1097	if (_sp3) {
1098	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1099	}
1100	return success;
1101	}
1102
1103	// Transform Coordinates
1104	////////////////////////////////////////////////////////////////////////////
1105	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1106	double& dc) {
1107
1108	// Current epoch minus 2000.0 in years
1109	// ------------------------------------
1110	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1111
1112	ColumnVector dx(3);
1113
1114	dx(1) = _dx + dt * _dxr;
1115	dx(2) = _dy + dt * _dyr;
1116	dx(3) = _dz + dt * _dzr;
1117
1118	static const double arcSec = 180.0 * 3600.0 / M_PI;
1119
1120	double ox = (_ox + dt * _oxr) / arcSec;
1121	double oy = (_oy + dt * _oyr) / arcSec;
1122	double oz = (_oz + dt * _ozr) / arcSec;
1123
1124	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1125
1126	// Specify approximate center of area
1127	// ----------------------------------
1128	ColumnVector meanSta(3);
1129
1130	if (_crdTrafo == "ETRF2000") {
1131	meanSta(1) = 3661090.0;
1132	meanSta(2) = 845230.0;
1133	meanSta(3) = 5136850.0;
1134	}
1135	else if (_crdTrafo == "GDA2020") {
1136	meanSta(1) = -4052050.0;
1137	meanSta(2) = 4212840.0;
1138	meanSta(3) = -2545110.0;
1139	}
1140	else if (_crdTrafo == "SIRGAS2000") {
1141	meanSta(1) = 3740860.0;
1142	meanSta(2) = -4964290.0;
1143	meanSta(3) = -1425420.0;
1144	}
1145	else if (_crdTrafo == "DREF91") {
1146	meanSta(1) = 3959579.0;
1147	meanSta(2) = 721719.0;
1148	meanSta(3) = 4931539.0;
1149	}
1150	else if (_crdTrafo == "Custom") {
1151	meanSta(1) = 0.0; // TODO
1152	meanSta(2) = 0.0; // TODO
1153	meanSta(3) = 0.0; // TODO
1154	}
1155
1156	// Clock correction proportional to topocentric distance to satellites
1157	// -------------------------------------------------------------------
1158	double rho = (xyz - meanSta).NormFrobenius();
1159	dc = rho * (sc - 1.0) / sc / t_CST::c;
1160
1161	Matrix rMat(3, 3);
1162	rMat(1, 1) = 1.0;
1163	rMat(1, 2) = -oz;
1164	rMat(1, 3) = oy;
1165	rMat(2, 1) = oz;
1166	rMat(2, 2) = 1.0;
1167	rMat(2, 3) = -ox;
1168	rMat(3, 1) = -oy;
1169	rMat(3, 2) = ox;
1170	rMat(3, 3) = 1.0;
1171
1172	xyz = sc * rMat * xyz + dx;
1173	}
1174
1175	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1176
1177	if (samplingRate == 10.0) {
1178	return 3;
1179	}
1180	else if (samplingRate == 15.0) {
1181	return 4;
1182	}
1183	else if (samplingRate == 30.0) {
1184	return 5;
1185	}
1186	else if (samplingRate == 60.0) {
1187	return 6;
1188	}
1189	else if (samplingRate == 120.0) {
1190	return 7;
1191	}
1192	else if (samplingRate == 240.0) {
1193	return 8;
1194	}
1195	else if (samplingRate == 300.0) {
1196	return 9;
1197	}
1198	else if (samplingRate == 600.0) {
1199	return 10;
1200	}
1201	else if (samplingRate == 900.0) {
1202	return 11;
1203	}
1204	else if (samplingRate == 1800.0) {
1205	return 12;
1206	}
1207	else if (samplingRate == 3600.0) {
1208	return 13;
1209	}
1210	else if (samplingRate == 7200.0) {
1211	return 14;
1212	}
1213	else if (samplingRate == 10800.0) {
1214	return 15;
1215	}
1216	return 2; // default
1217	}
1218
1219	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1220
1221	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1222	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1223	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1224
1225	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1226	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1227	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1228
1229	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1230	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1231	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1232	return false;
1233	}

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