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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9873

Last change on this file since 9873 was 9873, checked in by stuerze, 2 years ago
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File size: 40.6 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(QString("bncRtnetUploadCaster: no Epoch line found: %1").arg(_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(QString("bncRtnetUploadCaster: no EOE found: %1").arg(_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	cout << "more than 1 epoch in buffer: " << _rtnetStreamBuffer.count('*') << endl;
301	emit(newMessage(QString("bncRtnetUploadCaster: more than 1 epoch in buffer: %1").arg(_rtnetStreamBuffer.count('*')).toLatin1(), false));
302	int nextEpochEnd = _rtnetStreamBuffer.indexOf("EOE");
303	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpochEnd);
304	int nextEpoch = rtnetStreamBuffer.indexOf('*');
305	cout << "=============" << endl;
306	cout << "nextEpoch: " << nextEpoch << endl;
307	cout << "iEpoEnd : " << iEpoEnd << endl;
308	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
309	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
310	cout << "next Epoch:\n" << _rtnetStreamBuffer.toStdString().c_str() << endl;
311	}
312	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
313	break;
314	}
315	else {
316	cout << "_rtnetStreamBuffer: \n" << _rtnetStreamBuffer.toStdString().c_str() << endl;
317	}
318	cout << "=============" << endl;
319	}
320
321	QStringList lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
322
323	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
324
325	if (lines.size() < 2) {
326	emit(newMessage(QString("bncRtnetUploadCaster: less than 2 lines to decode : %1").arg(_casterID).toLatin1(), false));
327	return;
328	}
329
330	decodeRtnetEpoch(lines);
331
332	}
333
334	//
335	////////////////////////////////////////////////////////////////////////////
336	void bncRtnetUploadCaster::decodeRtnetEpoch(QStringList epochLines) {
337
338	// Read first line (with epoch time)
339	// ---------------------------------
340	QTextStream in(epochLines[0].toLatin1());
341	QString hlp;
342	int year, month, day, hour, min;
343	double sec;
344	in >> hlp >> year >> month >> day >> hour >> min >> sec;
345	bncTime epoTime;
346	epoTime.set(year, month, day, hour, min, sec);
347
348	emit(newMessage(
349	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
350	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
351	+ _casterID.toLatin1(), false));
352
353	struct SsrCorr::ClockOrbit co;
354	memset(&co, 0, sizeof(co));
355	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
356	if (_ssrFormat == "RTCM-SSR") {
357	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
358	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
359	}
360	else if (_ssrFormat == "IGS-SSR") {
361	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
362	}
363	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
364	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
365	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
366	if (_ssrFormat == "RTCM-SSR") {
367	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
368	}
369	else if (_ssrFormat == "IGS-SSR") {
370	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
371	}
372	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
373	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
374	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
375	co.SSRIOD = _IOD;
376	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
377	co.SSRSolutionID = _SID;
378
379	struct SsrCorr::CodeBias bias;
380	memset(&bias, 0, sizeof(bias));
381	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
382	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
383	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
384	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
385	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
386	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
387	bias.SSRIOD = _IOD;
388	bias.SSRProviderID = _PID;
389	bias.SSRSolutionID = _SID;
390
391	struct SsrCorr::PhaseBias phasebias;
392	memset(&phasebias, 0, sizeof(phasebias));
393	unsigned int dispersiveBiasConsistenyIndicator = 0;
394	unsigned int mwConsistencyIndicator = 0;
395	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
396	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
397	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
398	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
399	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
400	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
401	phasebias.SSRIOD = _IOD;
402	phasebias.SSRProviderID = _PID;
403	phasebias.SSRSolutionID = _SID;
404
405	struct SsrCorr::VTEC vtec;
406	memset(&vtec, 0, sizeof(vtec));
407	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
408	vtec.SSRIOD = _IOD;
409	vtec.SSRProviderID = _PID;
410	vtec.SSRSolutionID = _SID;
411
412	// Default Update Interval
413	// -----------------------
414	int clkUpdInd = 2; // 5 sec
415	int ephUpdInd = clkUpdInd; // default
416
417	if (!_samplRtcmEphCorr) {
418	_samplRtcmEphCorr = 5.0;
419	}
420
421	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
422	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
423	}
424	if (_samplRtcmClkCorr > 5.0) {
425	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
426	}
427	if (_samplRtcmEphCorr > 5.0) {
428	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
429	}
430
431	co.UpdateInterval = clkUpdInd;
432	bias.UpdateInterval = ephUpdInd;
433	phasebias.UpdateInterval = ephUpdInd;
434
435	for (int ii = 1; ii < epochLines.size(); ii++) {
436	QString key; // prn or key VTEC, IND (phase bias indicators)
437	double rtnUra = 0.0; // [m]
438	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
439	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
440	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
441	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
442	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
443	t_prn prn;
444
445	QTextStream in(epochLines[ii].toLatin1());
446
447	in >> key;
448
449	// non-satellite specific parameters
450	if (key.contains("IND", Qt::CaseSensitive)) {
451	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
452	continue;
453	}
454	// non-satellite specific parameters
455	if (key.contains("VTEC", Qt::CaseSensitive)) {
456	double ui;
457	in >> ui >> vtec.NumLayers;
458	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
459	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
460	int dummy;
461	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
462	>> vtec.Layers[ll].Height;
463	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
464	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
465	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
466	}
467	}
468	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
469	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
470	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
471	}
472	}
473	}
474	continue;
475	}
476	// satellite specific parameters
477	char sys = key.mid(0, 1).at(0).toLatin1();
478	int number = key.mid(1, 2).toInt();
479	int flags = 0;
480	if (sys == 'E') { // I/NAV
481	flags = 1;
482	}
483	if (number == 0) {
484	continue;
485	}
486	prn.set(sys, number, flags);
487	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
488	QString prnStr = QString::fromStdString(prn.toString());
489
490	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
491	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
492	const t_eph* eph = ephLast;
493	if (eph) {
494
495	// Use previous ephemeris if the last one is too recent
496	// ----------------------------------------------------
497	const int MINAGE = 60; // seconds
498	if (ephPrev && eph->receptDateTime().isValid()
499	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
500	eph = ephPrev;
501	}
502
503	// Make sure the clock messages refer to same IOD as orbit messages
504	// ----------------------------------------------------------------
505	if (_usedEph) {
506	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
507	(*_usedEph)[prnInternalStr] = eph;
508	}
509	else {
510	eph = 0;
511	if (_usedEph->contains(prnInternalStr)) {
512	const t_eph* usedEph = _usedEph->value(prnInternalStr);
513	if (usedEph == ephLast) {
514	eph = ephLast;
515	}
516	else if (usedEph == ephPrev) {
517	eph = ephPrev;
518	}
519	}
520	}
521	}
522	}
523
524	if (eph &&
525	!outDatedBcep(eph) && // detected from storage because of no update
526	eph->checkState() != t_eph::bad &&
527	eph->checkState() != t_eph::unhealthy &&
528	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
529	QMap<QString, double> codeBiases;
530	QList<phaseBiasSignal> phaseBiasList;
531	phaseBiasesSat pbSat;
532	_phaseBiasInformationDecoded = false;
533
534	while (true) {
535	QString key;
536	int numVal = 0;
537	in >> key;
538	if (in.status() != QTextStream::Ok) {
539	break;
540	}
541	if (key == "APC") {
542	in >> numVal;
543	rtnAPC.ReSize(3); rtnAPC = 0.0;
544	for (int ii = 0; ii < numVal; ii++) {
545	in >> rtnAPC[ii];
546	}
547	}
548	else if (key == "Ura") {
549	in >> numVal;
550	if (numVal == 1)
551	in >> rtnUra;
552	}
553	else if (key == "Clk") {
554	in >> numVal;
555	rtnClk.ReSize(3); rtnClk = 0.0;
556	for (int ii = 0; ii < numVal; ii++) {
557	in >> rtnClk[ii];
558	}
559	}
560	else if (key == "ClkSig") {
561	in >> numVal;
562	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
563	for (int ii = 0; ii < numVal; ii++) {
564	in >> rtnClkSig[ii];
565	}
566	}
567	else if (key == "Vel") {
568	in >> numVal;
569	rtnVel.ReSize(3); rtnVel = 0.0;
570	for (int ii = 0; ii < numVal; ii++) {
571	in >> rtnVel[ii];
572	}
573	}
574	else if (key == "CoM") {
575	in >> numVal;
576	rtnCoM.ReSize(3); rtnCoM = 0.0;
577	for (int ii = 0; ii < numVal; ii++) {
578	in >> rtnCoM[ii];
579	}
580	}
581	else if (key == "CodeBias") {
582	in >> numVal;
583	for (int ii = 0; ii < numVal; ii++) {
584	QString type;
585	double value;
586	in >> type >> value;
587	codeBiases[type] = value;
588	}
589	}
590	else if (key == "YawAngle") {
591	_phaseBiasInformationDecoded = true;
592	in >> numVal >> pbSat.yawAngle;
593	if (pbSat.yawAngle < 0.0) {
594	pbSat.yawAngle += (2*M_PI);
595	}
596	else if (pbSat.yawAngle > 2*M_PI) {
597	pbSat.yawAngle -= (2*M_PI);
598	}
599	}
600	else if (key == "YawRate") {
601	_phaseBiasInformationDecoded = true;
602	in >> numVal >> pbSat.yawRate;
603	}
604	else if (key == "PhaseBias") {
605	_phaseBiasInformationDecoded = true;
606	in >> numVal;
607	for (int ii = 0; ii < numVal; ii++) {
608	phaseBiasSignal pb;
609	in >> pb.type >> pb.bias >> pb.integerIndicator
610	>> pb.wlIndicator >> pb.discontinuityCounter;
611	phaseBiasList.append(pb);
612	}
613	}
614	else {
615	in >> numVal;
616	for (int ii = 0; ii < numVal; ii++) {
617	double dummy;
618	in >> dummy;
619	}
620	emit(newMessage(" RTNET format error: "
621	+ epochLines[ii].toLatin1(), false));
622	break;
623	}
624	}
625
626	struct SsrCorr::ClockOrbit::SatData* sd = 0;
627	if (prn.system() == 'G') {
628	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
629	++co.NumberOfSat[CLOCKORBIT_SATGPS];
630	}
631	else if (prn.system() == 'R') {
632	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
633	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
634	}
635	else if (prn.system() == 'E') {
636	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
637	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
638	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
639	}
640	else if (prn.system() == 'J') {
641	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
642	+ CLOCKORBIT_NUMGALILEO
643	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
644	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
645	}
646	else if (prn.system() == 'S') {
647	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
648	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
649	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
650	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
651	}
652	else if (prn.system() == 'C') {
653	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
654	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
655	+ CLOCKORBIT_NUMSBAS
656	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
657	++co.NumberOfSat[CLOCKORBIT_SATBDS];
658	}
659	if (sd) {
660	QString outLine;
661	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
662	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
663	if (irc != success) {
664	continue;
665	}
666	}
667
668	// Code Biases
669	// -----------
670	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
671	if (!codeBiases.isEmpty()) {
672	if (prn.system() == 'G') {
673	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
674	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
675	}
676	else if (prn.system() == 'R') {
677	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
678	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
679	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
680	}
681	else if (prn.system() == 'E') {
682	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
683	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
684	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
685	}
686	else if (prn.system() == 'J') {
687	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
688	+ CLOCKORBIT_NUMGALILEO
689	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
690	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
691	}
692	else if (prn.system() == 'S') {
693	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
694	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
695	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
696	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
697	}
698	else if (prn.system() == 'C') {
699	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
700	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
701	+ CLOCKORBIT_NUMSBAS
702	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
703	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
704	}
705	}
706
707	if (biasSat) {
708	biasSat->ID = prn.number();
709	biasSat->NumberOfCodeBiases = 0;
710	QMapIterator<QString, double> it(codeBiases);
711	while (it.hasNext()) {
712	it.next();
713	int ii = biasSat->NumberOfCodeBiases;
714	if (ii >= CLOCKORBIT_NUMBIAS)
715	break;
716	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
717	if (type != _ssrCorr->RESERVED) {
718	biasSat->NumberOfCodeBiases += 1;
719	biasSat->Biases[ii].Type = type;
720	biasSat->Biases[ii].Bias = it.value();
721	if (_bsx) {
722	QString obsCode = 'C' + it.key();
723	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
724	}
725	}
726	}
727	}
728
729	// Phase Biases
730	// ------------
731	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
732	if (prn.system() == 'G') {
733	phasebiasSat = phasebias.Sat
734	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
735	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
736	}
737	else if (prn.system() == 'R') {
738	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
739	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
740	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
741	}
742	else if (prn.system() == 'E') {
743	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
744	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
745	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
746	}
747	else if (prn.system() == 'J') {
748	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
749	+ CLOCKORBIT_NUMGALILEO
750	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
751	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
752	}
753	else if (prn.system() == 'S') {
754	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
755	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
756	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
757	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
758	}
759	else if (prn.system() == 'C') {
760	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
761	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
762	+ CLOCKORBIT_NUMSBAS
763	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
764	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
765	}
766
767	if (phasebiasSat && _phaseBiasInformationDecoded) {
768	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
769	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
770	phasebiasSat->ID = prn.number();
771	phasebiasSat->NumberOfPhaseBiases = 0;
772	phasebiasSat->YawAngle = pbSat.yawAngle;
773	phasebiasSat->YawRate = pbSat.yawRate;
774	QListIterator<phaseBiasSignal> it(phaseBiasList);
775	while (it.hasNext()) {
776	const phaseBiasSignal &pbSig = it.next();
777	int ii = phasebiasSat->NumberOfPhaseBiases;
778	if (ii >= CLOCKORBIT_NUMBIAS)
779	break;
780	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
781	if (type != _ssrCorr->RESERVED) {
782	phasebiasSat->NumberOfPhaseBiases += 1;
783	phasebiasSat->Biases[ii].Type = type;
784	phasebiasSat->Biases[ii].Bias = pbSig.bias;
785	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
786	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
787	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
788	if (_bsx) {
789	QString obsCode = 'L' + pbSig.type;
790	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
791	}
792	}
793	}
794	}
795	}
796	}
797
798	QByteArray hlpBufferCo;
799
800	// Orbit and Clock Corrections together
801	// ------------------------------------
802	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
803	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
804	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
805	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
806	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
807	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
808	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
809	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
810	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
811	if (len > 0) {
812	hlpBufferCo = QByteArray(obuffer, len);
813	}
814	}
815	}
816
817	// Orbit and Clock Corrections separately
818	// --------------------------------------
819	else {
820	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
821	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
822	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
823	co.UpdateInterval = ephUpdInd;
824	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
825	sizeof(obuffer));
826	co.UpdateInterval = clkUpdInd;
827	if (len1 > 0) {
828	hlpBufferCo += QByteArray(obuffer, len1);
829	}
830	}
831	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
832	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
833	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
834	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
835	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
836	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
837	sizeof(obuffer));
838	if (len2 > 0) {
839	hlpBufferCo += QByteArray(obuffer, len2);
840	}
841	}
842	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
843	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
844	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
845	co.UpdateInterval = ephUpdInd;
846	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
847	sizeof(obuffer));
848	co.UpdateInterval = clkUpdInd;
849	if (len1 > 0) {
850	hlpBufferCo += QByteArray(obuffer, len1);
851	}
852	}
853	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
854	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
855	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
856	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
857	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
858	sizeof(obuffer));
859	if (len2 > 0) {
860	hlpBufferCo += QByteArray(obuffer, len2);
861	}
862	}
863	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
864	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
865	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
866	co.UpdateInterval = ephUpdInd;
867	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
868	sizeof(obuffer));
869	co.UpdateInterval = clkUpdInd;
870	if (len1 > 0) {
871	hlpBufferCo += QByteArray(obuffer, len1);
872	}
873	}
874	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
875	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
876	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
877	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
878	sizeof(obuffer));
879	if (len2 > 0) {
880	hlpBufferCo += QByteArray(obuffer, len2);
881	}
882	}
883	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
884	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
885	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
886	co.UpdateInterval = ephUpdInd;
887	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
888	sizeof(obuffer));
889	co.UpdateInterval = clkUpdInd;
890	if (len1 > 0) {
891	hlpBufferCo += QByteArray(obuffer, len1);
892	}
893	}
894	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
895	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
896	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
897	sizeof(obuffer));
898	if (len2 > 0) {
899	hlpBufferCo += QByteArray(obuffer, len2);
900	}
901	}
902	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 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_SBASORBIT, 1, obuffer,
907	sizeof(obuffer));
908	co.UpdateInterval = clkUpdInd;
909	if (len1 > 0) {
910	hlpBufferCo += QByteArray(obuffer, len1);
911	}
912	}
913	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
914	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
915	sizeof(obuffer));
916	if (len2 > 0) {
917	hlpBufferCo += QByteArray(obuffer, len2);
918	}
919	}
920	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
921	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
922	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
923	co.UpdateInterval = ephUpdInd;
924	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
925	sizeof(obuffer));
926	co.UpdateInterval = clkUpdInd;
927	if (len1 > 0) {
928	hlpBufferCo += QByteArray(obuffer, len1);
929	}
930	}
931	int mmsg = 0;
932	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
933	sizeof(obuffer));
934	if (len2 > 0) {
935	hlpBufferCo += QByteArray(obuffer, len2);
936	}
937	}
938	}
939
940	// Code Biases
941	// -----------
942	QByteArray hlpBufferBias;
943	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
944	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
945	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
946	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
947	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
948	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
949	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
950	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
951	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
952	if (len > 0) {
953	hlpBufferBias = QByteArray(obuffer, len);
954	}
955	}
956	}
957
958	// Phase Biases
959	// ------------
960	QByteArray hlpBufferPhaseBias;
961	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
962	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
963	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
964	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
965	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
966	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
967	&& (_phaseBiasInformationDecoded)) {
968	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
969	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
970	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
971	if (len > 0) {
972	hlpBufferPhaseBias = QByteArray(obuffer, len);
973	}
974	}
975	}
976
977	// VTEC
978	// ----
979	QByteArray hlpBufferVtec;
980	if (vtec.NumLayers > 0) {
981	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
982	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
983	if (len > 0) {
984	hlpBufferVtec = QByteArray(obuffer, len);
985	}
986	}
987
988	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec + '\0';
989	}
990	//
991	////////////////////////////////////////////////////////////////////////////
992	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
993	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
994	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
995	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
996	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
997
998	// Broadcast Position and Velocity
999	// -------------------------------
1000	ColumnVector xB(6);
1001	ColumnVector vB(3);
1002	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1003
1004	if (irc != success) {
1005	return irc;
1006	}
1007
1008	// Precise Position
1009	// ----------------
1010	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1011
1012	if (xP.size() == 0) {
1013	return failure;
1014	}
1015
1016	double dc = 0.0;
1017	if (_crdTrafo != "IGS14") {
1018	crdTrafo(GPSweek, xP, dc);
1019	}
1020
1021	// Difference in xyz
1022	// -----------------
1023	ColumnVector dx = xB.Rows(1, 3) - xP;
1024	ColumnVector dv = vB - rtnVel;
1025
1026	// Difference in RSW
1027	// -----------------
1028	ColumnVector rsw(3);
1029	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1030
1031	ColumnVector dotRsw(3);
1032	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1033
1034	// Clock Correction
1035	// ----------------
1036	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1037	double dClkA1 = 0.0;
1038	if (rtnClk(2)) {
1039	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1040	}
1041	double dClkA2 = 0.0;
1042	if (rtnClk(3)) {
1043	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1044	}
1045
1046	if (sd) {
1047	sd->ID = prn.mid(1).toInt();
1048	sd->IOD = eph->IOD();
1049	sd->Clock.DeltaA0 = dClkA0;
1050	sd->Clock.DeltaA1 = dClkA1;
1051	sd->Clock.DeltaA2 = dClkA2;
1052	sd->UserRangeAccuracy = rtnUra;
1053	sd->Orbit.DeltaRadial = rsw(1);
1054	sd->Orbit.DeltaAlongTrack = rsw(2);
1055	sd->Orbit.DeltaCrossTrack = rsw(3);
1056	sd->Orbit.DotDeltaRadial = dotRsw(1);
1057	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1058	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1059
1060	if (corrIsOutOfRange(sd)) {
1061	return failure;
1062	}
1063	}
1064
1065	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1066	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1067	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1068
1069	// RTNET full clock for RINEX and SP3 file
1070	// ---------------------------------------
1071	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1072	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1073	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1074	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1075
1076	if (_rnx) {
1077	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1078	int s = rtnClkSig.size();
1079	switch (s) {
1080	case 1:
1081	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1082	clkRnxRateSig = 0.0; // [s/s = -]
1083	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1084	break;
1085	case 2:
1086	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1087	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1088	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1089	break;
1090	case 3:
1091	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1092	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1093	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1094	break;
1095	}
1096	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1097	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1098	}
1099	if (_sp3) {
1100	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1101	}
1102	return success;
1103	}
1104
1105	// Transform Coordinates
1106	////////////////////////////////////////////////////////////////////////////
1107	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1108	double& dc) {
1109
1110	// Current epoch minus 2000.0 in years
1111	// ------------------------------------
1112	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1113
1114	ColumnVector dx(3);
1115
1116	dx(1) = _dx + dt * _dxr;
1117	dx(2) = _dy + dt * _dyr;
1118	dx(3) = _dz + dt * _dzr;
1119
1120	static const double arcSec = 180.0 * 3600.0 / M_PI;
1121
1122	double ox = (_ox + dt * _oxr) / arcSec;
1123	double oy = (_oy + dt * _oyr) / arcSec;
1124	double oz = (_oz + dt * _ozr) / arcSec;
1125
1126	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1127
1128	// Specify approximate center of area
1129	// ----------------------------------
1130	ColumnVector meanSta(3);
1131
1132	if (_crdTrafo == "ETRF2000") {
1133	meanSta(1) = 3661090.0;
1134	meanSta(2) = 845230.0;
1135	meanSta(3) = 5136850.0;
1136	}
1137	else if (_crdTrafo == "GDA2020") {
1138	meanSta(1) = -4052050.0;
1139	meanSta(2) = 4212840.0;
1140	meanSta(3) = -2545110.0;
1141	}
1142	else if (_crdTrafo == "SIRGAS2000") {
1143	meanSta(1) = 3740860.0;
1144	meanSta(2) = -4964290.0;
1145	meanSta(3) = -1425420.0;
1146	}
1147	else if (_crdTrafo == "DREF91") {
1148	meanSta(1) = 3959579.0;
1149	meanSta(2) = 721719.0;
1150	meanSta(3) = 4931539.0;
1151	}
1152	else if (_crdTrafo == "Custom") {
1153	meanSta(1) = 0.0; // TODO
1154	meanSta(2) = 0.0; // TODO
1155	meanSta(3) = 0.0; // TODO
1156	}
1157
1158	// Clock correction proportional to topocentric distance to satellites
1159	// -------------------------------------------------------------------
1160	double rho = (xyz - meanSta).NormFrobenius();
1161	dc = rho * (sc - 1.0) / sc / t_CST::c;
1162
1163	Matrix rMat(3, 3);
1164	rMat(1, 1) = 1.0;
1165	rMat(1, 2) = -oz;
1166	rMat(1, 3) = oy;
1167	rMat(2, 1) = oz;
1168	rMat(2, 2) = 1.0;
1169	rMat(2, 3) = -ox;
1170	rMat(3, 1) = -oy;
1171	rMat(3, 2) = ox;
1172	rMat(3, 3) = 1.0;
1173
1174	xyz = sc * rMat * xyz + dx;
1175	}
1176
1177	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1178
1179	if (samplingRate == 10.0) {
1180	return 3;
1181	}
1182	else if (samplingRate == 15.0) {
1183	return 4;
1184	}
1185	else if (samplingRate == 30.0) {
1186	return 5;
1187	}
1188	else if (samplingRate == 60.0) {
1189	return 6;
1190	}
1191	else if (samplingRate == 120.0) {
1192	return 7;
1193	}
1194	else if (samplingRate == 240.0) {
1195	return 8;
1196	}
1197	else if (samplingRate == 300.0) {
1198	return 9;
1199	}
1200	else if (samplingRate == 600.0) {
1201	return 10;
1202	}
1203	else if (samplingRate == 900.0) {
1204	return 11;
1205	}
1206	else if (samplingRate == 1800.0) {
1207	return 12;
1208	}
1209	else if (samplingRate == 3600.0) {
1210	return 13;
1211	}
1212	else if (samplingRate == 7200.0) {
1213	return 14;
1214	}
1215	else if (samplingRate == 10800.0) {
1216	return 15;
1217	}
1218	return 2; // default
1219	}
1220
1221	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1222
1223	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1224	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1225	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1226
1227	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1228	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1229	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1230
1231	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1232	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1233	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1234	return false;
1235	}

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