1 | /* -------------------------------------------------------------------------
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2 | * BKG NTRIP Server
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3 | * -------------------------------------------------------------------------
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4 | *
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5 | * Class: bncRtnetUploadCaster
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6 | *
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7 | * Purpose: Connection to NTRIP Caster
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8 | *
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9 | * Author: L. Mervart
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10 | *
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11 | * Created: 29-Mar-2011
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12 | *
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13 | * Changes:
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14 | *
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15 | * -----------------------------------------------------------------------*/
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16 |
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17 | #include <math.h>
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18 | #include "bncrtnetuploadcaster.h"
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19 | #include "bncsettings.h"
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20 | #include "bncephuser.h"
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21 | #include "bncclockrinex.h"
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22 | #include "bncbiassinex.h"
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23 | #include "bncsp3.h"
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24 | #include "gnss.h"
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25 | #include "bncutils.h"
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26 |
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27 | using namespace std;
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28 |
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29 | // Constructor
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30 | ////////////////////////////////////////////////////////////////////////////
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31 | bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
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32 | const QString& outHost, int outPort,
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33 | const QString& ntripVersion,
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34 | const QString& userName, const QString& password,
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35 | const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
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36 | const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
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37 | bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
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38 |
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39 | if (!mountpoint.isEmpty()) {
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40 | _casterID += mountpoint;
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41 | }
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42 | if (!outHost.isEmpty()) {
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43 | _casterID += " " + outHost;
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44 | if (outPort) {
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45 | _casterID += ":" + QString("%1").arg(outPort, 10);
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46 | }
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47 | }
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48 | if (!crdTrafo.isEmpty()) {
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49 | _casterID += " " + crdTrafo;
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50 | }
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51 | if (!sp3FileName.isEmpty()) {
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52 | _casterID += " " + sp3FileName;
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53 | }
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54 | if (!rnxFileName.isEmpty()) {
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55 | _casterID += " " + rnxFileName;
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56 | }
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57 |
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58 | if (!bsxFileName.isEmpty()) {
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59 | _casterID += " " + bsxFileName;
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60 | }
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61 |
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62 | _crdTrafo = crdTrafo;
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63 |
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64 | _ssrFormat = ssrFormat;
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65 |
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66 | _ssrCorr = 0;
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67 | if (_ssrFormat == "IGS-SSR") {
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68 | _ssrCorr = new SsrCorrIgs();
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69 | }
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70 | else if (_ssrFormat == "RTCM-SSR") {
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71 | _ssrCorr = new SsrCorrRtcm();
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72 | }
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73 |
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74 | _CoM = CoM;
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75 | _PID = PID;
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76 | _SID = SID;
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77 | _IOD = IOD;
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78 |
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79 | // Member that receives the ephemeris
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80 | // ----------------------------------
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81 | _ephUser = new bncEphUser(true);
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82 |
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83 | bncSettings settings;
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84 | QString intr = settings.value("uploadIntr").toString();
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85 | QStringList hlp = settings.value("cmbStreams").toStringList();
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86 | _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
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87 | if (hlp.size() > 1) { // combination stream upload
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88 | _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
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89 | }
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90 | else { // single stream upload or sp3 file generation
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91 | _samplRtcmClkCorr = 5; // default
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92 | }
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93 | int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
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94 | int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
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95 | int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
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96 |
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97 | if (_samplRtcmEphCorr == 0.0) {
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98 | _usedEph = 0;
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99 | }
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100 | else {
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101 | _usedEph = new QMap<QString, const t_eph*>;
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102 | }
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103 |
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104 | // RINEX writer
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105 | // ------------
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106 | if (!rnxFileName.isEmpty()) {
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107 | _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
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108 | }
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109 | else {
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110 | _rnx = 0;
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111 | }
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112 |
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113 | // SP3 writer
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114 | // ----------
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115 | if (!sp3FileName.isEmpty()) {
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116 | _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
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117 | }
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118 | else {
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119 | _sp3 = 0;
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120 | }
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121 |
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122 | // SINEX writer
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123 | // ------------
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124 | if (!bsxFileName.isEmpty()) {
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125 | _bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
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126 | }
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127 | else {
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128 | _bsx = 0;
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129 | }
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130 |
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131 |
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132 | // Set Transformation Parameters
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133 | // -----------------------------
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134 | // Transformation Parameters from ITRF2014 to ETRF2000
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135 | // EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
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136 | // Zuheir Altamimi, June 28, 2018
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137 | if (_crdTrafo == "ETRF2000") {
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138 | _dx = 0.0547;
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139 | _dy = 0.0522;
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140 | _dz = -0.0741;
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141 |
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142 | _dxr = 0.0001;
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143 | _dyr = 0.0001;
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144 | _dzr = -0.0019;
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145 |
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146 | _ox = 0.001701;
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147 | _oy = 0.010290;
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148 | _oz = -0.016632;
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149 |
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150 | _oxr = 0.000081;
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151 | _oyr = 0.000490;
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152 | _ozr = -0.000729;
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153 |
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154 | _sc = 2.12;
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155 | _scr = 0.11;
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156 |
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157 | _t0 = 2010.0;
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158 | }
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159 | // Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
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160 | else if (_crdTrafo == "GDA2020") {
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161 | _dx = 0.0;
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162 | _dy = 0.0;
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163 | _dz = 0.0;
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164 |
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165 | _dxr = 0.0;
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166 | _dyr = 0.0;
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167 | _dzr = 0.0;
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168 |
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169 | _ox = 0.0;
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170 | _oy = 0.0;
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171 | _oz = 0.0;
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172 |
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173 | _oxr = 0.00150379;
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174 | _oyr = 0.00118346;
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175 | _ozr = 0.00120716;
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176 |
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177 | _sc = 0.0;
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178 | _scr = 0.0;
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179 |
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180 | _t0 = 2020.0;
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181 | }
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182 | // Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
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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.*/
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184 | else if (_crdTrafo == "SIRGAS2000") {
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185 | _dx = -0.0027;
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186 | _dy = -0.0025;
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187 | _dz = -0.0042;
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188 |
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189 | _dxr = 0.0000;
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190 | _dyr = 0.0000;
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191 | _dzr = 0.0000;
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192 |
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193 | _ox = 0.000000;
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194 | _oy = 0.000000;
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195 | _oz = 0.000000;
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196 |
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197 | _oxr = 0.000000;
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198 | _oyr = 0.000000;
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199 | _ozr = 0.000000;
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200 |
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201 | _sc = 1.20000;
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202 | _scr = 0.00000;
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203 | _t0 = 2000.0;
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204 | }
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205 | // Transformation Parameters from ITRF2014 to DREF91
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206 | else if (_crdTrafo == "DREF91") {
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207 | _dx = 0.0547;
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208 | _dy = 0.0522;
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209 | _dz = -0.0741;
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210 |
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211 | _dxr = 0.0001;
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212 | _dyr = 0.0001;
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213 | _dzr = -0.0019;
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214 | // ERTF200 + rotation parameters (ETRF200 => DREF91)
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215 | _ox = 0.001701 + 0.000658;
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216 | _oy = 0.010290 - 0.000208;
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217 | _oz = -0.016632 + 0.000755;
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218 |
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219 | _oxr = 0.000081;
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220 | _oyr = 0.000490;
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221 | _ozr = -0.000729;
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222 |
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223 | _sc = 2.12;
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224 | _scr = 0.11;
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225 |
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226 | _t0 = 2010.0;
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227 | }
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228 | else if (_crdTrafo == "Custom") {
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229 | _dx = settings.value("trafo_dx").toDouble();
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230 | _dy = settings.value("trafo_dy").toDouble();
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231 | _dz = settings.value("trafo_dz").toDouble();
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232 | _dxr = settings.value("trafo_dxr").toDouble();
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233 | _dyr = settings.value("trafo_dyr").toDouble();
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234 | _dzr = settings.value("trafo_dzr").toDouble();
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235 | _ox = settings.value("trafo_ox").toDouble();
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236 | _oy = settings.value("trafo_oy").toDouble();
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237 | _oz = settings.value("trafo_oz").toDouble();
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238 | _oxr = settings.value("trafo_oxr").toDouble();
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239 | _oyr = settings.value("trafo_oyr").toDouble();
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240 | _ozr = settings.value("trafo_ozr").toDouble();
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241 | _sc = settings.value("trafo_sc").toDouble();
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242 | _scr = settings.value("trafo_scr").toDouble();
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243 | _t0 = settings.value("trafo_t0").toDouble();
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244 | }
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245 | }
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246 |
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247 | // Destructor
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248 | ////////////////////////////////////////////////////////////////////////////
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249 | bncRtnetUploadCaster::~bncRtnetUploadCaster() {
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250 | if (isRunning()) {
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251 | wait();
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252 | }
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253 | delete _rnx;
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254 | delete _sp3;
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255 | delete _ephUser;
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256 | delete _usedEph;
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257 | delete _ssrCorr;
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258 | }
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259 |
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260 | //
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261 | ////////////////////////////////////////////////////////////////////////////
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262 | void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
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263 |
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264 | QMutexLocker locker(&_mutex);
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265 |
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266 | // Append to internal buffer
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267 | // -------------------------
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268 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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269 |
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270 | // Select buffer part that contains last epoch
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271 | // -------------------------------------------
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272 |
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273 | // Find the begin of last epoch
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274 | int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*');
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275 | if (iEpoBeg == -1) {
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276 | _rtnetStreamBuffer.clear();
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277 | emit(newMessage(QString("bncRtnetUploadCaster: no Epoch line found: %1").arg(_casterID).toLatin1(), false));
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278 | return;
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279 | }
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280 |
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281 | // Find the begin of the first epoch
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282 | int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
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283 | if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) {
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284 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
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285 | }
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286 | else {
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287 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
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288 | }
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289 |
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290 | // Find End of the last epoch
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291 | int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE");
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292 | if (iEpoEnd == -1) {
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293 | _rtnetStreamBuffer.clear();
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294 | emit(newMessage(QString("bncRtnetUploadCaster: no EOE found: %1").arg(_casterID).toLatin1(), false));
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295 | return;
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296 | }
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297 |
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298 | // If there is there more than 1 epoch line in the buffer
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299 | while (_rtnetStreamBuffer.count('*') > 1) {
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300 | cout << "more than 1 epoch in buffer: " << _rtnetStreamBuffer.count('*') << endl;
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301 | emit(newMessage(QString("bncRtnetUploadCaster: more than 1 epoch in buffer: %1").arg(_rtnetStreamBuffer.count('*')).toLatin1(), false));
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302 | int nextEpochEnd = _rtnetStreamBuffer.indexOf("EOE");
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303 | QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpochEnd);
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304 | int nextEpoch = rtnetStreamBuffer.indexOf('*');
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305 | cout << "=============" << endl;
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306 | cout << "nextEpochEnd: " << nextEpochEnd << endl;
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307 | cout << "nextEpoch: " << nextEpoch << endl;
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308 | cout << "iEpoEnd : " << iEpoEnd << endl;
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309 | if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
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310 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
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311 | cout << "next Epoch:\n" << _rtnetStreamBuffer.toStdString().c_str() << endl;
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312 | }
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313 | else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
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314 | break;
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315 | }
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316 | else {
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317 | cout << "_rtnetStreamBuffer: \n" << _rtnetStreamBuffer.toStdString().c_str() << endl;
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318 | }
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319 | cout << "=============" << endl;
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320 | }
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321 |
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322 | QStringList lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
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323 |
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324 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
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325 |
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326 | if (lines.size() < 2) {
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327 | emit(newMessage(QString("bncRtnetUploadCaster: less than 2 lines to decode : %1").arg(_casterID).toLatin1(), false));
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328 | return;
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329 | }
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330 |
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331 | decodeRtnetEpoch(lines);
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332 |
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333 | }
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334 |
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335 | //
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336 | ////////////////////////////////////////////////////////////////////////////
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337 | void bncRtnetUploadCaster::decodeRtnetEpoch(QStringList epochLines) {
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338 |
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339 | // Read first line (with epoch time)
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340 | // ---------------------------------
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341 | QTextStream in(epochLines[0].toLatin1());
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342 | QString hlp;
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343 | int year, month, day, hour, min;
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344 | double sec;
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345 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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346 | bncTime epoTime;
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347 | epoTime.set(year, month, day, hour, min, sec); cout << "decodeEpoch: " << epoTime.timestr().c_str() << endl;
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348 |
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349 | emit(newMessage(
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350 | "bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
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351 | + " " + QByteArray(epoTime.timestr().c_str()) + " "
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352 | + _casterID.toLatin1(), false));
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353 |
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354 | struct SsrCorr::ClockOrbit co;
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355 | memset(&co, 0, sizeof(co));
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356 | co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
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357 | if (_ssrFormat == "RTCM-SSR") {
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358 | double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
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359 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
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360 | }
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361 | else if (_ssrFormat == "IGS-SSR") {
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362 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
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363 | }
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364 | co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
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365 | co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
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366 | co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
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367 | if (_ssrFormat == "RTCM-SSR") {
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368 | co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
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369 | }
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370 | else if (_ssrFormat == "IGS-SSR") {
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371 | co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
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372 | }
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373 | co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
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374 | co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
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375 | co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
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376 | co.SSRIOD = _IOD;
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377 | co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
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378 | co.SSRSolutionID = _SID;
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379 |
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380 | struct SsrCorr::CodeBias bias;
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381 | memset(&bias, 0, sizeof(bias));
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382 | bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
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383 | bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
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384 | bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
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385 | bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
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386 | bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
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387 | bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
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388 | bias.SSRIOD = _IOD;
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389 | bias.SSRProviderID = _PID;
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390 | bias.SSRSolutionID = _SID;
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391 |
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392 | struct SsrCorr::PhaseBias phasebias;
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393 | memset(&phasebias, 0, sizeof(phasebias));
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394 | unsigned int dispersiveBiasConsistenyIndicator = 0;
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395 | unsigned int mwConsistencyIndicator = 0;
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396 | phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
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397 | phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
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398 | phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
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399 | phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
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400 | phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
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401 | phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
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402 | phasebias.SSRIOD = _IOD;
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403 | phasebias.SSRProviderID = _PID;
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404 | phasebias.SSRSolutionID = _SID;
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405 |
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406 | struct SsrCorr::VTEC vtec;
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407 | memset(&vtec, 0, sizeof(vtec));
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408 | vtec.EpochTime = static_cast<int>(epoTime.gpssec());
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409 | vtec.SSRIOD = _IOD;
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410 | vtec.SSRProviderID = _PID;
|
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411 | vtec.SSRSolutionID = _SID;
|
---|
412 |
|
---|
413 | // Default Update Interval
|
---|
414 | // -----------------------
|
---|
415 | int clkUpdInd = 2; // 5 sec
|
---|
416 | int ephUpdInd = clkUpdInd; // default
|
---|
417 |
|
---|
418 | if (!_samplRtcmEphCorr) {
|
---|
419 | _samplRtcmEphCorr = 5.0;
|
---|
420 | }
|
---|
421 |
|
---|
422 | if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
|
---|
423 | ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
|
---|
424 | }
|
---|
425 | if (_samplRtcmClkCorr > 5.0) {
|
---|
426 | clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
|
---|
427 | }
|
---|
428 | if (_samplRtcmEphCorr > 5.0) {
|
---|
429 | ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
|
---|
430 | }
|
---|
431 |
|
---|
432 | co.UpdateInterval = clkUpdInd;
|
---|
433 | bias.UpdateInterval = ephUpdInd;
|
---|
434 | phasebias.UpdateInterval = ephUpdInd;
|
---|
435 |
|
---|
436 | for (int ii = 1; ii < epochLines.size(); ii++) {
|
---|
437 | QString key; // prn or key VTEC, IND (phase bias indicators)
|
---|
438 | double rtnUra = 0.0; // [m]
|
---|
439 | ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
|
---|
440 | ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
|
---|
441 | ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
|
---|
442 | ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
|
---|
443 | ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
|
---|
444 | t_prn prn;
|
---|
445 |
|
---|
446 | QTextStream in(epochLines[ii].toLatin1());
|
---|
447 |
|
---|
448 | in >> key;
|
---|
449 |
|
---|
450 | // non-satellite specific parameters
|
---|
451 | if (key.contains("IND", Qt::CaseSensitive)) {
|
---|
452 | in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
|
---|
453 | continue;
|
---|
454 | }
|
---|
455 | // non-satellite specific parameters
|
---|
456 | if (key.contains("VTEC", Qt::CaseSensitive)) {
|
---|
457 | double ui;
|
---|
458 | in >> ui >> vtec.NumLayers;
|
---|
459 | vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
|
---|
460 | for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
|
---|
461 | int dummy;
|
---|
462 | in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
|
---|
463 | >> vtec.Layers[ll].Height;
|
---|
464 | for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
|
---|
465 | for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
|
---|
466 | in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
|
---|
467 | }
|
---|
468 | }
|
---|
469 | for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
|
---|
470 | for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
|
---|
471 | in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
|
---|
472 | }
|
---|
473 | }
|
---|
474 | }
|
---|
475 | continue;
|
---|
476 | }
|
---|
477 | // satellite specific parameters
|
---|
478 | char sys = key.mid(0, 1).at(0).toLatin1();
|
---|
479 | int number = key.mid(1, 2).toInt();
|
---|
480 | int flags = 0;
|
---|
481 | if (sys == 'E') { // I/NAV
|
---|
482 | flags = 1;
|
---|
483 | }
|
---|
484 | if (number == 0) {
|
---|
485 | continue;
|
---|
486 | }
|
---|
487 | prn.set(sys, number, flags);
|
---|
488 | QString prnInternalStr = QString::fromStdString(prn.toInternalString());
|
---|
489 | QString prnStr = QString::fromStdString(prn.toString());
|
---|
490 |
|
---|
491 | const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
|
---|
492 | const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
|
---|
493 | const t_eph* eph = ephLast;
|
---|
494 | if (eph) {
|
---|
495 |
|
---|
496 | // Use previous ephemeris if the last one is too recent
|
---|
497 | // ----------------------------------------------------
|
---|
498 | const int MINAGE = 60; // seconds
|
---|
499 | if (ephPrev && eph->receptDateTime().isValid()
|
---|
500 | && eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
|
---|
501 | eph = ephPrev;
|
---|
502 | }
|
---|
503 |
|
---|
504 | // Make sure the clock messages refer to same IOD as orbit messages
|
---|
505 | // ----------------------------------------------------------------
|
---|
506 | if (_usedEph) {
|
---|
507 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
508 | (*_usedEph)[prnInternalStr] = eph;
|
---|
509 | }
|
---|
510 | else {
|
---|
511 | eph = 0;
|
---|
512 | if (_usedEph->contains(prnInternalStr)) {
|
---|
513 | const t_eph* usedEph = _usedEph->value(prnInternalStr);
|
---|
514 | if (usedEph == ephLast) {
|
---|
515 | eph = ephLast;
|
---|
516 | }
|
---|
517 | else if (usedEph == ephPrev) {
|
---|
518 | eph = ephPrev;
|
---|
519 | }
|
---|
520 | }
|
---|
521 | }
|
---|
522 | }
|
---|
523 | }
|
---|
524 |
|
---|
525 | if (eph &&
|
---|
526 | !outDatedBcep(eph) && // detected from storage because of no update
|
---|
527 | eph->checkState() != t_eph::bad &&
|
---|
528 | eph->checkState() != t_eph::unhealthy &&
|
---|
529 | eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
|
---|
530 | QMap<QString, double> codeBiases;
|
---|
531 | QList<phaseBiasSignal> phaseBiasList;
|
---|
532 | phaseBiasesSat pbSat;
|
---|
533 | _phaseBiasInformationDecoded = false;
|
---|
534 |
|
---|
535 | while (true) {
|
---|
536 | QString key;
|
---|
537 | int numVal = 0;
|
---|
538 | in >> key;
|
---|
539 | if (in.status() != QTextStream::Ok) {
|
---|
540 | break;
|
---|
541 | }
|
---|
542 | if (key == "APC") {
|
---|
543 | in >> numVal;
|
---|
544 | rtnAPC.ReSize(3); rtnAPC = 0.0;
|
---|
545 | for (int ii = 0; ii < numVal; ii++) {
|
---|
546 | in >> rtnAPC[ii];
|
---|
547 | }
|
---|
548 | }
|
---|
549 | else if (key == "Ura") {
|
---|
550 | in >> numVal;
|
---|
551 | if (numVal == 1)
|
---|
552 | in >> rtnUra;
|
---|
553 | }
|
---|
554 | else if (key == "Clk") {
|
---|
555 | in >> numVal;
|
---|
556 | rtnClk.ReSize(3); rtnClk = 0.0;
|
---|
557 | for (int ii = 0; ii < numVal; ii++) {
|
---|
558 | in >> rtnClk[ii];
|
---|
559 | }
|
---|
560 | }
|
---|
561 | else if (key == "ClkSig") {
|
---|
562 | in >> numVal;
|
---|
563 | rtnClkSig.ReSize(3); rtnClkSig = 0.0;
|
---|
564 | for (int ii = 0; ii < numVal; ii++) {
|
---|
565 | in >> rtnClkSig[ii];
|
---|
566 | }
|
---|
567 | }
|
---|
568 | else if (key == "Vel") {
|
---|
569 | in >> numVal;
|
---|
570 | rtnVel.ReSize(3); rtnVel = 0.0;
|
---|
571 | for (int ii = 0; ii < numVal; ii++) {
|
---|
572 | in >> rtnVel[ii];
|
---|
573 | }
|
---|
574 | }
|
---|
575 | else if (key == "CoM") {
|
---|
576 | in >> numVal;
|
---|
577 | rtnCoM.ReSize(3); rtnCoM = 0.0;
|
---|
578 | for (int ii = 0; ii < numVal; ii++) {
|
---|
579 | in >> rtnCoM[ii];
|
---|
580 | }
|
---|
581 | }
|
---|
582 | else if (key == "CodeBias") {
|
---|
583 | in >> numVal;
|
---|
584 | for (int ii = 0; ii < numVal; ii++) {
|
---|
585 | QString type;
|
---|
586 | double value;
|
---|
587 | in >> type >> value;
|
---|
588 | codeBiases[type] = value;
|
---|
589 | }
|
---|
590 | }
|
---|
591 | else if (key == "YawAngle") {
|
---|
592 | _phaseBiasInformationDecoded = true;
|
---|
593 | in >> numVal >> pbSat.yawAngle;
|
---|
594 | if (pbSat.yawAngle < 0.0) {
|
---|
595 | pbSat.yawAngle += (2*M_PI);
|
---|
596 | }
|
---|
597 | else if (pbSat.yawAngle > 2*M_PI) {
|
---|
598 | pbSat.yawAngle -= (2*M_PI);
|
---|
599 | }
|
---|
600 | }
|
---|
601 | else if (key == "YawRate") {
|
---|
602 | _phaseBiasInformationDecoded = true;
|
---|
603 | in >> numVal >> pbSat.yawRate;
|
---|
604 | }
|
---|
605 | else if (key == "PhaseBias") {
|
---|
606 | _phaseBiasInformationDecoded = true;
|
---|
607 | in >> numVal;
|
---|
608 | for (int ii = 0; ii < numVal; ii++) {
|
---|
609 | phaseBiasSignal pb;
|
---|
610 | in >> pb.type >> pb.bias >> pb.integerIndicator
|
---|
611 | >> pb.wlIndicator >> pb.discontinuityCounter;
|
---|
612 | phaseBiasList.append(pb);
|
---|
613 | }
|
---|
614 | }
|
---|
615 | else {
|
---|
616 | in >> numVal;
|
---|
617 | for (int ii = 0; ii < numVal; ii++) {
|
---|
618 | double dummy;
|
---|
619 | in >> dummy;
|
---|
620 | }
|
---|
621 | emit(newMessage(" RTNET format error: "
|
---|
622 | + epochLines[ii].toLatin1(), false));
|
---|
623 | break;
|
---|
624 | }
|
---|
625 | }
|
---|
626 |
|
---|
627 | struct SsrCorr::ClockOrbit::SatData* sd = 0;
|
---|
628 | if (prn.system() == 'G') {
|
---|
629 | sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
630 | ++co.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
631 | }
|
---|
632 | else if (prn.system() == 'R') {
|
---|
633 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
634 | ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
635 | }
|
---|
636 | else if (prn.system() == 'E') {
|
---|
637 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
638 | + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
639 | ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
640 | }
|
---|
641 | else if (prn.system() == 'J') {
|
---|
642 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
643 | + CLOCKORBIT_NUMGALILEO
|
---|
644 | + co.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
645 | ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
646 | }
|
---|
647 | else if (prn.system() == 'S') {
|
---|
648 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
649 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
650 | + co.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
651 | ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
652 | }
|
---|
653 | else if (prn.system() == 'C') {
|
---|
654 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
655 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
656 | + CLOCKORBIT_NUMSBAS
|
---|
657 | + co.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
658 | ++co.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
659 | }
|
---|
660 | if (sd) {
|
---|
661 | QString outLine;
|
---|
662 | t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
|
---|
663 | rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
|
---|
664 | if (irc != success) {
|
---|
665 | continue;
|
---|
666 | }
|
---|
667 | }
|
---|
668 |
|
---|
669 | // Code Biases
|
---|
670 | // -----------
|
---|
671 | struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
|
---|
672 | if (!codeBiases.isEmpty()) {
|
---|
673 | if (prn.system() == 'G') {
|
---|
674 | biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
675 | ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
676 | }
|
---|
677 | else if (prn.system() == 'R') {
|
---|
678 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS
|
---|
679 | + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
680 | ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
681 | }
|
---|
682 | else if (prn.system() == 'E') {
|
---|
683 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
684 | + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
685 | ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
686 | }
|
---|
687 | else if (prn.system() == 'J') {
|
---|
688 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
689 | + CLOCKORBIT_NUMGALILEO
|
---|
690 | + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
691 | ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
692 | }
|
---|
693 | else if (prn.system() == 'S') {
|
---|
694 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
695 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
696 | + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
697 | ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
698 | }
|
---|
699 | else if (prn.system() == 'C') {
|
---|
700 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
701 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
702 | + CLOCKORBIT_NUMSBAS
|
---|
703 | + bias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
704 | ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
705 | }
|
---|
706 | }
|
---|
707 |
|
---|
708 | if (biasSat) {
|
---|
709 | biasSat->ID = prn.number();
|
---|
710 | biasSat->NumberOfCodeBiases = 0;
|
---|
711 | QMapIterator<QString, double> it(codeBiases);
|
---|
712 | while (it.hasNext()) {
|
---|
713 | it.next();
|
---|
714 | int ii = biasSat->NumberOfCodeBiases;
|
---|
715 | if (ii >= CLOCKORBIT_NUMBIAS)
|
---|
716 | break;
|
---|
717 | SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
|
---|
718 | if (type != _ssrCorr->RESERVED) {
|
---|
719 | biasSat->NumberOfCodeBiases += 1;
|
---|
720 | biasSat->Biases[ii].Type = type;
|
---|
721 | biasSat->Biases[ii].Bias = it.value();
|
---|
722 | if (_bsx) {
|
---|
723 | QString obsCode = 'C' + it.key();
|
---|
724 | _bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
|
---|
725 | }
|
---|
726 | }
|
---|
727 | }
|
---|
728 | }
|
---|
729 |
|
---|
730 | // Phase Biases
|
---|
731 | // ------------
|
---|
732 | struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
|
---|
733 | if (prn.system() == 'G') {
|
---|
734 | phasebiasSat = phasebias.Sat
|
---|
735 | + phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
736 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
737 | }
|
---|
738 | else if (prn.system() == 'R') {
|
---|
739 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
|
---|
740 | + phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
741 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
742 | }
|
---|
743 | else if (prn.system() == 'E') {
|
---|
744 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
745 | + phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
746 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
747 | }
|
---|
748 | else if (prn.system() == 'J') {
|
---|
749 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
750 | + CLOCKORBIT_NUMGALILEO
|
---|
751 | + phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
752 | ++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
753 | }
|
---|
754 | else if (prn.system() == 'S') {
|
---|
755 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
756 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
757 | + phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
758 | ++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
759 | }
|
---|
760 | else if (prn.system() == 'C') {
|
---|
761 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
762 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
763 | + CLOCKORBIT_NUMSBAS
|
---|
764 | + phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
765 | ++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
766 | }
|
---|
767 |
|
---|
768 | if (phasebiasSat && _phaseBiasInformationDecoded) {
|
---|
769 | phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
|
---|
770 | phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
|
---|
771 | phasebiasSat->ID = prn.number();
|
---|
772 | phasebiasSat->NumberOfPhaseBiases = 0;
|
---|
773 | phasebiasSat->YawAngle = pbSat.yawAngle;
|
---|
774 | phasebiasSat->YawRate = pbSat.yawRate;
|
---|
775 | QListIterator<phaseBiasSignal> it(phaseBiasList);
|
---|
776 | while (it.hasNext()) {
|
---|
777 | const phaseBiasSignal &pbSig = it.next();
|
---|
778 | int ii = phasebiasSat->NumberOfPhaseBiases;
|
---|
779 | if (ii >= CLOCKORBIT_NUMBIAS)
|
---|
780 | break;
|
---|
781 | SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
|
---|
782 | if (type != _ssrCorr->RESERVED) {
|
---|
783 | phasebiasSat->NumberOfPhaseBiases += 1;
|
---|
784 | phasebiasSat->Biases[ii].Type = type;
|
---|
785 | phasebiasSat->Biases[ii].Bias = pbSig.bias;
|
---|
786 | phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
|
---|
787 | phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
|
---|
788 | phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
|
---|
789 | if (_bsx) {
|
---|
790 | QString obsCode = 'L' + pbSig.type;
|
---|
791 | _bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
|
---|
792 | }
|
---|
793 | }
|
---|
794 | }
|
---|
795 | }
|
---|
796 | }
|
---|
797 | }
|
---|
798 |
|
---|
799 | QByteArray hlpBufferCo;
|
---|
800 |
|
---|
801 | // Orbit and Clock Corrections together
|
---|
802 | // ------------------------------------
|
---|
803 | if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
|
---|
804 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
805 | || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
806 | || co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
807 | || co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
808 | || co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
809 | || co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
810 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
811 | int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
812 | if (len > 0) {
|
---|
813 | hlpBufferCo = QByteArray(obuffer, len);
|
---|
814 | }
|
---|
815 | }
|
---|
816 | }
|
---|
817 |
|
---|
818 | // Orbit and Clock Corrections separately
|
---|
819 | // --------------------------------------
|
---|
820 | else {
|
---|
821 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
|
---|
822 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
823 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
824 | co.UpdateInterval = ephUpdInd;
|
---|
825 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
|
---|
826 | sizeof(obuffer));
|
---|
827 | co.UpdateInterval = clkUpdInd;
|
---|
828 | if (len1 > 0) {
|
---|
829 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
830 | }
|
---|
831 | }
|
---|
832 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
|
---|
833 | co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
|
---|
834 | co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
835 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
836 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
837 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
|
---|
838 | sizeof(obuffer));
|
---|
839 | if (len2 > 0) {
|
---|
840 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
841 | }
|
---|
842 | }
|
---|
843 | if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
844 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
845 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
846 | co.UpdateInterval = ephUpdInd;
|
---|
847 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
|
---|
848 | sizeof(obuffer));
|
---|
849 | co.UpdateInterval = clkUpdInd;
|
---|
850 | if (len1 > 0) {
|
---|
851 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
852 | }
|
---|
853 | }
|
---|
854 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
|
---|
855 | co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
856 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
857 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
858 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
|
---|
859 | sizeof(obuffer));
|
---|
860 | if (len2 > 0) {
|
---|
861 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
862 | }
|
---|
863 | }
|
---|
864 | if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
|
---|
865 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
866 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
867 | co.UpdateInterval = ephUpdInd;
|
---|
868 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
|
---|
869 | sizeof(obuffer));
|
---|
870 | co.UpdateInterval = clkUpdInd;
|
---|
871 | if (len1 > 0) {
|
---|
872 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
873 | }
|
---|
874 | }
|
---|
875 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
876 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
877 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
878 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
|
---|
879 | sizeof(obuffer));
|
---|
880 | if (len2 > 0) {
|
---|
881 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
882 | }
|
---|
883 | }
|
---|
884 | if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
|
---|
885 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
886 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
887 | co.UpdateInterval = ephUpdInd;
|
---|
888 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
|
---|
889 | sizeof(obuffer));
|
---|
890 | co.UpdateInterval = clkUpdInd;
|
---|
891 | if (len1 > 0) {
|
---|
892 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
893 | }
|
---|
894 | }
|
---|
895 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
896 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
897 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
|
---|
898 | sizeof(obuffer));
|
---|
899 | if (len2 > 0) {
|
---|
900 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
901 | }
|
---|
902 | }
|
---|
903 | if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
|
---|
904 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
905 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
906 | co.UpdateInterval = ephUpdInd;
|
---|
907 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
|
---|
908 | sizeof(obuffer));
|
---|
909 | co.UpdateInterval = clkUpdInd;
|
---|
910 | if (len1 > 0) {
|
---|
911 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
912 | }
|
---|
913 | }
|
---|
914 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
|
---|
915 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
|
---|
916 | sizeof(obuffer));
|
---|
917 | if (len2 > 0) {
|
---|
918 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
919 | }
|
---|
920 | }
|
---|
921 | if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
922 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
923 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
924 | co.UpdateInterval = ephUpdInd;
|
---|
925 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
|
---|
926 | sizeof(obuffer));
|
---|
927 | co.UpdateInterval = clkUpdInd;
|
---|
928 | if (len1 > 0) {
|
---|
929 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
930 | }
|
---|
931 | }
|
---|
932 | int mmsg = 0;
|
---|
933 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
|
---|
934 | sizeof(obuffer));
|
---|
935 | if (len2 > 0) {
|
---|
936 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
937 | }
|
---|
938 | }
|
---|
939 | }
|
---|
940 |
|
---|
941 | // Code Biases
|
---|
942 | // -----------
|
---|
943 | QByteArray hlpBufferBias;
|
---|
944 | if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
945 | || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
946 | || bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
947 | || bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
948 | || bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
949 | || bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
950 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
951 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
952 | int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
953 | if (len > 0) {
|
---|
954 | hlpBufferBias = QByteArray(obuffer, len);
|
---|
955 | }
|
---|
956 | }
|
---|
957 | }
|
---|
958 |
|
---|
959 | // Phase Biases
|
---|
960 | // ------------
|
---|
961 | QByteArray hlpBufferPhaseBias;
|
---|
962 | if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
963 | || phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
964 | || phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
965 | || phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
966 | || phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
967 | || phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
|
---|
968 | && (_phaseBiasInformationDecoded)) {
|
---|
969 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
970 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
971 | int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
972 | if (len > 0) {
|
---|
973 | hlpBufferPhaseBias = QByteArray(obuffer, len);
|
---|
974 | }
|
---|
975 | }
|
---|
976 | }
|
---|
977 |
|
---|
978 | // VTEC
|
---|
979 | // ----
|
---|
980 | QByteArray hlpBufferVtec;
|
---|
981 | if (vtec.NumLayers > 0) {
|
---|
982 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
983 | int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
|
---|
984 | if (len > 0) {
|
---|
985 | hlpBufferVtec = QByteArray(obuffer, len);
|
---|
986 | }
|
---|
987 | }
|
---|
988 |
|
---|
989 | _outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec + '\0';
|
---|
990 | }
|
---|
991 | //
|
---|
992 | ////////////////////////////////////////////////////////////////////////////
|
---|
993 | t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
|
---|
994 | double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
|
---|
995 | double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
|
---|
996 | const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
|
---|
997 | struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
|
---|
998 |
|
---|
999 | // Broadcast Position and Velocity
|
---|
1000 | // -------------------------------
|
---|
1001 | ColumnVector xB(6);
|
---|
1002 | ColumnVector vB(3);
|
---|
1003 | t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
|
---|
1004 |
|
---|
1005 | if (irc != success) {
|
---|
1006 | return irc;
|
---|
1007 | }
|
---|
1008 |
|
---|
1009 | // Precise Position
|
---|
1010 | // ----------------
|
---|
1011 | ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
|
---|
1012 |
|
---|
1013 | if (xP.size() == 0) {
|
---|
1014 | return failure;
|
---|
1015 | }
|
---|
1016 |
|
---|
1017 | double dc = 0.0;
|
---|
1018 | if (_crdTrafo != "IGS14") {
|
---|
1019 | crdTrafo(GPSweek, xP, dc);
|
---|
1020 | }
|
---|
1021 |
|
---|
1022 | // Difference in xyz
|
---|
1023 | // -----------------
|
---|
1024 | ColumnVector dx = xB.Rows(1, 3) - xP;
|
---|
1025 | ColumnVector dv = vB - rtnVel;
|
---|
1026 |
|
---|
1027 | // Difference in RSW
|
---|
1028 | // -----------------
|
---|
1029 | ColumnVector rsw(3);
|
---|
1030 | XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
|
---|
1031 |
|
---|
1032 | ColumnVector dotRsw(3);
|
---|
1033 | XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
|
---|
1034 |
|
---|
1035 | // Clock Correction
|
---|
1036 | // ----------------
|
---|
1037 | double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
|
---|
1038 | double dClkA1 = 0.0;
|
---|
1039 | if (rtnClk(2)) {
|
---|
1040 | dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
|
---|
1041 | }
|
---|
1042 | double dClkA2 = 0.0;
|
---|
1043 | if (rtnClk(3)) {
|
---|
1044 | dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
|
---|
1045 | }
|
---|
1046 |
|
---|
1047 | if (sd) {
|
---|
1048 | sd->ID = prn.mid(1).toInt();
|
---|
1049 | sd->IOD = eph->IOD();
|
---|
1050 | sd->Clock.DeltaA0 = dClkA0;
|
---|
1051 | sd->Clock.DeltaA1 = dClkA1;
|
---|
1052 | sd->Clock.DeltaA2 = dClkA2;
|
---|
1053 | sd->UserRangeAccuracy = rtnUra;
|
---|
1054 | sd->Orbit.DeltaRadial = rsw(1);
|
---|
1055 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
---|
1056 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
---|
1057 | sd->Orbit.DotDeltaRadial = dotRsw(1);
|
---|
1058 | sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
|
---|
1059 | sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
|
---|
1060 |
|
---|
1061 | if (corrIsOutOfRange(sd)) {
|
---|
1062 | return failure;
|
---|
1063 | }
|
---|
1064 | }
|
---|
1065 |
|
---|
1066 | outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
|
---|
1067 | GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
|
---|
1068 | rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
|
---|
1069 |
|
---|
1070 | // RTNET full clock for RINEX and SP3 file
|
---|
1071 | // ---------------------------------------
|
---|
1072 | double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
|
---|
1073 | double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
|
---|
1074 | double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
|
---|
1075 | double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
|
---|
1076 |
|
---|
1077 | if (_rnx) {
|
---|
1078 | double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
|
---|
1079 | int s = rtnClkSig.size();
|
---|
1080 | switch (s) {
|
---|
1081 | case 1:
|
---|
1082 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
1083 | clkRnxRateSig = 0.0; // [s/s = -]
|
---|
1084 | clkRnxAccSig = 0.0; // [s/s² ) -/s]
|
---|
1085 | break;
|
---|
1086 | case 2:
|
---|
1087 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
1088 | clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
|
---|
1089 | clkRnxAccSig = 0.0; // [s/s² ) -/s]
|
---|
1090 | break;
|
---|
1091 | case 3:
|
---|
1092 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
1093 | clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
|
---|
1094 | clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
|
---|
1095 | break;
|
---|
1096 | }
|
---|
1097 | _rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
|
---|
1098 | clkRnxSig, clkRnxRateSig, clkRnxAccSig);
|
---|
1099 | }
|
---|
1100 | if (_sp3) {
|
---|
1101 | _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
|
---|
1102 | }
|
---|
1103 | return success;
|
---|
1104 | }
|
---|
1105 |
|
---|
1106 | // Transform Coordinates
|
---|
1107 | ////////////////////////////////////////////////////////////////////////////
|
---|
1108 | void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
|
---|
1109 | double& dc) {
|
---|
1110 |
|
---|
1111 | // Current epoch minus 2000.0 in years
|
---|
1112 | // ------------------------------------
|
---|
1113 | double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
1114 |
|
---|
1115 | ColumnVector dx(3);
|
---|
1116 |
|
---|
1117 | dx(1) = _dx + dt * _dxr;
|
---|
1118 | dx(2) = _dy + dt * _dyr;
|
---|
1119 | dx(3) = _dz + dt * _dzr;
|
---|
1120 |
|
---|
1121 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
1122 |
|
---|
1123 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
1124 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
1125 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
1126 |
|
---|
1127 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
1128 |
|
---|
1129 | // Specify approximate center of area
|
---|
1130 | // ----------------------------------
|
---|
1131 | ColumnVector meanSta(3);
|
---|
1132 |
|
---|
1133 | if (_crdTrafo == "ETRF2000") {
|
---|
1134 | meanSta(1) = 3661090.0;
|
---|
1135 | meanSta(2) = 845230.0;
|
---|
1136 | meanSta(3) = 5136850.0;
|
---|
1137 | }
|
---|
1138 | else if (_crdTrafo == "GDA2020") {
|
---|
1139 | meanSta(1) = -4052050.0;
|
---|
1140 | meanSta(2) = 4212840.0;
|
---|
1141 | meanSta(3) = -2545110.0;
|
---|
1142 | }
|
---|
1143 | else if (_crdTrafo == "SIRGAS2000") {
|
---|
1144 | meanSta(1) = 3740860.0;
|
---|
1145 | meanSta(2) = -4964290.0;
|
---|
1146 | meanSta(3) = -1425420.0;
|
---|
1147 | }
|
---|
1148 | else if (_crdTrafo == "DREF91") {
|
---|
1149 | meanSta(1) = 3959579.0;
|
---|
1150 | meanSta(2) = 721719.0;
|
---|
1151 | meanSta(3) = 4931539.0;
|
---|
1152 | }
|
---|
1153 | else if (_crdTrafo == "Custom") {
|
---|
1154 | meanSta(1) = 0.0; // TODO
|
---|
1155 | meanSta(2) = 0.0; // TODO
|
---|
1156 | meanSta(3) = 0.0; // TODO
|
---|
1157 | }
|
---|
1158 |
|
---|
1159 | // Clock correction proportional to topocentric distance to satellites
|
---|
1160 | // -------------------------------------------------------------------
|
---|
1161 | double rho = (xyz - meanSta).NormFrobenius();
|
---|
1162 | dc = rho * (sc - 1.0) / sc / t_CST::c;
|
---|
1163 |
|
---|
1164 | Matrix rMat(3, 3);
|
---|
1165 | rMat(1, 1) = 1.0;
|
---|
1166 | rMat(1, 2) = -oz;
|
---|
1167 | rMat(1, 3) = oy;
|
---|
1168 | rMat(2, 1) = oz;
|
---|
1169 | rMat(2, 2) = 1.0;
|
---|
1170 | rMat(2, 3) = -ox;
|
---|
1171 | rMat(3, 1) = -oy;
|
---|
1172 | rMat(3, 2) = ox;
|
---|
1173 | rMat(3, 3) = 1.0;
|
---|
1174 |
|
---|
1175 | xyz = sc * rMat * xyz + dx;
|
---|
1176 | }
|
---|
1177 |
|
---|
1178 | int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
|
---|
1179 |
|
---|
1180 | if (samplingRate == 10.0) {
|
---|
1181 | return 3;
|
---|
1182 | }
|
---|
1183 | else if (samplingRate == 15.0) {
|
---|
1184 | return 4;
|
---|
1185 | }
|
---|
1186 | else if (samplingRate == 30.0) {
|
---|
1187 | return 5;
|
---|
1188 | }
|
---|
1189 | else if (samplingRate == 60.0) {
|
---|
1190 | return 6;
|
---|
1191 | }
|
---|
1192 | else if (samplingRate == 120.0) {
|
---|
1193 | return 7;
|
---|
1194 | }
|
---|
1195 | else if (samplingRate == 240.0) {
|
---|
1196 | return 8;
|
---|
1197 | }
|
---|
1198 | else if (samplingRate == 300.0) {
|
---|
1199 | return 9;
|
---|
1200 | }
|
---|
1201 | else if (samplingRate == 600.0) {
|
---|
1202 | return 10;
|
---|
1203 | }
|
---|
1204 | else if (samplingRate == 900.0) {
|
---|
1205 | return 11;
|
---|
1206 | }
|
---|
1207 | else if (samplingRate == 1800.0) {
|
---|
1208 | return 12;
|
---|
1209 | }
|
---|
1210 | else if (samplingRate == 3600.0) {
|
---|
1211 | return 13;
|
---|
1212 | }
|
---|
1213 | else if (samplingRate == 7200.0) {
|
---|
1214 | return 14;
|
---|
1215 | }
|
---|
1216 | else if (samplingRate == 10800.0) {
|
---|
1217 | return 15;
|
---|
1218 | }
|
---|
1219 | return 2; // default
|
---|
1220 | }
|
---|
1221 |
|
---|
1222 | bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
|
---|
1223 |
|
---|
1224 | if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
|
---|
1225 | if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
|
---|
1226 | if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
|
---|
1227 |
|
---|
1228 | if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
|
---|
1229 | if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
|
---|
1230 | if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
|
---|
1231 |
|
---|
1232 | if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
|
---|
1233 | if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
|
---|
1234 | if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
|
---|
1235 | return false;
|
---|
1236 | }
|
---|