| 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 = 0.0;
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| 190 | _dyr = 0.0;
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| 191 | _dzr = 0.0;
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| 192 |
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| 193 | _ox = 0.0;
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| 194 | _oy = 0.0;
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| 195 | _oz = 0.0;
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| 196 |
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| 197 | _oxr = 0.0;
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| 198 | _oyr = 0.0;
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| 199 | _ozr = 0.0;
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| 200 |
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| 201 | _sc = 1.2;
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| 202 | _scr = 0.0;
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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 (ETRF2000 => 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 | // TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
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| 246 | if (_crdTrafo == "ETRF2000" ||
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| 247 | _crdTrafo == "GDA2020" ||
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| 248 | _crdTrafo == "DREF91" ||
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| 249 | _crdTrafo == "SIRGAS2000") {
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| 250 | // Transformation Parameters from ITRF2020 to ITRF2014
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| 251 | // from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
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| 252 | _dx14 = -0.0014;
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| 253 | _dy14 = -0.0009;
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| 254 | _dz14 = 0.0014;
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| 255 | _dxr14 = 0.0;
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| 256 | _dyr14 = -0.0001;
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| 257 | _dzr14 = -0.0002;
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| 258 | _ox14 = 0.0;
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| 259 | _oy14 = 0.0;
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| 260 | _oz14 = 0.0;
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| 261 | _oxr14 = 0.0;
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| 262 | _oyr14 = 0.0;
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| 263 | _ozr14 = 0.0;
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| 264 | _sc14 = -0.42;
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| 265 | _scr14 = 0.0;
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| 266 | _t014 = 2015.0;
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| 267 | }
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| 268 | }
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| 269 |
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| 270 | // Destructor
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| 271 | ////////////////////////////////////////////////////////////////////////////
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| 272 | bncRtnetUploadCaster::~bncRtnetUploadCaster() {
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| 273 | if (isRunning()) {
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| 274 | wait();
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| 275 | }
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| 276 | delete _rnx;
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| 277 | delete _sp3;
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| 278 | delete _ephUser;
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| 279 | delete _usedEph;
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| 280 | delete _ssrCorr;
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| 281 | }
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| 282 |
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| 283 | //
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| 284 | ////////////////////////////////////////////////////////////////////////////
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| 285 | void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
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| 286 |
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| 287 | QMutexLocker locker(&_mutex);
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| 288 |
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| 289 | // Append to internal buffer
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| 290 | // -------------------------
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| 291 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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| 292 |
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| 293 | // Select buffer part that contains last epoch
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| 294 | // -------------------------------------------
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| 295 |
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| 296 | // Find the begin of last epoch
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| 297 | int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*');
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| 298 | if (iEpoBeg == -1) {
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| 299 | _rtnetStreamBuffer.clear();
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| 300 | emit(newMessage(QString("bncRtnetUploadCaster: no Epoch line found: %1").arg(_casterID).toLatin1(), false));
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| 301 | return;
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| 302 | }
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| 303 |
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| 304 | // Find the begin of the first epoch
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| 305 | int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
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| 306 | if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) {
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| 307 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
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| 308 | }
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| 309 | else {
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| 310 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
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| 311 | }
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| 312 |
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| 313 | // Find End of the last epoch
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| 314 | int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE");
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| 315 | if (iEpoEnd == -1) {
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| 316 | _rtnetStreamBuffer.clear();
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| 317 | emit(newMessage(QString("bncRtnetUploadCaster: no EOE found: %1").arg(_casterID).toLatin1(), false));
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| 318 | return;
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| 319 | }
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| 320 |
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| 321 | QStringList lines;
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| 322 | // If there is there more than 1 epoch line in the buffer
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| 323 | while (_rtnetStreamBuffer.count('*') > 1) {
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| 324 | //cout << "more than 1 epoch in buffer: " << _rtnetStreamBuffer.count('*') << endl;
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| 325 | //cout <<"XX MORE THAN 1 EPOCH XXX\n" << _rtnetStreamBuffer.toStdString().c_str() << "\nXXXXXXXXXXXXXXXXX" <<endl;
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| 326 | emit(newMessage(QString("bncRtnetUploadCaster: more than 1 epoch in buffer: %1").arg(_rtnetStreamBuffer.count('*')).toLatin1(), false));
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| 327 | QString rtnetStreamBuffer = _rtnetStreamBuffer;
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| 328 | int nextEpoch = rtnetStreamBuffer.indexOf('*');
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| 329 | int nextEpochEnd = rtnetStreamBuffer.indexOf("EOE");
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| 330 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
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| 331 | if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
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| 332 | rtnetStreamBuffer = rtnetStreamBuffer.mid(nextEpoch, nextEpochEnd);//cout <<"== ONE EPOCH=\n" << rtnetStreamBuffer.toStdString().c_str() << "\n=ONE EPOCH =="<<endl;
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| 333 | lines = rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);
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| 334 | if (lines.size() > 2) {
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| 335 | //cout << "----------LINES 2 DECODE (IN WHILE)-------------\n" << rtnetStreamBuffer.toStdString().c_str() << "\n------------------" << endl;
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| 336 | decodeRtnetEpoch(lines);
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| 337 | }
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| 338 | nextEpochEnd = _rtnetStreamBuffer.indexOf("EOE");
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| 339 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpochEnd+3);
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| 340 | }
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| 341 | else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {//cout << "bin hier" << endl;
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| 342 | break;
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| 343 | }
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| 344 | }
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| 345 |
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| 346 | lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
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| 347 | //cout << "----------LINES 2 DECODE (OUTSIDE)-------------\n" << _rtnetStreamBuffer.left(iEpoEnd).toStdString().c_str() << "\n------------------" << endl;
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| 348 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
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| 349 | //cout <<"YYYY REST OF BUFFER YYYY\n" << _rtnetStreamBuffer.toStdString().c_str() << "\nYYYYYY" <<endl;
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| 350 | if (lines.size() < 2) {
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| 351 | emit(newMessage(QString("bncRtnetUploadCaster: less than 2 lines to decode : %1").arg(_casterID).toLatin1(), false));
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| 352 | return;
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| 353 | }
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| 354 | decodeRtnetEpoch(lines);
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| 355 | }
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| 356 |
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| 357 | //
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| 358 | ////////////////////////////////////////////////////////////////////////////
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| 359 | void bncRtnetUploadCaster::decodeRtnetEpoch(QStringList epochLines) {
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| 360 |
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| 361 | // Read first line (with epoch time)
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| 362 | // ---------------------------------
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| 363 | QTextStream in(epochLines[0].toLatin1()); //cout << epochLines[0].toLatin1().toStdString() << " : ";
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| 364 | QString hlp;
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| 365 | int year, month, day, hour, min;
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| 366 | double sec;
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| 367 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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| 368 | bncTime epoTime;
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| 369 | epoTime.set(year, month, day, hour, min, sec); //cout << "decodeEpoch: " << epoTime.timestr().c_str() << endl;
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| 370 |
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| 371 | emit(newMessage(
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| 372 | "bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
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| 373 | + " " + QByteArray(epoTime.timestr().c_str()) + " "
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| 374 | + _casterID.toLatin1(), false));
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| 375 |
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| 376 | struct SsrCorr::ClockOrbit co;
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| 377 | memset(&co, 0, sizeof(co));
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| 378 | co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
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| 379 | if (_ssrFormat == "RTCM-SSR") {
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| 380 | double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
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| 381 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
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| 382 | }
|
|---|
| 383 | else if (_ssrFormat == "IGS-SSR") {
|
|---|
| 384 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
|
|---|
| 385 | }
|
|---|
| 386 | co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
|
|---|
| 387 | co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
|
|---|
| 388 | co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
|
|---|
| 389 | if (_ssrFormat == "RTCM-SSR") {
|
|---|
| 390 | co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
|
|---|
| 391 | }
|
|---|
| 392 | else if (_ssrFormat == "IGS-SSR") {
|
|---|
| 393 | co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
|
|---|
| 394 | }
|
|---|
| 395 | co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
|
|---|
| 396 | co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
|
|---|
| 397 | co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
|
|---|
| 398 | co.SSRIOD = _IOD;
|
|---|
| 399 | co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
|
|---|
| 400 | co.SSRSolutionID = _SID;
|
|---|
| 401 |
|
|---|
| 402 | struct SsrCorr::CodeBias bias;
|
|---|
| 403 | memset(&bias, 0, sizeof(bias));
|
|---|
| 404 | bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
|
|---|
| 405 | bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
|
|---|
| 406 | bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
|
|---|
| 407 | bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
|
|---|
| 408 | bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
|
|---|
| 409 | bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
|
|---|
| 410 | bias.SSRIOD = _IOD;
|
|---|
| 411 | bias.SSRProviderID = _PID;
|
|---|
| 412 | bias.SSRSolutionID = _SID;
|
|---|
| 413 |
|
|---|
| 414 | struct SsrCorr::PhaseBias phasebias;
|
|---|
| 415 | memset(&phasebias, 0, sizeof(phasebias));
|
|---|
| 416 | unsigned int dispersiveBiasConsistenyIndicator = 0;
|
|---|
| 417 | unsigned int mwConsistencyIndicator = 0;
|
|---|
| 418 | phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
|
|---|
| 419 | phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
|
|---|
| 420 | phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
|
|---|
| 421 | phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
|
|---|
| 422 | phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
|
|---|
| 423 | phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
|
|---|
| 424 | phasebias.SSRIOD = _IOD;
|
|---|
| 425 | phasebias.SSRProviderID = _PID;
|
|---|
| 426 | phasebias.SSRSolutionID = _SID;
|
|---|
| 427 |
|
|---|
| 428 | struct SsrCorr::VTEC vtec;
|
|---|
| 429 | memset(&vtec, 0, sizeof(vtec));
|
|---|
| 430 | vtec.EpochTime = static_cast<int>(epoTime.gpssec());
|
|---|
| 431 | vtec.SSRIOD = _IOD;
|
|---|
| 432 | vtec.SSRProviderID = _PID;
|
|---|
| 433 | vtec.SSRSolutionID = _SID;
|
|---|
| 434 |
|
|---|
| 435 | // Default Update Interval
|
|---|
| 436 | // -----------------------
|
|---|
| 437 | int clkUpdInd = 2; // 5 sec
|
|---|
| 438 | int ephUpdInd = clkUpdInd; // default
|
|---|
| 439 |
|
|---|
| 440 | if (!_samplRtcmEphCorr) {
|
|---|
| 441 | _samplRtcmEphCorr = 5.0;
|
|---|
| 442 | }
|
|---|
| 443 |
|
|---|
| 444 | if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
|
|---|
| 445 | ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
|
|---|
| 446 | }
|
|---|
| 447 | if (_samplRtcmClkCorr > 5.0) {
|
|---|
| 448 | clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
|
|---|
| 449 | }
|
|---|
| 450 | if (_samplRtcmEphCorr > 5.0) {
|
|---|
| 451 | ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
|
|---|
| 452 | }
|
|---|
| 453 |
|
|---|
| 454 | co.UpdateInterval = clkUpdInd;
|
|---|
| 455 | bias.UpdateInterval = ephUpdInd;
|
|---|
| 456 | phasebias.UpdateInterval = ephUpdInd;
|
|---|
| 457 |
|
|---|
| 458 | for (int ii = 1; ii < epochLines.size(); ii++) {
|
|---|
| 459 | QString key; // prn or key VTEC, IND (phase bias indicators)
|
|---|
| 460 | double rtnUra = 0.0; // [m]
|
|---|
| 461 | ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
|
|---|
| 462 | ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
|
|---|
| 463 | ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
|
|---|
| 464 | ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
|
|---|
| 465 | ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
|
|---|
| 466 | t_prn prn;
|
|---|
| 467 |
|
|---|
| 468 | QTextStream in(epochLines[ii].toLatin1());
|
|---|
| 469 |
|
|---|
| 470 | in >> key;
|
|---|
| 471 |
|
|---|
| 472 | // non-satellite specific parameters
|
|---|
| 473 | if (key.contains("IND", Qt::CaseSensitive)) {
|
|---|
| 474 | in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
|
|---|
| 475 | continue;
|
|---|
| 476 | }
|
|---|
| 477 | // non-satellite specific parameters
|
|---|
| 478 | if (key.contains("VTEC", Qt::CaseSensitive)) {
|
|---|
| 479 | double ui;
|
|---|
| 480 | in >> ui >> vtec.NumLayers;
|
|---|
| 481 | vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
|
|---|
| 482 | for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
|
|---|
| 483 | int dummy;
|
|---|
| 484 | in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
|
|---|
| 485 | >> vtec.Layers[ll].Height;
|
|---|
| 486 | for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
|
|---|
| 487 | for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
|
|---|
| 488 | in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
|
|---|
| 489 | }
|
|---|
| 490 | }
|
|---|
| 491 | for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
|
|---|
| 492 | for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
|
|---|
| 493 | in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
|
|---|
| 494 | }
|
|---|
| 495 | }
|
|---|
| 496 | }
|
|---|
| 497 | continue;
|
|---|
| 498 | }
|
|---|
| 499 | // satellite specific parameters
|
|---|
| 500 | char sys = key.mid(0, 1).at(0).toLatin1();
|
|---|
| 501 | int number = key.mid(1, 2).toInt();
|
|---|
| 502 | int flags = 0;
|
|---|
| 503 | if (sys == 'E') { // I/NAV
|
|---|
| 504 | flags = 1;
|
|---|
| 505 | }
|
|---|
| 506 | if (number == 0) {
|
|---|
| 507 | continue;
|
|---|
| 508 | }
|
|---|
| 509 | prn.set(sys, number, flags);
|
|---|
| 510 | QString prnInternalStr = QString::fromStdString(prn.toInternalString());
|
|---|
| 511 | QString prnStr = QString::fromStdString(prn.toString());
|
|---|
| 512 |
|
|---|
| 513 | const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
|
|---|
| 514 | const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
|
|---|
| 515 | const t_eph* eph = ephLast;
|
|---|
| 516 | if (eph) {
|
|---|
| 517 |
|
|---|
| 518 | // Use previous ephemeris if the last one is too recent
|
|---|
| 519 | // ----------------------------------------------------
|
|---|
| 520 | const int MINAGE = 60; // seconds
|
|---|
| 521 | if (ephPrev && eph->receptDateTime().isValid()
|
|---|
| 522 | && eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
|
|---|
| 523 | eph = ephPrev;
|
|---|
| 524 | }
|
|---|
| 525 |
|
|---|
| 526 | // Make sure the clock messages refer to same IOD as orbit messages
|
|---|
| 527 | // ----------------------------------------------------------------
|
|---|
| 528 | if (_usedEph) {
|
|---|
| 529 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
|---|
| 530 | (*_usedEph)[prnInternalStr] = eph;
|
|---|
| 531 | }
|
|---|
| 532 | else {
|
|---|
| 533 | eph = 0;
|
|---|
| 534 | if (_usedEph->contains(prnInternalStr)) {
|
|---|
| 535 | const t_eph* usedEph = _usedEph->value(prnInternalStr);
|
|---|
| 536 | if (usedEph == ephLast) {
|
|---|
| 537 | eph = ephLast;
|
|---|
| 538 | }
|
|---|
| 539 | else if (usedEph == ephPrev) {
|
|---|
| 540 | eph = ephPrev;
|
|---|
| 541 | }
|
|---|
| 542 | }
|
|---|
| 543 | }
|
|---|
| 544 | }
|
|---|
| 545 | }
|
|---|
| 546 |
|
|---|
| 547 | if (eph &&
|
|---|
| 548 | !outDatedBcep(eph) && // detected from storage because of no update
|
|---|
| 549 | eph->checkState() != t_eph::bad &&
|
|---|
| 550 | eph->checkState() != t_eph::unhealthy &&
|
|---|
| 551 | eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
|
|---|
| 552 | QMap<QString, double> codeBiases;
|
|---|
| 553 | QList<phaseBiasSignal> phaseBiasList;
|
|---|
| 554 | phaseBiasesSat pbSat;
|
|---|
| 555 | _phaseBiasInformationDecoded = false;
|
|---|
| 556 |
|
|---|
| 557 | while (true) {
|
|---|
| 558 | QString key;
|
|---|
| 559 | int numVal = 0;
|
|---|
| 560 | in >> key;
|
|---|
| 561 | if (in.status() != QTextStream::Ok) {
|
|---|
| 562 | break;
|
|---|
| 563 | }
|
|---|
| 564 | if (key == "APC") {
|
|---|
| 565 | in >> numVal;
|
|---|
| 566 | rtnAPC.ReSize(3); rtnAPC = 0.0;
|
|---|
| 567 | for (int ii = 0; ii < numVal; ii++) {
|
|---|
| 568 | in >> rtnAPC[ii];
|
|---|
| 569 | }
|
|---|
| 570 | }
|
|---|
| 571 | else if (key == "Ura") {
|
|---|
| 572 | in >> numVal;
|
|---|
| 573 | if (numVal == 1)
|
|---|
| 574 | in >> rtnUra;
|
|---|
| 575 | }
|
|---|
| 576 | else if (key == "Clk") {
|
|---|
| 577 | in >> numVal;
|
|---|
| 578 | rtnClk.ReSize(3); rtnClk = 0.0;
|
|---|
| 579 | for (int ii = 0; ii < numVal; ii++) {
|
|---|
| 580 | in >> rtnClk[ii];
|
|---|
| 581 | }
|
|---|
| 582 | }
|
|---|
| 583 | else if (key == "ClkSig") {
|
|---|
| 584 | in >> numVal;
|
|---|
| 585 | rtnClkSig.ReSize(3); rtnClkSig = 0.0;
|
|---|
| 586 | for (int ii = 0; ii < numVal; ii++) {
|
|---|
| 587 | in >> rtnClkSig[ii];
|
|---|
| 588 | }
|
|---|
| 589 | }
|
|---|
| 590 | else if (key == "Vel") {
|
|---|
| 591 | in >> numVal;
|
|---|
| 592 | rtnVel.ReSize(3); rtnVel = 0.0;
|
|---|
| 593 | for (int ii = 0; ii < numVal; ii++) {
|
|---|
| 594 | in >> rtnVel[ii];
|
|---|
| 595 | }
|
|---|
| 596 | }
|
|---|
| 597 | else if (key == "CoM") {
|
|---|
| 598 | in >> numVal;
|
|---|
| 599 | rtnCoM.ReSize(3); rtnCoM = 0.0;
|
|---|
| 600 | for (int ii = 0; ii < numVal; ii++) {
|
|---|
| 601 | in >> rtnCoM[ii];
|
|---|
| 602 | }
|
|---|
| 603 | }
|
|---|
| 604 | else if (key == "CodeBias") {
|
|---|
| 605 | in >> numVal;
|
|---|
| 606 | for (int ii = 0; ii < numVal; ii++) {
|
|---|
| 607 | QString type;
|
|---|
| 608 | double value;
|
|---|
| 609 | in >> type >> value;
|
|---|
| 610 | codeBiases[type] = value;
|
|---|
| 611 | }
|
|---|
| 612 | }
|
|---|
| 613 | else if (key == "YawAngle") {
|
|---|
| 614 | _phaseBiasInformationDecoded = true;
|
|---|
| 615 | in >> numVal >> pbSat.yawAngle;
|
|---|
| 616 | if (pbSat.yawAngle < 0.0) {
|
|---|
| 617 | pbSat.yawAngle += (2*M_PI);
|
|---|
| 618 | }
|
|---|
| 619 | else if (pbSat.yawAngle > 2*M_PI) {
|
|---|
| 620 | pbSat.yawAngle -= (2*M_PI);
|
|---|
| 621 | }
|
|---|
| 622 | }
|
|---|
| 623 | else if (key == "YawRate") {
|
|---|
| 624 | _phaseBiasInformationDecoded = true;
|
|---|
| 625 | in >> numVal >> pbSat.yawRate;
|
|---|
| 626 | }
|
|---|
| 627 | else if (key == "PhaseBias") {
|
|---|
| 628 | _phaseBiasInformationDecoded = true;
|
|---|
| 629 | in >> numVal;
|
|---|
| 630 | for (int ii = 0; ii < numVal; ii++) {
|
|---|
| 631 | phaseBiasSignal pb;
|
|---|
| 632 | in >> pb.type >> pb.bias >> pb.integerIndicator
|
|---|
| 633 | >> pb.wlIndicator >> pb.discontinuityCounter;
|
|---|
| 634 | phaseBiasList.append(pb);
|
|---|
| 635 | }
|
|---|
| 636 | }
|
|---|
| 637 | else {
|
|---|
| 638 | in >> numVal;
|
|---|
| 639 | for (int ii = 0; ii < numVal; ii++) {
|
|---|
| 640 | double dummy;
|
|---|
| 641 | in >> dummy;
|
|---|
| 642 | }
|
|---|
| 643 | emit(newMessage(" RTNET format error: "
|
|---|
| 644 | + epochLines[ii].toLatin1(), false));
|
|---|
| 645 | break;
|
|---|
| 646 | }
|
|---|
| 647 | }
|
|---|
| 648 |
|
|---|
| 649 | struct SsrCorr::ClockOrbit::SatData* sd = 0;
|
|---|
| 650 | if (prn.system() == 'G') {
|
|---|
| 651 | sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
|
|---|
| 652 | ++co.NumberOfSat[CLOCKORBIT_SATGPS];
|
|---|
| 653 | }
|
|---|
| 654 | else if (prn.system() == 'R') {
|
|---|
| 655 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
|---|
| 656 | ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
|---|
| 657 | }
|
|---|
| 658 | else if (prn.system() == 'E') {
|
|---|
| 659 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 660 | + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
|---|
| 661 | ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
|---|
| 662 | }
|
|---|
| 663 | else if (prn.system() == 'J') {
|
|---|
| 664 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 665 | + CLOCKORBIT_NUMGALILEO
|
|---|
| 666 | + co.NumberOfSat[CLOCKORBIT_SATQZSS];
|
|---|
| 667 | ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
|
|---|
| 668 | }
|
|---|
| 669 | else if (prn.system() == 'S') {
|
|---|
| 670 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 671 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
|---|
| 672 | + co.NumberOfSat[CLOCKORBIT_SATSBAS];
|
|---|
| 673 | ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
|
|---|
| 674 | }
|
|---|
| 675 | else if (prn.system() == 'C') {
|
|---|
| 676 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 677 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
|---|
| 678 | + CLOCKORBIT_NUMSBAS
|
|---|
| 679 | + co.NumberOfSat[CLOCKORBIT_SATBDS];
|
|---|
| 680 | ++co.NumberOfSat[CLOCKORBIT_SATBDS];
|
|---|
| 681 | }
|
|---|
| 682 | if (sd) {
|
|---|
| 683 | QString outLine;
|
|---|
| 684 | t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
|
|---|
| 685 | rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
|
|---|
| 686 | if (irc != success) {
|
|---|
| 687 | continue;
|
|---|
| 688 | }
|
|---|
| 689 | }
|
|---|
| 690 |
|
|---|
| 691 | // Code Biases
|
|---|
| 692 | // -----------
|
|---|
| 693 | struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
|
|---|
| 694 | if (!codeBiases.isEmpty()) {
|
|---|
| 695 | if (prn.system() == 'G') {
|
|---|
| 696 | biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
|---|
| 697 | ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
|---|
| 698 | }
|
|---|
| 699 | else if (prn.system() == 'R') {
|
|---|
| 700 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS
|
|---|
| 701 | + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
|---|
| 702 | ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
|---|
| 703 | }
|
|---|
| 704 | else if (prn.system() == 'E') {
|
|---|
| 705 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 706 | + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
|---|
| 707 | ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
|---|
| 708 | }
|
|---|
| 709 | else if (prn.system() == 'J') {
|
|---|
| 710 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 711 | + CLOCKORBIT_NUMGALILEO
|
|---|
| 712 | + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
|---|
| 713 | ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
|---|
| 714 | }
|
|---|
| 715 | else if (prn.system() == 'S') {
|
|---|
| 716 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 717 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
|---|
| 718 | + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
|---|
| 719 | ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
|---|
| 720 | }
|
|---|
| 721 | else if (prn.system() == 'C') {
|
|---|
| 722 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 723 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
|---|
| 724 | + CLOCKORBIT_NUMSBAS
|
|---|
| 725 | + bias.NumberOfSat[CLOCKORBIT_SATBDS];
|
|---|
| 726 | ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
|
|---|
| 727 | }
|
|---|
| 728 | }
|
|---|
| 729 |
|
|---|
| 730 | if (biasSat) {
|
|---|
| 731 | biasSat->ID = prn.number();
|
|---|
| 732 | biasSat->NumberOfCodeBiases = 0;
|
|---|
| 733 | QMapIterator<QString, double> it(codeBiases);
|
|---|
| 734 | while (it.hasNext()) {
|
|---|
| 735 | it.next();
|
|---|
| 736 | int ii = biasSat->NumberOfCodeBiases;
|
|---|
| 737 | if (ii >= CLOCKORBIT_NUMBIAS)
|
|---|
| 738 | break;
|
|---|
| 739 | SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
|
|---|
| 740 | if (type != _ssrCorr->RESERVED) {
|
|---|
| 741 | biasSat->NumberOfCodeBiases += 1;
|
|---|
| 742 | biasSat->Biases[ii].Type = type;
|
|---|
| 743 | biasSat->Biases[ii].Bias = it.value();
|
|---|
| 744 | if (_bsx) {
|
|---|
| 745 | QString obsCode = 'C' + it.key();
|
|---|
| 746 | _bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
|
|---|
| 747 | }
|
|---|
| 748 | }
|
|---|
| 749 | }
|
|---|
| 750 | }
|
|---|
| 751 |
|
|---|
| 752 | // Phase Biases
|
|---|
| 753 | // ------------
|
|---|
| 754 | struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
|
|---|
| 755 | if (prn.system() == 'G') {
|
|---|
| 756 | phasebiasSat = phasebias.Sat
|
|---|
| 757 | + phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
|
|---|
| 758 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
|
|---|
| 759 | }
|
|---|
| 760 | else if (prn.system() == 'R') {
|
|---|
| 761 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
|
|---|
| 762 | + phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
|---|
| 763 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
|---|
| 764 | }
|
|---|
| 765 | else if (prn.system() == 'E') {
|
|---|
| 766 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 767 | + phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
|---|
| 768 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
|---|
| 769 | }
|
|---|
| 770 | else if (prn.system() == 'J') {
|
|---|
| 771 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 772 | + CLOCKORBIT_NUMGALILEO
|
|---|
| 773 | + phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
|---|
| 774 | ++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
|---|
| 775 | }
|
|---|
| 776 | else if (prn.system() == 'S') {
|
|---|
| 777 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 778 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
|---|
| 779 | + phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
|---|
| 780 | ++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
|---|
| 781 | }
|
|---|
| 782 | else if (prn.system() == 'C') {
|
|---|
| 783 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
|---|
| 784 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
|---|
| 785 | + CLOCKORBIT_NUMSBAS
|
|---|
| 786 | + phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
|
|---|
| 787 | ++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
|
|---|
| 788 | }
|
|---|
| 789 |
|
|---|
| 790 | if (phasebiasSat && _phaseBiasInformationDecoded) {
|
|---|
| 791 | phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
|
|---|
| 792 | phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
|
|---|
| 793 | phasebiasSat->ID = prn.number();
|
|---|
| 794 | phasebiasSat->NumberOfPhaseBiases = 0;
|
|---|
| 795 | phasebiasSat->YawAngle = pbSat.yawAngle;
|
|---|
| 796 | phasebiasSat->YawRate = pbSat.yawRate;
|
|---|
| 797 | QListIterator<phaseBiasSignal> it(phaseBiasList);
|
|---|
| 798 | while (it.hasNext()) {
|
|---|
| 799 | const phaseBiasSignal &pbSig = it.next();
|
|---|
| 800 | int ii = phasebiasSat->NumberOfPhaseBiases;
|
|---|
| 801 | if (ii >= CLOCKORBIT_NUMBIAS)
|
|---|
| 802 | break;
|
|---|
| 803 | SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
|
|---|
| 804 | if (type != _ssrCorr->RESERVED) {
|
|---|
| 805 | phasebiasSat->NumberOfPhaseBiases += 1;
|
|---|
| 806 | phasebiasSat->Biases[ii].Type = type;
|
|---|
| 807 | phasebiasSat->Biases[ii].Bias = pbSig.bias;
|
|---|
| 808 | phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
|
|---|
| 809 | phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
|
|---|
| 810 | phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
|
|---|
| 811 | if (_bsx) {
|
|---|
| 812 | QString obsCode = 'L' + pbSig.type;
|
|---|
| 813 | _bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
|
|---|
| 814 | }
|
|---|
| 815 | }
|
|---|
| 816 | }
|
|---|
| 817 | }
|
|---|
| 818 | }
|
|---|
| 819 | }
|
|---|
| 820 |
|
|---|
| 821 | QByteArray hlpBufferCo;
|
|---|
| 822 |
|
|---|
| 823 | // Orbit and Clock Corrections together
|
|---|
| 824 | // ------------------------------------
|
|---|
| 825 | if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
|
|---|
| 826 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
|---|
| 827 | || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
|---|
| 828 | || co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
|---|
| 829 | || co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
|---|
| 830 | || co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
|---|
| 831 | || co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
|---|
| 832 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 833 | int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
|---|
| 834 | if (len > 0) {
|
|---|
| 835 | hlpBufferCo = QByteArray(obuffer, len);
|
|---|
| 836 | }
|
|---|
| 837 | }
|
|---|
| 838 | }
|
|---|
| 839 |
|
|---|
| 840 | // Orbit and Clock Corrections separately
|
|---|
| 841 | // --------------------------------------
|
|---|
| 842 | else {
|
|---|
| 843 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 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_GPSORBIT, 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_SATGLONASS] > 0 ||
|
|---|
| 855 | co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
|
|---|
| 856 | co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
|---|
| 857 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
|---|
| 858 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
|---|
| 859 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
|
|---|
| 860 | sizeof(obuffer));
|
|---|
| 861 | if (len2 > 0) {
|
|---|
| 862 | hlpBufferCo += QByteArray(obuffer, len2);
|
|---|
| 863 | }
|
|---|
| 864 | }
|
|---|
| 865 | if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
|---|
| 866 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 867 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
|---|
| 868 | co.UpdateInterval = ephUpdInd;
|
|---|
| 869 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
|
|---|
| 870 | sizeof(obuffer));
|
|---|
| 871 | co.UpdateInterval = clkUpdInd;
|
|---|
| 872 | if (len1 > 0) {
|
|---|
| 873 | hlpBufferCo += QByteArray(obuffer, len1);
|
|---|
| 874 | }
|
|---|
| 875 | }
|
|---|
| 876 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
|
|---|
| 877 | co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
|---|
| 878 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
|---|
| 879 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
|---|
| 880 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
|
|---|
| 881 | sizeof(obuffer));
|
|---|
| 882 | if (len2 > 0) {
|
|---|
| 883 | hlpBufferCo += QByteArray(obuffer, len2);
|
|---|
| 884 | }
|
|---|
| 885 | }
|
|---|
| 886 | if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
|
|---|
| 887 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 888 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
|---|
| 889 | co.UpdateInterval = ephUpdInd;
|
|---|
| 890 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
|
|---|
| 891 | sizeof(obuffer));
|
|---|
| 892 | co.UpdateInterval = clkUpdInd;
|
|---|
| 893 | if (len1 > 0) {
|
|---|
| 894 | hlpBufferCo += QByteArray(obuffer, len1);
|
|---|
| 895 | }
|
|---|
| 896 | }
|
|---|
| 897 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
|---|
| 898 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
|---|
| 899 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
|---|
| 900 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
|
|---|
| 901 | sizeof(obuffer));
|
|---|
| 902 | if (len2 > 0) {
|
|---|
| 903 | hlpBufferCo += QByteArray(obuffer, len2);
|
|---|
| 904 | }
|
|---|
| 905 | }
|
|---|
| 906 | if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
|
|---|
| 907 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 908 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
|---|
| 909 | co.UpdateInterval = ephUpdInd;
|
|---|
| 910 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
|
|---|
| 911 | sizeof(obuffer));
|
|---|
| 912 | co.UpdateInterval = clkUpdInd;
|
|---|
| 913 | if (len1 > 0) {
|
|---|
| 914 | hlpBufferCo += QByteArray(obuffer, len1);
|
|---|
| 915 | }
|
|---|
| 916 | }
|
|---|
| 917 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
|---|
| 918 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
|---|
| 919 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
|
|---|
| 920 | sizeof(obuffer));
|
|---|
| 921 | if (len2 > 0) {
|
|---|
| 922 | hlpBufferCo += QByteArray(obuffer, len2);
|
|---|
| 923 | }
|
|---|
| 924 | }
|
|---|
| 925 | if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
|
|---|
| 926 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 927 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
|---|
| 928 | co.UpdateInterval = ephUpdInd;
|
|---|
| 929 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
|
|---|
| 930 | sizeof(obuffer));
|
|---|
| 931 | co.UpdateInterval = clkUpdInd;
|
|---|
| 932 | if (len1 > 0) {
|
|---|
| 933 | hlpBufferCo += QByteArray(obuffer, len1);
|
|---|
| 934 | }
|
|---|
| 935 | }
|
|---|
| 936 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
|
|---|
| 937 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
|
|---|
| 938 | sizeof(obuffer));
|
|---|
| 939 | if (len2 > 0) {
|
|---|
| 940 | hlpBufferCo += QByteArray(obuffer, len2);
|
|---|
| 941 | }
|
|---|
| 942 | }
|
|---|
| 943 | if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
|---|
| 944 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 945 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
|---|
| 946 | co.UpdateInterval = ephUpdInd;
|
|---|
| 947 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
|
|---|
| 948 | sizeof(obuffer));
|
|---|
| 949 | co.UpdateInterval = clkUpdInd;
|
|---|
| 950 | if (len1 > 0) {
|
|---|
| 951 | hlpBufferCo += QByteArray(obuffer, len1);
|
|---|
| 952 | }
|
|---|
| 953 | }
|
|---|
| 954 | int mmsg = 0;
|
|---|
| 955 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
|
|---|
| 956 | sizeof(obuffer));
|
|---|
| 957 | if (len2 > 0) {
|
|---|
| 958 | hlpBufferCo += QByteArray(obuffer, len2);
|
|---|
| 959 | }
|
|---|
| 960 | }
|
|---|
| 961 | }
|
|---|
| 962 |
|
|---|
| 963 | // Code Biases
|
|---|
| 964 | // -----------
|
|---|
| 965 | QByteArray hlpBufferBias;
|
|---|
| 966 | if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
|---|
| 967 | || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
|---|
| 968 | || bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
|---|
| 969 | || bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
|---|
| 970 | || bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
|---|
| 971 | || bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
|---|
| 972 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 973 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
|---|
| 974 | int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
|---|
| 975 | if (len > 0) {
|
|---|
| 976 | hlpBufferBias = QByteArray(obuffer, len);
|
|---|
| 977 | }
|
|---|
| 978 | }
|
|---|
| 979 | }
|
|---|
| 980 |
|
|---|
| 981 | // Phase Biases
|
|---|
| 982 | // ------------
|
|---|
| 983 | QByteArray hlpBufferPhaseBias;
|
|---|
| 984 | if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
|---|
| 985 | || phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
|---|
| 986 | || phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
|---|
| 987 | || phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
|---|
| 988 | || phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
|---|
| 989 | || phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
|
|---|
| 990 | && (_phaseBiasInformationDecoded)) {
|
|---|
| 991 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 992 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
|---|
| 993 | int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
|---|
| 994 | if (len > 0) {
|
|---|
| 995 | hlpBufferPhaseBias = QByteArray(obuffer, len);
|
|---|
| 996 | }
|
|---|
| 997 | }
|
|---|
| 998 | }
|
|---|
| 999 |
|
|---|
| 1000 | // VTEC
|
|---|
| 1001 | // ----
|
|---|
| 1002 | QByteArray hlpBufferVtec;
|
|---|
| 1003 | if (vtec.NumLayers > 0) {
|
|---|
| 1004 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
|---|
| 1005 | int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
|
|---|
| 1006 | if (len > 0) {
|
|---|
| 1007 | hlpBufferVtec = QByteArray(obuffer, len);
|
|---|
| 1008 | }
|
|---|
| 1009 | }
|
|---|
| 1010 |
|
|---|
| 1011 | _outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec + '\0';
|
|---|
| 1012 | }
|
|---|
| 1013 | //
|
|---|
| 1014 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1015 | t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
|
|---|
| 1016 | double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
|
|---|
| 1017 | double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
|
|---|
| 1018 | const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
|
|---|
| 1019 | struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
|
|---|
| 1020 |
|
|---|
| 1021 | // Broadcast Position and Velocity
|
|---|
| 1022 | // -------------------------------
|
|---|
| 1023 | ColumnVector xB(6);
|
|---|
| 1024 | ColumnVector vB(3);
|
|---|
| 1025 | t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
|
|---|
| 1026 |
|
|---|
| 1027 | if (irc != success) {
|
|---|
| 1028 | return irc;
|
|---|
| 1029 | }
|
|---|
| 1030 |
|
|---|
| 1031 | // Precise Position
|
|---|
| 1032 | // ----------------
|
|---|
| 1033 | ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
|
|---|
| 1034 |
|
|---|
| 1035 | if (xP.size() == 0) {
|
|---|
| 1036 | return failure;
|
|---|
| 1037 | }
|
|---|
| 1038 |
|
|---|
| 1039 | double dc = 0.0;
|
|---|
| 1040 | if (_crdTrafo != "IGS20") {
|
|---|
| 1041 | crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
|
|---|
| 1042 | crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
|
|---|
| 1043 | }
|
|---|
| 1044 |
|
|---|
| 1045 | // Difference in xyz
|
|---|
| 1046 | // -----------------
|
|---|
| 1047 | ColumnVector dx = xB.Rows(1, 3) - xP;
|
|---|
| 1048 | ColumnVector dv = vB - rtnVel;
|
|---|
| 1049 |
|
|---|
| 1050 | // Difference in RSW
|
|---|
| 1051 | // -----------------
|
|---|
| 1052 | ColumnVector rsw(3);
|
|---|
| 1053 | XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
|
|---|
| 1054 |
|
|---|
| 1055 | ColumnVector dotRsw(3);
|
|---|
| 1056 | XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
|
|---|
| 1057 |
|
|---|
| 1058 | // Clock Correction
|
|---|
| 1059 | // ----------------
|
|---|
| 1060 | double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
|
|---|
| 1061 | double dClkA1 = 0.0;
|
|---|
| 1062 | if (rtnClk(2)) {
|
|---|
| 1063 | dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
|
|---|
| 1064 | }
|
|---|
| 1065 | double dClkA2 = 0.0;
|
|---|
| 1066 | if (rtnClk(3)) {
|
|---|
| 1067 | dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
|
|---|
| 1068 | }
|
|---|
| 1069 |
|
|---|
| 1070 | if (sd) {
|
|---|
| 1071 | sd->ID = prn.mid(1).toInt();
|
|---|
| 1072 | sd->IOD = eph->IOD();
|
|---|
| 1073 | sd->Clock.DeltaA0 = dClkA0;
|
|---|
| 1074 | sd->Clock.DeltaA1 = dClkA1;
|
|---|
| 1075 | sd->Clock.DeltaA2 = dClkA2;
|
|---|
| 1076 | sd->UserRangeAccuracy = rtnUra;
|
|---|
| 1077 | sd->Orbit.DeltaRadial = rsw(1);
|
|---|
| 1078 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
|---|
| 1079 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
|---|
| 1080 | sd->Orbit.DotDeltaRadial = dotRsw(1);
|
|---|
| 1081 | sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
|
|---|
| 1082 | sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
|
|---|
| 1083 |
|
|---|
| 1084 | if (corrIsOutOfRange(sd)) {
|
|---|
| 1085 | return failure;
|
|---|
| 1086 | }
|
|---|
| 1087 | }
|
|---|
| 1088 |
|
|---|
| 1089 | outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
|
|---|
| 1090 | GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
|
|---|
| 1091 | rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
|
|---|
| 1092 |
|
|---|
| 1093 | // RTNET full clock for RINEX and SP3 file
|
|---|
| 1094 | // ---------------------------------------
|
|---|
| 1095 | double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
|
|---|
| 1096 | double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
|
|---|
| 1097 | double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
|
|---|
| 1098 | double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
|
|---|
| 1099 |
|
|---|
| 1100 | if (_rnx) {
|
|---|
| 1101 | double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
|
|---|
| 1102 | int s = rtnClkSig.size();
|
|---|
| 1103 | switch (s) {
|
|---|
| 1104 | case 1:
|
|---|
| 1105 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
|---|
| 1106 | clkRnxRateSig = 0.0; // [s/s = -]
|
|---|
| 1107 | clkRnxAccSig = 0.0; // [s/s² ) -/s]
|
|---|
| 1108 | break;
|
|---|
| 1109 | case 2:
|
|---|
| 1110 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
|---|
| 1111 | clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
|
|---|
| 1112 | clkRnxAccSig = 0.0; // [s/s² ) -/s]
|
|---|
| 1113 | break;
|
|---|
| 1114 | case 3:
|
|---|
| 1115 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
|---|
| 1116 | clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
|
|---|
| 1117 | clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
|
|---|
| 1118 | break;
|
|---|
| 1119 | }
|
|---|
| 1120 | _rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
|
|---|
| 1121 | clkRnxSig, clkRnxRateSig, clkRnxAccSig);
|
|---|
| 1122 | }
|
|---|
| 1123 | if (_sp3) {
|
|---|
| 1124 | _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
|
|---|
| 1125 | }
|
|---|
| 1126 | return success;
|
|---|
| 1127 | }
|
|---|
| 1128 |
|
|---|
| 1129 | // Transform Coordinates
|
|---|
| 1130 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1131 | void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
|
|---|
| 1132 | double& dc) {
|
|---|
| 1133 |
|
|---|
| 1134 | // Current epoch minus 2000.0 in years
|
|---|
| 1135 | // ------------------------------------
|
|---|
| 1136 | double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
|---|
| 1137 |
|
|---|
| 1138 | ColumnVector dx(3);
|
|---|
| 1139 |
|
|---|
| 1140 | dx(1) = _dx + dt * _dxr;
|
|---|
| 1141 | dx(2) = _dy + dt * _dyr;
|
|---|
| 1142 | dx(3) = _dz + dt * _dzr;
|
|---|
| 1143 |
|
|---|
| 1144 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
|---|
| 1145 |
|
|---|
| 1146 | double ox = (_ox + dt * _oxr) / arcSec;
|
|---|
| 1147 | double oy = (_oy + dt * _oyr) / arcSec;
|
|---|
| 1148 | double oz = (_oz + dt * _ozr) / arcSec;
|
|---|
| 1149 |
|
|---|
| 1150 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
|---|
| 1151 |
|
|---|
| 1152 | // Specify approximate center of area
|
|---|
| 1153 | // ----------------------------------
|
|---|
| 1154 | ColumnVector meanSta(3);
|
|---|
| 1155 |
|
|---|
| 1156 | if (_crdTrafo == "ETRF2000") {
|
|---|
| 1157 | meanSta(1) = 3661090.0;
|
|---|
| 1158 | meanSta(2) = 845230.0;
|
|---|
| 1159 | meanSta(3) = 5136850.0;
|
|---|
| 1160 | }
|
|---|
| 1161 | else if (_crdTrafo == "GDA2020") {
|
|---|
| 1162 | meanSta(1) = -4052050.0;
|
|---|
| 1163 | meanSta(2) = 4212840.0;
|
|---|
| 1164 | meanSta(3) = -2545110.0;
|
|---|
| 1165 | }
|
|---|
| 1166 | else if (_crdTrafo == "SIRGAS2000") {
|
|---|
| 1167 | meanSta(1) = 3740860.0;
|
|---|
| 1168 | meanSta(2) = -4964290.0;
|
|---|
| 1169 | meanSta(3) = -1425420.0;
|
|---|
| 1170 | }
|
|---|
| 1171 | else if (_crdTrafo == "DREF91") {
|
|---|
| 1172 | meanSta(1) = 3959579.0;
|
|---|
| 1173 | meanSta(2) = 721719.0;
|
|---|
| 1174 | meanSta(3) = 4931539.0;
|
|---|
| 1175 | }
|
|---|
| 1176 | else if (_crdTrafo == "Custom") {
|
|---|
| 1177 | meanSta(1) = 0.0;
|
|---|
| 1178 | meanSta(2) = 0.0;
|
|---|
| 1179 | meanSta(3) = 0.0;
|
|---|
| 1180 | }
|
|---|
| 1181 |
|
|---|
| 1182 | // Clock correction proportional to topocentric distance to satellites
|
|---|
| 1183 | // -------------------------------------------------------------------
|
|---|
| 1184 | double rho = (xyz - meanSta).NormFrobenius();
|
|---|
| 1185 | dc = rho * (sc - 1.0) / sc / t_CST::c;
|
|---|
| 1186 |
|
|---|
| 1187 | Matrix rMat(3, 3);
|
|---|
| 1188 | rMat(1, 1) = 1.0;
|
|---|
| 1189 | rMat(1, 2) = -oz;
|
|---|
| 1190 | rMat(1, 3) = oy;
|
|---|
| 1191 | rMat(2, 1) = oz;
|
|---|
| 1192 | rMat(2, 2) = 1.0;
|
|---|
| 1193 | rMat(2, 3) = -ox;
|
|---|
| 1194 | rMat(3, 1) = -oy;
|
|---|
| 1195 | rMat(3, 2) = ox;
|
|---|
| 1196 | rMat(3, 3) = 1.0;
|
|---|
| 1197 |
|
|---|
| 1198 | xyz = sc * rMat * xyz + dx;
|
|---|
| 1199 | }
|
|---|
| 1200 |
|
|---|
| 1201 | // Transform Coordinates
|
|---|
| 1202 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1203 | void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
|
|---|
| 1204 | double& dc) {
|
|---|
| 1205 |
|
|---|
| 1206 | // Current epoch minus 2000.0 in years
|
|---|
| 1207 | // ------------------------------------
|
|---|
| 1208 | double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
|---|
| 1209 |
|
|---|
| 1210 | ColumnVector dx(3);
|
|---|
| 1211 |
|
|---|
| 1212 | dx(1) = _dx14 + dt * _dxr14;
|
|---|
| 1213 | dx(2) = _dy14 + dt * _dyr14;
|
|---|
| 1214 | dx(3) = _dz14 + dt * _dzr14;
|
|---|
| 1215 |
|
|---|
| 1216 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
|---|
| 1217 |
|
|---|
| 1218 | double ox = (_ox14 + dt * _oxr14) / arcSec;
|
|---|
| 1219 | double oy = (_oy14 + dt * _oyr14) / arcSec;
|
|---|
| 1220 | double oz = (_oz14 + dt * _ozr14) / arcSec;
|
|---|
| 1221 |
|
|---|
| 1222 | double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
|
|---|
| 1223 |
|
|---|
| 1224 | // Specify approximate center of area
|
|---|
| 1225 | // ----------------------------------
|
|---|
| 1226 | ColumnVector meanSta(3);
|
|---|
| 1227 | meanSta(1) = 0.0; // TODO
|
|---|
| 1228 | meanSta(2) = 0.0; // TODO
|
|---|
| 1229 | meanSta(3) = 0.0; // TODO
|
|---|
| 1230 |
|
|---|
| 1231 | // Clock correction proportional to topocentric distance to satellites
|
|---|
| 1232 | // -------------------------------------------------------------------
|
|---|
| 1233 | double rho = (xyz - meanSta).NormFrobenius();
|
|---|
| 1234 | dc = rho * (sc - 1.0) / sc / t_CST::c;
|
|---|
| 1235 |
|
|---|
| 1236 | Matrix rMat(3, 3);
|
|---|
| 1237 | rMat(1, 1) = 1.0;
|
|---|
| 1238 | rMat(1, 2) = -oz;
|
|---|
| 1239 | rMat(1, 3) = oy;
|
|---|
| 1240 | rMat(2, 1) = oz;
|
|---|
| 1241 | rMat(2, 2) = 1.0;
|
|---|
| 1242 | rMat(2, 3) = -ox;
|
|---|
| 1243 | rMat(3, 1) = -oy;
|
|---|
| 1244 | rMat(3, 2) = ox;
|
|---|
| 1245 | rMat(3, 3) = 1.0;
|
|---|
| 1246 |
|
|---|
| 1247 | xyz = sc * rMat * xyz + dx;
|
|---|
| 1248 | }
|
|---|
| 1249 |
|
|---|
| 1250 | // Update Interval
|
|---|
| 1251 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1252 | int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
|
|---|
| 1253 |
|
|---|
| 1254 | if (samplingRate == 10.0) {
|
|---|
| 1255 | return 3;
|
|---|
| 1256 | }
|
|---|
| 1257 | else if (samplingRate == 15.0) {
|
|---|
| 1258 | return 4;
|
|---|
| 1259 | }
|
|---|
| 1260 | else if (samplingRate == 30.0) {
|
|---|
| 1261 | return 5;
|
|---|
| 1262 | }
|
|---|
| 1263 | else if (samplingRate == 60.0) {
|
|---|
| 1264 | return 6;
|
|---|
| 1265 | }
|
|---|
| 1266 | else if (samplingRate == 120.0) {
|
|---|
| 1267 | return 7;
|
|---|
| 1268 | }
|
|---|
| 1269 | else if (samplingRate == 240.0) {
|
|---|
| 1270 | return 8;
|
|---|
| 1271 | }
|
|---|
| 1272 | else if (samplingRate == 300.0) {
|
|---|
| 1273 | return 9;
|
|---|
| 1274 | }
|
|---|
| 1275 | else if (samplingRate == 600.0) {
|
|---|
| 1276 | return 10;
|
|---|
| 1277 | }
|
|---|
| 1278 | else if (samplingRate == 900.0) {
|
|---|
| 1279 | return 11;
|
|---|
| 1280 | }
|
|---|
| 1281 | else if (samplingRate == 1800.0) {
|
|---|
| 1282 | return 12;
|
|---|
| 1283 | }
|
|---|
| 1284 | else if (samplingRate == 3600.0) {
|
|---|
| 1285 | return 13;
|
|---|
| 1286 | }
|
|---|
| 1287 | else if (samplingRate == 7200.0) {
|
|---|
| 1288 | return 14;
|
|---|
| 1289 | }
|
|---|
| 1290 | else if (samplingRate == 10800.0) {
|
|---|
| 1291 | return 15;
|
|---|
| 1292 | }
|
|---|
| 1293 | return 2; // default
|
|---|
| 1294 | }
|
|---|
| 1295 |
|
|---|
| 1296 | // Check corrections
|
|---|
| 1297 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1298 | bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
|
|---|
| 1299 |
|
|---|
| 1300 | if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
|
|---|
| 1301 | if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
|
|---|
| 1302 | if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
|
|---|
| 1303 |
|
|---|
| 1304 | if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
|
|---|
| 1305 | if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
|
|---|
| 1306 | if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
|
|---|
| 1307 |
|
|---|
| 1308 | if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
|
|---|
| 1309 | if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
|
|---|
| 1310 | if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
|
|---|
| 1311 | return false;
|
|---|
| 1312 | }
|
|---|
