source: ntrip/trunk/BNC/upload/bncrtnetdecoder.cpp@ 3181

Last change on this file since 3181 was 3179, checked in by mervart, 14 years ago
File size: 15.2 KB
RevLine 
[3166]1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncRtnetDecoder
30 *
31 * Purpose: Implementation of RTNet (SP3-like) output decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 28-Mar-2011
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include "bncrtnetdecoder.h"
43#include "bncutils.h"
44#include "bncsettings.h"
[3179]45#include "bncclockrinex.h"
46#include "bncsp3.h"
[3166]47
48using namespace std;
49
50// Constructor
51////////////////////////////////////////////////////////////////////////
[3171]52bncRtnetDecoder::bncRtnetDecoder() {
[3166]53 bncSettings settings;
[3171]54 _year = 0;
[3179]55 _append = Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked;
56
57 // RINEX writer
58 // ------------
59 if ( settings.value("rnxPath").toString().isEmpty() ) {
60 _rnx = 0;
61 }
62 else {
63 QString prep = "BNC";
64 QString ext = ".clk";
65 QString path = settings.value("rnxPath").toString();
66 QString intr = settings.value("rnxIntr").toString();
67 int sampl = settings.value("rnxSampl").toInt();
68 _rnx = new bncClockRinex(prep, ext, path, intr, sampl);
69 }
70
71 // SP3 writer
72 // ----------
73 if ( settings.value("sp3Path").toString().isEmpty() ) {
74 _sp3 = 0;
75 }
76 else {
77 QString prep = "BNC";
78 QString ext = ".sp3";
79 QString path = settings.value("sp3Path").toString();
80 QString intr = settings.value("sp3Intr").toString();
81 int sampl = settings.value("sp3Sampl").toInt();
82 _sp3 = new bncSP3(prep, ext, path, intr, sampl);
83 }
[3166]84}
85
86// Destructor
87////////////////////////////////////////////////////////////////////////
88bncRtnetDecoder::~bncRtnetDecoder() {
[3179]89 delete _rnx;
90 delete _sp3;
[3166]91}
92
[3172]93//
[3166]94////////////////////////////////////////////////////////////////////////
[3171]95void bncRtnetDecoder::readEpochTime(const QString& line) {
96 QTextStream in(line.toAscii());
97 QString hlp;
98 in >> hlp >> _year >> _month >> _day >> _hour >> _min >> _sec;
99 GPSweekFromYMDhms(_year, _month, _day, _hour, _min, _sec, _GPSweek, _GPSweeks);
[3166]100}
101
102// Decode Method
103////////////////////////////////////////////////////////////////////////
104t_irc bncRtnetDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
[3171]105
[3166]106 errmsg.clear();
[3171]107 _buffer.append(QByteArray(buffer, bufLen));
108
[3172]109 // Prepare list of lines with satellite positions in SP3-like format
110 // -----------------------------------------------------------------
111 QStringList lines;
[3171]112 int iLast = _buffer.lastIndexOf('\n');
113 if (iLast != -1) {
[3172]114 QStringList hlpLines = _buffer.split('\n', QString::SkipEmptyParts);
[3171]115 _buffer = _buffer.mid(iLast+1);
[3172]116 for (int ii = 0; ii < hlpLines.size(); ii++) {
117 if (hlpLines[ii].indexOf('*') != -1) {
118 readEpochTime(hlpLines[ii]);
[3171]119 }
120 else if (_year != 0) {
[3172]121 lines << hlpLines[ii];
[3171]122 }
123 }
124 }
125
[3172]126 // Satellite positions to be processed
127 // -----------------------------------
128 if (lines.size() > 0) {
129
130 QStringList prns;
131
132 for (int ic = 0; ic < _caster.size(); ic++) {
133 _caster.at(ic)->open();
134
135 struct ClockOrbit co;
136 memset(&co, 0, sizeof(co));
137 co.GPSEpochTime = (int)_GPSweeks;
138 co.GLONASSEpochTime = (int)fmod(_GPSweeks, 86400.0)
139 + 3 * 3600 - gnumleap(_year, _month, _day);
140 co.ClockDataSupplied = 1;
141 co.OrbitDataSupplied = 1;
142 co.SatRefDatum = DATUM_ITRF;
143
144 struct Bias bias;
145 memset(&bias, 0, sizeof(bias));
146 bias.GPSEpochTime = (int)_GPSweeks;
147 bias.GLONASSEpochTime = (int)fmod(_GPSweeks, 86400.0)
148 + 3 * 3600 - gnumleap(_year, _month, _day);
149
150 for (int ii = 0; ii < lines.size(); ii++) {
151
152 QString prn;
153 ColumnVector xx(14); xx = 0.0;
154 t_ephPair* pair = 0;
155
156 if (ic == 0) {
157 QTextStream in(lines[ii].toAscii());
158 in >> prn;
159 prns << prn;
[3174]160 if ( _eph.contains(prn) ) {
[3172]161 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
162 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
163 >> xx(11) >> xx(12) >> xx(13) >> xx(14);
164 xx(1) *= 1e3; // x-crd
165 xx(2) *= 1e3; // y-crd
166 xx(3) *= 1e3; // z-crd
167 xx(4) *= 1e-6; // clk
168 xx(5) *= 1e-6; // rel. corr.
169 // xx(6), xx(7), xx(8) ... PhaseCent - CoM
170 // xx(9) ... P1-C1 DCB in meters
171 // xx(10) ... P1-P2 DCB in meters
172 // xx(11) ... dT
173 xx(12) *= 1e3; // x-crd at time + dT
174 xx(13) *= 1e3; // y-crd at time + dT
175 xx(14) *= 1e3; // z-crd at time + dT
176
[3174]177 pair = _eph[prn];
[3172]178 pair->xx = xx;
179 }
180 }
181 else {
182 prn = prns[ii];
[3174]183 if ( _eph.contains(prn) ) {
184 pair = _eph[prn];
[3172]185 xx = pair->xx;
186 }
187 }
188
189 // Use old ephemeris if the new one is too recent
190 // ----------------------------------------------
191 t_eph* ep = 0;
192 if (pair) {
[3174]193 ep = pair->last;
194 if (pair->prev && ep &&
[3172]195 ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
[3174]196 ep = pair->prev;
[3172]197 }
198 }
199
200 if (ep != 0) {
201 struct ClockOrbit::SatData* sd = 0;
202 if (prn[0] == 'G') {
203 sd = co.Sat + co.NumberOfGPSSat;
204 ++co.NumberOfGPSSat;
205 }
206 else if (prn[0] == 'R') {
207 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
208 ++co.NumberOfGLONASSSat;
209 }
210 if (sd) {
211 QString outLine;
212 processSatellite(ic, _caster.at(ic)->crdTrafo(),
213 _caster.at(ic)->CoM(), ep,
214 _GPSweek, _GPSweeks, prn, xx, sd, outLine);
215 _caster.at(ic)->printAscii(outLine);
216 }
217
218 struct Bias::BiasSat* biasSat = 0;
219 if (prn[0] == 'G') {
220 biasSat = bias.Sat + bias.NumberOfGPSSat;
221 ++bias.NumberOfGPSSat;
222 }
223 else if (prn[0] == 'R') {
224 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
225 ++bias.NumberOfGLONASSSat;
226 }
227
228 // Coefficient of Ionosphere-Free LC
229 // ---------------------------------
230 const static double a_L1_GPS = 2.54572778;
231 const static double a_L2_GPS = -1.54572778;
232 const static double a_L1_Glo = 2.53125000;
233 const static double a_L2_Glo = -1.53125000;
234
235 if (biasSat) {
236 biasSat->ID = prn.mid(1).toInt();
237 biasSat->NumberOfCodeBiases = 3;
238 if (prn[0] == 'G') {
239 biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
240 biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
241 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
242 biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
243 biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
244 biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
245 }
246 else if (prn[0] == 'R') {
247 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
248 biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
249 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
250 biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
251 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
252 biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
253 }
254 }
255 }
256 }
257
258 if ( _caster.at(ic)->usedSocket() &&
259 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
260 char obuffer[CLOCKORBIT_BUFFERSIZE];
261
262 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
263 if (len > 0) {
264 _caster.at(ic)->write(obuffer, len);
265 }
266 }
267
268 if ( _caster.at(ic)->usedSocket() &&
269 (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
270 char obuffer[CLOCKORBIT_BUFFERSIZE];
271 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
272 if (len > 0) {
273 _caster.at(ic)->write(obuffer, len);
274 }
275 }
276 }
277 }
278
[3166]279 return success;
280}
281
[3172]282//
283////////////////////////////////////////////////////////////////////////////
284void bncRtnetDecoder::processSatellite(int iCaster, const QString trafo,
285 bool CoM, t_eph* ep, int GPSweek,
286 double GPSweeks, const QString& prn,
287 const ColumnVector& xx,
288 struct ClockOrbit::SatData* sd,
289 QString& outLine) {
290
291 const double secPerWeek = 7.0 * 86400.0;
292
293 ColumnVector rsw(3);
294 ColumnVector rsw2(3);
295 double dClk;
296
297 for (int ii = 1; ii <= 2; ++ii) {
298
299 int GPSweek12 = GPSweek;
300 double GPSweeks12 = GPSweeks;
301 if (ii == 2) {
302 GPSweeks12 += xx(11);
303 if (GPSweeks12 > secPerWeek) {
304 GPSweek12 += 1;
305 GPSweeks12 -= secPerWeek;
306 }
307 }
308
309 ColumnVector xB(4);
310 ColumnVector vv(3);
311
[3174]312 ep->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
[3172]313
314 ColumnVector xyz;
315 if (ii == 1) {
316 xyz = xx.Rows(1,3);
317 }
318 else {
319 xyz = xx.Rows(12,14);
320 }
321
322 // Correction Center of Mass -> Antenna Phase Center
323 // -------------------------------------------------
324 if (! CoM) {
325 xyz(1) += xx(6);
326 xyz(2) += xx(7);
327 xyz(3) += xx(8);
328 }
329
330 if (trafo != "IGS05") {
331 crdTrafo(GPSweek12, xyz, trafo);
332 }
333
334 ColumnVector dx = xB.Rows(1,3) - xyz ;
335
336 if (ii == 1) {
337 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
338 dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
339 }
340 else {
341 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
342 }
343 }
344
345 if (sd) {
346 sd->ID = prn.mid(1).toInt();
347 sd->IOD = ep->IOD();
348 sd->Clock.DeltaA0 = dClk;
349 sd->Orbit.DeltaRadial = rsw(1);
350 sd->Orbit.DeltaAlongTrack = rsw(2);
351 sd->Orbit.DeltaCrossTrack = rsw(3);
352 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
353 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
354 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
355 }
356
357 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
[3174]358 GPSweek, GPSweeks, ep->prn().c_str(),
[3172]359 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
360
361 if (iCaster == 0) {
362 if (_rnx) {
363 _rnx->write(GPSweek, GPSweeks, prn, xx);
364 }
365 if (_sp3) {
366 _sp3->write(GPSweek, GPSweeks, prn, xx, _append);
367 }
368 }
369}
370
371// Transform Coordinates
372////////////////////////////////////////////////////////////////////////////
373void bncRtnetDecoder::crdTrafo(int GPSWeek, ColumnVector& xyz,
374 const QString& trafo) {
375
[3174]376 bncSettings settings;
[3172]377
378 if (trafo == "ETRF2000") {
379 _dx = 0.0541;
380 _dy = 0.0502;
381 _dz = -0.0538;
382 _dxr = -0.0002;
383 _dyr = 0.0001;
384 _dzr = -0.0018;
385 _ox = 0.000891;
386 _oy = 0.005390;
387 _oz = -0.008712;
388 _oxr = 0.000081;
389 _oyr = 0.000490;
390 _ozr = -0.000792;
391 _sc = 0.40;
392 _scr = 0.08;
393 _t0 = 2000.0;
394 }
395 else if (trafo == "NAD83") {
396 _dx = 0.9963;
397 _dy = -1.9024;
398 _dz = -0.5210;
399 _dxr = 0.0005;
400 _dyr = -0.0006;
401 _dzr = -0.0013;
402 _ox = 0.025915;
403 _oy = 0.009426;
404 _oz = 0.011599;
405 _oxr = 0.000067;
406 _oyr = -0.000757;
407 _ozr = -0.000051;
408 _sc = 0.78;
409 _scr = -0.10;
410 _t0 = 1997.0;
411 }
412 else if (trafo == "GDA94") {
413 _dx = -0.07973;
414 _dy = -0.00686;
415 _dz = 0.03803;
416 _dxr = 0.00225;
417 _dyr = -0.00062;
418 _dzr = -0.00056;
419 _ox = 0.0000351;
420 _oy = -0.0021211;
421 _oz = -0.0021411;
422 _oxr = -0.0014707;
423 _oyr = -0.0011443;
424 _ozr = -0.0011701;
425 _sc = 6.636;
426 _scr = 0.294;
427 _t0 = 1994.0;
428 }
429 else if (trafo == "SIRGAS2000") {
430 _dx = -0.0051;
431 _dy = -0.0065;
432 _dz = -0.0099;
433 _dxr = 0.0000;
434 _dyr = 0.0000;
435 _dzr = 0.0000;
436 _ox = 0.000150;
437 _oy = 0.000020;
438 _oz = 0.000021;
439 _oxr = 0.000000;
440 _oyr = 0.000000;
441 _ozr = 0.000000;
442 _sc = 0.000;
443 _scr = 0.000;
444 _t0 = 0000.0;
445 }
446 else if (trafo == "SIRGAS95") {
447 _dx = 0.0077;
448 _dy = 0.0058;
449 _dz = -0.0138;
450 _dxr = 0.0000;
451 _dyr = 0.0000;
452 _dzr = 0.0000;
453 _ox = 0.000000;
454 _oy = 0.000000;
455 _oz = -0.000030;
456 _oxr = 0.000000;
457 _oyr = 0.000000;
458 _ozr = 0.000000;
459 _sc = 1.570;
460 _scr = 0.000;
461 _t0 = 0000.0;
462 }
463 else if (trafo == "Custom") {
464 _dx = settings.value("trafo_dx").toDouble();
465 _dy = settings.value("trafo_dy").toDouble();
466 _dz = settings.value("trafo_dz").toDouble();
467 _dxr = settings.value("trafo_dxr").toDouble();
468 _dyr = settings.value("trafo_dyr").toDouble();
469 _dzr = settings.value("trafo_dzr").toDouble();
470 _ox = settings.value("trafo_ox").toDouble();
471 _oy = settings.value("trafo_oy").toDouble();
472 _oz = settings.value("trafo_oz").toDouble();
473 _oxr = settings.value("trafo_oxr").toDouble();
474 _oyr = settings.value("trafo_oyr").toDouble();
475 _ozr = settings.value("trafo_ozr").toDouble();
476 _sc = settings.value("trafo_sc").toDouble();
477 _scr = settings.value("trafo_scr").toDouble();
478 _t0 = settings.value("trafo_t0").toDouble();
479 }
480
481 // Current epoch minus 2000.0 in years
482 // ------------------------------------
483 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
484
485 ColumnVector dx(3);
486
487 dx(1) = _dx + dt * _dxr;
488 dx(2) = _dy + dt * _dyr;
489 dx(3) = _dz + dt * _dzr;
490
491 static const double arcSec = 180.0 * 3600.0 / M_PI;
492
493 double ox = (_ox + dt * _oxr) / arcSec;
494 double oy = (_oy + dt * _oyr) / arcSec;
495 double oz = (_oz + dt * _ozr) / arcSec;
496
497 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
498
499 Matrix rMat(3,3);
500 rMat(1,1) = 1.0;
501 rMat(1,2) = -oz;
502 rMat(1,3) = oy;
503 rMat(2,1) = oz;
504 rMat(2,2) = 1.0;
505 rMat(2,3) = -ox;
506 rMat(3,1) = -oy;
507 rMat(3,2) = ox;
508 rMat(3,3) = 1.0;
509
510 xyz = sc * rMat * xyz + dx;
511}
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