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 "bncsp3.h"
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23 |
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24 | using namespace std;
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25 |
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26 | // Constructor
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27 | ////////////////////////////////////////////////////////////////////////////
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28 | bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
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29 | const QString& outHost, int outPort,
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30 | const QString& password,
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31 | const QString& crdTrafo, bool CoM,
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32 | const QString& sp3FileName,
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33 | const QString& rnxFileName,
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34 | const QString& outFileName) :
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35 | bncUploadCaster(mountpoint, outHost, outPort, password) {
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36 |
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37 | bncSettings settings;
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38 | _crdTrafo = crdTrafo;
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39 | _CoM = CoM;
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40 |
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41 | // Member that receives the ephemeris
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42 | // ----------------------------------
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43 | _ephUser = new bncEphUser();
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44 |
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45 | // Raw Output
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46 | // ----------
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47 | if (!outFileName.isEmpty()) {
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48 | _outFile = new bncoutf(outFileName, "", 0);
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49 | }
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50 | else {
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51 | _outFile = 0;
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52 | }
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53 |
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54 | // RINEX writer
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55 | // ------------
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56 | if (!rnxFileName.isEmpty()) {
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57 | _rnx = new bncClockRinex(rnxFileName, "", 0);
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58 | }
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59 | else {
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60 | _rnx = 0;
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61 | }
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62 |
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63 | // SP3 writer
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64 | // ----------
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65 | if (!sp3FileName.isEmpty()) {
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66 | _sp3 = new bncSP3(sp3FileName, "", 0);
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67 | }
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68 | else {
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69 | _sp3 = 0;
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70 | }
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71 |
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72 | // Set Transformation Parameters
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73 | // -----------------------------
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74 | if (_crdTrafo == "ETRF2000") {
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75 | _dx = 0.0541;
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76 | _dy = 0.0502;
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77 | _dz = -0.0538;
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78 | _dxr = -0.0002;
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79 | _dyr = 0.0001;
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80 | _dzr = -0.0018;
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81 | _ox = 0.000891;
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82 | _oy = 0.005390;
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83 | _oz = -0.008712;
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84 | _oxr = 0.000081;
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85 | _oyr = 0.000490;
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86 | _ozr = -0.000792;
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87 | _sc = 0.40;
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88 | _scr = 0.08;
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89 | _t0 = 2000.0;
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90 | }
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91 | else if (_crdTrafo == "NAD83") {
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92 | _dx = 0.9963;
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93 | _dy = -1.9024;
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94 | _dz = -0.5210;
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95 | _dxr = 0.0005;
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96 | _dyr = -0.0006;
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97 | _dzr = -0.0013;
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98 | _ox = 0.025915;
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99 | _oy = 0.009426;
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100 | _oz = 0.011599;
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101 | _oxr = 0.000067;
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102 | _oyr = -0.000757;
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103 | _ozr = -0.000051;
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104 | _sc = 0.78;
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105 | _scr = -0.10;
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106 | _t0 = 1997.0;
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107 | }
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108 | else if (_crdTrafo == "GDA94") {
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109 | _dx = -0.07973;
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110 | _dy = -0.00686;
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111 | _dz = 0.03803;
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112 | _dxr = 0.00225;
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113 | _dyr = -0.00062;
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114 | _dzr = -0.00056;
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115 | _ox = 0.0000351;
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116 | _oy = -0.0021211;
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117 | _oz = -0.0021411;
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118 | _oxr = -0.0014707;
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119 | _oyr = -0.0011443;
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120 | _ozr = -0.0011701;
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121 | _sc = 6.636;
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122 | _scr = 0.294;
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123 | _t0 = 1994.0;
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124 | }
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125 | else if (_crdTrafo == "SIRGAS2000") {
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126 | _dx = -0.0051;
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127 | _dy = -0.0065;
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128 | _dz = -0.0099;
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129 | _dxr = 0.0000;
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130 | _dyr = 0.0000;
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131 | _dzr = 0.0000;
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132 | _ox = 0.000150;
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133 | _oy = 0.000020;
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134 | _oz = 0.000021;
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135 | _oxr = 0.000000;
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136 | _oyr = 0.000000;
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137 | _ozr = 0.000000;
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138 | _sc = 0.000;
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139 | _scr = 0.000;
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140 | _t0 = 0000.0;
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141 | }
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142 | else if (_crdTrafo == "SIRGAS95") {
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143 | _dx = 0.0077;
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144 | _dy = 0.0058;
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145 | _dz = -0.0138;
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146 | _dxr = 0.0000;
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147 | _dyr = 0.0000;
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148 | _dzr = 0.0000;
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149 | _ox = 0.000000;
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150 | _oy = 0.000000;
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151 | _oz = -0.000030;
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152 | _oxr = 0.000000;
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153 | _oyr = 0.000000;
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154 | _ozr = 0.000000;
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155 | _sc = 1.570;
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156 | _scr = 0.000;
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157 | _t0 = 0000.0;
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158 | }
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159 | else if (_crdTrafo == "Custom") {
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160 | _dx = settings.value("trafo_dx").toDouble();
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161 | _dy = settings.value("trafo_dy").toDouble();
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162 | _dz = settings.value("trafo_dz").toDouble();
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163 | _dxr = settings.value("trafo_dxr").toDouble();
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164 | _dyr = settings.value("trafo_dyr").toDouble();
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165 | _dzr = settings.value("trafo_dzr").toDouble();
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166 | _ox = settings.value("trafo_ox").toDouble();
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167 | _oy = settings.value("trafo_oy").toDouble();
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168 | _oz = settings.value("trafo_oz").toDouble();
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169 | _oxr = settings.value("trafo_oxr").toDouble();
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170 | _oyr = settings.value("trafo_oyr").toDouble();
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171 | _ozr = settings.value("trafo_ozr").toDouble();
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172 | _sc = settings.value("trafo_sc").toDouble();
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173 | _scr = settings.value("trafo_scr").toDouble();
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174 | _t0 = settings.value("trafo_t0").toDouble();
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175 | }
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176 | }
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177 |
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178 | // Destructor
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179 | ////////////////////////////////////////////////////////////////////////////
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180 | bncRtnetUploadCaster::~bncRtnetUploadCaster() {
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181 | if (isRunning()) {
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182 | wait();
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183 | }
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184 | delete _outFile;
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185 | delete _rnx;
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186 | delete _sp3;
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187 | delete _ephUser;
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188 | }
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189 |
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190 | // Endless Loop
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191 | ////////////////////////////////////////////////////////////////////////////
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192 | void bncRtnetUploadCaster::run() {
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193 | while (true) {
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194 | if (_isToBeDeleted) {
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195 | QThread::quit();
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196 | deleteLater();
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197 | return;
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198 | }
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199 | open();
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200 | uploadClockOrbitBias();
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201 | msleep(10);
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202 | }
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203 | }
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204 |
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205 | //
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206 | ////////////////////////////////////////////////////////////////////////////
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207 | void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
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208 |
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209 | QMutexLocker locker(&_mutex);
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210 |
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211 | // Append to buffer
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212 | // ----------------
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213 | const int MAXBUFFSIZE = 100000;
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214 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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215 | if (_rtnetStreamBuffer.size() > MAXBUFFSIZE) {
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216 | _rtnetStreamBuffer = _rtnetStreamBuffer.right(MAXBUFFSIZE);
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217 | }
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218 | }
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219 |
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220 | // Function called in separate thread
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221 | ////////////////////////////////////////////////////////////////////////
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222 | void bncRtnetUploadCaster::uploadClockOrbitBias() {
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223 |
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224 | QMutexLocker locker(&_mutex);
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225 |
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226 | // Prepare list of lines with satellite positions in SP3-like format
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227 | // -----------------------------------------------------------------
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228 | QStringList lines;
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229 | int iLast = _rtnetStreamBuffer.lastIndexOf('\n');
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230 | if (iLast != -1) {
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231 | QStringList hlpLines = _rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);
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232 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLast+1);
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233 | for (int ii = 0; ii < hlpLines.size(); ii++) {
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234 | if (hlpLines[ii].indexOf('*') != -1) {
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235 | lines.clear();
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236 | QTextStream in(hlpLines[ii].toAscii());
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237 | QString hlp;
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238 | int year, month, day, hour, min;
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239 | double sec;
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240 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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241 | _epoTime.set( year, month, day, hour, min, sec);
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242 | }
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243 | else if (_epoTime.valid()) {
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244 | lines << hlpLines[ii];
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245 | }
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246 | }
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247 | }
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248 |
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249 | if (lines.size() == 0) {
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250 | return;
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251 | }
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252 |
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253 | unsigned year, month, day;
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254 | _epoTime.civil_date(year, month, day);
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255 |
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256 | struct ClockOrbit co;
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257 | memset(&co, 0, sizeof(co));
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258 | co.GPSEpochTime = static_cast<int>(_epoTime.gpssec());
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259 | co.GLONASSEpochTime = static_cast<int>(fmod(_epoTime.gpssec(), 86400.0))
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260 | + 3 * 3600 - gnumleap(year, month, day);
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261 | co.ClockDataSupplied = 1;
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262 | co.OrbitDataSupplied = 1;
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263 | co.SatRefDatum = DATUM_ITRF;
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264 |
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265 | struct Bias bias;
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266 | memset(&bias, 0, sizeof(bias));
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267 | bias.GPSEpochTime = co.GPSEpochTime;
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268 | bias.GLONASSEpochTime = co.GLONASSEpochTime;
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269 |
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270 | for (int ii = 0; ii < lines.size(); ii++) {
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271 |
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272 | QString prn;
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273 | ColumnVector xx(14); xx = 0.0;
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274 |
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275 | QTextStream in(lines[ii].toAscii());
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276 |
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277 | in >> prn;
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278 | if (prn[0] == 'P') {
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279 | prn.remove(0,1);
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280 | }
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281 |
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282 | const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
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283 | if (ephPair) {
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284 | t_eph* eph = ephPair->last;
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285 | if (ephPair->prev &&
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286 | eph->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
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287 | eph = ephPair->prev;
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288 | }
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289 |
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290 | in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
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291 | >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
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292 | >> xx(11) >> xx(12) >> xx(13) >> xx(14);
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293 | xx(1) *= 1e3; // x-crd
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294 | xx(2) *= 1e3; // y-crd
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295 | xx(3) *= 1e3; // z-crd
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296 | xx(4) *= 1e-6; // clk
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297 | xx(5) *= 1e-6; // rel. corr.
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298 | // xx(6), xx(7), xx(8) ... PhaseCent - CoM
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299 | // xx(9) ... P1-C1 DCB in meters
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300 | // xx(10) ... P1-P2 DCB in meters
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301 | // xx(11) ... dT
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302 | xx(12) *= 1e3; // x-crd at time + dT
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303 | xx(13) *= 1e3; // y-crd at time + dT
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304 | xx(14) *= 1e3; // z-crd at time + dT
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305 |
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306 | struct ClockOrbit::SatData* sd = 0;
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307 | if (prn[0] == 'G') {
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308 | sd = co.Sat + co.NumberOfGPSSat;
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309 | ++co.NumberOfGPSSat;
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310 | }
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311 | else if (prn[0] == 'R') {
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312 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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313 | ++co.NumberOfGLONASSSat;
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314 | }
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315 | if (sd) {
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316 | QString outLine;
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317 | processSatellite(eph, _epoTime.gpsw(), _epoTime.gpssec(), prn,
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318 | xx, sd, outLine);
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319 | if (_outFile) {
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320 | _outFile->write(_epoTime.gpsw(), _epoTime.gpssec(), outLine);
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321 | }
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322 | }
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323 |
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324 | struct Bias::BiasSat* biasSat = 0;
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325 | if (prn[0] == 'G') {
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326 | biasSat = bias.Sat + bias.NumberOfGPSSat;
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327 | ++bias.NumberOfGPSSat;
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328 | }
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329 | else if (prn[0] == 'R') {
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330 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
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331 | ++bias.NumberOfGLONASSSat;
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332 | }
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333 |
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334 | // Coefficient of Ionosphere-Free LC
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335 | // ---------------------------------
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336 | const static double a_L1_GPS = 2.54572778;
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337 | const static double a_L2_GPS = -1.54572778;
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338 | const static double a_L1_Glo = 2.53125000;
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339 | const static double a_L2_Glo = -1.53125000;
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340 |
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341 | if (biasSat) {
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342 | biasSat->ID = prn.mid(1).toInt();
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343 | biasSat->NumberOfCodeBiases = 3;
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344 | if (prn[0] == 'G') {
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345 | biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
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346 | biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
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347 | biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
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348 | biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
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349 | biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
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350 | biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
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351 | }
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352 | else if (prn[0] == 'R') {
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353 | biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
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354 | biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
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355 | biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
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356 | biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
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357 | biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
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358 | biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
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359 | }
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360 | }
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361 | }
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362 | }
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363 |
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364 | if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {
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365 | char obuffer[CLOCKORBIT_BUFFERSIZE];
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366 |
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367 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
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368 | if (len > 0) {
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369 | this->write(obuffer, len);
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370 | }
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371 | }
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372 |
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373 | if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) {
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374 | char obuffer[CLOCKORBIT_BUFFERSIZE];
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375 | int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
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376 | if (len > 0) {
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377 | this->write(obuffer, len);
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378 | }
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379 | }
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380 | }
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381 |
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382 | //
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383 | ////////////////////////////////////////////////////////////////////////////
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384 | void bncRtnetUploadCaster::processSatellite(t_eph* eph, int GPSweek,
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385 | double GPSweeks, const QString& prn,
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386 | const ColumnVector& xx,
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387 | struct ClockOrbit::SatData* sd,
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388 | QString& outLine) {
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389 |
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390 | const double secPerWeek = 7.0 * 86400.0;
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391 |
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392 | ColumnVector rsw(3);
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393 | ColumnVector rsw2(3);
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394 | double dClk;
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395 |
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396 | for (int ii = 1; ii <= 2; ++ii) {
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397 |
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398 | int GPSweek12 = GPSweek;
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399 | double GPSweeks12 = GPSweeks;
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400 | if (ii == 2) {
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401 | GPSweeks12 += xx(11);
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402 | if (GPSweeks12 > secPerWeek) {
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403 | GPSweek12 += 1;
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404 | GPSweeks12 -= secPerWeek;
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405 | }
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406 | }
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407 |
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408 | ColumnVector xB(4);
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409 | ColumnVector vv(3);
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410 |
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411 | eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
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412 |
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413 | ColumnVector xyz;
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414 | if (ii == 1) {
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415 | xyz = xx.Rows(1,3);
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416 | }
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417 | else {
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418 | xyz = xx.Rows(12,14);
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419 | }
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420 |
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421 | // Correction Center of Mass -> Antenna Phase Center
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422 | // -------------------------------------------------
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423 | if (! _CoM) {
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424 | xyz(1) += xx(6);
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425 | xyz(2) += xx(7);
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426 | xyz(3) += xx(8);
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427 | }
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428 |
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429 | if (_crdTrafo != "IGS05") {
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430 | crdTrafo(GPSweek12, xyz);
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431 | }
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432 |
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433 | ColumnVector dx = xB.Rows(1,3) - xyz ;
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434 |
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435 | if (ii == 1) {
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436 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
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437 | dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
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438 | }
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439 | else {
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440 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
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441 | }
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442 | }
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443 |
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444 | if (sd) {
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445 | sd->ID = prn.mid(1).toInt();
|
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446 | sd->IOD = eph->IOD();
|
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447 | sd->Clock.DeltaA0 = dClk;
|
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448 | sd->Orbit.DeltaRadial = rsw(1);
|
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449 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
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450 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
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451 | sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
|
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452 | sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
|
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453 | sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
|
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454 | }
|
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455 |
|
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456 | outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
|
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457 | GPSweek, GPSweeks, eph->prn().c_str(),
|
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458 | eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
|
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459 |
|
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460 | if (_rnx) {
|
---|
461 | _rnx->write(GPSweek, GPSweeks, prn, xx);
|
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462 | }
|
---|
463 | if (_sp3) {
|
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464 | _sp3->write(GPSweek, GPSweeks, prn, xx);
|
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465 | }
|
---|
466 | }
|
---|
467 |
|
---|
468 | // Transform Coordinates
|
---|
469 | ////////////////////////////////////////////////////////////////////////////
|
---|
470 | void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {
|
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471 |
|
---|
472 | // Current epoch minus 2000.0 in years
|
---|
473 | // ------------------------------------
|
---|
474 | double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
475 |
|
---|
476 | ColumnVector dx(3);
|
---|
477 |
|
---|
478 | dx(1) = _dx + dt * _dxr;
|
---|
479 | dx(2) = _dy + dt * _dyr;
|
---|
480 | dx(3) = _dz + dt * _dzr;
|
---|
481 |
|
---|
482 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
483 |
|
---|
484 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
485 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
486 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
487 |
|
---|
488 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
489 |
|
---|
490 | Matrix rMat(3,3);
|
---|
491 | rMat(1,1) = 1.0;
|
---|
492 | rMat(1,2) = -oz;
|
---|
493 | rMat(1,3) = oy;
|
---|
494 | rMat(2,1) = oz;
|
---|
495 | rMat(2,2) = 1.0;
|
---|
496 | rMat(2,3) = -ox;
|
---|
497 | rMat(3,1) = -oy;
|
---|
498 | rMat(3,2) = ox;
|
---|
499 | rMat(3,3) = 1.0;
|
---|
500 |
|
---|
501 | xyz = sc * rMat * xyz + dx;
|
---|
502 | }
|
---|
503 |
|
---|