source: ntrip/trunk/BNC/upload/bncrtnetuploadcaster.cpp@ 3713

Last change on this file since 3713 was 3591, checked in by mervart, 14 years ago
File size: 15.2 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncRtnetUploadCaster
6 *
7 * Purpose: Connection to NTRIP Caster
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include "bncrtnetuploadcaster.h"
19#include "bncsettings.h"
20#include "bncephuser.h"
21#include "bncclockrinex.h"
22#include "bncsp3.h"
23
24using namespace std;
25
26// Constructor
27////////////////////////////////////////////////////////////////////////////
28bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
29 const QString& outHost, int outPort,
30 const QString& password,
31 const QString& crdTrafo, bool CoM,
32 const QString& sp3FileName,
33 const QString& rnxFileName,
34 const QString& outFileName, int iRow) :
35 bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
36
37 _crdTrafo = crdTrafo;
38 _CoM = CoM;
39
40 // Member that receives the ephemeris
41 // ----------------------------------
42 _ephUser = new bncEphUser();
43
44 bncSettings settings;
45 QString intr = settings.value("uploadIntr").toString();
46 int sampl = settings.value("uploadSampl").toInt();
47 _samplOrb = settings.value("uploadSamplOrb").toDouble();
48
49 // Raw Output
50 // ----------
51 if (!outFileName.isEmpty()) {
52 _outFile = new bncoutf(outFileName, intr, sampl);
53 }
54 else {
55 _outFile = 0;
56 }
57
58 // RINEX writer
59 // ------------
60 if (!rnxFileName.isEmpty()) {
61 _rnx = new bncClockRinex(rnxFileName, intr, sampl);
62 }
63 else {
64 _rnx = 0;
65 }
66
67 // SP3 writer
68 // ----------
69 if (!sp3FileName.isEmpty()) {
70 _sp3 = new bncSP3(sp3FileName, intr, sampl);
71 }
72 else {
73 _sp3 = 0;
74 }
75
76 // Set Transformation Parameters
77 // -----------------------------
78 if (_crdTrafo == "ETRF2000") {
79 _dx = 0.0541;
80 _dy = 0.0502;
81 _dz = -0.0538;
82 _dxr = -0.0002;
83 _dyr = 0.0001;
84 _dzr = -0.0018;
85 _ox = 0.000891;
86 _oy = 0.005390;
87 _oz = -0.008712;
88 _oxr = 0.000081;
89 _oyr = 0.000490;
90 _ozr = -0.000792;
91 _sc = 0.40;
92 _scr = 0.08;
93 _t0 = 2000.0;
94 }
95 else if (_crdTrafo == "NAD83") {
96 _dx = 0.9963;
97 _dy = -1.9024;
98 _dz = -0.5210;
99 _dxr = 0.0005;
100 _dyr = -0.0006;
101 _dzr = -0.0013;
102 _ox = -0.025915;
103 _oy = -0.009426;
104 _oz = -0.011599;
105 _oxr = -0.000067;
106 _oyr = 0.000757;
107 _ozr = 0.000051;
108 _sc = 0.78;
109 _scr = -0.10;
110 _t0 = 1997.0;
111 }
112 else if (_crdTrafo == "GDA94") {
113 _dx = -0.07973;
114 _dy = -0.00686;
115 _dz = 0.03803;
116 _dxr = 0.00225;
117 _dyr = -0.00062;
118 _dzr = -0.00056;
119 _ox = 0.0000351;
120 _oy = -0.0021211;
121 _oz = -0.0021411;
122 _oxr = -0.0014707;
123 _oyr = -0.0011443;
124 _ozr = -0.0011701;
125 _sc = 6.636;
126 _scr = 0.294;
127 _t0 = 1994.0;
128 }
129 else if (_crdTrafo == "SIRGAS2000") {
130 _dx = -0.0051;
131 _dy = -0.0065;
132 _dz = -0.0099;
133 _dxr = 0.0000;
134 _dyr = 0.0000;
135 _dzr = 0.0000;
136 _ox = 0.000150;
137 _oy = 0.000020;
138 _oz = 0.000021;
139 _oxr = 0.000000;
140 _oyr = 0.000000;
141 _ozr = 0.000000;
142 _sc = 0.000;
143 _scr = 0.000;
144 _t0 = 0000.0;
145 }
146 else if (_crdTrafo == "SIRGAS95") {
147 _dx = 0.0077;
148 _dy = 0.0058;
149 _dz = -0.0138;
150 _dxr = 0.0000;
151 _dyr = 0.0000;
152 _dzr = 0.0000;
153 _ox = 0.000000;
154 _oy = 0.000000;
155 _oz = -0.000030;
156 _oxr = 0.000000;
157 _oyr = 0.000000;
158 _ozr = 0.000000;
159 _sc = 1.570;
160 _scr = 0.000;
161 _t0 = 0000.0;
162 }
163 else if (_crdTrafo == "Custom") {
164 _dx = settings.value("trafo_dx").toDouble();
165 _dy = settings.value("trafo_dy").toDouble();
166 _dz = settings.value("trafo_dz").toDouble();
167 _dxr = settings.value("trafo_dxr").toDouble();
168 _dyr = settings.value("trafo_dyr").toDouble();
169 _dzr = settings.value("trafo_dzr").toDouble();
170 _ox = settings.value("trafo_ox").toDouble();
171 _oy = settings.value("trafo_oy").toDouble();
172 _oz = settings.value("trafo_oz").toDouble();
173 _oxr = settings.value("trafo_oxr").toDouble();
174 _oyr = settings.value("trafo_oyr").toDouble();
175 _ozr = settings.value("trafo_ozr").toDouble();
176 _sc = settings.value("trafo_sc").toDouble();
177 _scr = settings.value("trafo_scr").toDouble();
178 _t0 = settings.value("trafo_t0").toDouble();
179 }
180}
181
182// Destructor
183////////////////////////////////////////////////////////////////////////////
184bncRtnetUploadCaster::~bncRtnetUploadCaster() {
185 if (isRunning()) {
186 wait();
187 }
188 delete _outFile;
189 delete _rnx;
190 delete _sp3;
191 delete _ephUser;
192}
193
194//
195////////////////////////////////////////////////////////////////////////////
196void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
197
198 QMutexLocker locker(&_mutex);
199
200 // Append to internal buffer
201 // -------------------------
202 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
203
204 // Select buffer part that contains last epoch
205 // -------------------------------------------
206 QStringList lines;
207 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
208 if (iEpoBeg == -1) {
209 _rtnetStreamBuffer.clear();
210 return;
211 }
212 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
213
214 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
215 if (iEpoEnd == -1) {
216 return;
217 }
218 else {
219 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
220 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
221 }
222
223 if (lines.size() < 2) {
224 return;
225 }
226
227 // Keep the last unfinished line in buffer
228 // ---------------------------------------
229 int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
230 if (iLastEOL != -1) {
231 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
232 }
233
234 // Read first line (with epoch time)
235 // ---------------------------------
236 QTextStream in(lines[0].toAscii());
237 QString hlp;
238 int year, month, day, hour, min;
239 double sec;
240 in >> hlp >> year >> month >> day >> hour >> min >> sec;
241 bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
242
243 struct ClockOrbit co;
244 memset(&co, 0, sizeof(co));
245 co.GPSEpochTime = static_cast<int>(epoTime.gpssec());
246 co.GLONASSEpochTime = static_cast<int>(fmod(epoTime.gpssec(), 86400.0))
247 + 3 * 3600 - gnumleap(year, month, day);
248 co.ClockDataSupplied = 1;
249 co.OrbitDataSupplied = 1;
250 co.SatRefDatum = DATUM_ITRF;
251
252 struct Bias bias;
253 memset(&bias, 0, sizeof(bias));
254 bias.GPSEpochTime = co.GPSEpochTime;
255 bias.GLONASSEpochTime = co.GLONASSEpochTime;
256
257 for (int ii = 1; ii < lines.size(); ii++) {
258
259 QString prn;
260 ColumnVector xx(14); xx = 0.0;
261
262 QTextStream in(lines[ii].toAscii());
263
264 in >> prn;
265 if (prn[0] == 'P') {
266 prn.remove(0,1);
267 }
268
269 const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
270 if (ephPair) {
271 t_eph* eph = ephPair->last;
272
273// receptDateTime() not (yet?) defined
274// if (ephPair->prev &&
275// eph->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
276// eph = ephPair->prev;
277// }
278
279 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
280 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
281 >> xx(11) >> xx(12) >> xx(13) >> xx(14);
282 xx(1) *= 1e3; // x-crd
283 xx(2) *= 1e3; // y-crd
284 xx(3) *= 1e3; // z-crd
285 xx(4) *= 1e-6; // clk
286 xx(5) *= 1e-6; // rel. corr.
287 // xx(6), xx(7), xx(8) ... PhaseCent - CoM
288 // xx(9) ... P1-C1 DCB in meters
289 // xx(10) ... P1-P2 DCB in meters
290 // xx(11) ... dT
291 xx(12) *= 1e3; // x-crd at time + dT
292 xx(13) *= 1e3; // y-crd at time + dT
293 xx(14) *= 1e3; // z-crd at time + dT
294
295 struct ClockOrbit::SatData* sd = 0;
296 if (prn[0] == 'G') {
297 sd = co.Sat + co.NumberOfGPSSat;
298 ++co.NumberOfGPSSat;
299 }
300 else if (prn[0] == 'R') {
301 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
302 ++co.NumberOfGLONASSSat;
303 }
304 if (sd) {
305 QString outLine;
306 processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
307 xx, sd, outLine);
308 if (_outFile) {
309 _outFile->write(epoTime.gpsw(), epoTime.gpssec(), outLine);
310 }
311 }
312
313 struct Bias::BiasSat* biasSat = 0;
314 if (prn[0] == 'G') {
315 biasSat = bias.Sat + bias.NumberOfGPSSat;
316 ++bias.NumberOfGPSSat;
317 }
318 else if (prn[0] == 'R') {
319 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
320 ++bias.NumberOfGLONASSSat;
321 }
322
323 // Coefficient of Ionosphere-Free LC
324 // ---------------------------------
325 const static double a_L1_GPS = 2.54572778;
326 const static double a_L2_GPS = -1.54572778;
327 const static double a_L1_Glo = 2.53125000;
328 const static double a_L2_Glo = -1.53125000;
329
330 if (biasSat) {
331 biasSat->ID = prn.mid(1).toInt();
332 biasSat->NumberOfCodeBiases = 3;
333 if (prn[0] == 'G') {
334 biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
335 biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
336 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
337 biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
338 biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
339 biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
340 }
341 else if (prn[0] == 'R') {
342 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
343 biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
344 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
345 biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
346 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
347 biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
348 }
349 }
350 }
351 }
352
353 QByteArray hlpBufferCo;
354
355 // Orbit and Clock Corrections together
356 // ------------------------------------
357 if (_samplOrb == 0.0) {
358 if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {
359 char obuffer[CLOCKORBIT_BUFFERSIZE];
360 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
361 if (len > 0) {
362 hlpBufferCo = QByteArray(obuffer, len);
363 }
364 }
365 }
366
367 // Orbit and Clock Corrections separately
368 // --------------------------------------
369 else {
370 if (co.NumberOfGPSSat > 0) {
371 char obuffer[CLOCKORBIT_BUFFERSIZE];
372 if (fmod(epoTime.gpssec(), _samplOrb) == 0.0) {
373 int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
374 if (len1 > 0) {
375 hlpBufferCo += QByteArray(obuffer, len1);
376 }
377 }
378 int mmsg = (co.NumberOfGLONASSSat > 0) ? 1 : 0;
379 int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
380 if (len2 > 0) {
381 hlpBufferCo += QByteArray(obuffer, len2);
382 }
383 }
384 if (co.NumberOfGLONASSSat > 0) {
385 char obuffer[CLOCKORBIT_BUFFERSIZE];
386 if (fmod(epoTime.gpssec(), _samplOrb) == 0.0) {
387 int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
388 if (len1 > 0) {
389 hlpBufferCo += QByteArray(obuffer, len1);
390 }
391 }
392 int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
393 if (len2 > 0) {
394 hlpBufferCo += QByteArray(obuffer, len2);
395 }
396 }
397 }
398
399 // Biases
400 // ------
401 QByteArray hlpBufferBias;
402 if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) {
403 char obuffer[CLOCKORBIT_BUFFERSIZE];
404 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
405 if (len > 0) {
406 hlpBufferBias = QByteArray(obuffer, len);
407 }
408 }
409
410 if (hlpBufferCo.size() > 0) {
411 _outBuffer = hlpBufferCo + hlpBufferBias;
412 }
413}
414
415//
416////////////////////////////////////////////////////////////////////////////
417void bncRtnetUploadCaster::processSatellite(t_eph* eph, int GPSweek,
418 double GPSweeks, const QString& prn,
419 const ColumnVector& xx,
420 struct ClockOrbit::SatData* sd,
421 QString& outLine) {
422
423 const double secPerWeek = 7.0 * 86400.0;
424
425 ColumnVector rsw(3);
426 ColumnVector rsw2(3);
427 double dClk;
428
429 for (int ii = 1; ii <= 2; ++ii) {
430
431 int GPSweek12 = GPSweek;
432 double GPSweeks12 = GPSweeks;
433 if (ii == 2) {
434 GPSweeks12 += xx(11);
435 if (GPSweeks12 > secPerWeek) {
436 GPSweek12 += 1;
437 GPSweeks12 -= secPerWeek;
438 }
439 }
440
441 ColumnVector xB(4);
442 ColumnVector vv(3);
443
444 eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
445
446 ColumnVector xyz;
447 if (ii == 1) {
448 xyz = xx.Rows(1,3);
449 }
450 else {
451 xyz = xx.Rows(12,14);
452 }
453
454 // Correction Center of Mass -> Antenna Phase Center
455 // -------------------------------------------------
456 if (! _CoM) {
457 xyz(1) += xx(6);
458 xyz(2) += xx(7);
459 xyz(3) += xx(8);
460 }
461
462 if (_crdTrafo != "IGS05") {
463 crdTrafo(GPSweek12, xyz);
464 }
465
466 ColumnVector dx = xB.Rows(1,3) - xyz ;
467
468 if (ii == 1) {
469 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
470 dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
471 }
472 else {
473 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
474 }
475 }
476
477 if (sd) {
478 sd->ID = prn.mid(1).toInt();
479 sd->IOD = eph->IOD();
480 sd->Clock.DeltaA0 = dClk;
481 sd->Orbit.DeltaRadial = rsw(1);
482 sd->Orbit.DeltaAlongTrack = rsw(2);
483 sd->Orbit.DeltaCrossTrack = rsw(3);
484 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
485 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
486 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
487 }
488
489 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
490 GPSweek, GPSweeks, eph->prn().toAscii().data(),
491 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
492
493 if (_rnx) {
494 _rnx->write(GPSweek, GPSweeks, prn, xx);
495 }
496 if (_sp3) {
497 _sp3->write(GPSweek, GPSweeks, prn, xx);
498 }
499}
500
501// Transform Coordinates
502////////////////////////////////////////////////////////////////////////////
503void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {
504
505 // Current epoch minus 2000.0 in years
506 // ------------------------------------
507 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
508
509 ColumnVector dx(3);
510
511 dx(1) = _dx + dt * _dxr;
512 dx(2) = _dy + dt * _dyr;
513 dx(3) = _dz + dt * _dzr;
514
515 static const double arcSec = 180.0 * 3600.0 / M_PI;
516
517 double ox = (_ox + dt * _oxr) / arcSec;
518 double oy = (_oy + dt * _oyr) / arcSec;
519 double oz = (_oz + dt * _ozr) / arcSec;
520
521 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
522
523 Matrix rMat(3,3);
524 rMat(1,1) = 1.0;
525 rMat(1,2) = -oz;
526 rMat(1,3) = oy;
527 rMat(2,1) = oz;
528 rMat(2,2) = 1.0;
529 rMat(2,3) = -ox;
530 rMat(3,1) = -oy;
531 rMat(3,2) = ox;
532 rMat(3,3) = 1.0;
533
534 xyz = sc * rMat * xyz + dx;
535}
536
Note: See TracBrowser for help on using the repository browser.