source: ntrip/trunk/BNC/upload/bncrtnetuploadcaster.cpp@ 4111

Last change on this file since 4111 was 4111, checked in by mervart, 12 years ago
File size: 16.4 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,
35 int PID, int SID, int IOD, int iRow) :
36 bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
37
38 _crdTrafo = crdTrafo;
39 _CoM = CoM;
40 _PID = PID;
41 _SID = SID;
42 _IOD = IOD;
43
44 // Member that receives the ephemeris
45 // ----------------------------------
46 _ephUser = new bncEphUser();
47
48 bncSettings settings;
49 QString intr = settings.value("uploadIntr").toString();
50 int sampl = settings.value("uploadSampl").toInt();
51 _samplOrb = settings.value("uploadSamplOrb").toDouble();
52 if (_samplOrb == 0.0) {
53 _usedEph = 0;
54 }
55 else {
56 _usedEph = new QMap<QString, t_eph*>;
57 }
58
59 // Raw Output
60 // ----------
61 if (!outFileName.isEmpty()) {
62 _outFile = new bncoutf(outFileName, intr, sampl);
63 }
64 else {
65 _outFile = 0;
66 }
67
68 // RINEX writer
69 // ------------
70 if (!rnxFileName.isEmpty()) {
71 _rnx = new bncClockRinex(rnxFileName, intr, sampl);
72 }
73 else {
74 _rnx = 0;
75 }
76
77 // SP3 writer
78 // ----------
79 if (!sp3FileName.isEmpty()) {
80 _sp3 = new bncSP3(sp3FileName, intr, sampl);
81 }
82 else {
83 _sp3 = 0;
84 }
85
86 // Set Transformation Parameters
87 // -----------------------------
88 if (_crdTrafo == "ETRF2000") {
89 _dx = 0.0521;
90 _dy = 0.0493;
91 _dz = -0.0585;
92 _dxr = 0.0001;
93 _dyr = 0.0001;
94 _dzr = -0.0018;
95 _ox = 0.000891;
96 _oy = 0.005390;
97 _oz = -0.008712;
98 _oxr = 0.000081;
99 _oyr = 0.000490;
100 _ozr = -0.000792;
101 _sc = 1.34;
102 _scr = 0.08;
103 _t0 = 2000.0;
104 }
105 else if (_crdTrafo == "NAD83") {
106 _dx = 0.9963;
107 _dy = -1.9024;
108 _dz = -0.5210;
109 _dxr = 0.0005;
110 _dyr = -0.0006;
111 _dzr = -0.0013;
112 _ox = -0.025915;
113 _oy = -0.009426;
114 _oz = -0.011599;
115 _oxr = -0.000067;
116 _oyr = 0.000757;
117 _ozr = 0.000051;
118 _sc = 0.78;
119 _scr = -0.10;
120 _t0 = 1997.0;
121 }
122 else if (_crdTrafo == "GDA94") {
123 _dx = -0.07973;
124 _dy = -0.00686;
125 _dz = 0.03803;
126 _dxr = 0.00225;
127 _dyr = -0.00062;
128 _dzr = -0.00056;
129 _ox = 0.0000351;
130 _oy = -0.0021211;
131 _oz = -0.0021411;
132 _oxr = -0.0014707;
133 _oyr = -0.0011443;
134 _ozr = -0.0011701;
135 _sc = 6.636;
136 _scr = 0.294;
137 _t0 = 1994.0;
138 }
139 else if (_crdTrafo == "SIRGAS2000") {
140 _dx = -0.0051;
141 _dy = -0.0065;
142 _dz = -0.0099;
143 _dxr = 0.0000;
144 _dyr = 0.0000;
145 _dzr = 0.0000;
146 _ox = 0.000150;
147 _oy = 0.000020;
148 _oz = 0.000021;
149 _oxr = 0.000000;
150 _oyr = 0.000000;
151 _ozr = 0.000000;
152 _sc = 0.000;
153 _scr = 0.000;
154 _t0 = 0000.0;
155 }
156 else if (_crdTrafo == "SIRGAS95") {
157 _dx = 0.0077;
158 _dy = 0.0058;
159 _dz = -0.0138;
160 _dxr = 0.0000;
161 _dyr = 0.0000;
162 _dzr = 0.0000;
163 _ox = 0.000000;
164 _oy = 0.000000;
165 _oz = -0.000030;
166 _oxr = 0.000000;
167 _oyr = 0.000000;
168 _ozr = 0.000000;
169 _sc = 1.570;
170 _scr = 0.000;
171 _t0 = 0000.0;
172 }
173 else if (_crdTrafo == "Custom") {
174 _dx = settings.value("trafo_dx").toDouble();
175 _dy = settings.value("trafo_dy").toDouble();
176 _dz = settings.value("trafo_dz").toDouble();
177 _dxr = settings.value("trafo_dxr").toDouble();
178 _dyr = settings.value("trafo_dyr").toDouble();
179 _dzr = settings.value("trafo_dzr").toDouble();
180 _ox = settings.value("trafo_ox").toDouble();
181 _oy = settings.value("trafo_oy").toDouble();
182 _oz = settings.value("trafo_oz").toDouble();
183 _oxr = settings.value("trafo_oxr").toDouble();
184 _oyr = settings.value("trafo_oyr").toDouble();
185 _ozr = settings.value("trafo_ozr").toDouble();
186 _sc = settings.value("trafo_sc").toDouble();
187 _scr = settings.value("trafo_scr").toDouble();
188 _t0 = settings.value("trafo_t0").toDouble();
189 }
190}
191
192// Destructor
193////////////////////////////////////////////////////////////////////////////
194bncRtnetUploadCaster::~bncRtnetUploadCaster() {
195 if (isRunning()) {
196 wait();
197 }
198 delete _outFile;
199 delete _rnx;
200 delete _sp3;
201 delete _ephUser;
202 delete _usedEph;
203}
204
205//
206////////////////////////////////////////////////////////////////////////////
207void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
208
209 QMutexLocker locker(&_mutex);
210
211 // Append to internal buffer
212 // -------------------------
213 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
214
215 // Select buffer part that contains last epoch
216 // -------------------------------------------
217 QStringList lines;
218 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
219 if (iEpoBeg == -1) {
220 _rtnetStreamBuffer.clear();
221 return;
222 }
223 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
224
225 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
226 if (iEpoEnd == -1) {
227 return;
228 }
229 else {
230 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
231 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
232 }
233
234 if (lines.size() < 2) {
235 return;
236 }
237
238 // Keep the last unfinished line in buffer
239 // ---------------------------------------
240 int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
241 if (iLastEOL != -1) {
242 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
243 }
244
245 // Read first line (with epoch time)
246 // ---------------------------------
247 QTextStream in(lines[0].toAscii());
248 QString hlp;
249 int year, month, day, hour, min;
250 double sec;
251 in >> hlp >> year >> month >> day >> hour >> min >> sec;
252 bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
253
254 struct ClockOrbit co;
255 memset(&co, 0, sizeof(co));
256 co.GPSEpochTime = static_cast<int>(epoTime.gpssec());
257 co.GLONASSEpochTime = static_cast<int>(fmod(epoTime.gpssec(), 86400.0))
258 + 3 * 3600 - gnumleap(year, month, day);
259 co.ClockDataSupplied = 1;
260 co.OrbitDataSupplied = 1;
261 co.SatRefDatum = DATUM_ITRF;
262 co.SSRIOD = _IOD;
263 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
264 co.SSRSolutionID = _SID;
265
266 struct Bias bias;
267 memset(&bias, 0, sizeof(bias));
268 bias.GPSEpochTime = co.GPSEpochTime;
269 bias.GLONASSEpochTime = co.GLONASSEpochTime;
270
271 for (int ii = 1; ii < lines.size(); ii++) {
272
273 QString prn;
274 ColumnVector xx(14); xx = 0.0;
275
276 QTextStream in(lines[ii].toAscii());
277
278 in >> prn;
279 if (prn[0] == 'P') {
280 prn.remove(0,1);
281 }
282
283 t_eph* eph = 0;
284 const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
285 if (ephPair) {
286
287 eph = ephPair->last;
288
289 // Use previous ephemeris if the last one is too recent
290 // ----------------------------------------------------
291 const int MINAGE = 60; // seconds
292 if (ephPair->prev && eph->receptDateTime().isValid() &&
293 eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
294 eph = ephPair->prev;
295 }
296
297 // Make sure the clock messages refer to same IOD as orbit messages
298 // ----------------------------------------------------------------
299 if (_usedEph) {
300 if (fmod(epoTime.gpssec(), _samplOrb) == 0.0) {
301 (*_usedEph)[prn] = eph;
302 }
303 else {
304 eph = 0;
305 if (_usedEph->contains(prn)) {
306 t_eph* usedEph = _usedEph->value(prn);
307 if (usedEph == ephPair->last) {
308 eph = ephPair->last;
309 }
310 else if (usedEph == ephPair->prev) {
311 eph = ephPair->prev;
312 }
313 }
314 }
315 }
316 }
317
318 if (eph) {
319
320 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
321 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
322 >> xx(11) >> xx(12) >> xx(13) >> xx(14);
323 xx(1) *= 1e3; // x-crd
324 xx(2) *= 1e3; // y-crd
325 xx(3) *= 1e3; // z-crd
326 xx(4) *= 1e-6; // clk
327 xx(5) *= 1e-6; // rel. corr.
328 // xx(6), xx(7), xx(8) ... PhaseCent - CoM
329 // xx(9) ... P1-C1 DCB in meters
330 // xx(10) ... P1-P2 DCB in meters
331 // xx(11) ... dT
332 xx(12) *= 1e3; // x-crd at time + dT
333 xx(13) *= 1e3; // y-crd at time + dT
334 xx(14) *= 1e3; // z-crd at time + dT
335
336 struct ClockOrbit::SatData* sd = 0;
337 if (prn[0] == 'G') {
338 sd = co.Sat + co.NumberOfGPSSat;
339 ++co.NumberOfGPSSat;
340 }
341 else if (prn[0] == 'R') {
342 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
343 ++co.NumberOfGLONASSSat;
344 }
345 if (sd) {
346 QString outLine;
347 processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
348 xx, sd, outLine);
349 if (_outFile) {
350 _outFile->write(epoTime.gpsw(), epoTime.gpssec(), outLine);
351 }
352 }
353
354 struct Bias::BiasSat* biasSat = 0;
355 if (prn[0] == 'G') {
356 biasSat = bias.Sat + bias.NumberOfGPSSat;
357 ++bias.NumberOfGPSSat;
358 }
359 else if (prn[0] == 'R') {
360 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
361 ++bias.NumberOfGLONASSSat;
362 }
363
364 // Coefficient of Ionosphere-Free LC
365 // ---------------------------------
366 const static double a_L1_GPS = 2.54572778;
367 const static double a_L2_GPS = -1.54572778;
368 const static double a_L1_Glo = 2.53125000;
369 const static double a_L2_Glo = -1.53125000;
370
371 if (biasSat) {
372 biasSat->ID = prn.mid(1).toInt();
373 biasSat->NumberOfCodeBiases = 3;
374 if (prn[0] == 'G') {
375 biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
376 biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
377 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
378 biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
379 biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
380 biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
381 }
382 else if (prn[0] == 'R') {
383 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
384 biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
385 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
386 biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
387 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
388 biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
389 }
390 }
391 }
392 }
393
394 QByteArray hlpBufferCo;
395
396 // Orbit and Clock Corrections together
397 // ------------------------------------
398 if (_samplOrb == 0.0) {
399 if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {
400 char obuffer[CLOCKORBIT_BUFFERSIZE];
401 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
402 if (len > 0) {
403 hlpBufferCo = QByteArray(obuffer, len);
404 }
405 }
406 }
407
408 // Orbit and Clock Corrections separately
409 // --------------------------------------
410 else {
411 if (co.NumberOfGPSSat > 0) {
412 char obuffer[CLOCKORBIT_BUFFERSIZE];
413 if (fmod(epoTime.gpssec(), _samplOrb) == 0.0) {
414 int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
415 if (len1 > 0) {
416 hlpBufferCo += QByteArray(obuffer, len1);
417 }
418 }
419 int mmsg = (co.NumberOfGLONASSSat > 0) ? 1 : 0;
420 int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
421 if (len2 > 0) {
422 hlpBufferCo += QByteArray(obuffer, len2);
423 }
424 }
425 if (co.NumberOfGLONASSSat > 0) {
426 char obuffer[CLOCKORBIT_BUFFERSIZE];
427 if (fmod(epoTime.gpssec(), _samplOrb) == 0.0) {
428 int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
429 if (len1 > 0) {
430 hlpBufferCo += QByteArray(obuffer, len1);
431 }
432 }
433 int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
434 if (len2 > 0) {
435 hlpBufferCo += QByteArray(obuffer, len2);
436 }
437 }
438 }
439
440 // Biases
441 // ------
442 QByteArray hlpBufferBias;
443 if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) {
444 char obuffer[CLOCKORBIT_BUFFERSIZE];
445 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
446 if (len > 0) {
447 hlpBufferBias = QByteArray(obuffer, len);
448 }
449 }
450
451 if (hlpBufferCo.size() > 0) {
452 _outBuffer = hlpBufferCo + hlpBufferBias;
453 }
454}
455
456//
457////////////////////////////////////////////////////////////////////////////
458void bncRtnetUploadCaster::processSatellite(t_eph* eph, int GPSweek,
459 double GPSweeks, const QString& prn,
460 const ColumnVector& xx,
461 struct ClockOrbit::SatData* sd,
462 QString& outLine) {
463
464 const double secPerWeek = 7.0 * 86400.0;
465
466 ColumnVector rsw(3);
467 ColumnVector rsw2(3);
468 double dClk;
469
470 for (int ii = 1; ii <= 2; ++ii) {
471
472 int GPSweek12 = GPSweek;
473 double GPSweeks12 = GPSweeks;
474 if (ii == 2) {
475 GPSweeks12 += xx(11);
476 if (GPSweeks12 > secPerWeek) {
477 GPSweek12 += 1;
478 GPSweeks12 -= secPerWeek;
479 }
480 }
481
482 ColumnVector xB(4);
483 ColumnVector vv(3);
484
485 eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
486
487 ColumnVector xyz;
488 if (ii == 1) {
489 xyz = xx.Rows(1,3);
490 }
491 else {
492 xyz = xx.Rows(12,14);
493 }
494
495 // Correction Center of Mass -> Antenna Phase Center
496 // -------------------------------------------------
497 if (! _CoM) {
498 xyz(1) += xx(6);
499 xyz(2) += xx(7);
500 xyz(3) += xx(8);
501 }
502
503 if (_crdTrafo != "IGS08") {
504 crdTrafo(GPSweek12, xyz);
505 }
506
507 ColumnVector dx = xB.Rows(1,3) - xyz ;
508
509 if (ii == 1) {
510 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
511 dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
512 }
513 else {
514 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
515 }
516 }
517
518 if (sd) {
519 sd->ID = prn.mid(1).toInt();
520 sd->IOD = eph->IOD();
521 sd->Clock.DeltaA0 = dClk;
522 sd->Orbit.DeltaRadial = rsw(1);
523 sd->Orbit.DeltaAlongTrack = rsw(2);
524 sd->Orbit.DeltaCrossTrack = rsw(3);
525 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
526 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
527 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
528 }
529
530 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
531 GPSweek, GPSweeks, eph->prn().toAscii().data(),
532 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
533
534 if (_rnx) {
535 _rnx->write(GPSweek, GPSweeks, prn, xx);
536 }
537 if (_sp3) {
538 _sp3->write(GPSweek, GPSweeks, prn, xx);
539 }
540}
541
542// Transform Coordinates
543////////////////////////////////////////////////////////////////////////////
544void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {
545
546 // Current epoch minus 2000.0 in years
547 // ------------------------------------
548 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
549
550 ColumnVector dx(3);
551
552 dx(1) = _dx + dt * _dxr;
553 dx(2) = _dy + dt * _dyr;
554 dx(3) = _dz + dt * _dzr;
555
556 static const double arcSec = 180.0 * 3600.0 / M_PI;
557
558 double ox = (_ox + dt * _oxr) / arcSec;
559 double oy = (_oy + dt * _oyr) / arcSec;
560 double oz = (_oz + dt * _ozr) / arcSec;
561
562 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
563
564 Matrix rMat(3,3);
565 rMat(1,1) = 1.0;
566 rMat(1,2) = -oz;
567 rMat(1,3) = oy;
568 rMat(2,1) = oz;
569 rMat(2,2) = 1.0;
570 rMat(2,3) = -ox;
571 rMat(3,1) = -oy;
572 rMat(3,2) = ox;
573 rMat(3,3) = 1.0;
574
575 xyz = sc * rMat * xyz + dx;
576}
577
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