| 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 | int PID, int SID, int IOD, int iRow) :
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| 36 | bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
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| 37 |
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| 38 | _crdTrafo = crdTrafo;
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| 39 | _CoM = CoM;
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| 40 | _PID = PID;
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| 41 | _SID = SID;
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| 42 | _IOD = IOD;
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| 43 |
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| 44 | // Member that receives the ephemeris
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| 45 | // ----------------------------------
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| 46 | _ephUser = new bncEphUser();
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| 47 |
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| 48 | bncSettings settings;
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| 49 | QString intr = settings.value("uploadIntr").toString();
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| 50 | int sampl = settings.value("uploadSampl").toInt();
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| 51 | _samplOrb = settings.value("uploadSamplOrb").toDouble();
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| 52 | if (_samplOrb == 0.0) {
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| 53 | _usedEph = 0;
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| 54 | }
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| 55 | else {
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| 56 | _usedEph = new QMap<QString, t_eph*>;
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| 57 | }
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| 58 |
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| 59 | // Raw Output
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| 60 | // ----------
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| 61 | if (!outFileName.isEmpty()) {
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| 62 | _outFile = new bncoutf(outFileName, intr, sampl);
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| 63 | }
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| 64 | else {
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| 65 | _outFile = 0;
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| 66 | }
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| 67 |
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| 68 | // RINEX writer
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| 69 | // ------------
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| 70 | if (!rnxFileName.isEmpty()) {
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| 71 | _rnx = new bncClockRinex(rnxFileName, intr, sampl);
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| 72 | }
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| 73 | else {
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| 74 | _rnx = 0;
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| 75 | }
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| 76 |
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| 77 | // SP3 writer
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| 78 | // ----------
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| 79 | if (!sp3FileName.isEmpty()) {
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| 80 | _sp3 = new bncSP3(sp3FileName, intr, sampl);
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| 81 | }
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| 82 | else {
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| 83 | _sp3 = 0;
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| 84 | }
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| 85 |
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| 86 | // Set Transformation Parameters
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| 87 | // -----------------------------
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| 88 | if (_crdTrafo == "ETRF2000") {
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| 89 | _dx = 0.0521;
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| 90 | _dy = 0.0493;
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| 91 | _dz = -0.0585;
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| 92 | _dxr = 0.0001;
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| 93 | _dyr = 0.0001;
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| 94 | _dzr = -0.0018;
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| 95 | _ox = 0.000891;
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| 96 | _oy = 0.005390;
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| 97 | _oz = -0.008712;
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| 98 | _oxr = 0.000081;
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| 99 | _oyr = 0.000490;
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| 100 | _ozr = -0.000792;
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| 101 | _sc = 1.34;
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| 102 | _scr = 0.08;
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| 103 | _t0 = 2000.0;
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| 104 | }
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| 105 | else if (_crdTrafo == "NAD83") {
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| 106 | _dx = 0.9963;
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| 107 | _dy = -1.9024;
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| 108 | _dz = -0.5210;
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| 109 | _dxr = 0.0005;
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| 110 | _dyr = -0.0006;
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| 111 | _dzr = -0.0013;
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| 112 | _ox = -0.025915;
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| 113 | _oy = -0.009426;
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| 114 | _oz = -0.011599;
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| 115 | _oxr = -0.000067;
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| 116 | _oyr = 0.000757;
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| 117 | _ozr = 0.000051;
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| 118 | _sc = 0.78;
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| 119 | _scr = -0.10;
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| 120 | _t0 = 1997.0;
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| 121 | }
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| 122 | else if (_crdTrafo == "GDA94") {
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| 123 | _dx = -0.07973;
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| 124 | _dy = -0.00686;
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| 125 | _dz = 0.03803;
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| 126 | _dxr = 0.00225;
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| 127 | _dyr = -0.00062;
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| 128 | _dzr = -0.00056;
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| 129 | _ox = 0.0000351;
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| 130 | _oy = -0.0021211;
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| 131 | _oz = -0.0021411;
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| 132 | _oxr = -0.0014707;
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| 133 | _oyr = -0.0011443;
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| 134 | _ozr = -0.0011701;
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| 135 | _sc = 6.636;
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| 136 | _scr = 0.294;
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| 137 | _t0 = 1994.0;
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| 138 | }
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| 139 | else if (_crdTrafo == "SIRGAS2000") {
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| 140 | _dx = -0.0051;
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| 141 | _dy = -0.0065;
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| 142 | _dz = -0.0099;
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| 143 | _dxr = 0.0000;
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| 144 | _dyr = 0.0000;
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| 145 | _dzr = 0.0000;
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| 146 | _ox = 0.000150;
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| 147 | _oy = 0.000020;
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| 148 | _oz = 0.000021;
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| 149 | _oxr = 0.000000;
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| 150 | _oyr = 0.000000;
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| 151 | _ozr = 0.000000;
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| 152 | _sc = 0.000;
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| 153 | _scr = 0.000;
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| 154 | _t0 = 0000.0;
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| 155 | }
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| 156 | else if (_crdTrafo == "SIRGAS95") {
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| 157 | _dx = 0.0077;
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| 158 | _dy = 0.0058;
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| 159 | _dz = -0.0138;
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| 160 | _dxr = 0.0000;
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| 161 | _dyr = 0.0000;
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| 162 | _dzr = 0.0000;
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| 163 | _ox = 0.000000;
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| 164 | _oy = 0.000000;
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| 165 | _oz = -0.000030;
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| 166 | _oxr = 0.000000;
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| 167 | _oyr = 0.000000;
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| 168 | _ozr = 0.000000;
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| 169 | _sc = 1.570;
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| 170 | _scr = 0.000;
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| 171 | _t0 = 0000.0;
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| 172 | }
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| 173 | else if (_crdTrafo == "Custom") {
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| 174 | _dx = settings.value("trafo_dx").toDouble();
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| 175 | _dy = settings.value("trafo_dy").toDouble();
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| 176 | _dz = settings.value("trafo_dz").toDouble();
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| 177 | _dxr = settings.value("trafo_dxr").toDouble();
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| 178 | _dyr = settings.value("trafo_dyr").toDouble();
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| 179 | _dzr = settings.value("trafo_dzr").toDouble();
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| 180 | _ox = settings.value("trafo_ox").toDouble();
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| 181 | _oy = settings.value("trafo_oy").toDouble();
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| 182 | _oz = settings.value("trafo_oz").toDouble();
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| 183 | _oxr = settings.value("trafo_oxr").toDouble();
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| 184 | _oyr = settings.value("trafo_oyr").toDouble();
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| 185 | _ozr = settings.value("trafo_ozr").toDouble();
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| 186 | _sc = settings.value("trafo_sc").toDouble();
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| 187 | _scr = settings.value("trafo_scr").toDouble();
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| 188 | _t0 = settings.value("trafo_t0").toDouble();
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| 189 | }
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| 190 | }
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| 191 |
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| 192 | // Destructor
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| 193 | ////////////////////////////////////////////////////////////////////////////
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| 194 | bncRtnetUploadCaster::~bncRtnetUploadCaster() {
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| 195 | if (isRunning()) {
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| 196 | wait();
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| 197 | }
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| 198 | delete _outFile;
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| 199 | delete _rnx;
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| 200 | delete _sp3;
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| 201 | delete _ephUser;
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| 202 | delete _usedEph;
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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 internal buffer
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| 212 | // -------------------------
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| 213 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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| 214 |
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| 215 | // Select buffer part that contains last epoch
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| 216 | // -------------------------------------------
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| 217 | QStringList lines;
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| 218 | int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
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| 219 | if (iEpoBeg == -1) {
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| 220 | _rtnetStreamBuffer.clear();
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| 221 | return;
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| 222 | }
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| 223 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
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| 224 |
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| 225 | int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
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| 226 | if (iEpoEnd == -1) {
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| 227 | return;
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| 228 | }
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| 229 | else {
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| 230 | lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
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| 231 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
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| 232 | }
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| 233 |
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| 234 | if (lines.size() < 2) {
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| 235 | return;
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| 236 | }
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| 237 |
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| 238 | // Keep the last unfinished line in buffer
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| 239 | // ---------------------------------------
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| 240 | int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
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| 241 | if (iLastEOL != -1) {
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| 242 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
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| 243 | }
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| 244 |
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| 245 | // Read first line (with epoch time)
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| 246 | // ---------------------------------
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| 247 | QTextStream in(lines[0].toAscii());
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| 248 | QString hlp;
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| 249 | int year, month, day, hour, min;
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| 250 | double sec;
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| 251 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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| 252 | bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
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| 253 |
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| 254 | struct ClockOrbit co;
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| 255 | memset(&co, 0, sizeof(co));
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| 256 | co.GPSEpochTime = static_cast<int>(epoTime.gpssec());
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| 257 | co.GLONASSEpochTime = static_cast<int>(fmod(epoTime.gpssec(), 86400.0))
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| 258 | + 3 * 3600 - gnumleap(year, month, day);
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| 259 | co.ClockDataSupplied = 1;
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| 260 | co.OrbitDataSupplied = 1;
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| 261 | co.SatRefDatum = DATUM_ITRF;
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| 262 | co.SSRIOD = _IOD;
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| 263 | co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
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| 264 | co.SSRSolutionID = _SID;
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| 265 |
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| 266 | struct Bias bias;
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| 267 | memset(&bias, 0, sizeof(bias));
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| 268 | bias.GPSEpochTime = co.GPSEpochTime;
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| 269 | bias.GLONASSEpochTime = co.GLONASSEpochTime;
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| 270 |
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| 271 | for (int ii = 1; ii < lines.size(); ii++) {
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| 272 |
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| 273 | QString prn;
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| 274 | ColumnVector xx(14); xx = 0.0;
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| 275 |
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| 276 | QTextStream in(lines[ii].toAscii());
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| 277 |
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| 278 | in >> prn;
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| 279 | if (prn[0] == 'P') {
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| 280 | prn.remove(0,1);
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| 281 | }
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| 282 |
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| 283 | t_eph* eph = 0;
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| 284 | const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
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| 285 | if (ephPair) {
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| 286 |
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| 287 | eph = ephPair->last;
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| 288 |
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| 289 | // Use previous ephemeris if the last one is too recent
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| 290 | // ----------------------------------------------------
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| 291 | const int MINAGE = 60; // seconds
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| 292 | if (ephPair->prev && eph->receptDateTime().isValid() &&
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| 293 | eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
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| 294 | eph = ephPair->prev;
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| 295 | }
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| 296 |
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| 297 | // Make sure the clock messages refer to same IOD as orbit messages
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| 298 | // ----------------------------------------------------------------
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| 299 | if (_usedEph) {
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| 300 | if (fmod(epoTime.gpssec(), _samplOrb) == 0.0) {
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| 301 | (*_usedEph)[prn] = eph;
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| 302 | }
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| 303 | else {
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| 304 | eph = 0;
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| 305 | if (_usedEph->contains(prn)) {
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| 306 | t_eph* usedEph = _usedEph->value(prn);
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| 307 | if (usedEph == ephPair->last) {
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| 308 | eph = ephPair->last;
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| 309 | }
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| 310 | else if (usedEph == ephPair->prev) {
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| 311 | eph = ephPair->prev;
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| 312 | }
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| 313 | }
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| 314 | }
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| 315 | }
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| 316 | }
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| 317 |
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| 318 | if (eph) {
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| 319 |
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| 320 | in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
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| 321 | >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
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| 322 | >> xx(11) >> xx(12) >> xx(13) >> xx(14);
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| 323 | xx(1) *= 1e3; // x-crd
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| 324 | xx(2) *= 1e3; // y-crd
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| 325 | xx(3) *= 1e3; // z-crd
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| 326 | xx(4) *= 1e-6; // clk
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| 327 | xx(5) *= 1e-6; // rel. corr.
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| 328 | // xx(6), xx(7), xx(8) ... PhaseCent - CoM
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| 329 | // xx(9) ... P1-C1 DCB in meters
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| 330 | // xx(10) ... P1-P2 DCB in meters
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| 331 | // xx(11) ... dT
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| 332 | xx(12) *= 1e3; // x-crd at time + dT
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| 333 | xx(13) *= 1e3; // y-crd at time + dT
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| 334 | xx(14) *= 1e3; // z-crd at time + dT
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| 335 |
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| 336 | struct ClockOrbit::SatData* sd = 0;
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| 337 | if (prn[0] == 'G') {
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| 338 | sd = co.Sat + co.NumberOfGPSSat;
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| 339 | ++co.NumberOfGPSSat;
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| 340 | }
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| 341 | else if (prn[0] == 'R') {
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| 342 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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| 343 | ++co.NumberOfGLONASSSat;
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| 344 | }
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| 345 | if (sd) {
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| 346 | QString outLine;
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| 347 | processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
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| 348 | xx, sd, outLine);
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| 349 | if (_outFile) {
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| 350 | _outFile->write(epoTime.gpsw(), epoTime.gpssec(), outLine);
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| 351 | }
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| 352 | }
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| 353 |
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| 354 | struct Bias::BiasSat* biasSat = 0;
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| 355 | if (prn[0] == 'G') {
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| 356 | biasSat = bias.Sat + bias.NumberOfGPSSat;
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| 357 | ++bias.NumberOfGPSSat;
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| 358 | }
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| 359 | else if (prn[0] == 'R') {
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| 360 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
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| 361 | ++bias.NumberOfGLONASSSat;
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| 362 | }
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| 363 |
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| 364 | // Coefficient of Ionosphere-Free LC
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| 365 | // ---------------------------------
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| 366 | const static double a_L1_GPS = 2.54572778;
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| 367 | const static double a_L2_GPS = -1.54572778;
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| 368 | const static double a_L1_Glo = 2.53125000;
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| 369 | const static double a_L2_Glo = -1.53125000;
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| 370 |
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| 371 | if (biasSat) {
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| 372 | biasSat->ID = prn.mid(1).toInt();
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| 373 | biasSat->NumberOfCodeBiases = 3;
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| 374 | if (prn[0] == 'G') {
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| 375 | biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
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| 376 | biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
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| 377 | biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
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| 378 | biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
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| 379 | biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
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| 380 | biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
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| 381 | }
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| 382 | else if (prn[0] == 'R') {
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| 383 | biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
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| 384 | biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
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| 385 | biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
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| 386 | biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
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| 387 | biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
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| 388 | biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
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| 389 | }
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| 390 | }
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| 391 | }
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| 392 | }
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| 393 |
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| 394 | QByteArray hlpBufferCo;
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| 395 |
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| 396 | // Orbit and Clock Corrections together
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| 397 | // ------------------------------------
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| 398 | if (_samplOrb == 0.0) {
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| 399 | if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {
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| 400 | char obuffer[CLOCKORBIT_BUFFERSIZE];
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| 401 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
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| 402 | if (len > 0) {
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| 403 | hlpBufferCo = QByteArray(obuffer, len);
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| 404 | }
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| 405 | }
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| 406 | }
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| 407 |
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| 408 | // Orbit and Clock Corrections separately
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| 409 | // --------------------------------------
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| 410 | else {
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| 411 | if (co.NumberOfGPSSat > 0) {
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| 412 | char obuffer[CLOCKORBIT_BUFFERSIZE];
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| 413 | if (fmod(epoTime.gpssec(), _samplOrb) == 0.0) {
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| 414 | int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
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| 415 | if (len1 > 0) {
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| 416 | hlpBufferCo += QByteArray(obuffer, len1);
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| 417 | }
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| 418 | }
|
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| 419 | int mmsg = (co.NumberOfGLONASSSat > 0) ? 1 : 0;
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| 420 | int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
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| 421 | if (len2 > 0) {
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| 422 | hlpBufferCo += QByteArray(obuffer, len2);
|
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| 423 | }
|
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| 424 | }
|
|---|
| 425 | if (co.NumberOfGLONASSSat > 0) {
|
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| 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 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 458 | void 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 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 544 | void 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 |
|
|---|
