[3172] | 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: bncUploadCaster
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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 "bncuploadcaster.h"
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| 19 | #include "bncsettings.h"
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| 20 | #include "bncversion.h"
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| 21 | #include "bncapp.h"
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[3182] | 22 | #include "bncclockrinex.h"
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| 23 | #include "bncsp3.h"
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[3172] | 24 |
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| 25 | using namespace std;
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| 26 |
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| 27 | // Constructor
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| 28 | ////////////////////////////////////////////////////////////////////////////
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| 29 | bncUploadCaster::bncUploadCaster(const QString& mountpoint,
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| 30 | const QString& outHost, int outPort,
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[3174] | 31 | const QString& password,
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| 32 | const QString& crdTrafo, bool CoM,
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[3182] | 33 | const QString& rnxFileName,
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| 34 | const QString& sp3FileName,
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[3172] | 35 | const QString& outFileName) {
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| 36 |
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| 37 | bncSettings settings;
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| 38 |
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[3182] | 39 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 40 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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| 41 |
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[3172] | 42 | _mountpoint = mountpoint;
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| 43 | _outHost = outHost;
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| 44 | _outPort = outPort;
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| 45 | _password = password;
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[3174] | 46 | _crdTrafo = crdTrafo;
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| 47 | _CoM = CoM;
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[3172] | 48 |
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| 49 | _outSocket = 0;
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| 50 | _sOpenTrial = 0;
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| 51 |
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[3185] | 52 | // Raw Output
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| 53 | // ----------
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| 54 | if (!outFileName.isEmpty()) {
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| 55 | _outFile = new bncoutf(outFileName, "", 0);
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[3172] | 56 | }
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| 57 | else {
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[3185] | 58 | _outFile = 0;
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[3172] | 59 | }
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[3182] | 60 |
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| 61 | // RINEX writer
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| 62 | // ------------
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[3185] | 63 | if (!rnxFileName.isEmpty()) {
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| 64 | _rnx = new bncClockRinex(rnxFileName, "", 0);
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[3182] | 65 | }
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| 66 | else {
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[3185] | 67 | _rnx = 0;
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[3182] | 68 | }
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| 69 |
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| 70 | // SP3 writer
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| 71 | // ----------
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[3185] | 72 | if (!sp3FileName.isEmpty()) {
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| 73 | _sp3 = new bncSP3(sp3FileName, "", 0);
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[3182] | 74 | }
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| 75 | else {
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[3185] | 76 | _sp3 = 0;
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[3182] | 77 | }
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| 78 |
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| 79 | // Set Transformation Parameters
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| 80 | // -----------------------------
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| 81 | if (_crdTrafo == "ETRF2000") {
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| 82 | _dx = 0.0541;
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| 83 | _dy = 0.0502;
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| 84 | _dz = -0.0538;
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| 85 | _dxr = -0.0002;
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| 86 | _dyr = 0.0001;
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| 87 | _dzr = -0.0018;
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| 88 | _ox = 0.000891;
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| 89 | _oy = 0.005390;
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| 90 | _oz = -0.008712;
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| 91 | _oxr = 0.000081;
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| 92 | _oyr = 0.000490;
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| 93 | _ozr = -0.000792;
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| 94 | _sc = 0.40;
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| 95 | _scr = 0.08;
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| 96 | _t0 = 2000.0;
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| 97 | }
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| 98 | else if (_crdTrafo == "NAD83") {
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| 99 | _dx = 0.9963;
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| 100 | _dy = -1.9024;
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| 101 | _dz = -0.5210;
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| 102 | _dxr = 0.0005;
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| 103 | _dyr = -0.0006;
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| 104 | _dzr = -0.0013;
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| 105 | _ox = 0.025915;
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| 106 | _oy = 0.009426;
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| 107 | _oz = 0.011599;
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| 108 | _oxr = 0.000067;
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| 109 | _oyr = -0.000757;
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| 110 | _ozr = -0.000051;
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| 111 | _sc = 0.78;
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| 112 | _scr = -0.10;
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| 113 | _t0 = 1997.0;
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| 114 | }
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| 115 | else if (_crdTrafo == "GDA94") {
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| 116 | _dx = -0.07973;
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| 117 | _dy = -0.00686;
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| 118 | _dz = 0.03803;
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| 119 | _dxr = 0.00225;
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| 120 | _dyr = -0.00062;
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| 121 | _dzr = -0.00056;
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| 122 | _ox = 0.0000351;
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| 123 | _oy = -0.0021211;
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| 124 | _oz = -0.0021411;
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| 125 | _oxr = -0.0014707;
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| 126 | _oyr = -0.0011443;
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| 127 | _ozr = -0.0011701;
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| 128 | _sc = 6.636;
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| 129 | _scr = 0.294;
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| 130 | _t0 = 1994.0;
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| 131 | }
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| 132 | else if (_crdTrafo == "SIRGAS2000") {
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| 133 | _dx = -0.0051;
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| 134 | _dy = -0.0065;
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| 135 | _dz = -0.0099;
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| 136 | _dxr = 0.0000;
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| 137 | _dyr = 0.0000;
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| 138 | _dzr = 0.0000;
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| 139 | _ox = 0.000150;
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| 140 | _oy = 0.000020;
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| 141 | _oz = 0.000021;
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| 142 | _oxr = 0.000000;
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| 143 | _oyr = 0.000000;
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| 144 | _ozr = 0.000000;
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| 145 | _sc = 0.000;
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| 146 | _scr = 0.000;
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| 147 | _t0 = 0000.0;
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| 148 | }
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| 149 | else if (_crdTrafo == "SIRGAS95") {
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| 150 | _dx = 0.0077;
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| 151 | _dy = 0.0058;
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| 152 | _dz = -0.0138;
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| 153 | _dxr = 0.0000;
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| 154 | _dyr = 0.0000;
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| 155 | _dzr = 0.0000;
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| 156 | _ox = 0.000000;
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| 157 | _oy = 0.000000;
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| 158 | _oz = -0.000030;
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| 159 | _oxr = 0.000000;
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| 160 | _oyr = 0.000000;
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| 161 | _ozr = 0.000000;
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| 162 | _sc = 1.570;
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| 163 | _scr = 0.000;
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| 164 | _t0 = 0000.0;
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| 165 | }
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| 166 | else if (_crdTrafo == "Custom") {
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| 167 | _dx = settings.value("trafo_dx").toDouble();
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| 168 | _dy = settings.value("trafo_dy").toDouble();
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| 169 | _dz = settings.value("trafo_dz").toDouble();
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| 170 | _dxr = settings.value("trafo_dxr").toDouble();
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| 171 | _dyr = settings.value("trafo_dyr").toDouble();
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| 172 | _dzr = settings.value("trafo_dzr").toDouble();
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| 173 | _ox = settings.value("trafo_ox").toDouble();
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| 174 | _oy = settings.value("trafo_oy").toDouble();
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| 175 | _oz = settings.value("trafo_oz").toDouble();
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| 176 | _oxr = settings.value("trafo_oxr").toDouble();
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| 177 | _oyr = settings.value("trafo_oyr").toDouble();
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| 178 | _ozr = settings.value("trafo_ozr").toDouble();
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| 179 | _sc = settings.value("trafo_sc").toDouble();
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| 180 | _scr = settings.value("trafo_scr").toDouble();
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| 181 | _t0 = settings.value("trafo_t0").toDouble();
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| 182 | }
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[3172] | 183 | }
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| 184 |
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| 185 | // Destructor
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| 186 | ////////////////////////////////////////////////////////////////////////////
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| 187 | bncUploadCaster::~bncUploadCaster() {
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| 188 | delete _outFile;
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[3185] | 189 | delete _rnx;
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| 190 | delete _sp3;
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[3172] | 191 | }
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| 192 |
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| 193 | // Start the Communication with NTRIP Caster
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| 194 | ////////////////////////////////////////////////////////////////////////////
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| 195 | void bncUploadCaster::open() {
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| 196 |
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| 197 | if (_mountpoint.isEmpty()) {
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| 198 | return;
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| 199 | }
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| 200 |
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| 201 | if (_outSocket != 0 &&
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| 202 | _outSocket->state() == QAbstractSocket::ConnectedState) {
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| 203 | return;
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| 204 | }
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| 205 |
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| 206 | delete _outSocket; _outSocket = 0;
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| 207 |
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| 208 | double minDt = pow(2.0,_sOpenTrial);
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| 209 | if (++_sOpenTrial > 4) {
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| 210 | _sOpenTrial = 4;
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| 211 | }
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| 212 | if (_outSocketOpenTime.isValid() &&
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| 213 | _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
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| 214 | return;
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| 215 | }
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| 216 | else {
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| 217 | _outSocketOpenTime = QDateTime::currentDateTime();
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| 218 | }
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| 219 |
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| 220 | bncSettings settings;
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| 221 | _outSocket = new QTcpSocket();
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| 222 | _outSocket->connectToHost(_outHost, _outPort);
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| 223 |
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| 224 | const int timeOut = 5000; // 5 seconds
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| 225 | if (!_outSocket->waitForConnected(timeOut)) {
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| 226 | delete _outSocket;
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| 227 | _outSocket = 0;
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| 228 | emit(newMessage("Broadcaster: Connect timeout"));
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| 229 | return;
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| 230 | }
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| 231 |
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| 232 | QByteArray msg = "SOURCE " + _password.toAscii() + " /" +
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| 233 | _mountpoint.toAscii() + "\r\n" +
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| 234 | "Source-Agent: NTRIP BNC/" BNCVERSION "\r\n\r\n";
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| 235 |
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| 236 | _outSocket->write(msg);
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| 237 | _outSocket->waitForBytesWritten();
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| 238 |
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| 239 | _outSocket->waitForReadyRead();
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| 240 | QByteArray ans = _outSocket->readLine();
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| 241 |
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| 242 | if (ans.indexOf("OK") == -1) {
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| 243 | delete _outSocket;
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| 244 | _outSocket = 0;
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| 245 | emit(newMessage("Broadcaster: Connection broken"));
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| 246 | }
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| 247 | else {
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| 248 | emit(newMessage("Broadcaster: Connection opened"));
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| 249 | _sOpenTrial = 0;
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| 250 | }
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| 251 | }
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| 252 |
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| 253 | // Write buffer
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| 254 | ////////////////////////////////////////////////////////////////////////////
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| 255 | void bncUploadCaster::write(char* buffer, unsigned len) {
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| 256 | if (_outSocket) {
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| 257 | _outSocket->write(buffer, len);
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| 258 | _outSocket->flush();
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| 259 | }
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| 260 | }
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| 261 |
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[3182] | 262 | // Encode and Upload Clocks, Orbits, and Biases
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| 263 | ////////////////////////////////////////////////////////////////////////////
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| 264 | void bncUploadCaster::uploadClockOrbitBias(const QStringList& lines,
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| 265 | const QMap<QString, bncEphUser::t_ephPair*>& ephMap,
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| 266 | int year, int month, int day,
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| 267 | int GPSweek, double GPSweeks) {
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| 268 |
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| 269 | this->open();
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| 270 |
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| 271 | struct ClockOrbit co;
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| 272 | memset(&co, 0, sizeof(co));
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| 273 | co.GPSEpochTime = (int)GPSweeks;
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| 274 | co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
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| 275 | + 3 * 3600 - gnumleap(year, month, day);
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| 276 | co.ClockDataSupplied = 1;
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| 277 | co.OrbitDataSupplied = 1;
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| 278 | co.SatRefDatum = DATUM_ITRF;
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| 279 |
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| 280 | struct Bias bias;
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| 281 | memset(&bias, 0, sizeof(bias));
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| 282 | bias.GPSEpochTime = (int)GPSweeks;
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| 283 | bias.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
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| 284 | + 3 * 3600 - gnumleap(year, month, day);
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| 285 |
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| 286 | for (int ii = 0; ii < lines.size(); ii++) {
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| 287 |
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| 288 | QString prn;
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| 289 | ColumnVector xx(14); xx = 0.0;
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| 290 | bncEphUser::t_ephPair* pair = 0;
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| 291 |
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| 292 | QTextStream in(lines[ii].toAscii());
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| 293 | in >> prn;
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| 294 | if ( ephMap.contains(prn) ) {
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| 295 | in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
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| 296 | >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
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| 297 | >> xx(11) >> xx(12) >> xx(13) >> xx(14);
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| 298 | xx(1) *= 1e3; // x-crd
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| 299 | xx(2) *= 1e3; // y-crd
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| 300 | xx(3) *= 1e3; // z-crd
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| 301 | xx(4) *= 1e-6; // clk
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| 302 | xx(5) *= 1e-6; // rel. corr.
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| 303 | // xx(6), xx(7), xx(8) ... PhaseCent - CoM
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| 304 | // xx(9) ... P1-C1 DCB in meters
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| 305 | // xx(10) ... P1-P2 DCB in meters
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| 306 | // xx(11) ... dT
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| 307 | xx(12) *= 1e3; // x-crd at time + dT
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| 308 | xx(13) *= 1e3; // y-crd at time + dT
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| 309 | xx(14) *= 1e3; // z-crd at time + dT
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| 310 |
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| 311 | pair = ephMap[prn];
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| 312 | }
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| 313 |
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| 314 | // Use old ephemeris if the new one is too recent
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| 315 | // ----------------------------------------------
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| 316 | t_eph* ep = 0;
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| 317 | if (pair) {
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| 318 | ep = pair->last;
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| 319 | if (pair->prev && ep &&
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| 320 | ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
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| 321 | ep = pair->prev;
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| 322 | }
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| 323 | }
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| 324 |
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| 325 | if (ep != 0) {
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| 326 | struct ClockOrbit::SatData* sd = 0;
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| 327 | if (prn[0] == 'G') {
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| 328 | sd = co.Sat + co.NumberOfGPSSat;
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| 329 | ++co.NumberOfGPSSat;
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| 330 | }
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| 331 | else if (prn[0] == 'R') {
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| 332 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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| 333 | ++co.NumberOfGLONASSSat;
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| 334 | }
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| 335 | if (sd) {
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| 336 | QString outLine;
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| 337 | processSatellite(ep, GPSweek, GPSweeks, prn, xx, sd, outLine);
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[3185] | 338 | if (_outFile) {
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| 339 | _outFile->write(GPSweek, GPSweeks, outLine);
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| 340 | }
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[3182] | 341 | }
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| 342 |
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| 343 | struct Bias::BiasSat* biasSat = 0;
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| 344 | if (prn[0] == 'G') {
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| 345 | biasSat = bias.Sat + bias.NumberOfGPSSat;
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| 346 | ++bias.NumberOfGPSSat;
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| 347 | }
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| 348 | else if (prn[0] == 'R') {
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| 349 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
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| 350 | ++bias.NumberOfGLONASSSat;
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| 351 | }
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| 352 |
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| 353 | // Coefficient of Ionosphere-Free LC
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| 354 | // ---------------------------------
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| 355 | const static double a_L1_GPS = 2.54572778;
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| 356 | const static double a_L2_GPS = -1.54572778;
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| 357 | const static double a_L1_Glo = 2.53125000;
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| 358 | const static double a_L2_Glo = -1.53125000;
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| 359 |
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| 360 | if (biasSat) {
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| 361 | biasSat->ID = prn.mid(1).toInt();
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| 362 | biasSat->NumberOfCodeBiases = 3;
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| 363 | if (prn[0] == 'G') {
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| 364 | biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
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| 365 | biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
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| 366 | biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
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| 367 | biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
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| 368 | biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
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| 369 | biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
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| 370 | }
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| 371 | else if (prn[0] == 'R') {
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| 372 | biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
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| 373 | biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
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| 374 | biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
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| 375 | biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
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| 376 | biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
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| 377 | biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
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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 | if ( this->usedSocket() &&
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| 384 | (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
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| 385 | char obuffer[CLOCKORBIT_BUFFERSIZE];
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| 386 |
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| 387 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
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| 388 | if (len > 0) {
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| 389 | this->write(obuffer, len);
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| 390 | }
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| 391 | }
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| 392 |
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| 393 | if ( this->usedSocket() &&
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| 394 | (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
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| 395 | char obuffer[CLOCKORBIT_BUFFERSIZE];
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| 396 | int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
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| 397 | if (len > 0) {
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| 398 | this->write(obuffer, len);
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| 399 | }
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| 400 | }
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| 401 | }
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| 402 |
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| 403 | //
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| 404 | ////////////////////////////////////////////////////////////////////////////
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| 405 | void bncUploadCaster::processSatellite(t_eph* eph, int GPSweek,
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| 406 | double GPSweeks, const QString& prn,
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| 407 | const ColumnVector& xx,
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| 408 | struct ClockOrbit::SatData* sd,
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| 409 | QString& outLine) {
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| 410 |
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| 411 | const double secPerWeek = 7.0 * 86400.0;
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| 412 |
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| 413 | ColumnVector rsw(3);
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| 414 | ColumnVector rsw2(3);
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| 415 | double dClk;
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| 416 |
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| 417 | for (int ii = 1; ii <= 2; ++ii) {
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| 418 |
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| 419 | int GPSweek12 = GPSweek;
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| 420 | double GPSweeks12 = GPSweeks;
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| 421 | if (ii == 2) {
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| 422 | GPSweeks12 += xx(11);
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| 423 | if (GPSweeks12 > secPerWeek) {
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| 424 | GPSweek12 += 1;
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| 425 | GPSweeks12 -= secPerWeek;
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| 426 | }
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| 427 | }
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| 428 |
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| 429 | ColumnVector xB(4);
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| 430 | ColumnVector vv(3);
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| 431 |
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| 432 | eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
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| 433 |
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| 434 | ColumnVector xyz;
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| 435 | if (ii == 1) {
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| 436 | xyz = xx.Rows(1,3);
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| 437 | }
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| 438 | else {
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| 439 | xyz = xx.Rows(12,14);
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| 440 | }
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| 441 |
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| 442 | // Correction Center of Mass -> Antenna Phase Center
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| 443 | // -------------------------------------------------
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| 444 | if (! _CoM) {
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| 445 | xyz(1) += xx(6);
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| 446 | xyz(2) += xx(7);
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| 447 | xyz(3) += xx(8);
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| 448 | }
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| 449 |
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| 450 | if (_crdTrafo != "IGS05") {
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| 451 | crdTrafo(GPSweek12, xyz);
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| 452 | }
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| 453 |
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| 454 | ColumnVector dx = xB.Rows(1,3) - xyz ;
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| 455 |
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| 456 | if (ii == 1) {
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| 457 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
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| 458 | dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
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| 459 | }
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| 460 | else {
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| 461 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
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| 462 | }
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| 463 | }
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| 464 |
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| 465 | if (sd) {
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| 466 | sd->ID = prn.mid(1).toInt();
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| 467 | sd->IOD = eph->IOD();
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| 468 | sd->Clock.DeltaA0 = dClk;
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| 469 | sd->Orbit.DeltaRadial = rsw(1);
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| 470 | sd->Orbit.DeltaAlongTrack = rsw(2);
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| 471 | sd->Orbit.DeltaCrossTrack = rsw(3);
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| 472 | sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
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| 473 | sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
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| 474 | sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
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| 475 | }
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| 476 |
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| 477 | outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
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| 478 | GPSweek, GPSweeks, eph->prn().c_str(),
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| 479 | eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
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| 480 |
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| 481 | if (_rnx) {
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| 482 | _rnx->write(GPSweek, GPSweeks, prn, xx);
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| 483 | }
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| 484 | if (_sp3) {
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[3185] | 485 | _sp3->write(GPSweek, GPSweeks, prn, xx);
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[3182] | 486 | }
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| 487 | }
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| 488 |
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| 489 | // Transform Coordinates
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| 490 | ////////////////////////////////////////////////////////////////////////////
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| 491 | void bncUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {
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| 492 |
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| 493 | // Current epoch minus 2000.0 in years
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| 494 | // ------------------------------------
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| 495 | double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
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| 496 |
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| 497 | ColumnVector dx(3);
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| 498 |
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| 499 | dx(1) = _dx + dt * _dxr;
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| 500 | dx(2) = _dy + dt * _dyr;
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| 501 | dx(3) = _dz + dt * _dzr;
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| 502 |
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| 503 | static const double arcSec = 180.0 * 3600.0 / M_PI;
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| 504 |
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| 505 | double ox = (_ox + dt * _oxr) / arcSec;
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| 506 | double oy = (_oy + dt * _oyr) / arcSec;
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| 507 | double oz = (_oz + dt * _ozr) / arcSec;
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| 508 |
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| 509 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
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| 510 |
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| 511 | Matrix rMat(3,3);
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| 512 | rMat(1,1) = 1.0;
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| 513 | rMat(1,2) = -oz;
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| 514 | rMat(1,3) = oy;
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| 515 | rMat(2,1) = oz;
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| 516 | rMat(2,2) = 1.0;
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| 517 | rMat(2,3) = -ox;
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| 518 | rMat(3,1) = -oy;
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| 519 | rMat(3,2) = ox;
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| 520 | rMat(3,3) = 1.0;
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| 521 |
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| 522 | xyz = sc * rMat * xyz + dx;
|
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| 523 | }
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