source: ntrip/trunk/BNS/bns.cpp@ 4636

/* -------------------------------------------------------------------------
 * BKG NTRIP Server
 * -------------------------------------------------------------------------
 *
 * Class:      bns
 *
 * Purpose:    This class implements the main application behaviour
 *
 * Author:     L. Mervart
 *
 * Created:    29-Mar-2008
 *
 * Changes:    
 *
 * -----------------------------------------------------------------------*/

#include <math.h>
#include <iostream>
#include <newmatio.h>

#include "bns.h" 
#include "bnsutils.h" 
#include "bnsrinex.h" 
#include "bnssp3.h" 
#include "bnssettings.h" 
extern "C" {
#include "rtcm3torinex.h" 
}

using namespace std;

// Error Handling
////////////////////////////////////////////////////////////////////////////
void RTCM3Error(const char*, ...) {
}

// Constructor
////////////////////////////////////////////////////////////////////////////
t_bns::t_bns(QObject* parent) : QThread(parent) {

  this->setTerminationEnabled(true);
 
  connect(this, SIGNAL(moveSocket(QThread*)), 
          this, SLOT(slotMoveSocket(QThread*)));

  bnsSettings settings;

  _GPSweek   = 0;
  _GPSweeks  = 0;
   
  // Set Proxy (application-wide)
  // ----------------------------
  QString proxyHost = settings.value("proxyHost").toString();
  int     proxyPort = settings.value("proxyPort").toInt();

  QNetworkProxy proxy;
  if (proxyHost.isEmpty()) {
    proxy.setType(QNetworkProxy::NoProxy);
  }
  else {
    proxy.setType(QNetworkProxy::Socks5Proxy);
    proxy.setHostName(proxyHost);
    proxy.setPort(proxyPort);
  }
  QNetworkProxy::setApplicationProxy(proxy);

  // Thread that handles broadcast ephemeris
  // ---------------------------------------
  _bnseph = new t_bnseph(parent);

  connect(_bnseph, SIGNAL(newEph(t_eph*, int)), 
          this, SLOT(slotNewEph(t_eph*, int)));
  connect(_bnseph, SIGNAL(newMessage(QByteArray)),
          this, SLOT(slotMessage(const QByteArray)));
  connect(_bnseph, SIGNAL(error(QByteArray)),
          this, SLOT(slotError(const QByteArray)));

  // Server listening for rtnet results
  // ----------------------------------
  _clkSocket = 0;
  _clkServer = new QTcpServer;
  _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
  connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));

  // Socket and file for outputting the results
  // -------------------------------------------
  for (int ic = 1; ic <= 10; ic++) {
    QString mountpoint  = settings.value(QString("mountpoint_%1").arg(ic)).toString();
    QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString();
    if (!mountpoint.isEmpty() || !outFileName.isEmpty()) {
      _caster.push_back(new t_bnscaster(mountpoint, outFileName, ic));
      connect(_caster.back(), SIGNAL(error(const QByteArray)),
              this, SLOT(slotError(const QByteArray)));
      connect(_caster.back(), SIGNAL(newMessage(const QByteArray)),
              this, SLOT(slotMessage(const QByteArray)));
    }
  }

  // Socket for outputting the Ephemerides
  // -------------------------------------
  QString mountpoint  = settings.value("mountpoint_Eph").toString();
  if (mountpoint.isEmpty()) {
    _casterEph = 0;
  }
  else {
    _casterEph = new t_bnscaster(mountpoint);
    connect(_casterEph, SIGNAL(error(const QByteArray)),
            this, SLOT(slotError(const QByteArray)));
    connect(_casterEph, SIGNAL(newMessage(const QByteArray)),
            this, SLOT(slotMessage(const QByteArray)));
  }

  // Log File
  // --------
  _append = Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked;

  QIODevice::OpenMode oMode;
  if (_append) {
    oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
  }
  else {
    oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
  }

  QString logFileName = settings.value("logFile").toString();
  if (logFileName.isEmpty()) {
    _logFile   = 0;
    _logStream = 0;
  }
  else {
    _logFile = new QFile(logFileName);
    if (_logFile->open(oMode)) {
      _logStream = new QTextStream(_logFile);
    }
    else {
      _logStream = 0;
    }
  }

  // Echo input from RTNet into a file
  // ---------------------------------
  QString echoFileName = settings.value("inpEcho").toString();
  if (echoFileName.isEmpty()) {
    _echoFile   = 0;
    _echoStream = 0;
  }
  else {
    _echoFile = new QFile(echoFileName);
    if (_echoFile->open(oMode)) {
      _echoStream = new QTextStream(_echoFile);
    }
    else {
      _echoStream = 0;
    }
  }

  // RINEX writer
  // ------------
  if ( settings.value("rnxPath").toString().isEmpty() ) { 
    _rnx = 0;
  }
  else {
    QString prep  = "BNS";
    QString ext   = ".clk";
    QString path  = settings.value("rnxPath").toString();
    QString intr  = settings.value("rnxIntr").toString();
    int     sampl = settings.value("rnxSampl").toInt();
    _rnx = new bnsRinex(prep, ext, path, intr, sampl);
  }

  // SP3 writer
  // ----------
  if ( settings.value("sp3Path").toString().isEmpty() ) { 
    _sp3 = 0;
  }
  else {
    QString prep  = "BNS";
    QString ext   = ".sp3";
    QString path  = settings.value("sp3Path").toString();
    QString intr  = settings.value("sp3Intr").toString();
    int     sampl = settings.value("sp3Sampl").toInt();
    _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
  }
}

// Destructor
////////////////////////////////////////////////////////////////////////////
t_bns::~t_bns() {
  deleteBnsEph();
  delete _clkServer;
  delete _clkSocket;
  for (int ic = 0; ic < _caster.size(); ic++) {
    delete _caster.at(ic);
  }
  delete _casterEph;
  delete _logStream;
  delete _logFile;
  delete _echoStream;
  delete _echoFile;
  QMapIterator<QString, t_ephPair*> it(_ephList);
  while (it.hasNext()) {
    it.next();
    delete it.value();
  }
  delete _rnx;
  delete _sp3;
}

// Delete bns thread
////////////////////////////////////////////////////////////////////////////
void t_bns::deleteBnsEph() {
  if (_bnseph) {
    _bnseph->terminate();
    _bnseph->wait(100);
    delete _bnseph; 
    _bnseph = 0;
  }
}

// Write a Program Message
////////////////////////////////////////////////////////////////////////////
void t_bns::slotMessage(const QByteArray msg) {

  QMutexLocker locker(&_mutexmesg);

  if (_logStream) {
    QString txt = QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss ");
    *_logStream << txt << msg << endl;
    _logStream->flush();
  }
  emit(newMessage(msg));
}

// Write a Program Message
////////////////////////////////////////////////////////////////////////////
void t_bns::slotError(const QByteArray msg) {

  QMutexLocker locker(&_mutexmesg);

  if (_logStream) {
    *_logStream << msg << endl;
    _logStream->flush();
  }
  deleteBnsEph();
  emit(error(msg));
}

// New Connection
////////////////////////////////////////////////////////////////////////////
void t_bns::slotNewConnection() {
//slotMessage("t_bns::slotNewConnection");
  slotMessage("Clocks & orbits port: Waiting for client to connect"); // weber
  delete _clkSocket;
  _clkSocket = _clkServer->nextPendingConnection();
}

// 
////////////////////////////////////////////////////////////////////////////
void t_bns::slotNewEph(t_eph* ep, int nBytes) {

  QMutexLocker locker(&_mutex);

  emit(newEphBytes(nBytes));

  // Output Ephemerides as they are
  // ------------------------------
  if (_casterEph) {
    _casterEph->open();
    unsigned char Array[67];
    int size = ep->RTCM3(Array);
    if (size > 0) {
      _casterEph->write((char*) Array, size);
      emit(newOutEphBytes(size));
    }
  }

  t_ephPair* pair;
  if ( !_ephList.contains(ep->prn()) ) {
    pair = new t_ephPair();
    _ephList.insert(ep->prn(), pair);
  }
  else {
    pair = _ephList[ep->prn()];
  }

  if (pair->eph == 0) {
    pair->eph = ep;
  }
  else {
    if (ep->isNewerThan(pair->eph)) {
      delete pair->oldEph;
      pair->oldEph = pair->eph;
      pair->eph    = ep;
    }
    else {
      delete ep;
    }
  }
}

// Start 
////////////////////////////////////////////////////////////////////////////
void t_bns::run() {

  slotMessage("============ Start BNS ============");

  // Start Thread that retrieves broadcast Ephemeris
  // -----------------------------------------------
  _bnseph->start();

  // Endless loop
  // ------------
  while (true) {

    if (_clkSocket && _clkSocket->thread() != currentThread()) {
      emit(moveSocket(currentThread()));
    }

    if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
      if ( _clkSocket->canReadLine()) {
        readRecords();
      }
      else {
        _clkSocket->waitForReadyRead(10);
      }
    }
    else {
      msleep(10);
    }
  }
}

// 
////////////////////////////////////////////////////////////////////////////
void t_bns::readEpoch() {

  QTextStream in(_clkLine);

  QString hlp;
  in >> hlp >> _year >> _month >> _day >> _hour >> _min >> _sec;

  BNS::GPSweekFromYMDhms(_year, _month, _day, _hour, _min, _sec, _GPSweek, _GPSweeks);

  if (_echoStream) {
    *_echoStream << _clkLine;
    _echoStream->flush();
  }
  emit(newClkBytes(_clkLine.length()));
}


// 
////////////////////////////////////////////////////////////////////////////
void t_bns::readRecords() {

  bnsSettings settings;

  // Read the first line (if not already read)
  // -----------------------------------------
  if ( _GPSweek == 0 and _clkLine.indexOf('*') == -1 ) {
       
    _clkLine = _clkSocket->readLine();
//  cout << "trying epoch:" << _clkLine.data() << endl;
     
    if (_clkLine.indexOf('*') == -1) {
      return;
    }else{
      readEpoch();
    }    
  }

  // Loop over all satellites
  // ------------------------
  QStringList lines;
  for (;;) {
    if (!_clkSocket->canReadLine()) {
      break;
    }

    QByteArray tmp = _clkSocket->peek(80);

    // found epoch, but not first record, break
    if( tmp.indexOf('*') >= 0 and lines.size() > 0 ) {
      // cout << "find epoch, not first, thus break" << endl;
      break;
    }
     
    _clkLine = _clkSocket->readLine();

    // found epoch, but still first record, continue
    if (_clkLine[0] == '*') {
      // cout << "epoch:" << _clkLine.data();
      readEpoch();
    }

    if (_clkLine[0] == 'P') {
      // cout << "data:" << _clkLine.data();
      _clkLine.remove(0,1);
      lines.push_back(_clkLine);
    }
     
    if (_echoStream) {
      *_echoStream << _clkLine;
      _echoStream->flush();
    }
     
  }

  // some data records to be processed ?
  if (lines.size() > 0) {

    QStringList prns;

    for (int ic = 0; ic < _caster.size(); ic++) {
      _caster.at(ic)->open();

      struct ClockOrbit co;
      memset(&co, 0, sizeof(co));
      co.GPSEpochTime      = (int)_GPSweeks;
      co.GLONASSEpochTime  = (int)fmod(_GPSweeks, 86400.0) 
                           + 3 * 3600 - gnumleap(_year, _month, _day);
      co.ClockDataSupplied = 1;
      co.OrbitDataSupplied = 1;
      co.SatRefDatum       = DATUM_ITRF;
      
      struct Bias bias;
      memset(&bias, 0, sizeof(bias));
      bias.GPSEpochTime      = (int)_GPSweeks;
      bias.GLONASSEpochTime  = (int)fmod(_GPSweeks, 86400.0) 
                             + 3 * 3600 - gnumleap(_year, _month, _day);

      for (int ii = 0; ii < lines.size(); ii++) {

        QString      prn;
        ColumnVector xx(14); xx = 0.0;
        t_ephPair*   pair = 0;
      
        if (ic == 0) {
          QTextStream in(lines[ii].toAscii());
          in >> prn;
          prns << prn;
          if ( _ephList.contains(prn) ) {
            in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5) 
               >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
               >> xx(11) >> xx(12) >> xx(13) >> xx(14);
            xx(1) *= 1e3;          // x-crd
            xx(2) *= 1e3;          // y-crd
            xx(3) *= 1e3;          // z-crd
            xx(4) *= 1e-6;         // clk
            xx(5) *= 1e-6;         // rel. corr.
                                   // xx(6), xx(7), xx(8) ... PhaseCent - CoM
                                   // xx(9)  ... P1-C1 DCB in meters
                                   // xx(10) ... P1-P2 DCB in meters
                                   // xx(11) ... dT
            xx(12) *= 1e3;         // x-crd at time + dT
            xx(13) *= 1e3;         // y-crd at time + dT
            xx(14) *= 1e3;         // z-crd at time + dT

            pair     = _ephList[prn];
            pair->xx = xx;
          }
        }
        else {
          prn = prns[ii];
          if ( _ephList.contains(prn) ) {
            pair = _ephList[prn];
            xx   = pair->xx;
          }
        }

        // Use old ephemeris if the new one is too recent
        // ----------------------------------------------
        t_eph* ep = 0;
        if (pair) {
          ep = pair->eph;
          if (pair->oldEph && ep && 
              ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
            ep = pair->oldEph;
          }
        }

        if (ep != 0) {
          struct ClockOrbit::SatData* sd = 0;
          if      (prn[0] == 'G') {
            sd = co.Sat + co.NumberOfGPSSat;
            ++co.NumberOfGPSSat;
          }
          else if (prn[0] == 'R') {
            sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
            ++co.NumberOfGLONASSSat;
          }
          if (sd) {
            QString outLine;
            processSatellite(ic, _caster.at(ic)->crdTrafo(), 
                             _caster.at(ic)->CoM(), ep, 
                             _GPSweek, _GPSweeks, prn, xx, sd, outLine);
            _caster.at(ic)->printAscii(outLine);
          }

          struct Bias::BiasSat* biasSat = 0;
          if      (prn[0] == 'G') {
            biasSat = bias.Sat + bias.NumberOfGPSSat;
            ++bias.NumberOfGPSSat;
          }
          else if (prn[0] == 'R') {
            biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
            ++bias.NumberOfGLONASSSat;
          }

          // Coefficient of Ionosphere-Free LC
          // ---------------------------------
          const static double a_L1_GPS =  2.54572778;
          const static double a_L2_GPS = -1.54572778;
          const static double a_L1_Glo =  2.53125000;
          const static double a_L2_Glo = -1.53125000;

          if (biasSat) {
            biasSat->ID = prn.mid(1).toInt();
            biasSat->NumberOfCodeBiases = 3;
            if      (prn[0] == 'G') {
              biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
              biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
              biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
              biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
              biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
              biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
            }
            else if (prn[0] == 'R') {
              biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
              biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
              biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
              biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
              biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
              biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
            }
          }
        }
      }
      
      if ( _caster.at(ic)->usedSocket() && 
           (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
        char obuffer[CLOCKORBIT_BUFFERSIZE];

        int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
        if (len > 0) {
          if (_caster.at(ic)->ic() == 1)  { emit(newOutBytes1(len));}
          if (_caster.at(ic)->ic() == 2)  { emit(newOutBytes2(len));}
          if (_caster.at(ic)->ic() == 3)  { emit(newOutBytes3(len));}
          if (_caster.at(ic)->ic() == 4)  { emit(newOutBytes4(len));}
          if (_caster.at(ic)->ic() == 5)  { emit(newOutBytes5(len));}
          if (_caster.at(ic)->ic() == 6)  { emit(newOutBytes6(len));}
          if (_caster.at(ic)->ic() == 7)  { emit(newOutBytes7(len));}
          if (_caster.at(ic)->ic() == 8)  { emit(newOutBytes8(len));}
          if (_caster.at(ic)->ic() == 9)  { emit(newOutBytes9(len));}
          if (_caster.at(ic)->ic() == 10) { emit(newOutBytes10(len));}
          _caster.at(ic)->write(obuffer, len);
        }
      }

      if ( _caster.at(ic)->usedSocket() && 
           (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
        char obuffer[CLOCKORBIT_BUFFERSIZE];
        int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
        if (len > 0) {
          _caster.at(ic)->write(obuffer, len);
        }
      }
    }
  }
}

// 
////////////////////////////////////////////////////////////////////////////
void t_bns::processSatellite(int iCaster, const QString trafo, 
                             bool CoM, t_eph* ep, int GPSweek, 
                             double GPSweeks, const QString& prn, 
                             const ColumnVector& xx, 
                             struct ClockOrbit::SatData* sd,
                             QString& outLine) {

  const double secPerWeek = 7.0 * 86400.0;

  ColumnVector rsw(3);
  ColumnVector rsw2(3);
  double dClk;

  for (int ii = 1; ii <= 2; ++ii) {

    int    GPSweek12  = GPSweek;
    double GPSweeks12 = GPSweeks;
    if (ii == 2) {
      GPSweeks12 += xx(11);
      if (GPSweeks12 > secPerWeek) {
        GPSweek12  += 1;
        GPSweeks12 -= secPerWeek;
      }
    }

    ColumnVector xB(4);
    ColumnVector vv(3);

    ep->position(GPSweek12, GPSweeks12, xB, vv);
    
    ColumnVector xyz;
    if (ii == 1) {
      xyz = xx.Rows(1,3);
    }
    else {
      xyz = xx.Rows(12,14);
    }
    
    // Correction Center of Mass -> Antenna Phase Center
    // -------------------------------------------------
    if (! CoM) {
      xyz(1) += xx(6);
      xyz(2) += xx(7);
      xyz(3) += xx(8);
    }
    
    if (trafo != "IGS05") {
      crdTrafo(GPSweek12, xyz, trafo);
    }
    
    ColumnVector dx = xB.Rows(1,3) - xyz ;
    
    if (ii == 1) {
      BNS::XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
      dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
    }
    else {
      BNS::XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
    }
  }

  if (sd) {
    sd->ID                    = prn.mid(1).toInt();
    sd->IOD                   = ep->IOD();
    sd->Clock.DeltaA0         = dClk;
    sd->Orbit.DeltaRadial     = rsw(1);
    sd->Orbit.DeltaAlongTrack = rsw(2);
    sd->Orbit.DeltaCrossTrack = rsw(3);
    sd->Orbit.DotDeltaRadial     = (rsw2(1) - rsw(1)) / xx(11);
    sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
    sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
  }

  outLine.sprintf("%d %.1f %s  %3d  %10.3f  %8.3f %8.3f %8.3f\n", 
                  GPSweek, GPSweeks, ep->prn().toAscii().data(),
                  ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));

  if (iCaster == 0) {
    if (_rnx) {
      _rnx->write(GPSweek, GPSweeks, prn, xx);
    }
    if (_sp3) {
      _sp3->write(GPSweek, GPSweeks, prn, xx, _append);
    }
  }
}

// 
////////////////////////////////////////////////////////////////////////////
void t_bns::slotMoveSocket(QThread* tt) {
  _clkSocket->setParent(0);
  _clkSocket->moveToThread(tt);
//slotMessage("bns::slotMoveSocket");
  slotMessage("Clocks & orbits port: Socket moved to thread"); // weber
}

// Transform Coordinates
////////////////////////////////////////////////////////////////////////////
void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz, const QString trafo) {

  bnsSettings settings;

  if (trafo == "ETRF2000") {
    _dx  =    0.0541;
    _dy  =    0.0502;
    _dz  =   -0.0538;
    _dxr =   -0.0002;
    _dyr =    0.0001;
    _dzr =   -0.0018;
    _ox  =  0.000891;
    _oy  =  0.005390;
    _oz  = -0.008712;
    _oxr =  0.000081;
    _oyr =  0.000490;
    _ozr = -0.000792;
    _sc  =      0.40;
    _scr =      0.08;
    _t0  =    2000.0;
  }
  else if (trafo == "NAD83") {
    _dx  =    0.9963;
    _dy  =   -1.9024;
    _dz  =   -0.5210;
    _dxr =    0.0005;
    _dyr =   -0.0006;
    _dzr =   -0.0013;
    _ox  =  0.025915;
    _oy  =  0.009426;
    _oz  =  0.011599;
    _oxr =  0.000067;
    _oyr = -0.000757;
    _ozr = -0.000051;
    _sc  =      0.78;
    _scr =     -0.10;
    _t0  =    1997.0;
  }
  else if (trafo == "GDA94") {
    _dx  =   -0.07973;
    _dy  =   -0.00686;
    _dz  =    0.03803;
    _dxr =    0.00225;
    _dyr =   -0.00062;
    _dzr =   -0.00056;
    _ox  =  0.0000351;
    _oy  = -0.0021211;
    _oz  = -0.0021411;
    _oxr = -0.0014707;
    _oyr = -0.0011443;
    _ozr = -0.0011701;
    _sc  =      6.636;
    _scr =      0.294;
    _t0  =     1994.0;
  }
  else if (trafo == "SIRGAS2000") {
    _dx  =   -0.0051;
    _dy  =   -0.0065;
    _dz  =   -0.0099;
    _dxr =    0.0000;
    _dyr =    0.0000;
    _dzr =    0.0000;
    _ox  =  0.000150;
    _oy  =  0.000020;
    _oz  =  0.000021;
    _oxr =  0.000000;
    _oyr =  0.000000;
    _ozr =  0.000000;
    _sc  =     0.000;
    _scr =     0.000;
    _t0  =    0000.0;
  }
  else if (trafo == "SIRGAS95") {
    _dx  =    0.0077;
    _dy  =    0.0058;
    _dz  =   -0.0138;
    _dxr =    0.0000;
    _dyr =    0.0000;
    _dzr =    0.0000;
    _ox  =  0.000000;
    _oy  =  0.000000;
    _oz  = -0.000030;
    _oxr =  0.000000;
    _oyr =  0.000000;
    _ozr =  0.000000;
    _sc  =     1.570;
    _scr =     0.000;
    _t0  =    0000.0;
  }
  else if (trafo == "Custom") {
    _dx  = settings.value("trafo_dx").toDouble();
    _dy  = settings.value("trafo_dy").toDouble();
    _dz  = settings.value("trafo_dz").toDouble();
    _dxr = settings.value("trafo_dxr").toDouble();
    _dyr = settings.value("trafo_dyr").toDouble();
    _dzr = settings.value("trafo_dzr").toDouble();
    _ox  = settings.value("trafo_ox").toDouble();
    _oy  = settings.value("trafo_oy").toDouble();
    _oz  = settings.value("trafo_oz").toDouble();
    _oxr = settings.value("trafo_oxr").toDouble();
    _oyr = settings.value("trafo_oyr").toDouble();
    _ozr = settings.value("trafo_ozr").toDouble();
    _sc  = settings.value("trafo_sc").toDouble();
    _scr = settings.value("trafo_scr").toDouble();
    _t0  = settings.value("trafo_t0").toDouble();
  }

  // Current epoch minus 2000.0 in years
  // ------------------------------------
  double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;

  ColumnVector dx(3);

  dx(1) = _dx + dt * _dxr;
  dx(2) = _dy + dt * _dyr;
  dx(3) = _dz + dt * _dzr;

  static const double arcSec = 180.0 * 3600.0 / M_PI;

  double ox = (_ox + dt * _oxr) / arcSec;
  double oy = (_oy + dt * _oyr) / arcSec;
  double oz = (_oz + dt * _ozr) / arcSec;

  double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;

  Matrix rMat(3,3);
  rMat(1,1) = 1.0;
  rMat(1,2) = -oz;
  rMat(1,3) =  oy;
  rMat(2,1) =  oz;
  rMat(2,2) = 1.0;
  rMat(2,3) = -ox;
  rMat(3,1) = -oy;
  rMat(3,2) =  ox;
  rMat(3,3) = 1.0;

  xyz = sc * rMat * xyz + dx;
}