source: ntrip/trunk/BNS/bns.cpp@ 2420

Last change on this file since 2420 was 2420, checked in by mervart, 14 years ago

* empty log message *
File size: 22.3 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bns
6 *
7 * Purpose: This class implements the main application behaviour
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2008
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include <iostream>
19#include <newmatio.h>
20
21#include "bns.h"
22#include "bnsutils.h"
23#include "bnsrinex.h"
24#include "bnssp3.h"
25#include "bnssettings.h"
26extern "C" {
27#include "RTCM/rtcm3torinex.h"
28}
29
30using namespace std;
31
32// Error Handling
33////////////////////////////////////////////////////////////////////////////
34void RTCM3Error(const char*, ...) {
35}
36
37// Constructor
38////////////////////////////////////////////////////////////////////////////
39t_bns::t_bns(QObject* parent) : QThread(parent) {
40
41 this->setTerminationEnabled(true);
42
43 connect(this, SIGNAL(moveSocket(QThread*)),
44 this, SLOT(slotMoveSocket(QThread*)));
45
46 bnsSettings settings;
47
48 // Set Proxy (application-wide)
49 // ----------------------------
50 QString proxyHost = settings.value("proxyHost").toString();
51 int proxyPort = settings.value("proxyPort").toInt();
52
53 QNetworkProxy proxy;
54 if (proxyHost.isEmpty()) {
55 proxy.setType(QNetworkProxy::NoProxy);
56 }
57 else {
58 proxy.setType(QNetworkProxy::Socks5Proxy);
59 proxy.setHostName(proxyHost);
60 proxy.setPort(proxyPort);
61 }
62 QNetworkProxy::setApplicationProxy(proxy);
63
64 // Thread that handles broadcast ephemeris
65 // ---------------------------------------
66 _bnseph = new t_bnseph(parent);
67
68 connect(_bnseph, SIGNAL(newEph(t_eph*, int)),
69 this, SLOT(slotNewEph(t_eph*, int)));
70 connect(_bnseph, SIGNAL(newMessage(QByteArray)),
71 this, SLOT(slotMessage(const QByteArray)));
72 connect(_bnseph, SIGNAL(error(QByteArray)),
73 this, SLOT(slotError(const QByteArray)));
74
75 // Server listening for rtnet results
76 // ----------------------------------
77 _clkSocket = 0;
78 _clkServer = new QTcpServer;
79 _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
80 connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
81
82 // Socket and file for outputting the results
83 // -------------------------------------------
84 for (int ic = 1; ic <= 10; ic++) {
85 QString mountpoint = settings.value(QString("mountpoint_%1").arg(ic)).toString();
86 QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString();
87 if (!mountpoint.isEmpty() || !outFileName.isEmpty()) {
88 _caster.push_back(new t_bnscaster(mountpoint, outFileName, ic));
89 connect(_caster.back(), SIGNAL(error(const QByteArray)),
90 this, SLOT(slotError(const QByteArray)));
91 connect(_caster.back(), SIGNAL(newMessage(const QByteArray)),
92 this, SLOT(slotMessage(const QByteArray)));
93 }
94 }
95
96 // Socket for outputting the Ephemerides
97 // -------------------------------------
98 QString mountpoint = settings.value("mountpoint_Eph").toString();
99 if (mountpoint.isEmpty()) {
100 _casterEph = 0;
101 }
102 else {
103 _casterEph = new t_bnscaster(mountpoint);
104 connect(_casterEph, SIGNAL(error(const QByteArray)),
105 this, SLOT(slotError(const QByteArray)));
106 connect(_casterEph, SIGNAL(newMessage(const QByteArray)),
107 this, SLOT(slotMessage(const QByteArray)));
108 }
109
110 // Log File
111 // --------
112 QIODevice::OpenMode oMode;
113 if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
114 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
115 }
116 else {
117 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
118 }
119
120 QString logFileName = settings.value("logFile").toString();
121 if (logFileName.isEmpty()) {
122 _logFile = 0;
123 _logStream = 0;
124 }
125 else {
126 _logFile = new QFile(logFileName);
127 if (_logFile->open(oMode)) {
128 _logStream = new QTextStream(_logFile);
129 }
130 else {
131 _logStream = 0;
132 }
133 }
134
135 // Echo input from RTNet into a file
136 // ---------------------------------
137 QString echoFileName = settings.value("inpEcho").toString();
138 if (echoFileName.isEmpty()) {
139 _echoFile = 0;
140 _echoStream = 0;
141 }
142 else {
143 _echoFile = new QFile(echoFileName);
144 if (_echoFile->open(oMode)) {
145 _echoStream = new QTextStream(_echoFile);
146 }
147 else {
148 _echoStream = 0;
149 }
150 }
151
152 // RINEX writer
153 // ------------
154 if ( settings.value("rnxPath").toString().isEmpty() ) {
155 _rnx = 0;
156 }
157 else {
158 QString prep = "BNS";
159 QString ext = ".clk";
160 QString path = settings.value("rnxPath").toString();
161 QString intr = settings.value("rnxIntr").toString();
162 int sampl = settings.value("rnxSampl").toInt();
163 _rnx = new bnsRinex(prep, ext, path, intr, sampl);
164 }
165
166 // SP3 writer
167 // ----------
168 if ( settings.value("sp3Path").toString().isEmpty() ) {
169 _sp3 = 0;
170 }
171 else {
172 QString prep = "BNS";
173 QString ext = ".sp3";
174 QString path = settings.value("sp3Path").toString();
175 QString intr = settings.value("sp3Intr").toString();
176 int sampl = settings.value("sp3Sampl").toInt();
177 _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
178 }
179}
180
181// Destructor
182////////////////////////////////////////////////////////////////////////////
183t_bns::~t_bns() {
184 deleteBnsEph();
185 delete _clkServer;
186 delete _clkSocket;
187 for (int ic = 0; ic < _caster.size(); ic++) {
188 delete _caster.at(ic);
189 }
190 delete _casterEph;
191 delete _logStream;
192 delete _logFile;
193 delete _echoStream;
194 delete _echoFile;
195 QMapIterator<QString, t_ephPair*> it(_ephList);
196 while (it.hasNext()) {
197 it.next();
198 delete it.value();
199 }
200 delete _rnx;
201 delete _sp3;
202}
203
204// Delete bns thread
205////////////////////////////////////////////////////////////////////////////
206void t_bns::deleteBnsEph() {
207 if (_bnseph) {
208 _bnseph->terminate();
209 _bnseph->wait(100);
210 delete _bnseph;
211 _bnseph = 0;
212 }
213}
214
215// Write a Program Message
216////////////////////////////////////////////////////////////////////////////
217void t_bns::slotMessage(const QByteArray msg) {
218 if (_logStream) {
219 QString txt = QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss ");
220 *_logStream << txt << msg << endl;
221 _logStream->flush();
222 }
223 emit(newMessage(msg));
224}
225
226// Write a Program Message
227////////////////////////////////////////////////////////////////////////////
228void t_bns::slotError(const QByteArray msg) {
229 if (_logStream) {
230 *_logStream << msg << endl;
231 _logStream->flush();
232 }
233 deleteBnsEph();
234 emit(error(msg));
235}
236
237// New Connection
238////////////////////////////////////////////////////////////////////////////
239void t_bns::slotNewConnection() {
240//slotMessage("t_bns::slotNewConnection");
241 slotMessage("Clocks & orbits port: Waiting for client to connect"); // weber
242 delete _clkSocket;
243 _clkSocket = _clkServer->nextPendingConnection();
244}
245
246//
247////////////////////////////////////////////////////////////////////////////
248void t_bns::slotNewEph(t_eph* ep, int nBytes) {
249
250 QMutexLocker locker(&_mutex);
251
252 emit(newEphBytes(nBytes));
253
254 // Output Ephemerides as they are
255 // ------------------------------
256 if (_casterEph) {
257 _casterEph->open();
258 unsigned char Array[67];
259 int size = ep->RTCM3(Array);
260 if (size > 0) {
261 _casterEph->write((char*) Array, size);
262 emit(newOutEphBytes(size));
263 }
264 //// QByteArray buffer = "New Ephemeris " + ep->prn().toAscii() + "\n";
265 //// _casterEph->write(buffer.data(), buffer.length());
266 //// int len = buffer.length();
267 //// if (len > 0) {
268 //// emit(newOutEphBytes(len));
269 //// }
270 }
271
272 t_ephPair* pair;
273 if ( !_ephList.contains(ep->prn()) ) {
274 pair = new t_ephPair();
275 _ephList.insert(ep->prn(), pair);
276 }
277 else {
278 pair = _ephList[ep->prn()];
279 }
280
281 if (pair->eph == 0) {
282 pair->eph = ep;
283 }
284 else {
285 if (ep->isNewerThan(pair->eph)) {
286 delete pair->oldEph;
287 pair->oldEph = pair->eph;
288 pair->eph = ep;
289 }
290 else {
291 delete ep;
292 }
293 }
294}
295
296// Start
297////////////////////////////////////////////////////////////////////////////
298void t_bns::run() {
299
300 slotMessage("============ Start BNS ============");
301
302 // Start Thread that retrieves broadcast Ephemeris
303 // -----------------------------------------------
304 _bnseph->start();
305
306 // Endless loop
307 // ------------
308 while (true) {
309
310 if (_clkSocket && _clkSocket->thread() != currentThread()) {
311 emit(moveSocket(currentThread()));
312 }
313
314 if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
315 if ( _clkSocket->canReadLine()) {
316 readEpoch();
317 }
318 else {
319 _clkSocket->waitForReadyRead(10);
320 }
321 }
322 else {
323 msleep(10);
324 }
325 }
326}
327
328//
329////////////////////////////////////////////////////////////////////////////
330void t_bns::readEpoch() {
331
332 bnsSettings settings;
333
334 // Read the first line (if not already read)
335 // -----------------------------------------
336 if (_clkLine.indexOf('*') == -1) {
337 _clkLine = _clkSocket->readLine();
338 if (_echoStream) {
339 *_echoStream << _clkLine;
340 _echoStream->flush();
341 }
342 emit(newClkBytes(_clkLine.length()));
343 }
344
345 if (_clkLine.indexOf('*') == -1) {
346 return;
347 }
348
349 QTextStream in(_clkLine);
350
351 QString hlp;
352 int year, month, day, hour, min;
353 double sec;
354 in >> hlp >> year >> month >> day >> hour >> min >> sec;
355
356 int GPSweek;
357 double GPSweeks;
358
359 GPSweekFromYMDhms(year, month, day, hour, min, sec, GPSweek, GPSweeks);
360
361 QStringList prns;
362
363 // Loop over all satellites
364 // ------------------------
365 QStringList lines;
366 for (;;) {
367 if (!_clkSocket->canReadLine()) {
368 break;
369 }
370 _clkLine = _clkSocket->readLine();
371 if (_echoStream) {
372 *_echoStream << _clkLine;
373 _echoStream->flush();
374 }
375 if (_clkLine[0] == '*') {
376 return;
377 }
378 if (_clkLine[0] == 'P') {
379 _clkLine.remove(0,1);
380 lines.push_back(_clkLine);
381 }
382 }
383
384 if (lines.size() > 0) {
385
386 QStringList prns;
387
388 for (int ic = 0; ic < _caster.size(); ic++) {
389 _caster.at(ic)->open();
390
391 for (int oldEph = 0; oldEph <= 0; oldEph++) { // TODO: handle old ephemeris
392
393 struct ClockOrbit co;
394 memset(&co, 0, sizeof(co));
395 co.GPSEpochTime = (int)GPSweeks;
396 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
397 + 3 * 3600 - gnumleap(year, month, day);
398 co.ClockDataSupplied = 1;
399 co.OrbitDataSupplied = 1;
400 co.SatRefDatum = DATUM_ITRF;
401
402 struct Bias bias;
403 memset(&bias, 0, sizeof(bias));
404 bias.GPSEpochTime = (int)GPSweeks;
405 bias.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
406 + 3 * 3600 - gnumleap(year, month, day);
407
408 for (int ii = 0; ii < lines.size(); ii++) {
409
410 QString prn;
411 ColumnVector xx(14); xx = 0.0;
412 t_eph* ep = 0;
413
414 if (oldEph == 0 && ic == 0) {
415 QTextStream in(lines[ii].toAscii());
416 in >> prn;
417 prns << prn;
418 if ( _ephList.contains(prn) ) {
419 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
420 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
421 >> xx(11) >> xx(12) >> xx(13) >> xx(14);
422 xx(1) *= 1e3; // x-crd
423 xx(2) *= 1e3; // y-crd
424 xx(3) *= 1e3; // z-crd
425 xx(4) *= 1e-6; // clk
426 xx(5) *= 1e-6; // rel. corr.
427 // xx(6), xx(7), xx(8) ... PhaseCent - CoM
428 xx(9) /= 0.299792458; // xx(9) ... P1-C1 DCB in ns
429 xx(10) /= 0.299792458; // xx(10) ... P1-P2 DCB in ns
430 // xx(11) ... dT
431 xx(12) *= 1e3; // x-crd at time + dT
432 xx(13) *= 1e3; // y-crd at time + dT
433 xx(14) *= 1e3; // z-crd at time + dT
434
435 t_ephPair* pair = _ephList[prn];
436 pair->xx = xx;
437 ep = pair->eph;
438 }
439 }
440 else {
441 prn = prns[ii];
442 if ( _ephList.contains(prn) ) {
443 t_ephPair* pair = _ephList[prn];
444 prn = pair->eph->prn();
445 xx = pair->xx;
446 if (oldEph) {
447 ep = pair->oldEph;
448 }
449 else {
450 ep = pair->eph;
451 }
452 }
453 }
454
455 if (ep != 0) {
456 struct ClockOrbit::SatData* sd = 0;
457 if (prn[0] == 'G') {
458 sd = co.Sat + co.NumberOfGPSSat;
459 ++co.NumberOfGPSSat;
460 }
461 else if (prn[0] == 'R') {
462 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
463 ++co.NumberOfGLONASSSat;
464 }
465 if (sd) {
466 QString outLine;
467 processSatellite(oldEph, ic, _caster.at(ic)->crdTrafo(),
468 _caster.at(ic)->CoM(), ep,
469 GPSweek, GPSweeks, prn, xx, sd, outLine);
470 _caster.at(ic)->printAscii(outLine);
471 }
472
473 struct Bias::BiasSat* biasSat = 0;
474 if (prn[0] == 'G') {
475 biasSat = bias.Sat + bias.NumberOfGPSSat;
476 ++bias.NumberOfGPSSat;
477 }
478// else if (prn[0] == 'R') {
479// biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
480// ++bias.NumberOfGLONASSSat;
481// }
482
483 // Coefficient of Ionosphere-Free LC
484 // ---------------------------------
485 const static double a_L1_GPS = 2.54572778;
486 const static double a_L2_GPS = -1.54572778;
487 const static double a_L1_Glo = 2.53125000;
488 const static double a_L2_Glo = -1.53125000;
489
490 if (biasSat) {
491 biasSat->ID = prn.mid(1).toInt();
492 biasSat->NumberOfCodeBiases = 3;
493 if (prn[0] == 'G') {
494 biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
495 biasSat->Biases[0].Bias = 0.0;
496 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
497 biasSat->Biases[1].Bias = xx(9);
498 biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
499 biasSat->Biases[2].Bias = xx(10);
500 }
501 else if (prn[0] == 'R') {
502 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
503 biasSat->Biases[0].Bias = 0.0;
504 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
505 biasSat->Biases[1].Bias = xx(9);
506 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
507 biasSat->Biases[2].Bias = xx(10);
508 }
509 }
510 }
511 }
512
513 if ( _caster.at(ic)->usedSocket() &&
514 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
515 char obuffer[CLOCKORBIT_BUFFERSIZE];
516
517 if (_caster.at(ic)->CoM()) {
518 co.SatRefPoint = POINT_CENTER;
519 }
520 else {
521 co.SatRefPoint = POINT_IONOFREE;
522 }
523
524 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
525 if (len > 0) {
526 if (_caster.at(ic)->ic() == 1) { emit(newOutBytes1(len));}
527 if (_caster.at(ic)->ic() == 2) { emit(newOutBytes2(len));}
528 if (_caster.at(ic)->ic() == 3) { emit(newOutBytes3(len));}
529 if (_caster.at(ic)->ic() == 4) { emit(newOutBytes4(len));}
530 if (_caster.at(ic)->ic() == 5) { emit(newOutBytes5(len));}
531 if (_caster.at(ic)->ic() == 6) { emit(newOutBytes6(len));}
532 if (_caster.at(ic)->ic() == 7) { emit(newOutBytes7(len));}
533 if (_caster.at(ic)->ic() == 8) { emit(newOutBytes8(len));}
534 if (_caster.at(ic)->ic() == 9) { emit(newOutBytes9(len));}
535 if (_caster.at(ic)->ic() == 10) { emit(newOutBytes10(len));}
536 _caster.at(ic)->write(obuffer, len);
537 }
538 }
539
540 if ( _caster.at(ic)->usedSocket() &&
541 (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
542 char obuffer[CLOCKORBIT_BUFFERSIZE];
543 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
544 if (len > 0) {
545 _caster.at(ic)->write(obuffer, len);
546 }
547 }
548 }
549 }
550 }
551}
552
553//
554////////////////////////////////////////////////////////////////////////////
555void t_bns::processSatellite(int oldEph, int iCaster, const QString trafo,
556 bool CoM, t_eph* ep, int GPSweek,
557 double GPSweeks, const QString& prn,
558 const ColumnVector& xx,
559 struct ClockOrbit::SatData* sd,
560 QString& outLine) {
561
562 const double secPerWeek = 7.0 * 86400.0;
563
564 ColumnVector rsw(3);
565 ColumnVector rsw2(3);
566 double dClk;
567
568 for (int ii = 1; ii <= 2; ++ii) {
569
570 int GPSweek12 = GPSweek;
571 double GPSweeks12 = GPSweeks;
572 if (ii == 2) {
573 GPSweeks12 += xx(11);
574 if (GPSweeks12 > secPerWeek) {
575 GPSweek12 += 1;
576 GPSweeks12 -= secPerWeek;
577 }
578 }
579
580 ColumnVector xB(4);
581 ColumnVector vv(3);
582
583 ep->position(GPSweek12, GPSweeks12, xB, vv);
584
585 ColumnVector xyz;
586 if (ii == 1) {
587 xyz = xx.Rows(1,3);
588 }
589 else {
590 xyz = xx.Rows(12,14);
591 }
592
593 // Correction Center of Mass -> Antenna Phase Center
594 // -------------------------------------------------
595 if (! CoM) {
596 xyz(1) += xx(6);
597 xyz(2) += xx(7);
598 xyz(3) += xx(8);
599 }
600
601 if (trafo != "IGS05") {
602 crdTrafo(GPSweek12, xyz, trafo);
603 }
604
605 ColumnVector dx = xB.Rows(1,3) - xyz ;
606
607 if (ii == 1) {
608 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
609 dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
610 }
611 else {
612 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
613 }
614 }
615
616 if (sd) {
617 sd->ID = prn.mid(1).toInt();
618 sd->IOD = ep->IOD();
619 sd->Clock.DeltaA0 = dClk;
620 sd->Orbit.DeltaRadial = rsw(1);
621 sd->Orbit.DeltaAlongTrack = rsw(2);
622 sd->Orbit.DeltaCrossTrack = rsw(3);
623 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
624 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
625 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
626 }
627
628 char oldCh = (oldEph ? '!' : ' ');
629 outLine.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
630 oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
631 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
632
633 if (!oldEph && iCaster == 0) {
634 if (_rnx) {
635 _rnx->write(GPSweek, GPSweeks, prn, xx);
636 }
637 if (_sp3) {
638 _sp3->write(GPSweek, GPSweeks, prn, xx);
639 }
640 }
641}
642
643//
644////////////////////////////////////////////////////////////////////////////
645void t_bns::slotMoveSocket(QThread* tt) {
646 _clkSocket->setParent(0);
647 _clkSocket->moveToThread(tt);
648//slotMessage("bns::slotMoveSocket");
649 slotMessage("Clocks & orbits port: Socket moved to thread"); // weber
650}
651
652// Transform Coordinates
653////////////////////////////////////////////////////////////////////////////
654void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz, const QString trafo) {
655
656 bnsSettings settings;
657
658 if (trafo == "ETRF2000") {
659 _dx = 0.0541;
660 _dy = 0.0502;
661 _dz = -0.0538;
662 _dxr = -0.0002;
663 _dyr = 0.0001;
664 _dzr = -0.0018;
665 _ox = 0.000891;
666 _oy = 0.005390;
667 _oz = -0.008712;
668 _oxr = 0.000081;
669 _oyr = 0.000490;
670 _ozr = -0.000792;
671 _sc = 0.40;
672 _scr = 0.08;
673 _t0 = 2000.0;
674 }
675 else if (trafo == "NAD83") {
676 _dx = 0.9963;
677 _dy = -1.9024;
678 _dz = -0.5210;
679 _dxr = 0.0005;
680 _dyr = -0.0006;
681 _dzr = -0.0013;
682 _ox = 0.025915;
683 _oy = 0.009426;
684 _oz = 0.011599;
685 _oxr = 0.000067;
686 _oyr = -0.000757;
687 _ozr = -0.000051;
688 _sc = 0.78;
689 _scr = -0.10;
690 _t0 = 1997.0;
691 }
692 else if (trafo == "GDA94") {
693 _dx = 0.07167;
694 _dy = 0.00486;
695 _dz = -0.04711;
696 _dxr = -0.00342;
697 _dyr = 0.00055;
698 _dzr = 0.00136;
699 _ox = 0.0091362;
700 _oy = 0.0093086;
701 _oz = 0.0091599;
702 _oxr = 0.0014652;
703 _oyr = 0.0011005;
704 _ozr = 0.0011480;
705 _sc = -8.239;
706 _scr = -0.212;
707 _t0 = 2000.0;
708 }
709 else if (trafo == "SIRGAS2000") {
710 _dx = -0.0051;
711 _dy = -0.0065;
712 _dz = -0.0099;
713 _dxr = 0.0000;
714 _dyr = 0.0000;
715 _dzr = 0.0000;
716 _ox = 0.000150;
717 _oy = 0.000020;
718 _oz = 0.000021;
719 _oxr = 0.000000;
720 _oyr = 0.000000;
721 _ozr = 0.000000;
722 _sc = 0.000;
723 _scr = 0.000;
724 _t0 = 0000.0;
725 }
726 else if (trafo == "SIRGAS95") {
727 _dx = 0.0077;
728 _dy = 0.0058;
729 _dz = -0.0138;
730 _dxr = 0.0000;
731 _dyr = 0.0000;
732 _dzr = 0.0000;
733 _ox = 0.000000;
734 _oy = 0.000000;
735 _oz = -0.000030;
736 _oxr = 0.000000;
737 _oyr = 0.000000;
738 _ozr = 0.000000;
739 _sc = 1.570;
740 _scr = 0.000;
741 _t0 = 0000.0;
742 }
743 else if (trafo == "Custom") {
744 _dx = settings.value("trafo_dx").toDouble();
745 _dy = settings.value("trafo_dy").toDouble();
746 _dz = settings.value("trafo_dz").toDouble();
747 _dxr = settings.value("trafo_dxr").toDouble();
748 _dyr = settings.value("trafo_dyr").toDouble();
749 _dzr = settings.value("trafo_dzr").toDouble();
750 _ox = settings.value("trafo_ox").toDouble();
751 _oy = settings.value("trafo_oy").toDouble();
752 _oz = settings.value("trafo_oz").toDouble();
753 _oxr = settings.value("trafo_oxr").toDouble();
754 _oyr = settings.value("trafo_oyr").toDouble();
755 _ozr = settings.value("trafo_ozr").toDouble();
756 _sc = settings.value("trafo_sc").toDouble();
757 _scr = settings.value("trafo_scr").toDouble();
758 _t0 = settings.value("trafo_t0").toDouble();
759 }
760
761 // Current epoch minus 2000.0 in years
762 // ------------------------------------
763 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
764
765 ColumnVector dx(3);
766
767 dx(1) = _dx + dt * _dxr;
768 dx(2) = _dy + dt * _dyr;
769 dx(3) = _dz + dt * _dzr;
770
771 static const double arcSec = 180.0 * 3600.0 / M_PI;
772
773 double ox = (_ox + dt * _oxr) / arcSec;
774 double oy = (_oy + dt * _oyr) / arcSec;
775 double oz = (_oz + dt * _ozr) / arcSec;
776
777 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
778
779 Matrix rMat(3,3);
780 rMat(1,1) = 1.0;
781 rMat(1,2) = -oz;
782 rMat(1,3) = oy;
783 rMat(2,1) = oz;
784 rMat(2,2) = 1.0;
785 rMat(2,3) = -ox;
786 rMat(3,1) = -oy;
787 rMat(3,2) = ox;
788 rMat(3,3) = 1.0;
789
790 xyz = sc * rMat * xyz + dx;
791}
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