Index: /trunk/BNC/src/GPSDecoder.h =================================================================== --- /trunk/BNC/src/GPSDecoder.h (revision 10532) +++ /trunk/BNC/src/GPSDecoder.h (revision 10533) @@ -27,4 +27,5 @@ #include +#include #include #include @@ -35,6 +36,8 @@ #include "bnctime.h" #include "satObs.h" +#include "crs.h" class bncRinex; +using namespace std; class GPSDecoder { @@ -92,11 +95,14 @@ /** List of observations */ - QList _obsList; - QList _typeList; // RTCM message types - QList _antType; // RTCM antenna descriptor - QList _recType; // RTCM receiver descriptor - QList _antList; // RTCM antenna XYZ - QString _gloFrq; // GLONASS slot - bncRinex* _rnx; // RINEX writer + QList _obsList; + QList _typeList; // RTCM message types + QList _antType; // RTCM antenna descriptor + QList _recType; // RTCM receiver descriptor + QList _antList; // RTCM antenna XYZ + QList _helmertPar; // List of Helmert parameter sets + QList _serviceCrs; // Service CRS + QList _rtcmCrs; // RTCM CRS + QString _gloFrq; // GLONASS slot + bncRinex* _rnx; // RINEX writer }; Index: /trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit.h =================================================================== --- /trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit.h (revision 10532) +++ /trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit.h (revision 10533) @@ -17,4 +17,5 @@ #include "t_prn.h" #include "bncutils.h" +#include "bits.h" enum IGS_NUMBERS { @@ -406,5 +407,4 @@ virtual CodeType rnxTypeToCodeType(char system, std::string type) = 0; -//#ifndef NOENCODE #define STOREBITS \ while(numbits >= 8) { \ @@ -447,4 +447,5 @@ #define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(c > 0 ? b*c+0.5 : b*c-0.5)) + #define MPI 3.141592653589793 @@ -665,6 +666,4 @@ #define G_VTEC_QUALITY_INDICATOR(a) GETSSRFLOAT (a, 9, 1/20.0) /* DF478, IDF041 */ -//#endif /* NODECODE */ - }; Index: /trunk/BNC/src/bncgetthread.cpp =================================================================== --- /trunk/BNC/src/bncgetthread.cpp (revision 10532) +++ /trunk/BNC/src/bncgetthread.cpp (revision 10533) @@ -578,5 +578,5 @@ } else if ((rtcmType >= 1057 && rtcmType <= 1068) || (rtcmType >= 1240 && rtcmType <= 1270) || - (rtcmType == 4076)) { + (rtcmType == 4076)) { switch (rtcmType) { case 1057: case 1063: case 1240: case 1246: case 1252: case 1258: @@ -941,10 +941,56 @@ } } - -/* - for (int ii = 0; ii < decoder()->_helmertParList.size(); ii++) { - decoder()->_helmertParList[ii].print(); - } -*/ + // Service CRS + // ----------- + for (int ii = 0; ii < decoder()->_serviceCrs.size(); ii++) { + QString servicecrsname = QString(": Servive CRS Name: %1 ").arg(decoder()->_serviceCrs[ii]._name); + QString coordinateEpoch = QString(": Coordinate Epoch: %1 ").arg(decoder()->_serviceCrs[ii]._coordinateEpoch); + QString ce = QString(": CE: %1 ").arg(decoder()->_serviceCrs[ii]._CE); + emit(newMessage(_staID + servicecrsname.toLatin1(), true)); + emit(newMessage(_staID + coordinateEpoch.toLatin1(), true)); + emit(newMessage(_staID + ce.toLatin1(), true)); + } + + // RTCM CRS + // ----------- + for (int ii = 0; ii < decoder()->_rtcmCrs.size(); ii++) { + QString rtcmcrsname = QString(": RTCM CRS Name: %1 ").arg(decoder()->_rtcmCrs[ii]._name); + QString anchor = QString(": Anchor: %1 ").arg(decoder()->_rtcmCrs[ii]._anchor); + QString platenumber = QString(": Plate Number: %1 ").arg(decoder()->_rtcmCrs[ii]._plateNumber); + emit(newMessage(_staID + rtcmcrsname.toLatin1(), true)); + emit(newMessage(_staID + anchor.toLatin1(), true)); + emit(newMessage(_staID + platenumber.toLatin1(), true)); + for (int i = 0; i_rtcmCrs[ii]._databaseLinks.size(); i++) { + QString dblink = QString(": Database Link: %1 ").arg(decoder()->_rtcmCrs[ii]._databaseLinks[i]); + emit(newMessage(_staID + dblink.toLatin1(), true)); + } + } + + // Helmert Parameters + //------------------- + for (int ii = 0; ii < decoder()->_helmertPar.size(); ii++) { + t_helmertPar& helmertPar = decoder()->_helmertPar[ii]; + bncTime t; t.setmjd(0, helmertPar._t0); QString dateStr = QString::fromStdString(t.datestr()); + QString sourcename = QString(": MT1301 Source Name: %1 ").arg(helmertPar._sourceName); + QString targetname = QString(": MT1301 Target Name: %1 ").arg(helmertPar._targetName); + QString sysidentnum = QString(": MT1301 Sys Ident Num: %1 ").arg(helmertPar._sysIdentNum); + QString trafomessageind = QString(": MT1301 Trafo Ident Num: %1 ").arg(helmertPar.IndtoString()); + QString epoch = QString(": MT1301 t0: MJD %1 (%2) ").arg(helmertPar._t0).arg(dateStr); + QString partrans = QString(": MT1301 Helmert Par Trans: dx = %1, dy = %2, dz = %3, dxr = %4, dyr = %5, dzr = %6") + .arg(helmertPar._dx).arg(helmertPar._dy).arg(helmertPar._dz) + .arg(helmertPar._dxr).arg(helmertPar._dyr).arg(helmertPar._dzr); + QString parrot = QString(": MT1301 Helmert Par Rot: ox = %1, oy = %2, oz = %3, oxr = %4, oyr = %5, ozr = %6") + .arg(helmertPar._ox).arg(helmertPar._oy).arg(helmertPar._oz) + .arg(helmertPar._oxr).arg(helmertPar._oyr).arg(helmertPar._ozr); + QString parscale = QString(": MT1301 Helmert Par Scale: sc = %1, scr = %2").arg(helmertPar._sc).arg(helmertPar._scr); + emit(newMessage(_staID + sourcename.toLatin1(), true)); + emit(newMessage(_staID + targetname.toLatin1(), true)); + emit(newMessage(_staID + sysidentnum.toLatin1(), true)); + emit(newMessage(_staID + trafomessageind.toLatin1(), true)); + emit(newMessage(_staID + epoch.toLatin1(), true)); + emit(newMessage(_staID + partrans.toLatin1(), true)); + emit(newMessage(_staID + parrot.toLatin1(), true)); + emit(newMessage(_staID + parscale.toLatin1(), true)); + } } } Index: /trunk/BNC/src/bncutils.cpp =================================================================== --- /trunk/BNC/src/bncutils.cpp (revision 10532) +++ /trunk/BNC/src/bncutils.cpp (revision 10533) @@ -95,6 +95,5 @@ #define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */ -static int longyear(int year, int month) -{ +static int longyear(int year, int month) { if(!(year % 4) && (!(year % 400) || (year % 100))) { @@ -105,6 +104,5 @@ } -int gnumleap(int year, int month, int day) -{ +int gnumleap(int year, int month, int day) { int ls = 0; const struct leapseconds *l; @@ -119,6 +117,5 @@ /* Convert Moscow time into UTC (fixnumleap == 1) or GPS (fixnumleap == 0) */ -void updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap) -{ +void updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap) { int y,m,d,k,l, nul; unsigned int j = *week*(7*24*60*60) + *secOfWeek + 5*24*60*60+3*60*60; Index: /trunk/BNC/src/bncutils.h =================================================================== --- /trunk/BNC/src/bncutils.h (revision 10532) +++ /trunk/BNC/src/bncutils.h (revision 10533) @@ -171,72 +171,4 @@ int bitExtracted(int number, int k, int p); -// RTCM3 GPS EPH encoding -////////////////////////////////////////////////////////// -#define GPSTOINT(type, value) static_cast(round(value)) - -#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ - |(GPSTOINT(long long,b)&((1ULL<= 8) { \ - buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}} - -#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \ - GPSADDBITS(a,i)}; - -// RTCM3 GLONASS EPH encoding -////////////////////////////////////////////////////////// -#define GLONASSTOINT(type, value) static_cast(round(value)) -#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ - |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \ - numbits += (a); \ - while(numbits >= 8) { \ - buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}} -#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \ - if(b < 0.0) \ - { \ - s = 1; \ - i = GLONASSTOINT(long long,(-b)/(c)); \ - if(!i) s = 0; \ - } \ - else \ - { \ - s = 0; \ - i = GLONASSTOINT(long long,(b)/(c)); \ - } \ - GLONASSADDBITS(1,s) \ - GLONASSADDBITS(a-1,i)} - -// RTCM3 Galileo EPH encoding -////////////////////////////////////////////////////////// -#define GALILEOTOINT(type, value) static_cast(round(value)) -#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ - |(GALILEOTOINT(long long,b)&((1LL<= 8) { \ - buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}} -#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \ - GALILEOADDBITS(a,i)}; - -// RTCM3 SBAS EPH encoding -////////////////////////////////////////////////////////// -#define SBASTOINT(type, value) static_cast(round(value)) -#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ - |(SBASTOINT(long long,b)&((1ULL<= 8) { \ - buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}} -#define SBASADDBITSFLOAT(a,b,c) {long long i = SBASTOINT(long long,(b)/(c)); \ - SBASADDBITS(a,i)}; - -// RTCM3 BDS EPH encoding -////////////////////////////////////////////////////////// -#define BDSTOINT(type, value) static_cast(round(value)) -#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ - |(BDSTOINT(long long,b)&((1ULL<= 8) { \ - buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}} -#define BDSADDBITSFLOAT(a,b,c) {long long i = BDSTOINT(long long,(b)/(c)); \ - BDSADDBITS(a,i)}; #endif Index: /trunk/BNC/src/ephemeris.cpp =================================================================== --- /trunk/BNC/src/ephemeris.cpp (revision 10532) +++ /trunk/BNC/src/ephemeris.cpp (revision 10533) @@ -14,4 +14,5 @@ #include "pppInclude.h" #include "pppModel.h" +#include "RTCM3/bits.h" using namespace std; Index: /trunk/BNC/src/ephemeris.h =================================================================== --- /trunk/BNC/src/ephemeris.h (revision 10532) +++ /trunk/BNC/src/ephemeris.h (revision 10533) @@ -10,5 +10,4 @@ #include "t_prn.h" #include "gnss.h" - class t_orbCorr; @@ -569,3 +568,4 @@ }; + #endif Index: /trunk/BNC/src/upload/bncrtnetuploadcaster.cpp =================================================================== --- /trunk/BNC/src/upload/bncrtnetuploadcaster.cpp (revision 10532) +++ /trunk/BNC/src/upload/bncrtnetuploadcaster.cpp (revision 10533) @@ -60,5 +60,5 @@ } - _crdTrafo = crdTrafo; + _crdTrafoStr = crdTrafo; _ssrFormat = ssrFormat; @@ -135,5 +135,5 @@ // Transformation Parameters from ITRF2014 to ETRF2000 // http://etrs89.ign.fr/pub/EUREF-TN-1-Mar-04-2024.pdf - if (_crdTrafo == "ETRF2000") { + if (_crdTrafoStr == "ETRF2000") { _dx = 0.0552; _dy = 0.0527; @@ -158,5 +158,5 @@ } // Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA) - else if (_crdTrafo == "GDA2020") { + else if (_crdTrafoStr == "GDA2020") { _dx = 0.0; _dy = 0.0; @@ -182,5 +182,5 @@ // Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA) // June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/ - else if (_crdTrafo == "SIRGAS2000") { + else if (_crdTrafoStr == "SIRGAS2000") { _dx = -0.0027; _dy = -0.0025; @@ -204,5 +204,5 @@ } // Transformation Parameters from ITRF2014 to DREF91 - else if (_crdTrafo == "DREF91") { + else if (_crdTrafoStr == "DREF91") { _dx = 0.0547; _dy = 0.0522; @@ -226,5 +226,5 @@ _t0 = 2010.0; } - else if (_crdTrafo == "Custom") { + else if (_crdTrafoStr == "Custom") { _dx = settings.value("trafo_dx").toDouble(); _dy = settings.value("trafo_dy").toDouble(); @@ -244,8 +244,8 @@ } // TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020 - if (_crdTrafo == "ETRF2000" || - _crdTrafo == "GDA2020" || - _crdTrafo == "DREF91" || - _crdTrafo == "SIRGAS2000") { + if (_crdTrafoStr == "ETRF2000" || + _crdTrafoStr == "GDA2020" || + _crdTrafoStr == "DREF91" || + _crdTrafoStr == "SIRGAS2000") { // Transformation Parameters from ITRF2020 to ITRF2014 // from ITRF web site: https://itrf.ign.fr/en/solutions/transformations @@ -329,5 +329,5 @@ if (nextEpoch != -1 && nextEpoch < iEpoEnd) { rtnetStreamBuffer = rtnetStreamBuffer.mid(nextEpoch, nextEpochEnd); - lines = rtnetStreamBuffer.split('\n', QString::SkipEmptyParts); + lines = rtnetStreamBuffer.split('\n', Qt::SkipEmptyParts); if (lines.size() > 2) { decodeRtnetEpoch(lines); @@ -341,5 +341,5 @@ } - lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts); + lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', Qt::SkipEmptyParts); _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3); @@ -374,26 +374,89 @@ memset(&co, 0, sizeof(co)); co.EpochTime[CLOCKORBIT_SATGPS] = static_cast(epoTime.gpssec()); + double gt = epoTime.gpssec() - gnumleap(year, month, day); if (_ssrFormat == "RTCM-SSR") { - double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day); - co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast(fmod(gt, 86400.0)); - } - else if (_ssrFormat == "IGS-SSR") { - co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast(epoTime.gpssec()); - } + gt += 3 * 3600; + } + co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast(fmod(gt, 86400.0)); co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast(epoTime.gpssec()); co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast(epoTime.gpssec()); co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast(epoTime.gpssec()); - if (_ssrFormat == "RTCM-SSR") { - co.EpochTime[CLOCKORBIT_SATBDS] = static_cast(epoTime.bdssec()); - } - else if (_ssrFormat == "IGS-SSR") { - co.EpochTime[CLOCKORBIT_SATBDS] = static_cast(epoTime.gpssec()); - } + co.EpochTime[CLOCKORBIT_SATBDS] = static_cast(epoTime.bdssec()); co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1; co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1; - co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format + (_crdTrafoStr == "IGS20") ? + co.SatRefDatum = _ssrCorr->DATUM_ITRF : + co.SatRefDatum = _ssrCorr->DATUM_LOCAL; co.SSRIOD = _IOD; co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF co.SSRSolutionID = _SID; + if (_ssrFormat == "RTCM-SSR") { + co.EpochTime[CLOCKORBIT_SATBDS] = static_cast(epoTime.bdssec()); + } + else if (_ssrFormat == "IGS-SSR") { + co.EpochTime[CLOCKORBIT_SATBDS] = static_cast(epoTime.gpssec()); + } + co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1; + co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1; + + + t_serviceCrs serviceCrs; + t_rtcmCrs rtcmCrs; + if (_crdTrafoStr == "IGS20") { + serviceCrs._CE = serviceCrs._coordinateEpoch = 0; + int nc = _crdTrafoStr.length(); + if (nc > 31) {nc = 31;} + for (int i = 0; i < nc; i++) { + serviceCrs._name[i] = + rtcmCrs._name[i] = _crdTrafoStr.toStdString()[i]; + } + serviceCrs._name[nc] = 0; + rtcmCrs._name[nc] = 0; + rtcmCrs._anchor = 0; // global CRS + rtcmCrs._plateNumber = 0; // unknown + rtcmCrs._databaseLinks << "ISO.DATUM.979" << "ISO.CRS:980"; + } + else { + if (_crdTrafoStr != "Custom") { + serviceCrs._coordinateEpoch = _t0; + serviceCrs.setCEFromCoordinateEpoch(); + int nc = _crdTrafoStr.length(); + if (nc > 31) {nc = 31;} + for (int i = 0; i < nc; i++) { + serviceCrs._name[i] = _crdTrafoStr.toStdString()[i]; + } + serviceCrs._name[nc] = 0; + QString rtcmcrsname = _crdTrafoStr + QString("(%1)").arg(_t0,4,'d',0); + nc = rtcmcrsname.length(); + if (nc > 31) {nc = 31;} + for (int i = 0; i < nc; i++) { + rtcmCrs._name[i] = rtcmcrsname.toStdString()[i]; + } + rtcmCrs._name[nc] = 0; + if (_crdTrafoStr == "ETRF2000") { + rtcmCrs._anchor = 1; // plate-fixed CRS + rtcmCrs._plateNumber = 7; // Eurasia + rtcmCrs._databaseLinks << "ISO.DATUM.187" << "ISO.CRS:260" << "ISO.CRS:457" + << "EPSG.DATUM:1186" << "EPSG.CRS:7930" << "EPSG.CRS:7931"; + } + else if (_crdTrafoStr == "DREF91") { + rtcmCrs._anchor = 1; // plate-fixed CRS + rtcmCrs._plateNumber = 7; // Eurasia + } + else if (_crdTrafoStr == "GDA2020") { + rtcmCrs._anchor = 1; // plate-fixed CRS + rtcmCrs._plateNumber = 4; // Australia + rtcmCrs._databaseLinks << "ISO.DATUM.186" << "ISO.CRS:404" << "ISO.CRS:329" + << "EPSG.DATUM:1168" << "EPSG.CRS:7842" << "EPSG.CRS:7843"; + } + else if (_crdTrafoStr == "SIRGAS2000") { + rtcmCrs._anchor = 1; // plate-fixed CRS + rtcmCrs._plateNumber = 12; // S.America + rtcmCrs._databaseLinks << "ISO.DATUM:169" << "ISO.CRS:384" << "ISO.CRS:313" + << "EPSG.DATUM:6674" << "EPSG.CRS:4988" << "EPSG.CRS:4989"; + } + } + } + struct SsrCorr::CodeBias bias; @@ -1026,5 +1089,5 @@ double dc = 0.0; - if (_crdTrafo != "IGS20") { + if (_crdTrafoStr != "IGS20") { crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014 crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames @@ -1142,25 +1205,25 @@ ColumnVector meanSta(3); - if (_crdTrafo == "ETRF2000") { + if (_crdTrafoStr == "ETRF2000") { meanSta(1) = 3661090.0; meanSta(2) = 845230.0; meanSta(3) = 5136850.0; } - else if (_crdTrafo == "GDA2020") { + else if (_crdTrafoStr == "GDA2020") { meanSta(1) = -4052050.0; meanSta(2) = 4212840.0; meanSta(3) = -2545110.0; } - else if (_crdTrafo == "SIRGAS2000") { + else if (_crdTrafoStr == "SIRGAS2000") { meanSta(1) = 3740860.0; meanSta(2) = -4964290.0; meanSta(3) = -1425420.0; } - else if (_crdTrafo == "DREF91") { + else if (_crdTrafoStr == "DREF91") { meanSta(1) = 3959579.0; meanSta(2) = 721719.0; meanSta(3) = 4931539.0; } - else if (_crdTrafo == "Custom") { + else if (_crdTrafoStr == "Custom") { meanSta(1) = 0.0; meanSta(2) = 0.0; Index: /trunk/BNC/src/upload/bncrtnetuploadcaster.h =================================================================== --- /trunk/BNC/src/upload/bncrtnetuploadcaster.h (revision 10532) +++ /trunk/BNC/src/upload/bncrtnetuploadcaster.h (revision 10533) @@ -9,4 +9,5 @@ #include "../RTCM3/clock_and_orbit/clock_orbit_rtcm.h" #include "../RTCM3/clock_and_orbit/clock_orbit_igs.h" +#include "../RTCM3/crs.h" class bncEphUser; @@ -55,5 +56,5 @@ bncEphUser* _ephUser; QString _rtnetStreamBuffer; - QString _crdTrafo; + QString _crdTrafoStr; SsrCorr* _ssrCorr; QString _ssrFormat; @@ -65,4 +66,5 @@ int _samplRtcmClkCorr; double _samplRtcmEphCorr; + double _dx; double _dy; @@ -80,5 +82,5 @@ double _scr; double _t0; - // TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020 + /* TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020*/ double _dx14; double _dy14;