Index: trunk/BNC/bncephuser.h =================================================================== --- trunk/BNC/bncephuser.h (revision 3181) +++ trunk/BNC/bncephuser.h (revision 3182) @@ -78,11 +78,4 @@ ~bncEphUser(); - public slots: - void slotNewEphGPS(gpsephemeris gpseph); - void slotNewEphGlonass(glonassephemeris gloeph); - void slotNewEphGalileo(galileoephemeris galeph); - - protected: - class t_ephPair { public: @@ -95,9 +88,15 @@ delete prev; } - ColumnVector xx; t_eph* last; t_eph* prev; }; + + public slots: + void slotNewEphGPS(gpsephemeris gpseph); + void slotNewEphGlonass(glonassephemeris gloeph); + void slotNewEphGalileo(galileoephemeris galeph); + + protected: QMutex _mutex; QMap _eph; Index: trunk/BNC/upload/bncrtnetdecoder.cpp =================================================================== --- trunk/BNC/upload/bncrtnetdecoder.cpp (revision 3181) +++ trunk/BNC/upload/bncrtnetdecoder.cpp (revision 3182) @@ -43,6 +43,4 @@ #include "bncutils.h" #include "bncsettings.h" -#include "bncclockrinex.h" -#include "bncsp3.h" using namespace std; @@ -51,35 +49,12 @@ //////////////////////////////////////////////////////////////////////// bncRtnetDecoder::bncRtnetDecoder() { + bncSettings settings; + _year = 0; - _append = Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked; - // RINEX writer - // ------------ - if ( settings.value("rnxPath").toString().isEmpty() ) { - _rnx = 0; - } - else { - QString prep = "BNC"; - QString ext = ".clk"; - QString path = settings.value("rnxPath").toString(); - QString intr = settings.value("rnxIntr").toString(); - int sampl = settings.value("rnxSampl").toInt(); - _rnx = new bncClockRinex(prep, ext, path, intr, sampl); - } + // List of upload casters + // ---------------------- - // SP3 writer - // ---------- - if ( settings.value("sp3Path").toString().isEmpty() ) { - _sp3 = 0; - } - else { - QString prep = "BNC"; - QString ext = ".sp3"; - QString path = settings.value("sp3Path").toString(); - QString intr = settings.value("sp3Intr").toString(); - int sampl = settings.value("sp3Sampl").toInt(); - _sp3 = new bncSP3(prep, ext, path, intr, sampl); - } } @@ -87,6 +62,4 @@ //////////////////////////////////////////////////////////////////////// bncRtnetDecoder::~bncRtnetDecoder() { - delete _rnx; - delete _sp3; } @@ -127,151 +100,7 @@ // ----------------------------------- 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 ( _eph.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 = _eph[prn]; - pair->xx = xx; - } - } - else { - prn = prns[ii]; - if ( _eph.contains(prn) ) { - pair = _eph[prn]; - xx = pair->xx; - } - } - - // Use old ephemeris if the new one is too recent - // ---------------------------------------------- - t_eph* ep = 0; - if (pair) { - ep = pair->last; - if (pair->prev && ep && - ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) { - ep = pair->prev; - } - } - - 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) { - _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); - } - } + _caster.at(ic)->uploadClockOrbitBias(lines, _eph, _year, _month, _day, + _GPSweek, _GPSweeks); } } @@ -280,232 +109,2 @@ } -// -//////////////////////////////////////////////////////////////////////////// -void bncRtnetDecoder::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.data(), vv.data()); - - 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) { - XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw); - dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0; - } - else { - 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().c_str(), - 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); - } - } -} - -// Transform Coordinates -//////////////////////////////////////////////////////////////////////////// -void bncRtnetDecoder::crdTrafo(int GPSWeek, ColumnVector& xyz, - const QString& trafo) { - - bncSettings 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; -} Index: trunk/BNC/upload/bncrtnetdecoder.h =================================================================== --- trunk/BNC/upload/bncrtnetdecoder.h (revision 3181) +++ trunk/BNC/upload/bncrtnetdecoder.h (revision 3182) @@ -32,7 +32,4 @@ #include "RTCM/GPSDecoder.h" -class bncClockRinex; -class bncSP3; - class bncRtnetDecoder: public GPSDecoder, public bncEphUser { public: @@ -42,15 +39,5 @@ private: void readEpochTime(const QString& line); - void 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); - void crdTrafo(int GPSWeek, ColumnVector& xyz, - const QString& trafo); - QList _caster; - bool _append; QString _buffer; int _GPSweek; @@ -62,21 +49,4 @@ int _min; double _sec; - double _dx; - double _dy; - double _dz; - double _dxr; - double _dyr; - double _dzr; - double _ox; - double _oy; - double _oz; - double _oxr; - double _oyr; - double _ozr; - double _sc; - double _scr; - double _t0; - bncClockRinex* _rnx; - bncSP3* _sp3; }; Index: trunk/BNC/upload/bncuploadcaster.cpp =================================================================== --- trunk/BNC/upload/bncuploadcaster.cpp (revision 3181) +++ trunk/BNC/upload/bncuploadcaster.cpp (revision 3182) @@ -20,4 +20,6 @@ #include "bncversion.h" #include "bncapp.h" +#include "bncclockrinex.h" +#include "bncsp3.h" using namespace std; @@ -29,7 +31,12 @@ const QString& password, const QString& crdTrafo, bool CoM, + const QString& rnxFileName, + const QString& sp3FileName, const QString& outFileName) { bncSettings settings; + + connect(this, SIGNAL(newMessage(QByteArray,bool)), + ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool))); _mountpoint = mountpoint; @@ -43,4 +50,6 @@ _sOpenTrial = 0; + _append = Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked; + if (outFileName.isEmpty()) { _outFile = 0; @@ -50,5 +59,5 @@ _outFile = new QFile(outFileName); QIODevice::OpenMode oMode; - if (Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) { + if (_append) { oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append; } @@ -61,6 +70,137 @@ } } - connect(this, SIGNAL(newMessage(QByteArray,bool)), - ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool))); + + // RINEX writer + // ------------ + if ( settings.value("rnxPath").toString().isEmpty() ) { + _rnx = 0; + } + else { + QString prep = "BNC"; + QString ext = ".clk"; + QString path = settings.value("rnxPath").toString(); + QString intr = settings.value("rnxIntr").toString(); + int sampl = settings.value("rnxSampl").toInt(); + _rnx = new bncClockRinex(prep, ext, path, intr, sampl); + } + + // SP3 writer + // ---------- + if ( settings.value("sp3Path").toString().isEmpty() ) { + _sp3 = 0; + } + else { + QString prep = "BNC"; + QString ext = ".sp3"; + QString path = settings.value("sp3Path").toString(); + QString intr = settings.value("sp3Intr").toString(); + int sampl = settings.value("sp3Sampl").toInt(); + _sp3 = new bncSP3(prep, ext, path, intr, sampl); + } + + // Set Transformation Parameters + // ----------------------------- + if (_crdTrafo == "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 (_crdTrafo == "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 (_crdTrafo == "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 (_crdTrafo == "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 (_crdTrafo == "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 (_crdTrafo == "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(); + } } @@ -150,2 +290,263 @@ } } + +// Encode and Upload Clocks, Orbits, and Biases +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::uploadClockOrbitBias(const QStringList& lines, + const QMap& ephMap, + int year, int month, int day, + int GPSweek, double GPSweeks) { + + this->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; + bncEphUser::t_ephPair* pair = 0; + + QTextStream in(lines[ii].toAscii()); + in >> prn; + if ( ephMap.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 = ephMap[prn]; + } + + // Use old ephemeris if the new one is too recent + // ---------------------------------------------- + t_eph* ep = 0; + if (pair) { + ep = pair->last; + if (pair->prev && ep && + ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) { + ep = pair->prev; + } + } + + 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(ep, GPSweek, GPSweeks, prn, xx, sd, outLine); + this->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 ( this->usedSocket() && + (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) { + char obuffer[CLOCKORBIT_BUFFERSIZE]; + + int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer)); + if (len > 0) { + this->write(obuffer, len); + } + } + + if ( this->usedSocket() && + (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) { + char obuffer[CLOCKORBIT_BUFFERSIZE]; + int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer)); + if (len > 0) { + this->write(obuffer, len); + } + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::processSatellite(t_eph* eph, 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); + + eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data()); + + 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 (_crdTrafo != "IGS05") { + crdTrafo(GPSweek12, xyz); + } + + ColumnVector dx = xB.Rows(1,3) - xyz ; + + if (ii == 1) { + XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw); + dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0; + } + else { + XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2); + } + } + + if (sd) { + sd->ID = prn.mid(1).toInt(); + sd->IOD = eph->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, eph->prn().c_str(), + eph->IOD(), dClk, rsw(1), rsw(2), rsw(3)); + + if (_rnx) { + _rnx->write(GPSweek, GPSweeks, prn, xx); + } + if (_sp3) { + _sp3->write(GPSweek, GPSweeks, prn, xx, _append); + } +} + +// Transform Coordinates +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) { + + // 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; +} Index: trunk/BNC/upload/bncuploadcaster.h =================================================================== --- trunk/BNC/upload/bncuploadcaster.h (revision 3181) +++ trunk/BNC/upload/bncuploadcaster.h (revision 3182) @@ -3,4 +3,8 @@ #include +#include "bncephuser.h" + +class bncClockRinex; +class bncSP3; class bncUploadCaster : public QObject { @@ -11,4 +15,6 @@ const QString& password, const QString& crdTrafo, bool CoM, + const QString& rnxFileName, + const QString& sp3FileName, const QString& outFileName); virtual ~bncUploadCaster(); @@ -17,6 +23,8 @@ void printAscii(const QString& line); bool usedSocket() const {return _outSocket;} - QString crdTrafo() const {return _crdTrafo;} - bool CoM() const {return _CoM;} + void uploadClockOrbitBias(const QStringList& lines, + const QMap& ephMap, + int year, int month, int day, + int GPSweek, double GPSweeks); signals: @@ -25,4 +33,10 @@ private: + void processSatellite(t_eph* eph, int GPSweek, + double GPSweeks, const QString& prn, + const ColumnVector& xx, + struct ClockOrbit::SatData* sd, + QString& outLine); + void crdTrafo(int GPSWeek, ColumnVector& xyz); QString _mountpoint; QString _outHost; @@ -36,4 +50,22 @@ QFile* _outFile; QTextStream* _outStream; + bool _append; + double _dx; + double _dy; + double _dz; + double _dxr; + double _dyr; + double _dzr; + double _ox; + double _oy; + double _oz; + double _oxr; + double _oyr; + double _ozr; + double _sc; + double _scr; + double _t0; + bncClockRinex* _rnx; + bncSP3* _sp3; };