Changeset 3224 in ntrip for trunk/BNC/upload/bncuploadcaster.cpp
- Timestamp:
- Mar 31, 2011, 5:15:47 PM (13 years ago)
- File:
-
- 1 edited
Legend:
- Unmodified
- Added
- Removed
-
trunk/BNC/upload/bncuploadcaster.cpp
r3212 r3224 17 17 #include <math.h> 18 18 #include "bncuploadcaster.h" 19 #include "bncsettings.h"20 19 #include "bncversion.h" 21 20 #include "bncapp.h" 22 #include "bncclockrinex.h"23 #include "bncsp3.h"24 21 25 22 using namespace std; … … 29 26 bncUploadCaster::bncUploadCaster(const QString& mountpoint, 30 27 const QString& outHost, int outPort, 31 const QString& password, 32 const QString& crdTrafo, bool CoM, 33 const QString& sp3FileName, 34 const QString& rnxFileName, 35 const QString& outFileName) { 36 bncSettings settings; 28 const QString& password) { 37 29 38 30 connect(this, SIGNAL(newMessage(QByteArray,bool)), 39 31 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool))); 40 32 41 _mountpoint = mountpoint; 42 _outHost = outHost; 43 _outPort = outPort; 44 _password = password; 45 _crdTrafo = crdTrafo; 46 _CoM = CoM; 47 48 _outSocket = 0; 49 _sOpenTrial = 0; 50 33 _mountpoint = mountpoint; 34 _outHost = outHost; 35 _outPort = outPort; 36 _password = password; 37 _outSocket = 0; 38 _sOpenTrial = 0; 51 39 _isToBeDeleted = false; 52 40 53 // Raw Output54 // ----------55 if (!outFileName.isEmpty()) {56 _outFile = new bncoutf(outFileName, "", 0);57 }58 else {59 _outFile = 0;60 }61 62 // RINEX writer63 // ------------64 if (!rnxFileName.isEmpty()) {65 _rnx = new bncClockRinex(rnxFileName, "", 0);66 }67 else {68 _rnx = 0;69 }70 71 // SP3 writer72 // ----------73 if (!sp3FileName.isEmpty()) {74 _sp3 = new bncSP3(sp3FileName, "", 0);75 }76 else {77 _sp3 = 0;78 }79 80 // Set Transformation Parameters81 // -----------------------------82 if (_crdTrafo == "ETRF2000") {83 _dx = 0.0541;84 _dy = 0.0502;85 _dz = -0.0538;86 _dxr = -0.0002;87 _dyr = 0.0001;88 _dzr = -0.0018;89 _ox = 0.000891;90 _oy = 0.005390;91 _oz = -0.008712;92 _oxr = 0.000081;93 _oyr = 0.000490;94 _ozr = -0.000792;95 _sc = 0.40;96 _scr = 0.08;97 _t0 = 2000.0;98 }99 else if (_crdTrafo == "NAD83") {100 _dx = 0.9963;101 _dy = -1.9024;102 _dz = -0.5210;103 _dxr = 0.0005;104 _dyr = -0.0006;105 _dzr = -0.0013;106 _ox = 0.025915;107 _oy = 0.009426;108 _oz = 0.011599;109 _oxr = 0.000067;110 _oyr = -0.000757;111 _ozr = -0.000051;112 _sc = 0.78;113 _scr = -0.10;114 _t0 = 1997.0;115 }116 else if (_crdTrafo == "GDA94") {117 _dx = -0.07973;118 _dy = -0.00686;119 _dz = 0.03803;120 _dxr = 0.00225;121 _dyr = -0.00062;122 _dzr = -0.00056;123 _ox = 0.0000351;124 _oy = -0.0021211;125 _oz = -0.0021411;126 _oxr = -0.0014707;127 _oyr = -0.0011443;128 _ozr = -0.0011701;129 _sc = 6.636;130 _scr = 0.294;131 _t0 = 1994.0;132 }133 else if (_crdTrafo == "SIRGAS2000") {134 _dx = -0.0051;135 _dy = -0.0065;136 _dz = -0.0099;137 _dxr = 0.0000;138 _dyr = 0.0000;139 _dzr = 0.0000;140 _ox = 0.000150;141 _oy = 0.000020;142 _oz = 0.000021;143 _oxr = 0.000000;144 _oyr = 0.000000;145 _ozr = 0.000000;146 _sc = 0.000;147 _scr = 0.000;148 _t0 = 0000.0;149 }150 else if (_crdTrafo == "SIRGAS95") {151 _dx = 0.0077;152 _dy = 0.0058;153 _dz = -0.0138;154 _dxr = 0.0000;155 _dyr = 0.0000;156 _dzr = 0.0000;157 _ox = 0.000000;158 _oy = 0.000000;159 _oz = -0.000030;160 _oxr = 0.000000;161 _oyr = 0.000000;162 _ozr = 0.000000;163 _sc = 1.570;164 _scr = 0.000;165 _t0 = 0000.0;166 }167 else if (_crdTrafo == "Custom") {168 _dx = settings.value("trafo_dx").toDouble();169 _dy = settings.value("trafo_dy").toDouble();170 _dz = settings.value("trafo_dz").toDouble();171 _dxr = settings.value("trafo_dxr").toDouble();172 _dyr = settings.value("trafo_dyr").toDouble();173 _dzr = settings.value("trafo_dzr").toDouble();174 _ox = settings.value("trafo_ox").toDouble();175 _oy = settings.value("trafo_oy").toDouble();176 _oz = settings.value("trafo_oz").toDouble();177 _oxr = settings.value("trafo_oxr").toDouble();178 _oyr = settings.value("trafo_oyr").toDouble();179 _ozr = settings.value("trafo_ozr").toDouble();180 _sc = settings.value("trafo_sc").toDouble();181 _scr = settings.value("trafo_scr").toDouble();182 _t0 = settings.value("trafo_t0").toDouble();183 }184 185 // Member that receives the ephemeris186 // ----------------------------------187 _ephUser = new bncEphUser();188 41 } 189 42 … … 202 55 if (isRunning()) { 203 56 wait(); 204 }205 delete _outFile;206 delete _rnx;207 delete _sp3;208 delete _ephUser;209 }210 211 // Endless Loop212 ////////////////////////////////////////////////////////////////////////////213 void bncUploadCaster::run() {214 while (true) {215 if (_isToBeDeleted) {216 QThread::quit();217 deleteLater();218 return;219 }220 open();221 uploadClockOrbitBias();222 msleep(10);223 57 } 224 58 } … … 251 85 } 252 86 253 bncSettings settings;254 87 _outSocket = new QTcpSocket(); 255 88 _outSocket->connectToHost(_outHost, _outPort); … … 293 126 } 294 127 295 //296 ////////////////////////////////////////////////////////////////////////////297 void bncUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {298 299 QMutexLocker locker(&_mutex);300 301 // Append to buffer302 // ----------------303 const int MAXBUFFSIZE = 100000;304 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));305 if (_rtnetStreamBuffer.size() > MAXBUFFSIZE) {306 _rtnetStreamBuffer = _rtnetStreamBuffer.right(MAXBUFFSIZE);307 }308 }309 310 // Function called in separate thread311 ////////////////////////////////////////////////////////////////////////312 void bncUploadCaster::uploadClockOrbitBias() {313 314 QMutexLocker locker(&_mutex);315 316 // Prepare list of lines with satellite positions in SP3-like format317 // -----------------------------------------------------------------318 QStringList lines;319 int iLast = _rtnetStreamBuffer.lastIndexOf('\n');320 if (iLast != -1) {321 QStringList hlpLines = _rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);322 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLast+1);323 for (int ii = 0; ii < hlpLines.size(); ii++) {324 if (hlpLines[ii].indexOf('*') != -1) {325 lines.clear();326 QTextStream in(hlpLines[ii].toAscii());327 QString hlp;328 int year, month, day, hour, min;329 double sec;330 in >> hlp >> year >> month >> day >> hour >> min >> sec;331 _epoTime.set( year, month, day, hour, min, sec);332 }333 else if (_epoTime.valid()) {334 lines << hlpLines[ii];335 }336 }337 }338 339 if (lines.size() == 0) {340 return;341 }342 343 unsigned year, month, day;344 _epoTime.civil_date(year, month, day);345 346 struct ClockOrbit co;347 memset(&co, 0, sizeof(co));348 co.GPSEpochTime = static_cast<int>(_epoTime.gpssec());349 co.GLONASSEpochTime = static_cast<int>(fmod(_epoTime.gpssec(), 86400.0))350 + 3 * 3600 - gnumleap(year, month, day);351 co.ClockDataSupplied = 1;352 co.OrbitDataSupplied = 1;353 co.SatRefDatum = DATUM_ITRF;354 355 struct Bias bias;356 memset(&bias, 0, sizeof(bias));357 bias.GPSEpochTime = co.GPSEpochTime;358 bias.GLONASSEpochTime = co.GLONASSEpochTime;359 360 for (int ii = 0; ii < lines.size(); ii++) {361 362 QString prn;363 ColumnVector xx(14); xx = 0.0;364 365 QTextStream in(lines[ii].toAscii());366 367 in >> prn;368 if (prn[0] == 'P') {369 prn.remove(0,1);370 }371 372 const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);373 if (ephPair) {374 t_eph* eph = ephPair->last;375 if (ephPair->prev &&376 eph->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {377 eph = ephPair->prev;378 }379 380 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)381 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)382 >> xx(11) >> xx(12) >> xx(13) >> xx(14);383 xx(1) *= 1e3; // x-crd384 xx(2) *= 1e3; // y-crd385 xx(3) *= 1e3; // z-crd386 xx(4) *= 1e-6; // clk387 xx(5) *= 1e-6; // rel. corr.388 // xx(6), xx(7), xx(8) ... PhaseCent - CoM389 // xx(9) ... P1-C1 DCB in meters390 // xx(10) ... P1-P2 DCB in meters391 // xx(11) ... dT392 xx(12) *= 1e3; // x-crd at time + dT393 xx(13) *= 1e3; // y-crd at time + dT394 xx(14) *= 1e3; // z-crd at time + dT395 396 struct ClockOrbit::SatData* sd = 0;397 if (prn[0] == 'G') {398 sd = co.Sat + co.NumberOfGPSSat;399 ++co.NumberOfGPSSat;400 }401 else if (prn[0] == 'R') {402 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;403 ++co.NumberOfGLONASSSat;404 }405 if (sd) {406 QString outLine;407 processSatellite(eph, _epoTime.gpsw(), _epoTime.gpssec(), prn,408 xx, sd, outLine);409 if (_outFile) {410 _outFile->write(_epoTime.gpsw(), _epoTime.gpssec(), outLine);411 }412 }413 414 struct Bias::BiasSat* biasSat = 0;415 if (prn[0] == 'G') {416 biasSat = bias.Sat + bias.NumberOfGPSSat;417 ++bias.NumberOfGPSSat;418 }419 else if (prn[0] == 'R') {420 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;421 ++bias.NumberOfGLONASSSat;422 }423 424 // Coefficient of Ionosphere-Free LC425 // ---------------------------------426 const static double a_L1_GPS = 2.54572778;427 const static double a_L2_GPS = -1.54572778;428 const static double a_L1_Glo = 2.53125000;429 const static double a_L2_Glo = -1.53125000;430 431 if (biasSat) {432 biasSat->ID = prn.mid(1).toInt();433 biasSat->NumberOfCodeBiases = 3;434 if (prn[0] == 'G') {435 biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;436 biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);437 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;438 biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);439 biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;440 biasSat->Biases[2].Bias = a_L1_GPS * xx(10);441 }442 else if (prn[0] == 'R') {443 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;444 biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);445 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;446 biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);447 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;448 biasSat->Biases[2].Bias = a_L1_Glo * xx(10);449 }450 }451 }452 }453 454 if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {455 char obuffer[CLOCKORBIT_BUFFERSIZE];456 457 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));458 if (len > 0) {459 this->write(obuffer, len);460 }461 }462 463 if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) {464 char obuffer[CLOCKORBIT_BUFFERSIZE];465 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));466 if (len > 0) {467 this->write(obuffer, len);468 }469 }470 }471 472 //473 ////////////////////////////////////////////////////////////////////////////474 void bncUploadCaster::processSatellite(t_eph* eph, int GPSweek,475 double GPSweeks, const QString& prn,476 const ColumnVector& xx,477 struct ClockOrbit::SatData* sd,478 QString& outLine) {479 480 const double secPerWeek = 7.0 * 86400.0;481 482 ColumnVector rsw(3);483 ColumnVector rsw2(3);484 double dClk;485 486 for (int ii = 1; ii <= 2; ++ii) {487 488 int GPSweek12 = GPSweek;489 double GPSweeks12 = GPSweeks;490 if (ii == 2) {491 GPSweeks12 += xx(11);492 if (GPSweeks12 > secPerWeek) {493 GPSweek12 += 1;494 GPSweeks12 -= secPerWeek;495 }496 }497 498 ColumnVector xB(4);499 ColumnVector vv(3);500 501 eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());502 503 ColumnVector xyz;504 if (ii == 1) {505 xyz = xx.Rows(1,3);506 }507 else {508 xyz = xx.Rows(12,14);509 }510 511 // Correction Center of Mass -> Antenna Phase Center512 // -------------------------------------------------513 if (! _CoM) {514 xyz(1) += xx(6);515 xyz(2) += xx(7);516 xyz(3) += xx(8);517 }518 519 if (_crdTrafo != "IGS05") {520 crdTrafo(GPSweek12, xyz);521 }522 523 ColumnVector dx = xB.Rows(1,3) - xyz ;524 525 if (ii == 1) {526 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);527 dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;528 }529 else {530 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);531 }532 }533 534 if (sd) {535 sd->ID = prn.mid(1).toInt();536 sd->IOD = eph->IOD();537 sd->Clock.DeltaA0 = dClk;538 sd->Orbit.DeltaRadial = rsw(1);539 sd->Orbit.DeltaAlongTrack = rsw(2);540 sd->Orbit.DeltaCrossTrack = rsw(3);541 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);542 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);543 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);544 }545 546 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",547 GPSweek, GPSweeks, eph->prn().c_str(),548 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));549 550 if (_rnx) {551 _rnx->write(GPSweek, GPSweeks, prn, xx);552 }553 if (_sp3) {554 _sp3->write(GPSweek, GPSweeks, prn, xx);555 }556 }557 558 // Transform Coordinates559 ////////////////////////////////////////////////////////////////////////////560 void bncUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {561 562 // Current epoch minus 2000.0 in years563 // ------------------------------------564 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;565 566 ColumnVector dx(3);567 568 dx(1) = _dx + dt * _dxr;569 dx(2) = _dy + dt * _dyr;570 dx(3) = _dz + dt * _dzr;571 572 static const double arcSec = 180.0 * 3600.0 / M_PI;573 574 double ox = (_ox + dt * _oxr) / arcSec;575 double oy = (_oy + dt * _oyr) / arcSec;576 double oz = (_oz + dt * _ozr) / arcSec;577 578 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;579 580 Matrix rMat(3,3);581 rMat(1,1) = 1.0;582 rMat(1,2) = -oz;583 rMat(1,3) = oy;584 rMat(2,1) = oz;585 rMat(2,2) = 1.0;586 rMat(2,3) = -ox;587 rMat(3,1) = -oy;588 rMat(3,2) = ox;589 rMat(3,3) = 1.0;590 591 xyz = sc * rMat * xyz + dx;592 }593
Note:
See TracChangeset
for help on using the changeset viewer.