source: ntrip/branches/BNC_LM/bncmodel.h@ 3599

Last change on this file since 3599 was 3414, checked in by mervart, 13 years ago
File size: 5.4 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25#ifndef BNCMODEL_H
26#define BNCMODEL_H
27
28#include <QtCore>
29#include <QtNetwork>
30#include <newmat.h>
31
32#include "bncconst.h"
33#include "bnctime.h"
34
35class t_epoData;
36class t_satData;
37class bncAntex;
38
39class bncParam {
40 public:
41 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, GALILEO_OFFSET};
42 bncParam(parType typeIn, int indexIn, const QString& prn);
43 ~bncParam();
44 double partial(t_satData* satData, bool phase);
45 bool isCrd() const {
46 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
47 }
48 parType type;
49 double xx;
50 int index;
51 int index_old;
52 int numEpo;
53 QString prn;
54};
55
56class bncModel : public QObject {
57 Q_OBJECT
58 public:
59 bncModel(QByteArray staID);
60 ~bncModel();
61 t_irc update(t_epoData* epoData);
62 bncTime time() const {return _time;}
63 double x() const {return _params[0]->xx;}
64 double y() const {return _params[1]->xx;}
65 double z() const {return _params[2]->xx;}
66 double clk() const {return _params[3]->xx;}
67 double trp() const {
68 for (int ii = 0; ii < _params.size(); ++ii) {
69 bncParam* pp = _params[ii];
70 if (pp->type == bncParam::TROPO) {
71 return pp->xx;
72 }
73 }
74 return 0.0;
75 }
76 double Galileo_offset() const {
77 for (int ii = 0; ii < _params.size(); ++ii) {
78 bncParam* pp = _params[ii];
79 if (pp->type == bncParam::GALILEO_OFFSET) {
80 return pp->xx;
81 }
82 }
83 return 0.0;
84 }
85
86 static void kalman(const Matrix& AA, const ColumnVector& ll,
87 const DiagonalMatrix& PP,
88 SymmetricMatrix& QQ, ColumnVector& dx);
89
90 signals:
91 void newMessage(QByteArray msg, bool showOnScreen);
92 void newNMEAstr(QByteArray str);
93
94 private:
95 t_irc cmpBancroft(t_epoData* epoData);
96 void reset();
97 void cmpEle(t_satData* satData);
98 void addAmb(t_satData* satData);
99 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
100 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
101 QByteArray printRes(int iPhase, const ColumnVector& vv,
102 const QMap<QString, t_satData*>& satDataMap);
103 void findMaxRes(const ColumnVector& vv,
104 const QMap<QString, t_satData*>& satData,
105 QString& prnGPS, QString& prnGlo,
106 double& maxResGPS, double& maxResGlo);
107 double cmpValue(t_satData* satData, bool phase);
108 double delay_saast(double Ele);
109 void predict(int iPhase, t_epoData* epoData);
110 t_irc update_p(t_epoData* epoData);
111 QString outlierDetection(int iPhase, const ColumnVector& vv,
112 QMap<QString, t_satData*>& satData);
113 void writeNMEAstr(const QString& nmStr);
114
115 double windUp(const QString& prn, const ColumnVector& rSat,
116 const ColumnVector& rRec);
117
118 bncTime _startTime;
119
120 void rememberState(t_epoData* epoData);
121 void restoreState(t_epoData* epoData);
122
123 t_irc selectSatellites(const QString& lastOutlierPrn,
124 QMap<QString, t_satData*>& satData);
125
126 class pppPos {
127 public:
128 pppPos() {
129 for (int ii = 0; ii < 7; ++ii) {
130 xnt[ii] = 0.0;
131 }
132 }
133 bncTime time;
134 double xnt[7];
135 };
136
137 bncTime _time;
138 bncTime _lastTimeOK;
139 QByteArray _staID;
140 QVector<bncParam*> _params;
141 SymmetricMatrix _QQ;
142 QVector<bncParam*> _params_sav;
143 SymmetricMatrix _QQ_sav;
144 t_epoData* _epoData_sav;
145 ColumnVector _xcBanc;
146 ColumnVector _ellBanc;
147 bool _usePhase;
148 bool _estTropo;
149 bool _useGalileo;
150 QByteArray _log;
151 QFile* _nmeaFile;
152 QTextStream* _nmeaStream;
153 QMap<QString, double> _windUpTime;
154 QMap<QString, double> _windUpSum;
155 QVector<pppPos*> _posAverage;
156 double _quickStart;
157 double _maxSolGap;
158 double _sigCrd0;
159 double _sigCrdP;
160 double _sigTrp0;
161 double _sigTrpP;
162 double _sigGalileoOffset0;
163 double _sigGalileoOffsetP;
164 double _sigL3;
165 double _sigP3;
166 double _sigAmb0;
167 double _sigClk0;
168 double _dN;
169 double _dE;
170 double _dU;
171 bncAntex* _antex;
172 QString _antennaName;
173 QStringList _outlierGPS;
174 QStringList _outlierGlo;
175};
176
177#endif
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