[2057] | 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncParam, bncModel
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| 30 | *
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| 31 | * Purpose: Model for PPP
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 01-Dec-2009
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <iomanip>
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[2063] | 42 | #include <cmath>
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[2060] | 43 | #include <newmatio.h>
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[2113] | 44 | #include <sstream>
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[2057] | 45 |
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| 46 | #include "bncmodel.h"
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[2113] | 47 | #include "bncapp.h"
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[2058] | 48 | #include "bncpppclient.h"
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| 49 | #include "bancroft.h"
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[2063] | 50 | #include "bncutils.h"
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[2077] | 51 | #include "bncsettings.h"
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[2580] | 52 | #include "bnctides.h"
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[2057] | 53 |
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| 54 | using namespace std;
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| 55 |
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[2243] | 56 | const unsigned MINOBS = 4;
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[2287] | 57 | const double MINELE_GPS = 10.0 * M_PI / 180.0;
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| 58 | const double MINELE_GLO = 10.0 * M_PI / 180.0;
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[2243] | 59 | const double MAXRES_CODE_GPS = 10.0;
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| 60 | const double MAXRES_PHASE_GPS = 0.10;
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[2539] | 61 | const double MAXRES_PHASE_GLO = 0.05;
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[2070] | 62 |
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[2057] | 63 | // Constructor
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| 64 | ////////////////////////////////////////////////////////////////////////////
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[2080] | 65 | bncParam::bncParam(bncParam::parType typeIn, int indexIn,
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| 66 | const QString& prnIn) {
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| 67 | type = typeIn;
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| 68 | index = indexIn;
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| 69 | prn = prnIn;
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| 70 | index_old = 0;
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| 71 | xx = 0.0;
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[2473] | 72 |
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[2057] | 73 | }
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| 74 |
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| 75 | // Destructor
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| 76 | ////////////////////////////////////////////////////////////////////////////
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| 77 | bncParam::~bncParam() {
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| 78 | }
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| 79 |
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[2060] | 80 | // Partial
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| 81 | ////////////////////////////////////////////////////////////////////////////
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[2239] | 82 | double bncParam::partial(t_satData* satData, bool phase) {
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| 83 |
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| 84 | // Coordinates
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| 85 | // -----------
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[2060] | 86 | if (type == CRD_X) {
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[2109] | 87 | return (xx - satData->xx(1)) / satData->rho;
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[2060] | 88 | }
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| 89 | else if (type == CRD_Y) {
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[2109] | 90 | return (xx - satData->xx(2)) / satData->rho;
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[2060] | 91 | }
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| 92 | else if (type == CRD_Z) {
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[2109] | 93 | return (xx - satData->xx(3)) / satData->rho;
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[2060] | 94 | }
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[2239] | 95 |
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| 96 | // Receiver Clocks
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| 97 | // ---------------
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[2265] | 98 | else if (type == RECCLK) {
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| 99 | return 1.0;
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[2060] | 100 | }
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[2239] | 101 |
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| 102 | // Troposphere
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| 103 | // -----------
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[2084] | 104 | else if (type == TROPO) {
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| 105 | return 1.0 / sin(satData->eleSat);
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| 106 | }
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[2239] | 107 |
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| 108 | // Ambiguities
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| 109 | // -----------
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[2080] | 110 | else if (type == AMB_L3) {
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[2239] | 111 | if (phase && satData->prn == prn) {
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[2080] | 112 | return 1.0;
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| 113 | }
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| 114 | else {
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| 115 | return 0.0;
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| 116 | }
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| 117 | }
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[2239] | 118 |
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| 119 | // Default return
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| 120 | // --------------
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[2060] | 121 | return 0.0;
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| 122 | }
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| 123 |
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[2058] | 124 | // Constructor
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| 125 | ////////////////////////////////////////////////////////////////////////////
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[2113] | 126 | bncModel::bncModel(QByteArray staID) {
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[2084] | 127 |
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[2113] | 128 | _staID = staID;
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| 129 |
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[2648] | 130 | bncSettings settings;
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| 131 |
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[2720] | 132 | // Observation Sigmas
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| 133 | // ------------------
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| 134 | _sigP3 = 5.0;
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| 135 | if (!settings.value("pppSigmaCode").toString().isEmpty()) {
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| 136 | _sigP3 = settings.value("pppSigmaCode").toDouble();
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| 137 | }
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| 138 | _sigL3 = 0.02;
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| 139 | if (!settings.value("pppSigmaPhase").toString().isEmpty()) {
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[2741] | 140 | _sigL3 = settings.value("pppSigmaPhase").toDouble();
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[2720] | 141 | }
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[2648] | 142 |
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[2720] | 143 | // Parameter Sigmas
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| 144 | // ----------------
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| 145 | _sigCrd0 = 100.0;
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| 146 | if (!settings.value("pppSigCrd0").toString().isEmpty()) {
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| 147 | _sigCrd0 = settings.value("pppSigCrd0").toDouble();
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| 148 | }
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| 149 | _sigCrdP = 100.0;
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| 150 | if (!settings.value("pppSigCrdP").toString().isEmpty()) {
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| 151 | _sigCrdP = settings.value("pppSigCrdP").toDouble();
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| 152 | }
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| 153 | _sigTrp0 = 0.1;
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| 154 | if (!settings.value("pppSigTrp0").toString().isEmpty()) {
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| 155 | _sigTrp0 = settings.value("pppSigTrp0").toDouble();
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| 156 | }
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| 157 | _sigTrpP = 1e-6;
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| 158 | if (!settings.value("pppSigTrpP").toString().isEmpty()) {
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| 159 | _sigTrpP = settings.value("pppSigTrpP").toDouble();
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| 160 | }
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| 161 | _sigClk0 = 1000.0;
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| 162 | _sigAmb0 = 1000.0;
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[2648] | 163 |
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[2720] | 164 | // Quick-Start Mode
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| 165 | // ----------------
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| 166 | _quickStart = 0;
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[2726] | 167 | if (settings.value("pppRefCrdX").toString() != "" &&
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| 168 | settings.value("pppRefCrdY").toString() != "" &&
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| 169 | settings.value("pppRefCrdZ").toString() != "" &&
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[2720] | 170 | !settings.value("pppQuickStart").toString().isEmpty()) {
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[2745] | 171 | _quickStart = settings.value("pppQuickStart").toDouble();
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[2720] | 172 | }
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| 173 |
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[2113] | 174 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[2548] | 175 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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[2113] | 176 |
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[2084] | 177 | _usePhase = false;
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| 178 | if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
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| 179 | _usePhase = true;
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| 180 | }
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| 181 |
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| 182 | _estTropo = false;
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| 183 | if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
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| 184 | _estTropo = true;
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| 185 | }
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| 186 |
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| 187 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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| 188 | _ellBanc.ReSize(3); _ellBanc = 0.0;
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| 189 |
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[2265] | 190 | if (_usePhase &&
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| 191 | Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
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[2239] | 192 | _useGlonass = true;
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| 193 | }
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| 194 | else {
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| 195 | _useGlonass = false;
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| 196 | }
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| 197 |
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| 198 | int nextPar = 0;
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[2265] | 199 | _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
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| 200 | _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
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| 201 | _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
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| 202 | _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
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[2084] | 203 | if (_estTropo) {
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[2239] | 204 | _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
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[2084] | 205 | }
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[2073] | 206 |
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| 207 | unsigned nPar = _params.size();
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[2084] | 208 |
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[2073] | 209 | _QQ.ReSize(nPar);
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[2239] | 210 |
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[2073] | 211 | _QQ = 0.0;
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| 212 |
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[2239] | 213 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 214 | bncParam* pp = _params[iPar-1];
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| 215 | if (pp->isCrd()) {
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[2720] | 216 | _QQ(iPar,iPar) = _sigCrd0 * _sigCrd0;
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[2239] | 217 | }
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[2265] | 218 | else if (pp->type == bncParam::RECCLK) {
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[2720] | 219 | _QQ(iPar,iPar) = _sigClk0 * _sigClk0;
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[2239] | 220 | }
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| 221 | else if (pp->type == bncParam::TROPO) {
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[2720] | 222 | _QQ(iPar,iPar) = _sigTrp0 * _sigTrp0;
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[2239] | 223 | }
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[2077] | 224 | }
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[2125] | 225 |
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| 226 | // NMEA Output
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| 227 | // -----------
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| 228 | QString nmeaFileName = settings.value("nmeaFile").toString();
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| 229 | if (nmeaFileName.isEmpty()) {
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| 230 | _nmeaFile = 0;
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| 231 | _nmeaStream = 0;
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| 232 | }
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| 233 | else {
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| 234 | expandEnvVar(nmeaFileName);
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| 235 | _nmeaFile = new QFile(nmeaFileName);
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| 236 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 237 | _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 238 | }
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| 239 | else {
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| 240 | _nmeaFile->open(QIODevice::WriteOnly);
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| 241 | }
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| 242 | _nmeaStream = new QTextStream();
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| 243 | _nmeaStream->setDevice(_nmeaFile);
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| 244 | }
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[2058] | 245 | }
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| 246 |
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| 247 | // Destructor
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| 248 | ////////////////////////////////////////////////////////////////////////////
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| 249 | bncModel::~bncModel() {
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[2126] | 250 | delete _nmeaStream;
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| 251 | delete _nmeaFile;
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[2648] | 252 | for (int ii = 0; ii < _posAverage.size(); ++ii) {
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| 253 | delete _posAverage[ii];
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| 254 | }
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[2058] | 255 | }
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| 256 |
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| 257 | // Bancroft Solution
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| 258 | ////////////////////////////////////////////////////////////////////////////
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| 259 | t_irc bncModel::cmpBancroft(t_epoData* epoData) {
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| 260 |
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[2231] | 261 | if (epoData->sizeGPS() < MINOBS) {
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[2547] | 262 | _log += "bncModel::cmpBancroft: not enough data\n";
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[2058] | 263 | return failure;
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| 264 | }
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| 265 |
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[2231] | 266 | Matrix BB(epoData->sizeGPS(), 4);
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[2058] | 267 |
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[2231] | 268 | QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
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[2058] | 269 | int iObs = 0;
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| 270 | while (it.hasNext()) {
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[2060] | 271 | ++iObs;
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[2058] | 272 | it.next();
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| 273 | QString prn = it.key();
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| 274 | t_satData* satData = it.value();
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| 275 | BB(iObs, 1) = satData->xx(1);
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| 276 | BB(iObs, 2) = satData->xx(2);
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| 277 | BB(iObs, 3) = satData->xx(3);
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| 278 | BB(iObs, 4) = satData->P3 + satData->clk;
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| 279 | }
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| 280 |
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| 281 | bancroft(BB, _xcBanc);
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| 282 |
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[2064] | 283 | // Ellipsoidal Coordinates
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| 284 | // ------------------------
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| 285 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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[2063] | 286 |
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[2064] | 287 | // Compute Satellite Elevations
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| 288 | // ----------------------------
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[2231] | 289 | QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
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| 290 | while (iGPS.hasNext()) {
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| 291 | iGPS.next();
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| 292 | QString prn = iGPS.key();
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| 293 | t_satData* satData = iGPS.value();
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[2063] | 294 |
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[2109] | 295 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
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| 296 | double rho = rr.norm_Frobenius();
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[2064] | 297 |
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| 298 | double neu[3];
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[2109] | 299 | xyz2neu(_ellBanc.data(), rr.data(), neu);
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[2064] | 300 |
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| 301 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
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| 302 | if (neu[2] < 0) {
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| 303 | satData->eleSat *= -1.0;
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| 304 | }
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| 305 | satData->azSat = atan2(neu[1], neu[0]);
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[2070] | 306 |
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[2287] | 307 | if (satData->eleSat < MINELE_GPS) {
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[2070] | 308 | delete satData;
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[2231] | 309 | iGPS.remove();
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[2070] | 310 | }
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[2064] | 311 | }
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| 312 |
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[2231] | 313 | QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
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| 314 | while (iGlo.hasNext()) {
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| 315 | iGlo.next();
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| 316 | QString prn = iGlo.key();
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| 317 | t_satData* satData = iGlo.value();
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| 318 |
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| 319 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
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| 320 | double rho = rr.norm_Frobenius();
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| 321 |
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| 322 | double neu[3];
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| 323 | xyz2neu(_ellBanc.data(), rr.data(), neu);
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| 324 |
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| 325 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
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| 326 | if (neu[2] < 0) {
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| 327 | satData->eleSat *= -1.0;
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| 328 | }
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| 329 | satData->azSat = atan2(neu[1], neu[0]);
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| 330 |
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[2287] | 331 | if (satData->eleSat < MINELE_GLO) {
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[2231] | 332 | delete satData;
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| 333 | iGlo.remove();
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| 334 | }
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| 335 | }
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| 336 |
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[2058] | 337 | return success;
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| 338 | }
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[2060] | 339 |
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| 340 | // Computed Value
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| 341 | ////////////////////////////////////////////////////////////////////////////
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[2583] | 342 | double bncModel::cmpValue(t_satData* satData, bool phase) {
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[2060] | 343 |
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[2073] | 344 | ColumnVector xRec(3);
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| 345 | xRec(1) = x();
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| 346 | xRec(2) = y();
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| 347 | xRec(3) = z();
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[2060] | 348 |
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[2073] | 349 | double rho0 = (satData->xx - xRec).norm_Frobenius();
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[2060] | 350 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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| 351 |
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[2073] | 352 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
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| 353 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
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| 354 | xRec(3) = z();
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| 355 |
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[2580] | 356 | tides(_time, xRec);
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| 357 |
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[2060] | 358 | satData->rho = (satData->xx - xRec).norm_Frobenius();
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| 359 |
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[2084] | 360 | double tropDelay = delay_saast(satData->eleSat) +
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| 361 | trp() / sin(satData->eleSat);
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[2060] | 362 |
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[2583] | 363 | double wind = 0.0;
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| 364 | if (phase) {
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| 365 | wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
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| 366 | }
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| 367 |
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| 368 | return satData->rho + clk() - satData->clk + tropDelay + wind;
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[2060] | 369 | }
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| 370 |
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[2063] | 371 | // Tropospheric Model (Saastamoinen)
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| 372 | ////////////////////////////////////////////////////////////////////////////
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[2065] | 373 | double bncModel::delay_saast(double Ele) {
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[2063] | 374 |
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[2064] | 375 | double height = _ellBanc(3);
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[2063] | 376 |
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[2064] | 377 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
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| 378 | double TT = 18.0 - height * 0.0065 + 273.15;
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| 379 | double hh = 50.0 * exp(-6.396e-4 * height);
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[2063] | 380 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
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| 381 |
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[2064] | 382 | double h_km = height / 1000.0;
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[2063] | 383 |
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| 384 | if (h_km < 0.0) h_km = 0.0;
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| 385 | if (h_km > 5.0) h_km = 5.0;
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| 386 | int ii = int(h_km + 1);
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| 387 | double href = ii - 1;
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| 388 |
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| 389 | double bCor[6];
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| 390 | bCor[0] = 1.156;
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| 391 | bCor[1] = 1.006;
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| 392 | bCor[2] = 0.874;
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| 393 | bCor[3] = 0.757;
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| 394 | bCor[4] = 0.654;
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| 395 | bCor[5] = 0.563;
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| 396 |
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| 397 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
|
---|
| 398 |
|
---|
| 399 | double zen = M_PI/2.0 - Ele;
|
---|
| 400 |
|
---|
| 401 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
|
---|
| 402 | }
|
---|
| 403 |
|
---|
[2073] | 404 | // Prediction Step of the Filter
|
---|
| 405 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2080] | 406 | void bncModel::predict(t_epoData* epoData) {
|
---|
[2073] | 407 |
|
---|
[2648] | 408 | bncSettings settings;
|
---|
[2244] | 409 |
|
---|
[2648] | 410 | bool firstCrd = false;
|
---|
| 411 | if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
|
---|
| 412 | firstCrd = true;
|
---|
[2747] | 413 | _startTime = QDateTime::currentDateTime();
|
---|
[2648] | 414 | }
|
---|
| 415 |
|
---|
[2726] | 416 | // Use different white noise for Quick-Start mode
|
---|
[2720] | 417 | // ----------------------------------------------
|
---|
| 418 | double sigCrdP_used = _sigCrdP;
|
---|
| 419 | if ( _quickStart > 0.0 &&
|
---|
| 420 | _quickStart > _startTime.secsTo(QDateTime::currentDateTime()) ) {
|
---|
| 421 | sigCrdP_used = 0.0;
|
---|
[2648] | 422 | }
|
---|
| 423 |
|
---|
[2244] | 424 | // Predict Parameter values, add white noise
|
---|
| 425 | // -----------------------------------------
|
---|
| 426 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 427 | bncParam* pp = _params[iPar-1];
|
---|
| 428 |
|
---|
| 429 | // Coordinates
|
---|
| 430 | // -----------
|
---|
| 431 | if (pp->type == bncParam::CRD_X) {
|
---|
[2720] | 432 | if (firstCrd) {
|
---|
[2726] | 433 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 434 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 435 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 436 | pp->xx = settings.value("pppRefCrdX").toDouble();
|
---|
| 437 | }
|
---|
| 438 | else {
|
---|
| 439 | pp->xx = _xcBanc(1);
|
---|
| 440 | }
|
---|
[2244] | 441 | }
|
---|
[2720] | 442 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 443 | }
|
---|
| 444 | else if (pp->type == bncParam::CRD_Y) {
|
---|
[2720] | 445 | if (firstCrd) {
|
---|
[2726] | 446 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 447 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 448 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 449 | pp->xx = settings.value("pppRefCrdY").toDouble();
|
---|
| 450 | }
|
---|
| 451 | else {
|
---|
| 452 | pp->xx = _xcBanc(2);
|
---|
| 453 | }
|
---|
[2244] | 454 | }
|
---|
[2720] | 455 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 456 | }
|
---|
| 457 | else if (pp->type == bncParam::CRD_Z) {
|
---|
[2720] | 458 | if (firstCrd) {
|
---|
[2726] | 459 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 460 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 461 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 462 | pp->xx = settings.value("pppRefCrdZ").toDouble();
|
---|
| 463 | }
|
---|
| 464 | else {
|
---|
| 465 | pp->xx = _xcBanc(3);
|
---|
| 466 | }
|
---|
[2244] | 467 | }
|
---|
[2720] | 468 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 469 | }
|
---|
| 470 |
|
---|
| 471 | // Receiver Clocks
|
---|
| 472 | // ---------------
|
---|
[2265] | 473 | else if (pp->type == bncParam::RECCLK) {
|
---|
[2244] | 474 | pp->xx = _xcBanc(4);
|
---|
| 475 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
| 476 | _QQ(iPar, jj) = 0.0;
|
---|
| 477 | }
|
---|
[2720] | 478 | _QQ(iPar,iPar) = _sigClk0 * _sigClk0;
|
---|
[2244] | 479 | }
|
---|
| 480 |
|
---|
| 481 | // Tropospheric Delay
|
---|
| 482 | // ------------------
|
---|
| 483 | else if (pp->type == bncParam::TROPO) {
|
---|
[2720] | 484 | _QQ(iPar,iPar) += _sigTrpP * _sigTrpP;
|
---|
[2244] | 485 | }
|
---|
| 486 | }
|
---|
| 487 |
|
---|
| 488 | // Add New Ambiguities if necessary
|
---|
| 489 | // --------------------------------
|
---|
[2083] | 490 | if (_usePhase) {
|
---|
[2080] | 491 |
|
---|
[2083] | 492 | // Make a copy of QQ and xx, set parameter indices
|
---|
| 493 | // -----------------------------------------------
|
---|
| 494 | SymmetricMatrix QQ_old = _QQ;
|
---|
| 495 |
|
---|
| 496 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 497 | _params[iPar-1]->index_old = _params[iPar-1]->index;
|
---|
| 498 | _params[iPar-1]->index = 0;
|
---|
| 499 | }
|
---|
| 500 |
|
---|
| 501 | // Remove Ambiguity Parameters without observations
|
---|
| 502 | // ------------------------------------------------
|
---|
| 503 | int iPar = 0;
|
---|
| 504 | QMutableVectorIterator<bncParam*> it(_params);
|
---|
| 505 | while (it.hasNext()) {
|
---|
| 506 | bncParam* par = it.next();
|
---|
| 507 | bool removed = false;
|
---|
| 508 | if (par->type == bncParam::AMB_L3) {
|
---|
[2231] | 509 | if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
|
---|
| 510 | epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() ) {
|
---|
[2083] | 511 | removed = true;
|
---|
| 512 | delete par;
|
---|
| 513 | it.remove();
|
---|
| 514 | }
|
---|
[2080] | 515 | }
|
---|
[2083] | 516 | if (! removed) {
|
---|
| 517 | ++iPar;
|
---|
| 518 | par->index = iPar;
|
---|
| 519 | }
|
---|
[2080] | 520 | }
|
---|
[2083] | 521 |
|
---|
| 522 | // Add new ambiguity parameters
|
---|
| 523 | // ----------------------------
|
---|
[2231] | 524 | QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
|
---|
| 525 | while (iGPS.hasNext()) {
|
---|
| 526 | iGPS.next();
|
---|
[2233] | 527 | QString prn = iGPS.key();
|
---|
[2244] | 528 | t_satData* satData = iGPS.value();
|
---|
[2231] | 529 | bool found = false;
|
---|
[2083] | 530 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 531 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 532 | _params[iPar-1]->prn == prn) {
|
---|
| 533 | found = true;
|
---|
| 534 | break;
|
---|
| 535 | }
|
---|
[2080] | 536 | }
|
---|
[2083] | 537 | if (!found) {
|
---|
| 538 | bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
|
---|
| 539 | _params.push_back(par);
|
---|
[2583] | 540 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
[2083] | 541 | }
|
---|
[2080] | 542 | }
|
---|
[2231] | 543 |
|
---|
| 544 | QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
|
---|
| 545 | while (iGlo.hasNext()) {
|
---|
| 546 | iGlo.next();
|
---|
[2233] | 547 | QString prn = iGlo.key();
|
---|
| 548 | t_satData* satData = iGlo.value();
|
---|
[2231] | 549 | bool found = false;
|
---|
| 550 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 551 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 552 | _params[iPar-1]->prn == prn) {
|
---|
| 553 | found = true;
|
---|
| 554 | break;
|
---|
| 555 | }
|
---|
| 556 | }
|
---|
| 557 | if (!found) {
|
---|
| 558 | bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
|
---|
| 559 | _params.push_back(par);
|
---|
[2583] | 560 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
[2231] | 561 | }
|
---|
| 562 | }
|
---|
[2083] | 563 |
|
---|
| 564 | int nPar = _params.size();
|
---|
| 565 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
| 566 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
| 567 | bncParam* p1 = _params[i1-1];
|
---|
| 568 | if (p1->index_old != 0) {
|
---|
| 569 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
| 570 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
| 571 | bncParam* p2 = _params[i2-1];
|
---|
| 572 | if (p2->index_old != 0) {
|
---|
| 573 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
| 574 | }
|
---|
[2080] | 575 | }
|
---|
| 576 | }
|
---|
| 577 | }
|
---|
[2083] | 578 |
|
---|
| 579 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
| 580 | bncParam* par = _params[ii-1];
|
---|
| 581 | if (par->index_old == 0) {
|
---|
[2720] | 582 | _QQ(par->index, par->index) = _sigAmb0 * _sigAmb0;
|
---|
[2083] | 583 | }
|
---|
| 584 | par->index_old = par->index;
|
---|
[2080] | 585 | }
|
---|
| 586 | }
|
---|
[2073] | 587 | }
|
---|
| 588 |
|
---|
[2060] | 589 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
| 590 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 591 | t_irc bncModel::update(t_epoData* epoData) {
|
---|
| 592 |
|
---|
[2473] | 593 | bncSettings settings;
|
---|
| 594 |
|
---|
[2248] | 595 | _log.clear();
|
---|
[2124] | 596 |
|
---|
[2143] | 597 | _time = epoData->tt;
|
---|
| 598 |
|
---|
[2547] | 599 | _log += "Single Point Positioning of Epoch "
|
---|
| 600 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
| 601 | "\n--------------------------------------------------------------\n";
|
---|
| 602 |
|
---|
[2112] | 603 | SymmetricMatrix QQsav;
|
---|
[2109] | 604 | ColumnVector dx;
|
---|
[2112] | 605 | ColumnVector vv;
|
---|
[2073] | 606 |
|
---|
[2113] | 607 | // Loop over all outliers
|
---|
| 608 | // ----------------------
|
---|
[2108] | 609 | do {
|
---|
| 610 |
|
---|
| 611 | // Bancroft Solution
|
---|
| 612 | // -----------------
|
---|
| 613 | if (cmpBancroft(epoData) != success) {
|
---|
[2124] | 614 | emit newMessage(_log, false);
|
---|
[2108] | 615 | return failure;
|
---|
| 616 | }
|
---|
[2080] | 617 |
|
---|
[2108] | 618 | // Status Prediction
|
---|
| 619 | // -----------------
|
---|
| 620 | predict(epoData);
|
---|
| 621 |
|
---|
[2109] | 622 | // Create First-Design Matrix
|
---|
| 623 | // --------------------------
|
---|
[2108] | 624 | unsigned nPar = _params.size();
|
---|
[2231] | 625 | unsigned nObs = 0;
|
---|
| 626 | if (_usePhase) {
|
---|
[2238] | 627 | nObs = 2 * epoData->sizeGPS() + epoData->sizeGlo();
|
---|
[2231] | 628 | }
|
---|
| 629 | else {
|
---|
| 630 | nObs = epoData->sizeGPS(); // Glonass pseudoranges are not used
|
---|
| 631 | }
|
---|
[2108] | 632 |
|
---|
[2540] | 633 | if (nObs < nPar) {
|
---|
[2547] | 634 | _log += "bncModel::update: nObs < nPar\n";
|
---|
[2540] | 635 | emit newMessage(_log, false);
|
---|
| 636 | return failure;
|
---|
| 637 | }
|
---|
| 638 |
|
---|
[2108] | 639 | Matrix AA(nObs, nPar); // first design matrix
|
---|
| 640 | ColumnVector ll(nObs); // tems observed-computed
|
---|
[2283] | 641 | DiagonalMatrix PP(nObs); PP = 0.0;
|
---|
[2108] | 642 |
|
---|
| 643 | unsigned iObs = 0;
|
---|
[2231] | 644 |
|
---|
| 645 | // GPS code and (optionally) phase observations
|
---|
| 646 | // --------------------------------------------
|
---|
| 647 | QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
|
---|
| 648 | while (itGPS.hasNext()) {
|
---|
[2083] | 649 | ++iObs;
|
---|
[2231] | 650 | itGPS.next();
|
---|
| 651 | QString prn = itGPS.key();
|
---|
| 652 | t_satData* satData = itGPS.value();
|
---|
[2108] | 653 |
|
---|
[2583] | 654 | ll(iObs) = satData->P3 - cmpValue(satData, false);
|
---|
[2742] | 655 | PP(iObs,iObs) = 1.0 / (_sigP3 * _sigP3);
|
---|
[2083] | 656 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
[2239] | 657 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
[2083] | 658 | }
|
---|
[2108] | 659 |
|
---|
| 660 | if (_usePhase) {
|
---|
| 661 | ++iObs;
|
---|
[2583] | 662 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
[2720] | 663 | PP(iObs,iObs) = 1.0 / (_sigL3 * _sigL3);
|
---|
[2108] | 664 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 665 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 666 | _params[iPar-1]->prn == prn) {
|
---|
[2109] | 667 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
[2108] | 668 | }
|
---|
[2239] | 669 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
[2108] | 670 | }
|
---|
| 671 | }
|
---|
[2080] | 672 | }
|
---|
[2231] | 673 |
|
---|
| 674 | // Glonass phase observations
|
---|
| 675 | // --------------------------
|
---|
| 676 | if (_usePhase) {
|
---|
| 677 | QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
|
---|
| 678 | while (itGlo.hasNext()) {
|
---|
[2238] | 679 | ++iObs;
|
---|
[2231] | 680 | itGlo.next();
|
---|
| 681 | QString prn = itGlo.key();
|
---|
| 682 | t_satData* satData = itGlo.value();
|
---|
[2238] | 683 |
|
---|
[2583] | 684 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
[2720] | 685 | PP(iObs,iObs) = 1.0 / (_sigL3 * _sigL3);
|
---|
[2238] | 686 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 687 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 688 | _params[iPar-1]->prn == prn) {
|
---|
| 689 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
| 690 | }
|
---|
[2239] | 691 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
[2238] | 692 | }
|
---|
[2231] | 693 | }
|
---|
| 694 | }
|
---|
| 695 |
|
---|
[2112] | 696 | // Compute Filter Update
|
---|
[2108] | 697 | // ---------------------
|
---|
[2112] | 698 | QQsav = _QQ;
|
---|
| 699 |
|
---|
[2283] | 700 | kalman(AA, ll, PP, _QQ, dx);
|
---|
| 701 |
|
---|
| 702 | vv = ll - AA * dx;
|
---|
| 703 |
|
---|
[2547] | 704 | ostringstream strA;
|
---|
| 705 | strA.setf(ios::fixed);
|
---|
[2265] | 706 | ColumnVector vv_code(epoData->sizeGPS());
|
---|
| 707 | ColumnVector vv_phase(epoData->sizeGPS());
|
---|
| 708 | ColumnVector vv_glo(epoData->sizeGlo());
|
---|
[2245] | 709 |
|
---|
[2265] | 710 | for (unsigned iobs = 1; iobs <= epoData->sizeGPS(); ++iobs) {
|
---|
| 711 | if (_usePhase) {
|
---|
[2246] | 712 | vv_code(iobs) = vv(2*iobs-1);
|
---|
| 713 | vv_phase(iobs) = vv(2*iobs);
|
---|
| 714 | }
|
---|
[2265] | 715 | else {
|
---|
| 716 | vv_code(iobs) = vv(iobs);
|
---|
| 717 | }
|
---|
| 718 | }
|
---|
| 719 | if (_useGlonass) {
|
---|
[2246] | 720 | for (unsigned iobs = 1; iobs <= epoData->sizeGlo(); ++iobs) {
|
---|
| 721 | vv_glo(iobs) = vv(2*epoData->sizeGPS()+iobs);
|
---|
| 722 | }
|
---|
[2265] | 723 | }
|
---|
[2246] | 724 |
|
---|
[2547] | 725 | strA << "residuals code " << setw(8) << setprecision(3) << vv_code.t();
|
---|
[2265] | 726 | if (_usePhase) {
|
---|
[2547] | 727 | strA << "residuals phase " << setw(8) << setprecision(3) << vv_phase.t();
|
---|
[2265] | 728 | }
|
---|
| 729 | if (_useGlonass) {
|
---|
[2547] | 730 | strA << "residuals glo " << setw(8) << setprecision(3) << vv_glo.t();
|
---|
[2246] | 731 | }
|
---|
[2547] | 732 | _log += strA.str().c_str();
|
---|
[2246] | 733 |
|
---|
[2231] | 734 | } while (outlierDetection(QQsav, vv, epoData->satDataGPS,
|
---|
[2233] | 735 | epoData->satDataGlo) != 0);
|
---|
[2111] | 736 |
|
---|
[2670] | 737 | // Remember the Epoch-specific Results for the computation of means
|
---|
| 738 | // ----------------------------------------------------------------
|
---|
| 739 | pppPos* newPos = new pppPos;
|
---|
| 740 | newPos->time = epoData->tt;
|
---|
| 741 |
|
---|
[2109] | 742 | // Set Solution Vector
|
---|
| 743 | // -------------------
|
---|
[2265] | 744 | ostringstream strB;
|
---|
| 745 | strB.setf(ios::fixed);
|
---|
[2073] | 746 | QVectorIterator<bncParam*> itPar(_params);
|
---|
[2060] | 747 | while (itPar.hasNext()) {
|
---|
| 748 | bncParam* par = itPar.next();
|
---|
[2109] | 749 | par->xx += dx(par->index);
|
---|
[2265] | 750 |
|
---|
| 751 | if (par->type == bncParam::RECCLK) {
|
---|
[2547] | 752 | strB << "\n clk = " << setw(6) << setprecision(3) << par->xx
|
---|
[2124] | 753 | << " +- " << setw(6) << setprecision(3)
|
---|
| 754 | << sqrt(_QQ(par->index,par->index));
|
---|
| 755 | }
|
---|
| 756 | else if (par->type == bncParam::AMB_L3) {
|
---|
[2265] | 757 | strB << "\n amb " << par->prn.toAscii().data() << " = "
|
---|
[2124] | 758 | << setw(6) << setprecision(3) << par->xx
|
---|
| 759 | << " +- " << setw(6) << setprecision(3)
|
---|
| 760 | << sqrt(_QQ(par->index,par->index));
|
---|
| 761 | }
|
---|
[2212] | 762 | else if (par->type == bncParam::TROPO) {
|
---|
[2670] | 763 | double aprTrp = delay_saast(M_PI/2.0);
|
---|
[2547] | 764 | strB << "\n trp = " << par->prn.toAscii().data()
|
---|
[2670] | 765 | << setw(7) << setprecision(3) << aprTrp << " "
|
---|
[2213] | 766 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
[2212] | 767 | << " +- " << setw(6) << setprecision(3)
|
---|
| 768 | << sqrt(_QQ(par->index,par->index));
|
---|
[2670] | 769 | newPos->xnt[6] = aprTrp + par->xx;
|
---|
[2212] | 770 | }
|
---|
[2060] | 771 | }
|
---|
[2265] | 772 | strB << '\n';
|
---|
[2547] | 773 | _log += strB.str().c_str();
|
---|
| 774 | emit newMessage(_log, false);
|
---|
[2060] | 775 |
|
---|
[2547] | 776 | // Final Message (both log file and screen)
|
---|
| 777 | // ----------------------------------------
|
---|
| 778 | ostringstream strC;
|
---|
| 779 | strC.setf(ios::fixed);
|
---|
| 780 | strC << _staID.data() << " PPP "
|
---|
[2599] | 781 | << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
|
---|
[2231] | 782 | << setw(14) << setprecision(3) << x() << " +- "
|
---|
| 783 | << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
|
---|
| 784 | << setw(14) << setprecision(3) << y() << " +- "
|
---|
| 785 | << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
|
---|
| 786 | << setw(14) << setprecision(3) << z() << " +- "
|
---|
[2124] | 787 | << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
|
---|
[2113] | 788 |
|
---|
[2370] | 789 | // NEU Output
|
---|
| 790 | // ----------
|
---|
[2726] | 791 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 792 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 793 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2649] | 794 |
|
---|
[2370] | 795 | double xyzRef[3];
|
---|
| 796 | xyzRef[0] = settings.value("pppRefCrdX").toDouble();
|
---|
| 797 | xyzRef[1] = settings.value("pppRefCrdY").toDouble();
|
---|
| 798 | xyzRef[2] = settings.value("pppRefCrdZ").toDouble();
|
---|
[2649] | 799 |
|
---|
[2670] | 800 | newPos->xnt[0] = x() - xyzRef[0];
|
---|
| 801 | newPos->xnt[1] = y() - xyzRef[1];
|
---|
| 802 | newPos->xnt[2] = z() - xyzRef[2];
|
---|
[2649] | 803 |
|
---|
| 804 | double ellRef[3];
|
---|
[2370] | 805 | xyz2ell(xyzRef, ellRef);
|
---|
[2670] | 806 | xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
|
---|
[2649] | 807 |
|
---|
[2547] | 808 | strC << " NEU "
|
---|
[2670] | 809 | << setw(8) << setprecision(3) << newPos->xnt[3] << " "
|
---|
| 810 | << setw(8) << setprecision(3) << newPos->xnt[4] << " "
|
---|
| 811 | << setw(8) << setprecision(3) << newPos->xnt[5];
|
---|
[2649] | 812 |
|
---|
[2370] | 813 | }
|
---|
| 814 |
|
---|
[2547] | 815 | emit newMessage(QByteArray(strC.str().c_str()), true);
|
---|
| 816 |
|
---|
[2671] | 817 | if (settings.value("pppAverage").toString() == "") {
|
---|
| 818 | delete newPos;
|
---|
| 819 | }
|
---|
| 820 | else {
|
---|
| 821 |
|
---|
| 822 | _posAverage.push_back(newPos);
|
---|
[2599] | 823 |
|
---|
[2648] | 824 | // Time Span for Average Computation
|
---|
| 825 | // ---------------------------------
|
---|
| 826 | double tRangeAverage = settings.value("pppAverage").toDouble() * 60.;
|
---|
| 827 | if (tRangeAverage < 0) {
|
---|
| 828 | tRangeAverage = 0;
|
---|
| 829 | }
|
---|
| 830 | if (tRangeAverage > 86400) {
|
---|
| 831 | tRangeAverage = 86400;
|
---|
| 832 | }
|
---|
[2599] | 833 |
|
---|
[2648] | 834 | // Compute the Mean
|
---|
| 835 | // ----------------
|
---|
[2670] | 836 | ColumnVector mean(7); mean = 0.0;
|
---|
[2648] | 837 |
|
---|
[2599] | 838 | QMutableVectorIterator<pppPos*> it(_posAverage);
|
---|
| 839 | while (it.hasNext()) {
|
---|
| 840 | pppPos* pp = it.next();
|
---|
[2648] | 841 | if ( (epoData->tt - pp->time) >= tRangeAverage ) {
|
---|
[2599] | 842 | delete pp;
|
---|
| 843 | it.remove();
|
---|
| 844 | }
|
---|
[2648] | 845 | else {
|
---|
[2670] | 846 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 847 | mean[ii] += pp->xnt[ii];
|
---|
[2649] | 848 | }
|
---|
[2648] | 849 | }
|
---|
[2599] | 850 | }
|
---|
[2648] | 851 |
|
---|
| 852 | int nn = _posAverage.size();
|
---|
| 853 |
|
---|
[2649] | 854 | if (nn > 0) {
|
---|
[2648] | 855 |
|
---|
[2649] | 856 | mean /= nn;
|
---|
| 857 |
|
---|
| 858 | // Compute the Deviation
|
---|
| 859 | // ---------------------
|
---|
[2670] | 860 | ColumnVector std(7); std = 0.0;
|
---|
[2649] | 861 | QVectorIterator<pppPos*> it2(_posAverage);
|
---|
| 862 | while (it2.hasNext()) {
|
---|
| 863 | pppPos* pp = it2.next();
|
---|
[2670] | 864 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 865 | std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
|
---|
[2649] | 866 | }
|
---|
| 867 | }
|
---|
[2670] | 868 | for (int ii = 0; ii < 7; ++ii) {
|
---|
[2649] | 869 | std[ii] = sqrt(std[ii] / nn);
|
---|
| 870 | }
|
---|
| 871 |
|
---|
| 872 | ostringstream strD; strD.setf(ios::fixed);
|
---|
| 873 | strD << _staID.data() << " AVE-XYZ "
|
---|
| 874 | << epoData->tt.timestr(1) << " "
|
---|
| 875 | << setw(13) << setprecision(3) << mean[0] << " +- "
|
---|
| 876 | << setw(6) << setprecision(3) << std[0] << " "
|
---|
| 877 | << setw(14) << setprecision(3) << mean[1] << " +- "
|
---|
| 878 | << setw(6) << setprecision(3) << std[1] << " "
|
---|
| 879 | << setw(14) << setprecision(3) << mean[2] << " +- "
|
---|
[2650] | 880 | << setw(6) << setprecision(3) << std[2];
|
---|
| 881 | emit newMessage(QByteArray(strD.str().c_str()), true);
|
---|
[2649] | 882 |
|
---|
[2650] | 883 | ostringstream strE; strE.setf(ios::fixed);
|
---|
| 884 | strE << _staID.data() << " AVE-NEU "
|
---|
[2649] | 885 | << epoData->tt.timestr(1) << " "
|
---|
| 886 | << setw(13) << setprecision(3) << mean[3] << " +- "
|
---|
| 887 | << setw(6) << setprecision(3) << std[3] << " "
|
---|
| 888 | << setw(14) << setprecision(3) << mean[4] << " +- "
|
---|
| 889 | << setw(6) << setprecision(3) << std[4] << " "
|
---|
| 890 | << setw(14) << setprecision(3) << mean[5] << " +- "
|
---|
[2670] | 891 | << setw(6) << setprecision(3) << std[5];
|
---|
[2649] | 892 |
|
---|
[2650] | 893 | emit newMessage(QByteArray(strE.str().c_str()), true);
|
---|
[2670] | 894 |
|
---|
[2726] | 895 | if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
|
---|
| 896 | ostringstream strF; strF.setf(ios::fixed);
|
---|
| 897 | strF << _staID.data() << " AVE-TRP "
|
---|
| 898 | << epoData->tt.timestr(1) << " "
|
---|
| 899 | << setw(13) << setprecision(3) << mean[6] << " +- "
|
---|
| 900 | << setw(6) << setprecision(3) << std[6] << endl;
|
---|
| 901 | emit newMessage(QByteArray(strF.str().c_str()), true);
|
---|
| 902 | }
|
---|
[2599] | 903 | }
|
---|
| 904 | }
|
---|
| 905 |
|
---|
[2131] | 906 | // NMEA Output
|
---|
| 907 | // -----------
|
---|
[2181] | 908 | double xyz[3];
|
---|
| 909 | xyz[0] = x();
|
---|
| 910 | xyz[1] = y();
|
---|
| 911 | xyz[2] = z();
|
---|
| 912 | double ell[3];
|
---|
| 913 | xyz2ell(xyz, ell);
|
---|
| 914 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
| 915 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
[2132] | 916 |
|
---|
[2181] | 917 | char phiCh = 'N';
|
---|
| 918 | if (phiDeg < 0) {
|
---|
| 919 | phiDeg = -phiDeg;
|
---|
| 920 | phiCh = 'S';
|
---|
| 921 | }
|
---|
| 922 | char lamCh = 'E';
|
---|
| 923 | if (lamDeg < 0) {
|
---|
[2563] | 924 | lamDeg = -lamDeg;
|
---|
| 925 | lamCh = 'W';
|
---|
[2181] | 926 | }
|
---|
[2132] | 927 |
|
---|
[2566] | 928 | string datestr = epoData->tt.datestr(0); // yyyymmdd
|
---|
| 929 | ostringstream strRMC;
|
---|
| 930 | strRMC.setf(ios::fixed);
|
---|
| 931 | strRMC << "GPRMC,"
|
---|
| 932 | << epoData->tt.timestr(0,0) << ",A,"
|
---|
| 933 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 934 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 935 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 936 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 937 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 938 | << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
|
---|
[2569] | 939 | << datestr[6] << datestr[7] << datestr[4] << datestr[5]
|
---|
| 940 | << datestr[2] << datestr[3] << ",,";
|
---|
[2566] | 941 |
|
---|
| 942 | writeNMEAstr(QString(strRMC.str().c_str()));
|
---|
| 943 |
|
---|
[2181] | 944 | double dop = 2.0; // TODO
|
---|
[2133] | 945 |
|
---|
[2566] | 946 | ostringstream strGGA;
|
---|
| 947 | strGGA.setf(ios::fixed);
|
---|
| 948 | strGGA << "GPGGA,"
|
---|
| 949 | << epoData->tt.timestr(0,0) << ','
|
---|
| 950 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 951 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 952 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 953 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 954 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 955 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
| 956 | << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
|
---|
| 957 | << setw(3) << setprecision(1) << dop << ','
|
---|
[2569] | 958 | << setprecision(3) << ell[2] << ",M,0.0,M,,";
|
---|
[2181] | 959 |
|
---|
[2566] | 960 | writeNMEAstr(QString(strGGA.str().c_str()));
|
---|
[2131] | 961 |
|
---|
[2060] | 962 | return success;
|
---|
| 963 | }
|
---|
[2112] | 964 |
|
---|
| 965 | // Outlier Detection
|
---|
| 966 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 967 | int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
|
---|
| 968 | const ColumnVector& vv,
|
---|
[2231] | 969 | QMap<QString, t_satData*>& satDataGPS,
|
---|
| 970 | QMap<QString, t_satData*>& satDataGlo) {
|
---|
[2112] | 971 |
|
---|
[2231] | 972 | double vvMaxCodeGPS = 0.0;
|
---|
| 973 | double vvMaxPhaseGPS = 0.0;
|
---|
| 974 | double vvMaxPhaseGlo = 0.0;
|
---|
| 975 | QMutableMapIterator<QString, t_satData*> itMaxCodeGPS(satDataGPS);
|
---|
| 976 | QMutableMapIterator<QString, t_satData*> itMaxPhaseGPS(satDataGPS);
|
---|
| 977 | QMutableMapIterator<QString, t_satData*> itMaxPhaseGlo(satDataGlo);
|
---|
[2112] | 978 |
|
---|
| 979 | int ii = 0;
|
---|
[2231] | 980 |
|
---|
| 981 | // GPS code and (optionally) phase residuals
|
---|
| 982 | // -----------------------------------------
|
---|
| 983 | QMutableMapIterator<QString, t_satData*> itGPS(satDataGPS);
|
---|
| 984 | while (itGPS.hasNext()) {
|
---|
| 985 | itGPS.next();
|
---|
[2112] | 986 | ++ii;
|
---|
| 987 |
|
---|
[2231] | 988 | if (vvMaxCodeGPS == 0.0 || fabs(vv(ii)) > vvMaxCodeGPS) {
|
---|
| 989 | vvMaxCodeGPS = fabs(vv(ii));
|
---|
| 990 | itMaxCodeGPS = itGPS;
|
---|
[2112] | 991 | }
|
---|
| 992 |
|
---|
| 993 | if (_usePhase) {
|
---|
| 994 | ++ii;
|
---|
[2231] | 995 | if (vvMaxPhaseGPS == 0.0 || fabs(vv(ii)) > vvMaxPhaseGPS) {
|
---|
| 996 | vvMaxPhaseGPS = fabs(vv(ii));
|
---|
| 997 | itMaxPhaseGPS = itGPS;
|
---|
[2112] | 998 | }
|
---|
| 999 | }
|
---|
| 1000 | }
|
---|
[2231] | 1001 |
|
---|
[2238] | 1002 | // Glonass phase residuals
|
---|
| 1003 | // -----------------------
|
---|
| 1004 | if (_usePhase) {
|
---|
| 1005 | QMutableMapIterator<QString, t_satData*> itGlo(satDataGlo);
|
---|
| 1006 | while (itGlo.hasNext()) {
|
---|
| 1007 | itGlo.next();
|
---|
| 1008 | ++ii;
|
---|
| 1009 | if (vvMaxPhaseGlo == 0.0 || fabs(vv(ii)) > vvMaxPhaseGlo) {
|
---|
| 1010 | vvMaxPhaseGlo = fabs(vv(ii));
|
---|
| 1011 | itMaxPhaseGlo = itGlo;
|
---|
| 1012 | }
|
---|
| 1013 | }
|
---|
| 1014 | }
|
---|
[2112] | 1015 |
|
---|
[2248] | 1016 | if (vvMaxPhaseGlo > MAXRES_PHASE_GLO) {
|
---|
| 1017 | QString prn = itMaxPhaseGlo.key();
|
---|
| 1018 | t_satData* satData = itMaxPhaseGlo.value();
|
---|
| 1019 | delete satData;
|
---|
| 1020 | itMaxPhaseGlo.remove();
|
---|
| 1021 | _QQ = QQsav;
|
---|
| 1022 |
|
---|
[2547] | 1023 | _log += "Outlier Phase " + prn.toAscii() + " "
|
---|
| 1024 | + QByteArray::number(vvMaxPhaseGlo, 'f', 3) + "\n";
|
---|
[2248] | 1025 |
|
---|
| 1026 | return 1;
|
---|
| 1027 | }
|
---|
| 1028 |
|
---|
| 1029 | else if (vvMaxCodeGPS > MAXRES_CODE_GPS) {
|
---|
[2231] | 1030 | QString prn = itMaxCodeGPS.key();
|
---|
| 1031 | t_satData* satData = itMaxCodeGPS.value();
|
---|
[2112] | 1032 | delete satData;
|
---|
[2231] | 1033 | itMaxCodeGPS.remove();
|
---|
[2112] | 1034 | _QQ = QQsav;
|
---|
[2114] | 1035 |
|
---|
[2547] | 1036 | _log += "Outlier Code " + prn.toAscii() + " "
|
---|
| 1037 | + QByteArray::number(vvMaxCodeGPS, 'f', 3) + "\n";
|
---|
[2114] | 1038 |
|
---|
[2112] | 1039 | return 1;
|
---|
| 1040 | }
|
---|
[2243] | 1041 | else if (vvMaxPhaseGPS > MAXRES_PHASE_GPS) {
|
---|
[2231] | 1042 | QString prn = itMaxPhaseGPS.key();
|
---|
| 1043 | t_satData* satData = itMaxPhaseGPS.value();
|
---|
[2112] | 1044 | delete satData;
|
---|
[2231] | 1045 | itMaxPhaseGPS.remove();
|
---|
[2112] | 1046 | _QQ = QQsav;
|
---|
[2114] | 1047 |
|
---|
[2547] | 1048 | _log += "Outlier Phase " + prn.toAscii() + " "
|
---|
| 1049 | + QByteArray::number(vvMaxPhaseGPS, 'f', 3) + "\n";
|
---|
[2114] | 1050 |
|
---|
[2112] | 1051 | return 1;
|
---|
| 1052 | }
|
---|
[2231] | 1053 |
|
---|
[2112] | 1054 | return 0;
|
---|
| 1055 | }
|
---|
[2130] | 1056 |
|
---|
| 1057 | //
|
---|
| 1058 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1059 | void bncModel::writeNMEAstr(const QString& nmStr) {
|
---|
| 1060 |
|
---|
| 1061 | unsigned char XOR = 0;
|
---|
| 1062 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
| 1063 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
| 1064 | }
|
---|
[2181] | 1065 |
|
---|
| 1066 | QString outStr = '$' + nmStr
|
---|
| 1067 | + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
[2130] | 1068 |
|
---|
[2178] | 1069 | if (_nmeaStream) {
|
---|
[2181] | 1070 | *_nmeaStream << outStr;
|
---|
[2178] | 1071 | _nmeaStream->flush();
|
---|
| 1072 | }
|
---|
[2130] | 1073 |
|
---|
[2181] | 1074 | emit newNMEAstr(outStr.toAscii());
|
---|
[2130] | 1075 | }
|
---|
[2283] | 1076 |
|
---|
| 1077 | ////
|
---|
| 1078 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1079 | void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
|
---|
| 1080 | const DiagonalMatrix& PP,
|
---|
| 1081 | SymmetricMatrix& QQ, ColumnVector& dx) {
|
---|
| 1082 |
|
---|
| 1083 | int nObs = AA.Nrows();
|
---|
| 1084 | int nPar = AA.Ncols();
|
---|
| 1085 |
|
---|
| 1086 | UpperTriangularMatrix SS = Cholesky(QQ).t();
|
---|
| 1087 |
|
---|
| 1088 | Matrix SA = SS*AA.t();
|
---|
| 1089 | Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
|
---|
| 1090 | for (int ii = 1; ii <= nObs; ++ii) {
|
---|
| 1091 | SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
|
---|
| 1092 | }
|
---|
| 1093 |
|
---|
| 1094 | SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
|
---|
| 1095 | SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
|
---|
| 1096 |
|
---|
| 1097 | UpperTriangularMatrix UU;
|
---|
| 1098 | QRZ(SRF, UU);
|
---|
| 1099 |
|
---|
| 1100 | SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
|
---|
| 1101 | UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
|
---|
| 1102 | Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
|
---|
| 1103 |
|
---|
| 1104 | UpperTriangularMatrix SHi = SH_rt.i();
|
---|
| 1105 |
|
---|
| 1106 | Matrix KT = SHi * YY;
|
---|
| 1107 | SymmetricMatrix Hi; Hi << SHi * SHi.t();
|
---|
| 1108 |
|
---|
| 1109 | dx = KT.t() * ll;
|
---|
| 1110 | QQ << (SS.t() * SS);
|
---|
| 1111 | }
|
---|
[2582] | 1112 |
|
---|
| 1113 | // Phase Wind-Up Correction
|
---|
| 1114 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1115 | double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
|
---|
| 1116 | const ColumnVector& rRec) {
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| 1117 |
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| 1118 | double Mjd = _time.mjd() + _time.daysec() / 86400.0;
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| 1119 |
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| 1120 | // First time - initialize to zero
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| 1121 | // -------------------------------
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| 1122 | if (!_windUpTime.contains(prn)) {
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| 1123 | _windUpTime[prn] = Mjd;
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| 1124 | _windUpSum[prn] = 0.0;
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| 1125 | }
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| 1126 |
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| 1127 | // Compute the correction for new time
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| 1128 | // -----------------------------------
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| 1129 | else if (_windUpTime[prn] != Mjd) {
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| 1130 | _windUpTime[prn] = Mjd;
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| 1131 |
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| 1132 | // Unit Vector GPS Satellite --> Receiver
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| 1133 | // --------------------------------------
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| 1134 | ColumnVector rho = rRec - rSat;
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| 1135 | rho /= rho.norm_Frobenius();
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| 1136 |
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| 1137 | // GPS Satellite unit Vectors sz, sy, sx
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| 1138 | // -------------------------------------
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| 1139 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
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| 1140 |
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| 1141 | ColumnVector xSun = Sun(Mjd);
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| 1142 | xSun /= xSun.norm_Frobenius();
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| 1143 |
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| 1144 | ColumnVector sy = crossproduct(sz, xSun);
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| 1145 | ColumnVector sx = crossproduct(sy, sz);
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| 1146 |
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| 1147 | // Effective Dipole of the GPS Satellite Antenna
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| 1148 | // ---------------------------------------------
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| 1149 | ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
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| 1150 | - crossproduct(rho, sy);
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| 1151 |
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| 1152 | // Receiver unit Vectors rx, ry
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| 1153 | // ----------------------------
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| 1154 | ColumnVector rx(3);
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| 1155 | ColumnVector ry(3);
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| 1156 |
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| 1157 | double recEll[3]; xyz2ell(rRec.data(), recEll) ;
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| 1158 | double neu[3];
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| 1159 |
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| 1160 | neu[0] = 1.0;
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| 1161 | neu[1] = 0.0;
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| 1162 | neu[2] = 0.0;
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| 1163 | neu2xyz(recEll, neu, rx.data());
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| 1164 |
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| 1165 | neu[0] = 0.0;
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| 1166 | neu[1] = -1.0;
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| 1167 | neu[2] = 0.0;
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| 1168 | neu2xyz(recEll, neu, ry.data());
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| 1169 |
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| 1170 | // Effective Dipole of the Receiver Antenna
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| 1171 | // ----------------------------------------
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| 1172 | ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
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| 1173 | + crossproduct(rho, ry);
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| 1174 |
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| 1175 | // Resulting Effect
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| 1176 | // ----------------
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| 1177 | double alpha = DotProduct(dipSat,dipRec) /
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| 1178 | (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
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| 1179 |
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| 1180 | if (alpha > 1.0) alpha = 1.0;
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| 1181 | if (alpha < -1.0) alpha = -1.0;
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| 1182 |
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| 1183 | double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
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| 1184 |
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| 1185 | if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
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| 1186 | dphi = -dphi;
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| 1187 | }
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| 1188 |
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| 1189 | _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
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| 1190 | }
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| 1191 |
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| 1192 | return _windUpSum[prn];
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| 1193 | }
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