source: ntrip/trunk/BNC/bncmodel.cpp@ 2152

Last change on this file since 2152 was 2143, checked in by mervart, 15 years ago

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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/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncParam, bncModel
30 *
31 * Purpose: Model for PPP
32 *
33 * Author: L. Mervart
34 *
35 * Created: 01-Dec-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iomanip>
42#include <cmath>
43#include <newmatio.h>
44#include <sstream>
45
46#include "bncmodel.h"
47#include "bncapp.h"
48#include "bncpppclient.h"
49#include "bancroft.h"
50#include "bncutils.h"
51#include "bncsettings.h"
52
53using namespace std;
54
55const unsigned MINOBS = 4;
56const double MINELE = 10.0 * M_PI / 180.0;
57const double MAXRES_CODE = 10.0;
58const double MAXRES_PHASE = 0.10;
59const double sig_crd_0 = 100.0;
60const double sig_crd_p = 100.0;
61const double sig_clk_0 = 1000.0;
62const double sig_trp_0 = 0.01;
63const double sig_trp_p = 1e-6;
64const double sig_amb_0 = 100.0;
65const double sig_P3 = 1.0;
66const double sig_L3 = 0.01;
67
68// Constructor
69////////////////////////////////////////////////////////////////////////////
70bncParam::bncParam(bncParam::parType typeIn, int indexIn,
71 const QString& prnIn) {
72 type = typeIn;
73 index = indexIn;
74 prn = prnIn;
75 index_old = 0;
76 xx = 0.0;
77}
78
79// Destructor
80////////////////////////////////////////////////////////////////////////////
81bncParam::~bncParam() {
82}
83
84// Partial
85////////////////////////////////////////////////////////////////////////////
86double bncParam::partial(t_satData* satData, const QString& prnIn) {
87 if (type == CRD_X) {
88 return (xx - satData->xx(1)) / satData->rho;
89 }
90 else if (type == CRD_Y) {
91 return (xx - satData->xx(2)) / satData->rho;
92 }
93 else if (type == CRD_Z) {
94 return (xx - satData->xx(3)) / satData->rho;
95 }
96 else if (type == RECCLK) {
97 return 1.0;
98 }
99 else if (type == TROPO) {
100 return 1.0 / sin(satData->eleSat);
101 }
102 else if (type == AMB_L3) {
103 if (prnIn == prn) {
104 return 1.0;
105 }
106 else {
107 return 0.0;
108 }
109 }
110 return 0.0;
111}
112
113// Constructor
114////////////////////////////////////////////////////////////////////////////
115bncModel::bncModel(QByteArray staID) {
116
117 _staID = staID;
118
119 connect(this, SIGNAL(newMessage(QByteArray,bool)),
120 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
121
122 bncSettings settings;
123
124 _static = false;
125 if ( Qt::CheckState(settings.value("pppStatic").toInt()) == Qt::Checked) {
126 _static = true;
127 }
128
129 _usePhase = false;
130 if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
131 _usePhase = true;
132 }
133
134 _estTropo = false;
135 if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
136 _estTropo = true;
137 }
138
139 _xcBanc.ReSize(4); _xcBanc = 0.0;
140 _ellBanc.ReSize(3); _ellBanc = 0.0;
141
142 _params.push_back(new bncParam(bncParam::CRD_X, 1, ""));
143 _params.push_back(new bncParam(bncParam::CRD_Y, 2, ""));
144 _params.push_back(new bncParam(bncParam::CRD_Z, 3, ""));
145 _params.push_back(new bncParam(bncParam::RECCLK, 4, ""));
146 if (_estTropo) {
147 _params.push_back(new bncParam(bncParam::TROPO, 5, ""));
148 }
149
150 unsigned nPar = _params.size();
151
152 _QQ.ReSize(nPar);
153 _QQ = 0.0;
154
155 _QQ(1,1) = sig_crd_0 * sig_crd_0;
156 _QQ(2,2) = sig_crd_0 * sig_crd_0;
157 _QQ(3,3) = sig_crd_0 * sig_crd_0;
158 _QQ(4,4) = sig_clk_0 * sig_clk_0;
159 if (_estTropo) {
160 _QQ(5,5) = sig_trp_0 * sig_trp_0;
161 }
162
163 // NMEA Output
164 // -----------
165 QString nmeaFileName = settings.value("nmeaFile").toString();
166 if (nmeaFileName.isEmpty()) {
167 _nmeaFile = 0;
168 _nmeaStream = 0;
169 }
170 else {
171 expandEnvVar(nmeaFileName);
172 _nmeaFile = new QFile(nmeaFileName);
173 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
174 _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
175 }
176 else {
177 _nmeaFile->open(QIODevice::WriteOnly);
178 }
179 _nmeaStream = new QTextStream();
180 _nmeaStream->setDevice(_nmeaFile);
181 QDateTime dateTime = QDateTime::currentDateTime().toUTC();
182 QString nmStr = "GPRMC," + dateTime.time().toString("hhmmss")
183 + ",A,0000.0000000,N,00000.0000000,E,0.00,0.00,"
184 + dateTime.date().toString("ddMMyy")
185 + ",0.0,E";
186
187 writeNMEAstr(nmStr);
188 }
189}
190
191// Destructor
192////////////////////////////////////////////////////////////////////////////
193bncModel::~bncModel() {
194 delete _nmeaStream;
195 delete _nmeaFile;
196}
197
198// Bancroft Solution
199////////////////////////////////////////////////////////////////////////////
200t_irc bncModel::cmpBancroft(t_epoData* epoData) {
201
202 if (epoData->size() < MINOBS) {
203 _log += "\nNot enough data";
204 return failure;
205 }
206
207 Matrix BB(epoData->size(), 4);
208
209 QMapIterator<QString, t_satData*> it(epoData->satData);
210 int iObs = 0;
211 while (it.hasNext()) {
212 ++iObs;
213 it.next();
214 QString prn = it.key();
215 t_satData* satData = it.value();
216 BB(iObs, 1) = satData->xx(1);
217 BB(iObs, 2) = satData->xx(2);
218 BB(iObs, 3) = satData->xx(3);
219 BB(iObs, 4) = satData->P3 + satData->clk;
220 }
221
222 bancroft(BB, _xcBanc);
223
224 // Ellipsoidal Coordinates
225 // ------------------------
226 xyz2ell(_xcBanc.data(), _ellBanc.data());
227
228 // Compute Satellite Elevations
229 // ----------------------------
230 QMutableMapIterator<QString, t_satData*> it2(epoData->satData);
231 while (it2.hasNext()) {
232 it2.next();
233 QString prn = it2.key();
234 t_satData* satData = it2.value();
235
236 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
237 double rho = rr.norm_Frobenius();
238
239 double neu[3];
240 xyz2neu(_ellBanc.data(), rr.data(), neu);
241
242 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
243 if (neu[2] < 0) {
244 satData->eleSat *= -1.0;
245 }
246 satData->azSat = atan2(neu[1], neu[0]);
247
248 if (satData->eleSat < MINELE) {
249 delete satData;
250 it2.remove();
251 }
252 }
253
254 return success;
255}
256
257// Computed Value
258////////////////////////////////////////////////////////////////////////////
259double bncModel::cmpValue(t_satData* satData) {
260
261 ColumnVector xRec(3);
262 xRec(1) = x();
263 xRec(2) = y();
264 xRec(3) = z();
265
266 double rho0 = (satData->xx - xRec).norm_Frobenius();
267 double dPhi = t_CST::omega * rho0 / t_CST::c;
268
269 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
270 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
271 xRec(3) = z();
272
273 satData->rho = (satData->xx - xRec).norm_Frobenius();
274
275 double tropDelay = delay_saast(satData->eleSat) +
276 trp() / sin(satData->eleSat);
277
278 return satData->rho + clk() - satData->clk + tropDelay;
279}
280
281// Tropospheric Model (Saastamoinen)
282////////////////////////////////////////////////////////////////////////////
283double bncModel::delay_saast(double Ele) {
284
285 double height = _ellBanc(3);
286
287 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
288 double TT = 18.0 - height * 0.0065 + 273.15;
289 double hh = 50.0 * exp(-6.396e-4 * height);
290 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
291
292 double h_km = height / 1000.0;
293
294 if (h_km < 0.0) h_km = 0.0;
295 if (h_km > 5.0) h_km = 5.0;
296 int ii = int(h_km + 1);
297 double href = ii - 1;
298
299 double bCor[6];
300 bCor[0] = 1.156;
301 bCor[1] = 1.006;
302 bCor[2] = 0.874;
303 bCor[3] = 0.757;
304 bCor[4] = 0.654;
305 bCor[5] = 0.563;
306
307 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
308
309 double zen = M_PI/2.0 - Ele;
310
311 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
312}
313
314// Prediction Step of the Filter
315////////////////////////////////////////////////////////////////////////////
316void bncModel::predict(t_epoData* epoData) {
317
318 if (_usePhase) {
319
320 // Make a copy of QQ and xx, set parameter indices
321 // -----------------------------------------------
322 SymmetricMatrix QQ_old = _QQ;
323
324 for (int iPar = 1; iPar <= _params.size(); iPar++) {
325 _params[iPar-1]->index_old = _params[iPar-1]->index;
326 _params[iPar-1]->index = 0;
327 }
328
329 // Remove Ambiguity Parameters without observations
330 // ------------------------------------------------
331 int iPar = 0;
332 QMutableVectorIterator<bncParam*> it(_params);
333 while (it.hasNext()) {
334 bncParam* par = it.next();
335 bool removed = false;
336 if (par->type == bncParam::AMB_L3) {
337 if (epoData->satData.find(par->prn) == epoData->satData.end()) {
338 removed = true;
339 delete par;
340 it.remove();
341 }
342 }
343 if (! removed) {
344 ++iPar;
345 par->index = iPar;
346 }
347 }
348
349 // Add new ambiguity parameters
350 // ----------------------------
351 QMapIterator<QString, t_satData*> itObs(epoData->satData);
352 while (itObs.hasNext()) {
353 itObs.next();
354 QString prn = itObs.key();
355 bool found = false;
356 for (int iPar = 1; iPar <= _params.size(); iPar++) {
357 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
358 _params[iPar-1]->prn == prn) {
359 found = true;
360 break;
361 }
362 }
363 if (!found) {
364 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
365 _params.push_back(par);
366 }
367 }
368
369 int nPar = _params.size();
370 _QQ.ReSize(nPar); _QQ = 0.0;
371 for (int i1 = 1; i1 <= nPar; i1++) {
372 bncParam* p1 = _params[i1-1];
373 if (p1->index_old != 0) {
374 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
375 for (int i2 = 1; i2 <= nPar; i2++) {
376 bncParam* p2 = _params[i2-1];
377 if (p2->index_old != 0) {
378 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
379 }
380 }
381 }
382 }
383
384 for (int ii = 1; ii <= nPar; ii++) {
385 bncParam* par = _params[ii-1];
386 if (par->index_old == 0) {
387 _QQ(par->index, par->index) = sig_amb_0 * sig_amb_0;
388 }
389 par->index_old = par->index;
390 }
391 }
392
393 // Coordinates
394 // -----------
395 if (_static) {
396 if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
397 _params[0]->xx = _xcBanc(1);
398 _params[1]->xx = _xcBanc(2);
399 _params[2]->xx = _xcBanc(3);
400 }
401 }
402 else {
403 _params[0]->xx = _xcBanc(1);
404 _params[1]->xx = _xcBanc(2);
405 _params[2]->xx = _xcBanc(3);
406
407 _QQ(1,1) += sig_crd_p * sig_crd_p;
408 _QQ(2,2) += sig_crd_p * sig_crd_p;
409 _QQ(3,3) += sig_crd_p * sig_crd_p;
410 }
411
412 // Receiver Clocks
413 // ---------------
414 _params[3]->xx = _xcBanc(4);
415 for (int iPar = 1; iPar <= _params.size(); iPar++) {
416 _QQ(iPar, 4) = 0.0;
417 }
418 _QQ(4,4) = sig_clk_0 * sig_clk_0;
419
420 // Tropospheric Delay
421 // ------------------
422 if (_estTropo) {
423 _QQ(5,5) += sig_trp_p * sig_trp_p;
424 }
425}
426
427// Update Step of the Filter (currently just a single-epoch solution)
428////////////////////////////////////////////////////////////////////////////
429t_irc bncModel::update(t_epoData* epoData) {
430
431 _log = "Precise Point Positioning";
432
433 _time = epoData->tt;
434
435 SymmetricMatrix QQsav;
436 ColumnVector dx;
437 ColumnVector vv;
438
439 // Loop over all outliers
440 // ----------------------
441 do {
442
443 // Bancroft Solution
444 // -----------------
445 if (cmpBancroft(epoData) != success) {
446 _log += "\nBancroft failed";
447 emit newMessage(_log, false);
448 return failure;
449 }
450
451 if (epoData->size() < MINOBS) {
452 _log += "\nNot enough data";
453 emit newMessage(_log, false);
454 return failure;
455 }
456
457 // Status Prediction
458 // -----------------
459 predict(epoData);
460
461 // Create First-Design Matrix
462 // --------------------------
463 unsigned nPar = _params.size();
464 unsigned nObs = _usePhase ? 2 * epoData->size() : epoData->size();
465
466 Matrix AA(nObs, nPar); // first design matrix
467 ColumnVector ll(nObs); // tems observed-computed
468 SymmetricMatrix PP(nObs); PP = 0.0;
469
470 unsigned iObs = 0;
471 QMapIterator<QString, t_satData*> itObs(epoData->satData);
472 while (itObs.hasNext()) {
473 ++iObs;
474 itObs.next();
475 QString prn = itObs.key();
476 t_satData* satData = itObs.value();
477
478 double rhoCmp = cmpValue(satData);
479
480 double ellWgtCoeff = 1.0;
481 //// double eleD = satData->eleSat * 180.0 / M_PI;
482 //// if (eleD < 25.0) {
483 //// ellWgtCoeff = 2.5 - (eleD - 10.0) * 0.1;
484 //// ellWgtCoeff *= ellWgtCoeff;
485 //// }
486
487 ll(iObs) = satData->P3 - rhoCmp;
488 PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3) / ellWgtCoeff;
489 for (int iPar = 1; iPar <= _params.size(); iPar++) {
490 AA(iObs, iPar) = _params[iPar-1]->partial(satData, "");
491 }
492
493 if (_usePhase) {
494 ++iObs;
495 ll(iObs) = satData->L3 - rhoCmp;
496 PP(iObs,iObs) = 1.0 / (sig_L3 * sig_L3) / ellWgtCoeff;
497 for (int iPar = 1; iPar <= _params.size(); iPar++) {
498 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
499 _params[iPar-1]->prn == prn) {
500 ll(iObs) -= _params[iPar-1]->xx;
501 }
502 AA(iObs, iPar) = _params[iPar-1]->partial(satData, prn);
503 }
504 }
505 }
506
507 // Compute Filter Update
508 // ---------------------
509 QQsav = _QQ;
510
511 Matrix ATP = AA.t() * PP;
512 SymmetricMatrix NN = _QQ.i();
513 NN << NN + ATP * AA;
514 _QQ = NN.i();
515 dx = _QQ * ATP * ll;
516 vv = ll - AA * dx;
517
518 } while (outlierDetection(QQsav, vv, epoData->satData) != 0);
519
520 // Set Solution Vector
521 // -------------------
522 ostringstream str1;
523 str1.setf(ios::fixed);
524 QVectorIterator<bncParam*> itPar(_params);
525 while (itPar.hasNext()) {
526 bncParam* par = itPar.next();
527 par->xx += dx(par->index);
528 if (par->type == bncParam::RECCLK) {
529 str1 << "\n clk = " << setw(6) << setprecision(3) << par->xx
530 << " +- " << setw(6) << setprecision(3)
531 << sqrt(_QQ(par->index,par->index));
532 }
533 else if (par->type == bncParam::AMB_L3) {
534 str1 << "\n amb " << par->prn.toAscii().data() << " = "
535 << setw(6) << setprecision(3) << par->xx
536 << " +- " << setw(6) << setprecision(3)
537 << sqrt(_QQ(par->index,par->index));
538 }
539 }
540 _log += str1.str().c_str();
541
542 // Message (both log file and screen)
543 // ----------------------------------
544 ostringstream str2;
545 str2.setf(ios::fixed);
546 str2 << " PPP " << _staID.data() << " "
547 << epoData->tt.timestr(1) << " " << epoData->size() << " "
548 << setw(14) << setprecision(3) << x() << " +- "
549 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
550 << setw(14) << setprecision(3) << y() << " +- "
551 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
552 << setw(14) << setprecision(3) << z() << " +- "
553 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
554 if (_estTropo) {
555 str2 << " " << setw(6) << setprecision(3) << trp() << " +- "
556 << setw(6) << setprecision(3) << sqrt(_QQ(5,5));
557 }
558
559 emit newMessage(_log, false);
560 emit newMessage(QByteArray(str2.str().c_str()), true);
561
562 // NMEA Output
563 // -----------
564 if (_nmeaStream) {
565 double xyz[3];
566 xyz[0] = x();
567 xyz[1] = y();
568 xyz[2] = z();
569 double ell[3];
570 xyz2ell(xyz, ell);
571 double phiDeg = ell[0] * 180 / M_PI;
572 double lamDeg = ell[1] * 180 / M_PI;
573
574 char phiCh = 'N';
575 if (phiDeg < 0) {
576 phiDeg = -phiDeg;
577 phiCh = 'S';
578 }
579 char lamCh = 'E';
580 if (lamDeg < 0) {
581 lamDeg = -lamDeg;
582 lamCh = 'W';
583 }
584
585 double dop = 2.0; // TODO
586
587 ostringstream str3;
588 str3.setf(ios::fixed);
589 str3 << "GPGGA,"
590 << epoData->tt.timestr(0,0) << ','
591 << setw(2) << setfill('0') << int(phiDeg)
592 << setw(10) << setprecision(7) << setfill('0')
593 << fmod(60*phiDeg,60) << ',' << phiCh << ','
594 << setw(2) << setfill('0') << int(lamDeg)
595 << setw(10) << setprecision(7) << setfill('0')
596 << fmod(60*lamDeg,60) << ',' << lamCh
597 << ",1," << setw(2) << setfill('0') << epoData->size() << ','
598 << setw(3) << setprecision(1) << dop << ','
599 << setprecision(3) << ell[2] << ",M,0.0,M,,,";
600
601 writeNMEAstr(QString(str3.str().c_str()));
602 }
603
604 return success;
605}
606
607// Outlier Detection
608////////////////////////////////////////////////////////////////////////////
609int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
610 const ColumnVector& vv,
611 QMap<QString, t_satData*>& satData) {
612
613 double vvMaxCode = 0.0;
614 double vvMaxPhase = 0.0;
615 QMutableMapIterator<QString, t_satData*> itMaxCode(satData);
616 QMutableMapIterator<QString, t_satData*> itMaxPhase(satData);
617
618 int ii = 0;
619 QMutableMapIterator<QString, t_satData*> it(satData);
620 while (it.hasNext()) {
621 it.next();
622 ++ii;
623
624 if (vvMaxCode == 0.0 || fabs(vv(ii)) > vvMaxCode) {
625 vvMaxCode = fabs(vv(ii));
626 itMaxCode = it;
627 }
628
629 if (_usePhase) {
630 ++ii;
631 if (vvMaxPhase == 0.0 || fabs(vv(ii)) > vvMaxPhase) {
632 vvMaxPhase = fabs(vv(ii));
633 itMaxPhase = it;
634 }
635 }
636 }
637
638 if (vvMaxCode > MAXRES_CODE) {
639 QString prn = itMaxCode.key();
640 t_satData* satData = itMaxCode.value();
641 delete satData;
642 itMaxCode.remove();
643 _QQ = QQsav;
644
645 _log += "\nOutlier Code " + prn.toAscii() + " "
646 + QByteArray::number(vvMaxCode, 'f', 3);
647
648 return 1;
649 }
650 else if (vvMaxPhase > MAXRES_PHASE) {
651 QString prn = itMaxPhase.key();
652 t_satData* satData = itMaxPhase.value();
653 delete satData;
654 itMaxPhase.remove();
655 _QQ = QQsav;
656
657 _log += "\nOutlier Phase " + prn.toAscii() + " "
658 + QByteArray::number(vvMaxPhase, 'f', 3);
659
660 return 1;
661 }
662
663 return 0;
664}
665
666//
667////////////////////////////////////////////////////////////////////////////
668void bncModel::writeNMEAstr(const QString& nmStr) {
669
670 if (!_nmeaStream) {
671 return;
672 }
673
674 unsigned char XOR = 0;
675 for (int ii = 0; ii < nmStr.length(); ii++) {
676 XOR ^= (unsigned char) nmStr[ii].toAscii();
677 }
678
679 *_nmeaStream << '$' << nmStr << '*' << hex << (int) XOR << endl;
680
681 _nmeaStream->flush();
682}
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