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source: ntrip/trunk/BNC/bncmodel.cpp@ 2671

Last change on this file since 2671 was 2671, checked in by mervart, 13 years ago

File size: 33.6 KB

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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	#include "bnctides.h"
53
54	using namespace std;
55
56	const unsigned MINOBS = 4;
57	const double MINELE_GPS = 10.0 * M_PI / 180.0;
58	const double MINELE_GLO = 10.0 * M_PI / 180.0;
59	const double MAXRES_CODE_GPS = 10.0;
60	const double MAXRES_PHASE_GPS = 0.10;
61	const double MAXRES_PHASE_GLO = 0.05;
62	const double QUICKSTART = 120.0;
63	const double sig_clk_0 = 1000.0;
64	const double sig_trp_0 = 0.10;
65	const double sig_trp_p = 1e-8;
66	const double sig_amb_0_GPS = 1000.0;
67	const double sig_amb_0_GLO = 1000.0;
68	const double sig_L3_GPS = 0.02;
69	const double sig_L3_GLO = 0.05;
70
71	// Constructor
72	////////////////////////////////////////////////////////////////////////////
73	bncParam::bncParam(bncParam::parType typeIn, int indexIn,
74	const QString& prnIn) {
75	type = typeIn;
76	index = indexIn;
77	prn = prnIn;
78	index_old = 0;
79	xx = 0.0;
80
81	}
82
83	// Destructor
84	////////////////////////////////////////////////////////////////////////////
85	bncParam::~bncParam() {
86	}
87
88	// Partial
89	////////////////////////////////////////////////////////////////////////////
90	double bncParam::partial(t_satData* satData, bool phase) {
91
92	// Coordinates
93	// -----------
94	if (type == CRD_X) {
95	return (xx - satData->xx(1)) / satData->rho;
96	}
97	else if (type == CRD_Y) {
98	return (xx - satData->xx(2)) / satData->rho;
99	}
100	else if (type == CRD_Z) {
101	return (xx - satData->xx(3)) / satData->rho;
102	}
103
104	// Receiver Clocks
105	// ---------------
106	else if (type == RECCLK) {
107	return 1.0;
108	}
109
110	// Troposphere
111	// -----------
112	else if (type == TROPO) {
113	return 1.0 / sin(satData->eleSat);
114	}
115
116	// Ambiguities
117	// -----------
118	else if (type == AMB_L3) {
119	if (phase && satData->prn == prn) {
120	return 1.0;
121	}
122	else {
123	return 0.0;
124	}
125	}
126
127	// Default return
128	// --------------
129	return 0.0;
130	}
131
132	// Constructor
133	////////////////////////////////////////////////////////////////////////////
134	bncModel::bncModel(QByteArray staID) {
135
136	_staID = staID;
137
138	_startTime = QDateTime::currentDateTime();
139
140	bncSettings settings;
141
142	double sig_crd_0 = 100.0;
143
144	if (settings.value("pppOrigin").toString() == "QuickStart - Static" \|\|
145	settings.value("pppOrigin").toString() == "QuickStart - Mobile") {
146	sig_crd_0 = 000.01;
147	}
148
149	connect(this, SIGNAL(newMessage(QByteArray,bool)),
150	((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
151
152	_static = false;
153	if ( Qt::CheckState(settings.value("pppStatic").toInt()) == Qt::Checked) {
154	_static = true;
155	}
156
157	_usePhase = false;
158	if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
159	_usePhase = true;
160	}
161
162	_estTropo = false;
163	if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
164	_estTropo = true;
165	}
166
167	_xcBanc.ReSize(4); _xcBanc = 0.0;
168	_ellBanc.ReSize(3); _ellBanc = 0.0;
169
170	if (_usePhase &&
171	Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
172	_useGlonass = true;
173	}
174	else {
175	_useGlonass = false;
176	}
177
178	int nextPar = 0;
179	_params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
180	_params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
181	_params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
182	_params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
183	if (_estTropo) {
184	_params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
185	}
186
187	unsigned nPar = _params.size();
188
189	_QQ.ReSize(nPar);
190
191	_QQ = 0.0;
192
193	for (int iPar = 1; iPar <= _params.size(); iPar++) {
194	bncParam* pp = _params[iPar-1];
195	if (pp->isCrd()) {
196	_QQ(iPar,iPar) = sig_crd_0 * sig_crd_0;
197	}
198	else if (pp->type == bncParam::RECCLK) {
199	_QQ(iPar,iPar) = sig_clk_0 * sig_clk_0;
200	}
201	else if (pp->type == bncParam::TROPO) {
202	_QQ(iPar,iPar) = sig_trp_0 * sig_trp_0;
203	}
204	}
205
206	// NMEA Output
207	// -----------
208	QString nmeaFileName = settings.value("nmeaFile").toString();
209	if (nmeaFileName.isEmpty()) {
210	_nmeaFile = 0;
211	_nmeaStream = 0;
212	}
213	else {
214	expandEnvVar(nmeaFileName);
215	_nmeaFile = new QFile(nmeaFileName);
216	if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
217	_nmeaFile->open(QIODevice::WriteOnly \| QIODevice::Append);
218	}
219	else {
220	_nmeaFile->open(QIODevice::WriteOnly);
221	}
222	_nmeaStream = new QTextStream();
223	_nmeaStream->setDevice(_nmeaFile);
224	}
225	}
226
227	// Destructor
228	////////////////////////////////////////////////////////////////////////////
229	bncModel::~bncModel() {
230	delete _nmeaStream;
231	delete _nmeaFile;
232	for (int ii = 0; ii < _posAverage.size(); ++ii) {
233	delete _posAverage[ii];
234	}
235	}
236
237	// Bancroft Solution
238	////////////////////////////////////////////////////////////////////////////
239	t_irc bncModel::cmpBancroft(t_epoData* epoData) {
240
241	if (epoData->sizeGPS() < MINOBS) {
242	_log += "bncModel::cmpBancroft: not enough data\n";
243	return failure;
244	}
245
246	Matrix BB(epoData->sizeGPS(), 4);
247
248	QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
249	int iObs = 0;
250	while (it.hasNext()) {
251	++iObs;
252	it.next();
253	QString prn = it.key();
254	t_satData* satData = it.value();
255	BB(iObs, 1) = satData->xx(1);
256	BB(iObs, 2) = satData->xx(2);
257	BB(iObs, 3) = satData->xx(3);
258	BB(iObs, 4) = satData->P3 + satData->clk;
259	}
260
261	bancroft(BB, _xcBanc);
262
263	// Ellipsoidal Coordinates
264	// ------------------------
265	xyz2ell(_xcBanc.data(), _ellBanc.data());
266
267	// Compute Satellite Elevations
268	// ----------------------------
269	QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
270	while (iGPS.hasNext()) {
271	iGPS.next();
272	QString prn = iGPS.key();
273	t_satData* satData = iGPS.value();
274
275	ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
276	double rho = rr.norm_Frobenius();
277
278	double neu[3];
279	xyz2neu(_ellBanc.data(), rr.data(), neu);
280
281	satData->eleSat = acos( sqrt(neu[0]neu[0] + neu[1]neu[1]) / rho );
282	if (neu[2] < 0) {
283	satData->eleSat *= -1.0;
284	}
285	satData->azSat = atan2(neu[1], neu[0]);
286
287	if (satData->eleSat < MINELE_GPS) {
288	delete satData;
289	iGPS.remove();
290	}
291	}
292
293	QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
294	while (iGlo.hasNext()) {
295	iGlo.next();
296	QString prn = iGlo.key();
297	t_satData* satData = iGlo.value();
298
299	ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
300	double rho = rr.norm_Frobenius();
301
302	double neu[3];
303	xyz2neu(_ellBanc.data(), rr.data(), neu);
304
305	satData->eleSat = acos( sqrt(neu[0]neu[0] + neu[1]neu[1]) / rho );
306	if (neu[2] < 0) {
307	satData->eleSat *= -1.0;
308	}
309	satData->azSat = atan2(neu[1], neu[0]);
310
311	if (satData->eleSat < MINELE_GLO) {
312	delete satData;
313	iGlo.remove();
314	}
315	}
316
317	return success;
318	}
319
320	// Computed Value
321	////////////////////////////////////////////////////////////////////////////
322	double bncModel::cmpValue(t_satData* satData, bool phase) {
323
324	ColumnVector xRec(3);
325	xRec(1) = x();
326	xRec(2) = y();
327	xRec(3) = z();
328
329	double rho0 = (satData->xx - xRec).norm_Frobenius();
330	double dPhi = t_CST::omega * rho0 / t_CST::c;
331
332	xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
333	xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
334	xRec(3) = z();
335
336	tides(_time, xRec);
337
338	satData->rho = (satData->xx - xRec).norm_Frobenius();
339
340	double tropDelay = delay_saast(satData->eleSat) +
341	trp() / sin(satData->eleSat);
342
343	double wind = 0.0;
344	if (phase) {
345	wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
346	}
347
348	return satData->rho + clk() - satData->clk + tropDelay + wind;
349	}
350
351	// Tropospheric Model (Saastamoinen)
352	////////////////////////////////////////////////////////////////////////////
353	double bncModel::delay_saast(double Ele) {
354
355	double height = _ellBanc(3);
356
357	double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
358	double TT = 18.0 - height * 0.0065 + 273.15;
359	double hh = 50.0 * exp(-6.396e-4 * height);
360	double ee = hh / 100.0 * exp(-37.2465 + 0.213166TT - 0.000256908TT*TT);
361
362	double h_km = height / 1000.0;
363
364	if (h_km < 0.0) h_km = 0.0;
365	if (h_km > 5.0) h_km = 5.0;
366	int ii = int(h_km + 1);
367	double href = ii - 1;
368
369	double bCor[6];
370	bCor[0] = 1.156;
371	bCor[1] = 1.006;
372	bCor[2] = 0.874;
373	bCor[3] = 0.757;
374	bCor[4] = 0.654;
375	bCor[5] = 0.563;
376
377	double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
378
379	double zen = M_PI/2.0 - Ele;
380
381	return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)ee - BB(tan(zen)*tan(zen)));
382	}
383
384	// Prediction Step of the Filter
385	////////////////////////////////////////////////////////////////////////////
386	void bncModel::predict(t_epoData* epoData) {
387
388	bncSettings settings;
389
390	bool firstCrd = false;
391	if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
392	firstCrd = true;
393	}
394
395	bool quickStartInit = false;
396	double sig_crd_p = 100.0;
397
398	if ( (settings.value("pppOrigin").toString() == "QuickStart - Static" \|\|
399	settings.value("pppOrigin").toString() == "QuickStart - Mobile") &&
400	_startTime.secsTo(QDateTime::currentDateTime()) < QUICKSTART ) {
401	quickStartInit = true;
402	sig_crd_p = 0.0;
403	}
404
405	// Predict Parameter values, add white noise
406	// -----------------------------------------
407	for (int iPar = 1; iPar <= _params.size(); iPar++) {
408	bncParam* pp = _params[iPar-1];
409
410	// Coordinates
411	// -----------
412	if (pp->type == bncParam::CRD_X) {
413	if (firstCrd \|\| !_static) {
414	if (quickStartInit) {
415	pp->xx = settings.value("pppRefCrdX").toDouble();
416	}
417	else {
418	pp->xx = _xcBanc(1);
419	}
420	}
421	_QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
422	}
423	else if (pp->type == bncParam::CRD_Y) {
424	if (firstCrd \|\| !_static) {
425	if (quickStartInit) {
426	pp->xx = settings.value("pppRefCrdY").toDouble();
427	}
428	else {
429	pp->xx = _xcBanc(2);
430	}
431	}
432	_QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
433	}
434	else if (pp->type == bncParam::CRD_Z) {
435	if (firstCrd \|\| !_static) {
436	if (quickStartInit) {
437	pp->xx = settings.value("pppRefCrdZ").toDouble();
438	}
439	else {
440	pp->xx = _xcBanc(3);
441	}
442	}
443	_QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
444	}
445
446	// Receiver Clocks
447	// ---------------
448	else if (pp->type == bncParam::RECCLK) {
449	pp->xx = _xcBanc(4);
450	for (int jj = 1; jj <= _params.size(); jj++) {
451	_QQ(iPar, jj) = 0.0;
452	}
453	_QQ(iPar,iPar) = sig_clk_0 * sig_clk_0;
454	}
455
456	// Tropospheric Delay
457	// ------------------
458	else if (pp->type == bncParam::TROPO) {
459	_QQ(iPar,iPar) += sig_trp_p * sig_trp_p;
460	}
461	}
462
463	// Add New Ambiguities if necessary
464	// --------------------------------
465	if (_usePhase) {
466
467	// Make a copy of QQ and xx, set parameter indices
468	// -----------------------------------------------
469	SymmetricMatrix QQ_old = _QQ;
470
471	for (int iPar = 1; iPar <= _params.size(); iPar++) {
472	_params[iPar-1]->index_old = _params[iPar-1]->index;
473	_params[iPar-1]->index = 0;
474	}
475
476	// Remove Ambiguity Parameters without observations
477	// ------------------------------------------------
478	int iPar = 0;
479	QMutableVectorIterator<bncParam*> it(_params);
480	while (it.hasNext()) {
481	bncParam* par = it.next();
482	bool removed = false;
483	if (par->type == bncParam::AMB_L3) {
484	if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
485	epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() ) {
486	removed = true;
487	delete par;
488	it.remove();
489	}
490	}
491	if (! removed) {
492	++iPar;
493	par->index = iPar;
494	}
495	}
496
497	// Add new ambiguity parameters
498	// ----------------------------
499	QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
500	while (iGPS.hasNext()) {
501	iGPS.next();
502	QString prn = iGPS.key();
503	t_satData* satData = iGPS.value();
504	bool found = false;
505	for (int iPar = 1; iPar <= _params.size(); iPar++) {
506	if (_params[iPar-1]->type == bncParam::AMB_L3 &&
507	_params[iPar-1]->prn == prn) {
508	found = true;
509	break;
510	}
511	}
512	if (!found) {
513	bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
514	_params.push_back(par);
515	par->xx = satData->L3 - cmpValue(satData, true);
516	}
517	}
518
519	QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
520	while (iGlo.hasNext()) {
521	iGlo.next();
522	QString prn = iGlo.key();
523	t_satData* satData = iGlo.value();
524	bool found = false;
525	for (int iPar = 1; iPar <= _params.size(); iPar++) {
526	if (_params[iPar-1]->type == bncParam::AMB_L3 &&
527	_params[iPar-1]->prn == prn) {
528	found = true;
529	break;
530	}
531	}
532	if (!found) {
533	bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
534	_params.push_back(par);
535	par->xx = satData->L3 - cmpValue(satData, true);
536	}
537	}
538
539	int nPar = _params.size();
540	_QQ.ReSize(nPar); _QQ = 0.0;
541	for (int i1 = 1; i1 <= nPar; i1++) {
542	bncParam* p1 = _params[i1-1];
543	if (p1->index_old != 0) {
544	_QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
545	for (int i2 = 1; i2 <= nPar; i2++) {
546	bncParam* p2 = _params[i2-1];
547	if (p2->index_old != 0) {
548	_QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
549	}
550	}
551	}
552	}
553
554	for (int ii = 1; ii <= nPar; ii++) {
555	bncParam* par = _params[ii-1];
556	if (par->index_old == 0) {
557	if (par->prn[0] == 'R') {
558	_QQ(par->index, par->index) = sig_amb_0_GLO * sig_amb_0_GLO;
559	}
560	else {
561	_QQ(par->index, par->index) = sig_amb_0_GPS * sig_amb_0_GPS;
562	}
563	}
564	par->index_old = par->index;
565	}
566	}
567
568	}
569
570	// Update Step of the Filter (currently just a single-epoch solution)
571	////////////////////////////////////////////////////////////////////////////
572	t_irc bncModel::update(t_epoData* epoData) {
573
574	bncSettings settings;
575	double sig_P3;
576	sig_P3 = 5.0;
577	if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked ) {
578	sig_P3 = settings.value("pppSigmaCode").toDouble();
579	if (sig_P3 < 0.3 \|\| sig_P3 > 50.0) {
580	sig_P3 = 5.0;
581	}
582	}
583
584	_log.clear();
585
586	_time = epoData->tt;
587
588	_log += "Single Point Positioning of Epoch "
589	+ QByteArray(_time.timestr(1).c_str()) +
590	"\n--------------------------------------------------------------\n";
591
592	SymmetricMatrix QQsav;
593	ColumnVector dx;
594	ColumnVector vv;
595
596	// Loop over all outliers
597	// ----------------------
598	do {
599
600	// Bancroft Solution
601	// -----------------
602	if (cmpBancroft(epoData) != success) {
603	emit newMessage(_log, false);
604	return failure;
605	}
606
607	// Status Prediction
608	// -----------------
609	predict(epoData);
610
611	// Create First-Design Matrix
612	// --------------------------
613	unsigned nPar = _params.size();
614	unsigned nObs = 0;
615	if (_usePhase) {
616	nObs = 2 * epoData->sizeGPS() + epoData->sizeGlo();
617	}
618	else {
619	nObs = epoData->sizeGPS(); // Glonass pseudoranges are not used
620	}
621
622	if (nObs < nPar) {
623	_log += "bncModel::update: nObs < nPar\n";
624	emit newMessage(_log, false);
625	return failure;
626	}
627
628	Matrix AA(nObs, nPar); // first design matrix
629	ColumnVector ll(nObs); // tems observed-computed
630	DiagonalMatrix PP(nObs); PP = 0.0;
631
632	unsigned iObs = 0;
633
634	// GPS code and (optionally) phase observations
635	// --------------------------------------------
636	QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
637	while (itGPS.hasNext()) {
638	++iObs;
639	itGPS.next();
640	QString prn = itGPS.key();
641	t_satData* satData = itGPS.value();
642
643	ll(iObs) = satData->P3 - cmpValue(satData, false);
644	PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3);
645	for (int iPar = 1; iPar <= _params.size(); iPar++) {
646	AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
647	}
648
649	if (_usePhase) {
650	++iObs;
651	ll(iObs) = satData->L3 - cmpValue(satData, true);
652	PP(iObs,iObs) = 1.0 / (sig_L3_GPS * sig_L3_GPS);
653	for (int iPar = 1; iPar <= _params.size(); iPar++) {
654	if (_params[iPar-1]->type == bncParam::AMB_L3 &&
655	_params[iPar-1]->prn == prn) {
656	ll(iObs) -= _params[iPar-1]->xx;
657	}
658	AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
659	}
660	}
661	}
662
663	// Glonass phase observations
664	// --------------------------
665	if (_usePhase) {
666	QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
667	while (itGlo.hasNext()) {
668	++iObs;
669	itGlo.next();
670	QString prn = itGlo.key();
671	t_satData* satData = itGlo.value();
672
673	ll(iObs) = satData->L3 - cmpValue(satData, true);
674	PP(iObs,iObs) = 1.0 / (sig_L3_GLO * sig_L3_GLO);
675	for (int iPar = 1; iPar <= _params.size(); iPar++) {
676	if (_params[iPar-1]->type == bncParam::AMB_L3 &&
677	_params[iPar-1]->prn == prn) {
678	ll(iObs) -= _params[iPar-1]->xx;
679	}
680	AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
681	}
682	}
683	}
684
685	// Compute Filter Update
686	// ---------------------
687	QQsav = _QQ;
688
689	kalman(AA, ll, PP, _QQ, dx);
690
691	vv = ll - AA * dx;
692
693	ostringstream strA;
694	strA.setf(ios::fixed);
695	ColumnVector vv_code(epoData->sizeGPS());
696	ColumnVector vv_phase(epoData->sizeGPS());
697	ColumnVector vv_glo(epoData->sizeGlo());
698
699	for (unsigned iobs = 1; iobs <= epoData->sizeGPS(); ++iobs) {
700	if (_usePhase) {
701	vv_code(iobs) = vv(2*iobs-1);
702	vv_phase(iobs) = vv(2*iobs);
703	}
704	else {
705	vv_code(iobs) = vv(iobs);
706	}
707	}
708	if (_useGlonass) {
709	for (unsigned iobs = 1; iobs <= epoData->sizeGlo(); ++iobs) {
710	vv_glo(iobs) = vv(2*epoData->sizeGPS()+iobs);
711	}
712	}
713
714	strA << "residuals code " << setw(8) << setprecision(3) << vv_code.t();
715	if (_usePhase) {
716	strA << "residuals phase " << setw(8) << setprecision(3) << vv_phase.t();
717	}
718	if (_useGlonass) {
719	strA << "residuals glo " << setw(8) << setprecision(3) << vv_glo.t();
720	}
721	_log += strA.str().c_str();
722
723	} while (outlierDetection(QQsav, vv, epoData->satDataGPS,
724	epoData->satDataGlo) != 0);
725
726	// Remember the Epoch-specific Results for the computation of means
727	// ----------------------------------------------------------------
728	pppPos* newPos = new pppPos;
729	newPos->time = epoData->tt;
730
731	// Set Solution Vector
732	// -------------------
733	ostringstream strB;
734	strB.setf(ios::fixed);
735	QVectorIterator<bncParam*> itPar(_params);
736	while (itPar.hasNext()) {
737	bncParam* par = itPar.next();
738	par->xx += dx(par->index);
739
740	if (par->type == bncParam::RECCLK) {
741	strB << "\n clk = " << setw(6) << setprecision(3) << par->xx
742	<< " +- " << setw(6) << setprecision(3)
743	<< sqrt(_QQ(par->index,par->index));
744	}
745	else if (par->type == bncParam::AMB_L3) {
746	strB << "\n amb " << par->prn.toAscii().data() << " = "
747	<< setw(6) << setprecision(3) << par->xx
748	<< " +- " << setw(6) << setprecision(3)
749	<< sqrt(_QQ(par->index,par->index));
750	}
751	else if (par->type == bncParam::TROPO) {
752	double aprTrp = delay_saast(M_PI/2.0);
753	strB << "\n trp = " << par->prn.toAscii().data()
754	<< setw(7) << setprecision(3) << aprTrp << " "
755	<< setw(6) << setprecision(3) << showpos << par->xx << noshowpos
756	<< " +- " << setw(6) << setprecision(3)
757	<< sqrt(_QQ(par->index,par->index));
758	newPos->xnt[6] = aprTrp + par->xx;
759	}
760	}
761	strB << '\n';
762	_log += strB.str().c_str();
763	emit newMessage(_log, false);
764
765	// Final Message (both log file and screen)
766	// ----------------------------------------
767	ostringstream strC;
768	strC.setf(ios::fixed);
769	strC << _staID.data() << " PPP "
770	<< epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
771	<< setw(14) << setprecision(3) << x() << " +- "
772	<< setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
773	<< setw(14) << setprecision(3) << y() << " +- "
774	<< setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
775	<< setw(14) << setprecision(3) << z() << " +- "
776	<< setw(6) << setprecision(3) << sqrt(_QQ(3,3));
777
778	// NEU Output
779	// ----------
780	if (settings.value("pppOrigin").toString() == "Plot - X Y Z" \|\|
781	settings.value("pppOrigin").toString() == "QuickStart - Static") {
782
783	double xyzRef[3];
784	xyzRef[0] = settings.value("pppRefCrdX").toDouble();
785	xyzRef[1] = settings.value("pppRefCrdY").toDouble();
786	xyzRef[2] = settings.value("pppRefCrdZ").toDouble();
787
788	newPos->xnt[0] = x() - xyzRef[0];
789	newPos->xnt[1] = y() - xyzRef[1];
790	newPos->xnt[2] = z() - xyzRef[2];
791
792	double ellRef[3];
793	xyz2ell(xyzRef, ellRef);
794	xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
795
796	strC << " NEU "
797	<< setw(8) << setprecision(3) << newPos->xnt[3] << " "
798	<< setw(8) << setprecision(3) << newPos->xnt[4] << " "
799	<< setw(8) << setprecision(3) << newPos->xnt[5];
800
801	}
802
803	emit newMessage(QByteArray(strC.str().c_str()), true);
804
805	if (settings.value("pppAverage").toString() == "") {
806	delete newPos;
807	}
808	else {
809
810	_posAverage.push_back(newPos);
811
812	// Time Span for Average Computation
813	// ---------------------------------
814	double tRangeAverage = settings.value("pppAverage").toDouble() * 60.;
815	if (tRangeAverage < 0) {
816	tRangeAverage = 0;
817	}
818	if (tRangeAverage > 86400) {
819	tRangeAverage = 86400;
820	}
821
822	// Compute the Mean
823	// ----------------
824	ColumnVector mean(7); mean = 0.0;
825
826	QMutableVectorIterator<pppPos*> it(_posAverage);
827	while (it.hasNext()) {
828	pppPos* pp = it.next();
829	if ( (epoData->tt - pp->time) >= tRangeAverage ) {
830	delete pp;
831	it.remove();
832	}
833	else {
834	for (int ii = 0; ii < 7; ++ii) {
835	mean[ii] += pp->xnt[ii];
836	}
837	}
838	}
839
840	int nn = _posAverage.size();
841
842	if (nn > 0) {
843
844	mean /= nn;
845
846	// Compute the Deviation
847	// ---------------------
848	ColumnVector std(7); std = 0.0;
849	QVectorIterator<pppPos*> it2(_posAverage);
850	while (it2.hasNext()) {
851	pppPos* pp = it2.next();
852	for (int ii = 0; ii < 7; ++ii) {
853	std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
854	}
855	}
856	for (int ii = 0; ii < 7; ++ii) {
857	std[ii] = sqrt(std[ii] / nn);
858	}
859
860	ostringstream strD; strD.setf(ios::fixed);
861	strD << _staID.data() << " AVE-XYZ "
862	<< epoData->tt.timestr(1) << " "
863	<< setw(13) << setprecision(3) << mean[0] << " +- "
864	<< setw(6) << setprecision(3) << std[0] << " "
865	<< setw(14) << setprecision(3) << mean[1] << " +- "
866	<< setw(6) << setprecision(3) << std[1] << " "
867	<< setw(14) << setprecision(3) << mean[2] << " +- "
868	<< setw(6) << setprecision(3) << std[2];
869	emit newMessage(QByteArray(strD.str().c_str()), true);
870
871	ostringstream strE; strE.setf(ios::fixed);
872	strE << _staID.data() << " AVE-NEU "
873	<< epoData->tt.timestr(1) << " "
874	<< setw(13) << setprecision(3) << mean[3] << " +- "
875	<< setw(6) << setprecision(3) << std[3] << " "
876	<< setw(14) << setprecision(3) << mean[4] << " +- "
877	<< setw(6) << setprecision(3) << std[4] << " "
878	<< setw(14) << setprecision(3) << mean[5] << " +- "
879	<< setw(6) << setprecision(3) << std[5];
880
881	emit newMessage(QByteArray(strE.str().c_str()), true);
882
883	ostringstream strF; strF.setf(ios::fixed);
884	strF << _staID.data() << " AVE-TRP "
885	<< epoData->tt.timestr(1) << " "
886	<< setw(13) << setprecision(3) << mean[6] << " +- "
887	<< setw(6) << setprecision(3) << std[6] << endl;
888
889	emit newMessage(QByteArray(strF.str().c_str()), true);
890	}
891	}
892
893	// NMEA Output
894	// -----------
895	double xyz[3];
896	xyz[0] = x();
897	xyz[1] = y();
898	xyz[2] = z();
899	double ell[3];
900	xyz2ell(xyz, ell);
901	double phiDeg = ell[0] * 180 / M_PI;
902	double lamDeg = ell[1] * 180 / M_PI;
903
904	char phiCh = 'N';
905	if (phiDeg < 0) {
906	phiDeg = -phiDeg;
907	phiCh = 'S';
908	}
909	char lamCh = 'E';
910	if (lamDeg < 0) {
911	lamDeg = -lamDeg;
912	lamCh = 'W';
913	}
914
915	string datestr = epoData->tt.datestr(0); // yyyymmdd
916	ostringstream strRMC;
917	strRMC.setf(ios::fixed);
918	strRMC << "GPRMC,"
919	<< epoData->tt.timestr(0,0) << ",A,"
920	<< setw(2) << setfill('0') << int(phiDeg)
921	<< setw(6) << setprecision(3) << setfill('0')
922	<< fmod(60*phiDeg,60) << ',' << phiCh << ','
923	<< setw(3) << setfill('0') << int(lamDeg)
924	<< setw(6) << setprecision(3) << setfill('0')
925	<< fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
926	<< datestr[6] << datestr[7] << datestr[4] << datestr[5]
927	<< datestr[2] << datestr[3] << ",,";
928
929	writeNMEAstr(QString(strRMC.str().c_str()));
930
931	double dop = 2.0; // TODO
932
933	ostringstream strGGA;
934	strGGA.setf(ios::fixed);
935	strGGA << "GPGGA,"
936	<< epoData->tt.timestr(0,0) << ','
937	<< setw(2) << setfill('0') << int(phiDeg)
938	<< setw(10) << setprecision(7) << setfill('0')
939	<< fmod(60*phiDeg,60) << ',' << phiCh << ','
940	<< setw(3) << setfill('0') << int(lamDeg)
941	<< setw(10) << setprecision(7) << setfill('0')
942	<< fmod(60*lamDeg,60) << ',' << lamCh
943	<< ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
944	<< setw(3) << setprecision(1) << dop << ','
945	<< setprecision(3) << ell[2] << ",M,0.0,M,,";
946
947	writeNMEAstr(QString(strGGA.str().c_str()));
948
949	return success;
950	}
951
952	// Outlier Detection
953	////////////////////////////////////////////////////////////////////////////
954	int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
955	const ColumnVector& vv,
956	QMap<QString, t_satData*>& satDataGPS,
957	QMap<QString, t_satData*>& satDataGlo) {
958
959	double vvMaxCodeGPS = 0.0;
960	double vvMaxPhaseGPS = 0.0;
961	double vvMaxPhaseGlo = 0.0;
962	QMutableMapIterator<QString, t_satData*> itMaxCodeGPS(satDataGPS);
963	QMutableMapIterator<QString, t_satData*> itMaxPhaseGPS(satDataGPS);
964	QMutableMapIterator<QString, t_satData*> itMaxPhaseGlo(satDataGlo);
965
966	int ii = 0;
967
968	// GPS code and (optionally) phase residuals
969	// -----------------------------------------
970	QMutableMapIterator<QString, t_satData*> itGPS(satDataGPS);
971	while (itGPS.hasNext()) {
972	itGPS.next();
973	++ii;
974
975	if (vvMaxCodeGPS == 0.0 \|\| fabs(vv(ii)) > vvMaxCodeGPS) {
976	vvMaxCodeGPS = fabs(vv(ii));
977	itMaxCodeGPS = itGPS;
978	}
979
980	if (_usePhase) {
981	++ii;
982	if (vvMaxPhaseGPS == 0.0 \|\| fabs(vv(ii)) > vvMaxPhaseGPS) {
983	vvMaxPhaseGPS = fabs(vv(ii));
984	itMaxPhaseGPS = itGPS;
985	}
986	}
987	}
988
989	// Glonass phase residuals
990	// -----------------------
991	if (_usePhase) {
992	QMutableMapIterator<QString, t_satData*> itGlo(satDataGlo);
993	while (itGlo.hasNext()) {
994	itGlo.next();
995	++ii;
996	if (vvMaxPhaseGlo == 0.0 \|\| fabs(vv(ii)) > vvMaxPhaseGlo) {
997	vvMaxPhaseGlo = fabs(vv(ii));
998	itMaxPhaseGlo = itGlo;
999	}
1000	}
1001	}
1002
1003	if (vvMaxPhaseGlo > MAXRES_PHASE_GLO) {
1004	QString prn = itMaxPhaseGlo.key();
1005	t_satData* satData = itMaxPhaseGlo.value();
1006	delete satData;
1007	itMaxPhaseGlo.remove();
1008	_QQ = QQsav;
1009
1010	_log += "Outlier Phase " + prn.toAscii() + " "
1011	+ QByteArray::number(vvMaxPhaseGlo, 'f', 3) + "\n";
1012
1013	return 1;
1014	}
1015
1016	else if (vvMaxCodeGPS > MAXRES_CODE_GPS) {
1017	QString prn = itMaxCodeGPS.key();
1018	t_satData* satData = itMaxCodeGPS.value();
1019	delete satData;
1020	itMaxCodeGPS.remove();
1021	_QQ = QQsav;
1022
1023	_log += "Outlier Code " + prn.toAscii() + " "
1024	+ QByteArray::number(vvMaxCodeGPS, 'f', 3) + "\n";
1025
1026	return 1;
1027	}
1028	else if (vvMaxPhaseGPS > MAXRES_PHASE_GPS) {
1029	QString prn = itMaxPhaseGPS.key();
1030	t_satData* satData = itMaxPhaseGPS.value();
1031	delete satData;
1032	itMaxPhaseGPS.remove();
1033	_QQ = QQsav;
1034
1035	_log += "Outlier Phase " + prn.toAscii() + " "
1036	+ QByteArray::number(vvMaxPhaseGPS, 'f', 3) + "\n";
1037
1038	return 1;
1039	}
1040
1041	return 0;
1042	}
1043
1044	//
1045	////////////////////////////////////////////////////////////////////////////
1046	void bncModel::writeNMEAstr(const QString& nmStr) {
1047
1048	unsigned char XOR = 0;
1049	for (int ii = 0; ii < nmStr.length(); ii++) {
1050	XOR ^= (unsigned char) nmStr[ii].toAscii();
1051	}
1052
1053	QString outStr = '$' + nmStr
1054	+ QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
1055
1056	if (_nmeaStream) {
1057	*_nmeaStream << outStr;
1058	_nmeaStream->flush();
1059	}
1060
1061	emit newNMEAstr(outStr.toAscii());
1062	}
1063
1064	////
1065	//////////////////////////////////////////////////////////////////////////////
1066	void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
1067	const DiagonalMatrix& PP,
1068	SymmetricMatrix& QQ, ColumnVector& dx) {
1069
1070	int nObs = AA.Nrows();
1071	int nPar = AA.Ncols();
1072
1073	UpperTriangularMatrix SS = Cholesky(QQ).t();
1074
1075	Matrix SA = SS*AA.t();
1076	Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
1077	for (int ii = 1; ii <= nObs; ++ii) {
1078	SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
1079	}
1080
1081	SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
1082	SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
1083
1084	UpperTriangularMatrix UU;
1085	QRZ(SRF, UU);
1086
1087	SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
1088	UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
1089	Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
1090
1091	UpperTriangularMatrix SHi = SH_rt.i();
1092
1093	Matrix KT = SHi * YY;
1094	SymmetricMatrix Hi; Hi << SHi * SHi.t();
1095
1096	dx = KT.t() * ll;
1097	QQ << (SS.t() * SS);
1098	}
1099
1100	// Phase Wind-Up Correction
1101	///////////////////////////////////////////////////////////////////////////
1102	double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
1103	const ColumnVector& rRec) {
1104
1105	double Mjd = _time.mjd() + _time.daysec() / 86400.0;
1106
1107	// First time - initialize to zero
1108	// -------------------------------
1109	if (!_windUpTime.contains(prn)) {
1110	_windUpTime[prn] = Mjd;
1111	_windUpSum[prn] = 0.0;
1112	}
1113
1114	// Compute the correction for new time
1115	// -----------------------------------
1116	else if (_windUpTime[prn] != Mjd) {
1117	_windUpTime[prn] = Mjd;
1118
1119	// Unit Vector GPS Satellite --> Receiver
1120	// --------------------------------------
1121	ColumnVector rho = rRec - rSat;
1122	rho /= rho.norm_Frobenius();
1123
1124	// GPS Satellite unit Vectors sz, sy, sx
1125	// -------------------------------------
1126	ColumnVector sz = -rSat / rSat.norm_Frobenius();
1127
1128	ColumnVector xSun = Sun(Mjd);
1129	xSun /= xSun.norm_Frobenius();
1130
1131	ColumnVector sy = crossproduct(sz, xSun);
1132	ColumnVector sx = crossproduct(sy, sz);
1133
1134	// Effective Dipole of the GPS Satellite Antenna
1135	// ---------------------------------------------
1136	ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
1137	- crossproduct(rho, sy);
1138
1139	// Receiver unit Vectors rx, ry
1140	// ----------------------------
1141	ColumnVector rx(3);
1142	ColumnVector ry(3);
1143
1144	double recEll[3]; xyz2ell(rRec.data(), recEll) ;
1145	double neu[3];
1146
1147	neu[0] = 1.0;
1148	neu[1] = 0.0;
1149	neu[2] = 0.0;
1150	neu2xyz(recEll, neu, rx.data());
1151
1152	neu[0] = 0.0;
1153	neu[1] = -1.0;
1154	neu[2] = 0.0;
1155	neu2xyz(recEll, neu, ry.data());
1156
1157	// Effective Dipole of the Receiver Antenna
1158	// ----------------------------------------
1159	ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
1160	+ crossproduct(rho, ry);
1161
1162	// Resulting Effect
1163	// ----------------
1164	double alpha = DotProduct(dipSat,dipRec) /
1165	(dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
1166
1167	if (alpha > 1.0) alpha = 1.0;
1168	if (alpha < -1.0) alpha = -1.0;
1169
1170	double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
1171
1172	if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
1173	dphi = -dphi;
1174	}
1175
1176	_windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
1177	}
1178
1179	return _windUpSum[prn];
1180	}

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