[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 | #ifndef BNCMODEL_H
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| 26 | #define BNCMODEL_H
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| 27 |
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| 28 | #include <QtCore>
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[2178] | 29 | #include <QtNetwork>
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[2057] | 30 | #include <newmat.h>
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[3375] | 31 | #include <vector>
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[2057] | 32 |
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[2058] | 33 | #include "bncconst.h"
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[2143] | 34 | #include "bnctime.h"
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[2058] | 35 |
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| 36 | class t_epoData;
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[2060] | 37 | class t_satData;
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[2881] | 38 | class bncAntex;
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[2058] | 39 |
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[2057] | 40 | class bncParam {
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| 41 | public:
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[2782] | 42 | enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, GALILEO_OFFSET};
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[2080] | 43 | bncParam(parType typeIn, int indexIn, const QString& prn);
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[2057] | 44 | ~bncParam();
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[2240] | 45 | double partial(t_satData* satData, bool phase);
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[2073] | 46 | bool isCrd() const {
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| 47 | return (type == CRD_X || type == CRD_Y || type == CRD_Z);
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| 48 | }
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[2059] | 49 | parType type;
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[2073] | 50 | double xx;
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| 51 | int index;
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[2080] | 52 | int index_old;
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[3330] | 53 | int numEpo;
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[2080] | 54 | QString prn;
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[2058] | 55 | };
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[2057] | 56 |
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[2113] | 57 | class bncModel : public QObject {
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| 58 | Q_OBJECT
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[2058] | 59 | public:
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[2113] | 60 | bncModel(QByteArray staID);
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[2058] | 61 | ~bncModel();
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[2060] | 62 | t_irc update(t_epoData* epoData);
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[2240] | 63 | bncTime time() const {return _time;}
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| 64 | double x() const {return _params[0]->xx;}
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| 65 | double y() const {return _params[1]->xx;}
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| 66 | double z() const {return _params[2]->xx;}
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[2265] | 67 | double clk() const {return _params[3]->xx;}
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[2240] | 68 | double trp() const {
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| 69 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 70 | bncParam* pp = _params[ii];
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| 71 | if (pp->type == bncParam::TROPO) {
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| 72 | return pp->xx;
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| 73 | }
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| 74 | }
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| 75 | return 0.0;
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| 76 | }
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[2782] | 77 | double Galileo_offset() const {
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| 78 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 79 | bncParam* pp = _params[ii];
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| 80 | if (pp->type == bncParam::GALILEO_OFFSET) {
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| 81 | return pp->xx;
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| 82 | }
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| 83 | }
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| 84 | return 0.0;
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| 85 | }
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[2240] | 86 |
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[2932] | 87 | static void kalman(const Matrix& AA, const ColumnVector& ll,
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| 88 | const DiagonalMatrix& PP,
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| 89 | SymmetricMatrix& QQ, ColumnVector& dx);
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| 90 |
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[2113] | 91 | signals:
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| 92 | void newMessage(QByteArray msg, bool showOnScreen);
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[2181] | 93 | void newNMEAstr(QByteArray str);
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[2113] | 94 |
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[2057] | 95 | private:
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[3380] | 96 | t_irc cmpBancroft(t_epoData* epoData);
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[3107] | 97 | void reset();
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[2789] | 98 | void cmpEle(t_satData* satData);
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| 99 | void addAmb(t_satData* satData);
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[3309] | 100 | void addObs(int iPhase, unsigned& iObs, t_satData* satData,
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[2790] | 101 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
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[3309] | 102 | void printRes(int iPhase, const ColumnVector& vv,
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[2791] | 103 | std::ostringstream& str, t_satData* satData);
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[3386] | 104 | void findMaxRes(const ColumnVector& vv,
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[2792] | 105 | const QMap<QString, t_satData*>& satData,
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[3386] | 106 | QString& prn, double& maxRes);
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[2583] | 107 | double cmpValue(t_satData* satData, bool phase);
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[2065] | 108 | double delay_saast(double Ele);
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[3309] | 109 | void predict(int iPhase, t_epoData* epoData);
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[3321] | 110 | t_irc update_p(t_epoData* epoData);
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[3375] | 111 | bool outlierDetection(int iPhase, const ColumnVector& vv,
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[3383] | 112 | QMap<QString, t_satData*>& satData);
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[2130] | 113 | void writeNMEAstr(const QString& nmStr);
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[2063] | 114 |
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[2582] | 115 | double windUp(const QString& prn, const ColumnVector& rSat,
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| 116 | const ColumnVector& rRec);
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| 117 |
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[2874] | 118 | bncTime _startTime;
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[2648] | 119 |
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[3375] | 120 | void rememberState(t_epoData* epoData);
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| 121 | void restoreState(t_epoData* epoData);
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[3323] | 122 |
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[2595] | 123 | class pppPos {
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| 124 | public:
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[2670] | 125 | pppPos() {
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| 126 | for (int ii = 0; ii < 7; ++ii) {
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| 127 | xnt[ii] = 0.0;
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| 128 | }
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| 129 | }
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[2595] | 130 | bncTime time;
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[2670] | 131 | double xnt[7];
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[2595] | 132 | };
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| 133 |
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[2582] | 134 | bncTime _time;
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[3106] | 135 | bncTime _lastTimeOK;
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[2582] | 136 | QByteArray _staID;
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| 137 | QVector<bncParam*> _params;
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| 138 | SymmetricMatrix _QQ;
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[3323] | 139 | QVector<bncParam*> _params_sav;
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| 140 | SymmetricMatrix _QQ_sav;
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[3375] | 141 | t_epoData* _epoData_sav;
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[2582] | 142 | ColumnVector _xcBanc;
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| 143 | ColumnVector _ellBanc;
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| 144 | bool _usePhase;
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| 145 | bool _estTropo;
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[3107] | 146 | bool _useGalileo;
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[2582] | 147 | QByteArray _log;
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| 148 | QFile* _nmeaFile;
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| 149 | QTextStream* _nmeaStream;
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| 150 | QMap<QString, double> _windUpTime;
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| 151 | QMap<QString, double> _windUpSum;
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[2648] | 152 | QVector<pppPos*> _posAverage;
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[2720] | 153 | double _quickStart;
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[3119] | 154 | double _maxSolGap;
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[2720] | 155 | double _sigCrd0;
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| 156 | double _sigCrdP;
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| 157 | double _sigTrp0;
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| 158 | double _sigTrpP;
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[2782] | 159 | double _sigGalileoOffset0;
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| 160 | double _sigGalileoOffsetP;
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[2720] | 161 | double _sigL3;
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| 162 | double _sigP3;
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| 163 | double _sigAmb0;
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| 164 | double _sigClk0;
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[3286] | 165 | double _dN;
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| 166 | double _dE;
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| 167 | double _dU;
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[2881] | 168 | bncAntex* _antex;
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[2894] | 169 | QString _antennaName;
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[2057] | 170 | };
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| 171 |
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| 172 | #endif
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