| 1 | // Part of BNC, a utility for retrieving decoding and
|
|---|
| 2 | // converting GNSS data streams from NTRIP broadcasters.
|
|---|
| 3 | //
|
|---|
| 4 | // Copyright (C) 2007
|
|---|
| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
|
|---|
| 6 | // http://www.bkg.bund.de
|
|---|
| 7 | // Czech Technical University Prague, Department of Geodesy
|
|---|
| 8 | // http://www.fsv.cvut.cz
|
|---|
| 9 | //
|
|---|
| 10 | // Email: euref-ip@bkg.bund.de
|
|---|
| 11 | //
|
|---|
| 12 | // This program is free software; you can redistribute it and/or
|
|---|
| 13 | // modify it under the terms of the GNU General Public License
|
|---|
| 14 | // as published by the Free Software Foundation, version 2.
|
|---|
| 15 | //
|
|---|
| 16 | // This program is distributed in the hope that it will be useful,
|
|---|
| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|---|
| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|---|
| 19 | // GNU General Public License for more details.
|
|---|
| 20 | //
|
|---|
| 21 | // You should have received a copy of the GNU General Public License
|
|---|
| 22 | // along with this program; if not, write to the Free Software
|
|---|
| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
|---|
| 24 |
|
|---|
| 25 | #ifndef BNCMODEL_H
|
|---|
| 26 | #define BNCMODEL_H
|
|---|
| 27 |
|
|---|
| 28 | #include <QtCore>
|
|---|
| 29 | #include <QtNetwork>
|
|---|
| 30 | #include <newmat.h>
|
|---|
| 31 |
|
|---|
| 32 | #include "bncconst.h"
|
|---|
| 33 | #include "bnctime.h"
|
|---|
| 34 |
|
|---|
| 35 | class t_epoData;
|
|---|
| 36 | class t_satData;
|
|---|
| 37 |
|
|---|
| 38 | class bncParam {
|
|---|
| 39 | public:
|
|---|
| 40 | enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3};
|
|---|
| 41 | bncParam(parType typeIn, int indexIn, const QString& prn);
|
|---|
| 42 | ~bncParam();
|
|---|
| 43 | double partial(t_satData* satData, bool phase);
|
|---|
| 44 | bool isCrd() const {
|
|---|
| 45 | return (type == CRD_X || type == CRD_Y || type == CRD_Z);
|
|---|
| 46 | }
|
|---|
| 47 | parType type;
|
|---|
| 48 | double xx;
|
|---|
| 49 | int index;
|
|---|
| 50 | int index_old;
|
|---|
| 51 | QString prn;
|
|---|
| 52 | };
|
|---|
| 53 |
|
|---|
| 54 | class bncModel : public QObject {
|
|---|
| 55 | Q_OBJECT
|
|---|
| 56 | public:
|
|---|
| 57 | bncModel(QByteArray staID);
|
|---|
| 58 | ~bncModel();
|
|---|
| 59 | t_irc cmpBancroft(t_epoData* epoData);
|
|---|
| 60 | t_irc update(t_epoData* epoData);
|
|---|
| 61 | bncTime time() const {return _time;}
|
|---|
| 62 | double x() const {return _params[0]->xx;}
|
|---|
| 63 | double y() const {return _params[1]->xx;}
|
|---|
| 64 | double z() const {return _params[2]->xx;}
|
|---|
| 65 | double clk() const {return _params[3]->xx;}
|
|---|
| 66 | double trp() const {
|
|---|
| 67 | for (int ii = 0; ii < _params.size(); ++ii) {
|
|---|
| 68 | bncParam* pp = _params[ii];
|
|---|
| 69 | if (pp->type == bncParam::TROPO) {
|
|---|
| 70 | return pp->xx;
|
|---|
| 71 | }
|
|---|
| 72 | }
|
|---|
| 73 | return 0.0;
|
|---|
| 74 | }
|
|---|
| 75 |
|
|---|
| 76 | signals:
|
|---|
| 77 | void newMessage(QByteArray msg, bool showOnScreen);
|
|---|
| 78 | void newNMEAstr(QByteArray str);
|
|---|
| 79 |
|
|---|
| 80 | private:
|
|---|
| 81 | double cmpValue(t_satData* satData, bool phase);
|
|---|
| 82 | double delay_saast(double Ele);
|
|---|
| 83 | void predict(t_epoData* epoData);
|
|---|
| 84 | int outlierDetection(const SymmetricMatrix& QQsav,
|
|---|
| 85 | const ColumnVector& vv,
|
|---|
| 86 | QMap<QString, t_satData*>& satDataGPS,
|
|---|
| 87 | QMap<QString, t_satData*>& satDataGlo);
|
|---|
| 88 | void writeNMEAstr(const QString& nmStr);
|
|---|
| 89 |
|
|---|
| 90 | static void kalman(const Matrix& AA, const ColumnVector& ll,
|
|---|
| 91 | const DiagonalMatrix& PP,
|
|---|
| 92 | SymmetricMatrix& QQ, ColumnVector& dx);
|
|---|
| 93 |
|
|---|
| 94 | double windUp(const QString& prn, const ColumnVector& rSat,
|
|---|
| 95 | const ColumnVector& rRec);
|
|---|
| 96 |
|
|---|
| 97 | QDateTime _startTime;
|
|---|
| 98 |
|
|---|
| 99 | class pppPos {
|
|---|
| 100 | public:
|
|---|
| 101 | pppPos() {
|
|---|
| 102 | for (int ii = 0; ii < 7; ++ii) {
|
|---|
| 103 | xnt[ii] = 0.0;
|
|---|
| 104 | }
|
|---|
| 105 | }
|
|---|
| 106 | bncTime time;
|
|---|
| 107 | double xnt[7];
|
|---|
| 108 | };
|
|---|
| 109 |
|
|---|
| 110 | bncTime _time;
|
|---|
| 111 | QByteArray _staID;
|
|---|
| 112 | QVector<bncParam*> _params;
|
|---|
| 113 | SymmetricMatrix _QQ;
|
|---|
| 114 | ColumnVector _xcBanc;
|
|---|
| 115 | ColumnVector _ellBanc;
|
|---|
| 116 | bool _static;
|
|---|
| 117 | bool _usePhase;
|
|---|
| 118 | bool _estTropo;
|
|---|
| 119 | QByteArray _log;
|
|---|
| 120 | QFile* _nmeaFile;
|
|---|
| 121 | QTextStream* _nmeaStream;
|
|---|
| 122 | bool _useGlonass;
|
|---|
| 123 | QMap<QString, double> _windUpTime;
|
|---|
| 124 | QMap<QString, double> _windUpSum;
|
|---|
| 125 | QVector<pppPos*> _posAverage;
|
|---|
| 126 | };
|
|---|
| 127 |
|
|---|
| 128 | #endif
|
|---|
