source: ntrip/trunk/BNC/bncmodel.h@ 2782

Last change on this file since 2782 was 2782, checked in by mervart, 13 years ago
File size: 4.3 KB
Line 
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
35class t_epoData;
36class t_satData;
37
38class bncParam {
39 public:
40 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, GALILEO_OFFSET};
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
54class 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 double Galileo_offset() const {
76 for (int ii = 0; ii < _params.size(); ++ii) {
77 bncParam* pp = _params[ii];
78 if (pp->type == bncParam::GALILEO_OFFSET) {
79 return pp->xx;
80 }
81 }
82 return 0.0;
83 }
84
85 signals:
86 void newMessage(QByteArray msg, bool showOnScreen);
87 void newNMEAstr(QByteArray str);
88
89 private:
90 double cmpValue(t_satData* satData, bool phase);
91 double delay_saast(double Ele);
92 void predict(t_epoData* epoData);
93 int outlierDetection(const SymmetricMatrix& QQsav,
94 const ColumnVector& vv,
95 QMap<QString, t_satData*>& satDataGPS,
96 QMap<QString, t_satData*>& satDataGlo,
97 QMap<QString, t_satData*>& satDataGal);
98 void writeNMEAstr(const QString& nmStr);
99
100 static void kalman(const Matrix& AA, const ColumnVector& ll,
101 const DiagonalMatrix& PP,
102 SymmetricMatrix& QQ, ColumnVector& dx);
103
104 double windUp(const QString& prn, const ColumnVector& rSat,
105 const ColumnVector& rRec);
106
107 QDateTime _startTime;
108
109 class pppPos {
110 public:
111 pppPos() {
112 for (int ii = 0; ii < 7; ++ii) {
113 xnt[ii] = 0.0;
114 }
115 }
116 bncTime time;
117 double xnt[7];
118 };
119
120 bncTime _time;
121 QByteArray _staID;
122 QVector<bncParam*> _params;
123 SymmetricMatrix _QQ;
124 ColumnVector _xcBanc;
125 ColumnVector _ellBanc;
126 bool _usePhase;
127 bool _estTropo;
128 QByteArray _log;
129 QFile* _nmeaFile;
130 QTextStream* _nmeaStream;
131 bool _useGlonass;
132 bool _useGalileo;
133 QMap<QString, double> _windUpTime;
134 QMap<QString, double> _windUpSum;
135 QVector<pppPos*> _posAverage;
136 double _quickStart;
137 double _sigCrd0;
138 double _sigCrdP;
139 double _sigTrp0;
140 double _sigTrpP;
141 double _sigGalileoOffset0;
142 double _sigGalileoOffsetP;
143 double _sigL3;
144 double _sigP3;
145 double _sigAmb0;
146 double _sigClk0;
147};
148
149#endif
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