| 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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| 29 | #include <QtNetwork>
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| 30 | #include <newmat.h>
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| 31 |
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| 32 | #include "bncconst.h"
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| 33 | #include "bnctime.h"
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| 34 |
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| 35 | class t_epoData;
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| 36 | class t_satData;
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| 37 |
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| 38 | class bncParam {
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| 39 | public:
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| 40 | enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, GALILEO_OFFSET};
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| 41 | bncParam(parType typeIn, int indexIn, const QString& prn);
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| 42 | ~bncParam();
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| 43 | double partial(t_satData* satData, bool phase);
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| 44 | bool isCrd() const {
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| 45 | return (type == CRD_X || type == CRD_Y || type == CRD_Z);
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| 46 | }
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| 47 | parType type;
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| 48 | double xx;
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| 49 | int index;
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| 50 | int index_old;
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| 51 | QString prn;
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| 52 | };
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| 53 |
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| 54 | class bncModel : public QObject {
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| 55 | Q_OBJECT
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| 56 | public:
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| 57 | bncModel(QByteArray staID);
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| 58 | ~bncModel();
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| 59 | t_irc cmpBancroft(t_epoData* epoData);
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| 60 | t_irc update(t_epoData* epoData);
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| 61 | bncTime time() const {return _time;}
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| 62 | double x() const {return _params[0]->xx;}
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| 63 | double y() const {return _params[1]->xx;}
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| 64 | double z() const {return _params[2]->xx;}
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| 65 | double clk() const {return _params[3]->xx;}
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| 66 | double trp() const {
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| 67 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 68 | bncParam* pp = _params[ii];
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| 69 | if (pp->type == bncParam::TROPO) {
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| 70 | return pp->xx;
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| 71 | }
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| 72 | }
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| 73 | return 0.0;
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| 74 | }
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| 75 | double Galileo_offset() const {
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| 76 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 77 | bncParam* pp = _params[ii];
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| 78 | if (pp->type == bncParam::GALILEO_OFFSET) {
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| 79 | return pp->xx;
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| 80 | }
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| 81 | }
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| 82 | return 0.0;
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| 83 | }
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| 84 |
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| 85 | signals:
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| 86 | void newMessage(QByteArray msg, bool showOnScreen);
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| 87 | void newNMEAstr(QByteArray str);
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| 88 |
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| 89 | private:
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| 90 | void cmpEle(t_satData* satData);
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| 91 | void addAmb(t_satData* satData);
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| 92 | void addObs(unsigned& iObs, t_satData* satData,
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| 93 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
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| 94 | double cmpValue(t_satData* satData, bool phase);
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| 95 | double delay_saast(double Ele);
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| 96 | void predict(t_epoData* epoData);
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| 97 | int outlierDetection(const SymmetricMatrix& QQsav,
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| 98 | const ColumnVector& vv,
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| 99 | QMap<QString, t_satData*>& satDataGPS,
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| 100 | QMap<QString, t_satData*>& satDataGlo,
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| 101 | QMap<QString, t_satData*>& satDataGal);
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| 102 | void writeNMEAstr(const QString& nmStr);
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| 103 |
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| 104 | static void kalman(const Matrix& AA, const ColumnVector& ll,
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| 105 | const DiagonalMatrix& PP,
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| 106 | SymmetricMatrix& QQ, ColumnVector& dx);
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| 107 |
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| 108 | double windUp(const QString& prn, const ColumnVector& rSat,
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| 109 | const ColumnVector& rRec);
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| 110 |
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| 111 | QDateTime _startTime;
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| 112 |
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| 113 | class pppPos {
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| 114 | public:
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| 115 | pppPos() {
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| 116 | for (int ii = 0; ii < 7; ++ii) {
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| 117 | xnt[ii] = 0.0;
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| 118 | }
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| 119 | }
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| 120 | bncTime time;
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| 121 | double xnt[7];
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| 122 | };
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| 123 |
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| 124 | bncTime _time;
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| 125 | QByteArray _staID;
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| 126 | QVector<bncParam*> _params;
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| 127 | SymmetricMatrix _QQ;
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| 128 | ColumnVector _xcBanc;
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| 129 | ColumnVector _ellBanc;
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| 130 | bool _usePhase;
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| 131 | bool _estTropo;
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| 132 | QByteArray _log;
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| 133 | QFile* _nmeaFile;
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| 134 | QTextStream* _nmeaStream;
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| 135 | bool _useGlonass;
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| 136 | bool _useGalileo;
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| 137 | QMap<QString, double> _windUpTime;
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| 138 | QMap<QString, double> _windUpSum;
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| 139 | QVector<pppPos*> _posAverage;
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| 140 | double _quickStart;
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| 141 | double _sigCrd0;
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| 142 | double _sigCrdP;
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| 143 | double _sigTrp0;
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| 144 | double _sigTrpP;
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| 145 | double _sigGalileoOffset0;
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| 146 | double _sigGalileoOffsetP;
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| 147 | double _sigL3;
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| 148 | double _sigP3;
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| 149 | double _sigAmb0;
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| 150 | double _sigClk0;
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| 151 | };
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| 152 |
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| 153 | #endif
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