source: ntrip/trunk/BNC/bncmodel.h@ 2791

Last change on this file since 2791 was 2791, checked in by mervart, 13 years ago
File size: 4.6 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 void cmpEle(t_satData* satData);
91 void addAmb(t_satData* satData);
92 void addObs(unsigned& iObs, t_satData* satData,
93 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
94 void printRes(const ColumnVector& vv,
95 std::ostringstream& str, t_satData* satData);
96 double cmpValue(t_satData* satData, bool phase);
97 double delay_saast(double Ele);
98 void predict(t_epoData* epoData);
99 int outlierDetection(const SymmetricMatrix& QQsav,
100 const ColumnVector& vv,
101 QMap<QString, t_satData*>& satDataGPS,
102 QMap<QString, t_satData*>& satDataGlo,
103 QMap<QString, t_satData*>& satDataGal);
104 void writeNMEAstr(const QString& nmStr);
105
106 static void kalman(const Matrix& AA, const ColumnVector& ll,
107 const DiagonalMatrix& PP,
108 SymmetricMatrix& QQ, ColumnVector& dx);
109
110 double windUp(const QString& prn, const ColumnVector& rSat,
111 const ColumnVector& rRec);
112
113 QDateTime _startTime;
114
115 class pppPos {
116 public:
117 pppPos() {
118 for (int ii = 0; ii < 7; ++ii) {
119 xnt[ii] = 0.0;
120 }
121 }
122 bncTime time;
123 double xnt[7];
124 };
125
126 bncTime _time;
127 QByteArray _staID;
128 QVector<bncParam*> _params;
129 SymmetricMatrix _QQ;
130 ColumnVector _xcBanc;
131 ColumnVector _ellBanc;
132 bool _usePhase;
133 bool _estTropo;
134 QByteArray _log;
135 QFile* _nmeaFile;
136 QTextStream* _nmeaStream;
137 bool _useGlonass;
138 bool _useGalileo;
139 QMap<QString, double> _windUpTime;
140 QMap<QString, double> _windUpSum;
141 QVector<pppPos*> _posAverage;
142 double _quickStart;
143 double _sigCrd0;
144 double _sigCrdP;
145 double _sigTrp0;
146 double _sigTrpP;
147 double _sigGalileoOffset0;
148 double _sigGalileoOffsetP;
149 double _sigL3;
150 double _sigP3;
151 double _sigAmb0;
152 double _sigClk0;
153};
154
155#endif
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