source: ntrip/trunk/BNC/bncmodel.h@ 3412

Last change on this file since 3412 was 3412, checked in by mervart, 13 years ago
File size: 5.3 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;
37class bncAntex;
38
39class bncParam {
40 public:
41 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, GALILEO_OFFSET};
42 bncParam(parType typeIn, int indexIn, const QString& prn);
43 ~bncParam();
44 double partial(t_satData* satData, bool phase);
45 bool isCrd() const {
46 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
47 }
48 parType type;
49 double xx;
50 int index;
51 int index_old;
52 int numEpo;
53 QString prn;
54};
55
56class bncModel : public QObject {
57 Q_OBJECT
58 public:
59 bncModel(QByteArray staID);
60 ~bncModel();
61 t_irc update(t_epoData* epoData);
62 bncTime time() const {return _time;}
63 double x() const {return _params[0]->xx;}
64 double y() const {return _params[1]->xx;}
65 double z() const {return _params[2]->xx;}
66 double clk() const {return _params[3]->xx;}
67 double trp() const {
68 for (int ii = 0; ii < _params.size(); ++ii) {
69 bncParam* pp = _params[ii];
70 if (pp->type == bncParam::TROPO) {
71 return pp->xx;
72 }
73 }
74 return 0.0;
75 }
76 double Galileo_offset() const {
77 for (int ii = 0; ii < _params.size(); ++ii) {
78 bncParam* pp = _params[ii];
79 if (pp->type == bncParam::GALILEO_OFFSET) {
80 return pp->xx;
81 }
82 }
83 return 0.0;
84 }
85
86 static void kalman(const Matrix& AA, const ColumnVector& ll,
87 const DiagonalMatrix& PP,
88 SymmetricMatrix& QQ, ColumnVector& dx);
89
90 signals:
91 void newMessage(QByteArray msg, bool showOnScreen);
92 void newNMEAstr(QByteArray str);
93
94 private:
95 t_irc cmpBancroft(t_epoData* epoData);
96 void reset();
97 void cmpEle(t_satData* satData);
98 void addAmb(t_satData* satData);
99 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
100 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
101 QByteArray printRes(int iPhase, const ColumnVector& vv,
102 const QMap<QString, t_satData*>& satDataMap);
103 void findMaxRes(const ColumnVector& vv,
104 const QMap<QString, t_satData*>& satData,
105 QString& prn, double& maxRes);
106 double cmpValue(t_satData* satData, bool phase);
107 double delay_saast(double Ele);
108 void predict(int iPhase, t_epoData* epoData);
109 t_irc update_p(t_epoData* epoData);
110 QString outlierDetection(int iPhase, const ColumnVector& vv,
111 QMap<QString, t_satData*>& satData);
112 void writeNMEAstr(const QString& nmStr);
113
114 double windUp(const QString& prn, const ColumnVector& rSat,
115 const ColumnVector& rRec);
116
117 bncTime _startTime;
118
119 void rememberState(t_epoData* epoData);
120 void restoreState(t_epoData* epoData);
121
122 t_irc selectSatellites(const QString& lastOutlierPrn,
123 QMap<QString, t_satData*>& satData);
124
125 class pppPos {
126 public:
127 pppPos() {
128 for (int ii = 0; ii < 7; ++ii) {
129 xnt[ii] = 0.0;
130 }
131 }
132 bncTime time;
133 double xnt[7];
134 };
135
136 bncTime _time;
137 bncTime _lastTimeOK;
138 QByteArray _staID;
139 QVector<bncParam*> _params;
140 SymmetricMatrix _QQ;
141 QVector<bncParam*> _params_sav;
142 SymmetricMatrix _QQ_sav;
143 t_epoData* _epoData_sav;
144 ColumnVector _xcBanc;
145 ColumnVector _ellBanc;
146 bool _usePhase;
147 bool _estTropo;
148 bool _useGalileo;
149 QByteArray _log;
150 QFile* _nmeaFile;
151 QTextStream* _nmeaStream;
152 QMap<QString, double> _windUpTime;
153 QMap<QString, double> _windUpSum;
154 QVector<pppPos*> _posAverage;
155 double _quickStart;
156 double _maxSolGap;
157 double _sigCrd0;
158 double _sigCrdP;
159 double _sigTrp0;
160 double _sigTrpP;
161 double _sigGalileoOffset0;
162 double _sigGalileoOffsetP;
163 double _sigL3;
164 double _sigP3;
165 double _sigAmb0;
166 double _sigClk0;
167 double _dN;
168 double _dE;
169 double _dU;
170 bncAntex* _antex;
171 QString _antennaName;
172 QStringList _outlierGPS;
173 QStringList _outlierGlo;
174};
175
176#endif
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