[2035] | 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 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncPPPclient
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| 30 | *
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| 31 | * Purpose: Precise Point Positioning
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 21-Nov-2009
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include "bncpppclient.h"
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[2113] | 42 | #include "bncapp.h"
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[2043] | 43 | #include "bncutils.h"
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[2044] | 44 | #include "bncconst.h"
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[2058] | 45 | #include "bncmodel.h"
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[2035] | 46 |
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| 47 | extern "C" {
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| 48 | #include "clock_orbit_rtcm.h"
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| 49 | }
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| 50 |
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| 51 | using namespace std;
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| 52 |
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| 53 | // Constructor
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| 54 | ////////////////////////////////////////////////////////////////////////////
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| 55 | bncPPPclient::bncPPPclient(QByteArray staID) {
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[2113] | 56 |
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| 57 | connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
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| 58 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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| 59 | connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
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| 60 | this, SLOT(slotNewCorrections(QList<QString>)));
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| 61 |
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[2039] | 62 | _staID = staID;
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| 63 | _epoData = 0;
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[2113] | 64 | _model = new bncModel(staID);
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[2182] | 65 | connect(_model, SIGNAL(newNMEAstr(QByteArray)),
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| 66 | this, SIGNAL(newNMEAstr(QByteArray)));
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[2035] | 67 | }
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| 68 |
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| 69 | // Destructor
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| 70 | ////////////////////////////////////////////////////////////////////////////
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| 71 | bncPPPclient::~bncPPPclient() {
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[2058] | 72 | delete _model;
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[2039] | 73 | delete _epoData;
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[2035] | 74 | QMapIterator<QString, t_eph*> it(_eph);
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| 75 | while (it.hasNext()) {
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| 76 | it.next();
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| 77 | delete it.value();
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| 78 | }
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| 79 | QMapIterator<QString, t_corr*> ic(_corr);
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| 80 | while (ic.hasNext()) {
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| 81 | ic.next();
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| 82 | delete ic.value();
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| 83 | }
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| 84 | }
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| 85 |
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| 86 | //
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| 87 | ////////////////////////////////////////////////////////////////////////////
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| 88 | void bncPPPclient::putNewObs(p_obs pp) {
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[2037] | 89 | QMutexLocker locker(&_mutex);
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[2051] | 90 |
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| 91 | static const double c1 = t_CST::freq1 * t_CST::freq1 /
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| 92 | (t_CST::freq1 * t_CST::freq1 - t_CST::freq2 * t_CST::freq2);
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[2037] | 93 |
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[2051] | 94 | static const double c2 = - t_CST::freq2 * t_CST::freq2 /
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| 95 | (t_CST::freq1 * t_CST::freq1 - t_CST::freq2 * t_CST::freq2);
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| 96 |
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[2037] | 97 | t_obsInternal* obs = &(pp->_o);
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[2051] | 98 |
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| 99 | t_satData* satData = new t_satData();
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| 100 |
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| 101 | // Set Code Observations
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| 102 | // ---------------------
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| 103 | if (obs->P1) {
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| 104 | satData->P1 = obs->P1;
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| 105 | satData->codeTypeF1 = t_satData::P_CODE;
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| 106 | }
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| 107 | else if (obs->C1) {
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| 108 | satData->P1 = obs->C1;
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| 109 | satData->codeTypeF1 = t_satData::C_CODE;
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| 110 | }
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| 111 | else {
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| 112 | delete satData;
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| 113 | return;
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| 114 | }
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| 115 |
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| 116 | if (obs->P2) {
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| 117 | satData->P2 = obs->P2;
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| 118 | satData->codeTypeF2 = t_satData::P_CODE;
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| 119 | }
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| 120 | else if (obs->C2) {
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| 121 | satData->P2 = obs->C2;
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| 122 | satData->codeTypeF2 = t_satData::C_CODE;
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| 123 | }
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| 124 | else {
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| 125 | delete satData;
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| 126 | return;
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| 127 | }
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| 128 |
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| 129 | satData->P3 = c1 * satData->P1 + c2 * satData->P2;
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| 130 |
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| 131 | // Set Phase Observations
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| 132 | // ----------------------
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| 133 | if (obs->L1 && obs->L2) {
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| 134 | satData->L1 = obs->L1 * t_CST::lambda1;
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| 135 | satData->L2 = obs->L2 * t_CST::lambda2;
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| 136 | }
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| 137 | else {
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| 138 | delete satData;
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| 139 | return;
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| 140 | }
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| 141 | satData->L3 = c1 * satData->L1 + c2 * satData->L2;
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| 142 |
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| 143 | // Add new Satellite to the epoch
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| 144 | // ------------------------------
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[2123] | 145 | bncTime tt(obs->GPSWeek, obs->GPSWeeks);
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[2037] | 146 |
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[2039] | 147 | if (!_epoData) {
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| 148 | _epoData = new t_epoData();
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| 149 | _epoData->tt = tt;
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[2037] | 150 | }
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[2039] | 151 | else if (tt != _epoData->tt) {
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[2037] | 152 | processEpoch();
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[2039] | 153 | delete _epoData;
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| 154 | _epoData = new t_epoData();
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| 155 | _epoData->tt = tt;
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[2037] | 156 | }
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[2039] | 157 |
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| 158 | QString prn =
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[2037] | 159 | QString("%1%2").arg(obs->satSys).arg(obs->satNum, 2, 10, QChar('0'));
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[2039] | 160 |
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[2221] | 161 | cout << prn.toAscii().data() << " " << obs->slot << endl;
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| 162 |
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[2039] | 163 | _epoData->satData[prn] = satData;
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[2035] | 164 | }
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| 165 |
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| 166 | //
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| 167 | ////////////////////////////////////////////////////////////////////////////
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| 168 | void bncPPPclient::slotNewEphGPS(gpsephemeris gpseph) {
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| 169 | QMutexLocker locker(&_mutex);
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| 170 |
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| 171 | QString prn = QString("G%1").arg(gpseph.satellite, 2, 10, QChar('0'));
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| 172 |
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| 173 | if (_eph.contains(prn)) {
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[2040] | 174 | t_ephGPS* ee = static_cast<t_ephGPS*>(_eph.value(prn));
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| 175 | if ( (ee->GPSweek() < gpseph.GPSweek) ||
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| 176 | (ee->GPSweek() == gpseph.GPSweek &&
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| 177 | ee->TOC() < gpseph.TOC) ) {
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| 178 | ee->set(&gpseph);
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| 179 | }
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[2035] | 180 | }
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| 181 | else {
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| 182 | t_ephGPS* ee = new t_ephGPS();
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| 183 | ee->set(&gpseph);
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| 184 | _eph[prn] = ee;
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| 185 | }
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| 186 | }
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| 187 |
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| 188 | //
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| 189 | ////////////////////////////////////////////////////////////////////////////
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| 190 | void bncPPPclient::slotNewCorrections(QList<QString> corrList) {
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| 191 | QMutexLocker locker(&_mutex);
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[2069] | 192 |
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| 193 | if (corrList.size() == 0) {
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| 194 | return;
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| 195 | }
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| 196 |
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| 197 | // Remove All Corrections
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| 198 | // ----------------------
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| 199 | QMapIterator<QString, t_corr*> ic(_corr);
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| 200 | while (ic.hasNext()) {
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| 201 | ic.next();
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| 202 | delete ic.value();
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| 203 | }
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| 204 | _corr.clear();
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| 205 |
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[2035] | 206 | QListIterator<QString> it(corrList);
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| 207 | while (it.hasNext()) {
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| 208 | QTextStream in(it.next().toAscii());
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| 209 | int messageType;
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| 210 | int updateInterval;
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| 211 | int GPSweek;
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| 212 | double GPSweeks;
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| 213 | QString prn;
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| 214 | in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
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| 215 | if ( messageType == COTYPE_GPSCOMBINED ||
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[2207] | 216 | messageType == COTYPE_GLONASSCOMBINED ||
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| 217 | messageType == COTYPE_GPSORBIT ||
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| 218 | messageType == COTYPE_GPSCLOCK ||
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| 219 | messageType == COTYPE_GLONASSORBIT ||
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| 220 | messageType == COTYPE_GLONASSCLOCK ) {
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| 221 |
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[2035] | 222 | t_corr* cc = 0;
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| 223 | if (_corr.contains(prn)) {
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| 224 | cc = _corr.value(prn);
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| 225 | }
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| 226 | else {
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| 227 | cc = new t_corr();
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| 228 | _corr[prn] = cc;
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| 229 | }
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[2207] | 230 |
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[2035] | 231 | cc->tt.set(GPSweek, GPSweeks);
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[2207] | 232 |
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| 233 | if ( messageType == COTYPE_GPSCOMBINED ||
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| 234 | messageType == COTYPE_GLONASSCOMBINED ) {
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| 235 | cc->rao.ReSize(3);
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| 236 | in >> cc->iod >> cc->dClk >> cc->rao[0] >> cc->rao[1] >> cc->rao[2];
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| 237 | cc->dClk /= t_CST::c;
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[2208] | 238 | cc->raoSet = true;
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| 239 | cc->dClkSet = true;
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[2207] | 240 | }
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| 241 | else if ( messageType == COTYPE_GPSORBIT ||
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| 242 | messageType == COTYPE_GLONASSORBIT ) {
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| 243 | cc->rao.ReSize(3);
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| 244 | in >> cc->iod >> cc->rao[0] >> cc->rao[1] >> cc->rao[2];
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[2208] | 245 | cc->raoSet = true;
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[2207] | 246 | }
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| 247 | else if ( messageType == COTYPE_GPSCLOCK ||
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| 248 | messageType == COTYPE_GLONASSCLOCK ) {
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| 249 | int dummyIOD;
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| 250 | in >> dummyIOD >> cc->dClk;
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| 251 | cc->dClk /= t_CST::c;
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[2208] | 252 | cc->dClkSet = true;
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[2207] | 253 | }
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[2035] | 254 | }
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| 255 | }
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[2208] | 256 |
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| 257 | QMutableMapIterator<QString, t_corr*> im(_corr);
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| 258 | while (im.hasNext()) {
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| 259 | im.next();
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| 260 | t_corr* cc = im.value();
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| 261 | if (!cc->ready()) {
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| 262 | delete cc;
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| 263 | im.remove();
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| 264 | }
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| 265 | }
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[2035] | 266 | }
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| 267 |
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| 268 | // Satellite Position
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| 269 | ////////////////////////////////////////////////////////////////////////////
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[2123] | 270 | t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
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[2041] | 271 | ColumnVector& xc, ColumnVector& vv, bool& corr) {
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[2035] | 272 |
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[2067] | 273 | const bool CORR_REQUIRED = true;
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| 274 | const double MAXAGE = 120.0;
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[2041] | 275 |
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| 276 | corr = false;
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| 277 |
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[2035] | 278 | if (_eph.contains(prn)) {
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[2040] | 279 | t_eph* ee = _eph.value(prn);
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| 280 | ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
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| 281 |
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[2068] | 282 | if (CORR_REQUIRED) {
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| 283 | if (_corr.contains(prn)) {
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| 284 | t_corr* cc = _corr.value(prn);
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| 285 | if (ee->IOD() == cc->iod && (tt - cc->tt) < MAXAGE) {
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| 286 | corr = true;
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| 287 | applyCorr(cc, xc, vv);
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| 288 | return success;
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| 289 | }
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[2041] | 290 | }
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[2068] | 291 | return failure;
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[2040] | 292 | }
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[2068] | 293 |
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[2035] | 294 | return success;
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| 295 | }
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| 296 |
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| 297 | return failure;
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| 298 | }
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| 299 |
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| 300 | //
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| 301 | ////////////////////////////////////////////////////////////////////////////
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[2041] | 302 | void bncPPPclient::applyCorr(const t_corr* cc, ColumnVector& xc,
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| 303 | ColumnVector& vv) {
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[2043] | 304 | ColumnVector dx(3);
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| 305 | RSW_to_XYZ(xc.Rows(1,3), vv, cc->rao, dx);
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[2041] | 306 |
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[2107] | 307 | xc[0] -= dx[0];
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| 308 | xc[1] -= dx[1];
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| 309 | xc[2] -= dx[2];
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| 310 | xc[3] -= cc->dClk;
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[2068] | 311 |
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| 312 | // Relativistic Correction
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| 313 | // -----------------------
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| 314 | xc[3] -= 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c ;
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[2041] | 315 | }
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| 316 |
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[2049] | 317 | // Correct Time of Transmission
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| 318 | ////////////////////////////////////////////////////////////////////////////
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| 319 | t_irc bncPPPclient::cmpToT(const QString& prn, t_satData* satData) {
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| 320 |
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[2051] | 321 | double prange = satData->P3;
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[2049] | 322 | if (prange == 0.0) {
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| 323 | return failure;
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| 324 | }
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| 325 |
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| 326 | double clkSat = 0.0;
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| 327 | for (int ii = 1; ii <= 10; ii++) {
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| 328 |
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[2123] | 329 | bncTime ToT = _epoData->tt - prange / t_CST::c - clkSat;
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[2049] | 330 |
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| 331 | ColumnVector xc(4);
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| 332 | ColumnVector vv(3);
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| 333 | bool corr = false;
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| 334 | if (getSatPos(ToT, prn, xc, vv, corr) != success) {
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| 335 | return failure;
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| 336 | }
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| 337 |
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| 338 | double clkSatOld = clkSat;
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[2050] | 339 | clkSat = xc(4);
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[2049] | 340 |
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| 341 | if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
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| 342 | satData->xx = xc.Rows(1,3);
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| 343 | satData->vv = vv;
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[2050] | 344 | satData->clk = clkSat * t_CST::c;
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[2049] | 345 | satData->clkCorr = corr;
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| 346 | return success;
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| 347 | }
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| 348 | }
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| 349 |
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| 350 | return failure;
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| 351 | }
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| 352 |
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[2041] | 353 | //
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| 354 | ////////////////////////////////////////////////////////////////////////////
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[2035] | 355 | void bncPPPclient::processEpoch() {
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| 356 |
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[2053] | 357 | // Data Pre-Processing
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| 358 | // -------------------
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| 359 | QMutableMapIterator<QString, t_satData*> im(_epoData->satData);
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| 360 | while (im.hasNext()) {
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| 361 | im.next();
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| 362 | QString prn = im.key();
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| 363 | t_satData* satData = im.value();
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[2049] | 364 |
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| 365 | if (cmpToT(prn, satData) != success) {
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| 366 | delete satData;
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[2053] | 367 | im.remove();
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[2049] | 368 | continue;
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| 369 | }
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[2053] | 370 | }
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[2035] | 371 |
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[2060] | 372 | // Filter Solution
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| 373 | // ---------------
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[2143] | 374 | if (_model->update(_epoData) == success) {
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[2145] | 375 | emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
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[2060] | 376 | }
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[2035] | 377 | }
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[2049] | 378 |
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