source: ntrip/trunk/BNC/combination/bnccomb.cpp@ 3035

Last change on this file since 3035 was 3035, checked in by mervart, 13 years ago
File size: 15.4 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncComb
6 *
7 * Purpose: Combinations of Orbit/Clock Corrections
8 *
9 * Author: L. Mervart
10 *
11 * Created: 22-Jan-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <newmatio.h>
18#include <iomanip>
19
20#include "bnccomb.h"
21#include "bncapp.h"
22#include "cmbcaster.h"
23#include "bncsettings.h"
24#include "bncmodel.h"
25#include "bncutils.h"
26#include "bncpppclient.h"
27
28using namespace std;
29
30// Constructor
31////////////////////////////////////////////////////////////////////////////
32cmbParam::cmbParam(cmbParam::parType type_, int index_,
33 const QString& ac_, const QString& prn_,
34 double sig_0_, double sig_P_) {
35
36 type = type_;
37 index = index_;
38 AC = ac_;
39 prn = prn_;
40 sig_0 = sig_0_;
41 sig_P = sig_P_;
42 xx = 0.0;
43}
44
45// Destructor
46////////////////////////////////////////////////////////////////////////////
47cmbParam::~cmbParam() {
48}
49
50// Partial
51////////////////////////////////////////////////////////////////////////////
52double cmbParam::partial(const QString& AC_, t_corr* corr) {
53
54 if (type == AC_offset) {
55 if (AC == AC_) {
56 return 1.0;
57 }
58 }
59 else if (type == Sat_offset) {
60 if (AC == AC_ && prn == corr->prn) {
61 return 1.0;
62 }
63 }
64 else if (type == clk) {
65 if (prn == corr->prn) {
66 return 1.0;
67 }
68 }
69
70 return 0.0;
71}
72
73//
74////////////////////////////////////////////////////////////////////////////
75QString cmbParam::toString() const {
76
77 QString outStr;
78
79 if (type == AC_offset) {
80 outStr = "AC offset " + AC;
81 }
82 else if (type == Sat_offset) {
83 outStr = "Sat Offset " + AC + " " + prn;
84 }
85 else if (type == clk) {
86 outStr = "Clk Corr " + prn;
87 }
88
89 return outStr;
90}
91
92// Constructor
93////////////////////////////////////////////////////////////////////////////
94bncComb::bncComb() {
95
96 bncSettings settings;
97
98 QStringList combineStreams = settings.value("combineStreams").toStringList();
99
100 _masterAC = "BKG"; // TODO: make it an option
101
102 if (combineStreams.size() >= 2) {
103 QListIterator<QString> it(combineStreams);
104 while (it.hasNext()) {
105 QStringList hlp = it.next().split(" ");
106 cmbAC* newAC = new cmbAC();
107 newAC->mountPoint = hlp[0];
108 newAC->name = hlp[1];
109 newAC->weight = hlp[2].toDouble();
110
111 _ACs[newAC->mountPoint] = newAC;
112 }
113 }
114
115 _caster = new cmbCaster();
116 connect(this, SIGNAL(newMessage(QByteArray,bool)),
117 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
118
119
120 // A Priori Sigmas (in Meters)
121 // ---------------------------
122 double sigAC_0 = 100.0;
123 double sigAC_P = 100.0;
124 double sigSat_0 = 100.0;
125 double sigSat_P = 0.0;
126 double sigClk_0 = 100.0;
127 double sigClk_P = 100.0;
128
129 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
130 // ----------------------------------------------------------------------
131 int nextPar = 0;
132 QMapIterator<QString, cmbAC*> it(_ACs);
133 while (it.hasNext()) {
134 it.next();
135 cmbAC* AC = it.value();
136 if (AC->name != _masterAC) {
137 _params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar,
138 AC->name, "", sigAC_0, sigAC_P));
139 for (int iGps = 1; iGps <= 32; iGps++) {
140 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
141 _params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar,
142 AC->name, prn, sigSat_0, sigSat_P));
143 }
144 }
145 }
146 for (int iGps = 1; iGps <= 32; iGps++) {
147 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
148 _params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn,
149 sigClk_0, sigClk_P));
150 }
151
152 // Initialize Variance-Covariance Matrix
153 // -------------------------------------
154 _QQ.ReSize(_params.size());
155 _QQ = 0.0;
156 for (int iPar = 1; iPar <= _params.size(); iPar++) {
157 cmbParam* pp = _params[iPar-1];
158 _QQ(iPar,iPar) = pp->sig_0 * pp->sig_0;
159 }
160
161 // Output File (skeleton name)
162 // ---------------------------
163 QString path = settings.value("cmbOutPath").toString();
164 if (!path.isEmpty() && !_caster->mountpoint().isEmpty()) {
165 expandEnvVar(path);
166 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
167 path += QDir::separator();
168 }
169 _outNameSkl = path + _caster->mountpoint();
170 }
171 _out = 0;
172}
173
174// Destructor
175////////////////////////////////////////////////////////////////////////////
176bncComb::~bncComb() {
177 QMapIterator<QString, cmbAC*> it(_ACs);
178 while (it.hasNext()) {
179 it.next();
180 delete it.value();
181 }
182 delete _caster;
183 delete _out;
184}
185
186// Read and store one correction line
187////////////////////////////////////////////////////////////////////////////
188void bncComb::processCorrLine(const QString& staID, const QString& line) {
189 QMutexLocker locker(&_mutex);
190
191 // Find the relevant instance of cmbAC class
192 // -----------------------------------------
193 if (_ACs.find(staID) == _ACs.end()) {
194 return;
195 }
196 cmbAC* AC = _ACs[staID];
197
198 // Read the Correction
199 // -------------------
200 t_corr* newCorr = new t_corr();
201 if (!newCorr->readLine(line) == success) {
202 delete newCorr;
203 return;
204 }
205
206 // Reject delayed corrections
207 // --------------------------
208 if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
209 delete newCorr;
210 return;
211 }
212
213 // Check the Ephemeris
214 //--------------------
215 if (_eph.find(newCorr->prn) == _eph.end()) {
216 delete newCorr;
217 return;
218 }
219 else {
220 t_eph* lastEph = _eph[newCorr->prn]->last;
221 t_eph* prevEph = _eph[newCorr->prn]->prev;
222 if (lastEph && lastEph->IOD() == newCorr->iod) {
223 newCorr->eph = lastEph;
224 }
225 else if (prevEph && prevEph->IOD() == newCorr->iod) {
226 newCorr->eph = prevEph;
227 }
228 else {
229 delete newCorr;
230 return;
231 }
232 }
233
234 // Process all older Epochs (if there are any)
235 // -------------------------------------------
236 const double waitTime = 5.0; // wait 5 sec
237 _processedBeforeTime = newCorr->tt - waitTime;
238
239 QList<cmbEpoch*> epochsToProcess;
240
241 QMapIterator<QString, cmbAC*> itAC(_ACs);
242 while (itAC.hasNext()) {
243 itAC.next();
244 cmbAC* AC = itAC.value();
245
246 QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
247 while (itEpo.hasNext()) {
248 cmbEpoch* epoch = itEpo.next();
249 if (epoch->time < _processedBeforeTime) {
250 epochsToProcess.append(epoch);
251 itEpo.remove();
252 }
253 }
254 }
255
256 if (epochsToProcess.size()) {
257 processEpochs(epochsToProcess);
258 }
259
260 // Check Modulo Time
261 // -----------------
262 const int moduloTime = 10;
263 if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
264 delete newCorr;
265 return;
266 }
267
268 // Find/Create the instance of cmbEpoch class
269 // ------------------------------------------
270 cmbEpoch* newEpoch = 0;
271 QListIterator<cmbEpoch*> it(AC->epochs);
272 while (it.hasNext()) {
273 cmbEpoch* hlpEpoch = it.next();
274 if (hlpEpoch->time == newCorr->tt) {
275 newEpoch = hlpEpoch;
276 break;
277 }
278 }
279 if (newEpoch == 0) {
280 newEpoch = new cmbEpoch(AC->name);
281 newEpoch->time = newCorr->tt;
282 AC->epochs.append(newEpoch);
283 }
284
285 // Merge or add the correction
286 // ---------------------------
287 if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
288 newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
289 }
290 else {
291 newEpoch->corr[newCorr->prn] = newCorr;
292 }
293}
294
295// Send results to caster
296////////////////////////////////////////////////////////////////////////////
297void bncComb::dumpResults(const bncTime& resTime,
298 const QMap<QString, t_corr*>& resCorr) {
299
300 _caster->open();
301
302 unsigned year, month, day;
303 resTime.civil_date (year, month, day);
304 double GPSweeks = resTime.gpssec();
305
306 struct ClockOrbit co;
307 memset(&co, 0, sizeof(co));
308 co.GPSEpochTime = (int)GPSweeks;
309 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
310 + 3 * 3600 - gnumleap(year, month, day);
311 co.ClockDataSupplied = 1;
312 co.OrbitDataSupplied = 1;
313 co.SatRefDatum = DATUM_ITRF;
314
315 QMapIterator<QString, t_corr*> it(resCorr);
316 while (it.hasNext()) {
317 it.next();
318 t_corr* corr = it.value();
319
320 struct ClockOrbit::SatData* sd = 0;
321 if (corr->prn[0] == 'G') {
322 sd = co.Sat + co.NumberOfGPSSat;
323 ++co.NumberOfGPSSat;
324 }
325 else if (corr->prn[0] == 'R') {
326 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
327 ++co.NumberOfGLONASSSat;
328 }
329
330 if (sd != 0) {
331 sd->ID = corr->prn.mid(1).toInt();
332 sd->IOD = corr->iod;
333 sd->Clock.DeltaA0 = corr->dClk * t_CST::c;
334 sd->Orbit.DeltaRadial = corr->rao(1);
335 sd->Orbit.DeltaAlongTrack = corr->rao(2);
336 sd->Orbit.DeltaCrossTrack = corr->rao(3);
337 sd->Orbit.DotDeltaRadial = corr->dotRao(1);
338 sd->Orbit.DotDeltaAlongTrack = corr->dotRao(2);
339 sd->Orbit.DotDeltaCrossTrack = corr->dotRao(3);
340 }
341
342 delete corr;
343 }
344
345 // Send Corrections to Caster
346 // --------------------------
347 if ( _caster->usedSocket() &&
348 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
349 char obuffer[CLOCKORBIT_BUFFERSIZE];
350 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
351 if (len > 0) {
352 _caster->write(obuffer, len);
353 }
354 }
355
356 // Optionall send new Corrections to PPP client and/or write into file
357 // -------------------------------------------------------------------
358 RTCM3coDecoder::reopen(_outNameSkl, _outName, _out);
359 bncApp* app = (bncApp*) qApp;
360 if (app->_bncPPPclient || _out) {
361 QStringList corrLines;
362 co.messageType = COTYPE_GPSCOMBINED;
363 QStringListIterator il(RTCM3coDecoder::corrsToASCIIlines(resTime.gpsw(),
364 resTime.gpssec(), co, 0));
365 while (il.hasNext()) {
366 QString line = il.next();
367 if (_out) {
368 *_out << line.toAscii().data() << endl;
369 _out->flush();
370 }
371 line += " " + _caster->mountpoint();
372 corrLines << line;
373 }
374
375 if (app->_bncPPPclient) {
376 app->_bncPPPclient->slotNewCorrections(corrLines);
377 }
378 }
379}
380
381// Change the correction so that it refers to last received ephemeris
382////////////////////////////////////////////////////////////////////////////
383void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
384
385 ColumnVector oldXC(4);
386 ColumnVector oldVV(3);
387 corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
388 oldXC.data(), oldVV.data());
389
390 ColumnVector newXC(4);
391 ColumnVector newVV(3);
392 lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
393 newXC.data(), newVV.data());
394
395 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
396 ColumnVector dV = newVV - oldVV;
397 double dC = newXC(4) - oldXC(4);
398
399 ColumnVector dRAO(3);
400 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
401
402 ColumnVector dDotRAO(3);
403 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
404
405 QString msg = "switch " + corr->prn
406 + QString(" %1 -> %2 %3").arg(corr->iod,3)
407 .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
408
409 emit newMessage(msg.toAscii(), false);
410
411 corr->iod = lastEph->IOD();
412 corr->eph = lastEph;
413 corr->rao += dRAO;
414 corr->dotRao += dDotRAO;
415 corr->dClk -= dC;
416}
417
418// Process Epochs
419////////////////////////////////////////////////////////////////////////////
420void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
421
422 _log.clear();
423
424 QTextStream out(&_log, QIODevice::WriteOnly);
425
426 out << "Combination:" << endl
427 << "------------------------------" << endl;
428
429 // Predict Parameters Values, Add White Noise
430 // ------------------------------------------
431 for (int iPar = 1; iPar <= _params.size(); iPar++) {
432 cmbParam* pp = _params[iPar-1];
433 if (pp->sig_P != 0.0) {
434 pp->xx = 0.0;
435 for (int jj = 1; jj <= _params.size(); jj++) {
436 _QQ(iPar, jj) = 0.0;
437 }
438 _QQ(iPar,iPar) = pp->sig_P * pp->sig_P;
439 }
440 }
441
442 bncTime resTime = epochs.first()->time;
443 QMap<QString, t_corr*> resCorr;
444
445 int nPar = _params.size();
446 int nObs = 0;
447
448 ColumnVector x0(nPar);
449 for (int iPar = 1; iPar <= _params.size(); iPar++) {
450 cmbParam* pp = _params[iPar-1];
451 x0(iPar) = pp->xx;
452 }
453
454 // Count Observations
455 // ------------------
456 QListIterator<cmbEpoch*> itEpo(epochs);
457 while (itEpo.hasNext()) {
458 cmbEpoch* epo = itEpo.next();
459 QMutableMapIterator<QString, t_corr*> itCorr(epo->corr);
460 while (itCorr.hasNext()) {
461 itCorr.next();
462 t_corr* corr = itCorr.value();
463
464 // Switch to last ephemeris
465 // ------------------------
466 t_eph* lastEph = _eph[corr->prn]->last;
467 if (lastEph == corr->eph) {
468 ++nObs;
469 }
470 else {
471 if (corr->eph == _eph[corr->prn]->prev) {
472 switchToLastEph(lastEph, corr);
473 ++nObs;
474 }
475 else {
476 itCorr.remove();
477 }
478 }
479 }
480 }
481
482 if (nObs > 0) {
483 Matrix AA(nObs, nPar);
484 ColumnVector ll(nObs);
485 DiagonalMatrix PP(nObs); PP = 1.0;
486
487 int iObs = 0;
488 QListIterator<cmbEpoch*> itEpo(epochs);
489 while (itEpo.hasNext()) {
490 cmbEpoch* epo = itEpo.next();
491 QMapIterator<QString, t_corr*> itCorr(epo->corr);
492
493 while (itCorr.hasNext()) {
494 itCorr.next();
495 ++iObs;
496 t_corr* corr = itCorr.value();
497
498 if (epo->acName == _masterAC) {
499 resCorr[corr->prn] = new t_corr(*corr);
500 }
501
502 for (int iPar = 1; iPar <= _params.size(); iPar++) {
503 cmbParam* pp = _params[iPar-1];
504 AA(iObs, iPar) = pp->partial(epo->acName, corr);
505 }
506
507 ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
508 }
509
510 delete epo;
511 }
512
513 ColumnVector dx;
514 bncModel::kalman(AA, ll, PP, _QQ, dx);
515 ColumnVector vv = ll - AA * dx;
516
517 for (int iPar = 1; iPar <= _params.size(); iPar++) {
518 cmbParam* pp = _params[iPar-1];
519 pp->xx += dx(iPar);
520 if (pp->type == cmbParam::clk) {
521 if (resCorr.find(pp->prn) != resCorr.end()) {
522 resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
523 }
524 }
525 out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
526 out.setRealNumberNotation(QTextStream::FixedNotation);
527 out.setFieldWidth(8);
528 out.setRealNumberPrecision(4);
529 out << pp->toString() << " "
530 << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
531 }
532 }
533
534 printResults(out, resTime, resCorr);
535 dumpResults(resTime, resCorr);
536
537 emit newMessage(_log, false);
538}
539
540// Print results to caster
541////////////////////////////////////////////////////////////////////////////
542void bncComb::printResults(QTextStream& out, const bncTime& resTime,
543 const QMap<QString, t_corr*>& resCorr) {
544
545 QMapIterator<QString, t_corr*> it(resCorr);
546 while (it.hasNext()) {
547 it.next();
548 t_corr* corr = it.value();
549 const t_eph* eph = corr->eph;
550 if (eph) {
551 double xx, yy, zz, cc;
552 eph->position(resTime.gpsw(), resTime.gpssec(), xx, yy, zz, cc);
553
554 out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
555 out.setFieldWidth(3);
556 out << "Full Clock " << corr->prn << " " << corr->iod << " ";
557 out.setFieldWidth(14);
558 out << (cc + corr->dClk) * t_CST::c << endl;
559 }
560 else {
561 out << "bncComb::printResuls bug" << endl;
562 }
563 }
564}
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