source: ntrip/trunk/BNC/combination/bnccomb.cpp@ 3431

Last change on this file since 3431 was 3431, checked in by mervart, 13 years ago
File size: 17.5 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#include <sstream>
20
21#include "bnccomb.h"
22#include "bncapp.h"
23#include "upload/bncrtnetdecoder.h"
24#include "bncsettings.h"
25#include "bncmodel.h"
26#include "bncutils.h"
27#include "bncpppclient.h"
28#include "bncsp3.h"
29#include "bncantex.h"
30#include "bnctides.h"
31
32using namespace std;
33
34const int MAXPRN_GPS = 32;
35
36// Constructor
37////////////////////////////////////////////////////////////////////////////
38cmbParam::cmbParam(parType type_, int index_,
39 const QString& ac_, const QString& prn_) {
40
41 type = type_;
42 index = index_;
43 AC = ac_;
44 prn = prn_;
45 xx = 0.0;
46
47 if (type == offAC) {
48 sig_0 = 1000.0;
49 sig_P = 1000.0;
50 }
51 else if (type == offACSat) {
52 sig_0 = 100.0;
53 sig_P = 0.0;
54 }
55 else if (type == clkSat) {
56 sig_0 = 100.0;
57 sig_P = 100.0;
58 }
59}
60
61// Destructor
62////////////////////////////////////////////////////////////////////////////
63cmbParam::~cmbParam() {
64}
65
66// Partial
67////////////////////////////////////////////////////////////////////////////
68double cmbParam::partial(const QString& AC_, const QString& prn_) {
69
70 if (type == offAC) {
71 if (AC == AC_) {
72 return 1.0;
73 }
74 }
75 else if (type == offACSat) {
76 if (AC == AC_ && prn == prn_) {
77 return 1.0;
78 }
79 }
80 else if (type == clkSat) {
81 if (prn == prn_) {
82 return 1.0;
83 }
84 }
85
86 return 0.0;
87}
88
89//
90////////////////////////////////////////////////////////////////////////////
91QString cmbParam::toString() const {
92
93 QString outStr;
94
95 if (type == offAC) {
96 outStr = "AC offset " + AC;
97 }
98 else if (type == offACSat) {
99 outStr = "Sat Offset " + AC + " " + prn;
100 }
101 else if (type == clkSat) {
102 outStr = "Clk Corr " + prn;
103 }
104
105 return outStr;
106}
107
108// Constructor
109////////////////////////////////////////////////////////////////////////////
110bncComb::bncComb() {
111
112 bncSettings settings;
113
114 QStringList combineStreams = settings.value("combineStreams").toStringList();
115
116 if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
117 QListIterator<QString> it(combineStreams);
118 while (it.hasNext()) {
119 QStringList hlp = it.next().split(" ");
120 cmbAC* newAC = new cmbAC();
121 newAC->mountPoint = hlp[0];
122 newAC->name = hlp[1];
123 newAC->weight = hlp[2].toDouble();
124 _ACs.append(newAC);
125 }
126 }
127
128 _rtnetDecoder = 0;
129
130 connect(this, SIGNAL(newMessage(QByteArray,bool)),
131 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
132
133
134 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
135 // ----------------------------------------------------------------------
136 int nextPar = 0;
137 QListIterator<cmbAC*> it(_ACs);
138 while (it.hasNext()) {
139 cmbAC* AC = it.next();
140 _params.push_back(new cmbParam(cmbParam::offAC, ++nextPar, AC->name, ""));
141 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
142 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
143 _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
144 AC->name, prn));
145 }
146 }
147 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
148 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
149 _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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 // ANTEX File
162 // ----------
163 _antex = 0;
164 QString antexFileName = settings.value("pppAntex").toString();
165 if (!antexFileName.isEmpty()) {
166 _antex = new bncAntex();
167 if (_antex->readFile(antexFileName) != success) {
168 emit newMessage("wrong ANTEX file", true);
169 delete _antex;
170 _antex = 0;
171 }
172 }
173
174 // Not yet regularized
175 // -------------------
176 _firstReg = false;
177
178 // Maximal Residuum
179 // ----------------
180 _MAXRES = settings.value("cmbMaxres").toDouble();
181 if (_MAXRES <= 0.0) {
182 _MAXRES = 999.0;
183 }
184}
185
186// Destructor
187////////////////////////////////////////////////////////////////////////////
188bncComb::~bncComb() {
189 QListIterator<cmbAC*> icAC(_ACs);
190 while (icAC.hasNext()) {
191 delete icAC.next();
192 }
193 delete _rtnetDecoder;
194 delete _antex;
195 for (int iPar = 1; iPar <= _params.size(); iPar++) {
196 delete _params[iPar-1];
197 }
198 QListIterator<cmbCorr*> itCorr(_corrs);
199 while (itCorr.hasNext()) {
200 delete itCorr.next();
201 }
202}
203
204// Read and store one correction line
205////////////////////////////////////////////////////////////////////////////
206void bncComb::processCorrLine(const QString& staID, const QString& line) {
207 QMutexLocker locker(&_mutex);
208
209 // Find the AC Name
210 // ----------------
211 QString acName;
212 QListIterator<cmbAC*> icAC(_ACs);
213 while (icAC.hasNext()) {
214 cmbAC* AC = icAC.next();
215 if (AC->mountPoint == staID) {
216 acName = AC->name;
217 break;
218 }
219 }
220 if (acName.isEmpty()) {
221 return;
222 }
223
224 // Read the Correction
225 // -------------------
226 cmbCorr* newCorr = new cmbCorr();
227 newCorr->acName = acName;
228 if (!newCorr->readLine(line) == success) {
229 delete newCorr;
230 return;
231 }
232
233 // Check Modulo Time
234 // -----------------
235 const int moduloTime = 10;
236 if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
237 delete newCorr;
238 return;
239 }
240
241 // Delete old corrections
242 // ----------------------
243 if (newCorr->tt < _resTime) {
244 delete newCorr;
245 return;
246 }
247
248 // Check the Ephemeris
249 //--------------------
250 if (_eph.find(newCorr->prn) == _eph.end()) {
251 delete newCorr;
252 return;
253 }
254 else {
255 t_eph* lastEph = _eph[newCorr->prn]->last;
256 t_eph* prevEph = _eph[newCorr->prn]->prev;
257 if (lastEph && lastEph->IOD() == newCorr->iod) {
258 newCorr->eph = lastEph;
259 }
260 else if (prevEph && prevEph->IOD() == newCorr->iod) {
261 newCorr->eph = prevEph;
262 switchToLastEph(lastEph, newCorr);
263 }
264 else {
265 delete newCorr;
266 return;
267 }
268 }
269
270 // Process previous Epoch
271 // ----------------------
272 if (_resTime.valid() && _resTime < newCorr->tt) {
273 processEpoch();
274 }
275
276 // Remember last correction time
277 // -----------------------------
278 _resTime = newCorr->tt;
279
280 // Merge or add the correction
281 // ---------------------------
282 cmbCorr* existingCorr = 0;
283 QListIterator<cmbCorr*> itCorr(_corrs);
284 while (itCorr.hasNext()) {
285 cmbCorr* hlp = itCorr.next();
286 if (hlp->prn == newCorr->prn && hlp->acName == newCorr->prn) {
287 existingCorr = hlp;
288 break;
289 }
290 }
291 if (existingCorr) {
292 delete newCorr;
293 existingCorr->readLine(line); // merge (multiple messages)
294 }
295 else {
296 _corrs.append(newCorr);
297 }
298}
299
300// Change the correction so that it refers to last received ephemeris
301////////////////////////////////////////////////////////////////////////////
302void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
303
304 if (corr->eph == lastEph) {
305 return;
306 }
307
308 ColumnVector oldXC(4);
309 ColumnVector oldVV(3);
310 corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
311 oldXC.data(), oldVV.data());
312
313 ColumnVector newXC(4);
314 ColumnVector newVV(3);
315 lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
316 newXC.data(), newVV.data());
317
318 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
319 ColumnVector dV = newVV - oldVV;
320 double dC = newXC(4) - oldXC(4);
321
322 ColumnVector dRAO(3);
323 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
324
325 ColumnVector dDotRAO(3);
326 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
327
328 QString msg = "switch " + corr->prn
329 + QString(" %1 -> %2 %3").arg(corr->iod,3)
330 .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
331
332 emit newMessage(msg.toAscii(), false);
333
334 corr->iod = lastEph->IOD();
335 corr->eph = lastEph;
336 corr->rao += dRAO;
337 corr->dotRao += dDotRAO;
338 corr->dClk -= dC;
339}
340
341// Process Epoch
342////////////////////////////////////////////////////////////////////////////
343void bncComb::processEpoch() {
344
345 int nPar = _params.size();
346 int nObs = _corrs.size();
347
348 if (nObs == 0) {
349 return;
350 }
351
352 _log.clear();
353
354 QTextStream out(&_log, QIODevice::WriteOnly);
355
356 out << endl << "Combination:" << endl
357 << "------------------------------" << endl;
358
359 // Prediction Step
360 // ---------------
361 ColumnVector x0(nPar);
362 for (int iPar = 1; iPar <= _params.size(); iPar++) {
363 cmbParam* pp = _params[iPar-1];
364 _QQ(iPar,iPar) += pp->sig_P * pp->sig_P;
365 x0(iPar) = pp->xx;
366 }
367
368 // Create First Design Matrix and Vector of Measurements
369 // -----------------------------------------------------
370 const double Pl = 1.0 / (0.05 * 0.05);
371
372 const int nCon = (_firstReg == false) ? 1 + MAXPRN_GPS : 1;
373 Matrix AA(nObs+nCon, nPar); AA = 0.0;
374 ColumnVector ll(nObs+nCon); ll = 0.0;
375 DiagonalMatrix PP(nObs+nCon); PP = Pl;
376
377 int iObs = 0;
378
379 QMap<QString, t_corr*> resCorr;
380
381 QListIterator<cmbCorr*> itCorr(_corrs);
382 while (itCorr.hasNext()) {
383 cmbCorr* corr = itCorr.next();
384 QString prn = corr->prn;
385 switchToLastEph(_eph[prn]->last, corr);
386 ++iObs;
387
388 if (resCorr.find(prn) == resCorr.end()) {
389 resCorr[prn] = new t_corr(*corr);
390 }
391
392 for (int iPar = 1; iPar <= _params.size(); iPar++) {
393 cmbParam* pp = _params[iPar-1];
394 AA(iObs, iPar) = pp->partial(corr->acName, prn);
395 }
396
397 ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
398 }
399
400 // Regularization
401 // --------------
402 const double Ph = 1.e6;
403 int iCond = 1;
404 PP(nObs+iCond) = Ph;
405 for (int iPar = 1; iPar <= _params.size(); iPar++) {
406 cmbParam* pp = _params[iPar-1];
407 if (pp->type == cmbParam::clkSat &&
408 AA.Column(iPar).maximum_absolute_value() > 0.0) {
409 AA(nObs+iCond, iPar) = 1.0;
410 }
411 }
412
413 if (!_firstReg) {
414 _firstReg = true;
415 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
416 ++iCond;
417 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
418 PP(nObs+1+iGps) = Ph;
419 for (int iPar = 1; iPar <= _params.size(); iPar++) {
420 cmbParam* pp = _params[iPar-1];
421 if (pp->type == cmbParam::offACSat && pp->prn == prn) {
422 AA(nObs+iCond, iPar) = 1.0;
423 }
424 }
425 }
426 }
427
428 ColumnVector dx;
429 SymmetricMatrix QQ_sav = _QQ;
430
431 // for (int ii = 1; ii < 10; ii++) {
432 bncModel::kalman(AA, ll, PP, _QQ, dx);
433 ColumnVector vv = ll - AA * dx;
434
435 int maxResIndex;
436 double maxRes = vv.maximum_absolute_value1(maxResIndex);
437 out.setRealNumberNotation(QTextStream::FixedNotation);
438 out.setRealNumberPrecision(3);
439 out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
440 << " Maximum Residuum " << maxRes << ' ' << endl;
441// << llInfo[maxResIndex-1].AC << ' ' << llInfo[maxResIndex-1].prn;
442//
443// if (maxRes > _MAXRES) {
444// for (int iPar = 1; iPar <= _params.size(); iPar++) {
445// cmbParam* pp = _params[iPar-1];
446// if (pp->type == cmbParam::offACSat &&
447// pp->AC == llInfo[maxResIndex-1].AC &&
448// pp->prn == llInfo[maxResIndex-1].prn) {
449// QQ_sav.Row(iPar) = 0.0;
450// QQ_sav.Column(iPar) = 0.0;
451// QQ_sav(iPar,iPar) = pp->sig_0 * pp->sig_0;
452// }
453// }
454//
455// out << " Outlier" << endl;
456// _QQ = QQ_sav;
457// AA.Row(maxResIndex) = 0.0;
458// ll.Row(maxResIndex) = 0.0;
459// }
460// else {
461// out << " OK" << endl;
462// break;
463// }
464// }
465
466 for (int iPar = 1; iPar <= _params.size(); iPar++) {
467 cmbParam* pp = _params[iPar-1];
468 pp->xx += dx(iPar);
469 if (pp->type == cmbParam::clkSat) {
470 if (resCorr.find(pp->prn) != resCorr.end()) {
471 resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
472 }
473 }
474 out << _resTime.datestr().c_str() << " "
475 << _resTime.timestr().c_str() << " ";
476 out.setRealNumberNotation(QTextStream::FixedNotation);
477 out.setFieldWidth(8);
478 out.setRealNumberPrecision(4);
479 out << pp->toString() << " "
480 << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
481 out.setFieldWidth(0);
482 }
483
484 printResults(out, resCorr);
485 dumpResults(resCorr);
486
487 emit newMessage(_log, false);
488
489 QListIterator<cmbCorr*> it(_corrs);
490 while (it.hasNext()) {
491 delete it.next();
492 }
493 _corrs.clear();
494}
495
496// Print results
497////////////////////////////////////////////////////////////////////////////
498void bncComb::printResults(QTextStream& out,
499 const QMap<QString, t_corr*>& resCorr) {
500
501 QMapIterator<QString, t_corr*> it(resCorr);
502 while (it.hasNext()) {
503 it.next();
504 t_corr* corr = it.value();
505 const t_eph* eph = corr->eph;
506 if (eph) {
507 double xx, yy, zz, cc;
508 eph->position(_resTime.gpsw(), _resTime.gpssec(), xx, yy, zz, cc);
509
510 out << _resTime.datestr().c_str() << " "
511 << _resTime.timestr().c_str() << " ";
512 out.setFieldWidth(3);
513 out << "Full Clock " << corr->prn << " " << corr->iod << " ";
514 out.setFieldWidth(14);
515 out << (cc + corr->dClk) * t_CST::c << endl;
516 out.setFieldWidth(0);
517 }
518 else {
519 out << "bncComb::printResuls bug" << endl;
520 }
521 }
522}
523
524// Send results to RTNet Decoder and directly to PPP Client
525////////////////////////////////////////////////////////////////////////////
526void bncComb::dumpResults(const QMap<QString, t_corr*>& resCorr) {
527
528 ostringstream out; out.setf(std::ios::fixed);
529 QStringList corrLines;
530
531 unsigned year, month, day, hour, minute;
532 double sec;
533 _resTime.civil_date(year, month, day);
534 _resTime.civil_time(hour, minute, sec);
535
536 out << "* "
537 << setw(4) << year << " "
538 << setw(2) << month << " "
539 << setw(2) << day << " "
540 << setw(2) << hour << " "
541 << setw(2) << minute << " "
542 << setw(12) << setprecision(8) << sec << " "
543 << endl;
544
545 QMapIterator<QString, t_corr*> it(resCorr);
546 while (it.hasNext()) {
547 it.next();
548 t_corr* corr = it.value();
549
550 double dT = 60.0;
551
552 for (int iTime = 1; iTime <= 2; iTime++) {
553
554 bncTime time12 = (iTime == 1) ? _resTime : _resTime + dT;
555
556 ColumnVector xc(4);
557 ColumnVector vv(3);
558 corr->eph->position(time12.gpsw(), time12.gpssec(),
559 xc.data(), vv.data());
560 bncPPPclient::applyCorr(time12, corr, xc, vv);
561
562 // Relativistic Correction
563 // -----------------------
564 double relCorr = - 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
565 xc(4) -= relCorr;
566
567 // Code Biases
568 // -----------
569 double dcbP1C1 = 0.0;
570 double dcbP1P2 = 0.0;
571
572 // Correction Phase Center --> CoM
573 // -------------------------------
574 ColumnVector dx(3); dx = 0.0;
575 if (_antex) {
576 double Mjd = time12.mjd() + time12.daysec()/86400.0;
577 if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
578 xc(1) -= dx(1);
579 xc(2) -= dx(2);
580 xc(3) -= dx(3);
581 }
582 else {
583 cout << "antenna not found" << endl;
584 }
585 }
586
587 if (iTime == 1) {
588 out << 'P' << corr->prn.toAscii().data()
589 << setw(14) << setprecision(6) << xc(1) / 1000.0
590 << setw(14) << setprecision(6) << xc(2) / 1000.0
591 << setw(14) << setprecision(6) << xc(3) / 1000.0
592 << setw(14) << setprecision(6) << xc(4) * 1e6
593 << setw(14) << setprecision(6) << relCorr * 1e6
594 << setw(8) << setprecision(3) << dx(1)
595 << setw(8) << setprecision(3) << dx(2)
596 << setw(8) << setprecision(3) << dx(3)
597 << setw(8) << setprecision(3) << dcbP1C1
598 << setw(8) << setprecision(3) << dcbP1P2
599 << setw(6) << setprecision(1) << dT;
600
601 QString line;
602 int messageType = COTYPE_GPSCOMBINED;
603 int updateInt = 0;
604 line.sprintf("%d %d %d %.1f %s"
605 " %3d"
606 " %8.3f %8.3f %8.3f %8.3f"
607 " %10.5f %10.5f %10.5f %10.5f"
608 " %10.5f %10.5f %10.5f %10.5f INTERNAL",
609 messageType, updateInt, time12.gpsw(), time12.gpssec(),
610 corr->prn.toAscii().data(),
611 corr->iod,
612 corr->dClk * t_CST::c,
613 corr->rao[0],
614 corr->rao[1],
615 corr->rao[2],
616 corr->dotDClk * t_CST::c,
617 corr->dotRao[0],
618 corr->dotRao[1],
619 corr->dotRao[2],
620 corr->dotDotDClk * t_CST::c,
621 corr->dotDotRao[0],
622 corr->dotDotRao[1],
623 corr->dotDotRao[2]);
624 corrLines << line;
625 }
626 else {
627 out << setw(14) << setprecision(6) << xc(1) / 1000.0
628 << setw(14) << setprecision(6) << xc(2) / 1000.0
629 << setw(14) << setprecision(6) << xc(3) / 1000.0 << endl;
630 }
631 }
632
633 delete corr;
634 }
635 out << "EOE" << endl; // End Of Epoch flag
636
637 if (!_rtnetDecoder) {
638 _rtnetDecoder = new bncRtnetDecoder();
639 }
640
641 vector<string> errmsg;
642 _rtnetDecoder->Decode((char*) out.str().data(), out.str().size(), errmsg);
643
644 // Optionally send new Corrections to PPP
645 // --------------------------------------
646 bncApp* app = (bncApp*) qApp;
647 if (app->_bncPPPclient) {
648 app->_bncPPPclient->slotNewCorrections(corrLines);
649 }
650}
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