source: ntrip/trunk/BNC/src/PPP_SSR_I/pppClient.cpp@ 7031

Last change on this file since 7031 was 7031, checked in by stuerze, 9 years ago

minor changes in PPP SSR_I mode

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File size: 13.4 KB
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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/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: t_pppClient
30 *
31 * Purpose: Precise Point Positioning
32 *
33 * Author: L. Mervart
34 *
35 * Created: 21-Nov-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <newmatio.h>
42#include <iomanip>
43#include <sstream>
44
45#include "pppClient.h"
46#include "bncephuser.h"
47#include "bncutils.h"
48
49using namespace BNC_PPP;
50using namespace std;
51
52// Constructor
53////////////////////////////////////////////////////////////////////////////
54t_pppClient::t_pppClient(const t_pppOptions* opt) {
55
56 _opt = new t_pppOptions(*opt);
57 _filter = new t_pppFilter(this);
58 _epoData = new t_epoData();
59 _log = new ostringstream();
60 _ephUser = new bncEphUser(false);
61
62 for (unsigned ii = 0; ii <= t_prn::MAXPRN; ii++) {
63 _satCodeBiases[ii] = 0;
64 }
65
66}
67
68// Destructor
69////////////////////////////////////////////////////////////////////////////
70t_pppClient::~t_pppClient() {
71
72 for (unsigned ii = 0; ii <= t_prn::MAXPRN; ii++) {
73 delete _satCodeBiases[ii];
74 }
75
76 delete _filter;
77 delete _epoData;
78 delete _opt;
79 delete _ephUser;
80 delete _log;
81}
82
83//
84////////////////////////////////////////////////////////////////////////////
85void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
86
87 // Convert and store observations
88 // ------------------------------
89 _epoData->clear();
90 for (unsigned ii = 0; ii < satObs.size(); ii++) {
91 const t_satObs* obs = satObs[ii];
92 t_prn prn = obs->_prn;
93 if (prn.system() == 'E') {prn.setFlags(1);} // force I/NAV usage
94 t_satData* satData = new t_satData();
95
96 if (_epoData->tt.undef()) {
97 _epoData->tt = obs->_time;
98 }
99
100 satData->tt = obs->_time;
101 satData->prn = QString(prn.toInternalString().c_str());
102 satData->slipFlag = false;
103 satData->P1 = 0.0;
104 satData->P2 = 0.0;
105 satData->P5 = 0.0;
106 satData->P7 = 0.0;
107 satData->L1 = 0.0;
108 satData->L2 = 0.0;
109 satData->L5 = 0.0;
110 satData->L7 = 0.0;
111 for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) {
112 t_frqObs* frqObs = obs->_obs[ifrq];
113 double cb = 0.0;
114 const t_satCodeBias* satCB = satCodeBias(prn);
115 if (satCB && satCB->_bias.size()) {
116 for (unsigned ii = 0; ii < satCB->_bias.size(); ii++) {
117
118 const t_frqCodeBias& bias = satCB->_bias[ii];
119 if (frqObs && frqObs->_rnxType2ch == bias._rnxType2ch) {
120 cb = bias._value;
121 }
122 }
123 }
124 if (frqObs->_rnxType2ch[0] == '1') {
125 if (frqObs->_codeValid) satData->P1 = frqObs->_code + cb;
126 if (frqObs->_phaseValid) satData->L1 = frqObs->_phase;
127 if (frqObs->_slip) satData->slipFlag = true;
128 }
129 else if (frqObs->_rnxType2ch[0] == '2') {
130 if (frqObs->_codeValid) satData->P2 = frqObs->_code + cb;
131 if (frqObs->_phaseValid) satData->L2 = frqObs->_phase;
132 if (frqObs->_slip) satData->slipFlag = true;
133 }
134 else if (frqObs->_rnxType2ch[0] == '5') {
135 if (frqObs->_codeValid) satData->P5 = frqObs->_code + cb;
136 if (frqObs->_phaseValid) satData->L5 = frqObs->_phase;
137 if (frqObs->_slip) satData->slipFlag = true;
138 }
139 else if (frqObs->_rnxType2ch[0] == '7') {
140 if (frqObs->_codeValid) satData->P7 = frqObs->_code + cb;
141 if (frqObs->_phaseValid) satData->L7 = frqObs->_phase;
142 if (frqObs->_slip) satData->slipFlag = true;
143 }
144 }
145 putNewObs(satData);
146 }
147
148 // Data Pre-Processing
149 // -------------------
150 QMutableMapIterator<QString, t_satData*> it(_epoData->satData);
151 while (it.hasNext()) {
152 it.next();
153 QString prn = it.key();
154 t_satData* satData = it.value();
155
156 if (cmpToT(satData) != success) {
157 delete satData;
158 it.remove();
159 continue;
160 }
161 }
162
163 // Filter Solution
164 // ---------------
165 if (_filter->update(_epoData) == success) {
166 output->_error = false;
167 output->_epoTime = _filter->time();
168 output->_xyzRover[0] = _filter->x();
169 output->_xyzRover[1] = _filter->y();
170 output->_xyzRover[2] = _filter->z();
171 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], output->_covMatrix);
172 output->_neu[0] = _filter->neu()[0];
173 output->_neu[1] = _filter->neu()[1];
174 output->_neu[2] = _filter->neu()[2];
175 output->_numSat = _filter->numSat();
176 output->_pDop = _filter->PDOP();
177 output->_trp0 = _filter->trp0();
178 output->_trp = _filter->trp();
179 }
180 else {
181 output->_error = true;
182 }
183
184 output->_log = _log->str();
185 delete _log; _log = new ostringstream();
186}
187
188//
189////////////////////////////////////////////////////////////////////////////
190void t_pppClient::putNewObs(t_satData* satData) {
191
192 // Set Observations GPS
193 // --------------------
194 if (satData->system() == 'G') {
195 if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
196 satData->L1 != 0.0 && satData->L2 != 0.0 ) {
197 t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
198 t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
199 double f1 = t_CST::freq(fType1, 0);
200 double f2 = t_CST::freq(fType2, 0);
201 double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
202 double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
203 satData->L1 = satData->L1 * t_CST::c / f1;
204 satData->L2 = satData->L2 * t_CST::c / f2;
205 satData->P3 = a1 * satData->P1 + a2 * satData->P2;
206 satData->L3 = a1 * satData->L1 + a2 * satData->L2;
207 satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
208 satData->lkA = a1;
209 satData->lkB = a2;
210 _epoData->satData[satData->prn] = satData;
211 }
212 else {
213 delete satData;
214 }
215 }
216
217 // Set Observations Glonass
218 // ------------------------
219 else if (satData->system() == 'R' && _opt->useSystem('R')) {
220 if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
221 satData->L1 != 0.0 && satData->L2 != 0.0 ) {
222
223 int channel = 0;
224 if (satData->system() == 'R') {
225 const t_eph* eph = _ephUser->ephLast(satData->prn);
226 if (eph) {
227 channel = eph->slotNum();
228 }
229 else {
230 delete satData;
231 return;
232 }
233 }
234
235 t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
236 t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
237 double f1 = t_CST::freq(fType1, channel);
238 double f2 = t_CST::freq(fType2, channel);
239 double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
240 double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
241 satData->L1 = satData->L1 * t_CST::c / f1;
242 satData->L2 = satData->L2 * t_CST::c / f2;
243 satData->P3 = a1 * satData->P1 + a2 * satData->P2;
244 satData->L3 = a1 * satData->L1 + a2 * satData->L2;
245 satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
246 satData->lkA = a1;
247 satData->lkB = a2;
248 _epoData->satData[satData->prn] = satData;
249 }
250 else {
251 delete satData;
252 }
253 }
254
255 // Set Observations Galileo
256 // ------------------------
257 else if (satData->system() == 'E' && _opt->useSystem('E')) {
258 if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
259 satData->L1 != 0.0 && satData->L5 != 0.0 ) {
260 double f1 = t_CST::freq(t_frequency::E1, 0);
261 double f5 = t_CST::freq(t_frequency::E5, 0);
262 double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
263 double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
264 satData->L1 = satData->L1 * t_CST::c / f1;
265 satData->L5 = satData->L5 * t_CST::c / f5;
266 satData->P3 = a1 * satData->P1 + a5 * satData->P5;
267 satData->L3 = a1 * satData->L1 + a5 * satData->L5;
268 satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
269 satData->lkA = a1;
270 satData->lkB = a5;
271 _epoData->satData[satData->prn] = satData;
272 }
273 else {
274 delete satData;
275 }
276 }
277
278 // Set Observations BDS
279 // ---------------------
280 else if (satData->system() == 'C' && _opt->useSystem('C')) {
281 if (satData->P2 != 0.0 && satData->P7 != 0.0 &&
282 satData->L2 != 0.0 && satData->L7 != 0.0 ) {
283 double f2 = t_CST::freq(t_frequency::C2, 0);
284 double f7 = t_CST::freq(t_frequency::C7, 0);
285 double a2 = f2 * f2 / (f2 * f2 - f7 * f7);
286 double a7 = - f7 * f7 / (f2 * f2 - f7 * f7);
287 satData->L2 = satData->L2 * t_CST::c / f2;
288 satData->L7 = satData->L7 * t_CST::c / f7;
289 satData->P3 = a2 * satData->P2 + a7 * satData->P7;
290 satData->L3 = a2 * satData->L2 + a7 * satData->L7;
291 satData->lambda3 = a2 * t_CST::c / f2 + a7 * t_CST::c / f7;
292 satData->lkA = a2;
293 satData->lkB = a7;
294 _epoData->satData[satData->prn] = satData;
295 }
296 else {
297 delete satData;
298 }
299 }
300}
301
302//
303////////////////////////////////////////////////////////////////////////////
304void t_pppClient::putOrbCorrections(const std::vector<t_orbCorr*>& corr) {
305 for (unsigned ii = 0; ii < corr.size(); ii++) {
306 QString prn = QString(corr[ii]->_prn.toInternalString().c_str());
307 t_eph* eLast = _ephUser->ephLast(prn);
308 t_eph* ePrev = _ephUser->ephPrev(prn);
309 if (eLast && eLast->IOD() == corr[ii]->_iod) {
310 eLast->setOrbCorr(corr[ii]);
311 }
312 else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
313 ePrev->setOrbCorr(corr[ii]);
314 }
315 }
316}
317
318//
319////////////////////////////////////////////////////////////////////////////
320void t_pppClient::putClkCorrections(const std::vector<t_clkCorr*>& corr) {
321 for (unsigned ii = 0; ii < corr.size(); ii++) {
322 QString prn = QString(corr[ii]->_prn.toInternalString().c_str());
323 t_eph* eLast = _ephUser->ephLast(prn);
324 t_eph* ePrev = _ephUser->ephPrev(prn);
325 if (eLast && eLast->IOD() == corr[ii]->_iod) {
326 eLast->setClkCorr(corr[ii]);
327 }
328 else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
329 ePrev->setClkCorr(corr[ii]);
330 }
331 }
332}
333
334//
335//////////////////////////////////////////////////////////////////////////////
336void t_pppClient::putCodeBiases(const std::vector<t_satCodeBias*>& satCodeBias) {
337 for (unsigned ii = 0; ii < satCodeBias.size(); ii++) {
338 putCodeBias(new t_satCodeBias(*satCodeBias[ii]));
339 }
340}
341
342//
343//////////////////////////////////////////////////////////////////////////////
344void t_pppClient::putEphemeris(const t_eph* eph) {
345 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
346 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
347 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
348 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
349 if (ephGPS) {
350 _ephUser->putNewEph(new t_ephGPS(*ephGPS), true);
351 }
352 else if (ephGlo) {
353 _ephUser->putNewEph(new t_ephGlo(*ephGlo), true);
354 }
355 else if (ephGal) {
356 _ephUser->putNewEph(new t_ephGal(*ephGal), true);
357 }
358 else if (ephBDS) {
359 _ephUser->putNewEph(new t_ephBDS(*ephBDS), true);
360 }
361}
362
363// Satellite Position
364////////////////////////////////////////////////////////////////////////////
365t_irc t_pppClient::getSatPos(const bncTime& tt, const QString& prn,
366 ColumnVector& xc, ColumnVector& vv) {
367
368 t_eph* eLast = _ephUser->ephLast(prn);
369 t_eph* ePrev = _ephUser->ephPrev(prn);
370 if (eLast && eLast->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
371 return success;
372 }
373 else if (ePrev && ePrev->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
374 return success;
375 }
376 return failure;
377}
378
379// Correct Time of Transmission
380////////////////////////////////////////////////////////////////////////////
381t_irc t_pppClient::cmpToT(t_satData* satData) {
382
383 double prange = satData->P3;
384 if (prange == 0.0) {
385 return failure;
386 }
387
388 double clkSat = 0.0;
389 for (int ii = 1; ii <= 10; ii++) {
390
391 bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
392
393 ColumnVector xc(4);
394 ColumnVector vv(3);
395 if (getSatPos(ToT, satData->prn, xc, vv) != success) {
396 return failure;
397 }
398
399 double clkSatOld = clkSat;
400 clkSat = xc(4);
401
402 if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
403 satData->xx = xc.Rows(1,3);
404 satData->vv = vv;
405 satData->clk = clkSat * t_CST::c;
406 return success;
407 }
408 }
409
410 return failure;
411}
412
413void t_pppClient::putCodeBias(t_satCodeBias* satCodeBias) {
414 int iPrn = satCodeBias->_prn.toInt();
415 delete _satCodeBiases[iPrn];
416 _satCodeBiases[iPrn] = satCodeBias;
417}
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