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: t_pppClient
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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 <newmatio.h>
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42 | #include <iomanip>
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43 | #include <sstream>
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44 |
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45 | #include "pppClient.h"
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46 | #include "pppFilter.h"
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47 | #include "bncephuser.h"
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48 | #include "bncutils.h"
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49 |
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50 | using namespace BNC_PPP;
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51 | using namespace std;
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52 |
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53 | // Global variable holding thread-specific pointers
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54 | //////////////////////////////////////////////////////////////////////////////
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55 | QThreadStorage<t_pppClient*> CLIENTS;
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56 |
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57 | // Static function returning thread-specific pointer
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58 | //////////////////////////////////////////////////////////////////////////////
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59 | t_pppClient* t_pppClient::instance() {
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60 | return CLIENTS.localData();
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61 | }
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62 |
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63 | // Constructor
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64 | ////////////////////////////////////////////////////////////////////////////
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65 | t_pppClient::t_pppClient(const t_pppOptions* opt) {
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66 |
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67 | _opt = new t_pppOptions(*opt);
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68 | _filter = new t_pppFilter(this);
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69 | _epoData = new t_epoData();
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70 | _log = new ostringstream();
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71 | _ephUser = new bncEphUser(false);
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72 | _staID = QByteArray(_opt->_roverName.c_str());
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73 |
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74 | CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
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75 | }
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76 |
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77 | // Destructor
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78 | ////////////////////////////////////////////////////////////////////////////
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79 | t_pppClient::~t_pppClient() {
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80 | delete _filter;
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81 | delete _epoData;
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82 | delete _opt;
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83 | delete _ephUser;
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84 | delete _log;
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85 | }
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86 |
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87 | //
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88 | ////////////////////////////////////////////////////////////////////////////
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89 | void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
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90 |
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91 | // Convert and store observations
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92 | // ------------------------------
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93 | _epoData->clear();
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94 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
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95 | const t_satObs* obs = satObs[ii];
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96 | t_satData* satData = new t_satData();
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97 |
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98 | if (_epoData->tt.undef()) {
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99 | _epoData->tt = obs->_time;
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100 | }
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101 |
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102 | satData->tt = obs->_time;
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103 | satData->prn = QString(obs->_prn.toString().c_str());
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104 | satData->slipFlag = false;
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105 | satData->P1 = 0.0;
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106 | satData->P2 = 0.0;
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107 | satData->P5 = 0.0;
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108 | satData->L1 = 0.0;
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109 | satData->L2 = 0.0;
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110 | satData->L5 = 0.0;
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111 | for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) {
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112 | t_frqObs* frqObs = obs->_obs[ifrq];
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113 | if (frqObs->_rnxType2ch[0] == '1') {
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114 | if (frqObs->_codeValid) satData->P1 = frqObs->_code;
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115 | if (frqObs->_phaseValid) satData->L1 = frqObs->_phase;
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116 | if (frqObs->_slip) satData->slipFlag = true;
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117 | }
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118 | else if (frqObs->_rnxType2ch[0] == '2') {
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119 | if (frqObs->_codeValid) satData->P2 = frqObs->_code;
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120 | if (frqObs->_phaseValid) satData->L2 = frqObs->_phase;
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121 | if (frqObs->_slip) satData->slipFlag = true;
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122 | }
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123 | else if (frqObs->_rnxType2ch[0] == '5') {
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124 | if (frqObs->_codeValid) satData->P5 = frqObs->_code;
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125 | if (frqObs->_phaseValid) satData->L5 = frqObs->_phase;
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126 | if (frqObs->_slip) satData->slipFlag = true;
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127 | }
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128 | }
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129 | putNewObs(satData);
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130 | }
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131 |
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132 | // Data Pre-Processing
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133 | // -------------------
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134 | QMutableMapIterator<QString, t_satData*> it(_epoData->satData);
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135 | while (it.hasNext()) {
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136 | it.next();
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137 | QString prn = it.key();
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138 | t_satData* satData = it.value();
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139 |
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140 | if (cmpToT(satData) != success) {
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141 | delete satData;
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142 | it.remove();
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143 | continue;
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144 | }
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145 | }
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146 |
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147 | // Filter Solution
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148 | // ---------------
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149 | if (_filter->update(_epoData) == success) {
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150 | output->_error = false;
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151 | output->_epoTime = _filter->time();
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152 | output->_xyzRover[0] = _filter->x();
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153 | output->_xyzRover[1] = _filter->y();
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154 | output->_xyzRover[2] = _filter->z();
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155 | output->_numSat = 0;
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156 | output->_pDop = 0.0;
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157 | }
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158 | else {
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159 | output->_error = true;
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160 | }
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161 |
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162 | output->_log = _log->str();
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163 | delete _log; _log = new ostringstream();
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164 | }
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165 |
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166 | //
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167 | ////////////////////////////////////////////////////////////////////////////
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168 | void t_pppClient::putNewObs(t_satData* satData) {
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169 |
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170 | // Set Observations GPS and Glonass
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171 | // --------------------------------
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172 | if (satData->system() == 'G' || satData->system() == 'R') {
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173 | if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
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174 | satData->L1 != 0.0 && satData->L2 != 0.0 ) {
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175 |
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176 | int channel = 0;
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177 | if (satData->system() == 'R') {
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178 | const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(satData->prn);
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179 | if (ephPair) {
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180 | channel = ephPair->last->slotNum();
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181 | }
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182 | else {
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183 | delete satData;
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184 | return;
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185 | }
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186 | }
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187 |
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188 | t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
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189 | t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
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190 | double f1 = t_CST::freq(fType1, channel);
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191 | double f2 = t_CST::freq(fType2, channel);
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192 | double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
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193 | double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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194 | satData->L1 = satData->L1 * t_CST::c / f1;
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195 | satData->L2 = satData->L2 * t_CST::c / f2;
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196 | satData->P3 = a1 * satData->P1 + a2 * satData->P2;
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197 | satData->L3 = a1 * satData->L1 + a2 * satData->L2;
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198 | satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
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199 | _epoData->satData[satData->prn] = satData;
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200 | }
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201 | else {
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202 | delete satData;
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203 | }
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204 | }
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205 |
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206 | // Set Observations Galileo
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207 | // ------------------------
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208 | else if (satData->system() == 'E') {
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209 | if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
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210 | satData->L1 != 0.0 && satData->L5 != 0.0 ) {
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211 | double f1 = t_CST::freq(t_frequency::E1, 0);
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212 | double f5 = t_CST::freq(t_frequency::E5, 0);
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213 | double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
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214 | double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
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215 | satData->L1 = satData->L1 * t_CST::c / f1;
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216 | satData->L5 = satData->L5 * t_CST::c / f5;
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217 | satData->P3 = a1 * satData->P1 + a5 * satData->P5;
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218 | satData->L3 = a1 * satData->L1 + a5 * satData->L5;
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219 | satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
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220 | _epoData->satData[satData->prn] = satData;
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221 | }
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222 | else {
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223 | delete satData;
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224 | }
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225 | }
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226 | }
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227 |
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228 | //
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229 | ////////////////////////////////////////////////////////////////////////////
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230 | void t_pppClient::putOrbCorrections(const std::vector<t_orbCorr*>& corr) {
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231 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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232 | QString prn = QString(corr[ii]->_prn.toString().c_str());
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233 | const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
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234 | if (ephPair) {
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235 | t_eph* eLast = ephPair->last;
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236 | t_eph* ePrev = ephPair->prev;
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237 | if (eLast && eLast->IOD() == corr[ii]->_iod) {
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238 | eLast->setOrbCorr(corr[ii]);
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239 | }
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240 | else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
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241 | ePrev->setOrbCorr(corr[ii]);
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242 | }
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243 | }
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244 | }
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245 | }
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246 |
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247 | //
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248 | ////////////////////////////////////////////////////////////////////////////
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249 | void t_pppClient::putClkCorrections(const std::vector<t_clkCorr*>& corr) {
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250 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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251 | QString prn = QString(corr[ii]->_prn.toString().c_str());
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252 | const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
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253 | if (ephPair) {
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254 | t_eph* eLast = ephPair->last;
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255 | t_eph* ePrev = ephPair->prev;
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256 | if (eLast && eLast->IOD() == corr[ii]->_iod) {
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257 | eLast->setClkCorr(corr[ii]);
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258 | }
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259 | else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
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260 | ePrev->setClkCorr(corr[ii]);
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261 | }
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262 | }
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263 | }
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264 | }
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265 |
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266 | //
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267 | //////////////////////////////////////////////////////////////////////////////
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268 | void t_pppClient::putBiases(const std::vector<t_satBias*>& /* satBias */) {
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269 | }
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270 |
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271 | //
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272 | //////////////////////////////////////////////////////////////////////////////
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273 | void t_pppClient::putEphemeris(const t_eph* eph) {
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274 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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275 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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276 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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277 | if (ephGPS) {
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278 | _ephUser->putNewEph(new t_ephGPS(*ephGPS));
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279 | }
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280 | else if (ephGlo) {
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281 | _ephUser->putNewEph(new t_ephGlo(*ephGlo));
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282 | }
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283 | else if (ephGal) {
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284 | _ephUser->putNewEph(new t_ephGal(*ephGal));
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285 | }
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286 | }
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287 |
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288 | // Satellite Position
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289 | ////////////////////////////////////////////////////////////////////////////
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290 | t_irc t_pppClient::getSatPos(const bncTime& tt, const QString& prn,
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291 | ColumnVector& xc, ColumnVector& vv) {
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292 |
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293 | const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
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294 | if (ephPair) {
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295 | t_eph* eLast = ephPair->last;
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296 | t_eph* ePrev = ephPair->prev;
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297 | if (eLast && eLast->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
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298 | return success;
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299 | }
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300 | else if (ePrev && ePrev->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
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301 | return success;
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302 | }
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303 | }
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304 | return failure;
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305 | }
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306 |
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307 | // Correct Time of Transmission
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308 | ////////////////////////////////////////////////////////////////////////////
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309 | t_irc t_pppClient::cmpToT(t_satData* satData) {
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310 |
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311 | double prange = satData->P3;
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312 | if (prange == 0.0) {
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313 | return failure;
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314 | }
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315 |
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316 | double clkSat = 0.0;
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317 | for (int ii = 1; ii <= 10; ii++) {
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318 |
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319 | bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
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320 |
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321 | ColumnVector xc(4);
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322 | ColumnVector vv(3);
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323 | if (getSatPos(ToT, satData->prn, xc, vv) != success) {
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324 | return failure;
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325 | }
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326 |
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327 | double clkSatOld = clkSat;
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328 | clkSat = xc(4);
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329 |
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330 | if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
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331 | satData->xx = xc.Rows(1,3);
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332 | satData->vv = vv;
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333 | satData->clk = clkSat * t_CST::c;
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334 | return success;
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335 | }
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336 | }
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337 |
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338 | return failure;
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339 | }
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340 |
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