Changeset 11129 in ntrip for trunk/BNC/src/ssrQc.h

Timestamp:

Oct 28, 2026, 9:31:18 AM (4 days ago)

Author:

stuerze

Message:

attitude check added to the SSR QC

File:

• trunk/BNC/src/ssrQc.h (modified) (2 diffs)

trunk/BNC/src/ssrQc.h

@@ -16 +16 @@
 ////////////////////////////////////////////////////////////////////////////
 class bncBiasSnx;
+class bncAntex;
 
 class t_ssrQc : public QObject {
@@ -171 +172 @@
   QMap<QString, t_vtecStat>            _vtecStat;  // stream
   bncTime                              _nextVtecCmp;
+
+  // Attitude check: for streams sending the yaw angle, the clock change of
+  // the stream relative to the consensus during a turn (yaw difference to
+  // BNC's attitude model changing by more than ATT_ONSET) is compared with
+  // the change predicted by the phase wind-up, lambda_IF * dpsi / 2pi
+  class t_yawLast {          // latest SSR yaw angle of a stream and satellite
+   public:
+    bncTime time;
+    double  yaw  = 0.0;      // [rad]
+    double  rate = 0.0;      // [rad/s]
+  };
+  class t_attSample {
+   public:
+    double t;                // [s] (tKey)
+    double dc;               // clock difference to the consensus [m]
+    double p;                // predicted clock difference, unwrapped [m]
+    double dpsi;             // yaw difference model - stream, unwrapped [rad]
+  };
+  class t_attTrack {         // per stream and satellite
+   public:
+    bool                 active   = false;
+    bool                 hasLast  = false;
+    double               lastDPsi = 0.0;
+    double               lastT    = 0.0;
+    QVector<t_attSample> hist;   // recent samples before a turn
+    QVector<t_attSample> event;  // samples of the current turn
+    double               dc0 = 0.0, p0 = 0.0, dpsi0 = 0.0;  // before the turn
+  };
+  void   attitudeSample(const QString& staID, const QString& prn, const bncTime& tt,
+                        const ColumnVector& xx, const ColumnVector& vv, double dc);
+  void   attitudeEvent(const QString& staID, const QString& prn, t_attTrack& tr, const QString& end);
+  bncAntex*                                       _antex;      // option ssrQcAntexFile
+  QMap<QString, QMap<QString, t_yawLast> >        _yawLast;    // stream, PRN
+  QMap<QString, QMap<QString, t_attTrack> >       _attTrack;   // stream, PRN
+  QMap<QString, double>                           _psiModel;   // PRN: model yaw at _psiModelT
+  double                                          _psiModelT = 0.0;
+  QMap<QString, QMap<char, QStringList> >         _attEvents;  // stream, system: report lines
 };