source: ntrip/branches/BNC_2.12/src/PPP/pppClient.cpp@ 9322

Last change on this file since 9322 was 8454, checked in by stuerze, 6 years ago

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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppClient
6 *
7 * Purpose: PPP Client processing starts here
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <QThreadStorage>
18
19#include <iostream>
20#include <iomanip>
21#include <cmath>
22#include <stdlib.h>
23#include <string.h>
24#include <stdexcept>
25
26#include "pppClient.h"
27#include "pppEphPool.h"
28#include "pppObsPool.h"
29#include "bncconst.h"
30#include "bncutils.h"
31#include "pppStation.h"
32#include "bncantex.h"
33#include "pppFilter.h"
34
35using namespace BNC_PPP;
36using namespace std;
37
38// Global variable holding thread-specific pointers
39//////////////////////////////////////////////////////////////////////////////
40QThreadStorage<t_pppClient*> CLIENTS;
41
42// Static function returning thread-specific pointer
43//////////////////////////////////////////////////////////////////////////////
44t_pppClient* t_pppClient::instance() {
45 return CLIENTS.localData();
46}
47
48// Constructor
49//////////////////////////////////////////////////////////////////////////////
50t_pppClient::t_pppClient(const t_pppOptions* opt) {
51 _output = 0;
52 _opt = new t_pppOptions(*opt);
53 _log = new ostringstream();
54 _ephPool = new t_pppEphPool();
55 _obsPool = new t_pppObsPool();
56 _staRover = new t_pppStation();
57 _filter = new t_pppFilter();
58 _tides = new t_tides();
59
60 if (!_opt->_antexFileName.empty()) {
61 _antex = new bncAntex(_opt->_antexFileName.c_str());
62 }
63 else {
64 _antex = 0;
65 }
66
67 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
68}
69
70// Destructor
71//////////////////////////////////////////////////////////////////////////////
72t_pppClient::~t_pppClient() {
73 delete _log;
74 delete _opt;
75 delete _ephPool;
76 delete _obsPool;
77 delete _staRover;
78 if (_antex) {
79 delete _antex;
80 }
81 delete _filter;
82 delete _tides;
83 clearObs();
84}
85
86//
87//////////////////////////////////////////////////////////////////////////////
88void t_pppClient::putEphemeris(const t_eph* eph) {
89 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
90 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
91 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
92 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
93 if (ephGPS) {
94 _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
95 }
96 else if (ephGlo) {
97 _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
98 }
99 else if (ephGal) {
100 _ephPool->putEphemeris(new t_ephGal(*ephGal));
101 }
102 else if (ephBDS) {
103 _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
104 }
105}
106
107//
108//////////////////////////////////////////////////////////////////////////////
109void t_pppClient::putTec(const t_vTec* vTec) {
110 _obsPool->putTec(new t_vTec(*vTec));
111}
112
113//
114//////////////////////////////////////////////////////////////////////////////
115void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
116 for (unsigned ii = 0; ii < corr.size(); ii++) {
117 _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
118 }
119}
120
121//
122//////////////////////////////////////////////////////////////////////////////
123void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
124 for (unsigned ii = 0; ii < corr.size(); ii++) {
125 _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
126 }
127}
128
129//
130//////////////////////////////////////////////////////////////////////////////
131void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
132 for (unsigned ii = 0; ii < biases.size(); ii++) {
133 _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
134 }
135}
136
137//
138//////////////////////////////////////////////////////////////////////////////
139void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
140 for (unsigned ii = 0; ii < biases.size(); ii++) {
141 _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
142 }
143}
144
145//
146//////////////////////////////////////////////////////////////////////////////
147t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
148 vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
149 // Default
150 // -------
151 epoTime.reset();
152
153 // Create vector of valid observations
154 // -----------------------------------
155 for (unsigned ii = 0; ii < satObs.size(); ii++) {
156 char system = satObs[ii]->_prn.system();
157 if (OPT->useSystem(system)) {
158 t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
159 if (pppSatObs->isValid()) {
160 obsVector.push_back(pppSatObs);
161 }
162 else {
163 delete pppSatObs;
164 }
165 }
166 }
167
168 // Check whether data are synchronized, compute epoTime
169 // ----------------------------------------------------
170 const double MAXSYNC = 0.05; // synchronization limit
171 double meanDt = 0.0;
172 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
173 const t_pppSatObs* satObs = obsVector.at(ii);
174 if (epoTime.undef()) {
175 epoTime = satObs->time();
176 }
177 else {
178 double dt = satObs->time() - epoTime;
179 if (fabs(dt) > MAXSYNC) {
180 LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
181 return failure;
182 }
183 meanDt += dt;
184 }
185 }
186
187 if (obsVector.size() > 0) {
188 epoTime += meanDt / obsVector.size();
189 }
190
191 return success;
192}
193
194// Compute the Bancroft position, check for blunders
195//////////////////////////////////////////////////////////////////////////////
196t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
197 vector<t_pppSatObs*>& obsVector,
198 ColumnVector& xyzc, bool print) {
199
200 t_lc::type tLC = t_lc::dummy;
201
202 while (true) {
203 Matrix BB(obsVector.size(), 4);
204 int iObs = -1;
205 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
206 const t_pppSatObs* satObs = obsVector.at(ii);
207 if (tLC == t_lc::dummy) {
208 if (satObs->isValid(t_lc::cIF)) {
209 tLC = t_lc::cIF;
210 }
211 else if (satObs->isValid(t_lc::c1)) {
212 tLC = t_lc::c1;
213 }
214 else if (satObs->isValid(t_lc::c2)) {
215 tLC = t_lc::c2;
216 }
217 }
218 if ( satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
219 ++iObs;
220 BB[iObs][0] = satObs->xc()[0];
221 BB[iObs][1] = satObs->xc()[1];
222 BB[iObs][2] = satObs->xc()[2];
223 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
224 }
225 }
226 if (iObs + 1 < OPT->_minObs) {
227 LOG << "t_pppClient::cmpBancroft not enough observations" << endl;
228 return failure;
229 }
230 BB = BB.Rows(1,iObs+1);
231 bancroft(BB, xyzc);
232
233 xyzc[3] /= t_CST::c;
234
235 // Check Blunders
236 // --------------
237 const double BLUNDER = 100.0;
238 double maxRes = 0.0;
239 unsigned maxResIndex = 0;
240 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
241 const t_pppSatObs* satObs = obsVector.at(ii);
242 if ( satObs->isValid() && satObs->prn().system() == 'G' &&
243 (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
244 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
245 double res = rr.norm_Frobenius() - satObs->obsValue(tLC)
246 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
247 if (std::isnan(res) || fabs(res) > maxRes) {
248 std::isnan(res) ?
249 maxRes = res :
250 maxRes = fabs(res);
251 maxResIndex = ii;
252 }
253 }
254 }
255 if (!std::isnan(maxRes) && maxRes < BLUNDER) {
256 if (print) {
257 LOG.setf(ios::fixed);
258 LOG << string(epoTime) << " BANCROFT:" << ' '
259 << setw(14) << setprecision(3) << xyzc[0] << ' '
260 << setw(14) << setprecision(3) << xyzc[1] << ' '
261 << setw(14) << setprecision(3) << xyzc[2] << ' '
262 << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
263 }
264 break;
265 }
266 else {
267 t_pppSatObs* satObs = obsVector.at(maxResIndex);
268 LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
269 << " " << maxRes << endl;
270 delete satObs;
271 obsVector.erase(obsVector.begin() + maxResIndex);
272 }
273 }
274
275 return success;
276}
277
278// Compute A Priori GPS-Glonass Offset
279//////////////////////////////////////////////////////////////////////////////
280double t_pppClient::cmpOffGG(vector<t_pppSatObs*>& obsVector) {
281
282 t_lc::type tLC = t_lc::dummy;
283 double offGG = 0.0;
284
285 if (OPT->useSystem('R')) {
286 while (obsVector.size() > 0) {
287 offGG = 0.0;
288 double maxRes = 0.0;
289 int maxResIndex = -1;
290 t_prn maxResPrn;
291 unsigned nObs = 0;
292 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
293 const t_pppSatObs* satObs = obsVector.at(ii);
294 if (satObs->prn().system() == 'R') {
295 if (tLC == t_lc::dummy) {
296 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
297 }
298 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) {
299 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
300 ++nObs;
301 offGG += ll;
302 if (fabs(ll) > fabs(maxRes)) {
303 maxRes = ll;
304 maxResIndex = ii;
305 maxResPrn = satObs->prn();
306 }
307 }
308 }
309 }
310
311 if (nObs > 0) {
312 offGG = offGG / nObs;
313 }
314 else {
315 offGG = 0.0;
316 }
317
318 if (fabs(maxRes) > 1000.0) {
319 LOG << "t_pppClient::cmpOffGG outlier " << maxResPrn.toString() << " " << maxRes << endl;
320 delete obsVector.at(maxResIndex);
321 obsVector.erase(obsVector.begin() + maxResIndex);
322 }
323 else {
324 break;
325 }
326 }
327 }
328 return offGG;
329}
330
331//
332//////////////////////////////////////////////////////////////////////////////
333void t_pppClient::initOutput(t_output* output) {
334 _output = output;
335 _output->_numSat = 0;
336 _output->_hDop = 0.0;
337 _output->_error = false;
338}
339
340//
341//////////////////////////////////////////////////////////////////////////////
342void t_pppClient::clearObs() {
343 for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
344 delete _obsRover.at(ii);
345 }
346 _obsRover.clear();
347}
348
349//
350//////////////////////////////////////////////////////////////////////////////
351void t_pppClient::finish(t_irc irc) {
352
353 clearObs();
354
355 _output->_epoTime = _epoTimeRover;
356
357 if (irc == success) {
358 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
359 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
360 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
361
362 xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
363
364 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
365
366 _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
367 _output->_trp = _filter->trp();
368 _output->_trpStdev = _filter->trpStdev();
369
370 _output->_numSat = _filter->numSat();
371 _output->_hDop = _filter->HDOP();
372 _output->_error = false;
373 }
374 else {
375 _output->_error = true;
376 }
377 _output->_log = _log->str();
378 delete _log; _log = new ostringstream();
379}
380
381//
382//////////////////////////////////////////////////////////////////////////////
383t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
384 vector<t_pppSatObs*>& obsVector) {
385
386 bncTime time;
387 time = _epoTimeRover;
388 station->setName(OPT->_roverName);
389 station->setAntName(OPT->_antNameRover);
390 if (OPT->xyzAprRoverSet()) {
391 station->setXyzApr(OPT->_xyzAprRover);
392 }
393 else {
394 station->setXyzApr(xyzc.Rows(1,3));
395 }
396 station->setNeuEcc(OPT->_neuEccRover);
397
398 // Receiver Clock
399 // --------------
400 station->setDClk(xyzc[3]);
401
402 // Tides
403 // -----
404 station->setTideDspl( _tides->displacement(time, station->xyzApr()) );
405
406 // Ionosphere
407 // ----------
408 station->setIonoEpochTime(time);
409
410 // Observation model
411 // -----------------
412 vector<t_pppSatObs*>::iterator it = obsVector.begin();
413 while (it != obsVector.end()) {
414 t_pppSatObs* satObs = *it;
415 t_irc modelSetup;
416 if (satObs->isValid()) {
417 modelSetup = satObs->cmpModel(station);
418 }
419 if (satObs->isValid() &&
420 satObs->eleSat() >= OPT->_minEle &&
421 modelSetup == success) {
422 ++it;
423 }
424 else {
425 delete satObs;
426 it = obsVector.erase(it);
427 }
428 }
429
430 return success;
431}
432
433//
434//////////////////////////////////////////////////////////////////////////////
435void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
436
437 try {
438 initOutput(output);
439
440 // Prepare Observations of the Rover
441 // ---------------------------------
442 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
443 return finish(failure);
444 }
445
446 LOG << "\nPPP of Epoch ";
447 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
448 LOG << "\n---------------------------------------------------------------\n";
449
450 for (int iter = 1; iter <= 2; iter++) {
451 ColumnVector xyzc(4); xyzc = 0.0;
452 bool print = (iter == 2);
453 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
454 return finish(failure);
455 }
456 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
457 return finish(failure);
458 }
459 }
460
461 _offGG = cmpOffGG(_obsRover);
462
463 if (int(_obsRover.size()) < OPT->_minObs) {
464 LOG << "t_pppClient::processEpoch not enough observations" << endl;
465 return finish(failure);
466 }
467
468 // Store last epoch of data
469 // ------------------------
470 _obsPool->putEpoch(_epoTimeRover, _obsRover);
471
472 // Process Epoch in Filter
473 // -----------------------
474 if (_filter->processEpoch(_obsPool) != success) {
475 return finish(failure);
476 }
477 }
478 catch (Exception& exc) {
479 LOG << exc.what() << endl;
480 return finish(failure);
481 }
482 catch (t_except msg) {
483 LOG << msg.what() << endl;
484 return finish(failure);
485 }
486 catch (const char* msg) {
487 LOG << msg << endl;
488 return finish(failure);
489 }
490 catch (...) {
491 LOG << "unknown exception" << endl;
492 return finish(failure);
493 }
494
495 return finish(success);
496}
497
498//
499////////////////////////////////////////////////////////////////////////////
500double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
501 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
502}
503
504//
505////////////////////////////////////////////////////////////////////////////
506void t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
507
508 if (pos.Nrows() != 4) {
509 pos.ReSize(4);
510 }
511 pos = 0.0;
512
513 for (int iter = 1; iter <= 2; iter++) {
514 Matrix BB = BBpass;
515 int mm = BB.Nrows();
516 for (int ii = 1; ii <= mm; ii++) {
517 double xx = BB(ii,1);
518 double yy = BB(ii,2);
519 double traveltime = 0.072;
520 if (iter > 1) {
521 double zz = BB(ii,3);
522 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
523 (yy-pos(2)) * (yy-pos(2)) +
524 (zz-pos(3)) * (zz-pos(3)) );
525 traveltime = rho / t_CST::c;
526 }
527 double angle = traveltime * t_CST::omega;
528 double cosa = cos(angle);
529 double sina = sin(angle);
530 BB(ii,1) = cosa * xx + sina * yy;
531 BB(ii,2) = -sina * xx + cosa * yy;
532 }
533
534 Matrix BBB;
535 if (mm > 4) {
536 SymmetricMatrix hlp; hlp << BB.t() * BB;
537 BBB = hlp.i() * BB.t();
538 }
539 else {
540 BBB = BB.i();
541 }
542 ColumnVector ee(mm); ee = 1.0;
543 ColumnVector alpha(mm); alpha = 0.0;
544 for (int ii = 1; ii <= mm; ii++) {
545 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
546 }
547 ColumnVector BBBe = BBB * ee;
548 ColumnVector BBBalpha = BBB * alpha;
549 double aa = lorentz(BBBe, BBBe);
550 double bb = lorentz(BBBe, BBBalpha)-1;
551 double cc = lorentz(BBBalpha, BBBalpha);
552 double root = sqrt(bb*bb-aa*cc);
553
554 Matrix hlpPos(4,2);
555 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
556 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
557
558 ColumnVector omc(2);
559 for (int pp = 1; pp <= 2; pp++) {
560 hlpPos(4,pp) = -hlpPos(4,pp);
561 omc(pp) = BB(1,4) -
562 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
563 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
564 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
565 hlpPos(4,pp);
566 }
567 if ( fabs(omc(1)) > fabs(omc(2)) ) {
568 pos = hlpPos.Column(2);
569 }
570 else {
571 pos = hlpPos.Column(1);
572 }
573 }
574}
575
576//
577//////////////////////////////////////////////////////////////////////////////
578void t_pppClient::reset() {
579
580 // to delete all parameters
581 delete _filter;
582 _filter = new t_pppFilter();
583
584 // to delete old orbit and clock corrections
585 delete _ephPool;
586 _ephPool = new t_pppEphPool();
587
588 // to delete old code biases
589 delete _obsPool;
590 _obsPool = new t_pppObsPool();
591}
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