// Part of BNC, a utility for retrieving decoding and
// converting GNSS data streams from NTRIP broadcasters.
//
// Copyright (C) 2007
// German Federal Agency for Cartography and Geodesy (BKG)
// http://www.bkg.bund.de
// Czech Technical University Prague, Department of Geodesy
// http://www.fsv.cvut.cz
//
// Email: euref-ip@bkg.bund.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation, version 2.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
/* -------------------------------------------------------------------------
* BKG NTRIP Client
* -------------------------------------------------------------------------
*
* Class: bncPPPclient
*
* Purpose: Precise Point Positioning
*
* Author: L. Mervart
*
* Created: 21-Nov-2009
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <newmatio.h>
#include <iomanip>
#include <sstream>
#include "bncpppclient.h"
#include "bncapp.h"
#include "bncutils.h"
#include "bncconst.h"
#include "bncmodel.h"
#include "bncsettings.h"
using namespace std;
// Constructor
////////////////////////////////////////////////////////////////////////////
bncPPPclient::bncPPPclient(QByteArray staID) {
bncSettings settings;
if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
_useGlonass = true;
}
else {
_useGlonass = false;
}
if ( Qt::CheckState(settings.value("pppGalileo").toInt()) == Qt::Checked) {
_useGalileo = true;
}
else {
_useGalileo = false;
}
if (settings.value("pppSPP").toString() == "PPP") {
_pppMode = true;
}
else {
_pppMode = false;
}
connect(this, SIGNAL(newMessage(QByteArray,bool)),
((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
this, SLOT(slotNewCorrections(QList<QString>)));
_staID = staID;
_model = new bncModel(staID);
connect(_model, SIGNAL(newNMEAstr(QByteArray)),
this, SIGNAL(newNMEAstr(QByteArray)));
_pppCorrMount = settings.value("pppCorrMount").toString();
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncPPPclient::~bncPPPclient() {
delete _model;
while (!_epoData.empty()) {
delete _epoData.front();
_epoData.pop();
}
QMapIterator<QString, t_corr*> ic(_corr);
while (ic.hasNext()) {
ic.next();
delete ic.value();
}
QMapIterator<QString, t_bias*> ib(_bias);
while (ib.hasNext()) {
ib.next();
delete ib.value();
}
}
//
////////////////////////////////////////////////////////////////////////////
void bncPPPclient::putNewObs(const t_obs& obs) {
QMutexLocker locker(&_mutex);
if (obs.satSys == 'R') {
if (!_useGlonass) return;
}
else if (obs.satSys == 'E') {
if (!_useGalileo) return;
}
else if (obs.satSys != 'G') {
return;
}
t_satData* satData = new t_satData();
satData->tt = bncTime(obs.GPSWeek, obs.GPSWeeks);
// Satellite Number
// ----------------
satData->prn = QString("%1%2").arg(obs.satSys).arg(obs.satNum,2,10,QChar('0'));
// Check Slips
// -----------
slipInfo& sInfo = _slips[satData->prn];
if ( sInfo.slipCntL1 == obs.slip_cnt_L1 &&
sInfo.slipCntL2 == obs.slip_cnt_L2 &&
sInfo.slipCntL5 == obs.slip_cnt_L5 ) {
satData->slipFlag = false;
}
else {
satData->slipFlag = true;
}
sInfo.slipCntL1 = obs.slip_cnt_L1;
sInfo.slipCntL2 = obs.slip_cnt_L2;
// Handle Code Biases
// ------------------
t_bias* bb = 0;
if (_bias.contains(satData->prn)) {
bb = _bias.value(satData->prn);
}
// Add new epoch, process the older ones
// -------------------------------------
if (_epoData.size() == 0) {
_epoData.push(new t_epoData());
_epoData.back()->tt = satData->tt;
}
else if (satData->tt != _epoData.back()->tt) {
processEpochs();
_epoData.push(new t_epoData());
_epoData.back()->tt = satData->tt;
}
// Set Observations GPS
// --------------------
if (obs.satSys == 'G') {
if ( (obs.P1 || obs.C1) && (obs.P2 || obs.C2) && obs.L1() && obs.L2() ) {
double f1 = t_CST::freq1;
double f2 = t_CST::freq2;
double c1 = f1 * f1 / (f1 * f1 - f2 * f2);
double c2 = - f2 * f2 / (f1 * f1 - f2 * f2);
if (obs.P1) {
satData->P1 = obs.P1 + (bb ? bb->p1 : 0.0);
}
else {
satData->P1 = obs.C1 + (bb ? bb->c1 : 0.0);
}
if (obs.P2) {
satData->P2 = obs.P2 + (bb ? bb->p2 : 0.0);
}
else {
satData->P2 = obs.C2;
}
satData->L1 = obs.L1() * t_CST::c / f1;
satData->L2 = obs.L2() * t_CST::c / f2;
satData->P3 = c1 * satData->P1 + c2 * satData->P2;
satData->L3 = c1 * satData->L1 + c2 * satData->L2;
satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2;
_epoData.back()->satData[satData->prn] = satData;
}
else {
delete satData;
}
}
// Set Observations GLONASS
// ------------------------
else if (obs.satSys == 'R') {
if ( (obs.P1 || obs.C1) && (obs.P2 || obs.C2) && obs.L1() && obs.L2() ) {
double f1 = 1602000000.0 + 562500.0 * obs.slotNum;
double f2 = 1246000000.0 + 437500.0 * obs.slotNum;
double c1 = f1 * f1 / (f1 * f1 - f2 * f2);
double c2 = - f2 * f2 / (f1 * f1 - f2 * f2);
if (obs.P1) {
satData->P1 = obs.P1 + (bb ? bb->p1 : 0.0);
}
else {
satData->P1 = obs.C1 + (bb ? bb->c1 : 0.0);
}
if (obs.P2) {
satData->P2 = obs.P2 + (bb ? bb->p2 : 0.0);
}
else {
satData->P2 = obs.C2;
}
satData->L1 = obs.L1() * t_CST::c / f1;
satData->L2 = obs.L2() * t_CST::c / f2;
satData->P3 = c1 * satData->P1 + c2 * satData->P2;
satData->L3 = c1 * satData->L1 + c2 * satData->L2;
satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2;
_epoData.back()->satData[satData->prn] = satData;
}
else {
delete satData;
}
}
// Set Observations Galileo
// ------------------------
else if (obs.satSys == 'E') {
if ( obs.C1 && obs.C5 && obs.L1() && obs.L5) {
double f1 = t_CST::freq1;
double f5 = t_CST::freq5;
double c1 = f1 * f1 / (f1 * f1 - f5 * f5);
double c5 = - f5 * f5 / (f1 * f1 - f5 * f5);
satData->P1 = obs.C1;
satData->P5 = obs.C5;
satData->L1 = obs.L1() * t_CST::c / f1;
satData->L5 = obs.L5 * t_CST::c / f5;
satData->P3 = c1 * satData->P1 + c5 * satData->P5;
satData->L3 = c1 * satData->L1 + c5 * satData->L5;
satData->lambda3 = c1 * t_CST::c / f1 + c5 * t_CST::c / f5;
_epoData.back()->satData[satData->prn] = satData;
}
else {
delete satData;
}
}
}
//
////////////////////////////////////////////////////////////////////////////
void bncPPPclient::slotNewCorrections(QList<QString> corrList) {
QMutexLocker locker(&_mutex);
// Check the Mountpoint (source of corrections)
// --------------------------------------------
if (!_pppCorrMount.isEmpty()) {
QMutableListIterator<QString> itm(corrList);
while (itm.hasNext()) {
QStringList hlp = itm.next().split(" ");
if (hlp.size() > 0) {
QString mountpoint = hlp[hlp.size()-1];
if (mountpoint != _pppCorrMount) {
itm.remove();
}
}
}
}
if (corrList.size() == 0) {
return;
}
// Remove All Corrections
// ----------------------
// QMapIterator<QString, t_corr*> ic(_corr);
// while (ic.hasNext()) {
// ic.next();
// delete ic.value();
// }
// _corr.clear();
QListIterator<QString> it(corrList);
while (it.hasNext()) {
QString line = it.next();
QTextStream in(&line);
int messageType;
int updateInterval;
int GPSweek;
double GPSweeks;
QString prn;
in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
if ( t_corr::relevantMessageType(messageType) ) {
t_corr* cc = 0;
if (_corr.contains(prn)) {
cc = _corr.value(prn);
}
else {
cc = new t_corr();
_corr[prn] = cc;
}
cc->readLine(line);
_corr_tt = cc->tt;
}
else if ( messageType == BTYPE_GPS ) {
t_bias* bb = 0;
if (_bias.contains(prn)) {
bb = _bias.value(prn);
}
else {
bb = new t_bias();
_bias[prn] = bb;
}
bb->tt.set(GPSweek, GPSweeks);
int numBiases;
in >> numBiases;
for (int ii = 0; ii < numBiases; ++ii) {
int bType;
double bValue;
in >> bType >> bValue;
if (bType == CODETYPEGPS_L1_Z) {
bb->p1 = bValue;
}
else if (bType == CODETYPEGPS_L1_CA) {
bb->c1 = bValue;
}
else if (bType == CODETYPEGPS_L2_Z) {
bb->p2 = bValue;
}
}
}
}
QMutableMapIterator<QString, t_corr*> im(_corr);
while (im.hasNext()) {
im.next();
t_corr* cc = im.value();
if (!cc->ready()) {
delete cc;
im.remove();
}
}
}
// Satellite Position
////////////////////////////////////////////////////////////////////////////
t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
ColumnVector& xc, ColumnVector& vv) {
const double MAXAGE = 120.0;
if (_eph.contains(prn)) {
if (_pppMode) {
if (_corr.contains(prn)) {
t_corr* cc = _corr.value(prn);
if (tt - cc->tt < MAXAGE) {
t_eph* eLast = _eph.value(prn)->last;
t_eph* ePrev = _eph.value(prn)->prev;
if (eLast && eLast->IOD() == cc->iod) {
eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
return applyCorr(tt, cc, xc, vv);
}
else if (ePrev && ePrev->IOD() == cc->iod) {
ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
return applyCorr(tt, cc, xc, vv);
}
}
}
}
else {
t_eph* ee = _eph.value(prn)->last;
ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
return success;
}
}
return failure;
}
//
////////////////////////////////////////////////////////////////////////////
t_irc bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc,
ColumnVector& xc, ColumnVector& vv) {
double dt = tt - cc->tt;
ColumnVector raoHlp = cc->rao + cc->dotRao * dt + cc->dotDotRao * dt * dt;
if (raoHlp.norm_Frobenius() > 20.0) {
return failure;
}
ColumnVector dx(3);
RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx);
xc[0] -= dx[0];
xc[1] -= dx[1];
xc[2] -= dx[2];
xc[3] += cc->dClk + cc->dotDClk * dt + cc->dotDotDClk * dt * dt
+ cc->hrClk;
return success;
}
// Correct Time of Transmission
////////////////////////////////////////////////////////////////////////////
t_irc bncPPPclient::cmpToT(t_satData* satData) {
double prange = satData->P3;
if (prange == 0.0) {
return failure;
}
double clkSat = 0.0;
for (int ii = 1; ii <= 10; ii++) {
bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
ColumnVector xc(4);
ColumnVector vv(3);
if (getSatPos(ToT, satData->prn, xc, vv) != success) {
return failure;
}
double clkSatOld = clkSat;
clkSat = xc(4);
if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
satData->xx = xc.Rows(1,3);
satData->vv = vv;
satData->clk = clkSat * t_CST::c;
return success;
}
}
return failure;
}
//
////////////////////////////////////////////////////////////////////////////
void bncPPPclient::processFrontEpoch() {
// Data Pre-Processing
// -------------------
QMutableMapIterator<QString, t_satData*> it(_epoData.front()->satData);
while (it.hasNext()) {
it.next();
QString prn = it.key();
t_satData* satData = it.value();
if (cmpToT(satData) != success) {
delete satData;
it.remove();
continue;
}
}
// Filter Solution
// ---------------
if (_model->update(_epoData.front()) == success) {
emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
}
}
//
////////////////////////////////////////////////////////////////////////////
void bncPPPclient::processEpochs() {
// Synchronization threshold (not used in SPP mode)
// ------------------------------------------------
bncSettings settings;
double maxDt = settings.value("pppSync").toDouble();
if (!_pppMode) {
maxDt = 0.0;
}
// Make sure the buffer does not grow beyond any limit
// ---------------------------------------------------
const unsigned MAX_EPODATA_SIZE = 120;
if (_epoData.size() > MAX_EPODATA_SIZE) {
delete _epoData.front();
_epoData.pop();
}
// Loop over all unprocessed epochs
// --------------------------------
while (!_epoData.empty()) {
t_epoData* frontEpoData = _epoData.front();
// No corrections yet, skip the epoch
// ----------------------------------
if (maxDt != 0.0 && !_corr_tt.valid()) {
return;
}
// Process the front epoch
// -----------------------
if (maxDt == 0 || frontEpoData->tt - _corr_tt < maxDt) {
processFrontEpoch();
delete _epoData.front();
_epoData.pop();
}
else {
return;
}
}
}