source: ntrip/trunk/BNC/bncmodel.cpp@ 2561

Last change on this file since 2561 was 2548, checked in by mervart, 14 years ago
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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: bncParam, bncModel
30 *
31 * Purpose: Model for PPP
32 *
33 * Author: L. Mervart
34 *
35 * Created: 01-Dec-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iomanip>
42#include <cmath>
43#include <newmatio.h>
44#include <sstream>
45
46#include "bncmodel.h"
47#include "bncapp.h"
48#include "bncpppclient.h"
49#include "bancroft.h"
50#include "bncutils.h"
51#include "bncsettings.h"
52
53using namespace std;
54
55const unsigned MINOBS = 4;
56const double MINELE_GPS = 10.0 * M_PI / 180.0;
57const double MINELE_GLO = 10.0 * M_PI / 180.0;
58const double MAXRES_CODE_GPS = 10.0;
59const double MAXRES_PHASE_GPS = 0.10;
60const double MAXRES_PHASE_GLO = 0.05;
61const double sig_crd_0 = 100.0;
62const double sig_crd_p = 100.0;
63const double sig_clk_0 = 1000.0;
64const double sig_trp_0 = 0.10;
65const double sig_trp_p = 1e-8;
66const double sig_amb_0_GPS = 1000.0;
67const double sig_amb_0_GLO = 1000.0;
68const double sig_L3_GPS = 0.02;
69const double sig_L3_GLO = 0.05;
70
71// Constructor
72////////////////////////////////////////////////////////////////////////////
73bncParam::bncParam(bncParam::parType typeIn, int indexIn,
74 const QString& prnIn) {
75 type = typeIn;
76 index = indexIn;
77 prn = prnIn;
78 index_old = 0;
79 xx = 0.0;
80
81}
82
83// Destructor
84////////////////////////////////////////////////////////////////////////////
85bncParam::~bncParam() {
86}
87
88// Partial
89////////////////////////////////////////////////////////////////////////////
90double bncParam::partial(t_satData* satData, bool phase) {
91
92 // Coordinates
93 // -----------
94 if (type == CRD_X) {
95 return (xx - satData->xx(1)) / satData->rho;
96 }
97 else if (type == CRD_Y) {
98 return (xx - satData->xx(2)) / satData->rho;
99 }
100 else if (type == CRD_Z) {
101 return (xx - satData->xx(3)) / satData->rho;
102 }
103
104 // Receiver Clocks
105 // ---------------
106 else if (type == RECCLK) {
107 return 1.0;
108 }
109
110 // Troposphere
111 // -----------
112 else if (type == TROPO) {
113 return 1.0 / sin(satData->eleSat);
114 }
115
116 // Ambiguities
117 // -----------
118 else if (type == AMB_L3) {
119 if (phase && satData->prn == prn) {
120 return 1.0;
121 }
122 else {
123 return 0.0;
124 }
125 }
126
127 // Default return
128 // --------------
129 return 0.0;
130}
131
132// Constructor
133////////////////////////////////////////////////////////////////////////////
134bncModel::bncModel(QByteArray staID) {
135
136 _staID = staID;
137
138 connect(this, SIGNAL(newMessage(QByteArray,bool)),
139 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
140
141 bncSettings settings;
142
143 _static = false;
144 if ( Qt::CheckState(settings.value("pppStatic").toInt()) == Qt::Checked) {
145 _static = true;
146 }
147
148 _usePhase = false;
149 if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
150 _usePhase = true;
151 }
152
153 _estTropo = false;
154 if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
155 _estTropo = true;
156 }
157
158 _xcBanc.ReSize(4); _xcBanc = 0.0;
159 _ellBanc.ReSize(3); _ellBanc = 0.0;
160
161 if (_usePhase &&
162 Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
163 _useGlonass = true;
164 }
165 else {
166 _useGlonass = false;
167 }
168
169 int nextPar = 0;
170 _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
171 _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
172 _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
173 _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
174 if (_estTropo) {
175 _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
176 }
177
178 unsigned nPar = _params.size();
179
180 _QQ.ReSize(nPar);
181
182 _QQ = 0.0;
183
184 for (int iPar = 1; iPar <= _params.size(); iPar++) {
185 bncParam* pp = _params[iPar-1];
186 if (pp->isCrd()) {
187 _QQ(iPar,iPar) = sig_crd_0 * sig_crd_0;
188 }
189 else if (pp->type == bncParam::RECCLK) {
190 _QQ(iPar,iPar) = sig_clk_0 * sig_clk_0;
191 }
192 else if (pp->type == bncParam::TROPO) {
193 _QQ(iPar,iPar) = sig_trp_0 * sig_trp_0;
194 }
195 }
196
197 // NMEA Output
198 // -----------
199 QString nmeaFileName = settings.value("nmeaFile").toString();
200 if (nmeaFileName.isEmpty()) {
201 _nmeaFile = 0;
202 _nmeaStream = 0;
203 }
204 else {
205 expandEnvVar(nmeaFileName);
206 _nmeaFile = new QFile(nmeaFileName);
207 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
208 _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
209 }
210 else {
211 _nmeaFile->open(QIODevice::WriteOnly);
212 }
213 _nmeaStream = new QTextStream();
214 _nmeaStream->setDevice(_nmeaFile);
215 QDateTime dateTime = QDateTime::currentDateTime().toUTC();
216 QString nmStr = "GPRMC," + dateTime.time().toString("hhmmss")
217 + ",A,,,,,,,"
218 + dateTime.date().toString("ddMMyy")
219 + ",,";
220
221 writeNMEAstr(nmStr);
222 }
223}
224
225// Destructor
226////////////////////////////////////////////////////////////////////////////
227bncModel::~bncModel() {
228 delete _nmeaStream;
229 delete _nmeaFile;
230}
231
232// Bancroft Solution
233////////////////////////////////////////////////////////////////////////////
234t_irc bncModel::cmpBancroft(t_epoData* epoData) {
235
236 if (epoData->sizeGPS() < MINOBS) {
237 _log += "bncModel::cmpBancroft: not enough data\n";
238 return failure;
239 }
240
241 Matrix BB(epoData->sizeGPS(), 4);
242
243 QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
244 int iObs = 0;
245 while (it.hasNext()) {
246 ++iObs;
247 it.next();
248 QString prn = it.key();
249 t_satData* satData = it.value();
250 BB(iObs, 1) = satData->xx(1);
251 BB(iObs, 2) = satData->xx(2);
252 BB(iObs, 3) = satData->xx(3);
253 BB(iObs, 4) = satData->P3 + satData->clk;
254 }
255
256 bancroft(BB, _xcBanc);
257
258 // Ellipsoidal Coordinates
259 // ------------------------
260 xyz2ell(_xcBanc.data(), _ellBanc.data());
261
262 // Compute Satellite Elevations
263 // ----------------------------
264 QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
265 while (iGPS.hasNext()) {
266 iGPS.next();
267 QString prn = iGPS.key();
268 t_satData* satData = iGPS.value();
269
270 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
271 double rho = rr.norm_Frobenius();
272
273 double neu[3];
274 xyz2neu(_ellBanc.data(), rr.data(), neu);
275
276 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
277 if (neu[2] < 0) {
278 satData->eleSat *= -1.0;
279 }
280 satData->azSat = atan2(neu[1], neu[0]);
281
282 if (satData->eleSat < MINELE_GPS) {
283 delete satData;
284 iGPS.remove();
285 }
286 }
287
288 QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
289 while (iGlo.hasNext()) {
290 iGlo.next();
291 QString prn = iGlo.key();
292 t_satData* satData = iGlo.value();
293
294 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
295 double rho = rr.norm_Frobenius();
296
297 double neu[3];
298 xyz2neu(_ellBanc.data(), rr.data(), neu);
299
300 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
301 if (neu[2] < 0) {
302 satData->eleSat *= -1.0;
303 }
304 satData->azSat = atan2(neu[1], neu[0]);
305
306 if (satData->eleSat < MINELE_GLO) {
307 delete satData;
308 iGlo.remove();
309 }
310 }
311
312 return success;
313}
314
315// Computed Value
316////////////////////////////////////////////////////////////////////////////
317double bncModel::cmpValue(t_satData* satData) {
318
319 ColumnVector xRec(3);
320 xRec(1) = x();
321 xRec(2) = y();
322 xRec(3) = z();
323
324 double rho0 = (satData->xx - xRec).norm_Frobenius();
325 double dPhi = t_CST::omega * rho0 / t_CST::c;
326
327 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
328 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
329 xRec(3) = z();
330
331 satData->rho = (satData->xx - xRec).norm_Frobenius();
332
333 double tropDelay = delay_saast(satData->eleSat) +
334 trp() / sin(satData->eleSat);
335
336 return satData->rho + clk() - satData->clk + tropDelay;
337}
338
339// Tropospheric Model (Saastamoinen)
340////////////////////////////////////////////////////////////////////////////
341double bncModel::delay_saast(double Ele) {
342
343 double height = _ellBanc(3);
344
345 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
346 double TT = 18.0 - height * 0.0065 + 273.15;
347 double hh = 50.0 * exp(-6.396e-4 * height);
348 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
349
350 double h_km = height / 1000.0;
351
352 if (h_km < 0.0) h_km = 0.0;
353 if (h_km > 5.0) h_km = 5.0;
354 int ii = int(h_km + 1);
355 double href = ii - 1;
356
357 double bCor[6];
358 bCor[0] = 1.156;
359 bCor[1] = 1.006;
360 bCor[2] = 0.874;
361 bCor[3] = 0.757;
362 bCor[4] = 0.654;
363 bCor[5] = 0.563;
364
365 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
366
367 double zen = M_PI/2.0 - Ele;
368
369 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
370}
371
372// Prediction Step of the Filter
373////////////////////////////////////////////////////////////////////////////
374void bncModel::predict(t_epoData* epoData) {
375
376 bool firstCrd = x() == 0.0 && y() == 0.0 && z() == 0.0;
377
378 // Predict Parameter values, add white noise
379 // -----------------------------------------
380 for (int iPar = 1; iPar <= _params.size(); iPar++) {
381 bncParam* pp = _params[iPar-1];
382
383 // Coordinates
384 // -----------
385 if (pp->type == bncParam::CRD_X) {
386 if (firstCrd || !_static) {
387 pp->xx = _xcBanc(1);
388 }
389 _QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
390 }
391 else if (pp->type == bncParam::CRD_Y) {
392 if (firstCrd || !_static) {
393 pp->xx = _xcBanc(2);
394 }
395 _QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
396 }
397 else if (pp->type == bncParam::CRD_Z) {
398 if (firstCrd || !_static) {
399 pp->xx = _xcBanc(3);
400 }
401 _QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
402 }
403
404 // Receiver Clocks
405 // ---------------
406 else if (pp->type == bncParam::RECCLK) {
407 pp->xx = _xcBanc(4);
408 for (int jj = 1; jj <= _params.size(); jj++) {
409 _QQ(iPar, jj) = 0.0;
410 }
411 _QQ(iPar,iPar) = sig_clk_0 * sig_clk_0;
412 }
413
414 // Tropospheric Delay
415 // ------------------
416 else if (pp->type == bncParam::TROPO) {
417 _QQ(iPar,iPar) += sig_trp_p * sig_trp_p;
418 }
419 }
420
421 // Add New Ambiguities if necessary
422 // --------------------------------
423 if (_usePhase) {
424
425 // Make a copy of QQ and xx, set parameter indices
426 // -----------------------------------------------
427 SymmetricMatrix QQ_old = _QQ;
428
429 for (int iPar = 1; iPar <= _params.size(); iPar++) {
430 _params[iPar-1]->index_old = _params[iPar-1]->index;
431 _params[iPar-1]->index = 0;
432 }
433
434 // Remove Ambiguity Parameters without observations
435 // ------------------------------------------------
436 int iPar = 0;
437 QMutableVectorIterator<bncParam*> it(_params);
438 while (it.hasNext()) {
439 bncParam* par = it.next();
440 bool removed = false;
441 if (par->type == bncParam::AMB_L3) {
442 if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
443 epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() ) {
444 removed = true;
445 delete par;
446 it.remove();
447 }
448 }
449 if (! removed) {
450 ++iPar;
451 par->index = iPar;
452 }
453 }
454
455 // Add new ambiguity parameters
456 // ----------------------------
457 QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
458 while (iGPS.hasNext()) {
459 iGPS.next();
460 QString prn = iGPS.key();
461 t_satData* satData = iGPS.value();
462 bool found = false;
463 for (int iPar = 1; iPar <= _params.size(); iPar++) {
464 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
465 _params[iPar-1]->prn == prn) {
466 found = true;
467 break;
468 }
469 }
470 if (!found) {
471 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
472 _params.push_back(par);
473 par->xx = satData->L3 - cmpValue(satData);
474 }
475 }
476
477 QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
478 while (iGlo.hasNext()) {
479 iGlo.next();
480 QString prn = iGlo.key();
481 t_satData* satData = iGlo.value();
482 bool found = false;
483 for (int iPar = 1; iPar <= _params.size(); iPar++) {
484 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
485 _params[iPar-1]->prn == prn) {
486 found = true;
487 break;
488 }
489 }
490 if (!found) {
491 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
492 _params.push_back(par);
493 par->xx = satData->L3 - cmpValue(satData);
494 }
495 }
496
497 int nPar = _params.size();
498 _QQ.ReSize(nPar); _QQ = 0.0;
499 for (int i1 = 1; i1 <= nPar; i1++) {
500 bncParam* p1 = _params[i1-1];
501 if (p1->index_old != 0) {
502 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
503 for (int i2 = 1; i2 <= nPar; i2++) {
504 bncParam* p2 = _params[i2-1];
505 if (p2->index_old != 0) {
506 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
507 }
508 }
509 }
510 }
511
512 for (int ii = 1; ii <= nPar; ii++) {
513 bncParam* par = _params[ii-1];
514 if (par->index_old == 0) {
515 if (par->prn[0] == 'R') {
516 _QQ(par->index, par->index) = sig_amb_0_GLO * sig_amb_0_GLO;
517 }
518 else {
519 _QQ(par->index, par->index) = sig_amb_0_GPS * sig_amb_0_GPS;
520 }
521 }
522 par->index_old = par->index;
523 }
524 }
525
526}
527
528// Update Step of the Filter (currently just a single-epoch solution)
529////////////////////////////////////////////////////////////////////////////
530t_irc bncModel::update(t_epoData* epoData) {
531
532 bncSettings settings;
533 double sig_P3;
534 sig_P3 = 5.0;
535 if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked ) {
536 sig_P3 = settings.value("pppSigmaCode").toDouble();
537 if (sig_P3 < 0.3 || sig_P3 > 50.0) {
538 sig_P3 = 5.0;
539 }
540 }
541
542 _log.clear();
543
544 _time = epoData->tt;
545
546 _log += "Single Point Positioning of Epoch "
547 + QByteArray(_time.timestr(1).c_str()) +
548 "\n--------------------------------------------------------------\n";
549
550 SymmetricMatrix QQsav;
551 ColumnVector dx;
552 ColumnVector vv;
553
554 // Loop over all outliers
555 // ----------------------
556 do {
557
558 // Bancroft Solution
559 // -----------------
560 if (cmpBancroft(epoData) != success) {
561 emit newMessage(_log, false);
562 return failure;
563 }
564
565 // Status Prediction
566 // -----------------
567 predict(epoData);
568
569 // Create First-Design Matrix
570 // --------------------------
571 unsigned nPar = _params.size();
572 unsigned nObs = 0;
573 if (_usePhase) {
574 nObs = 2 * epoData->sizeGPS() + epoData->sizeGlo();
575 }
576 else {
577 nObs = epoData->sizeGPS(); // Glonass pseudoranges are not used
578 }
579
580 if (nObs < nPar) {
581 _log += "bncModel::update: nObs < nPar\n";
582 emit newMessage(_log, false);
583 return failure;
584 }
585
586 Matrix AA(nObs, nPar); // first design matrix
587 ColumnVector ll(nObs); // tems observed-computed
588 DiagonalMatrix PP(nObs); PP = 0.0;
589
590 unsigned iObs = 0;
591
592 // GPS code and (optionally) phase observations
593 // --------------------------------------------
594 QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
595 while (itGPS.hasNext()) {
596 ++iObs;
597 itGPS.next();
598 QString prn = itGPS.key();
599 t_satData* satData = itGPS.value();
600
601 double rhoCmp = cmpValue(satData);
602
603 ll(iObs) = satData->P3 - rhoCmp;
604 PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3);
605 for (int iPar = 1; iPar <= _params.size(); iPar++) {
606 AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
607 }
608
609 if (_usePhase) {
610 ++iObs;
611 ll(iObs) = satData->L3 - rhoCmp;
612 PP(iObs,iObs) = 1.0 / (sig_L3_GPS * sig_L3_GPS);
613 for (int iPar = 1; iPar <= _params.size(); iPar++) {
614 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
615 _params[iPar-1]->prn == prn) {
616 ll(iObs) -= _params[iPar-1]->xx;
617 }
618 AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
619 }
620 }
621 }
622
623 // Glonass phase observations
624 // --------------------------
625 if (_usePhase) {
626 QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
627 while (itGlo.hasNext()) {
628 ++iObs;
629 itGlo.next();
630 QString prn = itGlo.key();
631 t_satData* satData = itGlo.value();
632
633 double rhoCmp = cmpValue(satData);
634
635 ll(iObs) = satData->L3 - rhoCmp;
636
637 PP(iObs,iObs) = 1.0 / (sig_L3_GLO * sig_L3_GLO);
638 for (int iPar = 1; iPar <= _params.size(); iPar++) {
639 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
640 _params[iPar-1]->prn == prn) {
641 ll(iObs) -= _params[iPar-1]->xx;
642 }
643 AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
644 }
645 }
646 }
647
648 // Compute Filter Update
649 // ---------------------
650 QQsav = _QQ;
651
652 kalman(AA, ll, PP, _QQ, dx);
653
654 vv = ll - AA * dx;
655
656 ostringstream strA;
657 strA.setf(ios::fixed);
658 ColumnVector vv_code(epoData->sizeGPS());
659 ColumnVector vv_phase(epoData->sizeGPS());
660 ColumnVector vv_glo(epoData->sizeGlo());
661
662 for (unsigned iobs = 1; iobs <= epoData->sizeGPS(); ++iobs) {
663 if (_usePhase) {
664 vv_code(iobs) = vv(2*iobs-1);
665 vv_phase(iobs) = vv(2*iobs);
666 }
667 else {
668 vv_code(iobs) = vv(iobs);
669 }
670 }
671 if (_useGlonass) {
672 for (unsigned iobs = 1; iobs <= epoData->sizeGlo(); ++iobs) {
673 vv_glo(iobs) = vv(2*epoData->sizeGPS()+iobs);
674 }
675 }
676
677 strA << "residuals code " << setw(8) << setprecision(3) << vv_code.t();
678 if (_usePhase) {
679 strA << "residuals phase " << setw(8) << setprecision(3) << vv_phase.t();
680 }
681 if (_useGlonass) {
682 strA << "residuals glo " << setw(8) << setprecision(3) << vv_glo.t();
683 }
684 _log += strA.str().c_str();
685
686 } while (outlierDetection(QQsav, vv, epoData->satDataGPS,
687 epoData->satDataGlo) != 0);
688
689 // Set Solution Vector
690 // -------------------
691 ostringstream strB;
692 strB.setf(ios::fixed);
693 QVectorIterator<bncParam*> itPar(_params);
694 while (itPar.hasNext()) {
695 bncParam* par = itPar.next();
696 par->xx += dx(par->index);
697
698 if (par->type == bncParam::RECCLK) {
699 strB << "\n clk = " << setw(6) << setprecision(3) << par->xx
700 << " +- " << setw(6) << setprecision(3)
701 << sqrt(_QQ(par->index,par->index));
702 }
703 else if (par->type == bncParam::AMB_L3) {
704 strB << "\n amb " << par->prn.toAscii().data() << " = "
705 << setw(6) << setprecision(3) << par->xx
706 << " +- " << setw(6) << setprecision(3)
707 << sqrt(_QQ(par->index,par->index));
708 }
709 else if (par->type == bncParam::TROPO) {
710 strB << "\n trp = " << par->prn.toAscii().data()
711 << setw(7) << setprecision(3) << delay_saast(M_PI/2.0) << " "
712 << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
713 << " +- " << setw(6) << setprecision(3)
714 << sqrt(_QQ(par->index,par->index));
715 }
716 }
717 strB << '\n';
718 _log += strB.str().c_str();
719 emit newMessage(_log, false);
720
721 // Final Message (both log file and screen)
722 // ----------------------------------------
723 ostringstream strC;
724 strC.setf(ios::fixed);
725 strC << _staID.data() << " PPP "
726 << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
727 << setw(14) << setprecision(3) << x() << " +- "
728 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
729 << setw(14) << setprecision(3) << y() << " +- "
730 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
731 << setw(14) << setprecision(3) << z() << " +- "
732 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
733
734 // NEU Output
735 // ----------
736 if (settings.value("pppOrigin").toString() == "X Y Z") {
737 double xyzRef[3];
738 double ellRef[3];
739 double _xyz[3];
740 double _neu[3];
741 xyzRef[0] = settings.value("pppRefCrdX").toDouble();
742 xyzRef[1] = settings.value("pppRefCrdY").toDouble();
743 xyzRef[2] = settings.value("pppRefCrdZ").toDouble();
744 _xyz[0] = x() - xyzRef[0];
745 _xyz[1] = y() - xyzRef[1];
746 _xyz[2] = z() - xyzRef[2];
747 xyz2ell(xyzRef, ellRef);
748 xyz2neu(ellRef, _xyz, _neu);
749 strC << " NEU "
750 << setw(8) << setprecision(3) << _neu[0] << " "
751 << setw(8) << setprecision(3) << _neu[1] << " "
752 << setw(8) << setprecision(3) << _neu[2];
753 }
754
755 strC << endl;
756
757 emit newMessage(QByteArray(strC.str().c_str()), true);
758
759 // NMEA Output
760 // -----------
761 double xyz[3];
762 xyz[0] = x();
763 xyz[1] = y();
764 xyz[2] = z();
765 double ell[3];
766 xyz2ell(xyz, ell);
767 double phiDeg = ell[0] * 180 / M_PI;
768 double lamDeg = ell[1] * 180 / M_PI;
769
770 char phiCh = 'N';
771 if (phiDeg < 0) {
772 phiDeg = -phiDeg;
773 phiCh = 'S';
774 }
775 char lamCh = 'E';
776 if (lamDeg < 0) {
777// lamDeg = -lamDeg; // GW, reason: RTKPlot cant handle 'W'
778// lamCh = 'W'; // GW, reason: RTKPlot cant handle 'W'
779 lamDeg = 360. +lamDeg; // GW, reason: RTKPlot cant handle 'W'
780 }
781
782 double dop = 2.0; // TODO
783
784 ostringstream str3;
785 str3.setf(ios::fixed);
786 str3 << "GPGGA,"
787 << epoData->tt.timestr(0,0) << ','
788 << setw(2) << setfill('0') << int(phiDeg)
789 << setw(10) << setprecision(7) << setfill('0')
790 << fmod(60*phiDeg,60) << ',' << phiCh << ','
791 << setw(2) << setfill('0') << int(lamDeg)
792 << setw(10) << setprecision(7) << setfill('0')
793 << fmod(60*lamDeg,60) << ',' << lamCh
794 << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
795 << setw(3) << setprecision(1) << dop << ','
796 << setprecision(3) << ell[2] << ",M,0.0,M,,,";
797
798 writeNMEAstr(QString(str3.str().c_str()));
799
800 return success;
801}
802
803// Outlier Detection
804////////////////////////////////////////////////////////////////////////////
805int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
806 const ColumnVector& vv,
807 QMap<QString, t_satData*>& satDataGPS,
808 QMap<QString, t_satData*>& satDataGlo) {
809
810 double vvMaxCodeGPS = 0.0;
811 double vvMaxPhaseGPS = 0.0;
812 double vvMaxPhaseGlo = 0.0;
813 QMutableMapIterator<QString, t_satData*> itMaxCodeGPS(satDataGPS);
814 QMutableMapIterator<QString, t_satData*> itMaxPhaseGPS(satDataGPS);
815 QMutableMapIterator<QString, t_satData*> itMaxPhaseGlo(satDataGlo);
816
817 int ii = 0;
818
819 // GPS code and (optionally) phase residuals
820 // -----------------------------------------
821 QMutableMapIterator<QString, t_satData*> itGPS(satDataGPS);
822 while (itGPS.hasNext()) {
823 itGPS.next();
824 ++ii;
825
826 if (vvMaxCodeGPS == 0.0 || fabs(vv(ii)) > vvMaxCodeGPS) {
827 vvMaxCodeGPS = fabs(vv(ii));
828 itMaxCodeGPS = itGPS;
829 }
830
831 if (_usePhase) {
832 ++ii;
833 if (vvMaxPhaseGPS == 0.0 || fabs(vv(ii)) > vvMaxPhaseGPS) {
834 vvMaxPhaseGPS = fabs(vv(ii));
835 itMaxPhaseGPS = itGPS;
836 }
837 }
838 }
839
840 // Glonass phase residuals
841 // -----------------------
842 if (_usePhase) {
843 QMutableMapIterator<QString, t_satData*> itGlo(satDataGlo);
844 while (itGlo.hasNext()) {
845 itGlo.next();
846 ++ii;
847 if (vvMaxPhaseGlo == 0.0 || fabs(vv(ii)) > vvMaxPhaseGlo) {
848 vvMaxPhaseGlo = fabs(vv(ii));
849 itMaxPhaseGlo = itGlo;
850 }
851 }
852 }
853
854 if (vvMaxPhaseGlo > MAXRES_PHASE_GLO) {
855 QString prn = itMaxPhaseGlo.key();
856 t_satData* satData = itMaxPhaseGlo.value();
857 delete satData;
858 itMaxPhaseGlo.remove();
859 _QQ = QQsav;
860
861 _log += "Outlier Phase " + prn.toAscii() + " "
862 + QByteArray::number(vvMaxPhaseGlo, 'f', 3) + "\n";
863
864 return 1;
865 }
866
867 else if (vvMaxCodeGPS > MAXRES_CODE_GPS) {
868 QString prn = itMaxCodeGPS.key();
869 t_satData* satData = itMaxCodeGPS.value();
870 delete satData;
871 itMaxCodeGPS.remove();
872 _QQ = QQsav;
873
874 _log += "Outlier Code " + prn.toAscii() + " "
875 + QByteArray::number(vvMaxCodeGPS, 'f', 3) + "\n";
876
877 return 1;
878 }
879 else if (vvMaxPhaseGPS > MAXRES_PHASE_GPS) {
880 QString prn = itMaxPhaseGPS.key();
881 t_satData* satData = itMaxPhaseGPS.value();
882 delete satData;
883 itMaxPhaseGPS.remove();
884 _QQ = QQsav;
885
886 _log += "Outlier Phase " + prn.toAscii() + " "
887 + QByteArray::number(vvMaxPhaseGPS, 'f', 3) + "\n";
888
889 return 1;
890 }
891
892 return 0;
893}
894
895//
896////////////////////////////////////////////////////////////////////////////
897void bncModel::writeNMEAstr(const QString& nmStr) {
898
899 unsigned char XOR = 0;
900 for (int ii = 0; ii < nmStr.length(); ii++) {
901 XOR ^= (unsigned char) nmStr[ii].toAscii();
902 }
903
904 QString outStr = '$' + nmStr
905 + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
906
907 if (_nmeaStream) {
908 *_nmeaStream << outStr;
909 _nmeaStream->flush();
910 }
911
912 emit newNMEAstr(outStr.toAscii());
913}
914
915
916////
917//////////////////////////////////////////////////////////////////////////////
918void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
919 const DiagonalMatrix& PP,
920 SymmetricMatrix& QQ, ColumnVector& dx) {
921
922 int nObs = AA.Nrows();
923 int nPar = AA.Ncols();
924
925 UpperTriangularMatrix SS = Cholesky(QQ).t();
926
927 Matrix SA = SS*AA.t();
928 Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
929 for (int ii = 1; ii <= nObs; ++ii) {
930 SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
931 }
932
933 SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
934 SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
935
936 UpperTriangularMatrix UU;
937 QRZ(SRF, UU);
938
939 SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
940 UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
941 Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
942
943 UpperTriangularMatrix SHi = SH_rt.i();
944
945 Matrix KT = SHi * YY;
946 SymmetricMatrix Hi; Hi << SHi * SHi.t();
947
948 dx = KT.t() * ll;
949 QQ << (SS.t() * SS);
950}
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