// 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: bncParam, bncModel
*
* Purpose: Model for PPP
*
* Author: L. Mervart
*
* Created: 01-Dec-2009
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <iomanip>
#include <cmath>
#include <newmatio.h>
#include <sstream>
#include "bncmodel.h"
#include "bncapp.h"
#include "bncpppclient.h"
#include "bancroft.h"
#include "bncutils.h"
#include "bncsettings.h"
using namespace std;
const unsigned MINOBS = 4;
const double MINELE = 10.0 * M_PI / 180.0;
const double MAXRES_CODE_GPS = 10.0;
const double MAXRES_PHASE_GPS = 0.10;
const double MAXRES_PHASE_GLO = 0.10;
const double sig_crd_0 = 100.0;
const double sig_crd_p = 100.0;
const double sig_clk_0 = 100.0;
const double sig_trp_0 = 0.01;
const double sig_trp_p = 1e-6;
const double sig_amb_0_GPS = 100.0;
const double sig_amb_0_GLO = 1000.0;
const double sig_P3 = 1.0;
const double sig_L3_GPS = 0.01;
const double sig_L3_GLO = 0.01;
// Constructor
////////////////////////////////////////////////////////////////////////////
bncParam::bncParam(bncParam::parType typeIn, int indexIn,
const QString& prnIn) {
type = typeIn;
index = indexIn;
prn = prnIn;
index_old = 0;
xx = 0.0;
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncParam::~bncParam() {
}
// Partial
////////////////////////////////////////////////////////////////////////////
double bncParam::partial(t_satData* satData, bool phase) {
// Coordinates
// -----------
if (type == CRD_X) {
return (xx - satData->xx(1)) / satData->rho;
}
else if (type == CRD_Y) {
return (xx - satData->xx(2)) / satData->rho;
}
else if (type == CRD_Z) {
return (xx - satData->xx(3)) / satData->rho;
}
// Receiver Clocks
// ---------------
else if (type == RECCLK) {
return 1.0;
}
// Troposphere
// -----------
else if (type == TROPO) {
return 1.0 / sin(satData->eleSat);
}
// Ambiguities
// -----------
else if (type == AMB_L3) {
if (phase && satData->prn == prn) {
return 1.0;
}
else {
return 0.0;
}
}
// Default return
// --------------
return 0.0;
}
// Constructor
////////////////////////////////////////////////////////////////////////////
bncModel::bncModel(QByteArray staID) {
_staID = staID;
connect(this, SIGNAL(newMessage(QByteArray,bool)),
((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
bncSettings settings;
_static = false;
if ( Qt::CheckState(settings.value("pppStatic").toInt()) == Qt::Checked) {
_static = true;
}
_usePhase = false;
if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
_usePhase = true;
}
_estTropo = false;
if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
_estTropo = true;
}
_xcBanc.ReSize(4); _xcBanc = 0.0;
_ellBanc.ReSize(3); _ellBanc = 0.0;
if (_usePhase &&
Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
_useGlonass = true;
}
else {
_useGlonass = false;
}
int nextPar = 0;
_params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
_params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
_params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
_params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
if (_estTropo) {
_params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
}
unsigned nPar = _params.size();
_QQ.ReSize(nPar);
_QQ = 0.0;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
bncParam* pp = _params[iPar-1];
if (pp->isCrd()) {
_QQ(iPar,iPar) = sig_crd_0 * sig_crd_0;
}
else if (pp->type == bncParam::RECCLK) {
_QQ(iPar,iPar) = sig_clk_0 * sig_clk_0;
}
else if (pp->type == bncParam::TROPO) {
_QQ(iPar,iPar) = sig_trp_0 * sig_trp_0;
}
}
// NMEA Output
// -----------
QString nmeaFileName = settings.value("nmeaFile").toString();
if (nmeaFileName.isEmpty()) {
_nmeaFile = 0;
_nmeaStream = 0;
}
else {
expandEnvVar(nmeaFileName);
_nmeaFile = new QFile(nmeaFileName);
if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
_nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
}
else {
_nmeaFile->open(QIODevice::WriteOnly);
}
_nmeaStream = new QTextStream();
_nmeaStream->setDevice(_nmeaFile);
QDateTime dateTime = QDateTime::currentDateTime().toUTC();
QString nmStr = "GPRMC," + dateTime.time().toString("hhmmss")
+ ",A,,,,,,,"
+ dateTime.date().toString("ddMMyy")
+ ",,";
writeNMEAstr(nmStr);
}
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncModel::~bncModel() {
delete _nmeaStream;
delete _nmeaFile;
}
// Bancroft Solution
////////////////////////////////////////////////////////////////////////////
t_irc bncModel::cmpBancroft(t_epoData* epoData) {
if (epoData->sizeGPS() < MINOBS) {
_log += "\nNot enough data";
return failure;
}
Matrix BB(epoData->sizeGPS(), 4);
QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
int iObs = 0;
while (it.hasNext()) {
++iObs;
it.next();
QString prn = it.key();
t_satData* satData = it.value();
BB(iObs, 1) = satData->xx(1);
BB(iObs, 2) = satData->xx(2);
BB(iObs, 3) = satData->xx(3);
BB(iObs, 4) = satData->P3 + satData->clk;
}
bancroft(BB, _xcBanc);
// Ellipsoidal Coordinates
// ------------------------
xyz2ell(_xcBanc.data(), _ellBanc.data());
// Compute Satellite Elevations
// ----------------------------
QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
while (iGPS.hasNext()) {
iGPS.next();
QString prn = iGPS.key();
t_satData* satData = iGPS.value();
ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
double rho = rr.norm_Frobenius();
double neu[3];
xyz2neu(_ellBanc.data(), rr.data(), neu);
satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
if (neu[2] < 0) {
satData->eleSat *= -1.0;
}
satData->azSat = atan2(neu[1], neu[0]);
if (satData->eleSat < MINELE) {
delete satData;
iGPS.remove();
}
}
QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
while (iGlo.hasNext()) {
iGlo.next();
QString prn = iGlo.key();
t_satData* satData = iGlo.value();
ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
double rho = rr.norm_Frobenius();
double neu[3];
xyz2neu(_ellBanc.data(), rr.data(), neu);
satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
if (neu[2] < 0) {
satData->eleSat *= -1.0;
}
satData->azSat = atan2(neu[1], neu[0]);
if (satData->eleSat < MINELE) {
delete satData;
iGlo.remove();
}
}
return success;
}
// Computed Value
////////////////////////////////////////////////////////////////////////////
double bncModel::cmpValue(t_satData* satData) {
ColumnVector xRec(3);
xRec(1) = x();
xRec(2) = y();
xRec(3) = z();
double rho0 = (satData->xx - xRec).norm_Frobenius();
double dPhi = t_CST::omega * rho0 / t_CST::c;
xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
xRec(3) = z();
satData->rho = (satData->xx - xRec).norm_Frobenius();
double tropDelay = delay_saast(satData->eleSat) +
trp() / sin(satData->eleSat);
return satData->rho + clk() - satData->clk + tropDelay;
}
// Tropospheric Model (Saastamoinen)
////////////////////////////////////////////////////////////////////////////
double bncModel::delay_saast(double Ele) {
double height = _ellBanc(3);
double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
double TT = 18.0 - height * 0.0065 + 273.15;
double hh = 50.0 * exp(-6.396e-4 * height);
double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
double h_km = height / 1000.0;
if (h_km < 0.0) h_km = 0.0;
if (h_km > 5.0) h_km = 5.0;
int ii = int(h_km + 1);
double href = ii - 1;
double bCor[6];
bCor[0] = 1.156;
bCor[1] = 1.006;
bCor[2] = 0.874;
bCor[3] = 0.757;
bCor[4] = 0.654;
bCor[5] = 0.563;
double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
double zen = M_PI/2.0 - Ele;
return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
}
// Prediction Step of the Filter
////////////////////////////////////////////////////////////////////////////
void bncModel::predict(t_epoData* epoData) {
bool firstCrd = x() == 0.0 && y() == 0.0 && z() == 0.0;
// Predict Parameter values, add white noise
// -----------------------------------------
for (int iPar = 1; iPar <= _params.size(); iPar++) {
bncParam* pp = _params[iPar-1];
// Coordinates
// -----------
if (pp->type == bncParam::CRD_X) {
if (firstCrd || !_static) {
pp->xx = _xcBanc(1);
}
_QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
}
else if (pp->type == bncParam::CRD_Y) {
if (firstCrd || !_static) {
pp->xx = _xcBanc(2);
}
_QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
}
else if (pp->type == bncParam::CRD_Z) {
if (firstCrd || !_static) {
pp->xx = _xcBanc(3);
}
_QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
}
// Receiver Clocks
// ---------------
else if (pp->type == bncParam::RECCLK) {
pp->xx = _xcBanc(4);
for (int jj = 1; jj <= _params.size(); jj++) {
_QQ(iPar, jj) = 0.0;
}
_QQ(iPar,iPar) = sig_clk_0 * sig_clk_0;
}
// Tropospheric Delay
// ------------------
else if (pp->type == bncParam::TROPO) {
_QQ(iPar,iPar) += sig_trp_p * sig_trp_p;
}
}
// Add New Ambiguities if necessary
// --------------------------------
if (_usePhase) {
// Make a copy of QQ and xx, set parameter indices
// -----------------------------------------------
SymmetricMatrix QQ_old = _QQ;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
_params[iPar-1]->index_old = _params[iPar-1]->index;
_params[iPar-1]->index = 0;
}
// Remove Ambiguity Parameters without observations
// ------------------------------------------------
int iPar = 0;
QMutableVectorIterator<bncParam*> it(_params);
while (it.hasNext()) {
bncParam* par = it.next();
bool removed = false;
if (par->type == bncParam::AMB_L3) {
if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() ) {
removed = true;
delete par;
it.remove();
}
}
if (! removed) {
++iPar;
par->index = iPar;
}
}
// Add new ambiguity parameters
// ----------------------------
QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
while (iGPS.hasNext()) {
iGPS.next();
QString prn = iGPS.key();
t_satData* satData = iGPS.value();
bool found = false;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
if (_params[iPar-1]->type == bncParam::AMB_L3 &&
_params[iPar-1]->prn == prn) {
found = true;
break;
}
}
if (!found) {
bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
_params.push_back(par);
par->xx = satData->L3 - cmpValue(satData);
}
}
QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
while (iGlo.hasNext()) {
iGlo.next();
QString prn = iGlo.key();
t_satData* satData = iGlo.value();
bool found = false;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
if (_params[iPar-1]->type == bncParam::AMB_L3 &&
_params[iPar-1]->prn == prn) {
found = true;
break;
}
}
if (!found) {
bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
_params.push_back(par);
par->xx = satData->L3 - cmpValue(satData);
}
}
int nPar = _params.size();
_QQ.ReSize(nPar); _QQ = 0.0;
for (int i1 = 1; i1 <= nPar; i1++) {
bncParam* p1 = _params[i1-1];
if (p1->index_old != 0) {
_QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
for (int i2 = 1; i2 <= nPar; i2++) {
bncParam* p2 = _params[i2-1];
if (p2->index_old != 0) {
_QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
}
}
}
}
for (int ii = 1; ii <= nPar; ii++) {
bncParam* par = _params[ii-1];
if (par->index_old == 0) {
if (par->prn[0] == 'R') {
_QQ(par->index, par->index) = sig_amb_0_GLO * sig_amb_0_GLO;
}
else {
_QQ(par->index, par->index) = sig_amb_0_GPS * sig_amb_0_GPS;
}
}
par->index_old = par->index;
}
}
}
// Update Step of the Filter (currently just a single-epoch solution)
////////////////////////////////////////////////////////////////////////////
t_irc bncModel::update(t_epoData* epoData) {
_log.clear();
_time = epoData->tt;
SymmetricMatrix QQsav;
ColumnVector dx;
ColumnVector vv;
// Loop over all outliers
// ----------------------
do {
// Bancroft Solution
// -----------------
if (cmpBancroft(epoData) != success) {
_log += "\nBancroft failed";
emit newMessage(_log, false);
return failure;
}
if (epoData->sizeGPS() < MINOBS) {
_log += "\nNot enough data";
emit newMessage(_log, false);
return failure;
}
// Status Prediction
// -----------------
predict(epoData);
// Create First-Design Matrix
// --------------------------
unsigned nPar = _params.size();
unsigned nObs = 0;
if (_usePhase) {
nObs = 2 * epoData->sizeGPS() + epoData->sizeGlo();
}
else {
nObs = epoData->sizeGPS(); // Glonass pseudoranges are not used
}
Matrix AA(nObs, nPar); // first design matrix
ColumnVector ll(nObs); // tems observed-computed
SymmetricMatrix PP(nObs); PP = 0.0;
unsigned iObs = 0;
// GPS code and (optionally) phase observations
// --------------------------------------------
QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
while (itGPS.hasNext()) {
++iObs;
itGPS.next();
QString prn = itGPS.key();
t_satData* satData = itGPS.value();
double rhoCmp = cmpValue(satData);
ll(iObs) = satData->P3 - rhoCmp;
PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3);
for (int iPar = 1; iPar <= _params.size(); iPar++) {
AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
}
if (_usePhase) {
++iObs;
ll(iObs) = satData->L3 - rhoCmp;
PP(iObs,iObs) = 1.0 / (sig_L3_GPS * sig_L3_GPS);
for (int iPar = 1; iPar <= _params.size(); iPar++) {
if (_params[iPar-1]->type == bncParam::AMB_L3 &&
_params[iPar-1]->prn == prn) {
ll(iObs) -= _params[iPar-1]->xx;
}
AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
}
}
}
// Glonass phase observations
// --------------------------
if (_usePhase) {
QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
while (itGlo.hasNext()) {
++iObs;
itGlo.next();
QString prn = itGlo.key();
t_satData* satData = itGlo.value();
double rhoCmp = cmpValue(satData);
ll(iObs) = satData->L3 - rhoCmp;
PP(iObs,iObs) = 1.0 / (sig_L3_GLO * sig_L3_GLO);
for (int iPar = 1; iPar <= _params.size(); iPar++) {
if (_params[iPar-1]->type == bncParam::AMB_L3 &&
_params[iPar-1]->prn == prn) {
ll(iObs) -= _params[iPar-1]->xx;
}
AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
}
}
}
// Compute Filter Update
// ---------------------
QQsav = _QQ;
Matrix ATP = AA.t() * PP;
SymmetricMatrix NN = _QQ.i();
NN << NN + ATP * AA;
_QQ = NN.i();
dx = _QQ * ATP * ll;
vv = ll - AA * dx;
ostringstream str;
str.setf(ios::fixed);
ColumnVector vv_code(epoData->sizeGPS());
ColumnVector vv_phase(epoData->sizeGPS());
ColumnVector vv_glo(epoData->sizeGlo());
for (unsigned iobs = 1; iobs <= epoData->sizeGPS(); ++iobs) {
if (_usePhase) {
vv_code(iobs) = vv(2*iobs-1);
vv_phase(iobs) = vv(2*iobs);
}
else {
vv_code(iobs) = vv(iobs);
}
}
if (_useGlonass) {
for (unsigned iobs = 1; iobs <= epoData->sizeGlo(); ++iobs) {
vv_glo(iobs) = vv(2*epoData->sizeGPS()+iobs);
}
}
str << "\nresiduals code " << setprecision(3) << vv_code.t();
if (_usePhase) {
str << "residuals phase " << setprecision(3) << vv_phase.t();
}
if (_useGlonass) {
str << "residuals glo " << setprecision(3) << vv_glo.t();
}
_log += str.str().c_str();
} while (outlierDetection(QQsav, vv, epoData->satDataGPS,
epoData->satDataGlo) != 0);
// Set Solution Vector
// -------------------
ostringstream strB;
strB.setf(ios::fixed);
QVectorIterator<bncParam*> itPar(_params);
while (itPar.hasNext()) {
bncParam* par = itPar.next();
par->xx += dx(par->index);
if (par->type == bncParam::RECCLK) {
strB << "\n clk = " << setw(6) << setprecision(3) << par->xx
<< " +- " << setw(6) << setprecision(3)
<< sqrt(_QQ(par->index,par->index));
}
else if (par->type == bncParam::AMB_L3) {
strB << "\n amb " << par->prn.toAscii().data() << " = "
<< setw(6) << setprecision(3) << par->xx
<< " +- " << setw(6) << setprecision(3)
<< sqrt(_QQ(par->index,par->index));
}
else if (par->type == bncParam::TROPO) {
strB << "\n trp = " << par->prn.toAscii().data()
<< setw(7) << setprecision(3) << delay_saast(M_PI/2.0) << " "
<< setw(6) << setprecision(3) << showpos << par->xx << noshowpos
<< " +- " << setw(6) << setprecision(3)
<< sqrt(_QQ(par->index,par->index));
}
}
strB << '\n';
// Message (both log file and screen)
// ----------------------------------
ostringstream strA;
strA.setf(ios::fixed);
strA << _staID.data() << ": PPP "
<< epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
<< setw(14) << setprecision(3) << x() << " +- "
<< setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
<< setw(14) << setprecision(3) << y() << " +- "
<< setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
<< setw(14) << setprecision(3) << z() << " +- "
<< setw(6) << setprecision(3) << sqrt(_QQ(3,3));
emit newMessage(QByteArray(strA.str().c_str()), true);
_log += strB.str().c_str();
emit newMessage(_log, false);
// NMEA Output
// -----------
double xyz[3];
xyz[0] = x();
xyz[1] = y();
xyz[2] = z();
double ell[3];
xyz2ell(xyz, ell);
double phiDeg = ell[0] * 180 / M_PI;
double lamDeg = ell[1] * 180 / M_PI;
char phiCh = 'N';
if (phiDeg < 0) {
phiDeg = -phiDeg;
phiCh = 'S';
}
char lamCh = 'E';
if (lamDeg < 0) {
lamDeg = -lamDeg;
lamCh = 'W';
}
double dop = 2.0; // TODO
ostringstream str3;
str3.setf(ios::fixed);
str3 << "GPGGA,"
<< epoData->tt.timestr(0,0) << ','
<< setw(2) << setfill('0') << int(phiDeg)
<< setw(10) << setprecision(7) << setfill('0')
<< fmod(60*phiDeg,60) << ',' << phiCh << ','
<< setw(2) << setfill('0') << int(lamDeg)
<< setw(10) << setprecision(7) << setfill('0')
<< fmod(60*lamDeg,60) << ',' << lamCh
<< ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
<< setw(3) << setprecision(1) << dop << ','
<< setprecision(3) << ell[2] << ",M,0.0,M,,,";
writeNMEAstr(QString(str3.str().c_str()));
return success;
}
// Outlier Detection
////////////////////////////////////////////////////////////////////////////
int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
const ColumnVector& vv,
QMap<QString, t_satData*>& satDataGPS,
QMap<QString, t_satData*>& satDataGlo) {
double vvMaxCodeGPS = 0.0;
double vvMaxPhaseGPS = 0.0;
double vvMaxPhaseGlo = 0.0;
QMutableMapIterator<QString, t_satData*> itMaxCodeGPS(satDataGPS);
QMutableMapIterator<QString, t_satData*> itMaxPhaseGPS(satDataGPS);
QMutableMapIterator<QString, t_satData*> itMaxPhaseGlo(satDataGlo);
int ii = 0;
// GPS code and (optionally) phase residuals
// -----------------------------------------
QMutableMapIterator<QString, t_satData*> itGPS(satDataGPS);
while (itGPS.hasNext()) {
itGPS.next();
++ii;
if (vvMaxCodeGPS == 0.0 || fabs(vv(ii)) > vvMaxCodeGPS) {
vvMaxCodeGPS = fabs(vv(ii));
itMaxCodeGPS = itGPS;
}
if (_usePhase) {
++ii;
if (vvMaxPhaseGPS == 0.0 || fabs(vv(ii)) > vvMaxPhaseGPS) {
vvMaxPhaseGPS = fabs(vv(ii));
itMaxPhaseGPS = itGPS;
}
}
}
// Glonass phase residuals
// -----------------------
if (_usePhase) {
QMutableMapIterator<QString, t_satData*> itGlo(satDataGlo);
while (itGlo.hasNext()) {
itGlo.next();
++ii;
if (vvMaxPhaseGlo == 0.0 || fabs(vv(ii)) > vvMaxPhaseGlo) {
vvMaxPhaseGlo = fabs(vv(ii));
itMaxPhaseGlo = itGlo;
}
}
}
if (vvMaxPhaseGlo > MAXRES_PHASE_GLO) {
QString prn = itMaxPhaseGlo.key();
t_satData* satData = itMaxPhaseGlo.value();
delete satData;
itMaxPhaseGlo.remove();
_QQ = QQsav;
_log += "\nOutlier Phase " + prn.toAscii() + " "
+ QByteArray::number(vvMaxPhaseGlo, 'f', 3);
return 1;
}
else if (vvMaxCodeGPS > MAXRES_CODE_GPS) {
QString prn = itMaxCodeGPS.key();
t_satData* satData = itMaxCodeGPS.value();
delete satData;
itMaxCodeGPS.remove();
_QQ = QQsav;
_log += "\nOutlier Code " + prn.toAscii() + " "
+ QByteArray::number(vvMaxCodeGPS, 'f', 3);
return 1;
}
else if (vvMaxPhaseGPS > MAXRES_PHASE_GPS) {
QString prn = itMaxPhaseGPS.key();
t_satData* satData = itMaxPhaseGPS.value();
delete satData;
itMaxPhaseGPS.remove();
_QQ = QQsav;
_log += "\nOutlier Phase " + prn.toAscii() + " "
+ QByteArray::number(vvMaxPhaseGPS, 'f', 3);
return 1;
}
return 0;
}
//
////////////////////////////////////////////////////////////////////////////
void bncModel::writeNMEAstr(const QString& nmStr) {
unsigned char XOR = 0;
for (int ii = 0; ii < nmStr.length(); ii++) {
XOR ^= (unsigned char) nmStr[ii].toAscii();
}
QString outStr = '$' + nmStr
+ QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
if (_nmeaStream) {
*_nmeaStream << outStr;
_nmeaStream->flush();
}
emit newNMEAstr(outStr.toAscii());
}