// 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"
#include "bnctides.h"
using namespace std;
const unsigned MINOBS = 4;
const double MINELE_GPS = 10.0 * M_PI / 180.0;
const double MINELE_GLO = 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 = 0.05;
const double QUICKSTART = 120.0;
const double sig_clk_0 = 1000.0;
const double sig_trp_0 = 0.10;
const double sig_trp_p = 1e-8;
const double sig_amb_0_GPS = 1000.0;
const double sig_amb_0_GLO = 1000.0;
const double sig_L3_GPS = 0.02;
const double sig_L3_GLO = 0.05;
// 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;
_startTime = QDateTime::currentDateTime();
bncSettings settings;
double sig_crd_0 = 100.0;
if (settings.value("pppOrigin").toString() == "QuickStart - Static" ||
settings.value("pppOrigin").toString() == "QuickStart - Mobile") {
sig_crd_0 = 000.01;
}
connect(this, SIGNAL(newMessage(QByteArray,bool)),
((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
_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);
}
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncModel::~bncModel() {
delete _nmeaStream;
delete _nmeaFile;
for (int ii = 0; ii < _posAverage.size(); ++ii) {
delete _posAverage[ii];
}
}
// Bancroft Solution
////////////////////////////////////////////////////////////////////////////
t_irc bncModel::cmpBancroft(t_epoData* epoData) {
if (epoData->sizeGPS() < MINOBS) {
_log += "bncModel::cmpBancroft: not enough data\n";
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_GPS) {
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_GLO) {
delete satData;
iGlo.remove();
}
}
return success;
}
// Computed Value
////////////////////////////////////////////////////////////////////////////
double bncModel::cmpValue(t_satData* satData, bool phase) {
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();
tides(_time, xRec);
satData->rho = (satData->xx - xRec).norm_Frobenius();
double tropDelay = delay_saast(satData->eleSat) +
trp() / sin(satData->eleSat);
double wind = 0.0;
if (phase) {
wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
}
return satData->rho + clk() - satData->clk + tropDelay + wind;
}
// 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) {
bncSettings settings;
bool firstCrd = false;
if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
firstCrd = true;
}
bool quickStartInit = false;
double sig_crd_p = 100.0;
if ( (settings.value("pppOrigin").toString() == "QuickStart - Static" ||
settings.value("pppOrigin").toString() == "QuickStart - Mobile") &&
_startTime.secsTo(QDateTime::currentDateTime()) < QUICKSTART ) {
quickStartInit = true;
sig_crd_p = 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) {
if (quickStartInit) {
pp->xx = settings.value("pppRefCrdX").toDouble();
}
else {
pp->xx = _xcBanc(1);
}
}
_QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
}
else if (pp->type == bncParam::CRD_Y) {
if (firstCrd || !_static) {
if (quickStartInit) {
pp->xx = settings.value("pppRefCrdY").toDouble();
}
else {
pp->xx = _xcBanc(2);
}
}
_QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
}
else if (pp->type == bncParam::CRD_Z) {
if (firstCrd || !_static) {
if (quickStartInit) {
pp->xx = settings.value("pppRefCrdZ").toDouble();
}
else {
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, true);
}
}
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, true);
}
}
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) {
bncSettings settings;
double sig_P3;
sig_P3 = 5.0;
if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked ) {
sig_P3 = settings.value("pppSigmaCode").toDouble();
if (sig_P3 < 0.3 || sig_P3 > 50.0) {
sig_P3 = 5.0;
}
}
_log.clear();
_time = epoData->tt;
_log += "Single Point Positioning of Epoch "
+ QByteArray(_time.timestr(1).c_str()) +
"\n--------------------------------------------------------------\n";
SymmetricMatrix QQsav;
ColumnVector dx;
ColumnVector vv;
// Loop over all outliers
// ----------------------
do {
// Bancroft Solution
// -----------------
if (cmpBancroft(epoData) != success) {
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
}
if (nObs < nPar) {
_log += "bncModel::update: nObs < nPar\n";
emit newMessage(_log, false);
return failure;
}
Matrix AA(nObs, nPar); // first design matrix
ColumnVector ll(nObs); // tems observed-computed
DiagonalMatrix 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();
ll(iObs) = satData->P3 - cmpValue(satData, false);
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 - cmpValue(satData, true);
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();
ll(iObs) = satData->L3 - cmpValue(satData, true);
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;
kalman(AA, ll, PP, _QQ, dx);
vv = ll - AA * dx;
ostringstream strA;
strA.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);
}
}
strA << "residuals code " << setw(8) << setprecision(3) << vv_code.t();
if (_usePhase) {
strA << "residuals phase " << setw(8) << setprecision(3) << vv_phase.t();
}
if (_useGlonass) {
strA << "residuals glo " << setw(8) << setprecision(3) << vv_glo.t();
}
_log += strA.str().c_str();
} while (outlierDetection(QQsav, vv, epoData->satDataGPS,
epoData->satDataGlo) != 0);
// Remember the Epoch-specific Results for the computation of means
// ----------------------------------------------------------------
pppPos* newPos = new pppPos;
newPos->time = epoData->tt;
// 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) {
double aprTrp = delay_saast(M_PI/2.0);
strB << "\n trp = " << par->prn.toAscii().data()
<< setw(7) << setprecision(3) << aprTrp << " "
<< setw(6) << setprecision(3) << showpos << par->xx << noshowpos
<< " +- " << setw(6) << setprecision(3)
<< sqrt(_QQ(par->index,par->index));
newPos->xnt[6] = aprTrp + par->xx;
}
}
strB << '\n';
_log += strB.str().c_str();
emit newMessage(_log, false);
// Final Message (both log file and screen)
// ----------------------------------------
ostringstream strC;
strC.setf(ios::fixed);
strC << _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));
// NEU Output
// ----------
if (settings.value("pppOrigin").toString() == "Plot - X Y Z" ||
settings.value("pppOrigin").toString() == "QuickStart - Static") {
double xyzRef[3];
xyzRef[0] = settings.value("pppRefCrdX").toDouble();
xyzRef[1] = settings.value("pppRefCrdY").toDouble();
xyzRef[2] = settings.value("pppRefCrdZ").toDouble();
newPos->xnt[0] = x() - xyzRef[0];
newPos->xnt[1] = y() - xyzRef[1];
newPos->xnt[2] = z() - xyzRef[2];
double ellRef[3];
xyz2ell(xyzRef, ellRef);
xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
strC << " NEU "
<< setw(8) << setprecision(3) << newPos->xnt[3] << " "
<< setw(8) << setprecision(3) << newPos->xnt[4] << " "
<< setw(8) << setprecision(3) << newPos->xnt[5];
}
emit newMessage(QByteArray(strC.str().c_str()), true);
if (settings.value("pppAverage").toString() == "") {
delete newPos;
}
else {
_posAverage.push_back(newPos);
// Time Span for Average Computation
// ---------------------------------
double tRangeAverage = settings.value("pppAverage").toDouble() * 60.;
if (tRangeAverage < 0) {
tRangeAverage = 0;
}
if (tRangeAverage > 86400) {
tRangeAverage = 86400;
}
// Compute the Mean
// ----------------
ColumnVector mean(7); mean = 0.0;
QMutableVectorIterator<pppPos*> it(_posAverage);
while (it.hasNext()) {
pppPos* pp = it.next();
if ( (epoData->tt - pp->time) >= tRangeAverage ) {
delete pp;
it.remove();
}
else {
for (int ii = 0; ii < 7; ++ii) {
mean[ii] += pp->xnt[ii];
}
}
}
int nn = _posAverage.size();
if (nn > 0) {
mean /= nn;
// Compute the Deviation
// ---------------------
ColumnVector std(7); std = 0.0;
QVectorIterator<pppPos*> it2(_posAverage);
while (it2.hasNext()) {
pppPos* pp = it2.next();
for (int ii = 0; ii < 7; ++ii) {
std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
}
}
for (int ii = 0; ii < 7; ++ii) {
std[ii] = sqrt(std[ii] / nn);
}
ostringstream strD; strD.setf(ios::fixed);
strD << _staID.data() << " AVE-XYZ "
<< epoData->tt.timestr(1) << " "
<< setw(13) << setprecision(3) << mean[0] << " +- "
<< setw(6) << setprecision(3) << std[0] << " "
<< setw(14) << setprecision(3) << mean[1] << " +- "
<< setw(6) << setprecision(3) << std[1] << " "
<< setw(14) << setprecision(3) << mean[2] << " +- "
<< setw(6) << setprecision(3) << std[2];
emit newMessage(QByteArray(strD.str().c_str()), true);
ostringstream strE; strE.setf(ios::fixed);
strE << _staID.data() << " AVE-NEU "
<< epoData->tt.timestr(1) << " "
<< setw(13) << setprecision(3) << mean[3] << " +- "
<< setw(6) << setprecision(3) << std[3] << " "
<< setw(14) << setprecision(3) << mean[4] << " +- "
<< setw(6) << setprecision(3) << std[4] << " "
<< setw(14) << setprecision(3) << mean[5] << " +- "
<< setw(6) << setprecision(3) << std[5];
emit newMessage(QByteArray(strE.str().c_str()), true);
ostringstream strF; strF.setf(ios::fixed);
strF << _staID.data() << " AVE-TRP "
<< epoData->tt.timestr(1) << " "
<< setw(13) << setprecision(3) << mean[6] << " +- "
<< setw(6) << setprecision(3) << std[6] << endl;
emit newMessage(QByteArray(strF.str().c_str()), true);
}
}
// 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';
}
string datestr = epoData->tt.datestr(0); // yyyymmdd
ostringstream strRMC;
strRMC.setf(ios::fixed);
strRMC << "GPRMC,"
<< epoData->tt.timestr(0,0) << ",A,"
<< setw(2) << setfill('0') << int(phiDeg)
<< setw(6) << setprecision(3) << setfill('0')
<< fmod(60*phiDeg,60) << ',' << phiCh << ','
<< setw(3) << setfill('0') << int(lamDeg)
<< setw(6) << setprecision(3) << setfill('0')
<< fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
<< datestr[6] << datestr[7] << datestr[4] << datestr[5]
<< datestr[2] << datestr[3] << ",,";
writeNMEAstr(QString(strRMC.str().c_str()));
double dop = 2.0; // TODO
ostringstream strGGA;
strGGA.setf(ios::fixed);
strGGA << "GPGGA,"
<< epoData->tt.timestr(0,0) << ','
<< setw(2) << setfill('0') << int(phiDeg)
<< setw(10) << setprecision(7) << setfill('0')
<< fmod(60*phiDeg,60) << ',' << phiCh << ','
<< setw(3) << 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(strGGA.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 += "Outlier Phase " + prn.toAscii() + " "
+ QByteArray::number(vvMaxPhaseGlo, 'f', 3) + "\n";
return 1;
}
else if (vvMaxCodeGPS > MAXRES_CODE_GPS) {
QString prn = itMaxCodeGPS.key();
t_satData* satData = itMaxCodeGPS.value();
delete satData;
itMaxCodeGPS.remove();
_QQ = QQsav;
_log += "Outlier Code " + prn.toAscii() + " "
+ QByteArray::number(vvMaxCodeGPS, 'f', 3) + "\n";
return 1;
}
else if (vvMaxPhaseGPS > MAXRES_PHASE_GPS) {
QString prn = itMaxPhaseGPS.key();
t_satData* satData = itMaxPhaseGPS.value();
delete satData;
itMaxPhaseGPS.remove();
_QQ = QQsav;
_log += "Outlier Phase " + prn.toAscii() + " "
+ QByteArray::number(vvMaxPhaseGPS, 'f', 3) + "\n";
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());
}
////
//////////////////////////////////////////////////////////////////////////////
void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
const DiagonalMatrix& PP,
SymmetricMatrix& QQ, ColumnVector& dx) {
int nObs = AA.Nrows();
int nPar = AA.Ncols();
UpperTriangularMatrix SS = Cholesky(QQ).t();
Matrix SA = SS*AA.t();
Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
for (int ii = 1; ii <= nObs; ++ii) {
SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
}
SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
UpperTriangularMatrix UU;
QRZ(SRF, UU);
SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
UpperTriangularMatrix SHi = SH_rt.i();
Matrix KT = SHi * YY;
SymmetricMatrix Hi; Hi << SHi * SHi.t();
dx = KT.t() * ll;
QQ << (SS.t() * SS);
}
// Phase Wind-Up Correction
///////////////////////////////////////////////////////////////////////////
double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
const ColumnVector& rRec) {
double Mjd = _time.mjd() + _time.daysec() / 86400.0;
// First time - initialize to zero
// -------------------------------
if (!_windUpTime.contains(prn)) {
_windUpTime[prn] = Mjd;
_windUpSum[prn] = 0.0;
}
// Compute the correction for new time
// -----------------------------------
else if (_windUpTime[prn] != Mjd) {
_windUpTime[prn] = Mjd;
// Unit Vector GPS Satellite --> Receiver
// --------------------------------------
ColumnVector rho = rRec - rSat;
rho /= rho.norm_Frobenius();
// GPS Satellite unit Vectors sz, sy, sx
// -------------------------------------
ColumnVector sz = -rSat / rSat.norm_Frobenius();
ColumnVector xSun = Sun(Mjd);
xSun /= xSun.norm_Frobenius();
ColumnVector sy = crossproduct(sz, xSun);
ColumnVector sx = crossproduct(sy, sz);
// Effective Dipole of the GPS Satellite Antenna
// ---------------------------------------------
ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
- crossproduct(rho, sy);
// Receiver unit Vectors rx, ry
// ----------------------------
ColumnVector rx(3);
ColumnVector ry(3);
double recEll[3]; xyz2ell(rRec.data(), recEll) ;
double neu[3];
neu[0] = 1.0;
neu[1] = 0.0;
neu[2] = 0.0;
neu2xyz(recEll, neu, rx.data());
neu[0] = 0.0;
neu[1] = -1.0;
neu[2] = 0.0;
neu2xyz(recEll, neu, ry.data());
// Effective Dipole of the Receiver Antenna
// ----------------------------------------
ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
+ crossproduct(rho, ry);
// Resulting Effect
// ----------------
double alpha = DotProduct(dipSat,dipRec) /
(dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
if (alpha > 1.0) alpha = 1.0;
if (alpha < -1.0) alpha = -1.0;
double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
dphi = -dphi;
}
_windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
}
return _windUpSum[prn];
}