source: ntrip/trunk/BNC/bncmodel.cpp@ 2125

Last change on this file since 2125 was 2125, 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 = 10.0 * M_PI / 180.0;
57const double MAXRES_CODE = 10.0;
58const double MAXRES_PHASE = 0.10;
59const double sig_crd_0 = 100.0;
60const double sig_crd_p = 100.0;
61const double sig_clk_0 = 1000.0;
62const double sig_trp_0 = 0.01;
63const double sig_trp_p = 1e-6;
64const double sig_amb_0 = 100.0;
65const double sig_P3 = 1.0;
66const double sig_L3 = 0.01;
67
68// Constructor
69////////////////////////////////////////////////////////////////////////////
70bncParam::bncParam(bncParam::parType typeIn, int indexIn,
71 const QString& prnIn) {
72 type = typeIn;
73 index = indexIn;
74 prn = prnIn;
75 index_old = 0;
76 xx = 0.0;
77}
78
79// Destructor
80////////////////////////////////////////////////////////////////////////////
81bncParam::~bncParam() {
82}
83
84// Partial
85////////////////////////////////////////////////////////////////////////////
86double bncParam::partial(t_satData* satData, const QString& prnIn) {
87 if (type == CRD_X) {
88 return (xx - satData->xx(1)) / satData->rho;
89 }
90 else if (type == CRD_Y) {
91 return (xx - satData->xx(2)) / satData->rho;
92 }
93 else if (type == CRD_Z) {
94 return (xx - satData->xx(3)) / satData->rho;
95 }
96 else if (type == RECCLK) {
97 return 1.0;
98 }
99 else if (type == TROPO) {
100 return 1.0 / sin(satData->eleSat);
101 }
102 else if (type == AMB_L3) {
103 if (prnIn == prn) {
104 return 1.0;
105 }
106 else {
107 return 0.0;
108 }
109 }
110 return 0.0;
111}
112
113// Constructor
114////////////////////////////////////////////////////////////////////////////
115bncModel::bncModel(QByteArray staID) {
116
117 _staID = staID;
118
119 connect(this, SIGNAL(newMessage(QByteArray,bool)),
120 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
121
122 bncSettings settings;
123
124 _static = false;
125 if ( Qt::CheckState(settings.value("pppStatic").toInt()) == Qt::Checked) {
126 _static = true;
127 }
128
129 _usePhase = false;
130 if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
131 _usePhase = true;
132 }
133
134 _estTropo = false;
135 if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
136 _estTropo = true;
137 }
138
139 _xcBanc.ReSize(4); _xcBanc = 0.0;
140 _ellBanc.ReSize(3); _ellBanc = 0.0;
141
142 _params.push_back(new bncParam(bncParam::CRD_X, 1, ""));
143 _params.push_back(new bncParam(bncParam::CRD_Y, 2, ""));
144 _params.push_back(new bncParam(bncParam::CRD_Z, 3, ""));
145 _params.push_back(new bncParam(bncParam::RECCLK, 4, ""));
146 if (_estTropo) {
147 _params.push_back(new bncParam(bncParam::TROPO, 5, ""));
148 }
149
150 unsigned nPar = _params.size();
151
152 _QQ.ReSize(nPar);
153 _QQ = 0.0;
154
155 _QQ(1,1) = sig_crd_0 * sig_crd_0;
156 _QQ(2,2) = sig_crd_0 * sig_crd_0;
157 _QQ(3,3) = sig_crd_0 * sig_crd_0;
158 _QQ(4,4) = sig_clk_0 * sig_clk_0;
159 if (_estTropo) {
160 _QQ(5,5) = sig_trp_0 * sig_trp_0;
161 }
162
163 // NMEA Output
164 // -----------
165 QString nmeaFileName = settings.value("nmeaFile").toString();
166 if (nmeaFileName.isEmpty()) {
167 _nmeaFile = 0;
168 _nmeaStream = 0;
169 }
170 else {
171 expandEnvVar(nmeaFileName);
172 _nmeaFile = new QFile(nmeaFileName);
173 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
174 _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
175 }
176 else {
177 _nmeaFile->open(QIODevice::WriteOnly);
178 }
179 _nmeaStream = new QTextStream();
180 _nmeaStream->setDevice(_nmeaFile);
181 }
182}
183
184// Destructor
185////////////////////////////////////////////////////////////////////////////
186bncModel::~bncModel() {
187}
188
189// Bancroft Solution
190////////////////////////////////////////////////////////////////////////////
191t_irc bncModel::cmpBancroft(t_epoData* epoData) {
192
193 if (epoData->size() < MINOBS) {
194 _log += "\nNot enough data";
195 return failure;
196 }
197
198 Matrix BB(epoData->size(), 4);
199
200 QMapIterator<QString, t_satData*> it(epoData->satData);
201 int iObs = 0;
202 while (it.hasNext()) {
203 ++iObs;
204 it.next();
205 QString prn = it.key();
206 t_satData* satData = it.value();
207 BB(iObs, 1) = satData->xx(1);
208 BB(iObs, 2) = satData->xx(2);
209 BB(iObs, 3) = satData->xx(3);
210 BB(iObs, 4) = satData->P3 + satData->clk;
211 }
212
213 bancroft(BB, _xcBanc);
214
215 // Ellipsoidal Coordinates
216 // ------------------------
217 xyz2ell(_xcBanc.data(), _ellBanc.data());
218
219 // Compute Satellite Elevations
220 // ----------------------------
221 QMutableMapIterator<QString, t_satData*> it2(epoData->satData);
222 while (it2.hasNext()) {
223 it2.next();
224 QString prn = it2.key();
225 t_satData* satData = it2.value();
226
227 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
228 double rho = rr.norm_Frobenius();
229
230 double neu[3];
231 xyz2neu(_ellBanc.data(), rr.data(), neu);
232
233 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
234 if (neu[2] < 0) {
235 satData->eleSat *= -1.0;
236 }
237 satData->azSat = atan2(neu[1], neu[0]);
238
239 if (satData->eleSat < MINELE) {
240 delete satData;
241 it2.remove();
242 }
243 }
244
245 return success;
246}
247
248// Computed Value
249////////////////////////////////////////////////////////////////////////////
250double bncModel::cmpValue(t_satData* satData) {
251
252 ColumnVector xRec(3);
253 xRec(1) = x();
254 xRec(2) = y();
255 xRec(3) = z();
256
257 double rho0 = (satData->xx - xRec).norm_Frobenius();
258 double dPhi = t_CST::omega * rho0 / t_CST::c;
259
260 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
261 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
262 xRec(3) = z();
263
264 satData->rho = (satData->xx - xRec).norm_Frobenius();
265
266 double tropDelay = delay_saast(satData->eleSat) +
267 trp() / sin(satData->eleSat);
268
269 return satData->rho + clk() - satData->clk + tropDelay;
270}
271
272// Tropospheric Model (Saastamoinen)
273////////////////////////////////////////////////////////////////////////////
274double bncModel::delay_saast(double Ele) {
275
276 double height = _ellBanc(3);
277
278 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
279 double TT = 18.0 - height * 0.0065 + 273.15;
280 double hh = 50.0 * exp(-6.396e-4 * height);
281 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
282
283 double h_km = height / 1000.0;
284
285 if (h_km < 0.0) h_km = 0.0;
286 if (h_km > 5.0) h_km = 5.0;
287 int ii = int(h_km + 1);
288 double href = ii - 1;
289
290 double bCor[6];
291 bCor[0] = 1.156;
292 bCor[1] = 1.006;
293 bCor[2] = 0.874;
294 bCor[3] = 0.757;
295 bCor[4] = 0.654;
296 bCor[5] = 0.563;
297
298 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
299
300 double zen = M_PI/2.0 - Ele;
301
302 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
303}
304
305// Prediction Step of the Filter
306////////////////////////////////////////////////////////////////////////////
307void bncModel::predict(t_epoData* epoData) {
308
309 if (_usePhase) {
310
311 // Make a copy of QQ and xx, set parameter indices
312 // -----------------------------------------------
313 SymmetricMatrix QQ_old = _QQ;
314
315 for (int iPar = 1; iPar <= _params.size(); iPar++) {
316 _params[iPar-1]->index_old = _params[iPar-1]->index;
317 _params[iPar-1]->index = 0;
318 }
319
320 // Remove Ambiguity Parameters without observations
321 // ------------------------------------------------
322 int iPar = 0;
323 QMutableVectorIterator<bncParam*> it(_params);
324 while (it.hasNext()) {
325 bncParam* par = it.next();
326 bool removed = false;
327 if (par->type == bncParam::AMB_L3) {
328 if (epoData->satData.find(par->prn) == epoData->satData.end()) {
329 removed = true;
330 delete par;
331 it.remove();
332 }
333 }
334 if (! removed) {
335 ++iPar;
336 par->index = iPar;
337 }
338 }
339
340 // Add new ambiguity parameters
341 // ----------------------------
342 QMapIterator<QString, t_satData*> itObs(epoData->satData);
343 while (itObs.hasNext()) {
344 itObs.next();
345 QString prn = itObs.key();
346 bool found = false;
347 for (int iPar = 1; iPar <= _params.size(); iPar++) {
348 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
349 _params[iPar-1]->prn == prn) {
350 found = true;
351 break;
352 }
353 }
354 if (!found) {
355 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
356 _params.push_back(par);
357 }
358 }
359
360 int nPar = _params.size();
361 _QQ.ReSize(nPar); _QQ = 0.0;
362 for (int i1 = 1; i1 <= nPar; i1++) {
363 bncParam* p1 = _params[i1-1];
364 if (p1->index_old != 0) {
365 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
366 for (int i2 = 1; i2 <= nPar; i2++) {
367 bncParam* p2 = _params[i2-1];
368 if (p2->index_old != 0) {
369 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
370 }
371 }
372 }
373 }
374
375 for (int ii = 1; ii <= nPar; ii++) {
376 bncParam* par = _params[ii-1];
377 if (par->index_old == 0) {
378 _QQ(par->index, par->index) = sig_amb_0 * sig_amb_0;
379 }
380 par->index_old = par->index;
381 }
382 }
383
384 // Coordinates
385 // -----------
386 if (_static) {
387 if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
388 _params[0]->xx = _xcBanc(1);
389 _params[1]->xx = _xcBanc(2);
390 _params[2]->xx = _xcBanc(3);
391 }
392 }
393 else {
394 _params[0]->xx = _xcBanc(1);
395 _params[1]->xx = _xcBanc(2);
396 _params[2]->xx = _xcBanc(3);
397
398 _QQ(1,1) += sig_crd_p * sig_crd_p;
399 _QQ(2,2) += sig_crd_p * sig_crd_p;
400 _QQ(3,3) += sig_crd_p * sig_crd_p;
401 }
402
403 // Receiver Clocks
404 // ---------------
405 _params[3]->xx = _xcBanc(4);
406 for (int iPar = 1; iPar <= _params.size(); iPar++) {
407 _QQ(iPar, 4) = 0.0;
408 }
409 _QQ(4,4) = sig_clk_0 * sig_clk_0;
410
411 // Tropospheric Delay
412 // ------------------
413 if (_estTropo) {
414 _QQ(5,5) += sig_trp_p * sig_trp_p;
415 }
416}
417
418// Update Step of the Filter (currently just a single-epoch solution)
419////////////////////////////////////////////////////////////////////////////
420t_irc bncModel::update(t_epoData* epoData) {
421
422 _log = "Precise Point Positioning";
423
424 SymmetricMatrix QQsav;
425 ColumnVector dx;
426 ColumnVector vv;
427
428 // Loop over all outliers
429 // ----------------------
430 do {
431
432 // Bancroft Solution
433 // -----------------
434 if (cmpBancroft(epoData) != success) {
435 _log += "\nBancroft failed";
436 emit newMessage(_log, false);
437 return failure;
438 }
439
440 if (epoData->size() < MINOBS) {
441 _log += "\nNot enough data";
442 emit newMessage(_log, false);
443 return failure;
444 }
445
446 // Status Prediction
447 // -----------------
448 predict(epoData);
449
450 // Create First-Design Matrix
451 // --------------------------
452 unsigned nPar = _params.size();
453 unsigned nObs = _usePhase ? 2 * epoData->size() : epoData->size();
454
455 Matrix AA(nObs, nPar); // first design matrix
456 ColumnVector ll(nObs); // tems observed-computed
457 SymmetricMatrix PP(nObs); PP = 0.0;
458
459 unsigned iObs = 0;
460 QMapIterator<QString, t_satData*> itObs(epoData->satData);
461 while (itObs.hasNext()) {
462 ++iObs;
463 itObs.next();
464 QString prn = itObs.key();
465 t_satData* satData = itObs.value();
466
467 double rhoCmp = cmpValue(satData);
468
469 double ellWgtCoeff = 1.0;
470 //// double eleD = satData->eleSat * 180.0 / M_PI;
471 //// if (eleD < 25.0) {
472 //// ellWgtCoeff = 2.5 - (eleD - 10.0) * 0.1;
473 //// ellWgtCoeff *= ellWgtCoeff;
474 //// }
475
476 ll(iObs) = satData->P3 - rhoCmp;
477 PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3) / ellWgtCoeff;
478 for (int iPar = 1; iPar <= _params.size(); iPar++) {
479 AA(iObs, iPar) = _params[iPar-1]->partial(satData, "");
480 }
481
482 if (_usePhase) {
483 ++iObs;
484 ll(iObs) = satData->L3 - rhoCmp;
485 PP(iObs,iObs) = 1.0 / (sig_L3 * sig_L3) / ellWgtCoeff;
486 for (int iPar = 1; iPar <= _params.size(); iPar++) {
487 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
488 _params[iPar-1]->prn == prn) {
489 ll(iObs) -= _params[iPar-1]->xx;
490 }
491 AA(iObs, iPar) = _params[iPar-1]->partial(satData, prn);
492 }
493 }
494 }
495
496 // Compute Filter Update
497 // ---------------------
498 QQsav = _QQ;
499
500 Matrix ATP = AA.t() * PP;
501 SymmetricMatrix NN = _QQ.i();
502 NN << NN + ATP * AA;
503 _QQ = NN.i();
504 dx = _QQ * ATP * ll;
505 vv = ll - AA * dx;
506
507 } while (outlierDetection(QQsav, vv, epoData->satData) != 0);
508
509 // Set Solution Vector
510 // -------------------
511 ostringstream str1;
512 str1.setf(ios::fixed);
513 QVectorIterator<bncParam*> itPar(_params);
514 while (itPar.hasNext()) {
515 bncParam* par = itPar.next();
516 par->xx += dx(par->index);
517 if (par->type == bncParam::RECCLK) {
518 str1 << "\n clk = " << setw(6) << setprecision(3) << par->xx
519 << " +- " << setw(6) << setprecision(3)
520 << sqrt(_QQ(par->index,par->index));
521 }
522 else if (par->type == bncParam::AMB_L3) {
523 str1 << "\n amb " << par->prn.toAscii().data() << " = "
524 << setw(6) << setprecision(3) << par->xx
525 << " +- " << setw(6) << setprecision(3)
526 << sqrt(_QQ(par->index,par->index));
527 }
528 }
529 _log += str1.str().c_str();
530
531 // Message (both log file and screen)
532 // ----------------------------------
533 ostringstream str2;
534 str2.setf(ios::fixed);
535 str2 << " PPP " << _staID.data() << " "
536 << epoData->tt.timestr(1) << " " << epoData->size() << " "
537 << setw(14) << setprecision(3) << x() << " +- "
538 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
539 << setw(14) << setprecision(3) << y() << " +- "
540 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
541 << setw(14) << setprecision(3) << z() << " +- "
542 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
543 if (_estTropo) {
544 str2 << " " << setw(6) << setprecision(3) << trp() << " +- "
545 << setw(6) << setprecision(3) << sqrt(_QQ(5,5));
546 }
547
548 emit newMessage(_log, false);
549 emit newMessage(QByteArray(str2.str().c_str()), true);
550
551 return success;
552}
553
554// Outlier Detection
555////////////////////////////////////////////////////////////////////////////
556int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
557 const ColumnVector& vv,
558 QMap<QString, t_satData*>& satData) {
559
560 double vvMaxCode = 0.0;
561 double vvMaxPhase = 0.0;
562 QMutableMapIterator<QString, t_satData*> itMaxCode(satData);
563 QMutableMapIterator<QString, t_satData*> itMaxPhase(satData);
564
565 int ii = 0;
566 QMutableMapIterator<QString, t_satData*> it(satData);
567 while (it.hasNext()) {
568 it.next();
569 ++ii;
570
571 if (vvMaxCode == 0.0 || fabs(vv(ii)) > vvMaxCode) {
572 vvMaxCode = fabs(vv(ii));
573 itMaxCode = it;
574 }
575
576 if (_usePhase) {
577 ++ii;
578 if (vvMaxPhase == 0.0 || fabs(vv(ii)) > vvMaxPhase) {
579 vvMaxPhase = fabs(vv(ii));
580 itMaxPhase = it;
581 }
582 }
583 }
584
585 if (vvMaxCode > MAXRES_CODE) {
586 QString prn = itMaxCode.key();
587 t_satData* satData = itMaxCode.value();
588 delete satData;
589 itMaxCode.remove();
590 _QQ = QQsav;
591
592 _log += "\nOutlier Code " + prn.toAscii() + " "
593 + QByteArray::number(vvMaxCode, 'f', 3);
594
595 return 1;
596 }
597 else if (vvMaxPhase > MAXRES_PHASE) {
598 QString prn = itMaxPhase.key();
599 t_satData* satData = itMaxPhase.value();
600 delete satData;
601 itMaxPhase.remove();
602 _QQ = QQsav;
603
604 _log += "\nOutlier Phase " + prn.toAscii() + " "
605 + QByteArray::number(vvMaxPhase, 'f', 3);
606
607 return 1;
608 }
609
610 return 0;
611}
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