source: ntrip/trunk/BNC/bncmodel.cpp@ 2231

Last change on this file since 2231 was 2231, 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 QDateTime dateTime = QDateTime::currentDateTime().toUTC();
182 QString nmStr = "GPRMC," + dateTime.time().toString("hhmmss")
183 + ",A,,,,,,,"
184 + dateTime.date().toString("ddMMyy")
185 + ",,";
186
187 writeNMEAstr(nmStr);
188 }
189}
190
191// Destructor
192////////////////////////////////////////////////////////////////////////////
193bncModel::~bncModel() {
194 delete _nmeaStream;
195 delete _nmeaFile;
196}
197
198// Bancroft Solution
199////////////////////////////////////////////////////////////////////////////
200t_irc bncModel::cmpBancroft(t_epoData* epoData) {
201
202 if (epoData->sizeGPS() < MINOBS) {
203 _log += "\nNot enough data";
204 return failure;
205 }
206
207 Matrix BB(epoData->sizeGPS(), 4);
208
209 QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
210 int iObs = 0;
211 while (it.hasNext()) {
212 ++iObs;
213 it.next();
214 QString prn = it.key();
215 t_satData* satData = it.value();
216 BB(iObs, 1) = satData->xx(1);
217 BB(iObs, 2) = satData->xx(2);
218 BB(iObs, 3) = satData->xx(3);
219 BB(iObs, 4) = satData->P3 + satData->clk;
220 }
221
222 bancroft(BB, _xcBanc);
223
224 // Ellipsoidal Coordinates
225 // ------------------------
226 xyz2ell(_xcBanc.data(), _ellBanc.data());
227
228 // Compute Satellite Elevations
229 // ----------------------------
230 QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
231 while (iGPS.hasNext()) {
232 iGPS.next();
233 QString prn = iGPS.key();
234 t_satData* satData = iGPS.value();
235
236 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
237 double rho = rr.norm_Frobenius();
238
239 double neu[3];
240 xyz2neu(_ellBanc.data(), rr.data(), neu);
241
242 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
243 if (neu[2] < 0) {
244 satData->eleSat *= -1.0;
245 }
246 satData->azSat = atan2(neu[1], neu[0]);
247
248 if (satData->eleSat < MINELE) {
249 delete satData;
250 iGPS.remove();
251 }
252 }
253
254 QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
255 while (iGlo.hasNext()) {
256 iGlo.next();
257 QString prn = iGlo.key();
258 t_satData* satData = iGlo.value();
259
260 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
261 double rho = rr.norm_Frobenius();
262
263 double neu[3];
264 xyz2neu(_ellBanc.data(), rr.data(), neu);
265
266 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
267 if (neu[2] < 0) {
268 satData->eleSat *= -1.0;
269 }
270 satData->azSat = atan2(neu[1], neu[0]);
271
272 if (satData->eleSat < MINELE) {
273 delete satData;
274 iGlo.remove();
275 }
276 }
277
278 return success;
279}
280
281// Computed Value
282////////////////////////////////////////////////////////////////////////////
283double bncModel::cmpValue(t_satData* satData) {
284
285 ColumnVector xRec(3);
286 xRec(1) = x();
287 xRec(2) = y();
288 xRec(3) = z();
289
290 double rho0 = (satData->xx - xRec).norm_Frobenius();
291 double dPhi = t_CST::omega * rho0 / t_CST::c;
292
293 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
294 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
295 xRec(3) = z();
296
297 satData->rho = (satData->xx - xRec).norm_Frobenius();
298
299 double tropDelay = delay_saast(satData->eleSat) +
300 trp() / sin(satData->eleSat);
301
302 return satData->rho + clk() - satData->clk + tropDelay;
303}
304
305// Tropospheric Model (Saastamoinen)
306////////////////////////////////////////////////////////////////////////////
307double bncModel::delay_saast(double Ele) {
308
309 double height = _ellBanc(3);
310
311 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
312 double TT = 18.0 - height * 0.0065 + 273.15;
313 double hh = 50.0 * exp(-6.396e-4 * height);
314 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
315
316 double h_km = height / 1000.0;
317
318 if (h_km < 0.0) h_km = 0.0;
319 if (h_km > 5.0) h_km = 5.0;
320 int ii = int(h_km + 1);
321 double href = ii - 1;
322
323 double bCor[6];
324 bCor[0] = 1.156;
325 bCor[1] = 1.006;
326 bCor[2] = 0.874;
327 bCor[3] = 0.757;
328 bCor[4] = 0.654;
329 bCor[5] = 0.563;
330
331 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
332
333 double zen = M_PI/2.0 - Ele;
334
335 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
336}
337
338// Prediction Step of the Filter
339////////////////////////////////////////////////////////////////////////////
340void bncModel::predict(t_epoData* epoData) {
341
342 if (_usePhase) {
343
344 // Make a copy of QQ and xx, set parameter indices
345 // -----------------------------------------------
346 SymmetricMatrix QQ_old = _QQ;
347
348 for (int iPar = 1; iPar <= _params.size(); iPar++) {
349 _params[iPar-1]->index_old = _params[iPar-1]->index;
350 _params[iPar-1]->index = 0;
351 }
352
353 // Remove Ambiguity Parameters without observations
354 // ------------------------------------------------
355 int iPar = 0;
356 QMutableVectorIterator<bncParam*> it(_params);
357 while (it.hasNext()) {
358 bncParam* par = it.next();
359 bool removed = false;
360 if (par->type == bncParam::AMB_L3) {
361 if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
362 epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() ) {
363 removed = true;
364 delete par;
365 it.remove();
366 }
367 }
368 if (! removed) {
369 ++iPar;
370 par->index = iPar;
371 }
372 }
373
374 // Add new ambiguity parameters
375 // ----------------------------
376 QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
377 while (iGPS.hasNext()) {
378 iGPS.next();
379 QString prn = iGPS.key();
380 bool found = false;
381 for (int iPar = 1; iPar <= _params.size(); iPar++) {
382 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
383 _params[iPar-1]->prn == prn) {
384 found = true;
385 break;
386 }
387 }
388 if (!found) {
389 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
390 _params.push_back(par);
391 }
392 }
393
394 QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
395 while (iGlo.hasNext()) {
396 iGlo.next();
397 QString prn = iGlo.key();
398 bool found = false;
399 for (int iPar = 1; iPar <= _params.size(); iPar++) {
400 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
401 _params[iPar-1]->prn == prn) {
402 found = true;
403 break;
404 }
405 }
406 if (!found) {
407 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
408 _params.push_back(par);
409 }
410 }
411
412 int nPar = _params.size();
413 _QQ.ReSize(nPar); _QQ = 0.0;
414 for (int i1 = 1; i1 <= nPar; i1++) {
415 bncParam* p1 = _params[i1-1];
416 if (p1->index_old != 0) {
417 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
418 for (int i2 = 1; i2 <= nPar; i2++) {
419 bncParam* p2 = _params[i2-1];
420 if (p2->index_old != 0) {
421 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
422 }
423 }
424 }
425 }
426
427 for (int ii = 1; ii <= nPar; ii++) {
428 bncParam* par = _params[ii-1];
429 if (par->index_old == 0) {
430 _QQ(par->index, par->index) = sig_amb_0 * sig_amb_0;
431 }
432 par->index_old = par->index;
433 }
434 }
435
436 // Coordinates
437 // -----------
438 if (_static) {
439 if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
440 _params[0]->xx = _xcBanc(1);
441 _params[1]->xx = _xcBanc(2);
442 _params[2]->xx = _xcBanc(3);
443 }
444 }
445 else {
446 _params[0]->xx = _xcBanc(1);
447 _params[1]->xx = _xcBanc(2);
448 _params[2]->xx = _xcBanc(3);
449
450 _QQ(1,1) += sig_crd_p * sig_crd_p;
451 _QQ(2,2) += sig_crd_p * sig_crd_p;
452 _QQ(3,3) += sig_crd_p * sig_crd_p;
453 }
454
455 // Receiver Clocks
456 // ---------------
457 _params[3]->xx = _xcBanc(4);
458 for (int iPar = 1; iPar <= _params.size(); iPar++) {
459 _QQ(iPar, 4) = 0.0;
460 }
461 _QQ(4,4) = sig_clk_0 * sig_clk_0;
462
463 // Tropospheric Delay
464 // ------------------
465 if (_estTropo) {
466 _QQ(5,5) += sig_trp_p * sig_trp_p;
467 }
468}
469
470// Update Step of the Filter (currently just a single-epoch solution)
471////////////////////////////////////////////////////////////////////////////
472t_irc bncModel::update(t_epoData* epoData) {
473
474 _log = "Precise Point Positioning";
475
476 _time = epoData->tt;
477
478 SymmetricMatrix QQsav;
479 ColumnVector dx;
480 ColumnVector vv;
481
482 // Loop over all outliers
483 // ----------------------
484 do {
485
486 // Bancroft Solution
487 // -----------------
488 if (cmpBancroft(epoData) != success) {
489 _log += "\nBancroft failed";
490 emit newMessage(_log, false);
491 return failure;
492 }
493
494 if (epoData->sizeGPS() < MINOBS) {
495 _log += "\nNot enough data";
496 emit newMessage(_log, false);
497 return failure;
498 }
499
500 // Status Prediction
501 // -----------------
502 predict(epoData);
503
504 // Create First-Design Matrix
505 // --------------------------
506 unsigned nPar = _params.size();
507 unsigned nObs = 0;
508 if (_usePhase) {
509 nObs = 2 * epoData->sizeGPS() + epoData->sizeGlo();
510 }
511 else {
512 nObs = epoData->sizeGPS(); // Glonass pseudoranges are not used
513 }
514
515 Matrix AA(nObs, nPar); // first design matrix
516 ColumnVector ll(nObs); // tems observed-computed
517 SymmetricMatrix PP(nObs); PP = 0.0;
518
519 unsigned iObs = 0;
520
521 // GPS code and (optionally) phase observations
522 // --------------------------------------------
523 QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
524 while (itGPS.hasNext()) {
525 ++iObs;
526 itGPS.next();
527 QString prn = itGPS.key();
528 t_satData* satData = itGPS.value();
529
530 double rhoCmp = cmpValue(satData);
531
532 double ellWgtCoeff = 1.0;
533 //// double eleD = satData->eleSat * 180.0 / M_PI;
534 //// if (eleD < 25.0) {
535 //// ellWgtCoeff = 2.5 - (eleD - 10.0) * 0.1;
536 //// ellWgtCoeff *= ellWgtCoeff;
537 //// }
538
539 ll(iObs) = satData->P3 - rhoCmp;
540 PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3) / ellWgtCoeff;
541 for (int iPar = 1; iPar <= _params.size(); iPar++) {
542 AA(iObs, iPar) = _params[iPar-1]->partial(satData, "");
543 }
544
545 if (_usePhase) {
546 ++iObs;
547 ll(iObs) = satData->L3 - rhoCmp;
548 PP(iObs,iObs) = 1.0 / (sig_L3 * sig_L3) / ellWgtCoeff;
549 for (int iPar = 1; iPar <= _params.size(); iPar++) {
550 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
551 _params[iPar-1]->prn == prn) {
552 ll(iObs) -= _params[iPar-1]->xx;
553 }
554 AA(iObs, iPar) = _params[iPar-1]->partial(satData, prn);
555 }
556 }
557 }
558
559 // Glonass phase observations
560 // --------------------------
561 if (_usePhase) {
562 QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
563 while (itGlo.hasNext()) {
564 ++iObs;
565 itGlo.next();
566 QString prn = itGlo.key();
567 t_satData* satData = itGlo.value();
568
569 double rhoCmp = cmpValue(satData);
570
571 double ellWgtCoeff = 1.0;
572 //// double eleD = satData->eleSat * 180.0 / M_PI;
573 //// if (eleD < 25.0) {
574 //// ellWgtCoeff = 2.5 - (eleD - 10.0) * 0.1;
575 //// ellWgtCoeff *= ellWgtCoeff;
576 //// }
577
578 ll(iObs) = satData->L3 - rhoCmp;
579 PP(iObs,iObs) = 1.0 / (sig_L3 * sig_L3) / ellWgtCoeff;
580 for (int iPar = 1; iPar <= _params.size(); iPar++) {
581 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
582 _params[iPar-1]->prn == prn) {
583 ll(iObs) -= _params[iPar-1]->xx;
584 }
585 AA(iObs, iPar) = _params[iPar-1]->partial(satData, prn);
586 }
587 }
588 }
589
590 // Compute Filter Update
591 // ---------------------
592 QQsav = _QQ;
593
594 Matrix ATP = AA.t() * PP;
595 SymmetricMatrix NN = _QQ.i();
596 NN << NN + ATP * AA;
597 _QQ = NN.i();
598 dx = _QQ * ATP * ll;
599 vv = ll - AA * dx;
600
601 } while (outlierDetection(QQsav, vv, epoData->satDataGPS,
602 epoData->satDataGlo) != 0);
603
604 // Set Solution Vector
605 // -------------------
606 ostringstream str1;
607 str1.setf(ios::fixed);
608 QVectorIterator<bncParam*> itPar(_params);
609 while (itPar.hasNext()) {
610 bncParam* par = itPar.next();
611 par->xx += dx(par->index);
612 if (par->type == bncParam::RECCLK) {
613 str1 << "\n clk = " << setw(6) << setprecision(3) << par->xx
614 << " +- " << setw(6) << setprecision(3)
615 << sqrt(_QQ(par->index,par->index));
616 }
617 else if (par->type == bncParam::AMB_L3) {
618 str1 << "\n amb " << par->prn.toAscii().data() << " = "
619 << setw(6) << setprecision(3) << par->xx
620 << " +- " << setw(6) << setprecision(3)
621 << sqrt(_QQ(par->index,par->index));
622 }
623 else if (par->type == bncParam::TROPO) {
624 str1 << "\n trp = " << par->prn.toAscii().data()
625 << setw(7) << setprecision(3) << delay_saast(M_PI/2.0) << " "
626 << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
627 << " +- " << setw(6) << setprecision(3)
628 << sqrt(_QQ(par->index,par->index));
629 }
630 }
631 _log += str1.str().c_str();
632
633 // Message (both log file and screen)
634 // ----------------------------------
635 ostringstream str2;
636 str2.setf(ios::fixed);
637 str2 << _staID.data() << ": PPP "
638 << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
639 << setw(14) << setprecision(3) << x() << " +- "
640 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
641 << setw(14) << setprecision(3) << y() << " +- "
642 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
643 << setw(14) << setprecision(3) << z() << " +- "
644 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
645 if (_estTropo) {
646 str2 << " " << setw(6) << setprecision(3) << trp() << " +- "
647 << setw(6) << setprecision(3) << sqrt(_QQ(5,5));
648 }
649
650 emit newMessage(_log, false);
651 emit newMessage(QByteArray(str2.str().c_str()), true);
652
653 // NMEA Output
654 // -----------
655 double xyz[3];
656 xyz[0] = x();
657 xyz[1] = y();
658 xyz[2] = z();
659 double ell[3];
660 xyz2ell(xyz, ell);
661 double phiDeg = ell[0] * 180 / M_PI;
662 double lamDeg = ell[1] * 180 / M_PI;
663
664 char phiCh = 'N';
665 if (phiDeg < 0) {
666 phiDeg = -phiDeg;
667 phiCh = 'S';
668 }
669 char lamCh = 'E';
670 if (lamDeg < 0) {
671 lamDeg = -lamDeg;
672 lamCh = 'W';
673 }
674
675 double dop = 2.0; // TODO
676
677 ostringstream str3;
678 str3.setf(ios::fixed);
679 str3 << "GPGGA,"
680 << epoData->tt.timestr(0,0) << ','
681 << setw(2) << setfill('0') << int(phiDeg)
682 << setw(10) << setprecision(7) << setfill('0')
683 << fmod(60*phiDeg,60) << ',' << phiCh << ','
684 << setw(2) << setfill('0') << int(lamDeg)
685 << setw(10) << setprecision(7) << setfill('0')
686 << fmod(60*lamDeg,60) << ',' << lamCh
687 << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
688 << setw(3) << setprecision(1) << dop << ','
689 << setprecision(3) << ell[2] << ",M,0.0,M,,,";
690
691 writeNMEAstr(QString(str3.str().c_str()));
692
693 return success;
694}
695
696// Outlier Detection
697////////////////////////////////////////////////////////////////////////////
698int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
699 const ColumnVector& vv,
700 QMap<QString, t_satData*>& satDataGPS,
701 QMap<QString, t_satData*>& satDataGlo) {
702
703 double vvMaxCodeGPS = 0.0;
704 double vvMaxPhaseGPS = 0.0;
705 double vvMaxPhaseGlo = 0.0;
706 QMutableMapIterator<QString, t_satData*> itMaxCodeGPS(satDataGPS);
707 QMutableMapIterator<QString, t_satData*> itMaxPhaseGPS(satDataGPS);
708 QMutableMapIterator<QString, t_satData*> itMaxPhaseGlo(satDataGlo);
709
710 int ii = 0;
711
712 // GPS code and (optionally) phase residuals
713 // -----------------------------------------
714 QMutableMapIterator<QString, t_satData*> itGPS(satDataGPS);
715 while (itGPS.hasNext()) {
716 itGPS.next();
717 ++ii;
718
719 if (vvMaxCodeGPS == 0.0 || fabs(vv(ii)) > vvMaxCodeGPS) {
720 vvMaxCodeGPS = fabs(vv(ii));
721 itMaxCodeGPS = itGPS;
722 }
723
724 if (_usePhase) {
725 ++ii;
726 if (vvMaxPhaseGPS == 0.0 || fabs(vv(ii)) > vvMaxPhaseGPS) {
727 vvMaxPhaseGPS = fabs(vv(ii));
728 itMaxPhaseGPS = itGPS;
729 }
730 }
731 }
732
733 // Glonass phase residuals
734 // -----------------------
735 if (_usePhase) {
736 QMutableMapIterator<QString, t_satData*> itGlo(satDataGlo);
737 while (itGlo.hasNext()) {
738 itGlo.next();
739 ++ii;
740 if (vvMaxPhaseGlo == 0.0 || fabs(vv(ii)) > vvMaxPhaseGlo) {
741 vvMaxPhaseGlo = fabs(vv(ii));
742 itMaxPhaseGlo = itGlo;
743 }
744 }
745 }
746
747 if (vvMaxCodeGPS > MAXRES_CODE) {
748 QString prn = itMaxCodeGPS.key();
749 t_satData* satData = itMaxCodeGPS.value();
750 delete satData;
751 itMaxCodeGPS.remove();
752 _QQ = QQsav;
753
754 _log += "\nOutlier Code " + prn.toAscii() + " "
755 + QByteArray::number(vvMaxCodeGPS, 'f', 3);
756
757 return 1;
758 }
759 else if (vvMaxPhaseGPS > MAXRES_PHASE) {
760 QString prn = itMaxPhaseGPS.key();
761 t_satData* satData = itMaxPhaseGPS.value();
762 delete satData;
763 itMaxPhaseGPS.remove();
764 _QQ = QQsav;
765
766 _log += "\nOutlier Phase " + prn.toAscii() + " "
767 + QByteArray::number(vvMaxPhaseGPS, 'f', 3);
768
769 return 1;
770 }
771 else if (vvMaxPhaseGlo > MAXRES_PHASE) {
772 QString prn = itMaxPhaseGlo.key();
773 t_satData* satData = itMaxPhaseGlo.value();
774 delete satData;
775 itMaxPhaseGlo.remove();
776 _QQ = QQsav;
777
778 _log += "\nOutlier Phase " + prn.toAscii() + " "
779 + QByteArray::number(vvMaxPhaseGlo, 'f', 3);
780
781 return 1;
782 }
783
784 return 0;
785}
786
787//
788////////////////////////////////////////////////////////////////////////////
789void bncModel::writeNMEAstr(const QString& nmStr) {
790
791 unsigned char XOR = 0;
792 for (int ii = 0; ii < nmStr.length(); ii++) {
793 XOR ^= (unsigned char) nmStr[ii].toAscii();
794 }
795
796 QString outStr = '$' + nmStr
797 + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
798
799 if (_nmeaStream) {
800 *_nmeaStream << outStr;
801 _nmeaStream->flush();
802 }
803
804 emit newNMEAstr(outStr.toAscii());
805}
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