source: ntrip/trunk/BNC/bncmodel.cpp@ 2238

Last change on this file since 2238 was 2238, 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 = 1000.0;
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 t_satData* satData = iGPS.value();
381 bool found = false;
382 for (int iPar = 1; iPar <= _params.size(); iPar++) {
383 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
384 _params[iPar-1]->prn == prn) {
385 found = true;
386 break;
387 }
388 }
389 if (!found) {
390 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
391 _params.push_back(par);
392 }
393 }
394
395 QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
396 while (iGlo.hasNext()) {
397 iGlo.next();
398 QString prn = iGlo.key();
399 t_satData* satData = iGlo.value();
400 bool found = false;
401 for (int iPar = 1; iPar <= _params.size(); iPar++) {
402 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
403 _params[iPar-1]->prn == prn) {
404 found = true;
405 break;
406 }
407 }
408 if (!found) {
409 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
410 _params.push_back(par);
411 par->xx = satData->P3 - cmpValue(satData);
412 }
413 }
414
415 int nPar = _params.size();
416 _QQ.ReSize(nPar); _QQ = 0.0;
417 for (int i1 = 1; i1 <= nPar; i1++) {
418 bncParam* p1 = _params[i1-1];
419 if (p1->index_old != 0) {
420 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
421 for (int i2 = 1; i2 <= nPar; i2++) {
422 bncParam* p2 = _params[i2-1];
423 if (p2->index_old != 0) {
424 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
425 }
426 }
427 }
428 }
429
430 for (int ii = 1; ii <= nPar; ii++) {
431 bncParam* par = _params[ii-1];
432 if (par->index_old == 0) {
433 _QQ(par->index, par->index) = sig_amb_0 * sig_amb_0;
434 }
435 par->index_old = par->index;
436 }
437 }
438
439 // Coordinates
440 // -----------
441 if (_static) {
442 if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
443 _params[0]->xx = _xcBanc(1);
444 _params[1]->xx = _xcBanc(2);
445 _params[2]->xx = _xcBanc(3);
446 }
447 }
448 else {
449 _params[0]->xx = _xcBanc(1);
450 _params[1]->xx = _xcBanc(2);
451 _params[2]->xx = _xcBanc(3);
452
453 _QQ(1,1) += sig_crd_p * sig_crd_p;
454 _QQ(2,2) += sig_crd_p * sig_crd_p;
455 _QQ(3,3) += sig_crd_p * sig_crd_p;
456 }
457
458 // Receiver Clocks
459 // ---------------
460 _params[3]->xx = _xcBanc(4);
461 for (int iPar = 1; iPar <= _params.size(); iPar++) {
462 _QQ(iPar, 4) = 0.0;
463 }
464 _QQ(4,4) = sig_clk_0 * sig_clk_0;
465
466 // Tropospheric Delay
467 // ------------------
468 if (_estTropo) {
469 _QQ(5,5) += sig_trp_p * sig_trp_p;
470 }
471}
472
473// Update Step of the Filter (currently just a single-epoch solution)
474////////////////////////////////////////////////////////////////////////////
475t_irc bncModel::update(t_epoData* epoData) {
476
477 _log = "Precise Point Positioning";
478
479 _time = epoData->tt;
480
481 SymmetricMatrix QQsav;
482 ColumnVector dx;
483 ColumnVector vv;
484
485 // Loop over all outliers
486 // ----------------------
487 do {
488
489 // Bancroft Solution
490 // -----------------
491 if (cmpBancroft(epoData) != success) {
492 _log += "\nBancroft failed";
493 emit newMessage(_log, false);
494 return failure;
495 }
496
497 if (epoData->sizeGPS() < MINOBS) {
498 _log += "\nNot enough data";
499 emit newMessage(_log, false);
500 return failure;
501 }
502
503 // Status Prediction
504 // -----------------
505 predict(epoData);
506
507 // Create First-Design Matrix
508 // --------------------------
509 unsigned nPar = _params.size();
510 unsigned nObs = 0;
511 if (_usePhase) {
512 nObs = 2 * epoData->sizeGPS() + epoData->sizeGlo();
513 }
514 else {
515 nObs = epoData->sizeGPS(); // Glonass pseudoranges are not used
516 }
517
518 Matrix AA(nObs, nPar); // first design matrix
519 ColumnVector ll(nObs); // tems observed-computed
520 SymmetricMatrix PP(nObs); PP = 0.0;
521
522 unsigned iObs = 0;
523
524 // GPS code and (optionally) phase observations
525 // --------------------------------------------
526 QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
527 while (itGPS.hasNext()) {
528 ++iObs;
529 itGPS.next();
530 QString prn = itGPS.key();
531 t_satData* satData = itGPS.value();
532
533 double rhoCmp = cmpValue(satData);
534
535 double ellWgtCoeff = 1.0;
536 //// double eleD = satData->eleSat * 180.0 / M_PI;
537 //// if (eleD < 25.0) {
538 //// ellWgtCoeff = 2.5 - (eleD - 10.0) * 0.1;
539 //// ellWgtCoeff *= ellWgtCoeff;
540 //// }
541
542 ll(iObs) = satData->P3 - rhoCmp;
543 PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3) / ellWgtCoeff;
544 for (int iPar = 1; iPar <= _params.size(); iPar++) {
545 AA(iObs, iPar) = _params[iPar-1]->partial(satData, "");
546 }
547
548 if (_usePhase) {
549 ++iObs;
550 ll(iObs) = satData->L3 - rhoCmp;
551 PP(iObs,iObs) = 1.0 / (sig_L3 * sig_L3) / ellWgtCoeff;
552 for (int iPar = 1; iPar <= _params.size(); iPar++) {
553 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
554 _params[iPar-1]->prn == prn) {
555 ll(iObs) -= _params[iPar-1]->xx;
556 }
557 AA(iObs, iPar) = _params[iPar-1]->partial(satData, prn);
558 }
559 }
560 }
561
562 // Glonass phase observations
563 // --------------------------
564 if (_usePhase) {
565 QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
566 while (itGlo.hasNext()) {
567 ++iObs;
568 itGlo.next();
569 QString prn = itGlo.key();
570 t_satData* satData = itGlo.value();
571
572 double rhoCmp = cmpValue(satData);
573
574 double ellWgtCoeff = 1.0;
575 //// double eleD = satData->eleSat * 180.0 / M_PI;
576 //// if (eleD < 25.0) {
577 //// ellWgtCoeff = 2.5 - (eleD - 10.0) * 0.1;
578 //// ellWgtCoeff *= ellWgtCoeff;
579 //// }
580
581 ll(iObs) = satData->L3 - rhoCmp;
582 PP(iObs,iObs) = 1.0 / (sig_L3 * sig_L3) / ellWgtCoeff;
583 for (int iPar = 1; iPar <= _params.size(); iPar++) {
584 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
585 _params[iPar-1]->prn == prn) {
586 ll(iObs) -= _params[iPar-1]->xx;
587 }
588 AA(iObs, iPar) = _params[iPar-1]->partial(satData, prn);
589 }
590
591 //// beg test
592 //double rhoCmp = cmpValue(satData);
593 //cout.setf(ios::fixed);
594 //cout << prn.toAscii().data() << " "
595 // << setprecision(3) << rhoCmp << " "
596 // << setprecision(3) << satData->P3 << " "
597 // << setprecision(3) << satData->L3 << " " << endl;
598 //
599 ////// end test
600 }
601 }
602
603 // Compute Filter Update
604 // ---------------------
605 QQsav = _QQ;
606
607 Matrix ATP = AA.t() * PP;
608 SymmetricMatrix NN = _QQ.i();
609 NN << NN + ATP * AA;
610 _QQ = NN.i();
611 dx = _QQ * ATP * ll;
612 vv = ll - AA * dx;
613
614 } while (outlierDetection(QQsav, vv, epoData->satDataGPS,
615 epoData->satDataGlo) != 0);
616
617 // Set Solution Vector
618 // -------------------
619 ostringstream str1;
620 str1.setf(ios::fixed);
621 QVectorIterator<bncParam*> itPar(_params);
622 while (itPar.hasNext()) {
623 bncParam* par = itPar.next();
624 par->xx += dx(par->index);
625 if (par->type == bncParam::RECCLK) {
626 str1 << "\n clk = " << setw(6) << setprecision(3) << par->xx
627 << " +- " << setw(6) << setprecision(3)
628 << sqrt(_QQ(par->index,par->index));
629 }
630 else if (par->type == bncParam::AMB_L3) {
631 str1 << "\n amb " << par->prn.toAscii().data() << " = "
632 << setw(6) << setprecision(3) << par->xx
633 << " +- " << setw(6) << setprecision(3)
634 << sqrt(_QQ(par->index,par->index));
635 }
636 else if (par->type == bncParam::TROPO) {
637 str1 << "\n trp = " << par->prn.toAscii().data()
638 << setw(7) << setprecision(3) << delay_saast(M_PI/2.0) << " "
639 << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
640 << " +- " << setw(6) << setprecision(3)
641 << sqrt(_QQ(par->index,par->index));
642 }
643 }
644 _log += str1.str().c_str();
645
646 // Message (both log file and screen)
647 // ----------------------------------
648 ostringstream str2;
649 str2.setf(ios::fixed);
650 str2 << _staID.data() << ": PPP "
651 << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
652 << setw(14) << setprecision(3) << x() << " +- "
653 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
654 << setw(14) << setprecision(3) << y() << " +- "
655 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
656 << setw(14) << setprecision(3) << z() << " +- "
657 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
658 if (_estTropo) {
659 str2 << " " << setw(6) << setprecision(3) << trp() << " +- "
660 << setw(6) << setprecision(3) << sqrt(_QQ(5,5));
661 }
662
663 emit newMessage(_log, false);
664 emit newMessage(QByteArray(str2.str().c_str()), true);
665
666 // NMEA Output
667 // -----------
668 double xyz[3];
669 xyz[0] = x();
670 xyz[1] = y();
671 xyz[2] = z();
672 double ell[3];
673 xyz2ell(xyz, ell);
674 double phiDeg = ell[0] * 180 / M_PI;
675 double lamDeg = ell[1] * 180 / M_PI;
676
677 char phiCh = 'N';
678 if (phiDeg < 0) {
679 phiDeg = -phiDeg;
680 phiCh = 'S';
681 }
682 char lamCh = 'E';
683 if (lamDeg < 0) {
684 lamDeg = -lamDeg;
685 lamCh = 'W';
686 }
687
688 double dop = 2.0; // TODO
689
690 ostringstream str3;
691 str3.setf(ios::fixed);
692 str3 << "GPGGA,"
693 << epoData->tt.timestr(0,0) << ','
694 << setw(2) << setfill('0') << int(phiDeg)
695 << setw(10) << setprecision(7) << setfill('0')
696 << fmod(60*phiDeg,60) << ',' << phiCh << ','
697 << setw(2) << setfill('0') << int(lamDeg)
698 << setw(10) << setprecision(7) << setfill('0')
699 << fmod(60*lamDeg,60) << ',' << lamCh
700 << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
701 << setw(3) << setprecision(1) << dop << ','
702 << setprecision(3) << ell[2] << ",M,0.0,M,,,";
703
704 writeNMEAstr(QString(str3.str().c_str()));
705
706 return success;
707}
708
709// Outlier Detection
710////////////////////////////////////////////////////////////////////////////
711int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
712 const ColumnVector& vv,
713 QMap<QString, t_satData*>& satDataGPS,
714 QMap<QString, t_satData*>& satDataGlo) {
715
716 double vvMaxCodeGPS = 0.0;
717 double vvMaxPhaseGPS = 0.0;
718 double vvMaxPhaseGlo = 0.0;
719 QMutableMapIterator<QString, t_satData*> itMaxCodeGPS(satDataGPS);
720 QMutableMapIterator<QString, t_satData*> itMaxPhaseGPS(satDataGPS);
721 QMutableMapIterator<QString, t_satData*> itMaxPhaseGlo(satDataGlo);
722
723 int ii = 0;
724
725 // GPS code and (optionally) phase residuals
726 // -----------------------------------------
727 QMutableMapIterator<QString, t_satData*> itGPS(satDataGPS);
728 while (itGPS.hasNext()) {
729 itGPS.next();
730 ++ii;
731
732 if (vvMaxCodeGPS == 0.0 || fabs(vv(ii)) > vvMaxCodeGPS) {
733 vvMaxCodeGPS = fabs(vv(ii));
734 itMaxCodeGPS = itGPS;
735 }
736
737 if (_usePhase) {
738 ++ii;
739 if (vvMaxPhaseGPS == 0.0 || fabs(vv(ii)) > vvMaxPhaseGPS) {
740 vvMaxPhaseGPS = fabs(vv(ii));
741 itMaxPhaseGPS = itGPS;
742 }
743 }
744 }
745
746 // Glonass phase residuals
747 // -----------------------
748 if (_usePhase) {
749 QMutableMapIterator<QString, t_satData*> itGlo(satDataGlo);
750 while (itGlo.hasNext()) {
751 itGlo.next();
752 ++ii;
753 if (vvMaxPhaseGlo == 0.0 || fabs(vv(ii)) > vvMaxPhaseGlo) {
754 vvMaxPhaseGlo = fabs(vv(ii));
755 itMaxPhaseGlo = itGlo;
756 }
757 }
758 }
759
760 if (vvMaxCodeGPS > MAXRES_CODE) {
761 QString prn = itMaxCodeGPS.key();
762 t_satData* satData = itMaxCodeGPS.value();
763 delete satData;
764 itMaxCodeGPS.remove();
765 _QQ = QQsav;
766
767 _log += "\nOutlier Code " + prn.toAscii() + " "
768 + QByteArray::number(vvMaxCodeGPS, 'f', 3);
769
770 return 1;
771 }
772 else if (vvMaxPhaseGPS > MAXRES_PHASE) {
773 QString prn = itMaxPhaseGPS.key();
774 t_satData* satData = itMaxPhaseGPS.value();
775 delete satData;
776 itMaxPhaseGPS.remove();
777 _QQ = QQsav;
778
779 _log += "\nOutlier Phase " + prn.toAscii() + " "
780 + QByteArray::number(vvMaxPhaseGPS, 'f', 3);
781
782 return 1;
783 }
784 else if (vvMaxPhaseGlo > MAXRES_PHASE) {
785 QString prn = itMaxPhaseGlo.key();
786 t_satData* satData = itMaxPhaseGlo.value();
787 delete satData;
788 itMaxPhaseGlo.remove();
789 _QQ = QQsav;
790
791 _log += "\nOutlier Phase " + prn.toAscii() + " "
792 + QByteArray::number(vvMaxPhaseGlo, 'f', 3);
793
794 return 1;
795 }
796
797 return 0;
798}
799
800//
801////////////////////////////////////////////////////////////////////////////
802void bncModel::writeNMEAstr(const QString& nmStr) {
803
804 unsigned char XOR = 0;
805 for (int ii = 0; ii < nmStr.length(); ii++) {
806 XOR ^= (unsigned char) nmStr[ii].toAscii();
807 }
808
809 QString outStr = '$' + nmStr
810 + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
811
812 if (_nmeaStream) {
813 *_nmeaStream << outStr;
814 _nmeaStream->flush();
815 }
816
817 emit newNMEAstr(outStr.toAscii());
818}
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