1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: bncParam, bncModel
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30 | *
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31 | * Purpose: Model for PPP
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 01-Dec-2009
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <iomanip>
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42 | #include <cmath>
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43 | #include <newmatio.h>
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44 | #include <sstream>
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45 |
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46 | #include "bncmodel.h"
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47 | #include "bncapp.h"
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48 | #include "bncpppclient.h"
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49 | #include "bancroft.h"
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50 | #include "bncutils.h"
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51 | #include "bncsettings.h"
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52 |
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53 | using namespace std;
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54 |
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55 | const unsigned MINOBS = 4;
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56 | const double MINELE = 10.0 * M_PI / 180.0;
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57 | const double MAXRES_CODE_GPS = 10.0;
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58 | const double MAXRES_PHASE_GPS = 0.10;
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59 | const double MAXRES_PHASE_GLO = 0.50;
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60 | const double sig_crd_0 = 100.0;
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61 | const double sig_crd_p = 100.0;
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62 | const double sig_clk_0 = 1000.0;
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63 | const double sig_trp_0 = 0.01;
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64 | const double sig_trp_p = 1e-6;
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65 | const double sig_amb_0 = 1000.0;
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66 | const double sig_P3 = 1.0;
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67 | const double sig_L3_GPS = 0.01;
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68 | const double sig_L3_GLO = 0.10;
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69 |
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70 | // Constructor
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71 | ////////////////////////////////////////////////////////////////////////////
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72 | bncParam::bncParam(bncParam::parType typeIn, int indexIn,
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73 | const QString& prnIn) {
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74 | type = typeIn;
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75 | index = indexIn;
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76 | prn = prnIn;
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77 | index_old = 0;
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78 | xx = 0.0;
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79 | }
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80 |
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81 | // Destructor
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82 | ////////////////////////////////////////////////////////////////////////////
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83 | bncParam::~bncParam() {
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84 | }
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85 |
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86 | // Partial
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87 | ////////////////////////////////////////////////////////////////////////////
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88 | double bncParam::partial(t_satData* satData, bool phase) {
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89 |
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90 | // Coordinates
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91 | // -----------
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92 | if (type == CRD_X) {
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93 | return (xx - satData->xx(1)) / satData->rho;
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94 | }
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95 | else if (type == CRD_Y) {
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96 | return (xx - satData->xx(2)) / satData->rho;
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97 | }
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98 | else if (type == CRD_Z) {
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99 | return (xx - satData->xx(3)) / satData->rho;
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100 | }
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101 |
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102 | // Receiver Clocks
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103 | // ---------------
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104 | else if (type == RECCLK_GPS) {
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105 | return 1.0;
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106 | }
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107 | else if (type == RECCLK_GLO) {
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108 | if (satData->prn[0] == 'R') {
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109 | return 1.0;
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110 | }
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111 | else {
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112 | return 0.0;
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113 | }
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114 | }
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115 |
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116 | // Troposphere
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117 | // -----------
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118 | else if (type == TROPO) {
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119 | return 1.0 / sin(satData->eleSat);
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120 | }
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121 |
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122 | // Ambiguities
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123 | // -----------
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124 | else if (type == AMB_L3) {
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125 | if (phase && satData->prn == prn) {
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126 | return 1.0;
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127 | }
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128 | else {
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129 | return 0.0;
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130 | }
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131 | }
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132 |
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133 | // Default return
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134 | // --------------
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135 | return 0.0;
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136 | }
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137 |
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138 | // Constructor
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139 | ////////////////////////////////////////////////////////////////////////////
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140 | bncModel::bncModel(QByteArray staID) {
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141 |
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142 | _staID = staID;
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143 |
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144 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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145 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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146 |
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147 | bncSettings settings;
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148 |
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149 | _static = false;
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150 | if ( Qt::CheckState(settings.value("pppStatic").toInt()) == Qt::Checked) {
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151 | _static = true;
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152 | }
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153 |
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154 | _usePhase = false;
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155 | if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
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156 | _usePhase = true;
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157 | }
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158 |
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159 | _estTropo = false;
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160 | if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
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161 | _estTropo = true;
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162 | }
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163 |
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164 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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165 | _ellBanc.ReSize(3); _ellBanc = 0.0;
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166 |
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167 | if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
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168 | _useGlonass = true;
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169 | }
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170 | else {
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171 | _useGlonass = false;
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172 | }
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173 |
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174 | int nextPar = 0;
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175 | _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
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176 | _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
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177 | _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
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178 | _params.push_back(new bncParam(bncParam::RECCLK_GPS, ++nextPar, ""));
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179 | if (_useGlonass) {
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180 | _params.push_back(new bncParam(bncParam::RECCLK_GLO, ++nextPar, ""));
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181 | }
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182 | if (_estTropo) {
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183 | _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
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184 | }
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185 |
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186 | unsigned nPar = _params.size();
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187 |
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188 | _QQ.ReSize(nPar);
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189 |
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190 | _QQ = 0.0;
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191 |
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192 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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193 | bncParam* pp = _params[iPar-1];
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194 | if (pp->isCrd()) {
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195 | _QQ(iPar,iPar) = sig_crd_0 * sig_crd_0;
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196 | }
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197 | else if (pp->isClk()) {
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198 | _QQ(iPar,iPar) = sig_clk_0 * sig_clk_0;
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199 | }
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200 | else if (pp->type == bncParam::TROPO) {
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201 | _QQ(iPar,iPar) = sig_trp_0 * sig_trp_0;
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202 | }
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203 | }
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204 |
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205 | // NMEA Output
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206 | // -----------
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207 | QString nmeaFileName = settings.value("nmeaFile").toString();
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208 | if (nmeaFileName.isEmpty()) {
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209 | _nmeaFile = 0;
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210 | _nmeaStream = 0;
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211 | }
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212 | else {
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213 | expandEnvVar(nmeaFileName);
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214 | _nmeaFile = new QFile(nmeaFileName);
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215 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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216 | _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
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217 | }
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218 | else {
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219 | _nmeaFile->open(QIODevice::WriteOnly);
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220 | }
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221 | _nmeaStream = new QTextStream();
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222 | _nmeaStream->setDevice(_nmeaFile);
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223 | QDateTime dateTime = QDateTime::currentDateTime().toUTC();
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224 | QString nmStr = "GPRMC," + dateTime.time().toString("hhmmss")
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225 | + ",A,,,,,,,"
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226 | + dateTime.date().toString("ddMMyy")
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227 | + ",,";
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228 |
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229 | writeNMEAstr(nmStr);
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230 | }
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231 | }
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232 |
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233 | // Destructor
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234 | ////////////////////////////////////////////////////////////////////////////
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235 | bncModel::~bncModel() {
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236 | delete _nmeaStream;
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237 | delete _nmeaFile;
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238 | }
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239 |
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240 | // Bancroft Solution
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241 | ////////////////////////////////////////////////////////////////////////////
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242 | t_irc bncModel::cmpBancroft(t_epoData* epoData) {
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243 |
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244 | if (epoData->sizeGPS() < MINOBS) {
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245 | _log += "\nNot enough data";
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246 | return failure;
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247 | }
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248 |
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249 | Matrix BB(epoData->sizeGPS(), 4);
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250 |
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251 | QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
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252 | int iObs = 0;
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253 | while (it.hasNext()) {
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254 | ++iObs;
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255 | it.next();
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256 | QString prn = it.key();
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257 | t_satData* satData = it.value();
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258 | BB(iObs, 1) = satData->xx(1);
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259 | BB(iObs, 2) = satData->xx(2);
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260 | BB(iObs, 3) = satData->xx(3);
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261 | BB(iObs, 4) = satData->P3 + satData->clk;
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262 | }
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263 |
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264 | bancroft(BB, _xcBanc);
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265 |
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266 | // Ellipsoidal Coordinates
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267 | // ------------------------
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268 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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269 |
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270 | // Compute Satellite Elevations
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271 | // ----------------------------
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272 | QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
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273 | while (iGPS.hasNext()) {
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274 | iGPS.next();
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275 | QString prn = iGPS.key();
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276 | t_satData* satData = iGPS.value();
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277 |
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278 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
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279 | double rho = rr.norm_Frobenius();
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280 |
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281 | double neu[3];
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282 | xyz2neu(_ellBanc.data(), rr.data(), neu);
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283 |
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284 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
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285 | if (neu[2] < 0) {
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286 | satData->eleSat *= -1.0;
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287 | }
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288 | satData->azSat = atan2(neu[1], neu[0]);
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289 |
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290 | if (satData->eleSat < MINELE) {
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291 | delete satData;
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292 | iGPS.remove();
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293 | }
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294 | }
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295 |
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296 | QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
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297 | while (iGlo.hasNext()) {
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298 | iGlo.next();
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299 | QString prn = iGlo.key();
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300 | t_satData* satData = iGlo.value();
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301 |
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302 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
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303 | double rho = rr.norm_Frobenius();
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304 |
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305 | double neu[3];
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306 | xyz2neu(_ellBanc.data(), rr.data(), neu);
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307 |
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308 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
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309 | if (neu[2] < 0) {
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310 | satData->eleSat *= -1.0;
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311 | }
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312 | satData->azSat = atan2(neu[1], neu[0]);
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313 |
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314 | if (satData->eleSat < MINELE) {
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315 | delete satData;
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316 | iGlo.remove();
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317 | }
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318 | }
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319 |
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320 | return success;
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321 | }
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322 |
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323 | // Computed Value
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324 | ////////////////////////////////////////////////////////////////////////////
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325 | double bncModel::cmpValue(t_satData* satData) {
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326 |
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327 | ColumnVector xRec(3);
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328 | xRec(1) = x();
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329 | xRec(2) = y();
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330 | xRec(3) = z();
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331 |
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332 | double rho0 = (satData->xx - xRec).norm_Frobenius();
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333 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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334 |
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335 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
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336 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
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337 | xRec(3) = z();
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338 |
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339 | satData->rho = (satData->xx - xRec).norm_Frobenius();
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340 |
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341 | double tropDelay = delay_saast(satData->eleSat) +
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342 | trp() / sin(satData->eleSat);
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343 |
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344 | double clk = 0.0;
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345 | if (satData->prn[0] == 'G') {
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346 | clk = clkGPS();
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347 | }
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348 | else if (satData->prn[0] == 'R') {
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349 | clk = clkGlo();
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350 | }
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351 |
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352 | return satData->rho + clk - satData->clk + tropDelay;
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353 | }
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354 |
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355 | // Tropospheric Model (Saastamoinen)
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356 | ////////////////////////////////////////////////////////////////////////////
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357 | double bncModel::delay_saast(double Ele) {
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358 |
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359 | double height = _ellBanc(3);
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360 |
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361 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
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362 | double TT = 18.0 - height * 0.0065 + 273.15;
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363 | double hh = 50.0 * exp(-6.396e-4 * height);
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364 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
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365 |
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366 | double h_km = height / 1000.0;
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367 |
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368 | if (h_km < 0.0) h_km = 0.0;
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369 | if (h_km > 5.0) h_km = 5.0;
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370 | int ii = int(h_km + 1);
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371 | double href = ii - 1;
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372 |
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373 | double bCor[6];
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374 | bCor[0] = 1.156;
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375 | bCor[1] = 1.006;
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376 | bCor[2] = 0.874;
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377 | bCor[3] = 0.757;
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378 | bCor[4] = 0.654;
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379 | bCor[5] = 0.563;
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380 |
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381 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
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382 |
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383 | double zen = M_PI/2.0 - Ele;
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384 |
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385 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
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386 | }
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387 |
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388 | // Prediction Step of the Filter
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389 | ////////////////////////////////////////////////////////////////////////////
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390 | void bncModel::predict(t_epoData* epoData) {
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391 |
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392 | bool firstCrd = x() == 0.0 && y() == 0.0 && z() == 0.0;
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393 |
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394 | // Predict Parameter values, add white noise
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395 | // -----------------------------------------
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396 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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397 | bncParam* pp = _params[iPar-1];
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398 |
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399 | // Coordinates
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400 | // -----------
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401 | if (pp->type == bncParam::CRD_X) {
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402 | if (firstCrd || !_static) {
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403 | pp->xx = _xcBanc(1);
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404 | }
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405 | _QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
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406 | }
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407 | else if (pp->type == bncParam::CRD_Y) {
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408 | if (firstCrd || !_static) {
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409 | pp->xx = _xcBanc(2);
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410 | }
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411 | _QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
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412 | }
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413 | else if (pp->type == bncParam::CRD_Z) {
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414 | if (firstCrd || !_static) {
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415 | pp->xx = _xcBanc(3);
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416 | }
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417 | _QQ(iPar,iPar) += sig_crd_p * sig_crd_p;
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418 | }
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419 |
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420 | // Receiver Clocks
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421 | // ---------------
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422 | else if (pp->isClk()) {
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423 | pp->xx = _xcBanc(4);
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424 | for (int jj = 1; jj <= _params.size(); jj++) {
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425 | _QQ(iPar, jj) = 0.0;
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426 | }
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427 | _QQ(iPar,iPar) = sig_clk_0 * sig_clk_0;
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428 | }
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429 |
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430 | // Tropospheric Delay
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431 | // ------------------
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432 | else if (pp->type == bncParam::TROPO) {
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433 | _QQ(iPar,iPar) += sig_trp_p * sig_trp_p;
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434 | }
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435 | }
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436 |
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437 | // Add New Ambiguities if necessary
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438 | // --------------------------------
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439 | if (_usePhase) {
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440 |
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441 | // Make a copy of QQ and xx, set parameter indices
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442 | // -----------------------------------------------
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443 | SymmetricMatrix QQ_old = _QQ;
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444 |
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445 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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446 | _params[iPar-1]->index_old = _params[iPar-1]->index;
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447 | _params[iPar-1]->index = 0;
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448 | }
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---|
449 |
|
---|
450 | // Remove Ambiguity Parameters without observations
|
---|
451 | // ------------------------------------------------
|
---|
452 | int iPar = 0;
|
---|
453 | QMutableVectorIterator<bncParam*> it(_params);
|
---|
454 | while (it.hasNext()) {
|
---|
455 | bncParam* par = it.next();
|
---|
456 | bool removed = false;
|
---|
457 | if (par->type == bncParam::AMB_L3) {
|
---|
458 | if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
|
---|
459 | epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() ) {
|
---|
460 | removed = true;
|
---|
461 | delete par;
|
---|
462 | it.remove();
|
---|
463 | }
|
---|
464 | }
|
---|
465 | if (! removed) {
|
---|
466 | ++iPar;
|
---|
467 | par->index = iPar;
|
---|
468 | }
|
---|
469 | }
|
---|
470 |
|
---|
471 | // Add new ambiguity parameters
|
---|
472 | // ----------------------------
|
---|
473 | QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
|
---|
474 | while (iGPS.hasNext()) {
|
---|
475 | iGPS.next();
|
---|
476 | QString prn = iGPS.key();
|
---|
477 | t_satData* satData = iGPS.value();
|
---|
478 | bool found = false;
|
---|
479 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
480 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
481 | _params[iPar-1]->prn == prn) {
|
---|
482 | found = true;
|
---|
483 | break;
|
---|
484 | }
|
---|
485 | }
|
---|
486 | if (!found) {
|
---|
487 | bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
|
---|
488 | _params.push_back(par);
|
---|
489 | par->xx = satData->L3 - cmpValue(satData);
|
---|
490 | }
|
---|
491 | }
|
---|
492 |
|
---|
493 | QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
|
---|
494 | while (iGlo.hasNext()) {
|
---|
495 | iGlo.next();
|
---|
496 | QString prn = iGlo.key();
|
---|
497 | t_satData* satData = iGlo.value();
|
---|
498 | bool found = false;
|
---|
499 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
500 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
501 | _params[iPar-1]->prn == prn) {
|
---|
502 | found = true;
|
---|
503 | break;
|
---|
504 | }
|
---|
505 | }
|
---|
506 | if (!found) {
|
---|
507 | bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
|
---|
508 | _params.push_back(par);
|
---|
509 | par->xx = satData->L3 - cmpValue(satData);
|
---|
510 | }
|
---|
511 | }
|
---|
512 |
|
---|
513 | int nPar = _params.size();
|
---|
514 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
515 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
516 | bncParam* p1 = _params[i1-1];
|
---|
517 | if (p1->index_old != 0) {
|
---|
518 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
519 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
520 | bncParam* p2 = _params[i2-1];
|
---|
521 | if (p2->index_old != 0) {
|
---|
522 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
523 | }
|
---|
524 | }
|
---|
525 | }
|
---|
526 | }
|
---|
527 |
|
---|
528 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
529 | bncParam* par = _params[ii-1];
|
---|
530 | if (par->index_old == 0) {
|
---|
531 | _QQ(par->index, par->index) = sig_amb_0 * sig_amb_0;
|
---|
532 | }
|
---|
533 | par->index_old = par->index;
|
---|
534 | }
|
---|
535 | }
|
---|
536 |
|
---|
537 | }
|
---|
538 |
|
---|
539 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
540 | ////////////////////////////////////////////////////////////////////////////
|
---|
541 | t_irc bncModel::update(t_epoData* epoData) {
|
---|
542 |
|
---|
543 | _log = "Precise Point Positioning";
|
---|
544 |
|
---|
545 | _time = epoData->tt;
|
---|
546 |
|
---|
547 | SymmetricMatrix QQsav;
|
---|
548 | ColumnVector dx;
|
---|
549 | ColumnVector vv;
|
---|
550 |
|
---|
551 | // Loop over all outliers
|
---|
552 | // ----------------------
|
---|
553 | do {
|
---|
554 |
|
---|
555 | // Bancroft Solution
|
---|
556 | // -----------------
|
---|
557 | if (cmpBancroft(epoData) != success) {
|
---|
558 | _log += "\nBancroft failed";
|
---|
559 | emit newMessage(_log, false);
|
---|
560 | return failure;
|
---|
561 | }
|
---|
562 |
|
---|
563 | if (epoData->sizeGPS() < MINOBS) {
|
---|
564 | _log += "\nNot enough data";
|
---|
565 | emit newMessage(_log, false);
|
---|
566 | return failure;
|
---|
567 | }
|
---|
568 |
|
---|
569 | // Status Prediction
|
---|
570 | // -----------------
|
---|
571 | predict(epoData);
|
---|
572 |
|
---|
573 | // Create First-Design Matrix
|
---|
574 | // --------------------------
|
---|
575 | unsigned nPar = _params.size();
|
---|
576 | unsigned nObs = 0;
|
---|
577 | if (_usePhase) {
|
---|
578 | nObs = 2 * epoData->sizeGPS() + epoData->sizeGlo();
|
---|
579 | }
|
---|
580 | else {
|
---|
581 | nObs = epoData->sizeGPS(); // Glonass pseudoranges are not used
|
---|
582 | }
|
---|
583 |
|
---|
584 | Matrix AA(nObs, nPar); // first design matrix
|
---|
585 | ColumnVector ll(nObs); // tems observed-computed
|
---|
586 | SymmetricMatrix PP(nObs); PP = 0.0;
|
---|
587 |
|
---|
588 | unsigned iObs = 0;
|
---|
589 |
|
---|
590 | // GPS code and (optionally) phase observations
|
---|
591 | // --------------------------------------------
|
---|
592 | QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
|
---|
593 | while (itGPS.hasNext()) {
|
---|
594 | ++iObs;
|
---|
595 | itGPS.next();
|
---|
596 | QString prn = itGPS.key();
|
---|
597 | t_satData* satData = itGPS.value();
|
---|
598 |
|
---|
599 | double rhoCmp = cmpValue(satData);
|
---|
600 |
|
---|
601 | ll(iObs) = satData->P3 - rhoCmp;
|
---|
602 | PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3);
|
---|
603 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
604 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
605 | }
|
---|
606 |
|
---|
607 | if (_usePhase) {
|
---|
608 | ++iObs;
|
---|
609 | ll(iObs) = satData->L3 - rhoCmp;
|
---|
610 | PP(iObs,iObs) = 1.0 / (sig_L3_GPS * sig_L3_GPS);
|
---|
611 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
612 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
613 | _params[iPar-1]->prn == prn) {
|
---|
614 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
615 | }
|
---|
616 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
617 | }
|
---|
618 | }
|
---|
619 | }
|
---|
620 |
|
---|
621 | // Glonass phase observations
|
---|
622 | // --------------------------
|
---|
623 | if (_usePhase) {
|
---|
624 | QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
|
---|
625 | while (itGlo.hasNext()) {
|
---|
626 | ++iObs;
|
---|
627 | itGlo.next();
|
---|
628 | QString prn = itGlo.key();
|
---|
629 | t_satData* satData = itGlo.value();
|
---|
630 |
|
---|
631 | double rhoCmp = cmpValue(satData);
|
---|
632 |
|
---|
633 | ll(iObs) = satData->L3 - rhoCmp;
|
---|
634 |
|
---|
635 | PP(iObs,iObs) = 1.0 / (sig_L3_GLO * sig_L3_GLO);
|
---|
636 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
637 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
638 | _params[iPar-1]->prn == prn) {
|
---|
639 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
640 | }
|
---|
641 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
642 | }
|
---|
643 |
|
---|
644 | cout.setf(ios::fixed);
|
---|
645 | cout << "iObs = " << iObs << " " << prn.toAscii().data() << " "
|
---|
646 | << setprecision(3) << rhoCmp << " "
|
---|
647 | << setprecision(3) << satData->P3 << " "
|
---|
648 | << setprecision(3) << satData->L3 << " "
|
---|
649 | << ll(iObs) << endl;
|
---|
650 | }
|
---|
651 | }
|
---|
652 |
|
---|
653 | // Compute Filter Update
|
---|
654 | // ---------------------
|
---|
655 | QQsav = _QQ;
|
---|
656 |
|
---|
657 | Matrix ATP = AA.t() * PP;
|
---|
658 | SymmetricMatrix NN = _QQ.i();
|
---|
659 | NN << NN + ATP * AA;
|
---|
660 | _QQ = NN.i();
|
---|
661 | dx = _QQ * ATP * ll;
|
---|
662 | vv = ll - AA * dx;
|
---|
663 |
|
---|
664 | // //// beg test
|
---|
665 | // {
|
---|
666 | // cout.setf(ios::fixed);
|
---|
667 | // ColumnVector vv_code(epoData->sizeGPS());
|
---|
668 | // ColumnVector vv_phase(epoData->sizeGPS());
|
---|
669 | // ColumnVector vv_glo(epoData->sizeGlo());
|
---|
670 | //
|
---|
671 | // for (int iobs = 1; iobs <= epoData->sizeGPS(); ++iobs) {
|
---|
672 | // vv_code(iobs) = vv(2*iobs-1);
|
---|
673 | // vv_phase(iobs) = vv(2*iobs);
|
---|
674 | // }
|
---|
675 | // for (int iobs = 1; iobs <= epoData->sizeGlo(); ++iobs) {
|
---|
676 | // vv_glo(iobs) = vv(2*epoData->sizeGPS()+iobs);
|
---|
677 | // }
|
---|
678 | //
|
---|
679 | // cout << "residuals code " << setprecision(3) << vv_code.t();
|
---|
680 | // cout << "residuals phase " << setprecision(3) << vv_phase.t();
|
---|
681 | // cout << "residuals glo " << setprecision(3) << vv_glo.t();
|
---|
682 | // }
|
---|
683 | // //// end test
|
---|
684 |
|
---|
685 | } while (outlierDetection(QQsav, vv, epoData->satDataGPS,
|
---|
686 | epoData->satDataGlo) != 0);
|
---|
687 |
|
---|
688 | // Set Solution Vector
|
---|
689 | // -------------------
|
---|
690 | ostringstream str1;
|
---|
691 | str1.setf(ios::fixed);
|
---|
692 | QVectorIterator<bncParam*> itPar(_params);
|
---|
693 | while (itPar.hasNext()) {
|
---|
694 | bncParam* par = itPar.next();
|
---|
695 | par->xx += dx(par->index);
|
---|
696 | if (par->type == bncParam::RECCLK_GPS) {
|
---|
697 | str1 << "\n clk GPS = " << setw(6) << setprecision(3) << par->xx
|
---|
698 | << " +- " << setw(6) << setprecision(3)
|
---|
699 | << sqrt(_QQ(par->index,par->index));
|
---|
700 | }
|
---|
701 | if (par->type == bncParam::RECCLK_GLO) {
|
---|
702 | str1 << "\n clk GLO = " << setw(6) << setprecision(3) << par->xx
|
---|
703 | << " +- " << setw(6) << setprecision(3)
|
---|
704 | << sqrt(_QQ(par->index,par->index));
|
---|
705 | }
|
---|
706 | else if (par->type == bncParam::AMB_L3) {
|
---|
707 | str1 << "\n amb " << par->prn.toAscii().data() << " = "
|
---|
708 | << setw(6) << setprecision(3) << par->xx
|
---|
709 | << " +- " << setw(6) << setprecision(3)
|
---|
710 | << sqrt(_QQ(par->index,par->index));
|
---|
711 | }
|
---|
712 | else if (par->type == bncParam::TROPO) {
|
---|
713 | str1 << "\n trp = " << par->prn.toAscii().data()
|
---|
714 | << setw(7) << setprecision(3) << delay_saast(M_PI/2.0) << " "
|
---|
715 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
716 | << " +- " << setw(6) << setprecision(3)
|
---|
717 | << sqrt(_QQ(par->index,par->index));
|
---|
718 | }
|
---|
719 | }
|
---|
720 | _log += str1.str().c_str();
|
---|
721 |
|
---|
722 | // Message (both log file and screen)
|
---|
723 | // ----------------------------------
|
---|
724 | ostringstream str2;
|
---|
725 | str2.setf(ios::fixed);
|
---|
726 | str2 << _staID.data() << ": PPP "
|
---|
727 | << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
|
---|
728 | << setw(14) << setprecision(3) << x() << " +- "
|
---|
729 | << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
|
---|
730 | << setw(14) << setprecision(3) << y() << " +- "
|
---|
731 | << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
|
---|
732 | << setw(14) << setprecision(3) << z() << " +- "
|
---|
733 | << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
|
---|
734 |
|
---|
735 | emit newMessage(_log, false);
|
---|
736 | emit newMessage(QByteArray(str2.str().c_str()), true);
|
---|
737 |
|
---|
738 | // NMEA Output
|
---|
739 | // -----------
|
---|
740 | double xyz[3];
|
---|
741 | xyz[0] = x();
|
---|
742 | xyz[1] = y();
|
---|
743 | xyz[2] = z();
|
---|
744 | double ell[3];
|
---|
745 | xyz2ell(xyz, ell);
|
---|
746 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
747 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
748 |
|
---|
749 | char phiCh = 'N';
|
---|
750 | if (phiDeg < 0) {
|
---|
751 | phiDeg = -phiDeg;
|
---|
752 | phiCh = 'S';
|
---|
753 | }
|
---|
754 | char lamCh = 'E';
|
---|
755 | if (lamDeg < 0) {
|
---|
756 | lamDeg = -lamDeg;
|
---|
757 | lamCh = 'W';
|
---|
758 | }
|
---|
759 |
|
---|
760 | double dop = 2.0; // TODO
|
---|
761 |
|
---|
762 | ostringstream str3;
|
---|
763 | str3.setf(ios::fixed);
|
---|
764 | str3 << "GPGGA,"
|
---|
765 | << epoData->tt.timestr(0,0) << ','
|
---|
766 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
767 | << setw(10) << setprecision(7) << setfill('0')
|
---|
768 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
769 | << setw(2) << setfill('0') << int(lamDeg)
|
---|
770 | << setw(10) << setprecision(7) << setfill('0')
|
---|
771 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
772 | << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
|
---|
773 | << setw(3) << setprecision(1) << dop << ','
|
---|
774 | << setprecision(3) << ell[2] << ",M,0.0,M,,,";
|
---|
775 |
|
---|
776 | writeNMEAstr(QString(str3.str().c_str()));
|
---|
777 |
|
---|
778 | return success;
|
---|
779 | }
|
---|
780 |
|
---|
781 | // Outlier Detection
|
---|
782 | ////////////////////////////////////////////////////////////////////////////
|
---|
783 | int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
|
---|
784 | const ColumnVector& vv,
|
---|
785 | QMap<QString, t_satData*>& satDataGPS,
|
---|
786 | QMap<QString, t_satData*>& satDataGlo) {
|
---|
787 |
|
---|
788 | double vvMaxCodeGPS = 0.0;
|
---|
789 | double vvMaxPhaseGPS = 0.0;
|
---|
790 | double vvMaxPhaseGlo = 0.0;
|
---|
791 | QMutableMapIterator<QString, t_satData*> itMaxCodeGPS(satDataGPS);
|
---|
792 | QMutableMapIterator<QString, t_satData*> itMaxPhaseGPS(satDataGPS);
|
---|
793 | QMutableMapIterator<QString, t_satData*> itMaxPhaseGlo(satDataGlo);
|
---|
794 |
|
---|
795 | int ii = 0;
|
---|
796 |
|
---|
797 | // GPS code and (optionally) phase residuals
|
---|
798 | // -----------------------------------------
|
---|
799 | QMutableMapIterator<QString, t_satData*> itGPS(satDataGPS);
|
---|
800 | while (itGPS.hasNext()) {
|
---|
801 | itGPS.next();
|
---|
802 | ++ii;
|
---|
803 |
|
---|
804 | if (vvMaxCodeGPS == 0.0 || fabs(vv(ii)) > vvMaxCodeGPS) {
|
---|
805 | vvMaxCodeGPS = fabs(vv(ii));
|
---|
806 | itMaxCodeGPS = itGPS;
|
---|
807 | }
|
---|
808 |
|
---|
809 | if (_usePhase) {
|
---|
810 | ++ii;
|
---|
811 | if (vvMaxPhaseGPS == 0.0 || fabs(vv(ii)) > vvMaxPhaseGPS) {
|
---|
812 | vvMaxPhaseGPS = fabs(vv(ii));
|
---|
813 | itMaxPhaseGPS = itGPS;
|
---|
814 | }
|
---|
815 | }
|
---|
816 | }
|
---|
817 |
|
---|
818 | // Glonass phase residuals
|
---|
819 | // -----------------------
|
---|
820 | if (_usePhase) {
|
---|
821 | QMutableMapIterator<QString, t_satData*> itGlo(satDataGlo);
|
---|
822 | while (itGlo.hasNext()) {
|
---|
823 | itGlo.next();
|
---|
824 | ++ii;
|
---|
825 | if (vvMaxPhaseGlo == 0.0 || fabs(vv(ii)) > vvMaxPhaseGlo) {
|
---|
826 | vvMaxPhaseGlo = fabs(vv(ii));
|
---|
827 | itMaxPhaseGlo = itGlo;
|
---|
828 | }
|
---|
829 | }
|
---|
830 | }
|
---|
831 |
|
---|
832 | if (vvMaxCodeGPS > MAXRES_CODE_GPS) {
|
---|
833 | QString prn = itMaxCodeGPS.key();
|
---|
834 | t_satData* satData = itMaxCodeGPS.value();
|
---|
835 | delete satData;
|
---|
836 | itMaxCodeGPS.remove();
|
---|
837 | _QQ = QQsav;
|
---|
838 |
|
---|
839 | _log += "\nOutlier Code " + prn.toAscii() + " "
|
---|
840 | + QByteArray::number(vvMaxCodeGPS, 'f', 3);
|
---|
841 |
|
---|
842 | return 1;
|
---|
843 | }
|
---|
844 | else if (vvMaxPhaseGPS > MAXRES_PHASE_GPS) {
|
---|
845 | QString prn = itMaxPhaseGPS.key();
|
---|
846 | t_satData* satData = itMaxPhaseGPS.value();
|
---|
847 | delete satData;
|
---|
848 | itMaxPhaseGPS.remove();
|
---|
849 | _QQ = QQsav;
|
---|
850 |
|
---|
851 | _log += "\nOutlier Phase " + prn.toAscii() + " "
|
---|
852 | + QByteArray::number(vvMaxPhaseGPS, 'f', 3);
|
---|
853 |
|
---|
854 | return 1;
|
---|
855 | }
|
---|
856 | else if (vvMaxPhaseGlo > MAXRES_PHASE_GLO) {
|
---|
857 | QString prn = itMaxPhaseGlo.key();
|
---|
858 | t_satData* satData = itMaxPhaseGlo.value();
|
---|
859 | delete satData;
|
---|
860 | itMaxPhaseGlo.remove();
|
---|
861 | _QQ = QQsav;
|
---|
862 |
|
---|
863 | _log += "\nOutlier Phase " + prn.toAscii() + " "
|
---|
864 | + QByteArray::number(vvMaxPhaseGlo, 'f', 3);
|
---|
865 |
|
---|
866 | return 1;
|
---|
867 | }
|
---|
868 |
|
---|
869 | return 0;
|
---|
870 | }
|
---|
871 |
|
---|
872 | //
|
---|
873 | ////////////////////////////////////////////////////////////////////////////
|
---|
874 | void bncModel::writeNMEAstr(const QString& nmStr) {
|
---|
875 |
|
---|
876 | unsigned char XOR = 0;
|
---|
877 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
878 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
879 | }
|
---|
880 |
|
---|
881 | QString outStr = '$' + nmStr
|
---|
882 | + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
883 |
|
---|
884 | if (_nmeaStream) {
|
---|
885 | *_nmeaStream << outStr;
|
---|
886 | _nmeaStream->flush();
|
---|
887 | }
|
---|
888 |
|
---|
889 | emit newNMEAstr(outStr.toAscii());
|
---|
890 | }
|
---|