source: ntrip/trunk/BNC/bncmodel.cpp@ 2808

Last change on this file since 2808 was 2800, checked in by mervart, 15 years ago
File size: 36.2 KB
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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#include "bnctides.h"
53
54using namespace std;
55
56const unsigned MINOBS = 4;
57const double MINELE_GPS = 10.0 * M_PI / 180.0;
58const double MINELE_GLO = 10.0 * M_PI / 180.0;
59const double MINELE_GAL = 10.0 * M_PI / 180.0;
60const double MAXRES_CODE_GPS = 10.0;
61const double MAXRES_PHASE_GPS = 0.10;
62const double MAXRES_PHASE_GLO = 0.05;
63const double MAXRES_CODE_GAL = 10.0;
64const double MAXRES_PHASE_GAL = 0.10;
65
66// Constructor
67////////////////////////////////////////////////////////////////////////////
68bncParam::bncParam(bncParam::parType typeIn, int indexIn,
69 const QString& prnIn) {
70 type = typeIn;
71 index = indexIn;
72 prn = prnIn;
73 index_old = 0;
74 xx = 0.0;
75
76}
77
78// Destructor
79////////////////////////////////////////////////////////////////////////////
80bncParam::~bncParam() {
81}
82
83// Partial
84////////////////////////////////////////////////////////////////////////////
85double bncParam::partial(t_satData* satData, bool phase) {
86
87 // Coordinates
88 // -----------
89 if (type == CRD_X) {
90 return (xx - satData->xx(1)) / satData->rho;
91 }
92 else if (type == CRD_Y) {
93 return (xx - satData->xx(2)) / satData->rho;
94 }
95 else if (type == CRD_Z) {
96 return (xx - satData->xx(3)) / satData->rho;
97 }
98
99 // Receiver Clocks
100 // ---------------
101 else if (type == RECCLK) {
102 return 1.0;
103 }
104
105 // Troposphere
106 // -----------
107 else if (type == TROPO) {
108 return 1.0 / sin(satData->eleSat);
109 }
110
111 // Galileo Offset
112 // --------------
113 else if (type == GALILEO_OFFSET) {
114 if (satData->prn[0] == 'E') {
115 return 1.0;
116 }
117 else {
118 return 0.0;
119 }
120 }
121
122 // Ambiguities
123 // -----------
124 else if (type == AMB_L3) {
125 if (phase && satData->prn == prn) {
126 return 1.0;
127 }
128 else {
129 return 0.0;
130 }
131 }
132
133 // Default return
134 // --------------
135 return 0.0;
136}
137
138// Constructor
139////////////////////////////////////////////////////////////////////////////
140bncModel::bncModel(QByteArray staID) {
141
142 _staID = staID;
143
144 bncSettings settings;
145
146 // Observation Sigmas
147 // ------------------
148 _sigP3 = 5.0;
149 if (!settings.value("pppSigmaCode").toString().isEmpty()) {
150 _sigP3 = settings.value("pppSigmaCode").toDouble();
151 }
152 _sigL3 = 0.02;
153 if (!settings.value("pppSigmaPhase").toString().isEmpty()) {
154 _sigL3 = settings.value("pppSigmaPhase").toDouble();
155 }
156
157 // Parameter Sigmas
158 // ----------------
159 _sigCrd0 = 100.0;
160 if (!settings.value("pppSigCrd0").toString().isEmpty()) {
161 _sigCrd0 = settings.value("pppSigCrd0").toDouble();
162 }
163 _sigCrdP = 100.0;
164 if (!settings.value("pppSigCrdP").toString().isEmpty()) {
165 _sigCrdP = settings.value("pppSigCrdP").toDouble();
166 }
167 _sigTrp0 = 0.1;
168 if (!settings.value("pppSigTrp0").toString().isEmpty()) {
169 _sigTrp0 = settings.value("pppSigTrp0").toDouble();
170 }
171 _sigTrpP = 1e-6;
172 if (!settings.value("pppSigTrpP").toString().isEmpty()) {
173 _sigTrpP = settings.value("pppSigTrpP").toDouble();
174 }
175 _sigClk0 = 1000.0;
176 _sigAmb0 = 1000.0;
177 _sigGalileoOffset0 = 1000.0;
178 _sigGalileoOffsetP = 0.0;
179
180 // Quick-Start Mode
181 // ----------------
182 _quickStart = 0;
183 if (settings.value("pppRefCrdX").toString() != "" &&
184 settings.value("pppRefCrdY").toString() != "" &&
185 settings.value("pppRefCrdZ").toString() != "" &&
186 !settings.value("pppQuickStart").toString().isEmpty()) {
187 _quickStart = settings.value("pppQuickStart").toDouble();
188 }
189
190 connect(this, SIGNAL(newMessage(QByteArray,bool)),
191 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
192
193 _usePhase = false;
194 if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
195 _usePhase = true;
196 }
197
198 _estTropo = false;
199 if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
200 _estTropo = true;
201 }
202
203 _xcBanc.ReSize(4); _xcBanc = 0.0;
204 _ellBanc.ReSize(3); _ellBanc = 0.0;
205
206 int nextPar = 0;
207 _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
208 _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
209 _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
210 _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
211 if (_estTropo) {
212 _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
213 }
214 if ( Qt::CheckState(settings.value("pppGalileo").toInt()) == Qt::Checked) {
215 _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, ""));
216 }
217
218 unsigned nPar = _params.size();
219
220 _QQ.ReSize(nPar);
221
222 _QQ = 0.0;
223
224 for (int iPar = 1; iPar <= _params.size(); iPar++) {
225 bncParam* pp = _params[iPar-1];
226 if (pp->isCrd()) {
227 _QQ(iPar,iPar) = _sigCrd0 * _sigCrd0;
228 }
229 else if (pp->type == bncParam::RECCLK) {
230 _QQ(iPar,iPar) = _sigClk0 * _sigClk0;
231 }
232 else if (pp->type == bncParam::TROPO) {
233 _QQ(iPar,iPar) = _sigTrp0 * _sigTrp0;
234 }
235 else if (pp->type == bncParam::GALILEO_OFFSET) {
236 _QQ(iPar,iPar) = _sigGalileoOffset0 * _sigGalileoOffset0;
237 }
238 }
239
240 // NMEA Output
241 // -----------
242 QString nmeaFileName = settings.value("nmeaFile").toString();
243 if (nmeaFileName.isEmpty()) {
244 _nmeaFile = 0;
245 _nmeaStream = 0;
246 }
247 else {
248 expandEnvVar(nmeaFileName);
249 _nmeaFile = new QFile(nmeaFileName);
250 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
251 _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
252 }
253 else {
254 _nmeaFile->open(QIODevice::WriteOnly);
255 }
256 _nmeaStream = new QTextStream();
257 _nmeaStream->setDevice(_nmeaFile);
258 }
259}
260
261// Destructor
262////////////////////////////////////////////////////////////////////////////
263bncModel::~bncModel() {
264 delete _nmeaStream;
265 delete _nmeaFile;
266 for (int ii = 0; ii < _posAverage.size(); ++ii) {
267 delete _posAverage[ii];
268 }
269}
270
271// Bancroft Solution
272////////////////////////////////////////////////////////////////////////////
273t_irc bncModel::cmpBancroft(t_epoData* epoData) {
274
275 if (epoData->sizeGPS() < MINOBS) {
276 _log += "bncModel::cmpBancroft: not enough data\n";
277 return failure;
278 }
279
280 Matrix BB(epoData->sizeGPS(), 4);
281
282 QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
283 int iObsBanc = 0;
284 while (it.hasNext()) {
285 ++iObsBanc;
286 it.next();
287 QString prn = it.key();
288 t_satData* satData = it.value();
289 BB(iObsBanc, 1) = satData->xx(1);
290 BB(iObsBanc, 2) = satData->xx(2);
291 BB(iObsBanc, 3) = satData->xx(3);
292 BB(iObsBanc, 4) = satData->P3 + satData->clk;
293 }
294
295 bancroft(BB, _xcBanc);
296
297 // Ellipsoidal Coordinates
298 // ------------------------
299 xyz2ell(_xcBanc.data(), _ellBanc.data());
300
301 // Compute Satellite Elevations
302 // ----------------------------
303 QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
304 while (iGPS.hasNext()) {
305 iGPS.next();
306 t_satData* satData = iGPS.value();
307 cmpEle(satData);
308 if (satData->eleSat < MINELE_GPS) {
309 delete satData;
310 iGPS.remove();
311 }
312 }
313
314 QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
315 while (iGlo.hasNext()) {
316 iGlo.next();
317 t_satData* satData = iGlo.value();
318 cmpEle(satData);
319 if (satData->eleSat < MINELE_GLO) {
320 delete satData;
321 iGlo.remove();
322 }
323 }
324
325 QMutableMapIterator<QString, t_satData*> iGal(epoData->satDataGal);
326 while (iGal.hasNext()) {
327 iGal.next();
328 t_satData* satData = iGal.value();
329 cmpEle(satData);
330 if (satData->eleSat < MINELE_GAL) {
331 delete satData;
332 iGal.remove();
333 }
334 }
335
336 return success;
337}
338
339// Computed Value
340////////////////////////////////////////////////////////////////////////////
341double bncModel::cmpValue(t_satData* satData, bool phase) {
342
343 ColumnVector xRec(3);
344 xRec(1) = x();
345 xRec(2) = y();
346 xRec(3) = z();
347
348 double rho0 = (satData->xx - xRec).norm_Frobenius();
349 double dPhi = t_CST::omega * rho0 / t_CST::c;
350
351 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
352 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
353 xRec(3) = z();
354
355 tides(_time, xRec);
356
357 satData->rho = (satData->xx - xRec).norm_Frobenius();
358
359 double tropDelay = delay_saast(satData->eleSat) +
360 trp() / sin(satData->eleSat);
361
362 double wind = 0.0;
363 if (phase) {
364 wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
365 }
366
367 double offset = 0.0;
368 if (satData->prn[0] == 'E') {
369 offset = Galileo_offset();
370 }
371
372 return satData->rho + clk() + offset - satData->clk + tropDelay + wind;
373}
374
375// Tropospheric Model (Saastamoinen)
376////////////////////////////////////////////////////////////////////////////
377double bncModel::delay_saast(double Ele) {
378
379 double xyz[3];
380 xyz[0] = x();
381 xyz[1] = y();
382 xyz[2] = z();
383 double ell[3];
384 xyz2ell(xyz, ell);
385 double height = ell[2];
386
387 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
388 double TT = 18.0 - height * 0.0065 + 273.15;
389 double hh = 50.0 * exp(-6.396e-4 * height);
390 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
391
392 double h_km = height / 1000.0;
393
394 if (h_km < 0.0) h_km = 0.0;
395 if (h_km > 5.0) h_km = 5.0;
396 int ii = int(h_km + 1);
397 double href = ii - 1;
398
399 double bCor[6];
400 bCor[0] = 1.156;
401 bCor[1] = 1.006;
402 bCor[2] = 0.874;
403 bCor[3] = 0.757;
404 bCor[4] = 0.654;
405 bCor[5] = 0.563;
406
407 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
408
409 double zen = M_PI/2.0 - Ele;
410
411 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
412}
413
414// Prediction Step of the Filter
415////////////////////////////////////////////////////////////////////////////
416void bncModel::predict(t_epoData* epoData) {
417
418 bncSettings settings;
419
420 bool firstCrd = false;
421 if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
422 firstCrd = true;
423 _startTime = QDateTime::currentDateTime();
424 }
425
426 // Use different white noise for Quick-Start mode
427 // ----------------------------------------------
428 double sigCrdP_used = _sigCrdP;
429 if ( _quickStart > 0.0 &&
430 _quickStart > _startTime.secsTo(QDateTime::currentDateTime()) ) {
431 sigCrdP_used = 0.0;
432 }
433
434 // Predict Parameter values, add white noise
435 // -----------------------------------------
436 for (int iPar = 1; iPar <= _params.size(); iPar++) {
437 bncParam* pp = _params[iPar-1];
438
439 // Coordinates
440 // -----------
441 if (pp->type == bncParam::CRD_X) {
442 if (firstCrd) {
443 if (settings.value("pppRefCrdX").toString() != "" &&
444 settings.value("pppRefCrdY").toString() != "" &&
445 settings.value("pppRefCrdZ").toString() != "") {
446 pp->xx = settings.value("pppRefCrdX").toDouble();
447 }
448 else {
449 pp->xx = _xcBanc(1);
450 }
451 }
452 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
453 }
454 else if (pp->type == bncParam::CRD_Y) {
455 if (firstCrd) {
456 if (settings.value("pppRefCrdX").toString() != "" &&
457 settings.value("pppRefCrdY").toString() != "" &&
458 settings.value("pppRefCrdZ").toString() != "") {
459 pp->xx = settings.value("pppRefCrdY").toDouble();
460 }
461 else {
462 pp->xx = _xcBanc(2);
463 }
464 }
465 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
466 }
467 else if (pp->type == bncParam::CRD_Z) {
468 if (firstCrd) {
469 if (settings.value("pppRefCrdX").toString() != "" &&
470 settings.value("pppRefCrdY").toString() != "" &&
471 settings.value("pppRefCrdZ").toString() != "") {
472 pp->xx = settings.value("pppRefCrdZ").toDouble();
473 }
474 else {
475 pp->xx = _xcBanc(3);
476 }
477 }
478 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
479 }
480
481 // Receiver Clocks
482 // ---------------
483 else if (pp->type == bncParam::RECCLK) {
484 pp->xx = _xcBanc(4);
485 for (int jj = 1; jj <= _params.size(); jj++) {
486 _QQ(iPar, jj) = 0.0;
487 }
488 _QQ(iPar,iPar) = _sigClk0 * _sigClk0;
489 }
490
491 // Tropospheric Delay
492 // ------------------
493 else if (pp->type == bncParam::TROPO) {
494 _QQ(iPar,iPar) += _sigTrpP * _sigTrpP;
495 }
496
497 // Galileo Offset
498 // --------------
499 else if (pp->type == bncParam::GALILEO_OFFSET) {
500 _QQ(iPar,iPar) += _sigGalileoOffsetP * _sigGalileoOffsetP;
501 }
502 }
503
504 // Add New Ambiguities if necessary
505 // --------------------------------
506 if (_usePhase) {
507
508 // Make a copy of QQ and xx, set parameter indices
509 // -----------------------------------------------
510 SymmetricMatrix QQ_old = _QQ;
511
512 for (int iPar = 1; iPar <= _params.size(); iPar++) {
513 _params[iPar-1]->index_old = _params[iPar-1]->index;
514 _params[iPar-1]->index = 0;
515 }
516
517 // Remove Ambiguity Parameters without observations
518 // ------------------------------------------------
519 int iPar = 0;
520 QMutableVectorIterator<bncParam*> it(_params);
521 while (it.hasNext()) {
522 bncParam* par = it.next();
523 bool removed = false;
524 if (par->type == bncParam::AMB_L3) {
525 if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
526 epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() &&
527 epoData->satDataGal.find(par->prn) == epoData->satDataGal.end() ) {
528 removed = true;
529 delete par;
530 it.remove();
531 }
532 }
533 if (! removed) {
534 ++iPar;
535 par->index = iPar;
536 }
537 }
538
539 // Add new ambiguity parameters
540 // ----------------------------
541 QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
542 while (iGPS.hasNext()) {
543 iGPS.next();
544 t_satData* satData = iGPS.value();
545 addAmb(satData);
546 }
547
548 QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
549 while (iGlo.hasNext()) {
550 iGlo.next();
551 t_satData* satData = iGlo.value();
552 addAmb(satData);
553 }
554
555 QMapIterator<QString, t_satData*> iGal(epoData->satDataGal);
556 while (iGal.hasNext()) {
557 iGal.next();
558 t_satData* satData = iGal.value();
559 addAmb(satData);
560 }
561
562 int nPar = _params.size();
563 _QQ.ReSize(nPar); _QQ = 0.0;
564 for (int i1 = 1; i1 <= nPar; i1++) {
565 bncParam* p1 = _params[i1-1];
566 if (p1->index_old != 0) {
567 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
568 for (int i2 = 1; i2 <= nPar; i2++) {
569 bncParam* p2 = _params[i2-1];
570 if (p2->index_old != 0) {
571 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
572 }
573 }
574 }
575 }
576
577 for (int ii = 1; ii <= nPar; ii++) {
578 bncParam* par = _params[ii-1];
579 if (par->index_old == 0) {
580 _QQ(par->index, par->index) = _sigAmb0 * _sigAmb0;
581 }
582 par->index_old = par->index;
583 }
584 }
585}
586
587// Update Step of the Filter (currently just a single-epoch solution)
588////////////////////////////////////////////////////////////////////////////
589t_irc bncModel::update(t_epoData* epoData) {
590
591 bncSettings settings;
592
593 _log.clear();
594
595 _time = epoData->tt;
596
597 _log += "Single Point Positioning of Epoch "
598 + QByteArray(_time.timestr(1).c_str()) +
599 "\n--------------------------------------------------------------\n";
600
601 SymmetricMatrix QQsav;
602 ColumnVector dx;
603 ColumnVector vv;
604
605 // Loop over all outliers
606 // ----------------------
607 do {
608
609 // Bancroft Solution
610 // -----------------
611 if (cmpBancroft(epoData) != success) {
612 emit newMessage(_log, false);
613 return failure;
614 }
615
616 // Status Prediction
617 // -----------------
618 predict(epoData);
619
620 // Create First-Design Matrix
621 // --------------------------
622 unsigned nPar = _params.size();
623 unsigned nObs = 0;
624 if (_usePhase) {
625 nObs = 2 * (epoData->sizeGPS() + epoData->sizeGal()) + epoData->sizeGlo();
626 }
627 else {
628 nObs = epoData->sizeGPS() + epoData->sizeGal(); // Glonass code not used
629 }
630
631 if (nObs < nPar) {
632 _log += "bncModel::update: nObs < nPar\n";
633 emit newMessage(_log, false);
634 return failure;
635 }
636
637 Matrix AA(nObs, nPar); // first design matrix
638 ColumnVector ll(nObs); // tems observed-computed
639 DiagonalMatrix PP(nObs); PP = 0.0;
640
641 unsigned iObs = 0;
642
643 // GPS code and (optionally) phase observations
644 // --------------------------------------------
645 QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
646 while (itGPS.hasNext()) {
647 itGPS.next();
648 t_satData* satData = itGPS.value();
649 addObs(iObs, satData, AA, ll, PP);
650 }
651
652 // Glonass phase observations
653 // --------------------------
654 QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
655 while (itGlo.hasNext()) {
656 itGlo.next();
657 t_satData* satData = itGlo.value();
658 addObs(iObs, satData, AA, ll, PP);
659 }
660
661 // Galileo code and (optionally) phase observations
662 // ------------------------------------------------
663 QMapIterator<QString, t_satData*> itGal(epoData->satDataGal);
664 while (itGal.hasNext()) {
665 itGal.next();
666 t_satData* satData = itGal.value();
667 addObs(iObs, satData, AA, ll, PP);
668 }
669
670 // Compute Filter Update
671 // ---------------------
672 QQsav = _QQ;
673
674 kalman(AA, ll, PP, _QQ, dx);
675
676 vv = ll - AA * dx;
677
678 // Print Residuals
679 // ---------------
680 if (true) {
681 ostringstream str;
682 str.setf(ios::fixed);
683
684 QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
685 while (itGPS.hasNext()) {
686 itGPS.next();
687 t_satData* satData = itGPS.value();
688 printRes(vv, str, satData);
689 }
690 QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
691 while (itGlo.hasNext()) {
692 itGlo.next();
693 t_satData* satData = itGlo.value();
694 printRes(vv, str, satData);
695 }
696 QMapIterator<QString, t_satData*> itGal(epoData->satDataGal);
697 while (itGal.hasNext()) {
698 itGal.next();
699 t_satData* satData = itGal.value();
700 printRes(vv, str, satData);
701 }
702 _log += str.str().c_str();
703 }
704
705 } while (outlierDetection(QQsav, vv, epoData->satDataGPS,
706 epoData->satDataGlo, epoData->satDataGal) != 0);
707
708 // Remember the Epoch-specific Results for the computation of means
709 // ----------------------------------------------------------------
710 pppPos* newPos = new pppPos;
711 newPos->time = epoData->tt;
712
713 // Set Solution Vector
714 // -------------------
715 ostringstream strB;
716 strB.setf(ios::fixed);
717 QVectorIterator<bncParam*> itPar(_params);
718 while (itPar.hasNext()) {
719 bncParam* par = itPar.next();
720 par->xx += dx(par->index);
721
722 if (par->type == bncParam::RECCLK) {
723 strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
724 << " +- " << setw(6) << setprecision(3)
725 << sqrt(_QQ(par->index,par->index));
726 }
727 else if (par->type == bncParam::AMB_L3) {
728 strB << "\n amb " << par->prn.toAscii().data() << " = "
729 << setw(10) << setprecision(3) << par->xx
730 << " +- " << setw(6) << setprecision(3)
731 << sqrt(_QQ(par->index,par->index));
732 }
733 else if (par->type == bncParam::TROPO) {
734 double aprTrp = delay_saast(M_PI/2.0);
735 strB << "\n trp = " << par->prn.toAscii().data()
736 << setw(7) << setprecision(3) << aprTrp << " "
737 << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
738 << " +- " << setw(6) << setprecision(3)
739 << sqrt(_QQ(par->index,par->index));
740 newPos->xnt[6] = aprTrp + par->xx;
741 }
742 else if (par->type == bncParam::GALILEO_OFFSET) {
743 strB << "\n offset = " << setw(10) << setprecision(3) << par->xx
744 << " +- " << setw(6) << setprecision(3)
745 << sqrt(_QQ(par->index,par->index));
746 }
747 }
748 strB << '\n';
749 _log += strB.str().c_str();
750 emit newMessage(_log, false);
751
752 // Final Message (both log file and screen)
753 // ----------------------------------------
754 ostringstream strC;
755 strC.setf(ios::fixed);
756 strC << _staID.data() << " PPP "
757 << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
758 << setw(14) << setprecision(3) << x() << " +- "
759 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
760 << setw(14) << setprecision(3) << y() << " +- "
761 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
762 << setw(14) << setprecision(3) << z() << " +- "
763 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
764
765 // NEU Output
766 // ----------
767 if (settings.value("pppRefCrdX").toString() != "" &&
768 settings.value("pppRefCrdY").toString() != "" &&
769 settings.value("pppRefCrdZ").toString() != "") {
770
771 double xyzRef[3];
772 xyzRef[0] = settings.value("pppRefCrdX").toDouble();
773 xyzRef[1] = settings.value("pppRefCrdY").toDouble();
774 xyzRef[2] = settings.value("pppRefCrdZ").toDouble();
775
776 newPos->xnt[0] = x() - xyzRef[0];
777 newPos->xnt[1] = y() - xyzRef[1];
778 newPos->xnt[2] = z() - xyzRef[2];
779
780 double ellRef[3];
781 xyz2ell(xyzRef, ellRef);
782 xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
783
784 strC << " NEU "
785 << setw(8) << setprecision(3) << newPos->xnt[3] << " "
786 << setw(8) << setprecision(3) << newPos->xnt[4] << " "
787 << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
788
789 }
790
791 emit newMessage(QByteArray(strC.str().c_str()), true);
792
793 if (settings.value("pppAverage").toString() == "") {
794 delete newPos;
795 }
796 else {
797
798 _posAverage.push_back(newPos);
799
800 // Time Span for Average Computation
801 // ---------------------------------
802 double tRangeAverage = settings.value("pppAverage").toDouble() * 60.;
803 if (tRangeAverage < 0) {
804 tRangeAverage = 0;
805 }
806 if (tRangeAverage > 86400) {
807 tRangeAverage = 86400;
808 }
809
810 // Compute the Mean
811 // ----------------
812 ColumnVector mean(7); mean = 0.0;
813
814 QMutableVectorIterator<pppPos*> it(_posAverage);
815 while (it.hasNext()) {
816 pppPos* pp = it.next();
817 if ( (epoData->tt - pp->time) >= tRangeAverage ) {
818 delete pp;
819 it.remove();
820 }
821 else {
822 for (int ii = 0; ii < 7; ++ii) {
823 mean[ii] += pp->xnt[ii];
824 }
825 }
826 }
827
828 int nn = _posAverage.size();
829
830 if (nn > 0) {
831
832 mean /= nn;
833
834 // Compute the Deviation
835 // ---------------------
836 ColumnVector std(7); std = 0.0;
837 QVectorIterator<pppPos*> it2(_posAverage);
838 while (it2.hasNext()) {
839 pppPos* pp = it2.next();
840 for (int ii = 0; ii < 7; ++ii) {
841 std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
842 }
843 }
844 for (int ii = 0; ii < 7; ++ii) {
845 std[ii] = sqrt(std[ii] / nn);
846 }
847
848 ostringstream strD; strD.setf(ios::fixed);
849 strD << _staID.data() << " AVE-XYZ "
850 << epoData->tt.timestr(1) << " "
851 << setw(13) << setprecision(3) << mean[0] << " +- "
852 << setw(6) << setprecision(3) << std[0] << " "
853 << setw(14) << setprecision(3) << mean[1] << " +- "
854 << setw(6) << setprecision(3) << std[1] << " "
855 << setw(14) << setprecision(3) << mean[2] << " +- "
856 << setw(6) << setprecision(3) << std[2];
857 emit newMessage(QByteArray(strD.str().c_str()), true);
858
859 ostringstream strE; strE.setf(ios::fixed);
860 strE << _staID.data() << " AVE-NEU "
861 << epoData->tt.timestr(1) << " "
862 << setw(13) << setprecision(3) << mean[3] << " +- "
863 << setw(6) << setprecision(3) << std[3] << " "
864 << setw(14) << setprecision(3) << mean[4] << " +- "
865 << setw(6) << setprecision(3) << std[4] << " "
866 << setw(14) << setprecision(3) << mean[5] << " +- "
867 << setw(6) << setprecision(3) << std[5];
868
869 emit newMessage(QByteArray(strE.str().c_str()), true);
870
871 if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
872 ostringstream strF; strF.setf(ios::fixed);
873 strF << _staID.data() << " AVE-TRP "
874 << epoData->tt.timestr(1) << " "
875 << setw(13) << setprecision(3) << mean[6] << " +- "
876 << setw(6) << setprecision(3) << std[6] << endl;
877 emit newMessage(QByteArray(strF.str().c_str()), true);
878 }
879 }
880 }
881
882 // NMEA Output
883 // -----------
884 double xyz[3];
885 xyz[0] = x();
886 xyz[1] = y();
887 xyz[2] = z();
888 double ell[3];
889 xyz2ell(xyz, ell);
890 double phiDeg = ell[0] * 180 / M_PI;
891 double lamDeg = ell[1] * 180 / M_PI;
892
893 char phiCh = 'N';
894 if (phiDeg < 0) {
895 phiDeg = -phiDeg;
896 phiCh = 'S';
897 }
898 char lamCh = 'E';
899 if (lamDeg < 0) {
900 lamDeg = -lamDeg;
901 lamCh = 'W';
902 }
903
904 string datestr = epoData->tt.datestr(0); // yyyymmdd
905 ostringstream strRMC;
906 strRMC.setf(ios::fixed);
907 strRMC << "GPRMC,"
908 << epoData->tt.timestr(0,0) << ",A,"
909 << setw(2) << setfill('0') << int(phiDeg)
910 << setw(6) << setprecision(3) << setfill('0')
911 << fmod(60*phiDeg,60) << ',' << phiCh << ','
912 << setw(3) << setfill('0') << int(lamDeg)
913 << setw(6) << setprecision(3) << setfill('0')
914 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
915 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
916 << datestr[2] << datestr[3] << ",,";
917
918 writeNMEAstr(QString(strRMC.str().c_str()));
919
920 double dop = 2.0; // TODO
921
922 ostringstream strGGA;
923 strGGA.setf(ios::fixed);
924 strGGA << "GPGGA,"
925 << epoData->tt.timestr(0,0) << ','
926 << setw(2) << setfill('0') << int(phiDeg)
927 << setw(10) << setprecision(7) << setfill('0')
928 << fmod(60*phiDeg,60) << ',' << phiCh << ','
929 << setw(3) << setfill('0') << int(lamDeg)
930 << setw(10) << setprecision(7) << setfill('0')
931 << fmod(60*lamDeg,60) << ',' << lamCh
932 << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
933 << setw(3) << setprecision(1) << dop << ','
934 << setprecision(3) << ell[2] << ",M,0.0,M,,";
935
936 writeNMEAstr(QString(strGGA.str().c_str()));
937
938 return success;
939}
940
941// Outlier Detection
942////////////////////////////////////////////////////////////////////////////
943int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
944 const ColumnVector& vv,
945 QMap<QString, t_satData*>& satDataGPS,
946 QMap<QString, t_satData*>& satDataGlo,
947 QMap<QString, t_satData*>& satDataGal) {
948
949 QString prnCode;
950 QString prnPhase;
951 double maxResCode = 0.0;
952 double maxResPhase = 0.0;
953
954 QString prnRemoved;
955 double maxRes;
956
957 int irc = 0;
958
959 // Check Glonass
960 // -------------
961 if (irc == 0) {
962 findMaxRes(vv,satDataGlo, prnCode, maxResCode, prnPhase, maxResPhase);
963 if (maxResPhase > MAXRES_PHASE_GLO) {
964 satDataGlo.remove(prnPhase);
965 prnRemoved = prnPhase;
966 maxRes = maxResPhase;
967 irc = 1;
968 }
969 }
970
971 // Check Galileo
972 // -------------
973 if (irc == 0) {
974 findMaxRes(vv,satDataGal, prnCode, maxResCode, prnPhase, maxResPhase);
975 if (maxResPhase > MAXRES_PHASE_GAL) {
976 satDataGal.remove(prnPhase);
977 prnRemoved = prnPhase;
978 maxRes = maxResPhase;
979 irc = 1;
980 }
981 else if (maxResCode > MAXRES_CODE_GAL) {
982 satDataGal.remove(prnCode);
983 prnRemoved = prnCode;
984 maxRes = maxResCode;
985 irc = 1;
986 }
987 }
988
989 // Check GPS
990 // ---------
991 if (irc == 0) {
992 findMaxRes(vv,satDataGPS, prnCode, maxResCode, prnPhase, maxResPhase);
993 if (maxResPhase > MAXRES_PHASE_GPS) {
994 satDataGPS.remove(prnPhase);
995 prnRemoved = prnPhase;
996 maxRes = maxResPhase;
997 irc = 1;
998 }
999 else if (maxResCode > MAXRES_CODE_GPS) {
1000 satDataGPS.remove(prnCode);
1001 prnRemoved = prnCode;
1002 maxRes = maxResCode;
1003 irc = 1;
1004 }
1005 }
1006
1007 if (irc != 0) {
1008 _log += "Outlier " + prnRemoved.toAscii() + " "
1009 + QByteArray::number(maxRes, 'f', 3) + "\n";
1010 _QQ = QQsav;
1011 }
1012
1013 return irc;
1014}
1015
1016//
1017////////////////////////////////////////////////////////////////////////////
1018void bncModel::writeNMEAstr(const QString& nmStr) {
1019
1020 unsigned char XOR = 0;
1021 for (int ii = 0; ii < nmStr.length(); ii++) {
1022 XOR ^= (unsigned char) nmStr[ii].toAscii();
1023 }
1024
1025 QString outStr = '$' + nmStr
1026 + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
1027
1028 if (_nmeaStream) {
1029 *_nmeaStream << outStr;
1030 _nmeaStream->flush();
1031 }
1032
1033 emit newNMEAstr(outStr.toAscii());
1034}
1035
1036////
1037//////////////////////////////////////////////////////////////////////////////
1038void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
1039 const DiagonalMatrix& PP,
1040 SymmetricMatrix& QQ, ColumnVector& dx) {
1041
1042 int nObs = AA.Nrows();
1043 int nPar = AA.Ncols();
1044
1045 UpperTriangularMatrix SS = Cholesky(QQ).t();
1046
1047 Matrix SA = SS*AA.t();
1048 Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
1049 for (int ii = 1; ii <= nObs; ++ii) {
1050 SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
1051 }
1052
1053 SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
1054 SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
1055
1056 UpperTriangularMatrix UU;
1057 QRZ(SRF, UU);
1058
1059 SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
1060 UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
1061 Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
1062
1063 UpperTriangularMatrix SHi = SH_rt.i();
1064
1065 Matrix KT = SHi * YY;
1066 SymmetricMatrix Hi; Hi << SHi * SHi.t();
1067
1068 dx = KT.t() * ll;
1069 QQ << (SS.t() * SS);
1070}
1071
1072// Phase Wind-Up Correction
1073///////////////////////////////////////////////////////////////////////////
1074double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
1075 const ColumnVector& rRec) {
1076
1077 double Mjd = _time.mjd() + _time.daysec() / 86400.0;
1078
1079 // First time - initialize to zero
1080 // -------------------------------
1081 if (!_windUpTime.contains(prn)) {
1082 _windUpTime[prn] = Mjd;
1083 _windUpSum[prn] = 0.0;
1084 }
1085
1086 // Compute the correction for new time
1087 // -----------------------------------
1088 else if (_windUpTime[prn] != Mjd) {
1089 _windUpTime[prn] = Mjd;
1090
1091 // Unit Vector GPS Satellite --> Receiver
1092 // --------------------------------------
1093 ColumnVector rho = rRec - rSat;
1094 rho /= rho.norm_Frobenius();
1095
1096 // GPS Satellite unit Vectors sz, sy, sx
1097 // -------------------------------------
1098 ColumnVector sz = -rSat / rSat.norm_Frobenius();
1099
1100 ColumnVector xSun = Sun(Mjd);
1101 xSun /= xSun.norm_Frobenius();
1102
1103 ColumnVector sy = crossproduct(sz, xSun);
1104 ColumnVector sx = crossproduct(sy, sz);
1105
1106 // Effective Dipole of the GPS Satellite Antenna
1107 // ---------------------------------------------
1108 ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
1109 - crossproduct(rho, sy);
1110
1111 // Receiver unit Vectors rx, ry
1112 // ----------------------------
1113 ColumnVector rx(3);
1114 ColumnVector ry(3);
1115
1116 double recEll[3]; xyz2ell(rRec.data(), recEll) ;
1117 double neu[3];
1118
1119 neu[0] = 1.0;
1120 neu[1] = 0.0;
1121 neu[2] = 0.0;
1122 neu2xyz(recEll, neu, rx.data());
1123
1124 neu[0] = 0.0;
1125 neu[1] = -1.0;
1126 neu[2] = 0.0;
1127 neu2xyz(recEll, neu, ry.data());
1128
1129 // Effective Dipole of the Receiver Antenna
1130 // ----------------------------------------
1131 ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
1132 + crossproduct(rho, ry);
1133
1134 // Resulting Effect
1135 // ----------------
1136 double alpha = DotProduct(dipSat,dipRec) /
1137 (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
1138
1139 if (alpha > 1.0) alpha = 1.0;
1140 if (alpha < -1.0) alpha = -1.0;
1141
1142 double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
1143
1144 if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
1145 dphi = -dphi;
1146 }
1147
1148 _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
1149 }
1150
1151 return _windUpSum[prn];
1152}
1153
1154//
1155///////////////////////////////////////////////////////////////////////////
1156void bncModel::cmpEle(t_satData* satData) {
1157 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
1158 double rho = rr.norm_Frobenius();
1159
1160 double neu[3];
1161 xyz2neu(_ellBanc.data(), rr.data(), neu);
1162
1163 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
1164 if (neu[2] < 0) {
1165 satData->eleSat *= -1.0;
1166 }
1167 satData->azSat = atan2(neu[1], neu[0]);
1168}
1169
1170//
1171///////////////////////////////////////////////////////////////////////////
1172void bncModel::addAmb(t_satData* satData) {
1173 bool found = false;
1174 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1175 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
1176 _params[iPar-1]->prn == satData->prn) {
1177 found = true;
1178 break;
1179 }
1180 }
1181 if (!found) {
1182 bncParam* par = new bncParam(bncParam::AMB_L3,
1183 _params.size()+1, satData->prn);
1184 _params.push_back(par);
1185 par->xx = satData->L3 - cmpValue(satData, true);
1186 }
1187}
1188
1189//
1190///////////////////////////////////////////////////////////////////////////
1191void bncModel::addObs(unsigned& iObs, t_satData* satData,
1192 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
1193
1194 // Code Observations
1195 // -----------------
1196 if (satData->system() != 'R') {
1197 ++iObs;
1198 ll(iObs) = satData->P3 - cmpValue(satData, false);
1199 PP(iObs,iObs) = 1.0 / (_sigP3 * _sigP3);
1200 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1201 AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
1202 }
1203 satData->indexCode = iObs;
1204 }
1205
1206 // Phase Observations
1207 // ------------------
1208 if (_usePhase) {
1209 ++iObs;
1210 ll(iObs) = satData->L3 - cmpValue(satData, true);
1211 PP(iObs,iObs) = 1.0 / (_sigL3 * _sigL3);
1212 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1213 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
1214 _params[iPar-1]->prn == satData->prn) {
1215 ll(iObs) -= _params[iPar-1]->xx;
1216 }
1217 AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
1218 }
1219 satData->indexPhase = iObs;
1220 }
1221}
1222
1223//
1224///////////////////////////////////////////////////////////////////////////
1225void bncModel::printRes(const ColumnVector& vv,
1226 ostringstream& str, t_satData* satData) {
1227 if (satData->indexPhase) {
1228 str << _time.timestr(1)
1229 << " RES " << satData->prn.toAscii().data() << " L3 "
1230 << setw(9) << setprecision(4) << vv(satData->indexPhase);
1231 if (satData->indexCode) {
1232 str << " P3 " << setw(9) << setprecision(4) << vv(satData->indexCode);
1233 }
1234 str << endl;
1235 }
1236}
1237
1238//
1239///////////////////////////////////////////////////////////////////////////
1240void bncModel::findMaxRes(const ColumnVector& vv,
1241 const QMap<QString, t_satData*>& satData,
1242 QString& prnCode, double& maxResCode,
1243 QString& prnPhase, double& maxResPhase) {
1244 maxResCode = 0.0;
1245 maxResPhase = 0.0;
1246
1247 QMapIterator<QString, t_satData*> it(satData);
1248 while (it.hasNext()) {
1249 it.next();
1250 t_satData* satData = it.value();
1251 if (satData->indexCode) {
1252 if (fabs(vv(satData->indexCode)) > maxResCode) {
1253 maxResCode = fabs(vv(satData->indexCode));
1254 prnCode = satData->prn;
1255 }
1256 }
1257 if (satData->indexPhase) {
1258 if (fabs(vv(satData->indexPhase)) > maxResPhase) {
1259 maxResPhase = fabs(vv(satData->indexPhase));
1260 prnPhase = satData->prn;
1261 }
1262 }
1263 }
1264}
1265
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