source: ntrip/trunk/BNC/bncmodel.h@ 3186

Last change on this file since 3186 was 3119, checked in by weber, 14 years ago

Maximum Solution Gap introduced
File size: 5.0 KB
Line 
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#ifndef BNCMODEL_H
26#define BNCMODEL_H
27
28#include <QtCore>
29#include <QtNetwork>
30#include <newmat.h>
31
32#include "bncconst.h"
33#include "bnctime.h"
34
35class t_epoData;
36class t_satData;
37class bncAntex;
38
39class bncParam {
40 public:
41 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, GALILEO_OFFSET};
42 bncParam(parType typeIn, int indexIn, const QString& prn);
43 ~bncParam();
44 double partial(t_satData* satData, bool phase);
45 bool isCrd() const {
46 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
47 }
48 parType type;
49 double xx;
50 int index;
51 int index_old;
52 QString prn;
53};
54
55class bncModel : public QObject {
56 Q_OBJECT
57 public:
58 bncModel(QByteArray staID);
59 ~bncModel();
60 t_irc cmpBancroft(t_epoData* epoData);
61 t_irc update(t_epoData* epoData);
62 bncTime time() const {return _time;}
63 double x() const {return _params[0]->xx;}
64 double y() const {return _params[1]->xx;}
65 double z() const {return _params[2]->xx;}
66 double clk() const {return _params[3]->xx;}
67 double trp() const {
68 for (int ii = 0; ii < _params.size(); ++ii) {
69 bncParam* pp = _params[ii];
70 if (pp->type == bncParam::TROPO) {
71 return pp->xx;
72 }
73 }
74 return 0.0;
75 }
76 double Galileo_offset() const {
77 for (int ii = 0; ii < _params.size(); ++ii) {
78 bncParam* pp = _params[ii];
79 if (pp->type == bncParam::GALILEO_OFFSET) {
80 return pp->xx;
81 }
82 }
83 return 0.0;
84 }
85
86 static void kalman(const Matrix& AA, const ColumnVector& ll,
87 const DiagonalMatrix& PP,
88 SymmetricMatrix& QQ, ColumnVector& dx);
89
90 signals:
91 void newMessage(QByteArray msg, bool showOnScreen);
92 void newNMEAstr(QByteArray str);
93
94 private:
95 void reset();
96 void cmpEle(t_satData* satData);
97 void addAmb(t_satData* satData);
98 void addObs(unsigned& iObs, t_satData* satData,
99 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
100 void printRes(const ColumnVector& vv,
101 std::ostringstream& str, t_satData* satData);
102 void findMaxRes(const ColumnVector& vv,
103 const QMap<QString, t_satData*>& satData,
104 QString& prnCode, double& maxResCode,
105 QString& prnPhase, double& maxResPhase);
106 double cmpValue(t_satData* satData, bool phase);
107 double delay_saast(double Ele);
108 void predict(t_epoData* epoData);
109 int outlierDetection(const SymmetricMatrix& QQsav,
110 const ColumnVector& vv,
111 QMap<QString, t_satData*>& satDataGPS,
112 QMap<QString, t_satData*>& satDataGlo,
113 QMap<QString, t_satData*>& satDataGal);
114 void writeNMEAstr(const QString& nmStr);
115
116 double windUp(const QString& prn, const ColumnVector& rSat,
117 const ColumnVector& rRec);
118
119 bncTime _startTime;
120
121 class pppPos {
122 public:
123 pppPos() {
124 for (int ii = 0; ii < 7; ++ii) {
125 xnt[ii] = 0.0;
126 }
127 }
128 bncTime time;
129 double xnt[7];
130 };
131
132 bncTime _time;
133 bncTime _lastTimeOK;
134 QByteArray _staID;
135 QVector<bncParam*> _params;
136 SymmetricMatrix _QQ;
137 ColumnVector _xcBanc;
138 ColumnVector _ellBanc;
139 bool _usePhase;
140 bool _estTropo;
141 bool _useGalileo;
142 QByteArray _log;
143 QFile* _nmeaFile;
144 QTextStream* _nmeaStream;
145 QMap<QString, double> _windUpTime;
146 QMap<QString, double> _windUpSum;
147 QVector<pppPos*> _posAverage;
148 double _quickStart;
149 double _maxSolGap;
150 double _sigCrd0;
151 double _sigCrdP;
152 double _sigTrp0;
153 double _sigTrpP;
154 double _sigGalileoOffset0;
155 double _sigGalileoOffsetP;
156 double _sigL3;
157 double _sigP3;
158 double _sigAmb0;
159 double _sigClk0;
160 bncAntex* _antex;
161 QString _antennaName;
162};
163
164#endif
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