source: ntrip/trunk/BNC/bncmodel.h@ 3396

Last change on this file since 3396 was 3386, checked in by mervart, 13 years ago
File size: 5.1 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#include <vector>
32
33#include "bncconst.h"
34#include "bnctime.h"
35
36class t_epoData;
37class t_satData;
38class bncAntex;
39
40class bncParam {
41 public:
42 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, GALILEO_OFFSET};
43 bncParam(parType typeIn, int indexIn, const QString& prn);
44 ~bncParam();
45 double partial(t_satData* satData, bool phase);
46 bool isCrd() const {
47 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
48 }
49 parType type;
50 double xx;
51 int index;
52 int index_old;
53 int numEpo;
54 QString prn;
55};
56
57class bncModel : public QObject {
58 Q_OBJECT
59 public:
60 bncModel(QByteArray staID);
61 ~bncModel();
62 t_irc update(t_epoData* epoData);
63 bncTime time() const {return _time;}
64 double x() const {return _params[0]->xx;}
65 double y() const {return _params[1]->xx;}
66 double z() const {return _params[2]->xx;}
67 double clk() const {return _params[3]->xx;}
68 double trp() const {
69 for (int ii = 0; ii < _params.size(); ++ii) {
70 bncParam* pp = _params[ii];
71 if (pp->type == bncParam::TROPO) {
72 return pp->xx;
73 }
74 }
75 return 0.0;
76 }
77 double Galileo_offset() const {
78 for (int ii = 0; ii < _params.size(); ++ii) {
79 bncParam* pp = _params[ii];
80 if (pp->type == bncParam::GALILEO_OFFSET) {
81 return pp->xx;
82 }
83 }
84 return 0.0;
85 }
86
87 static void kalman(const Matrix& AA, const ColumnVector& ll,
88 const DiagonalMatrix& PP,
89 SymmetricMatrix& QQ, ColumnVector& dx);
90
91 signals:
92 void newMessage(QByteArray msg, bool showOnScreen);
93 void newNMEAstr(QByteArray str);
94
95 private:
96 t_irc cmpBancroft(t_epoData* epoData);
97 void reset();
98 void cmpEle(t_satData* satData);
99 void addAmb(t_satData* satData);
100 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
101 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
102 void printRes(int iPhase, const ColumnVector& vv,
103 std::ostringstream& str, t_satData* satData);
104 void findMaxRes(const ColumnVector& vv,
105 const QMap<QString, t_satData*>& satData,
106 QString& prn, double& maxRes);
107 double cmpValue(t_satData* satData, bool phase);
108 double delay_saast(double Ele);
109 void predict(int iPhase, t_epoData* epoData);
110 t_irc update_p(t_epoData* epoData);
111 bool outlierDetection(int iPhase, const ColumnVector& vv,
112 QMap<QString, t_satData*>& satData);
113 void writeNMEAstr(const QString& nmStr);
114
115 double windUp(const QString& prn, const ColumnVector& rSat,
116 const ColumnVector& rRec);
117
118 bncTime _startTime;
119
120 void rememberState(t_epoData* epoData);
121 void restoreState(t_epoData* epoData);
122
123 class pppPos {
124 public:
125 pppPos() {
126 for (int ii = 0; ii < 7; ++ii) {
127 xnt[ii] = 0.0;
128 }
129 }
130 bncTime time;
131 double xnt[7];
132 };
133
134 bncTime _time;
135 bncTime _lastTimeOK;
136 QByteArray _staID;
137 QVector<bncParam*> _params;
138 SymmetricMatrix _QQ;
139 QVector<bncParam*> _params_sav;
140 SymmetricMatrix _QQ_sav;
141 t_epoData* _epoData_sav;
142 ColumnVector _xcBanc;
143 ColumnVector _ellBanc;
144 bool _usePhase;
145 bool _estTropo;
146 bool _useGalileo;
147 QByteArray _log;
148 QFile* _nmeaFile;
149 QTextStream* _nmeaStream;
150 QMap<QString, double> _windUpTime;
151 QMap<QString, double> _windUpSum;
152 QVector<pppPos*> _posAverage;
153 double _quickStart;
154 double _maxSolGap;
155 double _sigCrd0;
156 double _sigCrdP;
157 double _sigTrp0;
158 double _sigTrpP;
159 double _sigGalileoOffset0;
160 double _sigGalileoOffsetP;
161 double _sigL3;
162 double _sigP3;
163 double _sigAmb0;
164 double _sigClk0;
165 double _dN;
166 double _dE;
167 double _dU;
168 bncAntex* _antex;
169 QString _antennaName;
170};
171
172#endif
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