source: ntrip/trunk/BNC/bncpppclient.cpp@ 2226

Last change on this file since 2226 was 2226, checked in by mervart, 14 years ago

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File size: 10.7 KB
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[2035]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: bncPPPclient
30 *
31 * Purpose: Precise Point Positioning
32 *
33 * Author: L. Mervart
34 *
35 * Created: 21-Nov-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include "bncpppclient.h"
[2113]42#include "bncapp.h"
[2043]43#include "bncutils.h"
[2044]44#include "bncconst.h"
[2058]45#include "bncmodel.h"
[2226]46#include "bncsettings.h"
[2035]47
48extern "C" {
49#include "clock_orbit_rtcm.h"
50}
51
52using namespace std;
53
54// Constructor
55////////////////////////////////////////////////////////////////////////////
56bncPPPclient::bncPPPclient(QByteArray staID) {
[2113]57
[2226]58 bncSettings settings;
59
60 if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
61 _useGlonass = true;
62 }
63 else {
64 _useGlonass = false;
65 }
66
[2113]67 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
68 this, SLOT(slotNewEphGPS(gpsephemeris)));
[2224]69 connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
70 this, SLOT(slotNewEphGlonass(glonassephemeris)));
[2113]71 connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
72 this, SLOT(slotNewCorrections(QList<QString>)));
73
[2039]74 _staID = staID;
75 _epoData = 0;
[2113]76 _model = new bncModel(staID);
[2182]77 connect(_model, SIGNAL(newNMEAstr(QByteArray)),
78 this, SIGNAL(newNMEAstr(QByteArray)));
[2035]79}
80
81// Destructor
82////////////////////////////////////////////////////////////////////////////
83bncPPPclient::~bncPPPclient() {
[2058]84 delete _model;
[2039]85 delete _epoData;
[2035]86 QMapIterator<QString, t_eph*> it(_eph);
87 while (it.hasNext()) {
88 it.next();
89 delete it.value();
90 }
91 QMapIterator<QString, t_corr*> ic(_corr);
92 while (ic.hasNext()) {
93 ic.next();
94 delete ic.value();
95 }
96}
97
98//
99////////////////////////////////////////////////////////////////////////////
100void bncPPPclient::putNewObs(p_obs pp) {
[2037]101 QMutexLocker locker(&_mutex);
[2051]102
103 static const double c1 = t_CST::freq1 * t_CST::freq1 /
104 (t_CST::freq1 * t_CST::freq1 - t_CST::freq2 * t_CST::freq2);
[2037]105
[2051]106 static const double c2 = - t_CST::freq2 * t_CST::freq2 /
107 (t_CST::freq1 * t_CST::freq1 - t_CST::freq2 * t_CST::freq2);
108
[2037]109 t_obsInternal* obs = &(pp->_o);
[2051]110
[2226]111 if (obs->satSys != 'G' && !_useGlonass) {
[2225]112 return;
113 }
114
[2051]115 t_satData* satData = new t_satData();
116
117 // Set Code Observations
118 // ---------------------
119 if (obs->P1) {
120 satData->P1 = obs->P1;
121 satData->codeTypeF1 = t_satData::P_CODE;
122 }
123 else if (obs->C1) {
124 satData->P1 = obs->C1;
125 satData->codeTypeF1 = t_satData::C_CODE;
126 }
127 else {
128 delete satData;
129 return;
130 }
131
132 if (obs->P2) {
133 satData->P2 = obs->P2;
134 satData->codeTypeF2 = t_satData::P_CODE;
135 }
136 else if (obs->C2) {
137 satData->P2 = obs->C2;
138 satData->codeTypeF2 = t_satData::C_CODE;
139 }
140 else {
141 delete satData;
142 return;
143 }
144
145 satData->P3 = c1 * satData->P1 + c2 * satData->P2;
146
147 // Set Phase Observations
148 // ----------------------
149 if (obs->L1 && obs->L2) {
150 satData->L1 = obs->L1 * t_CST::lambda1;
151 satData->L2 = obs->L2 * t_CST::lambda2;
152 }
153 else {
154 delete satData;
155 return;
156 }
157 satData->L3 = c1 * satData->L1 + c2 * satData->L2;
158
159 // Add new Satellite to the epoch
160 // ------------------------------
[2123]161 bncTime tt(obs->GPSWeek, obs->GPSWeeks);
[2037]162
[2039]163 if (!_epoData) {
164 _epoData = new t_epoData();
165 _epoData->tt = tt;
[2037]166 }
[2039]167 else if (tt != _epoData->tt) {
[2037]168 processEpoch();
[2039]169 delete _epoData;
170 _epoData = new t_epoData();
171 _epoData->tt = tt;
[2037]172 }
[2039]173
174 QString prn =
[2037]175 QString("%1%2").arg(obs->satSys).arg(obs->satNum, 2, 10, QChar('0'));
[2039]176
177 _epoData->satData[prn] = satData;
[2035]178}
179
180//
181////////////////////////////////////////////////////////////////////////////
182void bncPPPclient::slotNewEphGPS(gpsephemeris gpseph) {
183 QMutexLocker locker(&_mutex);
184
185 QString prn = QString("G%1").arg(gpseph.satellite, 2, 10, QChar('0'));
186
187 if (_eph.contains(prn)) {
[2040]188 t_ephGPS* ee = static_cast<t_ephGPS*>(_eph.value(prn));
189 if ( (ee->GPSweek() < gpseph.GPSweek) ||
190 (ee->GPSweek() == gpseph.GPSweek &&
191 ee->TOC() < gpseph.TOC) ) {
192 ee->set(&gpseph);
193 }
[2035]194 }
195 else {
196 t_ephGPS* ee = new t_ephGPS();
197 ee->set(&gpseph);
198 _eph[prn] = ee;
199 }
200}
201
202//
203////////////////////////////////////////////////////////////////////////////
[2224]204void bncPPPclient::slotNewEphGlonass(glonassephemeris gloeph) {
205 QMutexLocker locker(&_mutex);
206
207 QString prn = QString("R%1").arg(gloeph.almanac_number, 2, 10, QChar('0'));
208
209 if (_eph.contains(prn)) {
210 t_ephGlo* ee = static_cast<t_ephGlo*>(_eph.value(prn));
211 if ( (ee->GPSweek() < gloeph.GPSWeek) ||
212 (ee->GPSweek() == gloeph.GPSWeek &&
213 ee->GPSweeks() < gloeph.GPSTOW) ) {
214 ee->set(&gloeph);
215 }
216 }
217 else {
218 t_ephGlo* ee = new t_ephGlo();
219 ee->set(&gloeph);
220 _eph[prn] = ee;
221 }
222}
223
224//
225////////////////////////////////////////////////////////////////////////////
[2035]226void bncPPPclient::slotNewCorrections(QList<QString> corrList) {
227 QMutexLocker locker(&_mutex);
[2069]228
229 if (corrList.size() == 0) {
230 return;
231 }
232
233 // Remove All Corrections
234 // ----------------------
235 QMapIterator<QString, t_corr*> ic(_corr);
236 while (ic.hasNext()) {
237 ic.next();
238 delete ic.value();
239 }
240 _corr.clear();
241
[2035]242 QListIterator<QString> it(corrList);
243 while (it.hasNext()) {
244 QTextStream in(it.next().toAscii());
245 int messageType;
246 int updateInterval;
247 int GPSweek;
248 double GPSweeks;
249 QString prn;
250 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
251 if ( messageType == COTYPE_GPSCOMBINED ||
[2207]252 messageType == COTYPE_GLONASSCOMBINED ||
253 messageType == COTYPE_GPSORBIT ||
254 messageType == COTYPE_GPSCLOCK ||
255 messageType == COTYPE_GLONASSORBIT ||
256 messageType == COTYPE_GLONASSCLOCK ) {
257
[2035]258 t_corr* cc = 0;
259 if (_corr.contains(prn)) {
260 cc = _corr.value(prn);
261 }
262 else {
263 cc = new t_corr();
264 _corr[prn] = cc;
265 }
[2207]266
[2035]267 cc->tt.set(GPSweek, GPSweeks);
[2207]268
269 if ( messageType == COTYPE_GPSCOMBINED ||
270 messageType == COTYPE_GLONASSCOMBINED ) {
271 cc->rao.ReSize(3);
272 in >> cc->iod >> cc->dClk >> cc->rao[0] >> cc->rao[1] >> cc->rao[2];
273 cc->dClk /= t_CST::c;
[2208]274 cc->raoSet = true;
275 cc->dClkSet = true;
[2207]276 }
277 else if ( messageType == COTYPE_GPSORBIT ||
278 messageType == COTYPE_GLONASSORBIT ) {
279 cc->rao.ReSize(3);
280 in >> cc->iod >> cc->rao[0] >> cc->rao[1] >> cc->rao[2];
[2208]281 cc->raoSet = true;
[2207]282 }
283 else if ( messageType == COTYPE_GPSCLOCK ||
284 messageType == COTYPE_GLONASSCLOCK ) {
285 int dummyIOD;
286 in >> dummyIOD >> cc->dClk;
287 cc->dClk /= t_CST::c;
[2208]288 cc->dClkSet = true;
[2207]289 }
[2035]290 }
291 }
[2208]292
293 QMutableMapIterator<QString, t_corr*> im(_corr);
294 while (im.hasNext()) {
295 im.next();
296 t_corr* cc = im.value();
297 if (!cc->ready()) {
298 delete cc;
299 im.remove();
300 }
301 }
[2035]302}
303
304// Satellite Position
305////////////////////////////////////////////////////////////////////////////
[2123]306t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
[2041]307 ColumnVector& xc, ColumnVector& vv, bool& corr) {
[2035]308
[2067]309 const bool CORR_REQUIRED = true;
310 const double MAXAGE = 120.0;
[2041]311
312 corr = false;
313
[2035]314 if (_eph.contains(prn)) {
[2040]315 t_eph* ee = _eph.value(prn);
316 ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
317
[2068]318 if (CORR_REQUIRED) {
319 if (_corr.contains(prn)) {
320 t_corr* cc = _corr.value(prn);
321 if (ee->IOD() == cc->iod && (tt - cc->tt) < MAXAGE) {
322 corr = true;
323 applyCorr(cc, xc, vv);
324 return success;
325 }
[2041]326 }
[2068]327 return failure;
[2040]328 }
[2068]329
[2035]330 return success;
331 }
332
333 return failure;
334}
335
336//
337////////////////////////////////////////////////////////////////////////////
[2041]338void bncPPPclient::applyCorr(const t_corr* cc, ColumnVector& xc,
339 ColumnVector& vv) {
[2043]340 ColumnVector dx(3);
341 RSW_to_XYZ(xc.Rows(1,3), vv, cc->rao, dx);
[2041]342
[2107]343 xc[0] -= dx[0];
344 xc[1] -= dx[1];
345 xc[2] -= dx[2];
346 xc[3] -= cc->dClk;
[2068]347
348 // Relativistic Correction
349 // -----------------------
350 xc[3] -= 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c ;
[2041]351}
352
[2049]353// Correct Time of Transmission
354////////////////////////////////////////////////////////////////////////////
355t_irc bncPPPclient::cmpToT(const QString& prn, t_satData* satData) {
356
[2051]357 double prange = satData->P3;
[2049]358 if (prange == 0.0) {
359 return failure;
360 }
361
362 double clkSat = 0.0;
363 for (int ii = 1; ii <= 10; ii++) {
364
[2123]365 bncTime ToT = _epoData->tt - prange / t_CST::c - clkSat;
[2049]366
367 ColumnVector xc(4);
368 ColumnVector vv(3);
369 bool corr = false;
370 if (getSatPos(ToT, prn, xc, vv, corr) != success) {
371 return failure;
372 }
373
374 double clkSatOld = clkSat;
[2050]375 clkSat = xc(4);
[2049]376
377 if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
378 satData->xx = xc.Rows(1,3);
379 satData->vv = vv;
[2050]380 satData->clk = clkSat * t_CST::c;
[2049]381 satData->clkCorr = corr;
382 return success;
383 }
384 }
385
386 return failure;
387}
388
[2041]389//
390////////////////////////////////////////////////////////////////////////////
[2035]391void bncPPPclient::processEpoch() {
392
[2053]393 // Data Pre-Processing
394 // -------------------
395 QMutableMapIterator<QString, t_satData*> im(_epoData->satData);
396 while (im.hasNext()) {
397 im.next();
398 QString prn = im.key();
399 t_satData* satData = im.value();
[2049]400
401 if (cmpToT(prn, satData) != success) {
402 delete satData;
[2053]403 im.remove();
[2049]404 continue;
405 }
[2053]406 }
[2035]407
[2060]408 // Filter Solution
409 // ---------------
[2143]410 if (_model->update(_epoData) == success) {
[2145]411 emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
[2060]412 }
[2035]413}
[2049]414
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