source: ntrip/trunk/BNC/bncpppclient.cpp@ 2576

Last change on this file since 2576 was 2576, checked in by mervart, 14 years ago
File size: 14.9 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/* -------------------------------------------------------------------------
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 <newmatio.h>
42#include <iomanip>
43#include <sstream>
44
45#include "bncpppclient.h"
46#include "bncapp.h"
47#include "bncutils.h"
48#include "bncconst.h"
49#include "bncmodel.h"
50#include "bncsettings.h"
51
52extern "C" {
53#include "clock_orbit_rtcm.h"
54}
55
56using namespace std;
57
58// Constructor
59////////////////////////////////////////////////////////////////////////////
60bncPPPclient::bncPPPclient(QByteArray staID) {
61
62 bncSettings settings;
63
64 if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
65 _useGlonass = true;
66 }
67 else {
68 _useGlonass = false;
69 }
70
71 if (settings.value("pppSPP").toString() == "PPP") {
72 _pppMode = true;
73 }
74 else {
75 _pppMode = false;
76 }
77
78 connect(this, SIGNAL(newMessage(QByteArray,bool)),
79 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
80
81 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
82 this, SLOT(slotNewEphGPS(gpsephemeris)),
83 Qt::DirectConnection);
84
85 connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
86 this, SLOT(slotNewEphGlonass(glonassephemeris)),
87 Qt::DirectConnection);
88
89 connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
90 this, SLOT(slotNewCorrections(QList<QString>)),
91 Qt::DirectConnection);
92
93 _staID = staID;
94 _epoData = 0;
95 _model = new bncModel(staID);
96 connect(_model, SIGNAL(newNMEAstr(QByteArray)),
97 this, SIGNAL(newNMEAstr(QByteArray)));
98}
99
100// Destructor
101////////////////////////////////////////////////////////////////////////////
102bncPPPclient::~bncPPPclient() {
103 delete _model;
104 delete _epoData;
105 QMapIterator<QString, t_ephPair*> it(_eph);
106 while (it.hasNext()) {
107 it.next();
108 delete it.value();
109 }
110 QMapIterator<QString, t_corr*> ic(_corr);
111 while (ic.hasNext()) {
112 ic.next();
113 delete ic.value();
114 }
115 QMapIterator<QString, t_bias*> ib(_bias);
116 while (ib.hasNext()) {
117 ib.next();
118 delete ib.value();
119 }
120}
121
122//
123////////////////////////////////////////////////////////////////////////////
124void bncPPPclient::putNewObs(p_obs pp) {
125 QMutexLocker locker(&_mutex);
126
127 t_obsInternal* obs = &(pp->_o);
128
129 if (obs->satSys != 'G' && !_useGlonass) {
130 return;
131 }
132
133 t_satData* satData = new t_satData();
134
135 // Satellite Number
136 // ----------------
137 if (obs->satSys == 'G') {
138 QString prn = QString("G%1").arg(obs->satNum, 2, 10, QChar('0'));
139 satData->prn = prn;
140 }
141 else if (obs->satSys == 'R') {
142 QString prn = QString("R%1").arg(obs->satNum, 2, 10, QChar('0'));
143 satData->prn = prn;
144 }
145
146 // Check Slips
147 // -----------
148 slipInfo& sInfo = _slips[satData->prn];
149 if ( sInfo.slipCntL1 == obs->slip_cnt_L1 &&
150 sInfo.slipCntL2 == obs->slip_cnt_L2 ) {
151 satData->slipFlag = false;
152 }
153 else {
154 satData->slipFlag = true;
155 }
156 sInfo.slipCntL1 = obs->slip_cnt_L1;
157 sInfo.slipCntL2 = obs->slip_cnt_L2;
158
159 // Handle Code Biases
160 // ------------------
161 t_bias* bb = 0;
162 if (_bias.contains(satData->prn)) {
163 bb = _bias.value(satData->prn);
164 }
165
166 // Set Code Observations
167 // ---------------------
168 if (obs->P1) {
169 satData->P1 = obs->P1 + (bb ? bb->p1 : 0.0);
170 satData->codeTypeF1 = t_satData::P_CODE;
171 }
172 else if (obs->C1) {
173 satData->P1 = obs->C1 + (bb ? bb->c1 : 0.0);
174 satData->codeTypeF1 = t_satData::C_CODE;
175 }
176 else {
177 delete satData;
178 return;
179 }
180
181 if (obs->P2) {
182 satData->P2 = obs->P2 + (bb ? bb->p2 : 0.0);
183 satData->codeTypeF2 = t_satData::P_CODE;
184 }
185 else if (obs->C2) {
186 satData->P2 = obs->C2;
187 satData->codeTypeF2 = t_satData::C_CODE;
188 }
189 else {
190 delete satData;
191 return;
192 }
193
194 double f1 = t_CST::freq1;
195 double f2 = t_CST::freq2;
196
197 if (obs->satSys == 'R') {
198 f1 = 1602000000.0 + 562500.0 * obs->slot;
199 f2 = 1246000000.0 + 437500.0 * obs->slot;
200 }
201
202 // Ionosphere-Free Combination
203 // ---------------------------
204 double c1 = f1 * f1 / (f1 * f1 - f2 * f2);
205 double c2 = - f2 * f2 / (f1 * f1 - f2 * f2);
206
207 satData->P3 = c1 * satData->P1 + c2 * satData->P2;
208
209 // Set Phase Observations
210 // ----------------------
211 if (obs->L1 && obs->L2) {
212 satData->L1 = obs->L1 * t_CST::c / f1;
213 satData->L2 = obs->L2 * t_CST::c / f2;
214 }
215 else {
216 delete satData;
217 return;
218 }
219 satData->L3 = c1 * satData->L1 + c2 * satData->L2;
220
221 // Add new Satellite to the epoch
222 // ------------------------------
223 bncTime tt(obs->GPSWeek, obs->GPSWeeks);
224
225 if (!_epoData) {
226 _epoData = new t_epoData();
227 _epoData->tt = tt;
228 }
229 else if (tt != _epoData->tt) {
230 processEpoch();
231 delete _epoData;
232 _epoData = new t_epoData();
233 _epoData->tt = tt;
234 }
235
236 if (obs->satSys == 'G') {
237 _epoData->satDataGPS[satData->prn] = satData;
238 }
239 else if (obs->satSys == 'R') {
240 _epoData->satDataGlo[satData->prn] = satData;
241 }
242}
243
244//
245////////////////////////////////////////////////////////////////////////////
246void bncPPPclient::slotNewEphGPS(gpsephemeris gpseph) {
247 QMutexLocker locker(&_mutex);
248
249 QString prn = QString("G%1").arg(gpseph.satellite, 2, 10, QChar('0'));
250
251 if (_eph.contains(prn)) {
252 t_ephGPS* eLast = static_cast<t_ephGPS*>(_eph.value(prn)->last);
253 if ( (eLast->GPSweek() < gpseph.GPSweek) ||
254 (eLast->GPSweek() == gpseph.GPSweek &&
255 eLast->TOC() < gpseph.TOC) ) {
256 delete static_cast<t_ephGPS*>(_eph.value(prn)->prev);
257 _eph.value(prn)->prev = _eph.value(prn)->last;
258 _eph.value(prn)->last = new t_ephGPS();
259 static_cast<t_ephGPS*>(_eph.value(prn)->last)->set(&gpseph);
260 }
261 }
262 else {
263 t_ephGPS* eLast = new t_ephGPS();
264 eLast->set(&gpseph);
265 _eph.insert(prn, new t_ephPair());
266 _eph[prn]->last = eLast;
267 }
268}
269
270//
271////////////////////////////////////////////////////////////////////////////
272void bncPPPclient::slotNewEphGlonass(glonassephemeris gloeph) {
273 QMutexLocker locker(&_mutex);
274
275 QString prn = QString("R%1").arg(gloeph.almanac_number, 2, 10, QChar('0'));
276
277 if (_eph.contains(prn)) {
278 int ww = gloeph.GPSWeek;
279 int tow = gloeph.GPSTOW;
280 updatetime(&ww, &tow, gloeph.tb*1000, 0); // Moscow -> GPS
281 t_ephGlo* eLast = static_cast<t_ephGlo*>(_eph.value(prn)->last);
282 if (eLast->GPSweek() < ww ||
283 (eLast->GPSweek() == ww && eLast->GPSweeks() < tow)) {
284 delete static_cast<t_ephGlo*>(_eph.value(prn)->prev);
285 _eph.value(prn)->prev = _eph.value(prn)->last;
286 _eph.value(prn)->last = new t_ephGlo();
287 static_cast<t_ephGlo*>(_eph.value(prn)->last)->set(&gloeph);
288 }
289 }
290 else {
291 t_ephGlo* eLast = new t_ephGlo();
292 eLast->set(&gloeph);
293 _eph.insert(prn, new t_ephPair());
294 _eph[prn]->last = eLast;
295 }
296}
297
298//
299////////////////////////////////////////////////////////////////////////////
300void bncPPPclient::slotNewCorrections(QList<QString> corrList) {
301 QMutexLocker locker(&_mutex);
302
303 if (corrList.size() == 0) {
304 return;
305 }
306
307 // Remove All Corrections
308 // ----------------------
309 QMapIterator<QString, t_corr*> ic(_corr);
310 while (ic.hasNext()) {
311 ic.next();
312 delete ic.value();
313 }
314 _corr.clear();
315
316 QListIterator<QString> it(corrList);
317 while (it.hasNext()) {
318 QTextStream in(it.next().toAscii());
319 int messageType;
320 int updateInterval;
321 int GPSweek;
322 double GPSweeks;
323 QString prn;
324 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
325 if ( messageType == COTYPE_GPSCOMBINED ||
326 messageType == COTYPE_GLONASSCOMBINED ||
327 messageType == COTYPE_GPSORBIT ||
328 messageType == COTYPE_GPSCLOCK ||
329 messageType == COTYPE_GLONASSORBIT ||
330 messageType == COTYPE_GLONASSCLOCK ) {
331
332 t_corr* cc = 0;
333 if (_corr.contains(prn)) {
334 cc = _corr.value(prn);
335 }
336 else {
337 cc = new t_corr();
338 _corr[prn] = cc;
339 }
340
341 cc->tt.set(GPSweek, GPSweeks);
342
343 if ( messageType == COTYPE_GPSCOMBINED ||
344 messageType == COTYPE_GLONASSCOMBINED ) {
345 cc->rao.ReSize(3); cc->rao = 0.0;
346 cc->dotRao.ReSize(3); cc->dotRao = 0.0;
347 cc->dotDotRao.ReSize(3); cc->dotDotRao = 0.0;
348 cc->dClk = 0.0;
349 cc->dotDClk = 0.0;
350 cc->dotDotDClk = 0.0;
351 in >> cc->iod
352 >> cc->dClk >> cc->rao[0] >> cc->rao[1] >> cc->rao[2]
353 >> cc->dotDClk >> cc->dotRao[0] >> cc->dotRao[1] >> cc->dotRao[2]
354 >> cc->dotDotDClk >> cc->dotDotRao[0] >> cc->dotDotRao[1] >> cc->dotDotRao[2];
355 cc->dClk /= t_CST::c;
356 cc->dotDClk /= t_CST::c;
357 cc->dotDotDClk /= t_CST::c;
358 cc->raoSet = true;
359 cc->dClkSet = true;
360 }
361 else if ( messageType == COTYPE_GPSORBIT ||
362 messageType == COTYPE_GLONASSORBIT ) {
363 cc->rao.ReSize(3); cc->rao = 0.0;
364 cc->dotRao.ReSize(3); cc->dotRao = 0.0;
365 cc->dotDotRao.ReSize(3); cc->dotDotRao = 0.0;
366 in >> cc->iod
367 >> cc->rao[0] >> cc->rao[1] >> cc->rao[2]
368 >> cc->dotRao[0] >> cc->dotRao[1] >> cc->dotRao[2]
369 >> cc->dotDotRao[0] >> cc->dotDotRao[1] >> cc->dotDotRao[2];
370 cc->raoSet = true;
371 }
372 else if ( messageType == COTYPE_GPSCLOCK ||
373 messageType == COTYPE_GLONASSCLOCK ) {
374 int dummyIOD;
375 cc->dClk = 0.0;
376 cc->dotDClk = 0.0;
377 cc->dotDotDClk = 0.0;
378 in >> dummyIOD >> cc->dClk >> cc->dotDClk >> cc->dotDotDClk;
379 cc->dClk /= t_CST::c;
380 cc->dotDClk /= t_CST::c;
381 cc->dotDotDClk /= t_CST::c;
382 cc->dClkSet = true;
383 }
384 }
385 else if ( messageType == BTYPE_GPS ) {
386
387 t_bias* bb = 0;
388 if (_bias.contains(prn)) {
389 bb = _bias.value(prn);
390 }
391 else {
392 bb = new t_bias();
393 _bias[prn] = bb;
394 }
395
396 bb->tt.set(GPSweek, GPSweeks);
397
398 int numBiases;
399 in >> numBiases;
400 for (int ii = 0; ii < numBiases; ++ii) {
401 int bType;
402 double bValue;
403 in >> bType >> bValue;
404 if (bType == CODETYPEGPS_L1_Z) {
405 bb->p1 = bValue;
406 }
407 else if (bType == CODETYPEGPS_L1_CA) {
408 bb->c1 = bValue;
409 }
410 else if (bType == CODETYPEGPS_L2_Z) {
411 bb->p2 = bValue;
412 }
413 }
414 }
415 }
416
417 QMutableMapIterator<QString, t_corr*> im(_corr);
418 while (im.hasNext()) {
419 im.next();
420 t_corr* cc = im.value();
421 if (!cc->ready()) {
422 delete cc;
423 im.remove();
424 }
425 }
426}
427
428// Satellite Position
429////////////////////////////////////////////////////////////////////////////
430t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
431 ColumnVector& xc, ColumnVector& vv) {
432
433 const double MAXAGE = 120.0;
434
435 if (_eph.contains(prn)) {
436
437 if (_pppMode) {
438 if (_corr.contains(prn)) {
439 t_corr* cc = _corr.value(prn);
440 if (tt - cc->tt < MAXAGE) {
441 t_eph* eLast = _eph.value(prn)->last;
442 t_eph* ePrev = _eph.value(prn)->prev;
443 if (eLast && eLast->IOD() == cc->iod) {
444 eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
445 applyCorr(tt, cc, xc, vv);
446 return success;
447 }
448 else if (ePrev && ePrev->IOD() == cc->iod) {
449 ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
450 applyCorr(tt, cc, xc, vv);
451 return success;
452 }
453 }
454 }
455 }
456
457 else {
458 t_eph* ee = _eph.value(prn)->last;
459 ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
460 return success;
461 }
462 }
463
464 return failure;
465}
466
467//
468////////////////////////////////////////////////////////////////////////////
469void bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc,
470 ColumnVector& xc, ColumnVector& vv) {
471 ColumnVector dx(3);
472
473 double dt = tt - cc->tt;
474 ColumnVector raoHlp = cc->rao + cc->dotRao * dt + cc->dotDotRao * dt * dt;
475
476 RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx);
477
478 xc[0] -= dx[0];
479 xc[1] -= dx[1];
480 xc[2] -= dx[2];
481 xc[3] += cc->dClk + cc->dotDClk * dt + cc->dotDotDClk * dt * dt;
482}
483
484// Correct Time of Transmission
485////////////////////////////////////////////////////////////////////////////
486t_irc bncPPPclient::cmpToT(t_satData* satData) {
487
488 double prange = satData->P3;
489 if (prange == 0.0) {
490 return failure;
491 }
492
493 double clkSat = 0.0;
494 for (int ii = 1; ii <= 10; ii++) {
495
496 bncTime ToT = _epoData->tt - prange / t_CST::c - clkSat;
497
498 ColumnVector xc(4);
499 ColumnVector vv(3);
500 if (getSatPos(ToT, satData->prn, xc, vv) != success) {
501 return failure;
502 }
503
504 double clkSatOld = clkSat;
505 clkSat = xc(4);
506
507 if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
508 satData->xx = xc.Rows(1,3);
509 satData->vv = vv;
510 satData->clk = clkSat * t_CST::c;
511 return success;
512 }
513 }
514
515 return failure;
516}
517
518//
519////////////////////////////////////////////////////////////////////////////
520void bncPPPclient::processEpoch() {
521
522 // Data Pre-Processing
523 // -------------------
524 QMutableMapIterator<QString, t_satData*> iGPS(_epoData->satDataGPS);
525 while (iGPS.hasNext()) {
526 iGPS.next();
527 QString prn = iGPS.key();
528 t_satData* satData = iGPS.value();
529
530 if (cmpToT(satData) != success) {
531 delete satData;
532 iGPS.remove();
533 continue;
534 }
535 }
536
537 QMutableMapIterator<QString, t_satData*> iGlo(_epoData->satDataGlo);
538 while (iGlo.hasNext()) {
539 iGlo.next();
540 QString prn = iGlo.key();
541 t_satData* satData = iGlo.value();
542
543 if (cmpToT(satData) != success) {
544 delete satData;
545 iGlo.remove();
546 continue;
547 }
548 }
549
550 // Filter Solution
551 // ---------------
552 if (_model->update(_epoData) == success) {
553 emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
554 }
555}
556
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