source: ntrip/trunk/BNC/bncpppclient.cpp@ 2777

Last change on this file since 2777 was 2777, checked in by mervart, 13 years ago
File size: 15.9 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 _useGalileo = true; // TODO
72
73 if (settings.value("pppSPP").toString() == "PPP") {
74 _pppMode = true;
75 }
76 else {
77 _pppMode = false;
78 }
79
80 connect(this, SIGNAL(newMessage(QByteArray,bool)),
81 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
82
83 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
84 this, SLOT(slotNewEphGPS(gpsephemeris)));
85
86 connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
87 this, SLOT(slotNewEphGlonass(glonassephemeris)));
88
89 connect(((bncApp*)qApp), SIGNAL(newEphGalileo(galileoephemeris)),
90 this, SLOT(slotNewEphGalileo(galileoephemeris)));
91
92 connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
93 this, SLOT(slotNewCorrections(QList<QString>)));
94
95 _staID = staID;
96 _epoData = 0;
97 _model = new bncModel(staID);
98 connect(_model, SIGNAL(newNMEAstr(QByteArray)),
99 this, SIGNAL(newNMEAstr(QByteArray)));
100}
101
102// Destructor
103////////////////////////////////////////////////////////////////////////////
104bncPPPclient::~bncPPPclient() {
105 delete _model;
106 delete _epoData;
107 QMapIterator<QString, t_ephPair*> it(_eph);
108 while (it.hasNext()) {
109 it.next();
110 delete it.value();
111 }
112 QMapIterator<QString, t_corr*> ic(_corr);
113 while (ic.hasNext()) {
114 ic.next();
115 delete ic.value();
116 }
117 QMapIterator<QString, t_bias*> ib(_bias);
118 while (ib.hasNext()) {
119 ib.next();
120 delete ib.value();
121 }
122}
123
124//
125////////////////////////////////////////////////////////////////////////////
126void bncPPPclient::putNewObs(const t_obs& obs) {
127 QMutexLocker locker(&_mutex);
128
129 if (obs.satSys == 'R') {
130 if (!_useGlonass) return;
131 }
132 else if (obs.satSys == 'E') {
133 if (!_useGalileo) return;
134 }
135 else if (obs.satSys != 'G') {
136 return;
137 }
138
139 t_satData* satData = new t_satData();
140
141 // Satellite Number
142 // ----------------
143 satData->prn = QString("%1%2").arg(obs.satSys).arg(obs.satNum,2,10,QChar('0'));
144
145 // Check Slips
146 // -----------
147 slipInfo& sInfo = _slips[satData->prn];
148 if ( sInfo.slipCntL1 == obs.slip_cnt_L1 &&
149 sInfo.slipCntL2 == obs.slip_cnt_L2 ) {
150 satData->slipFlag = false;
151 }
152 else {
153 satData->slipFlag = true;
154 }
155 sInfo.slipCntL1 = obs.slip_cnt_L1;
156 sInfo.slipCntL2 = obs.slip_cnt_L2;
157
158 // Handle Code Biases
159 // ------------------
160 t_bias* bb = 0;
161 if (_bias.contains(satData->prn)) {
162 bb = _bias.value(satData->prn);
163 }
164
165 // Set Code Observations
166 // ---------------------
167 if (obs.P1) {
168 satData->P1 = obs.P1 + (bb ? bb->p1 : 0.0);
169 satData->codeTypeF1 = t_satData::P_CODE;
170 }
171 else if (obs.C1) {
172 satData->P1 = obs.C1 + (bb ? bb->c1 : 0.0);
173 satData->codeTypeF1 = t_satData::C_CODE;
174 }
175 else {
176 delete satData;
177 return;
178 }
179
180 if (obs.P2) {
181 satData->P2 = obs.P2 + (bb ? bb->p2 : 0.0);
182 satData->codeTypeF2 = t_satData::P_CODE;
183 }
184 else if (obs.C2) {
185 satData->P2 = obs.C2;
186 satData->codeTypeF2 = t_satData::C_CODE;
187 }
188 else {
189 delete satData;
190 return;
191 }
192
193 double f1 = t_CST::freq1;
194 double f2 = t_CST::freq2;
195
196 if (obs.satSys == 'R') {
197 f1 = 1602000000.0 + 562500.0 * obs.slotNum;
198 f2 = 1246000000.0 + 437500.0 * obs.slotNum;
199 }
200
201 // Ionosphere-Free Combination
202 // ---------------------------
203 double c1 = f1 * f1 / (f1 * f1 - f2 * f2);
204 double c2 = - f2 * f2 / (f1 * f1 - f2 * f2);
205
206 satData->P3 = c1 * satData->P1 + c2 * satData->P2;
207
208 // Set Phase Observations
209 // ----------------------
210 if (obs.L1() && obs.L2()) {
211 satData->L1 = obs.L1() * t_CST::c / f1;
212 satData->L2 = obs.L2() * t_CST::c / f2;
213 }
214 else {
215 delete satData;
216 return;
217 }
218 satData->L3 = c1 * satData->L1 + c2 * satData->L2;
219
220 // Set Ionosphere-Free Wavelength
221 // ------------------------------
222 satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2;
223
224 // Add new Satellite to the epoch
225 // ------------------------------
226 bncTime tt(obs.GPSWeek, obs.GPSWeeks);
227
228 if (!_epoData) {
229 _epoData = new t_epoData();
230 _epoData->tt = tt;
231 }
232 else if (tt != _epoData->tt) {
233 processEpoch();
234 delete _epoData;
235 _epoData = new t_epoData();
236 _epoData->tt = tt;
237 }
238
239 if (obs.satSys == 'G') {
240 _epoData->satDataGPS[satData->prn] = satData;
241 }
242 else if (obs.satSys == 'R') {
243 _epoData->satDataGlo[satData->prn] = satData;
244 }
245}
246
247//
248////////////////////////////////////////////////////////////////////////////
249void bncPPPclient::slotNewEphGPS(gpsephemeris gpseph) {
250 QMutexLocker locker(&_mutex);
251
252 QString prn = QString("G%1").arg(gpseph.satellite, 2, 10, QChar('0'));
253
254 if (_eph.contains(prn)) {
255 t_ephGPS* eLast = static_cast<t_ephGPS*>(_eph.value(prn)->last);
256 if ( (eLast->GPSweek() < gpseph.GPSweek) ||
257 (eLast->GPSweek() == gpseph.GPSweek &&
258 eLast->TOC() < gpseph.TOC) ) {
259 delete static_cast<t_ephGPS*>(_eph.value(prn)->prev);
260 _eph.value(prn)->prev = _eph.value(prn)->last;
261 _eph.value(prn)->last = new t_ephGPS();
262 static_cast<t_ephGPS*>(_eph.value(prn)->last)->set(&gpseph);
263 }
264 }
265 else {
266 t_ephGPS* eLast = new t_ephGPS();
267 eLast->set(&gpseph);
268 _eph.insert(prn, new t_ephPair());
269 _eph[prn]->last = eLast;
270 }
271}
272
273//
274////////////////////////////////////////////////////////////////////////////
275void bncPPPclient::slotNewEphGlonass(glonassephemeris gloeph) {
276 QMutexLocker locker(&_mutex);
277
278 QString prn = QString("R%1").arg(gloeph.almanac_number, 2, 10, QChar('0'));
279
280 if (_eph.contains(prn)) {
281 int ww = gloeph.GPSWeek;
282 int tow = gloeph.GPSTOW;
283 updatetime(&ww, &tow, gloeph.tb*1000, 0); // Moscow -> GPS
284 t_ephGlo* eLast = static_cast<t_ephGlo*>(_eph.value(prn)->last);
285 if (eLast->GPSweek() < ww ||
286 (eLast->GPSweek() == ww && eLast->GPSweeks() < tow)) {
287 delete static_cast<t_ephGlo*>(_eph.value(prn)->prev);
288 _eph.value(prn)->prev = _eph.value(prn)->last;
289 _eph.value(prn)->last = new t_ephGlo();
290 static_cast<t_ephGlo*>(_eph.value(prn)->last)->set(&gloeph);
291 }
292 }
293 else {
294 t_ephGlo* eLast = new t_ephGlo();
295 eLast->set(&gloeph);
296 _eph.insert(prn, new t_ephPair());
297 _eph[prn]->last = eLast;
298 }
299}
300
301//
302////////////////////////////////////////////////////////////////////////////
303void bncPPPclient::slotNewCorrections(QList<QString> corrList) {
304 QMutexLocker locker(&_mutex);
305
306 if (corrList.size() == 0) {
307 return;
308 }
309
310 // Remove All Corrections
311 // ----------------------
312 QMapIterator<QString, t_corr*> ic(_corr);
313 while (ic.hasNext()) {
314 ic.next();
315 delete ic.value();
316 }
317 _corr.clear();
318
319 QListIterator<QString> it(corrList);
320 while (it.hasNext()) {
321 QTextStream in(it.next().toAscii());
322 int messageType;
323 int updateInterval;
324 int GPSweek;
325 double GPSweeks;
326 QString prn;
327 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
328 if ( messageType == COTYPE_GPSCOMBINED ||
329 messageType == COTYPE_GLONASSCOMBINED ||
330 messageType == COTYPE_GPSORBIT ||
331 messageType == COTYPE_GPSCLOCK ||
332 messageType == COTYPE_GLONASSORBIT ||
333 messageType == COTYPE_GLONASSCLOCK ) {
334
335 t_corr* cc = 0;
336 if (_corr.contains(prn)) {
337 cc = _corr.value(prn);
338 }
339 else {
340 cc = new t_corr();
341 _corr[prn] = cc;
342 }
343
344 cc->tt.set(GPSweek, GPSweeks);
345
346 if ( messageType == COTYPE_GPSCOMBINED ||
347 messageType == COTYPE_GLONASSCOMBINED ) {
348 cc->rao.ReSize(3); cc->rao = 0.0;
349 cc->dotRao.ReSize(3); cc->dotRao = 0.0;
350 cc->dotDotRao.ReSize(3); cc->dotDotRao = 0.0;
351 cc->dClk = 0.0;
352 cc->dotDClk = 0.0;
353 cc->dotDotDClk = 0.0;
354 in >> cc->iod
355 >> cc->dClk >> cc->rao[0] >> cc->rao[1] >> cc->rao[2]
356 >> cc->dotDClk >> cc->dotRao[0] >> cc->dotRao[1] >> cc->dotRao[2]
357 >> cc->dotDotDClk >> cc->dotDotRao[0] >> cc->dotDotRao[1] >> cc->dotDotRao[2];
358 cc->dClk /= t_CST::c;
359 cc->dotDClk /= t_CST::c;
360 cc->dotDotDClk /= t_CST::c;
361 cc->raoSet = true;
362 cc->dClkSet = true;
363 }
364 else if ( messageType == COTYPE_GPSORBIT ||
365 messageType == COTYPE_GLONASSORBIT ) {
366 cc->rao.ReSize(3); cc->rao = 0.0;
367 cc->dotRao.ReSize(3); cc->dotRao = 0.0;
368 cc->dotDotRao.ReSize(3); cc->dotDotRao = 0.0;
369 in >> cc->iod
370 >> cc->rao[0] >> cc->rao[1] >> cc->rao[2]
371 >> cc->dotRao[0] >> cc->dotRao[1] >> cc->dotRao[2]
372 >> cc->dotDotRao[0] >> cc->dotDotRao[1] >> cc->dotDotRao[2];
373 cc->raoSet = true;
374 }
375 else if ( messageType == COTYPE_GPSCLOCK ||
376 messageType == COTYPE_GLONASSCLOCK ) {
377 int dummyIOD;
378 cc->dClk = 0.0;
379 cc->dotDClk = 0.0;
380 cc->dotDotDClk = 0.0;
381 in >> dummyIOD >> cc->dClk >> cc->dotDClk >> cc->dotDotDClk;
382 cc->dClk /= t_CST::c;
383 cc->dotDClk /= t_CST::c;
384 cc->dotDotDClk /= t_CST::c;
385 cc->dClkSet = true;
386 }
387 }
388 else if ( messageType == BTYPE_GPS ) {
389
390 t_bias* bb = 0;
391 if (_bias.contains(prn)) {
392 bb = _bias.value(prn);
393 }
394 else {
395 bb = new t_bias();
396 _bias[prn] = bb;
397 }
398
399 bb->tt.set(GPSweek, GPSweeks);
400
401 int numBiases;
402 in >> numBiases;
403 for (int ii = 0; ii < numBiases; ++ii) {
404 int bType;
405 double bValue;
406 in >> bType >> bValue;
407 if (bType == CODETYPEGPS_L1_Z) {
408 bb->p1 = bValue;
409 }
410 else if (bType == CODETYPEGPS_L1_CA) {
411 bb->c1 = bValue;
412 }
413 else if (bType == CODETYPEGPS_L2_Z) {
414 bb->p2 = bValue;
415 }
416 }
417 }
418 }
419
420 QMutableMapIterator<QString, t_corr*> im(_corr);
421 while (im.hasNext()) {
422 im.next();
423 t_corr* cc = im.value();
424 if (!cc->ready()) {
425 delete cc;
426 im.remove();
427 }
428 }
429}
430
431// Satellite Position
432////////////////////////////////////////////////////////////////////////////
433t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
434 ColumnVector& xc, ColumnVector& vv) {
435
436 const double MAXAGE = 120.0;
437
438 if (_eph.contains(prn)) {
439
440 if (_pppMode) {
441 if (_corr.contains(prn)) {
442 t_corr* cc = _corr.value(prn);
443 if (tt - cc->tt < MAXAGE) {
444 t_eph* eLast = _eph.value(prn)->last;
445 t_eph* ePrev = _eph.value(prn)->prev;
446 if (eLast && eLast->IOD() == cc->iod) {
447 eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
448 applyCorr(tt, cc, xc, vv);
449 return success;
450 }
451 else if (ePrev && ePrev->IOD() == cc->iod) {
452 ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
453 applyCorr(tt, cc, xc, vv);
454 return success;
455 }
456 }
457 }
458 }
459
460 else {
461 t_eph* ee = _eph.value(prn)->last;
462 ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
463 return success;
464 }
465 }
466
467 return failure;
468}
469
470//
471////////////////////////////////////////////////////////////////////////////
472void bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc,
473 ColumnVector& xc, ColumnVector& vv) {
474 ColumnVector dx(3);
475
476 double dt = tt - cc->tt;
477 ColumnVector raoHlp = cc->rao + cc->dotRao * dt + cc->dotDotRao * dt * dt;
478
479 RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx);
480
481 xc[0] -= dx[0];
482 xc[1] -= dx[1];
483 xc[2] -= dx[2];
484 xc[3] += cc->dClk + cc->dotDClk * dt + cc->dotDotDClk * dt * dt;
485}
486
487// Correct Time of Transmission
488////////////////////////////////////////////////////////////////////////////
489t_irc bncPPPclient::cmpToT(t_satData* satData) {
490
491 double prange = satData->P3;
492 if (prange == 0.0) {
493 return failure;
494 }
495
496 double clkSat = 0.0;
497 for (int ii = 1; ii <= 10; ii++) {
498
499 bncTime ToT = _epoData->tt - prange / t_CST::c - clkSat;
500
501 ColumnVector xc(4);
502 ColumnVector vv(3);
503 if (getSatPos(ToT, satData->prn, xc, vv) != success) {
504 return failure;
505 }
506
507 double clkSatOld = clkSat;
508 clkSat = xc(4);
509
510 if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
511 satData->xx = xc.Rows(1,3);
512 satData->vv = vv;
513 satData->clk = clkSat * t_CST::c;
514 return success;
515 }
516 }
517
518 return failure;
519}
520
521//
522////////////////////////////////////////////////////////////////////////////
523void bncPPPclient::processEpoch() {
524
525 // Data Pre-Processing
526 // -------------------
527 QMutableMapIterator<QString, t_satData*> iGPS(_epoData->satDataGPS);
528 while (iGPS.hasNext()) {
529 iGPS.next();
530 QString prn = iGPS.key();
531 t_satData* satData = iGPS.value();
532
533 if (cmpToT(satData) != success) {
534 delete satData;
535 iGPS.remove();
536 continue;
537 }
538 }
539
540 QMutableMapIterator<QString, t_satData*> iGlo(_epoData->satDataGlo);
541 while (iGlo.hasNext()) {
542 iGlo.next();
543 QString prn = iGlo.key();
544 t_satData* satData = iGlo.value();
545
546 if (cmpToT(satData) != success) {
547 delete satData;
548 iGlo.remove();
549 continue;
550 }
551 }
552
553 // Filter Solution
554 // ---------------
555 if (_model->update(_epoData) == success) {
556 emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
557 }
558}
559
560//
561////////////////////////////////////////////////////////////////////////////
562void bncPPPclient::slotNewEphGalileo(galileoephemeris galeph) {
563 QMutexLocker locker(&_mutex);
564
565 QString prn = QString("E%1").arg(galeph.satellite, 2, 10, QChar('0'));
566
567 if (_eph.contains(prn)) {
568 t_ephGal* eLast = static_cast<t_ephGal*>(_eph.value(prn)->last);
569 if ( (eLast->GPSweek() < galeph.Week) ||
570 (eLast->GPSweek() == galeph.Week &&
571 eLast->TOC() < galeph.TOC) ) {
572 delete static_cast<t_ephGal*>(_eph.value(prn)->prev);
573 _eph.value(prn)->prev = _eph.value(prn)->last;
574 _eph.value(prn)->last = new t_ephGal();
575 static_cast<t_ephGal*>(_eph.value(prn)->last)->set(&galeph);
576 }
577 }
578 else {
579 t_ephGal* eLast = new t_ephGal();
580 eLast->set(&galeph);
581 _eph.insert(prn, new t_ephPair());
582 _eph[prn]->last = eLast;
583 }
584}
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