1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: bncPPPclient
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30 | *
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31 | * Purpose: Precise Point Positioning
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 21-Nov-2009
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <newmatio.h>
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42 | #include <iomanip>
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43 | #include <sstream>
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44 |
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45 | #include "bncpppclient.h"
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46 | #include "bncapp.h"
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47 | #include "bncutils.h"
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48 | #include "bncconst.h"
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49 | #include "bncmodel.h"
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50 | #include "bncsettings.h"
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51 |
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52 | extern "C" {
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53 | #include "clock_orbit_rtcm.h"
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54 | }
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55 |
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56 | using namespace std;
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57 |
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58 | // Constructor
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59 | ////////////////////////////////////////////////////////////////////////////
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60 | bncPPPclient::bncPPPclient(QByteArray staID) {
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61 |
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62 | bncSettings settings;
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63 |
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64 | if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
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65 | _useGlonass = true;
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66 | }
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67 | else {
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68 | _useGlonass = false;
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69 | }
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70 |
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71 | _useGalileo = true; // TODO
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72 |
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73 | if (settings.value("pppSPP").toString() == "PPP") {
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74 | _pppMode = true;
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75 | }
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76 | else {
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77 | _pppMode = false;
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78 | }
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79 |
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80 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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81 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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82 |
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83 | connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
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84 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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85 |
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86 | connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
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87 | this, SLOT(slotNewEphGlonass(glonassephemeris)));
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88 |
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89 | connect(((bncApp*)qApp), SIGNAL(newEphGalileo(galileoephemeris)),
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90 | this, SLOT(slotNewEphGalileo(galileoephemeris)));
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91 |
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92 | connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
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93 | this, SLOT(slotNewCorrections(QList<QString>)));
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94 |
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95 | _staID = staID;
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96 | _epoData = 0;
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97 | _model = new bncModel(staID);
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98 | connect(_model, SIGNAL(newNMEAstr(QByteArray)),
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99 | this, SIGNAL(newNMEAstr(QByteArray)));
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100 | }
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101 |
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102 | // Destructor
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103 | ////////////////////////////////////////////////////////////////////////////
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104 | bncPPPclient::~bncPPPclient() {
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105 | delete _model;
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106 | delete _epoData;
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107 | QMapIterator<QString, t_ephPair*> it(_eph);
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108 | while (it.hasNext()) {
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109 | it.next();
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110 | delete it.value();
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111 | }
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112 | QMapIterator<QString, t_corr*> ic(_corr);
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113 | while (ic.hasNext()) {
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114 | ic.next();
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115 | delete ic.value();
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116 | }
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117 | QMapIterator<QString, t_bias*> ib(_bias);
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118 | while (ib.hasNext()) {
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119 | ib.next();
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120 | delete ib.value();
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121 | }
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122 | }
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123 |
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124 | //
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125 | ////////////////////////////////////////////////////////////////////////////
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126 | void bncPPPclient::putNewObs(const t_obs& obs) {
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127 | QMutexLocker locker(&_mutex);
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128 |
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129 | if (obs.satSys == 'R') {
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130 | if (!_useGlonass) return;
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131 | }
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132 | else if (obs.satSys == 'E') {
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133 | if (!_useGalileo) return;
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134 | }
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135 | else if (obs.satSys != 'G') {
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136 | return;
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137 | }
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138 |
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139 | t_satData* satData = new t_satData();
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140 |
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141 | // Satellite Number
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142 | // ----------------
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143 | satData->prn = QString("%1%2").arg(obs.satSys).arg(obs.satNum,2,10,QChar('0'));
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144 |
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145 | // Check Slips
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146 | // -----------
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147 | slipInfo& sInfo = _slips[satData->prn];
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148 | if ( sInfo.slipCntL1 == obs.slip_cnt_L1 &&
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149 | sInfo.slipCntL2 == obs.slip_cnt_L2 &&
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150 | sInfo.slipCntL5 == obs.slip_cnt_L5 ) {
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151 | satData->slipFlag = false;
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152 | }
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153 | else {
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154 | satData->slipFlag = true;
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155 | }
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156 | sInfo.slipCntL1 = obs.slip_cnt_L1;
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157 | sInfo.slipCntL2 = obs.slip_cnt_L2;
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158 |
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159 | // Handle Code Biases
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160 | // ------------------
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161 | t_bias* bb = 0;
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162 | if (_bias.contains(satData->prn)) {
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163 | bb = _bias.value(satData->prn);
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164 | }
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165 |
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166 | // Set Code Observations - P1 or C1
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167 | // --------------------------------
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168 | bool haveP1 = false;
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169 | if (obs.P1) {
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170 | satData->P1 = obs.P1 + (bb ? bb->p1 : 0.0);
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171 | satData->codeTypeF1 = t_satData::P_CODE;
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172 | haveP1 = true;
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173 | }
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174 | else if (obs.C1) {
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175 | satData->P1 = obs.C1 + (bb ? bb->c1 : 0.0);
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176 | satData->codeTypeF1 = t_satData::C_CODE;
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177 | haveP1 = true;
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178 | }
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179 |
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180 | if (!haveP1) {
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181 | delete satData;
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182 | return;
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183 | }
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184 |
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185 | // P2 or C2, and C5
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186 | // ----------------
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187 | bool haveP2 = false;
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188 | if (obs.P2) {
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189 | satData->P2 = obs.P2 + (bb ? bb->p2 : 0.0);
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190 | satData->codeTypeF2 = t_satData::P_CODE;
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191 | haveP2 = true;
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192 | }
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193 | else if (obs.C2) {
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194 | satData->P2 = obs.C2;
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195 | satData->codeTypeF2 = t_satData::C_CODE;
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196 | haveP2 = true;
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197 | }
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198 |
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199 | bool haveP5 = false;
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200 | if (obs.C5) {
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201 | satData->P5 = obs.C5;
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202 | satData->codeTypeF2 = t_satData::P_CODE;
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203 | haveP5 = true;
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204 | }
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205 |
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206 | if (!haveP2 && !haveP5) {
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207 | delete satData;
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208 | return;
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209 | }
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210 |
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211 | // Add new Satellite to the epoch
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212 | // ------------------------------
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213 | bncTime tt(obs.GPSWeek, obs.GPSWeeks);
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214 |
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215 | if (!_epoData) {
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216 | _epoData = new t_epoData();
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217 | _epoData->tt = tt;
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218 | }
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219 | else if (tt != _epoData->tt) {
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220 | processEpoch();
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221 | delete _epoData;
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222 | _epoData = new t_epoData();
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223 | _epoData->tt = tt;
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224 | }
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225 |
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226 | // Set Ionosphere-Free Combinations
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227 | // --------------------------------
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228 | if (obs.satSys == 'G') {
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229 | double f1 = t_CST::freq1;
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230 | double f2 = t_CST::freq2;
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231 | double c1 = f1 * f1 / (f1 * f1 - f2 * f2);
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232 | double c2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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233 |
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234 | if (obs.L1() && obs.L2()) {
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235 | satData->L1 = obs.L1() * t_CST::c / f1;
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236 | satData->L2 = obs.L2() * t_CST::c / f2;
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237 | }
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238 | else {
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239 | delete satData;
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240 | return;
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241 | }
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242 |
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243 | satData->P3 = c1 * satData->P1 + c2 * satData->P2;
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244 | satData->L3 = c1 * satData->L1 + c2 * satData->L2;
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245 | satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2;
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246 |
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247 | _epoData->satDataGPS[satData->prn] = satData;
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248 | }
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249 | else if (obs.satSys == 'R') {
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250 | double f1 = 1602000000.0 + 562500.0 * obs.slotNum;
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251 | double f2 = 1246000000.0 + 437500.0 * obs.slotNum;
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252 | double c1 = f1 * f1 / (f1 * f1 - f2 * f2);
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253 | double c2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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254 |
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255 | if (obs.L1() && obs.L2()) {
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256 | satData->L1 = obs.L1() * t_CST::c / f1;
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257 | satData->L2 = obs.L2() * t_CST::c / f2;
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258 | }
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259 | else {
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260 | delete satData;
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261 | return;
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262 | }
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263 |
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264 | satData->P3 = c1 * satData->P1 + c2 * satData->P2;
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265 | satData->L3 = c1 * satData->L1 + c2 * satData->L2;
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266 | satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2;
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267 |
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268 | _epoData->satDataGlo[satData->prn] = satData;
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269 | }
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270 | else if (obs.satSys == 'E') {
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271 | double f1 = t_CST::freq1;
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272 | double f5 = t_CST::freq5;
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273 | double c1 = f1 * f1 / (f1 * f1 - f5 * f5);
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274 | double c5 = - f5 * f5 / (f1 * f1 - f5 * f5);
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275 |
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276 | if (obs.L1() && obs.L5) {
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277 | satData->L1 = obs.L1() * t_CST::c / f1;
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278 | satData->L5 = obs.L5 * t_CST::c / f5;
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279 | }
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280 | else {
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281 | delete satData;
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282 | return;
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283 | }
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284 |
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285 | satData->P3 = c1 * satData->P1 + c5 * satData->P5;
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286 | satData->L3 = c1 * satData->L1 + c5 * satData->L5;
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287 | satData->lambda3 = c1 * t_CST::c / f1 + c5 * t_CST::c / f5;
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288 |
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289 | _epoData->satDataGal[satData->prn] = satData;
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290 | }
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291 | }
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292 |
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293 | //
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294 | ////////////////////////////////////////////////////////////////////////////
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295 | void bncPPPclient::slotNewEphGPS(gpsephemeris gpseph) {
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296 | QMutexLocker locker(&_mutex);
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297 |
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298 | QString prn = QString("G%1").arg(gpseph.satellite, 2, 10, QChar('0'));
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299 |
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300 | if (_eph.contains(prn)) {
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301 | t_ephGPS* eLast = static_cast<t_ephGPS*>(_eph.value(prn)->last);
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302 | if ( (eLast->GPSweek() < gpseph.GPSweek) ||
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303 | (eLast->GPSweek() == gpseph.GPSweek &&
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304 | eLast->TOC() < gpseph.TOC) ) {
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305 | delete static_cast<t_ephGPS*>(_eph.value(prn)->prev);
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306 | _eph.value(prn)->prev = _eph.value(prn)->last;
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307 | _eph.value(prn)->last = new t_ephGPS();
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308 | static_cast<t_ephGPS*>(_eph.value(prn)->last)->set(&gpseph);
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309 | }
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310 | }
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311 | else {
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312 | t_ephGPS* eLast = new t_ephGPS();
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313 | eLast->set(&gpseph);
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314 | _eph.insert(prn, new t_ephPair());
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315 | _eph[prn]->last = eLast;
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316 | }
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317 | }
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318 |
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319 | //
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320 | ////////////////////////////////////////////////////////////////////////////
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321 | void bncPPPclient::slotNewEphGlonass(glonassephemeris gloeph) {
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322 | QMutexLocker locker(&_mutex);
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323 |
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324 | QString prn = QString("R%1").arg(gloeph.almanac_number, 2, 10, QChar('0'));
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325 |
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326 | if (_eph.contains(prn)) {
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327 | int ww = gloeph.GPSWeek;
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328 | int tow = gloeph.GPSTOW;
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329 | updatetime(&ww, &tow, gloeph.tb*1000, 0); // Moscow -> GPS
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330 | t_ephGlo* eLast = static_cast<t_ephGlo*>(_eph.value(prn)->last);
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331 | if (eLast->GPSweek() < ww ||
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332 | (eLast->GPSweek() == ww && eLast->GPSweeks() < tow)) {
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333 | delete static_cast<t_ephGlo*>(_eph.value(prn)->prev);
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334 | _eph.value(prn)->prev = _eph.value(prn)->last;
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335 | _eph.value(prn)->last = new t_ephGlo();
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336 | static_cast<t_ephGlo*>(_eph.value(prn)->last)->set(&gloeph);
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337 | }
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338 | }
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339 | else {
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340 | t_ephGlo* eLast = new t_ephGlo();
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341 | eLast->set(&gloeph);
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342 | _eph.insert(prn, new t_ephPair());
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343 | _eph[prn]->last = eLast;
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344 | }
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345 | }
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346 |
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347 | //
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348 | ////////////////////////////////////////////////////////////////////////////
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349 | void bncPPPclient::slotNewEphGalileo(galileoephemeris galeph) {
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350 | QMutexLocker locker(&_mutex);
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351 |
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352 | QString prn = QString("E%1").arg(galeph.satellite, 2, 10, QChar('0'));
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353 |
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354 | if (_eph.contains(prn)) {
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355 | t_ephGal* eLast = static_cast<t_ephGal*>(_eph.value(prn)->last);
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356 | if ( (eLast->GPSweek() < galeph.Week) ||
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357 | (eLast->GPSweek() == galeph.Week &&
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358 | eLast->TOC() < galeph.TOC) ) {
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359 | delete static_cast<t_ephGal*>(_eph.value(prn)->prev);
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360 | _eph.value(prn)->prev = _eph.value(prn)->last;
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361 | _eph.value(prn)->last = new t_ephGal();
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362 | static_cast<t_ephGal*>(_eph.value(prn)->last)->set(&galeph);
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363 | }
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364 | }
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365 | else {
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366 | t_ephGal* eLast = new t_ephGal();
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367 | eLast->set(&galeph);
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368 | _eph.insert(prn, new t_ephPair());
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369 | _eph[prn]->last = eLast;
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370 | }
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371 | }
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372 |
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373 | //
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374 | ////////////////////////////////////////////////////////////////////////////
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375 | void bncPPPclient::slotNewCorrections(QList<QString> corrList) {
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376 | QMutexLocker locker(&_mutex);
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377 |
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378 | if (corrList.size() == 0) {
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379 | return;
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380 | }
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381 |
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382 | // Remove All Corrections
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383 | // ----------------------
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384 | QMapIterator<QString, t_corr*> ic(_corr);
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385 | while (ic.hasNext()) {
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386 | ic.next();
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387 | delete ic.value();
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388 | }
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389 | _corr.clear();
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390 |
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391 | QListIterator<QString> it(corrList);
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392 | while (it.hasNext()) {
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393 | QTextStream in(it.next().toAscii());
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394 | int messageType;
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395 | int updateInterval;
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396 | int GPSweek;
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397 | double GPSweeks;
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398 | QString prn;
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399 | in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
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400 | if ( messageType == COTYPE_GPSCOMBINED ||
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401 | messageType == COTYPE_GLONASSCOMBINED ||
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402 | messageType == COTYPE_GPSORBIT ||
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403 | messageType == COTYPE_GPSCLOCK ||
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404 | messageType == COTYPE_GLONASSORBIT ||
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405 | messageType == COTYPE_GLONASSCLOCK ) {
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406 |
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407 | t_corr* cc = 0;
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408 | if (_corr.contains(prn)) {
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409 | cc = _corr.value(prn);
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410 | }
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411 | else {
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412 | cc = new t_corr();
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413 | _corr[prn] = cc;
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414 | }
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415 |
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416 | cc->tt.set(GPSweek, GPSweeks);
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417 |
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418 | if ( messageType == COTYPE_GPSCOMBINED ||
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419 | messageType == COTYPE_GLONASSCOMBINED ) {
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420 | cc->rao.ReSize(3); cc->rao = 0.0;
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421 | cc->dotRao.ReSize(3); cc->dotRao = 0.0;
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422 | cc->dotDotRao.ReSize(3); cc->dotDotRao = 0.0;
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423 | cc->dClk = 0.0;
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424 | cc->dotDClk = 0.0;
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425 | cc->dotDotDClk = 0.0;
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426 | in >> cc->iod
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427 | >> cc->dClk >> cc->rao[0] >> cc->rao[1] >> cc->rao[2]
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428 | >> cc->dotDClk >> cc->dotRao[0] >> cc->dotRao[1] >> cc->dotRao[2]
|
---|
429 | >> cc->dotDotDClk >> cc->dotDotRao[0] >> cc->dotDotRao[1] >> cc->dotDotRao[2];
|
---|
430 | cc->dClk /= t_CST::c;
|
---|
431 | cc->dotDClk /= t_CST::c;
|
---|
432 | cc->dotDotDClk /= t_CST::c;
|
---|
433 | cc->raoSet = true;
|
---|
434 | cc->dClkSet = true;
|
---|
435 | }
|
---|
436 | else if ( messageType == COTYPE_GPSORBIT ||
|
---|
437 | messageType == COTYPE_GLONASSORBIT ) {
|
---|
438 | cc->rao.ReSize(3); cc->rao = 0.0;
|
---|
439 | cc->dotRao.ReSize(3); cc->dotRao = 0.0;
|
---|
440 | cc->dotDotRao.ReSize(3); cc->dotDotRao = 0.0;
|
---|
441 | in >> cc->iod
|
---|
442 | >> cc->rao[0] >> cc->rao[1] >> cc->rao[2]
|
---|
443 | >> cc->dotRao[0] >> cc->dotRao[1] >> cc->dotRao[2]
|
---|
444 | >> cc->dotDotRao[0] >> cc->dotDotRao[1] >> cc->dotDotRao[2];
|
---|
445 | cc->raoSet = true;
|
---|
446 | }
|
---|
447 | else if ( messageType == COTYPE_GPSCLOCK ||
|
---|
448 | messageType == COTYPE_GLONASSCLOCK ) {
|
---|
449 | int dummyIOD;
|
---|
450 | cc->dClk = 0.0;
|
---|
451 | cc->dotDClk = 0.0;
|
---|
452 | cc->dotDotDClk = 0.0;
|
---|
453 | in >> dummyIOD >> cc->dClk >> cc->dotDClk >> cc->dotDotDClk;
|
---|
454 | cc->dClk /= t_CST::c;
|
---|
455 | cc->dotDClk /= t_CST::c;
|
---|
456 | cc->dotDotDClk /= t_CST::c;
|
---|
457 | cc->dClkSet = true;
|
---|
458 | }
|
---|
459 | }
|
---|
460 | else if ( messageType == BTYPE_GPS ) {
|
---|
461 |
|
---|
462 | t_bias* bb = 0;
|
---|
463 | if (_bias.contains(prn)) {
|
---|
464 | bb = _bias.value(prn);
|
---|
465 | }
|
---|
466 | else {
|
---|
467 | bb = new t_bias();
|
---|
468 | _bias[prn] = bb;
|
---|
469 | }
|
---|
470 |
|
---|
471 | bb->tt.set(GPSweek, GPSweeks);
|
---|
472 |
|
---|
473 | int numBiases;
|
---|
474 | in >> numBiases;
|
---|
475 | for (int ii = 0; ii < numBiases; ++ii) {
|
---|
476 | int bType;
|
---|
477 | double bValue;
|
---|
478 | in >> bType >> bValue;
|
---|
479 | if (bType == CODETYPEGPS_L1_Z) {
|
---|
480 | bb->p1 = bValue;
|
---|
481 | }
|
---|
482 | else if (bType == CODETYPEGPS_L1_CA) {
|
---|
483 | bb->c1 = bValue;
|
---|
484 | }
|
---|
485 | else if (bType == CODETYPEGPS_L2_Z) {
|
---|
486 | bb->p2 = bValue;
|
---|
487 | }
|
---|
488 | }
|
---|
489 | }
|
---|
490 | }
|
---|
491 |
|
---|
492 | QMutableMapIterator<QString, t_corr*> im(_corr);
|
---|
493 | while (im.hasNext()) {
|
---|
494 | im.next();
|
---|
495 | t_corr* cc = im.value();
|
---|
496 | if (!cc->ready()) {
|
---|
497 | delete cc;
|
---|
498 | im.remove();
|
---|
499 | }
|
---|
500 | }
|
---|
501 | }
|
---|
502 |
|
---|
503 | // Satellite Position
|
---|
504 | ////////////////////////////////////////////////////////////////////////////
|
---|
505 | t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
|
---|
506 | ColumnVector& xc, ColumnVector& vv) {
|
---|
507 |
|
---|
508 | const double MAXAGE = 120.0;
|
---|
509 |
|
---|
510 | if (_eph.contains(prn)) {
|
---|
511 |
|
---|
512 | if (_pppMode) {
|
---|
513 | if (_corr.contains(prn)) {
|
---|
514 | t_corr* cc = _corr.value(prn);
|
---|
515 | if (tt - cc->tt < MAXAGE) {
|
---|
516 | t_eph* eLast = _eph.value(prn)->last;
|
---|
517 | t_eph* ePrev = _eph.value(prn)->prev;
|
---|
518 | if (eLast && eLast->IOD() == cc->iod) {
|
---|
519 | eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
|
---|
520 | applyCorr(tt, cc, xc, vv);
|
---|
521 | return success;
|
---|
522 | }
|
---|
523 | else if (ePrev && ePrev->IOD() == cc->iod) {
|
---|
524 | ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
|
---|
525 | applyCorr(tt, cc, xc, vv);
|
---|
526 | return success;
|
---|
527 | }
|
---|
528 | }
|
---|
529 | }
|
---|
530 | }
|
---|
531 |
|
---|
532 | else {
|
---|
533 | t_eph* ee = _eph.value(prn)->last;
|
---|
534 | ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
|
---|
535 | return success;
|
---|
536 | }
|
---|
537 | }
|
---|
538 |
|
---|
539 | return failure;
|
---|
540 | }
|
---|
541 |
|
---|
542 | //
|
---|
543 | ////////////////////////////////////////////////////////////////////////////
|
---|
544 | void bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc,
|
---|
545 | ColumnVector& xc, ColumnVector& vv) {
|
---|
546 | ColumnVector dx(3);
|
---|
547 |
|
---|
548 | double dt = tt - cc->tt;
|
---|
549 | ColumnVector raoHlp = cc->rao + cc->dotRao * dt + cc->dotDotRao * dt * dt;
|
---|
550 |
|
---|
551 | RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx);
|
---|
552 |
|
---|
553 | xc[0] -= dx[0];
|
---|
554 | xc[1] -= dx[1];
|
---|
555 | xc[2] -= dx[2];
|
---|
556 | xc[3] += cc->dClk + cc->dotDClk * dt + cc->dotDotDClk * dt * dt;
|
---|
557 | }
|
---|
558 |
|
---|
559 | // Correct Time of Transmission
|
---|
560 | ////////////////////////////////////////////////////////////////////////////
|
---|
561 | t_irc bncPPPclient::cmpToT(t_satData* satData) {
|
---|
562 |
|
---|
563 | double prange = satData->P3;
|
---|
564 | if (prange == 0.0) {
|
---|
565 | return failure;
|
---|
566 | }
|
---|
567 |
|
---|
568 | double clkSat = 0.0;
|
---|
569 | for (int ii = 1; ii <= 10; ii++) {
|
---|
570 |
|
---|
571 | bncTime ToT = _epoData->tt - prange / t_CST::c - clkSat;
|
---|
572 |
|
---|
573 | ColumnVector xc(4);
|
---|
574 | ColumnVector vv(3);
|
---|
575 | if (getSatPos(ToT, satData->prn, xc, vv) != success) {
|
---|
576 | return failure;
|
---|
577 | }
|
---|
578 |
|
---|
579 | double clkSatOld = clkSat;
|
---|
580 | clkSat = xc(4);
|
---|
581 |
|
---|
582 | if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
|
---|
583 | satData->xx = xc.Rows(1,3);
|
---|
584 | satData->vv = vv;
|
---|
585 | satData->clk = clkSat * t_CST::c;
|
---|
586 | return success;
|
---|
587 | }
|
---|
588 | }
|
---|
589 |
|
---|
590 | return failure;
|
---|
591 | }
|
---|
592 |
|
---|
593 | //
|
---|
594 | ////////////////////////////////////////////////////////////////////////////
|
---|
595 | void bncPPPclient::processEpoch() {
|
---|
596 |
|
---|
597 | // Data Pre-Processing
|
---|
598 | // -------------------
|
---|
599 | QMutableMapIterator<QString, t_satData*> iGPS(_epoData->satDataGPS);
|
---|
600 | while (iGPS.hasNext()) {
|
---|
601 | iGPS.next();
|
---|
602 | QString prn = iGPS.key();
|
---|
603 | t_satData* satData = iGPS.value();
|
---|
604 |
|
---|
605 | if (cmpToT(satData) != success) {
|
---|
606 | delete satData;
|
---|
607 | iGPS.remove();
|
---|
608 | continue;
|
---|
609 | }
|
---|
610 | }
|
---|
611 |
|
---|
612 | QMutableMapIterator<QString, t_satData*> iGlo(_epoData->satDataGlo);
|
---|
613 | while (iGlo.hasNext()) {
|
---|
614 | iGlo.next();
|
---|
615 | QString prn = iGlo.key();
|
---|
616 | t_satData* satData = iGlo.value();
|
---|
617 |
|
---|
618 | if (cmpToT(satData) != success) {
|
---|
619 | delete satData;
|
---|
620 | iGlo.remove();
|
---|
621 | continue;
|
---|
622 | }
|
---|
623 | }
|
---|
624 |
|
---|
625 | QMutableMapIterator<QString, t_satData*> iGal(_epoData->satDataGal);
|
---|
626 | while (iGal.hasNext()) {
|
---|
627 | iGal.next();
|
---|
628 | QString prn = iGal.key();
|
---|
629 | t_satData* satData = iGal.value();
|
---|
630 |
|
---|
631 | if (cmpToT(satData) != success) {
|
---|
632 | delete satData;
|
---|
633 | iGal.remove();
|
---|
634 | continue;
|
---|
635 | }
|
---|
636 | }
|
---|
637 |
|
---|
638 | // Filter Solution
|
---|
639 | // ---------------
|
---|
640 | if (_model->update(_epoData) == success) {
|
---|
641 | emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
|
---|
642 | }
|
---|
643 | }
|
---|