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 | using namespace std;
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53 |
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54 | // Constructor
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55 | ////////////////////////////////////////////////////////////////////////////
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56 | bncPPPclient::bncPPPclient(QByteArray staID) {
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57 |
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58 | bncSettings settings;
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59 |
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60 | if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
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61 | _useGlonass = true;
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62 | }
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63 | else {
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64 | _useGlonass = false;
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65 | }
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66 |
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67 | if ( Qt::CheckState(settings.value("pppGalileo").toInt()) == Qt::Checked) {
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68 | _useGalileo = true;
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69 | }
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70 | else {
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71 | _useGalileo = false;
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72 | }
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73 |
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74 | if (settings.value("pppSPP").toString() == "PPP") {
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75 | _pppMode = true;
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76 | }
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77 | else {
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78 | _pppMode = false;
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79 | }
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80 |
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81 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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82 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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83 |
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84 | connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
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85 | this, SLOT(slotNewCorrections(QList<QString>)));
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86 |
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87 | _staID = staID;
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88 | _model = new bncModel(staID);
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89 | connect(_model, SIGNAL(newNMEAstr(QByteArray)),
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90 | this, SIGNAL(newNMEAstr(QByteArray)));
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91 |
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92 | _pppCorrMount = settings.value("pppCorrMount").toString();
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93 | }
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94 |
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95 | // Destructor
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96 | ////////////////////////////////////////////////////////////////////////////
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97 | bncPPPclient::~bncPPPclient() {
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98 | delete _model;
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99 | while (!_epoData.empty()) {
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100 | delete _epoData.front();
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101 | _epoData.pop();
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102 | }
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103 | QMapIterator<QString, t_corr*> ic(_corr);
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104 | while (ic.hasNext()) {
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105 | ic.next();
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106 | delete ic.value();
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107 | }
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108 | QMapIterator<QString, t_bias*> ib(_bias);
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109 | while (ib.hasNext()) {
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110 | ib.next();
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111 | delete ib.value();
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112 | }
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113 | }
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114 |
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115 | //
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116 | ////////////////////////////////////////////////////////////////////////////
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117 | void bncPPPclient::putNewObs(const t_obs& obs) {
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118 | QMutexLocker locker(&_mutex);
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119 |
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120 | if (obs.satSys == 'R') {
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121 | if (!_useGlonass) return;
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122 | }
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123 | else if (obs.satSys == 'E') {
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124 | if (!_useGalileo) return;
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125 | }
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126 | else if (obs.satSys != 'G') {
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127 | return;
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128 | }
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129 |
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130 | t_satData* satData = new t_satData();
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131 | satData->tt = bncTime(obs.GPSWeek, obs.GPSWeeks);
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132 |
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133 | // Satellite Number
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134 | // ----------------
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135 | satData->prn = QString("%1%2").arg(obs.satSys).arg(obs.satNum,2,10,QChar('0'));
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136 |
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137 | // Check Slips
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138 | // -----------
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139 | slipInfo& sInfo = _slips[satData->prn];
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140 | if ( sInfo.slipCntL1 == obs.slip_cnt_L1 &&
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141 | sInfo.slipCntL2 == obs.slip_cnt_L2 &&
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142 | sInfo.slipCntL5 == obs.slip_cnt_L5 ) {
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143 | satData->slipFlag = false;
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144 | }
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145 | else {
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146 | satData->slipFlag = true;
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147 | }
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148 | sInfo.slipCntL1 = obs.slip_cnt_L1;
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149 | sInfo.slipCntL2 = obs.slip_cnt_L2;
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150 |
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151 | // Handle Code Biases
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152 | // ------------------
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153 | t_bias* bb = 0;
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154 | if (_bias.contains(satData->prn)) {
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155 | bb = _bias.value(satData->prn);
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156 | }
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157 |
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158 | // Add new epoch, process the older ones
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159 | // -------------------------------------
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160 | if (_epoData.size() == 0) {
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161 | _epoData.push(new t_epoData());
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162 | _epoData.back()->tt = satData->tt;
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163 | }
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164 | else if (satData->tt != _epoData.back()->tt) {
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165 | processEpochs();
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166 | _epoData.push(new t_epoData());
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167 | _epoData.back()->tt = satData->tt;
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168 | }
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169 |
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170 | // Set Observations GPS
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171 | // --------------------
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172 | if (obs.satSys == 'G') {
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173 | if ( (obs.P1 || obs.C1) && (obs.P2 || obs.C2) && obs.L1() && obs.L2() ) {
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174 | double f1 = t_CST::freq1;
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175 | double f2 = t_CST::freq2;
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176 | double c1 = f1 * f1 / (f1 * f1 - f2 * f2);
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177 | double c2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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178 | if (obs.P1) {
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179 | satData->P1 = obs.P1 + (bb ? bb->p1 : 0.0);
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180 | }
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181 | else {
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182 | satData->P1 = obs.C1 + (bb ? bb->c1 : 0.0);
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183 | }
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184 | if (obs.P2) {
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185 | satData->P2 = obs.P2 + (bb ? bb->p2 : 0.0);
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186 | }
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187 | else {
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188 | satData->P2 = obs.C2;
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189 | }
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190 | satData->L1 = obs.L1() * t_CST::c / f1;
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191 | satData->L2 = obs.L2() * t_CST::c / f2;
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192 | satData->P3 = c1 * satData->P1 + c2 * satData->P2;
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193 | satData->L3 = c1 * satData->L1 + c2 * satData->L2;
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194 | satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2;
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195 |
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196 | _epoData.back()->satData[satData->prn] = satData;
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197 | }
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198 | else {
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199 | delete satData;
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200 | }
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201 | }
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202 |
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203 | // Set Observations GLONASS
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204 | // ------------------------
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205 | else if (obs.satSys == 'R') {
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206 | if ( (obs.P1 || obs.C1) && (obs.P2 || obs.C2) && obs.L1() && obs.L2() ) {
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207 | double f1 = 1602000000.0 + 562500.0 * obs.slotNum;
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208 | double f2 = 1246000000.0 + 437500.0 * obs.slotNum;
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209 | double c1 = f1 * f1 / (f1 * f1 - f2 * f2);
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210 | double c2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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211 | if (obs.P1) {
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212 | satData->P1 = obs.P1 + (bb ? bb->p1 : 0.0);
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213 | }
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214 | else {
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215 | satData->P1 = obs.C1 + (bb ? bb->c1 : 0.0);
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216 | }
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217 | if (obs.P2) {
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218 | satData->P2 = obs.P2 + (bb ? bb->p2 : 0.0);
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219 | }
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220 | else {
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221 | satData->P2 = obs.C2;
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222 | }
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223 | satData->L1 = obs.L1() * t_CST::c / f1;
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224 | satData->L2 = obs.L2() * t_CST::c / f2;
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225 | satData->P3 = c1 * satData->P1 + c2 * satData->P2;
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226 | satData->L3 = c1 * satData->L1 + c2 * satData->L2;
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227 | satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2;
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228 |
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229 | _epoData.back()->satData[satData->prn] = satData;
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230 | }
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231 | else {
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232 | delete satData;
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233 | }
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234 | }
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235 |
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236 | // Set Observations Galileo
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237 | // ------------------------
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238 | else if (obs.satSys == 'E') {
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239 | if ( obs.C1 && obs.C5 && obs.L1() && obs.L5) {
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240 | double f1 = t_CST::freq1;
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241 | double f5 = t_CST::freq5;
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242 | double c1 = f1 * f1 / (f1 * f1 - f5 * f5);
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243 | double c5 = - f5 * f5 / (f1 * f1 - f5 * f5);
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244 |
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245 | satData->P1 = obs.C1;
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246 | satData->P5 = obs.C5;
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247 | satData->L1 = obs.L1() * t_CST::c / f1;
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248 | satData->L5 = obs.L5 * t_CST::c / f5;
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249 | satData->P3 = c1 * satData->P1 + c5 * satData->P5;
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250 | satData->L3 = c1 * satData->L1 + c5 * satData->L5;
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251 | satData->lambda3 = c1 * t_CST::c / f1 + c5 * t_CST::c / f5;
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252 | _epoData.back()->satData[satData->prn] = satData;
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253 | }
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254 | else {
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255 | delete satData;
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256 | }
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257 | }
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258 | }
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259 |
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260 | //
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261 | ////////////////////////////////////////////////////////////////////////////
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262 | void bncPPPclient::slotNewCorrections(QList<QString> corrList) {
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263 | QMutexLocker locker(&_mutex);
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264 |
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265 | // Check the Mountpoint (source of corrections)
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266 | // --------------------------------------------
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267 | if (!_pppCorrMount.isEmpty()) {
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268 | QMutableListIterator<QString> itm(corrList);
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269 | while (itm.hasNext()) {
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270 | QStringList hlp = itm.next().split(" ");
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271 | if (hlp.size() > 0) {
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272 | QString mountpoint = hlp[hlp.size()-1];
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273 | if (mountpoint != _pppCorrMount) {
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274 | itm.remove();
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275 | }
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276 | }
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277 | }
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278 | }
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279 |
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280 | if (corrList.size() == 0) {
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281 | return;
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282 | }
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283 |
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284 | // Remove All Corrections
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285 | // ----------------------
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286 | QMapIterator<QString, t_corr*> ic(_corr);
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287 | while (ic.hasNext()) {
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288 | ic.next();
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289 | delete ic.value();
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290 | }
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291 | _corr.clear();
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292 |
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293 | QListIterator<QString> it(corrList);
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294 | while (it.hasNext()) {
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295 | QString line = it.next();
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296 |
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297 | QTextStream in(&line);
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298 | int messageType;
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299 | int updateInterval;
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300 | int GPSweek;
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301 | double GPSweeks;
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302 | QString prn;
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303 | in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
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304 |
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305 | if ( t_corr::relevantMessageType(messageType) ) {
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306 | t_corr* cc = 0;
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307 | if (_corr.contains(prn)) {
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308 | cc = _corr.value(prn);
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309 | }
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310 | else {
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311 | cc = new t_corr();
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312 | _corr[prn] = cc;
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313 | }
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314 |
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315 | cc->readLine(line);
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316 | _corr_tt = cc->tt;
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317 | }
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318 | else if ( messageType == BTYPE_GPS ) {
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319 |
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320 | t_bias* bb = 0;
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321 | if (_bias.contains(prn)) {
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322 | bb = _bias.value(prn);
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323 | }
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324 | else {
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325 | bb = new t_bias();
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326 | _bias[prn] = bb;
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327 | }
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328 |
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329 | bb->tt.set(GPSweek, GPSweeks);
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330 |
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331 | int numBiases;
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332 | in >> numBiases;
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333 | for (int ii = 0; ii < numBiases; ++ii) {
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334 | int bType;
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335 | double bValue;
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336 | in >> bType >> bValue;
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337 | if (bType == CODETYPEGPS_L1_Z) {
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338 | bb->p1 = bValue;
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339 | }
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340 | else if (bType == CODETYPEGPS_L1_CA) {
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341 | bb->c1 = bValue;
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342 | }
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343 | else if (bType == CODETYPEGPS_L2_Z) {
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344 | bb->p2 = bValue;
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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 |
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350 | QMutableMapIterator<QString, t_corr*> im(_corr);
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351 | while (im.hasNext()) {
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352 | im.next();
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353 | t_corr* cc = im.value();
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354 | if (!cc->ready()) {
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355 | delete cc;
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356 | im.remove();
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357 | }
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358 | }
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359 | }
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360 |
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361 | // Satellite Position
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362 | ////////////////////////////////////////////////////////////////////////////
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363 | t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
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364 | ColumnVector& xc, ColumnVector& vv) {
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365 |
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366 | const double MAXAGE = 120.0;
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367 |
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368 | if (_eph.contains(prn)) {
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369 |
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370 | if (_pppMode) {
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371 | if (_corr.contains(prn)) {
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372 | t_corr* cc = _corr.value(prn);
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373 | if (tt - cc->tt < MAXAGE) {
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374 | t_eph* eLast = _eph.value(prn)->last;
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375 | t_eph* ePrev = _eph.value(prn)->prev;
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376 | if (eLast && eLast->IOD() == cc->iod) {
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377 | eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
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378 | return applyCorr(tt, cc, xc, vv);
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379 | }
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380 | else if (ePrev && ePrev->IOD() == cc->iod) {
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381 | ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
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382 | return applyCorr(tt, cc, xc, vv);
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383 | }
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384 | }
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385 | }
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386 | }
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387 |
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388 | else {
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389 | t_eph* ee = _eph.value(prn)->last;
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390 | ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
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391 | return success;
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392 | }
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393 | }
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394 |
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395 | return failure;
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396 | }
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397 |
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398 | //
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399 | ////////////////////////////////////////////////////////////////////////////
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400 | t_irc bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc,
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401 | ColumnVector& xc, ColumnVector& vv) {
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402 | ColumnVector dx(3);
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403 |
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404 | double dt = tt - cc->tt;
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405 | ColumnVector raoHlp = cc->rao + cc->dotRao * dt + cc->dotDotRao * dt * dt;
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406 |
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407 | if (raoHlp.norm_Frobenius() > 20.0) {
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408 | return failure;
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409 | }
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410 |
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411 | RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx);
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412 |
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413 | xc[0] -= dx[0];
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414 | xc[1] -= dx[1];
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415 | xc[2] -= dx[2];
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416 | xc[3] += cc->dClk + cc->dotDClk * dt + cc->dotDotDClk * dt * dt;
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417 |
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418 | return success;
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419 | }
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420 |
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421 | // Correct Time of Transmission
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422 | ////////////////////////////////////////////////////////////////////////////
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423 | t_irc bncPPPclient::cmpToT(t_satData* satData) {
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424 |
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425 | double prange = satData->P3;
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426 | if (prange == 0.0) {
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427 | return failure;
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428 | }
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429 |
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430 | double clkSat = 0.0;
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431 | for (int ii = 1; ii <= 10; ii++) {
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432 |
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433 | bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
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434 |
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435 | ColumnVector xc(4);
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436 | ColumnVector vv(3);
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437 | if (getSatPos(ToT, satData->prn, xc, vv) != success) {
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438 | return failure;
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439 | }
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440 |
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441 | double clkSatOld = clkSat;
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442 | clkSat = xc(4);
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443 |
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444 | if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
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445 | satData->xx = xc.Rows(1,3);
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446 | satData->vv = vv;
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447 | satData->clk = clkSat * t_CST::c;
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---|
448 | return success;
|
---|
449 | }
|
---|
450 | }
|
---|
451 |
|
---|
452 | return failure;
|
---|
453 | }
|
---|
454 |
|
---|
455 | //
|
---|
456 | ////////////////////////////////////////////////////////////////////////////
|
---|
457 | void bncPPPclient::processFrontEpoch() {
|
---|
458 |
|
---|
459 | // Data Pre-Processing
|
---|
460 | // -------------------
|
---|
461 | QMutableMapIterator<QString, t_satData*> it(_epoData.front()->satData);
|
---|
462 | while (it.hasNext()) {
|
---|
463 | it.next();
|
---|
464 | QString prn = it.key();
|
---|
465 | t_satData* satData = it.value();
|
---|
466 |
|
---|
467 | if (cmpToT(satData) != success) {
|
---|
468 | delete satData;
|
---|
469 | it.remove();
|
---|
470 | continue;
|
---|
471 | }
|
---|
472 | }
|
---|
473 |
|
---|
474 | // Filter Solution
|
---|
475 | // ---------------
|
---|
476 | if (_model->update(_epoData.front()) == success) {
|
---|
477 | emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
|
---|
478 | }
|
---|
479 | }
|
---|
480 |
|
---|
481 | //
|
---|
482 | ////////////////////////////////////////////////////////////////////////////
|
---|
483 | void bncPPPclient::processEpochs() {
|
---|
484 |
|
---|
485 | // Synchronization threshold (not used in SPP mode)
|
---|
486 | // ------------------------------------------------
|
---|
487 | bncSettings settings;
|
---|
488 | double maxDt = settings.value("pppSync").toDouble();
|
---|
489 | if (!_pppMode) {
|
---|
490 | maxDt = 0.0;
|
---|
491 | }
|
---|
492 |
|
---|
493 | // Make sure the buffer does not grow beyond any limit
|
---|
494 | // ---------------------------------------------------
|
---|
495 | const unsigned MAX_EPODATA_SIZE = 120;
|
---|
496 | if (_epoData.size() > MAX_EPODATA_SIZE) {
|
---|
497 | delete _epoData.front();
|
---|
498 | _epoData.pop();
|
---|
499 | }
|
---|
500 |
|
---|
501 | // Loop over all unprocessed epochs
|
---|
502 | // --------------------------------
|
---|
503 | while (!_epoData.empty()) {
|
---|
504 |
|
---|
505 | t_epoData* frontEpoData = _epoData.front();
|
---|
506 |
|
---|
507 | // No corrections yet, skip the epoch
|
---|
508 | // ----------------------------------
|
---|
509 | if (maxDt != 0.0 && !_corr_tt.valid()) {
|
---|
510 | return;
|
---|
511 | }
|
---|
512 |
|
---|
513 | // Process the front epoch
|
---|
514 | // -----------------------
|
---|
515 | if (maxDt == 0 || frontEpoData->tt - _corr_tt < maxDt) {
|
---|
516 | processFrontEpoch();
|
---|
517 | delete _epoData.front();
|
---|
518 | _epoData.pop();
|
---|
519 | }
|
---|
520 | else {
|
---|
521 | return;
|
---|
522 | }
|
---|
523 | }
|
---|
524 | }
|
---|