| 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 | #ifndef BNCPPPCLIENT_H
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| 26 | #define BNCPPPCLIENT_H
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| 27 |
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| 28 | #include <QtNetwork>
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| 29 |
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| 30 | #include <newmat.h>
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| 31 |
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| 32 | #include "bncconst.h"
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| 33 | #include "bnctime.h"
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| 34 | #include "RTCM/GPSDecoder.h"
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| 35 | #include "RTCM3/ephemeris.h"
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| 36 |
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| 37 | class bncModel;
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| 38 |
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| 39 | class t_satData {
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| 40 | public:
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| 41 | enum codeType {P_CODE, C_CODE};
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| 42 | QString prn;
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| 43 | double P1;
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| 44 | double P2;
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| 45 | double P3;
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| 46 | double L1;
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| 47 | double L2;
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| 48 | double L3;
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| 49 | codeType codeTypeF1;
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| 50 | codeType codeTypeF2;
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| 51 | ColumnVector xx;
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| 52 | ColumnVector vv;
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| 53 | double clk;
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| 54 | double eleSat;
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| 55 | double azSat;
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| 56 | double rho;
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| 57 | };
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| 58 |
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| 59 | class t_epoData {
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| 60 | public:
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| 61 | t_epoData() {}
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| 62 | ~t_epoData() {
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| 63 | QMapIterator<QString, t_satData*> itGPS(satDataGPS);
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| 64 | while (itGPS.hasNext()) {
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| 65 | itGPS.next();
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| 66 | delete itGPS.value();
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| 67 | }
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| 68 | QMapIterator<QString, t_satData*> itGlo(satDataGlo);
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| 69 | while (itGlo.hasNext()) {
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| 70 | itGlo.next();
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| 71 | delete itGlo.value();
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| 72 | }
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| 73 | }
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| 74 | unsigned sizeGPS() const {return satDataGPS.size();}
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| 75 | unsigned sizeGlo() const {return satDataGlo.size();}
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| 76 | unsigned sizeAll() const {return satDataGPS.size() + satDataGlo.size();}
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| 77 | bncTime tt;
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| 78 | QMap<QString, t_satData*> satDataGPS;
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| 79 | QMap<QString, t_satData*> satDataGlo;
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| 80 | };
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| 81 |
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| 82 | class t_corr {
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| 83 | public:
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| 84 | t_corr() {
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| 85 | raoSet = false;
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| 86 | dClkSet = false;
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| 87 | }
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| 88 | bool ready() {return raoSet && dClkSet;}
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| 89 | bncTime tt;
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| 90 | int iod;
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| 91 | double dClk;
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| 92 | double dotDClk;
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| 93 | double dotDotDClk;
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| 94 | ColumnVector rao;
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| 95 | ColumnVector dotRao;
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| 96 | ColumnVector dotDotRao;
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| 97 | bool raoSet;
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| 98 | bool dClkSet;
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| 99 | };
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| 100 |
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| 101 | class t_bias {
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| 102 | public:
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| 103 | t_bias() {
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| 104 | p1 = 0.0;
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| 105 | p2 = 0.0;
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| 106 | c1 = 0.0;
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| 107 | }
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| 108 | bncTime tt;
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| 109 | double p1;
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| 110 | double p2;
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| 111 | double c1;
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| 112 | };
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| 113 |
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| 114 | class bncPPPclient : public QObject {
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| 115 | Q_OBJECT
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| 116 |
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| 117 | public:
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| 118 | bncPPPclient(QByteArray staID);
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| 119 | ~bncPPPclient();
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| 120 | void putNewObs(p_obs pp);
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| 121 |
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| 122 | public slots:
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| 123 | void slotNewEphGPS(gpsephemeris gpseph);
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| 124 | void slotNewEphGlonass(glonassephemeris gloeph);
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| 125 | void slotNewCorrections(QList<QString> corrList);
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| 126 |
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| 127 | signals:
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| 128 | void newPosition(bncTime time, double x, double y, double z);
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| 129 | void newNMEAstr(QByteArray str);
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| 130 |
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| 131 | private:
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| 132 | t_irc getSatPos(const bncTime& tt, const QString& prn,
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| 133 | ColumnVector& xc, ColumnVector& vv);
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| 134 | void processEpoch();
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| 135 | void applyCorr(const bncTime& tt, const t_corr* cc, ColumnVector& xc,
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| 136 | ColumnVector& vv);
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| 137 | t_irc cmpToT(t_satData* satData);
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| 138 |
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| 139 | QByteArray _staID;
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| 140 | QMutex _mutex;
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| 141 | QMap<QString, t_eph*> _eph;
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| 142 | QMap<QString, t_corr*> _corr;
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| 143 | QMap<QString, t_bias*> _bias;
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| 144 | t_epoData* _epoData;
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| 145 | bncModel* _model;
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| 146 | bool _useGlonass;
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| 147 | bool _pppMode;
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| 148 | };
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| 149 |
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| 150 | #endif
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