/* -------------------------------------------------------------------------
* BKG NTRIP Client
* -------------------------------------------------------------------------
*
* Class: bncComb
*
* Purpose: Combinations of Orbit/Clock Corrections
*
* Author: L. Mervart
*
* Created: 22-Jan-2011
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <newmatio.h>
#include <iomanip>
#include <sstream>
#include "bnccomb.h"
#include "bncapp.h"
#include "upload/bncrtnetdecoder.h"
#include "bncsettings.h"
#include "bncmodel.h"
#include "bncutils.h"
#include "bncpppclient.h"
#include "bncsp3.h"
#include "bncantex.h"
#include "bnctides.h"
using namespace std;
const int MAXPRN_GPS = 32;
// Constructor
////////////////////////////////////////////////////////////////////////////
cmbParam::cmbParam(cmbParam::parType type_, int index_,
const QString& ac_, const QString& prn_,
double sig_0_, double sig_P_) {
type = type_;
index = index_;
AC = ac_;
prn = prn_;
sig_0 = sig_0_;
sig_P = sig_P_;
xx = 0.0;
}
// Destructor
////////////////////////////////////////////////////////////////////////////
cmbParam::~cmbParam() {
}
// Partial
////////////////////////////////////////////////////////////////////////////
double cmbParam::partial(const QString& AC_, t_corr* corr) {
if (type == AC_offset) {
if (AC == AC_) {
return 1.0;
}
}
else if (type == Sat_offset) {
if (AC == AC_ && prn == corr->prn) {
return 1.0;
}
}
else if (type == clk) {
if (prn == corr->prn) {
return 1.0;
}
}
return 0.0;
}
//
////////////////////////////////////////////////////////////////////////////
QString cmbParam::toString() const {
QString outStr;
if (type == AC_offset) {
outStr = "AC offset " + AC;
}
else if (type == Sat_offset) {
outStr = "Sat Offset " + AC + " " + prn;
}
else if (type == clk) {
outStr = "Clk Corr " + prn;
}
return outStr;
}
// Constructor
////////////////////////////////////////////////////////////////////////////
bncComb::bncComb() {
bncSettings settings;
QStringList combineStreams = settings.value("combineStreams").toStringList();
if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
QListIterator<QString> it(combineStreams);
while (it.hasNext()) {
QStringList hlp = it.next().split(" ");
cmbAC* newAC = new cmbAC();
newAC->mountPoint = hlp[0];
newAC->name = hlp[1];
newAC->weight = hlp[2].toDouble();
if (_masterAC.isEmpty()) {
_masterAC = newAC->name;
}
_ACs[newAC->mountPoint] = newAC;
}
}
_rtnetDecoder = 0;
connect(this, SIGNAL(newMessage(QByteArray,bool)),
((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
// A Priori Sigmas (in Meters)
// ---------------------------
double sigAC_0 = 100.0;
double sigAC_P = 100.0;
double sigSat_0 = 100.0;
double sigSat_P = 0.0;
double sigClk_0 = 100.0;
double sigClk_P = 100.0;
// Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
// ----------------------------------------------------------------------
int nextPar = 0;
QMapIterator<QString, cmbAC*> it(_ACs);
while (it.hasNext()) {
it.next();
cmbAC* AC = it.value();
_params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar,
AC->name, "", sigAC_0, sigAC_P));
for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
_params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar,
AC->name, prn, sigSat_0, sigSat_P));
}
}
for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
_params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn,
sigClk_0, sigClk_P));
}
// Initialize Variance-Covariance Matrix
// -------------------------------------
_QQ.ReSize(_params.size());
_QQ = 0.0;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
_QQ(iPar,iPar) = pp->sig_0 * pp->sig_0;
}
// ANTEX File
// ----------
_antex = 0;
QString antexFileName = settings.value("pppAntex").toString();
if (!antexFileName.isEmpty()) {
_antex = new bncAntex();
if (_antex->readFile(antexFileName) != success) {
emit newMessage("wrong ANTEX file", true);
delete _antex;
_antex = 0;
}
}
// Not yet regularized
// -------------------
_firstReg = false;
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncComb::~bncComb() {
QMapIterator<QString, cmbAC*> it(_ACs);
while (it.hasNext()) {
it.next();
delete it.value();
}
delete _rtnetDecoder;
delete _antex;
}
// Read and store one correction line
////////////////////////////////////////////////////////////////////////////
void bncComb::processCorrLine(const QString& staID, const QString& line) {
QMutexLocker locker(&_mutex);
// Find the relevant instance of cmbAC class
// -----------------------------------------
if (_ACs.find(staID) == _ACs.end()) {
return;
}
cmbAC* AC = _ACs[staID];
// Read the Correction
// -------------------
t_corr* newCorr = new t_corr();
if (!newCorr->readLine(line) == success) {
delete newCorr;
return;
}
// Reject delayed corrections
// --------------------------
if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
delete newCorr;
return;
}
// Check the Ephemeris
//--------------------
if (_eph.find(newCorr->prn) == _eph.end()) {
delete newCorr;
return;
}
else {
t_eph* lastEph = _eph[newCorr->prn]->last;
t_eph* prevEph = _eph[newCorr->prn]->prev;
if (lastEph && lastEph->IOD() == newCorr->iod) {
newCorr->eph = lastEph;
}
else if (prevEph && prevEph->IOD() == newCorr->iod) {
newCorr->eph = prevEph;
}
else {
delete newCorr;
return;
}
}
// Process all older Epochs (if there are any)
// -------------------------------------------
const double waitTime = 5.0; // wait 5 sec
_processedBeforeTime = newCorr->tt - waitTime;
QList<cmbEpoch*> epochsToProcess;
QMapIterator<QString, cmbAC*> itAC(_ACs);
while (itAC.hasNext()) {
itAC.next();
cmbAC* AC = itAC.value();
QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
while (itEpo.hasNext()) {
cmbEpoch* epoch = itEpo.next();
if (epoch->time < _processedBeforeTime) {
epochsToProcess.append(epoch);
itEpo.remove();
}
}
}
if (epochsToProcess.size()) {
processEpochs(epochsToProcess);
}
// Check Modulo Time
// -----------------
const int moduloTime = 10;
if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
delete newCorr;
return;
}
// Find/Create the instance of cmbEpoch class
// ------------------------------------------
cmbEpoch* newEpoch = 0;
QListIterator<cmbEpoch*> it(AC->epochs);
while (it.hasNext()) {
cmbEpoch* hlpEpoch = it.next();
if (hlpEpoch->time == newCorr->tt) {
newEpoch = hlpEpoch;
break;
}
}
if (newEpoch == 0) {
newEpoch = new cmbEpoch(AC->name);
newEpoch->time = newCorr->tt;
AC->epochs.append(newEpoch);
}
// Merge or add the correction
// ---------------------------
if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
}
else {
newEpoch->corr[newCorr->prn] = newCorr;
}
}
// Change the correction so that it refers to last received ephemeris
////////////////////////////////////////////////////////////////////////////
void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
ColumnVector oldXC(4);
ColumnVector oldVV(3);
corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
oldXC.data(), oldVV.data());
ColumnVector newXC(4);
ColumnVector newVV(3);
lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
newXC.data(), newVV.data());
ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
ColumnVector dV = newVV - oldVV;
double dC = newXC(4) - oldXC(4);
ColumnVector dRAO(3);
XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
ColumnVector dDotRAO(3);
XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
QString msg = "switch " + corr->prn
+ QString(" %1 -> %2 %3").arg(corr->iod,3)
.arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
emit newMessage(msg.toAscii(), false);
corr->iod = lastEph->IOD();
corr->eph = lastEph;
corr->rao += dRAO;
corr->dotRao += dDotRAO;
corr->dClk -= dC;
}
// Process Epochs
////////////////////////////////////////////////////////////////////////////
void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
_log.clear();
QTextStream out(&_log, QIODevice::WriteOnly);
out << "Combination:" << endl
<< "------------------------------" << endl;
// Predict Parameters Values, Add White Noise
// ------------------------------------------
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
if (pp->sig_P != 0.0) {
pp->xx = 0.0;
for (int jj = 1; jj <= _params.size(); jj++) {
_QQ(iPar, jj) = 0.0;
}
_QQ(iPar,iPar) = pp->sig_P * pp->sig_P;
}
}
bncTime resTime = epochs.first()->time;
QMap<QString, t_corr*> resCorr;
int nPar = _params.size();
int nObs = 0;
ColumnVector x0(nPar);
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
x0(iPar) = pp->xx;
}
// Count Observations
// ------------------
QListIterator<cmbEpoch*> itEpo(epochs);
while (itEpo.hasNext()) {
cmbEpoch* epo = itEpo.next();
QMutableMapIterator<QString, t_corr*> itCorr(epo->corr);
while (itCorr.hasNext()) {
itCorr.next();
t_corr* corr = itCorr.value();
// Switch to last ephemeris
// ------------------------
t_eph* lastEph = _eph[corr->prn]->last;
if (lastEph == corr->eph) {
++nObs;
}
else {
if (corr->eph == _eph[corr->prn]->prev) {
switchToLastEph(lastEph, corr);
++nObs;
}
else {
itCorr.remove();
}
}
}
}
if (nObs > 0) {
const double Pl = 1.0 / (0.05 * 0.05);
const int nCon = (_firstReg == false) ? 1 + MAXPRN_GPS : 1;
Matrix AA(nObs+nCon, nPar); AA = 0.0;
ColumnVector ll(nObs+nCon); ll = 0.0;
DiagonalMatrix PP(nObs+nCon); PP = Pl;
int iObs = 0;
QListIterator<cmbEpoch*> itEpo(epochs);
while (itEpo.hasNext()) {
cmbEpoch* epo = itEpo.next();
QMapIterator<QString, t_corr*> itCorr(epo->corr);
while (itCorr.hasNext()) {
itCorr.next();
++iObs;
t_corr* corr = itCorr.value();
if (epo->acName == _masterAC) {
resCorr[corr->prn] = new t_corr(*corr);
}
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
AA(iObs, iPar) = pp->partial(epo->acName, corr);
}
ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
}
delete epo;
}
// Regularization
// --------------
const double Ph = 1.e6;
int iCond = 1;
PP(nObs+iCond) = Ph;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
if (pp->type == cmbParam::clk &&
AA.Column(iPar).maximum_absolute_value() > 0.0) {
AA(nObs+iCond, iPar) = 1.0;
}
}
if (!_firstReg) {
_firstReg = true;
for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
++iCond;
QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
PP(nObs+1+iGps) = Ph;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
if (pp->type == cmbParam::Sat_offset && pp->prn == prn) {
AA(nObs+iCond, iPar) = 1.0;
}
}
}
}
const double MAXRES = 999.10; // TODO: make it an option
ColumnVector dx;
SymmetricMatrix QQ_sav = _QQ;
for (int ii = 1; ii < 10; ii++) {
bncModel::kalman(AA, ll, PP, _QQ, dx);
ColumnVector vv = ll - AA * dx;
int maxResIndex;
double maxRes = vv.maximum_absolute_value1(maxResIndex);
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(3);
out << "Maximum Residuum " << maxRes << " (index " << maxResIndex << ")\n";
if (maxRes > MAXRES) {
out << "Outlier Detected" << endl;
_QQ = QQ_sav;
AA.Row(maxResIndex) = 0.0;
ll.Row(maxResIndex) = 0.0;
}
else {
break;
}
}
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
pp->xx += dx(iPar);
if (pp->type == cmbParam::clk) {
if (resCorr.find(pp->prn) != resCorr.end()) {
resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
}
}
out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setFieldWidth(8);
out.setRealNumberPrecision(4);
out << pp->toString() << " "
<< pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
}
}
printResults(out, resTime, resCorr);
dumpResults(resTime, resCorr);
emit newMessage(_log, false);
}
// Print results
////////////////////////////////////////////////////////////////////////////
void bncComb::printResults(QTextStream& out, const bncTime& resTime,
const QMap<QString, t_corr*>& resCorr) {
QMapIterator<QString, t_corr*> it(resCorr);
while (it.hasNext()) {
it.next();
t_corr* corr = it.value();
const t_eph* eph = corr->eph;
if (eph) {
double xx, yy, zz, cc;
eph->position(resTime.gpsw(), resTime.gpssec(), xx, yy, zz, cc);
out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
out.setFieldWidth(3);
out << "Full Clock " << corr->prn << " " << corr->iod << " ";
out.setFieldWidth(14);
out << (cc + corr->dClk) * t_CST::c << endl;
}
else {
out << "bncComb::printResuls bug" << endl;
}
}
}
// Send results to RTNet Decoder and directly to PPP Client
////////////////////////////////////////////////////////////////////////////
void bncComb::dumpResults(const bncTime& resTime,
const QMap<QString, t_corr*>& resCorr) {
ostringstream out; out.setf(std::ios::fixed);
QStringList corrLines;
unsigned year, month, day, hour, minute;
double sec;
resTime.civil_date(year, month, day);
resTime.civil_time(hour, minute, sec);
out << "* "
<< setw(4) << year << " "
<< setw(2) << month << " "
<< setw(2) << day << " "
<< setw(2) << hour << " "
<< setw(2) << minute << " "
<< setw(12) << setprecision(8) << sec << " "
<< endl;
QMapIterator<QString, t_corr*> it(resCorr);
while (it.hasNext()) {
it.next();
t_corr* corr = it.value();
double dT = 60.0;
for (int iTime = 1; iTime <= 2; iTime++) {
bncTime time12 = (iTime == 1) ? resTime : resTime + dT;
ColumnVector xc(4);
ColumnVector vv(3);
corr->eph->position(time12.gpsw(), time12.gpssec(),
xc.data(), vv.data());
bncPPPclient::applyCorr(time12, corr, xc, vv);
// Relativistic Correction
// -----------------------
double relCorr = - 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
xc(4) -= relCorr;
// Code Biases
// -----------
double dcbP1C1 = 0.0;
double dcbP1P2 = 0.0;
// Correction Phase Center --> CoM
// -------------------------------
ColumnVector dx(3); dx = 0.0;
if (_antex) {
double Mjd = time12.mjd() + time12.daysec()/86400.0;
if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
xc(1) -= dx(1);
xc(2) -= dx(2);
xc(3) -= dx(3);
}
else {
cout << "antenna not found" << endl;
}
}
if (iTime == 1) {
out << 'P' << corr->prn.toAscii().data()
<< setw(14) << setprecision(6) << xc(1) / 1000.0
<< setw(14) << setprecision(6) << xc(2) / 1000.0
<< setw(14) << setprecision(6) << xc(3) / 1000.0
<< setw(14) << setprecision(6) << xc(4) * 1e6
<< setw(14) << setprecision(6) << relCorr * 1e6
<< setw(8) << setprecision(3) << dx(1)
<< setw(8) << setprecision(3) << dx(2)
<< setw(8) << setprecision(3) << dx(3)
<< setw(8) << setprecision(3) << dcbP1C1
<< setw(8) << setprecision(3) << dcbP1P2
<< setw(6) << setprecision(1) << dT;
QString line;
int messageType = COTYPE_GPSCOMBINED;
int updateInt = 0;
line.sprintf("%d %d %d %.1f %s"
" %3d"
" %8.3f %8.3f %8.3f %8.3f"
" %10.5f %10.5f %10.5f %10.5f"
" %10.5f INTERNAL",
messageType, updateInt, time12.gpsw(), time12.gpssec(),
corr->prn.toAscii().data(),
corr->iod,
corr->dClk * t_CST::c,
corr->rao[0],
corr->rao[1],
corr->rao[2],
corr->dotDClk * t_CST::c,
corr->dotRao[0],
corr->dotRao[1],
corr->dotRao[2],
corr->dotDotDClk * t_CST::c);
corrLines << line;
}
else {
out << setw(14) << setprecision(6) << xc(1) / 1000.0
<< setw(14) << setprecision(6) << xc(2) / 1000.0
<< setw(14) << setprecision(6) << xc(3) / 1000.0 << endl;
}
}
delete corr;
}
out << "EOE" << endl; // End Of Epoch flag
if (!_rtnetDecoder) {
_rtnetDecoder = new bncRtnetDecoder();
}
vector<string> errmsg;
_rtnetDecoder->Decode((char*) out.str().data(), out.str().size(), errmsg);
// Optionally send new Corrections to PPP
// --------------------------------------
bncApp* app = (bncApp*) qApp;
if (app->_bncPPPclient) {
app->_bncPPPclient->slotNewCorrections(corrLines);
}
}