source: ntrip/trunk/BNC/combination/bnccomb.cpp@ 3032

Last change on this file since 3032 was 3032, checked in by mervart, 13 years ago
File size: 14.7 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncComb
6 *
7 * Purpose: Combinations of Orbit/Clock Corrections
8 *
9 * Author: L. Mervart
10 *
11 * Created: 22-Jan-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <newmatio.h>
18#include <iomanip>
19
20#include "bnccomb.h"
21#include "bncapp.h"
22#include "cmbcaster.h"
23#include "bncsettings.h"
24#include "bncmodel.h"
25#include "bncutils.h"
26#include "bncpppclient.h"
27
28using namespace std;
29
30// Constructor
31////////////////////////////////////////////////////////////////////////////
32cmbParam::cmbParam(cmbParam::parType type_, int index_,
33 const QString& ac_, const QString& prn_,
34 double sig_0_, double sig_P_) {
35
36 type = type_;
37 index = index_;
38 AC = ac_;
39 prn = prn_;
40 sig_0 = sig_0_;
41 sig_P = sig_P_;
42 xx = 0.0;
43}
44
45// Destructor
46////////////////////////////////////////////////////////////////////////////
47cmbParam::~cmbParam() {
48}
49
50// Partial
51////////////////////////////////////////////////////////////////////////////
52double cmbParam::partial(const QString& AC_, t_corr* corr) {
53
54 if (type == AC_offset) {
55 if (AC == AC_) {
56 return 1.0;
57 }
58 }
59 else if (type == Sat_offset) {
60 if (AC == AC_ && prn == corr->prn) {
61 return 1.0;
62 }
63 }
64 else if (type == clk) {
65 if (prn == corr->prn) {
66 return 1.0;
67 }
68 }
69
70 return 0.0;
71}
72
73//
74////////////////////////////////////////////////////////////////////////////
75QString cmbParam::toString() const {
76
77 QString outStr;
78
79 if (type == AC_offset) {
80 outStr = "AC offset " + AC;
81 }
82 else if (type == Sat_offset) {
83 outStr = "Sat Offset " + AC + " " + prn;
84 }
85 else if (type == clk) {
86 outStr = "Clk Corr " + prn;
87 }
88
89 return outStr;
90}
91
92// Constructor
93////////////////////////////////////////////////////////////////////////////
94bncComb::bncComb() {
95
96 bncSettings settings;
97
98 QStringList combineStreams = settings.value("combineStreams").toStringList();
99
100 _masterAC = "BKG"; // TODO: make it an option
101
102 if (combineStreams.size() >= 2) {
103 QListIterator<QString> it(combineStreams);
104 while (it.hasNext()) {
105 QStringList hlp = it.next().split(" ");
106 cmbAC* newAC = new cmbAC();
107 newAC->mountPoint = hlp[0];
108 newAC->name = hlp[1];
109 newAC->weight = hlp[2].toDouble();
110
111 _ACs[newAC->mountPoint] = newAC;
112 }
113 }
114
115 _caster = new cmbCaster();
116 connect(this, SIGNAL(newMessage(QByteArray,bool)),
117 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
118
119
120 // A Priori Sigmas (in Meters)
121 // ---------------------------
122 double sigAC_0 = 100.0;
123 double sigAC_P = 100.0;
124 double sigSat_0 = 100.0;
125 double sigSat_P = 0.0;
126 double sigClk_0 = 100.0;
127 double sigClk_P = 100.0;
128
129 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
130 // ----------------------------------------------------------------------
131 int nextPar = 0;
132 QMapIterator<QString, cmbAC*> it(_ACs);
133 while (it.hasNext()) {
134 it.next();
135 cmbAC* AC = it.value();
136 if (AC->name != _masterAC) {
137 _params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar,
138 AC->name, "", sigAC_0, sigAC_P));
139 for (int iGps = 1; iGps <= 32; iGps++) {
140 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
141 _params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar,
142 AC->name, prn, sigSat_0, sigSat_P));
143 }
144 }
145 }
146 for (int iGps = 1; iGps <= 32; iGps++) {
147 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
148 _params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn,
149 sigClk_0, sigClk_P));
150 }
151
152 // Initialize Variance-Covariance Matrix
153 // -------------------------------------
154 _QQ.ReSize(_params.size());
155 _QQ = 0.0;
156 for (int iPar = 1; iPar <= _params.size(); iPar++) {
157 cmbParam* pp = _params[iPar-1];
158 _QQ(iPar,iPar) = pp->sig_0 * pp->sig_0;
159 }
160}
161
162// Destructor
163////////////////////////////////////////////////////////////////////////////
164bncComb::~bncComb() {
165 QMapIterator<QString, cmbAC*> it(_ACs);
166 while (it.hasNext()) {
167 it.next();
168 delete it.value();
169 }
170 delete _caster;
171}
172
173// Read and store one correction line
174////////////////////////////////////////////////////////////////////////////
175void bncComb::processCorrLine(const QString& staID, const QString& line) {
176 QMutexLocker locker(&_mutex);
177
178 // Find the relevant instance of cmbAC class
179 // -----------------------------------------
180 if (_ACs.find(staID) == _ACs.end()) {
181 return;
182 }
183 cmbAC* AC = _ACs[staID];
184
185 // Read the Correction
186 // -------------------
187 t_corr* newCorr = new t_corr();
188 if (!newCorr->readLine(line) == success) {
189 delete newCorr;
190 return;
191 }
192
193 // Reject delayed corrections
194 // --------------------------
195 if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
196 delete newCorr;
197 return;
198 }
199
200 // Check the Ephemeris
201 //--------------------
202 if (_eph.find(newCorr->prn) == _eph.end()) {
203 delete newCorr;
204 return;
205 }
206 else {
207 t_eph* lastEph = _eph[newCorr->prn]->last;
208 t_eph* prevEph = _eph[newCorr->prn]->prev;
209 if (lastEph && lastEph->IOD() == newCorr->iod) {
210 newCorr->eph = lastEph;
211 }
212 else if (prevEph && prevEph->IOD() == newCorr->iod) {
213 newCorr->eph = prevEph;
214 }
215 else {
216 delete newCorr;
217 return;
218 }
219 }
220
221 // Process all older Epochs (if there are any)
222 // -------------------------------------------
223 const double waitTime = 5.0; // wait 5 sec
224 _processedBeforeTime = newCorr->tt - waitTime;
225
226 QList<cmbEpoch*> epochsToProcess;
227
228 QMapIterator<QString, cmbAC*> itAC(_ACs);
229 while (itAC.hasNext()) {
230 itAC.next();
231 cmbAC* AC = itAC.value();
232
233 QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
234 while (itEpo.hasNext()) {
235 cmbEpoch* epoch = itEpo.next();
236 if (epoch->time < _processedBeforeTime) {
237 epochsToProcess.append(epoch);
238 itEpo.remove();
239 }
240 }
241 }
242
243 if (epochsToProcess.size()) {
244 processEpochs(epochsToProcess);
245 }
246
247 // Check Modulo Time
248 // -----------------
249 const int moduloTime = 10;
250 if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
251 delete newCorr;
252 return;
253 }
254
255 // Find/Create the instance of cmbEpoch class
256 // ------------------------------------------
257 cmbEpoch* newEpoch = 0;
258 QListIterator<cmbEpoch*> it(AC->epochs);
259 while (it.hasNext()) {
260 cmbEpoch* hlpEpoch = it.next();
261 if (hlpEpoch->time == newCorr->tt) {
262 newEpoch = hlpEpoch;
263 break;
264 }
265 }
266 if (newEpoch == 0) {
267 newEpoch = new cmbEpoch(AC->name);
268 newEpoch->time = newCorr->tt;
269 AC->epochs.append(newEpoch);
270 }
271
272 // Merge or add the correction
273 // ---------------------------
274 if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
275 newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
276 }
277 else {
278 newEpoch->corr[newCorr->prn] = newCorr;
279 }
280}
281
282// Send results to caster
283////////////////////////////////////////////////////////////////////////////
284void bncComb::dumpResults(const bncTime& resTime,
285 const QMap<QString, t_corr*>& resCorr) {
286
287 _caster->open();
288
289 unsigned year, month, day;
290 resTime.civil_date (year, month, day);
291 double GPSweeks = resTime.gpssec();
292
293 struct ClockOrbit co;
294 memset(&co, 0, sizeof(co));
295 co.GPSEpochTime = (int)GPSweeks;
296 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
297 + 3 * 3600 - gnumleap(year, month, day);
298 co.ClockDataSupplied = 1;
299 co.OrbitDataSupplied = 1;
300 co.SatRefDatum = DATUM_ITRF;
301
302 QMapIterator<QString, t_corr*> it(resCorr);
303 while (it.hasNext()) {
304 it.next();
305 t_corr* corr = it.value();
306
307 struct ClockOrbit::SatData* sd = 0;
308 if (corr->prn[0] == 'G') {
309 sd = co.Sat + co.NumberOfGPSSat;
310 ++co.NumberOfGPSSat;
311 }
312 else if (corr->prn[0] == 'R') {
313 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
314 ++co.NumberOfGLONASSSat;
315 }
316
317 if (sd != 0) {
318 sd->ID = corr->prn.mid(1).toInt();
319 sd->IOD = corr->iod;
320 sd->Clock.DeltaA0 = corr->dClk * t_CST::c;
321 sd->Orbit.DeltaRadial = corr->rao(1);
322 sd->Orbit.DeltaAlongTrack = corr->rao(2);
323 sd->Orbit.DeltaCrossTrack = corr->rao(3);
324 sd->Orbit.DotDeltaRadial = corr->dotRao(1);
325 sd->Orbit.DotDeltaAlongTrack = corr->dotRao(2);
326 sd->Orbit.DotDeltaCrossTrack = corr->dotRao(3);
327 }
328
329 delete corr;
330 }
331
332 // Send Corrections to Caster
333 // --------------------------
334 if ( _caster->usedSocket() &&
335 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
336 char obuffer[CLOCKORBIT_BUFFERSIZE];
337 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
338 if (len > 0) {
339 _caster->write(obuffer, len);
340 }
341 }
342
343 // Optionall send new Corrections to PPP client
344 // --------------------------------------------
345 bncApp* app = (bncApp*) qApp;
346 if (app->_bncPPPclient) {
347 QStringList corrLines;
348 co.messageType = COTYPE_GPSCOMBINED;
349 QStringListIterator il(RTCM3coDecoder::corrsToASCIIlines(resTime.gpsw(),
350 resTime.gpssec(), co, 0));
351 while (il.hasNext()) {
352 QString line = il.next() + " " + _caster->mountpoint();
353 corrLines << line;
354 }
355
356 app->_bncPPPclient->slotNewCorrections(corrLines);
357 }
358}
359
360// Change the correction so that it refers to last received ephemeris
361////////////////////////////////////////////////////////////////////////////
362void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
363
364 ColumnVector oldXC(4);
365 ColumnVector oldVV(3);
366 corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
367 oldXC.data(), oldVV.data());
368
369 ColumnVector newXC(4);
370 ColumnVector newVV(3);
371 lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
372 newXC.data(), newVV.data());
373
374 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
375 ColumnVector dV = newVV - oldVV;
376 double dC = newXC(4) - oldXC(4);
377
378 ColumnVector dRAO(3);
379 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
380
381 ColumnVector dDotRAO(3);
382 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
383
384 QString msg = "switch " + corr->prn
385 + QString(" %1 -> %2 %3").arg(corr->iod,3)
386 .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
387
388 emit newMessage(msg.toAscii(), false);
389
390 corr->iod = lastEph->IOD();
391 corr->eph = lastEph;
392 corr->rao += dRAO;
393 corr->dotRao += dDotRAO;
394 corr->dClk -= dC;
395}
396
397// Process Epochs
398////////////////////////////////////////////////////////////////////////////
399void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
400
401 _log.clear();
402
403 QTextStream out(&_log, QIODevice::WriteOnly);
404
405 out << "Combination:" << endl
406 << "------------------------------" << endl;
407
408 // Predict Parameters Values, Add White Noise
409 // ------------------------------------------
410 for (int iPar = 1; iPar <= _params.size(); iPar++) {
411 cmbParam* pp = _params[iPar-1];
412 if (pp->sig_P != 0.0) {
413 pp->xx = 0.0;
414 for (int jj = 1; jj <= _params.size(); jj++) {
415 _QQ(iPar, jj) = 0.0;
416 }
417 _QQ(iPar,iPar) = pp->sig_P * pp->sig_P;
418 }
419 }
420
421 bncTime resTime = epochs.first()->time;
422 QMap<QString, t_corr*> resCorr;
423
424 int nPar = _params.size();
425 int nObs = 0;
426
427 ColumnVector x0(nPar);
428 for (int iPar = 1; iPar <= _params.size(); iPar++) {
429 cmbParam* pp = _params[iPar-1];
430 x0(iPar) = pp->xx;
431 }
432
433 // Count Observations
434 // ------------------
435 QListIterator<cmbEpoch*> itEpo(epochs);
436 while (itEpo.hasNext()) {
437 cmbEpoch* epo = itEpo.next();
438 QMutableMapIterator<QString, t_corr*> itCorr(epo->corr);
439 while (itCorr.hasNext()) {
440 itCorr.next();
441 t_corr* corr = itCorr.value();
442
443 // Switch to last ephemeris
444 // ------------------------
445 t_eph* lastEph = _eph[corr->prn]->last;
446 if (lastEph == corr->eph) {
447 ++nObs;
448 }
449 else {
450 if (corr->eph == _eph[corr->prn]->prev) {
451 switchToLastEph(lastEph, corr);
452 ++nObs;
453 }
454 else {
455 itCorr.remove();
456 }
457 }
458 }
459 }
460
461 if (nObs > 0) {
462 Matrix AA(nObs, nPar);
463 ColumnVector ll(nObs);
464 DiagonalMatrix PP(nObs); PP = 1.0;
465
466 int iObs = 0;
467 QListIterator<cmbEpoch*> itEpo(epochs);
468 while (itEpo.hasNext()) {
469 cmbEpoch* epo = itEpo.next();
470 QMapIterator<QString, t_corr*> itCorr(epo->corr);
471
472 while (itCorr.hasNext()) {
473 itCorr.next();
474 ++iObs;
475 t_corr* corr = itCorr.value();
476
477 if (epo->acName == _masterAC) {
478 resCorr[corr->prn] = new t_corr(*corr);
479 }
480
481 for (int iPar = 1; iPar <= _params.size(); iPar++) {
482 cmbParam* pp = _params[iPar-1];
483 AA(iObs, iPar) = pp->partial(epo->acName, corr);
484 }
485
486 ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
487
488 delete corr;
489 }
490 }
491
492 ColumnVector dx;
493 bncModel::kalman(AA, ll, PP, _QQ, dx);
494 ColumnVector vv = ll - AA * dx;
495
496 for (int iPar = 1; iPar <= _params.size(); iPar++) {
497 cmbParam* pp = _params[iPar-1];
498 pp->xx += dx(iPar);
499 if (pp->type == cmbParam::clk) {
500 if (resCorr.find(pp->prn) != resCorr.end()) {
501 resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
502 }
503 }
504 out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
505 out.setRealNumberNotation(QTextStream::FixedNotation);
506 out.setFieldWidth(8);
507 out.setRealNumberPrecision(4);
508 out << pp->toString() << " "
509 << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
510 }
511 }
512
513 printResults(out, resTime, resCorr);
514 dumpResults(resTime, resCorr);
515
516 emit newMessage(_log, false);
517}
518
519// Print results to caster
520////////////////////////////////////////////////////////////////////////////
521void bncComb::printResults(QTextStream& out, const bncTime& resTime,
522 const QMap<QString, t_corr*>& resCorr) {
523
524 QMapIterator<QString, t_corr*> it(resCorr);
525 while (it.hasNext()) {
526 it.next();
527 t_corr* corr = it.value();
528 const t_eph* eph = corr->eph;
529 if (eph) {
530 double xx, yy, zz, cc;
531 eph->position(resTime.gpsw(), resTime.gpssec(), xx, yy, zz, cc);
532
533 out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
534 out.setFieldWidth(3);
535 out << "Full Clock " << corr->prn << " " << corr->iod << " ";
536 out.setFieldWidth(14);
537 out << (cc + corr->dClk) * t_CST::c << endl;
538 }
539 else {
540 out << "bncComb::printResuls bug" << endl;
541 }
542 }
543}
Note: See TracBrowser for help on using the repository browser.