source: ntrip/trunk/BNC/combination/bnccomb.cpp@ 3054

Last change on this file since 3054 was 3054, checked in by mervart, 13 years ago
File size: 17.1 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#include "bnssp3.h"
28#include "bncantex.h"
29
30using namespace std;
31
32// Constructor
33////////////////////////////////////////////////////////////////////////////
34cmbParam::cmbParam(cmbParam::parType type_, int index_,
35 const QString& ac_, const QString& prn_,
36 double sig_0_, double sig_P_) {
37
38 type = type_;
39 index = index_;
40 AC = ac_;
41 prn = prn_;
42 sig_0 = sig_0_;
43 sig_P = sig_P_;
44 xx = 0.0;
45}
46
47// Destructor
48////////////////////////////////////////////////////////////////////////////
49cmbParam::~cmbParam() {
50}
51
52// Partial
53////////////////////////////////////////////////////////////////////////////
54double cmbParam::partial(const QString& AC_, t_corr* corr) {
55
56 if (type == AC_offset) {
57 if (AC == AC_) {
58 return 1.0;
59 }
60 }
61 else if (type == Sat_offset) {
62 if (AC == AC_ && prn == corr->prn) {
63 return 1.0;
64 }
65 }
66 else if (type == clk) {
67 if (prn == corr->prn) {
68 return 1.0;
69 }
70 }
71
72 return 0.0;
73}
74
75//
76////////////////////////////////////////////////////////////////////////////
77QString cmbParam::toString() const {
78
79 QString outStr;
80
81 if (type == AC_offset) {
82 outStr = "AC offset " + AC;
83 }
84 else if (type == Sat_offset) {
85 outStr = "Sat Offset " + AC + " " + prn;
86 }
87 else if (type == clk) {
88 outStr = "Clk Corr " + prn;
89 }
90
91 return outStr;
92}
93
94// Constructor
95////////////////////////////////////////////////////////////////////////////
96bncComb::bncComb() {
97
98 bncSettings settings;
99
100 QStringList combineStreams = settings.value("combineStreams").toStringList();
101
102 _masterAC = "BKG"; // TODO: make it an option
103
104 if (combineStreams.size() >= 2) {
105 QListIterator<QString> it(combineStreams);
106 while (it.hasNext()) {
107 QStringList hlp = it.next().split(" ");
108 cmbAC* newAC = new cmbAC();
109 newAC->mountPoint = hlp[0];
110 newAC->name = hlp[1];
111 newAC->weight = hlp[2].toDouble();
112
113 _ACs[newAC->mountPoint] = newAC;
114 }
115 }
116
117 _caster = new cmbCaster();
118 connect(this, SIGNAL(newMessage(QByteArray,bool)),
119 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
120
121
122 // A Priori Sigmas (in Meters)
123 // ---------------------------
124 double sigAC_0 = 100.0;
125 double sigAC_P = 100.0;
126 double sigSat_0 = 100.0;
127 double sigSat_P = 0.0;
128 double sigClk_0 = 100.0;
129 double sigClk_P = 100.0;
130
131 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
132 // ----------------------------------------------------------------------
133 int nextPar = 0;
134 QMapIterator<QString, cmbAC*> it(_ACs);
135 while (it.hasNext()) {
136 it.next();
137 cmbAC* AC = it.value();
138 if (AC->name != _masterAC) {
139 _params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar,
140 AC->name, "", sigAC_0, sigAC_P));
141 for (int iGps = 1; iGps <= 32; iGps++) {
142 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
143 _params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar,
144 AC->name, prn, sigSat_0, sigSat_P));
145 }
146 }
147 }
148 for (int iGps = 1; iGps <= 32; iGps++) {
149 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
150 _params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn,
151 sigClk_0, sigClk_P));
152 }
153
154 // Initialize Variance-Covariance Matrix
155 // -------------------------------------
156 _QQ.ReSize(_params.size());
157 _QQ = 0.0;
158 for (int iPar = 1; iPar <= _params.size(); iPar++) {
159 cmbParam* pp = _params[iPar-1];
160 _QQ(iPar,iPar) = pp->sig_0 * pp->sig_0;
161 }
162
163 // Output File (skeleton name)
164 // ---------------------------
165 QString path = settings.value("cmbOutPath").toString();
166 if (!path.isEmpty() && !_caster->mountpoint().isEmpty()) {
167 expandEnvVar(path);
168 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
169 path += QDir::separator();
170 }
171 _outNameSkl = path + _caster->mountpoint();
172 }
173 _out = 0;
174
175 // SP3 writer
176 // ----------
177 if ( settings.value("cmbSP3Path").toString().isEmpty() ) {
178 _sp3 = 0;
179 }
180 else {
181 QString prep = "BNC";
182 QString ext = ".sp3";
183 QString path = settings.value("cmbSP3Path").toString();
184 QString interval = "";
185 int sampl = 0;
186 _sp3 = new bnsSP3(prep, ext, path, interval, sampl);
187 }
188
189 _append = Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked;
190
191 // ANTEX File
192 // ----------
193 _antex = 0;
194 QString antexFileName = settings.value("pppAntex").toString();
195 if (!antexFileName.isEmpty()) {
196 _antex = new bncAntex();
197 if (_antex->readFile(antexFileName) != success) {
198 emit newMessage("wrong ANTEX file", true);
199 delete _antex;
200 _antex = 0;
201 }
202 }
203}
204
205// Destructor
206////////////////////////////////////////////////////////////////////////////
207bncComb::~bncComb() {
208 QMapIterator<QString, cmbAC*> it(_ACs);
209 while (it.hasNext()) {
210 it.next();
211 delete it.value();
212 }
213 delete _caster;
214 delete _out;
215 delete _sp3;
216 delete _antex;
217}
218
219// Read and store one correction line
220////////////////////////////////////////////////////////////////////////////
221void bncComb::processCorrLine(const QString& staID, const QString& line) {
222 QMutexLocker locker(&_mutex);
223
224 // Find the relevant instance of cmbAC class
225 // -----------------------------------------
226 if (_ACs.find(staID) == _ACs.end()) {
227 return;
228 }
229 cmbAC* AC = _ACs[staID];
230
231 // Read the Correction
232 // -------------------
233 t_corr* newCorr = new t_corr();
234 if (!newCorr->readLine(line) == success) {
235 delete newCorr;
236 return;
237 }
238
239 // Reject delayed corrections
240 // --------------------------
241 if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
242 delete newCorr;
243 return;
244 }
245
246 // Check the Ephemeris
247 //--------------------
248 if (_eph.find(newCorr->prn) == _eph.end()) {
249 delete newCorr;
250 return;
251 }
252 else {
253 t_eph* lastEph = _eph[newCorr->prn]->last;
254 t_eph* prevEph = _eph[newCorr->prn]->prev;
255 if (lastEph && lastEph->IOD() == newCorr->iod) {
256 newCorr->eph = lastEph;
257 }
258 else if (prevEph && prevEph->IOD() == newCorr->iod) {
259 newCorr->eph = prevEph;
260 }
261 else {
262 delete newCorr;
263 return;
264 }
265 }
266
267 // Process all older Epochs (if there are any)
268 // -------------------------------------------
269 const double waitTime = 5.0; // wait 5 sec
270 _processedBeforeTime = newCorr->tt - waitTime;
271
272 QList<cmbEpoch*> epochsToProcess;
273
274 QMapIterator<QString, cmbAC*> itAC(_ACs);
275 while (itAC.hasNext()) {
276 itAC.next();
277 cmbAC* AC = itAC.value();
278
279 QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
280 while (itEpo.hasNext()) {
281 cmbEpoch* epoch = itEpo.next();
282 if (epoch->time < _processedBeforeTime) {
283 epochsToProcess.append(epoch);
284 itEpo.remove();
285 }
286 }
287 }
288
289 if (epochsToProcess.size()) {
290 processEpochs(epochsToProcess);
291 }
292
293 // Check Modulo Time
294 // -----------------
295 const int moduloTime = 10;
296 if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
297 delete newCorr;
298 return;
299 }
300
301 // Find/Create the instance of cmbEpoch class
302 // ------------------------------------------
303 cmbEpoch* newEpoch = 0;
304 QListIterator<cmbEpoch*> it(AC->epochs);
305 while (it.hasNext()) {
306 cmbEpoch* hlpEpoch = it.next();
307 if (hlpEpoch->time == newCorr->tt) {
308 newEpoch = hlpEpoch;
309 break;
310 }
311 }
312 if (newEpoch == 0) {
313 newEpoch = new cmbEpoch(AC->name);
314 newEpoch->time = newCorr->tt;
315 AC->epochs.append(newEpoch);
316 }
317
318 // Merge or add the correction
319 // ---------------------------
320 if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
321 newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
322 }
323 else {
324 newEpoch->corr[newCorr->prn] = newCorr;
325 }
326}
327
328// Send results to caster
329////////////////////////////////////////////////////////////////////////////
330void bncComb::dumpResults(const bncTime& resTime,
331 const QMap<QString, t_corr*>& resCorr) {
332
333 _caster->open();
334
335 unsigned year, month, day;
336 resTime.civil_date (year, month, day);
337 double GPSweeks = resTime.gpssec();
338
339 struct ClockOrbit co;
340 memset(&co, 0, sizeof(co));
341 co.GPSEpochTime = (int)GPSweeks;
342 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
343 + 3 * 3600 - gnumleap(year, month, day);
344 co.ClockDataSupplied = 1;
345 co.OrbitDataSupplied = 1;
346 co.SatRefDatum = DATUM_ITRF;
347
348 QMapIterator<QString, t_corr*> it(resCorr);
349 while (it.hasNext()) {
350 it.next();
351 t_corr* corr = it.value();
352
353 struct ClockOrbit::SatData* sd = 0;
354 if (corr->prn[0] == 'G') {
355 sd = co.Sat + co.NumberOfGPSSat;
356 ++co.NumberOfGPSSat;
357 }
358 else if (corr->prn[0] == 'R') {
359 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
360 ++co.NumberOfGLONASSSat;
361 }
362
363 if (sd != 0) {
364 sd->ID = corr->prn.mid(1).toInt();
365 sd->IOD = corr->iod;
366 sd->Clock.DeltaA0 = corr->dClk * t_CST::c;
367 sd->Orbit.DeltaRadial = corr->rao(1);
368 sd->Orbit.DeltaAlongTrack = corr->rao(2);
369 sd->Orbit.DeltaCrossTrack = corr->rao(3);
370 sd->Orbit.DotDeltaRadial = corr->dotRao(1);
371 sd->Orbit.DotDeltaAlongTrack = corr->dotRao(2);
372 sd->Orbit.DotDeltaCrossTrack = corr->dotRao(3);
373 }
374
375 // SP3 Output
376 // ----------
377 if (_sp3) {
378 ColumnVector xc(4);
379 ColumnVector vv(3);
380 corr->eph->position(resTime.gpsw(), resTime.gpssec(),
381 xc.data(), vv.data());
382 bncPPPclient::applyCorr(resTime, corr, xc, vv);
383
384 // Relativistic Correction
385 // -----------------------
386 xc(4) += 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
387
388 // Correction Phase Center --> CoM
389 // -------------------------------
390 if (_antex) {
391 ColumnVector neu(3);
392 if (_antex->offset(corr->prn, neu) == success) {
393 ColumnVector dx;
394 RSW_to_XYZ(xc.Rows(1,3), vv, neu, dx);
395 xc(1) += dx(1);
396 xc(2) += dx(2);
397 xc(3) += dx(3);
398 }
399 else {
400 cout << "antenna not found" << endl;
401 }
402 }
403 _sp3->write(resTime.gpsw(), resTime.gpssec(), corr->prn, xc, _append);
404 }
405
406 delete corr;
407 }
408
409 // Send Corrections to Caster
410 // --------------------------
411 if ( _caster->usedSocket() &&
412 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
413 char obuffer[CLOCKORBIT_BUFFERSIZE];
414 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
415 if (len > 0) {
416 _caster->write(obuffer, len);
417 }
418 }
419
420 // Optionall send new Corrections to PPP client and/or write into file
421 // -------------------------------------------------------------------
422 RTCM3coDecoder::reopen(_outNameSkl, _outName, _out);
423 bncApp* app = (bncApp*) qApp;
424 if (app->_bncPPPclient || _out) {
425 QStringList corrLines;
426 co.messageType = COTYPE_GPSCOMBINED;
427 QStringListIterator il(RTCM3coDecoder::corrsToASCIIlines(resTime.gpsw(),
428 resTime.gpssec(), co, 0));
429 while (il.hasNext()) {
430 QString line = il.next();
431 if (_out) {
432 *_out << line.toAscii().data() << endl;
433 _out->flush();
434 }
435 line += " " + _caster->mountpoint();
436 corrLines << line;
437 }
438
439 if (app->_bncPPPclient) {
440 app->_bncPPPclient->slotNewCorrections(corrLines);
441 }
442 }
443}
444
445// Change the correction so that it refers to last received ephemeris
446////////////////////////////////////////////////////////////////////////////
447void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
448
449 ColumnVector oldXC(4);
450 ColumnVector oldVV(3);
451 corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
452 oldXC.data(), oldVV.data());
453
454 ColumnVector newXC(4);
455 ColumnVector newVV(3);
456 lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
457 newXC.data(), newVV.data());
458
459 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
460 ColumnVector dV = newVV - oldVV;
461 double dC = newXC(4) - oldXC(4);
462
463 ColumnVector dRAO(3);
464 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
465
466 ColumnVector dDotRAO(3);
467 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
468
469 QString msg = "switch " + corr->prn
470 + QString(" %1 -> %2 %3").arg(corr->iod,3)
471 .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
472
473 emit newMessage(msg.toAscii(), false);
474
475 corr->iod = lastEph->IOD();
476 corr->eph = lastEph;
477 corr->rao += dRAO;
478 corr->dotRao += dDotRAO;
479 corr->dClk -= dC;
480}
481
482// Process Epochs
483////////////////////////////////////////////////////////////////////////////
484void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
485
486 _log.clear();
487
488 QTextStream out(&_log, QIODevice::WriteOnly);
489
490 out << "Combination:" << endl
491 << "------------------------------" << endl;
492
493 // Predict Parameters Values, Add White Noise
494 // ------------------------------------------
495 for (int iPar = 1; iPar <= _params.size(); iPar++) {
496 cmbParam* pp = _params[iPar-1];
497 if (pp->sig_P != 0.0) {
498 pp->xx = 0.0;
499 for (int jj = 1; jj <= _params.size(); jj++) {
500 _QQ(iPar, jj) = 0.0;
501 }
502 _QQ(iPar,iPar) = pp->sig_P * pp->sig_P;
503 }
504 }
505
506 bncTime resTime = epochs.first()->time;
507 QMap<QString, t_corr*> resCorr;
508
509 int nPar = _params.size();
510 int nObs = 0;
511
512 ColumnVector x0(nPar);
513 for (int iPar = 1; iPar <= _params.size(); iPar++) {
514 cmbParam* pp = _params[iPar-1];
515 x0(iPar) = pp->xx;
516 }
517
518 // Count Observations
519 // ------------------
520 QListIterator<cmbEpoch*> itEpo(epochs);
521 while (itEpo.hasNext()) {
522 cmbEpoch* epo = itEpo.next();
523 QMutableMapIterator<QString, t_corr*> itCorr(epo->corr);
524 while (itCorr.hasNext()) {
525 itCorr.next();
526 t_corr* corr = itCorr.value();
527
528 // Switch to last ephemeris
529 // ------------------------
530 t_eph* lastEph = _eph[corr->prn]->last;
531 if (lastEph == corr->eph) {
532 ++nObs;
533 }
534 else {
535 if (corr->eph == _eph[corr->prn]->prev) {
536 switchToLastEph(lastEph, corr);
537 ++nObs;
538 }
539 else {
540 itCorr.remove();
541 }
542 }
543 }
544 }
545
546 if (nObs > 0) {
547 Matrix AA(nObs, nPar);
548 ColumnVector ll(nObs);
549 DiagonalMatrix PP(nObs); PP = 1.0;
550
551 int iObs = 0;
552 QListIterator<cmbEpoch*> itEpo(epochs);
553 while (itEpo.hasNext()) {
554 cmbEpoch* epo = itEpo.next();
555 QMapIterator<QString, t_corr*> itCorr(epo->corr);
556
557 while (itCorr.hasNext()) {
558 itCorr.next();
559 ++iObs;
560 t_corr* corr = itCorr.value();
561
562 if (epo->acName == _masterAC) {
563 resCorr[corr->prn] = new t_corr(*corr);
564 }
565
566 for (int iPar = 1; iPar <= _params.size(); iPar++) {
567 cmbParam* pp = _params[iPar-1];
568 AA(iObs, iPar) = pp->partial(epo->acName, corr);
569 }
570
571 ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
572 }
573
574 delete epo;
575 }
576
577 ColumnVector dx;
578 bncModel::kalman(AA, ll, PP, _QQ, dx);
579 ColumnVector vv = ll - AA * dx;
580
581 for (int iPar = 1; iPar <= _params.size(); iPar++) {
582 cmbParam* pp = _params[iPar-1];
583 pp->xx += dx(iPar);
584 if (pp->type == cmbParam::clk) {
585 if (resCorr.find(pp->prn) != resCorr.end()) {
586 resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
587 }
588 }
589 out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
590 out.setRealNumberNotation(QTextStream::FixedNotation);
591 out.setFieldWidth(8);
592 out.setRealNumberPrecision(4);
593 out << pp->toString() << " "
594 << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
595 }
596 }
597
598 printResults(out, resTime, resCorr);
599 dumpResults(resTime, resCorr);
600
601 emit newMessage(_log, false);
602}
603
604// Print results to caster
605////////////////////////////////////////////////////////////////////////////
606void bncComb::printResults(QTextStream& out, const bncTime& resTime,
607 const QMap<QString, t_corr*>& resCorr) {
608
609 QMapIterator<QString, t_corr*> it(resCorr);
610 while (it.hasNext()) {
611 it.next();
612 t_corr* corr = it.value();
613 const t_eph* eph = corr->eph;
614 if (eph) {
615 double xx, yy, zz, cc;
616 eph->position(resTime.gpsw(), resTime.gpssec(), xx, yy, zz, cc);
617
618 out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
619 out.setFieldWidth(3);
620 out << "Full Clock " << corr->prn << " " << corr->iod << " ";
621 out.setFieldWidth(14);
622 out << (cc + corr->dClk) * t_CST::c << endl;
623 }
624 else {
625 out << "bncComb::printResuls bug" << endl;
626 }
627 }
628}
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