source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 10237

Last change on this file since 10237 was 10237, checked in by stuerze, 9 months ago

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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppClient
6 *
7 * Purpose: PPP Client processing starts here
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <QThreadStorage>
18
19#include <iostream>
20#include <iomanip>
21#include <cmath>
22#include <stdlib.h>
23#include <string.h>
24#include <stdexcept>
25
26#include "pppClient.h"
27#include "pppEphPool.h"
28#include "pppObsPool.h"
29#include "bncconst.h"
30#include "bncutils.h"
31#include "pppStation.h"
32#include "bncantex.h"
33#include "pppFilter.h"
34
35using namespace BNC_PPP;
36using namespace std;
37
38// Global variable holding thread-specific pointers
39//////////////////////////////////////////////////////////////////////////////
40QThreadStorage<t_pppClient*> CLIENTS;
41
42// Static function returning thread-specific pointer
43//////////////////////////////////////////////////////////////////////////////
44t_pppClient* t_pppClient::instance() {
45 return CLIENTS.localData();
46}
47
48// Constructor
49//////////////////////////////////////////////////////////////////////////////
50t_pppClient::t_pppClient(const t_pppOptions* opt) {
51 _output = 0;
52 _opt = new t_pppOptions(*opt);
53 _log = new ostringstream();
54 _ephPool = new t_pppEphPool();
55 _obsPool = new t_pppObsPool();
56 _staRover = new t_pppStation();
57 _filter = new t_pppFilter();
58 _tides = new t_tides();
59 _antex = 0;
60 if (!_opt->_antexFileName.empty()) {
61 _antex = new bncAntex(_opt->_antexFileName.c_str());
62 }
63 if (!_opt->_blqFileName.empty()) {
64 if (_tides->readBlqFile(_opt->_blqFileName.c_str()) == success) {
65 //_tides->printAllBlqSets();
66 }
67 }
68 _offGlo = 0.0;
69 _offGal = 0.0;
70 _offBds = 0.0;
71
72 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
73}
74
75// Destructor
76//////////////////////////////////////////////////////////////////////////////
77t_pppClient::~t_pppClient() {
78 delete _log;
79 delete _opt;
80 delete _ephPool;
81 delete _obsPool;
82 delete _staRover;
83 if (_antex) {
84 delete _antex;
85 }
86 delete _filter;
87 delete _tides;
88 clearObs();
89}
90
91//
92//////////////////////////////////////////////////////////////////////////////
93void t_pppClient::putEphemeris(const t_eph* eph) {
94 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
95 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
96 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
97 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
98 if (ephGPS) {
99 _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
100 }
101 else if (ephGlo) {
102 _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
103 }
104 else if (ephGal) {
105 _ephPool->putEphemeris(new t_ephGal(*ephGal));
106 }
107 else if (ephBDS) {
108 _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
109 }
110}
111
112//
113//////////////////////////////////////////////////////////////////////////////
114void t_pppClient::putTec(const t_vTec* vTec) {
115 _obsPool->putTec(new t_vTec(*vTec));
116}
117
118//
119//////////////////////////////////////////////////////////////////////////////
120void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
121 for (unsigned ii = 0; ii < corr.size(); ii++) {
122 _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
123 }
124}
125
126//
127//////////////////////////////////////////////////////////////////////////////
128void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
129 for (unsigned ii = 0; ii < corr.size(); ii++) {
130 _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
131 }
132}
133
134//
135//////////////////////////////////////////////////////////////////////////////
136void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
137 for (unsigned ii = 0; ii < biases.size(); ii++) {
138 _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
139 }
140}
141
142//
143//////////////////////////////////////////////////////////////////////////////
144void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
145 for (unsigned ii = 0; ii < biases.size(); ii++) {
146 _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
147 }
148}
149
150//
151//////////////////////////////////////////////////////////////////////////////
152t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
153 vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
154
155 // Default
156 // -------
157 epoTime.reset();
158 clearObs();
159
160 // Create vector of valid observations
161 // -----------------------------------
162 for (unsigned ii = 0; ii < satObs.size(); ii++) {
163 char sys = satObs[ii]->_prn.system();
164 if (_opt->useSystem(sys)) {
165 t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
166 if (pppSatObs->isValid()) {
167 obsVector.push_back(pppSatObs);
168 }
169 else {
170 delete pppSatObs;
171 }
172 }
173 }
174
175 // Check whether data are synchronized, compute epoTime
176 // ----------------------------------------------------
177 const double MAXSYNC = 0.05; // synchronization limit
178 double meanDt = 0.0;
179 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
180 const t_pppSatObs* satObs = obsVector.at(ii);
181 if (epoTime.undef()) {
182 epoTime = satObs->time();
183 }
184 else {
185 double dt = satObs->time() - epoTime;
186 if (fabs(dt) > MAXSYNC) {
187 LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
188 return failure;
189 }
190 meanDt += dt;
191 }
192 }
193
194 if (obsVector.size() > 0) {
195 epoTime += meanDt / obsVector.size();
196 }
197
198 return success;
199}
200
201//
202//////////////////////////////////////////////////////////////////////////////
203bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
204
205 bool pseudoObsIono = false;
206
207 if (_opt->_pseudoObsIono) {
208 vector<t_pppSatObs*>::iterator it = obsVector.begin();
209 while (it != obsVector.end()) {
210 t_pppSatObs* satObs = *it;
211 pseudoObsIono = satObs->setPseudoObsIono(t_frequency::G1);
212 it++;
213 }
214 }
215 /*
216 vector<t_pppSatObs*>::iterator it = obsVector.begin();
217 while (it != obsVector.end()) {
218 t_pppSatObs* satObs = *it;
219 satObs->printObsMinusComputed();
220 it++;
221 }
222*/
223 return pseudoObsIono;
224}
225
226//
227//////////////////////////////////////////////////////////////////////////////
228void t_pppClient::useObsWithCodeBiasesOnly(std::vector<t_pppSatObs*>& obsVector) {
229
230 vector<t_pppSatObs*>::iterator it = obsVector.begin();
231 while (it != obsVector.end()) {
232 t_pppSatObs* pppSatObs = *it;
233 char sys = pppSatObs->prn().system();
234 bool codeBiasesAvailable = false;
235 t_frequency::type fType1 = t_lc::toFreq(sys,t_lc::c1);
236 t_frequency::type fType2 = t_lc::toFreq(sys,t_lc::c2);
237 if (pppSatObs->getCodeBias(fType1) &&
238 pppSatObs->getCodeBias(fType2)) {
239 codeBiasesAvailable = true;
240 }
241 if (codeBiasesAvailable) {
242 ++it;
243 }
244 else {
245 it = obsVector.erase(it);
246 delete pppSatObs;
247 }
248 }
249
250}
251
252
253// Compute the Bancroft position, check for blunders
254//////////////////////////////////////////////////////////////////////////////
255t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
256 vector<t_pppSatObs*>& obsVector,
257 ColumnVector& xyzc, bool print) {
258
259 t_lc::type tLC = t_lc::dummy;
260
261 while (true) {
262 Matrix BB(obsVector.size(), 4);
263 int iObs = -1;
264 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
265 const t_pppSatObs* satObs = obsVector.at(ii);
266 if (tLC == t_lc::dummy) {
267 if (satObs->isValid(t_lc::cIF)) {
268 tLC = t_lc::cIF;
269 }
270 else if (satObs->isValid(t_lc::c1)) {
271 tLC = t_lc::c1;
272 }
273 else if (satObs->isValid(t_lc::c2)) {
274 tLC = t_lc::c2;
275 }
276 }
277 if ( satObs->isValid(tLC) &&
278 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
279 ++iObs;
280 BB[iObs][0] = satObs->xc()[0];
281 BB[iObs][1] = satObs->xc()[1];
282 BB[iObs][2] = satObs->xc()[2];
283 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
284 }
285 }
286 if (iObs + 1 < _opt->_minObs) {
287 LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl;
288 return failure;
289 }
290 BB = BB.Rows(1,iObs+1);
291 if (bancroft(BB, xyzc) != success) {
292 return failure;
293 }
294
295 xyzc[3] /= t_CST::c;
296
297 // Check Blunders
298 // --------------
299 const double BLUNDER = 500.0;
300 double maxRes = 0.0;
301 unsigned maxResIndex = 0;
302 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
303 const t_pppSatObs* satObs = obsVector.at(ii);
304 if (satObs->isValid() &&
305 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
306 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
307 double res = rr.NormFrobenius() - satObs->obsValue(tLC)
308 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
309 if (fabs(res) > maxRes) {
310 maxRes = fabs(res);
311 maxResIndex = ii;
312 }
313 }
314 }
315 if (maxRes < BLUNDER) {
316 if (print) {
317 LOG.setf(ios::fixed);
318 LOG << "\nPPP of Epoch ";
319 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
320 LOG << "\n---------------------------------------------------------------\n";
321 LOG << string(epoTime) << " BANCROFT:" << ' '
322 << setw(14) << setprecision(3) << xyzc[0] << ' '
323 << setw(14) << setprecision(3) << xyzc[1] << ' '
324 << setw(14) << setprecision(3) << xyzc[2] << ' '
325 << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
326 }
327 break;
328 }
329 else {
330 t_pppSatObs* satObs = obsVector.at(maxResIndex);
331 LOG << "t_pppClient::cmpBancroft Outlier " << satObs->prn().toString()
332 << " " << maxRes << endl;
333 delete satObs;
334 obsVector.erase(obsVector.begin() + maxResIndex);
335 }
336 }
337
338 return success;
339}
340
341//
342//////////////////////////////////////////////////////////////////////////////
343void t_pppClient::initOutput(t_output* output) {
344 _output = output;
345 _output->_numSat = 0;
346 _output->_hDop = 0.0;
347 _output->_error = false;
348}
349
350//
351//////////////////////////////////////////////////////////////////////////////
352void t_pppClient::clearObs() {
353 for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
354 delete _obsRover.at(ii);
355 }
356 _obsRover.clear();
357}
358
359//
360//////////////////////////////////////////////////////////////////////////////
361void t_pppClient::finish(t_irc irc, int ind) {
362#ifdef BNC_DEBUG_PPP
363 LOG << "t_pppClient::finish(" << ind << "): " << irc << endl;
364#endif
365
366 clearObs();
367
368 _output->_epoTime = _epoTimeRover;
369
370 if (irc == success) {
371 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
372 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
373 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
374
375 xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
376
377 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
378
379 _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
380 _output->_trp = _filter->trp();
381 _output->_trpStdev = _filter->trpStdev();
382
383 _output->_numSat = _filter->numSat();
384 _output->_hDop = _filter->HDOP();
385 _output->_error = false;
386 }
387 else {
388 _output->_error = true;
389 }
390
391 _output->_log = _log->str();
392 delete _log; _log = new ostringstream();
393
394 return;
395}
396
397//
398//////////////////////////////////////////////////////////////////////////////
399t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
400 vector<t_pppSatObs*>& obsVector) {
401 bncTime time;
402 time = _epoTimeRover;
403 station->setName(_opt->_roverName);
404 station->setAntName(_opt->_antNameRover);
405 station->setEpochTime(time);
406
407 if (_opt->xyzAprRoverSet()) {
408 station->setXyzApr(_opt->_xyzAprRover);
409 }
410 else {
411 station->setXyzApr(xyzc.Rows(1,3));
412 }
413 station->setNeuEcc(_opt->_neuEccRover);
414
415 // Receiver Clock
416 // --------------
417 station->setDClk(xyzc[3]);
418
419 // Tides
420 // -----
421 station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
422 station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
423
424 // Observation model
425 // -----------------
426 vector<t_pppSatObs*>::iterator it = obsVector.begin();
427 while (it != obsVector.end()) {
428 t_pppSatObs* satObs = *it;
429 t_irc modelSetup;
430 if (satObs->isValid()) {
431 modelSetup = satObs->cmpModel(station);
432 }
433 if (satObs->isValid() &&
434 satObs->eleSat() >= _opt->_minEle &&
435 modelSetup == success) {
436 ++it;
437 }
438 else {
439 delete satObs;
440 it = obsVector.erase(it);
441 }
442 }
443
444 return success;
445}
446
447//
448//////////////////////////////////////////////////////////////////////////////
449void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
450
451 try {
452 initOutput(output);
453
454 // Prepare Observations of the Rover
455 // ---------------------------------
456 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
457 return finish(failure, 1);
458 }
459
460 for (int iter = 1; iter <= 2; iter++) {
461 ColumnVector xyzc(4); xyzc = 0.0;
462 bool print = (iter == 2);
463 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
464 return finish(failure, 2);
465 }
466 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
467 return finish(failure, 3);
468 }
469 }
470 // use observations only if satellite code biases are available
471 /* ------------------------------------------------------------
472 if (!_opt->_corrMount.empty() {
473 useObsWithCodeBiasesOnly(_obsRover);
474 }*/
475
476 if (int(_obsRover.size()) < _opt->_minObs) {
477 LOG << "t_pppClient::processEpoch not enough observations" << endl;
478 return finish(failure, 4);
479 }
480
481 // Prepare Pseudo Observations of the Rover
482 // ----------------------------------------
483 _pseudoObsIono = preparePseudoObs(_obsRover);
484
485 // Store last epoch of data
486 // ------------------------
487 _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono);
488
489 // Process Epoch in Filter
490 // -----------------------
491 if (_filter->processEpoch(_obsPool) != success) {
492 LOG << "t_pppFilter::processEpoch() != success" << endl;
493 return finish(failure, 5);
494 }
495 }
496 catch (Exception& exc) {
497 LOG << exc.what() << endl;
498 return finish(failure, 6);
499 }
500 catch (t_except msg) {
501 LOG << msg.what() << endl;
502 return finish(failure, 7);
503 }
504 catch (const char* msg) {
505 LOG << msg << endl;
506 return finish(failure, 8);
507 }
508 catch (...) {
509 LOG << "unknown exception" << endl;
510 return finish(failure, 9);
511 }
512 return finish(success, 0);
513}
514
515//
516////////////////////////////////////////////////////////////////////////////
517double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
518 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
519}
520
521//
522////////////////////////////////////////////////////////////////////////////
523t_irc t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
524
525 if (pos.Nrows() != 4) {
526 pos.ReSize(4);
527 }
528 pos = 0.0;
529
530 for (int iter = 1; iter <= 2; iter++) {
531 Matrix BB = BBpass;
532 int mm = BB.Nrows();
533 for (int ii = 1; ii <= mm; ii++) {
534 double xx = BB(ii,1);
535 double yy = BB(ii,2);
536 double traveltime = 0.072;
537 if (iter > 1) {
538 double zz = BB(ii,3);
539 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
540 (yy-pos(2)) * (yy-pos(2)) +
541 (zz-pos(3)) * (zz-pos(3)) );
542 traveltime = rho / t_CST::c;
543 }
544 double angle = traveltime * t_CST::omega;
545 double cosa = cos(angle);
546 double sina = sin(angle);
547 BB(ii,1) = cosa * xx + sina * yy;
548 BB(ii,2) = -sina * xx + cosa * yy;
549 }
550
551 Matrix BBB;
552 if (mm > 4) {
553 SymmetricMatrix hlp; hlp << BB.t() * BB;
554 BBB = hlp.i() * BB.t();
555 }
556 else {
557 BBB = BB.i();
558 }
559 ColumnVector ee(mm); ee = 1.0;
560 ColumnVector alpha(mm); alpha = 0.0;
561 for (int ii = 1; ii <= mm; ii++) {
562 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
563 }
564 ColumnVector BBBe = BBB * ee;
565 ColumnVector BBBalpha = BBB * alpha;
566 double aa = lorentz(BBBe, BBBe);
567 double bb = lorentz(BBBe, BBBalpha)-1;
568 double cc = lorentz(BBBalpha, BBBalpha);
569 double root = sqrt(bb*bb-aa*cc);
570
571 Matrix hlpPos(4,2);
572 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
573 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
574
575 ColumnVector omc(2);
576 for (int pp = 1; pp <= 2; pp++) {
577 hlpPos(4,pp) = -hlpPos(4,pp);
578 omc(pp) = BB(1,4) -
579 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
580 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
581 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
582 hlpPos(4,pp);
583 }
584 if ( fabs(omc(1)) > fabs(omc(2)) ) {
585 pos = hlpPos.Column(2);
586 }
587 else {
588 pos = hlpPos.Column(1);
589 }
590 }
591 if (pos.size() != 4 ||
592 std::isnan(pos(1)) ||
593 std::isnan(pos(2)) ||
594 std::isnan(pos(3)) ||
595 std::isnan(pos(4))) {
596 return failure;
597 }
598
599 return success;
600}
601
602//
603//////////////////////////////////////////////////////////////////////////////
604void t_pppClient::reset() {cout << "t_pppClient::reset()" << endl;
605
606 // to delete old orbit and clock corrections
607 delete _ephPool;
608 _ephPool = new t_pppEphPool();
609
610 // to delete old code biases
611 delete _obsPool;
612 _obsPool = new t_pppObsPool();
613
614 // to delete all parameters
615 delete _filter;
616 _filter = new t_pppFilter();
617
618}
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