source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 5857

Last change on this file since 5857 was 5857, checked in by mervart, 8 years ago
File size: 15.5 KB
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1
2// Part of BNC, a utility for retrieving decoding and
3// converting GNSS data streams from NTRIP broadcasters.
4//
5// Copyright (C) 2007
6// German Federal Agency for Cartography and Geodesy (BKG)
7// http://www.bkg.bund.de
8// Czech Technical University Prague, Department of Geodesy
9// http://www.fsv.cvut.cz
10//
11// Email: euref-ip@bkg.bund.de
12//
13// This program is free software; you can redistribute it and/or
14// modify it under the terms of the GNU General Public License
15// as published by the Free Software Foundation, version 2.
16//
17// This program is distributed in the hope that it will be useful,
18// but WITHOUT ANY WARRANTY; without even the implied warranty of
19// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20// GNU General Public License for more details.
21//
22// You should have received a copy of the GNU General Public License
23// along with this program; if not, write to the Free Software
24// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
25
26/* -------------------------------------------------------------------------
27 * BKG NTRIP Client
28 * -------------------------------------------------------------------------
29 *
30 * Class: t_pppClient
31 *
32 * Purpose: PPP Client processing starts here
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
38 * Changes:
39 *
40 * -----------------------------------------------------------------------*/
41
42#include <QThreadStorage>
43
44#include <iostream>
45#include <iomanip>
46#include <stdlib.h>
47#include <string.h>
48#include <stdexcept>
49
50#include "pppClient.h"
51#include "pppEphPool.h"
52#include "pppObsPool.h"
53#include "bncconst.h"
54#include "bncutils.h"
55#include "pppStation.h"
56#include "bncantex.h"
57#include "pppFilter.h"
58
59using namespace BNC_PPP;
60using namespace std;
61
62// Global variable holding thread-specific pointers
63//////////////////////////////////////////////////////////////////////////////
64QThreadStorage<t_pppClient*> CLIENTS;
65
66// Static function returning thread-specific pointer
67//////////////////////////////////////////////////////////////////////////////
68t_pppClient* t_pppClient::instance() {
69 return CLIENTS.localData();
70}
71
72// Constructor
73//////////////////////////////////////////////////////////////////////////////
74t_pppClient::t_pppClient(const t_pppOptions* opt) {
75 _output = 0;
76 _opt = new t_pppOptions(*opt);
77 _log = new ostringstream();
78 _ephPool = new t_pppEphPool();
79 _obsPool = new t_pppObsPool();
80 _staRover = new t_pppStation();
81 _filter = new t_pppFilter();
82 _tides = new t_tides();
83
84 if (!_opt->_antexFile.empty()) {
85 _antex = new bncAntex(_opt->_antexFile.c_str());
86 }
87 else {
88 _antex = 0;
89 }
90
91 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
92}
93
94// Destructor
95//////////////////////////////////////////////////////////////////////////////
96t_pppClient::~t_pppClient() {
97 delete _log;
98 delete _opt;
99 delete _ephPool;
100 delete _obsPool;
101 delete _staRover;
102 delete _antex;
103 delete _filter;
104 delete _tides;
105 clearObs();
106}
107
108//
109//////////////////////////////////////////////////////////////////////////////
110void t_pppClient::putEphemeris(const t_eph* eph) {
111 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
112 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
113 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
114 if (ephGPS) {
115 _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
116 }
117 else if (ephGlo) {
118 _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
119 }
120 else if (ephGal) {
121 _ephPool->putEphemeris(new t_ephGal(*ephGal));
122 }
123}
124
125//
126//////////////////////////////////////////////////////////////////////////////
127void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
128 for (unsigned ii = 0; ii < corr.size(); ii++) {
129 _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
130 }
131}
132
133//
134//////////////////////////////////////////////////////////////////////////////
135void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
136 for (unsigned ii = 0; ii < corr.size(); ii++) {
137 _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
138 }
139}
140
141//
142//////////////////////////////////////////////////////////////////////////////
143void t_pppClient::putBiases(const vector<t_satBias*>& biases) {
144 for (unsigned ii = 0; ii < biases.size(); ii++) {
145 _obsPool->putBias(new t_satBias(*biases[ii]));
146 }
147}
148
149//
150//////////////////////////////////////////////////////////////////////////////
151t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
152 vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
153 // Default
154 // -------
155 epoTime.reset();
156
157 // Create vector of valid observations
158 // -----------------------------------
159 int numValidGPS = 0;
160 for (unsigned ii = 0; ii < satObs.size(); ii++) {
161 char system = satObs[ii]->_prn.system();
162 if (system == 'G' || (system == 'R' && OPT->useGlonass())) {
163 t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
164 if (pppSatObs->isValid()) {
165 obsVector.push_back(pppSatObs);
166 if (pppSatObs->prn().system() == 'G') {
167 ++numValidGPS;
168 }
169 }
170 else {
171 delete pppSatObs;
172 }
173 }
174 }
175
176 // Check whether data are synchronized, compute epoTime
177 // ----------------------------------------------------
178 const double MAXSYNC = 0.05; // synchronization limit
179 double meanDt = 0.0;
180 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
181 const t_pppSatObs* satObs = obsVector.at(ii);
182 if (epoTime.undef()) {
183 epoTime = satObs->time();
184 }
185 else {
186 double dt = satObs->time() - epoTime;
187 if (fabs(dt) > MAXSYNC) {
188 LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
189 return failure;
190 }
191 meanDt += dt;
192 }
193 }
194
195 if (obsVector.size() > 0) {
196 epoTime += meanDt / obsVector.size();
197 }
198
199 return success;
200}
201
202// Compute the Bancroft position, check for blunders
203//////////////////////////////////////////////////////////////////////////////
204t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
205 vector<t_pppSatObs*>& obsVector,
206 ColumnVector& xyzc, bool print) {
207
208 t_lc::type tLC = (OPT->dualFreqRequired() ? t_lc::cIF : t_lc::c1);
209
210 while (true) {
211 Matrix BB(obsVector.size(), 4);
212 int iObs = -1;
213 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
214 const t_pppSatObs* satObs = obsVector.at(ii);
215 if ( satObs->isValid() && satObs->prn().system() == 'G' &&
216 (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
217 ++iObs;
218 BB[iObs][0] = satObs->xc()[0];
219 BB[iObs][1] = satObs->xc()[1];
220 BB[iObs][2] = satObs->xc()[2];
221 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
222 }
223 }
224 if (iObs + 1 < OPT->_minObs) {
225 LOG << "t_pppClient::cmpBancroft not enough observations" << endl;
226 return failure;
227 }
228 BB = BB.Rows(1,iObs+1);
229 bancroft(BB, xyzc);
230
231 xyzc[3] /= t_CST::c;
232
233 // Check Blunders
234 // --------------
235 const double BLUNDER = 100.0;
236 double maxRes = 0.0;
237 unsigned maxResIndex = 0;
238 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
239 const t_pppSatObs* satObs = obsVector.at(ii);
240 if ( satObs->isValid() && satObs->prn().system() == 'G' &&
241 (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
242 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
243 double res = rr.norm_Frobenius() - satObs->obsValue(tLC)
244 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
245 if (fabs(res) > maxRes) {
246 maxRes = fabs(res);
247 maxResIndex = ii;
248 }
249 }
250 }
251 if (maxRes < BLUNDER) {
252 if (print) {
253 LOG.setf(ios::fixed);
254 LOG << string(epoTime) << " BANCROFT:" << ' '
255 << setw(14) << setprecision(3) << xyzc[0] << ' '
256 << setw(14) << setprecision(3) << xyzc[1] << ' '
257 << setw(14) << setprecision(3) << xyzc[2] << ' '
258 << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
259 }
260 break;
261 }
262 else {
263 t_pppSatObs* satObs = obsVector.at(maxResIndex);
264 LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
265 << " " << maxRes << endl;
266 delete satObs;
267 obsVector.erase(obsVector.begin() + maxResIndex);
268 }
269 }
270
271 return success;
272}
273
274// Compute A Priori GPS-Glonass Offset
275//////////////////////////////////////////////////////////////////////////////
276double t_pppClient::cmpOffGG(vector<t_pppSatObs*>& obsVector) {
277
278 t_lc::type tLC = (OPT->dualFreqRequired() ? t_lc::cIF : t_lc::c1);
279 double offGG = 0.0;
280
281 if (OPT->useGlonass()) {
282
283 while (obsVector.size() > 0) {
284 offGG = 0.0;
285 double maxRes = 0.0;
286 int maxResIndex = -1;
287 unsigned nObs = 0;
288 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
289 t_pppSatObs* satObs = obsVector.at(ii);
290 if ( satObs->isValid() && satObs->prn().system() == 'R' &&
291 (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
292 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
293 ++nObs;
294 offGG += ll;
295 if (fabs(ll) > maxRes) {
296 maxRes = fabs(ll);
297 maxResIndex = ii;
298 }
299 }
300 }
301
302 if (nObs > 0) {
303 offGG = offGG / nObs;
304 }
305 else {
306 offGG = 0.0;
307 }
308
309 if (maxRes > 1000.0) {
310 obsVector.erase(obsVector.begin() + maxResIndex);
311 }
312 else {
313 break;
314 }
315 }
316 }
317
318 return offGG;
319}
320
321//
322//////////////////////////////////////////////////////////////////////////////
323void t_pppClient::initOutput(t_output* output) {
324 _output = output;
325 _output->_numSat = 0;
326 _output->_pDop = 0.0;
327 _output->_error = false;
328}
329
330//
331//////////////////////////////////////////////////////////////////////////////
332void t_pppClient::clearObs() {
333 for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
334 delete _obsRover.at(ii);
335 }
336 _obsRover.clear();
337}
338
339//
340//////////////////////////////////////////////////////////////////////////////
341void t_pppClient::finish(t_irc irc) {
342
343 clearObs();
344
345 _output->_epoTime = _epoTimeRover;
346
347 if (irc == success) {
348 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
349 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
350 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
351 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
352 _output->_numSat = _filter->numSat();
353 _output->_pDop = _filter->PDOP();
354 _output->_error = false;
355 }
356 else {
357 _output->_error = true;
358 }
359 _output->_log = _log->str();
360 delete _log; _log = new ostringstream();
361}
362
363//
364//////////////////////////////////////////////////////////////////////////////
365t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
366 vector<t_pppSatObs*>& obsVector) {
367
368 bncTime time;
369 time = _epoTimeRover;
370 station->setName(OPT->_roverName);
371 station->setAntName(OPT->_antNameRover);
372 if (OPT->xyzAprRoverSet()) {
373 station->setXyzApr(OPT->_xyzAprRover);
374 }
375 else {
376 station->setXyzApr(xyzc.Rows(1,3));
377 }
378 station->setNeuEcc(OPT->_neuEccRover);
379
380 // Receiver Clock
381 // --------------
382 station->setDClk(xyzc[3]);
383
384 // Tides
385 // -----
386 station->setTideDspl( _tides->displacement(time, station->xyzApr()) );
387
388 // Observation model
389 // -----------------
390 vector<t_pppSatObs*>::iterator it = obsVector.begin();
391 while (it != obsVector.end()) {
392 t_pppSatObs* satObs = *it;
393 if (satObs->isValid()) {
394 satObs->cmpModel(station);
395 }
396 if (satObs->isValid() && satObs->eleSat() >= OPT->_minEle) {
397 ++it;
398 }
399 else {
400 delete satObs;
401 it = obsVector.erase(it);
402 }
403 }
404
405 return success;
406}
407
408//
409//////////////////////////////////////////////////////////////////////////////
410void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
411
412 try {
413 initOutput(output);
414
415 // Prepare Observations of the Rover
416 // ---------------------------------
417 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
418 return finish(failure);
419 }
420
421 LOG << "\nResults of Epoch ";
422 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
423 LOG << "\n--------------------------------------\n";
424
425 for (int iter = 1; iter <= 2; iter++) {
426 ColumnVector xyzc(4); xyzc = 0.0;
427 bool print = (iter == 2);
428 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
429 return finish(failure);
430 }
431 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
432 return finish(failure);
433 }
434 }
435
436 _offGG = cmpOffGG(_obsRover);
437
438 // Store last epoch of data
439 // ------------------------
440 _obsPool->putEpoch(_epoTimeRover, _obsRover);
441
442 // Process Epoch in Filter
443 // -----------------------
444 if (_filter->processEpoch(_obsPool) != success) {
445 return finish(failure);
446 }
447 }
448 catch (Exception& exc) {
449 LOG << exc.what() << endl;
450 return finish(failure);
451 }
452 catch (t_except msg) {
453 LOG << msg.what() << endl;
454 return finish(failure);
455 }
456 catch (const char* msg) {
457 LOG << msg << endl;
458 return finish(failure);
459 }
460 catch (...) {
461 LOG << "unknown exception" << endl;
462 return finish(failure);
463 }
464
465 return finish(success);
466}
467
468//
469////////////////////////////////////////////////////////////////////////////
470double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
471 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
472}
473
474//
475////////////////////////////////////////////////////////////////////////////
476void t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
477
478 if (pos.Nrows() != 4) {
479 pos.ReSize(4);
480 }
481 pos = 0.0;
482
483 for (int iter = 1; iter <= 2; iter++) {
484 Matrix BB = BBpass;
485 int mm = BB.Nrows();
486 for (int ii = 1; ii <= mm; ii++) {
487 double xx = BB(ii,1);
488 double yy = BB(ii,2);
489 double traveltime = 0.072;
490 if (iter > 1) {
491 double zz = BB(ii,3);
492 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
493 (yy-pos(2)) * (yy-pos(2)) +
494 (zz-pos(3)) * (zz-pos(3)) );
495 traveltime = rho / t_CST::c;
496 }
497 double angle = traveltime * t_CST::omega;
498 double cosa = cos(angle);
499 double sina = sin(angle);
500 BB(ii,1) = cosa * xx + sina * yy;
501 BB(ii,2) = -sina * xx + cosa * yy;
502 }
503
504 Matrix BBB;
505 if (mm > 4) {
506 SymmetricMatrix hlp; hlp << BB.t() * BB;
507 BBB = hlp.i() * BB.t();
508 }
509 else {
510 BBB = BB.i();
511 }
512 ColumnVector ee(mm); ee = 1.0;
513 ColumnVector alpha(mm); alpha = 0.0;
514 for (int ii = 1; ii <= mm; ii++) {
515 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
516 }
517 ColumnVector BBBe = BBB * ee;
518 ColumnVector BBBalpha = BBB * alpha;
519 double aa = lorentz(BBBe, BBBe);
520 double bb = lorentz(BBBe, BBBalpha)-1;
521 double cc = lorentz(BBBalpha, BBBalpha);
522 double root = sqrt(bb*bb-aa*cc);
523
524 Matrix hlpPos(4,2);
525 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
526 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
527
528 ColumnVector omc(2);
529 for (int pp = 1; pp <= 2; pp++) {
530 hlpPos(4,pp) = -hlpPos(4,pp);
531 omc(pp) = BB(1,4) -
532 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
533 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
534 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
535 hlpPos(4,pp);
536 }
537 if ( fabs(omc(1)) > fabs(omc(2)) ) {
538 pos = hlpPos.Column(2);
539 }
540 else {
541 pos = hlpPos.Column(1);
542 }
543 }
544}
545
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