source: ntrip/trunk/BNC/src/PPP/pppParlist.cpp@ 5921

Last change on this file since 5921 was 5921, checked in by mervart, 10 years ago
File size: 11.8 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_pppParlist
31 *
32 * Purpose: List of estimated parameters
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
38 * Changes:
39 *
40 * -----------------------------------------------------------------------*/
41
42#include <cmath>
43#include <iostream>
44#include <sstream>
45#include <iomanip>
46#include <algorithm>
47#include <newmatio.h>
48
49#include "pppParlist.h"
50#include "pppSatObs.h"
51#include "pppStation.h"
52#include "bncutils.h"
53#include "bncconst.h"
54#include "pppClient.h"
55
56using namespace BNC_PPP;
57using namespace std;
58
59// Constructor
60////////////////////////////////////////////////////////////////////////////
61t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
62 const vector<t_pppSatObs*>* obsVector) {
63
64 _type = type;
65 _prn = prn;
66 _tLC = tLC;
67 _x0 = 0.0;
68 _indexOld = -1;
69 _indexNew = -1;
70 _noise = 0.0;
71 _ambInfo = 0;
72
73 switch (_type) {
74 case crdX:
75 _epoSpec = false;
76 _sigma0 = OPT->_aprSigCrd[0];
77 _noise = OPT->_noiseCrd[0];
78 break;
79 case crdY:
80 _epoSpec = false;
81 _sigma0 = OPT->_aprSigCrd[1];
82 _noise = OPT->_noiseCrd[1];
83 break;
84 case crdZ:
85 _epoSpec = false;
86 _sigma0 = OPT->_aprSigCrd[2];
87 _noise = OPT->_noiseCrd[2];
88 break;
89 case clkR:
90 _epoSpec = true;
91 _sigma0 = OPT->_noiseClk;
92 break;
93 case amb:
94 _epoSpec = false;
95 _sigma0 = OPT->_aprSigAmb;
96 _ambInfo = new t_ambInfo();
97 if (obsVector) {
98 for (unsigned ii = 0; ii < obsVector->size(); ii++) {
99 const t_pppSatObs* obs = obsVector->at(ii);
100 if (obs->prn() == _prn) {
101 double offGG = 0;
102 if (_prn.system() == 'R' && tLC != t_lc::MW) {
103 offGG = PPP_CLIENT->offGG();
104 }
105 _x0 = floor((obs->obsValue(tLC) - offGG - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
106 break;
107 }
108 }
109 }
110 break;
111 case offGG:
112 _epoSpec = true;
113 _sigma0 = 1000.0;
114 _x0 = PPP_CLIENT->offGG();
115 break;
116 case trp:
117 _epoSpec = false;
118 _sigma0 = OPT->_aprSigTrp;
119 _noise = OPT->_noiseTrp;
120 break;
121 }
122}
123
124// Destructor
125////////////////////////////////////////////////////////////////////////////
126t_pppParam::~t_pppParam() {
127 delete _ambInfo;
128}
129
130//
131////////////////////////////////////////////////////////////////////////////
132double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
133 const t_lc::type& tLC) const {
134
135 // Special Case - Melbourne-Wuebbena
136 // ---------------------------------
137 if (tLC == t_lc::MW && _type != amb) {
138 return 0.0;
139 }
140
141 const t_pppStation* sta = PPP_CLIENT->staRover();
142 ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
143
144 switch (_type) {
145 case crdX:
146 return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.norm_Frobenius();
147 case crdY:
148 return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.norm_Frobenius();
149 case crdZ:
150 return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.norm_Frobenius();
151 case clkR:
152 return 1.0;
153 case offGG:
154 return (obs->prn().system() == 'R') ? 1.0 : 0.0;
155 case amb:
156 if (obs->prn() == _prn) {
157 if (tLC == _tLC) {
158 return (obs->lambda(tLC));
159 }
160 else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
161 return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
162 }
163 else {
164 ColumnVector coeff(4);
165 obs->lc(tLC, 0.0, 0.0, 0.0, 0.0, &coeff);
166 if (_tLC == t_lc::l1) {
167 return obs->lambda(t_lc::l1) * coeff(1);
168 }
169 else if (_tLC == t_lc::l2) {
170 return obs->lambda(t_lc::l2) * coeff(2);
171 }
172 }
173 }
174 return 0.0;
175 case trp:
176 return 1.0 / sin(obs->eleSat());
177 }
178
179 return 0.0;
180}
181
182//
183////////////////////////////////////////////////////////////////////////////
184string t_pppParam::toString() const {
185 stringstream ss;
186 switch (_type) {
187 case crdX:
188 ss << "CRD_X";
189 break;
190 case crdY:
191 ss << "CRD_Y";
192 break;
193 case crdZ:
194 ss << "CRD_Z";
195 break;
196 case clkR:
197 ss << "CLK ";
198 break;
199 case amb:
200 ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
201 break;
202 case offGG:
203 ss << "OGG ";
204 break;
205 case trp:
206 ss << "TRP ";
207 break;
208 }
209 return ss.str();
210}
211
212// Constructor
213////////////////////////////////////////////////////////////////////////////
214t_pppParlist::t_pppParlist() {
215}
216
217// Destructor
218////////////////////////////////////////////////////////////////////////////
219t_pppParlist::~t_pppParlist() {
220 for (unsigned ii = 0; ii < _params.size(); ii++) {
221 delete _params[ii];
222 }
223}
224
225//
226////////////////////////////////////////////////////////////////////////////
227t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector) {
228
229 // Remove some Parameters
230 // ----------------------
231 vector<t_pppParam*>::iterator it = _params.begin();
232 while (it != _params.end()) {
233 t_pppParam* par = *it;
234
235 bool remove = false;
236
237 if (par->epoSpec()) {
238 remove = true;
239 }
240
241 else if (par->type() == t_pppParam::amb) {
242 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 120.0)) {
243 remove = true;
244 }
245 }
246
247 else if (par->type() == t_pppParam::amb) {
248 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 3600.0)) {
249 remove = true;
250 }
251 }
252
253 if (remove) {
254 delete par;
255 it = _params.erase(it);
256 }
257 else {
258 ++it;
259 }
260 }
261
262 // Check whether parameters have observations
263 // ------------------------------------------
264 for (unsigned ii = 0; ii < _params.size(); ii++) {
265 t_pppParam* par = _params[ii];
266 if (par->prn() == 0) {
267 par->setLastObsTime(epoTime);
268 if (par->firstObsTime().undef()) {
269 par->setFirstObsTime(epoTime);
270 }
271 }
272 else {
273 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
274 const t_pppSatObs* satObs = obsVector[jj];
275 if (satObs->prn() == par->prn()) {
276 par->setLastObsTime(epoTime);
277 if (par->firstObsTime().undef()) {
278 par->setFirstObsTime(epoTime);
279 }
280 break;
281 }
282 }
283 }
284 }
285
286 // Required Set of Parameters
287 // --------------------------
288 vector<t_pppParam*> required;
289
290 // Coordinates
291 // -----------
292 required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
293 required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
294 required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
295
296 // Receiver Clock
297 // --------------
298 required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
299
300 // GPS-Glonass Clock Offset
301 // ------------------------
302 if (OPT->useGlonass()) {
303 required.push_back(new t_pppParam(t_pppParam::offGG, t_prn(), t_lc::dummy));
304 }
305
306 // Troposphere
307 // -----------
308 if (OPT->estTrp()) {
309 required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
310 }
311
312 // Ambiguities
313 // -----------
314 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
315 const t_pppSatObs* satObs = obsVector[jj];
316 const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
317 for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
318 required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
319 }
320 }
321
322 // Check if all required parameters are present
323 // --------------------------------------------
324 for (unsigned ii = 0; ii < required.size(); ii++) {
325 t_pppParam* parReq = required[ii];
326
327 bool found = false;
328 for (unsigned jj = 0; jj < _params.size(); jj++) {
329 t_pppParam* parOld = _params[jj];
330 if (parOld->isEqual(parReq)) {
331 found = true;
332 break;
333 }
334 }
335 if (found) {
336 delete parReq;
337 }
338 else {
339 _params.push_back(parReq);
340 }
341 }
342
343 // Set Parameter Indices
344 // ---------------------
345 sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
346
347 for (unsigned ii = 0; ii < _params.size(); ii++) {
348 t_pppParam* par = _params[ii];
349 par->setIndex(ii);
350 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
351 const t_pppSatObs* satObs = obsVector[jj];
352 if (satObs->prn() == par->prn()) {
353 par->setAmbEleSat(satObs->eleSat());
354 par->stepAmbNumEpo();
355 }
356 }
357 }
358
359 return success;
360}
361
362//
363////////////////////////////////////////////////////////////////////////////
364void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
365 const ColumnVector& xx) const {
366
367 string epoTimeStr = string(epoTime);
368
369 LOG << endl;
370
371 t_pppParam* parX = 0;
372 t_pppParam* parY = 0;
373 t_pppParam* parZ = 0;
374 for (unsigned ii = 0; ii < _params.size(); ii++) {
375 t_pppParam* par = _params[ii];
376 if (par->type() == t_pppParam::crdX) {
377 parX = par;
378 }
379 else if (par->type() == t_pppParam::crdY) {
380 parY = par;
381 }
382 else if (par->type() == t_pppParam::crdZ) {
383 parZ = par;
384 }
385 else {
386 int ind = par->indexNew();
387 LOG << epoTimeStr << ' ' << par->toString() << ' '
388 << setw(10) << setprecision(4) << par->x0() << ' '
389 << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
390 << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
391 if (par->type() == t_pppParam::amb) {
392 LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
393 << " epo = " << setw(4) << par->ambNumEpo();
394 }
395 LOG << endl;
396 }
397 }
398
399 if (parX && parY && parZ) {
400 const t_pppStation* sta = PPP_CLIENT->staRover();
401
402 ColumnVector xyz(3);
403 xyz[0] = xx[parX->indexNew()];
404 xyz[1] = xx[parY->indexNew()];
405 xyz[2] = xx[parZ->indexNew()];
406
407 ColumnVector neu(3);
408 xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
409
410 SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
411
412 SymmetricMatrix QQneu(3);
413 covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
414
415 LOG << epoTimeStr
416 << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
417 << setprecision(4) << sqrt(QQxyz[0][0])
418
419 << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
420 << setprecision(4) << sqrt(QQxyz[1][1])
421
422 << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
423 << setprecision(4) << sqrt(QQxyz[2][2])
424
425 << " dN = " << setprecision(4) << neu[0] << " +- "
426 << setprecision(4) << sqrt(QQneu[0][0])
427
428 << " dE = " << setprecision(4) << neu[1] << " +- "
429 << setprecision(4) << sqrt(QQneu[1][1])
430
431 << " dU = " << setprecision(4) << neu[2] << " +- "
432 << setprecision(4) << sqrt(QQneu[2][2]);
433 LOG << endl;
434 }
435}
436
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