source: ntrip/trunk/BNC/src/PPP_RTK/pppClient.cpp@ 7231

Last change on this file since 7231 was 7231, checked in by stuerze, 9 years ago

some interfaces are added to be able to handle ssr vtec in PPP mode
  • Property svn:keywords set to Author Date Id Rev URL;svn:eol-style=native
  • Property svn:mime-type set to text/plain
File size: 15.2 KB
Line 
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 <stdlib.h>
22#include <string.h>
23#include <stdexcept>
24
25#include "pppClient.h"
26#include "pppEphPool.h"
27#include "pppObsPool.h"
28#include "bncconst.h"
29#include "bncutils.h"
30#include "pppStation.h"
31#include "bncantex.h"
32#include "pppFilter.h"
33
34using namespace BNC_PPP;
35using namespace std;
36
37// Global variable holding thread-specific pointers
38//////////////////////////////////////////////////////////////////////////////
39QThreadStorage<t_pppClient*> CLIENTS;
40
41// Static function returning thread-specific pointer
42//////////////////////////////////////////////////////////////////////////////
43t_pppClient* t_pppClient::instance() {
44 return CLIENTS.localData();
45}
46
47// Constructor
48//////////////////////////////////////////////////////////////////////////////
49t_pppClient::t_pppClient(const t_pppOptions* opt) {
50 _output = 0;
51 _opt = new t_pppOptions(*opt);
52 _log = new ostringstream();
53 _ephPool = new t_pppEphPool();
54 _obsPool = new t_pppObsPool();
55 _staRover = new t_pppStation();
56 _filter = new t_pppFilter();
57 _tides = new t_tides();
58
59 if (!_opt->_antexFileName.empty()) {
60 _antex = new bncAntex(_opt->_antexFileName.c_str());
61 }
62 else {
63 _antex = 0;
64 }
65
66 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
67}
68
69// Destructor
70//////////////////////////////////////////////////////////////////////////////
71t_pppClient::~t_pppClient() {
72 delete _log;
73 delete _opt;
74 delete _ephPool;
75 delete _obsPool;
76 delete _staRover;
77 delete _antex;
78 delete _filter;
79 delete _tides;
80 clearObs();
81}
82
83//
84//////////////////////////////////////////////////////////////////////////////
85void t_pppClient::putEphemeris(const t_eph* eph) {
86 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
87 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
88 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
89 if (ephGPS) {
90 _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
91 }
92 else if (ephGlo) {
93 _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
94 }
95 else if (ephGal) {
96 _ephPool->putEphemeris(new t_ephGal(*ephGal));
97 }
98}
99
100//
101//////////////////////////////////////////////////////////////////////////////
102void t_pppClient::putTec(const t_vTec* vTec) {
103 _staRover->putTec(new t_vTec(*vTec));
104}
105
106//
107//////////////////////////////////////////////////////////////////////////////
108void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
109 for (unsigned ii = 0; ii < corr.size(); ii++) {
110 _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
111 }
112}
113
114//
115//////////////////////////////////////////////////////////////////////////////
116void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
117 for (unsigned ii = 0; ii < corr.size(); ii++) {
118 _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
119 }
120}
121
122//
123//////////////////////////////////////////////////////////////////////////////
124void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
125 for (unsigned ii = 0; ii < biases.size(); ii++) {
126 _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
127 }
128}
129
130//
131//////////////////////////////////////////////////////////////////////////////
132t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
133 vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
134 // Default
135 // -------
136 epoTime.reset();
137
138 // Create vector of valid observations
139 // -----------------------------------
140 for (unsigned ii = 0; ii < satObs.size(); ii++) {
141 char system = satObs[ii]->_prn.system();
142 if (OPT->useSystem(system)) {
143 t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
144 if (pppSatObs->isValid()) {
145 obsVector.push_back(pppSatObs);
146 }
147 else {
148 delete pppSatObs;
149 }
150 }
151 }
152
153 // Check whether data are synchronized, compute epoTime
154 // ----------------------------------------------------
155 const double MAXSYNC = 0.05; // synchronization limit
156 double meanDt = 0.0;
157 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
158 const t_pppSatObs* satObs = obsVector.at(ii);
159 if (epoTime.undef()) {
160 epoTime = satObs->time();
161 }
162 else {
163 double dt = satObs->time() - epoTime;
164 if (fabs(dt) > MAXSYNC) {
165 LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
166 return failure;
167 }
168 meanDt += dt;
169 }
170 }
171
172 if (obsVector.size() > 0) {
173 epoTime += meanDt / obsVector.size();
174 }
175
176 return success;
177}
178
179// Compute the Bancroft position, check for blunders
180//////////////////////////////////////////////////////////////////////////////
181t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
182 vector<t_pppSatObs*>& obsVector,
183 ColumnVector& xyzc, bool print) {
184
185 t_lc::type tLC = t_lc::dummy;
186
187 while (true) {
188 Matrix BB(obsVector.size(), 4);
189 int iObs = -1;
190 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
191 const t_pppSatObs* satObs = obsVector.at(ii);
192 if (satObs->prn().system() == 'G') {
193 if (tLC == t_lc::dummy) {
194 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
195 }
196 if ( satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
197 ++iObs;
198 BB[iObs][0] = satObs->xc()[0];
199 BB[iObs][1] = satObs->xc()[1];
200 BB[iObs][2] = satObs->xc()[2];
201 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
202 }
203 }
204 }
205 if (iObs + 1 < OPT->_minObs) {
206 LOG << "t_pppClient::cmpBancroft not enough observations" << endl;
207 return failure;
208 }
209 BB = BB.Rows(1,iObs+1);
210 bancroft(BB, xyzc);
211
212 xyzc[3] /= t_CST::c;
213
214 // Check Blunders
215 // --------------
216 const double BLUNDER = 100.0;
217 double maxRes = 0.0;
218 unsigned maxResIndex = 0;
219 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
220 const t_pppSatObs* satObs = obsVector.at(ii);
221 if ( satObs->isValid() && satObs->prn().system() == 'G' &&
222 (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
223 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
224 double res = rr.norm_Frobenius() - satObs->obsValue(tLC)
225 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
226 if (fabs(res) > maxRes) {
227 maxRes = fabs(res);
228 maxResIndex = ii;
229 }
230 }
231 }
232 if (maxRes < BLUNDER) {
233 if (print) {
234 LOG.setf(ios::fixed);
235 LOG << string(epoTime) << " BANCROFT:" << ' '
236 << setw(14) << setprecision(3) << xyzc[0] << ' '
237 << setw(14) << setprecision(3) << xyzc[1] << ' '
238 << setw(14) << setprecision(3) << xyzc[2] << ' '
239 << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
240 }
241 break;
242 }
243 else {
244 t_pppSatObs* satObs = obsVector.at(maxResIndex);
245 LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
246 << " " << maxRes << endl;
247 delete satObs;
248 obsVector.erase(obsVector.begin() + maxResIndex);
249 }
250 }
251
252 return success;
253}
254
255// Compute A Priori GPS-Glonass Offset
256//////////////////////////////////////////////////////////////////////////////
257double t_pppClient::cmpOffGG(vector<t_pppSatObs*>& obsVector) {
258
259 t_lc::type tLC = t_lc::dummy;
260 double offGG = 0.0;
261
262 if (OPT->useSystem('R')) {
263
264 while (obsVector.size() > 0) {
265 offGG = 0.0;
266 double maxRes = 0.0;
267 int maxResIndex = -1;
268 t_prn maxResPrn;
269 unsigned nObs = 0;
270 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
271 t_pppSatObs* satObs = obsVector.at(ii);
272 if (satObs->prn().system() == 'R') {
273 if (tLC == t_lc::dummy) {
274 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
275 }
276 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) {
277 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
278 ++nObs;
279 offGG += ll;
280 if (fabs(ll) > fabs(maxRes)) {
281 maxRes = ll;
282 maxResIndex = ii;
283 maxResPrn = satObs->prn();
284 }
285 }
286 }
287 }
288
289 if (nObs > 0) {
290 offGG = offGG / nObs;
291 }
292 else {
293 offGG = 0.0;
294 }
295
296 if (fabs(maxRes) > 1000.0) {
297 LOG << "t_pppClient::cmpOffGG outlier " << maxResPrn.toString() << " " << maxRes << endl;
298 obsVector.erase(obsVector.begin() + maxResIndex);
299 }
300 else {
301 break;
302 }
303 }
304 }
305
306 return offGG;
307}
308
309//
310//////////////////////////////////////////////////////////////////////////////
311void t_pppClient::initOutput(t_output* output) {
312 _output = output;
313 _output->_numSat = 0;
314 _output->_pDop = 0.0;
315 _output->_error = false;
316}
317
318//
319//////////////////////////////////////////////////////////////////////////////
320void t_pppClient::clearObs() {
321 for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
322 delete _obsRover.at(ii);
323 }
324 _obsRover.clear();
325}
326
327//
328//////////////////////////////////////////////////////////////////////////////
329void t_pppClient::finish(t_irc irc) {
330
331 clearObs();
332
333 _output->_epoTime = _epoTimeRover;
334
335 if (irc == success) {
336 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
337 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
338 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
339
340 xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
341
342 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
343
344 _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
345 _output->_trp = _filter->trp();
346 _output->_trpStdev = _filter->trpStdev();
347
348 _output->_numSat = _filter->numSat();
349 _output->_pDop = _filter->PDOP();
350 _output->_error = false;
351 }
352 else {
353 _output->_error = true;
354 }
355 _output->_log = _log->str();
356 delete _log; _log = new ostringstream();
357}
358
359//
360//////////////////////////////////////////////////////////////////////////////
361t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
362 vector<t_pppSatObs*>& obsVector) {
363
364 bncTime time;
365 time = _epoTimeRover;
366 station->setName(OPT->_roverName);
367 station->setAntName(OPT->_antNameRover);
368 if (OPT->xyzAprRoverSet()) {
369 station->setXyzApr(OPT->_xyzAprRover);
370 }
371 else {
372 station->setXyzApr(xyzc.Rows(1,3));
373 }
374 station->setNeuEcc(OPT->_neuEccRover);
375
376 // Receiver Clock
377 // --------------
378 station->setDClk(xyzc[3]);
379
380 // Tides
381 // -----
382 station->setTideDspl( _tides->displacement(time, station->xyzApr()) );
383
384 // Observation model
385 // -----------------
386 vector<t_pppSatObs*>::iterator it = obsVector.begin();
387 while (it != obsVector.end()) {
388 t_pppSatObs* satObs = *it;
389 if (satObs->isValid()) {
390 satObs->cmpModel(station);
391 }
392 if (satObs->isValid() && satObs->eleSat() >= OPT->_minEle) {
393 ++it;
394 }
395 else {
396 delete satObs;
397 it = obsVector.erase(it);
398 }
399 }
400
401 return success;
402}
403
404//
405//////////////////////////////////////////////////////////////////////////////
406void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
407
408 try {
409 initOutput(output);
410
411 // Prepare Observations of the Rover
412 // ---------------------------------
413 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
414 return finish(failure);
415 }
416
417 LOG << "\nResults of Epoch ";
418 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
419 LOG << "\n--------------------------------------\n";
420
421 for (int iter = 1; iter <= 2; iter++) {
422 ColumnVector xyzc(4); xyzc = 0.0;
423 bool print = (iter == 2);
424 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
425 return finish(failure);
426 }
427 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
428 return finish(failure);
429 }
430 }
431
432 _offGG = cmpOffGG(_obsRover);
433
434 // Store last epoch of data
435 // ------------------------
436 _obsPool->putEpoch(_epoTimeRover, _obsRover);
437
438 // Process Epoch in Filter
439 // -----------------------
440 if (_filter->processEpoch(_obsPool) != success) {
441 return finish(failure);
442 }
443 }
444 catch (Exception& exc) {
445 LOG << exc.what() << endl;
446 return finish(failure);
447 }
448 catch (t_except msg) {
449 LOG << msg.what() << endl;
450 return finish(failure);
451 }
452 catch (const char* msg) {
453 LOG << msg << endl;
454 return finish(failure);
455 }
456 catch (...) {
457 LOG << "unknown exception" << endl;
458 return finish(failure);
459 }
460
461 return finish(success);
462}
463
464//
465////////////////////////////////////////////////////////////////////////////
466double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
467 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
468}
469
470//
471////////////////////////////////////////////////////////////////////////////
472void t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
473
474 if (pos.Nrows() != 4) {
475 pos.ReSize(4);
476 }
477 pos = 0.0;
478
479 for (int iter = 1; iter <= 2; iter++) {
480 Matrix BB = BBpass;
481 int mm = BB.Nrows();
482 for (int ii = 1; ii <= mm; ii++) {
483 double xx = BB(ii,1);
484 double yy = BB(ii,2);
485 double traveltime = 0.072;
486 if (iter > 1) {
487 double zz = BB(ii,3);
488 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
489 (yy-pos(2)) * (yy-pos(2)) +
490 (zz-pos(3)) * (zz-pos(3)) );
491 traveltime = rho / t_CST::c;
492 }
493 double angle = traveltime * t_CST::omega;
494 double cosa = cos(angle);
495 double sina = sin(angle);
496 BB(ii,1) = cosa * xx + sina * yy;
497 BB(ii,2) = -sina * xx + cosa * yy;
498 }
499
500 Matrix BBB;
501 if (mm > 4) {
502 SymmetricMatrix hlp; hlp << BB.t() * BB;
503 BBB = hlp.i() * BB.t();
504 }
505 else {
506 BBB = BB.i();
507 }
508 ColumnVector ee(mm); ee = 1.0;
509 ColumnVector alpha(mm); alpha = 0.0;
510 for (int ii = 1; ii <= mm; ii++) {
511 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
512 }
513 ColumnVector BBBe = BBB * ee;
514 ColumnVector BBBalpha = BBB * alpha;
515 double aa = lorentz(BBBe, BBBe);
516 double bb = lorentz(BBBe, BBBalpha)-1;
517 double cc = lorentz(BBBalpha, BBBalpha);
518 double root = sqrt(bb*bb-aa*cc);
519
520 Matrix hlpPos(4,2);
521 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
522 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
523
524 ColumnVector omc(2);
525 for (int pp = 1; pp <= 2; pp++) {
526 hlpPos(4,pp) = -hlpPos(4,pp);
527 omc(pp) = BB(1,4) -
528 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
529 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
530 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
531 hlpPos(4,pp);
532 }
533 if ( fabs(omc(1)) > fabs(omc(2)) ) {
534 pos = hlpPos.Column(2);
535 }
536 else {
537 pos = hlpPos.Column(1);
538 }
539 }
540}
541
Note: See TracBrowser for help on using the repository browser.