source: ntrip/trunk/BNC/src/PPP_SSR_I/pppClient.cpp@ 6967

Last change on this file since 6967 was 6967, checked in by stuerze, 9 years ago

minor changes in order to allow GPSonly PPP (SSR I) and to consider the chosen options regarding the usage of observations from additional systems
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File size: 11.3 KB
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1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: t_pppClient
30 *
31 * Purpose: Precise Point Positioning
32 *
33 * Author: L. Mervart
34 *
35 * Created: 21-Nov-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <newmatio.h>
42#include <iomanip>
43#include <sstream>
44
45#include "pppClient.h"
46#include "bncephuser.h"
47#include "bncutils.h"
48
49using namespace BNC_PPP;
50using namespace std;
51
52// Constructor
53////////////////////////////////////////////////////////////////////////////
54t_pppClient::t_pppClient(const t_pppOptions* opt) {
55
56 _opt = new t_pppOptions(*opt);
57 _filter = new t_pppFilter(this);
58 _epoData = new t_epoData();
59 _log = new ostringstream();
60 _ephUser = new bncEphUser(false);
61}
62
63// Destructor
64////////////////////////////////////////////////////////////////////////////
65t_pppClient::~t_pppClient() {
66 delete _filter;
67 delete _epoData;
68 delete _opt;
69 delete _ephUser;
70 delete _log;
71}
72
73//
74////////////////////////////////////////////////////////////////////////////
75void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
76
77 // Convert and store observations
78 // ------------------------------
79 _epoData->clear();
80 for (unsigned ii = 0; ii < satObs.size(); ii++) {
81 const t_satObs* obs = satObs[ii];
82 t_satData* satData = new t_satData();
83
84 if (_epoData->tt.undef()) {
85 _epoData->tt = obs->_time;
86 }
87
88 satData->tt = obs->_time;
89 satData->prn = QString(obs->_prn.toInternalString().c_str());
90 satData->slipFlag = false;
91 satData->P1 = 0.0;
92 satData->P2 = 0.0;
93 satData->P5 = 0.0;
94 satData->L1 = 0.0;
95 satData->L2 = 0.0;
96 satData->L5 = 0.0;
97 for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) {
98 t_frqObs* frqObs = obs->_obs[ifrq];
99 if (frqObs->_rnxType2ch[0] == '1') {
100 if (frqObs->_codeValid) satData->P1 = frqObs->_code;
101 if (frqObs->_phaseValid) satData->L1 = frqObs->_phase;
102 if (frqObs->_slip) satData->slipFlag = true;
103 }
104 else if (frqObs->_rnxType2ch[0] == '2') {
105 if (frqObs->_codeValid) satData->P2 = frqObs->_code;
106 if (frqObs->_phaseValid) satData->L2 = frqObs->_phase;
107 if (frqObs->_slip) satData->slipFlag = true;
108 }
109 else if (frqObs->_rnxType2ch[0] == '5') {
110 if (frqObs->_codeValid) satData->P5 = frqObs->_code;
111 if (frqObs->_phaseValid) satData->L5 = frqObs->_phase;
112 if (frqObs->_slip) satData->slipFlag = true;
113 }
114 }
115 putNewObs(satData);
116 }
117
118 // Data Pre-Processing
119 // -------------------
120 QMutableMapIterator<QString, t_satData*> it(_epoData->satData);
121 while (it.hasNext()) {
122 it.next();
123 QString prn = it.key();
124 t_satData* satData = it.value();
125
126 if (cmpToT(satData) != success) {
127 delete satData;
128 it.remove();
129 continue;
130 }
131 }
132
133 // Filter Solution
134 // ---------------
135 if (_filter->update(_epoData) == success) {
136 output->_error = false;
137 output->_epoTime = _filter->time();
138 output->_xyzRover[0] = _filter->x();
139 output->_xyzRover[1] = _filter->y();
140 output->_xyzRover[2] = _filter->z();
141 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], output->_covMatrix);
142 output->_neu[0] = _filter->neu()[0];
143 output->_neu[1] = _filter->neu()[1];
144 output->_neu[2] = _filter->neu()[2];
145 output->_numSat = _filter->numSat();
146 output->_pDop = _filter->PDOP();
147 output->_trp0 = _filter->trp0();
148 output->_trp = _filter->trp();
149 }
150 else {
151 output->_error = true;
152 }
153
154 output->_log = _log->str();
155 delete _log; _log = new ostringstream();
156}
157
158//
159////////////////////////////////////////////////////////////////////////////
160void t_pppClient::putNewObs(t_satData* satData) {
161
162 // Set Observations GPS
163 // --------------------
164 if (satData->system() == 'G') {
165 if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
166 satData->L1 != 0.0 && satData->L2 != 0.0 ) {
167 t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
168 t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
169 double f1 = t_CST::freq(fType1, 0);
170 double f2 = t_CST::freq(fType2, 0);
171 double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
172 double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
173 satData->L1 = satData->L1 * t_CST::c / f1;
174 satData->L2 = satData->L2 * t_CST::c / f2;
175 satData->P3 = a1 * satData->P1 + a2 * satData->P2;
176 satData->L3 = a1 * satData->L1 + a2 * satData->L2;
177 satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
178 satData->lkA = a1;
179 satData->lkB = a2;
180 _epoData->satData[satData->prn] = satData;
181 }
182 else {
183 delete satData;
184 }
185 }
186
187 // Set Observations Glonass
188 // ------------------------
189 if (satData->system() == 'R' && _opt->useSystem('R')) {
190 if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
191 satData->L1 != 0.0 && satData->L2 != 0.0 ) {
192
193 int channel = 0;
194 if (satData->system() == 'R') {
195 const t_eph* eph = _ephUser->ephLast(satData->prn);
196 if (eph) {
197 channel = eph->slotNum();
198 }
199 else {
200 delete satData;
201 return;
202 }
203 }
204
205 t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
206 t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
207 double f1 = t_CST::freq(fType1, channel);
208 double f2 = t_CST::freq(fType2, channel);
209 double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
210 double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
211 satData->L1 = satData->L1 * t_CST::c / f1;
212 satData->L2 = satData->L2 * t_CST::c / f2;
213 satData->P3 = a1 * satData->P1 + a2 * satData->P2;
214 satData->L3 = a1 * satData->L1 + a2 * satData->L2;
215 satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
216 satData->lkA = a1;
217 satData->lkB = a2;
218 _epoData->satData[satData->prn] = satData;
219 }
220 else {
221 delete satData;
222 }
223 }
224
225 // Set Observations Galileo
226 // ------------------------
227 else if (satData->system() == 'E' && _opt->useSystem('E')) {
228 if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
229 satData->L1 != 0.0 && satData->L5 != 0.0 ) {
230 double f1 = t_CST::freq(t_frequency::E1, 0);
231 double f5 = t_CST::freq(t_frequency::E5, 0);
232 double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
233 double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
234 satData->L1 = satData->L1 * t_CST::c / f1;
235 satData->L5 = satData->L5 * t_CST::c / f5;
236 satData->P3 = a1 * satData->P1 + a5 * satData->P5;
237 satData->L3 = a1 * satData->L1 + a5 * satData->L5;
238 satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
239 satData->lkA = a1;
240 satData->lkB = a5;
241 _epoData->satData[satData->prn] = satData;
242 }
243 else {
244 delete satData;
245 }
246 }
247}
248
249//
250////////////////////////////////////////////////////////////////////////////
251void t_pppClient::putOrbCorrections(const std::vector<t_orbCorr*>& corr) {
252 for (unsigned ii = 0; ii < corr.size(); ii++) {
253 QString prn = QString(corr[ii]->_prn.toInternalString().c_str());
254 t_eph* eLast = _ephUser->ephLast(prn);
255 t_eph* ePrev = _ephUser->ephPrev(prn);
256 if (eLast && eLast->IOD() == corr[ii]->_iod) {
257 eLast->setOrbCorr(corr[ii]);
258 }
259 else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
260 ePrev->setOrbCorr(corr[ii]);
261 }
262 }
263}
264
265//
266////////////////////////////////////////////////////////////////////////////
267void t_pppClient::putClkCorrections(const std::vector<t_clkCorr*>& corr) {
268 for (unsigned ii = 0; ii < corr.size(); ii++) {
269 QString prn = QString(corr[ii]->_prn.toInternalString().c_str());
270 t_eph* eLast = _ephUser->ephLast(prn);
271 t_eph* ePrev = _ephUser->ephPrev(prn);
272 if (eLast && eLast->IOD() == corr[ii]->_iod) {
273 eLast->setClkCorr(corr[ii]);
274 }
275 else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
276 ePrev->setClkCorr(corr[ii]);
277 }
278 }
279}
280
281//
282//////////////////////////////////////////////////////////////////////////////
283void t_pppClient::putCodeBiases(const std::vector<t_satCodeBias*>& /* satCodeBias */) {
284}
285
286//
287//////////////////////////////////////////////////////////////////////////////
288void t_pppClient::putEphemeris(const t_eph* eph) {
289 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
290 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
291 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
292 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
293 if (ephGPS) {
294 _ephUser->putNewEph(new t_ephGPS(*ephGPS), true);
295 }
296 else if (ephGlo) {
297 _ephUser->putNewEph(new t_ephGlo(*ephGlo), true);
298 }
299 else if (ephGal) {
300 _ephUser->putNewEph(new t_ephGal(*ephGal), true);
301 }
302 else if (ephBDS) {
303 _ephUser->putNewEph(new t_ephBDS(*ephBDS), true);
304 }
305}
306
307// Satellite Position
308////////////////////////////////////////////////////////////////////////////
309t_irc t_pppClient::getSatPos(const bncTime& tt, const QString& prn,
310 ColumnVector& xc, ColumnVector& vv) {
311
312 t_eph* eLast = _ephUser->ephLast(prn);
313 t_eph* ePrev = _ephUser->ephPrev(prn);
314 if (eLast && eLast->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
315 return success;
316 }
317 else if (ePrev && ePrev->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
318 return success;
319 }
320 return failure;
321}
322
323// Correct Time of Transmission
324////////////////////////////////////////////////////////////////////////////
325t_irc t_pppClient::cmpToT(t_satData* satData) {
326
327 double prange = satData->P3;
328 if (prange == 0.0) {
329 return failure;
330 }
331
332 double clkSat = 0.0;
333 for (int ii = 1; ii <= 10; ii++) {
334
335 bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
336
337 ColumnVector xc(4);
338 ColumnVector vv(3);
339 if (getSatPos(ToT, satData->prn, xc, vv) != success) {
340 return failure;
341 }
342
343 double clkSatOld = clkSat;
344 clkSat = xc(4);
345
346 if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
347 satData->xx = xc.Rows(1,3);
348 satData->vv = vv;
349 satData->clk = clkSat * t_CST::c;
350 return success;
351 }
352 }
353
354 return failure;
355}
356
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