| 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | #ifndef PPPFILTER_H
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| 26 | #define PPPFILTER_H
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| 27 |
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| 28 | #include <QByteArray>
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| 29 | #include <QMap>
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| 30 | #include <QStringList>
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| 31 | #include <QVector>
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| 32 | #include <newmat.h>
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| 33 |
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| 34 | #include "bncconst.h"
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| 35 | #include "bnctime.h"
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| 36 |
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| 37 | class bncAntex;
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| 38 |
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| 39 | namespace BNC_PPP {
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| 40 |
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| 41 | class t_pppClient;
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| 42 | class t_pppOptions;
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| 43 | class t_epoData;
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| 44 | class t_satData;
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| 45 | class t_tides;
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| 46 |
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| 47 | class t_satData {
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| 48 | public:
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| 49 | t_satData() {
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| 50 | obsIndex = 0;
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| 51 | P1 = 0.0;
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| 52 | P2 = 0.0;
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| 53 | P5 = 0.0;
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| 54 | P6 = 0.0;
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| 55 | P7 = 0.0;
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| 56 | P3 = 0.0;
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| 57 | P3sig = 0.0;
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| 58 | L1 = 0.0;
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| 59 | L2 = 0.0;
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| 60 | L5 = 0.0;
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| 61 | L6 = 0.0;
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| 62 | L7 = 0.0;
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| 63 | L3 = 0.0;
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| 64 | L3sig = 0.0;
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| 65 | lkA = 0.0;
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| 66 | lkB = 0.0;
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| 67 | clk = 0.0;
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| 68 | eleSat = 0.0;
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| 69 | azSat = 0.0;
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| 70 | rho = 0.0;
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| 71 | slipFlag = false;
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| 72 | lambda3 = 0.0;
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| 73 | }
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| 74 | ~t_satData() {}
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| 75 | bncTime tt;
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| 76 | QString prn;
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| 77 | double P1;
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| 78 | double P2;
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| 79 | double P5;
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| 80 | double P6;
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| 81 | double P7;
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| 82 | double P3;
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| 83 | double P3sig;
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| 84 | double L1;
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| 85 | double L2;
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| 86 | double L5;
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| 87 | double L6;
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| 88 | double L7;
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| 89 | double L3;
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| 90 | double L3sig;
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| 91 | ColumnVector xx;
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| 92 | ColumnVector vv;
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| 93 | double clk;
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| 94 | double eleSat;
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| 95 | double azSat;
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| 96 | double rho;
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| 97 | bool slipFlag;
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| 98 | double lambda3;
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| 99 | double lkA;
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| 100 | double lkB;
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| 101 | unsigned obsIndex;
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| 102 | char system() const {return prn.toLatin1()[0];}
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| 103 | };
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| 104 |
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| 105 | class t_epoData {
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| 106 | public:
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| 107 | t_epoData() {}
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| 108 |
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| 109 | ~t_epoData() {
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| 110 | clear();
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| 111 | }
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| 112 |
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| 113 | void clear() {
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| 114 | QMapIterator<QString, t_satData*> it(satData);
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| 115 | while (it.hasNext()) {
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| 116 | it.next();
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| 117 | delete it.value();
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| 118 | }
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| 119 | satData.clear();
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| 120 | tt.reset();
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| 121 | }
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| 122 |
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| 123 | void deepCopy(const t_epoData* from) {
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| 124 | clear();
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| 125 | tt = from->tt;
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| 126 | QMapIterator<QString, t_satData*> it(from->satData);
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| 127 | while (it.hasNext()) {
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| 128 | it.next();
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| 129 | satData[it.key()] = new t_satData(*it.value());
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| 130 | }
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| 131 | }
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| 132 |
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| 133 | unsigned sizeSys(char system) const {
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| 134 | unsigned ans = 0;
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| 135 | QMapIterator<QString, t_satData*> it(satData);
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| 136 | while (it.hasNext()) {
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| 137 | it.next();
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| 138 | if (it.value()->system() == system) {
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| 139 | ++ans;
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| 140 | }
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| 141 | }
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| 142 | return ans;
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| 143 | }
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| 144 | unsigned sizeAll() const {return satData.size();}
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| 145 |
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| 146 | bncTime tt;
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| 147 | QMap<QString, t_satData*> satData;
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| 148 | };
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| 149 |
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| 150 | class t_pppParam {
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| 151 | public:
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| 152 | enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3,
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| 153 | GLONASS_OFFSET, GALILEO_OFFSET, BDS_OFFSET};
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| 154 | t_pppParam(parType typeIn, int indexIn, const QString& prn);
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| 155 | ~t_pppParam();
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| 156 | double partial(t_satData* satData, bool phase);
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| 157 | bool isCrd() const {
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| 158 | return (type == CRD_X || type == CRD_Y || type == CRD_Z);
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| 159 | }
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| 160 | parType type;
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| 161 | double xx;
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| 162 | int index;
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| 163 | int index_old;
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| 164 | int numEpo;
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| 165 | QString prn;
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| 166 | };
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| 167 |
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| 168 | class t_pppFilter {
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| 169 | public:
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| 170 | t_pppFilter(t_pppClient* pppClient);
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| 171 | ~t_pppFilter();
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| 172 | t_irc update(t_epoData* epoData);
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| 173 | bncTime time() const {return _time;}
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| 174 | const SymmetricMatrix& Q() const {return _QQ;}
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| 175 | const ColumnVector& neu() const {return _neu;}
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| 176 | int numSat() const {return _numSat;}
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| 177 | double HDOP() const {return _hDop;}
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| 178 | double x() const {return _params[0]->xx;}
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| 179 | double y() const {return _params[1]->xx;}
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| 180 | double z() const {return _params[2]->xx;}
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| 181 | double clk() const {return _params[3]->xx;}
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| 182 | double trp0() {return delay_saast(M_PI/2.0);}
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| 183 | double trp() const {
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| 184 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 185 | t_pppParam* pp = _params[ii];
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| 186 | if (pp->type == t_pppParam::TROPO) {
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| 187 | return pp->xx;
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| 188 | }
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| 189 | }
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| 190 | return 0.0;
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| 191 | }
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| 192 | double trpStdev() const {
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| 193 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 194 | t_pppParam* pp = _params[ii];
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| 195 | if (pp->type == t_pppParam::TROPO) {
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| 196 | return sqrt(Q()[ii][ii]);
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| 197 | }
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| 198 | }
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| 199 | return 0.0;
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| 200 | }
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| 201 | double Glonass_offset() const {
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| 202 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 203 | t_pppParam* pp = _params[ii];
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| 204 | if (pp->type == t_pppParam::GLONASS_OFFSET) {
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| 205 | return pp->xx;
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| 206 | }
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| 207 | }
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| 208 | return 0.0;
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| 209 | }
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| 210 | double Galileo_offset() const {
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| 211 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 212 | t_pppParam* pp = _params[ii];
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| 213 | if (pp->type == t_pppParam::GALILEO_OFFSET) {
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| 214 | return pp->xx;
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| 215 | }
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| 216 | }
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| 217 | return 0.0;
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| 218 | }
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| 219 | double Bds_offset() const {
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| 220 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 221 | t_pppParam* pp = _params[ii];
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| 222 | if (pp->type == t_pppParam::BDS_OFFSET) {
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| 223 | return pp->xx;
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| 224 | }
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| 225 | }
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| 226 | return 0.0;
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| 227 | }
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| 228 | private:
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| 229 | void reset();
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| 230 | t_irc cmpBancroft(t_epoData* epoData);
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| 231 | void cmpEle(t_satData* satData);
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| 232 | void addAmb(t_satData* satData);
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| 233 | void addObs(int iPhase, unsigned& iObs, t_satData* satData,
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| 234 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
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| 235 | QByteArray printRes(int iPhase, const ColumnVector& vv,
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| 236 | const QMap<QString, t_satData*>& satDataMap);
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| 237 | void findMaxRes(const ColumnVector& vv,
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| 238 | const QMap<QString, t_satData*>& satData,
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| 239 | QString& prnGPS, QString& prnGlo,
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| 240 | double& maxResGPS, double& maxResGlo);
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| 241 | double cmpValue(t_satData* satData, bool phase);
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| 242 | double delay_saast(double Ele);
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| 243 | void predict(int iPhase, t_epoData* epoData);
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| 244 | t_irc update_p(t_epoData* epoData);
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| 245 | QString outlierDetection(int iPhase, const ColumnVector& vv,
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| 246 | QMap<QString, t_satData*>& satData);
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| 247 |
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| 248 | double windUp(const QString& prn, const ColumnVector& rSat,
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| 249 | const ColumnVector& rRec);
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| 250 |
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| 251 | bncTime _startTime;
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| 252 |
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| 253 | void rememberState(t_epoData* epoData);
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| 254 | void restoreState(t_epoData* epoData);
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| 255 |
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| 256 | t_irc selectSatellites(const QString& lastOutlierPrn,
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| 257 | QMap<QString, t_satData*>& satData);
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| 258 |
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| 259 | void bancroft(const Matrix& BBpass, ColumnVector& pos);
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| 260 |
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| 261 | void cmpDOP(t_epoData* epoData);
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| 262 |
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| 263 | t_pppClient* _pppClient;
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| 264 | bncTime _time;
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| 265 | bncTime _lastTimeOK;
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| 266 | QVector<t_pppParam*> _params;
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| 267 | SymmetricMatrix _QQ;
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| 268 | QVector<t_pppParam*> _params_sav;
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| 269 | SymmetricMatrix _QQ_sav;
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| 270 | t_epoData* _epoData_sav;
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| 271 | ColumnVector _xcBanc;
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| 272 | ColumnVector _ellBanc;
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| 273 | QMap<QString, double> _windUpTime;
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| 274 | QMap<QString, double> _windUpSum;
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| 275 | QStringList _outlierGPS;
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| 276 | QStringList _outlierGlo;
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| 277 | bncAntex* _antex;
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| 278 | t_tides* _tides;
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| 279 | ColumnVector _neu;
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| 280 | int _numSat;
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| 281 | double _hDop;
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| 282 | };
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| 283 |
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| 284 | }
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| 285 |
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| 286 | #endif
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