source: ntrip/trunk/BNC/src/PPP_SSR_I/pppFilter.h@ 7627

Last change on this file since 7627 was 7627, checked in by stuerze, 7 years ago

some value initialization in constructor is added

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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#ifndef PPPFILTER_H
26#define PPPFILTER_H
27
28#include <QtCore>
29#include <QtNetwork>
30#include <newmat.h>
31
32#include "bncconst.h"
33#include "bnctime.h"
34
35class bncAntex;
36
37namespace BNC_PPP {
38
39class t_pppClient;
40class t_pppOptions;
41class t_epoData;
42class t_satData;
43class t_tides;
44
45class t_satData {
46 public:
47 t_satData() {
48 obsIndex = 0;
49 P1 = 0.0;
50 P2 = 0.0;
51 P5 = 0.0;
52 P7 = 0.0;
53 P3 = 0.0;
54 L1 = 0.0;
55 L2 = 0.0;
56 L5 = 0.0;
57 L7 = 0.0;
58 L3 = 0.0;
59 lkA = 0.0;
60 lkB = 0.0;
61 clk = 0.0;
62 eleSat = 0.0;
63 azSat = 0.0;
64 rho = 0.0;
65 slipFlag = false;
66 lambda3 = 0.0;
67 }
68 ~t_satData() {}
69 bncTime tt;
70 QString prn;
71 double P1;
72 double P2;
73 double P5;
74 double P7;
75 double P3;
76 double L1;
77 double L2;
78 double L5;
79 double L7;
80 double L3;
81 ColumnVector xx;
82 ColumnVector vv;
83 double clk;
84 double eleSat;
85 double azSat;
86 double rho;
87 bool slipFlag;
88 double lambda3;
89 double lkA;
90 double lkB;
91 unsigned obsIndex;
92 char system() const {return prn.toAscii()[0];}
93};
94
95class t_epoData {
96 public:
97 t_epoData() {}
98
99 ~t_epoData() {
100 clear();
101 }
102
103 void clear() {
104 QMapIterator<QString, t_satData*> it(satData);
105 while (it.hasNext()) {
106 it.next();
107 delete it.value();
108 }
109 satData.clear();
110 tt.reset();
111 }
112
113 void deepCopy(const t_epoData* from) {
114 clear();
115 tt = from->tt;
116 QMapIterator<QString, t_satData*> it(from->satData);
117 while (it.hasNext()) {
118 it.next();
119 satData[it.key()] = new t_satData(*it.value());
120 }
121 }
122
123 unsigned sizeSys(char system) const {
124 unsigned ans = 0;
125 QMapIterator<QString, t_satData*> it(satData);
126 while (it.hasNext()) {
127 it.next();
128 if (it.value()->system() == system) {
129 ++ans;
130 }
131 }
132 return ans;
133 }
134 unsigned sizeAll() const {return satData.size();}
135
136 bncTime tt;
137 QMap<QString, t_satData*> satData;
138};
139
140class t_pppParam {
141 public:
142 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3,
143 GLONASS_OFFSET, GALILEO_OFFSET, BDS_OFFSET};
144 t_pppParam(parType typeIn, int indexIn, const QString& prn);
145 ~t_pppParam();
146 double partial(t_satData* satData, bool phase);
147 bool isCrd() const {
148 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
149 }
150 parType type;
151 double xx;
152 int index;
153 int index_old;
154 int numEpo;
155 QString prn;
156};
157
158class t_pppFilter {
159 public:
160 t_pppFilter(t_pppClient* pppClient);
161 ~t_pppFilter();
162 t_irc update(t_epoData* epoData);
163 bncTime time() const {return _time;}
164 const SymmetricMatrix& Q() const {return _QQ;}
165 const ColumnVector& neu() const {return _neu;}
166 int numSat() const {return _numSat;}
167 double PDOP() const {return _pDop;}
168 double x() const {return _params[0]->xx;}
169 double y() const {return _params[1]->xx;}
170 double z() const {return _params[2]->xx;}
171 double clk() const {return _params[3]->xx;}
172 double trp0() {return delay_saast(M_PI/2.0);}
173 double trp() const {
174 for (int ii = 0; ii < _params.size(); ++ii) {
175 t_pppParam* pp = _params[ii];
176 if (pp->type == t_pppParam::TROPO) {
177 return pp->xx;
178 }
179 }
180 return 0.0;
181 }
182 double trpStdev() const {
183 for (int ii = 0; ii < _params.size(); ++ii) {
184 t_pppParam* pp = _params[ii];
185 if (pp->type == t_pppParam::TROPO) {
186 return sqrt(Q()[ii][ii]);
187 }
188 }
189 return 0.0;
190 }
191 double Glonass_offset() const {
192 for (int ii = 0; ii < _params.size(); ++ii) {
193 t_pppParam* pp = _params[ii];
194 if (pp->type == t_pppParam::GLONASS_OFFSET) {
195 return pp->xx;
196 }
197 }
198 return 0.0;
199 }
200 double Galileo_offset() const {
201 for (int ii = 0; ii < _params.size(); ++ii) {
202 t_pppParam* pp = _params[ii];
203 if (pp->type == t_pppParam::GALILEO_OFFSET) {
204 return pp->xx;
205 }
206 }
207 return 0.0;
208 }
209 double Bds_offset() const {
210 for (int ii = 0; ii < _params.size(); ++ii) {
211 t_pppParam* pp = _params[ii];
212 if (pp->type == t_pppParam::BDS_OFFSET) {
213 return pp->xx;
214 }
215 }
216 return 0.0;
217 }
218 private:
219 void reset();
220 t_irc cmpBancroft(t_epoData* epoData);
221 void cmpEle(t_satData* satData);
222 void addAmb(t_satData* satData);
223 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
224 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
225 QByteArray printRes(int iPhase, const ColumnVector& vv,
226 const QMap<QString, t_satData*>& satDataMap);
227 void findMaxRes(const ColumnVector& vv,
228 const QMap<QString, t_satData*>& satData,
229 QString& prnGPS, QString& prnGlo,
230 double& maxResGPS, double& maxResGlo);
231 double cmpValue(t_satData* satData, bool phase);
232 double delay_saast(double Ele);
233 void predict(int iPhase, t_epoData* epoData);
234 t_irc update_p(t_epoData* epoData);
235 QString outlierDetection(int iPhase, const ColumnVector& vv,
236 QMap<QString, t_satData*>& satData);
237
238 double windUp(const QString& prn, const ColumnVector& rSat,
239 const ColumnVector& rRec);
240
241 bncTime _startTime;
242
243 void rememberState(t_epoData* epoData);
244 void restoreState(t_epoData* epoData);
245
246 t_irc selectSatellites(const QString& lastOutlierPrn,
247 QMap<QString, t_satData*>& satData);
248
249 void bancroft(const Matrix& BBpass, ColumnVector& pos);
250
251 void cmpDOP(t_epoData* epoData);
252
253 t_pppClient* _pppClient;
254 bncTime _time;
255 bncTime _lastTimeOK;
256 QVector<t_pppParam*> _params;
257 SymmetricMatrix _QQ;
258 QVector<t_pppParam*> _params_sav;
259 SymmetricMatrix _QQ_sav;
260 t_epoData* _epoData_sav;
261 ColumnVector _xcBanc;
262 ColumnVector _ellBanc;
263 QMap<QString, double> _windUpTime;
264 QMap<QString, double> _windUpSum;
265 QStringList _outlierGPS;
266 QStringList _outlierGlo;
267 bncAntex* _antex;
268 t_tides* _tides;
269 ColumnVector _neu;
270 int _numSat;
271 double _pDop;
272};
273
274}
275
276#endif
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