source: ntrip/trunk/BNC/src/PPP_SSR_I/pppFilter.h@ 8252

Last change on this file since 8252 was 8252, checked in by stoecker, 5 years ago

see #105 - reenable Qt4 build options, drop generic version dependend includes, replace by direct requirements, remaining QtCore lines should also be replaced

  • Property svn:keywords set to Author Date Id Rev URL;svn:eol-style=native
  • Property svn:mime-type set to text/plain
File size: 7.2 KB
Line 
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 <QByteArray>
29#include <QMap>
30#include <QStringList>
31#include <QVector>
32#include <newmat.h>
33
34#include "bncconst.h"
35#include "bnctime.h"
36
37class bncAntex;
38
39namespace BNC_PPP {
40
41class t_pppClient;
42class t_pppOptions;
43class t_epoData;
44class t_satData;
45class t_tides;
46
47class t_satData {
48 public:
49 t_satData() {
50 obsIndex = 0;
51 P1 = 0.0;
52 P2 = 0.0;
53 P5 = 0.0;
54 P7 = 0.0;
55 P3 = 0.0;
56 L1 = 0.0;
57 L2 = 0.0;
58 L5 = 0.0;
59 L7 = 0.0;
60 L3 = 0.0;
61 lkA = 0.0;
62 lkB = 0.0;
63 clk = 0.0;
64 eleSat = 0.0;
65 azSat = 0.0;
66 rho = 0.0;
67 slipFlag = false;
68 lambda3 = 0.0;
69 }
70 ~t_satData() {}
71 bncTime tt;
72 QString prn;
73 double P1;
74 double P2;
75 double P5;
76 double P7;
77 double P3;
78 double L1;
79 double L2;
80 double L5;
81 double L7;
82 double L3;
83 ColumnVector xx;
84 ColumnVector vv;
85 double clk;
86 double eleSat;
87 double azSat;
88 double rho;
89 bool slipFlag;
90 double lambda3;
91 double lkA;
92 double lkB;
93 unsigned obsIndex;
94 char system() const {return prn.toLatin1()[0];}
95};
96
97class t_epoData {
98 public:
99 t_epoData() {}
100
101 ~t_epoData() {
102 clear();
103 }
104
105 void clear() {
106 QMapIterator<QString, t_satData*> it(satData);
107 while (it.hasNext()) {
108 it.next();
109 delete it.value();
110 }
111 satData.clear();
112 tt.reset();
113 }
114
115 void deepCopy(const t_epoData* from) {
116 clear();
117 tt = from->tt;
118 QMapIterator<QString, t_satData*> it(from->satData);
119 while (it.hasNext()) {
120 it.next();
121 satData[it.key()] = new t_satData(*it.value());
122 }
123 }
124
125 unsigned sizeSys(char system) const {
126 unsigned ans = 0;
127 QMapIterator<QString, t_satData*> it(satData);
128 while (it.hasNext()) {
129 it.next();
130 if (it.value()->system() == system) {
131 ++ans;
132 }
133 }
134 return ans;
135 }
136 unsigned sizeAll() const {return satData.size();}
137
138 bncTime tt;
139 QMap<QString, t_satData*> satData;
140};
141
142class t_pppParam {
143 public:
144 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3,
145 GLONASS_OFFSET, GALILEO_OFFSET, BDS_OFFSET};
146 t_pppParam(parType typeIn, int indexIn, const QString& prn);
147 ~t_pppParam();
148 double partial(t_satData* satData, bool phase);
149 bool isCrd() const {
150 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
151 }
152 parType type;
153 double xx;
154 int index;
155 int index_old;
156 int numEpo;
157 QString prn;
158};
159
160class t_pppFilter {
161 public:
162 t_pppFilter(t_pppClient* pppClient);
163 ~t_pppFilter();
164 t_irc update(t_epoData* epoData);
165 bncTime time() const {return _time;}
166 const SymmetricMatrix& Q() const {return _QQ;}
167 const ColumnVector& neu() const {return _neu;}
168 int numSat() const {return _numSat;}
169 double HDOP() const {return _hDop;}
170 double x() const {return _params[0]->xx;}
171 double y() const {return _params[1]->xx;}
172 double z() const {return _params[2]->xx;}
173 double clk() const {return _params[3]->xx;}
174 double trp0() {return delay_saast(M_PI/2.0);}
175 double trp() const {
176 for (int ii = 0; ii < _params.size(); ++ii) {
177 t_pppParam* pp = _params[ii];
178 if (pp->type == t_pppParam::TROPO) {
179 return pp->xx;
180 }
181 }
182 return 0.0;
183 }
184 double trpStdev() const {
185 for (int ii = 0; ii < _params.size(); ++ii) {
186 t_pppParam* pp = _params[ii];
187 if (pp->type == t_pppParam::TROPO) {
188 return sqrt(Q()[ii][ii]);
189 }
190 }
191 return 0.0;
192 }
193 double Glonass_offset() const {
194 for (int ii = 0; ii < _params.size(); ++ii) {
195 t_pppParam* pp = _params[ii];
196 if (pp->type == t_pppParam::GLONASS_OFFSET) {
197 return pp->xx;
198 }
199 }
200 return 0.0;
201 }
202 double Galileo_offset() const {
203 for (int ii = 0; ii < _params.size(); ++ii) {
204 t_pppParam* pp = _params[ii];
205 if (pp->type == t_pppParam::GALILEO_OFFSET) {
206 return pp->xx;
207 }
208 }
209 return 0.0;
210 }
211 double Bds_offset() const {
212 for (int ii = 0; ii < _params.size(); ++ii) {
213 t_pppParam* pp = _params[ii];
214 if (pp->type == t_pppParam::BDS_OFFSET) {
215 return pp->xx;
216 }
217 }
218 return 0.0;
219 }
220 private:
221 void reset();
222 t_irc cmpBancroft(t_epoData* epoData);
223 void cmpEle(t_satData* satData);
224 void addAmb(t_satData* satData);
225 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
226 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
227 QByteArray printRes(int iPhase, const ColumnVector& vv,
228 const QMap<QString, t_satData*>& satDataMap);
229 void findMaxRes(const ColumnVector& vv,
230 const QMap<QString, t_satData*>& satData,
231 QString& prnGPS, QString& prnGlo,
232 double& maxResGPS, double& maxResGlo);
233 double cmpValue(t_satData* satData, bool phase);
234 double delay_saast(double Ele);
235 void predict(int iPhase, t_epoData* epoData);
236 t_irc update_p(t_epoData* epoData);
237 QString outlierDetection(int iPhase, const ColumnVector& vv,
238 QMap<QString, t_satData*>& satData);
239
240 double windUp(const QString& prn, const ColumnVector& rSat,
241 const ColumnVector& rRec);
242
243 bncTime _startTime;
244
245 void rememberState(t_epoData* epoData);
246 void restoreState(t_epoData* epoData);
247
248 t_irc selectSatellites(const QString& lastOutlierPrn,
249 QMap<QString, t_satData*>& satData);
250
251 void bancroft(const Matrix& BBpass, ColumnVector& pos);
252
253 void cmpDOP(t_epoData* epoData);
254
255 t_pppClient* _pppClient;
256 bncTime _time;
257 bncTime _lastTimeOK;
258 QVector<t_pppParam*> _params;
259 SymmetricMatrix _QQ;
260 QVector<t_pppParam*> _params_sav;
261 SymmetricMatrix _QQ_sav;
262 t_epoData* _epoData_sav;
263 ColumnVector _xcBanc;
264 ColumnVector _ellBanc;
265 QMap<QString, double> _windUpTime;
266 QMap<QString, double> _windUpSum;
267 QStringList _outlierGPS;
268 QStringList _outlierGlo;
269 bncAntex* _antex;
270 t_tides* _tides;
271 ColumnVector _neu;
272 int _numSat;
273 double _hDop;
274};
275
276}
277
278#endif
Note: See TracBrowser for help on using the repository browser.