source: ntrip/trunk/BNC/src/PPP_free/bncmodel.h@ 6054

Last change on this file since 6054 was 6054, checked in by mervart, 8 years ago
File size: 4.9 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 BNCMODEL_H
26#define BNCMODEL_H
27
28#include <QtCore>
29#include <QtNetwork>
30#include <newmat.h>
31
32#include "bncconst.h"
33#include "bnctime.h"
34
35class t_epoData;
36class t_satData;
37class bncAntex;
38class t_pppOpt;
39class bncPPPclient;
40
41class bncParam {
42 public:
43 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3,
44 GLONASS_OFFSET, GALILEO_OFFSET};
45 bncParam(parType typeIn, int indexIn, const QString& prn);
46 ~bncParam();
47 double partial(t_satData* satData, bool phase);
48 bool isCrd() const {
49 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
50 }
51 parType type;
52 double xx;
53 int index;
54 int index_old;
55 int numEpo;
56 QString prn;
57};
58
59class bncModel {
60 public:
61 bncModel(bncPPPclient* pppClient);
62 ~bncModel();
63 t_irc update(t_epoData* epoData);
64 bncTime time() const {return _time;}
65 double x() const {return _params[0]->xx;}
66 double y() const {return _params[1]->xx;}
67 double z() const {return _params[2]->xx;}
68 double clk() const {return _params[3]->xx;}
69 double trp() const {
70 for (int ii = 0; ii < _params.size(); ++ii) {
71 bncParam* pp = _params[ii];
72 if (pp->type == bncParam::TROPO) {
73 return pp->xx;
74 }
75 }
76 return 0.0;
77 }
78 double Glonass_offset() const {
79 for (int ii = 0; ii < _params.size(); ++ii) {
80 bncParam* pp = _params[ii];
81 if (pp->type == bncParam::GLONASS_OFFSET) {
82 return pp->xx;
83 }
84 }
85 return 0.0;
86 }
87 double Galileo_offset() const {
88 for (int ii = 0; ii < _params.size(); ++ii) {
89 bncParam* pp = _params[ii];
90 if (pp->type == bncParam::GALILEO_OFFSET) {
91 return pp->xx;
92 }
93 }
94 return 0.0;
95 }
96
97 static void kalman(const Matrix& AA, const ColumnVector& ll,
98 const DiagonalMatrix& PP,
99 SymmetricMatrix& QQ, ColumnVector& dx);
100
101 private:
102 void reset();
103 t_irc cmpBancroft(t_epoData* epoData);
104 void cmpEle(t_satData* satData);
105 void addAmb(t_satData* satData);
106 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
107 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
108 QByteArray printRes(int iPhase, const ColumnVector& vv,
109 const QMap<QString, t_satData*>& satDataMap);
110 void findMaxRes(const ColumnVector& vv,
111 const QMap<QString, t_satData*>& satData,
112 QString& prnGPS, QString& prnGlo,
113 double& maxResGPS, double& maxResGlo);
114 double cmpValue(t_satData* satData, bool phase);
115 double delay_saast(double Ele);
116 void predict(int iPhase, t_epoData* epoData);
117 t_irc update_p(t_epoData* epoData);
118 QString outlierDetection(int iPhase, const ColumnVector& vv,
119 QMap<QString, t_satData*>& satData);
120 void writeNMEAstr(const QString& nmStr);
121
122 double windUp(const QString& prn, const ColumnVector& rSat,
123 const ColumnVector& rRec);
124
125 bncTime _startTime;
126
127 void rememberState(t_epoData* epoData);
128 void restoreState(t_epoData* epoData);
129
130 t_irc selectSatellites(const QString& lastOutlierPrn,
131 QMap<QString, t_satData*>& satData);
132
133 class pppPos {
134 public:
135 pppPos() {
136 for (int ii = 0; ii < 7; ++ii) {
137 xnt[ii] = 0.0;
138 }
139 }
140 bncTime time;
141 double xnt[7];
142 };
143
144 bncPPPclient* _pppClient;
145 const t_pppOpt* _opt;
146 bncTime _time;
147 bncTime _lastTimeOK;
148 QByteArray _staID;
149 QVector<bncParam*> _params;
150 SymmetricMatrix _QQ;
151 QVector<bncParam*> _params_sav;
152 SymmetricMatrix _QQ_sav;
153 t_epoData* _epoData_sav;
154 ColumnVector _xcBanc;
155 ColumnVector _ellBanc;
156 QByteArray _log;
157 QFile* _nmeaFile;
158 QTextStream* _nmeaStream;
159 QMap<QString, double> _windUpTime;
160 QMap<QString, double> _windUpSum;
161 QVector<pppPos*> _posAverage;
162 QStringList _outlierGPS;
163 QStringList _outlierGlo;
164 bncAntex* _antex;
165};
166
167#endif
Note: See TracBrowser for help on using the repository browser.