source: ntrip/trunk/BNC/src/PPP_free/bncmodel.h@ 6060

Last change on this file since 6060 was 6060, 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 bncAntex;
36
37namespace BNC_PPP {
38
39class bncPPPclient;
40class t_pppOptions;
41class t_epoData;
42class t_satData;
43class t_tides;
44
45class bncParam {
46 public:
47 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3,
48 GLONASS_OFFSET, GALILEO_OFFSET};
49 bncParam(parType typeIn, int indexIn, const QString& prn);
50 ~bncParam();
51 double partial(t_satData* satData, bool phase);
52 bool isCrd() const {
53 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
54 }
55 parType type;
56 double xx;
57 int index;
58 int index_old;
59 int numEpo;
60 QString prn;
61};
62
63class bncModel {
64 public:
65 bncModel(bncPPPclient* pppClient);
66 ~bncModel();
67 t_irc update(t_epoData* epoData);
68 bncTime time() const {return _time;}
69 double x() const {return _params[0]->xx;}
70 double y() const {return _params[1]->xx;}
71 double z() const {return _params[2]->xx;}
72 double clk() const {return _params[3]->xx;}
73 double trp() const {
74 for (int ii = 0; ii < _params.size(); ++ii) {
75 bncParam* pp = _params[ii];
76 if (pp->type == bncParam::TROPO) {
77 return pp->xx;
78 }
79 }
80 return 0.0;
81 }
82 double Glonass_offset() const {
83 for (int ii = 0; ii < _params.size(); ++ii) {
84 bncParam* pp = _params[ii];
85 if (pp->type == bncParam::GLONASS_OFFSET) {
86 return pp->xx;
87 }
88 }
89 return 0.0;
90 }
91 double Galileo_offset() const {
92 for (int ii = 0; ii < _params.size(); ++ii) {
93 bncParam* pp = _params[ii];
94 if (pp->type == bncParam::GALILEO_OFFSET) {
95 return pp->xx;
96 }
97 }
98 return 0.0;
99 }
100
101 static void kalman(const Matrix& AA, const ColumnVector& ll,
102 const DiagonalMatrix& PP,
103 SymmetricMatrix& QQ, ColumnVector& dx);
104
105 private:
106 void reset();
107 t_irc cmpBancroft(t_epoData* epoData);
108 void cmpEle(t_satData* satData);
109 void addAmb(t_satData* satData);
110 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
111 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
112 QByteArray printRes(int iPhase, const ColumnVector& vv,
113 const QMap<QString, t_satData*>& satDataMap);
114 void findMaxRes(const ColumnVector& vv,
115 const QMap<QString, t_satData*>& satData,
116 QString& prnGPS, QString& prnGlo,
117 double& maxResGPS, double& maxResGlo);
118 double cmpValue(t_satData* satData, bool phase);
119 double delay_saast(double Ele);
120 void predict(int iPhase, t_epoData* epoData);
121 t_irc update_p(t_epoData* epoData);
122 QString outlierDetection(int iPhase, const ColumnVector& vv,
123 QMap<QString, t_satData*>& satData);
124
125 double windUp(const QString& prn, const ColumnVector& rSat,
126 const ColumnVector& rRec);
127
128 bncTime _startTime;
129
130 void rememberState(t_epoData* epoData);
131 void restoreState(t_epoData* epoData);
132
133 t_irc selectSatellites(const QString& lastOutlierPrn,
134 QMap<QString, t_satData*>& satData);
135
136 class pppPos {
137 public:
138 pppPos() {
139 for (int ii = 0; ii < 7; ++ii) {
140 xnt[ii] = 0.0;
141 }
142 }
143 bncTime time;
144 double xnt[7];
145 };
146
147 bncPPPclient* _pppClient;
148 const t_pppOptions* _opt;
149 bncTime _time;
150 bncTime _lastTimeOK;
151 QByteArray _staID;
152 QVector<bncParam*> _params;
153 SymmetricMatrix _QQ;
154 QVector<bncParam*> _params_sav;
155 SymmetricMatrix _QQ_sav;
156 t_epoData* _epoData_sav;
157 ColumnVector _xcBanc;
158 ColumnVector _ellBanc;
159 QByteArray _log;
160 QMap<QString, double> _windUpTime;
161 QMap<QString, double> _windUpSum;
162 QVector<pppPos*> _posAverage;
163 QStringList _outlierGPS;
164 QStringList _outlierGlo;
165 bncAntex* _antex;
166 t_tides* _tides;
167};
168
169}
170
171#endif
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