[6054] | 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 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncPPPclient
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| 30 | *
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| 31 | * Purpose: Precise Point Positioning
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 21-Nov-2009
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <newmatio.h>
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| 42 | #include <iomanip>
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| 43 | #include <sstream>
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| 44 |
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| 45 | #include "bncpppclient.h"
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| 46 | #include "bnccore.h"
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| 47 | #include "bncutils.h"
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| 48 | #include "bncconst.h"
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| 49 | #include "bncmodel.h"
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[6055] | 50 | #include "pppOptions.h"
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[6054] | 51 |
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[6055] | 52 | using namespace BNC_PPP;
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[6054] | 53 | using namespace std;
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| 54 |
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| 55 | // Constructor
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| 56 | ////////////////////////////////////////////////////////////////////////////
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[6067] | 57 | bncPPPclient::bncPPPclient(QByteArray staID, const t_pppOptions* opt) : bncEphUser(false) {
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[6054] | 58 |
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[6065] | 59 | _opt = opt;
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[6054] | 60 | _staID = staID;
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| 61 | _model = new bncModel(this);
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| 62 | }
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| 63 |
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| 64 | // Destructor
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| 65 | ////////////////////////////////////////////////////////////////////////////
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| 66 | bncPPPclient::~bncPPPclient() {
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| 67 | while (!_epoData.empty()) {
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| 68 | delete _epoData.front();
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| 69 | _epoData.pop();
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| 70 | }
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| 71 | QMapIterator<QString, t_corr*> ic(_corr);
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| 72 | while (ic.hasNext()) {
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| 73 | ic.next();
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| 74 | delete ic.value();
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| 75 | }
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| 76 | QMapIterator<QString, t_bias*> ib(_bias);
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| 77 | while (ib.hasNext()) {
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| 78 | ib.next();
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| 79 | delete ib.value();
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| 80 | }
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[6065] | 81 | delete _model;
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[6054] | 82 | }
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| 83 |
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| 84 | //
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| 85 | ////////////////////////////////////////////////////////////////////////////
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[6068] | 86 | void bncPPPclient::putNewObs(const t_obs& obs, t_output* output) {
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[6054] | 87 | QMutexLocker locker(&_mutex);
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| 88 |
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| 89 | if (obs.satSys == 'R') {
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[6055] | 90 | if (!_opt->useSystem('R')) return;
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[6054] | 91 | }
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| 92 | else if (obs.satSys == 'E') {
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[6055] | 93 | if (!_opt->useSystem('E')) return;
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[6054] | 94 | }
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| 95 | else if (obs.satSys != 'G') {
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| 96 | return;
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| 97 | }
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| 98 |
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| 99 | t_satData* satData = new t_satData();
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| 100 | satData->tt = bncTime(obs.GPSWeek, obs.GPSWeeks);
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| 101 |
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| 102 | // Satellite Number
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| 103 | // ----------------
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| 104 | satData->prn = QString("%1%2").arg(obs.satSys).arg(obs.satNum,2,10,QChar('0'));
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| 105 |
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| 106 | // Check Slips
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| 107 | // -----------
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| 108 | slipInfo& sInfo = _slips[satData->prn];
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| 109 | if ( sInfo.slipCntL1 == obs.slip_cnt_L1 &&
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| 110 | sInfo.slipCntL2 == obs.slip_cnt_L2 &&
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| 111 | sInfo.slipCntL5 == obs.slip_cnt_L5 ) {
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| 112 | satData->slipFlag = false;
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| 113 | }
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| 114 | else {
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| 115 | satData->slipFlag = true;
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| 116 | }
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| 117 | sInfo.slipCntL1 = obs.slip_cnt_L1;
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| 118 | sInfo.slipCntL2 = obs.slip_cnt_L2;
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| 119 |
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| 120 | // Handle Code Biases
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| 121 | // ------------------
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| 122 | t_bias* bb = 0;
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| 123 | if (_bias.contains(satData->prn)) {
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| 124 | bb = _bias.value(satData->prn);
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| 125 | }
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| 126 |
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| 127 | // Add new epoch, process the older ones
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| 128 | // -------------------------------------
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| 129 | if (_epoData.size() == 0) {
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| 130 | _epoData.push(new t_epoData());
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| 131 | _epoData.back()->tt = satData->tt;
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| 132 | }
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| 133 | else if (satData->tt != _epoData.back()->tt) {
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[6068] | 134 | processEpochs(output);
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[6054] | 135 | _epoData.push(new t_epoData());
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| 136 | _epoData.back()->tt = satData->tt;
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| 137 | }
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| 138 |
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| 139 | // Set Observations GPS and Glonass
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| 140 | // --------------------------------
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| 141 | if (obs.satSys == 'G' || obs.satSys == 'R') {
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| 142 | const QByteArray preferredTypes("WPC");
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| 143 | for (int ii = preferredTypes.length()-1; ii >= 0; ii--) {
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| 144 | for (int iPhase = 0; iPhase <= 1; iPhase++) {
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| 145 | for (int iFreq = 1; iFreq <= 2; iFreq++) {
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| 146 |
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| 147 | char rnxStr[4]; rnxStr[3] = '\0';
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| 148 | double* p_value = 0;
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| 149 | if (iPhase == 0 && iFreq == 1) {
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| 150 | rnxStr[0] = 'C';
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| 151 | rnxStr[1] = '1';
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| 152 | p_value = &satData->P1;
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| 153 | }
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| 154 | else if (iPhase == 0 && iFreq == 2) {
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| 155 | rnxStr[0] = 'C';
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| 156 | rnxStr[1] = '2';
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| 157 | p_value = &satData->P2;
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| 158 | }
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| 159 | else if (iPhase == 1 && iFreq == 1) {
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| 160 | rnxStr[0] = 'L';
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| 161 | rnxStr[1] = '1';
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| 162 | p_value = &satData->L1;
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| 163 | }
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| 164 | else if (iPhase == 1 && iFreq == 2) {
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| 165 | rnxStr[0] = 'L';
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| 166 | rnxStr[1] = '2';
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| 167 | p_value = &satData->L2;
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| 168 | }
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| 169 |
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| 170 | rnxStr[2] = preferredTypes[ii];
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| 171 |
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| 172 | double measdata = obs.measdata(rnxStr, 3.0);
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| 173 | if (measdata != 0.0) {
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| 174 | *p_value = measdata;
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| 175 | if (rnxStr[0] == 'C' && bb) {
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| 176 | char biasStr[3];
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| 177 | biasStr[0] = rnxStr[1];
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| 178 | biasStr[1] = rnxStr[2];
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| 179 | biasStr[2] = '\0';
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| 180 | *p_value += bb->value(biasStr);
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| 181 | }
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| 182 | }
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| 183 | }
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| 184 | }
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| 185 | }
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| 186 |
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| 187 | if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
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| 188 | satData->L1 != 0.0 && satData->L2 != 0.0 ) {
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[6055] | 189 | t_frequency::type fType1 = t_lc::toFreq(obs.satSys,t_lc::l1);
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| 190 | t_frequency::type fType2 = t_lc::toFreq(obs.satSys,t_lc::l2);
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| 191 | double f1 = t_CST::freq(fType1, obs.slotNum);
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| 192 | double f2 = t_CST::freq(fType2, obs.slotNum);
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[6054] | 193 | double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
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| 194 | double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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| 195 | satData->L1 = satData->L1 * t_CST::c / f1;
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| 196 | satData->L2 = satData->L2 * t_CST::c / f2;
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| 197 | satData->P3 = a1 * satData->P1 + a2 * satData->P2;
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| 198 | satData->L3 = a1 * satData->L1 + a2 * satData->L2;
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| 199 | satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
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| 200 | _epoData.back()->satData[satData->prn] = satData;
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| 201 | }
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| 202 | else {
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| 203 | delete satData;
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| 204 | }
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| 205 | }
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| 206 |
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| 207 | // Set Observations Galileo
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| 208 | // ------------------------
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| 209 | else if (obs.satSys == 'E') {
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| 210 | satData->P1 = obs.measdata("C1", 3.0);
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| 211 | satData->L1 = obs.measdata("L1", 3.0);
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| 212 | satData->P5 = obs.measdata("C5", 3.0);
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| 213 | satData->L5 = obs.measdata("L5", 3.0);
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| 214 | if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
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| 215 | satData->L1 != 0.0 && satData->L5 != 0.0 ) {
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[6055] | 216 | double f1 = t_CST::freq(t_frequency::E1, 0);
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| 217 | double f5 = t_CST::freq(t_frequency::E5, 0);
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[6054] | 218 | double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
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| 219 | double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
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| 220 | satData->L1 = satData->L1 * t_CST::c / f1;
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| 221 | satData->L5 = satData->L5 * t_CST::c / f5;
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| 222 | satData->P3 = a1 * satData->P1 + a5 * satData->P5;
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| 223 | satData->L3 = a1 * satData->L1 + a5 * satData->L5;
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| 224 | satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
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| 225 | _epoData.back()->satData[satData->prn] = satData;
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| 226 | }
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| 227 | else {
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| 228 | delete satData;
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| 229 | }
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| 230 | }
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| 231 | }
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| 232 |
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| 233 | //
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| 234 | ////////////////////////////////////////////////////////////////////////////
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[6065] | 235 | void bncPPPclient::putNewCorrections(QList<QString> corrList) {
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[6054] | 236 | QMutexLocker locker(&_mutex);
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| 237 |
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| 238 | // Check the Mountpoint (source of corrections)
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| 239 | // --------------------------------------------
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[6055] | 240 | if (!_opt->_corrMount.empty()) {
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[6054] | 241 | QMutableListIterator<QString> itm(corrList);
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| 242 | while (itm.hasNext()) {
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| 243 | QStringList hlp = itm.next().split(" ");
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| 244 | if (hlp.size() > 0) {
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| 245 | QString mountpoint = hlp[hlp.size()-1];
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[6055] | 246 | if (mountpoint != QString(_opt->_corrMount.c_str())) {
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[6054] | 247 | itm.remove();
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| 248 | }
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| 249 | }
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| 250 | }
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| 251 | }
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| 252 |
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| 253 | if (corrList.size() == 0) {
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| 254 | return;
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| 255 | }
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| 256 |
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| 257 | QListIterator<QString> it(corrList);
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| 258 | while (it.hasNext()) {
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| 259 | QString line = it.next();
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| 260 |
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| 261 | QTextStream in(&line);
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| 262 | int messageType;
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| 263 | int updateInterval;
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| 264 | int GPSweek;
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| 265 | double GPSweeks;
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| 266 | QString prn;
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| 267 | in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
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| 268 |
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| 269 | if ( t_corr::relevantMessageType(messageType) ) {
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| 270 | t_corr* cc = 0;
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| 271 | if (_corr.contains(prn)) {
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| 272 | cc = _corr.value(prn);
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| 273 | }
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| 274 | else {
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| 275 | cc = new t_corr();
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| 276 | _corr[prn] = cc;
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| 277 | }
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| 278 | cc->readLine(line);
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| 279 | _corr_tt = cc->tClk;
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| 280 | }
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| 281 | else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) {
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| 282 | t_bias* bb = 0;
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| 283 | if (_bias.contains(prn)) {
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| 284 | bb = _bias.value(prn);
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| 285 | }
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| 286 | else {
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| 287 | bb = new t_bias();
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| 288 | _bias[prn] = bb;
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| 289 | }
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| 290 | bb->readLine(line);
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| 291 | }
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| 292 | }
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| 293 | }
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| 294 |
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| 295 | // Satellite Position
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| 296 | ////////////////////////////////////////////////////////////////////////////
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| 297 | t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
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| 298 | ColumnVector& xc, ColumnVector& vv) {
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| 299 |
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| 300 | const double MAXAGE = 120.0;
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| 301 |
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| 302 | if (_eph.contains(prn)) {
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| 303 |
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[6055] | 304 | if (_opt->useOrbClkCorr() && prn[0] != 'E') {
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[6054] | 305 | if (_corr.contains(prn)) {
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| 306 | t_corr* cc = _corr.value(prn);
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| 307 | if (cc->ready() && tt - cc->tClk < MAXAGE) {
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| 308 | t_eph* eLast = _eph.value(prn)->last;
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| 309 | t_eph* ePrev = _eph.value(prn)->prev;
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| 310 | if (eLast && eLast->IOD() == cc->iod) {
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| 311 | eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
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| 312 | return applyCorr(tt, cc, xc, vv);
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| 313 | }
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| 314 | else if (ePrev && ePrev->IOD() == cc->iod) {
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| 315 | ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
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| 316 | return applyCorr(tt, cc, xc, vv);
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| 317 | }
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| 318 | }
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| 319 | }
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| 320 | }
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| 321 |
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| 322 | else {
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| 323 | t_eph* ee = _eph.value(prn)->last;
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| 324 | ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
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| 325 | return success;
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| 326 | }
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| 327 | }
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| 328 |
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| 329 | return failure;
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| 330 | }
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| 331 |
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| 332 | //
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| 333 | ////////////////////////////////////////////////////////////////////////////
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| 334 | t_irc bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc,
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| 335 | ColumnVector& xc, ColumnVector& vv) {
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| 336 |
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| 337 | double dtRao = tt - cc->tRao;
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| 338 |
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| 339 | // Position
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| 340 | // --------
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| 341 | ColumnVector raoHlp = cc->rao + cc->dotRao * dtRao;
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| 342 |
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| 343 | if (raoHlp.norm_Frobenius() > 20.0) {
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| 344 | return failure;
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| 345 | }
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| 346 |
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| 347 | ColumnVector dx(3);
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| 348 | RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx);
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| 349 | xc[0] -= dx[0];
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| 350 | xc[1] -= dx[1];
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| 351 | xc[2] -= dx[2];
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| 352 |
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| 353 | // Velocity
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| 354 | // --------
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| 355 | ColumnVector dotRaoHlp = cc->dotRao;
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| 356 |
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| 357 | ColumnVector dv(3);
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| 358 | RSW_to_XYZ(xc.Rows(1,3), vv, dotRaoHlp, dv);
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| 359 | vv[0] -= dv[0];
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| 360 | vv[1] -= dv[1];
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| 361 | vv[2] -= dv[2];
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| 362 |
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| 363 | // Clocks
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| 364 | // ------
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| 365 | double dtClk = tt - cc->tClk;
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| 366 |
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| 367 | xc[3] += cc->dClk + cc->dotDClk * dtClk + cc->dotDotDClk * dtClk * dtClk
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| 368 | + cc->hrClk;
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| 369 |
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| 370 | return success;
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| 371 | }
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| 372 |
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| 373 | // Correct Time of Transmission
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| 374 | ////////////////////////////////////////////////////////////////////////////
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| 375 | t_irc bncPPPclient::cmpToT(t_satData* satData) {
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| 376 |
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| 377 | double prange = satData->P3;
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| 378 | if (prange == 0.0) {
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| 379 | return failure;
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| 380 | }
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| 381 |
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| 382 | double clkSat = 0.0;
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| 383 | for (int ii = 1; ii <= 10; ii++) {
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| 384 |
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| 385 | bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
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| 386 |
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| 387 | ColumnVector xc(4);
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| 388 | ColumnVector vv(3);
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| 389 | if (getSatPos(ToT, satData->prn, xc, vv) != success) {
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| 390 | return failure;
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| 391 | }
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| 392 |
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| 393 | double clkSatOld = clkSat;
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| 394 | clkSat = xc(4);
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| 395 |
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| 396 | if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
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| 397 | satData->xx = xc.Rows(1,3);
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| 398 | satData->vv = vv;
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| 399 | satData->clk = clkSat * t_CST::c;
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| 400 | return success;
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| 401 | }
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| 402 | }
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| 403 |
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| 404 | return failure;
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| 405 | }
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| 406 |
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| 407 | //
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| 408 | ////////////////////////////////////////////////////////////////////////////
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[6068] | 409 | void bncPPPclient::processFrontEpoch(t_output* output) {
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[6054] | 410 |
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| 411 | #ifdef BNC_DEBUG
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| 412 | QString msg = "List of Corrections\n";
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| 413 | QMapIterator<QString, t_corr*> itC(_corr);
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| 414 | while (itC.hasNext()) {
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| 415 | itC.next();
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| 416 | QString src = itC.key();
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| 417 | const t_corr* corr = itC.value();
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| 418 | msg += QString("%1 %2 %3 %4\n")
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| 419 | .arg(corr->prn)
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| 420 | .arg(corr->iod)
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| 421 | .arg(QString(corr->tClk.datestr().c_str()) + "_" + QString(corr->tClk.timestr().c_str()))
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| 422 | .arg(QString(corr->tRao.datestr().c_str()) + "_" + QString(corr->tRao.timestr().c_str()));
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| 423 | }
|
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| 424 |
|
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| 425 | msg += "List of Ephemeris\n";
|
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| 426 | QMapIterator<QString, t_ephPair*> itE(_eph);
|
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| 427 | while (itE.hasNext()) {
|
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| 428 | itE.next();
|
---|
| 429 | QString prn = itE.key();
|
---|
| 430 | const t_ephPair* ephPair = itE.value();
|
---|
| 431 | if (ephPair->prev) {
|
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| 432 | msg += QString("%1 %2 %3 %4 %5\n")
|
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| 433 | .arg(prn)
|
---|
| 434 | .arg(ephPair->last->IOD())
|
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| 435 | .arg(QString(ephPair->last->TOC().datestr().c_str()) + "_" +
|
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| 436 | QString(ephPair->last->TOC().timestr().c_str()))
|
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| 437 | .arg(ephPair->prev->IOD())
|
---|
| 438 | .arg(QString(ephPair->prev->TOC().datestr().c_str()) + "_" +
|
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| 439 | QString(ephPair->prev->TOC().timestr().c_str()));
|
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| 440 | }
|
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| 441 | else {
|
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| 442 | msg += QString("%1 %2 %3\n")
|
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| 443 | .arg(prn)
|
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| 444 | .arg(ephPair->last->IOD())
|
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| 445 | .arg(QString(ephPair->last->TOC().datestr().c_str()) + "_" +
|
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| 446 | QString(ephPair->last->TOC().timestr().c_str()));
|
---|
| 447 | }
|
---|
| 448 | }
|
---|
| 449 |
|
---|
[6065] | 450 | LOG << msg.toAscii() << endl;
|
---|
[6054] | 451 | #endif // BNC_DEBUG
|
---|
| 452 |
|
---|
| 453 | // Data Pre-Processing
|
---|
| 454 | // -------------------
|
---|
| 455 | QMutableMapIterator<QString, t_satData*> it(_epoData.front()->satData);
|
---|
| 456 | while (it.hasNext()) {
|
---|
| 457 | it.next();
|
---|
| 458 | QString prn = it.key();
|
---|
| 459 | t_satData* satData = it.value();
|
---|
| 460 |
|
---|
| 461 | if (cmpToT(satData) != success) {
|
---|
| 462 | delete satData;
|
---|
| 463 | it.remove();
|
---|
| 464 | continue;
|
---|
| 465 | }
|
---|
| 466 | }
|
---|
| 467 |
|
---|
| 468 | // Filter Solution
|
---|
| 469 | // ---------------
|
---|
| 470 | if (_model->update(_epoData.front()) == success) {
|
---|
[6065] | 471 | /// emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
|
---|
[6054] | 472 | }
|
---|
| 473 | }
|
---|
| 474 |
|
---|
| 475 | //
|
---|
| 476 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6068] | 477 | void bncPPPclient::processEpochs(t_output* output) {
|
---|
[6054] | 478 |
|
---|
| 479 | // Make sure the buffer does not grow beyond any limit
|
---|
| 480 | // ---------------------------------------------------
|
---|
| 481 | const unsigned MAX_EPODATA_SIZE = 120;
|
---|
| 482 | if (_epoData.size() > MAX_EPODATA_SIZE) {
|
---|
| 483 | delete _epoData.front();
|
---|
| 484 | _epoData.pop();
|
---|
| 485 | }
|
---|
| 486 |
|
---|
| 487 | // Loop over all unprocessed epochs
|
---|
| 488 | // --------------------------------
|
---|
| 489 | while (!_epoData.empty()) {
|
---|
| 490 |
|
---|
| 491 | t_epoData* frontEpoData = _epoData.front();
|
---|
| 492 |
|
---|
| 493 | // No corrections yet, skip the epoch
|
---|
| 494 | // ----------------------------------
|
---|
[6055] | 495 | if (_opt->useOrbClkCorr() && !_corr_tt.valid()) {
|
---|
[6054] | 496 | return;
|
---|
| 497 | }
|
---|
| 498 |
|
---|
| 499 | // Process the front epoch
|
---|
| 500 | // -----------------------
|
---|
[6055] | 501 | if (_opt->_corrWaitTime == 0.0 || frontEpoData->tt - _corr_tt >= _opt->_corrWaitTime) {
|
---|
[6068] | 502 | processFrontEpoch(output);
|
---|
[6054] | 503 | delete _epoData.front();
|
---|
| 504 | _epoData.pop();
|
---|
| 505 | }
|
---|
| 506 | else {
|
---|
| 507 | return;
|
---|
| 508 | }
|
---|
| 509 | }
|
---|
| 510 | }
|
---|