[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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[6073] | 51 | #include "pppClient.h"
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[6054] | 52 |
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[6055] | 53 | using namespace BNC_PPP;
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[6054] | 54 | using namespace std;
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| 55 |
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[6083] | 56 | // Global variable holding thread-specific pointers
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| 57 | //////////////////////////////////////////////////////////////////////////////
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| 58 | bncPPPclient* PPP_CLIENT = 0;
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| 59 |
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| 60 | // Static function returning thread-specific pointer
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| 61 | //////////////////////////////////////////////////////////////////////////////
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| 62 | bncPPPclient* t_pppClient::instance() {
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| 63 | return PPP_CLIENT;
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| 64 | }
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| 65 |
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[6054] | 66 | // Constructor
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| 67 | ////////////////////////////////////////////////////////////////////////////
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[6083] | 68 | bncPPPclient::bncPPPclient(const t_pppOptions* opt) : bncEphUser(false) {
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[6054] | 69 |
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[6083] | 70 | _opt = new t_pppOptions(*opt);
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| 71 | _staID = QByteArray(_opt->_roverName.c_str())
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| 72 | _model = new bncModel(this);
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| 73 | _epoData = new t_epoData();
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| 74 | PPP_CLIENT = this;
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[6054] | 75 | }
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| 76 |
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| 77 | // Destructor
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| 78 | ////////////////////////////////////////////////////////////////////////////
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| 79 | bncPPPclient::~bncPPPclient() {
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[6073] | 80 | _epoData->clear();
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| 81 |
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[6054] | 82 | QMapIterator<QString, t_corr*> ic(_corr);
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| 83 | while (ic.hasNext()) {
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| 84 | ic.next();
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| 85 | delete ic.value();
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| 86 | }
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[6073] | 87 |
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[6054] | 88 | QMapIterator<QString, t_bias*> ib(_bias);
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| 89 | while (ib.hasNext()) {
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| 90 | ib.next();
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| 91 | delete ib.value();
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| 92 | }
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[6073] | 93 |
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[6065] | 94 | delete _model;
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[6083] | 95 | delete _epoData;
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| 96 | delete _opt;
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[6054] | 97 | }
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| 98 |
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| 99 | //
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| 100 | ////////////////////////////////////////////////////////////////////////////
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[6073] | 101 | void bncPPPclient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
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[6054] | 102 | QMutexLocker locker(&_mutex);
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[6075] | 103 |
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| 104 | // Convert and store observations
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| 105 | // ------------------------------
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[6073] | 106 | _epoData->clear();
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| 107 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
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| 108 | const t_satObs* obs = satObs[ii];
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| 109 | t_satData* satData = new t_satData();
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[6080] | 110 |
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| 111 | if (_epoData->tt.undef()) {
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| 112 | _epoData->tt = obs->_time;
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| 113 | }
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| 114 |
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[6073] | 115 | satData->tt = obs->_time;
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| 116 | satData->prn = QString(obs->_prn.toString().c_str());
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| 117 | satData->slipFlag = false;
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| 118 | satData->P1 = 0.0;
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| 119 | satData->P2 = 0.0;
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| 120 | satData->P5 = 0.0;
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| 121 | satData->L1 = 0.0;
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| 122 | satData->L2 = 0.0;
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| 123 | satData->L5 = 0.0;
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| 124 | for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) {
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| 125 | t_frqObs* frqObs = obs->_obs[ifrq];
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| 126 | if (frqObs->_rnxType2ch[0] == '1') {
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| 127 | if (frqObs->_codeValid) satData->P1 = frqObs->_code;
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| 128 | if (frqObs->_phaseValid) satData->L1 = frqObs->_phase;
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| 129 | if (frqObs->_slip) satData->slipFlag = true;
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| 130 | }
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| 131 | else if (frqObs->_rnxType2ch[0] == '2') {
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| 132 | if (frqObs->_codeValid) satData->P2 = frqObs->_code;
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| 133 | if (frqObs->_phaseValid) satData->L2 = frqObs->_phase;
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| 134 | if (frqObs->_slip) satData->slipFlag = true;
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| 135 | }
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| 136 | else if (frqObs->_rnxType2ch[0] == '5') {
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| 137 | if (frqObs->_codeValid) satData->P5 = frqObs->_code;
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| 138 | if (frqObs->_phaseValid) satData->L5 = frqObs->_phase;
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| 139 | if (frqObs->_slip) satData->slipFlag = true;
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| 140 | }
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| 141 | }
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| 142 | putNewObs(satData);
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[6054] | 143 | }
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[6073] | 144 |
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| 145 | // Data Pre-Processing
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| 146 | // -------------------
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| 147 | QMutableMapIterator<QString, t_satData*> it(_epoData->satData);
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| 148 | while (it.hasNext()) {
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| 149 | it.next();
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| 150 | QString prn = it.key();
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| 151 | t_satData* satData = it.value();
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| 152 |
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| 153 | if (cmpToT(satData) != success) {
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| 154 | delete satData;
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| 155 | it.remove();
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| 156 | continue;
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| 157 | }
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[6054] | 158 | }
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| 159 |
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[6073] | 160 | // Filter Solution
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| 161 | // ---------------
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| 162 | if (_model->update(_epoData) == success) {
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[6075] | 163 | output->_error = false;
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[6077] | 164 | output->_epoTime = _model->time();
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| 165 | output->_xyzRover[0] = _model->x();
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| 166 | output->_xyzRover[1] = _model->y();
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| 167 | output->_xyzRover[2] = _model->z();
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| 168 | output->_numSat = 0;
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| 169 | output->_pDop = 0.0;
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[6073] | 170 | }
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| 171 | else {
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| 172 | output->_error = true;
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| 173 | }
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| 174 |
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[6079] | 175 | output->_log = LOG.str();
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[6073] | 176 | }
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| 177 |
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| 178 | //
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| 179 | ////////////////////////////////////////////////////////////////////////////
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| 180 | void bncPPPclient::putNewObs(t_satData* satData) {
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| 181 |
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[6054] | 182 | // Set Observations GPS and Glonass
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| 183 | // --------------------------------
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[6072] | 184 | if (satData->system() == 'G' || satData->system() == 'R') {
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| 185 | if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
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| 186 | satData->L1 != 0.0 && satData->L2 != 0.0 ) {
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[6054] | 187 |
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[6072] | 188 | int channel = 0;
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| 189 | if (satData->system() == 'R') {
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[6077] | 190 | // cerr << "not yet implemented" << endl;
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| 191 | // exit(0);
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[6054] | 192 | }
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| 193 |
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[6072] | 194 | t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
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| 195 | t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
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| 196 | double f1 = t_CST::freq(fType1, channel);
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| 197 | double f2 = t_CST::freq(fType2, channel);
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[6054] | 198 | double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
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| 199 | double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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[6080] | 200 | satData->L1 = satData->L1 * t_CST::c / f1;
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| 201 | satData->L2 = satData->L2 * t_CST::c / f2;
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[6054] | 202 | satData->P3 = a1 * satData->P1 + a2 * satData->P2;
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| 203 | satData->L3 = a1 * satData->L1 + a2 * satData->L2;
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| 204 | satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
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[6073] | 205 | _epoData->satData[satData->prn] = satData;
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[6054] | 206 | }
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| 207 | else {
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| 208 | delete satData;
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| 209 | }
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| 210 | }
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| 211 |
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| 212 | // Set Observations Galileo
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| 213 | // ------------------------
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[6072] | 214 | else if (satData->system() == 'E') {
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[6054] | 215 | if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
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| 216 | satData->L1 != 0.0 && satData->L5 != 0.0 ) {
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[6055] | 217 | double f1 = t_CST::freq(t_frequency::E1, 0);
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| 218 | double f5 = t_CST::freq(t_frequency::E5, 0);
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[6054] | 219 | double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
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| 220 | double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
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[6080] | 221 | satData->L1 = satData->L1 * t_CST::c / f1;
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| 222 | satData->L5 = satData->L5 * t_CST::c / f5;
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[6054] | 223 | satData->P3 = a1 * satData->P1 + a5 * satData->P5;
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| 224 | satData->L3 = a1 * satData->L1 + a5 * satData->L5;
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| 225 | satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
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[6073] | 226 | _epoData->satData[satData->prn] = satData;
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[6054] | 227 | }
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| 228 | else {
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| 229 | delete satData;
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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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| 235 | ////////////////////////////////////////////////////////////////////////////
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[6082] | 236 | void bncPPPclient::putOrbCorrections(const std::vector<t_orbCorr*>& corr) {
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[6054] | 237 | QMutexLocker locker(&_mutex);
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[6082] | 238 | }
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[6054] | 239 |
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[6082] | 240 | //
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| 241 | ////////////////////////////////////////////////////////////////////////////
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| 242 | void bncPPPclient::putClkCorrections(const std::vector<t_clkCorr*>& corr) {
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| 243 | QMutexLocker locker(&_mutex);
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[6054] | 244 | }
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| 245 |
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[6083] | 246 | //
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| 247 | //////////////////////////////////////////////////////////////////////////////
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| 248 | void t_pppClient::putEphemeris(const t_eph* eph) {
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| 249 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 250 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 251 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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| 252 | if (ephGPS) {
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| 253 | putNewEph(new t_ephGPS(*ephGPS));
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| 254 | }
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| 255 | else if (ephGlo) {
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| 256 | putNewEph(new t_ephGlo(*ephGlo));
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| 257 | }
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| 258 | else if (ephGal) {
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| 259 | putNewEph(new t_ephGal(*ephGal));
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| 260 | }
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| 261 | }
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| 262 |
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[6054] | 263 | // Satellite Position
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| 264 | ////////////////////////////////////////////////////////////////////////////
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| 265 | t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
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| 266 | ColumnVector& xc, ColumnVector& vv) {
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| 267 | if (_eph.contains(prn)) {
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[6081] | 268 | t_eph* eLast = _eph.value(prn)->last;
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| 269 | t_eph* ePrev = _eph.value(prn)->prev;
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| 270 | if (eLast && eLast->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
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| 271 | return success;
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[6054] | 272 | }
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[6081] | 273 | else if (ePrev && ePrev->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
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[6054] | 274 | return success;
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| 275 | }
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| 276 | }
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| 277 | return failure;
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| 278 | }
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| 279 |
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| 280 | // Correct Time of Transmission
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| 281 | ////////////////////////////////////////////////////////////////////////////
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| 282 | t_irc bncPPPclient::cmpToT(t_satData* satData) {
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| 283 |
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| 284 | double prange = satData->P3;
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| 285 | if (prange == 0.0) {
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| 286 | return failure;
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| 287 | }
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| 288 |
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| 289 | double clkSat = 0.0;
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| 290 | for (int ii = 1; ii <= 10; ii++) {
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| 291 |
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| 292 | bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
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| 293 |
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| 294 | ColumnVector xc(4);
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| 295 | ColumnVector vv(3);
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| 296 | if (getSatPos(ToT, satData->prn, xc, vv) != success) {
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| 297 | return failure;
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| 298 | }
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| 299 |
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| 300 | double clkSatOld = clkSat;
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| 301 | clkSat = xc(4);
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| 302 |
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| 303 | if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
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| 304 | satData->xx = xc.Rows(1,3);
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| 305 | satData->vv = vv;
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| 306 | satData->clk = clkSat * t_CST::c;
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| 307 | return success;
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| 308 | }
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| 309 | }
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| 310 |
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| 311 | return failure;
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| 312 | }
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| 313 |
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