source: ntrip/trunk/BNC/src/PPP_free/bncpppclient.cpp@ 6080

Last change on this file since 6080 was 6080, checked in by mervart, 8 years ago
File size: 11.0 KB
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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/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncPPPclient
30 *
31 * Purpose: Precise Point Positioning
32 *
33 * Author: L. Mervart
34 *
35 * Created: 21-Nov-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <newmatio.h>
42#include <iomanip>
43#include <sstream>
44
45#include "bncpppclient.h"
46#include "bnccore.h"
47#include "bncutils.h"
48#include "bncconst.h"
49#include "bncmodel.h"
50#include "pppOptions.h"
51#include "pppClient.h"
52
53using namespace BNC_PPP;
54using namespace std;
55
56// Constructor
57////////////////////////////////////////////////////////////////////////////
58bncPPPclient::bncPPPclient(QByteArray staID, const t_pppOptions* opt) : bncEphUser(false) {
59
60 _opt = opt;
61 _staID = staID;
62 _model = new bncModel(this);
63 _epoData = new t_epoData();
64}
65
66// Destructor
67////////////////////////////////////////////////////////////////////////////
68bncPPPclient::~bncPPPclient() {
69 _epoData->clear();
70
71 QMapIterator<QString, t_corr*> ic(_corr);
72 while (ic.hasNext()) {
73 ic.next();
74 delete ic.value();
75 }
76
77 QMapIterator<QString, t_bias*> ib(_bias);
78 while (ib.hasNext()) {
79 ib.next();
80 delete ib.value();
81 }
82
83 delete _model;
84}
85
86//
87////////////////////////////////////////////////////////////////////////////
88void bncPPPclient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
89 QMutexLocker locker(&_mutex);
90
91 // Convert and store observations
92 // ------------------------------
93 _epoData->clear();
94 for (unsigned ii = 0; ii < satObs.size(); ii++) {
95 const t_satObs* obs = satObs[ii];
96 t_satData* satData = new t_satData();
97
98 if (_epoData->tt.undef()) {
99 _epoData->tt = obs->_time;
100 }
101
102 satData->tt = obs->_time;
103 satData->prn = QString(obs->_prn.toString().c_str());
104 satData->slipFlag = false;
105 satData->P1 = 0.0;
106 satData->P2 = 0.0;
107 satData->P5 = 0.0;
108 satData->L1 = 0.0;
109 satData->L2 = 0.0;
110 satData->L5 = 0.0;
111 for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) {
112 t_frqObs* frqObs = obs->_obs[ifrq];
113 if (frqObs->_rnxType2ch[0] == '1') {
114 if (frqObs->_codeValid) satData->P1 = frqObs->_code;
115 if (frqObs->_phaseValid) satData->L1 = frqObs->_phase;
116 if (frqObs->_slip) satData->slipFlag = true;
117 }
118 else if (frqObs->_rnxType2ch[0] == '2') {
119 if (frqObs->_codeValid) satData->P2 = frqObs->_code;
120 if (frqObs->_phaseValid) satData->L2 = frqObs->_phase;
121 if (frqObs->_slip) satData->slipFlag = true;
122 }
123 else if (frqObs->_rnxType2ch[0] == '5') {
124 if (frqObs->_codeValid) satData->P5 = frqObs->_code;
125 if (frqObs->_phaseValid) satData->L5 = frqObs->_phase;
126 if (frqObs->_slip) satData->slipFlag = true;
127 }
128 }
129 putNewObs(satData);
130 }
131
132 // Data Pre-Processing
133 // -------------------
134 QMutableMapIterator<QString, t_satData*> it(_epoData->satData);
135 while (it.hasNext()) {
136 it.next();
137 QString prn = it.key();
138 t_satData* satData = it.value();
139
140 if (cmpToT(satData) != success) {
141 delete satData;
142 it.remove();
143 continue;
144 }
145 }
146
147 // Filter Solution
148 // ---------------
149 if (_model->update(_epoData) == success) {
150 output->_error = false;
151 output->_epoTime = _model->time();
152 output->_xyzRover[0] = _model->x();
153 output->_xyzRover[1] = _model->y();
154 output->_xyzRover[2] = _model->z();
155 output->_numSat = 0;
156 output->_pDop = 0.0;
157 }
158 else {
159 output->_error = true;
160 }
161
162 output->_log = LOG.str();
163}
164
165//
166////////////////////////////////////////////////////////////////////////////
167void bncPPPclient::putNewObs(t_satData* satData) {
168
169 // Set Observations GPS and Glonass
170 // --------------------------------
171 if (satData->system() == 'G' || satData->system() == 'R') {
172 if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
173 satData->L1 != 0.0 && satData->L2 != 0.0 ) {
174
175 int channel = 0;
176 if (satData->system() == 'R') {
177// cerr << "not yet implemented" << endl;
178// exit(0);
179 }
180
181 t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
182 t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
183 double f1 = t_CST::freq(fType1, channel);
184 double f2 = t_CST::freq(fType2, channel);
185 double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
186 double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
187 satData->L1 = satData->L1 * t_CST::c / f1;
188 satData->L2 = satData->L2 * t_CST::c / f2;
189 satData->P3 = a1 * satData->P1 + a2 * satData->P2;
190 satData->L3 = a1 * satData->L1 + a2 * satData->L2;
191 satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
192 _epoData->satData[satData->prn] = satData;
193 }
194 else {
195 delete satData;
196 }
197 }
198
199 // Set Observations Galileo
200 // ------------------------
201 else if (satData->system() == 'E') {
202 if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
203 satData->L1 != 0.0 && satData->L5 != 0.0 ) {
204 double f1 = t_CST::freq(t_frequency::E1, 0);
205 double f5 = t_CST::freq(t_frequency::E5, 0);
206 double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
207 double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
208 satData->L1 = satData->L1 * t_CST::c / f1;
209 satData->L5 = satData->L5 * t_CST::c / f5;
210 satData->P3 = a1 * satData->P1 + a5 * satData->P5;
211 satData->L3 = a1 * satData->L1 + a5 * satData->L5;
212 satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
213 _epoData->satData[satData->prn] = satData;
214 }
215 else {
216 delete satData;
217 }
218 }
219}
220
221//
222////////////////////////////////////////////////////////////////////////////
223void bncPPPclient::putNewCorrections(QList<QString> corrList) {
224 QMutexLocker locker(&_mutex);
225
226 // Check the Mountpoint (source of corrections)
227 // --------------------------------------------
228 if (!_opt->_corrMount.empty()) {
229 QMutableListIterator<QString> itm(corrList);
230 while (itm.hasNext()) {
231 QStringList hlp = itm.next().split(" ");
232 if (hlp.size() > 0) {
233 QString mountpoint = hlp[hlp.size()-1];
234 if (mountpoint != QString(_opt->_corrMount.c_str())) {
235 itm.remove();
236 }
237 }
238 }
239 }
240
241 if (corrList.size() == 0) {
242 return;
243 }
244
245 QListIterator<QString> it(corrList);
246 while (it.hasNext()) {
247 QString line = it.next();
248
249 QTextStream in(&line);
250 int messageType;
251 int updateInterval;
252 int GPSweek;
253 double GPSweeks;
254 QString prn;
255 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
256
257 if ( t_corr::relevantMessageType(messageType) ) {
258 t_corr* cc = 0;
259 if (_corr.contains(prn)) {
260 cc = _corr.value(prn);
261 }
262 else {
263 cc = new t_corr();
264 _corr[prn] = cc;
265 }
266 cc->readLine(line);
267 _corr_tt = cc->tClk;
268 }
269 else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) {
270 t_bias* bb = 0;
271 if (_bias.contains(prn)) {
272 bb = _bias.value(prn);
273 }
274 else {
275 bb = new t_bias();
276 _bias[prn] = bb;
277 }
278 bb->readLine(line);
279 }
280 }
281}
282
283// Satellite Position
284////////////////////////////////////////////////////////////////////////////
285t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
286 ColumnVector& xc, ColumnVector& vv) {
287
288 const double MAXAGE = 120.0;
289
290 if (_eph.contains(prn)) {
291
292 if (_opt->useOrbClkCorr() && prn[0] != 'E') {
293 if (_corr.contains(prn)) {
294 t_corr* cc = _corr.value(prn);
295 if (cc->ready() && tt - cc->tClk < MAXAGE) {
296 t_eph* eLast = _eph.value(prn)->last;
297 t_eph* ePrev = _eph.value(prn)->prev;
298 if (eLast && eLast->IOD() == cc->iod) {
299 eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
300 return applyCorr(tt, cc, xc, vv);
301 }
302 else if (ePrev && ePrev->IOD() == cc->iod) {
303 ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
304 return applyCorr(tt, cc, xc, vv);
305 }
306 }
307 }
308 }
309
310 else {
311 t_eph* ee = _eph.value(prn)->last;
312 ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
313 return success;
314 }
315 }
316
317 return failure;
318}
319
320//
321////////////////////////////////////////////////////////////////////////////
322t_irc bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc,
323 ColumnVector& xc, ColumnVector& vv) {
324
325 double dtRao = tt - cc->tRao;
326
327 // Position
328 // --------
329 ColumnVector raoHlp = cc->rao + cc->dotRao * dtRao;
330
331 if (raoHlp.norm_Frobenius() > 20.0) {
332 return failure;
333 }
334
335 ColumnVector dx(3);
336 RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx);
337 xc[0] -= dx[0];
338 xc[1] -= dx[1];
339 xc[2] -= dx[2];
340
341 // Velocity
342 // --------
343 ColumnVector dotRaoHlp = cc->dotRao;
344
345 ColumnVector dv(3);
346 RSW_to_XYZ(xc.Rows(1,3), vv, dotRaoHlp, dv);
347 vv[0] -= dv[0];
348 vv[1] -= dv[1];
349 vv[2] -= dv[2];
350
351 // Clocks
352 // ------
353 double dtClk = tt - cc->tClk;
354
355 xc[3] += cc->dClk + cc->dotDClk * dtClk + cc->dotDotDClk * dtClk * dtClk
356 + cc->hrClk;
357
358 return success;
359}
360
361// Correct Time of Transmission
362////////////////////////////////////////////////////////////////////////////
363t_irc bncPPPclient::cmpToT(t_satData* satData) {
364
365 double prange = satData->P3;
366 if (prange == 0.0) {
367 return failure;
368 }
369
370 double clkSat = 0.0;
371 for (int ii = 1; ii <= 10; ii++) {
372
373 bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
374
375 ColumnVector xc(4);
376 ColumnVector vv(3);
377 if (getSatPos(ToT, satData->prn, xc, vv) != success) {
378 return failure;
379 }
380
381 double clkSatOld = clkSat;
382 clkSat = xc(4);
383
384 if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
385 satData->xx = xc.Rows(1,3);
386 satData->vv = vv;
387 satData->clk = clkSat * t_CST::c;
388 return success;
389 }
390 }
391
392 return failure;
393}
394
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