source: ntrip/trunk/BNC/src/PPP_free/pppClient.cpp@ 6094

Last change on this file since 6094 was 6093, checked in by mervart, 10 years ago
File size: 9.4 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/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: t_pppClient
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 "pppClient.h"
46#include "pppFilter.h"
47#include "pppOptions.h"
48#include "bncutils.h"
49#include "bncconst.h"
50
51using namespace BNC_PPP;
52using namespace std;
53
54// Global variable holding thread-specific pointers
55//////////////////////////////////////////////////////////////////////////////
56QThreadStorage<t_pppClient*> CLIENTS;
57
58// Static function returning thread-specific pointer
59//////////////////////////////////////////////////////////////////////////////
60t_pppClient* t_pppClient::instance() {
61 return CLIENTS.localData();
62}
63
64// Constructor
65////////////////////////////////////////////////////////////////////////////
66t_pppClient::t_pppClient(const t_pppOptions* opt) : bncEphUser(false) {
67
68 _opt = new t_pppOptions(*opt);
69 _filter = new t_pppFilter(this);
70 _epoData = new t_epoData();
71 _log = new ostringstream();
72 _staID = QByteArray(_opt->_roverName.c_str());
73
74 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
75}
76
77// Destructor
78////////////////////////////////////////////////////////////////////////////
79t_pppClient::~t_pppClient() {
80 delete _filter;
81 delete _epoData;
82 delete _opt;
83 delete _log;
84}
85
86//
87////////////////////////////////////////////////////////////////////////////
88void t_pppClient::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 (_filter->update(_epoData) == success) {
150 output->_error = false;
151 output->_epoTime = _filter->time();
152 output->_xyzRover[0] = _filter->x();
153 output->_xyzRover[1] = _filter->y();
154 output->_xyzRover[2] = _filter->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 t_pppClient::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 t_pppClient::putOrbCorrections(const std::vector<t_orbCorr*>& corr) {
224 QMutexLocker locker(&_mutex);
225}
226
227//
228////////////////////////////////////////////////////////////////////////////
229void t_pppClient::putClkCorrections(const std::vector<t_clkCorr*>& corr) {
230 QMutexLocker locker(&_mutex);
231}
232
233//
234//////////////////////////////////////////////////////////////////////////////
235void t_pppClient::putBiases(const std::vector<t_satBias*>& /* satBias */) {
236}
237
238//
239//////////////////////////////////////////////////////////////////////////////
240void t_pppClient::putEphemeris(const t_eph* eph) {
241 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
242 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
243 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
244 if (ephGPS) {
245 putNewEph(new t_ephGPS(*ephGPS));
246 }
247 else if (ephGlo) {
248 putNewEph(new t_ephGlo(*ephGlo));
249 }
250 else if (ephGal) {
251 putNewEph(new t_ephGal(*ephGal));
252 }
253}
254
255// Satellite Position
256////////////////////////////////////////////////////////////////////////////
257t_irc t_pppClient::getSatPos(const bncTime& tt, const QString& prn,
258 ColumnVector& xc, ColumnVector& vv) {
259 if (_eph.contains(prn)) {
260 t_eph* eLast = _eph.value(prn)->last;
261 t_eph* ePrev = _eph.value(prn)->prev;
262 if (eLast && eLast->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
263 return success;
264 }
265 else if (ePrev && ePrev->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
266 return success;
267 }
268 }
269 return failure;
270}
271
272// Correct Time of Transmission
273////////////////////////////////////////////////////////////////////////////
274t_irc t_pppClient::cmpToT(t_satData* satData) {
275
276 double prange = satData->P3;
277 if (prange == 0.0) {
278 return failure;
279 }
280
281 double clkSat = 0.0;
282 for (int ii = 1; ii <= 10; ii++) {
283
284 bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
285
286 ColumnVector xc(4);
287 ColumnVector vv(3);
288 if (getSatPos(ToT, satData->prn, xc, vv) != success) {
289 return failure;
290 }
291
292 double clkSatOld = clkSat;
293 clkSat = xc(4);
294
295 if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
296 satData->xx = xc.Rows(1,3);
297 satData->vv = vv;
298 satData->clk = clkSat * t_CST::c;
299 return success;
300 }
301 }
302
303 return failure;
304}
305
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