[2057] | 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 | #ifndef BNCMODEL_H
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| 26 | #define BNCMODEL_H
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| 27 |
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| 28 | #include <QtCore>
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[2178] | 29 | #include <QtNetwork>
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[2057] | 30 | #include <newmat.h>
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| 31 |
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[2058] | 32 | #include "bncconst.h"
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[2143] | 33 | #include "bnctime.h"
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[2058] | 34 |
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| 35 | class t_epoData;
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[2060] | 36 | class t_satData;
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[2881] | 37 | class bncAntex;
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[3636] | 38 | class t_pppOpt;
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[3638] | 39 | class bncPPPclient;
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[2058] | 40 |
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[2057] | 41 | class bncParam {
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| 42 | public:
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[5157] | 43 | enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3,
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| 44 | GLONASS_OFFSET, GALILEO_OFFSET};
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[2080] | 45 | bncParam(parType typeIn, int indexIn, const QString& prn);
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[2057] | 46 | ~bncParam();
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[2240] | 47 | double partial(t_satData* satData, bool phase);
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[2073] | 48 | bool isCrd() const {
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| 49 | return (type == CRD_X || type == CRD_Y || type == CRD_Z);
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| 50 | }
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[2059] | 51 | parType type;
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[2073] | 52 | double xx;
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| 53 | int index;
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[2080] | 54 | int index_old;
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[3330] | 55 | int numEpo;
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[2080] | 56 | QString prn;
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[2058] | 57 | };
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[2057] | 58 |
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[3639] | 59 | class bncModel {
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[2058] | 60 | public:
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[3638] | 61 | bncModel(bncPPPclient* pppClient);
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[2058] | 62 | ~bncModel();
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[2060] | 63 | t_irc update(t_epoData* epoData);
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[2240] | 64 | bncTime time() const {return _time;}
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| 65 | double x() const {return _params[0]->xx;}
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| 66 | double y() const {return _params[1]->xx;}
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| 67 | double z() const {return _params[2]->xx;}
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[2265] | 68 | double clk() const {return _params[3]->xx;}
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[2240] | 69 | double trp() const {
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| 70 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 71 | bncParam* pp = _params[ii];
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| 72 | if (pp->type == bncParam::TROPO) {
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| 73 | return pp->xx;
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| 74 | }
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| 75 | }
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| 76 | return 0.0;
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| 77 | }
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[5157] | 78 | double Glonass_offset() const {
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| 79 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 80 | bncParam* pp = _params[ii];
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| 81 | if (pp->type == bncParam::GLONASS_OFFSET) {
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| 82 | return pp->xx;
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| 83 | }
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| 84 | }
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| 85 | return 0.0;
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| 86 | }
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[2782] | 87 | double Galileo_offset() const {
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| 88 | for (int ii = 0; ii < _params.size(); ++ii) {
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| 89 | bncParam* pp = _params[ii];
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| 90 | if (pp->type == bncParam::GALILEO_OFFSET) {
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| 91 | return pp->xx;
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| 92 | }
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| 93 | }
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| 94 | return 0.0;
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| 95 | }
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[2240] | 96 |
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[2932] | 97 | static void kalman(const Matrix& AA, const ColumnVector& ll,
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| 98 | const DiagonalMatrix& PP,
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| 99 | SymmetricMatrix& QQ, ColumnVector& dx);
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| 100 |
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[5750] | 101 | static double delay_saast(const ColumnVector& xyz, double Ele);
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| 102 |
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[2057] | 103 | private:
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[5570] | 104 | void reset();
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| 105 | t_irc cmpBancroft(t_epoData* epoData);
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[2789] | 106 | void cmpEle(t_satData* satData);
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| 107 | void addAmb(t_satData* satData);
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[3309] | 108 | void addObs(int iPhase, unsigned& iObs, t_satData* satData,
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[2790] | 109 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
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[3408] | 110 | QByteArray printRes(int iPhase, const ColumnVector& vv,
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| 111 | const QMap<QString, t_satData*>& satDataMap);
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| 112 | void findMaxRes(const ColumnVector& vv,
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[2792] | 113 | const QMap<QString, t_satData*>& satData,
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[3414] | 114 | QString& prnGPS, QString& prnGlo,
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| 115 | double& maxResGPS, double& maxResGlo);
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[2583] | 116 | double cmpValue(t_satData* satData, bool phase);
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[3309] | 117 | void predict(int iPhase, t_epoData* epoData);
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[3321] | 118 | t_irc update_p(t_epoData* epoData);
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[3412] | 119 | QString outlierDetection(int iPhase, const ColumnVector& vv,
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| 120 | QMap<QString, t_satData*>& satData);
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[2130] | 121 | void writeNMEAstr(const QString& nmStr);
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[2063] | 122 |
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[2582] | 123 | double windUp(const QString& prn, const ColumnVector& rSat,
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| 124 | const ColumnVector& rRec);
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| 125 |
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[2874] | 126 | bncTime _startTime;
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[2648] | 127 |
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[3408] | 128 | void rememberState(t_epoData* epoData);
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| 129 | void restoreState(t_epoData* epoData);
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[3412] | 130 |
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| 131 | t_irc selectSatellites(const QString& lastOutlierPrn,
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| 132 | QMap<QString, t_satData*>& satData);
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[3323] | 133 |
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[2595] | 134 | class pppPos {
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| 135 | public:
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[2670] | 136 | pppPos() {
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| 137 | for (int ii = 0; ii < 7; ++ii) {
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| 138 | xnt[ii] = 0.0;
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| 139 | }
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| 140 | }
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[2595] | 141 | bncTime time;
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[2670] | 142 | double xnt[7];
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[2595] | 143 | };
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| 144 |
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[3638] | 145 | bncPPPclient* _pppClient;
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[3636] | 146 | const t_pppOpt* _opt;
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[2582] | 147 | bncTime _time;
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[3106] | 148 | bncTime _lastTimeOK;
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[2582] | 149 | QByteArray _staID;
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| 150 | QVector<bncParam*> _params;
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| 151 | SymmetricMatrix _QQ;
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[3323] | 152 | QVector<bncParam*> _params_sav;
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| 153 | SymmetricMatrix _QQ_sav;
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[3408] | 154 | t_epoData* _epoData_sav;
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[2582] | 155 | ColumnVector _xcBanc;
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| 156 | ColumnVector _ellBanc;
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| 157 | QByteArray _log;
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| 158 | QFile* _nmeaFile;
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| 159 | QTextStream* _nmeaStream;
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| 160 | QMap<QString, double> _windUpTime;
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| 161 | QMap<QString, double> _windUpSum;
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[2648] | 162 | QVector<pppPos*> _posAverage;
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[3412] | 163 | QStringList _outlierGPS;
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| 164 | QStringList _outlierGlo;
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[3636] | 165 | bncAntex* _antex;
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[2057] | 166 | };
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| 167 |
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| 168 | #endif
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