source: ntrip/trunk/BNC/src/bncmodel.h@ 5750

Last change on this file since 5750 was 5750, checked in by mervart, 8 years ago
File size: 5.0 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#ifndef BNCMODEL_H
26#define BNCMODEL_H
27
28#include <QtCore>
29#include <QtNetwork>
30#include <newmat.h>
31
32#include "bncconst.h"
33#include "bnctime.h"
34
35class t_epoData;
36class t_satData;
37class bncAntex;
38class t_pppOpt;
39class bncPPPclient;
40
41class bncParam {
42 public:
43 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3,
44 GLONASS_OFFSET, GALILEO_OFFSET};
45 bncParam(parType typeIn, int indexIn, const QString& prn);
46 ~bncParam();
47 double partial(t_satData* satData, bool phase);
48 bool isCrd() const {
49 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
50 }
51 parType type;
52 double xx;
53 int index;
54 int index_old;
55 int numEpo;
56 QString prn;
57};
58
59class bncModel {
60 public:
61 bncModel(bncPPPclient* pppClient);
62 ~bncModel();
63 t_irc update(t_epoData* epoData);
64 bncTime time() const {return _time;}
65 double x() const {return _params[0]->xx;}
66 double y() const {return _params[1]->xx;}
67 double z() const {return _params[2]->xx;}
68 double clk() const {return _params[3]->xx;}
69 double trp() const {
70 for (int ii = 0; ii < _params.size(); ++ii) {
71 bncParam* pp = _params[ii];
72 if (pp->type == bncParam::TROPO) {
73 return pp->xx;
74 }
75 }
76 return 0.0;
77 }
78 double Glonass_offset() const {
79 for (int ii = 0; ii < _params.size(); ++ii) {
80 bncParam* pp = _params[ii];
81 if (pp->type == bncParam::GLONASS_OFFSET) {
82 return pp->xx;
83 }
84 }
85 return 0.0;
86 }
87 double Galileo_offset() const {
88 for (int ii = 0; ii < _params.size(); ++ii) {
89 bncParam* pp = _params[ii];
90 if (pp->type == bncParam::GALILEO_OFFSET) {
91 return pp->xx;
92 }
93 }
94 return 0.0;
95 }
96
97 static void kalman(const Matrix& AA, const ColumnVector& ll,
98 const DiagonalMatrix& PP,
99 SymmetricMatrix& QQ, ColumnVector& dx);
100
101 static double delay_saast(const ColumnVector& xyz, double Ele);
102
103 private:
104 void reset();
105 t_irc cmpBancroft(t_epoData* epoData);
106 void cmpEle(t_satData* satData);
107 void addAmb(t_satData* satData);
108 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
109 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
110 QByteArray printRes(int iPhase, const ColumnVector& vv,
111 const QMap<QString, t_satData*>& satDataMap);
112 void findMaxRes(const ColumnVector& vv,
113 const QMap<QString, t_satData*>& satData,
114 QString& prnGPS, QString& prnGlo,
115 double& maxResGPS, double& maxResGlo);
116 double cmpValue(t_satData* satData, bool phase);
117 void predict(int iPhase, t_epoData* epoData);
118 t_irc update_p(t_epoData* epoData);
119 QString outlierDetection(int iPhase, const ColumnVector& vv,
120 QMap<QString, t_satData*>& satData);
121 void writeNMEAstr(const QString& nmStr);
122
123 double windUp(const QString& prn, const ColumnVector& rSat,
124 const ColumnVector& rRec);
125
126 bncTime _startTime;
127
128 void rememberState(t_epoData* epoData);
129 void restoreState(t_epoData* epoData);
130
131 t_irc selectSatellites(const QString& lastOutlierPrn,
132 QMap<QString, t_satData*>& satData);
133
134 class pppPos {
135 public:
136 pppPos() {
137 for (int ii = 0; ii < 7; ++ii) {
138 xnt[ii] = 0.0;
139 }
140 }
141 bncTime time;
142 double xnt[7];
143 };
144
145 bncPPPclient* _pppClient;
146 const t_pppOpt* _opt;
147 bncTime _time;
148 bncTime _lastTimeOK;
149 QByteArray _staID;
150 QVector<bncParam*> _params;
151 SymmetricMatrix _QQ;
152 QVector<bncParam*> _params_sav;
153 SymmetricMatrix _QQ_sav;
154 t_epoData* _epoData_sav;
155 ColumnVector _xcBanc;
156 ColumnVector _ellBanc;
157 QByteArray _log;
158 QFile* _nmeaFile;
159 QTextStream* _nmeaStream;
160 QMap<QString, double> _windUpTime;
161 QMap<QString, double> _windUpSum;
162 QVector<pppPos*> _posAverage;
163 QStringList _outlierGPS;
164 QStringList _outlierGlo;
165 bncAntex* _antex;
166};
167
168#endif
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