source: ntrip/trunk/BNC/src/bncmodel.h@ 5808

Last change on this file since 5808 was 5808, checked in by mervart, 8 years ago
File size: 4.8 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;
40namespace BNC {
41class t_tides;
42}
43
44class bncParam {
45 public:
46 enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3,
47 GLONASS_OFFSET, GALILEO_OFFSET};
48 bncParam(parType typeIn, int indexIn, const QString& prn);
49 ~bncParam();
50 double partial(t_satData* satData, bool phase);
51 bool isCrd() const {
52 return (type == CRD_X || type == CRD_Y || type == CRD_Z);
53 }
54 parType type;
55 double xx;
56 int index;
57 int index_old;
58 int numEpo;
59 QString prn;
60};
61
62class bncModel {
63 public:
64 bncModel(bncPPPclient* pppClient);
65 ~bncModel();
66 t_irc update(t_epoData* epoData);
67 bncTime time() const {return _time;}
68 double x() const {return _params[0]->xx;}
69 double y() const {return _params[1]->xx;}
70 double z() const {return _params[2]->xx;}
71 double clk() const {return _params[3]->xx;}
72 double trp() const {
73 for (int ii = 0; ii < _params.size(); ++ii) {
74 bncParam* pp = _params[ii];
75 if (pp->type == bncParam::TROPO) {
76 return pp->xx;
77 }
78 }
79 return 0.0;
80 }
81 double Glonass_offset() const {
82 for (int ii = 0; ii < _params.size(); ++ii) {
83 bncParam* pp = _params[ii];
84 if (pp->type == bncParam::GLONASS_OFFSET) {
85 return pp->xx;
86 }
87 }
88 return 0.0;
89 }
90 double Galileo_offset() const {
91 for (int ii = 0; ii < _params.size(); ++ii) {
92 bncParam* pp = _params[ii];
93 if (pp->type == bncParam::GALILEO_OFFSET) {
94 return pp->xx;
95 }
96 }
97 return 0.0;
98 }
99
100 private:
101 void reset();
102 t_irc cmpBancroft(t_epoData* epoData);
103 void cmpEle(t_satData* satData);
104 void addAmb(t_satData* satData);
105 void addObs(int iPhase, unsigned& iObs, t_satData* satData,
106 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP);
107 QByteArray printRes(int iPhase, const ColumnVector& vv,
108 const QMap<QString, t_satData*>& satDataMap);
109 void findMaxRes(const ColumnVector& vv,
110 const QMap<QString, t_satData*>& satData,
111 QString& prnGPS, QString& prnGlo,
112 double& maxResGPS, double& maxResGlo);
113 double cmpValue(t_satData* satData, bool phase);
114 void predict(int iPhase, t_epoData* epoData);
115 t_irc update_p(t_epoData* epoData);
116 QString outlierDetection(int iPhase, const ColumnVector& vv,
117 QMap<QString, t_satData*>& satData);
118 void writeNMEAstr(const QString& nmStr);
119
120 double windUp(const QString& prn, const ColumnVector& rSat,
121 const ColumnVector& rRec);
122
123 bncTime _startTime;
124
125 void rememberState(t_epoData* epoData);
126 void restoreState(t_epoData* epoData);
127
128 t_irc selectSatellites(const QString& lastOutlierPrn,
129 QMap<QString, t_satData*>& satData);
130
131 class pppPos {
132 public:
133 pppPos() {
134 for (int ii = 0; ii < 7; ++ii) {
135 xnt[ii] = 0.0;
136 }
137 }
138 bncTime time;
139 double xnt[7];
140 };
141
142 bncPPPclient* _pppClient;
143 const t_pppOpt* _opt;
144 bncTime _time;
145 bncTime _lastTimeOK;
146 QByteArray _staID;
147 QVector<bncParam*> _params;
148 SymmetricMatrix _QQ;
149 QVector<bncParam*> _params_sav;
150 SymmetricMatrix _QQ_sav;
151 t_epoData* _epoData_sav;
152 ColumnVector _xcBanc;
153 ColumnVector _ellBanc;
154 QByteArray _log;
155 QFile* _nmeaFile;
156 QTextStream* _nmeaStream;
157 QMap<QString, double> _windUpTime;
158 QMap<QString, double> _windUpSum;
159 QVector<pppPos*> _posAverage;
160 QStringList _outlierGPS;
161 QStringList _outlierGlo;
162 bncAntex* _antex;
163 BNC::t_tides* _tides;
164};
165
166#endif
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