source: ntrip/trunk/BNC/src/bncpppclient.cpp@ 5200

Last change on this file since 5200 was 5200, checked in by mervart, 9 years ago
File size: 14.4 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: 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 "pppopt.h"
51
52using namespace std;
53
54// Constructor
55////////////////////////////////////////////////////////////////////////////
56bncPPPclient::bncPPPclient(QByteArray staID, t_pppOpt* opt, bool connectSlots) :
57 bncEphUser(connectSlots) {
58
59 if (opt) {
60 _opt = opt;
61 _optOwner = false;
62 }
63 else {
64 _opt = new t_pppOpt();
65 _optOwner = true;
66 }
67
68 _staID = staID;
69
70 _model = new bncModel(this);
71
72 if (connectSlots) {
73 connect(this, SIGNAL(newMessage(QByteArray,bool)),
74 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
75
76 connect(BNC_CORE, SIGNAL(newCorrections(QList<QString>)),
77 this, SLOT(slotNewCorrections(QList<QString>)));
78 }
79}
80
81// Destructor
82////////////////////////////////////////////////////////////////////////////
83bncPPPclient::~bncPPPclient() {
84 delete _model;
85 while (!_epoData.empty()) {
86 delete _epoData.front();
87 _epoData.pop();
88 }
89 QMapIterator<QString, t_corr*> ic(_corr);
90 while (ic.hasNext()) {
91 ic.next();
92 delete ic.value();
93 }
94 QMapIterator<QString, t_bias*> ib(_bias);
95 while (ib.hasNext()) {
96 ib.next();
97 delete ib.value();
98 }
99 if (_optOwner) {
100 delete _opt;
101 }
102}
103
104//
105////////////////////////////////////////////////////////////////////////////
106void bncPPPclient::putNewObs(const t_obs& obs) {
107 QMutexLocker locker(&_mutex);
108
109 if (obs.satSys == 'R') {
110 if (!_opt->useGlonass) return;
111 }
112 else if (obs.satSys == 'E') {
113 if (!_opt->useGalileo) return;
114 }
115 else if (obs.satSys != 'G') {
116 return;
117 }
118
119 t_satData* satData = new t_satData();
120 satData->tt = bncTime(obs.GPSWeek, obs.GPSWeeks);
121
122 // Satellite Number
123 // ----------------
124 satData->prn = QString("%1%2").arg(obs.satSys).arg(obs.satNum,2,10,QChar('0'));
125
126 // Check Slips
127 // -----------
128 slipInfo& sInfo = _slips[satData->prn];
129 if ( sInfo.slipCntL1 == obs.slip_cnt_L1 &&
130 sInfo.slipCntL2 == obs.slip_cnt_L2 &&
131 sInfo.slipCntL5 == obs.slip_cnt_L5 ) {
132 satData->slipFlag = false;
133 }
134 else {
135 satData->slipFlag = true;
136 }
137 sInfo.slipCntL1 = obs.slip_cnt_L1;
138 sInfo.slipCntL2 = obs.slip_cnt_L2;
139
140 // Handle Code Biases
141 // ------------------
142 t_bias* bb = 0;
143 if (_bias.contains(satData->prn)) {
144 bb = _bias.value(satData->prn);
145 }
146
147 // Add new epoch, process the older ones
148 // -------------------------------------
149 if (_epoData.size() == 0) {
150 _epoData.push(new t_epoData());
151 _epoData.back()->tt = satData->tt;
152 }
153 else if (satData->tt != _epoData.back()->tt) {
154 processEpochs();
155 _epoData.push(new t_epoData());
156 _epoData.back()->tt = satData->tt;
157 }
158
159 // Set Observations GPS and Glonass
160 // --------------------------------
161 if (obs.satSys == 'G' || obs.satSys == 'R') {
162 const QByteArray preferredTypes("WPC");
163 for (int ii = preferredTypes.length()-1; ii >= 0; ii--) {
164 for (int iPhase = 0; iPhase <= 1; iPhase++) {
165 for (int iFreq = 1; iFreq <= 2; iFreq++) {
166
167 char rnxStr[4]; rnxStr[3] = '\0';
168 double* p_value = 0;
169 if (iPhase == 0 && iFreq == 1) {
170 rnxStr[0] = 'C';
171 rnxStr[1] = '1';
172 p_value = &satData->P1;
173 }
174 else if (iPhase == 0 && iFreq == 2) {
175 rnxStr[0] = 'C';
176 rnxStr[1] = '2';
177 p_value = &satData->P2;
178 }
179 else if (iPhase == 1 && iFreq == 1) {
180 rnxStr[0] = 'L';
181 rnxStr[1] = '1';
182 p_value = &satData->L1;
183 }
184 else if (iPhase == 1 && iFreq == 2) {
185 rnxStr[0] = 'L';
186 rnxStr[1] = '2';
187 p_value = &satData->L2;
188 }
189
190 rnxStr[2] = preferredTypes[ii];
191
192 double measdata = obs.measdata(rnxStr, 3.0);
193 if (measdata != 0.0) {
194 *p_value = measdata;
195 if (rnxStr[0] == 'C' && bb) {
196 char biasStr[3];
197 biasStr[0] = rnxStr[1];
198 biasStr[1] = rnxStr[2];
199 biasStr[2] = '\0';
200 *p_value += bb->value(biasStr);
201 }
202 }
203 }
204 }
205 }
206
207 if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
208 satData->L1 != 0.0 && satData->L2 != 0.0 ) {
209 double f1 = t_CST::f1(obs.satSys, obs.slotNum);
210 double f2 = t_CST::f2(obs.satSys, obs.slotNum);
211 double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
212 double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
213 satData->L1 = satData->L1 * t_CST::c / f1;
214 satData->L2 = satData->L2 * t_CST::c / f2;
215 satData->P3 = a1 * satData->P1 + a2 * satData->P2;
216 satData->L3 = a1 * satData->L1 + a2 * satData->L2;
217 satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
218 _epoData.back()->satData[satData->prn] = satData;
219 }
220 else {
221 delete satData;
222 }
223 }
224
225 // Set Observations Galileo
226 // ------------------------
227 else if (obs.satSys == 'E') {
228 satData->P1 = obs.measdata("C1", 3.0);
229 satData->L1 = obs.measdata("L1", 3.0);
230 satData->P5 = obs.measdata("C5", 3.0);
231 satData->L5 = obs.measdata("L5", 3.0);
232 if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
233 satData->L1 != 0.0 && satData->L5 != 0.0 ) {
234 double f1 = t_CST::freq1;
235 double f5 = t_CST::freq5;
236 double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
237 double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
238 satData->L1 = satData->L1 * t_CST::c / f1;
239 satData->L5 = satData->L5 * t_CST::c / f5;
240 satData->P3 = a1 * satData->P1 + a5 * satData->P5;
241 satData->L3 = a1 * satData->L1 + a5 * satData->L5;
242 satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
243 _epoData.back()->satData[satData->prn] = satData;
244 }
245 else {
246 delete satData;
247 }
248 }
249}
250
251//
252////////////////////////////////////////////////////////////////////////////
253void bncPPPclient::slotNewCorrections(QList<QString> corrList) {
254 QMutexLocker locker(&_mutex);
255
256 // Check the Mountpoint (source of corrections)
257 // --------------------------------------------
258 if (!_opt->pppCorrMount.isEmpty()) {
259 QMutableListIterator<QString> itm(corrList);
260 while (itm.hasNext()) {
261 QStringList hlp = itm.next().split(" ");
262 if (hlp.size() > 0) {
263 QString mountpoint = hlp[hlp.size()-1];
264 if (mountpoint != _opt->pppCorrMount) {
265 itm.remove();
266 }
267 }
268 }
269 }
270
271 if (corrList.size() == 0) {
272 return;
273 }
274
275 QListIterator<QString> it(corrList);
276 while (it.hasNext()) {
277 QString line = it.next();
278
279 QTextStream in(&line);
280 int messageType;
281 int updateInterval;
282 int GPSweek;
283 double GPSweeks;
284 QString prn;
285 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
286
287 if ( t_corr::relevantMessageType(messageType) ) {
288 t_corr* cc = 0;
289 if (_corr.contains(prn)) {
290 cc = _corr.value(prn);
291 }
292 else {
293 cc = new t_corr();
294 _corr[prn] = cc;
295 }
296 cc->readLine(line);
297 _corr_tt = cc->tClk;
298 }
299 else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) {
300 t_bias* bb = 0;
301 if (_bias.contains(prn)) {
302 bb = _bias.value(prn);
303 }
304 else {
305 bb = new t_bias();
306 _bias[prn] = bb;
307 }
308 bb->readLine(line);
309 }
310 }
311}
312
313// Satellite Position
314////////////////////////////////////////////////////////////////////////////
315t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn,
316 ColumnVector& xc, ColumnVector& vv) {
317
318 const double MAXAGE = 120.0;
319
320 if (_eph.contains(prn)) {
321
322 if (_opt->pppMode && prn[0] != 'E') {
323 if (_corr.contains(prn)) {
324 t_corr* cc = _corr.value(prn);
325 if (cc->ready() && tt - cc->tClk < MAXAGE) {
326 t_eph* eLast = _eph.value(prn)->last;
327 t_eph* ePrev = _eph.value(prn)->prev;
328 if (eLast && eLast->IOD() == cc->iod) {
329 eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
330 return applyCorr(tt, cc, xc, vv);
331 }
332 else if (ePrev && ePrev->IOD() == cc->iod) {
333 ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
334 return applyCorr(tt, cc, xc, vv);
335 }
336 }
337 }
338 }
339
340 else {
341 t_eph* ee = _eph.value(prn)->last;
342 ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
343 return success;
344 }
345 }
346
347 return failure;
348}
349
350//
351////////////////////////////////////////////////////////////////////////////
352t_irc bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc,
353 ColumnVector& xc, ColumnVector& vv) {
354
355 double dtRao = tt - cc->tRao;
356
357 // Position
358 // --------
359 ColumnVector raoHlp = cc->rao + cc->dotRao * dtRao
360 + 0.5 * cc->dotDotRao * dtRao * dtRao;
361
362 if (raoHlp.norm_Frobenius() > 20.0) {
363 return failure;
364 }
365
366 ColumnVector dx(3);
367 RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx);
368 xc[0] -= dx[0];
369 xc[1] -= dx[1];
370 xc[2] -= dx[2];
371
372 // Velocity
373 // --------
374 ColumnVector dotRaoHlp = cc->dotRao + cc->dotDotRao * dtRao;
375
376 ColumnVector dv(3);
377 RSW_to_XYZ(xc.Rows(1,3), vv, dotRaoHlp, dv);
378 vv[0] -= dv[0];
379 vv[1] -= dv[1];
380 vv[2] -= dv[2];
381
382 // Clocks
383 // ------
384 double dtClk = tt - cc->tClk;
385
386 xc[3] += cc->dClk + cc->dotDClk * dtClk + cc->dotDotDClk * dtClk * dtClk
387 + cc->hrClk;
388
389 return success;
390}
391
392// Correct Time of Transmission
393////////////////////////////////////////////////////////////////////////////
394t_irc bncPPPclient::cmpToT(t_satData* satData) {
395
396 double prange = satData->P3;
397 if (prange == 0.0) {
398 return failure;
399 }
400
401 double clkSat = 0.0;
402 for (int ii = 1; ii <= 10; ii++) {
403
404 bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
405
406 ColumnVector xc(4);
407 ColumnVector vv(3);
408 if (getSatPos(ToT, satData->prn, xc, vv) != success) {
409 return failure;
410 }
411
412 double clkSatOld = clkSat;
413 clkSat = xc(4);
414
415 if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
416 satData->xx = xc.Rows(1,3);
417 satData->vv = vv;
418 satData->clk = clkSat * t_CST::c;
419 return success;
420 }
421 }
422
423 return failure;
424}
425
426//
427////////////////////////////////////////////////////////////////////////////
428void bncPPPclient::processFrontEpoch() {
429
430#ifdef BNC_DEBUG
431 QString msg = "List of Corrections\n";
432 QMapIterator<QString, t_corr*> itC(_corr);
433 while (itC.hasNext()) {
434 itC.next();
435 QString src = itC.key();
436 const t_corr* corr = itC.value();
437 msg += QString("%1 %2 %3 %4\n")
438 .arg(corr->prn)
439 .arg(corr->iod)
440 .arg(QString(corr->tClk.datestr().c_str()) + "_" + QString(corr->tClk.timestr().c_str()))
441 .arg(QString(corr->tRao.datestr().c_str()) + "_" + QString(corr->tRao.timestr().c_str()));
442 }
443
444 msg += "List of Ephemeris\n";
445 QMapIterator<QString, t_ephPair*> itE(_eph);
446 while (itE.hasNext()) {
447 itE.next();
448 QString prn = itE.key();
449 const t_ephPair* ephPair = itE.value();
450 if (ephPair->prev) {
451 msg += QString("%1 %2 %3 %4 %5\n")
452 .arg(prn)
453 .arg(ephPair->last->IOD())
454 .arg(QString(ephPair->last->TOC().datestr().c_str()) + "_" +
455 QString(ephPair->last->TOC().timestr().c_str()))
456 .arg(ephPair->prev->IOD())
457 .arg(QString(ephPair->prev->TOC().datestr().c_str()) + "_" +
458 QString(ephPair->prev->TOC().timestr().c_str()));
459 }
460 else {
461 msg += QString("%1 %2 %3\n")
462 .arg(prn)
463 .arg(ephPair->last->IOD())
464 .arg(QString(ephPair->last->TOC().datestr().c_str()) + "_" +
465 QString(ephPair->last->TOC().timestr().c_str()));
466 }
467 }
468
469 emit newMessage(msg.toAscii(), false);
470#endif // BNC_DEBUG
471
472 // Data Pre-Processing
473 // -------------------
474 QMutableMapIterator<QString, t_satData*> it(_epoData.front()->satData);
475 while (it.hasNext()) {
476 it.next();
477 QString prn = it.key();
478 t_satData* satData = it.value();
479
480 if (cmpToT(satData) != success) {
481 delete satData;
482 it.remove();
483 continue;
484 }
485 }
486
487 // Filter Solution
488 // ---------------
489 if (_model->update(_epoData.front()) == success) {
490 emit newPosition(_model->time(), _model->x(), _model->y(), _model->z());
491 }
492}
493
494//
495////////////////////////////////////////////////////////////////////////////
496void bncPPPclient::processEpochs() {
497
498 // Make sure the buffer does not grow beyond any limit
499 // ---------------------------------------------------
500 const unsigned MAX_EPODATA_SIZE = 120;
501 if (_epoData.size() > MAX_EPODATA_SIZE) {
502 delete _epoData.front();
503 _epoData.pop();
504 }
505
506 // Loop over all unprocessed epochs
507 // --------------------------------
508 while (!_epoData.empty()) {
509
510 t_epoData* frontEpoData = _epoData.front();
511
512 // No corrections yet, skip the epoch
513 // ----------------------------------
514 if (_opt->corrSync != 0.0 && !_corr_tt.valid()) {
515 return;
516 }
517
518 // Process the front epoch
519 // -----------------------
520 if (_opt->corrSync == 0 || frontEpoData->tt - _corr_tt < _opt->corrSync) {
521 processFrontEpoch();
522 delete _epoData.front();
523 _epoData.pop();
524 }
525 else {
526 return;
527 }
528 }
529}
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