Index: unk/BNC/src/PPP/ephpool.cpp =================================================================== --- /trunk/BNC/src/PPP/ephpool.cpp (revision 5808) +++ (revision ) @@ -1,156 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -/* ------------------------------------------------------------------------- - * BKG NTRIP Client - * ------------------------------------------------------------------------- - * - * Class: t_pppMain - * - * Purpose: Buffer with satellite ephemerides - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include -#include "ephpool.h" -#include "ppp.h" -#include "pppClient.h" - -using namespace BNC; -using namespace std; - -// -///////////////////////////////////////////////////////////////////////////// -void t_ephPool::putEphemeris(t_eph* eph) { - if (eph && eph->ok()) { - _satEphPool[eph->prn().toInt()].putEphemeris(_maxQueueSize, eph); - } - else { - delete eph; - } -} - -// -///////////////////////////////////////////////////////////////////////////// -void t_ephPool::putOrbCorrection(t_orbCorr* corr) { - if (corr) { - _satEphPool[corr->prn().toInt()].putOrbCorrection(corr); - } -} - -// -///////////////////////////////////////////////////////////////////////////// -void t_ephPool::putClkCorrection(t_clkCorr* corr) { - if (corr) { - _satEphPool[corr->prn().toInt()].putClkCorrection(corr); - } -} - -// -///////////////////////////////////////////////////////////////////////////// -t_irc t_ephPool::getCrd(const t_prn& prn, const bncTime& tt, - ColumnVector& xc, ColumnVector& vv) const { - return _satEphPool[prn.toInt()].getCrd(tt, xc, vv); -} - -// -///////////////////////////////////////////////////////////////////////////// -int t_ephPool::getChannel(const t_prn& prn) const { - return _satEphPool[prn.toInt()].getChannel(); -} - -// -///////////////////////////////////////////////////////////////////////////// -void t_ephPool::t_satEphPool::putEphemeris(unsigned maxQueueSize, t_eph* eph) { - if (_ephs.empty() || eph->isNewerThan(_ephs.front())) { - _ephs.push_front(eph); - if (maxQueueSize > 0 && _ephs.size() > maxQueueSize) { - delete _ephs.back(); - _ephs.pop_back(); - } - } - else { - delete eph; - } -} - -// -///////////////////////////////////////////////////////////////////////////// -void t_ephPool::t_satEphPool::putOrbCorrection(t_orbCorr* corr) { - for (unsigned ii = 0; ii < _ephs.size(); ii++) { - t_eph* eph = _ephs[ii]; - if (eph->IOD() == corr->IOD()) { - eph->setOrbCorr(corr); - return; - } - } - delete corr; -} - -// -///////////////////////////////////////////////////////////////////////////// -void t_ephPool::t_satEphPool::putClkCorrection(t_clkCorr* corr) { - for (unsigned ii = 0; ii < _ephs.size(); ii++) { - t_eph* eph = _ephs[ii]; - if (eph->IOD() == corr->IOD()) { - eph->setClkCorr(corr); - } - } - delete corr; -} - -// -///////////////////////////////////////////////////////////////////////////// -t_irc t_ephPool::t_satEphPool::getCrd(const bncTime& tt, ColumnVector& xc, - ColumnVector& vv) const { - for (unsigned ii = 0; ii < _ephs.size(); ii++) { - t_eph* eph = _ephs[ii]; - t_irc irc = eph->getCrd(tt, xc, vv, OPT->corrRequired()); - if (irc == success) { - if (eph->prn().system() == 'R') { - double age = tt - eph->TOC(); - if (fabs(age) > 3600.0) { - continue; - } - } - return irc; - } - } - return failure; -} - -// -///////////////////////////////////////////////////////////////////////////// -int t_ephPool::t_satEphPool::getChannel() const { - if (_ephs.size() > 0) { - return _ephs[0]->slotNum(); - } - return 0; -} Index: unk/BNC/src/PPP/ephpool.h =================================================================== --- /trunk/BNC/src/PPP/ephpool.h (revision 5808) +++ (revision ) @@ -1,56 +1,0 @@ -#ifndef EPHPOOL_H -#define EPHPOOL_H - -#include -#include "ppp.h" -#include "bnctime.h" -#include "ephemeris.h" - -namespace BNC { - -class t_ephPool { - public: - t_ephPool(unsigned maxQueueSize = 3) { - _maxQueueSize = maxQueueSize; - } - ~t_ephPool() {}; - - void putEphemeris(t_eph* eph); - void putOrbCorrection(t_orbCorr* corr); - void putClkCorrection(t_clkCorr* corr); - - t_irc getCrd(const t_prn& prn, const bncTime& tt, - ColumnVector& xc, ColumnVector& vv) const; - - int getChannel(const t_prn& prn) const; - - std::deque& ephs(t_prn prn) { - return _satEphPool[prn]._ephs; - } - - private: - - class t_satEphPool { - public: - t_satEphPool() {}; - ~t_satEphPool() { - for (unsigned ii = 0; ii < _ephs.size(); ii++) { - delete _ephs[ii]; - } - } - void putEphemeris(unsigned maxQueueSize, t_eph* eph); - void putOrbCorrection(t_orbCorr* corr); - void putClkCorrection(t_clkCorr* corr); - t_irc getCrd(const bncTime& tt, - ColumnVector& xc, ColumnVector& vv) const; - int getChannel() const; - std::deque _ephs; - }; - - t_satEphPool _satEphPool[t_prn::MAXPRN+1]; - unsigned _maxQueueSize; -}; - -} - -#endif Index: unk/BNC/src/PPP/filter.cpp =================================================================== --- /trunk/BNC/src/PPP/filter.cpp (revision 5808) +++ (revision ) @@ -1,423 +1,0 @@ -#include -#include -#include -#include -#include -#include - -#include "filter.h" -#include "bncutils.h" -#include "parlist.h" -#include "obspool.h" -#include "station.h" -#include "pppClient.h" - -using namespace BNC; -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_filter::t_filter() { - _parlist = 0; -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -t_filter::~t_filter() { - delete _parlist; -} - -// Process Single Epoch -//////////////////////////////////////////////////////////////////////////// -t_irc t_filter::processEpoch(t_obsPool* obsPool) { - - _numSat = 0; - - if (!_parlist) { - _parlist = new t_parlist(); - } - - // Vector of all Observations - // -------------------------- - t_obsPool::t_epoch* epoch = obsPool->lastEpoch(); - if (!epoch) { - return failure; - } - vector& obsVector = epoch->obsVector(); - - // Time of the Epoch - // ----------------- - _epoTime = epoch->epoTime(); - - // Auxiliary vectors of processed linear combinations - // -------------------------------------------------- - vector LCsCode; - vector LCsPhase; - vector LCsAll = OPT->LCs(); - for (unsigned ii = 0; ii < LCsAll.size(); ii++) { - const t_lc::type& tLC = LCsAll[ii]; - if (t_lc::includesCode(tLC) && !t_lc::includesPhase(tLC)) { - LCsCode.push_back(tLC); - } - else { - LCsPhase.push_back(tLC); - } - } - vector ambLCs; - if (LCsPhase.size() == 1) { - ambLCs.push_back(LCsPhase[0]); - } - else if (LCsPhase.size() > 1) { - ambLCs.push_back(t_lc::l1); - ambLCs.push_back(t_lc::l2); - } - - // Set Parameters - // -------------- - _parlist->set(_epoTime, ambLCs, obsVector); - const vector& params = _parlist->params(); - - // Status Vector, Variance-Covariance Matrix - // ----------------------------------------- - ColumnVector xFltOld = _xFlt; - SymmetricMatrix QFltOld = _QFlt; - - _QFlt.ReSize(_parlist->nPar()); _QFlt = 0.0; - _xFlt.ReSize(_parlist->nPar()); _xFlt = 0.0; - _x0.ReSize(_parlist->nPar()); _x0 = 0.0; - - for (unsigned ii = 0; ii < params.size(); ii++) { - const t_param* par1 = params[ii]; - - _x0[ii] = par1->x0(); - - int iOld = par1->indexOld(); - if (iOld < 0) { - _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter - } - else { - _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise(); - _xFlt[ii] = xFltOld[iOld]; - for (unsigned jj = 0; jj < ii; jj++) { - const t_param* par2 = params[jj]; - int jOld = par2->indexOld(); - if (jOld >= 0) { - _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1); - } - } - } - } - - // Process LCs containing code separately - // -------------------------------------- - for (unsigned ipc = 0; ipc <= 1; ipc++) { - const vector& LCsHlp = (ipc == 0 ? LCsCode : LCsPhase); - if (LCsHlp.size() > 0) { - if ( processLC(LCsHlp, obsVector) != success ) { - return failure; - } - } - } - - _parlist->printResult(_epoTime, _QFlt, _xFlt, 0); - - return success; -} - -// Process Selected LCs -//////////////////////////////////////////////////////////////////////////// -t_irc t_filter::processLC(const vector& LCs, - vector& obsVector) { - - LOG.setf(ios::fixed); - - // Detect Cycle Slips - // ------------------ - if (detectCycleSlips(LCs, obsVector) != success) { - return failure; - } - - ColumnVector xSav = _xFlt; - SymmetricMatrix QSav = _QFlt; - string epoTimeStr = string(_epoTime); - const vector& params = _parlist->params(); - unsigned maxObs = obsVector.size() * LCs.size(); - - // Outlier Detection Loop - // ---------------------- - for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) { - - if (iOutlier > 0) { - _xFlt = xSav; - _QFlt = QSav; - } - - // First-Design Matrix, Terms Observed-Computed, Weight Matrix - // ----------------------------------------------------------- - Matrix AA(maxObs, _parlist->nPar()); - ColumnVector ll(maxObs); - UpperTriangularMatrix Sl(maxObs); Sl = 0.0; - - int iObs = -1; - vector usedObs; - vector usedTypes; - for (unsigned ii = 0; ii < obsVector.size(); ii++) { - t_satObs* obs = obsVector[ii]; - if (!obs->outlier()) { - Matrix CC(LCs.size(), 4); - for (unsigned jj = 0; jj < LCs.size(); jj++) { - const t_lc::type tLC = LCs[jj]; - ++iObs; - usedObs.push_back(obs); - usedTypes.push_back(tLC); - for (unsigned iPar = 0; iPar < params.size(); iPar++) { - const t_param* par = params[iPar]; - AA[iObs][iPar] = par->partial(_epoTime, obs, tLC); - } - ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1)); - if (LCs.size() > 1) { - ColumnVector coeff(4); - obs->lc(tLC, 0.0, 0.0, 0.0, 0.0, &coeff); - CC[jj][0] = coeff[0] * obs->sigma(t_lc::l1); - CC[jj][1] = coeff[1] * obs->sigma(t_lc::l2); - CC[jj][2] = coeff[2] * obs->sigma(t_lc::c1); - CC[jj][3] = coeff[3] * obs->sigma(t_lc::c2); - } - else { - Sl[iObs][iObs] = obs->sigma(tLC); - } - } - if (LCs.size() > 1) { - SymmetricMatrix QQ; QQ << CC * CC.t(); - Sl.SymSubMatrix(iObs-LCs.size()+2, iObs+1) = Cholesky(QQ).t(); - } - } - } - - // Check number of observations, truncate matrices - // ----------------------------------------------- - if (iObs+1 < OPT->_minObs) { - return failure; - } - AA = AA.Rows(1, iObs+1); - ll = ll.Rows(1, iObs+1); - Sl = Sl.SymSubMatrix(1, iObs+1); - - // Kalman update step - // ------------------ - //// beg test - DiagonalMatrix PP(iObs+1); PP = 0.0; - for (int ii = 1; ii <= iObs+1; ii++) { - PP(ii,ii) = 1.0 / (Sl(ii,ii) * Sl(ii,ii)); - } - ColumnVector dx; - kalman(AA, ll, PP, _QFlt, dx); - _xFlt += dx; - //// end test - - // Check Residuals - // --------------- - ColumnVector vv = AA * _xFlt - ll; - double maxOutlier = 0.0; - int maxOutlierIndex = -1; - t_lc::type maxOutlierLC = t_lc::dummy; - for (unsigned ii = 0; ii < usedObs.size(); ii++) { - const t_lc::type tLC = usedTypes[ii]; - double res = fabs(vv[ii]); - if (res > OPT->maxRes(tLC)) { - if (res > fabs(maxOutlier)) { - maxOutlier = vv[ii]; - maxOutlierIndex = ii; - maxOutlierLC = tLC; - } - } - } - - // Mark outlier or break outlier detection loop - // -------------------------------------------- - if (maxOutlierIndex > -1) { - t_satObs* obs = usedObs[maxOutlierIndex]; - t_param* par = 0; - LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' ' - << obs->prn().toString() << ' ' - << setw(8) << setprecision(4) << maxOutlier << endl; - for (unsigned iPar = 0; iPar < params.size(); iPar++) { - t_param* hlp = params[iPar]; - if (hlp->type() == t_param::amb && hlp->prn() == obs->prn() && - hlp->tLC() == usedTypes[maxOutlierIndex]) { - par = hlp; - } - } - if (par) { - if (par->ambResetCandidate()) { - resetAmb(par->prn(), obsVector, &QSav, &xSav); - } - else { - par->setAmbResetCandidate(); - obs->setOutlier(); - } - } - else { - obs->setOutlier(); - } - } - - // Print Residuals - // --------------- - else { - for (unsigned jj = 0; jj < LCs.size(); jj++) { - for (unsigned ii = 0; ii < usedObs.size(); ii++) { - const t_lc::type tLC = usedTypes[ii]; - t_satObs* obs = usedObs[ii]; - if (tLC == LCs[jj]) { - obs->setRes(tLC, vv[ii]); - LOG << epoTimeStr << " RES " - << left << setw(3) << t_lc::toString(tLC) << right << ' ' - << obs->prn().toString() << ' ' - << setw(8) << setprecision(4) << vv[ii] << endl; - } - } - } - cmpDOP(LCs, AA); - break; - } - } - - return success; -} - -// Cycle-Slip Detection -//////////////////////////////////////////////////////////////////////////// -t_irc t_filter::detectCycleSlips(const vector& LCs, - const vector& obsVector) { - - const double SLIP = 20.0; // slip threshold - string epoTimeStr = string(_epoTime); - const vector& params = _parlist->params(); - - for (unsigned ii = 0; ii < LCs.size(); ii++) { - const t_lc::type& tLC = LCs[ii]; - if (t_lc::includesPhase(tLC)) { - for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) { - const t_satObs* obs = obsVector[iObs]; - - // Check set Slips and Jump Counters - // --------------------------------- - bool slip = false; - - if (obs->slip()) { - LOG << "cycle slip set (obs)" << endl;; - slip = true; - } - - if (_slips[obs->prn()]._obsSlipCounter != -1 && - _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) { - LOG << "cycle slip set (obsSlipCounter)" << endl; - slip = true; - } - _slips[obs->prn()]._obsSlipCounter = obs->slipCounter(); - - if (_slips[obs->prn()]._biasJumpCounter != -1 && - _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) { - LOG << "cycle slip set (biasJumpCounter)" << endl; - slip = true; - } - _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter(); - - // Slip Set - // -------- - if (slip) { - resetAmb(obs->prn(), obsVector); - } - - // Check Pre-Fit Residuals - // ----------------------- - else { - ColumnVector AA(params.size()); - for (unsigned iPar = 0; iPar < params.size(); iPar++) { - const t_param* par = params[iPar]; - AA[iPar] = par->partial(_epoTime, obs, tLC); - } - - double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA); - double vv = DotProduct(AA, _xFlt) - ll; - - if (fabs(vv) > SLIP) { - LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' ' - << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl; - resetAmb(obs->prn(), obsVector); - } - } - } - } - } - - return success; -} - -// Reset Ambiguity Parameter (cycle slip) -//////////////////////////////////////////////////////////////////////////// -t_irc t_filter::resetAmb(t_prn prn, const vector& obsVector, - SymmetricMatrix* QSav, ColumnVector* xSav) { - t_irc irc = failure; - vector& params = _parlist->params(); - for (unsigned iPar = 0; iPar < params.size(); iPar++) { - t_param* par = params[iPar]; - if (par->type() == t_param::amb && par->prn() == prn) { - int ind = par->indexNew(); - t_lc::type tLC = par->tLC(); - LOG << string(_epoTime) << " RESET " << par->toString() << endl; - delete par; par = new t_param(t_param::amb, prn, tLC, &obsVector); - par->setIndex(ind); - params[iPar] = par; - for (unsigned ii = 1; ii <= params.size(); ii++) { - _QFlt(ii, ind+1) = 0.0; - if (QSav) { - (*QSav)(ii, ind+1) = 0.0; - } - } - _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0(); - if (QSav) { - (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1); - } - _xFlt[ind] = 0.0; - if (xSav) { - (*xSav)[ind] = _xFlt[ind]; - } - _x0[ind] = par->x0(); - irc = success; - } - } - - return irc; -} - -// Compute various DOP Values -//////////////////////////////////////////////////////////////////////////// -void t_filter::cmpDOP(const std::vector& LCs, const Matrix& AA) { - - _dop.reset(); - _numSat = 0; - try { - _numSat = AA.Nrows() / LCs.size(); - - if (_numSat < 4) { - return; - } - - Matrix BB(_numSat, 4); - - for (int ii = 1; ii <= _numSat; ii++) { - BB.Row(ii) = AA.Row(ii*LCs.size()).columns(1,4); - } - - SymmetricMatrix NN; NN << BB.t() * BB; - SymmetricMatrix QQ = NN.i(); - - _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3)); - _dop.T = sqrt(QQ(4,4)); - _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4)); - } - catch (...) { - } -} Index: unk/BNC/src/PPP/filter.h =================================================================== --- /trunk/BNC/src/PPP/filter.h (revision 5808) +++ (revision ) @@ -1,74 +1,0 @@ -#ifndef FILTER_H -#define FILTER_H - -#include -#include -#include "ppp.h" -#include "parlist.h" -#include "bnctime.h" -#include "t_prn.h" - -namespace BNC { - -class t_parlist; -class t_obsPool; -class t_satObs; - -class t_filter { - public: - t_filter(); - ~t_filter(); - - t_irc processEpoch(t_obsPool* obsPool); - - const ColumnVector& x() const {return _xFlt;} - const SymmetricMatrix& Q() const {return _QFlt;} - - int numSat() const {return _numSat;} - double PDOP() const {return _dop.P;} - double GDOP() const {return _dop.G;} - - private: - class t_slip { - public: - t_slip() { - _slip = false; - _obsSlipCounter = -1; - _biasJumpCounter = -1; - } - bool _slip; - int _obsSlipCounter; - int _biasJumpCounter; - }; - - class t_dop { - public: - t_dop() {reset();} - void reset() {P = T = G = 0.0;} - double P; - double T; - double G; - }; - t_irc processLC(const std::vector& LCs, std::vector& obsVector); - - t_irc detectCycleSlips(const std::vector& LCs, - const std::vector& obsVector); - - t_irc resetAmb(t_prn prn, const std::vector& obsVector, - SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0); - - void cmpDOP(const std::vector& LCs, const Matrix& AA); - - bncTime _epoTime; - t_parlist* _parlist; - SymmetricMatrix _QFlt; - ColumnVector _xFlt; - ColumnVector _x0; - t_slip _slips[t_prn::MAXPRN+1]; - int _numSat; - t_dop _dop; -}; - -} - -#endif Index: unk/BNC/src/PPP/obspool.cpp =================================================================== --- /trunk/BNC/src/PPP/obspool.cpp (revision 5808) +++ (revision ) @@ -1,101 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -/* ------------------------------------------------------------------------- - * BKG NTRIP Client - * ------------------------------------------------------------------------- - * - * Class: t_pppMain - * - * Purpose: Buffer with observations - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include "obspool.h" - -using namespace BNC; -using namespace std; - -// Constructor -///////////////////////////////////////////////////////////////////////////// -t_obsPool::t_epoch::t_epoch(const bncTime& epoTime, vector& obsVector) { - _epoTime = epoTime; - for (unsigned ii = 0; ii < obsVector.size(); ii++) { - _obsVector.push_back(obsVector[ii]); - } - obsVector.clear(); -} - -// Destructor -///////////////////////////////////////////////////////////////////////////// -t_obsPool::t_epoch::~t_epoch() { - for (unsigned ii = 0; ii < _obsVector.size(); ii++) { - delete _obsVector[ii]; - } -} - -// Constructor -///////////////////////////////////////////////////////////////////////////// -t_obsPool::t_obsPool() { - for (unsigned ii = 0; ii <= t_prn::MAXPRN; ii++) { - _satBiases[ii] = 0; - } -} - -// Destructor -///////////////////////////////////////////////////////////////////////////// -t_obsPool::~t_obsPool() { - for (unsigned ii = 0; ii <= t_prn::MAXPRN; ii++) { - delete _satBiases[ii]; - } - while (_epochs.size() > 0) { - delete _epochs.front(); - _epochs.pop_front(); - } -} - -// -///////////////////////////////////////////////////////////////////////////// -void t_obsPool::putBiases(t_satBias* satBias) { - int iPrn = satBias->prn().toInt(); - delete _satBiases[iPrn]; - _satBiases[iPrn] = satBias; -} - -// -///////////////////////////////////////////////////////////////////////////// -void t_obsPool::putEpoch(const bncTime& epoTime, vector& obsVector) { - const unsigned MAXSIZE = 2; - _epochs.push_back(new t_epoch(epoTime, obsVector)); - if (_epochs.size() > MAXSIZE) { - delete _epochs.front(); - _epochs.pop_front(); - } -} Index: unk/BNC/src/PPP/obspool.h =================================================================== --- /trunk/BNC/src/PPP/obspool.h (revision 5808) +++ (revision ) @@ -1,52 +1,0 @@ -#ifndef OBSPOOL_H -#define OBSPOOL_H - -#include -#include -#include "satobs.h" -#include "satbias.h" -#include "bnctime.h" - -namespace BNC { - -class t_obsPool { - public: - - class t_epoch { - public: - t_epoch(const bncTime& epoTime, std::vector& obsVector); - ~t_epoch(); - std::vector& obsVector() {return _obsVector;} - const std::vector& obsVector() const {return _obsVector;} - const bncTime& epoTime() const {return _epoTime;} - private: - bncTime _epoTime; - std::vector _obsVector; - }; - - t_obsPool(); - ~t_obsPool(); - void putBiases(t_satBias* satBias); - - void putEpoch(const bncTime& epoTime, std::vector& obsVector); - - const t_satBias* satBias(const t_prn& prn) const { - return _satBiases[prn.toInt()]; - } - t_epoch* lastEpoch() { - if (_epochs.size()) { - return _epochs.back(); - } - else { - return 0; - } - } - - private: - t_satBias* _satBiases[t_prn::MAXPRN+1]; - std::deque _epochs; -}; - -} - -#endif Index: unk/BNC/src/PPP/options.cpp =================================================================== --- /trunk/BNC/src/PPP/options.cpp (revision 5808) +++ (revision ) @@ -1,135 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -/* ------------------------------------------------------------------------- - * BKG NTRIP Client - * ------------------------------------------------------------------------- - * - * Class: t_options - * - * Purpose: Options for PPP client - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include -#include "options.h" - -using namespace BNC; -using namespace std; - -// Constructor -////////////////////////////////////////////////////////////////////////////// -t_options::t_options() { - _xyzAprRover.ReSize(3); _xyzAprRover = 0.0; - _ellAprRover.ReSize(3); _ellAprRover = 0.0; - _neuEccRover.ReSize(3); _neuEccRover = 0.0; -} - -// Destructor -////////////////////////////////////////////////////////////////////////////// -t_options::~t_options() { -} - -// -////////////////////////////////////////////////////////////////////////////// -bool t_options::dualFreqRequired() const { - return true; -} - -// -////////////////////////////////////////////////////////////////////////////// -bool t_options::biasRequired() const { - return false; -} - -// -////////////////////////////////////////////////////////////////////////////// -bool t_options::corrRequired() const { - return false; -} - -// -////////////////////////////////////////////////////////////////////////////// -bool t_options::useGlonass() const { - return (_lcGLONASS.size() > 0); -} - -// -////////////////////////////////////////////////////////////////////////////// -bool t_options::xyzAprRoverSet() const { - return (_xyzAprRover[0] != 0.0 || _xyzAprRover[1] != 0.0 || _xyzAprRover[2] != 0.0); -} - -// -////////////////////////////////////////////////////////////////////////////// -bool t_options::estTropo() const { - return (_sigTropo > 0.0 || _noiseTropo > 0.0); -} - -// -////////////////////////////////////////////////////////////////////////////// -vector t_options::LCs() const { - - vector allLCs = _lcGPS; - - for (unsigned ii = 0; ii < _lcGLONASS.size(); ii++) { - bool found = false; - for (unsigned iAll = 0; iAll < allLCs.size(); iAll++) { - if (allLCs[iAll] == _lcGLONASS[ii]) { - found = true; - break; - } - } - if (!found) { - allLCs.push_back(_lcGLONASS[ii]); - } - } - - for (unsigned ii = 0; ii < _lcGalileo.size(); ii++) { - bool found = false; - for (unsigned iAll = 0; iAll < allLCs.size(); iAll++) { - if (allLCs[iAll] == _lcGalileo[ii]) { - found = true; - break; - } - } - if (!found) { - allLCs.push_back(_lcGalileo[ii]); - } - } - - return allLCs; -} - -// -////////////////////////////////////////////////////////////////////////////// -double t_options::maxRes(t_lc::type /* tLC */) const { - return _maxResC1; -} Index: unk/BNC/src/PPP/options.h =================================================================== --- /trunk/BNC/src/PPP/options.h (revision 5808) +++ (revision ) @@ -1,66 +1,0 @@ -#ifndef OPTIONS_H -#define OPTIONS_H - -#include -#include -#include -#include "ppp.h" - -namespace BNC { - -class t_options { - public: - class t_optBias { - public: - t_optBias(char system, t_lc::type tLC) : _system(system), _tLC(tLC) {} - char _system; - t_lc::type _tLC; - }; - - t_options(); - ~t_options(); - bool dualFreqRequired() const; - bool biasRequired() const; - bool corrRequired() const; - bool useGlonass() const ; - bool xyzAprRoverSet() const; - bool estTropo() const ; - std::vector LCs() const; - double maxRes(t_lc::type tLC) const; - - bool _realTime; - std::string _roverName; - std::string _crdFile; - std::string _antexFile; - std::string _corrMount; - std::string _rinexObs; - std::string _rinexNav; - std::string _corrFile; - - double _sigCrd[3]; - double _noiseCrd[3]; - double _sigTropo; - double _noiseTropo; - double _sigmaC1; - double _sigmaL1; - double _corrWaitTime; - std::vector _lcGPS; - std::vector _lcGLONASS; - std::vector _lcGalileo; - std::vector _estBias; - - ColumnVector _xyzAprRover; - ColumnVector _ellAprRover; - ColumnVector _neuEccRover; - std::string _antNameRover; - int _minObs; - double _minEle; - double _maxResC1; - double _maxResL1; - bool _eleWgtCode; - bool _eleWgtPhase; -}; - -} - -#endif Index: unk/BNC/src/PPP/parlist.cpp =================================================================== --- /trunk/BNC/src/PPP/parlist.cpp (revision 5808) +++ (revision ) @@ -1,420 +1,0 @@ -#include -#include -#include -#include -#include -#include -#include "parlist.h" -#include "satobs.h" - -#include "station.h" -#include "bncutils.h" -#include "bncconst.h" -#include "pppClient.h" - -using namespace BNC; -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_param::t_param(e_type type, const t_prn& prn, t_lc::type tLC, - const vector* obsVector) { - - _type = type; - _prn = prn; - _tLC = tLC; - _x0 = 0.0; - _indexOld = -1; - _indexNew = -1; - _noise = 0.0; - _ambInfo = 0; - - switch (_type) { - case crdX: - _epoSpec = true; - _sigma0 = OPT->_sigCrd[0]; - break; - case crdY: - _epoSpec = true; - _sigma0 = OPT->_sigCrd[1]; - break; - case crdZ: - _epoSpec = true; - _sigma0 = OPT->_sigCrd[2]; - break; - case clkR: - _epoSpec = true; - _sigma0 = 1000.0; - break; - case amb: - _ambInfo = new t_ambInfo(); - if (obsVector) { - for (unsigned ii = 0; ii < obsVector->size(); ii++) { - const t_satObs* obs = obsVector->at(ii); - if (obs->prn() == _prn) { - double offGG = 0; - if (_prn.system() == 'R' && tLC != t_lc::MW) { - offGG = PPP_CLIENT->offGG(); - } - _x0 = floor((obs->obsValue(tLC) - offGG - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5); - break; - } - } - } - _epoSpec = false; - _sigma0 = 100.0; - break; - case offGG: - _epoSpec = true; - _sigma0 = 1000.0; - _x0 = PPP_CLIENT->offGG(); - break; - case trp: - _epoSpec = false; - _sigma0 = OPT->_sigTropo; - _noise = OPT->_noiseTropo; - break; - case bias: - _epoSpec = true; - _sigma0 = 10.0; - break; - } -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -t_param::~t_param() { - delete _ambInfo; -} - -// -//////////////////////////////////////////////////////////////////////////// -double t_param::partial(const bncTime& /* epoTime */, const t_satObs* obs, - const t_lc::type& tLC) const { - - // Special Case - Melbourne-Wuebbena - // --------------------------------- - if (tLC == t_lc::MW && _type != amb && _type != bias) { - return 0.0; - } - - const t_station* sta = PPP_CLIENT->staRover(); - ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3); - - switch (_type) { - case crdX: - return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.norm_Frobenius(); - case crdY: - return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.norm_Frobenius(); - case crdZ: - return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.norm_Frobenius(); - case clkR: - return 1.0; - case offGG: - return (obs->prn().system() == 'R') ? 1.0 : 0.0; - case amb: - if (obs->prn() == _prn) { - if (tLC == _tLC) { - return (obs->lambda(tLC)); - } - else if (tLC == t_lc::lIF && _tLC == t_lc::MW) { - return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2); - } - else { - ColumnVector coeff(4); - obs->lc(tLC, 0.0, 0.0, 0.0, 0.0, &coeff); - if (_tLC == t_lc::l1) { - return obs->lambda(t_lc::l1) * coeff(1); - } - else if (_tLC == t_lc::l2) { - return obs->lambda(t_lc::l2) * coeff(2); - } - } - } - return 0.0; - case trp: - return 1.0 / sin(obs->eleSat()); - case bias: - if (tLC == _tLC && obs->prn().system() == _prn.system()) { - return 1.0; - } - else { - return 0.0; - } - } - - return 0.0; -} - -// -//////////////////////////////////////////////////////////////////////////// -string t_param::toString() const { - stringstream ss; - switch (_type) { - case crdX: - ss << "CRD_X"; - break; - case crdY: - ss << "CRD_Y"; - break; - case crdZ: - ss << "CRD_Z"; - break; - case clkR: - ss << "CLK "; - break; - case amb: - ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString(); - break; - case offGG: - ss << "OGG "; - break; - case trp: - ss << "TRP "; - break; - case bias: - ss << "BIAS " << _prn.system() << ' ' << left << setw(3) << t_lc::toString(_tLC); - break; - } - return ss.str(); -} - -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_parlist::t_parlist() { -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -t_parlist::~t_parlist() { - for (unsigned ii = 0; ii < _params.size(); ii++) { - delete _params[ii]; - } -} - -// -//////////////////////////////////////////////////////////////////////////// -t_irc t_parlist::set(const bncTime& epoTime, const vector& ambLCs, - const vector& obsVector) { - - // Remove some Parameters - // ---------------------- - vector::iterator it = _params.begin(); - while (it != _params.end()) { - t_param* par = *it; - - bool remove = false; - - if (par->epoSpec()) { - remove = true; - } - - else if (par->type() == t_param::amb) { - if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 120.0)) { - remove = true; - } - } - - else if (par->type() == t_param::amb) { - if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 3600.0)) { - remove = true; - } - } - - if (remove) { - delete par; - it = _params.erase(it); - } - else { - ++it; - } - } - - // Check whether parameters have observations - // ------------------------------------------ - for (unsigned ii = 0; ii < _params.size(); ii++) { - t_param* par = _params[ii]; - if (par->prn() == 0) { - par->setLastObsTime(epoTime); - if (par->firstObsTime().undef()) { - par->setFirstObsTime(epoTime); - } - } - else { - for (unsigned jj = 0; jj < obsVector.size(); jj++) { - const t_satObs* satObs = obsVector[jj]; - if (satObs->prn() == par->prn()) { - par->setLastObsTime(epoTime); - if (par->firstObsTime().undef()) { - par->setFirstObsTime(epoTime); - } - break; - } - } - } - } - - // Required Set of Parameters - // -------------------------- - vector required; - - // Coordinates - // ----------- - required.push_back(new t_param(t_param::crdX, t_prn(), t_lc::dummy)); - required.push_back(new t_param(t_param::crdY, t_prn(), t_lc::dummy)); - required.push_back(new t_param(t_param::crdZ, t_prn(), t_lc::dummy)); - - // Receiver Clock - // -------------- - required.push_back(new t_param(t_param::clkR, t_prn(), t_lc::dummy)); - - // GPS-Glonass Clock Offset - // ------------------------ - if (OPT->useGlonass()) { - required.push_back(new t_param(t_param::offGG, t_prn(), t_lc::dummy)); - } - - // Receiver Biases - // --------------- - for (unsigned ii = 0; ii < OPT->_estBias.size(); ii++) { - const t_options::t_optBias& optBias = OPT->_estBias[ii]; - required.push_back(new t_param(t_param::bias, t_prn(optBias._system, 1), optBias._tLC)); - } - - // Troposphere - // ----------- - if (OPT->estTropo()) { - required.push_back(new t_param(t_param::trp, t_prn(), t_lc::dummy)); - } - - // Ambiguities - // ----------- - for (unsigned ii = 0; ii < ambLCs.size(); ii++) { - const t_lc::type& tLC = ambLCs[ii]; - for (unsigned jj = 0; jj < obsVector.size(); jj++) { - const t_satObs* satObs = obsVector[jj]; - required.push_back(new t_param(t_param::amb, satObs->prn(), tLC, &obsVector)); - } - } - - // Check if all required parameters are present - // -------------------------------------------- - for (unsigned ii = 0; ii < required.size(); ii++) { - t_param* parReq = required[ii]; - - bool found = false; - for (unsigned jj = 0; jj < _params.size(); jj++) { - t_param* parOld = _params[jj]; - if (parOld->isEqual(parReq)) { - found = true; - break; - } - } - if (found) { - delete parReq; - } - else { - _params.push_back(parReq); - } - } - - // Set Parameter Indices - // --------------------- - sort(_params.begin(), _params.end(), t_param::sortFunction); - - for (unsigned ii = 0; ii < _params.size(); ii++) { - t_param* par = _params[ii]; - par->setIndex(ii); - for (unsigned jj = 0; jj < obsVector.size(); jj++) { - const t_satObs* satObs = obsVector[jj]; - if (satObs->prn() == par->prn()) { - par->setAmbEleSat(satObs->eleSat()); - par->stepAmbNumEpo(); - } - } - } - - return success; -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_parlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ, - const ColumnVector& xx, double ambFixRate) const { - - string epoTimeStr = string(epoTime); - - LOG << endl; - - t_param* parX = 0; - t_param* parY = 0; - t_param* parZ = 0; - for (unsigned ii = 0; ii < _params.size(); ii++) { - t_param* par = _params[ii]; - if (par->type() == t_param::crdX) { - parX = par; - } - else if (par->type() == t_param::crdY) { - parY = par; - } - else if (par->type() == t_param::crdZ) { - parZ = par; - } - else { - int ind = par->indexNew(); - LOG << epoTimeStr << ' ' << par->toString() << ' ' - << setw(10) << setprecision(4) << par->x0() << ' ' - << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- " - << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]); - if (par->type() == t_param::amb) { - LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI - << " epo = " << setw(4) << par->ambNumEpo(); - } - LOG << endl; - } - } - - if (parX && parY && parZ) { - const t_station* sta = PPP_CLIENT->staRover(); - - ColumnVector xyz(3); - xyz[0] = xx[parX->indexNew()]; - xyz[1] = xx[parY->indexNew()]; - xyz[2] = xx[parZ->indexNew()]; - - ColumnVector neu(3); - xyz2neu(sta->ellApr().data(), xyz.data(), neu.data()); - - SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3); - - SymmetricMatrix QQneu(3); - covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu); - - LOG << epoTimeStr - << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- " - << setprecision(4) << sqrt(QQxyz[0][0]) - - << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- " - << setprecision(4) << sqrt(QQxyz[1][1]) - - << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- " - << setprecision(4) << sqrt(QQxyz[2][2]) - - << " dN = " << setprecision(4) << neu[0] << " +- " - << setprecision(4) << sqrt(QQneu[0][0]) - - << " dE = " << setprecision(4) << neu[1] << " +- " - << setprecision(4) << sqrt(QQneu[1][1]) - - << " dU = " << setprecision(4) << neu[2] << " +- " - << setprecision(4) << sqrt(QQneu[2][2]); - if (ambFixRate > 0.0) { - LOG << " fix "; - } - else { - LOG << " flt "; - } - LOG << int(100*ambFixRate) << " %\n"; - } -} - Index: unk/BNC/src/PPP/parlist.h =================================================================== --- /trunk/BNC/src/PPP/parlist.h (revision 5808) +++ (revision ) @@ -1,113 +1,0 @@ -#ifndef PARLIST_H -#define PARLIST_H - -#include -#include -#include "ppp.h" -#include "t_prn.h" -#include "bnctime.h" - -namespace BNC { - -class t_satObs; - -class t_param { - public: - enum e_type {crdX, crdY, crdZ, clkR, amb, offGG, trp, bias}; - - t_param(e_type type, const t_prn& prn, t_lc::type tLC, - const std::vector* obsVector = 0); - - ~t_param(); - e_type type() const {return _type;} - double x0() const {return _x0;} - double partial(const bncTime& epoTime, const t_satObs* obs, - const t_lc::type& tLC) const; - bool epoSpec() const {return _epoSpec;} - bool isEqual(const t_param* par2) const { - return (_type == par2->_type && _prn == par2->_prn && _tLC == par2->_tLC); - } - void setIndex(int indexNew) { - _indexOld = _indexNew; - _indexNew = indexNew; - } - int indexOld() const {return _indexOld;} - int indexNew() const {return _indexNew;} - double sigma0() const {return _sigma0;} - double noise() const {return _noise;} - t_lc::type tLC() const {return _tLC;} - t_prn prn() const {return _prn;} - std::string toString() const; - - const bncTime& lastObsTime() const {return _lastObsTime;} - void setLastObsTime(const bncTime& epoTime) {_lastObsTime = epoTime;} - const bncTime& firstObsTime() const {return _firstObsTime;} - void setFirstObsTime(const bncTime& epoTime) {_firstObsTime = epoTime;} - - bool ambResetCandidate() const {return _ambInfo && _ambInfo->_resetCandidate;} - void setAmbResetCandidate() {if (_ambInfo) _ambInfo->_resetCandidate = true;} - double ambEleSat() const {return _ambInfo ? _ambInfo->_eleSat : 0.0;} - void setAmbEleSat(double eleSat) {if (_ambInfo) _ambInfo->_eleSat = eleSat;} - unsigned ambNumEpo() const {return _ambInfo ? _ambInfo->_numEpo : 0;} - void stepAmbNumEpo() {if (_ambInfo) _ambInfo->_numEpo += 1;} - - static bool sortFunction(const t_param* p1, const t_param* p2) { - if (p1->_type != p2->_type) { - return p1->_type < p2->_type; - } - else if (p1->_tLC != p2->_tLC) { - return p1->_tLC < p2->_tLC; - } - else if (p1->_prn != p2->_prn) { - return p1->_prn < p2->_prn; - } - return false; - } - - private: - class t_ambInfo { - public: - t_ambInfo() { - _resetCandidate = false; - _eleSat = 0.0; - _numEpo = 0; - } - ~t_ambInfo() {} - bool _resetCandidate; - double _eleSat; - unsigned _numEpo; - }; - e_type _type; - t_prn _prn; - t_lc::type _tLC; - double _x0; - bool _epoSpec; - int _indexOld; - int _indexNew; - double _sigma0; - double _noise; - t_ambInfo* _ambInfo; - bncTime _lastObsTime; - bncTime _firstObsTime; -}; - -class t_parlist { - public: - t_parlist(); - ~t_parlist(); - - t_irc set(const bncTime& epoTime, const std::vector& ambLCs, - const std::vector& obsVector); - - unsigned nPar() const {return _params.size();} - const std::vector& params() const {return _params;} - std::vector& params() {return _params;} - void printResult(const bncTime& epoTime, const SymmetricMatrix& QQ, - const ColumnVector& xx, double ambFixRate) const; - private: - std::vector _params; -}; - -} - -#endif Index: unk/BNC/src/PPP/ppp.h =================================================================== --- /trunk/BNC/src/PPP/ppp.h (revision 5808) +++ (revision ) @@ -1,160 +1,0 @@ -#ifndef PPP_H -#define PPP_H - -#include -#include - -#include "bncconst.h" -#include "bnctime.h" -#include "t_prn.h" - -namespace BNC { - -class pppExcept { - public: - pppExcept(const char* msg) { - _msg = msg; - } - ~pppExcept() {} - std::string what() {return _msg;} - private: - std::string _msg; -}; - -class t_output { - public: - bncTime _epoTime; - double _xyzRover[3]; - double _covMatrix[6]; - int _numSat; - double _pDop; - std::string _log; - bool _error; -}; - -class t_pppObs { - public: - t_pppObs() { - _code = 0.0; - _codeValid = false; - _phase = 0.0; - _phaseValid = false; - _doppler = 0.0; - _dopplerValid = false; - _snr = 0.0; - _snrValid = false; - _slip = false; - _slipCounter = 0; - _biasJumpCounter = 0; - } - std::string _rnxType2ch; - double _code; - bool _codeValid; - double _phase; - bool _phaseValid; - double _doppler; - bool _dopplerValid; - double _snr; - bool _snrValid; - bool _slip; - int _slipCounter; - int _biasJumpCounter; -}; - -class t_pppSatObs { - public: - t_pppSatObs() {} - ~t_pppSatObs() {for (unsigned ii = 0; ii < _obs.size(); ii++) delete _obs[ii];} - t_prn _prn; - bncTime _time; - std::vector _obs; -}; - -class t_orbCorr { - public: - t_prn prn() const {return _prn;} - unsigned short IOD() const {return _iod;} - t_prn _prn; - unsigned short _iod; - bncTime _time; - char _system; - double _xr[3]; - double _dotXr[3]; -}; - -class t_clkCorr { - public: - t_prn prn() const {return _prn;} - unsigned short IOD() const {return _iod;} - t_prn _prn; - unsigned short _iod; - bncTime _time; - double _dClk; - double _dotDClk; - double _dotDotDClk; - double _clkPartial; -}; - -class t_bias { - public: - std::string _rnxType3ch; - double _value; -}; - -class t_satBiases { - public: - t_prn _prn; - bncTime _time; - int _nx; - int _jumpCount; - std::vector _biases; -}; - -class t_frequency { - public: - enum type {dummy = 0, G1, G2, R1, R2, maxFr}; - - static std::string toString(type tt) { - if (tt == G1) return "G1"; - else if (tt == G2) return "G2"; - else if (tt == R1) return "R1"; - else if (tt == R2) return "R2"; - return std::string(); - } -}; - -class t_lc { - public: - enum type {dummy = 0, l1, l2, c1, c2, lIF, cIF, MW, CL, maxLc}; - - static bool need2ndFreq(type tt) { - if (tt == l2 || tt == c2 || tt == lIF || tt == cIF || tt == MW) return true; - return false; - } - - static bool includesPhase(type tt) { - if (tt == l1 || tt == l2 || tt == lIF || tt == MW || tt == CL) return true; - return false; - } - - static bool includesCode(type tt) { - if (tt == c1 || tt == c2 || tt == cIF || tt == MW || tt == CL) return true; - return false; - } - - static std::string toString(type tt) { - if (tt == l1) return "l1"; - else if (tt == l2) return "l2"; - else if (tt == c1) return "c1"; - else if (tt == c2) return "c2"; - else if (tt == lIF) return "lIF"; - else if (tt == cIF) return "cIF"; - else if (tt == MW) return "MW"; - else if (tt == CL) return "CL"; - return std::string(); - } -}; - -} // namespace BNC - -#endif Index: /trunk/BNC/src/PPP/pppEphPool.cpp =================================================================== --- /trunk/BNC/src/PPP/pppEphPool.cpp (revision 5809) +++ /trunk/BNC/src/PPP/pppEphPool.cpp (revision 5809) @@ -0,0 +1,156 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +/* ------------------------------------------------------------------------- + * BKG NTRIP Client + * ------------------------------------------------------------------------- + * + * Class: t_pppMain + * + * Purpose: Buffer with satellite ephemerides + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include +#include "ephpool.h" +#include "ppp.h" +#include "pppClient.h" + +using namespace BNC; +using namespace std; + +// +///////////////////////////////////////////////////////////////////////////// +void t_ephPool::putEphemeris(t_eph* eph) { + if (eph && eph->ok()) { + _satEphPool[eph->prn().toInt()].putEphemeris(_maxQueueSize, eph); + } + else { + delete eph; + } +} + +// +///////////////////////////////////////////////////////////////////////////// +void t_ephPool::putOrbCorrection(t_orbCorr* corr) { + if (corr) { + _satEphPool[corr->prn().toInt()].putOrbCorrection(corr); + } +} + +// +///////////////////////////////////////////////////////////////////////////// +void t_ephPool::putClkCorrection(t_clkCorr* corr) { + if (corr) { + _satEphPool[corr->prn().toInt()].putClkCorrection(corr); + } +} + +// +///////////////////////////////////////////////////////////////////////////// +t_irc t_ephPool::getCrd(const t_prn& prn, const bncTime& tt, + ColumnVector& xc, ColumnVector& vv) const { + return _satEphPool[prn.toInt()].getCrd(tt, xc, vv); +} + +// +///////////////////////////////////////////////////////////////////////////// +int t_ephPool::getChannel(const t_prn& prn) const { + return _satEphPool[prn.toInt()].getChannel(); +} + +// +///////////////////////////////////////////////////////////////////////////// +void t_ephPool::t_satEphPool::putEphemeris(unsigned maxQueueSize, t_eph* eph) { + if (_ephs.empty() || eph->isNewerThan(_ephs.front())) { + _ephs.push_front(eph); + if (maxQueueSize > 0 && _ephs.size() > maxQueueSize) { + delete _ephs.back(); + _ephs.pop_back(); + } + } + else { + delete eph; + } +} + +// +///////////////////////////////////////////////////////////////////////////// +void t_ephPool::t_satEphPool::putOrbCorrection(t_orbCorr* corr) { + for (unsigned ii = 0; ii < _ephs.size(); ii++) { + t_eph* eph = _ephs[ii]; + if (eph->IOD() == corr->IOD()) { + eph->setOrbCorr(corr); + return; + } + } + delete corr; +} + +// +///////////////////////////////////////////////////////////////////////////// +void t_ephPool::t_satEphPool::putClkCorrection(t_clkCorr* corr) { + for (unsigned ii = 0; ii < _ephs.size(); ii++) { + t_eph* eph = _ephs[ii]; + if (eph->IOD() == corr->IOD()) { + eph->setClkCorr(corr); + } + } + delete corr; +} + +// +///////////////////////////////////////////////////////////////////////////// +t_irc t_ephPool::t_satEphPool::getCrd(const bncTime& tt, ColumnVector& xc, + ColumnVector& vv) const { + for (unsigned ii = 0; ii < _ephs.size(); ii++) { + t_eph* eph = _ephs[ii]; + t_irc irc = eph->getCrd(tt, xc, vv, OPT->corrRequired()); + if (irc == success) { + if (eph->prn().system() == 'R') { + double age = tt - eph->TOC(); + if (fabs(age) > 3600.0) { + continue; + } + } + return irc; + } + } + return failure; +} + +// +///////////////////////////////////////////////////////////////////////////// +int t_ephPool::t_satEphPool::getChannel() const { + if (_ephs.size() > 0) { + return _ephs[0]->slotNum(); + } + return 0; +} Index: /trunk/BNC/src/PPP/pppEphPool.h =================================================================== --- /trunk/BNC/src/PPP/pppEphPool.h (revision 5809) +++ /trunk/BNC/src/PPP/pppEphPool.h (revision 5809) @@ -0,0 +1,56 @@ +#ifndef EPHPOOL_H +#define EPHPOOL_H + +#include +#include "ppp.h" +#include "bnctime.h" +#include "ephemeris.h" + +namespace BNC { + +class t_ephPool { + public: + t_ephPool(unsigned maxQueueSize = 3) { + _maxQueueSize = maxQueueSize; + } + ~t_ephPool() {}; + + void putEphemeris(t_eph* eph); + void putOrbCorrection(t_orbCorr* corr); + void putClkCorrection(t_clkCorr* corr); + + t_irc getCrd(const t_prn& prn, const bncTime& tt, + ColumnVector& xc, ColumnVector& vv) const; + + int getChannel(const t_prn& prn) const; + + std::deque& ephs(t_prn prn) { + return _satEphPool[prn]._ephs; + } + + private: + + class t_satEphPool { + public: + t_satEphPool() {}; + ~t_satEphPool() { + for (unsigned ii = 0; ii < _ephs.size(); ii++) { + delete _ephs[ii]; + } + } + void putEphemeris(unsigned maxQueueSize, t_eph* eph); + void putOrbCorrection(t_orbCorr* corr); + void putClkCorrection(t_clkCorr* corr); + t_irc getCrd(const bncTime& tt, + ColumnVector& xc, ColumnVector& vv) const; + int getChannel() const; + std::deque _ephs; + }; + + t_satEphPool _satEphPool[t_prn::MAXPRN+1]; + unsigned _maxQueueSize; +}; + +} + +#endif Index: /trunk/BNC/src/PPP/pppFilter.cpp =================================================================== --- /trunk/BNC/src/PPP/pppFilter.cpp (revision 5809) +++ /trunk/BNC/src/PPP/pppFilter.cpp (revision 5809) @@ -0,0 +1,423 @@ +#include +#include +#include +#include +#include +#include + +#include "filter.h" +#include "bncutils.h" +#include "parlist.h" +#include "obspool.h" +#include "station.h" +#include "pppClient.h" + +using namespace BNC; +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_filter::t_filter() { + _parlist = 0; +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_filter::~t_filter() { + delete _parlist; +} + +// Process Single Epoch +//////////////////////////////////////////////////////////////////////////// +t_irc t_filter::processEpoch(t_obsPool* obsPool) { + + _numSat = 0; + + if (!_parlist) { + _parlist = new t_parlist(); + } + + // Vector of all Observations + // -------------------------- + t_obsPool::t_epoch* epoch = obsPool->lastEpoch(); + if (!epoch) { + return failure; + } + vector& obsVector = epoch->obsVector(); + + // Time of the Epoch + // ----------------- + _epoTime = epoch->epoTime(); + + // Auxiliary vectors of processed linear combinations + // -------------------------------------------------- + vector LCsCode; + vector LCsPhase; + vector LCsAll = OPT->LCs(); + for (unsigned ii = 0; ii < LCsAll.size(); ii++) { + const t_lc::type& tLC = LCsAll[ii]; + if (t_lc::includesCode(tLC) && !t_lc::includesPhase(tLC)) { + LCsCode.push_back(tLC); + } + else { + LCsPhase.push_back(tLC); + } + } + vector ambLCs; + if (LCsPhase.size() == 1) { + ambLCs.push_back(LCsPhase[0]); + } + else if (LCsPhase.size() > 1) { + ambLCs.push_back(t_lc::l1); + ambLCs.push_back(t_lc::l2); + } + + // Set Parameters + // -------------- + _parlist->set(_epoTime, ambLCs, obsVector); + const vector& params = _parlist->params(); + + // Status Vector, Variance-Covariance Matrix + // ----------------------------------------- + ColumnVector xFltOld = _xFlt; + SymmetricMatrix QFltOld = _QFlt; + + _QFlt.ReSize(_parlist->nPar()); _QFlt = 0.0; + _xFlt.ReSize(_parlist->nPar()); _xFlt = 0.0; + _x0.ReSize(_parlist->nPar()); _x0 = 0.0; + + for (unsigned ii = 0; ii < params.size(); ii++) { + const t_param* par1 = params[ii]; + + _x0[ii] = par1->x0(); + + int iOld = par1->indexOld(); + if (iOld < 0) { + _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter + } + else { + _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise(); + _xFlt[ii] = xFltOld[iOld]; + for (unsigned jj = 0; jj < ii; jj++) { + const t_param* par2 = params[jj]; + int jOld = par2->indexOld(); + if (jOld >= 0) { + _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1); + } + } + } + } + + // Process LCs containing code separately + // -------------------------------------- + for (unsigned ipc = 0; ipc <= 1; ipc++) { + const vector& LCsHlp = (ipc == 0 ? LCsCode : LCsPhase); + if (LCsHlp.size() > 0) { + if ( processLC(LCsHlp, obsVector) != success ) { + return failure; + } + } + } + + _parlist->printResult(_epoTime, _QFlt, _xFlt, 0); + + return success; +} + +// Process Selected LCs +//////////////////////////////////////////////////////////////////////////// +t_irc t_filter::processLC(const vector& LCs, + vector& obsVector) { + + LOG.setf(ios::fixed); + + // Detect Cycle Slips + // ------------------ + if (detectCycleSlips(LCs, obsVector) != success) { + return failure; + } + + ColumnVector xSav = _xFlt; + SymmetricMatrix QSav = _QFlt; + string epoTimeStr = string(_epoTime); + const vector& params = _parlist->params(); + unsigned maxObs = obsVector.size() * LCs.size(); + + // Outlier Detection Loop + // ---------------------- + for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) { + + if (iOutlier > 0) { + _xFlt = xSav; + _QFlt = QSav; + } + + // First-Design Matrix, Terms Observed-Computed, Weight Matrix + // ----------------------------------------------------------- + Matrix AA(maxObs, _parlist->nPar()); + ColumnVector ll(maxObs); + UpperTriangularMatrix Sl(maxObs); Sl = 0.0; + + int iObs = -1; + vector usedObs; + vector usedTypes; + for (unsigned ii = 0; ii < obsVector.size(); ii++) { + t_satObs* obs = obsVector[ii]; + if (!obs->outlier()) { + Matrix CC(LCs.size(), 4); + for (unsigned jj = 0; jj < LCs.size(); jj++) { + const t_lc::type tLC = LCs[jj]; + ++iObs; + usedObs.push_back(obs); + usedTypes.push_back(tLC); + for (unsigned iPar = 0; iPar < params.size(); iPar++) { + const t_param* par = params[iPar]; + AA[iObs][iPar] = par->partial(_epoTime, obs, tLC); + } + ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1)); + if (LCs.size() > 1) { + ColumnVector coeff(4); + obs->lc(tLC, 0.0, 0.0, 0.0, 0.0, &coeff); + CC[jj][0] = coeff[0] * obs->sigma(t_lc::l1); + CC[jj][1] = coeff[1] * obs->sigma(t_lc::l2); + CC[jj][2] = coeff[2] * obs->sigma(t_lc::c1); + CC[jj][3] = coeff[3] * obs->sigma(t_lc::c2); + } + else { + Sl[iObs][iObs] = obs->sigma(tLC); + } + } + if (LCs.size() > 1) { + SymmetricMatrix QQ; QQ << CC * CC.t(); + Sl.SymSubMatrix(iObs-LCs.size()+2, iObs+1) = Cholesky(QQ).t(); + } + } + } + + // Check number of observations, truncate matrices + // ----------------------------------------------- + if (iObs+1 < OPT->_minObs) { + return failure; + } + AA = AA.Rows(1, iObs+1); + ll = ll.Rows(1, iObs+1); + Sl = Sl.SymSubMatrix(1, iObs+1); + + // Kalman update step + // ------------------ + //// beg test + DiagonalMatrix PP(iObs+1); PP = 0.0; + for (int ii = 1; ii <= iObs+1; ii++) { + PP(ii,ii) = 1.0 / (Sl(ii,ii) * Sl(ii,ii)); + } + ColumnVector dx; + kalman(AA, ll, PP, _QFlt, dx); + _xFlt += dx; + //// end test + + // Check Residuals + // --------------- + ColumnVector vv = AA * _xFlt - ll; + double maxOutlier = 0.0; + int maxOutlierIndex = -1; + t_lc::type maxOutlierLC = t_lc::dummy; + for (unsigned ii = 0; ii < usedObs.size(); ii++) { + const t_lc::type tLC = usedTypes[ii]; + double res = fabs(vv[ii]); + if (res > OPT->maxRes(tLC)) { + if (res > fabs(maxOutlier)) { + maxOutlier = vv[ii]; + maxOutlierIndex = ii; + maxOutlierLC = tLC; + } + } + } + + // Mark outlier or break outlier detection loop + // -------------------------------------------- + if (maxOutlierIndex > -1) { + t_satObs* obs = usedObs[maxOutlierIndex]; + t_param* par = 0; + LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' ' + << obs->prn().toString() << ' ' + << setw(8) << setprecision(4) << maxOutlier << endl; + for (unsigned iPar = 0; iPar < params.size(); iPar++) { + t_param* hlp = params[iPar]; + if (hlp->type() == t_param::amb && hlp->prn() == obs->prn() && + hlp->tLC() == usedTypes[maxOutlierIndex]) { + par = hlp; + } + } + if (par) { + if (par->ambResetCandidate()) { + resetAmb(par->prn(), obsVector, &QSav, &xSav); + } + else { + par->setAmbResetCandidate(); + obs->setOutlier(); + } + } + else { + obs->setOutlier(); + } + } + + // Print Residuals + // --------------- + else { + for (unsigned jj = 0; jj < LCs.size(); jj++) { + for (unsigned ii = 0; ii < usedObs.size(); ii++) { + const t_lc::type tLC = usedTypes[ii]; + t_satObs* obs = usedObs[ii]; + if (tLC == LCs[jj]) { + obs->setRes(tLC, vv[ii]); + LOG << epoTimeStr << " RES " + << left << setw(3) << t_lc::toString(tLC) << right << ' ' + << obs->prn().toString() << ' ' + << setw(8) << setprecision(4) << vv[ii] << endl; + } + } + } + cmpDOP(LCs, AA); + break; + } + } + + return success; +} + +// Cycle-Slip Detection +//////////////////////////////////////////////////////////////////////////// +t_irc t_filter::detectCycleSlips(const vector& LCs, + const vector& obsVector) { + + const double SLIP = 20.0; // slip threshold + string epoTimeStr = string(_epoTime); + const vector& params = _parlist->params(); + + for (unsigned ii = 0; ii < LCs.size(); ii++) { + const t_lc::type& tLC = LCs[ii]; + if (t_lc::includesPhase(tLC)) { + for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) { + const t_satObs* obs = obsVector[iObs]; + + // Check set Slips and Jump Counters + // --------------------------------- + bool slip = false; + + if (obs->slip()) { + LOG << "cycle slip set (obs)" << endl;; + slip = true; + } + + if (_slips[obs->prn()]._obsSlipCounter != -1 && + _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) { + LOG << "cycle slip set (obsSlipCounter)" << endl; + slip = true; + } + _slips[obs->prn()]._obsSlipCounter = obs->slipCounter(); + + if (_slips[obs->prn()]._biasJumpCounter != -1 && + _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) { + LOG << "cycle slip set (biasJumpCounter)" << endl; + slip = true; + } + _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter(); + + // Slip Set + // -------- + if (slip) { + resetAmb(obs->prn(), obsVector); + } + + // Check Pre-Fit Residuals + // ----------------------- + else { + ColumnVector AA(params.size()); + for (unsigned iPar = 0; iPar < params.size(); iPar++) { + const t_param* par = params[iPar]; + AA[iPar] = par->partial(_epoTime, obs, tLC); + } + + double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA); + double vv = DotProduct(AA, _xFlt) - ll; + + if (fabs(vv) > SLIP) { + LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' ' + << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl; + resetAmb(obs->prn(), obsVector); + } + } + } + } + } + + return success; +} + +// Reset Ambiguity Parameter (cycle slip) +//////////////////////////////////////////////////////////////////////////// +t_irc t_filter::resetAmb(t_prn prn, const vector& obsVector, + SymmetricMatrix* QSav, ColumnVector* xSav) { + t_irc irc = failure; + vector& params = _parlist->params(); + for (unsigned iPar = 0; iPar < params.size(); iPar++) { + t_param* par = params[iPar]; + if (par->type() == t_param::amb && par->prn() == prn) { + int ind = par->indexNew(); + t_lc::type tLC = par->tLC(); + LOG << string(_epoTime) << " RESET " << par->toString() << endl; + delete par; par = new t_param(t_param::amb, prn, tLC, &obsVector); + par->setIndex(ind); + params[iPar] = par; + for (unsigned ii = 1; ii <= params.size(); ii++) { + _QFlt(ii, ind+1) = 0.0; + if (QSav) { + (*QSav)(ii, ind+1) = 0.0; + } + } + _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0(); + if (QSav) { + (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1); + } + _xFlt[ind] = 0.0; + if (xSav) { + (*xSav)[ind] = _xFlt[ind]; + } + _x0[ind] = par->x0(); + irc = success; + } + } + + return irc; +} + +// Compute various DOP Values +//////////////////////////////////////////////////////////////////////////// +void t_filter::cmpDOP(const std::vector& LCs, const Matrix& AA) { + + _dop.reset(); + _numSat = 0; + try { + _numSat = AA.Nrows() / LCs.size(); + + if (_numSat < 4) { + return; + } + + Matrix BB(_numSat, 4); + + for (int ii = 1; ii <= _numSat; ii++) { + BB.Row(ii) = AA.Row(ii*LCs.size()).columns(1,4); + } + + SymmetricMatrix NN; NN << BB.t() * BB; + SymmetricMatrix QQ = NN.i(); + + _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3)); + _dop.T = sqrt(QQ(4,4)); + _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4)); + } + catch (...) { + } +} Index: /trunk/BNC/src/PPP/pppFilter.h =================================================================== --- /trunk/BNC/src/PPP/pppFilter.h (revision 5809) +++ /trunk/BNC/src/PPP/pppFilter.h (revision 5809) @@ -0,0 +1,74 @@ +#ifndef FILTER_H +#define FILTER_H + +#include +#include +#include "ppp.h" +#include "parlist.h" +#include "bnctime.h" +#include "t_prn.h" + +namespace BNC { + +class t_parlist; +class t_obsPool; +class t_satObs; + +class t_filter { + public: + t_filter(); + ~t_filter(); + + t_irc processEpoch(t_obsPool* obsPool); + + const ColumnVector& x() const {return _xFlt;} + const SymmetricMatrix& Q() const {return _QFlt;} + + int numSat() const {return _numSat;} + double PDOP() const {return _dop.P;} + double GDOP() const {return _dop.G;} + + private: + class t_slip { + public: + t_slip() { + _slip = false; + _obsSlipCounter = -1; + _biasJumpCounter = -1; + } + bool _slip; + int _obsSlipCounter; + int _biasJumpCounter; + }; + + class t_dop { + public: + t_dop() {reset();} + void reset() {P = T = G = 0.0;} + double P; + double T; + double G; + }; + t_irc processLC(const std::vector& LCs, std::vector& obsVector); + + t_irc detectCycleSlips(const std::vector& LCs, + const std::vector& obsVector); + + t_irc resetAmb(t_prn prn, const std::vector& obsVector, + SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0); + + void cmpDOP(const std::vector& LCs, const Matrix& AA); + + bncTime _epoTime; + t_parlist* _parlist; + SymmetricMatrix _QFlt; + ColumnVector _xFlt; + ColumnVector _x0; + t_slip _slips[t_prn::MAXPRN+1]; + int _numSat; + t_dop _dop; +}; + +} + +#endif Index: /trunk/BNC/src/PPP/pppInclude.h =================================================================== --- /trunk/BNC/src/PPP/pppInclude.h (revision 5809) +++ /trunk/BNC/src/PPP/pppInclude.h (revision 5809) @@ -0,0 +1,160 @@ +#ifndef PPP_H +#define PPP_H + +#include +#include + +#include "bncconst.h" +#include "bnctime.h" +#include "t_prn.h" + +namespace BNC { + +class pppExcept { + public: + pppExcept(const char* msg) { + _msg = msg; + } + ~pppExcept() {} + std::string what() {return _msg;} + private: + std::string _msg; +}; + +class t_output { + public: + bncTime _epoTime; + double _xyzRover[3]; + double _covMatrix[6]; + int _numSat; + double _pDop; + std::string _log; + bool _error; +}; + +class t_pppObs { + public: + t_pppObs() { + _code = 0.0; + _codeValid = false; + _phase = 0.0; + _phaseValid = false; + _doppler = 0.0; + _dopplerValid = false; + _snr = 0.0; + _snrValid = false; + _slip = false; + _slipCounter = 0; + _biasJumpCounter = 0; + } + std::string _rnxType2ch; + double _code; + bool _codeValid; + double _phase; + bool _phaseValid; + double _doppler; + bool _dopplerValid; + double _snr; + bool _snrValid; + bool _slip; + int _slipCounter; + int _biasJumpCounter; +}; + +class t_pppSatObs { + public: + t_pppSatObs() {} + ~t_pppSatObs() {for (unsigned ii = 0; ii < _obs.size(); ii++) delete _obs[ii];} + t_prn _prn; + bncTime _time; + std::vector _obs; +}; + +class t_orbCorr { + public: + t_prn prn() const {return _prn;} + unsigned short IOD() const {return _iod;} + t_prn _prn; + unsigned short _iod; + bncTime _time; + char _system; + double _xr[3]; + double _dotXr[3]; +}; + +class t_clkCorr { + public: + t_prn prn() const {return _prn;} + unsigned short IOD() const {return _iod;} + t_prn _prn; + unsigned short _iod; + bncTime _time; + double _dClk; + double _dotDClk; + double _dotDotDClk; + double _clkPartial; +}; + +class t_bias { + public: + std::string _rnxType3ch; + double _value; +}; + +class t_satBiases { + public: + t_prn _prn; + bncTime _time; + int _nx; + int _jumpCount; + std::vector _biases; +}; + +class t_frequency { + public: + enum type {dummy = 0, G1, G2, R1, R2, maxFr}; + + static std::string toString(type tt) { + if (tt == G1) return "G1"; + else if (tt == G2) return "G2"; + else if (tt == R1) return "R1"; + else if (tt == R2) return "R2"; + return std::string(); + } +}; + +class t_lc { + public: + enum type {dummy = 0, l1, l2, c1, c2, lIF, cIF, MW, CL, maxLc}; + + static bool need2ndFreq(type tt) { + if (tt == l2 || tt == c2 || tt == lIF || tt == cIF || tt == MW) return true; + return false; + } + + static bool includesPhase(type tt) { + if (tt == l1 || tt == l2 || tt == lIF || tt == MW || tt == CL) return true; + return false; + } + + static bool includesCode(type tt) { + if (tt == c1 || tt == c2 || tt == cIF || tt == MW || tt == CL) return true; + return false; + } + + static std::string toString(type tt) { + if (tt == l1) return "l1"; + else if (tt == l2) return "l2"; + else if (tt == c1) return "c1"; + else if (tt == c2) return "c2"; + else if (tt == lIF) return "lIF"; + else if (tt == cIF) return "cIF"; + else if (tt == MW) return "MW"; + else if (tt == CL) return "CL"; + return std::string(); + } +}; + +} // namespace BNC + +#endif Index: /trunk/BNC/src/PPP/pppObsPool.cpp =================================================================== --- /trunk/BNC/src/PPP/pppObsPool.cpp (revision 5809) +++ /trunk/BNC/src/PPP/pppObsPool.cpp (revision 5809) @@ -0,0 +1,101 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +/* ------------------------------------------------------------------------- + * BKG NTRIP Client + * ------------------------------------------------------------------------- + * + * Class: t_pppMain + * + * Purpose: Buffer with observations + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include "obspool.h" + +using namespace BNC; +using namespace std; + +// Constructor +///////////////////////////////////////////////////////////////////////////// +t_obsPool::t_epoch::t_epoch(const bncTime& epoTime, vector& obsVector) { + _epoTime = epoTime; + for (unsigned ii = 0; ii < obsVector.size(); ii++) { + _obsVector.push_back(obsVector[ii]); + } + obsVector.clear(); +} + +// Destructor +///////////////////////////////////////////////////////////////////////////// +t_obsPool::t_epoch::~t_epoch() { + for (unsigned ii = 0; ii < _obsVector.size(); ii++) { + delete _obsVector[ii]; + } +} + +// Constructor +///////////////////////////////////////////////////////////////////////////// +t_obsPool::t_obsPool() { + for (unsigned ii = 0; ii <= t_prn::MAXPRN; ii++) { + _satBiases[ii] = 0; + } +} + +// Destructor +///////////////////////////////////////////////////////////////////////////// +t_obsPool::~t_obsPool() { + for (unsigned ii = 0; ii <= t_prn::MAXPRN; ii++) { + delete _satBiases[ii]; + } + while (_epochs.size() > 0) { + delete _epochs.front(); + _epochs.pop_front(); + } +} + +// +///////////////////////////////////////////////////////////////////////////// +void t_obsPool::putBiases(t_satBias* satBias) { + int iPrn = satBias->prn().toInt(); + delete _satBiases[iPrn]; + _satBiases[iPrn] = satBias; +} + +// +///////////////////////////////////////////////////////////////////////////// +void t_obsPool::putEpoch(const bncTime& epoTime, vector& obsVector) { + const unsigned MAXSIZE = 2; + _epochs.push_back(new t_epoch(epoTime, obsVector)); + if (_epochs.size() > MAXSIZE) { + delete _epochs.front(); + _epochs.pop_front(); + } +} Index: /trunk/BNC/src/PPP/pppObsPool.h =================================================================== --- /trunk/BNC/src/PPP/pppObsPool.h (revision 5809) +++ /trunk/BNC/src/PPP/pppObsPool.h (revision 5809) @@ -0,0 +1,52 @@ +#ifndef OBSPOOL_H +#define OBSPOOL_H + +#include +#include +#include "satobs.h" +#include "satbias.h" +#include "bnctime.h" + +namespace BNC { + +class t_obsPool { + public: + + class t_epoch { + public: + t_epoch(const bncTime& epoTime, std::vector& obsVector); + ~t_epoch(); + std::vector& obsVector() {return _obsVector;} + const std::vector& obsVector() const {return _obsVector;} + const bncTime& epoTime() const {return _epoTime;} + private: + bncTime _epoTime; + std::vector _obsVector; + }; + + t_obsPool(); + ~t_obsPool(); + void putBiases(t_satBias* satBias); + + void putEpoch(const bncTime& epoTime, std::vector& obsVector); + + const t_satBias* satBias(const t_prn& prn) const { + return _satBiases[prn.toInt()]; + } + t_epoch* lastEpoch() { + if (_epochs.size()) { + return _epochs.back(); + } + else { + return 0; + } + } + + private: + t_satBias* _satBiases[t_prn::MAXPRN+1]; + std::deque _epochs; +}; + +} + +#endif Index: /trunk/BNC/src/PPP/pppOptions.cpp =================================================================== --- /trunk/BNC/src/PPP/pppOptions.cpp (revision 5809) +++ /trunk/BNC/src/PPP/pppOptions.cpp (revision 5809) @@ -0,0 +1,135 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +/* ------------------------------------------------------------------------- + * BKG NTRIP Client + * ------------------------------------------------------------------------- + * + * Class: t_options + * + * Purpose: Options for PPP client + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include +#include "options.h" + +using namespace BNC; +using namespace std; + +// Constructor +////////////////////////////////////////////////////////////////////////////// +t_options::t_options() { + _xyzAprRover.ReSize(3); _xyzAprRover = 0.0; + _ellAprRover.ReSize(3); _ellAprRover = 0.0; + _neuEccRover.ReSize(3); _neuEccRover = 0.0; +} + +// Destructor +////////////////////////////////////////////////////////////////////////////// +t_options::~t_options() { +} + +// +////////////////////////////////////////////////////////////////////////////// +bool t_options::dualFreqRequired() const { + return true; +} + +// +////////////////////////////////////////////////////////////////////////////// +bool t_options::biasRequired() const { + return false; +} + +// +////////////////////////////////////////////////////////////////////////////// +bool t_options::corrRequired() const { + return false; +} + +// +////////////////////////////////////////////////////////////////////////////// +bool t_options::useGlonass() const { + return (_lcGLONASS.size() > 0); +} + +// +////////////////////////////////////////////////////////////////////////////// +bool t_options::xyzAprRoverSet() const { + return (_xyzAprRover[0] != 0.0 || _xyzAprRover[1] != 0.0 || _xyzAprRover[2] != 0.0); +} + +// +////////////////////////////////////////////////////////////////////////////// +bool t_options::estTropo() const { + return (_sigTropo > 0.0 || _noiseTropo > 0.0); +} + +// +////////////////////////////////////////////////////////////////////////////// +vector t_options::LCs() const { + + vector allLCs = _lcGPS; + + for (unsigned ii = 0; ii < _lcGLONASS.size(); ii++) { + bool found = false; + for (unsigned iAll = 0; iAll < allLCs.size(); iAll++) { + if (allLCs[iAll] == _lcGLONASS[ii]) { + found = true; + break; + } + } + if (!found) { + allLCs.push_back(_lcGLONASS[ii]); + } + } + + for (unsigned ii = 0; ii < _lcGalileo.size(); ii++) { + bool found = false; + for (unsigned iAll = 0; iAll < allLCs.size(); iAll++) { + if (allLCs[iAll] == _lcGalileo[ii]) { + found = true; + break; + } + } + if (!found) { + allLCs.push_back(_lcGalileo[ii]); + } + } + + return allLCs; +} + +// +////////////////////////////////////////////////////////////////////////////// +double t_options::maxRes(t_lc::type /* tLC */) const { + return _maxResC1; +} Index: /trunk/BNC/src/PPP/pppOptions.h =================================================================== --- /trunk/BNC/src/PPP/pppOptions.h (revision 5809) +++ /trunk/BNC/src/PPP/pppOptions.h (revision 5809) @@ -0,0 +1,66 @@ +#ifndef OPTIONS_H +#define OPTIONS_H + +#include +#include +#include +#include "ppp.h" + +namespace BNC { + +class t_options { + public: + class t_optBias { + public: + t_optBias(char system, t_lc::type tLC) : _system(system), _tLC(tLC) {} + char _system; + t_lc::type _tLC; + }; + + t_options(); + ~t_options(); + bool dualFreqRequired() const; + bool biasRequired() const; + bool corrRequired() const; + bool useGlonass() const ; + bool xyzAprRoverSet() const; + bool estTropo() const ; + std::vector LCs() const; + double maxRes(t_lc::type tLC) const; + + bool _realTime; + std::string _roverName; + std::string _crdFile; + std::string _antexFile; + std::string _corrMount; + std::string _rinexObs; + std::string _rinexNav; + std::string _corrFile; + + double _sigCrd[3]; + double _noiseCrd[3]; + double _sigTropo; + double _noiseTropo; + double _sigmaC1; + double _sigmaL1; + double _corrWaitTime; + std::vector _lcGPS; + std::vector _lcGLONASS; + std::vector _lcGalileo; + std::vector _estBias; + + ColumnVector _xyzAprRover; + ColumnVector _ellAprRover; + ColumnVector _neuEccRover; + std::string _antNameRover; + int _minObs; + double _minEle; + double _maxResC1; + double _maxResL1; + bool _eleWgtCode; + bool _eleWgtPhase; +}; + +} + +#endif Index: /trunk/BNC/src/PPP/pppParlist.cpp =================================================================== --- /trunk/BNC/src/PPP/pppParlist.cpp (revision 5809) +++ /trunk/BNC/src/PPP/pppParlist.cpp (revision 5809) @@ -0,0 +1,420 @@ +#include +#include +#include +#include +#include +#include +#include "parlist.h" +#include "satobs.h" + +#include "station.h" +#include "bncutils.h" +#include "bncconst.h" +#include "pppClient.h" + +using namespace BNC; +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_param::t_param(e_type type, const t_prn& prn, t_lc::type tLC, + const vector* obsVector) { + + _type = type; + _prn = prn; + _tLC = tLC; + _x0 = 0.0; + _indexOld = -1; + _indexNew = -1; + _noise = 0.0; + _ambInfo = 0; + + switch (_type) { + case crdX: + _epoSpec = true; + _sigma0 = OPT->_sigCrd[0]; + break; + case crdY: + _epoSpec = true; + _sigma0 = OPT->_sigCrd[1]; + break; + case crdZ: + _epoSpec = true; + _sigma0 = OPT->_sigCrd[2]; + break; + case clkR: + _epoSpec = true; + _sigma0 = 1000.0; + break; + case amb: + _ambInfo = new t_ambInfo(); + if (obsVector) { + for (unsigned ii = 0; ii < obsVector->size(); ii++) { + const t_satObs* obs = obsVector->at(ii); + if (obs->prn() == _prn) { + double offGG = 0; + if (_prn.system() == 'R' && tLC != t_lc::MW) { + offGG = PPP_CLIENT->offGG(); + } + _x0 = floor((obs->obsValue(tLC) - offGG - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5); + break; + } + } + } + _epoSpec = false; + _sigma0 = 100.0; + break; + case offGG: + _epoSpec = true; + _sigma0 = 1000.0; + _x0 = PPP_CLIENT->offGG(); + break; + case trp: + _epoSpec = false; + _sigma0 = OPT->_sigTropo; + _noise = OPT->_noiseTropo; + break; + case bias: + _epoSpec = true; + _sigma0 = 10.0; + break; + } +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_param::~t_param() { + delete _ambInfo; +} + +// +//////////////////////////////////////////////////////////////////////////// +double t_param::partial(const bncTime& /* epoTime */, const t_satObs* obs, + const t_lc::type& tLC) const { + + // Special Case - Melbourne-Wuebbena + // --------------------------------- + if (tLC == t_lc::MW && _type != amb && _type != bias) { + return 0.0; + } + + const t_station* sta = PPP_CLIENT->staRover(); + ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3); + + switch (_type) { + case crdX: + return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.norm_Frobenius(); + case crdY: + return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.norm_Frobenius(); + case crdZ: + return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.norm_Frobenius(); + case clkR: + return 1.0; + case offGG: + return (obs->prn().system() == 'R') ? 1.0 : 0.0; + case amb: + if (obs->prn() == _prn) { + if (tLC == _tLC) { + return (obs->lambda(tLC)); + } + else if (tLC == t_lc::lIF && _tLC == t_lc::MW) { + return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2); + } + else { + ColumnVector coeff(4); + obs->lc(tLC, 0.0, 0.0, 0.0, 0.0, &coeff); + if (_tLC == t_lc::l1) { + return obs->lambda(t_lc::l1) * coeff(1); + } + else if (_tLC == t_lc::l2) { + return obs->lambda(t_lc::l2) * coeff(2); + } + } + } + return 0.0; + case trp: + return 1.0 / sin(obs->eleSat()); + case bias: + if (tLC == _tLC && obs->prn().system() == _prn.system()) { + return 1.0; + } + else { + return 0.0; + } + } + + return 0.0; +} + +// +//////////////////////////////////////////////////////////////////////////// +string t_param::toString() const { + stringstream ss; + switch (_type) { + case crdX: + ss << "CRD_X"; + break; + case crdY: + ss << "CRD_Y"; + break; + case crdZ: + ss << "CRD_Z"; + break; + case clkR: + ss << "CLK "; + break; + case amb: + ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString(); + break; + case offGG: + ss << "OGG "; + break; + case trp: + ss << "TRP "; + break; + case bias: + ss << "BIAS " << _prn.system() << ' ' << left << setw(3) << t_lc::toString(_tLC); + break; + } + return ss.str(); +} + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_parlist::t_parlist() { +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_parlist::~t_parlist() { + for (unsigned ii = 0; ii < _params.size(); ii++) { + delete _params[ii]; + } +} + +// +//////////////////////////////////////////////////////////////////////////// +t_irc t_parlist::set(const bncTime& epoTime, const vector& ambLCs, + const vector& obsVector) { + + // Remove some Parameters + // ---------------------- + vector::iterator it = _params.begin(); + while (it != _params.end()) { + t_param* par = *it; + + bool remove = false; + + if (par->epoSpec()) { + remove = true; + } + + else if (par->type() == t_param::amb) { + if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 120.0)) { + remove = true; + } + } + + else if (par->type() == t_param::amb) { + if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 3600.0)) { + remove = true; + } + } + + if (remove) { + delete par; + it = _params.erase(it); + } + else { + ++it; + } + } + + // Check whether parameters have observations + // ------------------------------------------ + for (unsigned ii = 0; ii < _params.size(); ii++) { + t_param* par = _params[ii]; + if (par->prn() == 0) { + par->setLastObsTime(epoTime); + if (par->firstObsTime().undef()) { + par->setFirstObsTime(epoTime); + } + } + else { + for (unsigned jj = 0; jj < obsVector.size(); jj++) { + const t_satObs* satObs = obsVector[jj]; + if (satObs->prn() == par->prn()) { + par->setLastObsTime(epoTime); + if (par->firstObsTime().undef()) { + par->setFirstObsTime(epoTime); + } + break; + } + } + } + } + + // Required Set of Parameters + // -------------------------- + vector required; + + // Coordinates + // ----------- + required.push_back(new t_param(t_param::crdX, t_prn(), t_lc::dummy)); + required.push_back(new t_param(t_param::crdY, t_prn(), t_lc::dummy)); + required.push_back(new t_param(t_param::crdZ, t_prn(), t_lc::dummy)); + + // Receiver Clock + // -------------- + required.push_back(new t_param(t_param::clkR, t_prn(), t_lc::dummy)); + + // GPS-Glonass Clock Offset + // ------------------------ + if (OPT->useGlonass()) { + required.push_back(new t_param(t_param::offGG, t_prn(), t_lc::dummy)); + } + + // Receiver Biases + // --------------- + for (unsigned ii = 0; ii < OPT->_estBias.size(); ii++) { + const t_options::t_optBias& optBias = OPT->_estBias[ii]; + required.push_back(new t_param(t_param::bias, t_prn(optBias._system, 1), optBias._tLC)); + } + + // Troposphere + // ----------- + if (OPT->estTropo()) { + required.push_back(new t_param(t_param::trp, t_prn(), t_lc::dummy)); + } + + // Ambiguities + // ----------- + for (unsigned ii = 0; ii < ambLCs.size(); ii++) { + const t_lc::type& tLC = ambLCs[ii]; + for (unsigned jj = 0; jj < obsVector.size(); jj++) { + const t_satObs* satObs = obsVector[jj]; + required.push_back(new t_param(t_param::amb, satObs->prn(), tLC, &obsVector)); + } + } + + // Check if all required parameters are present + // -------------------------------------------- + for (unsigned ii = 0; ii < required.size(); ii++) { + t_param* parReq = required[ii]; + + bool found = false; + for (unsigned jj = 0; jj < _params.size(); jj++) { + t_param* parOld = _params[jj]; + if (parOld->isEqual(parReq)) { + found = true; + break; + } + } + if (found) { + delete parReq; + } + else { + _params.push_back(parReq); + } + } + + // Set Parameter Indices + // --------------------- + sort(_params.begin(), _params.end(), t_param::sortFunction); + + for (unsigned ii = 0; ii < _params.size(); ii++) { + t_param* par = _params[ii]; + par->setIndex(ii); + for (unsigned jj = 0; jj < obsVector.size(); jj++) { + const t_satObs* satObs = obsVector[jj]; + if (satObs->prn() == par->prn()) { + par->setAmbEleSat(satObs->eleSat()); + par->stepAmbNumEpo(); + } + } + } + + return success; +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_parlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ, + const ColumnVector& xx, double ambFixRate) const { + + string epoTimeStr = string(epoTime); + + LOG << endl; + + t_param* parX = 0; + t_param* parY = 0; + t_param* parZ = 0; + for (unsigned ii = 0; ii < _params.size(); ii++) { + t_param* par = _params[ii]; + if (par->type() == t_param::crdX) { + parX = par; + } + else if (par->type() == t_param::crdY) { + parY = par; + } + else if (par->type() == t_param::crdZ) { + parZ = par; + } + else { + int ind = par->indexNew(); + LOG << epoTimeStr << ' ' << par->toString() << ' ' + << setw(10) << setprecision(4) << par->x0() << ' ' + << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- " + << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]); + if (par->type() == t_param::amb) { + LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI + << " epo = " << setw(4) << par->ambNumEpo(); + } + LOG << endl; + } + } + + if (parX && parY && parZ) { + const t_station* sta = PPP_CLIENT->staRover(); + + ColumnVector xyz(3); + xyz[0] = xx[parX->indexNew()]; + xyz[1] = xx[parY->indexNew()]; + xyz[2] = xx[parZ->indexNew()]; + + ColumnVector neu(3); + xyz2neu(sta->ellApr().data(), xyz.data(), neu.data()); + + SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3); + + SymmetricMatrix QQneu(3); + covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu); + + LOG << epoTimeStr + << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- " + << setprecision(4) << sqrt(QQxyz[0][0]) + + << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- " + << setprecision(4) << sqrt(QQxyz[1][1]) + + << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- " + << setprecision(4) << sqrt(QQxyz[2][2]) + + << " dN = " << setprecision(4) << neu[0] << " +- " + << setprecision(4) << sqrt(QQneu[0][0]) + + << " dE = " << setprecision(4) << neu[1] << " +- " + << setprecision(4) << sqrt(QQneu[1][1]) + + << " dU = " << setprecision(4) << neu[2] << " +- " + << setprecision(4) << sqrt(QQneu[2][2]); + if (ambFixRate > 0.0) { + LOG << " fix "; + } + else { + LOG << " flt "; + } + LOG << int(100*ambFixRate) << " %\n"; + } +} + Index: /trunk/BNC/src/PPP/pppParlist.h =================================================================== --- /trunk/BNC/src/PPP/pppParlist.h (revision 5809) +++ /trunk/BNC/src/PPP/pppParlist.h (revision 5809) @@ -0,0 +1,113 @@ +#ifndef PARLIST_H +#define PARLIST_H + +#include +#include +#include "ppp.h" +#include "t_prn.h" +#include "bnctime.h" + +namespace BNC { + +class t_satObs; + +class t_param { + public: + enum e_type {crdX, crdY, crdZ, clkR, amb, offGG, trp, bias}; + + t_param(e_type type, const t_prn& prn, t_lc::type tLC, + const std::vector* obsVector = 0); + + ~t_param(); + e_type type() const {return _type;} + double x0() const {return _x0;} + double partial(const bncTime& epoTime, const t_satObs* obs, + const t_lc::type& tLC) const; + bool epoSpec() const {return _epoSpec;} + bool isEqual(const t_param* par2) const { + return (_type == par2->_type && _prn == par2->_prn && _tLC == par2->_tLC); + } + void setIndex(int indexNew) { + _indexOld = _indexNew; + _indexNew = indexNew; + } + int indexOld() const {return _indexOld;} + int indexNew() const {return _indexNew;} + double sigma0() const {return _sigma0;} + double noise() const {return _noise;} + t_lc::type tLC() const {return _tLC;} + t_prn prn() const {return _prn;} + std::string toString() const; + + const bncTime& lastObsTime() const {return _lastObsTime;} + void setLastObsTime(const bncTime& epoTime) {_lastObsTime = epoTime;} + const bncTime& firstObsTime() const {return _firstObsTime;} + void setFirstObsTime(const bncTime& epoTime) {_firstObsTime = epoTime;} + + bool ambResetCandidate() const {return _ambInfo && _ambInfo->_resetCandidate;} + void setAmbResetCandidate() {if (_ambInfo) _ambInfo->_resetCandidate = true;} + double ambEleSat() const {return _ambInfo ? _ambInfo->_eleSat : 0.0;} + void setAmbEleSat(double eleSat) {if (_ambInfo) _ambInfo->_eleSat = eleSat;} + unsigned ambNumEpo() const {return _ambInfo ? _ambInfo->_numEpo : 0;} + void stepAmbNumEpo() {if (_ambInfo) _ambInfo->_numEpo += 1;} + + static bool sortFunction(const t_param* p1, const t_param* p2) { + if (p1->_type != p2->_type) { + return p1->_type < p2->_type; + } + else if (p1->_tLC != p2->_tLC) { + return p1->_tLC < p2->_tLC; + } + else if (p1->_prn != p2->_prn) { + return p1->_prn < p2->_prn; + } + return false; + } + + private: + class t_ambInfo { + public: + t_ambInfo() { + _resetCandidate = false; + _eleSat = 0.0; + _numEpo = 0; + } + ~t_ambInfo() {} + bool _resetCandidate; + double _eleSat; + unsigned _numEpo; + }; + e_type _type; + t_prn _prn; + t_lc::type _tLC; + double _x0; + bool _epoSpec; + int _indexOld; + int _indexNew; + double _sigma0; + double _noise; + t_ambInfo* _ambInfo; + bncTime _lastObsTime; + bncTime _firstObsTime; +}; + +class t_parlist { + public: + t_parlist(); + ~t_parlist(); + + t_irc set(const bncTime& epoTime, const std::vector& ambLCs, + const std::vector& obsVector); + + unsigned nPar() const {return _params.size();} + const std::vector& params() const {return _params;} + std::vector& params() {return _params;} + void printResult(const bncTime& epoTime, const SymmetricMatrix& QQ, + const ColumnVector& xx, double ambFixRate) const; + private: + std::vector _params; +}; + +} + +#endif Index: /trunk/BNC/src/PPP/pppSatBias.cpp =================================================================== --- /trunk/BNC/src/PPP/pppSatBias.cpp (revision 5809) +++ /trunk/BNC/src/PPP/pppSatBias.cpp (revision 5809) @@ -0,0 +1,58 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +/* ------------------------------------------------------------------------- + * BKG NTRIP Client + * ------------------------------------------------------------------------- + * + * Class: t_pppMain + * + * Purpose: Satellite-specific biases + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include "satbias.h" + +using namespace BNC; +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_satBias::t_satBias(const t_satBiases& satBiases) { + _prn = satBiases._prn; + _time = satBiases._time; + _nx = satBiases._nx; + _jumpCount = satBiases._jumpCount; + for (unsigned ii = 0; ii < satBiases._biases.size(); ii++) { + const t_bias& bias = satBiases._biases[ii]; + t_biasType biasType = string(bias._rnxType3ch).substr(0,3); + _biases[biasType] = bias._value; + } +} Index: /trunk/BNC/src/PPP/pppSatBias.h =================================================================== --- /trunk/BNC/src/PPP/pppSatBias.h (revision 5809) +++ /trunk/BNC/src/PPP/pppSatBias.h (revision 5809) @@ -0,0 +1,30 @@ +#ifndef SATBIAS_H +#define SATBIAS_H + +#include +#include "ppp.h" +#include "bnctime.h" + +namespace BNC { + +typedef std::string t_biasType; + +class t_satBias { + public: + t_satBias(const t_satBiases& satBiases); + ~t_satBias() {} + const t_prn& prn() const {return _prn;} + const std::map& biases() const {return _biases;} + int nx() const {return _nx;} + int jumpCount() const {return _jumpCount;} + private: + t_prn _prn; + bncTime _time; + int _nx; + int _jumpCount; + std::map _biases; +}; + +} + +#endif Index: /trunk/BNC/src/PPP/pppStation.cpp =================================================================== --- /trunk/BNC/src/PPP/pppStation.cpp (revision 5809) +++ /trunk/BNC/src/PPP/pppStation.cpp (revision 5809) @@ -0,0 +1,82 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +/* ------------------------------------------------------------------------- + * BKG NTRIP Client + * ------------------------------------------------------------------------- + * + * Class: t_station + * + * Purpose: Processed station + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include "station.h" +#include "bncutils.h" +#include "pppModel.h" + +using namespace BNC; +using namespace std; + +// Constructor +////////////////////////////////////////////////////////////////////////////// +t_station::t_station() { + _windUp = new t_windUp(); +} + +// Destructor +////////////////////////////////////////////////////////////////////////////// +t_station::~t_station() { + delete _windUp; +} + +// +////////////////////////////////////////////////////////////////////////////// +void t_station::setXyzApr(const ColumnVector& xyzApr) { + _xyzApr = xyzApr; + _ellApr.ReSize(3); + xyz2ell(_xyzApr.data(), _ellApr.data()); +} + +// +////////////////////////////////////////////////////////////////////////////// +void t_station::setNeuEcc(const ColumnVector& neuEcc) { + _neuEcc = neuEcc; + _xyzEcc.ReSize(3); + neu2xyz(_ellApr.data(), _neuEcc.data(), _xyzEcc.data()); +} + +// +////////////////////////////////////////////////////////////////////////////// +double t_station::windUp(const bncTime& time, t_prn prn, + const ColumnVector& rSat) const { + return _windUp->value(time, _xyzApr, prn, rSat); +} + Index: /trunk/BNC/src/PPP/pppStation.h =================================================================== --- /trunk/BNC/src/PPP/pppStation.h (revision 5809) +++ /trunk/BNC/src/PPP/pppStation.h (revision 5809) @@ -0,0 +1,49 @@ +#ifndef STATION_H +#define STATION_H + +#include +#include +#include "ppp.h" +#include "bnctime.h" + +namespace BNC { + +class t_windUp; + +class t_station { + public: + t_station(); + ~t_station(); + void setName(std::string name) {_name = name;} + void setAntName(std::string antName) {_antName = antName;} + void setXyzApr(const ColumnVector& xyzApr); + void setNeuEcc(const ColumnVector& neuEcc); + void setDClk(double dClk) {_dClk = dClk;} + void setTideDspl(const ColumnVector& tideDspl) {_tideDspl = tideDspl;} + const std::string& name() const {return _name;} + const std::string& antName() const {return _antName;} + const ColumnVector& xyzApr() const {return _xyzApr;} + const ColumnVector& ellApr() const {return _ellApr;} + const ColumnVector& neuEcc() const {return _neuEcc;} + const ColumnVector& xyzEcc() const {return _xyzEcc;} + const ColumnVector& tideDspl() const {return _tideDspl;} + double dClk() const {return _dClk;} + double windUp(const bncTime& time, t_prn prn, const ColumnVector& rSat) const; + + private: + std::string _name; + std::string _antName; + ColumnVector _xyzApr; + ColumnVector _ellApr; + ColumnVector _neuEcc; + ColumnVector _xyzEcc; + ColumnVector _tideDspl; + double _dClk; + mutable t_windUp* _windUp; + bncTime _timeCheck; + ColumnVector _xyzCheck; +}; + +} + +#endif Index: /trunk/BNC/src/PPP/pppWidgets.cpp =================================================================== --- /trunk/BNC/src/PPP/pppWidgets.cpp (revision 5809) +++ /trunk/BNC/src/PPP/pppWidgets.cpp (revision 5809) @@ -0,0 +1,278 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +/* ------------------------------------------------------------------------- + * BKG NTRIP Client + * ------------------------------------------------------------------------- + * + * Class: t_pppWidgets + * + * Purpose: This class stores widgets for PPP options + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include + +#include "PPP/pppwidgets.h" +#include "qtfilechooser.h" +#include "bncsettings.h" + +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_pppWidgets::t_pppWidgets() { + + _dataSource = new QComboBox(); _dataSource ->setObjectName("PPP/dataSource"); _widgets << _dataSource; + _rinexObs = new qtFileChooser(); _rinexObs ->setObjectName("PPP/rinexObs"); _widgets << _rinexObs; + _rinexNav = new qtFileChooser(); _rinexNav ->setObjectName("PPP/rinexNav"); _widgets << _rinexNav; + _corrMount = new QLineEdit(); _corrMount ->setObjectName("PPP/corrMount"); _widgets << _corrMount; + _corrFile = new qtFileChooser(); _corrFile ->setObjectName("PPP/corrFile"); _widgets << _corrFile; + _crdFile = new qtFileChooser(); _crdFile ->setObjectName("PPP/crdFile"); _widgets << _crdFile; + _antexFile = new qtFileChooser(); _antexFile ->setObjectName("PPP/antexFile"); _widgets << _antexFile; + _logFile = new QLineEdit(); _logFile ->setObjectName("PPP/logFile"); _widgets << _logFile; + _nmeaFile = new QLineEdit(); _nmeaFile ->setObjectName("PPP/nmeaFile"); _widgets << _nmeaFile; + _nmeaPort = new QLineEdit(); _nmeaPort ->setObjectName("PPP/nmeaPort"); _widgets << _nmeaPort; + _staTable = new QTableWidget(); _staTable ->setObjectName("PPP/staTable"); _widgets << _staTable; + _lcGPS = new QComboBox(); _lcGPS ->setObjectName("PPP/lcGPS"); _widgets << _lcGPS; + _lcGLONASS = new QComboBox(); _lcGLONASS ->setObjectName("PPP/lcGLONASS"); _widgets << _lcGLONASS; + _lcGalileo = new QComboBox(); _lcGalileo ->setObjectName("PPP/lcGalileo"); _widgets << _lcGalileo; + _sigmaC1 = new QLineEdit(); _sigmaC1 ->setObjectName("PPP/sigmaC1"); _widgets << _sigmaC1; + _sigmaL1 = new QLineEdit(); _sigmaL1 ->setObjectName("PPP/sigmaL1"); _widgets << _sigmaL1; + _corrWaitTime = new QSpinBox(); _corrWaitTime->setObjectName("PPP/corrWaitTime"); _widgets << _corrWaitTime; + _addStaButton = new QPushButton("Add Station"); _widgets << _addStaButton; + _delStaButton = new QPushButton("Delete Station"); _widgets << _delStaButton; + + _dataSource->setEditable(false); + _dataSource->addItems(QString("no,Real-Time Streams,RINEX Files").split(",")); + connect(_dataSource, SIGNAL(currentIndexChanged(const QString&)), this, SLOT(slotEnableWidgets())); + + _lcGPS->setEditable(false); + _lcGPS->addItems(QString("no,P3,L3,P3&L3").split(",")); + + _lcGLONASS->setEditable(false); + _lcGLONASS->addItems(QString("no,P3,L3,P3&L3").split(",")); + + _lcGalileo->setEditable(false); + _lcGalileo->addItems(QString("no,P3,L3,P3&L3").split(",")); + + _corrWaitTime->setMinimum(0); + _corrWaitTime->setMaximum(20); + _corrWaitTime->setSingleStep(1); + _corrWaitTime->setSuffix(" sec"); + _corrWaitTime->setSpecialValueText("no"); + + _staTable->setColumnCount(9); + _staTable->setRowCount(0); + _staTable->setHorizontalHeaderLabels( + QString("Station,Sigma N,Sigma E,Sigma H,Noise N,Noise E,Noise H,Tropo Sigma,Tropo Noise").split(",")); + _staTable->setSelectionMode(QAbstractItemView::ExtendedSelection); + _staTable->setSelectionBehavior(QAbstractItemView::SelectRows); + _staTable->horizontalHeader()->setResizeMode(QHeaderView::Interactive); + /// _staTable->horizontalHeader()->setStretchLastSection(true); + _staTable->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft); + + connect(_addStaButton, SIGNAL(clicked()), this, SLOT(slotAddStation())); + connect(_delStaButton, SIGNAL(clicked()), this, SLOT(slotDelStation())); + + readOptions(); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppWidgets::readOptions() { + + bncSettings settings; + + // ComboBoxes + // ---------- + int ii = _dataSource->findText(settings.value(_dataSource->objectName()).toString()); + if (ii != -1) { + _dataSource->setCurrentIndex(ii); + } + ii = _lcGPS->findText(settings.value(_lcGPS->objectName()).toString()); + if (ii != -1) { + _lcGPS->setCurrentIndex(ii); + } + ii = _lcGLONASS->findText(settings.value(_lcGLONASS->objectName()).toString()); + if (ii != -1) { + _lcGLONASS->setCurrentIndex(ii); + } + ii = _lcGalileo->findText(settings.value(_lcGalileo->objectName()).toString()); + if (ii != -1) { + _lcGalileo->setCurrentIndex(ii); + } + + // FileChoosers + // ------------ + _rinexObs ->setFileName(settings.value(_rinexObs ->objectName()).toString()); + _rinexNav ->setFileName(settings.value(_rinexNav ->objectName()).toString()); + _corrFile ->setFileName(settings.value(_corrFile ->objectName()).toString()); + _crdFile ->setFileName(settings.value(_crdFile ->objectName()).toString()); + _antexFile->setFileName(settings.value(_antexFile->objectName()).toString()); + + // LineEdits + // --------- + _corrMount->setText(settings.value(_corrMount->objectName()).toString()); + _logFile ->setText(settings.value(_logFile ->objectName()).toString()); + _nmeaFile ->setText(settings.value(_nmeaFile ->objectName()).toString()); + _nmeaPort ->setText(settings.value(_nmeaPort ->objectName()).toString()); + _sigmaC1 ->setText(settings.value(_sigmaC1 ->objectName()).toString()); + _sigmaL1 ->setText(settings.value(_sigmaL1 ->objectName()).toString()); + + // SpinBox + // ------- + _corrWaitTime->setValue(settings.value(_corrWaitTime->objectName()).toInt()); + + // Table with stations + // ------------------- + for (int iRow = _staTable->rowCount()-1; iRow >=0; iRow--) { + _staTable->removeRow(iRow); + } + int iRow = -1; + QListIterator it(settings.value(_staTable->objectName()).toStringList()); + while (it.hasNext()) { + QStringList hlp = it.next().split(","); + ++iRow; + _staTable->insertRow(iRow); + for (int iCol = 0; iCol < hlp.size(); iCol++) { + _staTable->setItem(iRow, iCol, new QTableWidgetItem(hlp[iCol])); + } + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppWidgets::saveOptions() { + + bncSettings settings; + + settings.setValue(_dataSource ->objectName(), _dataSource ->currentText()); + settings.setValue(_rinexObs ->objectName(), _rinexObs ->fileName()); + settings.setValue(_rinexNav ->objectName(), _rinexNav ->fileName()); + settings.setValue(_corrMount ->objectName(), _corrMount ->text()); + settings.setValue(_corrFile ->objectName(), _corrFile ->fileName()); + settings.setValue(_crdFile ->objectName(), _crdFile ->fileName()); + settings.setValue(_antexFile ->objectName(), _antexFile ->fileName()); + settings.setValue(_logFile ->objectName(), _logFile ->text()); + settings.setValue(_nmeaFile ->objectName(), _nmeaFile ->text()); + settings.setValue(_nmeaPort ->objectName(), _nmeaPort ->text()); + settings.setValue(_lcGPS ->objectName(), _lcGPS ->currentText()); + settings.setValue(_lcGLONASS ->objectName(), _lcGLONASS ->currentText()); + settings.setValue(_lcGalileo ->objectName(), _lcGalileo ->currentText()); + settings.setValue(_sigmaC1 ->objectName(), _sigmaC1 ->text()); + settings.setValue(_sigmaL1 ->objectName(), _sigmaL1 ->text()); + settings.setValue(_corrWaitTime->objectName(), _corrWaitTime->value()); + + QStringList staList; + for (int iRow = 0; iRow < _staTable->rowCount(); iRow++) { + QString hlp; + for (int iCol = 0; iCol < _staTable->columnCount(); iCol++) { + if (_staTable->item(iRow, iCol)) { + hlp += _staTable->item(iRow, iCol)->text() + ","; + } + } + if (!hlp.isEmpty()) { + staList << hlp; + } + } + settings.setValue(_staTable->objectName(), staList); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppWidgets::slotEnableWidgets() { + + const static QPalette paletteWhite(QColor(255, 255, 255)); + const static QPalette paletteGray(QColor(230, 230, 230)); + + bool allDisabled = _dataSource->currentText() == "no"; + bool realTime = _dataSource->currentText() == "Real-Time Streams"; + bool rinexFiles = _dataSource->currentText() == "RINEX Files"; + + QListIterator it(_widgets); + while (it.hasNext()) { + QWidget* widget = it.next(); + widget->setEnabled(!allDisabled); + } + + if (realTime) { + _rinexObs->setEnabled(false); + _rinexNav->setEnabled(false); + _corrFile->setEnabled(false); + } + else if (rinexFiles) { + _corrMount->setEnabled(false); + } + + _dataSource->setEnabled(true); + + it.toFront(); + while (it.hasNext()) { + QWidget* widget = it.next(); + if (widget->isEnabled()) { + widget->setPalette(paletteWhite); + } + else { + widget->setPalette(paletteGray); + } + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppWidgets::slotAddStation() { + int iRow = _staTable->rowCount(); + _staTable->insertRow(iRow); + for (int iCol = 0; iCol < _staTable->columnCount(); iCol++) { + _staTable->setItem(iRow, iCol, new QTableWidgetItem("")); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppWidgets::slotDelStation() { + int nRows = _staTable->rowCount(); + bool flg[nRows]; + for (int iRow = 0; iRow < nRows; iRow++) { + if (_staTable->isItemSelected(_staTable->item(iRow,1))) { + flg[iRow] = true; + } + else { + flg[iRow] = false; + } + } + for (int iRow = nRows-1; iRow >= 0; iRow--) { + if (flg[iRow]) { + _staTable->removeRow(iRow); + } + } +} + Index: /trunk/BNC/src/PPP/pppWidgets.h =================================================================== --- /trunk/BNC/src/PPP/pppWidgets.h (revision 5809) +++ /trunk/BNC/src/PPP/pppWidgets.h (revision 5809) @@ -0,0 +1,69 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +#ifndef PPPWIDGETS_H +#define PPPWIDGETS_H + +#include + +class qtFileChooser; + +class t_pppWidgets : public QObject { + Q_OBJECT + + public: + t_pppWidgets(); + void saveOptions(); + + QComboBox* _dataSource; + qtFileChooser* _rinexObs; + qtFileChooser* _rinexNav; + QLineEdit* _corrMount; + qtFileChooser* _corrFile; + qtFileChooser* _crdFile; + qtFileChooser* _antexFile; + QLineEdit* _logFile; + QLineEdit* _nmeaFile; + QLineEdit* _nmeaPort; + QTableWidget* _staTable; + QComboBox* _lcGPS; + QComboBox* _lcGLONASS; + QComboBox* _lcGalileo; + QLineEdit* _sigmaC1; + QLineEdit* _sigmaL1; + QSpinBox* _corrWaitTime; + QPushButton* _addStaButton; + QPushButton* _delStaButton; + + private slots: + void slotEnableWidgets(); + void slotAddStation(); + void slotDelStation(); + + private: + void readOptions(); + QList _widgets; +}; + +#endif Index: unk/BNC/src/PPP/pppwidgets.cpp =================================================================== --- /trunk/BNC/src/PPP/pppwidgets.cpp (revision 5808) +++ (revision ) @@ -1,278 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -/* ------------------------------------------------------------------------- - * BKG NTRIP Client - * ------------------------------------------------------------------------- - * - * Class: t_pppWidgets - * - * Purpose: This class stores widgets for PPP options - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include - -#include "PPP/pppwidgets.h" -#include "qtfilechooser.h" -#include "bncsettings.h" - -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_pppWidgets::t_pppWidgets() { - - _dataSource = new QComboBox(); _dataSource ->setObjectName("PPP/dataSource"); _widgets << _dataSource; - _rinexObs = new qtFileChooser(); _rinexObs ->setObjectName("PPP/rinexObs"); _widgets << _rinexObs; - _rinexNav = new qtFileChooser(); _rinexNav ->setObjectName("PPP/rinexNav"); _widgets << _rinexNav; - _corrMount = new QLineEdit(); _corrMount ->setObjectName("PPP/corrMount"); _widgets << _corrMount; - _corrFile = new qtFileChooser(); _corrFile ->setObjectName("PPP/corrFile"); _widgets << _corrFile; - _crdFile = new qtFileChooser(); _crdFile ->setObjectName("PPP/crdFile"); _widgets << _crdFile; - _antexFile = new qtFileChooser(); _antexFile ->setObjectName("PPP/antexFile"); _widgets << _antexFile; - _logFile = new QLineEdit(); _logFile ->setObjectName("PPP/logFile"); _widgets << _logFile; - _nmeaFile = new QLineEdit(); _nmeaFile ->setObjectName("PPP/nmeaFile"); _widgets << _nmeaFile; - _nmeaPort = new QLineEdit(); _nmeaPort ->setObjectName("PPP/nmeaPort"); _widgets << _nmeaPort; - _staTable = new QTableWidget(); _staTable ->setObjectName("PPP/staTable"); _widgets << _staTable; - _lcGPS = new QComboBox(); _lcGPS ->setObjectName("PPP/lcGPS"); _widgets << _lcGPS; - _lcGLONASS = new QComboBox(); _lcGLONASS ->setObjectName("PPP/lcGLONASS"); _widgets << _lcGLONASS; - _lcGalileo = new QComboBox(); _lcGalileo ->setObjectName("PPP/lcGalileo"); _widgets << _lcGalileo; - _sigmaC1 = new QLineEdit(); _sigmaC1 ->setObjectName("PPP/sigmaC1"); _widgets << _sigmaC1; - _sigmaL1 = new QLineEdit(); _sigmaL1 ->setObjectName("PPP/sigmaL1"); _widgets << _sigmaL1; - _corrWaitTime = new QSpinBox(); _corrWaitTime->setObjectName("PPP/corrWaitTime"); _widgets << _corrWaitTime; - _addStaButton = new QPushButton("Add Station"); _widgets << _addStaButton; - _delStaButton = new QPushButton("Delete Station"); _widgets << _delStaButton; - - _dataSource->setEditable(false); - _dataSource->addItems(QString("no,Real-Time Streams,RINEX Files").split(",")); - connect(_dataSource, SIGNAL(currentIndexChanged(const QString&)), this, SLOT(slotEnableWidgets())); - - _lcGPS->setEditable(false); - _lcGPS->addItems(QString("no,P3,L3,P3&L3").split(",")); - - _lcGLONASS->setEditable(false); - _lcGLONASS->addItems(QString("no,P3,L3,P3&L3").split(",")); - - _lcGalileo->setEditable(false); - _lcGalileo->addItems(QString("no,P3,L3,P3&L3").split(",")); - - _corrWaitTime->setMinimum(0); - _corrWaitTime->setMaximum(20); - _corrWaitTime->setSingleStep(1); - _corrWaitTime->setSuffix(" sec"); - _corrWaitTime->setSpecialValueText("no"); - - _staTable->setColumnCount(9); - _staTable->setRowCount(0); - _staTable->setHorizontalHeaderLabels( - QString("Station,Sigma N,Sigma E,Sigma H,Noise N,Noise E,Noise H,Tropo Sigma,Tropo Noise").split(",")); - _staTable->setSelectionMode(QAbstractItemView::ExtendedSelection); - _staTable->setSelectionBehavior(QAbstractItemView::SelectRows); - _staTable->horizontalHeader()->setResizeMode(QHeaderView::Interactive); - /// _staTable->horizontalHeader()->setStretchLastSection(true); - _staTable->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft); - - connect(_addStaButton, SIGNAL(clicked()), this, SLOT(slotAddStation())); - connect(_delStaButton, SIGNAL(clicked()), this, SLOT(slotDelStation())); - - readOptions(); -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppWidgets::readOptions() { - - bncSettings settings; - - // ComboBoxes - // ---------- - int ii = _dataSource->findText(settings.value(_dataSource->objectName()).toString()); - if (ii != -1) { - _dataSource->setCurrentIndex(ii); - } - ii = _lcGPS->findText(settings.value(_lcGPS->objectName()).toString()); - if (ii != -1) { - _lcGPS->setCurrentIndex(ii); - } - ii = _lcGLONASS->findText(settings.value(_lcGLONASS->objectName()).toString()); - if (ii != -1) { - _lcGLONASS->setCurrentIndex(ii); - } - ii = _lcGalileo->findText(settings.value(_lcGalileo->objectName()).toString()); - if (ii != -1) { - _lcGalileo->setCurrentIndex(ii); - } - - // FileChoosers - // ------------ - _rinexObs ->setFileName(settings.value(_rinexObs ->objectName()).toString()); - _rinexNav ->setFileName(settings.value(_rinexNav ->objectName()).toString()); - _corrFile ->setFileName(settings.value(_corrFile ->objectName()).toString()); - _crdFile ->setFileName(settings.value(_crdFile ->objectName()).toString()); - _antexFile->setFileName(settings.value(_antexFile->objectName()).toString()); - - // LineEdits - // --------- - _corrMount->setText(settings.value(_corrMount->objectName()).toString()); - _logFile ->setText(settings.value(_logFile ->objectName()).toString()); - _nmeaFile ->setText(settings.value(_nmeaFile ->objectName()).toString()); - _nmeaPort ->setText(settings.value(_nmeaPort ->objectName()).toString()); - _sigmaC1 ->setText(settings.value(_sigmaC1 ->objectName()).toString()); - _sigmaL1 ->setText(settings.value(_sigmaL1 ->objectName()).toString()); - - // SpinBox - // ------- - _corrWaitTime->setValue(settings.value(_corrWaitTime->objectName()).toInt()); - - // Table with stations - // ------------------- - for (int iRow = _staTable->rowCount()-1; iRow >=0; iRow--) { - _staTable->removeRow(iRow); - } - int iRow = -1; - QListIterator it(settings.value(_staTable->objectName()).toStringList()); - while (it.hasNext()) { - QStringList hlp = it.next().split(","); - ++iRow; - _staTable->insertRow(iRow); - for (int iCol = 0; iCol < hlp.size(); iCol++) { - _staTable->setItem(iRow, iCol, new QTableWidgetItem(hlp[iCol])); - } - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppWidgets::saveOptions() { - - bncSettings settings; - - settings.setValue(_dataSource ->objectName(), _dataSource ->currentText()); - settings.setValue(_rinexObs ->objectName(), _rinexObs ->fileName()); - settings.setValue(_rinexNav ->objectName(), _rinexNav ->fileName()); - settings.setValue(_corrMount ->objectName(), _corrMount ->text()); - settings.setValue(_corrFile ->objectName(), _corrFile ->fileName()); - settings.setValue(_crdFile ->objectName(), _crdFile ->fileName()); - settings.setValue(_antexFile ->objectName(), _antexFile ->fileName()); - settings.setValue(_logFile ->objectName(), _logFile ->text()); - settings.setValue(_nmeaFile ->objectName(), _nmeaFile ->text()); - settings.setValue(_nmeaPort ->objectName(), _nmeaPort ->text()); - settings.setValue(_lcGPS ->objectName(), _lcGPS ->currentText()); - settings.setValue(_lcGLONASS ->objectName(), _lcGLONASS ->currentText()); - settings.setValue(_lcGalileo ->objectName(), _lcGalileo ->currentText()); - settings.setValue(_sigmaC1 ->objectName(), _sigmaC1 ->text()); - settings.setValue(_sigmaL1 ->objectName(), _sigmaL1 ->text()); - settings.setValue(_corrWaitTime->objectName(), _corrWaitTime->value()); - - QStringList staList; - for (int iRow = 0; iRow < _staTable->rowCount(); iRow++) { - QString hlp; - for (int iCol = 0; iCol < _staTable->columnCount(); iCol++) { - if (_staTable->item(iRow, iCol)) { - hlp += _staTable->item(iRow, iCol)->text() + ","; - } - } - if (!hlp.isEmpty()) { - staList << hlp; - } - } - settings.setValue(_staTable->objectName(), staList); -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppWidgets::slotEnableWidgets() { - - const static QPalette paletteWhite(QColor(255, 255, 255)); - const static QPalette paletteGray(QColor(230, 230, 230)); - - bool allDisabled = _dataSource->currentText() == "no"; - bool realTime = _dataSource->currentText() == "Real-Time Streams"; - bool rinexFiles = _dataSource->currentText() == "RINEX Files"; - - QListIterator it(_widgets); - while (it.hasNext()) { - QWidget* widget = it.next(); - widget->setEnabled(!allDisabled); - } - - if (realTime) { - _rinexObs->setEnabled(false); - _rinexNav->setEnabled(false); - _corrFile->setEnabled(false); - } - else if (rinexFiles) { - _corrMount->setEnabled(false); - } - - _dataSource->setEnabled(true); - - it.toFront(); - while (it.hasNext()) { - QWidget* widget = it.next(); - if (widget->isEnabled()) { - widget->setPalette(paletteWhite); - } - else { - widget->setPalette(paletteGray); - } - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppWidgets::slotAddStation() { - int iRow = _staTable->rowCount(); - _staTable->insertRow(iRow); - for (int iCol = 0; iCol < _staTable->columnCount(); iCol++) { - _staTable->setItem(iRow, iCol, new QTableWidgetItem("")); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppWidgets::slotDelStation() { - int nRows = _staTable->rowCount(); - bool flg[nRows]; - for (int iRow = 0; iRow < nRows; iRow++) { - if (_staTable->isItemSelected(_staTable->item(iRow,1))) { - flg[iRow] = true; - } - else { - flg[iRow] = false; - } - } - for (int iRow = nRows-1; iRow >= 0; iRow--) { - if (flg[iRow]) { - _staTable->removeRow(iRow); - } - } -} - Index: unk/BNC/src/PPP/pppwidgets.h =================================================================== --- /trunk/BNC/src/PPP/pppwidgets.h (revision 5808) +++ (revision ) @@ -1,69 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -#ifndef PPPWIDGETS_H -#define PPPWIDGETS_H - -#include - -class qtFileChooser; - -class t_pppWidgets : public QObject { - Q_OBJECT - - public: - t_pppWidgets(); - void saveOptions(); - - QComboBox* _dataSource; - qtFileChooser* _rinexObs; - qtFileChooser* _rinexNav; - QLineEdit* _corrMount; - qtFileChooser* _corrFile; - qtFileChooser* _crdFile; - qtFileChooser* _antexFile; - QLineEdit* _logFile; - QLineEdit* _nmeaFile; - QLineEdit* _nmeaPort; - QTableWidget* _staTable; - QComboBox* _lcGPS; - QComboBox* _lcGLONASS; - QComboBox* _lcGalileo; - QLineEdit* _sigmaC1; - QLineEdit* _sigmaL1; - QSpinBox* _corrWaitTime; - QPushButton* _addStaButton; - QPushButton* _delStaButton; - - private slots: - void slotEnableWidgets(); - void slotAddStation(); - void slotDelStation(); - - private: - void readOptions(); - QList _widgets; -}; - -#endif Index: unk/BNC/src/PPP/satbias.cpp =================================================================== --- /trunk/BNC/src/PPP/satbias.cpp (revision 5808) +++ (revision ) @@ -1,58 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -/* ------------------------------------------------------------------------- - * BKG NTRIP Client - * ------------------------------------------------------------------------- - * - * Class: t_pppMain - * - * Purpose: Satellite-specific biases - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include "satbias.h" - -using namespace BNC; -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_satBias::t_satBias(const t_satBiases& satBiases) { - _prn = satBiases._prn; - _time = satBiases._time; - _nx = satBiases._nx; - _jumpCount = satBiases._jumpCount; - for (unsigned ii = 0; ii < satBiases._biases.size(); ii++) { - const t_bias& bias = satBiases._biases[ii]; - t_biasType biasType = string(bias._rnxType3ch).substr(0,3); - _biases[biasType] = bias._value; - } -} Index: unk/BNC/src/PPP/satbias.h =================================================================== --- /trunk/BNC/src/PPP/satbias.h (revision 5808) +++ (revision ) @@ -1,30 +1,0 @@ -#ifndef SATBIAS_H -#define SATBIAS_H - -#include -#include "ppp.h" -#include "bnctime.h" - -namespace BNC { - -typedef std::string t_biasType; - -class t_satBias { - public: - t_satBias(const t_satBiases& satBiases); - ~t_satBias() {} - const t_prn& prn() const {return _prn;} - const std::map& biases() const {return _biases;} - int nx() const {return _nx;} - int jumpCount() const {return _jumpCount;} - private: - t_prn _prn; - bncTime _time; - int _nx; - int _jumpCount; - std::map _biases; -}; - -} - -#endif Index: unk/BNC/src/PPP/station.cpp =================================================================== --- /trunk/BNC/src/PPP/station.cpp (revision 5808) +++ (revision ) @@ -1,82 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -/* ------------------------------------------------------------------------- - * BKG NTRIP Client - * ------------------------------------------------------------------------- - * - * Class: t_station - * - * Purpose: Processed station - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include "station.h" -#include "bncutils.h" -#include "pppModel.h" - -using namespace BNC; -using namespace std; - -// Constructor -////////////////////////////////////////////////////////////////////////////// -t_station::t_station() { - _windUp = new t_windUp(); -} - -// Destructor -////////////////////////////////////////////////////////////////////////////// -t_station::~t_station() { - delete _windUp; -} - -// -////////////////////////////////////////////////////////////////////////////// -void t_station::setXyzApr(const ColumnVector& xyzApr) { - _xyzApr = xyzApr; - _ellApr.ReSize(3); - xyz2ell(_xyzApr.data(), _ellApr.data()); -} - -// -////////////////////////////////////////////////////////////////////////////// -void t_station::setNeuEcc(const ColumnVector& neuEcc) { - _neuEcc = neuEcc; - _xyzEcc.ReSize(3); - neu2xyz(_ellApr.data(), _neuEcc.data(), _xyzEcc.data()); -} - -// -////////////////////////////////////////////////////////////////////////////// -double t_station::windUp(const bncTime& time, t_prn prn, - const ColumnVector& rSat) const { - return _windUp->value(time, _xyzApr, prn, rSat); -} - Index: unk/BNC/src/PPP/station.h =================================================================== --- /trunk/BNC/src/PPP/station.h (revision 5808) +++ (revision ) @@ -1,49 +1,0 @@ -#ifndef STATION_H -#define STATION_H - -#include -#include -#include "ppp.h" -#include "bnctime.h" - -namespace BNC { - -class t_windUp; - -class t_station { - public: - t_station(); - ~t_station(); - void setName(std::string name) {_name = name;} - void setAntName(std::string antName) {_antName = antName;} - void setXyzApr(const ColumnVector& xyzApr); - void setNeuEcc(const ColumnVector& neuEcc); - void setDClk(double dClk) {_dClk = dClk;} - void setTideDspl(const ColumnVector& tideDspl) {_tideDspl = tideDspl;} - const std::string& name() const {return _name;} - const std::string& antName() const {return _antName;} - const ColumnVector& xyzApr() const {return _xyzApr;} - const ColumnVector& ellApr() const {return _ellApr;} - const ColumnVector& neuEcc() const {return _neuEcc;} - const ColumnVector& xyzEcc() const {return _xyzEcc;} - const ColumnVector& tideDspl() const {return _tideDspl;} - double dClk() const {return _dClk;} - double windUp(const bncTime& time, t_prn prn, const ColumnVector& rSat) const; - - private: - std::string _name; - std::string _antName; - ColumnVector _xyzApr; - ColumnVector _ellApr; - ColumnVector _neuEcc; - ColumnVector _xyzEcc; - ColumnVector _tideDspl; - double _dClk; - mutable t_windUp* _windUp; - bncTime _timeCheck; - ColumnVector _xyzCheck; -}; - -} - -#endif