Index: trunk/BNC/src/PPP/pppMain.cpp =================================================================== --- trunk/BNC/src/PPP/pppMain.cpp (revision 5859) +++ trunk/BNC/src/PPP/pppMain.cpp (revision 5860) @@ -57,5 +57,5 @@ ////////////////////////////////////////////////////////////////////////////// t_pppMain::~t_pppMain() { - stop(); + slotStop(); } @@ -81,5 +81,5 @@ catch (t_except exc) { _running = true; - stop(); + slotStop(); } } @@ -87,5 +87,5 @@ // ////////////////////////////////////////////////////////////////////////////// -void t_pppMain::stop() { +void t_pppMain::slotStop() { if (!_running) { return; Index: trunk/BNC/src/PPP/pppMain.h =================================================================== --- trunk/BNC/src/PPP/pppMain.h (revision 5859) +++ trunk/BNC/src/PPP/pppMain.h (revision 5860) @@ -8,10 +8,11 @@ namespace BNC_PPP { -class t_pppMain { +class t_pppMain : public QObject { public: t_pppMain(); ~t_pppMain(); void start(); - void stop(); + public slots: + void slotStop(); private: Index: trunk/BNC/src/PPP/pppRunPostProc.cpp =================================================================== --- trunk/BNC/src/PPP/pppRunPostProc.cpp (revision 5860) +++ trunk/BNC/src/PPP/pppRunPostProc.cpp (revision 5860) @@ -0,0 +1,266 @@ +// 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_postProcessing + * + * Purpose: Precise Point Positioning in Post-Processing Mode + * + * Author: L. Mervart + * + * Created: 22-Jan-2012 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include +#include "bncpostprocess.h" +#include "bnccore.h" +#include "bncsettings.h" +#include "pppopt.h" +#include "bncpppclient.h" +#include "rinex/rnxobsfile.h" +#include "rnxnavfile.h" +#include "corrfile.h" +#include "bncsettings.h" +#include "bncutils.h" + +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_postProcessing::t_postProcessing(QObject* parent, int maxSpeed, int speed) : QThread(parent) { + + _maxSpeed = maxSpeed; + _speed = speed; + _opt = new t_pppOpt(); + _rnxObsFile = 0; + _rnxNavFile = 0; + _corrFile = 0; + _pppClient = 0; + _isToBeDeleted = false; + + bncSettings settings; + + QString outFileName = settings.value("postOutFile").toString(); + if (outFileName.isEmpty()) { + _outFile = 0; + _outStream = 0; + } + else { + expandEnvVar(outFileName); + _outFile = new QFile(outFileName); + _outFile->open(QIODevice::WriteOnly | QIODevice::Text); + _outStream = new QTextStream(); + _outStream->setDevice(_outFile); + } +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_postProcessing::~t_postProcessing() { + delete _pppClient; + delete _rnxNavFile; + delete _rnxObsFile; + delete _corrFile; + delete _opt; + delete _outStream; + delete _outFile; +} + +// Write a Program Message +//////////////////////////////////////////////////////////////////////////// +void t_postProcessing::slotMessage(QByteArray msg, bool /* showOnScreen */) { + if (_outStream) { + *_outStream << endl << msg; + _outStream->flush(); + } + else { + BNC_CORE->slotMessage(msg, false); + } +} + +// Set Observations from RINEX File +//////////////////////////////////////////////////////////////////////////// +void t_postProcessing::setObsFromRnx(const t_rnxObsFile* rnxObsFile, + const t_rnxObsFile::t_rnxEpo* epo, + const t_rnxObsFile::t_rnxSat& rnxSat, + t_obs& obs) { + + strncpy(obs.StatID, rnxObsFile->markerName().toAscii().constData(), + sizeof(obs.StatID)); + + obs.satSys = rnxSat.satSys; + obs.satNum = rnxSat.satNum; + obs.GPSWeek = epo->tt.gpsw(); + obs.GPSWeeks = epo->tt.gpssec(); + + for (int iType = 0; iType < rnxObsFile->nTypes(obs.satSys); iType++) { + QString type = rnxObsFile->obsType(obs.satSys,iType).toAscii(); + obs.setMeasdata(type, rnxObsFile->version(), rnxSat.obs[iType]); + if (type.indexOf("L1") == 0) { + obs.snrL1 = rnxSat.snr[iType]; + obs.slipL1 = (rnxSat.lli[iType] & 1); + } + else if (type.indexOf("L2") == 0) { + obs.snrL2 = rnxSat.snr[iType]; + obs.slipL2 = (rnxSat.lli[iType] & 1); + } + else if (type.indexOf("L5") == 0) { + obs.snrL5 = rnxSat.snr[iType]; + obs.slipL5 = (rnxSat.lli[iType] & 1); + } + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_postProcessing::terminate() { + _isToBeDeleted = true; + if (!isRunning()) { + delete this; + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_postProcessing::run() { + + if (_pppClient) { + return; + } + else { + try { + _rnxObsFile = new t_rnxObsFile(_opt->obsFileName, t_rnxObsFile::input); + } + catch (...) { + delete _rnxObsFile; _rnxObsFile = 0; + emit finished(); + return; + } + _rnxNavFile = new t_rnxNavFile(_opt->navFileName, t_rnxNavFile::input); + _pppClient = new bncPPPclient("POST", _opt, false); + + if (!_opt->corrFileName.isEmpty()) { + _corrFile = new t_corrFile(_opt->corrFileName); + connect(_corrFile, SIGNAL(newCorrections(QStringList)), + _pppClient, SLOT(slotNewCorrections(QStringList)), + Qt::DirectConnection); + } + + connect(_pppClient, SIGNAL(newMessage(QByteArray,bool)), + this, SLOT(slotMessage(const QByteArray,bool))); + qRegisterMetaType("bncTime"); + connect(_pppClient, SIGNAL(newPosition(bncTime, double, double, double)), + this, SIGNAL(newPosition(bncTime, double, double, double))); + } + + // Read/Process Observations + // ------------------------- + int nEpo = 0; + const t_rnxObsFile::t_rnxEpo* epo = 0; + while ( (epo = _rnxObsFile->nextEpoch()) != 0 ) { + ++nEpo; + + if (_maxSpeed != 0) { + QMutexLocker locker(&_mutex); + if (_speed < _maxSpeed) { + double sleepTime = 0.02 * _maxSpeed / _speed; + msleep(sleepTime*1.e3); + } + } + + // Get Corrections + // --------------- + if (_corrFile) { + _corrFile->syncRead(epo->tt); + } + + // Get Ephemerides + // ---------------- + t_eph* eph = 0; + const QMap* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0; + while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) { + if (_pppClient->putNewEph(eph) != success) { + delete eph; eph = 0; + } + } + + for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) { + + if (_isToBeDeleted) { + QThread::exit(0); + return; + } + + const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs]; + + t_obs obs; + t_postProcessing::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs); + + // Get Glonass Channel Number + // ------------------------- + bool obsOK = true; + if (obs.satSys == 'R') { + QString prn = QString("%1%2").arg(obs.satSys) + .arg(obs.satNum, 2, 10, QChar('0')); + const bncEphUser::t_ephPair* ephPair = _pppClient->ephPair(prn); + if (ephPair && ephPair->last) { + obs.slotNum = ((t_ephGlo*) ephPair->last)->slotNum(); + } + else { + obsOK = false; + } + } + + // Put the new Observation to the Client + // ------------------------------------- + if (obsOK) { + _pppClient->putNewObs(obs); + } + } + if (nEpo % 10 == 0) { + emit progress(nEpo); + } + } + + if (BNC_CORE->mode() != t_bncCore::interactive) { + qApp->exit(0); + } + else { + emit finished(); + deleteLater(); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_postProcessing::slotSetSpeed(int speed) { + QMutexLocker locker(&_mutex); + _speed = speed; +} Index: trunk/BNC/src/PPP/pppRunPostProc.h =================================================================== --- trunk/BNC/src/PPP/pppRunPostProc.h (revision 5860) +++ trunk/BNC/src/PPP/pppRunPostProc.h (revision 5860) @@ -0,0 +1,80 @@ +// 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 BNCPOSTPROCESS_H +#define BNCPOSTPROCESS_H + +#include +#include "bncconst.h" +#include "rnxobsfile.h" +extern "C" { +#include "rtcm3torinex.h" +} + +class t_pppOpt; +class bncPPPclient; +class t_rnxNavFile; +class t_corrFile; +class t_obs; + +class t_postProcessing : public QThread { +Q_OBJECT + + public: + t_postProcessing(QObject* parent, int maxSpeed, int speed); + static void setObsFromRnx(const t_rnxObsFile* rnxObsFile, + const t_rnxObsFile::t_rnxEpo* epo, + const t_rnxObsFile::t_rnxSat& rnxSat, + t_obs& obs); + + ~t_postProcessing(); + + signals: + void progress(int); + void finished(); + void newPosition(bncTime time, double x, double y, double z); + + public slots: + void slotMessage(QByteArray msg, bool showOnScreen); + void slotSetSpeed(int speed); + + public: + virtual void run(); + void terminate(); + + private: + t_pppOpt* _opt; + bncPPPclient* _pppClient; + t_rnxObsFile* _rnxObsFile; + t_rnxNavFile* _rnxNavFile; + t_corrFile* _corrFile; + QFile* _outFile; + QTextStream* _outStream; + bool _isToBeDeleted; + int _maxSpeed; + int _speed; + QMutex _mutex; +}; + +#endif Index: trunk/BNC/src/PPP/pppRunRealTime.cpp =================================================================== --- trunk/BNC/src/PPP/pppRunRealTime.cpp (revision 5860) +++ trunk/BNC/src/PPP/pppRunRealTime.cpp (revision 5860) @@ -0,0 +1,321 @@ + +// 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_pppRunRealTime + * + * Purpose: Single Real-Time PPP Client + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + + +#include +#include +#include +#include + +#include "pppRunRealTime.h" +#include "bnccore.h" +#include "bncephuser.h" + +using namespace BNC_PPP; +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_pppRunRealTime::t_pppRunRealTime(const t_pppOptions* opt) { + _opt = opt; + connect(this, SIGNAL(newMessage(QByteArray,bool)), + BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); + if (_opt->_realTime) { + connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList)), + this, SLOT(slotNewObs(QByteArray, QList))); + + connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)), + this, SLOT(slotNewEphGPS(gpsephemeris))); + + connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)), + this, SLOT(slotNewEphGlonass(glonassephemeris))); + + connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)), + this, SLOT(slotNewEphGalileo(galileoephemeris))); + + connect(BNC_CORE, SIGNAL(newCorrections(QStringList)), + this, SLOT(slotNewCorrections(QStringList))); + + for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) { + _lastOrbCorrIOD[iPrn] = -1; + _lastClkCorrValue[iPrn] = 0.0; + } + + _pppClient = new t_pppClient(_opt); + } + else { + throw t_except("t_pppRunRealTime: post-processing not yet implemented"); + } +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_pppRunRealTime::~t_pppRunRealTime() { +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRunRealTime::slotNewEphGPS(gpsephemeris gpseph) { + QMutexLocker locker(&_mutex); + t_ephGPS eph; + eph.set(&gpseph); + _pppClient->putEphemeris(&eph); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRunRealTime::slotNewEphGlonass(glonassephemeris gloeph) { + QMutexLocker locker(&_mutex); + t_ephGlo eph; + eph.set(&gloeph); + _pppClient->putEphemeris(&eph); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRunRealTime::slotNewEphGalileo(galileoephemeris galeph) { + QMutexLocker locker(&_mutex); + t_ephGal eph; + eph.set(&galeph); + _pppClient->putEphemeris(&eph); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRunRealTime::slotNewObs(QByteArray staID, QList obsList) { + QMutexLocker locker(&_mutex); + + if (string(staID.data()) != _opt->_roverName) { + return; + } + + // Loop over all obsevations (possible different epochs) + // ----------------------------------------------------- + QListIterator it(obsList); + while (it.hasNext()) { + const t_obs& oldObs = it.next(); + t_satObs* newObs = new t_satObs; + + newObs->_prn.set(oldObs.satSys, oldObs.satNum); + newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks); + + // Find the corresponding data epoch or create a new one + // ----------------------------------------------------- + t_epoData* epoch = 0; + deque::const_iterator it; + for (it = _epoData.begin(); it != _epoData.end(); it++) { + if (newObs->_time == (*it)->_time) { + epoch = *it; + break; + } + } + if (epoch == 0) { + if (_epoData.empty() || newObs->_time > _epoData.back()->_time) { + epoch = new t_epoData; + epoch->_time = newObs->_time; + _epoData.push_back(epoch); + } + } + + // Fill the new observation and add it to the corresponding epoch + // -------------------------------------------------------------- + if (epoch != 0) { + epoch->_satObs.push_back(newObs); + map frqObsMap; + for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) { + string hlp(oldObs.rnxStr(iEntry).toAscii().data()); + if (hlp.length() == 3) { + char obsType = hlp[0]; + string rnxType2ch = hlp.substr(1); + if (obsType == 'C' || obsType == 'L') { + t_frqObs* frqObs = 0; + if (frqObsMap.find(rnxType2ch) == frqObsMap.end()) { + frqObs = new t_frqObs(); + frqObsMap[rnxType2ch] = frqObs; + frqObs->_rnxType2ch = rnxType2ch; + newObs->_obs.push_back(frqObs); + } + else { + frqObs = frqObsMap[rnxType2ch]; + } + if (obsType == 'C') { + frqObs->_code = oldObs._measdata[iEntry]; + frqObs->_codeValid = true; + } + else if (obsType == 'L') { + frqObs->_phase = oldObs._measdata[iEntry]; + frqObs->_phaseValid = true; + } + } + } + } + } + } + + // Process the oldest epochs + // ------------------------ + while (_epoData.size() && _epoData.front()->_time < _lastClkCorrTime + 10.0) { + + const vector& satObs = _epoData.front()->_satObs; + + t_output output; + _pppClient->processEpoch(satObs, &output); + + delete _epoData.front(); _epoData.pop_front(); + + //// beg test + cout << output._log << endl; cout.flush(); + //// end test + + emit newMessage(QByteArray(output._log.c_str()), true); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRunRealTime::slotNewCorrections(QStringList corrList) { + QMutexLocker locker(&_mutex); + + if (_opt->_corrMount.empty()) { + return; + } + + // Check the Mountpoint (source of corrections) + // -------------------------------------------- + QMutableListIterator itm(corrList); + while (itm.hasNext()) { + QStringList hlp = itm.next().split(" "); + if (hlp.size() > 0) { + QString mountpoint = hlp[hlp.size()-1]; + if (mountpoint != QString(_opt->_corrMount.c_str())) { + itm.remove(); + } + } + } + + if (corrList.size() == 0) { + return; + } + + vector orbCorr; + vector clkCorr; + vector satBias; + + QListIterator it(corrList); + while (it.hasNext()) { + QString line = it.next(); + + QTextStream in(&line); + int messageType; + int updateInterval; + int GPSweek; + double GPSweeks; + QString prn; + in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn; + + if ( t_corr::relevantMessageType(messageType) ) { + t_corr corr; + corr.readLine(line); + if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED || + messageType == COTYPE_GPSORBIT || messageType == COTYPE_GLONASSORBIT ) { + t_orbCorr* cc = new t_orbCorr(); + cc->_prn.set(corr.prn.toAscii().data()); + cc->_iod = corr.iod; + cc->_time = corr.tRao; + cc->_system = 'R'; + cc->_xr[0] = corr.rao[0]; + cc->_xr[1] = corr.rao[1]; + cc->_xr[2] = corr.rao[2]; + cc->_dotXr[0] = corr.dotRao[0]; + cc->_dotXr[0] = corr.dotRao[1]; + cc->_dotXr[0] = corr.dotRao[2]; + orbCorr.push_back(cc); + + _lastOrbCorrIOD[cc->_prn.toInt()] = cc->_iod; + } + else if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED || + messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK ) { + t_clkCorr* cc = new t_clkCorr(); + cc->_prn.set(corr.prn.toAscii().data()); + cc->_iod = corr.iod; + cc->_time = corr.tClk; + cc->_dClk = corr.dClk; + cc->_dotDClk = corr.dotDClk; + cc->_dotDotDClk = corr.dotDotDClk; + cc->_clkPartial = 0.0; + if (messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK) { + int lastIOD = _lastOrbCorrIOD[cc->_prn.toInt()]; + if (lastIOD != -1) { + cc->_iod = lastIOD; + } + else { + delete cc; + cc = 0; + } + } + if (cc) { + clkCorr.push_back(cc); + if (_lastClkCorrTime.undef() || cc->_time > _lastClkCorrTime) { + _lastClkCorrTime = cc->_time; + } + } + } + } + else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) { + t_bias bias; + bias.readLine(line); + } + } + + _pppClient->putOrbCorrections(orbCorr); + _pppClient->putClkCorrections(clkCorr); + _pppClient->putBiases(satBias); + + for (unsigned ii = 0; ii < orbCorr.size(); ii++) { + delete orbCorr[ii]; + } + for (unsigned ii = 0; ii < clkCorr.size(); ii++) { + delete clkCorr[ii]; + } + for (unsigned ii = 0; ii < satBias.size(); ii++) { + delete satBias[ii]; + } +} Index: trunk/BNC/src/PPP/pppRunRealTime.h =================================================================== --- trunk/BNC/src/PPP/pppRunRealTime.h (revision 5860) +++ trunk/BNC/src/PPP/pppRunRealTime.h (revision 5860) @@ -0,0 +1,56 @@ +#ifndef PPPRUNREALTIME_H +#define PPPRUNREALTIME_H + +#include +#include +#include + +#include "GPSDecoder.h" +#include "pppOptions.h" +#include "pppClient.h" + +namespace BNC_PPP { + +class t_pppRunRealTime : public QObject { + Q_OBJECT + public: + t_pppRunRealTime(const t_pppOptions* opt); + ~t_pppRunRealTime(); + + signals: + void newMessage(QByteArray msg, bool showOnScreen); + void newPosition(bncTime time, double x, double y, double z); + void newNMEAstr(QByteArray str); + + public slots: + void slotNewEphGPS(gpsephemeris gpseph); + void slotNewEphGlonass(glonassephemeris gloeph); + void slotNewEphGalileo(galileoephemeris galeph); + void slotNewCorrections(QStringList corrList); + void slotNewObs(QByteArray staID, QList obsList); + + private: + class t_epoData { + public: + t_epoData() {} + ~t_epoData() { + for (unsigned ii = 0; ii < _satObs.size(); ii++) { + delete _satObs[ii]; + } + } + bncTime _time; + std::vector _satObs; + }; + + QMutex _mutex; + const t_pppOptions* _opt; + t_pppClient* _pppClient; + std::deque _epoData; + int _lastOrbCorrIOD[t_prn::MAXPRN+1]; + double _lastClkCorrValue[t_prn::MAXPRN+1]; + bncTime _lastClkCorrTime; +}; + +} + +#endif Index: trunk/BNC/src/PPP/pppThread.cpp =================================================================== --- trunk/BNC/src/PPP/pppThread.cpp (revision 5859) +++ trunk/BNC/src/PPP/pppThread.cpp (revision 5860) @@ -56,6 +56,6 @@ //////////////////////////////////////////////////////////////////////////// t_pppThread::t_pppThread(const t_pppOptions* opt) : QThread(0) { - _opt = opt; - _pppRun = 0; + _opt = opt; + _pppRunRealTime = 0; connect(this, SIGNAL(finished()), this, SLOT(deleteLater())); @@ -67,5 +67,5 @@ //////////////////////////////////////////////////////////////////////////// t_pppThread::~t_pppThread() { - delete _pppRun; + delete _pppRunRealTime; } @@ -74,278 +74,11 @@ void t_pppThread::run() { try { - _pppRun = new t_pppRun(_opt); + _pppRunRealTime = new t_pppRunRealTime(_opt); QThread::exec(); } catch (t_except exc) { - _pppRun = 0; + _pppRunRealTime = 0; emit newMessage(QByteArray(exc.what().c_str()), true); } } -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_pppRun::t_pppRun(const t_pppOptions* opt) { - _opt = opt; - connect(this, SIGNAL(newMessage(QByteArray,bool)), - BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); - if (_opt->_realTime) { - connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList)), - this, SLOT(slotNewObs(QByteArray, QList))); - - connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)), - this, SLOT(slotNewEphGPS(gpsephemeris))); - - connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)), - this, SLOT(slotNewEphGlonass(glonassephemeris))); - - connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)), - this, SLOT(slotNewEphGalileo(galileoephemeris))); - - connect(BNC_CORE, SIGNAL(newCorrections(QStringList)), - this, SLOT(slotNewCorrections(QStringList))); - - for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) { - _lastOrbCorrIOD[iPrn] = -1; - _lastClkCorrValue[iPrn] = 0.0; - } - - _pppClient = new t_pppClient(_opt); - } - else { - throw t_except("t_pppRun: post-processing not yet implemented"); - } -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -t_pppRun::~t_pppRun() { -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRun::slotNewEphGPS(gpsephemeris gpseph) { - QMutexLocker locker(&_mutex); - t_ephGPS eph; - eph.set(&gpseph); - _pppClient->putEphemeris(&eph); -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRun::slotNewEphGlonass(glonassephemeris gloeph) { - QMutexLocker locker(&_mutex); - t_ephGlo eph; - eph.set(&gloeph); - _pppClient->putEphemeris(&eph); -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRun::slotNewEphGalileo(galileoephemeris galeph) { - QMutexLocker locker(&_mutex); - t_ephGal eph; - eph.set(&galeph); - _pppClient->putEphemeris(&eph); -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRun::slotNewObs(QByteArray staID, QList obsList) { - QMutexLocker locker(&_mutex); - - if (string(staID.data()) != _opt->_roverName) { - return; - } - - // Loop over all obsevations (possible different epochs) - // ----------------------------------------------------- - QListIterator it(obsList); - while (it.hasNext()) { - const t_obs& oldObs = it.next(); - t_satObs* newObs = new t_satObs; - - newObs->_prn.set(oldObs.satSys, oldObs.satNum); - newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks); - - // Find the corresponding data epoch or create a new one - // ----------------------------------------------------- - t_epoData* epoch = 0; - deque::const_iterator it; - for (it = _epoData.begin(); it != _epoData.end(); it++) { - if (newObs->_time == (*it)->_time) { - epoch = *it; - break; - } - } - if (epoch == 0) { - if (_epoData.empty() || newObs->_time > _epoData.back()->_time) { - epoch = new t_epoData; - epoch->_time = newObs->_time; - _epoData.push_back(epoch); - } - } - - // Fill the new observation and add it to the corresponding epoch - // -------------------------------------------------------------- - if (epoch != 0) { - epoch->_satObs.push_back(newObs); - map frqObsMap; - for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) { - string hlp(oldObs.rnxStr(iEntry).toAscii().data()); - if (hlp.length() == 3) { - char obsType = hlp[0]; - string rnxType2ch = hlp.substr(1); - if (obsType == 'C' || obsType == 'L') { - t_frqObs* frqObs = 0; - if (frqObsMap.find(rnxType2ch) == frqObsMap.end()) { - frqObs = new t_frqObs(); - frqObsMap[rnxType2ch] = frqObs; - frqObs->_rnxType2ch = rnxType2ch; - newObs->_obs.push_back(frqObs); - } - else { - frqObs = frqObsMap[rnxType2ch]; - } - if (obsType == 'C') { - frqObs->_code = oldObs._measdata[iEntry]; - frqObs->_codeValid = true; - } - else if (obsType == 'L') { - frqObs->_phase = oldObs._measdata[iEntry]; - frqObs->_phaseValid = true; - } - } - } - } - } - } - - // Process the oldest epochs - // ------------------------ - while (_epoData.size() && _epoData.front()->_time < _lastClkCorrTime + 10.0) { - - const vector& satObs = _epoData.front()->_satObs; - - t_output output; - _pppClient->processEpoch(satObs, &output); - - delete _epoData.front(); _epoData.pop_front(); - - //// beg test - cout << output._log << endl; cout.flush(); - //// end test - - emit newMessage(QByteArray(output._log.c_str()), true); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRun::slotNewCorrections(QStringList corrList) { - QMutexLocker locker(&_mutex); - - if (_opt->_corrMount.empty()) { - return; - } - - // Check the Mountpoint (source of corrections) - // -------------------------------------------- - QMutableListIterator itm(corrList); - while (itm.hasNext()) { - QStringList hlp = itm.next().split(" "); - if (hlp.size() > 0) { - QString mountpoint = hlp[hlp.size()-1]; - if (mountpoint != QString(_opt->_corrMount.c_str())) { - itm.remove(); - } - } - } - - if (corrList.size() == 0) { - return; - } - - vector orbCorr; - vector clkCorr; - vector satBias; - - QListIterator it(corrList); - while (it.hasNext()) { - QString line = it.next(); - - QTextStream in(&line); - int messageType; - int updateInterval; - int GPSweek; - double GPSweeks; - QString prn; - in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn; - - if ( t_corr::relevantMessageType(messageType) ) { - t_corr corr; - corr.readLine(line); - if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED || - messageType == COTYPE_GPSORBIT || messageType == COTYPE_GLONASSORBIT ) { - t_orbCorr* cc = new t_orbCorr(); - cc->_prn.set(corr.prn.toAscii().data()); - cc->_iod = corr.iod; - cc->_time = corr.tRao; - cc->_system = 'R'; - cc->_xr[0] = corr.rao[0]; - cc->_xr[1] = corr.rao[1]; - cc->_xr[2] = corr.rao[2]; - cc->_dotXr[0] = corr.dotRao[0]; - cc->_dotXr[0] = corr.dotRao[1]; - cc->_dotXr[0] = corr.dotRao[2]; - orbCorr.push_back(cc); - - _lastOrbCorrIOD[cc->_prn.toInt()] = cc->_iod; - } - else if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED || - messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK ) { - t_clkCorr* cc = new t_clkCorr(); - cc->_prn.set(corr.prn.toAscii().data()); - cc->_iod = corr.iod; - cc->_time = corr.tClk; - cc->_dClk = corr.dClk; - cc->_dotDClk = corr.dotDClk; - cc->_dotDotDClk = corr.dotDotDClk; - cc->_clkPartial = 0.0; - if (messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK) { - int lastIOD = _lastOrbCorrIOD[cc->_prn.toInt()]; - if (lastIOD != -1) { - cc->_iod = lastIOD; - } - else { - delete cc; - cc = 0; - } - } - if (cc) { - clkCorr.push_back(cc); - if (_lastClkCorrTime.undef() || cc->_time > _lastClkCorrTime) { - _lastClkCorrTime = cc->_time; - } - } - } - } - else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) { - t_bias bias; - bias.readLine(line); - } - } - - _pppClient->putOrbCorrections(orbCorr); - _pppClient->putClkCorrections(clkCorr); - _pppClient->putBiases(satBias); - - for (unsigned ii = 0; ii < orbCorr.size(); ii++) { - delete orbCorr[ii]; - } - for (unsigned ii = 0; ii < clkCorr.size(); ii++) { - delete clkCorr[ii]; - } - for (unsigned ii = 0; ii < satBias.size(); ii++) { - delete satBias[ii]; - } -} Index: trunk/BNC/src/PPP/pppThread.h =================================================================== --- trunk/BNC/src/PPP/pppThread.h (revision 5859) +++ trunk/BNC/src/PPP/pppThread.h (revision 5860) @@ -9,44 +9,7 @@ #include "pppOptions.h" #include "pppClient.h" +#include "pppRunRealTime.h" namespace BNC_PPP { - -class t_pppRun : public QObject { - Q_OBJECT - public: - t_pppRun(const t_pppOptions* opt); - ~t_pppRun(); - - signals: - void newMessage(QByteArray msg, bool showOnScreen); - - public slots: - void slotNewEphGPS(gpsephemeris gpseph); - void slotNewEphGlonass(glonassephemeris gloeph); - void slotNewEphGalileo(galileoephemeris galeph); - void slotNewCorrections(QStringList corrList); - void slotNewObs(QByteArray staID, QList obsList); - - private: - class t_epoData { - public: - t_epoData() {} - ~t_epoData() { - for (unsigned ii = 0; ii < _satObs.size(); ii++) { - delete _satObs[ii]; - } - } - bncTime _time; - std::vector _satObs; - }; - - QMutex _mutex; - const t_pppOptions* _opt; - t_pppClient* _pppClient; - std::deque _epoData; - int _lastOrbCorrIOD[t_prn::MAXPRN+1]; - double _lastClkCorrValue[t_prn::MAXPRN+1]; - bncTime _lastClkCorrTime; -}; class t_pppThread : public QThread { @@ -62,5 +25,5 @@ private: const t_pppOptions* _opt; - t_pppRun* _pppRun; + t_pppRunRealTime* _pppRunRealTime; }; Index: trunk/BNC/src/bncmodel.cpp =================================================================== --- trunk/BNC/src/bncmodel.cpp (revision 5859) +++ (revision ) @@ -1,1311 +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: bncParam, bncModel - * - * Purpose: Model for PPP - * - * Author: L. Mervart - * - * Created: 01-Dec-2009 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include -#include -#include -#include - -#include "bncmodel.h" -#include "bncpppclient.h" -#include "bnccore.h" -#include "bncpppclient.h" -#include "bancroft.h" -#include "bncutils.h" -#include "PPP/pppModel.h" -#include "bncantex.h" -#include "pppopt.h" - -using namespace std; - -const unsigned MINOBS = 5; -const double MINELE = 10.0 * M_PI / 180.0; -const double MAXRES_CODE = 15.0; -const double MAXRES_PHASE_GPS = 0.04; -const double MAXRES_PHASE_GLONASS = 0.08; -const double GLONASS_WEIGHT_FACTOR = 5.0; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -bncParam::bncParam(bncParam::parType typeIn, int indexIn, - const QString& prnIn) { - type = typeIn; - index = indexIn; - prn = prnIn; - index_old = 0; - xx = 0.0; - numEpo = 0; -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -bncParam::~bncParam() { -} - -// Partial -//////////////////////////////////////////////////////////////////////////// -double bncParam::partial(t_satData* satData, bool phase) { - - Tracer tracer("bncParam::partial"); - - // Coordinates - // ----------- - if (type == CRD_X) { - return (xx - satData->xx(1)) / satData->rho; - } - else if (type == CRD_Y) { - return (xx - satData->xx(2)) / satData->rho; - } - else if (type == CRD_Z) { - return (xx - satData->xx(3)) / satData->rho; - } - - // Receiver Clocks - // --------------- - else if (type == RECCLK) { - return 1.0; - } - - // Troposphere - // ----------- - else if (type == TROPO) { - return 1.0 / sin(satData->eleSat); - } - - // Glonass Offset - // -------------- - else if (type == GLONASS_OFFSET) { - if (satData->prn[0] == 'R') { - return 1.0; - } - else { - return 0.0; - } - } - - // Galileo Offset - // -------------- - else if (type == GALILEO_OFFSET) { - if (satData->prn[0] == 'E') { - return 1.0; - } - else { - return 0.0; - } - } - - // Ambiguities - // ----------- - else if (type == AMB_L3) { - if (phase && satData->prn == prn) { - return 1.0; - } - else { - return 0.0; - } - } - - // Default return - // -------------- - return 0.0; -} - -// Constructor -//////////////////////////////////////////////////////////////////////////// -bncModel::bncModel(bncPPPclient* pppClient) { - - _pppClient = pppClient; - _staID = pppClient->staID(); - _opt = pppClient->opt(); - - // NMEA Output - // ----------- - if (_opt->nmeaFile.isEmpty()) { - _nmeaFile = 0; - _nmeaStream = 0; - } - else { - QString hlpName = _opt->nmeaFile; expandEnvVar(hlpName); - _nmeaFile = new QFile(hlpName); - if (_opt->rnxAppend) { - _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append); - } - else { - _nmeaFile->open(QIODevice::WriteOnly); - } - _nmeaStream = new QTextStream(); - _nmeaStream->setDevice(_nmeaFile); - } - - // Antenna Name, ANTEX File - // ------------------------ - _antex = 0; - if (!_opt->antexFile.isEmpty()) { - _antex = new bncAntex(); - if (_antex->readFile(_opt->antexFile) != success) { - _pppClient->emitNewMessage("wrong ANTEX file", true); - delete _antex; - _antex = 0; - } - } - - _tides = new BNC_PPP::t_tides; - - // Bancroft Coordinates - // -------------------- - _xcBanc.ReSize(4); _xcBanc = 0.0; - _ellBanc.ReSize(3); _ellBanc = 0.0; - - // Save copy of data (used in outlier detection) - // --------------------------------------------- - _epoData_sav = new t_epoData(); -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -bncModel::~bncModel() { - delete _nmeaStream; - delete _nmeaFile; - for (int ii = 0; ii < _posAverage.size(); ++ii) { - delete _posAverage[ii]; - } - delete _antex; - for (int iPar = 1; iPar <= _params.size(); iPar++) { - delete _params[iPar-1]; - } - for (int iPar = 1; iPar <= _params_sav.size(); iPar++) { - delete _params_sav[iPar-1]; - } - delete _epoData_sav; - delete _tides; -} - -// Reset Parameters and Variance-Covariance Matrix -//////////////////////////////////////////////////////////////////////////// -void bncModel::reset() { - - Tracer tracer("bncModel::reset"); - - double lastTrp = 0.0; - for (int ii = 0; ii < _params.size(); ii++) { - bncParam* pp = _params[ii]; - if (pp->type == bncParam::TROPO) { - lastTrp = pp->xx; - } - delete pp; - } - _params.clear(); - - int nextPar = 0; - _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, "")); - _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, "")); - _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, "")); - _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, "")); - if (_opt->estTropo) { - _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, "")); - } - if (_opt->useGlonass) { - _params.push_back(new bncParam(bncParam::GLONASS_OFFSET, ++nextPar, "")); - } - if (_opt->useGalileo) { - _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, "")); - } - - _QQ.ReSize(_params.size()); - _QQ = 0.0; - for (int iPar = 1; iPar <= _params.size(); iPar++) { - bncParam* pp = _params[iPar-1]; - pp->xx = 0.0; - if (pp->isCrd()) { - _QQ(iPar,iPar) = _opt->sigCrd0 * _opt->sigCrd0; - } - else if (pp->type == bncParam::RECCLK) { - _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0; - } - else if (pp->type == bncParam::TROPO) { - _QQ(iPar,iPar) = _opt->sigTrp0 * _opt->sigTrp0; - pp->xx = lastTrp; - } - else if (pp->type == bncParam::GLONASS_OFFSET) { - _QQ(iPar,iPar) = _opt->sigGlonassOffset0 * _opt->sigGlonassOffset0; - } - else if (pp->type == bncParam::GALILEO_OFFSET) { - _QQ(iPar,iPar) = _opt->sigGalileoOffset0 * _opt->sigGalileoOffset0; - } - } -} - -// Bancroft Solution -//////////////////////////////////////////////////////////////////////////// -t_irc bncModel::cmpBancroft(t_epoData* epoData) { - - Tracer tracer("bncModel::cmpBancroft"); - - if (epoData->sizeSys('G') < MINOBS) { - _log += "bncModel::cmpBancroft: not enough data\n"; - return failure; - } - - Matrix BB(epoData->sizeSys('G'), 4); - - QMapIterator it(epoData->satData); - int iObsBanc = 0; - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); - if (satData->system() == 'G') { - ++iObsBanc; - QString prn = it.key(); - BB(iObsBanc, 1) = satData->xx(1); - BB(iObsBanc, 2) = satData->xx(2); - BB(iObsBanc, 3) = satData->xx(3); - BB(iObsBanc, 4) = satData->P3 + satData->clk; - } - } - - bancroft(BB, _xcBanc); - - // Ellipsoidal Coordinates - // ------------------------ - xyz2ell(_xcBanc.data(), _ellBanc.data()); - - // Compute Satellite Elevations - // ---------------------------- - QMutableMapIterator im(epoData->satData); - while (im.hasNext()) { - im.next(); - t_satData* satData = im.value(); - cmpEle(satData); - if (satData->eleSat < MINELE) { - delete satData; - im.remove(); - } - } - - return success; -} - -// Computed Value -//////////////////////////////////////////////////////////////////////////// -double bncModel::cmpValue(t_satData* satData, bool phase) { - - Tracer tracer("bncModel::cmpValue"); - - ColumnVector xRec(3); - xRec(1) = x(); - xRec(2) = y(); - xRec(3) = z(); - - double rho0 = (satData->xx - xRec).norm_Frobenius(); - double dPhi = t_CST::omega * rho0 / t_CST::c; - - xRec(1) = x() * cos(dPhi) - y() * sin(dPhi); - xRec(2) = y() * cos(dPhi) + x() * sin(dPhi); - xRec(3) = z(); - - xRec += _tides->displacement(_time, xRec); - - satData->rho = (satData->xx - xRec).norm_Frobenius(); - - double tropDelay = BNC_PPP::t_tropo::delay_saast(xRec, satData->eleSat) + - trp() / sin(satData->eleSat); - - double wind = 0.0; - if (phase) { - wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3; - } - - double offset = 0.0; - if (satData->prn[0] == 'R') { - offset = Glonass_offset(); - } - else if (satData->prn[0] == 'E') { - offset = Galileo_offset(); - } - - double phaseCenter = 0.0; - if (_antex) { - bool found; - phaseCenter = _antex->pco(_opt->antennaName, satData->eleSat, found); - if (!found) { - _pppClient->emitNewMessage("ANTEX: antenna >" - + _opt->antennaName.toAscii() + "< not found", true); - } - } - - double antennaOffset = 0.0; - if (_opt->antEccSet()) { - double cosa = cos(satData->azSat); - double sina = sin(satData->azSat); - double cose = cos(satData->eleSat); - double sine = sin(satData->eleSat); - antennaOffset = -_opt->antEccNEU[0] * cosa*cose - -_opt->antEccNEU[1] * sina*cose - -_opt->antEccNEU[2] * sine; - } - - return satData->rho + phaseCenter + antennaOffset + clk() - + offset - satData->clk + tropDelay + wind; -} - -// Prediction Step of the Filter -//////////////////////////////////////////////////////////////////////////// -void bncModel::predict(int iPhase, t_epoData* epoData) { - - Tracer tracer("bncModel::predict"); - - if (iPhase == 0) { - - bool firstCrd = false; - if (!_lastTimeOK.valid() || (_opt->maxSolGap > 0 && _time - _lastTimeOK > _opt->maxSolGap)) { - firstCrd = true; - _startTime = epoData->tt; - reset(); - } - - // Use different white noise for Quick-Start mode - // ---------------------------------------------- - double sigCrdP_used = _opt->sigCrdP; - if ( _opt->quickStart > 0.0 && _opt->quickStart > (epoData->tt - _startTime) ) { - sigCrdP_used = 0.0; - } - - // Predict Parameter values, add white noise - // ----------------------------------------- - for (int iPar = 1; iPar <= _params.size(); iPar++) { - bncParam* pp = _params[iPar-1]; - - // Coordinates - // ----------- - if (pp->type == bncParam::CRD_X) { - if (firstCrd) { - if (_opt->refCrdSet()) { - pp->xx = _opt->refCrd[0]; - } - else { - pp->xx = _xcBanc(1); - } - } - _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used; - } - else if (pp->type == bncParam::CRD_Y) { - if (firstCrd) { - if (_opt->refCrdSet()) { - pp->xx = _opt->refCrd[1]; - } - else { - pp->xx = _xcBanc(2); - } - } - _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used; - } - else if (pp->type == bncParam::CRD_Z) { - if (firstCrd) { - if (_opt->refCrdSet()) { - pp->xx = _opt->refCrd[2]; - } - else { - pp->xx = _xcBanc(3); - } - } - _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used; - } - - // Receiver Clocks - // --------------- - else if (pp->type == bncParam::RECCLK) { - pp->xx = _xcBanc(4); - for (int jj = 1; jj <= _params.size(); jj++) { - _QQ(iPar, jj) = 0.0; - } - _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0; - } - - // Tropospheric Delay - // ------------------ - else if (pp->type == bncParam::TROPO) { - _QQ(iPar,iPar) += _opt->sigTrpP * _opt->sigTrpP; - } - - // Glonass Offset - // -------------- - else if (pp->type == bncParam::GLONASS_OFFSET) { - bool epoSpec = true; - if (epoSpec) { - pp->xx = 0.0; - for (int jj = 1; jj <= _params.size(); jj++) { - _QQ(iPar, jj) = 0.0; - } - _QQ(iPar,iPar) = _opt->sigGlonassOffset0 * _opt->sigGlonassOffset0; - } - else { - _QQ(iPar,iPar) += _opt->sigGlonassOffsetP * _opt->sigGlonassOffsetP; - } - } - - // Galileo Offset - // -------------- - else if (pp->type == bncParam::GALILEO_OFFSET) { - _QQ(iPar,iPar) += _opt->sigGalileoOffsetP * _opt->sigGalileoOffsetP; - } - } - } - - // Add New Ambiguities if necessary - // -------------------------------- - if (_opt->usePhase) { - - // Make a copy of QQ and xx, set parameter indices - // ----------------------------------------------- - SymmetricMatrix QQ_old = _QQ; - - for (int iPar = 1; iPar <= _params.size(); iPar++) { - _params[iPar-1]->index_old = _params[iPar-1]->index; - _params[iPar-1]->index = 0; - } - - // Remove Ambiguity Parameters without observations - // ------------------------------------------------ - int iPar = 0; - QMutableVectorIterator im(_params); - while (im.hasNext()) { - bncParam* par = im.next(); - bool removed = false; - if (par->type == bncParam::AMB_L3) { - if (epoData->satData.find(par->prn) == epoData->satData.end()) { - removed = true; - delete par; - im.remove(); - } - } - if (! removed) { - ++iPar; - par->index = iPar; - } - } - - // Add new ambiguity parameters - // ---------------------------- - QMapIterator it(epoData->satData); - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); - addAmb(satData); - } - - int nPar = _params.size(); - _QQ.ReSize(nPar); _QQ = 0.0; - for (int i1 = 1; i1 <= nPar; i1++) { - bncParam* p1 = _params[i1-1]; - if (p1->index_old != 0) { - _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old); - for (int i2 = 1; i2 <= nPar; i2++) { - bncParam* p2 = _params[i2-1]; - if (p2->index_old != 0) { - _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old); - } - } - } - } - - for (int ii = 1; ii <= nPar; ii++) { - bncParam* par = _params[ii-1]; - if (par->index_old == 0) { - _QQ(par->index, par->index) = _opt->sigAmb0 * _opt->sigAmb0; - } - par->index_old = par->index; - } - } -} - -// Update Step of the Filter (currently just a single-epoch solution) -//////////////////////////////////////////////////////////////////////////// -t_irc bncModel::update(t_epoData* epoData) { - - Tracer tracer("bncModel::update"); - - _log.clear(); - - _time = epoData->tt; // current epoch time - - if (_opt->pppMode) { - _log += "Precise Point Positioning of Epoch " - + QByteArray(_time.timestr(1).c_str()) + - "\n---------------------------------------------------------------\n"; - } - else { - _log += "Single Point Positioning of Epoch " - + QByteArray(_time.timestr(1).c_str()) + - "\n--------------------------------------------------------------\n"; - } - - // Outlier Detection Loop - // ---------------------- - if (update_p(epoData) != success) { - _pppClient->emitNewMessage(_log, false); - return failure; - } - - // Remember the Epoch-specific Results for the computation of means - // ---------------------------------------------------------------- - pppPos* newPos = new pppPos; - newPos->time = epoData->tt; - - // Set Solution Vector - // ------------------- - ostringstream strB; - strB.setf(ios::fixed); - QVectorIterator itPar(_params); - while (itPar.hasNext()) { - bncParam* par = itPar.next(); - - if (par->type == bncParam::RECCLK) { - strB << "\n clk = " << setw(10) << setprecision(3) << par->xx - << " +- " << setw(6) << setprecision(3) - << sqrt(_QQ(par->index,par->index)); - } - else if (par->type == bncParam::AMB_L3) { - ++par->numEpo; - strB << "\n amb " << par->prn.toAscii().data() << " = " - << setw(10) << setprecision(3) << par->xx - << " +- " << setw(6) << setprecision(3) - << sqrt(_QQ(par->index,par->index)) - << " nEpo = " << par->numEpo; - } - else if (par->type == bncParam::TROPO) { - ColumnVector xyz(3); xyz(1) = x(); xyz(2) = y(); xyz(3) = z(); - double aprTrp = BNC_PPP::t_tropo::delay_saast(xyz, M_PI/2.0); - strB << "\n trp = " << par->prn.toAscii().data() - << setw(7) << setprecision(3) << aprTrp << " " - << setw(6) << setprecision(3) << showpos << par->xx << noshowpos - << " +- " << setw(6) << setprecision(3) - << sqrt(_QQ(par->index,par->index)); - newPos->xnt[6] = aprTrp + par->xx; - } - else if (par->type == bncParam::GLONASS_OFFSET) { - strB << "\n offGlo = " << setw(10) << setprecision(3) << par->xx - << " +- " << setw(6) << setprecision(3) - << sqrt(_QQ(par->index,par->index)); - } - else if (par->type == bncParam::GALILEO_OFFSET) { - strB << "\n offGal = " << setw(10) << setprecision(3) << par->xx - << " +- " << setw(6) << setprecision(3) - << sqrt(_QQ(par->index,par->index)); - } - } - strB << '\n'; - _log += strB.str().c_str(); - _pppClient->emitNewMessage(_log, false); - - // Final Message (both log file and screen) - // ---------------------------------------- - ostringstream strC; - strC.setf(ios::fixed); - strC << _staID.data() << " PPP " - << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " " - << setw(14) << setprecision(3) << x() << " +- " - << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " " - << setw(14) << setprecision(3) << y() << " +- " - << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " " - << setw(14) << setprecision(3) << z() << " +- " - << setw(6) << setprecision(3) << sqrt(_QQ(3,3)); - - // NEU Output - // ---------- - if (_opt->refCrdSet()) { - newPos->xnt[0] = x() - _opt->refCrd[0]; - newPos->xnt[1] = y() - _opt->refCrd[1]; - newPos->xnt[2] = z() - _opt->refCrd[2]; - - double ellRef[3]; - xyz2ell(_opt->refCrd, ellRef); - xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]); - - strC << " NEU " - << setw(8) << setprecision(3) << newPos->xnt[3] << " " - << setw(8) << setprecision(3) << newPos->xnt[4] << " " - << setw(8) << setprecision(3) << newPos->xnt[5] << endl; - - } - - _pppClient->emitNewMessage(QByteArray(strC.str().c_str()), true); - - if (_opt->pppAverage == 0.0) { - delete newPos; - } - else { - - _posAverage.push_back(newPos); - - // Compute the Mean - // ---------------- - ColumnVector mean(7); mean = 0.0; - - QMutableVectorIterator it(_posAverage); - while (it.hasNext()) { - pppPos* pp = it.next(); - if ( (epoData->tt - pp->time) >= _opt->pppAverage ) { - delete pp; - it.remove(); - } - else { - for (int ii = 0; ii < 7; ++ii) { - mean[ii] += pp->xnt[ii]; - } - } - } - - int nn = _posAverage.size(); - - if (nn > 0) { - - mean /= nn; - - // Compute the Deviation - // --------------------- - ColumnVector std(7); std = 0.0; - QVectorIterator it2(_posAverage); - while (it2.hasNext()) { - pppPos* pp = it2.next(); - for (int ii = 0; ii < 7; ++ii) { - std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]); - } - } - for (int ii = 0; ii < 7; ++ii) { - std[ii] = sqrt(std[ii] / nn); - } - - if (_opt->refCrdSet()) { - ostringstream strD; strD.setf(ios::fixed); - strD << _staID.data() << " AVE-XYZ " - << epoData->tt.timestr(1) << " " - << setw(13) << setprecision(3) << mean[0] + _opt->refCrd[0] << " +- " - << setw(6) << setprecision(3) << std[0] << " " - << setw(14) << setprecision(3) << mean[1] + _opt->refCrd[1] << " +- " - << setw(6) << setprecision(3) << std[1] << " " - << setw(14) << setprecision(3) << mean[2] + _opt->refCrd[2] << " +- " - << setw(6) << setprecision(3) << std[2]; - _pppClient->emitNewMessage(QByteArray(strD.str().c_str()), true); - - ostringstream strE; strE.setf(ios::fixed); - strE << _staID.data() << " AVE-NEU " - << epoData->tt.timestr(1) << " " - << setw(13) << setprecision(3) << mean[3] << " +- " - << setw(6) << setprecision(3) << std[3] << " " - << setw(14) << setprecision(3) << mean[4] << " +- " - << setw(6) << setprecision(3) << std[4] << " " - << setw(14) << setprecision(3) << mean[5] << " +- " - << setw(6) << setprecision(3) << std[5]; - _pppClient->emitNewMessage(QByteArray(strE.str().c_str()), true); - - if (_opt->estTropo) { - ostringstream strF; strF.setf(ios::fixed); - strF << _staID.data() << " AVE-TRP " - << epoData->tt.timestr(1) << " " - << setw(13) << setprecision(3) << mean[6] << " +- " - << setw(6) << setprecision(3) << std[6] << endl; - _pppClient->emitNewMessage(QByteArray(strF.str().c_str()), true); - } - } - } - } - - // NMEA Output - // ----------- - double xyz[3]; - xyz[0] = x(); - xyz[1] = y(); - xyz[2] = z(); - double ell[3]; - xyz2ell(xyz, ell); - double phiDeg = ell[0] * 180 / M_PI; - double lamDeg = ell[1] * 180 / M_PI; - - char phiCh = 'N'; - if (phiDeg < 0) { - phiDeg = -phiDeg; - phiCh = 'S'; - } - char lamCh = 'E'; - if (lamDeg < 0) { - lamDeg = -lamDeg; - lamCh = 'W'; - } - - string datestr = epoData->tt.datestr(0); // yyyymmdd - ostringstream strRMC; - strRMC.setf(ios::fixed); - strRMC << "GPRMC," - << epoData->tt.timestr(0,0) << ",A," - << setw(2) << setfill('0') << int(phiDeg) - << setw(6) << setprecision(3) << setfill('0') - << fmod(60*phiDeg,60) << ',' << phiCh << ',' - << setw(3) << setfill('0') << int(lamDeg) - << setw(6) << setprecision(3) << setfill('0') - << fmod(60*lamDeg,60) << ',' << lamCh << ",,," - << datestr[6] << datestr[7] << datestr[4] << datestr[5] - << datestr[2] << datestr[3] << ",,"; - - writeNMEAstr(QString(strRMC.str().c_str())); - - double dop = 2.0; // TODO - - ostringstream strGGA; - strGGA.setf(ios::fixed); - strGGA << "GPGGA," - << epoData->tt.timestr(0,0) << ',' - << setw(2) << setfill('0') << int(phiDeg) - << setw(10) << setprecision(7) << setfill('0') - << fmod(60*phiDeg,60) << ',' << phiCh << ',' - << setw(3) << setfill('0') << int(lamDeg) - << setw(10) << setprecision(7) << setfill('0') - << fmod(60*lamDeg,60) << ',' << lamCh - << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ',' - << setw(3) << setprecision(1) << dop << ',' - << setprecision(3) << ell[2] << ",M,0.0,M,,"; - - writeNMEAstr(QString(strGGA.str().c_str())); - - _lastTimeOK = _time; // remember time of last successful update - return success; -} - -// Outlier Detection -//////////////////////////////////////////////////////////////////////////// -QString bncModel::outlierDetection(int iPhase, const ColumnVector& vv, - QMap& satData) { - - Tracer tracer("bncModel::outlierDetection"); - - QString prnGPS; - QString prnGlo; - double maxResGPS = 0.0; - double maxResGlo = 0.0; - findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo); - - if (iPhase == 1) { - if (maxResGlo > MAXRES_PHASE_GLONASS) { - _log += "Outlier Phase " + prnGlo + " " - + QByteArray::number(maxResGlo, 'f', 3) + "\n"; - return prnGlo; - } - else if (maxResGPS > MAXRES_PHASE_GPS) { - _log += "Outlier Phase " + prnGPS + " " - + QByteArray::number(maxResGPS, 'f', 3) + "\n"; - return prnGPS; - } - } - else if (iPhase == 0 && maxResGPS > MAXRES_CODE) { - _log += "Outlier Code " + prnGPS + " " - + QByteArray::number(maxResGPS, 'f', 3) + "\n"; - return prnGPS; - } - - return QString(); -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncModel::writeNMEAstr(const QString& nmStr) { - - Tracer tracer("bncModel::writeNMEAstr"); - - unsigned char XOR = 0; - for (int ii = 0; ii < nmStr.length(); ii++) { - XOR ^= (unsigned char) nmStr[ii].toAscii(); - } - - QString outStr = '$' + nmStr - + QString("*%1\n").arg(int(XOR), 0, 16).toUpper(); - - if (_nmeaStream) { - *_nmeaStream << outStr; - _nmeaStream->flush(); - } - - _pppClient->emitNewNMEAstr(outStr.toAscii()); -} - -// Phase Wind-Up Correction -/////////////////////////////////////////////////////////////////////////// -double bncModel::windUp(const QString& prn, const ColumnVector& rSat, - const ColumnVector& rRec) { - - Tracer tracer("bncModel::windUp"); - - double Mjd = _time.mjd() + _time.daysec() / 86400.0; - - // First time - initialize to zero - // ------------------------------- - if (!_windUpTime.contains(prn)) { - _windUpSum[prn] = 0.0; - } - - // Compute the correction for new time - // ----------------------------------- - if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) { - _windUpTime[prn] = Mjd; - - // Unit Vector GPS Satellite --> Receiver - // -------------------------------------- - ColumnVector rho = rRec - rSat; - rho /= rho.norm_Frobenius(); - - // GPS Satellite unit Vectors sz, sy, sx - // ------------------------------------- - ColumnVector sz = -rSat / rSat.norm_Frobenius(); - - ColumnVector xSun = BNC_PPP::t_astro::Sun(Mjd); - xSun /= xSun.norm_Frobenius(); - - ColumnVector sy = crossproduct(sz, xSun); - ColumnVector sx = crossproduct(sy, sz); - - // Effective Dipole of the GPS Satellite Antenna - // --------------------------------------------- - ColumnVector dipSat = sx - rho * DotProduct(rho,sx) - - crossproduct(rho, sy); - - // Receiver unit Vectors rx, ry - // ---------------------------- - ColumnVector rx(3); - ColumnVector ry(3); - - double recEll[3]; xyz2ell(rRec.data(), recEll) ; - double neu[3]; - - neu[0] = 1.0; - neu[1] = 0.0; - neu[2] = 0.0; - neu2xyz(recEll, neu, rx.data()); - - neu[0] = 0.0; - neu[1] = -1.0; - neu[2] = 0.0; - neu2xyz(recEll, neu, ry.data()); - - // Effective Dipole of the Receiver Antenna - // ---------------------------------------- - ColumnVector dipRec = rx - rho * DotProduct(rho,rx) - + crossproduct(rho, ry); - - // Resulting Effect - // ---------------- - double alpha = DotProduct(dipSat,dipRec) / - (dipSat.norm_Frobenius() * dipRec.norm_Frobenius()); - - if (alpha > 1.0) alpha = 1.0; - if (alpha < -1.0) alpha = -1.0; - - double dphi = acos(alpha) / 2.0 / M_PI; // in cycles - - if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) { - dphi = -dphi; - } - - _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi; - } - - return _windUpSum[prn]; -} - -// -/////////////////////////////////////////////////////////////////////////// -void bncModel::cmpEle(t_satData* satData) { - Tracer tracer("bncModel::cmpEle"); - ColumnVector rr = satData->xx - _xcBanc.Rows(1,3); - double rho = rr.norm_Frobenius(); - - double neu[3]; - xyz2neu(_ellBanc.data(), rr.data(), neu); - - satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho ); - if (neu[2] < 0) { - satData->eleSat *= -1.0; - } - satData->azSat = atan2(neu[1], neu[0]); -} - -// -/////////////////////////////////////////////////////////////////////////// -void bncModel::addAmb(t_satData* satData) { - Tracer tracer("bncModel::addAmb"); - bool found = false; - for (int iPar = 1; iPar <= _params.size(); iPar++) { - if (_params[iPar-1]->type == bncParam::AMB_L3 && - _params[iPar-1]->prn == satData->prn) { - found = true; - break; - } - } - if (!found) { - bncParam* par = new bncParam(bncParam::AMB_L3, - _params.size()+1, satData->prn); - _params.push_back(par); - par->xx = satData->L3 - cmpValue(satData, true); - } -} - -// -/////////////////////////////////////////////////////////////////////////// -void bncModel::addObs(int iPhase, unsigned& iObs, t_satData* satData, - Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) { - - Tracer tracer("bncModel::addObs"); - - const double ELEWGHT = 20.0; - double ellWgtCoef = 1.0; - double eleD = satData->eleSat * 180.0 / M_PI; - if (eleD < ELEWGHT) { - ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0); - } - - // Remember Observation Index - // -------------------------- - ++iObs; - satData->obsIndex = iObs; - - // Phase Observations - // ------------------ - if (iPhase == 1) { - ll(iObs) = satData->L3 - cmpValue(satData, true); - double sigL3 = _opt->sigL3; - if (satData->system() == 'R') { - sigL3 *= GLONASS_WEIGHT_FACTOR; - } - PP(iObs,iObs) = 1.0 / (sigL3 * sigL3) / (ellWgtCoef * ellWgtCoef); - for (int iPar = 1; iPar <= _params.size(); iPar++) { - if (_params[iPar-1]->type == bncParam::AMB_L3 && - _params[iPar-1]->prn == satData->prn) { - ll(iObs) -= _params[iPar-1]->xx; - } - AA(iObs, iPar) = _params[iPar-1]->partial(satData, true); - } - } - - // Code Observations - // ----------------- - else { - ll(iObs) = satData->P3 - cmpValue(satData, false); - PP(iObs,iObs) = 1.0 / (_opt->sigP3 * _opt->sigP3) / (ellWgtCoef * ellWgtCoef); - for (int iPar = 1; iPar <= _params.size(); iPar++) { - AA(iObs, iPar) = _params[iPar-1]->partial(satData, false); - } - } -} - -// -/////////////////////////////////////////////////////////////////////////// -QByteArray bncModel::printRes(int iPhase, const ColumnVector& vv, - const QMap& satDataMap) { - - Tracer tracer("bncModel::printRes"); - - ostringstream str; - str.setf(ios::fixed); - - QMapIterator it(satDataMap); - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); - if (satData->obsIndex != 0) { - str << _time.timestr(1) - << " RES " << satData->prn.toAscii().data() - << (iPhase ? " L3 " : " P3 ") - << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl; - } - } - - return QByteArray(str.str().c_str()); -} - -// -/////////////////////////////////////////////////////////////////////////// -void bncModel::findMaxRes(const ColumnVector& vv, - const QMap& satData, - QString& prnGPS, QString& prnGlo, - double& maxResGPS, double& maxResGlo) { - - Tracer tracer("bncModel::findMaxRes"); - - maxResGPS = 0.0; - maxResGlo = 0.0; - - QMapIterator it(satData); - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); - if (satData->obsIndex != 0) { - QString prn = satData->prn; - if (prn[0] == 'R') { - if (fabs(vv(satData->obsIndex)) > maxResGlo) { - maxResGlo = fabs(vv(satData->obsIndex)); - prnGlo = prn; - } - } - else { - if (fabs(vv(satData->obsIndex)) > maxResGPS) { - maxResGPS = fabs(vv(satData->obsIndex)); - prnGPS = prn; - } - } - } - } -} - -// Update Step (private - loop over outliers) -//////////////////////////////////////////////////////////////////////////// -t_irc bncModel::update_p(t_epoData* epoData) { - - Tracer tracer("bncModel::update_p"); - - // Save Variance-Covariance Matrix, and Status Vector - // -------------------------------------------------- - rememberState(epoData); - - QString lastOutlierPrn; - - // Try with all satellites, then with all minus one, etc. - // ------------------------------------------------------ - while (selectSatellites(lastOutlierPrn, epoData->satData) == success) { - - QByteArray strResCode; - QByteArray strResPhase; - - // Bancroft Solution - // ----------------- - if (cmpBancroft(epoData) != success) { - break; - } - - // First update using code observations, then phase observations - // ------------------------------------------------------------- - for (int iPhase = 0; iPhase <= (_opt->usePhase ? 1 : 0); iPhase++) { - - // Status Prediction - // ----------------- - predict(iPhase, epoData); - - // Create First-Design Matrix - // -------------------------- - unsigned nPar = _params.size(); - unsigned nObs = 0; - if (iPhase == 0) { - nObs = epoData->sizeAll() - epoData->sizeSys('R'); // Glonass code not used - } - else { - nObs = epoData->sizeAll(); - } - - // Prepare first-design Matrix, vector observed-computed - // ----------------------------------------------------- - Matrix AA(nObs, nPar); // first design matrix - ColumnVector ll(nObs); // tems observed-computed - DiagonalMatrix PP(nObs); PP = 0.0; - - unsigned iObs = 0; - QMapIterator it(epoData->satData); - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); - if (iPhase == 1 || satData->system() != 'R') { - QString prn = satData->prn; - addObs(iPhase, iObs, satData, AA, ll, PP); - } - } - - // Compute Filter Update - // --------------------- - ColumnVector dx; - kalman(AA, ll, PP, _QQ, dx); - ColumnVector vv = ll - AA * dx; - - // Print Residuals - // --------------- - if (iPhase == 0) { - strResCode = printRes(iPhase, vv, epoData->satData); - } - else { - strResPhase = printRes(iPhase, vv, epoData->satData); - } - - // Check the residuals - // ------------------- - lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData); - - // No Outlier Detected - // ------------------- - if (lastOutlierPrn.isEmpty()) { - - QVectorIterator itPar(_params); - while (itPar.hasNext()) { - bncParam* par = itPar.next(); - par->xx += dx(par->index); - } - - if (!_opt->usePhase || iPhase == 1) { - if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) { - _log += "Neglected PRNs: "; - if (!_outlierGPS.isEmpty()) { - _log += _outlierGPS.last() + ' '; - } - QStringListIterator itGlo(_outlierGlo); - while (itGlo.hasNext()) { - QString prn = itGlo.next(); - _log += prn + ' '; - } - } - _log += '\n'; - - _log += strResCode + strResPhase; - - return success; - } - } - - // Outlier Found - // ------------- - else { - restoreState(epoData); - break; - } - - } // for iPhase - - } // while selectSatellites - - restoreState(epoData); - return failure; -} - -// Remeber Original State Vector and Variance-Covariance Matrix -//////////////////////////////////////////////////////////////////////////// -void bncModel::rememberState(t_epoData* epoData) { - - _QQ_sav = _QQ; - - QVectorIterator itSav(_params_sav); - while (itSav.hasNext()) { - bncParam* par = itSav.next(); - delete par; - } - _params_sav.clear(); - - QVectorIterator it(_params); - while (it.hasNext()) { - bncParam* par = it.next(); - _params_sav.push_back(new bncParam(*par)); - } - - _epoData_sav->deepCopy(epoData); -} - -// Restore Original State Vector and Variance-Covariance Matrix -//////////////////////////////////////////////////////////////////////////// -void bncModel::restoreState(t_epoData* epoData) { - - _QQ = _QQ_sav; - - QVectorIterator it(_params); - while (it.hasNext()) { - bncParam* par = it.next(); - delete par; - } - _params.clear(); - - QVectorIterator itSav(_params_sav); - while (itSav.hasNext()) { - bncParam* par = itSav.next(); - _params.push_back(new bncParam(*par)); - } - - epoData->deepCopy(_epoData_sav); -} - -// -//////////////////////////////////////////////////////////////////////////// -t_irc bncModel::selectSatellites(const QString& lastOutlierPrn, - QMap& satData) { - - // First Call - // ---------- - if (lastOutlierPrn.isEmpty()) { - _outlierGPS.clear(); - _outlierGlo.clear(); - return success; - } - - // Second and next trials - // ---------------------- - else { - - if (lastOutlierPrn[0] == 'R') { - _outlierGlo << lastOutlierPrn; - } - - // Remove all Glonass Outliers - // --------------------------- - QStringListIterator it(_outlierGlo); - while (it.hasNext()) { - QString prn = it.next(); - if (satData.contains(prn)) { - delete satData.take(prn); - } - } - - if (lastOutlierPrn[0] == 'R') { - _outlierGPS.clear(); - return success; - } - - // GPS Outlier appeared for the first time - try to delete it - // ---------------------------------------------------------- - if (_outlierGPS.indexOf(lastOutlierPrn) == -1) { - _outlierGPS << lastOutlierPrn; - if (satData.contains(lastOutlierPrn)) { - delete satData.take(lastOutlierPrn); - } - return success; - } - - } - - return failure; -} Index: trunk/BNC/src/bncmodel.h =================================================================== --- trunk/BNC/src/bncmodel.h (revision 5859) +++ (revision ) @@ -1,166 +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 BNCMODEL_H -#define BNCMODEL_H - -#include -#include -#include - -#include "bncconst.h" -#include "bnctime.h" - -class t_epoData; -class t_satData; -class bncAntex; -class t_pppOpt; -class bncPPPclient; -namespace BNC_PPP { -class t_tides; -} - -class bncParam { - public: - enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, - GLONASS_OFFSET, GALILEO_OFFSET}; - bncParam(parType typeIn, int indexIn, const QString& prn); - ~bncParam(); - double partial(t_satData* satData, bool phase); - bool isCrd() const { - return (type == CRD_X || type == CRD_Y || type == CRD_Z); - } - parType type; - double xx; - int index; - int index_old; - int numEpo; - QString prn; -}; - -class bncModel { - public: - bncModel(bncPPPclient* pppClient); - ~bncModel(); - t_irc update(t_epoData* epoData); - bncTime time() const {return _time;} - double x() const {return _params[0]->xx;} - double y() const {return _params[1]->xx;} - double z() const {return _params[2]->xx;} - double clk() const {return _params[3]->xx;} - double trp() const { - for (int ii = 0; ii < _params.size(); ++ii) { - bncParam* pp = _params[ii]; - if (pp->type == bncParam::TROPO) { - return pp->xx; - } - } - return 0.0; - } - double Glonass_offset() const { - for (int ii = 0; ii < _params.size(); ++ii) { - bncParam* pp = _params[ii]; - if (pp->type == bncParam::GLONASS_OFFSET) { - return pp->xx; - } - } - return 0.0; - } - double Galileo_offset() const { - for (int ii = 0; ii < _params.size(); ++ii) { - bncParam* pp = _params[ii]; - if (pp->type == bncParam::GALILEO_OFFSET) { - return pp->xx; - } - } - return 0.0; - } - - private: - void reset(); - t_irc cmpBancroft(t_epoData* epoData); - void cmpEle(t_satData* satData); - void addAmb(t_satData* satData); - void addObs(int iPhase, unsigned& iObs, t_satData* satData, - Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP); - QByteArray printRes(int iPhase, const ColumnVector& vv, - const QMap& satDataMap); - void findMaxRes(const ColumnVector& vv, - const QMap& satData, - QString& prnGPS, QString& prnGlo, - double& maxResGPS, double& maxResGlo); - double cmpValue(t_satData* satData, bool phase); - void predict(int iPhase, t_epoData* epoData); - t_irc update_p(t_epoData* epoData); - QString outlierDetection(int iPhase, const ColumnVector& vv, - QMap& satData); - void writeNMEAstr(const QString& nmStr); - - double windUp(const QString& prn, const ColumnVector& rSat, - const ColumnVector& rRec); - - bncTime _startTime; - - void rememberState(t_epoData* epoData); - void restoreState(t_epoData* epoData); - - t_irc selectSatellites(const QString& lastOutlierPrn, - QMap& satData); - - class pppPos { - public: - pppPos() { - for (int ii = 0; ii < 7; ++ii) { - xnt[ii] = 0.0; - } - } - bncTime time; - double xnt[7]; - }; - - bncPPPclient* _pppClient; - const t_pppOpt* _opt; - bncTime _time; - bncTime _lastTimeOK; - QByteArray _staID; - QVector _params; - SymmetricMatrix _QQ; - QVector _params_sav; - SymmetricMatrix _QQ_sav; - t_epoData* _epoData_sav; - ColumnVector _xcBanc; - ColumnVector _ellBanc; - QByteArray _log; - QFile* _nmeaFile; - QTextStream* _nmeaStream; - QMap _windUpTime; - QMap _windUpSum; - QVector _posAverage; - QStringList _outlierGPS; - QStringList _outlierGlo; - bncAntex* _antex; - BNC_PPP::t_tides* _tides; -}; - -#endif Index: trunk/BNC/src/bncpppclient.cpp =================================================================== --- trunk/BNC/src/bncpppclient.cpp (revision 5859) +++ (revision ) @@ -1,564 +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: bncPPPclient - * - * Purpose: Precise Point Positioning - * - * Author: L. Mervart - * - * Created: 21-Nov-2009 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include -#include -#include - -#include "bncpppclient.h" -#include "bnccore.h" -#include "bncutils.h" -#include "bncconst.h" -#include "bncmodel.h" -#include "pppopt.h" - -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -bncPPPclient::bncPPPclient(QByteArray staID, t_pppOpt* opt, bool connectSlots) : - bncEphUser(connectSlots) { - - if (opt) { - _opt = opt; - _optOwner = false; - } - else { - _opt = new t_pppOpt(); - _optOwner = true; - } - - _staID = staID; - - _model = new bncModel(this); - - if (connectSlots) { - connect(this, SIGNAL(newMessage(QByteArray,bool)), - BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); - - connect(BNC_CORE, SIGNAL(newCorrections(QStringList)), - this, SLOT(slotNewCorrections(QStringList))); - - connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), - this, SLOT(slotProviderIDChanged(QString))); - } -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -bncPPPclient::~bncPPPclient() { - delete _model; - while (!_epoData.empty()) { - delete _epoData.front(); - _epoData.pop(); - } - QMapIterator ic(_corr); - while (ic.hasNext()) { - ic.next(); - delete ic.value(); - } - QMapIterator ib(_bias); - while (ib.hasNext()) { - ib.next(); - delete ib.value(); - } - if (_optOwner) { - delete _opt; - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::putNewObs(const t_obs& obs) { - QMutexLocker locker(&_mutex); - - if (obs.satSys == 'R') { - if (!_opt->useGlonass) return; - } - else if (obs.satSys == 'E') { - if (!_opt->useGalileo) return; - } - else if (obs.satSys != 'G') { - return; - } - - t_satData* satData = new t_satData(); - satData->tt = bncTime(obs.GPSWeek, obs.GPSWeeks); - - // Satellite Number - // ---------------- - satData->prn = QString("%1%2").arg(obs.satSys).arg(obs.satNum,2,10,QChar('0')); - - // Check Slips - // ----------- - slipInfo& sInfo = _slips[satData->prn]; - if ( sInfo.slipCntL1 == obs.slip_cnt_L1 && - sInfo.slipCntL2 == obs.slip_cnt_L2 && - sInfo.slipCntL5 == obs.slip_cnt_L5 ) { - satData->slipFlag = false; - } - else { - satData->slipFlag = true; - } - sInfo.slipCntL1 = obs.slip_cnt_L1; - sInfo.slipCntL2 = obs.slip_cnt_L2; - - // Handle Code Biases - // ------------------ - t_bias* bb = 0; - if (_bias.contains(satData->prn)) { - bb = _bias.value(satData->prn); - } - - // Add new epoch, process the older ones - // ------------------------------------- - if (_epoData.size() == 0) { - _epoData.push(new t_epoData()); - _epoData.back()->tt = satData->tt; - } - else if (satData->tt != _epoData.back()->tt) { - processEpochs(); - _epoData.push(new t_epoData()); - _epoData.back()->tt = satData->tt; - } - - // Set Observations GPS and Glonass - // -------------------------------- - if (obs.satSys == 'G' || obs.satSys == 'R') { - const QByteArray preferredTypes("WPC"); - for (int ii = preferredTypes.length()-1; ii >= 0; ii--) { - for (int iPhase = 0; iPhase <= 1; iPhase++) { - for (int iFreq = 1; iFreq <= 2; iFreq++) { - - char rnxStr[4]; rnxStr[3] = '\0'; - double* p_value = 0; - if (iPhase == 0 && iFreq == 1) { - rnxStr[0] = 'C'; - rnxStr[1] = '1'; - p_value = &satData->P1; - } - else if (iPhase == 0 && iFreq == 2) { - rnxStr[0] = 'C'; - rnxStr[1] = '2'; - p_value = &satData->P2; - } - else if (iPhase == 1 && iFreq == 1) { - rnxStr[0] = 'L'; - rnxStr[1] = '1'; - p_value = &satData->L1; - } - else if (iPhase == 1 && iFreq == 2) { - rnxStr[0] = 'L'; - rnxStr[1] = '2'; - p_value = &satData->L2; - } - - rnxStr[2] = preferredTypes[ii]; - - double measdata = obs.measdata(rnxStr, 3.0); - if (measdata != 0.0) { - *p_value = measdata; - if (rnxStr[0] == 'C' && bb) { - char biasStr[3]; - biasStr[0] = rnxStr[1]; - biasStr[1] = rnxStr[2]; - biasStr[2] = '\0'; - *p_value += bb->value(biasStr); - } - } - } - } - } - - if (satData->P1 != 0.0 && satData->P2 != 0.0 && - satData->L1 != 0.0 && satData->L2 != 0.0 ) { - double f1 = t_CST::f1(obs.satSys, obs.slotNum); - double f2 = t_CST::f2(obs.satSys, obs.slotNum); - double a1 = f1 * f1 / (f1 * f1 - f2 * f2); - double a2 = - f2 * f2 / (f1 * f1 - f2 * f2); - satData->L1 = satData->L1 * t_CST::c / f1; - satData->L2 = satData->L2 * t_CST::c / f2; - satData->P3 = a1 * satData->P1 + a2 * satData->P2; - satData->L3 = a1 * satData->L1 + a2 * satData->L2; - satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2; - _epoData.back()->satData[satData->prn] = satData; - } - else { - delete satData; - } - } - - // Set Observations Galileo - // ------------------------ - else if (obs.satSys == 'E') { - satData->P1 = obs.measdata("C1", 3.0); - satData->L1 = obs.measdata("L1", 3.0); - satData->P5 = obs.measdata("C5", 3.0); - satData->L5 = obs.measdata("L5", 3.0); - if (satData->P1 != 0.0 && satData->P5 != 0.0 && - satData->L1 != 0.0 && satData->L5 != 0.0 ) { - double f1 = t_CST::freq1; - double f5 = t_CST::freq5; - double a1 = f1 * f1 / (f1 * f1 - f5 * f5); - double a5 = - f5 * f5 / (f1 * f1 - f5 * f5); - satData->L1 = satData->L1 * t_CST::c / f1; - satData->L5 = satData->L5 * t_CST::c / f5; - satData->P3 = a1 * satData->P1 + a5 * satData->P5; - satData->L3 = a1 * satData->L1 + a5 * satData->L5; - satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5; - _epoData.back()->satData[satData->prn] = satData; - } - else { - delete satData; - } - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::slotNewCorrections(QStringList corrList) { - QMutexLocker locker(&_mutex); - - // Check the Mountpoint (source of corrections) - // -------------------------------------------- - if (!_opt->pppCorrMount.isEmpty()) { - QMutableListIterator itm(corrList); - while (itm.hasNext()) { - QStringList hlp = itm.next().split(" "); - if (hlp.size() > 0) { - QString mountpoint = hlp[hlp.size()-1]; - if (mountpoint != _opt->pppCorrMount) { - itm.remove(); - } - } - } - } - - if (corrList.size() == 0) { - return; - } - - QListIterator it(corrList); - while (it.hasNext()) { - QString line = it.next(); - - QTextStream in(&line); - int messageType; - int updateInterval; - int GPSweek; - double GPSweeks; - QString prn; - in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn; - - if ( t_corr::relevantMessageType(messageType) ) { - t_corr* cc = 0; - if (_corr.contains(prn)) { - cc = _corr.value(prn); - } - else { - cc = new t_corr(); - _corr[prn] = cc; - } - cc->readLine(line); - _corr_tt = cc->tClk; - } - else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) { - t_bias* bb = 0; - if (_bias.contains(prn)) { - bb = _bias.value(prn); - } - else { - bb = new t_bias(); - _bias[prn] = bb; - } - bb->readLine(line); - } - } -} - -// Satellite Position -//////////////////////////////////////////////////////////////////////////// -t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn, - ColumnVector& xc, ColumnVector& vv) { - - const double MAXAGE = 120.0; - - if (_eph.contains(prn)) { - - if (_opt->pppMode && prn[0] != 'E') { - if (_corr.contains(prn)) { - t_corr* cc = _corr.value(prn); - if (cc->ready() && tt - cc->tClk < MAXAGE) { - t_eph* eLast = _eph.value(prn)->last; - t_eph* ePrev = _eph.value(prn)->prev; - if (eLast && eLast->IOD() == cc->iod) { - eLast->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()); - return applyCorr(tt, cc, xc, vv); - } - else if (ePrev && ePrev->IOD() == cc->iod) { - ePrev->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()); - return applyCorr(tt, cc, xc, vv); - } - } - } - } - - else { - t_eph* ee = _eph.value(prn)->last; - ee->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()); - return success; - } - } - - return failure; -} - -// -//////////////////////////////////////////////////////////////////////////// -t_irc bncPPPclient::applyCorr(const bncTime& tt, const t_corr* cc, - ColumnVector& xc, ColumnVector& vv) { - - double dtRao = tt - cc->tRao; - - // Position - // -------- - ColumnVector raoHlp = cc->rao + cc->dotRao * dtRao; - - if (raoHlp.norm_Frobenius() > 20.0) { - return failure; - } - - ColumnVector dx(3); - RSW_to_XYZ(xc.Rows(1,3), vv, raoHlp, dx); - xc[0] -= dx[0]; - xc[1] -= dx[1]; - xc[2] -= dx[2]; - - // Velocity - // -------- - ColumnVector dotRaoHlp = cc->dotRao; - - ColumnVector dv(3); - RSW_to_XYZ(xc.Rows(1,3), vv, dotRaoHlp, dv); - vv[0] -= dv[0]; - vv[1] -= dv[1]; - vv[2] -= dv[2]; - - // Clocks - // ------ - double dtClk = tt - cc->tClk; - - xc[3] += cc->dClk + cc->dotDClk * dtClk + cc->dotDotDClk * dtClk * dtClk - + cc->hrClk; - - return success; -} - -// Correct Time of Transmission -//////////////////////////////////////////////////////////////////////////// -t_irc bncPPPclient::cmpToT(t_satData* satData) { - - double prange = satData->P3; - if (prange == 0.0) { - return failure; - } - - double clkSat = 0.0; - for (int ii = 1; ii <= 10; ii++) { - - bncTime ToT = satData->tt - prange / t_CST::c - clkSat; - - ColumnVector xc(4); - ColumnVector vv(3); - if (getSatPos(ToT, satData->prn, xc, vv) != success) { - return failure; - } - - double clkSatOld = clkSat; - clkSat = xc(4); - - if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) { - satData->xx = xc.Rows(1,3); - satData->vv = vv; - satData->clk = clkSat * t_CST::c; - return success; - } - } - - return failure; -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::processFrontEpoch() { - -#ifdef BNC_DEBUG - QString msg = "List of Corrections\n"; - QMapIterator itC(_corr); - while (itC.hasNext()) { - itC.next(); - QString src = itC.key(); - const t_corr* corr = itC.value(); - msg += QString("%1 %2 %3 %4\n") - .arg(corr->prn) - .arg(corr->iod) - .arg(QString(corr->tClk.datestr().c_str()) + "_" + QString(corr->tClk.timestr().c_str())) - .arg(QString(corr->tRao.datestr().c_str()) + "_" + QString(corr->tRao.timestr().c_str())); - } - - msg += "List of Ephemeris\n"; - QMapIterator itE(_eph); - while (itE.hasNext()) { - itE.next(); - QString prn = itE.key(); - const t_ephPair* ephPair = itE.value(); - if (ephPair->prev) { - msg += QString("%1 %2 %3 %4 %5\n") - .arg(prn) - .arg(ephPair->last->IOD()) - .arg(QString(ephPair->last->TOC().datestr().c_str()) + "_" + - QString(ephPair->last->TOC().timestr().c_str())) - .arg(ephPair->prev->IOD()) - .arg(QString(ephPair->prev->TOC().datestr().c_str()) + "_" + - QString(ephPair->prev->TOC().timestr().c_str())); - } - else { - msg += QString("%1 %2 %3\n") - .arg(prn) - .arg(ephPair->last->IOD()) - .arg(QString(ephPair->last->TOC().datestr().c_str()) + "_" + - QString(ephPair->last->TOC().timestr().c_str())); - } - } - - emit newMessage(msg.toAscii(), false); -#endif // BNC_DEBUG - - // Data Pre-Processing - // ------------------- - QMutableMapIterator it(_epoData.front()->satData); - while (it.hasNext()) { - it.next(); - QString prn = it.key(); - t_satData* satData = it.value(); - - if (cmpToT(satData) != success) { - delete satData; - it.remove(); - continue; - } - } - - // Filter Solution - // --------------- - if (_model->update(_epoData.front()) == success) { - emit newPosition(_model->time(), _model->x(), _model->y(), _model->z()); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::processEpochs() { - - // Make sure the buffer does not grow beyond any limit - // --------------------------------------------------- - const unsigned MAX_EPODATA_SIZE = 120; - if (_epoData.size() > MAX_EPODATA_SIZE) { - delete _epoData.front(); - _epoData.pop(); - } - - // Loop over all unprocessed epochs - // -------------------------------- - while (!_epoData.empty()) { - - t_epoData* frontEpoData = _epoData.front(); - - // No corrections yet, skip the epoch - // ---------------------------------- - if (_opt->corrSync != 0.0 && !_corr_tt.valid()) { - return; - } - - // Process the front epoch - // ----------------------- - if (_opt->corrSync == 0 || frontEpoData->tt - _corr_tt < _opt->corrSync) { - processFrontEpoch(); - delete _epoData.front(); - _epoData.pop(); - } - else { - return; - } - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::slotProviderIDChanged(QString mountPoint) { - QMutexLocker locker(&_mutex); - - if (mountPoint != _opt->pppCorrMount) { - return; - } - emit newMessage("bncPPPclient " + _staID + ": Provider Changed: " + mountPoint.toAscii() + "\n", true); - - delete _model; - _model = new bncModel(this); - - while (!_epoData.empty()) { - delete _epoData.front(); - _epoData.pop(); - } - - QMapIterator ic(_corr); - while (ic.hasNext()) { - ic.next(); - delete ic.value(); - } - _corr.clear(); - - QMapIterator ib(_bias); - while (ib.hasNext()) { - ib.next(); - delete ib.value(); - } - _bias.clear(); -} Index: trunk/BNC/src/bncpppclient.h =================================================================== --- trunk/BNC/src/bncpppclient.h (revision 5859) +++ (revision ) @@ -1,173 +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 BNCPPPCLIENT_H -#define BNCPPPCLIENT_H - -#include -#include "bncephuser.h" -#include "GPSDecoder.h" - -class bncModel; -class t_pppOpt; - -class t_satData { - public: - t_satData() { - obsIndex = 0; - P1 = 0.0; - P2 = 0.0; - P5 = 0.0; - P3 = 0.0; - L1 = 0.0; - L2 = 0.0; - L5 = 0.0; - L3 = 0.0; - } - ~t_satData() {} - bncTime tt; - QString prn; - double P1; - double P2; - double P5; - double P3; - double L1; - double L2; - double L5; - double L3; - ColumnVector xx; - ColumnVector vv; - double clk; - double eleSat; - double azSat; - double rho; - bool slipFlag; - double lambda3; - unsigned obsIndex; - char system() const {return prn.toAscii()[0];} -}; - -class t_epoData { - public: - t_epoData() {} - - ~t_epoData() { - clear(); - } - - void clear() { - QMapIterator it(satData); - while (it.hasNext()) { - it.next(); - delete it.value(); - } - satData.clear(); - } - - void deepCopy(const t_epoData* from) { - clear(); - tt = from->tt; - QMapIterator it(from->satData); - while (it.hasNext()) { - it.next(); - satData[it.key()] = new t_satData(*it.value()); - } - } - - unsigned sizeSys(char system) const { - unsigned ans = 0; - QMapIterator it(satData); - while (it.hasNext()) { - it.next(); - if (it.value()->system() == system) { - ++ans; - } - } - return ans; - } - unsigned sizeAll() const {return satData.size();} - - bncTime tt; - QMap satData; -}; - -class bncPPPclient : public bncEphUser { - Q_OBJECT - - public: - bncPPPclient(QByteArray staID, t_pppOpt* opt = 0, bool connectSlots = true); - ~bncPPPclient(); - void putNewObs(const t_obs& pp); - static t_irc applyCorr(const bncTime& tt, const t_corr* cc, ColumnVector& xc, - ColumnVector& vv); - QByteArray staID() const {return _staID;} - const t_pppOpt* opt() const {return _opt;} - void emitNewMessage(QByteArray msg, bool showOnScreen) { - emit newMessage(msg, showOnScreen); - } - void emitNewNMEAstr(QByteArray str) { - emit newNMEAstr(str); - } - - public slots: - void slotNewCorrections(QStringList corrList); - void slotProviderIDChanged(QString mountPoint); - - signals: - void newMessage(QByteArray msg, bool showOnScreen); - void newPosition(bncTime time, double x, double y, double z); - void newNMEAstr(QByteArray str); - - private: - class slipInfo { - public: - slipInfo() { - slipCntL1 = -1; - slipCntL2 = -1; - slipCntL5 = -1; - } - ~slipInfo(){} - int slipCntL1; - int slipCntL2; - int slipCntL5; - }; - - t_irc getSatPos(const bncTime& tt, const QString& prn, - ColumnVector& xc, ColumnVector& vv); - void processEpochs(); - void processFrontEpoch(); - t_irc cmpToT(t_satData* satData); - - t_pppOpt* _opt; - bool _optOwner; - QByteArray _staID; - QMap _corr; - bncTime _corr_tt; - QMap _bias; - std::queue _epoData; - bncModel* _model; - QMap _slips; -}; - -#endif Index: trunk/BNC/src/bncwindow.cpp =================================================================== --- trunk/BNC/src/bncwindow.cpp (revision 5859) +++ trunk/BNC/src/bncwindow.cpp (revision 5860) @@ -2084,5 +2084,5 @@ if (iRet == QMessageBox::Yes) { if (_pppMain) { - _pppMain->stop(); + _pppMain->slotStop(); } BNC_CORE->stopCombination(); @@ -2115,5 +2115,5 @@ if (_pppMain) { - _pppMain->stop(); + _pppMain->slotStop(); } Index: trunk/BNC/src/rinex/bncpostprocess.cpp =================================================================== --- trunk/BNC/src/rinex/bncpostprocess.cpp (revision 5859) +++ (revision ) @@ -1,266 +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_postProcessing - * - * Purpose: Precise Point Positioning in Post-Processing Mode - * - * Author: L. Mervart - * - * Created: 22-Jan-2012 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include -#include "bncpostprocess.h" -#include "bnccore.h" -#include "bncsettings.h" -#include "pppopt.h" -#include "bncpppclient.h" -#include "rinex/rnxobsfile.h" -#include "rnxnavfile.h" -#include "corrfile.h" -#include "bncsettings.h" -#include "bncutils.h" - -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_postProcessing::t_postProcessing(QObject* parent, int maxSpeed, int speed) : QThread(parent) { - - _maxSpeed = maxSpeed; - _speed = speed; - _opt = new t_pppOpt(); - _rnxObsFile = 0; - _rnxNavFile = 0; - _corrFile = 0; - _pppClient = 0; - _isToBeDeleted = false; - - bncSettings settings; - - QString outFileName = settings.value("postOutFile").toString(); - if (outFileName.isEmpty()) { - _outFile = 0; - _outStream = 0; - } - else { - expandEnvVar(outFileName); - _outFile = new QFile(outFileName); - _outFile->open(QIODevice::WriteOnly | QIODevice::Text); - _outStream = new QTextStream(); - _outStream->setDevice(_outFile); - } -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -t_postProcessing::~t_postProcessing() { - delete _pppClient; - delete _rnxNavFile; - delete _rnxObsFile; - delete _corrFile; - delete _opt; - delete _outStream; - delete _outFile; -} - -// Write a Program Message -//////////////////////////////////////////////////////////////////////////// -void t_postProcessing::slotMessage(QByteArray msg, bool /* showOnScreen */) { - if (_outStream) { - *_outStream << endl << msg; - _outStream->flush(); - } - else { - BNC_CORE->slotMessage(msg, false); - } -} - -// Set Observations from RINEX File -//////////////////////////////////////////////////////////////////////////// -void t_postProcessing::setObsFromRnx(const t_rnxObsFile* rnxObsFile, - const t_rnxObsFile::t_rnxEpo* epo, - const t_rnxObsFile::t_rnxSat& rnxSat, - t_obs& obs) { - - strncpy(obs.StatID, rnxObsFile->markerName().toAscii().constData(), - sizeof(obs.StatID)); - - obs.satSys = rnxSat.satSys; - obs.satNum = rnxSat.satNum; - obs.GPSWeek = epo->tt.gpsw(); - obs.GPSWeeks = epo->tt.gpssec(); - - for (int iType = 0; iType < rnxObsFile->nTypes(obs.satSys); iType++) { - QString type = rnxObsFile->obsType(obs.satSys,iType).toAscii(); - obs.setMeasdata(type, rnxObsFile->version(), rnxSat.obs[iType]); - if (type.indexOf("L1") == 0) { - obs.snrL1 = rnxSat.snr[iType]; - obs.slipL1 = (rnxSat.lli[iType] & 1); - } - else if (type.indexOf("L2") == 0) { - obs.snrL2 = rnxSat.snr[iType]; - obs.slipL2 = (rnxSat.lli[iType] & 1); - } - else if (type.indexOf("L5") == 0) { - obs.snrL5 = rnxSat.snr[iType]; - obs.slipL5 = (rnxSat.lli[iType] & 1); - } - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_postProcessing::terminate() { - _isToBeDeleted = true; - if (!isRunning()) { - delete this; - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_postProcessing::run() { - - if (_pppClient) { - return; - } - else { - try { - _rnxObsFile = new t_rnxObsFile(_opt->obsFileName, t_rnxObsFile::input); - } - catch (...) { - delete _rnxObsFile; _rnxObsFile = 0; - emit finished(); - return; - } - _rnxNavFile = new t_rnxNavFile(_opt->navFileName, t_rnxNavFile::input); - _pppClient = new bncPPPclient("POST", _opt, false); - - if (!_opt->corrFileName.isEmpty()) { - _corrFile = new t_corrFile(_opt->corrFileName); - connect(_corrFile, SIGNAL(newCorrections(QStringList)), - _pppClient, SLOT(slotNewCorrections(QStringList)), - Qt::DirectConnection); - } - - connect(_pppClient, SIGNAL(newMessage(QByteArray,bool)), - this, SLOT(slotMessage(const QByteArray,bool))); - qRegisterMetaType("bncTime"); - connect(_pppClient, SIGNAL(newPosition(bncTime, double, double, double)), - this, SIGNAL(newPosition(bncTime, double, double, double))); - } - - // Read/Process Observations - // ------------------------- - int nEpo = 0; - const t_rnxObsFile::t_rnxEpo* epo = 0; - while ( (epo = _rnxObsFile->nextEpoch()) != 0 ) { - ++nEpo; - - if (_maxSpeed != 0) { - QMutexLocker locker(&_mutex); - if (_speed < _maxSpeed) { - double sleepTime = 0.02 * _maxSpeed / _speed; - msleep(sleepTime*1.e3); - } - } - - // Get Corrections - // --------------- - if (_corrFile) { - _corrFile->syncRead(epo->tt); - } - - // Get Ephemerides - // ---------------- - t_eph* eph = 0; - const QMap* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0; - while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) { - if (_pppClient->putNewEph(eph) != success) { - delete eph; eph = 0; - } - } - - for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) { - - if (_isToBeDeleted) { - QThread::exit(0); - return; - } - - const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs]; - - t_obs obs; - t_postProcessing::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs); - - // Get Glonass Channel Number - // ------------------------- - bool obsOK = true; - if (obs.satSys == 'R') { - QString prn = QString("%1%2").arg(obs.satSys) - .arg(obs.satNum, 2, 10, QChar('0')); - const bncEphUser::t_ephPair* ephPair = _pppClient->ephPair(prn); - if (ephPair && ephPair->last) { - obs.slotNum = ((t_ephGlo*) ephPair->last)->slotNum(); - } - else { - obsOK = false; - } - } - - // Put the new Observation to the Client - // ------------------------------------- - if (obsOK) { - _pppClient->putNewObs(obs); - } - } - if (nEpo % 10 == 0) { - emit progress(nEpo); - } - } - - if (BNC_CORE->mode() != t_bncCore::interactive) { - qApp->exit(0); - } - else { - emit finished(); - deleteLater(); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_postProcessing::slotSetSpeed(int speed) { - QMutexLocker locker(&_mutex); - _speed = speed; -} Index: trunk/BNC/src/rinex/bncpostprocess.h =================================================================== --- trunk/BNC/src/rinex/bncpostprocess.h (revision 5859) +++ (revision ) @@ -1,80 +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 BNCPOSTPROCESS_H -#define BNCPOSTPROCESS_H - -#include -#include "bncconst.h" -#include "rnxobsfile.h" -extern "C" { -#include "rtcm3torinex.h" -} - -class t_pppOpt; -class bncPPPclient; -class t_rnxNavFile; -class t_corrFile; -class t_obs; - -class t_postProcessing : public QThread { -Q_OBJECT - - public: - t_postProcessing(QObject* parent, int maxSpeed, int speed); - static void setObsFromRnx(const t_rnxObsFile* rnxObsFile, - const t_rnxObsFile::t_rnxEpo* epo, - const t_rnxObsFile::t_rnxSat& rnxSat, - t_obs& obs); - - ~t_postProcessing(); - - signals: - void progress(int); - void finished(); - void newPosition(bncTime time, double x, double y, double z); - - public slots: - void slotMessage(QByteArray msg, bool showOnScreen); - void slotSetSpeed(int speed); - - public: - virtual void run(); - void terminate(); - - private: - t_pppOpt* _opt; - bncPPPclient* _pppClient; - t_rnxObsFile* _rnxObsFile; - t_rnxNavFile* _rnxNavFile; - t_corrFile* _corrFile; - QFile* _outFile; - QTextStream* _outStream; - bool _isToBeDeleted; - int _maxSpeed; - int _speed; - QMutex _mutex; -}; - -#endif Index: trunk/BNC/src/src.pri =================================================================== --- trunk/BNC/src/src.pri (revision 5859) +++ trunk/BNC/src/src.pri (revision 5860) @@ -44,7 +44,7 @@ bncnetqueryudp0.h bncudpport.h bnctime.h pppopt.h \ bncserialport.h bncnetquerys.h bncfigure.h \ - bncfigurelate.h bncpppclient.h bncversion.h \ - bancroft.h bncmodel.h bncfigureppp.h bncrawfile.h \ - bncmap.h bncantex.h \ + bncfigurelate.h bncversion.h \ + bancroft.h bncfigureppp.h bncrawfile.h \ + bncmap.h bncantex.h \ bncephuser.h bncoutf.h bncclockrinex.h bncsp3.h \ bncbytescounter.h bncsslconfig.h reqcdlg.h \ @@ -62,5 +62,5 @@ PPP/pppObsPool.h PPP/pppStation.h PPP/pppFilter.h \ PPP/pppEphPool.h PPP/pppModel.h PPP/pppParlist.h \ - PPP/pppSatObs.h + PPP/pppSatObs.h PPP/pppRunRealTime.h HEADERS += serial/qextserialbase.h serial/qextserialport.h @@ -76,7 +76,7 @@ bncnetqueryudp0.cpp bncudpport.cpp pppopt.cpp \ bncserialport.cpp bncnetquerys.cpp bncfigure.cpp \ - bncfigurelate.cpp bncpppclient.cpp bnctime.cpp \ - bancroft.cpp bncmodel.cpp bncfigureppp.cpp bncrawfile.cpp \ - bncmap_svg.cpp bncantex.cpp \ + bncfigurelate.cpp bnctime.cpp \ + bancroft.cpp bncfigureppp.cpp bncrawfile.cpp \ + bncmap_svg.cpp bncantex.cpp \ bncephuser.cpp bncoutf.cpp bncclockrinex.cpp bncsp3.cpp \ bncbytescounter.cpp bncsslconfig.cpp reqcdlg.cpp \ @@ -94,5 +94,5 @@ PPP/pppObsPool.cpp PPP/pppStation.cpp PPP/pppFilter.cpp \ PPP/pppEphPool.cpp PPP/pppModel.cpp PPP/pppParlist.cpp \ - PPP/pppSatObs.cpp + PPP/pppSatObs.cpp PPP/pppRunRealTime.cpp SOURCES += serial/qextserialbase.cpp serial/qextserialport.cpp @@ -112,5 +112,5 @@ exists(rinex/bncpostprocess.h) { DEFINES += USE_POSTPROCESSING - HEADERS += rinex/bncpostprocess.h rinex/rnxobsfile.h \ + HEADERS += rinex/rnxobsfile.h \ rinex/rnxnavfile.h rinex/corrfile.h \ rinex/reqcedit.h rinex/reqcanalyze.h \ @@ -118,5 +118,5 @@ rinex/availplot.h rinex/eleplot.h \ rinex/dopplot.h - SOURCES += rinex/bncpostprocess.cpp rinex/rnxobsfile.cpp \ + SOURCES += rinex/rnxobsfile.cpp \ rinex/rnxnavfile.cpp rinex/corrfile.cpp \ rinex/reqcedit.cpp rinex/reqcanalyze.cpp \