Index: trunk/BNC/src/PPP_free/bncpppclient.cpp =================================================================== --- trunk/BNC/src/PPP_free/bncpppclient.cpp (revision 6083) +++ (revision ) @@ -1,313 +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 "pppOptions.h" -#include "pppClient.h" - -using namespace BNC_PPP; -using namespace std; - -// Global variable holding thread-specific pointers -////////////////////////////////////////////////////////////////////////////// -bncPPPclient* PPP_CLIENT = 0; - -// Static function returning thread-specific pointer -////////////////////////////////////////////////////////////////////////////// -bncPPPclient* t_pppClient::instance() { - return PPP_CLIENT; -} - -// Constructor -//////////////////////////////////////////////////////////////////////////// -bncPPPclient::bncPPPclient(const t_pppOptions* opt) : bncEphUser(false) { - - _opt = new t_pppOptions(*opt); - _staID = QByteArray(_opt->_roverName.c_str()) - _model = new bncModel(this); - _epoData = new t_epoData(); - PPP_CLIENT = this; -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -bncPPPclient::~bncPPPclient() { - _epoData->clear(); - - QMapIterator ic(_corr); - while (ic.hasNext()) { - ic.next(); - delete ic.value(); - } - - QMapIterator ib(_bias); - while (ib.hasNext()) { - ib.next(); - delete ib.value(); - } - - delete _model; - delete _epoData; - delete _opt; -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::processEpoch(const vector& satObs, t_output* output) { - QMutexLocker locker(&_mutex); - - // Convert and store observations - // ------------------------------ - _epoData->clear(); - for (unsigned ii = 0; ii < satObs.size(); ii++) { - const t_satObs* obs = satObs[ii]; - t_satData* satData = new t_satData(); - - if (_epoData->tt.undef()) { - _epoData->tt = obs->_time; - } - - satData->tt = obs->_time; - satData->prn = QString(obs->_prn.toString().c_str()); - satData->slipFlag = false; - satData->P1 = 0.0; - satData->P2 = 0.0; - satData->P5 = 0.0; - satData->L1 = 0.0; - satData->L2 = 0.0; - satData->L5 = 0.0; - for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) { - t_frqObs* frqObs = obs->_obs[ifrq]; - if (frqObs->_rnxType2ch[0] == '1') { - if (frqObs->_codeValid) satData->P1 = frqObs->_code; - if (frqObs->_phaseValid) satData->L1 = frqObs->_phase; - if (frqObs->_slip) satData->slipFlag = true; - } - else if (frqObs->_rnxType2ch[0] == '2') { - if (frqObs->_codeValid) satData->P2 = frqObs->_code; - if (frqObs->_phaseValid) satData->L2 = frqObs->_phase; - if (frqObs->_slip) satData->slipFlag = true; - } - else if (frqObs->_rnxType2ch[0] == '5') { - if (frqObs->_codeValid) satData->P5 = frqObs->_code; - if (frqObs->_phaseValid) satData->L5 = frqObs->_phase; - if (frqObs->_slip) satData->slipFlag = true; - } - } - putNewObs(satData); - } - - // Data Pre-Processing - // ------------------- - QMutableMapIterator it(_epoData->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) == success) { - output->_error = false; - output->_epoTime = _model->time(); - output->_xyzRover[0] = _model->x(); - output->_xyzRover[1] = _model->y(); - output->_xyzRover[2] = _model->z(); - output->_numSat = 0; - output->_pDop = 0.0; - } - else { - output->_error = true; - } - - output->_log = LOG.str(); -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::putNewObs(t_satData* satData) { - - // Set Observations GPS and Glonass - // -------------------------------- - if (satData->system() == 'G' || satData->system() == 'R') { - if (satData->P1 != 0.0 && satData->P2 != 0.0 && - satData->L1 != 0.0 && satData->L2 != 0.0 ) { - - int channel = 0; - if (satData->system() == 'R') { -// cerr << "not yet implemented" << endl; -// exit(0); - } - - t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1); - t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2); - double f1 = t_CST::freq(fType1, channel); - double f2 = t_CST::freq(fType2, channel); - 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->satData[satData->prn] = satData; - } - else { - delete satData; - } - } - - // Set Observations Galileo - // ------------------------ - else if (satData->system() == 'E') { - if (satData->P1 != 0.0 && satData->P5 != 0.0 && - satData->L1 != 0.0 && satData->L5 != 0.0 ) { - double f1 = t_CST::freq(t_frequency::E1, 0); - double f5 = t_CST::freq(t_frequency::E5, 0); - 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->satData[satData->prn] = satData; - } - else { - delete satData; - } - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::putOrbCorrections(const std::vector& corr) { - QMutexLocker locker(&_mutex); -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::putClkCorrections(const std::vector& corr) { - QMutexLocker locker(&_mutex); -} - -// -////////////////////////////////////////////////////////////////////////////// -void t_pppClient::putEphemeris(const t_eph* eph) { - const t_ephGPS* ephGPS = dynamic_cast(eph); - const t_ephGlo* ephGlo = dynamic_cast(eph); - const t_ephGal* ephGal = dynamic_cast(eph); - if (ephGPS) { - putNewEph(new t_ephGPS(*ephGPS)); - } - else if (ephGlo) { - putNewEph(new t_ephGlo(*ephGlo)); - } - else if (ephGal) { - putNewEph(new t_ephGal(*ephGal)); - } -} - -// Satellite Position -//////////////////////////////////////////////////////////////////////////// -t_irc bncPPPclient::getSatPos(const bncTime& tt, const QString& prn, - ColumnVector& xc, ColumnVector& vv) { - if (_eph.contains(prn)) { - t_eph* eLast = _eph.value(prn)->last; - t_eph* ePrev = _eph.value(prn)->prev; - if (eLast && eLast->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) { - return success; - } - else if (ePrev && ePrev->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) { - return success; - } - } - return failure; -} - -// 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; -} - Index: trunk/BNC/src/PPP_free/bncpppclient.h =================================================================== --- trunk/BNC/src/PPP_free/bncpppclient.h (revision 6083) +++ (revision ) @@ -1,154 +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" - -namespace BNC_PPP { - -class bncModel; -class t_pppOptions; -class t_satObs; -class t_satData; -class t_epoData; -class t_output; -class t_orbCorr; -class t_clkCorr; -class t_satBias; - -class bncPPPclient : public bncEphUser { - public: - bncPPPclient(const t_pppOptions* opt); - ~bncPPPclient(); - void processEpoch(const std::vector& satObs, t_output* output); - void putEphemeris(const t_eph* eph); - void putOrbCorrections(const std::vector& corr); - void putClkCorrections(const std::vector& corr); - void putBiases(const std::vector& satBias); - QByteArray staID() const {return _staID;} - const t_pppOptions* opt() const {return _opt;} - static bncPPPclient* instance(); - std::ostringstream& log() {return *_log;} - - private: - t_irc getSatPos(const bncTime& tt, const QString& prn, ColumnVector& xc, ColumnVector& vv); - void putNewObs(t_satData* satData); - t_irc cmpToT(t_satData* satData); - - t_pppOptions* _opt; - QByteArray _staID; - t_epoData* _epoData; - bncModel* _model; - std::ostringstream* _log; -}; - -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(); - tt.reset(); - } - - 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; -}; - -} - -#define LOG (BNC_PPP::t_pppClient::instance()->log()) - -#endif