Changeset 7203 in ntrip for trunk/BNC/src/PPP/pppFilter.h

Timestamp:

Aug 17, 2015, 12:30:54 PM (9 years ago)

Author:

stuerze

Message:

some renaming regarding PPP

File:

• trunk/BNC/src/PPP/pppFilter.h (modified) (1 diff)

trunk/BNC/src/PPP/pppFilter.h

@@ -1 @@
-#ifndef FILTER_H
-#define FILTER_H
-
-#include <vector>
+// 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 PPPFILTER_H
+#define PPPFILTER_H
+
+#include <QtCore>
+#include <QtNetwork>
 #include <newmat.h>
-#include "pppInclude.h"
-#include "pppParlist.h"
+
+#include "bncconst.h"
 #include "bnctime.h"
-#include "t_prn.h"
+
+class bncAntex;
 
 namespace BNC_PPP {
 
-class t_pppParlist;
-class t_pppObsPool;
-class t_pppSatObs;
+class t_pppClient;
+class t_pppOptions;
+class t_epoData;
+class t_satData;
+class t_tides;
+
+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;
+    lkA     = 0.0;
+    lkB     = 0.0;
+  }
+  ~t_satData() {}
+  bncTime      tt;
+  QString      prn;
+  double       P1;
+  double       P2;
+  double       P5;
+  double       P7;
+  double       P3;
+  double       L1;
+  double       L2;
+  double       L5;
+  double       L7;
+  double       L3;
+  ColumnVector xx;
+  ColumnVector vv;
+  double       clk;
+  double       eleSat;
+  double       azSat;
+  double       rho;
+  bool         slipFlag;
+  double       lambda3;
+  double       lkA;
+  double       lkB;
+  unsigned     obsIndex;
+  char system() const {return prn.toAscii()[0];}
+};
+
+class t_epoData {
+ public:
+  t_epoData() {}
+
+  ~t_epoData() {
+    clear();
+  }
+
+  void clear() {
+    QMapIterator<QString, t_satData*> 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<QString, t_satData*> 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<QString, t_satData*> it(satData);
+    while (it.hasNext()) {
+      it.next();
+      if (it.value()->system() == system) {
+        ++ans;
+      }
+    }
+    return ans;
+  }
+  unsigned sizeAll() const {return satData.size();}
+
+  bncTime                   tt;
+  QMap<QString, t_satData*> satData;
+};
+
+class t_pppParam {
+ public:
+  enum parType {CRD_X, CRD_Y, CRD_Z, RECCLK, TROPO, AMB_L3, 
+                GLONASS_OFFSET, GALILEO_OFFSET, BDS_OFFSET};
+  t_pppParam(parType typeIn, int indexIn, const QString& prn);
+  ~t_pppParam();
+  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 t_pppFilter {
  public:
-  t_pppFilter();
+  t_pppFilter(t_pppClient* pppClient);
   ~t_pppFilter();
-
-  t_irc processEpoch(t_pppObsPool* obsPool);
-
-  const ColumnVector&    x() const {return _xFlt;}
-  const SymmetricMatrix& Q() const {return _QFlt;}
-
+  t_irc update(t_epoData* epoData);
+  bncTime time()  const {return _time;}
+  const SymmetricMatrix& Q() const {return _QQ;}
+  const ColumnVector& neu() const {return _neu;}
   int    numSat() const {return _numSat;}
-  double PDOP() const {return _dop.P;}
-  double GDOP() const {return _dop.G;}
+  double PDOP()   const {return _pDop;}
+  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 trp0()   {return delay_saast(M_PI/2.0);}
   double trp() const {
-    const std::vector<t_pppParam*>& par = _parlist->params();
-    for (unsigned ii = 0; ii < par.size(); ++ii) {
-      if (par[ii]->type() == t_pppParam::trp) {
-        return x()[ii];
-      }
-    }
-    return 0.0;
-  };
+    for (int ii = 0; ii < _params.size(); ++ii) {
+      t_pppParam* pp = _params[ii];
+      if (pp->type == t_pppParam::TROPO) {
+        return pp->xx;
+      }
+    }
+    return 0.0;
+  }
   double trpStdev() const {
-    const std::vector<t_pppParam*>& par = _parlist->params();
-    for (unsigned ii = 0; ii < par.size(); ++ii) {
-      if (par[ii]->type() == t_pppParam::trp) {
+    for (int ii = 0; ii < _params.size(); ++ii) {
+      t_pppParam* pp = _params[ii];
+      if (pp->type == t_pppParam::TROPO) {
         return sqrt(Q()[ii][ii]);
       }
     }
     return 0.0;
-  };
-
+  }
+  double Glonass_offset() const {
+    for (int ii = 0; ii < _params.size(); ++ii) {
+      t_pppParam* pp = _params[ii];
+      if (pp->type == t_pppParam::GLONASS_OFFSET) {
+        return pp->xx;
+      }
+    }
+    return 0.0;
+  }
+  double Galileo_offset() const {
+    for (int ii = 0; ii < _params.size(); ++ii) {
+      t_pppParam* pp = _params[ii];
+      if (pp->type == t_pppParam::GALILEO_OFFSET) {
+        return pp->xx;
+      }
+    }
+    return 0.0;
+  }
+  double Bds_offset() const {
+    for (int ii = 0; ii < _params.size(); ++ii) {
+      t_pppParam* pp = _params[ii];
+      if (pp->type == t_pppParam::BDS_OFFSET) {
+        return pp->xx;
+      }
+    }
+    return 0.0;
+  }
  private:
-  class t_slip {
-   public:
-    t_slip() {
-      _slip            = false;
-      _obsSlipCounter  = -1;
-      _biasJumpCounter = -1;
-    }
-    bool _slip;
-    int  _obsSlipCounter;
-    int  _biasJumpCounter;
-  };
-
-  class t_dop {
-   public:
-    t_dop() {reset();}
-    void reset() {P = T = G = 0.0;}
-    double P;
-    double T;
-    double G;
-  };
-
-  t_irc processSystem(const std::vector<t_lc::type>& LCs, 
-                      const std::vector<t_pppSatObs*>& obsVector);
-
-  t_irc detectCycleSlips(const std::vector<t_lc::type>& LCs, 
-                         const std::vector<t_pppSatObs*>& obsVector);
-
-  t_irc resetAmb(t_prn prn, const std::vector<t_pppSatObs*>& obsVector,
-                 SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0);
-
-  void cmpDOP(const std::vector<t_pppSatObs*>& obsVector);
-
-  void predictCovCrdPart(const SymmetricMatrix& QFltOld);
-
-  bncTime         _epoTime;
-  t_pppParlist*   _parlist;
-  SymmetricMatrix _QFlt;
-  ColumnVector    _xFlt;
-  ColumnVector    _x0;
-  t_slip          _slips[t_prn::MAXPRN+1];
-  int             _numSat;
-  t_dop           _dop;
-  bncTime         _firstEpoTime;
+  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<QString, t_satData*>& satDataMap);
+  void   findMaxRes(const ColumnVector& vv,
+                    const QMap<QString, t_satData*>& satData,
+                    QString& prnGPS, QString& prnGlo,  
+                    double& maxResGPS, double& maxResGlo); 
+  double cmpValue(t_satData* satData, bool phase);
+  double delay_saast(double Ele);
+  void   predict(int iPhase, t_epoData* epoData);
+  t_irc  update_p(t_epoData* epoData);
+  QString outlierDetection(int iPhase, const ColumnVector& vv,
+                           QMap<QString, t_satData*>& satData);
+
+  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<QString, t_satData*>& satData);
+
+  void bancroft(const Matrix& BBpass, ColumnVector& pos);
+
+  void cmpDOP(t_epoData* epoData);
+
+  t_pppClient*          _pppClient;
+  bncTime               _time;
+  bncTime               _lastTimeOK;
+  QVector<t_pppParam*>  _params;
+  SymmetricMatrix       _QQ;
+  QVector<t_pppParam*>  _params_sav;
+  SymmetricMatrix       _QQ_sav;
+  t_epoData*            _epoData_sav;
+  ColumnVector          _xcBanc;
+  ColumnVector          _ellBanc;
+  QMap<QString, double> _windUpTime;
+  QMap<QString, double> _windUpSum;
+  QStringList           _outlierGPS;
+  QStringList           _outlierGlo;
+  bncAntex*             _antex;
+  t_tides*              _tides;
+  ColumnVector          _neu;
+  int                   _numSat;
+  double                _pDop;
 };