forked from XiaoGongWei/MG_APP
-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathQSPPModel.h
154 lines (145 loc) · 8.89 KB
/
QSPPModel.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
/*************************************************************************
**
** MG-APP----Multi-GNSS-Automatic Precise Positioning Software
** Copyright (C) 2016-2020 XiaoGongWei
** This file is part of MG-APP.
**
** GNU Lesser General Public License Usage
** Alternatively, this file may be used under the terms of the GNU Lesser
** General Public License version 3 as published by the Free Software
** Foundation and appearing in the file LICENSE.LGPL3 included in the
** packaging of this file. Please review the following information to
** ensure the GNU Lesser General Public License version 3 requirements
** will be met: https://www.gnu.org/licenses/lgpl-3.0.html.
**
** MPL License Usage
** This Source Code Form is subject to the terms of the Mozilla Public
** License, v. 2.0. If a copy of the MPL was not distributed with this
** file, You can obtain one at http://mozilla.org/MPL/2.0/.
**
** GPLv3.0 License Usage
** 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, either version 3 of the License, or
** (at your option) any later version.
**
** 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, see http://www.gnu.org/licenses/.
**
**************************************************************************
** Author: XiaoGongWei
** Website: github.com/xiaogongwei/MG_APP
** Download link (The GPS Toolbox): https://www.ngs.noaa.gov/gps-toolbox/
** Date: 06.02.2020
****************************************************************************/
#ifndef QSPPMODEL_H
#define QSPPMODEL_H
#include "QCmpGPST.h"
#include "QReadOFile.h"
#include "QReadGPSN.h"
#include "QTropDelay.h"
#include "QKalmanFilter.h"
#include "QWrite2File.h"
#include "SRIFAlgorithm.h"
#include "QualityCtrl.h"
#include "QPseudoSmooth.h"
#include "FtpClient.h"
#include "MyCompress.h"
#include "QReadAnt.h"
// next include model is for GUI
#include <QTextEdit>
#include <QApplication>
#include <QTextCursor>
#include <QTime>
#include <QCoreApplication>
// use ionospheric free SPP model
class QSPPModel:public QBaseObject
{
// function part
public:
// Configure PPP parameters
QSPPModel(QString files_path, QTextEdit *pQTextEdit = NULL, QString Method = "Kalman", QString Satsystem = "G",
QString TropDelay = "Sass", double CutAngle = 10, bool isKinematic = false, QString Smooth_Str = "Smooth", QString SPP_Model = "P_IF");
~QSPPModel();
void initSPPModel(QString OFileName);
void Run(bool isDisplayEveryEpoch = true);//isDisplay Every Epoch represent is disply every epoch information?(ENU or XYZ)
// set SystemStr:"G"(turn on GPS system); GR":(turn on GPS+GLONASS system);" GRCE"(all turned on), etc
bool setSatlitSys(QString SystemStr);// The letters G,R,C and E are used for GPS,GLONASS,BDS and Galieo respectively
// next public function is for GUI
// configure model
void setConfigure(QString Method = "Kalman", QString Satsystem = "G", QString TropDelay = "Sass", double CutAngle = 10,
bool isKinematic = false, QString Smooth_Str = "Smooth", QString SPP_Model = "P_IF");
// Get operation results( clear QWrite2File::allPPPSatlitData Because the amount of data is too large.)
void getRunResult(PlotGUIData &plotData);
bool isRuned(){return m_isRuned;}
private:
void initVar();
void getNAVPos(int Year, int Month, int Day, int Hours, int Minutes, double Seconds, double signal_transmission_time,
int PRN, char SatType, double *p_XYZ, double *StaClock, double *pdXYZ = NULL);//YMDHMS satellite p_XYZ returns WGS84 coordinates and velocity in seconds per week
void getSatEA(double X,double Y,double Z,double *approxRecvXYZ,double *EA);// Calculate height Angle and azimuth EA
double getSagnac(double X,double Y,double Z,double *approxRecvXYZ);// the autobiography of the earth(m)
double getRelativty(double *pSatXYZ,double *pRecXYZ,double *pSatdXYZ);// Calculate relativistic effects
void getWight(SatlitData &tempSatlitData);// obtain weights of different satellite systems
void getTropDelay(double MJD,int TDay,double E,double *pBLH,double *mf = NULL, double *ZHD_s = NULL, double *ZPD = NULL, double *ZHD = NULL);// MJD: simplified Julian day, TDay: annual product day, E: altitude Angle (rad) pBLH: geodetic coordinate system, *mf: projection function
bool CycleSlip(const SatlitData &oneSatlitData,double *pLP);// cycle slip detection. The pLP is a three-dimensional array. The first is the w-m combination (n2-n1 < 5), the second is the ionospheric residual (<0.3), and the third is (lamt2* n2-lamt1 *N1 < 5).
double getPreEpochWindUp(QVector < SatlitData > &prevEpochSatlitData,int PRN,char SatType);// WindUp of previous epoch, does not return 0
// the satellites with high quality are obtained, including: whether the cycle skip height Angle data are missing, c1-p2 <50 adjacent epoch WindUp < 0.3; EpochSatlitData: previous epochSatlitData: current epochSatlitData (automatically delete low-quality satellite); EleAngle: high Angle
void getGoodSatlite(QVector < SatlitData > &prevEpochSatlitData,QVector < SatlitData > &epochSatlitData,double eleAngle = 10);
void saveResult2Class(VectorXd X, Vector3d spp_vct, GPSPosTime epochTime, QVector< SatlitData > epochResultSatlitData, int epochNum, MatrixXd *P = NULL);// save Filter Result to m_writeFileClass (QWrite2File)
void writeResult2File();// save the class m_writeFileClass (QWrite2File) to the file
QStringList searchFilterFile(QString floder_path, QStringList filers);// serch files by filter
void SimpleSPP(QVector < SatlitData > &prevEpochSatlitData, QVector < SatlitData > &epochSatlitData, double *spp_pos);// spp for Few corrections
void Obtaining_equation( QVector< SatlitData > &currEpoch, double *ApproxRecPos, MatrixXd &mat_B, VectorXd &Vct_L, MatrixXd &mat_P, bool isSmoothRange = false);// get Observation equation B*X = L~(P)
void reciveClkRapaire(QVector< SatlitData > &prevEpochSatlitData, QVector< SatlitData > &epochSatlitData);
// next function is for GUI
void autoScrollTextEdit(QTextEdit *textEdit,QString &add_text);
// next function is for FTP
bool connectHost();
QString downNavFile(QString store_path = "./", int Year = 0, int doy = 0);
// data section
public:
private:
QTextEdit *mp_QTextEditforDisplay;
QString m_OFileName;// O file path + file name
QString m_run_floder;// run the specified directory file
QString m_App_floder;// executable directory
QString m_Solver_Method;// m_Solver_Method value can be "SRIF" or "Kalman"
bool m_isKinematic;// judge is Kinematic
bool m_isInitSPP; // judge is init possition use SimpleSPP
double m_ApproxRecPos[3];// Approximate coordinates of the station
double m_CutAngle;// cut-off height Angle (degree)
QString m_SatSystem;// for GPS,GLONASS,BDS, and Galieo, use the letters G,R,C, and e. to set the file system m_SatSystem:"G"(turn on the GPS system); GR":(turn on GPS+GLONASS system);" GRCE"(all turned on), etc
QString m_TropDelay;// the tropospheric model m_TropDelay can be selected as Sass, hopfield and UNB3m
QString m_sys_str;// satellite system for short ('G', 'R', 'C', 'E')
bool m_isSmoothRange;// Whether to use phase smoothing pseudo-distance for SPP
int m_sys_num;// number of satellite systems
int multReadOFile;// each buffer O file epoch metadata (the larger the number of memory occupied, the higher the speed is relatively fast... The default 1000)
int m_leapSeconds;// get leap seconds
bool m_haveObsFile;// jugue have obsvertion file
bool m_isRuned;// Determine whether the operation is complete.
int FlagN;
bool m_isConnect;// determine whether the network is connected
// various libraries are used to calculate error correction, kalman filtering and file operation
QCmpGPST qCmpGpsT;// function library for calculating GPS time, coordinate transformation, etc
QReadOFile m_ReadOFileClass;// reads the O file class
QTropDelay m_ReadTropClass;// reading the troposphere requires files
QKalmanFilter m_KalmanClass;// kalman filtering
SRIFAlgorithm m_SRIFAlgorithm;
QWrite2File m_writeFileClass;// write to the file class
QualityCtrl m_qualityCtrl;// Quality control class
QPseudoSmooth m_QPseudoSmooth;// smoothed Pesudorange
QReadGPSN m_QReadGPSN;// read nav data
FtpCLient ftpClient;// ftp Dowload
// for save plot image
QString m_save_images_path;
bool m_iswritre_file;
int m_clock_jump_type;// 1 is Pseudo range jump, 2 is carrier jump
// min flag
int m_minSatFlag;// the minimum number of satellites required
};
#endif // QSPPMODEL_H