modeledreferencepr.hpp

一个gps小工具包

#pragma ident "$Id: $"

/**
 * @file ModeledReferencePR.hpp
 * Class to compute modeled pseudoranges using a reference station
 */

#ifndef MODELEDREFERENCEPR_HPP
#define MODELEDREFERENCEPR_HPP

//============================================================================
//
//  This file is part of GPSTk, the GPS Toolkit.
//
//  The GPSTk is free software; you can redistribute it and/or modify
//  it under the terms of the GNU Lesser General Public License as published
//  by the Free Software Foundation; either version 2.1 of the License, or
//  any later version.
//
//  The GPSTk 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 Lesser General Public License for more details.
//
//  You should have received a copy of the GNU Lesser General Public
//  License along with GPSTk; if not, write to the Free Software Foundation,
//  Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
//  
//  Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
//
//============================================================================



#include "ModeledPseudorangeBase.hpp"
#include "DayTime.hpp"
#include "EngEphemeris.hpp"
#include "XvtStore.hpp"
#include "GPSEphemerisStore.hpp"
#include "EphemerisRange.hpp"
#include "TropModel.hpp"
#include "IonoModel.hpp"
#include "IonoModelStore.hpp"
#include "Geodetic.hpp"
#include "Position.hpp"
#include "icd_200_constants.hpp"
#include "TypeID.hpp"
#include "DataStructures.hpp"


namespace gpstk
{
      /** @addtogroup GPSsolutions */
      //@{

      /** This class compute modeled pseudoranges from satellites to 
       *  a reference station.
       *
       * This class may be used either in a Vector- and Matrix-oriented way, 
       * or with GNSS data structure objects from "DataStructures" class. In
       * any case, it is intented to be used with stations where the position
       * is known (there comes the name: Modeled Reference station
       * PseudoRange).
       *
       * A typical way to use this class with GNSS data structures follows:
       *
       * @code
       *   RinexObsStream rin("ebre0300.02o");  // Data stream
       *   RinexNavStream rnavin("brdc0300.02n");   // Ephemeris data stream
       *   RinexNavData rNavData;
       *   GPSEphemerisStore bceStore;
       *   while (rnavin >> rNavData) bceStore.addEphemeris(rNavData);
       *   bceStore.SearchPast();  // This is the default
       *
       *   RinexNavHeader rNavHeader;
       *   IonoModelStore ionoStore;
       *   IonoModel ioModel;
       *   rnavin >> rNavHeader;    // Read navigation RINEX header
       *   ioModel.setModel(rNavHeader.ionAlpha, rNavHeader.ionBeta);
       *   ionoStore.addIonoModel(DayTime::BEGINNING_OF_TIME, ioModel);
       *
       *   // EBRE station nominal position
       *   Position nominalPos(4833520.3800, 41536.8300, 4147461.2800);
       *
       *   // Declare a tropospheric model object, setting the defaults
       *   MOPSTropModel mopsTM( nominalPos.getAltitude(),
       *                         nominalPos.getGeodeticLatitude(), 30);
       *
       *   // Declare the modeler object, setting all the parameters in 
       *   // one pass
       *   // As stated, it will compute the model using the C1 observable
       *   ModeledReferencePR modelRef( nominalPos, ionoStore, mopsTM, 
       *                                bceStore, TypeID::C1 );
       *
       *   gnssRinex gRin;
       *
       *   while(rin >> gRin) {
       *      gRin >> modelRef;
       *   }
       * @endcode
       *
       * The "ModeledReferencePR" object will visit every satellite in the 
       * GNSS data structure that is "gRin" and will try to compute its 
       * model: Prefit residual, geometric distance, relativity delay,
       * ionospheric/tropospheric corrections, geometry matrix, etc.
       *
       * When used with the ">>" operator, this class returns the same 
       * incoming data structure with the extra data inserted along their
       * corresponding satellites. Be warned that if a given satellite does 
       * not have the observations required, it will be summarily deleted 
       * from the data structure.
       *
       * @sa ModeledPseudorangeBase.hpp for base class.
       *
       */
   class ModeledReferencePR : public ModeledPseudorangeBase
   {
   public:

         /// Implicit constructor
      ModeledReferencePR() throw(Exception)
         : useTGD(true), pDefaultIonoModel(NULL), pDefaultTropoModel(NULL),
           defaultObservable(TypeID::C1), pDefaultEphemeris(NULL)
      { init(); };


         /** Explicit constructor taking as input reference station
          *  coordinates.
          *
          * Those coordinates may be Cartesian (X, Y, Z in meters) or Geodetic
          * (Latitude, Longitude, Altitude), but defaults to Cartesian. 
          *
          * Also, a pointer to GeoidModel may be specified, but default is 
          * NULL (in which case WGS84 values will be used).
          *
          * @param aRx   first coordinate [ X(m), or latitude (degrees N) ]
          * @param bRx   second coordinate [ Y(m), or longitude (degrees E) ]
          * @param cRx   third coordinate [ Z, height above ellipsoid or
          *              radius, in m ]
          * @param s     coordinate system (default is Cartesian, may be set
          *              to Geodetic).
          * @param geoid pointer to GeoidModel (default is null, implies WGS84)
          */
      ModeledReferencePR( const double& aRx,
                          const double& bRx,
                          const double& cRx, 
                          Position::CoordinateSystem s = Position::Cartesian,
                          GeoidModel *geoid = NULL )
         throw(Exception)
         : useTGD(true), pDefaultIonoModel(NULL), pDefaultTropoModel(NULL),
           defaultObservable(TypeID::C1), pDefaultEphemeris(NULL)
      { init(); setInitialRxPosition(aRx, bRx, cRx, s, geoid); };


         /// Explicit constructor, taking as input a Position object 
         /// containing reference station coordinates.
      ModeledReferencePR(const Position& RxCoordinates) throw(Exception)
         : useTGD(true), pDefaultIonoModel(NULL), pDefaultTropoModel(NULL),
           defaultObservable(TypeID::C1), pDefaultEphemeris(NULL)
      { init(); setInitialRxPosition(RxCoordinates); };


         /** Explicit constructor, taking as input reference station
          *  coordinates, default ionospheric and tropospheric models,
          *  ephemeris to be used, default observable and whether TGD will 
          *  be computed or not.
          *
          * This constructor is meant to be used when working with GNSS data
          * structures in order to set the basic parameters from the beginning.
          *
          * @param RxCoordinates Reference station coordinates.
          * @param dIonoModel    Ionospheric model to be used by default.
          * @param dTropoModel   Tropospheric model to be used by default.
          * @param dEphemeris    EphemerisStore object to be used by default.
          * @param dObservable   Observable type to be used by default.
          * @param usetgd        Whether TGD will be used by default or not.
          *
          * @sa DataStructures.hpp.
          */
      ModeledReferencePR( const Position& RxCoordinates,
                          IonoModelStore& dIonoModel,
                          TropModel& dTropoModel,
                          XvtStore<SatID>& dEphemeris,
                          const TypeID& dObservable,
                          bool usetgd = true )
         throw(Exception);


         /** Explicit constructor, taking as input reference station
          *  coordinates, default ionospheric model, ephemeris to be used,
          *  default observable and whether TGD will be computed or not.
          *
          * The default tropospheric model will be set to NULL.
          *
          * This constructor is meant to be used when working with GNSS data
          * structures in order to set the basic parameters from the
          * beginning.
          *
          * @param RxCoordinates Reference station coordinates.
          * @param dIonoModel    Ionospheric model to be used by default.
          * @param dEphemeris    EphemerisStore object to be used by default.
          * @param dObservable   Observable type to be used by default.
          * @param usetgd        Whether TGD will be used by default or not.
          *
          * @sa DataStructures.hpp.
          */
      ModeledReferencePR( const Position& RxCoordinates,
                          IonoModelStore& dIonoModel,
                          XvtStore<SatID>& dEphemeris,
                          const TypeID& dObservable,
                          bool usetgd = true )
         throw(Exception);


         /** Explicit constructor, taking as input reference station
          *  coordinates, default tropospheric model, ephemeris to be used,
          *  default observable and whether TGD will be computed or not.
          *
          * The default ionospheric model will be set to NULL.
          *
          * This constructor is meant to be used when working with GNSS 
          * data structures in order to set the basic parameters from the
          * beginning.
          *
          * @param RxCoordinates Reference station coordinates.
          * @param dTropoModel   Tropospheric model to be used by default.
          * @param dEphemeris    EphemerisStore object to be used by default.
          * @param dObservable   Observable type to be used by default.
          * @param usetgd        Whether TGD will be used by default or not.
          *
          * @sa DataStructures.hpp.
          */
      ModeledReferencePR( const Position& RxCoordinates,
                          TropModel& dTropoModel,
                          XvtStore<SatID>& dEphemeris,
                          const TypeID& dObservable,
                          bool usetgd = true )
         throw(Exception);


         /** Explicit constructor, taking as input reference station
          *  coordinates, ephemeris to be used, default observable and 
          *  whether TGD will be computed or not.
          *
          * Both the tropospheric and ionospheric models will be set to NULL.
          *
          * This constructor is meant to be used when working with GNSS 
          * data structures in order to set the basic parameters from the
          * beginning.
          *
          * @param RxCoordinates Reference station coordinates.
          * @param dEphemeris    EphemerisStore object to be used by default.
          * @param dObservable   Observable type to be used by default.
          * @param usetgd        Whether TGD will be used by default or not.
          *
          * @sa DataStructures.hpp.
          */
      ModeledReferencePR( const Position& RxCoordinates,
                          XvtStore<SatID>& dEphemeris,
                          const TypeID& dObservable,
                          bool usetgd = true )
         throw(Exception);


         /** Compute the modeled pseudoranges, given satellite ID's,
          *  pseudoranges and other data.
          *
          * @param Tr            Measured time of reception of the data.
          * @param Satellite     Vector of satellites
          * @param Pseudorange   Vector of raw pseudoranges (parallel to
          *                      satellite), in meters.
          * @param Eph           EphemerisStore to be used.
          * @param extraBiases   Vector of extra biases to be added to 
          *                      the model.
          * @param pTropModel    Pointer to tropospheric model to be used. 
          *                      By default it points to NULL.
          * @param pIonoModel    Pointer to ionospheric model to be used.
          *                      By default it points to NULL.
          *
          * @return Number of satellites with valid data
          *
          * @sa TropModel.hpp, IonoModelStore.hpp.
          */
      int Compute( const DayTime& Tr,
                   Vector<SatID>& Satellite,
                   Vector<double>& Pseudorange,
                   const XvtStore<SatID>& Eph,
                   const Vector<double>& extraBiases,
                   TropModel *pTropModel=NULL,
                   IonoModelStore *pIonoModel=NULL )
         throw(Exception);