SolverPPP.hpp

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#pragma ident "$Id: SolverPPP.hpp 2645 2011-06-08 03:23:24Z yanweignss $"

#ifndef GPSTK_SOLVERPPP_HPP
#define GPSTK_SOLVERPPP_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 ). 2008, 2009
//
//============================================================================


#include "CodeKalmanSolver.hpp"


namespace gpstk
{




   class SolverPPP : public CodeKalmanSolver
   {
   public:

      SolverPPP(bool useNEU = false);


      virtual int Compute( const Vector<double>& prefitResiduals,
                           const Matrix<double>& designMatrix,
                           const Matrix<double>& weightMatrix )
         throw(InvalidSolver);


      virtual int Compute( const Vector<double>& prefitResiduals,
                           const Matrix<double>& designMatrix,
                           const Vector<double>& weightVector )
         throw(InvalidSolver);


      virtual gnssSatTypeValue& Process(gnssSatTypeValue& gData)
         throw(ProcessingException);


      virtual gnssRinex& Process(gnssRinex& gData)
         throw(ProcessingException);


      virtual SolverPPP& Reset( const Vector<double>& newState,
                                const Matrix<double>& newErrorCov )
      { kFilter.Reset( newState, newErrorCov ); return (*this); };


      virtual SolverPPP& setNEU( bool useNEU );


      virtual double getWeightFactor(void) const
      { return std::sqrt(weightFactor); };


      virtual SolverPPP& setWeightFactor(double factor)
      { weightFactor = (factor*factor); return (*this); };


      StochasticModel* getXCoordinatesModel() const
      { return pCoordXStoModel; };


      SolverPPP& setXCoordinatesModel(StochasticModel* pModel)
      { pCoordXStoModel = pModel; return (*this); };


      StochasticModel* getYCoordinatesModel() const
      { return pCoordYStoModel; };


      SolverPPP& setYCoordinatesModel(StochasticModel* pModel)
      { pCoordYStoModel = pModel; return (*this); };


      StochasticModel* getZCoordinatesModel() const
      { return pCoordZStoModel; };


      SolverPPP& setZCoordinatesModel(StochasticModel* pModel)
      { pCoordZStoModel = pModel; return (*this); };


      virtual SolverPPP& setCoordinatesModel(StochasticModel* pModel);


      virtual StochasticModel* getTroposphereModel(void) const
      { return pTropoStoModel; };


      virtual SolverPPP& setTroposphereModel(StochasticModel* pModel)
      { pTropoStoModel = pModel; return (*this); };


      virtual StochasticModel* getReceiverClockModel(void) const
      { return pClockStoModel; };


      virtual SolverPPP& setReceiverClockModel(StochasticModel* pModel)
      { pClockStoModel = pModel; return (*this); };


      virtual StochasticModel* getPhaseBiasesModel(void) const
      { return pBiasStoModel; };


      virtual SolverPPP& setPhaseBiasesModel(StochasticModel* pModel)
      { pBiasStoModel = pModel; return (*this); };


      virtual Matrix<double> getPhiMatrix(void) const
      { return phiMatrix; };


      virtual SolverPPP& setPhiMatrix(const Matrix<double> & pMatrix)
      { phiMatrix = pMatrix; return (*this); };


      virtual Matrix<double> getQMatrix(void) const
      { return qMatrix; };


      virtual SolverPPP& setQMatrix(const Matrix<double> & pMatrix)
      { qMatrix = pMatrix; return (*this); };



      virtual SolverPPP& setKinematic( bool kinematicMode = true,
                                       double sigmaX = 100.0,
                                       double sigmaY = 100.0,
                                       double sigmaZ = 100.0 );


      virtual int getIndex(void) const;


      virtual std::string getClassName(void) const;


      virtual ~SolverPPP() {};


   private:


      int numVar;


      int numUnknowns;


      int numMeas;


      double weightFactor;


      StochasticModel* pCoordXStoModel;


      StochasticModel* pCoordYStoModel;


      StochasticModel* pCoordZStoModel;


      StochasticModel* pTropoStoModel;


      StochasticModel* pClockStoModel;


      StochasticModel* pBiasStoModel;


      Matrix<double> phiMatrix;


      Matrix<double> qMatrix;


      Matrix<double> hMatrix;


      Matrix<double> rMatrix;


      Vector<double> measVector;


      bool firstTime;


      SatIDSet satSet;


      struct filterData
      {
            // Default constructor initializing the data in the structure
         filterData() : ambiguity(0.0) {};

         double ambiguity;                  
         std::map<TypeID, double> vCovMap;  
         std::map<SatID,  double> aCovMap;  

      };


      std::map<SatID, filterData> KalmanData;


      SimpleKalmanFilter kFilter;


      void Init(void);


      StochasticModel constantModel;

      WhiteNoiseModel whitenoiseModelX;
      WhiteNoiseModel whitenoiseModelY;
      WhiteNoiseModel whitenoiseModelZ;


      RandomWalkModel rwalkModel;


      WhiteNoiseModel whitenoiseModel;


      PhaseAmbiguityModel biasModel;


      static int classIndex;

      int index;

      void setIndex(void)
      { index = classIndex++; };


         // Some methods that we want to hide
      virtual int Compute( const Vector<double>& prefitResiduals,
                           const Matrix<double>& designMatrix )
         throw(InvalidSolver)
      { return 0; };


      virtual SolverPPP& setDefaultEqDefinition(
                                       const gnssEquationDefinition& eqDef )
      { return (*this); };



   }; // End of class 'SolverPPP'


}  // End of namespace gpstk
#endif   // GPSTK_SOLVERPPP_HPP

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