GPS ToolKit Software Library: ModelObs Class Reference

The main difference between this class and ModelObsFixedStation is that for a mobile receiver we should "prepare" the computation giving an estimate of the mobile station position. This position may be the last known position or it may be estimated using a method such as Bancroft's.

   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(CommonTime::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
   ModelObs model( ionoStore,
                   mopsTM,
                   bceStore,
                   TypeID::C1 );

      // Set the initial apriori position using the Bancroft method
   model.Prepare();

   gnssRinex gRin;

   while(rin >> gRin)
   {
      gRin >> model;
   }

The "ModelObs" 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.

Definition at line 116 of file ModelObs.hpp.


Public Member Functions
	ModelObs ()
	Implicit constructor.
	ModelObs (const Position &RxCoordinates, IonoModelStore &dIonoModel, TropModel &dTropoModel, XvtStore< SatID > &dEphemeris, const TypeID &dObservable, bool usetgd=true)
	Explicit constructor, taking as input initial receiver coordinates, default ionospheric and tropospheric models, ephemeris to be used, default observable and whether TGD will be computed or not.
	ModelObs (const Position &RxCoordinates, IonoModelStore &dIonoModel, XvtStore< SatID > &dEphemeris, const TypeID &dObservable, bool usetgd=true)
	Explicit constructor, taking as input initial receiver coordinates, default ionospheric model, ephemeris to be used, default observable and whether TGD will be computed or not.
	ModelObs (const Position &RxCoordinates, TropModel &dTropoModel, XvtStore< SatID > &dEphemeris, const TypeID &dObservable, bool usetgd=true)
	Explicit constructor, taking as input initial receiver coordinates, default tropospheric model, ephemeris to be used, default observable and whether TGD will be computed or not.
	ModelObs (const Position &RxCoordinates, XvtStore< SatID > &dEphemeris, const TypeID &dObservable, bool usetgd=true)
	Explicit constructor, taking as input initial receiver coordinates, ephemeris to be used, default observable and whether TGD will be computed or not.
	ModelObs (IonoModelStore &dIonoModel, TropModel &dTropoModel, XvtStore< SatID > &dEphemeris, const TypeID &dObservable, bool usetgd=true)
	Explicit constructor, taking as input default ionospheric and tropospheric models, ephemeris to be used, default observable and whether TGD will be computed or not.
	ModelObs (IonoModelStore &dIonoModel, XvtStore< SatID > &dEphemeris, const TypeID &dObservable, bool usetgd=true)
	Explicit constructor, taking as input default ionospheric model, ephemeris to be used, default observable and whether TGD will be computed or not.
	ModelObs (TropModel &dTropoModel, XvtStore< SatID > &dEphemeris, const TypeID &dObservable, bool usetgd=true)
	Explicit constructor, taking as input default tropospheric model, ephemeris to be used, default observable and whether TGD will be computed or not.
virtual int	Prepare (const CommonTime &Tr, std::vector< SatID > &Satellite, std::vector< double > &Pseudorange, const XvtStore< SatID > &Eph)
	Method to set an a priori position of receiver using Bancroft's method.
virtual int	Prepare (const CommonTime &time, const satTypeValueMap &data)
	Method to set an a priori position of receiver using Bancroft's method.
virtual int	Prepare (const gnssSatTypeValue &gData)
	Method to set an a priori position of receiver using Bancroft's method.
virtual int	Prepare (const double &aRx, const double &bRx, const double &cRx, Position::CoordinateSystem s=Position::Cartesian, EllipsoidModel *ell=NULL, ReferenceFrame frame=ReferenceFrame::Unknown)
	Method to set the initial (a priori) position of receiver before Compute() method.
virtual int	Prepare (const Position &RxCoordinates)
	Method to set the initial (a priori) position of receiver before Compute() method.
virtual satTypeValueMap &	Process (const CommonTime &time, satTypeValueMap &gData) throw (ProcessingException)
	Returns a satTypeValueMap object, adding the new data generated when calling a modeling object.
bool	getModelPrepared () const
	Method to get if the model has been prepared.
ModelObs &	setModelPrepared (const bool &prepare)
	Method to forcefully set whether the model has been prepared.
virtual std::string	getClassName (void) const
	Returns a string identifying this object.
virtual	~ModelObs ()
	Destructor.
Protected Attributes
bool	modelPrepared

Constructor & Destructor Documentation

virtual ~ModelObs ( ) [inline, virtual]

Destructor.

Definition at line 353 of file ModelObs.hpp.

Member Function Documentation

std::string getClassName ( void ) const [virtual]

Returns a string identifying this object.

Reimplemented from ModelObsFixedStation.

Definition at line 40 of file ModelObs.cpp.

bool getModelPrepared ( ) const [inline]

Method to get if the model has been prepared.

Definition at line 335 of file ModelObs.hpp.

virtual int Prepare ( const gnssSatTypeValue & gData ) [inline, virtual]

Method to set an a priori position of receiver using Bancroft's method.

Parameters:

gData

GNSS data structure to be used

Returns:: 0 if OK -1 if problems arose

Definition at line 296 of file ModelObs.hpp.

References gnssData::body, sourceEpochHeader::epoch, and gnssData::header.

int Prepare	(	const CommonTime &	Tr,
		std::vector< SatID > &	Satellite,
		std::vector< double > &	Pseudorange,
		const XvtStore< SatID > &	Eph
	)	`[virtual]`

Method to set an a priori position of receiver using Bancroft's method.

Parameters:

	Tr	Time of observation
	Satellite	std::vector of satellites in view
	Pseudorange	std::vector of pseudoranges measured from mobile station to satellites
	Eph	Satellites Ephemeris

Returns:: 0 if OK -1 if problems arose

Definition at line 268 of file ModelObs.cpp.

References Bancroft::Compute(), and PRSolution2::PrepareAutonomousSolution().

Referenced by ModelObs::ModelObs(), and ModelObs::Prepare().

ModelObs& setModelPrepared ( const bool & prepare ) [inline]

Method to forcefully set whether the model has been prepared.

Parameters:

prepare

Boolean indicating whether the model has been prepared.

Definition at line 344 of file ModelObs.hpp.

ModelObs Class Reference
[GPS solution algorithms and Tropospheric]

Detailed Description

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

ModelObs Class Reference [GPS solution algorithms and Tropospheric]

Detailed Description

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

ModelObs Class Reference
[GPS solution algorithms and Tropospheric]