GPS ToolKit Software Library: ModeledPR Class Reference

The main difference between this class and ModeledReferencePR 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.

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 changes with time.

   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
   ModeledPR 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 "ModeledPR" 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 121 of file ModeledPR.hpp.


Public Member Functions
	ModeledPR ()
	Implicit constructor.
	ModeledPR (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.
	ModeledPR (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.
	ModeledPR (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.
	ModeledPR (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.
	ModeledPR (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.
	ModeledPR (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.
	ModeledPR (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 &Tr, const Vector< SatID > &Satellite, const 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 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 &	processModel (const CommonTime &time, satTypeValueMap &gData) throw (Exception)
	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.
ModeledPR &	setModelPrepared (const bool &prepare)
	Method to forcefully set whether the model has been prepared.
virtual	~ModeledPR ()
	Destructor.
Protected Attributes
bool	modelPrepared

Constructor & Destructor Documentation

ModeledPR	(	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.

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.

Parameters:

	RxCoordinates	Initial receiver coordinates.
	dIonoModel	Ionospheric model to be used by default.
	dEphemeris	XvtStore<SatID> object to be used by default.
	dObservable	Observable type to be used by default.
	usetgd	Whether TGD will be used by default or not.

See also:: DataStructures.hpp.

Definition at line 95 of file ModeledPR.cpp.

References ModeledReferencePR::init(), ModeledPR::Prepare(), ModeledReferencePR::setDefaultEphemeris(), ModeledReferencePR::setDefaultIonoModel(), and ModeledReferencePR::setDefaultObservable().

ModeledPR	(	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.

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.

Parameters:

	RxCoordinates	Initial receiver coordinates.
	dTropoModel	Tropospheric model to be used by default.
	dEphemeris	XvtStore<SatID> object to be used by default.
	dObservable	Observable type to be used by default.
	usetgd	Whether TGD will be used by default or not.

See also:: DataStructures.hpp.

Definition at line 132 of file ModeledPR.cpp.

References ModeledReferencePR::init(), ModeledPR::Prepare(), ModeledReferencePR::setDefaultEphemeris(), ModeledReferencePR::setDefaultObservable(), and ModeledReferencePR::setDefaultTropoModel().

ModeledPR	(	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.

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.

Parameters:

	RxCoordinates	Initial receiver coordinates.
	dEphemeris	XvtStore<SatID> object to be used by default.
	dObservable	Observable type to be used by default.
	usetgd	Whether TGD will be used by default or not.

See also:: DataStructures.hpp.

Definition at line 168 of file ModeledPR.cpp.

References ModeledReferencePR::init(), ModeledPR::Prepare(), ModeledReferencePR::setDefaultEphemeris(), and ModeledReferencePR::setDefaultObservable().

virtual ~ModeledPR ( ) [inline, virtual]

Destructor.

Definition at line 408 of file ModeledPR.hpp.

Member Function Documentation

bool getModelPrepared ( ) const [inline]

Method to get if the model has been prepared.

Definition at line 394 of file ModeledPR.hpp.

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

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

Intended to be used with GNSS data structures.

Parameters:

gData

GNSS data structure to be used

Returns:: 0 if OK -1 if problems arose

Definition at line 355 of file ModeledPR.hpp.

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

int Prepare	(	const CommonTime &	Tr,
		const Vector< SatID > &	Satellite,
		const 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	Vector of satellites in view
	Pseudorange	Pseudoranges measured from rover station to satellites
	Eph	Satellites Ephemeris

Returns:: 0 if OK -1 if problems arose

Definition at line 345 of file ModeledPR.cpp.

References ModeledPR::Prepare(), and Vector::size().

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 rover station to satellites
	Eph	Satellites Ephemeris

Returns:: 0 if OK -1 if problems arose

Definition at line 297 of file ModeledPR.cpp.

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

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

ModeledPR& 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 403 of file ModeledPR.hpp.

ModeledPR Class Reference
[GPS solution algorithms and Tropospheric]

Detailed Description

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

ModeledPR Class Reference [GPS solution algorithms and Tropospheric]

Detailed Description

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

ModeledPR Class Reference
[GPS solution algorithms and Tropospheric]