[2057] | 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncParam, bncModel
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| 30 | *
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| 31 | * Purpose: Model for PPP
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 01-Dec-2009
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <iomanip>
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[2063] | 42 | #include <cmath>
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[2060] | 43 | #include <newmatio.h>
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[2113] | 44 | #include <sstream>
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[2057] | 45 |
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| 46 | #include "bncmodel.h"
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[2113] | 47 | #include "bncapp.h"
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[2058] | 48 | #include "bncpppclient.h"
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| 49 | #include "bancroft.h"
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[2063] | 50 | #include "bncutils.h"
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[2077] | 51 | #include "bncsettings.h"
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[2580] | 52 | #include "bnctides.h"
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[2057] | 53 |
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| 54 | using namespace std;
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| 55 |
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[2243] | 56 | const unsigned MINOBS = 4;
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[2287] | 57 | const double MINELE_GPS = 10.0 * M_PI / 180.0;
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| 58 | const double MINELE_GLO = 10.0 * M_PI / 180.0;
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[2780] | 59 | const double MINELE_GAL = 10.0 * M_PI / 180.0;
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[2243] | 60 | const double MAXRES_CODE_GPS = 10.0;
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| 61 | const double MAXRES_PHASE_GPS = 0.10;
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[2539] | 62 | const double MAXRES_PHASE_GLO = 0.05;
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[2784] | 63 | const double MAXRES_CODE_GAL = 10.0;
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| 64 | const double MAXRES_PHASE_GAL = 0.10;
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[2070] | 65 |
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[2057] | 66 | // Constructor
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| 67 | ////////////////////////////////////////////////////////////////////////////
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[2080] | 68 | bncParam::bncParam(bncParam::parType typeIn, int indexIn,
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| 69 | const QString& prnIn) {
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| 70 | type = typeIn;
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| 71 | index = indexIn;
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| 72 | prn = prnIn;
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| 73 | index_old = 0;
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| 74 | xx = 0.0;
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[2473] | 75 |
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[2057] | 76 | }
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| 77 |
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| 78 | // Destructor
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| 79 | ////////////////////////////////////////////////////////////////////////////
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| 80 | bncParam::~bncParam() {
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| 81 | }
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| 82 |
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[2060] | 83 | // Partial
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| 84 | ////////////////////////////////////////////////////////////////////////////
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[2239] | 85 | double bncParam::partial(t_satData* satData, bool phase) {
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| 86 |
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| 87 | // Coordinates
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| 88 | // -----------
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[2060] | 89 | if (type == CRD_X) {
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[2109] | 90 | return (xx - satData->xx(1)) / satData->rho;
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[2060] | 91 | }
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| 92 | else if (type == CRD_Y) {
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[2109] | 93 | return (xx - satData->xx(2)) / satData->rho;
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[2060] | 94 | }
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| 95 | else if (type == CRD_Z) {
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[2109] | 96 | return (xx - satData->xx(3)) / satData->rho;
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[2060] | 97 | }
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[2239] | 98 |
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| 99 | // Receiver Clocks
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| 100 | // ---------------
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[2265] | 101 | else if (type == RECCLK) {
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| 102 | return 1.0;
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[2060] | 103 | }
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[2239] | 104 |
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| 105 | // Troposphere
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| 106 | // -----------
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[2084] | 107 | else if (type == TROPO) {
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| 108 | return 1.0 / sin(satData->eleSat);
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| 109 | }
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[2239] | 110 |
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[2782] | 111 | // Galileo Offset
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| 112 | // --------------
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| 113 | else if (type == GALILEO_OFFSET) {
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| 114 | if (satData->prn[0] == 'E') {
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| 115 | return 1.0;
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| 116 | }
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| 117 | else {
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| 118 | return 0.0;
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| 119 | }
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| 120 | }
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| 121 |
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[2239] | 122 | // Ambiguities
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| 123 | // -----------
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[2080] | 124 | else if (type == AMB_L3) {
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[2239] | 125 | if (phase && satData->prn == prn) {
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[2080] | 126 | return 1.0;
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| 127 | }
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| 128 | else {
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| 129 | return 0.0;
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| 130 | }
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| 131 | }
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[2239] | 132 |
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| 133 | // Default return
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| 134 | // --------------
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[2060] | 135 | return 0.0;
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| 136 | }
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| 137 |
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[2058] | 138 | // Constructor
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| 139 | ////////////////////////////////////////////////////////////////////////////
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[2113] | 140 | bncModel::bncModel(QByteArray staID) {
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[2084] | 141 |
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[2113] | 142 | _staID = staID;
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| 143 |
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[2648] | 144 | bncSettings settings;
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| 145 |
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[2720] | 146 | // Observation Sigmas
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| 147 | // ------------------
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| 148 | _sigP3 = 5.0;
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| 149 | if (!settings.value("pppSigmaCode").toString().isEmpty()) {
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| 150 | _sigP3 = settings.value("pppSigmaCode").toDouble();
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| 151 | }
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| 152 | _sigL3 = 0.02;
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| 153 | if (!settings.value("pppSigmaPhase").toString().isEmpty()) {
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[2741] | 154 | _sigL3 = settings.value("pppSigmaPhase").toDouble();
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[2720] | 155 | }
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[2648] | 156 |
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[2720] | 157 | // Parameter Sigmas
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| 158 | // ----------------
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| 159 | _sigCrd0 = 100.0;
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| 160 | if (!settings.value("pppSigCrd0").toString().isEmpty()) {
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| 161 | _sigCrd0 = settings.value("pppSigCrd0").toDouble();
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| 162 | }
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| 163 | _sigCrdP = 100.0;
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| 164 | if (!settings.value("pppSigCrdP").toString().isEmpty()) {
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| 165 | _sigCrdP = settings.value("pppSigCrdP").toDouble();
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| 166 | }
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| 167 | _sigTrp0 = 0.1;
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| 168 | if (!settings.value("pppSigTrp0").toString().isEmpty()) {
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| 169 | _sigTrp0 = settings.value("pppSigTrp0").toDouble();
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| 170 | }
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| 171 | _sigTrpP = 1e-6;
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| 172 | if (!settings.value("pppSigTrpP").toString().isEmpty()) {
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| 173 | _sigTrpP = settings.value("pppSigTrpP").toDouble();
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| 174 | }
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[2782] | 175 | _sigClk0 = 1000.0;
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| 176 | _sigAmb0 = 1000.0;
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| 177 | _sigGalileoOffset0 = 1000.0;
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[2784] | 178 | _sigGalileoOffsetP = 0.0;
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[2648] | 179 |
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[2720] | 180 | // Quick-Start Mode
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| 181 | // ----------------
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| 182 | _quickStart = 0;
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[2726] | 183 | if (settings.value("pppRefCrdX").toString() != "" &&
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| 184 | settings.value("pppRefCrdY").toString() != "" &&
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| 185 | settings.value("pppRefCrdZ").toString() != "" &&
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[2720] | 186 | !settings.value("pppQuickStart").toString().isEmpty()) {
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[2745] | 187 | _quickStart = settings.value("pppQuickStart").toDouble();
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[2720] | 188 | }
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| 189 |
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[2113] | 190 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[2548] | 191 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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[2113] | 192 |
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[2084] | 193 | _usePhase = false;
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| 194 | if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
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| 195 | _usePhase = true;
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| 196 | }
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| 197 |
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| 198 | _estTropo = false;
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| 199 | if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
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| 200 | _estTropo = true;
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| 201 | }
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| 202 |
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| 203 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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| 204 | _ellBanc.ReSize(3); _ellBanc = 0.0;
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| 205 |
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[2239] | 206 | int nextPar = 0;
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[2265] | 207 | _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
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| 208 | _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
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| 209 | _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
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| 210 | _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
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[2084] | 211 | if (_estTropo) {
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[2782] | 212 | _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
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[2084] | 213 | }
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[2799] | 214 | if ( Qt::CheckState(settings.value("pppGalileo").toInt()) == Qt::Checked) {
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[2782] | 215 | _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, ""));
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| 216 | }
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[2073] | 217 |
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| 218 | unsigned nPar = _params.size();
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[2084] | 219 |
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[2073] | 220 | _QQ.ReSize(nPar);
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[2239] | 221 |
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[2073] | 222 | _QQ = 0.0;
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| 223 |
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[2239] | 224 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 225 | bncParam* pp = _params[iPar-1];
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| 226 | if (pp->isCrd()) {
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[2720] | 227 | _QQ(iPar,iPar) = _sigCrd0 * _sigCrd0;
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[2239] | 228 | }
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[2265] | 229 | else if (pp->type == bncParam::RECCLK) {
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[2720] | 230 | _QQ(iPar,iPar) = _sigClk0 * _sigClk0;
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[2239] | 231 | }
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| 232 | else if (pp->type == bncParam::TROPO) {
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[2720] | 233 | _QQ(iPar,iPar) = _sigTrp0 * _sigTrp0;
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[2239] | 234 | }
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[2782] | 235 | else if (pp->type == bncParam::GALILEO_OFFSET) {
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| 236 | _QQ(iPar,iPar) = _sigGalileoOffset0 * _sigGalileoOffset0;
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| 237 | }
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[2077] | 238 | }
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[2125] | 239 |
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| 240 | // NMEA Output
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| 241 | // -----------
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| 242 | QString nmeaFileName = settings.value("nmeaFile").toString();
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| 243 | if (nmeaFileName.isEmpty()) {
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| 244 | _nmeaFile = 0;
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| 245 | _nmeaStream = 0;
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| 246 | }
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| 247 | else {
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| 248 | expandEnvVar(nmeaFileName);
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| 249 | _nmeaFile = new QFile(nmeaFileName);
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| 250 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 251 | _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 252 | }
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| 253 | else {
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| 254 | _nmeaFile->open(QIODevice::WriteOnly);
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| 255 | }
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| 256 | _nmeaStream = new QTextStream();
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| 257 | _nmeaStream->setDevice(_nmeaFile);
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| 258 | }
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[2058] | 259 | }
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| 260 |
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| 261 | // Destructor
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| 262 | ////////////////////////////////////////////////////////////////////////////
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| 263 | bncModel::~bncModel() {
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[2126] | 264 | delete _nmeaStream;
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| 265 | delete _nmeaFile;
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[2648] | 266 | for (int ii = 0; ii < _posAverage.size(); ++ii) {
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| 267 | delete _posAverage[ii];
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| 268 | }
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[2058] | 269 | }
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| 270 |
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| 271 | // Bancroft Solution
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| 272 | ////////////////////////////////////////////////////////////////////////////
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| 273 | t_irc bncModel::cmpBancroft(t_epoData* epoData) {
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| 274 |
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[2231] | 275 | if (epoData->sizeGPS() < MINOBS) {
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[2547] | 276 | _log += "bncModel::cmpBancroft: not enough data\n";
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[2058] | 277 | return failure;
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| 278 | }
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| 279 |
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[2231] | 280 | Matrix BB(epoData->sizeGPS(), 4);
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[2058] | 281 |
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[2231] | 282 | QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
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[2791] | 283 | int iObsBanc = 0;
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[2058] | 284 | while (it.hasNext()) {
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[2791] | 285 | ++iObsBanc;
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[2058] | 286 | it.next();
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| 287 | QString prn = it.key();
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| 288 | t_satData* satData = it.value();
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[2791] | 289 | BB(iObsBanc, 1) = satData->xx(1);
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| 290 | BB(iObsBanc, 2) = satData->xx(2);
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| 291 | BB(iObsBanc, 3) = satData->xx(3);
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| 292 | BB(iObsBanc, 4) = satData->P3 + satData->clk;
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[2058] | 293 | }
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| 294 |
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| 295 | bancroft(BB, _xcBanc);
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| 296 |
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[2064] | 297 | // Ellipsoidal Coordinates
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| 298 | // ------------------------
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| 299 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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[2063] | 300 |
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[2064] | 301 | // Compute Satellite Elevations
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| 302 | // ----------------------------
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[2231] | 303 | QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
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| 304 | while (iGPS.hasNext()) {
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| 305 | iGPS.next();
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| 306 | t_satData* satData = iGPS.value();
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[2789] | 307 | cmpEle(satData);
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[2287] | 308 | if (satData->eleSat < MINELE_GPS) {
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[2070] | 309 | delete satData;
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[2231] | 310 | iGPS.remove();
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[2070] | 311 | }
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[2064] | 312 | }
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| 313 |
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[2231] | 314 | QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
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| 315 | while (iGlo.hasNext()) {
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| 316 | iGlo.next();
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| 317 | t_satData* satData = iGlo.value();
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[2789] | 318 | cmpEle(satData);
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[2287] | 319 | if (satData->eleSat < MINELE_GLO) {
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[2231] | 320 | delete satData;
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| 321 | iGlo.remove();
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| 322 | }
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| 323 | }
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| 324 |
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[2780] | 325 | QMutableMapIterator<QString, t_satData*> iGal(epoData->satDataGal);
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| 326 | while (iGal.hasNext()) {
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| 327 | iGal.next();
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| 328 | t_satData* satData = iGal.value();
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[2789] | 329 | cmpEle(satData);
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[2780] | 330 | if (satData->eleSat < MINELE_GAL) {
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| 331 | delete satData;
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| 332 | iGal.remove();
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| 333 | }
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| 334 | }
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| 335 |
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[2058] | 336 | return success;
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| 337 | }
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[2060] | 338 |
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| 339 | // Computed Value
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| 340 | ////////////////////////////////////////////////////////////////////////////
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[2583] | 341 | double bncModel::cmpValue(t_satData* satData, bool phase) {
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[2060] | 342 |
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[2073] | 343 | ColumnVector xRec(3);
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| 344 | xRec(1) = x();
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| 345 | xRec(2) = y();
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| 346 | xRec(3) = z();
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[2060] | 347 |
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[2073] | 348 | double rho0 = (satData->xx - xRec).norm_Frobenius();
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[2060] | 349 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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| 350 |
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[2073] | 351 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
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| 352 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
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| 353 | xRec(3) = z();
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| 354 |
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[2580] | 355 | tides(_time, xRec);
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| 356 |
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[2060] | 357 | satData->rho = (satData->xx - xRec).norm_Frobenius();
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| 358 |
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[2084] | 359 | double tropDelay = delay_saast(satData->eleSat) +
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| 360 | trp() / sin(satData->eleSat);
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[2060] | 361 |
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[2583] | 362 | double wind = 0.0;
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| 363 | if (phase) {
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| 364 | wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
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| 365 | }
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| 366 |
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[2783] | 367 | double offset = 0.0;
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| 368 | if (satData->prn[0] == 'E') {
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| 369 | offset = Galileo_offset();
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| 370 | }
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| 371 |
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| 372 | return satData->rho + clk() + offset - satData->clk + tropDelay + wind;
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[2060] | 373 | }
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| 374 |
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[2063] | 375 | // Tropospheric Model (Saastamoinen)
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| 376 | ////////////////////////////////////////////////////////////////////////////
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[2065] | 377 | double bncModel::delay_saast(double Ele) {
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[2063] | 378 |
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[2769] | 379 | double xyz[3];
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| 380 | xyz[0] = x();
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| 381 | xyz[1] = y();
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| 382 | xyz[2] = z();
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| 383 | double ell[3];
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| 384 | xyz2ell(xyz, ell);
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| 385 | double height = ell[2];
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[2063] | 386 |
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[2064] | 387 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
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| 388 | double TT = 18.0 - height * 0.0065 + 273.15;
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| 389 | double hh = 50.0 * exp(-6.396e-4 * height);
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[2063] | 390 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
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| 391 |
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[2064] | 392 | double h_km = height / 1000.0;
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[2063] | 393 |
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| 394 | if (h_km < 0.0) h_km = 0.0;
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| 395 | if (h_km > 5.0) h_km = 5.0;
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| 396 | int ii = int(h_km + 1);
|
---|
| 397 | double href = ii - 1;
|
---|
| 398 |
|
---|
| 399 | double bCor[6];
|
---|
| 400 | bCor[0] = 1.156;
|
---|
| 401 | bCor[1] = 1.006;
|
---|
| 402 | bCor[2] = 0.874;
|
---|
| 403 | bCor[3] = 0.757;
|
---|
| 404 | bCor[4] = 0.654;
|
---|
| 405 | bCor[5] = 0.563;
|
---|
| 406 |
|
---|
| 407 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
|
---|
| 408 |
|
---|
| 409 | double zen = M_PI/2.0 - Ele;
|
---|
| 410 |
|
---|
| 411 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
|
---|
| 412 | }
|
---|
| 413 |
|
---|
[2073] | 414 | // Prediction Step of the Filter
|
---|
| 415 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2080] | 416 | void bncModel::predict(t_epoData* epoData) {
|
---|
[2073] | 417 |
|
---|
[2648] | 418 | bncSettings settings;
|
---|
[2244] | 419 |
|
---|
[2648] | 420 | bool firstCrd = false;
|
---|
| 421 | if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
|
---|
| 422 | firstCrd = true;
|
---|
[2747] | 423 | _startTime = QDateTime::currentDateTime();
|
---|
[2648] | 424 | }
|
---|
| 425 |
|
---|
[2726] | 426 | // Use different white noise for Quick-Start mode
|
---|
[2720] | 427 | // ----------------------------------------------
|
---|
| 428 | double sigCrdP_used = _sigCrdP;
|
---|
| 429 | if ( _quickStart > 0.0 &&
|
---|
| 430 | _quickStart > _startTime.secsTo(QDateTime::currentDateTime()) ) {
|
---|
| 431 | sigCrdP_used = 0.0;
|
---|
[2648] | 432 | }
|
---|
| 433 |
|
---|
[2244] | 434 | // Predict Parameter values, add white noise
|
---|
| 435 | // -----------------------------------------
|
---|
| 436 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 437 | bncParam* pp = _params[iPar-1];
|
---|
| 438 |
|
---|
| 439 | // Coordinates
|
---|
| 440 | // -----------
|
---|
| 441 | if (pp->type == bncParam::CRD_X) {
|
---|
[2720] | 442 | if (firstCrd) {
|
---|
[2726] | 443 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 444 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 445 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 446 | pp->xx = settings.value("pppRefCrdX").toDouble();
|
---|
| 447 | }
|
---|
| 448 | else {
|
---|
| 449 | pp->xx = _xcBanc(1);
|
---|
| 450 | }
|
---|
[2244] | 451 | }
|
---|
[2720] | 452 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 453 | }
|
---|
| 454 | else if (pp->type == bncParam::CRD_Y) {
|
---|
[2720] | 455 | if (firstCrd) {
|
---|
[2726] | 456 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 457 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 458 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 459 | pp->xx = settings.value("pppRefCrdY").toDouble();
|
---|
| 460 | }
|
---|
| 461 | else {
|
---|
| 462 | pp->xx = _xcBanc(2);
|
---|
| 463 | }
|
---|
[2244] | 464 | }
|
---|
[2720] | 465 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 466 | }
|
---|
| 467 | else if (pp->type == bncParam::CRD_Z) {
|
---|
[2720] | 468 | if (firstCrd) {
|
---|
[2726] | 469 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 470 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 471 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 472 | pp->xx = settings.value("pppRefCrdZ").toDouble();
|
---|
| 473 | }
|
---|
| 474 | else {
|
---|
| 475 | pp->xx = _xcBanc(3);
|
---|
| 476 | }
|
---|
[2244] | 477 | }
|
---|
[2720] | 478 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 479 | }
|
---|
| 480 |
|
---|
| 481 | // Receiver Clocks
|
---|
| 482 | // ---------------
|
---|
[2265] | 483 | else if (pp->type == bncParam::RECCLK) {
|
---|
[2244] | 484 | pp->xx = _xcBanc(4);
|
---|
| 485 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
| 486 | _QQ(iPar, jj) = 0.0;
|
---|
| 487 | }
|
---|
[2720] | 488 | _QQ(iPar,iPar) = _sigClk0 * _sigClk0;
|
---|
[2244] | 489 | }
|
---|
| 490 |
|
---|
| 491 | // Tropospheric Delay
|
---|
| 492 | // ------------------
|
---|
| 493 | else if (pp->type == bncParam::TROPO) {
|
---|
[2720] | 494 | _QQ(iPar,iPar) += _sigTrpP * _sigTrpP;
|
---|
[2244] | 495 | }
|
---|
[2782] | 496 |
|
---|
| 497 | // Galileo Offset
|
---|
| 498 | // --------------
|
---|
| 499 | else if (pp->type == bncParam::GALILEO_OFFSET) {
|
---|
| 500 | _QQ(iPar,iPar) += _sigGalileoOffsetP * _sigGalileoOffsetP;
|
---|
| 501 | }
|
---|
[2244] | 502 | }
|
---|
| 503 |
|
---|
| 504 | // Add New Ambiguities if necessary
|
---|
| 505 | // --------------------------------
|
---|
[2083] | 506 | if (_usePhase) {
|
---|
[2080] | 507 |
|
---|
[2083] | 508 | // Make a copy of QQ and xx, set parameter indices
|
---|
| 509 | // -----------------------------------------------
|
---|
| 510 | SymmetricMatrix QQ_old = _QQ;
|
---|
| 511 |
|
---|
| 512 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 513 | _params[iPar-1]->index_old = _params[iPar-1]->index;
|
---|
| 514 | _params[iPar-1]->index = 0;
|
---|
| 515 | }
|
---|
| 516 |
|
---|
| 517 | // Remove Ambiguity Parameters without observations
|
---|
| 518 | // ------------------------------------------------
|
---|
| 519 | int iPar = 0;
|
---|
| 520 | QMutableVectorIterator<bncParam*> it(_params);
|
---|
| 521 | while (it.hasNext()) {
|
---|
| 522 | bncParam* par = it.next();
|
---|
| 523 | bool removed = false;
|
---|
| 524 | if (par->type == bncParam::AMB_L3) {
|
---|
[2231] | 525 | if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
|
---|
[2780] | 526 | epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() &&
|
---|
| 527 | epoData->satDataGal.find(par->prn) == epoData->satDataGal.end() ) {
|
---|
[2083] | 528 | removed = true;
|
---|
| 529 | delete par;
|
---|
| 530 | it.remove();
|
---|
| 531 | }
|
---|
[2080] | 532 | }
|
---|
[2083] | 533 | if (! removed) {
|
---|
| 534 | ++iPar;
|
---|
| 535 | par->index = iPar;
|
---|
| 536 | }
|
---|
[2080] | 537 | }
|
---|
[2083] | 538 |
|
---|
| 539 | // Add new ambiguity parameters
|
---|
| 540 | // ----------------------------
|
---|
[2231] | 541 | QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
|
---|
| 542 | while (iGPS.hasNext()) {
|
---|
| 543 | iGPS.next();
|
---|
[2244] | 544 | t_satData* satData = iGPS.value();
|
---|
[2789] | 545 | addAmb(satData);
|
---|
[2080] | 546 | }
|
---|
[2231] | 547 |
|
---|
| 548 | QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
|
---|
| 549 | while (iGlo.hasNext()) {
|
---|
| 550 | iGlo.next();
|
---|
[2233] | 551 | t_satData* satData = iGlo.value();
|
---|
[2789] | 552 | addAmb(satData);
|
---|
[2231] | 553 | }
|
---|
[2780] | 554 |
|
---|
| 555 | QMapIterator<QString, t_satData*> iGal(epoData->satDataGal);
|
---|
| 556 | while (iGal.hasNext()) {
|
---|
| 557 | iGal.next();
|
---|
| 558 | t_satData* satData = iGal.value();
|
---|
[2789] | 559 | addAmb(satData);
|
---|
[2780] | 560 | }
|
---|
[2083] | 561 |
|
---|
| 562 | int nPar = _params.size();
|
---|
| 563 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
| 564 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
| 565 | bncParam* p1 = _params[i1-1];
|
---|
| 566 | if (p1->index_old != 0) {
|
---|
| 567 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
| 568 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
| 569 | bncParam* p2 = _params[i2-1];
|
---|
| 570 | if (p2->index_old != 0) {
|
---|
| 571 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
| 572 | }
|
---|
[2080] | 573 | }
|
---|
| 574 | }
|
---|
| 575 | }
|
---|
[2083] | 576 |
|
---|
| 577 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
| 578 | bncParam* par = _params[ii-1];
|
---|
| 579 | if (par->index_old == 0) {
|
---|
[2720] | 580 | _QQ(par->index, par->index) = _sigAmb0 * _sigAmb0;
|
---|
[2083] | 581 | }
|
---|
| 582 | par->index_old = par->index;
|
---|
[2080] | 583 | }
|
---|
| 584 | }
|
---|
[2073] | 585 | }
|
---|
| 586 |
|
---|
[2060] | 587 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
| 588 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 589 | t_irc bncModel::update(t_epoData* epoData) {
|
---|
| 590 |
|
---|
[2473] | 591 | bncSettings settings;
|
---|
| 592 |
|
---|
[2248] | 593 | _log.clear();
|
---|
[2124] | 594 |
|
---|
[2143] | 595 | _time = epoData->tt;
|
---|
| 596 |
|
---|
[2827] | 597 | if (settings.value("pppSPP").toString() == "PPP") {
|
---|
| 598 | _log += "Precise Point Positioning of Epoch "
|
---|
| 599 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
| 600 | "\n---------------------------------------------------------------\n";
|
---|
| 601 | }
|
---|
| 602 | else {
|
---|
| 603 | _log += "Single Point Positioning of Epoch "
|
---|
| 604 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
[2547] | 605 | "\n--------------------------------------------------------------\n";
|
---|
[2827] | 606 | }
|
---|
[2547] | 607 |
|
---|
[2112] | 608 | SymmetricMatrix QQsav;
|
---|
[2109] | 609 | ColumnVector dx;
|
---|
[2112] | 610 | ColumnVector vv;
|
---|
[2073] | 611 |
|
---|
[2113] | 612 | // Loop over all outliers
|
---|
| 613 | // ----------------------
|
---|
[2108] | 614 | do {
|
---|
| 615 |
|
---|
| 616 | // Bancroft Solution
|
---|
| 617 | // -----------------
|
---|
| 618 | if (cmpBancroft(epoData) != success) {
|
---|
[2124] | 619 | emit newMessage(_log, false);
|
---|
[2108] | 620 | return failure;
|
---|
| 621 | }
|
---|
[2080] | 622 |
|
---|
[2108] | 623 | // Status Prediction
|
---|
| 624 | // -----------------
|
---|
| 625 | predict(epoData);
|
---|
| 626 |
|
---|
[2109] | 627 | // Create First-Design Matrix
|
---|
| 628 | // --------------------------
|
---|
[2108] | 629 | unsigned nPar = _params.size();
|
---|
[2231] | 630 | unsigned nObs = 0;
|
---|
| 631 | if (_usePhase) {
|
---|
[2780] | 632 | nObs = 2 * (epoData->sizeGPS() + epoData->sizeGal()) + epoData->sizeGlo();
|
---|
[2231] | 633 | }
|
---|
| 634 | else {
|
---|
[2780] | 635 | nObs = epoData->sizeGPS() + epoData->sizeGal(); // Glonass code not used
|
---|
[2231] | 636 | }
|
---|
[2108] | 637 |
|
---|
[2540] | 638 | if (nObs < nPar) {
|
---|
[2547] | 639 | _log += "bncModel::update: nObs < nPar\n";
|
---|
[2540] | 640 | emit newMessage(_log, false);
|
---|
| 641 | return failure;
|
---|
| 642 | }
|
---|
| 643 |
|
---|
[2108] | 644 | Matrix AA(nObs, nPar); // first design matrix
|
---|
| 645 | ColumnVector ll(nObs); // tems observed-computed
|
---|
[2283] | 646 | DiagonalMatrix PP(nObs); PP = 0.0;
|
---|
[2108] | 647 |
|
---|
| 648 | unsigned iObs = 0;
|
---|
[2231] | 649 |
|
---|
| 650 | // GPS code and (optionally) phase observations
|
---|
| 651 | // --------------------------------------------
|
---|
| 652 | QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
|
---|
| 653 | while (itGPS.hasNext()) {
|
---|
| 654 | itGPS.next();
|
---|
| 655 | t_satData* satData = itGPS.value();
|
---|
[2790] | 656 | addObs(iObs, satData, AA, ll, PP);
|
---|
[2080] | 657 | }
|
---|
[2231] | 658 |
|
---|
| 659 | // Glonass phase observations
|
---|
| 660 | // --------------------------
|
---|
[2790] | 661 | QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
|
---|
| 662 | while (itGlo.hasNext()) {
|
---|
| 663 | itGlo.next();
|
---|
| 664 | t_satData* satData = itGlo.value();
|
---|
| 665 | addObs(iObs, satData, AA, ll, PP);
|
---|
[2231] | 666 | }
|
---|
| 667 |
|
---|
[2780] | 668 | // Galileo code and (optionally) phase observations
|
---|
| 669 | // ------------------------------------------------
|
---|
| 670 | QMapIterator<QString, t_satData*> itGal(epoData->satDataGal);
|
---|
| 671 | while (itGal.hasNext()) {
|
---|
| 672 | itGal.next();
|
---|
| 673 | t_satData* satData = itGal.value();
|
---|
[2790] | 674 | addObs(iObs, satData, AA, ll, PP);
|
---|
[2780] | 675 | }
|
---|
| 676 |
|
---|
[2112] | 677 | // Compute Filter Update
|
---|
[2108] | 678 | // ---------------------
|
---|
[2112] | 679 | QQsav = _QQ;
|
---|
| 680 |
|
---|
[2283] | 681 | kalman(AA, ll, PP, _QQ, dx);
|
---|
| 682 |
|
---|
| 683 | vv = ll - AA * dx;
|
---|
| 684 |
|
---|
[2791] | 685 | // Print Residuals
|
---|
| 686 | // ---------------
|
---|
| 687 | if (true) {
|
---|
| 688 | ostringstream str;
|
---|
| 689 | str.setf(ios::fixed);
|
---|
[2245] | 690 |
|
---|
[2791] | 691 | QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
|
---|
| 692 | while (itGPS.hasNext()) {
|
---|
| 693 | itGPS.next();
|
---|
| 694 | t_satData* satData = itGPS.value();
|
---|
| 695 | printRes(vv, str, satData);
|
---|
[2246] | 696 | }
|
---|
[2791] | 697 | QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
|
---|
| 698 | while (itGlo.hasNext()) {
|
---|
| 699 | itGlo.next();
|
---|
| 700 | t_satData* satData = itGlo.value();
|
---|
| 701 | printRes(vv, str, satData);
|
---|
[2265] | 702 | }
|
---|
[2791] | 703 | QMapIterator<QString, t_satData*> itGal(epoData->satDataGal);
|
---|
| 704 | while (itGal.hasNext()) {
|
---|
| 705 | itGal.next();
|
---|
| 706 | t_satData* satData = itGal.value();
|
---|
| 707 | printRes(vv, str, satData);
|
---|
[2246] | 708 | }
|
---|
[2791] | 709 | _log += str.str().c_str();
|
---|
[2265] | 710 | }
|
---|
[2246] | 711 |
|
---|
[2231] | 712 | } while (outlierDetection(QQsav, vv, epoData->satDataGPS,
|
---|
[2780] | 713 | epoData->satDataGlo, epoData->satDataGal) != 0);
|
---|
[2111] | 714 |
|
---|
[2670] | 715 | // Remember the Epoch-specific Results for the computation of means
|
---|
| 716 | // ----------------------------------------------------------------
|
---|
| 717 | pppPos* newPos = new pppPos;
|
---|
| 718 | newPos->time = epoData->tt;
|
---|
| 719 |
|
---|
[2109] | 720 | // Set Solution Vector
|
---|
| 721 | // -------------------
|
---|
[2265] | 722 | ostringstream strB;
|
---|
| 723 | strB.setf(ios::fixed);
|
---|
[2073] | 724 | QVectorIterator<bncParam*> itPar(_params);
|
---|
[2060] | 725 | while (itPar.hasNext()) {
|
---|
| 726 | bncParam* par = itPar.next();
|
---|
[2109] | 727 | par->xx += dx(par->index);
|
---|
[2265] | 728 |
|
---|
| 729 | if (par->type == bncParam::RECCLK) {
|
---|
[2798] | 730 | strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
|
---|
[2124] | 731 | << " +- " << setw(6) << setprecision(3)
|
---|
| 732 | << sqrt(_QQ(par->index,par->index));
|
---|
| 733 | }
|
---|
| 734 | else if (par->type == bncParam::AMB_L3) {
|
---|
[2265] | 735 | strB << "\n amb " << par->prn.toAscii().data() << " = "
|
---|
[2798] | 736 | << setw(10) << setprecision(3) << par->xx
|
---|
[2124] | 737 | << " +- " << setw(6) << setprecision(3)
|
---|
| 738 | << sqrt(_QQ(par->index,par->index));
|
---|
| 739 | }
|
---|
[2212] | 740 | else if (par->type == bncParam::TROPO) {
|
---|
[2670] | 741 | double aprTrp = delay_saast(M_PI/2.0);
|
---|
[2547] | 742 | strB << "\n trp = " << par->prn.toAscii().data()
|
---|
[2670] | 743 | << setw(7) << setprecision(3) << aprTrp << " "
|
---|
[2213] | 744 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
[2212] | 745 | << " +- " << setw(6) << setprecision(3)
|
---|
| 746 | << sqrt(_QQ(par->index,par->index));
|
---|
[2670] | 747 | newPos->xnt[6] = aprTrp + par->xx;
|
---|
[2212] | 748 | }
|
---|
[2782] | 749 | else if (par->type == bncParam::GALILEO_OFFSET) {
|
---|
[2798] | 750 | strB << "\n offset = " << setw(10) << setprecision(3) << par->xx
|
---|
[2782] | 751 | << " +- " << setw(6) << setprecision(3)
|
---|
| 752 | << sqrt(_QQ(par->index,par->index));
|
---|
| 753 | }
|
---|
[2060] | 754 | }
|
---|
[2265] | 755 | strB << '\n';
|
---|
[2547] | 756 | _log += strB.str().c_str();
|
---|
| 757 | emit newMessage(_log, false);
|
---|
[2060] | 758 |
|
---|
[2547] | 759 | // Final Message (both log file and screen)
|
---|
| 760 | // ----------------------------------------
|
---|
| 761 | ostringstream strC;
|
---|
| 762 | strC.setf(ios::fixed);
|
---|
| 763 | strC << _staID.data() << " PPP "
|
---|
[2599] | 764 | << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
|
---|
[2231] | 765 | << setw(14) << setprecision(3) << x() << " +- "
|
---|
| 766 | << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
|
---|
| 767 | << setw(14) << setprecision(3) << y() << " +- "
|
---|
| 768 | << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
|
---|
| 769 | << setw(14) << setprecision(3) << z() << " +- "
|
---|
[2124] | 770 | << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
|
---|
[2113] | 771 |
|
---|
[2370] | 772 | // NEU Output
|
---|
| 773 | // ----------
|
---|
[2862] | 774 | double xyzRef[3];
|
---|
| 775 |
|
---|
[2726] | 776 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 777 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 778 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2649] | 779 |
|
---|
[2370] | 780 | xyzRef[0] = settings.value("pppRefCrdX").toDouble();
|
---|
| 781 | xyzRef[1] = settings.value("pppRefCrdY").toDouble();
|
---|
| 782 | xyzRef[2] = settings.value("pppRefCrdZ").toDouble();
|
---|
[2649] | 783 |
|
---|
[2670] | 784 | newPos->xnt[0] = x() - xyzRef[0];
|
---|
| 785 | newPos->xnt[1] = y() - xyzRef[1];
|
---|
| 786 | newPos->xnt[2] = z() - xyzRef[2];
|
---|
[2649] | 787 |
|
---|
| 788 | double ellRef[3];
|
---|
[2370] | 789 | xyz2ell(xyzRef, ellRef);
|
---|
[2670] | 790 | xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
|
---|
[2649] | 791 |
|
---|
[2547] | 792 | strC << " NEU "
|
---|
[2670] | 793 | << setw(8) << setprecision(3) << newPos->xnt[3] << " "
|
---|
| 794 | << setw(8) << setprecision(3) << newPos->xnt[4] << " "
|
---|
[2797] | 795 | << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
|
---|
[2649] | 796 |
|
---|
[2370] | 797 | }
|
---|
| 798 |
|
---|
[2547] | 799 | emit newMessage(QByteArray(strC.str().c_str()), true);
|
---|
| 800 |
|
---|
[2671] | 801 | if (settings.value("pppAverage").toString() == "") {
|
---|
| 802 | delete newPos;
|
---|
| 803 | }
|
---|
| 804 | else {
|
---|
| 805 |
|
---|
| 806 | _posAverage.push_back(newPos);
|
---|
[2599] | 807 |
|
---|
[2648] | 808 | // Time Span for Average Computation
|
---|
| 809 | // ---------------------------------
|
---|
| 810 | double tRangeAverage = settings.value("pppAverage").toDouble() * 60.;
|
---|
| 811 | if (tRangeAverage < 0) {
|
---|
| 812 | tRangeAverage = 0;
|
---|
| 813 | }
|
---|
| 814 | if (tRangeAverage > 86400) {
|
---|
| 815 | tRangeAverage = 86400;
|
---|
| 816 | }
|
---|
[2599] | 817 |
|
---|
[2648] | 818 | // Compute the Mean
|
---|
| 819 | // ----------------
|
---|
[2670] | 820 | ColumnVector mean(7); mean = 0.0;
|
---|
[2648] | 821 |
|
---|
[2599] | 822 | QMutableVectorIterator<pppPos*> it(_posAverage);
|
---|
| 823 | while (it.hasNext()) {
|
---|
| 824 | pppPos* pp = it.next();
|
---|
[2648] | 825 | if ( (epoData->tt - pp->time) >= tRangeAverage ) {
|
---|
[2599] | 826 | delete pp;
|
---|
| 827 | it.remove();
|
---|
| 828 | }
|
---|
[2648] | 829 | else {
|
---|
[2670] | 830 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 831 | mean[ii] += pp->xnt[ii];
|
---|
[2649] | 832 | }
|
---|
[2648] | 833 | }
|
---|
[2599] | 834 | }
|
---|
[2648] | 835 |
|
---|
| 836 | int nn = _posAverage.size();
|
---|
| 837 |
|
---|
[2649] | 838 | if (nn > 0) {
|
---|
[2648] | 839 |
|
---|
[2649] | 840 | mean /= nn;
|
---|
| 841 |
|
---|
| 842 | // Compute the Deviation
|
---|
| 843 | // ---------------------
|
---|
[2670] | 844 | ColumnVector std(7); std = 0.0;
|
---|
[2649] | 845 | QVectorIterator<pppPos*> it2(_posAverage);
|
---|
| 846 | while (it2.hasNext()) {
|
---|
| 847 | pppPos* pp = it2.next();
|
---|
[2670] | 848 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 849 | std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
|
---|
[2649] | 850 | }
|
---|
| 851 | }
|
---|
[2670] | 852 | for (int ii = 0; ii < 7; ++ii) {
|
---|
[2649] | 853 | std[ii] = sqrt(std[ii] / nn);
|
---|
| 854 | }
|
---|
| 855 |
|
---|
| 856 | ostringstream strD; strD.setf(ios::fixed);
|
---|
| 857 | strD << _staID.data() << " AVE-XYZ "
|
---|
| 858 | << epoData->tt.timestr(1) << " "
|
---|
[2862] | 859 | // << setw(13) << setprecision(3) << mean[0] << " +- "
|
---|
| 860 | << setw(13) << setprecision(3) << mean[0] + xyzRef[0] << " +- "
|
---|
[2649] | 861 | << setw(6) << setprecision(3) << std[0] << " "
|
---|
[2862] | 862 | // << setw(14) << setprecision(3) << mean[1] << " +- "
|
---|
| 863 | << setw(14) << setprecision(3) << mean[1] + xyzRef[1] << " +- "
|
---|
[2649] | 864 | << setw(6) << setprecision(3) << std[1] << " "
|
---|
[2862] | 865 | // << setw(14) << setprecision(3) << mean[2] << " +- "
|
---|
| 866 | << setw(14) << setprecision(3) << mean[2] + xyzRef[2] << " +- "
|
---|
[2650] | 867 | << setw(6) << setprecision(3) << std[2];
|
---|
| 868 | emit newMessage(QByteArray(strD.str().c_str()), true);
|
---|
[2649] | 869 |
|
---|
[2650] | 870 | ostringstream strE; strE.setf(ios::fixed);
|
---|
| 871 | strE << _staID.data() << " AVE-NEU "
|
---|
[2649] | 872 | << epoData->tt.timestr(1) << " "
|
---|
| 873 | << setw(13) << setprecision(3) << mean[3] << " +- "
|
---|
| 874 | << setw(6) << setprecision(3) << std[3] << " "
|
---|
| 875 | << setw(14) << setprecision(3) << mean[4] << " +- "
|
---|
| 876 | << setw(6) << setprecision(3) << std[4] << " "
|
---|
| 877 | << setw(14) << setprecision(3) << mean[5] << " +- "
|
---|
[2670] | 878 | << setw(6) << setprecision(3) << std[5];
|
---|
[2649] | 879 |
|
---|
[2650] | 880 | emit newMessage(QByteArray(strE.str().c_str()), true);
|
---|
[2670] | 881 |
|
---|
[2726] | 882 | if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
|
---|
| 883 | ostringstream strF; strF.setf(ios::fixed);
|
---|
| 884 | strF << _staID.data() << " AVE-TRP "
|
---|
| 885 | << epoData->tt.timestr(1) << " "
|
---|
| 886 | << setw(13) << setprecision(3) << mean[6] << " +- "
|
---|
| 887 | << setw(6) << setprecision(3) << std[6] << endl;
|
---|
| 888 | emit newMessage(QByteArray(strF.str().c_str()), true);
|
---|
| 889 | }
|
---|
[2599] | 890 | }
|
---|
| 891 | }
|
---|
| 892 |
|
---|
[2131] | 893 | // NMEA Output
|
---|
| 894 | // -----------
|
---|
[2181] | 895 | double xyz[3];
|
---|
| 896 | xyz[0] = x();
|
---|
| 897 | xyz[1] = y();
|
---|
| 898 | xyz[2] = z();
|
---|
| 899 | double ell[3];
|
---|
| 900 | xyz2ell(xyz, ell);
|
---|
| 901 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
| 902 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
[2132] | 903 |
|
---|
[2181] | 904 | char phiCh = 'N';
|
---|
| 905 | if (phiDeg < 0) {
|
---|
| 906 | phiDeg = -phiDeg;
|
---|
| 907 | phiCh = 'S';
|
---|
| 908 | }
|
---|
| 909 | char lamCh = 'E';
|
---|
| 910 | if (lamDeg < 0) {
|
---|
[2563] | 911 | lamDeg = -lamDeg;
|
---|
| 912 | lamCh = 'W';
|
---|
[2181] | 913 | }
|
---|
[2132] | 914 |
|
---|
[2566] | 915 | string datestr = epoData->tt.datestr(0); // yyyymmdd
|
---|
| 916 | ostringstream strRMC;
|
---|
| 917 | strRMC.setf(ios::fixed);
|
---|
| 918 | strRMC << "GPRMC,"
|
---|
| 919 | << epoData->tt.timestr(0,0) << ",A,"
|
---|
| 920 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 921 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 922 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 923 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 924 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 925 | << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
|
---|
[2569] | 926 | << datestr[6] << datestr[7] << datestr[4] << datestr[5]
|
---|
| 927 | << datestr[2] << datestr[3] << ",,";
|
---|
[2566] | 928 |
|
---|
| 929 | writeNMEAstr(QString(strRMC.str().c_str()));
|
---|
| 930 |
|
---|
[2181] | 931 | double dop = 2.0; // TODO
|
---|
[2133] | 932 |
|
---|
[2566] | 933 | ostringstream strGGA;
|
---|
| 934 | strGGA.setf(ios::fixed);
|
---|
| 935 | strGGA << "GPGGA,"
|
---|
| 936 | << epoData->tt.timestr(0,0) << ','
|
---|
| 937 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 938 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 939 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 940 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 941 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 942 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
| 943 | << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
|
---|
| 944 | << setw(3) << setprecision(1) << dop << ','
|
---|
[2569] | 945 | << setprecision(3) << ell[2] << ",M,0.0,M,,";
|
---|
[2181] | 946 |
|
---|
[2566] | 947 | writeNMEAstr(QString(strGGA.str().c_str()));
|
---|
[2131] | 948 |
|
---|
[2060] | 949 | return success;
|
---|
| 950 | }
|
---|
[2112] | 951 |
|
---|
| 952 | // Outlier Detection
|
---|
| 953 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 954 | int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
|
---|
| 955 | const ColumnVector& vv,
|
---|
[2231] | 956 | QMap<QString, t_satData*>& satDataGPS,
|
---|
[2780] | 957 | QMap<QString, t_satData*>& satDataGlo,
|
---|
| 958 | QMap<QString, t_satData*>& satDataGal) {
|
---|
[2112] | 959 |
|
---|
[2792] | 960 | QString prnCode;
|
---|
| 961 | QString prnPhase;
|
---|
| 962 | double maxResCode = 0.0;
|
---|
| 963 | double maxResPhase = 0.0;
|
---|
[2231] | 964 |
|
---|
[2792] | 965 | QString prnRemoved;
|
---|
| 966 | double maxRes;
|
---|
[2112] | 967 |
|
---|
[2793] | 968 | int irc = 0;
|
---|
| 969 |
|
---|
| 970 | // Check Glonass
|
---|
| 971 | // -------------
|
---|
| 972 | if (irc == 0) {
|
---|
| 973 | findMaxRes(vv,satDataGlo, prnCode, maxResCode, prnPhase, maxResPhase);
|
---|
| 974 | if (maxResPhase > MAXRES_PHASE_GLO) {
|
---|
| 975 | satDataGlo.remove(prnPhase);
|
---|
| 976 | prnRemoved = prnPhase;
|
---|
| 977 | maxRes = maxResPhase;
|
---|
| 978 | irc = 1;
|
---|
| 979 | }
|
---|
[2792] | 980 | }
|
---|
[2112] | 981 |
|
---|
[2793] | 982 | // Check Galileo
|
---|
| 983 | // -------------
|
---|
| 984 | if (irc == 0) {
|
---|
[2792] | 985 | findMaxRes(vv,satDataGal, prnCode, maxResCode, prnPhase, maxResPhase);
|
---|
| 986 | if (maxResPhase > MAXRES_PHASE_GAL) {
|
---|
| 987 | satDataGal.remove(prnPhase);
|
---|
| 988 | prnRemoved = prnPhase;
|
---|
| 989 | maxRes = maxResPhase;
|
---|
[2793] | 990 | irc = 1;
|
---|
[2112] | 991 | }
|
---|
[2792] | 992 | else if (maxResCode > MAXRES_CODE_GAL) {
|
---|
| 993 | satDataGal.remove(prnCode);
|
---|
| 994 | prnRemoved = prnCode;
|
---|
| 995 | maxRes = maxResCode;
|
---|
[2793] | 996 | irc = 1;
|
---|
[2238] | 997 | }
|
---|
[2793] | 998 | }
|
---|
[2112] | 999 |
|
---|
[2793] | 1000 | // Check GPS
|
---|
| 1001 | // ---------
|
---|
| 1002 | if (irc == 0) {
|
---|
| 1003 | findMaxRes(vv,satDataGPS, prnCode, maxResCode, prnPhase, maxResPhase);
|
---|
| 1004 | if (maxResPhase > MAXRES_PHASE_GPS) {
|
---|
| 1005 | satDataGPS.remove(prnPhase);
|
---|
| 1006 | prnRemoved = prnPhase;
|
---|
| 1007 | maxRes = maxResPhase;
|
---|
| 1008 | irc = 1;
|
---|
[2780] | 1009 | }
|
---|
[2793] | 1010 | else if (maxResCode > MAXRES_CODE_GPS) {
|
---|
| 1011 | satDataGPS.remove(prnCode);
|
---|
| 1012 | prnRemoved = prnCode;
|
---|
| 1013 | maxRes = maxResCode;
|
---|
| 1014 | irc = 1;
|
---|
| 1015 | }
|
---|
[2780] | 1016 | }
|
---|
| 1017 |
|
---|
[2793] | 1018 | if (irc != 0) {
|
---|
[2792] | 1019 | _log += "Outlier " + prnRemoved.toAscii() + " "
|
---|
| 1020 | + QByteArray::number(maxRes, 'f', 3) + "\n";
|
---|
[2248] | 1021 | _QQ = QQsav;
|
---|
| 1022 | }
|
---|
[2793] | 1023 |
|
---|
| 1024 | return irc;
|
---|
[2112] | 1025 | }
|
---|
[2130] | 1026 |
|
---|
| 1027 | //
|
---|
| 1028 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1029 | void bncModel::writeNMEAstr(const QString& nmStr) {
|
---|
| 1030 |
|
---|
| 1031 | unsigned char XOR = 0;
|
---|
| 1032 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
| 1033 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
| 1034 | }
|
---|
[2181] | 1035 |
|
---|
| 1036 | QString outStr = '$' + nmStr
|
---|
| 1037 | + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
[2130] | 1038 |
|
---|
[2178] | 1039 | if (_nmeaStream) {
|
---|
[2181] | 1040 | *_nmeaStream << outStr;
|
---|
[2178] | 1041 | _nmeaStream->flush();
|
---|
| 1042 | }
|
---|
[2130] | 1043 |
|
---|
[2181] | 1044 | emit newNMEAstr(outStr.toAscii());
|
---|
[2130] | 1045 | }
|
---|
[2283] | 1046 |
|
---|
| 1047 | ////
|
---|
| 1048 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1049 | void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
|
---|
| 1050 | const DiagonalMatrix& PP,
|
---|
| 1051 | SymmetricMatrix& QQ, ColumnVector& dx) {
|
---|
| 1052 |
|
---|
| 1053 | int nObs = AA.Nrows();
|
---|
| 1054 | int nPar = AA.Ncols();
|
---|
| 1055 |
|
---|
| 1056 | UpperTriangularMatrix SS = Cholesky(QQ).t();
|
---|
| 1057 |
|
---|
| 1058 | Matrix SA = SS*AA.t();
|
---|
| 1059 | Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
|
---|
| 1060 | for (int ii = 1; ii <= nObs; ++ii) {
|
---|
| 1061 | SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
|
---|
| 1062 | }
|
---|
| 1063 |
|
---|
| 1064 | SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
|
---|
| 1065 | SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
|
---|
| 1066 |
|
---|
| 1067 | UpperTriangularMatrix UU;
|
---|
| 1068 | QRZ(SRF, UU);
|
---|
| 1069 |
|
---|
| 1070 | SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
|
---|
| 1071 | UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
|
---|
| 1072 | Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
|
---|
| 1073 |
|
---|
| 1074 | UpperTriangularMatrix SHi = SH_rt.i();
|
---|
| 1075 |
|
---|
| 1076 | Matrix KT = SHi * YY;
|
---|
| 1077 | SymmetricMatrix Hi; Hi << SHi * SHi.t();
|
---|
| 1078 |
|
---|
| 1079 | dx = KT.t() * ll;
|
---|
| 1080 | QQ << (SS.t() * SS);
|
---|
| 1081 | }
|
---|
[2582] | 1082 |
|
---|
| 1083 | // Phase Wind-Up Correction
|
---|
| 1084 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1085 | double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
|
---|
| 1086 | const ColumnVector& rRec) {
|
---|
| 1087 |
|
---|
| 1088 | double Mjd = _time.mjd() + _time.daysec() / 86400.0;
|
---|
| 1089 |
|
---|
| 1090 | // First time - initialize to zero
|
---|
| 1091 | // -------------------------------
|
---|
| 1092 | if (!_windUpTime.contains(prn)) {
|
---|
| 1093 | _windUpTime[prn] = Mjd;
|
---|
| 1094 | _windUpSum[prn] = 0.0;
|
---|
| 1095 | }
|
---|
| 1096 |
|
---|
| 1097 | // Compute the correction for new time
|
---|
| 1098 | // -----------------------------------
|
---|
| 1099 | else if (_windUpTime[prn] != Mjd) {
|
---|
| 1100 | _windUpTime[prn] = Mjd;
|
---|
| 1101 |
|
---|
| 1102 | // Unit Vector GPS Satellite --> Receiver
|
---|
| 1103 | // --------------------------------------
|
---|
| 1104 | ColumnVector rho = rRec - rSat;
|
---|
| 1105 | rho /= rho.norm_Frobenius();
|
---|
| 1106 |
|
---|
| 1107 | // GPS Satellite unit Vectors sz, sy, sx
|
---|
| 1108 | // -------------------------------------
|
---|
| 1109 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
|
---|
| 1110 |
|
---|
| 1111 | ColumnVector xSun = Sun(Mjd);
|
---|
| 1112 | xSun /= xSun.norm_Frobenius();
|
---|
| 1113 |
|
---|
| 1114 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
| 1115 | ColumnVector sx = crossproduct(sy, sz);
|
---|
| 1116 |
|
---|
| 1117 | // Effective Dipole of the GPS Satellite Antenna
|
---|
| 1118 | // ---------------------------------------------
|
---|
| 1119 | ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
|
---|
| 1120 | - crossproduct(rho, sy);
|
---|
| 1121 |
|
---|
| 1122 | // Receiver unit Vectors rx, ry
|
---|
| 1123 | // ----------------------------
|
---|
| 1124 | ColumnVector rx(3);
|
---|
| 1125 | ColumnVector ry(3);
|
---|
| 1126 |
|
---|
| 1127 | double recEll[3]; xyz2ell(rRec.data(), recEll) ;
|
---|
| 1128 | double neu[3];
|
---|
| 1129 |
|
---|
| 1130 | neu[0] = 1.0;
|
---|
| 1131 | neu[1] = 0.0;
|
---|
| 1132 | neu[2] = 0.0;
|
---|
| 1133 | neu2xyz(recEll, neu, rx.data());
|
---|
| 1134 |
|
---|
| 1135 | neu[0] = 0.0;
|
---|
| 1136 | neu[1] = -1.0;
|
---|
| 1137 | neu[2] = 0.0;
|
---|
| 1138 | neu2xyz(recEll, neu, ry.data());
|
---|
| 1139 |
|
---|
| 1140 | // Effective Dipole of the Receiver Antenna
|
---|
| 1141 | // ----------------------------------------
|
---|
| 1142 | ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
|
---|
| 1143 | + crossproduct(rho, ry);
|
---|
| 1144 |
|
---|
| 1145 | // Resulting Effect
|
---|
| 1146 | // ----------------
|
---|
| 1147 | double alpha = DotProduct(dipSat,dipRec) /
|
---|
| 1148 | (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
|
---|
| 1149 |
|
---|
| 1150 | if (alpha > 1.0) alpha = 1.0;
|
---|
| 1151 | if (alpha < -1.0) alpha = -1.0;
|
---|
| 1152 |
|
---|
| 1153 | double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
|
---|
| 1154 |
|
---|
| 1155 | if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
|
---|
| 1156 | dphi = -dphi;
|
---|
| 1157 | }
|
---|
| 1158 |
|
---|
| 1159 | _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
|
---|
| 1160 | }
|
---|
| 1161 |
|
---|
| 1162 | return _windUpSum[prn];
|
---|
| 1163 | }
|
---|
[2789] | 1164 |
|
---|
| 1165 | //
|
---|
| 1166 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1167 | void bncModel::cmpEle(t_satData* satData) {
|
---|
| 1168 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
|
---|
| 1169 | double rho = rr.norm_Frobenius();
|
---|
| 1170 |
|
---|
| 1171 | double neu[3];
|
---|
| 1172 | xyz2neu(_ellBanc.data(), rr.data(), neu);
|
---|
| 1173 |
|
---|
| 1174 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
|
---|
| 1175 | if (neu[2] < 0) {
|
---|
| 1176 | satData->eleSat *= -1.0;
|
---|
| 1177 | }
|
---|
| 1178 | satData->azSat = atan2(neu[1], neu[0]);
|
---|
| 1179 | }
|
---|
| 1180 |
|
---|
| 1181 | //
|
---|
| 1182 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1183 | void bncModel::addAmb(t_satData* satData) {
|
---|
| 1184 | bool found = false;
|
---|
| 1185 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1186 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 1187 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 1188 | found = true;
|
---|
| 1189 | break;
|
---|
| 1190 | }
|
---|
| 1191 | }
|
---|
| 1192 | if (!found) {
|
---|
| 1193 | bncParam* par = new bncParam(bncParam::AMB_L3,
|
---|
| 1194 | _params.size()+1, satData->prn);
|
---|
| 1195 | _params.push_back(par);
|
---|
| 1196 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
| 1197 | }
|
---|
| 1198 | }
|
---|
[2790] | 1199 |
|
---|
| 1200 | //
|
---|
| 1201 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1202 | void bncModel::addObs(unsigned& iObs, t_satData* satData,
|
---|
| 1203 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
|
---|
| 1204 |
|
---|
[2791] | 1205 | // Code Observations
|
---|
| 1206 | // -----------------
|
---|
[2790] | 1207 | if (satData->system() != 'R') {
|
---|
| 1208 | ++iObs;
|
---|
| 1209 | ll(iObs) = satData->P3 - cmpValue(satData, false);
|
---|
| 1210 | PP(iObs,iObs) = 1.0 / (_sigP3 * _sigP3);
|
---|
| 1211 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1212 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
| 1213 | }
|
---|
[2791] | 1214 | satData->indexCode = iObs;
|
---|
[2790] | 1215 | }
|
---|
| 1216 |
|
---|
[2791] | 1217 | // Phase Observations
|
---|
| 1218 | // ------------------
|
---|
[2790] | 1219 | if (_usePhase) {
|
---|
| 1220 | ++iObs;
|
---|
| 1221 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
| 1222 | PP(iObs,iObs) = 1.0 / (_sigL3 * _sigL3);
|
---|
| 1223 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1224 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 1225 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 1226 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
| 1227 | }
|
---|
| 1228 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
| 1229 | }
|
---|
[2791] | 1230 | satData->indexPhase = iObs;
|
---|
[2790] | 1231 | }
|
---|
| 1232 | }
|
---|
[2791] | 1233 |
|
---|
| 1234 | //
|
---|
| 1235 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1236 | void bncModel::printRes(const ColumnVector& vv,
|
---|
| 1237 | ostringstream& str, t_satData* satData) {
|
---|
[2800] | 1238 | if (satData->indexPhase) {
|
---|
[2797] | 1239 | str << _time.timestr(1)
|
---|
[2800] | 1240 | << " RES " << satData->prn.toAscii().data() << " L3 "
|
---|
| 1241 | << setw(9) << setprecision(4) << vv(satData->indexPhase);
|
---|
| 1242 | if (satData->indexCode) {
|
---|
| 1243 | str << " P3 " << setw(9) << setprecision(4) << vv(satData->indexCode);
|
---|
[2797] | 1244 | }
|
---|
| 1245 | str << endl;
|
---|
[2791] | 1246 | }
|
---|
| 1247 | }
|
---|
[2792] | 1248 |
|
---|
| 1249 | //
|
---|
| 1250 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1251 | void bncModel::findMaxRes(const ColumnVector& vv,
|
---|
| 1252 | const QMap<QString, t_satData*>& satData,
|
---|
| 1253 | QString& prnCode, double& maxResCode,
|
---|
| 1254 | QString& prnPhase, double& maxResPhase) {
|
---|
| 1255 | maxResCode = 0.0;
|
---|
| 1256 | maxResPhase = 0.0;
|
---|
| 1257 |
|
---|
| 1258 | QMapIterator<QString, t_satData*> it(satData);
|
---|
| 1259 | while (it.hasNext()) {
|
---|
| 1260 | it.next();
|
---|
| 1261 | t_satData* satData = it.value();
|
---|
| 1262 | if (satData->indexCode) {
|
---|
| 1263 | if (fabs(vv(satData->indexCode)) > maxResCode) {
|
---|
| 1264 | maxResCode = fabs(vv(satData->indexCode));
|
---|
| 1265 | prnCode = satData->prn;
|
---|
| 1266 | }
|
---|
| 1267 | }
|
---|
| 1268 | if (satData->indexPhase) {
|
---|
| 1269 | if (fabs(vv(satData->indexPhase)) > maxResPhase) {
|
---|
| 1270 | maxResPhase = fabs(vv(satData->indexPhase));
|
---|
| 1271 | prnPhase = satData->prn;
|
---|
| 1272 | }
|
---|
| 1273 | }
|
---|
| 1274 | }
|
---|
| 1275 | }
|
---|
| 1276 |
|
---|