[2898] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: bncComb
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| 6 | *
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| 7 | * Purpose: Combinations of Orbit/Clock Corrections
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 22-Jan-2011
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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[2933] | 17 | #include <newmatio.h>
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[2921] | 18 | #include <iomanip>
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[3214] | 19 | #include <sstream>
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[2898] | 20 |
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| 21 | #include "bnccomb.h"
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| 22 | #include "bncapp.h"
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[3201] | 23 | #include "upload/bncrtnetdecoder.h"
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[2910] | 24 | #include "bncsettings.h"
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[2933] | 25 | #include "bncmodel.h"
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[2988] | 26 | #include "bncutils.h"
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[3027] | 27 | #include "bncpppclient.h"
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[3181] | 28 | #include "bncsp3.h"
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[3052] | 29 | #include "bncantex.h"
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[3055] | 30 | #include "bnctides.h"
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[2898] | 31 |
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[3438] | 32 | const int moduloTime = 10;
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[2898] | 33 |
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[3438] | 34 | const double sig0_offAC = 1000.0;
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[3442] | 35 | const double sig0_offACSat = 1000.0;
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[3438] | 36 | const double sigP_offACSat = 0.0;
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[3442] | 37 | const double sig0_clkSat = 10.0;
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| 38 | const double sigP_clkSat = 0.1;
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[3438] | 39 |
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[3440] | 40 | const double sigObs = 0.05;
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| 41 |
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[3134] | 42 | const int MAXPRN_GPS = 32;
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| 43 |
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[3438] | 44 | using namespace std;
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| 45 |
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[2898] | 46 | // Constructor
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| 47 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 48 | cmbParam::cmbParam(parType type_, int index_,
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| 49 | const QString& ac_, const QString& prn_) {
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[3032] | 50 |
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[3433] | 51 | type = type_;
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| 52 | index = index_;
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| 53 | AC = ac_;
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| 54 | prn = prn_;
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| 55 | xx = 0.0;
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[3442] | 56 | eph = 0;
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[3429] | 57 |
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| 58 | if (type == offAC) {
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[3439] | 59 | epoSpec = true;
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| 60 | sig0 = sig0_offAC;
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| 61 | sigP = sig0;
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[3429] | 62 | }
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| 63 | else if (type == offACSat) {
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[3439] | 64 | epoSpec = false;
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| 65 | sig0 = sig0_offACSat;
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| 66 | sigP = sigP_offACSat;
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[3429] | 67 | }
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| 68 | else if (type == clkSat) {
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[3439] | 69 | epoSpec = false;
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| 70 | sig0 = sig0_clkSat;
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| 71 | sigP = sigP_clkSat;
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[3429] | 72 | }
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[2933] | 73 | }
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| 74 |
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| 75 | // Destructor
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| 76 | ////////////////////////////////////////////////////////////////////////////
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| 77 | cmbParam::~cmbParam() {
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| 78 | }
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| 79 |
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| 80 | // Partial
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| 81 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 82 | double cmbParam::partial(const QString& AC_, const QString& prn_) {
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[2933] | 83 |
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[3429] | 84 | if (type == offAC) {
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[3032] | 85 | if (AC == AC_) {
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[2934] | 86 | return 1.0;
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| 87 | }
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| 88 | }
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[3429] | 89 | else if (type == offACSat) {
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| 90 | if (AC == AC_ && prn == prn_) {
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[2933] | 91 | return 1.0;
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| 92 | }
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| 93 | }
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[3429] | 94 | else if (type == clkSat) {
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| 95 | if (prn == prn_) {
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[2933] | 96 | return 1.0;
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| 97 | }
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| 98 | }
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| 99 |
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| 100 | return 0.0;
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| 101 | }
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| 102 |
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[2990] | 103 | //
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| 104 | ////////////////////////////////////////////////////////////////////////////
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| 105 | QString cmbParam::toString() const {
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[2933] | 106 |
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[2990] | 107 | QString outStr;
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| 108 |
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[3429] | 109 | if (type == offAC) {
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[2992] | 110 | outStr = "AC offset " + AC;
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[2990] | 111 | }
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[3429] | 112 | else if (type == offACSat) {
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[2992] | 113 | outStr = "Sat Offset " + AC + " " + prn;
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[2990] | 114 | }
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[3429] | 115 | else if (type == clkSat) {
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[2992] | 116 | outStr = "Clk Corr " + prn;
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[2990] | 117 | }
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[2933] | 118 |
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[2990] | 119 | return outStr;
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| 120 | }
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| 121 |
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[2933] | 122 | // Constructor
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| 123 | ////////////////////////////////////////////////////////////////////////////
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[2898] | 124 | bncComb::bncComb() {
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[2910] | 125 |
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| 126 | bncSettings settings;
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| 127 |
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| 128 | QStringList combineStreams = settings.value("combineStreams").toStringList();
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[2918] | 129 |
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[3143] | 130 | if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
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[2910] | 131 | QListIterator<QString> it(combineStreams);
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| 132 | while (it.hasNext()) {
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| 133 | QStringList hlp = it.next().split(" ");
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[2918] | 134 | cmbAC* newAC = new cmbAC();
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| 135 | newAC->mountPoint = hlp[0];
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| 136 | newAC->name = hlp[1];
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| 137 | newAC->weight = hlp[2].toDouble();
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[3429] | 138 | _ACs.append(newAC);
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[2910] | 139 | }
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| 140 | }
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[2927] | 141 |
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[3211] | 142 | _rtnetDecoder = 0;
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[3201] | 143 |
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[2990] | 144 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 145 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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[2933] | 146 |
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[3032] | 147 |
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| 148 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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| 149 | // ----------------------------------------------------------------------
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[2933] | 150 | int nextPar = 0;
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[3429] | 151 | QListIterator<cmbAC*> it(_ACs);
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[2991] | 152 | while (it.hasNext()) {
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[3429] | 153 | cmbAC* AC = it.next();
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| 154 | _params.push_back(new cmbParam(cmbParam::offAC, ++nextPar, AC->name, ""));
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[3134] | 155 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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| 156 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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[3429] | 157 | _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
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| 158 | AC->name, prn));
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[2991] | 159 | }
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| 160 | }
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[3134] | 161 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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[2933] | 162 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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[3429] | 163 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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[2933] | 164 | }
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| 165 |
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[3032] | 166 | // Initialize Variance-Covariance Matrix
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| 167 | // -------------------------------------
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| 168 | _QQ.ReSize(_params.size());
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[2933] | 169 | _QQ = 0.0;
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| 170 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 171 | cmbParam* pp = _params[iPar-1];
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[3439] | 172 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
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[2933] | 173 | }
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[3035] | 174 |
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[3052] | 175 | // ANTEX File
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| 176 | // ----------
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| 177 | _antex = 0;
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| 178 | QString antexFileName = settings.value("pppAntex").toString();
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| 179 | if (!antexFileName.isEmpty()) {
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| 180 | _antex = new bncAntex();
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| 181 | if (_antex->readFile(antexFileName) != success) {
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| 182 | emit newMessage("wrong ANTEX file", true);
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| 183 | delete _antex;
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| 184 | _antex = 0;
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| 185 | }
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| 186 | }
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[3138] | 187 |
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[3329] | 188 | // Maximal Residuum
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| 189 | // ----------------
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| 190 | _MAXRES = settings.value("cmbMaxres").toDouble();
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| 191 | if (_MAXRES <= 0.0) {
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| 192 | _MAXRES = 999.0;
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| 193 | }
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[2898] | 194 | }
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| 195 |
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| 196 | // Destructor
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| 197 | ////////////////////////////////////////////////////////////////////////////
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| 198 | bncComb::~bncComb() {
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[3429] | 199 | QListIterator<cmbAC*> icAC(_ACs);
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| 200 | while (icAC.hasNext()) {
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| 201 | delete icAC.next();
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[2918] | 202 | }
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[3201] | 203 | delete _rtnetDecoder;
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[3052] | 204 | delete _antex;
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[3296] | 205 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 206 | delete _params[iPar-1];
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| 207 | }
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[3434] | 208 | QVectorIterator<cmbCorr*> itCorr(corrs());
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[3429] | 209 | while (itCorr.hasNext()) {
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| 210 | delete itCorr.next();
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| 211 | }
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[2898] | 212 | }
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| 213 |
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[2928] | 214 | // Read and store one correction line
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[2898] | 215 | ////////////////////////////////////////////////////////////////////////////
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| 216 | void bncComb::processCorrLine(const QString& staID, const QString& line) {
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[2906] | 217 | QMutexLocker locker(&_mutex);
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[2913] | 218 |
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[3431] | 219 | // Find the AC Name
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| 220 | // ----------------
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| 221 | QString acName;
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| 222 | QListIterator<cmbAC*> icAC(_ACs);
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| 223 | while (icAC.hasNext()) {
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| 224 | cmbAC* AC = icAC.next();
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| 225 | if (AC->mountPoint == staID) {
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| 226 | acName = AC->name;
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| 227 | break;
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| 228 | }
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| 229 | }
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| 230 | if (acName.isEmpty()) {
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| 231 | return;
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| 232 | }
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| 233 |
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[2918] | 234 | // Read the Correction
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| 235 | // -------------------
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[3429] | 236 | cmbCorr* newCorr = new cmbCorr();
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[3431] | 237 | newCorr->acName = acName;
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[2913] | 238 | if (!newCorr->readLine(line) == success) {
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| 239 | delete newCorr;
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| 240 | return;
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| 241 | }
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| 242 |
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[3274] | 243 | // Check Modulo Time
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| 244 | // -----------------
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| 245 | if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
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| 246 | delete newCorr;
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| 247 | return;
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| 248 | }
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| 249 |
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[3299] | 250 | // Delete old corrections
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| 251 | // ----------------------
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[3437] | 252 | if (_resTime.valid() && newCorr->tt <= _resTime) {
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[2924] | 253 | delete newCorr;
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| 254 | return;
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| 255 | }
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| 256 |
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[3029] | 257 | // Check the Ephemeris
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| 258 | //--------------------
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[2986] | 259 | if (_eph.find(newCorr->prn) == _eph.end()) {
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| 260 | delete newCorr;
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| 261 | return;
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| 262 | }
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| 263 | else {
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| 264 | t_eph* lastEph = _eph[newCorr->prn]->last;
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| 265 | t_eph* prevEph = _eph[newCorr->prn]->prev;
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[3029] | 266 | if (lastEph && lastEph->IOD() == newCorr->iod) {
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| 267 | newCorr->eph = lastEph;
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[2986] | 268 | }
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[3029] | 269 | else if (prevEph && prevEph->IOD() == newCorr->iod) {
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| 270 | newCorr->eph = prevEph;
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[3429] | 271 | switchToLastEph(lastEph, newCorr);
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[3029] | 272 | }
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| 273 | else {
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[2986] | 274 | delete newCorr;
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| 275 | return;
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| 276 | }
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| 277 | }
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| 278 |
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[3435] | 279 | // Process previous Epoch(s)
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| 280 | // -------------------------
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| 281 | QListIterator<bncTime> itTime(_buffer.keys());
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| 282 | while (itTime.hasNext()) {
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| 283 | bncTime epoTime = itTime.next();
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[3438] | 284 | if (epoTime < newCorr->tt - moduloTime) {
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[3435] | 285 | _resTime = epoTime;
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| 286 | processEpoch();
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| 287 | }
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[2927] | 288 | }
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| 289 |
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[3429] | 290 | // Merge or add the correction
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| 291 | // ---------------------------
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[3435] | 292 | QVector<cmbCorr*>& corrs = _buffer[newCorr->tt].corrs;
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[3429] | 293 | cmbCorr* existingCorr = 0;
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[3435] | 294 | QVectorIterator<cmbCorr*> itCorr(corrs);
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[3429] | 295 | while (itCorr.hasNext()) {
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| 296 | cmbCorr* hlp = itCorr.next();
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| 297 | if (hlp->prn == newCorr->prn && hlp->acName == newCorr->prn) {
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| 298 | existingCorr = hlp;
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[2918] | 299 | break;
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| 300 | }
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| 301 | }
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[3429] | 302 | if (existingCorr) {
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[3298] | 303 | delete newCorr;
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[3429] | 304 | existingCorr->readLine(line); // merge (multiple messages)
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[2918] | 305 | }
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[2919] | 306 | else {
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[3435] | 307 | corrs.append(newCorr);
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[2919] | 308 | }
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[2898] | 309 | }
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| 310 |
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[2986] | 311 | // Change the correction so that it refers to last received ephemeris
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| 312 | ////////////////////////////////////////////////////////////////////////////
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[3029] | 313 | void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
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[3028] | 314 |
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[3429] | 315 | if (corr->eph == lastEph) {
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| 316 | return;
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| 317 | }
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| 318 |
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[2987] | 319 | ColumnVector oldXC(4);
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| 320 | ColumnVector oldVV(3);
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[3029] | 321 | corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
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| 322 | oldXC.data(), oldVV.data());
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[2988] | 323 |
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[2987] | 324 | ColumnVector newXC(4);
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| 325 | ColumnVector newVV(3);
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[3029] | 326 | lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
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[2987] | 327 | newXC.data(), newVV.data());
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[2988] | 328 |
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| 329 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
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[2989] | 330 | ColumnVector dV = newVV - oldVV;
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| 331 | double dC = newXC(4) - oldXC(4);
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| 332 |
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[2988] | 333 | ColumnVector dRAO(3);
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| 334 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
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[2989] | 335 |
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| 336 | ColumnVector dDotRAO(3);
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| 337 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
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| 338 |
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[3442] | 339 | QString msg = "switch corr " + corr->prn
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[3029] | 340 | + QString(" %1 -> %2 %3").arg(corr->iod,3)
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[3013] | 341 | .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
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| 342 |
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[3029] | 343 | emit newMessage(msg.toAscii(), false);
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[3028] | 344 |
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[3029] | 345 | corr->iod = lastEph->IOD();
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| 346 | corr->eph = lastEph;
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[3031] | 347 | corr->rao += dRAO;
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| 348 | corr->dotRao += dDotRAO;
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[3029] | 349 | corr->dClk -= dC;
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[2986] | 350 | }
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| 351 |
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[3429] | 352 | // Process Epoch
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[2928] | 353 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 354 | void bncComb::processEpoch() {
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[2918] | 355 |
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[3429] | 356 | int nPar = _params.size();
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| 357 |
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[2990] | 358 | _log.clear();
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| 359 |
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| 360 | QTextStream out(&_log, QIODevice::WriteOnly);
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| 361 |
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[3371] | 362 | out << endl << "Combination:" << endl
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[3275] | 363 | << "------------------------------" << endl;
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[2990] | 364 |
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[3433] | 365 | // Observation Statistics
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| 366 | // ----------------------
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| 367 | QListIterator<cmbAC*> icAC(_ACs);
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| 368 | while (icAC.hasNext()) {
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| 369 | cmbAC* AC = icAC.next();
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| 370 | AC->numObs = 0;
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[3434] | 371 | QVectorIterator<cmbCorr*> itCorr(corrs());
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[3433] | 372 | while (itCorr.hasNext()) {
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| 373 | cmbCorr* corr = itCorr.next();
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| 374 | if (corr->acName == AC->name) {
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| 375 | AC->numObs += 1;
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| 376 | }
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| 377 | }
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| 378 | out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
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| 379 | }
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| 380 |
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[3429] | 381 | // Prediction Step
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| 382 | // ---------------
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[2933] | 383 | ColumnVector x0(nPar);
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| 384 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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[3442] | 385 | cmbParam* pp = _params[iPar-1];
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| 386 | QString prn = pp->prn;
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| 387 | if (!prn.isEmpty() && _eph.find(prn) != _eph.end()) {
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| 388 | switchToLastEph(_eph[prn]->last, pp);
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| 389 | }
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[3439] | 390 | if (pp->epoSpec) {
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| 391 | pp->xx = 0.0;
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| 392 | _QQ.Row(iPar) = 0.0;
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| 393 | _QQ.Column(iPar) = 0.0;
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| 394 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
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| 395 | }
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| 396 | else {
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| 397 | _QQ(iPar,iPar) += pp->sigP * pp->sigP;
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| 398 | }
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[2933] | 399 | x0(iPar) = pp->xx;
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| 400 | }
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| 401 |
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[3441] | 402 | SymmetricMatrix QQ_sav = _QQ;
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| 403 |
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| 404 | ColumnVector dx;
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[3429] | 405 | QMap<QString, t_corr*> resCorr;
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[3441] | 406 |
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| 407 | // Update and outlier detection loop
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| 408 | // ---------------------------------
|
---|
| 409 | while (true) {
|
---|
[3135] | 410 |
|
---|
[3441] | 411 | Matrix AA;
|
---|
| 412 | ColumnVector ll;
|
---|
| 413 | DiagonalMatrix PP;
|
---|
[3429] | 414 |
|
---|
[3441] | 415 | if (createAmat(AA, ll, PP, x0, resCorr) != success) {
|
---|
| 416 | return;
|
---|
| 417 | }
|
---|
[2933] | 418 |
|
---|
[3429] | 419 | bncModel::kalman(AA, ll, PP, _QQ, dx);
|
---|
| 420 | ColumnVector vv = ll - AA * dx;
|
---|
[3080] | 421 |
|
---|
[3429] | 422 | int maxResIndex;
|
---|
| 423 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
| 424 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 425 | out.setRealNumberPrecision(3);
|
---|
| 426 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
[3432] | 427 | << " Maximum Residuum " << maxRes << ' '
|
---|
[3434] | 428 | << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
|
---|
[3080] | 429 |
|
---|
[3432] | 430 | if (maxRes > _MAXRES) {
|
---|
| 431 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 432 | cmbParam* pp = _params[iPar-1];
|
---|
| 433 | if (pp->type == cmbParam::offACSat &&
|
---|
[3434] | 434 | pp->AC == corrs()[maxResIndex-1]->acName &&
|
---|
| 435 | pp->prn == corrs()[maxResIndex-1]->prn) {
|
---|
[3432] | 436 | QQ_sav.Row(iPar) = 0.0;
|
---|
| 437 | QQ_sav.Column(iPar) = 0.0;
|
---|
[3439] | 438 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3432] | 439 | }
|
---|
| 440 | }
|
---|
| 441 |
|
---|
| 442 | out << " Outlier" << endl;
|
---|
| 443 | _QQ = QQ_sav;
|
---|
[3441] | 444 | corrs().remove(maxResIndex-1);
|
---|
[3432] | 445 | }
|
---|
| 446 | else {
|
---|
| 447 | out << " OK" << endl;
|
---|
| 448 | break;
|
---|
| 449 | }
|
---|
| 450 | }
|
---|
| 451 |
|
---|
| 452 | // Update Parameter Values
|
---|
| 453 | // -----------------------
|
---|
[3429] | 454 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 455 | cmbParam* pp = _params[iPar-1];
|
---|
| 456 | pp->xx += dx(iPar);
|
---|
| 457 | if (pp->type == cmbParam::clkSat) {
|
---|
| 458 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
| 459 | resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
|
---|
[3080] | 460 | }
|
---|
| 461 | }
|
---|
[3429] | 462 | out << _resTime.datestr().c_str() << " "
|
---|
| 463 | << _resTime.timestr().c_str() << " ";
|
---|
| 464 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 465 | out.setFieldWidth(8);
|
---|
| 466 | out.setRealNumberPrecision(4);
|
---|
| 467 | out << pp->toString() << " "
|
---|
| 468 | << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
|
---|
| 469 | out.setFieldWidth(0);
|
---|
[2918] | 470 | }
|
---|
[2919] | 471 |
|
---|
[3432] | 472 | // Print Results
|
---|
| 473 | // -------------
|
---|
[3429] | 474 | printResults(out, resCorr);
|
---|
| 475 | dumpResults(resCorr);
|
---|
[2928] | 476 |
|
---|
[2990] | 477 | emit newMessage(_log, false);
|
---|
[3296] | 478 |
|
---|
[3432] | 479 | // Delete Data
|
---|
| 480 | // -----------
|
---|
[3434] | 481 | _buffer.remove(_resTime);
|
---|
[2918] | 482 | }
|
---|
[3011] | 483 |
|
---|
[3201] | 484 | // Print results
|
---|
[3011] | 485 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 486 | void bncComb::printResults(QTextStream& out,
|
---|
[3011] | 487 | const QMap<QString, t_corr*>& resCorr) {
|
---|
| 488 |
|
---|
| 489 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 490 | while (it.hasNext()) {
|
---|
| 491 | it.next();
|
---|
| 492 | t_corr* corr = it.value();
|
---|
[3029] | 493 | const t_eph* eph = corr->eph;
|
---|
[3015] | 494 | if (eph) {
|
---|
| 495 | double xx, yy, zz, cc;
|
---|
[3429] | 496 | eph->position(_resTime.gpsw(), _resTime.gpssec(), xx, yy, zz, cc);
|
---|
[3015] | 497 |
|
---|
[3429] | 498 | out << _resTime.datestr().c_str() << " "
|
---|
| 499 | << _resTime.timestr().c_str() << " ";
|
---|
[3015] | 500 | out.setFieldWidth(3);
|
---|
| 501 | out << "Full Clock " << corr->prn << " " << corr->iod << " ";
|
---|
| 502 | out.setFieldWidth(14);
|
---|
| 503 | out << (cc + corr->dClk) * t_CST::c << endl;
|
---|
[3370] | 504 | out.setFieldWidth(0);
|
---|
[3015] | 505 | }
|
---|
| 506 | else {
|
---|
| 507 | out << "bncComb::printResuls bug" << endl;
|
---|
| 508 | }
|
---|
[3011] | 509 | }
|
---|
| 510 | }
|
---|
[3202] | 511 |
|
---|
| 512 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
| 513 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 514 | void bncComb::dumpResults(const QMap<QString, t_corr*>& resCorr) {
|
---|
[3202] | 515 |
|
---|
[3214] | 516 | ostringstream out; out.setf(std::ios::fixed);
|
---|
[3216] | 517 | QStringList corrLines;
|
---|
[3214] | 518 |
|
---|
| 519 | unsigned year, month, day, hour, minute;
|
---|
| 520 | double sec;
|
---|
[3429] | 521 | _resTime.civil_date(year, month, day);
|
---|
| 522 | _resTime.civil_time(hour, minute, sec);
|
---|
[3214] | 523 |
|
---|
| 524 | out << "* "
|
---|
| 525 | << setw(4) << year << " "
|
---|
| 526 | << setw(2) << month << " "
|
---|
| 527 | << setw(2) << day << " "
|
---|
| 528 | << setw(2) << hour << " "
|
---|
| 529 | << setw(2) << minute << " "
|
---|
| 530 | << setw(12) << setprecision(8) << sec << " "
|
---|
| 531 | << endl;
|
---|
| 532 |
|
---|
[3202] | 533 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 534 | while (it.hasNext()) {
|
---|
| 535 | it.next();
|
---|
| 536 | t_corr* corr = it.value();
|
---|
| 537 |
|
---|
[3214] | 538 | double dT = 60.0;
|
---|
[3202] | 539 |
|
---|
[3214] | 540 | for (int iTime = 1; iTime <= 2; iTime++) {
|
---|
| 541 |
|
---|
[3429] | 542 | bncTime time12 = (iTime == 1) ? _resTime : _resTime + dT;
|
---|
[3214] | 543 |
|
---|
| 544 | ColumnVector xc(4);
|
---|
| 545 | ColumnVector vv(3);
|
---|
| 546 | corr->eph->position(time12.gpsw(), time12.gpssec(),
|
---|
| 547 | xc.data(), vv.data());
|
---|
| 548 | bncPPPclient::applyCorr(time12, corr, xc, vv);
|
---|
| 549 |
|
---|
| 550 | // Relativistic Correction
|
---|
| 551 | // -----------------------
|
---|
| 552 | double relCorr = - 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
|
---|
| 553 | xc(4) -= relCorr;
|
---|
| 554 |
|
---|
| 555 | // Code Biases
|
---|
| 556 | // -----------
|
---|
| 557 | double dcbP1C1 = 0.0;
|
---|
| 558 | double dcbP1P2 = 0.0;
|
---|
| 559 |
|
---|
| 560 | // Correction Phase Center --> CoM
|
---|
| 561 | // -------------------------------
|
---|
| 562 | ColumnVector dx(3); dx = 0.0;
|
---|
| 563 | if (_antex) {
|
---|
| 564 | double Mjd = time12.mjd() + time12.daysec()/86400.0;
|
---|
| 565 | if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
|
---|
| 566 | xc(1) -= dx(1);
|
---|
| 567 | xc(2) -= dx(2);
|
---|
| 568 | xc(3) -= dx(3);
|
---|
| 569 | }
|
---|
| 570 | else {
|
---|
| 571 | cout << "antenna not found" << endl;
|
---|
| 572 | }
|
---|
| 573 | }
|
---|
| 574 |
|
---|
| 575 | if (iTime == 1) {
|
---|
| 576 | out << 'P' << corr->prn.toAscii().data()
|
---|
| 577 | << setw(14) << setprecision(6) << xc(1) / 1000.0
|
---|
| 578 | << setw(14) << setprecision(6) << xc(2) / 1000.0
|
---|
| 579 | << setw(14) << setprecision(6) << xc(3) / 1000.0
|
---|
| 580 | << setw(14) << setprecision(6) << xc(4) * 1e6
|
---|
| 581 | << setw(14) << setprecision(6) << relCorr * 1e6
|
---|
| 582 | << setw(8) << setprecision(3) << dx(1)
|
---|
| 583 | << setw(8) << setprecision(3) << dx(2)
|
---|
| 584 | << setw(8) << setprecision(3) << dx(3)
|
---|
| 585 | << setw(8) << setprecision(3) << dcbP1C1
|
---|
| 586 | << setw(8) << setprecision(3) << dcbP1P2
|
---|
| 587 | << setw(6) << setprecision(1) << dT;
|
---|
[3216] | 588 |
|
---|
[3218] | 589 | QString line;
|
---|
[3217] | 590 | int messageType = COTYPE_GPSCOMBINED;
|
---|
[3218] | 591 | int updateInt = 0;
|
---|
| 592 | line.sprintf("%d %d %d %.1f %s"
|
---|
| 593 | " %3d"
|
---|
| 594 | " %8.3f %8.3f %8.3f %8.3f"
|
---|
| 595 | " %10.5f %10.5f %10.5f %10.5f"
|
---|
[3262] | 596 | " %10.5f %10.5f %10.5f %10.5f INTERNAL",
|
---|
[3218] | 597 | messageType, updateInt, time12.gpsw(), time12.gpssec(),
|
---|
| 598 | corr->prn.toAscii().data(),
|
---|
| 599 | corr->iod,
|
---|
[3219] | 600 | corr->dClk * t_CST::c,
|
---|
[3218] | 601 | corr->rao[0],
|
---|
| 602 | corr->rao[1],
|
---|
| 603 | corr->rao[2],
|
---|
[3219] | 604 | corr->dotDClk * t_CST::c,
|
---|
[3218] | 605 | corr->dotRao[0],
|
---|
| 606 | corr->dotRao[1],
|
---|
| 607 | corr->dotRao[2],
|
---|
[3262] | 608 | corr->dotDotDClk * t_CST::c,
|
---|
| 609 | corr->dotDotRao[0],
|
---|
| 610 | corr->dotDotRao[1],
|
---|
| 611 | corr->dotDotRao[2]);
|
---|
[3220] | 612 | corrLines << line;
|
---|
[3214] | 613 | }
|
---|
| 614 | else {
|
---|
| 615 | out << setw(14) << setprecision(6) << xc(1) / 1000.0
|
---|
| 616 | << setw(14) << setprecision(6) << xc(2) / 1000.0
|
---|
| 617 | << setw(14) << setprecision(6) << xc(3) / 1000.0 << endl;
|
---|
| 618 | }
|
---|
| 619 | }
|
---|
| 620 |
|
---|
| 621 | delete corr;
|
---|
| 622 | }
|
---|
[3228] | 623 | out << "EOE" << endl; // End Of Epoch flag
|
---|
[3214] | 624 |
|
---|
[3215] | 625 | if (!_rtnetDecoder) {
|
---|
| 626 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
| 627 | }
|
---|
[3221] | 628 |
|
---|
[3215] | 629 | vector<string> errmsg;
|
---|
[3221] | 630 | _rtnetDecoder->Decode((char*) out.str().data(), out.str().size(), errmsg);
|
---|
[3215] | 631 |
|
---|
[3216] | 632 | // Optionally send new Corrections to PPP
|
---|
| 633 | // --------------------------------------
|
---|
| 634 | bncApp* app = (bncApp*) qApp;
|
---|
| 635 | if (app->_bncPPPclient) {
|
---|
| 636 | app->_bncPPPclient->slotNewCorrections(corrLines);
|
---|
| 637 | }
|
---|
[3202] | 638 | }
|
---|
[3440] | 639 |
|
---|
| 640 | // Create First Design Matrix and Vector of Measurements
|
---|
| 641 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 642 | t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
| 643 | const ColumnVector& x0,
|
---|
| 644 | QMap<QString, t_corr*>& resCorr) {
|
---|
| 645 |
|
---|
| 646 | unsigned nPar = _params.size();
|
---|
| 647 | unsigned nObs = corrs().size();
|
---|
| 648 |
|
---|
| 649 | if (nObs == 0) {
|
---|
| 650 | return failure;
|
---|
| 651 | }
|
---|
| 652 |
|
---|
[3442] | 653 | const int nCon = 2;
|
---|
[3440] | 654 |
|
---|
| 655 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
| 656 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
| 657 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
| 658 |
|
---|
| 659 | int iObs = 0;
|
---|
| 660 |
|
---|
| 661 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 662 | while (itCorr.hasNext()) {
|
---|
| 663 | cmbCorr* corr = itCorr.next();
|
---|
| 664 | QString prn = corr->prn;
|
---|
| 665 | switchToLastEph(_eph[prn]->last, corr);
|
---|
| 666 | ++iObs;
|
---|
| 667 |
|
---|
| 668 | if (resCorr.find(prn) == resCorr.end()) {
|
---|
| 669 | resCorr[prn] = new t_corr(*corr);
|
---|
| 670 | }
|
---|
| 671 |
|
---|
| 672 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 673 | cmbParam* pp = _params[iPar-1];
|
---|
| 674 | AA(iObs, iPar) = pp->partial(corr->acName, prn);
|
---|
| 675 | }
|
---|
| 676 |
|
---|
| 677 | ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
|
---|
| 678 | }
|
---|
| 679 |
|
---|
| 680 | // Regularization
|
---|
| 681 | // --------------
|
---|
| 682 | const double Ph = 1.e6;
|
---|
[3442] | 683 | PP(nObs+1) = Ph;
|
---|
| 684 | PP(nObs+2) = Ph;
|
---|
[3440] | 685 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 686 | cmbParam* pp = _params[iPar-1];
|
---|
[3442] | 687 | if (pp->type == cmbParam::clkSat) {
|
---|
| 688 | AA(nObs+1, iPar) = 1.0;
|
---|
[3440] | 689 | }
|
---|
[3442] | 690 | else if (pp->type == cmbParam::offAC) {
|
---|
| 691 | AA(nObs+2, iPar) = 1.0;
|
---|
| 692 | }
|
---|
[3440] | 693 | }
|
---|
| 694 |
|
---|
[3442] | 695 | return success;
|
---|
| 696 | }
|
---|
| 697 |
|
---|
| 698 | // Change the parameter so that it refers to last received ephemeris
|
---|
| 699 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 700 | void bncComb::switchToLastEph(const t_eph* lastEph, cmbParam* pp) {
|
---|
| 701 |
|
---|
| 702 | if (pp->type != cmbParam::clkSat) {
|
---|
| 703 | return;
|
---|
[3440] | 704 | }
|
---|
| 705 |
|
---|
[3442] | 706 | if (pp->eph == 0) {
|
---|
| 707 | pp->eph = lastEph;
|
---|
| 708 | return;
|
---|
[3440] | 709 | }
|
---|
| 710 |
|
---|
[3442] | 711 | if (pp->eph == lastEph) {
|
---|
| 712 | return;
|
---|
| 713 | }
|
---|
| 714 |
|
---|
| 715 | ColumnVector oldXC(4);
|
---|
| 716 | ColumnVector oldVV(3);
|
---|
| 717 | pp->eph->position(_resTime.gpsw(), _resTime.gpssec(),
|
---|
| 718 | oldXC.data(), oldVV.data());
|
---|
| 719 |
|
---|
| 720 | ColumnVector newXC(4);
|
---|
| 721 | ColumnVector newVV(3);
|
---|
| 722 | lastEph->position(_resTime.gpsw(), _resTime.gpssec(),
|
---|
| 723 | newXC.data(), newVV.data());
|
---|
| 724 |
|
---|
| 725 | double dC = newXC(4) - oldXC(4);
|
---|
| 726 |
|
---|
| 727 | QString msg = "switch param " + pp->prn
|
---|
| 728 | + QString(" %1 -> %2 %3").arg(pp->eph->IOD(),3)
|
---|
| 729 | .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
| 730 |
|
---|
| 731 | emit newMessage(msg.toAscii(), false);
|
---|
| 732 |
|
---|
| 733 | pp->eph = lastEph;
|
---|
[3444] | 734 | pp->xx -= dC * t_CST::c;
|
---|
[3440] | 735 | }
|
---|
[3442] | 736 |
|
---|