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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17 | #include <newmatio.h>
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18 | #include <iomanip>
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19 | #include <sstream>
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20 |
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21 | #include "bnccomb.h"
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22 | #include "bncapp.h"
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23 | #include "upload/bncrtnetdecoder.h"
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24 | #include "bncsettings.h"
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25 | #include "bncmodel.h"
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26 | #include "bncutils.h"
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27 | #include "bncpppclient.h"
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28 | #include "bncsp3.h"
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29 | #include "bncantex.h"
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30 | #include "bnctides.h"
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31 |
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32 | using namespace std;
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33 |
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34 | const int MAXPRN_GPS = 32;
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35 |
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36 | // Constructor
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37 | ////////////////////////////////////////////////////////////////////////////
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38 | cmbParam::cmbParam(cmbParam::parType type_, int index_,
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39 | const QString& ac_, const QString& prn_,
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40 | double sig_0_, double sig_P_) {
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41 |
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42 | type = type_;
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43 | index = index_;
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44 | AC = ac_;
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45 | prn = prn_;
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46 | sig_0 = sig_0_;
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47 | sig_P = sig_P_;
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48 | xx = 0.0;
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49 | }
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50 |
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51 | // Destructor
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52 | ////////////////////////////////////////////////////////////////////////////
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53 | cmbParam::~cmbParam() {
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54 | }
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55 |
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56 | // Partial
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57 | ////////////////////////////////////////////////////////////////////////////
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58 | double cmbParam::partial(const QString& AC_, t_corr* corr) {
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59 |
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60 | if (type == AC_offset) {
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61 | if (AC == AC_) {
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62 | return 1.0;
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63 | }
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64 | }
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65 | else if (type == Sat_offset) {
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66 | if (AC == AC_ && prn == corr->prn) {
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67 | return 1.0;
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68 | }
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69 | }
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70 | else if (type == clk) {
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71 | if (prn == corr->prn) {
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72 | return 1.0;
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73 | }
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74 | }
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75 |
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76 | return 0.0;
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77 | }
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78 |
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79 | //
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80 | ////////////////////////////////////////////////////////////////////////////
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81 | QString cmbParam::toString() const {
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82 |
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83 | QString outStr;
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84 |
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85 | if (type == AC_offset) {
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86 | outStr = "AC offset " + AC;
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87 | }
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88 | else if (type == Sat_offset) {
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89 | outStr = "Sat Offset " + AC + " " + prn;
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90 | }
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91 | else if (type == clk) {
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92 | outStr = "Clk Corr " + prn;
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93 | }
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94 |
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95 | return outStr;
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96 | }
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97 |
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98 | // Constructor
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99 | ////////////////////////////////////////////////////////////////////////////
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100 | bncComb::bncComb() {
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101 |
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102 | bncSettings settings;
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103 |
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104 | QStringList combineStreams = settings.value("combineStreams").toStringList();
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105 |
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106 | if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
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107 | QListIterator<QString> it(combineStreams);
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108 | while (it.hasNext()) {
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109 | QStringList hlp = it.next().split(" ");
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110 | cmbAC* newAC = new cmbAC();
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111 | newAC->mountPoint = hlp[0];
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112 | newAC->name = hlp[1];
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113 | newAC->weight = hlp[2].toDouble();
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114 | if (_masterAC.isEmpty()) {
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115 | _masterAC = newAC->name;
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116 | }
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117 | _ACs[newAC->mountPoint] = newAC;
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118 | }
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119 | }
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120 |
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121 | _rtnetDecoder = 0;
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122 |
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123 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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124 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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125 |
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126 |
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127 | // A Priori Sigmas (in Meters)
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128 | // ---------------------------
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129 | double sigAC_0 = 100.0;
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130 | double sigAC_P = 100.0;
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131 | double sigSat_0 = 100.0;
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132 | double sigSat_P = 0.0;
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133 | double sigClk_0 = 100.0;
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134 | double sigClk_P = 100.0;
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135 |
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136 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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137 | // ----------------------------------------------------------------------
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138 | int nextPar = 0;
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139 | QMapIterator<QString, cmbAC*> it(_ACs);
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140 | while (it.hasNext()) {
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141 | it.next();
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142 | cmbAC* AC = it.value();
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143 | _params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar,
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144 | AC->name, "", sigAC_0, sigAC_P));
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145 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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146 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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147 | _params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar,
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148 | AC->name, prn, sigSat_0, sigSat_P));
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149 | }
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150 | }
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151 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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152 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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153 | _params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn,
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154 | sigClk_0, sigClk_P));
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155 | }
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156 |
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157 | // Initialize Variance-Covariance Matrix
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158 | // -------------------------------------
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159 | _QQ.ReSize(_params.size());
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160 | _QQ = 0.0;
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161 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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162 | cmbParam* pp = _params[iPar-1];
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163 | _QQ(iPar,iPar) = pp->sig_0 * pp->sig_0;
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164 | }
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165 |
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166 | // ANTEX File
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167 | // ----------
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168 | _antex = 0;
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169 | QString antexFileName = settings.value("pppAntex").toString();
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170 | if (!antexFileName.isEmpty()) {
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171 | _antex = new bncAntex();
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172 | if (_antex->readFile(antexFileName) != success) {
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173 | emit newMessage("wrong ANTEX file", true);
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174 | delete _antex;
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175 | _antex = 0;
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176 | }
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177 | }
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178 |
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179 | // Not yet regularized
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180 | // -------------------
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181 | _firstReg = false;
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182 | }
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183 |
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184 | // Destructor
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185 | ////////////////////////////////////////////////////////////////////////////
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186 | bncComb::~bncComb() {
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187 | QMapIterator<QString, cmbAC*> it(_ACs);
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188 | while (it.hasNext()) {
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189 | it.next();
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190 | delete it.value();
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191 | }
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192 | delete _rtnetDecoder;
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193 | delete _antex;
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194 | }
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195 |
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196 | // Read and store one correction line
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197 | ////////////////////////////////////////////////////////////////////////////
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198 | void bncComb::processCorrLine(const QString& staID, const QString& line) {
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199 | QMutexLocker locker(&_mutex);
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200 |
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201 | // Find the relevant instance of cmbAC class
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202 | // -----------------------------------------
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203 | if (_ACs.find(staID) == _ACs.end()) {
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204 | return;
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205 | }
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206 | cmbAC* AC = _ACs[staID];
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207 |
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208 | // Read the Correction
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209 | // -------------------
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210 | t_corr* newCorr = new t_corr();
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211 | if (!newCorr->readLine(line) == success) {
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212 | delete newCorr;
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213 | return;
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214 | }
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215 |
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216 | // Reject delayed corrections
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217 | // --------------------------
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218 | if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
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219 | delete newCorr;
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220 | return;
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221 | }
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222 |
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223 | // Check the Ephemeris
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224 | //--------------------
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225 | if (_eph.find(newCorr->prn) == _eph.end()) {
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226 | delete newCorr;
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227 | return;
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228 | }
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229 | else {
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230 | t_eph* lastEph = _eph[newCorr->prn]->last;
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231 | t_eph* prevEph = _eph[newCorr->prn]->prev;
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232 | if (lastEph && lastEph->IOD() == newCorr->iod) {
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233 | newCorr->eph = lastEph;
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234 | }
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235 | else if (prevEph && prevEph->IOD() == newCorr->iod) {
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236 | newCorr->eph = prevEph;
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237 | }
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238 | else {
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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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243 |
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244 | // Process all older Epochs (if there are any)
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245 | // -------------------------------------------
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246 | const double waitTime = 5.0; // wait 5 sec
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247 | _processedBeforeTime = newCorr->tt - waitTime;
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248 |
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249 | QList<cmbEpoch*> epochsToProcess;
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250 |
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251 | QMapIterator<QString, cmbAC*> itAC(_ACs);
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252 | while (itAC.hasNext()) {
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253 | itAC.next();
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254 | cmbAC* AC = itAC.value();
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255 |
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256 | QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
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257 | while (itEpo.hasNext()) {
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258 | cmbEpoch* epoch = itEpo.next();
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259 | if (epoch->time < _processedBeforeTime) {
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260 | epochsToProcess.append(epoch);
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261 | itEpo.remove();
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262 | }
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263 | }
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264 | }
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265 |
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266 | if (epochsToProcess.size()) {
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267 | processEpochs(epochsToProcess);
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268 | }
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269 |
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270 | // Check Modulo Time
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271 | // -----------------
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272 | const int moduloTime = 10;
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273 | if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
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274 | delete newCorr;
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275 | return;
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276 | }
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277 |
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278 | // Find/Create the instance of cmbEpoch class
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279 | // ------------------------------------------
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280 | cmbEpoch* newEpoch = 0;
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281 | QListIterator<cmbEpoch*> it(AC->epochs);
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282 | while (it.hasNext()) {
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283 | cmbEpoch* hlpEpoch = it.next();
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284 | if (hlpEpoch->time == newCorr->tt) {
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285 | newEpoch = hlpEpoch;
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286 | break;
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287 | }
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288 | }
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289 | if (newEpoch == 0) {
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290 | newEpoch = new cmbEpoch(AC->name);
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291 | newEpoch->time = newCorr->tt;
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292 | AC->epochs.append(newEpoch);
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293 | }
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294 |
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295 | // Merge or add the correction
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296 | // ---------------------------
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297 | if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
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298 | newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
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299 | }
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300 | else {
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301 | newEpoch->corr[newCorr->prn] = newCorr;
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302 | }
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303 | }
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304 |
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305 | // Change the correction so that it refers to last received ephemeris
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306 | ////////////////////////////////////////////////////////////////////////////
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307 | void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
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308 |
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309 | ColumnVector oldXC(4);
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310 | ColumnVector oldVV(3);
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311 | corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
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312 | oldXC.data(), oldVV.data());
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313 |
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314 | ColumnVector newXC(4);
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315 | ColumnVector newVV(3);
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316 | lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
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317 | newXC.data(), newVV.data());
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318 |
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319 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
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320 | ColumnVector dV = newVV - oldVV;
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321 | double dC = newXC(4) - oldXC(4);
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322 |
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323 | ColumnVector dRAO(3);
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324 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
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325 |
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326 | ColumnVector dDotRAO(3);
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327 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
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328 |
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329 | QString msg = "switch " + corr->prn
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330 | + QString(" %1 -> %2 %3").arg(corr->iod,3)
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331 | .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
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332 |
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333 | emit newMessage(msg.toAscii(), false);
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334 |
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335 | corr->iod = lastEph->IOD();
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336 | corr->eph = lastEph;
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337 | corr->rao += dRAO;
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338 | corr->dotRao += dDotRAO;
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339 | corr->dClk -= dC;
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340 | }
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341 |
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342 | // Process Epochs
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343 | ////////////////////////////////////////////////////////////////////////////
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344 | void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
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345 |
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346 | _log.clear();
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347 |
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348 | QTextStream out(&_log, QIODevice::WriteOnly);
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349 |
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350 | out << "Combination:" << endl
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351 | << "------------------------------" << endl;
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352 |
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353 | // Predict Parameters Values, Add White Noise
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354 | // ------------------------------------------
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355 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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356 | cmbParam* pp = _params[iPar-1];
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357 | if (pp->sig_P != 0.0) {
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358 | pp->xx = 0.0;
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359 | for (int jj = 1; jj <= _params.size(); jj++) {
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360 | _QQ(iPar, jj) = 0.0;
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361 | }
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362 | _QQ(iPar,iPar) = pp->sig_P * pp->sig_P;
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363 | }
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364 | }
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365 |
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366 | bncTime resTime = epochs.first()->time;
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367 | QMap<QString, t_corr*> resCorr;
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368 |
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369 | int nPar = _params.size();
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370 | int nObs = 0;
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371 |
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372 | ColumnVector x0(nPar);
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373 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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374 | cmbParam* pp = _params[iPar-1];
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375 | x0(iPar) = pp->xx;
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376 | }
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377 |
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378 | // Count Observations
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379 | // ------------------
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380 | QListIterator<cmbEpoch*> itEpo(epochs);
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381 | while (itEpo.hasNext()) {
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382 | cmbEpoch* epo = itEpo.next();
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383 | QMutableMapIterator<QString, t_corr*> itCorr(epo->corr);
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384 | while (itCorr.hasNext()) {
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385 | itCorr.next();
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386 | t_corr* corr = itCorr.value();
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387 |
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388 | // Switch to last ephemeris
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389 | // ------------------------
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390 | t_eph* lastEph = _eph[corr->prn]->last;
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391 | if (lastEph == corr->eph) {
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392 | ++nObs;
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393 | }
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394 | else {
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395 | if (corr->eph == _eph[corr->prn]->prev) {
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396 | switchToLastEph(lastEph, corr);
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397 | ++nObs;
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398 | }
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399 | else {
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400 | itCorr.remove();
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401 | }
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402 | }
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403 | }
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404 | }
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405 |
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406 | if (nObs > 0) {
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407 | const double Pl = 1.0 / (0.05 * 0.05);
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408 |
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409 | const int nCon = (_firstReg == false) ? 1 + MAXPRN_GPS : 1;
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410 | Matrix AA(nObs+nCon, nPar); AA = 0.0;
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411 | ColumnVector ll(nObs+nCon); ll = 0.0;
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412 | DiagonalMatrix PP(nObs+nCon); PP = Pl;
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413 |
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414 | int iObs = 0;
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415 | QListIterator<cmbEpoch*> itEpo(epochs);
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416 | while (itEpo.hasNext()) {
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417 | cmbEpoch* epo = itEpo.next();
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418 | QMapIterator<QString, t_corr*> itCorr(epo->corr);
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419 |
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420 | while (itCorr.hasNext()) {
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421 | itCorr.next();
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422 | ++iObs;
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423 | t_corr* corr = itCorr.value();
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424 |
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425 | if (epo->acName == _masterAC) {
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426 | resCorr[corr->prn] = new t_corr(*corr);
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427 | }
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428 |
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429 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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430 | cmbParam* pp = _params[iPar-1];
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431 | AA(iObs, iPar) = pp->partial(epo->acName, corr);
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432 | }
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433 |
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434 | ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
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435 | }
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436 |
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437 | delete epo;
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438 | }
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439 |
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440 | // Regularization
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441 | // --------------
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442 | const double Ph = 1.e6;
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443 | int iCond = 1;
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444 | PP(nObs+iCond) = Ph;
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445 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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446 | cmbParam* pp = _params[iPar-1];
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447 | if (pp->type == cmbParam::clk &&
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448 | AA.Column(iPar).maximum_absolute_value() > 0.0) {
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449 | AA(nObs+iCond, iPar) = 1.0;
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450 | }
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451 | }
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452 |
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453 | if (!_firstReg) {
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454 | _firstReg = true;
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455 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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456 | ++iCond;
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457 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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458 | PP(nObs+1+iGps) = Ph;
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459 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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460 | cmbParam* pp = _params[iPar-1];
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461 | if (pp->type == cmbParam::Sat_offset && pp->prn == prn) {
|
---|
462 | AA(nObs+iCond, iPar) = 1.0;
|
---|
463 | }
|
---|
464 | }
|
---|
465 | }
|
---|
466 | }
|
---|
467 |
|
---|
468 | const double MAXRES = 999.10; // TODO: make it an option
|
---|
469 |
|
---|
470 | ColumnVector dx;
|
---|
471 | SymmetricMatrix QQ_sav = _QQ;
|
---|
472 |
|
---|
473 | for (int ii = 1; ii < 10; ii++) {
|
---|
474 | bncModel::kalman(AA, ll, PP, _QQ, dx);
|
---|
475 | ColumnVector vv = ll - AA * dx;
|
---|
476 |
|
---|
477 | int maxResIndex;
|
---|
478 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
479 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
480 | out.setRealNumberPrecision(3);
|
---|
481 | out << "Maximum Residuum " << maxRes << " (index " << maxResIndex << ")\n";
|
---|
482 |
|
---|
483 | if (maxRes > MAXRES) {
|
---|
484 | out << "Outlier Detected" << endl;
|
---|
485 | _QQ = QQ_sav;
|
---|
486 | AA.Row(maxResIndex) = 0.0;
|
---|
487 | ll.Row(maxResIndex) = 0.0;
|
---|
488 | }
|
---|
489 | else {
|
---|
490 | break;
|
---|
491 | }
|
---|
492 | }
|
---|
493 |
|
---|
494 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
495 | cmbParam* pp = _params[iPar-1];
|
---|
496 | pp->xx += dx(iPar);
|
---|
497 | if (pp->type == cmbParam::clk) {
|
---|
498 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
499 | resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
|
---|
500 | }
|
---|
501 | }
|
---|
502 | out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
|
---|
503 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
504 | out.setFieldWidth(8);
|
---|
505 | out.setRealNumberPrecision(4);
|
---|
506 | out << pp->toString() << " "
|
---|
507 | << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
|
---|
508 | }
|
---|
509 | }
|
---|
510 |
|
---|
511 | printResults(out, resTime, resCorr);
|
---|
512 | dumpResults(resTime, resCorr);
|
---|
513 |
|
---|
514 | emit newMessage(_log, false);
|
---|
515 | }
|
---|
516 |
|
---|
517 | // Print results
|
---|
518 | ////////////////////////////////////////////////////////////////////////////
|
---|
519 | void bncComb::printResults(QTextStream& out, const bncTime& resTime,
|
---|
520 | const QMap<QString, t_corr*>& resCorr) {
|
---|
521 |
|
---|
522 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
523 | while (it.hasNext()) {
|
---|
524 | it.next();
|
---|
525 | t_corr* corr = it.value();
|
---|
526 | const t_eph* eph = corr->eph;
|
---|
527 | if (eph) {
|
---|
528 | double xx, yy, zz, cc;
|
---|
529 | eph->position(resTime.gpsw(), resTime.gpssec(), xx, yy, zz, cc);
|
---|
530 |
|
---|
531 | out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
|
---|
532 | out.setFieldWidth(3);
|
---|
533 | out << "Full Clock " << corr->prn << " " << corr->iod << " ";
|
---|
534 | out.setFieldWidth(14);
|
---|
535 | out << (cc + corr->dClk) * t_CST::c << endl;
|
---|
536 | }
|
---|
537 | else {
|
---|
538 | out << "bncComb::printResuls bug" << endl;
|
---|
539 | }
|
---|
540 | }
|
---|
541 | }
|
---|
542 |
|
---|
543 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
544 | ////////////////////////////////////////////////////////////////////////////
|
---|
545 | void bncComb::dumpResults(const bncTime& resTime,
|
---|
546 | const QMap<QString, t_corr*>& resCorr) {
|
---|
547 |
|
---|
548 | ostringstream out; out.setf(std::ios::fixed);
|
---|
549 | QStringList corrLines;
|
---|
550 |
|
---|
551 | unsigned year, month, day, hour, minute;
|
---|
552 | double sec;
|
---|
553 | resTime.civil_date(year, month, day);
|
---|
554 | resTime.civil_time(hour, minute, sec);
|
---|
555 |
|
---|
556 | out << "* "
|
---|
557 | << setw(4) << year << " "
|
---|
558 | << setw(2) << month << " "
|
---|
559 | << setw(2) << day << " "
|
---|
560 | << setw(2) << hour << " "
|
---|
561 | << setw(2) << minute << " "
|
---|
562 | << setw(12) << setprecision(8) << sec << " "
|
---|
563 | << endl;
|
---|
564 |
|
---|
565 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
566 | while (it.hasNext()) {
|
---|
567 | it.next();
|
---|
568 | t_corr* corr = it.value();
|
---|
569 |
|
---|
570 | double dT = 60.0;
|
---|
571 |
|
---|
572 | for (int iTime = 1; iTime <= 2; iTime++) {
|
---|
573 |
|
---|
574 | bncTime time12 = (iTime == 1) ? resTime : resTime + dT;
|
---|
575 |
|
---|
576 | ColumnVector xc(4);
|
---|
577 | ColumnVector vv(3);
|
---|
578 | corr->eph->position(time12.gpsw(), time12.gpssec(),
|
---|
579 | xc.data(), vv.data());
|
---|
580 | bncPPPclient::applyCorr(time12, corr, xc, vv);
|
---|
581 |
|
---|
582 | // Relativistic Correction
|
---|
583 | // -----------------------
|
---|
584 | double relCorr = - 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
|
---|
585 | xc(4) -= relCorr;
|
---|
586 |
|
---|
587 | // Code Biases
|
---|
588 | // -----------
|
---|
589 | double dcbP1C1 = 0.0;
|
---|
590 | double dcbP1P2 = 0.0;
|
---|
591 |
|
---|
592 | // Correction Phase Center --> CoM
|
---|
593 | // -------------------------------
|
---|
594 | ColumnVector dx(3); dx = 0.0;
|
---|
595 | if (_antex) {
|
---|
596 | double Mjd = time12.mjd() + time12.daysec()/86400.0;
|
---|
597 | if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
|
---|
598 | xc(1) -= dx(1);
|
---|
599 | xc(2) -= dx(2);
|
---|
600 | xc(3) -= dx(3);
|
---|
601 | }
|
---|
602 | else {
|
---|
603 | cout << "antenna not found" << endl;
|
---|
604 | }
|
---|
605 | }
|
---|
606 |
|
---|
607 | if (iTime == 1) {
|
---|
608 | out << 'P' << corr->prn.toAscii().data()
|
---|
609 | << setw(14) << setprecision(6) << xc(1) / 1000.0
|
---|
610 | << setw(14) << setprecision(6) << xc(2) / 1000.0
|
---|
611 | << setw(14) << setprecision(6) << xc(3) / 1000.0
|
---|
612 | << setw(14) << setprecision(6) << xc(4) * 1e6
|
---|
613 | << setw(14) << setprecision(6) << relCorr * 1e6
|
---|
614 | << setw(8) << setprecision(3) << dx(1)
|
---|
615 | << setw(8) << setprecision(3) << dx(2)
|
---|
616 | << setw(8) << setprecision(3) << dx(3)
|
---|
617 | << setw(8) << setprecision(3) << dcbP1C1
|
---|
618 | << setw(8) << setprecision(3) << dcbP1P2
|
---|
619 | << setw(6) << setprecision(1) << dT;
|
---|
620 | ostringstream outLine; outLine.setf(std::ios::fixed);
|
---|
621 |
|
---|
622 | outLine << " COMB";
|
---|
623 | corrLines << QString(outLine.str().c_str());
|
---|
624 | }
|
---|
625 | else {
|
---|
626 | out << setw(14) << setprecision(6) << xc(1) / 1000.0
|
---|
627 | << setw(14) << setprecision(6) << xc(2) / 1000.0
|
---|
628 | << setw(14) << setprecision(6) << xc(3) / 1000.0 << endl;
|
---|
629 | }
|
---|
630 | }
|
---|
631 |
|
---|
632 | delete corr;
|
---|
633 | }
|
---|
634 |
|
---|
635 | if (!_rtnetDecoder) {
|
---|
636 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
637 | }
|
---|
638 | vector<string> errmsg;
|
---|
639 | _rtnetDecoder->Decode((char*) out.str().c_str(), out.str().size(), errmsg);
|
---|
640 |
|
---|
641 | // Optionally send new Corrections to PPP
|
---|
642 | // --------------------------------------
|
---|
643 | bncApp* app = (bncApp*) qApp;
|
---|
644 | if (app->_bncPPPclient) {
|
---|
645 | app->_bncPPPclient->slotNewCorrections(corrLines);
|
---|
646 | }
|
---|
647 | }
|
---|