[7237] | 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: t_pppClient
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| 6 | *
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| 7 | * Purpose: PPP Client processing starts here
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Jul-2014
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| 12 | *
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[7271] | 13 | * Changes:
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[7237] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <QThreadStorage>
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| 18 |
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| 19 | #include <iostream>
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| 20 | #include <iomanip>
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[8451] | 21 | #include <cmath>
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[7237] | 22 | #include <stdlib.h>
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| 23 | #include <string.h>
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| 24 | #include <stdexcept>
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| 25 |
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| 26 | #include "pppClient.h"
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| 27 | #include "pppEphPool.h"
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| 28 | #include "pppObsPool.h"
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| 29 | #include "bncconst.h"
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| 30 | #include "bncutils.h"
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| 31 | #include "pppStation.h"
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| 32 | #include "bncantex.h"
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| 33 | #include "pppFilter.h"
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| 34 |
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| 35 | using namespace BNC_PPP;
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| 36 | using namespace std;
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| 37 |
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| 38 | // Global variable holding thread-specific pointers
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| 39 | //////////////////////////////////////////////////////////////////////////////
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| 40 | QThreadStorage<t_pppClient*> CLIENTS;
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| 41 |
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| 42 | // Static function returning thread-specific pointer
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| 43 | //////////////////////////////////////////////////////////////////////////////
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| 44 | t_pppClient* t_pppClient::instance() {
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| 45 | return CLIENTS.localData();
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| 46 | }
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| 47 |
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| 48 | // Constructor
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| 49 | //////////////////////////////////////////////////////////////////////////////
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| 50 | t_pppClient::t_pppClient(const t_pppOptions* opt) {
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| 51 | _output = 0;
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| 52 | _opt = new t_pppOptions(*opt);
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| 53 | _log = new ostringstream();
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| 54 | _ephPool = new t_pppEphPool();
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| 55 | _obsPool = new t_pppObsPool();
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| 56 | _staRover = new t_pppStation();
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[8905] | 57 | _filter = new t_pppFilter(_obsPool);
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[7237] | 58 | _tides = new t_tides();
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[8905] | 59 | _antex = 0;
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[7237] | 60 | if (!_opt->_antexFileName.empty()) {
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| 61 | _antex = new bncAntex(_opt->_antexFileName.c_str());
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| 62 | }
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[8905] | 63 | if (!_opt->_blqFileName.empty()) {
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| 64 | if (_tides->readBlqFile(_opt->_blqFileName.c_str()) == success) {
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| 65 | //_tides->printAllBlqSets();
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| 66 | }
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[7237] | 67 | }
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[7996] | 68 |
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[8910] | 69 | if (_opt->_refSatRequired) {
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[8912] | 70 | for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
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| 71 | char system = _opt->systems()[iSys];
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[8905] | 72 | _obsPool->initRefSatMapElement(system);
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| 73 | }
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[7972] | 74 | }
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[8905] | 75 | _offGG = 0.0;
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[7237] | 76 | CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
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| 77 | }
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| 78 |
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| 79 | // Destructor
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| 80 | //////////////////////////////////////////////////////////////////////////////
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| 81 | t_pppClient::~t_pppClient() {
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| 82 | delete _log;
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| 83 | delete _opt;
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[8905] | 84 | delete _filter;
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[7237] | 85 | delete _ephPool;
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| 86 | delete _obsPool;
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| 87 | delete _staRover;
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[7866] | 88 | if (_antex) {
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| 89 | delete _antex;
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| 90 | }
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[7237] | 91 | delete _tides;
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| 92 | clearObs();
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| 93 | }
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| 94 |
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[7271] | 95 | //
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[7237] | 96 | //////////////////////////////////////////////////////////////////////////////
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| 97 | void t_pppClient::putEphemeris(const t_eph* eph) {
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| 98 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 99 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 100 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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[7271] | 101 | const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
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[7237] | 102 | if (ephGPS) {
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| 103 | _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
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| 104 | }
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| 105 | else if (ephGlo) {
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| 106 | _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
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| 107 | }
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| 108 | else if (ephGal) {
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| 109 | _ephPool->putEphemeris(new t_ephGal(*ephGal));
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| 110 | }
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[7271] | 111 | else if (ephBDS) {
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| 112 | _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
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| 113 | }
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[7237] | 114 | }
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| 115 |
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| 116 | //
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| 117 | //////////////////////////////////////////////////////////////////////////////
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| 118 | void t_pppClient::putTec(const t_vTec* vTec) {
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[7248] | 119 | _obsPool->putTec(new t_vTec(*vTec));
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[7237] | 120 | }
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| 121 |
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[7271] | 122 | //
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[7237] | 123 | //////////////////////////////////////////////////////////////////////////////
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| 124 | void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
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| 125 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 126 | _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
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| 127 | }
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| 128 | }
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| 129 |
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[7271] | 130 | //
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[7237] | 131 | //////////////////////////////////////////////////////////////////////////////
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| 132 | void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
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| 133 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 134 | _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
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| 135 | }
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| 136 | }
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| 137 |
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[7271] | 138 | //
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[7237] | 139 | //////////////////////////////////////////////////////////////////////////////
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| 140 | void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
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| 141 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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| 142 | _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
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| 143 | }
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| 144 | }
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| 145 |
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| 146 | //
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| 147 | //////////////////////////////////////////////////////////////////////////////
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[7288] | 148 | void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
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| 149 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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| 150 | _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
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| 151 | }
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| 152 | }
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| 153 |
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| 154 | //
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| 155 | //////////////////////////////////////////////////////////////////////////////
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[7237] | 156 | t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
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| 157 | vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
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[8905] | 158 |
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[7271] | 159 | // Default
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[7237] | 160 | // -------
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| 161 | epoTime.reset();
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[8956] | 162 | clearObs();
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[7237] | 163 |
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| 164 | // Create vector of valid observations
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| 165 | // -----------------------------------
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| 166 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
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| 167 | char system = satObs[ii]->_prn.system();
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[8912] | 168 | if (_opt->useSystem(system)) {
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[7237] | 169 | t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
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| 170 | if (pppSatObs->isValid()) {
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| 171 | obsVector.push_back(pppSatObs);
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| 172 | }
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| 173 | else {
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| 174 | delete pppSatObs;
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| 175 | }
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| 176 | }
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| 177 | }
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| 178 |
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| 179 | // Check whether data are synchronized, compute epoTime
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| 180 | // ----------------------------------------------------
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| 181 | const double MAXSYNC = 0.05; // synchronization limit
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| 182 | double meanDt = 0.0;
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| 183 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 184 | const t_pppSatObs* satObs = obsVector.at(ii);
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| 185 | if (epoTime.undef()) {
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| 186 | epoTime = satObs->time();
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| 187 | }
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| 188 | else {
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| 189 | double dt = satObs->time() - epoTime;
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| 190 | if (fabs(dt) > MAXSYNC) {
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| 191 | LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
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| 192 | return failure;
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| 193 | }
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| 194 | meanDt += dt;
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| 195 | }
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| 196 | }
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| 197 |
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| 198 | if (obsVector.size() > 0) {
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| 199 | epoTime += meanDt / obsVector.size();
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| 200 | }
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| 201 |
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| 202 | return success;
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| 203 | }
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| 204 |
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[8905] | 205 | //
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| 206 | //////////////////////////////////////////////////////////////////////////////
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| 207 | bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
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| 208 |
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| 209 | bool pseudoObsIono = false;
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| 210 |
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[8912] | 211 | if (_opt->_pseudoObsIono) {
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[8905] | 212 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 213 | while (it != obsVector.end()) {
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| 214 | t_pppSatObs* satObs = *it;
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| 215 | char system = satObs->prn().system();
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| 216 | t_pppRefSat* refSat = _obsPool->getRefSatMapElement(system);
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| 217 | double stecRef = refSat->stecValue();
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| 218 | if (stecRef && !satObs->isReference()) {
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| 219 | pseudoObsIono = true;
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| 220 | satObs->setPseudoObsIono(t_frequency::G1, stecRef);
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| 221 | }
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| 222 | satObs->printObsMinusComputed();
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| 223 | it++;
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| 224 | }
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| 225 | }
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| 226 |
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| 227 | return pseudoObsIono;
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| 228 | }
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| 229 |
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[7237] | 230 | // Compute the Bancroft position, check for blunders
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| 231 | //////////////////////////////////////////////////////////////////////////////
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[7271] | 232 | t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
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[7237] | 233 | vector<t_pppSatObs*>& obsVector,
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| 234 | ColumnVector& xyzc, bool print) {
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| 235 |
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| 236 | t_lc::type tLC = t_lc::dummy;
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| 237 |
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| 238 | while (true) {
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| 239 | Matrix BB(obsVector.size(), 4);
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| 240 | int iObs = -1;
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| 241 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 242 | const t_pppSatObs* satObs = obsVector.at(ii);
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[8034] | 243 | if (tLC == t_lc::dummy) {
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| 244 | if (satObs->isValid(t_lc::cIF)) {
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| 245 | tLC = t_lc::cIF;
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[7237] | 246 | }
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[8034] | 247 | else if (satObs->isValid(t_lc::c1)) {
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| 248 | tLC = t_lc::c1;
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[7237] | 249 | }
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[8445] | 250 | else if (satObs->isValid(t_lc::c2)) {
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[8034] | 251 | tLC = t_lc::c2;
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| 252 | }
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[7237] | 253 | }
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[8912] | 254 | if ( satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
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[8034] | 255 | ++iObs;
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| 256 | BB[iObs][0] = satObs->xc()[0];
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| 257 | BB[iObs][1] = satObs->xc()[1];
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| 258 | BB[iObs][2] = satObs->xc()[2];
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| 259 | BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
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| 260 | }
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[7237] | 261 | }
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[8912] | 262 | if (iObs + 1 < _opt->_minObs) {
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[7237] | 263 | LOG << "t_pppClient::cmpBancroft not enough observations" << endl;
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| 264 | return failure;
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| 265 | }
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| 266 | BB = BB.Rows(1,iObs+1);
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| 267 | bancroft(BB, xyzc);
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| 268 |
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| 269 | xyzc[3] /= t_CST::c;
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| 270 |
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| 271 | // Check Blunders
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| 272 | // --------------
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| 273 | const double BLUNDER = 100.0;
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| 274 | double maxRes = 0.0;
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| 275 | unsigned maxResIndex = 0;
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| 276 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 277 | const t_pppSatObs* satObs = obsVector.at(ii);
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[8905] | 278 | if (satObs->isValid() &&
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| 279 | satObs->prn().system() == 'G' &&
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[8912] | 280 | (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
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[7237] | 281 | ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
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[8905] | 282 | double res = rr.NormFrobenius() - satObs->obsValue(tLC)
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[8453] | 283 | - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
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| 284 | if (std::isnan(res) || fabs(res) > maxRes) {
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| 285 | std::isnan(res) ?
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| 286 | maxRes = res :
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[7237] | 287 | maxRes = fabs(res);
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| 288 | maxResIndex = ii;
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| 289 | }
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| 290 | }
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| 291 | }
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[8453] | 292 | if (!std::isnan(maxRes) && maxRes < BLUNDER) {
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[7237] | 293 | if (print) {
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| 294 | LOG.setf(ios::fixed);
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| 295 | LOG << string(epoTime) << " BANCROFT:" << ' '
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| 296 | << setw(14) << setprecision(3) << xyzc[0] << ' '
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| 297 | << setw(14) << setprecision(3) << xyzc[1] << ' '
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| 298 | << setw(14) << setprecision(3) << xyzc[2] << ' '
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| 299 | << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
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| 300 | }
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| 301 | break;
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| 302 | }
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| 303 | else {
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| 304 | t_pppSatObs* satObs = obsVector.at(maxResIndex);
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| 305 | LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
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| 306 | << " " << maxRes << endl;
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| 307 | delete satObs;
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| 308 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 309 | }
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| 310 | }
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| 311 |
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| 312 | return success;
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| 313 | }
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| 314 |
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| 315 | // Compute A Priori GPS-Glonass Offset
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| 316 | //////////////////////////////////////////////////////////////////////////////
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| 317 | double t_pppClient::cmpOffGG(vector<t_pppSatObs*>& obsVector) {
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| 318 |
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| 319 | t_lc::type tLC = t_lc::dummy;
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| 320 | double offGG = 0.0;
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| 321 |
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[8912] | 322 | if (_opt->useSystem('R')) {
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[7237] | 323 | while (obsVector.size() > 0) {
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| 324 | offGG = 0.0;
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| 325 | double maxRes = 0.0;
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| 326 | int maxResIndex = -1;
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| 327 | t_prn maxResPrn;
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| 328 | unsigned nObs = 0;
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| 329 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[7888] | 330 | const t_pppSatObs* satObs = obsVector.at(ii);
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[7237] | 331 | if (satObs->prn().system() == 'R') {
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| 332 | if (tLC == t_lc::dummy) {
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| 333 | tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
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| 334 | }
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[8912] | 335 | if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle)) {
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[7237] | 336 | double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
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| 337 | ++nObs;
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| 338 | offGG += ll;
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| 339 | if (fabs(ll) > fabs(maxRes)) {
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| 340 | maxRes = ll;
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| 341 | maxResIndex = ii;
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| 342 | maxResPrn = satObs->prn();
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| 343 | }
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| 344 | }
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| 345 | }
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| 346 | }
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| 347 |
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| 348 | if (nObs > 0) {
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| 349 | offGG = offGG / nObs;
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| 350 | }
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| 351 | else {
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| 352 | offGG = 0.0;
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| 353 | }
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| 354 |
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| 355 | if (fabs(maxRes) > 1000.0) {
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| 356 | LOG << "t_pppClient::cmpOffGG outlier " << maxResPrn.toString() << " " << maxRes << endl;
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[7904] | 357 | delete obsVector.at(maxResIndex);
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[7237] | 358 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 359 | }
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| 360 | else {
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| 361 | break;
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| 362 | }
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| 363 | }
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| 364 | }
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| 365 | return offGG;
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| 366 | }
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| 367 |
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[7271] | 368 | //
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[7237] | 369 | //////////////////////////////////////////////////////////////////////////////
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| 370 | void t_pppClient::initOutput(t_output* output) {
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| 371 | _output = output;
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| 372 | _output->_numSat = 0;
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[7927] | 373 | _output->_hDop = 0.0;
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[7237] | 374 | _output->_error = false;
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| 375 | }
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| 376 |
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[7271] | 377 | //
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[7237] | 378 | //////////////////////////////////////////////////////////////////////////////
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| 379 | void t_pppClient::clearObs() {
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| 380 | for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
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| 381 | delete _obsRover.at(ii);
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| 382 | }
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| 383 | _obsRover.clear();
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| 384 | }
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| 385 |
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[7271] | 386 | //
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[7237] | 387 | //////////////////////////////////////////////////////////////////////////////
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| 388 | void t_pppClient::finish(t_irc irc) {
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| 389 |
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| 390 | clearObs();
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| 391 |
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| 392 | _output->_epoTime = _epoTimeRover;
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| 393 |
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| 394 | if (irc == success) {
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| 395 | _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
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| 396 | _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
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| 397 | _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
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| 398 |
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| 399 | xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
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| 400 |
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| 401 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
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| 402 |
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| 403 | _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
|
---|
| 404 | _output->_trp = _filter->trp();
|
---|
| 405 | _output->_trpStdev = _filter->trpStdev();
|
---|
| 406 |
|
---|
| 407 | _output->_numSat = _filter->numSat();
|
---|
[7927] | 408 | _output->_hDop = _filter->HDOP();
|
---|
[7237] | 409 | _output->_error = false;
|
---|
| 410 | }
|
---|
| 411 | else {
|
---|
| 412 | _output->_error = true;
|
---|
| 413 | }
|
---|
| 414 | _output->_log = _log->str();
|
---|
| 415 | delete _log; _log = new ostringstream();
|
---|
| 416 | }
|
---|
| 417 |
|
---|
[7271] | 418 | //
|
---|
[7237] | 419 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 420 | t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
|
---|
| 421 | vector<t_pppSatObs*>& obsVector) {
|
---|
| 422 | bncTime time;
|
---|
| 423 | time = _epoTimeRover;
|
---|
[8912] | 424 | station->setName(_opt->_roverName);
|
---|
| 425 | station->setAntName(_opt->_antNameRover);
|
---|
[8905] | 426 | station->setEpochTime(time);
|
---|
[8912] | 427 | if (_opt->xyzAprRoverSet()) {
|
---|
| 428 | station->setXyzApr(_opt->_xyzAprRover);
|
---|
[7237] | 429 | }
|
---|
| 430 | else {
|
---|
| 431 | station->setXyzApr(xyzc.Rows(1,3));
|
---|
| 432 | }
|
---|
[8912] | 433 | station->setNeuEcc(_opt->_neuEccRover);
|
---|
[7237] | 434 |
|
---|
| 435 | // Receiver Clock
|
---|
| 436 | // --------------
|
---|
| 437 | station->setDClk(xyzc[3]);
|
---|
| 438 |
|
---|
| 439 | // Tides
|
---|
| 440 | // -----
|
---|
[8905] | 441 | station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
|
---|
| 442 | station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
|
---|
[7271] | 443 |
|
---|
[7237] | 444 | // Observation model
|
---|
| 445 | // -----------------
|
---|
| 446 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 447 | while (it != obsVector.end()) {
|
---|
| 448 | t_pppSatObs* satObs = *it;
|
---|
[7254] | 449 | t_irc modelSetup;
|
---|
[7237] | 450 | if (satObs->isValid()) {
|
---|
[7254] | 451 | modelSetup = satObs->cmpModel(station);
|
---|
[7237] | 452 | }
|
---|
[7254] | 453 | if (satObs->isValid() &&
|
---|
[8912] | 454 | satObs->eleSat() >= _opt->_minEle &&
|
---|
[7254] | 455 | modelSetup == success) {
|
---|
[7237] | 456 | ++it;
|
---|
| 457 | }
|
---|
| 458 | else {
|
---|
| 459 | delete satObs;
|
---|
| 460 | it = obsVector.erase(it);
|
---|
| 461 | }
|
---|
| 462 | }
|
---|
| 463 |
|
---|
| 464 | return success;
|
---|
| 465 | }
|
---|
| 466 |
|
---|
[7271] | 467 | //
|
---|
[7237] | 468 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 469 | void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
|
---|
| 470 |
|
---|
[8956] | 471 | _historicalRefSats.clear();
|
---|
[7237] | 472 | try {
|
---|
| 473 | initOutput(output);
|
---|
[8912] | 474 | int num = 0;
|
---|
| 475 | bool epochReProcessing = false;
|
---|
[7237] | 476 |
|
---|
[8905] | 477 | do {
|
---|
[8912] | 478 | num++;
|
---|
[8956] | 479 | if (num == 1) {
|
---|
| 480 | LOG << "\nPPP of Epoch ";
|
---|
| 481 | if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
|
---|
| 482 | LOG << "\n---------------------------------------------------------------\n";
|
---|
| 483 | }
|
---|
[7237] | 484 |
|
---|
[8905] | 485 | // Prepare Observations of the Rover
|
---|
| 486 | // ---------------------------------
|
---|
| 487 | if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
|
---|
[7237] | 488 | return finish(failure);
|
---|
| 489 | }
|
---|
[8905] | 490 |
|
---|
| 491 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 492 | ColumnVector xyzc(4); xyzc = 0.0;
|
---|
| 493 | bool print = (iter == 2);
|
---|
| 494 | if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
|
---|
| 495 | return finish(failure);
|
---|
| 496 | }
|
---|
| 497 | if (cmpModel(_staRover, xyzc, _obsRover) != success) {
|
---|
| 498 | return finish(failure);
|
---|
| 499 | }
|
---|
| 500 | }
|
---|
| 501 |
|
---|
| 502 | _offGG = cmpOffGG(_obsRover);
|
---|
| 503 |
|
---|
[8912] | 504 | if (_opt->_refSatRequired) {
|
---|
[8956] | 505 | setRefSatellites(_obsRover);
|
---|
[8905] | 506 | LOG.setf(ios::fixed);
|
---|
| 507 | QMapIterator<char, t_pppRefSat*> it(_obsPool->getRefSatMap());
|
---|
| 508 | while (it.hasNext()) {
|
---|
| 509 | it.next();
|
---|
| 510 | char sys = it.key();
|
---|
| 511 | string prn = it.value()->prn().toString();
|
---|
[8956] | 512 | if (num == 1) {
|
---|
| 513 | LOG << "set ";
|
---|
| 514 | }
|
---|
| 515 | else {
|
---|
| 516 | LOG << "reset ";
|
---|
| 517 | }
|
---|
[8905] | 518 | LOG << string(_epoTimeRover) << " REFSAT " << sys << ": " << prn << endl;
|
---|
| 519 | }
|
---|
| 520 | }
|
---|
[7237] | 521 |
|
---|
[8956] | 522 |
|
---|
| 523 | // Prepare Pseudo Observations of the Rover
|
---|
| 524 | // ----------------------------------------
|
---|
| 525 | _pseudoObsIono = preparePseudoObs(_obsRover);
|
---|
| 526 |
|
---|
| 527 | if (int(_obsRover.size()) < _opt->_minObs) {
|
---|
| 528 | LOG << "t_pppClient::processEpoch not enough observations" << endl;
|
---|
| 529 | return finish(failure);
|
---|
| 530 | }
|
---|
| 531 |
|
---|
| 532 |
|
---|
[8905] | 533 | // Store last epoch of data
|
---|
| 534 | // ------------------------
|
---|
| 535 | _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono);
|
---|
[8956] | 536 | _obsPool->setHistoricalRefSatList(_historicalRefSats);
|
---|
[7904] | 537 |
|
---|
[8905] | 538 | // Process Epoch in Filter
|
---|
| 539 | // -----------------------
|
---|
[8912] | 540 | if (_filter->processEpoch(num) != success) {
|
---|
[8905] | 541 | return finish(failure);
|
---|
| 542 | }
|
---|
[8912] | 543 |
|
---|
| 544 | // Epoch re-processing required?
|
---|
| 545 | // -----------------------------
|
---|
| 546 | if (_obsPool->refSatChangeRequired()) {
|
---|
| 547 | epochReProcessing = true;
|
---|
[8956] | 548 | _obsPool->deleteLastEpoch();
|
---|
| 549 | QMapIterator<char, t_pppRefSat*> it(_obsPool->getRefSatMap());
|
---|
| 550 | while (it.hasNext()) {
|
---|
| 551 | it.next();
|
---|
| 552 | _historicalRefSats.append(it.value()->prn());
|
---|
| 553 | }
|
---|
[8912] | 554 | }
|
---|
| 555 | else {
|
---|
| 556 | epochReProcessing = false;
|
---|
[8956] | 557 |
|
---|
[8912] | 558 | }
|
---|
| 559 | } while (epochReProcessing);
|
---|
[7237] | 560 | }
|
---|
| 561 | catch (Exception& exc) {
|
---|
| 562 | LOG << exc.what() << endl;
|
---|
| 563 | return finish(failure);
|
---|
| 564 | }
|
---|
| 565 | catch (t_except msg) {
|
---|
| 566 | LOG << msg.what() << endl;
|
---|
| 567 | return finish(failure);
|
---|
| 568 | }
|
---|
| 569 | catch (const char* msg) {
|
---|
| 570 | LOG << msg << endl;
|
---|
| 571 | return finish(failure);
|
---|
| 572 | }
|
---|
| 573 | catch (...) {
|
---|
| 574 | LOG << "unknown exception" << endl;
|
---|
| 575 | return finish(failure);
|
---|
| 576 | }
|
---|
| 577 |
|
---|
| 578 | return finish(success);
|
---|
| 579 | }
|
---|
| 580 |
|
---|
[7271] | 581 | //
|
---|
[7237] | 582 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 583 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
| 584 | return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
|
---|
| 585 | }
|
---|
| 586 |
|
---|
[7271] | 587 | //
|
---|
[7237] | 588 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 589 | void t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
| 590 |
|
---|
| 591 | if (pos.Nrows() != 4) {
|
---|
| 592 | pos.ReSize(4);
|
---|
| 593 | }
|
---|
| 594 | pos = 0.0;
|
---|
| 595 |
|
---|
| 596 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 597 | Matrix BB = BBpass;
|
---|
| 598 | int mm = BB.Nrows();
|
---|
| 599 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 600 | double xx = BB(ii,1);
|
---|
| 601 | double yy = BB(ii,2);
|
---|
| 602 | double traveltime = 0.072;
|
---|
| 603 | if (iter > 1) {
|
---|
| 604 | double zz = BB(ii,3);
|
---|
[7271] | 605 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
| 606 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
[7237] | 607 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
| 608 | traveltime = rho / t_CST::c;
|
---|
| 609 | }
|
---|
| 610 | double angle = traveltime * t_CST::omega;
|
---|
| 611 | double cosa = cos(angle);
|
---|
| 612 | double sina = sin(angle);
|
---|
| 613 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
| 614 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
| 615 | }
|
---|
[7271] | 616 |
|
---|
[7237] | 617 | Matrix BBB;
|
---|
| 618 | if (mm > 4) {
|
---|
| 619 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
| 620 | BBB = hlp.i() * BB.t();
|
---|
| 621 | }
|
---|
| 622 | else {
|
---|
| 623 | BBB = BB.i();
|
---|
| 624 | }
|
---|
| 625 | ColumnVector ee(mm); ee = 1.0;
|
---|
| 626 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
| 627 | for (int ii = 1; ii <= mm; ii++) {
|
---|
[7271] | 628 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
[7237] | 629 | }
|
---|
| 630 | ColumnVector BBBe = BBB * ee;
|
---|
| 631 | ColumnVector BBBalpha = BBB * alpha;
|
---|
| 632 | double aa = lorentz(BBBe, BBBe);
|
---|
| 633 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
| 634 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
| 635 | double root = sqrt(bb*bb-aa*cc);
|
---|
| 636 |
|
---|
[7271] | 637 | Matrix hlpPos(4,2);
|
---|
[7237] | 638 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
| 639 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
| 640 |
|
---|
| 641 | ColumnVector omc(2);
|
---|
| 642 | for (int pp = 1; pp <= 2; pp++) {
|
---|
| 643 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
[7271] | 644 | omc(pp) = BB(1,4) -
|
---|
[7237] | 645 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
| 646 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
[7271] | 647 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
[7237] | 648 | hlpPos(4,pp);
|
---|
| 649 | }
|
---|
| 650 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
| 651 | pos = hlpPos.Column(2);
|
---|
| 652 | }
|
---|
| 653 | else {
|
---|
| 654 | pos = hlpPos.Column(1);
|
---|
| 655 | }
|
---|
| 656 | }
|
---|
| 657 | }
|
---|
| 658 |
|
---|
[7972] | 659 | //
|
---|
| 660 | //////////////////////////////////////////////////////////////////////////////
|
---|
[8956] | 661 | void t_pppClient::setRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
|
---|
| 662 |
|
---|
| 663 | // reference satellite definition per system
|
---|
| 664 | for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
|
---|
| 665 | char system = _opt->systems()[iSys];
|
---|
| 666 | bool refSatDefined = false;
|
---|
| 667 | t_pppRefSat* refSat = _obsPool->getRefSatMapElement(system);
|
---|
| 668 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 669 | t_pppSatObs* satObs = obsVector.at(ii);
|
---|
| 670 | if (satObs->eleSat() < _opt->_minEle) {continue;}
|
---|
| 671 | // reference satellite is unchanged
|
---|
| 672 | if (!_obsPool->refSatChangeRequired() && refSat->prn() == satObs->prn()) {
|
---|
| 673 | refSatDefined = true;
|
---|
| 674 | obsVector[ii]->setAsReference();
|
---|
| 675 | }
|
---|
| 676 | // reference satellite has changed
|
---|
| 677 | else if ( _obsPool->refSatChangeRequired() && refSat->prn() != satObs->prn() && !_historicalRefSats.contains(satObs->prn())) {
|
---|
| 678 | if (satObs->prn().system() == system) {
|
---|
| 679 | refSatDefined = true;
|
---|
| 680 | obsVector[ii]->setAsReference();
|
---|
| 681 | refSat->setPrn(satObs->prn());
|
---|
| 682 | }
|
---|
| 683 | }
|
---|
| 684 | if (refSatDefined) {
|
---|
| 685 | if (OPT->_pseudoObsIono) {
|
---|
| 686 | refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
|
---|
| 687 | }
|
---|
| 688 | break;
|
---|
| 689 | }
|
---|
| 690 | }
|
---|
| 691 | // reference satellite has to be initialized
|
---|
| 692 | if (!refSatDefined) {
|
---|
| 693 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 694 | t_pppSatObs* satObs = obsVector.at(ii);
|
---|
| 695 | if (satObs->eleSat() < _opt->_minEle) {
|
---|
| 696 | continue;
|
---|
| 697 | }
|
---|
| 698 | if (satObs->prn().system() == system) {
|
---|
| 699 | obsVector[ii]->setAsReference();
|
---|
| 700 | refSat->setPrn(satObs->prn());
|
---|
| 701 | if (OPT->_pseudoObsIono) {
|
---|
| 702 | refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
|
---|
| 703 | }
|
---|
| 704 | refSatDefined = true;
|
---|
| 705 | break;
|
---|
| 706 | }
|
---|
| 707 | }
|
---|
| 708 | }
|
---|
| 709 | }
|
---|
| 710 | _obsPool->setRefSatChangeRequired(false);
|
---|
| 711 |
|
---|
| 712 | }
|
---|
| 713 |
|
---|
| 714 | //
|
---|
| 715 | //////////////////////////////////////////////////////////////////////////////
|
---|
[7972] | 716 | void t_pppClient::reset() {
|
---|
| 717 |
|
---|
| 718 | // to delete old orbit and clock corrections
|
---|
| 719 | delete _ephPool;
|
---|
| 720 | _ephPool = new t_pppEphPool();
|
---|
| 721 |
|
---|
| 722 | // to delete old code biases
|
---|
| 723 | delete _obsPool;
|
---|
| 724 | _obsPool = new t_pppObsPool();
|
---|
[8905] | 725 |
|
---|
| 726 | // to delete all parameters
|
---|
| 727 | delete _filter;
|
---|
| 728 | _filter = new t_pppFilter(_obsPool);
|
---|
| 729 |
|
---|
[7996] | 730 | }
|
---|