source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 10020

Last change on this file since 10020 was 10018, checked in by stuerze, 3 years ago

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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppClient
6 *
7 * Purpose: PPP Client processing starts here
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <QThreadStorage>
18
19#include <iostream>
20#include <iomanip>
21#include <cmath>
22#include <string.h>
23#include <stdexcept>
24
25#include "pppClient.h"
26#include "pppEphPool.h"
27#include "pppObsPool.h"
28#include "bncconst.h"
29#include "bncutils.h"
30#include "pppStation.h"
31#include "bncantex.h"
32#include "pppFilter.h"
33
34using namespace BNC_PPP;
35using namespace std;
36
37// Global variable holding thread-specific pointers
38//////////////////////////////////////////////////////////////////////////////
39QThreadStorage<t_pppClient*> CLIENTS;
40
41// Static function returning thread-specific pointer
42//////////////////////////////////////////////////////////////////////////////
43t_pppClient* t_pppClient::instance() {
44 return CLIENTS.localData();
45}
46
47// Constructor
48//////////////////////////////////////////////////////////////////////////////
49t_pppClient::t_pppClient(const t_pppOptions* opt) {
50 _output = 0;
51 _opt = new t_pppOptions(*opt);
52 _log = new ostringstream();
53 _ephPool = new t_pppEphPool();
54 _obsPool = new t_pppObsPool();
55 _staRover = new t_pppStation();
56 _filter = new t_pppFilter(_obsPool);
57 _tides = new t_tides();
58 _antex = 0;
59 if (!_opt->_antexFileName.empty()) {
60 _antex = new bncAntex(_opt->_antexFileName.c_str());
61 }
62 if (!_opt->_blqFileName.empty()) {
63 if (_tides->readBlqFile(_opt->_blqFileName.c_str()) == success) {
64 //_tides->printAllBlqSets();
65 }
66 }
67
68 if (_opt->_refSatRequired) {
69 for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
70 char sys = _opt->systems()[iSys];
71 _refSatMap[sys] = new t_pppRefSat();
72 }
73 }
74
75 _offGlo = 0.0;
76 _offGal = 0.0;
77 _offBds = 0.0;
78 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
79}
80
81// Destructor
82//////////////////////////////////////////////////////////////////////////////
83t_pppClient::~t_pppClient() {
84 delete _log;
85 delete _opt;
86 delete _filter;
87 delete _ephPool;
88 delete _obsPool;
89 delete _staRover;
90 if (_antex) {
91 delete _antex;
92 }
93 delete _tides;
94 clearObs();
95 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
96 while (it.hasNext()) {
97 it.next();
98 delete it.value();
99 }
100 _refSatMap.clear();
101}
102
103//
104//////////////////////////////////////////////////////////////////////////////
105void t_pppClient::putEphemeris(const t_eph* eph) {
106 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
107 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
108 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
109 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
110 if (ephGPS) {
111 _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
112 }
113 else if (ephGlo) {
114 _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
115 }
116 else if (ephGal) {
117 _ephPool->putEphemeris(new t_ephGal(*ephGal));
118 }
119 else if (ephBDS) {
120 _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
121 }
122}
123
124//
125//////////////////////////////////////////////////////////////////////////////
126void t_pppClient::putTec(const t_vTec* vTec) {
127 _obsPool->putTec(new t_vTec(*vTec));
128}
129
130//
131//////////////////////////////////////////////////////////////////////////////
132void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
133 for (unsigned ii = 0; ii < corr.size(); ii++) {
134 _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
135 }
136}
137
138//
139//////////////////////////////////////////////////////////////////////////////
140void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
141 for (unsigned ii = 0; ii < corr.size(); ii++) {
142 _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
143 }
144}
145
146//
147//////////////////////////////////////////////////////////////////////////////
148void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
149 for (unsigned ii = 0; ii < biases.size(); ii++) {
150 _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
151 }
152}
153
154//
155//////////////////////////////////////////////////////////////////////////////
156void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
157 for (unsigned ii = 0; ii < biases.size(); ii++) {
158 _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
159 }
160}
161
162//
163//////////////////////////////////////////////////////////////////////////////
164t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
165 vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
166
167 // Default
168 // -------
169 epoTime.reset();
170 clearObs();
171
172 // Create vector of valid observations
173 // -----------------------------------
174 for (unsigned ii = 0; ii < satObs.size(); ii++) {
175 char sys = satObs[ii]->_prn.system();
176 if (_opt->useSystem(sys)) {
177 t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
178 if (pppSatObs->isValid()) {
179 obsVector.push_back(pppSatObs);
180 }
181 else {
182 delete pppSatObs;
183 }
184 }
185 }
186
187 // Check whether data are synchronized, compute epoTime
188 // ----------------------------------------------------
189 const double MAXSYNC = 0.05; // synchronization limit
190 double meanDt = 0.0;
191 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
192 const t_pppSatObs* satObs = obsVector.at(ii);
193 if (epoTime.undef()) {
194 epoTime = satObs->time();
195 }
196 else {
197 double dt = satObs->time() - epoTime;
198 if (fabs(dt) > MAXSYNC) {
199 LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
200 return failure;
201 }
202 meanDt += dt;
203 }
204 }
205
206 if (obsVector.size() > 0) {
207 epoTime += meanDt / obsVector.size();
208 }
209
210 return success;
211}
212
213//
214//////////////////////////////////////////////////////////////////////////////
215bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
216
217 bool pseudoObsIono = false;
218
219 if (_opt->_pseudoObsIono) {
220 vector<t_pppSatObs*>::iterator it = obsVector.begin();
221 while (it != obsVector.end()) {
222 t_pppSatObs* satObs = *it;
223 char sys = satObs->prn().system();
224 t_pppRefSat* refSat = _refSatMap[sys];
225 double stecRef = refSat->stecValue();
226 if (stecRef && !satObs->isReference()) {
227 pseudoObsIono = true;
228 satObs->setPseudoObsIono(t_frequency::G1, stecRef);
229 }
230 it++;
231 }
232 }
233
234/*
235 vector<t_pppSatObs*>::iterator it = obsVector.begin();
236 while (it != obsVector.end()) {
237 t_pppSatObs* satObs = *it;
238 satObs->printObsMinusComputed();
239 it++;
240 }
241*/
242 return pseudoObsIono;
243}
244
245//
246//////////////////////////////////////////////////////////////////////////////
247void t_pppClient::useObsWithCodeBiasesOnly(std::vector<t_pppSatObs*>& obsVector) {
248
249 vector<t_pppSatObs*>::iterator it = obsVector.begin();
250 while (it != obsVector.end()) {
251 t_pppSatObs* pppSatObs = *it;
252 char sys = pppSatObs->prn().system();
253 bool codeBiasesAvailable = false;
254 t_frequency::type fType1 = t_lc::toFreq(sys,t_lc::c1);
255 t_frequency::type fType2 = t_lc::toFreq(sys,t_lc::c2);
256 if (pppSatObs->getCodeBias(fType1) &&
257 pppSatObs->getCodeBias(fType2)) {
258 codeBiasesAvailable = true;
259 }
260 if (codeBiasesAvailable) {
261 ++it;
262 }
263 else {
264 it = obsVector.erase(it);
265 delete pppSatObs;
266 }
267 }
268
269}
270
271
272// Compute the Bancroft position, check for blunders
273//////////////////////////////////////////////////////////////////////////////
274t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
275 vector<t_pppSatObs*>& obsVector,
276 ColumnVector& xyzc, bool print) {
277
278 t_lc::type tLC = t_lc::dummy;
279
280 while (true) {
281 Matrix BB(obsVector.size(), 4);
282 int iObs = -1;
283 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
284 const t_pppSatObs* satObs = obsVector.at(ii);
285 if (tLC == t_lc::dummy) {
286 if (satObs->isValid(t_lc::cIF)) {
287 tLC = t_lc::cIF;
288 }
289 else if (satObs->isValid(t_lc::c1)) {
290 tLC = t_lc::c1;
291 }
292 else if (satObs->isValid(t_lc::c2)) {
293 tLC = t_lc::c2;
294 }
295 }
296 if ( satObs->isValid(tLC) &&
297 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
298 ++iObs;
299 BB[iObs][0] = satObs->xc()[0];
300 BB[iObs][1] = satObs->xc()[1];
301 BB[iObs][2] = satObs->xc()[2];
302 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
303 }
304 }
305 if (iObs + 1 < _opt->_minObs) {
306 LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl;
307 return failure;
308 }
309 BB = BB.Rows(1,iObs+1);
310 if (bancroft(BB, xyzc) != success) {
311 return failure;
312 }
313
314 xyzc[3] /= t_CST::c;
315
316 // Check Blunders
317 // --------------
318 const double BLUNDER = 100.0;
319 double maxRes = 0.0;
320 unsigned maxResIndex = 0;
321 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
322 const t_pppSatObs* satObs = obsVector.at(ii);
323 if (satObs->isValid() &&
324 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
325 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
326 double res = rr.NormFrobenius() - satObs->obsValue(tLC)
327 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
328 if (fabs(res) > maxRes) {
329 maxRes = fabs(res);
330 maxResIndex = ii;
331 }
332 }
333 }
334 if (maxRes < BLUNDER) {
335 if (print && _numEpoProcessing == 1) {
336 LOG.setf(ios::fixed);
337 LOG << "\nPPP of Epoch ";
338 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
339 LOG << "\n---------------------------------------------------------------\n";
340 LOG << string(epoTime) << " BANCROFT:" << ' '
341 << setw(14) << setprecision(3) << xyzc[0] << ' '
342 << setw(14) << setprecision(3) << xyzc[1] << ' '
343 << setw(14) << setprecision(3) << xyzc[2] << ' '
344 << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
345 }
346 break;
347 }
348 else {
349 t_pppSatObs* satObs = obsVector.at(maxResIndex);
350 LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
351 << " " << maxRes << endl;
352 delete satObs;
353 obsVector.erase(obsVector.begin() + maxResIndex);
354 }
355 }
356
357 return success;
358}
359// Compute A Priori Glonass Receiver Clock Offset
360//////////////////////////////////////////////////////////////////////////////
361double t_pppClient::cmpOffGlo(vector<t_pppSatObs*>& obsVector) {
362
363 t_lc::type tLC = t_lc::dummy;
364 double offGlo = 0.0;
365
366 if (OPT->useSystem('R')) {
367
368 while (obsVector.size() > 0) {
369 offGlo = 0.0;
370 double maxRes = 0.0;
371 int maxResIndex = -1;
372 t_prn maxResPrn;
373 unsigned nObs = 0;
374 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
375 t_pppSatObs* satObs = obsVector.at(ii);
376 if (satObs->prn().system() == 'R') {
377 if (tLC == t_lc::dummy) {
378 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
379 }
380 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) {
381 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
382 ++nObs;
383 offGlo += ll;
384 if (fabs(ll) > fabs(maxRes)) {
385 maxRes = ll;
386 maxResIndex = ii;
387 maxResPrn = satObs->prn();
388 }
389 }
390 }
391 }
392
393 if (nObs > 0) {
394 offGlo = offGlo / nObs;
395 }
396 else {
397 offGlo = 0.0;
398 }
399
400 if (fabs(maxRes) > 1000.0) {
401 LOG << "t_pppClient::cmpOffGlo outlier " << maxResPrn.toString() << " " << maxRes << endl;
402 obsVector.erase(obsVector.begin() + maxResIndex);
403 }
404 else {
405 break;
406 }
407 }
408 }
409
410 return offGlo;
411}
412
413// Compute A Priori Galileo Receiver Clock Offset
414//////////////////////////////////////////////////////////////////////////////
415double t_pppClient::cmpOffGal(vector<t_pppSatObs*>& obsVector) {
416
417 t_lc::type tLC = t_lc::dummy;
418 double offGal = 0.0;
419
420 if (OPT->useSystem('E')) {
421
422 while (obsVector.size() > 0) {
423 offGal = 0.0;
424 double maxRes = 0.0;
425 int maxResIndex = -1;
426 t_prn maxResPrn;
427 unsigned nObs = 0;
428 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
429 t_pppSatObs* satObs = obsVector.at(ii);
430 if (satObs->prn().system() == 'E') {
431 if (tLC == t_lc::dummy) {
432 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
433 }
434 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) {
435 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
436 ++nObs;
437 offGal += ll;
438 if (fabs(ll) > fabs(maxRes)) {
439 maxRes = ll;
440 maxResIndex = ii;
441 maxResPrn = satObs->prn();
442 }
443 }
444 }
445 }
446
447 if (nObs > 0) {
448 offGal = offGal / nObs;
449 }
450 else {
451 offGal = 0.0;
452 }
453
454 if (fabs(maxRes) > 1000.0) {
455 LOG << "t_pppClient::cmpOffGal outlier " << maxResPrn.toString() << " " << maxRes << endl;
456 obsVector.erase(obsVector.begin() + maxResIndex);
457 }
458 else {
459 break;
460 }
461 }
462 }
463
464 return offGal;
465}
466
467
468// Compute A Priori BDS Receiver Clock Offset
469//////////////////////////////////////////////////////////////////////////////
470double t_pppClient::cmpOffBds(vector<t_pppSatObs*>& obsVector) {
471
472 t_lc::type tLC = t_lc::dummy;
473 double offBds = 0.0;
474
475 if (_opt->useSystem('C')) {
476 while (obsVector.size() > 0) {
477 offBds = 0.0;
478 double maxRes = 0.0;
479 int maxResIndex = -1;
480 t_prn maxResPrn;
481 unsigned nObs = 0;
482 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
483 const t_pppSatObs* satObs = obsVector.at(ii);
484 if (satObs->prn().system() == 'C') {
485 if (tLC == t_lc::dummy) {
486 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
487 }
488 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle)) {
489 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
490 ++nObs;
491 offBds += ll;
492 if (fabs(ll) > fabs(maxRes)) {
493 maxRes = ll;
494 maxResIndex = ii;
495 maxResPrn = satObs->prn();
496 }
497 }
498 }
499 }
500
501 if (nObs > 0) {
502 offBds = offBds / nObs;
503 }
504 else {
505 offBds = 0.0;
506 }
507
508 if (fabs(maxRes) > 1000.0) {
509 LOG << "t_pppClient::cmpOffBds outlier " << maxResPrn.toString() << " " << maxRes << endl;
510 delete obsVector.at(maxResIndex);
511 obsVector.erase(obsVector.begin() + maxResIndex);
512 }
513 else {
514 break;
515 }
516 }
517 }
518 return offBds;
519}
520//
521//////////////////////////////////////////////////////////////////////////////
522void t_pppClient::initOutput(t_output* output) {
523 _output = output;
524 _output->_numSat = 0;
525 _output->_hDop = 0.0;
526 _output->_error = false;
527}
528
529//
530//////////////////////////////////////////////////////////////////////////////
531void t_pppClient::clearObs() {
532 for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
533 delete _obsRover.at(ii);
534 }
535 _obsRover.clear();
536}
537
538//
539//////////////////////////////////////////////////////////////////////////////
540void t_pppClient::finish(t_irc irc, int ind) {
541#ifdef BNC_DEBUG_PPP
542 LOG << "t_pppClient::finish(" << ind << "): " << irc << endl;
543#endif
544
545 clearObs();
546
547 _output->_epoTime = _epoTimeRover;
548
549 if (irc == success) {
550 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
551 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
552 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
553
554 xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
555
556 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
557
558 _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
559 _output->_trp = _filter->trp();
560 _output->_trpStdev = _filter->trpStdev();
561
562 _output->_numSat = _filter->numSat();
563 _output->_hDop = _filter->HDOP();
564 _output->_error = false;
565 }
566 else {
567 _output->_error = true;
568 if (OPT->_obsModelType == OPT->DCMcodeBias ||
569 OPT->_obsModelType == OPT->DCMphaseBias) {
570 if (ind == 1 || ind == 6 || ind > 7) {
571 reset();
572 }
573 //else {_filter->restoreState(ind);}
574 }
575 }
576 _output->_log = _log->str();
577 delete _log; _log = new ostringstream();
578
579 return;
580}
581
582//
583//////////////////////////////////////////////////////////////////////////////
584t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
585 vector<t_pppSatObs*>& obsVector) {
586 bncTime time;
587 time = _epoTimeRover;
588 station->setName(_opt->_roverName);
589 station->setAntName(_opt->_antNameRover);
590 station->setEpochTime(time);
591 if (_opt->xyzAprRoverSet()) {
592 station->setXyzApr(_opt->_xyzAprRover);
593 }
594 else {
595 station->setXyzApr(xyzc.Rows(1,3));
596 }
597 station->setNeuEcc(_opt->_neuEccRover);
598
599 // Receiver Clock
600 // --------------
601 station->setDClk(xyzc[3]);
602
603 // Tides
604 // -----
605 station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
606 station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
607
608 // Observation model
609 // -----------------
610 vector<t_pppSatObs*>::iterator it = obsVector.begin();
611 while (it != obsVector.end()) {
612 t_pppSatObs* satObs = *it;
613 t_irc modelSetup;
614 if (satObs->isValid()) {
615 modelSetup = satObs->cmpModel(station);
616 }
617 if (satObs->isValid() &&
618 satObs->eleSat() >= _opt->_minEle &&
619 modelSetup == success) {
620 ++it;
621 }
622 else {
623 delete satObs;
624 it = obsVector.erase(it);
625 }
626 }
627
628 return success;
629}
630
631//
632//////////////////////////////////////////////////////////////////////////////
633void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
634
635 try {
636 initOutput(output);
637 bool epochReProcessing = false;
638 _numEpoProcessing = 0;
639 _historicalRefSats.clear();
640
641 do {
642 _numEpoProcessing++;
643 if (_obsPool->refSatChanged()) {
644 if(_filter->datumTransformation(_refSatMap) != success) {
645 LOG << "t_pppFilter::datumTransformation() != success" << endl;
646 return finish(failure,1);
647 }
648 else {
649 LOG << "t_pppFilter::datumTransformation() == success" << endl;
650 _filter->rememberState(1);
651 }
652 }
653 // Prepare Observations of the Rover
654 // ---------------------------------
655 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
656 return finish(failure,2);
657 }
658
659 for (int iter = 1; iter <= 2; iter++) {
660 ColumnVector xyzc(4); xyzc = 0.0;
661 bool print = (iter == 2);
662 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
663 return finish(failure,3);
664 }
665
666 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
667 return finish(failure,4);
668 }
669 }
670 // use observations only if satellite code biases are available
671 // ------------------------------------------------------------
672 if (!_opt->_corrMount.empty() &&
673 (OPT->_obsModelType == OPT->DCMcodeBias ||
674 OPT->_obsModelType == OPT->DCMphaseBias)) {
675 useObsWithCodeBiasesOnly(_obsRover);
676 }
677
678 if (int(_obsRover.size()) < _opt->_minObs) {
679 LOG << "t_pppClient::processEpoch not enough observations" << endl;
680 return finish(failure,5);
681 }
682
683 if (_opt->_refSatRequired) {
684 if (handleRefSatellites(_obsRover) != success) {
685 return finish(failure,6);
686 }
687 if (_obsPool->refSatChanged()) {
688 if (_numEpoProcessing >1 &&
689 (OPT->_obsModelType == OPT->DCMcodeBias ||
690 OPT->_obsModelType == OPT->DCMphaseBias)) {
691 _obsPool->deleteLastEpoch();
692 }
693 epochReProcessing = true;
694 continue;
695 }
696 }
697
698 _offGlo = cmpOffGlo(_obsRover);
699 _offGal = cmpOffGal(_obsRover);
700 _offBds = cmpOffBds(_obsRover);
701
702 // Prepare Pseudo Observations of the Rover
703 // ----------------------------------------
704 _pseudoObsIono = preparePseudoObs(_obsRover);
705
706 // Store last epoch of data
707 // ------------------------
708 _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono, _refSatMap);
709
710 // Process Epoch in Filter
711 // -----------------------
712 if (_filter->processEpoch() != success) {
713 LOG << "filter->processEpoch() != success" << endl;
714 return finish(failure,7);
715 }
716
717 // Epoch re-processing required?
718 // -----------------------------
719 if (_obsPool->refSatChangeRequired() && //SLIP
720 _opt->_obsModelType != t_pppOptions::UncombPPP) {
721 LOG << "pppClient: _obsPool->refSatChangeRequired() " << endl;
722 epochReProcessing = true;
723 _filter->restoreState(0);
724 setHistoricalRefSats();
725 }
726 else {
727 epochReProcessing = false;
728 if (OPT->_obsModelType == OPT->DCMcodeBias ||
729 OPT->_obsModelType == OPT->DCMphaseBias) {
730 _filter->rememberState(0);
731 }
732 }
733 } while (epochReProcessing);
734
735 }
736 catch (Exception& exc) {
737 LOG << exc.what() << endl;
738 return finish(failure,8);
739 }
740 catch (t_except msg) {
741 LOG << msg.what() << endl;
742 return finish(failure,9);
743 }
744 catch (const char* msg) {
745 LOG << msg << endl;
746 return finish(failure,10);
747 }
748 catch (...) {
749 LOG << "unknown exception" << endl;
750 return finish(failure,11);
751 }
752 return finish(success,12);
753}
754
755//
756////////////////////////////////////////////////////////////////////////////
757double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
758 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
759}
760
761//
762////////////////////////////////////////////////////////////////////////////
763t_irc t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
764
765 if (pos.Nrows() != 4) {
766 pos.ReSize(4);
767 }
768 pos = 0.0;
769
770 for (int iter = 1; iter <= 2; iter++) {
771 Matrix BB = BBpass;
772 int mm = BB.Nrows();
773 for (int ii = 1; ii <= mm; ii++) {
774 double xx = BB(ii,1);
775 double yy = BB(ii,2);
776 double traveltime = 0.072;
777 if (iter > 1) {
778 double zz = BB(ii,3);
779 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
780 (yy-pos(2)) * (yy-pos(2)) +
781 (zz-pos(3)) * (zz-pos(3)) );
782 traveltime = rho / t_CST::c;
783 }
784 double angle = traveltime * t_CST::omega;
785 double cosa = cos(angle);
786 double sina = sin(angle);
787 BB(ii,1) = cosa * xx + sina * yy;
788 BB(ii,2) = -sina * xx + cosa * yy;
789 }
790
791 Matrix BBB;
792 if (mm > 4) {
793 SymmetricMatrix hlp; hlp << BB.t() * BB;
794 BBB = hlp.i() * BB.t();
795 }
796 else {
797 BBB = BB.i();
798 }
799 ColumnVector ee(mm); ee = 1.0;
800 ColumnVector alpha(mm); alpha = 0.0;
801 for (int ii = 1; ii <= mm; ii++) {
802 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
803 }
804 ColumnVector BBBe = BBB * ee;
805 ColumnVector BBBalpha = BBB * alpha;
806 double aa = lorentz(BBBe, BBBe);
807 double bb = lorentz(BBBe, BBBalpha)-1;
808 double cc = lorentz(BBBalpha, BBBalpha);
809 double root = sqrt(bb*bb-aa*cc);
810
811 Matrix hlpPos(4,2);
812 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
813 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
814
815 ColumnVector omc(2);
816 for (int pp = 1; pp <= 2; pp++) {
817 hlpPos(4,pp) = -hlpPos(4,pp);
818 omc(pp) = BB(1,4) -
819 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
820 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
821 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
822 hlpPos(4,pp);
823 }
824 if ( fabs(omc(1)) > fabs(omc(2)) ) {
825 pos = hlpPos.Column(2);
826 }
827 else {
828 pos = hlpPos.Column(1);
829 }
830 }
831 if (pos.size() != 4 ||
832 std::isnan(pos(1)) ||
833 std::isnan(pos(2)) ||
834 std::isnan(pos(3)) ||
835 std::isnan(pos(4))) {
836 return failure;
837 }
838
839 return success;
840}
841
842//
843//////////////////////////////////////////////////////////////////////////////
844void t_pppClient::setRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
845 // reference satellite definition per system
846 for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
847 t_irc refSatReDefinition = success;
848 char sys = _opt->systems()[iSys];
849 bool refSatDefined = false;
850 t_pppRefSat* refSat = _refSatMap[sys];
851 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
852 t_pppSatObs* satObs = obsVector.at(ii);
853 if (satObs->eleSat() < _opt->_minEle) {
854 continue;
855 }
856 // reference satellite is unchanged
857 // ================================
858 if ( !_obsPool->refSatChangeRequired(sys) && refSat->prn() == satObs->prn()) {
859 refSatDefined = true;
860 obsVector[ii]->setAsReference();
861 }
862 // reference satellite has changed
863 // ===============================
864 else if ( _obsPool->refSatChangeRequired(sys) && refSat->prn() != satObs->prn()) {
865 if (satObs->prn().system() == sys) {
866 if (!_historicalRefSats[sys].contains(satObs->prn())) {
867 refSatDefined = true;
868 obsVector[ii]->setAsReference();
869 refSat->setPrn(satObs->prn());
870 }
871 else if ( _historicalRefSats[sys].contains(satObs->prn())) {
872 refSatReDefinition = failure;
873 }
874 }
875 }
876 if (refSatDefined) {
877 if (OPT->_pseudoObsIono) {
878 refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
879 }
880 break;
881 }
882 }
883
884 // all available satellites were already tried to use
885 if ((!refSatDefined) && (refSatReDefinition == failure)) {
886 refSat->setPrn(t_prn(sys, 99));
887 _obsPool->setRefSatChangeRequired(sys, false);
888 return;
889 }
890
891 // reference satellite has to be initialized
892 // =========================================
893 if (!refSatDefined) {
894 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
895 t_pppSatObs* satObs = obsVector.at(ii);
896 if (satObs->eleSat() < _opt->_minEle) {
897 continue;
898 }
899 if (satObs->prn().system() == sys &&
900 !_historicalRefSats[sys].contains(satObs->prn())) {
901 obsVector[ii]->setAsReference();
902 refSat->setPrn(satObs->prn());
903 if (OPT->_pseudoObsIono) {
904 refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
905 }
906 refSatDefined = true;
907 break;
908 }
909 }
910 }
911
912 // no observations for that system
913 // ===============================
914 if (!refSatDefined) {
915 refSat->setPrn(t_prn());
916 }
917 _obsPool->setRefSatChangeRequired(sys, false); // done or impossible
918 }
919
920 return;
921}
922
923//
924//////////////////////////////////////////////////////////////////////////////
925t_irc t_pppClient::handleRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
926
927 // set refSats in current epoch
928 // ============================
929 setRefSatellites(obsVector); // current epoch
930 LOG.setf(ios::fixed);
931 t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
932 const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
933
934 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
935 while (it.hasNext()) {
936 it.next();
937 char sys = it.key();
938 t_prn prn = it.value()->prn();
939 t_prn refSatLastEpochPrn = t_prn();
940 if (epoch) {
941 refSatLastEpochPrn = refSatMapLastEpoch[sys]->prn();
942 }
943 if (prn.number() == 0) { // no obs for that system available
944 continue;
945 }
946 else if (prn.number() == 99) { // refSat re-definition not possible
947 LOG << " => refSat re-definition impossible: " << sys << endl;
948 return failure;
949 }
950 QString str;
951 if (prn == refSatLastEpochPrn || refSatLastEpochPrn == t_prn() ) {
952 _obsPool->setRefSatChanged(sys, false);
953 str = " SET ";
954 }
955 else {
956 _obsPool->setRefSatChanged(sys, true);
957 str = " RESET ";
958 }
959 LOG << string(_epoTimeRover) << str.toStdString() << " REFSAT " << sys << ": " << prn.toString() << endl;
960 }
961 return success;
962}
963
964void t_pppClient::setHistoricalRefSats() {
965 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
966 while (it.hasNext()) {
967 it.next();
968 t_prn prn = it.value()->prn();
969 char sys = prn.system();
970 if (_obsPool->refSatChangeRequired(sys)) {
971 _historicalRefSats[sys].append(prn);
972 }
973 }
974}
975
976//
977//////////////////////////////////////////////////////////////////////////////
978void t_pppClient::reset() {LOG << "t_pppClient::reset()" << endl;
979
980 // to delete old orbit and clock corrections
981 delete _ephPool;
982 _ephPool = new t_pppEphPool();
983
984 // to delete old code biases
985 delete _obsPool;
986 _obsPool = new t_pppObsPool();
987
988 // to delete all parameters
989 delete _filter;
990 _filter = new t_pppFilter(_obsPool);
991
992}
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