source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 9567

Last change on this file since 9567 was 9567, checked in by stuerze, 8 months ago

update regarding PPP

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