[7237] | 1 | /* -------------------------------------------------------------------------
|
---|
| 2 | * BKG NTRIP Client
|
---|
| 3 | * -------------------------------------------------------------------------
|
---|
| 4 | *
|
---|
| 5 | * Class: t_pppFilter
|
---|
| 6 | *
|
---|
| 7 | * Purpose: Filter Adjustment
|
---|
| 8 | *
|
---|
| 9 | * Author: L. Mervart
|
---|
| 10 | *
|
---|
| 11 | * Created: 29-Jul-2014
|
---|
| 12 | *
|
---|
[7267] | 13 | * Changes:
|
---|
[7237] | 14 | *
|
---|
| 15 | * -----------------------------------------------------------------------*/
|
---|
| 16 |
|
---|
| 17 | #include <iostream>
|
---|
| 18 | #include <iomanip>
|
---|
| 19 | #include <cmath>
|
---|
| 20 | #include <newmat.h>
|
---|
| 21 | #include <newmatio.h>
|
---|
| 22 | #include <newmatap.h>
|
---|
| 23 |
|
---|
| 24 | #include "pppFilter.h"
|
---|
| 25 | #include "bncutils.h"
|
---|
| 26 | #include "pppParlist.h"
|
---|
| 27 | #include "pppObsPool.h"
|
---|
| 28 | #include "pppStation.h"
|
---|
| 29 | #include "pppClient.h"
|
---|
| 30 |
|
---|
| 31 | using namespace BNC_PPP;
|
---|
| 32 | using namespace std;
|
---|
| 33 |
|
---|
| 34 | // Constructor
|
---|
| 35 | ////////////////////////////////////////////////////////////////////////////
|
---|
[8905] | 36 | t_pppFilter::t_pppFilter(t_pppObsPool* obsPool) {
|
---|
[7237] | 37 | _parlist = 0;
|
---|
[8905] | 38 | _numSat = 0;
|
---|
| 39 | _obsPool = obsPool;
|
---|
[8910] | 40 | _refPrn = t_prn();
|
---|
[8915] | 41 | _datumTrafo = new t_datumTrafo();
|
---|
[7237] | 42 | }
|
---|
| 43 |
|
---|
| 44 | // Destructor
|
---|
| 45 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 46 | t_pppFilter::~t_pppFilter() {
|
---|
| 47 | delete _parlist;
|
---|
[8915] | 48 | delete _datumTrafo;
|
---|
[7237] | 49 | }
|
---|
| 50 |
|
---|
| 51 | // Process Single Epoch
|
---|
| 52 | ////////////////////////////////////////////////////////////////////////////
|
---|
[8905] | 53 | t_irc t_pppFilter::processEpoch(int num) {
|
---|
[7237] | 54 | _numSat = 0;
|
---|
[8915] | 55 | _numEpoProcessing = num;
|
---|
[7302] | 56 | const double maxSolGap = 60.0;
|
---|
[7237] | 57 |
|
---|
| 58 | if (!_parlist) {
|
---|
| 59 | _parlist = new t_pppParlist();
|
---|
| 60 | }
|
---|
| 61 |
|
---|
| 62 | // Vector of all Observations
|
---|
| 63 | // --------------------------
|
---|
[8905] | 64 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
|
---|
[7237] | 65 | if (!epoch) {
|
---|
| 66 | return failure;
|
---|
| 67 | }
|
---|
| 68 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
|
---|
| 69 |
|
---|
| 70 | // Time of the Epoch
|
---|
| 71 | // -----------------
|
---|
| 72 | _epoTime = epoch->epoTime();
|
---|
| 73 |
|
---|
[7302] | 74 | if (!_firstEpoTime.valid() ||
|
---|
| 75 | !_lastEpoTimeOK.valid() ||
|
---|
| 76 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
|
---|
[7237] | 77 | _firstEpoTime = _epoTime;
|
---|
| 78 | }
|
---|
| 79 |
|
---|
[7267] | 80 | string epoTimeStr = string(_epoTime);
|
---|
| 81 |
|
---|
[8905] | 82 | //--
|
---|
[7237] | 83 | // Set Parameters
|
---|
| 84 | // --------------
|
---|
| 85 | _parlist->set(_epoTime, allObs);
|
---|
| 86 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
| 87 |
|
---|
| 88 | // Status Vector, Variance-Covariance Matrix
|
---|
| 89 | // -----------------------------------------
|
---|
| 90 | ColumnVector xFltOld = _xFlt;
|
---|
| 91 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 92 | _QFlt.ReSize(_parlist->nPar()); _QFlt = 0.0;
|
---|
| 93 | _xFlt.ReSize(_parlist->nPar()); _xFlt = 0.0;
|
---|
| 94 | _x0.ReSize(_parlist->nPar()); _x0 = 0.0;
|
---|
| 95 | for (unsigned ii = 0; ii < params.size(); ii++) {
|
---|
| 96 | const t_pppParam* par1 = params[ii];
|
---|
| 97 | _x0[ii] = par1->x0();
|
---|
| 98 | int iOld = par1->indexOld();
|
---|
| 99 | if (iOld < 0) {
|
---|
| 100 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
| 101 | }
|
---|
| 102 | else {
|
---|
| 103 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
| 104 | _xFlt[ii] = xFltOld[iOld];
|
---|
| 105 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
| 106 | const t_pppParam* par2 = params[jj];
|
---|
| 107 | int jOld = par2->indexOld();
|
---|
| 108 | if (jOld >= 0) {
|
---|
| 109 | _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1);
|
---|
| 110 | }
|
---|
| 111 | }
|
---|
| 112 | }
|
---|
| 113 | }
|
---|
| 114 | predictCovCrdPart(QFltOld);
|
---|
| 115 |
|
---|
[8905] | 116 |
|
---|
| 117 | // Pre-Process Satellite Systems separately
|
---|
| 118 | // ----------------------------------------
|
---|
| 119 | bool preProcessing = false;
|
---|
| 120 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 121 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
| 122 | preProcessing = true;
|
---|
[8915] | 123 | _numAllUsedLCs = 0;
|
---|
[8905] | 124 | for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
|
---|
| 125 | char system = OPT->systems()[iSys];
|
---|
[8915] | 126 | _numAllUsedLCs += OPT->LCs(system).size();
|
---|
| 127 | if (OPT->_pseudoObsIono && !epoch->pseudoObsIono()) {
|
---|
| 128 | _numAllUsedLCs -= 1; // GIM not used
|
---|
| 129 | }
|
---|
[8910] | 130 | if (OPT->_refSatRequired) {
|
---|
| 131 | _refPrn = (_obsPool->getRefSatMapElement(system))->prn();
|
---|
| 132 | }
|
---|
[8905] | 133 | vector<t_pppSatObs*> obsVector;
|
---|
| 134 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 135 | if (allObs[jj]->prn().system() == system) {
|
---|
| 136 | obsVector.push_back(allObs[jj]);
|
---|
| 137 | }
|
---|
| 138 | }
|
---|
[8910] | 139 | if (processSystem(OPT->LCs(system), obsVector, _refPrn,
|
---|
[8905] | 140 | epoch->pseudoObsIono(), preProcessing) != success) {
|
---|
| 141 | return failure;
|
---|
| 142 | }
|
---|
| 143 | }
|
---|
| 144 | }
|
---|
| 145 |
|
---|
[8915] | 146 | if (_numEpoProcessing == 1) {
|
---|
| 147 | int maxObs = allObs.size() * _numAllUsedLCs;
|
---|
| 148 | _datumTrafo->initAA(maxObs, _parlist->nPar());
|
---|
| 149 | }
|
---|
| 150 |
|
---|
[7237] | 151 | // Process Satellite Systems separately
|
---|
| 152 | // ------------------------------------
|
---|
[8912] | 153 | preProcessing = false;
|
---|
[7237] | 154 | for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
|
---|
| 155 | char system = OPT->systems()[iSys];
|
---|
[8915] | 156 | (iSys) ? _datumTrafo->setFirstSystem(false) :
|
---|
| 157 | _datumTrafo->setFirstSystem(true);
|
---|
[8910] | 158 | if (OPT->_refSatRequired) {
|
---|
| 159 | _refPrn = (_obsPool->getRefSatMapElement(system))->prn();
|
---|
| 160 | }
|
---|
[7267] | 161 | unsigned int num = 0;
|
---|
[7237] | 162 | vector<t_pppSatObs*> obsVector;
|
---|
| 163 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 164 | if (allObs[jj]->prn().system() == system) {
|
---|
| 165 | obsVector.push_back(allObs[jj]);
|
---|
[7267] | 166 | num++;
|
---|
[7237] | 167 | }
|
---|
| 168 | }
|
---|
[7267] | 169 | LOG << epoTimeStr << " SATNUM " << system << ' ' << right << setw(2) << num << endl;
|
---|
[8910] | 170 | if (processSystem(OPT->LCs(system), obsVector, _refPrn,
|
---|
[8905] | 171 | epoch->pseudoObsIono(), preProcessing) != success) {
|
---|
[7237] | 172 | return failure;
|
---|
| 173 | }
|
---|
| 174 | }
|
---|
[8912] | 175 |
|
---|
| 176 | // refSat change required?
|
---|
| 177 | // -----------------------
|
---|
| 178 | if (_obsPool->refSatChangeRequired()) {
|
---|
| 179 | _xFlt = xFltOld;
|
---|
| 180 | _QFlt = QFltOld;
|
---|
[8905] | 181 | }
|
---|
[8912] | 182 | // close epoch processing
|
---|
| 183 | // ----------------------
|
---|
[8905] | 184 | else {
|
---|
| 185 | cmpDOP(allObs);
|
---|
| 186 | _parlist->printResult(_epoTime, _QFlt, _xFlt);
|
---|
| 187 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
|
---|
| 188 | }
|
---|
[7267] | 189 |
|
---|
[7237] | 190 | return success;
|
---|
| 191 | }
|
---|
| 192 |
|
---|
| 193 | // Process Selected LCs
|
---|
| 194 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7267] | 195 | t_irc t_pppFilter::processSystem(const vector<t_lc::type>& LCs,
|
---|
[8905] | 196 | const vector<t_pppSatObs*>& obsVector,
|
---|
| 197 | const t_prn& refPrn,
|
---|
| 198 | bool pseudoObsIonoAvailable,
|
---|
| 199 | bool preProcessing) {
|
---|
| 200 | qDebug() << "======t_pppFilter::processSystem=======";
|
---|
[7237] | 201 | LOG.setf(ios::fixed);
|
---|
| 202 |
|
---|
| 203 | // Detect Cycle Slips
|
---|
| 204 | // ------------------
|
---|
[8905] | 205 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
|
---|
[7237] | 206 | return failure;
|
---|
| 207 | }
|
---|
| 208 |
|
---|
[8905] | 209 | unsigned usedLCs = LCs.size(); //qDebug() << "usedLCs: " << usedLCs;
|
---|
| 210 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
|
---|
| 211 | usedLCs -= 1; // GIM not used
|
---|
| 212 | }
|
---|
| 213 | ColumnVector xSav = _xFlt;
|
---|
| 214 | SymmetricMatrix QSav = _QFlt;
|
---|
| 215 | string epoTimeStr = string(_epoTime);
|
---|
[7237] | 216 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
[8905] | 217 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
| 218 | //unsigned maxObs = 2 * usedLCs;
|
---|
[7267] | 219 |
|
---|
[8905] | 220 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) { // stecDiff w.r.t refSat
|
---|
| 221 | maxObs -= 1;
|
---|
| 222 | }
|
---|
| 223 | qDebug() << "par.size() : " << _parlist->nPar() << " LCs.size(): " << usedLCs;
|
---|
| 224 | qDebug() << "obsVector.size(): " << obsVector.size() << " maxObs : " << maxObs;
|
---|
| 225 |
|
---|
[7237] | 226 | // Outlier Detection Loop
|
---|
| 227 | // ----------------------
|
---|
| 228 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
|
---|
[8905] | 229 | qDebug() << "iOutlier: " << iOutlier;
|
---|
[7237] | 230 |
|
---|
| 231 | if (iOutlier > 0) {
|
---|
| 232 | _xFlt = xSav;
|
---|
| 233 | _QFlt = QSav;
|
---|
| 234 | }
|
---|
| 235 |
|
---|
| 236 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
|
---|
| 237 | // -----------------------------------------------------------
|
---|
[8905] | 238 | qDebug() << "A(" << maxObs << "," << _parlist->nPar() << ")";
|
---|
[7237] | 239 | Matrix AA(maxObs, _parlist->nPar());
|
---|
| 240 | ColumnVector ll(maxObs);
|
---|
| 241 | DiagonalMatrix PP(maxObs); PP = 0.0;
|
---|
[8912] | 242 |
|
---|
| 243 | // TETSPLOT
|
---|
[8905] | 244 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 245 | const t_pppParam* par = params[iPar];
|
---|
| 246 | cout << " " << par->toString() <<endl;
|
---|
| 247 | }
|
---|
| 248 | cout << endl;
|
---|
[8912] | 249 | //END TETSPLOT
|
---|
[7267] | 250 |
|
---|
[7237] | 251 | int iObs = -1;
|
---|
| 252 | vector<t_pppSatObs*> usedObs;
|
---|
| 253 | vector<t_lc::type> usedTypes;
|
---|
| 254 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[8905] | 255 | t_pppSatObs* obs = obsVector[ii]; qDebug() << "SATELLITE: " << obs->prn().toString().c_str() << "isRef: " << obs->isReference();
|
---|
[7237] | 256 | if (!obs->outlier()) {
|
---|
[8905] | 257 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
[7237] | 258 | const t_lc::type tLC = LCs[jj];
|
---|
[8905] | 259 | if (tLC == t_lc::GIM && obs->isReference()) {continue;}
|
---|
[7237] | 260 | ++iObs;
|
---|
| 261 | usedObs.push_back(obs);
|
---|
| 262 | usedTypes.push_back(tLC);
|
---|
| 263 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 264 | const t_pppParam* par = params[iPar];
|
---|
| 265 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
|
---|
[8905] | 266 | cout << setw(10) << par->partial(_epoTime, obs, tLC);
|
---|
[7237] | 267 | }
|
---|
[8905] | 268 | cout << endl;
|
---|
[7237] | 269 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
|
---|
| 270 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
|
---|
[8905] | 271 | //qDebug() << "ll[iObs]: " << ll[iObs];
|
---|
| 272 | //qDebug() << "PP[iObs]: " << PP[iObs];
|
---|
[7237] | 273 | }
|
---|
| 274 | }
|
---|
| 275 | }
|
---|
| 276 |
|
---|
[8915] | 277 | if ((!preProcessing) &&
|
---|
| 278 | (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 279 | OPT->_obsModelType == OPT->DCMphaseBias)) {
|
---|
| 280 | _datumTrafo->updateIndices(maxObs);
|
---|
| 281 | _datumTrafo->prepareAA(AA, _numEpoProcessing, _parlist->nPar());
|
---|
| 282 | }
|
---|
| 283 |
|
---|
[7237] | 284 | // Check number of observations, truncate matrices
|
---|
| 285 | // -----------------------------------------------
|
---|
| 286 | if (iObs == -1) {
|
---|
| 287 | return failure;
|
---|
| 288 | }
|
---|
| 289 | AA = AA.Rows(1, iObs+1);
|
---|
| 290 | ll = ll.Rows(1, iObs+1);
|
---|
| 291 | PP = PP.SymSubMatrix(1, iObs+1);
|
---|
| 292 |
|
---|
| 293 | // Kalman update step
|
---|
| 294 | // ------------------
|
---|
| 295 | kalman(AA, ll, PP, _QFlt, _xFlt);
|
---|
| 296 |
|
---|
| 297 | // Check Residuals
|
---|
| 298 | // ---------------
|
---|
| 299 | ColumnVector vv = AA * _xFlt - ll;
|
---|
| 300 | double maxOutlier = 0.0;
|
---|
| 301 | int maxOutlierIndex = -1;
|
---|
| 302 | t_lc::type maxOutlierLC = t_lc::dummy;
|
---|
| 303 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 304 | const t_lc::type tLC = usedTypes[ii];
|
---|
| 305 | double res = fabs(vv[ii]);
|
---|
| 306 | if (res > usedObs[ii]->maxRes(tLC)) {
|
---|
| 307 | if (res > fabs(maxOutlier)) {
|
---|
| 308 | maxOutlier = vv[ii];
|
---|
| 309 | maxOutlierIndex = ii;
|
---|
| 310 | maxOutlierLC = tLC;
|
---|
| 311 | }
|
---|
| 312 | }
|
---|
| 313 | }
|
---|
| 314 |
|
---|
| 315 | // Mark outlier or break outlier detection loop
|
---|
| 316 | // --------------------------------------------
|
---|
| 317 | if (maxOutlierIndex > -1) {
|
---|
| 318 | t_pppSatObs* obs = usedObs[maxOutlierIndex];
|
---|
| 319 | t_pppParam* par = 0;
|
---|
[8905] | 320 | if (!preProcessing) {
|
---|
| 321 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
|
---|
| 322 | << obs->prn().toString() << ' '
|
---|
| 323 | << setw(8) << setprecision(4) << maxOutlier << endl;
|
---|
| 324 | }
|
---|
[7237] | 325 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 326 | t_pppParam* hlp = params[iPar];
|
---|
[8905] | 327 | if (hlp->type() == t_pppParam::amb &&
|
---|
| 328 | hlp->prn() == obs->prn() &&
|
---|
[7237] | 329 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
|
---|
| 330 | par = hlp;
|
---|
| 331 | }
|
---|
| 332 | }
|
---|
[8905] | 333 | if (par && preProcessing) {
|
---|
| 334 | if (par->prn() == refPrn) {
|
---|
[8912] | 335 | _obsPool->setRefSatChangeRequired(true);
|
---|
[8905] | 336 | }
|
---|
| 337 | }
|
---|
| 338 | else if (par && !preProcessing) {
|
---|
[7237] | 339 | if (par->ambResetCandidate()) {
|
---|
| 340 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
|
---|
| 341 | }
|
---|
| 342 | else {
|
---|
| 343 | par->setAmbResetCandidate();
|
---|
| 344 | obs->setOutlier();
|
---|
| 345 | }
|
---|
| 346 | }
|
---|
[8905] | 347 | else if (!par && !preProcessing){
|
---|
[7237] | 348 | obs->setOutlier();
|
---|
| 349 | }
|
---|
| 350 | }
|
---|
| 351 |
|
---|
| 352 | // Print Residuals
|
---|
| 353 | // ---------------
|
---|
| 354 | else {
|
---|
[8905] | 355 | if (!preProcessing) {
|
---|
| 356 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
---|
| 357 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 358 | const t_lc::type tLC = usedTypes[ii];
|
---|
| 359 | t_pppSatObs* obs = usedObs[ii];
|
---|
| 360 | if (tLC == LCs[jj]) {
|
---|
| 361 | obs->setRes(tLC, vv[ii]);
|
---|
| 362 | LOG << epoTimeStr << " RES "
|
---|
| 363 | << left << setw(3) << t_lc::toString(tLC) << right << ' '
|
---|
| 364 | << obs->prn().toString().substr(0,3) << ' '
|
---|
| 365 | << setw(8) << setprecision(4) << vv[ii] << endl;
|
---|
| 366 | }
|
---|
[7237] | 367 | }
|
---|
| 368 | }
|
---|
| 369 | }
|
---|
| 370 | break;
|
---|
| 371 | }
|
---|
| 372 | }
|
---|
| 373 |
|
---|
| 374 | return success;
|
---|
| 375 | }
|
---|
| 376 |
|
---|
| 377 | // Cycle-Slip Detection
|
---|
| 378 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7267] | 379 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type>& LCs,
|
---|
[8905] | 380 | const vector<t_pppSatObs*>& obsVector,
|
---|
| 381 | const t_prn& refPrn,
|
---|
| 382 | bool preProcessing) {
|
---|
[7237] | 383 |
|
---|
| 384 | const double SLIP = 20.0; // slip threshold
|
---|
| 385 | string epoTimeStr = string(_epoTime);
|
---|
[8905] | 386 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
[7237] | 387 |
|
---|
| 388 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
| 389 | const t_lc::type& tLC = LCs[ii];
|
---|
| 390 | if (t_lc::includesPhase(tLC)) {
|
---|
| 391 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
| 392 | const t_pppSatObs* obs = obsVector[iObs];
|
---|
| 393 |
|
---|
[7267] | 394 | // Check set Slips and Jump Counters
|
---|
[7237] | 395 | // ---------------------------------
|
---|
| 396 | bool slip = false;
|
---|
| 397 | if (obs->slip()) {
|
---|
[8329] | 398 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() << endl;
|
---|
[7237] | 399 | slip = true;
|
---|
| 400 | }
|
---|
| 401 |
|
---|
| 402 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
|
---|
[7837] | 403 | _slips[obs->prn()]._obsSlipCounter > obs->slipCounter()) {
|
---|
[8329] | 404 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
|
---|
[7237] | 405 | slip = true;
|
---|
| 406 | }
|
---|
| 407 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 408 |
|
---|
| 409 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
|
---|
| 410 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
[8329] | 411 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
|
---|
[7237] | 412 | slip = true;
|
---|
| 413 | }
|
---|
| 414 |
|
---|
| 415 | // Slip Set
|
---|
[7267] | 416 | // --------
|
---|
[7237] | 417 | if (slip) {
|
---|
[8905] | 418 | if (preProcessing) {
|
---|
| 419 | if (obs->prn() == refPrn) {
|
---|
[8912] | 420 | _obsPool->setRefSatChangeRequired(true);
|
---|
[8905] | 421 | }
|
---|
| 422 | }
|
---|
| 423 | else {
|
---|
| 424 | resetAmb(obs->prn(), obsVector);
|
---|
| 425 | }
|
---|
[7237] | 426 | }
|
---|
| 427 | // Check Pre-Fit Residuals
|
---|
| 428 | // -----------------------
|
---|
| 429 | else {
|
---|
| 430 | ColumnVector AA(params.size());
|
---|
| 431 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 432 | const t_pppParam* par = params[iPar];
|
---|
| 433 | AA[iPar] = par->partial(_epoTime, obs, tLC);
|
---|
| 434 | }
|
---|
| 435 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
|
---|
| 436 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 437 | if (fabs(vv) > SLIP) {
|
---|
[8905] | 438 | if (preProcessing) {
|
---|
| 439 | if (obs->prn() == refPrn) {
|
---|
[8912] | 440 | _obsPool->setRefSatChangeRequired(true);
|
---|
[8905] | 441 | }
|
---|
| 442 | }
|
---|
| 443 | else {
|
---|
| 444 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
|
---|
| 445 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
|
---|
| 446 | resetAmb(obs->prn(), obsVector);
|
---|
| 447 | }
|
---|
[7237] | 448 | }
|
---|
| 449 | }
|
---|
| 450 | }
|
---|
| 451 | }
|
---|
| 452 | }
|
---|
| 453 |
|
---|
| 454 | return success;
|
---|
| 455 | }
|
---|
| 456 |
|
---|
| 457 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 458 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 459 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*>& obsVector,
|
---|
| 460 | SymmetricMatrix* QSav, ColumnVector* xSav) {
|
---|
| 461 | t_irc irc = failure;
|
---|
| 462 | vector<t_pppParam*>& params = _parlist->params();
|
---|
| 463 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 464 | t_pppParam* par = params[iPar];
|
---|
| 465 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 466 | int ind = par->indexNew();
|
---|
| 467 | t_lc::type tLC = par->tLC();
|
---|
| 468 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
| 469 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
| 470 | par->setIndex(ind);
|
---|
| 471 | params[iPar] = par;
|
---|
| 472 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
| 473 | _QFlt(ii, ind+1) = 0.0;
|
---|
| 474 | if (QSav) {
|
---|
| 475 | (*QSav)(ii, ind+1) = 0.0;
|
---|
| 476 | }
|
---|
| 477 | }
|
---|
| 478 | _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
|
---|
| 479 | if (QSav) {
|
---|
| 480 | (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1);
|
---|
| 481 | }
|
---|
| 482 | _xFlt[ind] = 0.0;
|
---|
| 483 | if (xSav) {
|
---|
| 484 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 485 | }
|
---|
| 486 | _x0[ind] = par->x0();
|
---|
| 487 | irc = success;
|
---|
| 488 | }
|
---|
| 489 | }
|
---|
| 490 |
|
---|
| 491 | return irc;
|
---|
| 492 | }
|
---|
| 493 |
|
---|
| 494 | // Compute various DOP Values
|
---|
| 495 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 496 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*>& obsVector) {
|
---|
| 497 |
|
---|
| 498 | _dop.reset();
|
---|
| 499 |
|
---|
| 500 | try {
|
---|
| 501 | const unsigned numPar = 4;
|
---|
| 502 | Matrix AA(obsVector.size(), numPar);
|
---|
| 503 | _numSat = 0;
|
---|
| 504 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 505 | t_pppSatObs* obs = obsVector[ii];
|
---|
| 506 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 507 | ++_numSat;
|
---|
| 508 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
| 509 | const t_pppParam* par = _parlist->params()[iPar];
|
---|
| 510 | AA[_numSat-1][iPar] = par->partial(_epoTime, obs, t_lc::c1);
|
---|
| 511 | }
|
---|
| 512 | }
|
---|
| 513 | }
|
---|
| 514 | if (_numSat < 4) {
|
---|
| 515 | return;
|
---|
| 516 | }
|
---|
| 517 | AA = AA.Rows(1, _numSat);
|
---|
[7267] | 518 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
[7237] | 519 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 520 |
|
---|
[7928] | 521 | _dop.H = sqrt(QQ(1,1) + QQ(2,2));
|
---|
| 522 | _dop.V = sqrt(QQ(3,3));
|
---|
[7237] | 523 | _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3));
|
---|
| 524 | _dop.T = sqrt(QQ(4,4));
|
---|
| 525 | _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4));
|
---|
| 526 | }
|
---|
| 527 | catch (...) {
|
---|
| 528 | }
|
---|
| 529 | }
|
---|
| 530 |
|
---|
| 531 | // Compute various DOP Values
|
---|
| 532 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 533 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix& QFltOld) {
|
---|
| 534 |
|
---|
| 535 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
| 536 | if (params.size() < 3) {
|
---|
| 537 | return;
|
---|
| 538 | }
|
---|
| 539 |
|
---|
| 540 | bool first = (params[0]->indexOld() < 0);
|
---|
| 541 |
|
---|
| 542 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
---|
| 543 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
| 544 | const t_pppParam* par = params[ii];
|
---|
| 545 | if (first) {
|
---|
| 546 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
| 547 | }
|
---|
| 548 | else {
|
---|
| 549 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 550 | }
|
---|
| 551 | }
|
---|
| 552 |
|
---|
| 553 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 554 | SymmetricMatrix Qxyz(3);
|
---|
| 555 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 556 |
|
---|
| 557 | if (first) {
|
---|
| 558 | _QFlt.SymSubMatrix(1,3) = Qxyz;
|
---|
| 559 | }
|
---|
| 560 | else {
|
---|
| 561 | double dt = _epoTime - _firstEpoTime;
|
---|
| 562 | if (dt < OPT->_seedingTime) {
|
---|
| 563 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3);
|
---|
| 564 | }
|
---|
| 565 | else {
|
---|
| 566 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3) + Qxyz;
|
---|
| 567 | }
|
---|
| 568 | }
|
---|
| 569 | }
|
---|
[8912] | 570 |
|
---|
[8915] | 571 | // Compute datum transformation
|
---|
[8912] | 572 | ////////////////////////////////////////////////////////////////////////////
|
---|
[8915] | 573 | void t_pppFilter::datumTransformation(void) {
|
---|
| 574 | _QFlt = _datumTrafo->varCov(Q());
|
---|
[8912] | 575 | }
|
---|
| 576 |
|
---|