[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_pppFilter
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| 6 | *
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| 7 | * Purpose: Filter Adjustment
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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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[7267] | 13 | * Changes:
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[7237] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <iostream>
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| 18 | #include <iomanip>
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| 19 | #include <cmath>
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| 20 | #include <newmat.h>
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| 21 | #include <newmatio.h>
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| 22 | #include <newmatap.h>
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| 23 |
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| 24 | #include "pppFilter.h"
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| 25 | #include "bncutils.h"
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| 26 | #include "pppParlist.h"
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| 27 | #include "pppObsPool.h"
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| 28 | #include "pppStation.h"
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| 29 | #include "pppClient.h"
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| 30 |
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| 31 | using namespace BNC_PPP;
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| 32 | using namespace std;
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| 33 |
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| 34 | // Constructor
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| 35 | ////////////////////////////////////////////////////////////////////////////
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[8905] | 36 | t_pppFilter::t_pppFilter(t_pppObsPool* obsPool) {
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[7237] | 37 | _parlist = 0;
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[8905] | 38 | _numSat = 0;
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| 39 | _obsPool = obsPool;
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[8910] | 40 | _refPrn = t_prn();
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[8915] | 41 | _datumTrafo = new t_datumTrafo();
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[7237] | 42 | }
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| 43 |
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| 44 | // Destructor
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| 45 | ////////////////////////////////////////////////////////////////////////////
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| 46 | t_pppFilter::~t_pppFilter() {
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| 47 | delete _parlist;
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[8915] | 48 | delete _datumTrafo;
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[7237] | 49 | }
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| 50 |
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| 51 | // Process Single Epoch
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| 52 | ////////////////////////////////////////////////////////////////////////////
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[8905] | 53 | t_irc t_pppFilter::processEpoch(int num) {
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[7237] | 54 | _numSat = 0;
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[8915] | 55 | _numEpoProcessing = num;
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[7302] | 56 | const double maxSolGap = 60.0;
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[7237] | 57 |
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| 58 | if (!_parlist) {
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| 59 | _parlist = new t_pppParlist();
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| 60 | }
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| 61 |
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| 62 | // Vector of all Observations
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| 63 | // --------------------------
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[8905] | 64 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
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[7237] | 65 | if (!epoch) {
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| 66 | return failure;
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| 67 | }
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| 68 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
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| 69 |
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| 70 | // Time of the Epoch
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| 71 | // -----------------
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| 72 | _epoTime = epoch->epoTime();
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| 73 |
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[7302] | 74 | if (!_firstEpoTime.valid() ||
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| 75 | !_lastEpoTimeOK.valid() ||
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| 76 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 77 | _firstEpoTime = _epoTime;
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| 78 | }
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| 79 |
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[7267] | 80 | string epoTimeStr = string(_epoTime);
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| 81 |
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[8905] | 82 | //--
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[7237] | 83 | // Set Parameters
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| 84 | // --------------
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[8956] | 85 | _parlist->set(_epoTime, allObs, _obsPool->getRefSatMap());
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[7237] | 86 | const vector<t_pppParam*>& params = _parlist->params();
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| 87 |
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| 88 | // Status Vector, Variance-Covariance Matrix
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| 89 | // -----------------------------------------
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| 90 | ColumnVector xFltOld = _xFlt;
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| 91 | SymmetricMatrix QFltOld = _QFlt;
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[8956] | 92 |
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[7237] | 93 | _QFlt.ReSize(_parlist->nPar()); _QFlt = 0.0;
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| 94 | _xFlt.ReSize(_parlist->nPar()); _xFlt = 0.0;
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| 95 | _x0.ReSize(_parlist->nPar()); _x0 = 0.0;
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| 96 | for (unsigned ii = 0; ii < params.size(); ii++) {
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| 97 | const t_pppParam* par1 = params[ii];
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| 98 | _x0[ii] = par1->x0();
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| 99 | int iOld = par1->indexOld();
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| 100 | if (iOld < 0) {
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| 101 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
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| 102 | }
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| 103 | else {
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| 104 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
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| 105 | _xFlt[ii] = xFltOld[iOld];
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| 106 | for (unsigned jj = 0; jj < ii; jj++) {
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| 107 | const t_pppParam* par2 = params[jj];
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| 108 | int jOld = par2->indexOld();
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| 109 | if (jOld >= 0) {
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| 110 | _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1);
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| 111 | }
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| 112 | }
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| 113 | }
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| 114 | }
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| 115 | predictCovCrdPart(QFltOld);
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| 116 |
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[8956] | 117 | // Init Datum Trafo
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| 118 | // ----------------------------------------
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| 119 | if ((OPT->_obsModelType == OPT->DCMcodeBias ||
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| 120 | OPT->_obsModelType == OPT->DCMphaseBias) &&
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| 121 | (_numEpoProcessing == 1)) {
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| 122 | _numAllUsedLCs = 0;
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| 123 | for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
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| 124 | char system = OPT->systems()[iSys];
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| 125 | _numAllUsedLCs += OPT->LCs(system).size();
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| 126 | if (OPT->_pseudoObsIono && !epoch->pseudoObsIono()) {
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| 127 | _numAllUsedLCs -= 1; // GIM not used
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| 128 | }
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| 129 | }
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| 130 | int maxObs = allObs.size() * _numAllUsedLCs;
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| 131 | _datumTrafo->initAA(maxObs, _parlist->nPar());
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| 132 | }
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[8905] | 133 |
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| 134 | // Pre-Process Satellite Systems separately
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| 135 | // ----------------------------------------
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| 136 | bool preProcessing = false;
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| 137 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 138 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 139 | preProcessing = true;
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| 140 | for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
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[8956] | 141 | (iSys) ? _datumTrafo->setFirstSystem(false) : _datumTrafo->setFirstSystem(true);
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[8905] | 142 | char system = OPT->systems()[iSys];
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[8910] | 143 | if (OPT->_refSatRequired) {
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| 144 | _refPrn = (_obsPool->getRefSatMapElement(system))->prn();
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[8956] | 145 | if (_obsPool->hasHistoricalRefSat(_refPrn)) {
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| 146 | return failure;
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| 147 | }
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[8910] | 148 | }
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[8905] | 149 | vector<t_pppSatObs*> obsVector;
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| 150 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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| 151 | if (allObs[jj]->prn().system() == system) {
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| 152 | obsVector.push_back(allObs[jj]);
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| 153 | }
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| 154 | }
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[8910] | 155 | if (processSystem(OPT->LCs(system), obsVector, _refPrn,
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[8905] | 156 | epoch->pseudoObsIono(), preProcessing) != success) {
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| 157 | return failure;
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| 158 | }
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| 159 | }
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[8956] | 160 | // refSat change required?
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| 161 | // -----------------------
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| 162 | if (_obsPool->refSatChangeRequired()) {
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| 163 | _xFlt = xFltOld;
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| 164 | _QFlt = QFltOld;
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| 165 | return success;
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| 166 | }
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| 167 | else if (!_obsPool->refSatChangeRequired() &&
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| 168 | _numEpoProcessing > 1) {
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| 169 | datumTransformation(xFltOld, QFltOld);
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| 170 | }
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[8905] | 171 | }
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| 172 |
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[7237] | 173 | // Process Satellite Systems separately
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| 174 | // ------------------------------------
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[8912] | 175 | preProcessing = false;
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[7237] | 176 | for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
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| 177 | char system = OPT->systems()[iSys];
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[8910] | 178 | if (OPT->_refSatRequired) {
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| 179 | _refPrn = (_obsPool->getRefSatMapElement(system))->prn();
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| 180 | }
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[7267] | 181 | unsigned int num = 0;
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[7237] | 182 | vector<t_pppSatObs*> obsVector;
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| 183 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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| 184 | if (allObs[jj]->prn().system() == system) {
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| 185 | obsVector.push_back(allObs[jj]);
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[7267] | 186 | num++;
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[7237] | 187 | }
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| 188 | }
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[7267] | 189 | LOG << epoTimeStr << " SATNUM " << system << ' ' << right << setw(2) << num << endl;
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[8910] | 190 | if (processSystem(OPT->LCs(system), obsVector, _refPrn,
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[8905] | 191 | epoch->pseudoObsIono(), preProcessing) != success) {
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[7237] | 192 | return failure;
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| 193 | }
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| 194 | }
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[8912] | 195 |
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| 196 | // close epoch processing
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| 197 | // ----------------------
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[8956] | 198 | cmpDOP(allObs);
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| 199 | _parlist->printResult(_epoTime, _QFlt, _xFlt);
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| 200 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7267] | 201 |
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[7237] | 202 | return success;
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| 203 | }
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| 204 |
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| 205 | // Process Selected LCs
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| 206 | ////////////////////////////////////////////////////////////////////////////
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[7267] | 207 | t_irc t_pppFilter::processSystem(const vector<t_lc::type>& LCs,
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[8905] | 208 | const vector<t_pppSatObs*>& obsVector,
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| 209 | const t_prn& refPrn,
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| 210 | bool pseudoObsIonoAvailable,
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| 211 | bool preProcessing) {
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[7237] | 212 | LOG.setf(ios::fixed);
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| 213 |
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| 214 | // Detect Cycle Slips
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| 215 | // ------------------
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[8956] | 216 |
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[8905] | 217 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 218 | return failure;
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| 219 | }
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| 220 |
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[8905] | 221 | unsigned usedLCs = LCs.size(); //qDebug() << "usedLCs: " << usedLCs;
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| 222 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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| 223 | usedLCs -= 1; // GIM not used
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| 224 | }
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| 225 | ColumnVector xSav = _xFlt;
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| 226 | SymmetricMatrix QSav = _QFlt;
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| 227 | string epoTimeStr = string(_epoTime);
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[7237] | 228 | const vector<t_pppParam*>& params = _parlist->params();
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[8905] | 229 | unsigned maxObs = obsVector.size() * usedLCs;
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| 230 | //unsigned maxObs = 2 * usedLCs;
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[7267] | 231 |
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[8905] | 232 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) { // stecDiff w.r.t refSat
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| 233 | maxObs -= 1;
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| 234 | }
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| 235 |
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[7237] | 236 | // Outlier Detection Loop
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| 237 | // ----------------------
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| 238 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 239 |
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| 240 | if (iOutlier > 0) {
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| 241 | _xFlt = xSav;
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| 242 | _QFlt = QSav;
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| 243 | }
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| 244 |
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| 245 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 246 | // -----------------------------------------------------------
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| 247 | Matrix AA(maxObs, _parlist->nPar());
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| 248 | ColumnVector ll(maxObs);
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| 249 | DiagonalMatrix PP(maxObs); PP = 0.0;
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[8912] | 250 |
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[7237] | 251 | int iObs = -1;
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| 252 | vector<t_pppSatObs*> usedObs;
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| 253 | vector<t_lc::type> usedTypes;
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| 254 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[8956] | 255 | t_pppSatObs* obs = obsVector[ii];
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[7237] | 256 | if (!obs->outlier()) {
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[8905] | 257 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 258 | const t_lc::type tLC = LCs[jj];
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[8905] | 259 | if (tLC == t_lc::GIM && obs->isReference()) {continue;}
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[7237] | 260 | ++iObs;
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| 261 | usedObs.push_back(obs);
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| 262 | usedTypes.push_back(tLC);
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| 263 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 264 | const t_pppParam* par = params[iPar];
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[8956] | 265 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 266 | }
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| 267 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 268 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 269 | }
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| 270 | }
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| 271 | }
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| 272 |
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[8956] | 273 | if ((preProcessing && ! iOutlier) &&
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| 274 | (OPT->_obsModelType == OPT->DCMcodeBias || OPT->_obsModelType == OPT->DCMphaseBias)) {
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[8915] | 275 | _datumTrafo->updateIndices(maxObs);
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| 276 | _datumTrafo->prepareAA(AA, _numEpoProcessing, _parlist->nPar());
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[8956] | 277 | if (_obsPool->refSatChangeRequired()) { // from detectCycleSlips()
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| 278 | return success;
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| 279 | }
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[8915] | 280 | }
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| 281 |
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[7237] | 282 | // Check number of observations, truncate matrices
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| 283 | // -----------------------------------------------
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| 284 | if (iObs == -1) {
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| 285 | return failure;
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| 286 | }
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| 287 | AA = AA.Rows(1, iObs+1);
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| 288 | ll = ll.Rows(1, iObs+1);
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| 289 | PP = PP.SymSubMatrix(1, iObs+1);
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| 290 |
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| 291 | // Kalman update step
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| 292 | // ------------------
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| 293 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 294 |
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| 295 | // Check Residuals
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| 296 | // ---------------
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| 297 | ColumnVector vv = AA * _xFlt - ll;
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| 298 | double maxOutlier = 0.0;
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| 299 | int maxOutlierIndex = -1;
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| 300 | t_lc::type maxOutlierLC = t_lc::dummy;
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| 301 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 302 | const t_lc::type tLC = usedTypes[ii];
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| 303 | double res = fabs(vv[ii]);
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| 304 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 305 | if (res > fabs(maxOutlier)) {
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| 306 | maxOutlier = vv[ii];
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| 307 | maxOutlierIndex = ii;
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| 308 | maxOutlierLC = tLC;
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| 309 | }
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| 310 | }
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| 311 | }
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| 312 |
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| 313 | // Mark outlier or break outlier detection loop
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| 314 | // --------------------------------------------
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| 315 | if (maxOutlierIndex > -1) {
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| 316 | t_pppSatObs* obs = usedObs[maxOutlierIndex];
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| 317 | t_pppParam* par = 0;
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[8905] | 318 | if (!preProcessing) {
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| 319 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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| 320 | << obs->prn().toString() << ' '
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| 321 | << setw(8) << setprecision(4) << maxOutlier << endl;
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| 322 | }
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[7237] | 323 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 324 | t_pppParam* hlp = params[iPar];
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[8905] | 325 | if (hlp->type() == t_pppParam::amb &&
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| 326 | hlp->prn() == obs->prn() &&
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[7237] | 327 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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| 328 | par = hlp;
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| 329 | }
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| 330 | }
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[8956] | 331 | if (preProcessing) {
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| 332 | if (par && obs->prn() == refPrn) {
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[8912] | 333 | _obsPool->setRefSatChangeRequired(true);
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[8956] | 334 | break;
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[8905] | 335 | }
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| 336 | }
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[8956] | 337 | else {
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| 338 | if (par) {
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| 339 | if (par->ambResetCandidate() || _obsPool->hasHistoricalRefSat(par->prn())) {
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| 340 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
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| 341 | }
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| 342 | else {
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| 343 | par->setAmbResetCandidate();
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| 344 | obs->setOutlier();
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| 345 | }
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[7237] | 346 | }
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| 347 | else {
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| 348 | obs->setOutlier();
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| 349 | }
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| 350 | }
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| 351 | }
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| 352 | // Print Residuals
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| 353 | // ---------------
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| 354 | else {
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[8905] | 355 | if (!preProcessing) {
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| 356 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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| 357 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 358 | const t_lc::type tLC = usedTypes[ii];
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| 359 | t_pppSatObs* obs = usedObs[ii];
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| 360 | if (tLC == LCs[jj]) {
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| 361 | obs->setRes(tLC, vv[ii]);
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| 362 | LOG << epoTimeStr << " RES "
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| 363 | << left << setw(3) << t_lc::toString(tLC) << right << ' '
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| 364 | << obs->prn().toString().substr(0,3) << ' '
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| 365 | << setw(8) << setprecision(4) << vv[ii] << endl;
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| 366 | }
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[7237] | 367 | }
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| 368 | }
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| 369 | }
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| 370 | break;
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| 371 | }
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| 372 | }
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| 373 |
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| 374 | return success;
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| 375 | }
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| 376 |
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| 377 | // Cycle-Slip Detection
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| 378 | ////////////////////////////////////////////////////////////////////////////
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[7267] | 379 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type>& LCs,
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[8905] | 380 | const vector<t_pppSatObs*>& obsVector,
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| 381 | const t_prn& refPrn,
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| 382 | bool preProcessing) {
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[8956] | 383 | if (_obsPool->hasHistoricalRefSat(refPrn)) {
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| 384 | return success;
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| 385 | }
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[7237] | 386 |
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[8956] | 387 | double SLIP = 20.0; // slip threshold
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[7237] | 388 | string epoTimeStr = string(_epoTime);
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[8905] | 389 | const vector<t_pppParam*>& params = _parlist->params();
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[7237] | 390 |
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[8956] | 391 | if (preProcessing) {
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| 392 | SLIP += 10.0;
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| 393 | }
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| 394 |
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[7237] | 395 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
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| 396 | const t_lc::type& tLC = LCs[ii];
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| 397 | if (t_lc::includesPhase(tLC)) {
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| 398 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
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| 399 | const t_pppSatObs* obs = obsVector[iObs];
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| 400 |
|
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[8956] | 401 | if (preProcessing && obs->prn() != refPrn) {continue;}
|
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| 402 |
|
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[7267] | 403 | // Check set Slips and Jump Counters
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[7237] | 404 | // ---------------------------------
|
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| 405 | bool slip = false;
|
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| 406 | if (obs->slip()) {
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[8329] | 407 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() << endl;
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[7237] | 408 | slip = true;
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| 409 | }
|
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| 410 |
|
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| 411 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
|
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[7837] | 412 | _slips[obs->prn()]._obsSlipCounter > obs->slipCounter()) {
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[8329] | 413 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
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[7237] | 414 | slip = true;
|
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| 415 | }
|
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[8956] | 416 | if (!preProcessing) {
|
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| 417 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
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| 418 | }
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[7237] | 419 |
|
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| 420 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
|
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| 421 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
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[8329] | 422 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
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[7237] | 423 | slip = true;
|
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| 424 | }
|
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[8956] | 425 | if (!preProcessing) {
|
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| 426 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
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| 427 | }
|
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[7237] | 428 | // Slip Set
|
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[7267] | 429 | // --------
|
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[7237] | 430 | if (slip) {
|
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[8905] | 431 | if (preProcessing) {
|
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[8956] | 432 | _obsPool->setRefSatChangeRequired(true);
|
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[8905] | 433 | }
|
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| 434 | else {
|
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| 435 | resetAmb(obs->prn(), obsVector);
|
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| 436 | }
|
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[7237] | 437 | }
|
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| 438 | // Check Pre-Fit Residuals
|
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| 439 | // -----------------------
|
---|
| 440 | else {
|
---|
| 441 | ColumnVector AA(params.size());
|
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| 442 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 443 | const t_pppParam* par = params[iPar];
|
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[8956] | 444 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
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[7237] | 445 | }
|
---|
[8956] | 446 |
|
---|
[7237] | 447 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
|
---|
| 448 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 449 | if (fabs(vv) > SLIP) {
|
---|
[8905] | 450 | if (preProcessing) {
|
---|
[8956] | 451 | _obsPool->setRefSatChangeRequired(true);
|
---|
[8905] | 452 | }
|
---|
| 453 | else {
|
---|
| 454 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
|
---|
| 455 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
|
---|
| 456 | resetAmb(obs->prn(), obsVector);
|
---|
| 457 | }
|
---|
[7237] | 458 | }
|
---|
| 459 | }
|
---|
| 460 | }
|
---|
| 461 | }
|
---|
| 462 | }
|
---|
| 463 | return success;
|
---|
| 464 | }
|
---|
| 465 |
|
---|
| 466 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 467 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 468 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*>& obsVector,
|
---|
| 469 | SymmetricMatrix* QSav, ColumnVector* xSav) {
|
---|
[8956] | 470 |
|
---|
[7237] | 471 | t_irc irc = failure;
|
---|
| 472 | vector<t_pppParam*>& params = _parlist->params();
|
---|
| 473 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 474 | t_pppParam* par = params[iPar];
|
---|
| 475 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 476 | int ind = par->indexNew();
|
---|
| 477 | t_lc::type tLC = par->tLC();
|
---|
| 478 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
| 479 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
| 480 | par->setIndex(ind);
|
---|
| 481 | params[iPar] = par;
|
---|
| 482 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
| 483 | _QFlt(ii, ind+1) = 0.0;
|
---|
| 484 | if (QSav) {
|
---|
| 485 | (*QSav)(ii, ind+1) = 0.0;
|
---|
| 486 | }
|
---|
| 487 | }
|
---|
| 488 | _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
|
---|
| 489 | if (QSav) {
|
---|
| 490 | (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1);
|
---|
| 491 | }
|
---|
| 492 | _xFlt[ind] = 0.0;
|
---|
| 493 | if (xSav) {
|
---|
| 494 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 495 | }
|
---|
| 496 | _x0[ind] = par->x0();
|
---|
| 497 | irc = success;
|
---|
| 498 | }
|
---|
| 499 | }
|
---|
| 500 |
|
---|
| 501 | return irc;
|
---|
| 502 | }
|
---|
| 503 |
|
---|
| 504 | // Compute various DOP Values
|
---|
| 505 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 506 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*>& obsVector) {
|
---|
| 507 |
|
---|
| 508 | _dop.reset();
|
---|
| 509 |
|
---|
| 510 | try {
|
---|
| 511 | const unsigned numPar = 4;
|
---|
| 512 | Matrix AA(obsVector.size(), numPar);
|
---|
| 513 | _numSat = 0;
|
---|
| 514 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 515 | t_pppSatObs* obs = obsVector[ii];
|
---|
[8956] | 516 | char system = obs->prn().system();
|
---|
| 517 | t_prn refPrn = t_prn();
|
---|
| 518 | if (OPT->_refSatRequired) {
|
---|
| 519 | refPrn = _obsPool->getRefSatMapElement(system)->prn();
|
---|
| 520 | }
|
---|
[7237] | 521 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 522 | ++_numSat;
|
---|
| 523 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
| 524 | const t_pppParam* par = _parlist->params()[iPar];
|
---|
[8956] | 525 | AA[_numSat-1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 526 | }
|
---|
| 527 | }
|
---|
| 528 | }
|
---|
| 529 | if (_numSat < 4) {
|
---|
| 530 | return;
|
---|
| 531 | }
|
---|
| 532 | AA = AA.Rows(1, _numSat);
|
---|
[7267] | 533 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
[7237] | 534 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 535 |
|
---|
[7928] | 536 | _dop.H = sqrt(QQ(1,1) + QQ(2,2));
|
---|
| 537 | _dop.V = sqrt(QQ(3,3));
|
---|
[7237] | 538 | _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3));
|
---|
| 539 | _dop.T = sqrt(QQ(4,4));
|
---|
| 540 | _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4));
|
---|
| 541 | }
|
---|
| 542 | catch (...) {
|
---|
| 543 | }
|
---|
| 544 | }
|
---|
| 545 |
|
---|
| 546 | // Compute various DOP Values
|
---|
| 547 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 548 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix& QFltOld) {
|
---|
| 549 |
|
---|
| 550 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
| 551 | if (params.size() < 3) {
|
---|
| 552 | return;
|
---|
| 553 | }
|
---|
| 554 |
|
---|
| 555 | bool first = (params[0]->indexOld() < 0);
|
---|
| 556 |
|
---|
| 557 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
---|
| 558 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
| 559 | const t_pppParam* par = params[ii];
|
---|
| 560 | if (first) {
|
---|
| 561 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
| 562 | }
|
---|
| 563 | else {
|
---|
| 564 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 565 | }
|
---|
| 566 | }
|
---|
| 567 |
|
---|
| 568 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 569 | SymmetricMatrix Qxyz(3);
|
---|
| 570 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 571 |
|
---|
| 572 | if (first) {
|
---|
| 573 | _QFlt.SymSubMatrix(1,3) = Qxyz;
|
---|
| 574 | }
|
---|
| 575 | else {
|
---|
| 576 | double dt = _epoTime - _firstEpoTime;
|
---|
| 577 | if (dt < OPT->_seedingTime) {
|
---|
| 578 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3);
|
---|
| 579 | }
|
---|
| 580 | else {
|
---|
| 581 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3) + Qxyz;
|
---|
| 582 | }
|
---|
| 583 | }
|
---|
| 584 | }
|
---|
[8912] | 585 |
|
---|
[8915] | 586 | // Compute datum transformation
|
---|
[8912] | 587 | ////////////////////////////////////////////////////////////////////////////
|
---|
[8956] | 588 | void t_pppFilter::datumTransformation(const ColumnVector& xFltOld, const SymmetricMatrix& QFltOld) {
|
---|
| 589 |
|
---|
| 590 | Matrix D21 = _datumTrafo->computeTrafoMatrix();
|
---|
| 591 | _QFlt << D21 * QFltOld * D21.t();
|
---|
| 592 | _xFlt = D21 * xFltOld;
|
---|
[8912] | 593 | }
|
---|
| 594 |
|
---|
[8956] | 595 |
|
---|
| 596 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 597 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 598 | t_irc t_pppFilter::addInfiniteNoise(t_pppParam::e_type para) {
|
---|
| 599 | t_irc irc = failure;
|
---|
| 600 | vector<t_pppParam*>& params = _parlist->params();
|
---|
| 601 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 602 | t_pppParam* par = params[iPar];
|
---|
| 603 | if (par->type() == para) {
|
---|
| 604 | int ind = par->indexNew();
|
---|
| 605 | if (ind < 0) {
|
---|
| 606 | return irc;
|
---|
| 607 | }
|
---|
| 608 | _QFlt(ind+1,ind+1) += par->sigma0() * par->sigma0();
|
---|
| 609 | irc = success;
|
---|
| 610 | }
|
---|
| 611 | }
|
---|
| 612 | return irc;
|
---|
| 613 | }
|
---|