[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 |
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| 30 | using namespace BNC_PPP;
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| 31 | using namespace std;
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| 32 |
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| 33 | // Constructor
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| 34 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 35 | t_pppFilter::t_pppFilter(t_pppObsPool *obsPool) {
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[8905] | 36 | _numSat = 0;
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| 37 | _obsPool = obsPool;
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[9642] | 38 | _refPrn = t_prn();
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[8915] | 39 | _datumTrafo = new t_datumTrafo();
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[7237] | 40 | }
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| 41 |
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| 42 | // Destructor
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| 43 | ////////////////////////////////////////////////////////////////////////////
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| 44 | t_pppFilter::~t_pppFilter() {
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[8915] | 45 | delete _datumTrafo;
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[7237] | 46 | }
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| 47 |
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| 48 | // Process Single Epoch
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| 49 | ////////////////////////////////////////////////////////////////////////////
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[9386] | 50 | t_irc t_pppFilter::processEpoch() {
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[9642] | 51 | _numSat = 0;
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[7302] | 52 | const double maxSolGap = 60.0;
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[7237] | 53 |
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| 54 | // Vector of all Observations
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| 55 | // --------------------------
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[9642] | 56 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
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[7237] | 57 | if (!epoch) {
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| 58 | return failure;
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| 59 | }
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[9642] | 60 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
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[7237] | 61 |
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| 62 | // Time of the Epoch
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| 63 | // -----------------
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| 64 | _epoTime = epoch->epoTime();
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| 65 |
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[9642] | 66 | if (!_firstEpoTime.valid() || !_lastEpoTimeOK.valid()
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| 67 | || (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 68 | _firstEpoTime = _epoTime;
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| 69 | }
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| 70 |
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[7267] | 71 | string epoTimeStr = string(_epoTime);
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| 72 |
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[9642] | 73 | const QMap<char, t_pppRefSat*> &refSatMap = epoch->refSatMap();
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[9532] | 74 |
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| 75 | //LOG << "processEpoch: printParams before set" << endl;
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| 76 | //_parlist.printParams(_epoTime);
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| 77 |
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[8905] | 78 | //--
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[7237] | 79 | // Set Parameters
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[9508] | 80 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
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[9419] | 81 | return failure;
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| 82 | }
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[9526] | 83 |
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[9527] | 84 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 85 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9386] | 86 | #ifdef BNC_DEBUG_PPP
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[9534] | 87 | _parlist.printParams(_epoTime);
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[9386] | 88 | #endif
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[9527] | 89 | }
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[7237] | 90 | // Status Vector, Variance-Covariance Matrix
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| 91 | // -----------------------------------------
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[9642] | 92 | ColumnVector xFltOld = _xFlt;
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[7237] | 93 | SymmetricMatrix QFltOld = _QFlt;
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[9526] | 94 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld);
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[8956] | 95 |
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[8905] | 96 | // Pre-Process Satellite Systems separately
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| 97 | // ----------------------------------------
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| 98 | bool preProcessing = false;
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| 99 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 100 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[8905] | 101 | preProcessing = true;
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[9642] | 102 | const QList<char> &usedSystems = _parlist.usedSystems();
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[9431] | 103 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 104 | char sys = usedSystems[iSys];
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[9526] | 105 | _refPrn.set(sys, 0);
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| 106 | if (OPT->_refSatRequired) {
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| 107 | _refPrn = refSatMap[sys]->prn();
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| 108 | }
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[9642] | 109 | vector<t_pppSatObs*> obsVector;
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[8905] | 110 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 111 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 112 | obsVector.push_back(allObs[jj]);
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| 113 | }
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| 114 | }
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[9431] | 115 | if (iSys == 0) {
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| 116 | _datumTrafo->setFirstSystem(sys);
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[9419] | 117 | }
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[9386] | 118 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[9642] | 119 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9583] | 120 | LOG << sys << ": processSystem != success (pre-processing)" << endl;
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[9386] | 121 | _xFlt = xFltOld;
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| 122 | _QFlt = QFltOld;
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[9532] | 123 | _obsPool->deleteLastEpoch();
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[9527] | 124 | restoreState(2);
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[8905] | 125 | return failure;
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| 126 | }
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| 127 | }
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[8956] | 128 | // refSat change required?
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| 129 | // -----------------------
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| 130 | if (_obsPool->refSatChangeRequired()) {
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| 131 | _xFlt = xFltOld;
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| 132 | _QFlt = QFltOld;
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| 133 | return success;
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[9642] | 134 | } else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 135 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 136 | }
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[8905] | 137 | }
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| 138 |
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[7237] | 139 | // Process Satellite Systems separately
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| 140 | // ------------------------------------
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[8912] | 141 | preProcessing = false;
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[9642] | 142 | const QList<char> &usedSystems = _parlist.usedSystems();
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[9431] | 143 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 144 | char sys = usedSystems[iSys];
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[9526] | 145 | _refPrn.set(sys, 0);
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[8910] | 146 | if (OPT->_refSatRequired) {
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[9508] | 147 | _refPrn = refSatMap[sys]->prn();
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[8910] | 148 | }
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[7267] | 149 | unsigned int num = 0;
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[7237] | 150 | vector<t_pppSatObs*> obsVector;
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| 151 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 152 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 153 | obsVector.push_back(allObs[jj]);
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[9419] | 154 | ++num;
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[7237] | 155 | }
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| 156 | }
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[9431] | 157 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 158 | _datumTrafo->setFirstSystem(sys);
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[9419] | 159 | }
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[9642] | 160 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num
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| 161 | << endl;
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| 162 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn, epoch->pseudoObsIono(),
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| 163 | preProcessing) != success) {
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[9537] | 164 | LOG << "processSystem != success (fin-processing)" << endl;
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| 165 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9699] | 166 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9590] | 167 | _xFlt = xFltOld;
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| 168 | _QFlt = QFltOld;
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[9537] | 169 | _obsPool->deleteLastEpoch();
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| 170 | restoreState(3);
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| 171 | }
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[7237] | 172 | return failure;
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| 173 | }
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| 174 | }
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[8912] | 175 |
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| 176 | // close epoch processing
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| 177 | // ----------------------
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[9508] | 178 | cmpDOP(allObs, refSatMap);
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[9504] | 179 | _parlist.printResult(_epoTime, _QFlt, _xFlt);
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[9642] | 180 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 181 | return success;
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| 182 | }
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| 183 |
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| 184 | // Process Selected LCs
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| 185 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 186 | t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
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| 187 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
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| 188 | bool pseudoObsIonoAvailable, bool preProcessing) {
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[7237] | 189 | LOG.setf(ios::fixed);
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[9386] | 190 | char sys = refPrn.system();
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[7237] | 191 |
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| 192 | // Detect Cycle Slips
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| 193 | // ------------------
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[8905] | 194 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 195 | return failure;
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| 196 | }
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[9398] | 197 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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[9386] | 198 | return success;
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| 199 | }
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[7237] | 200 |
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[9642] | 201 | ColumnVector xSav = _xFlt;
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| 202 | SymmetricMatrix QSav = _QFlt;
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| 203 | string epoTimeStr = string(_epoTime);
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| 204 | const vector<t_pppParam*> ¶ms = _parlist.params();
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[9524] | 205 | unsigned nPar = _parlist.nPar();
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[8965] | 206 |
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[9642] | 207 | unsigned usedLCs = LCs.size();
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[8965] | 208 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9642] | 209 | usedLCs -= 1; // GIM not used
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[8961] | 210 | }
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| 211 | // max Obs
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[9538] | 212 | unsigned maxObs = obsVector.size() * usedLCs;
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| 213 |
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[8965] | 214 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 215 | maxObs -= 1; // pseudo obs iono with respect to refSat
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[8905] | 216 | }
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| 217 |
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[7237] | 218 | // Outlier Detection Loop
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| 219 | // ----------------------
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| 220 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 221 |
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| 222 | if (iOutlier > 0) {
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| 223 | _xFlt = xSav;
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| 224 | _QFlt = QSav;
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| 225 | }
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| 226 |
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| 227 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 228 | // -----------------------------------------------------------
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[9642] | 229 | Matrix AA(maxObs, nPar);
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| 230 | ColumnVector ll(maxObs);
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| 231 | DiagonalMatrix PP(maxObs);
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| 232 | PP = 0.0;
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[8912] | 233 |
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[7237] | 234 | int iObs = -1;
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| 235 | vector<t_pppSatObs*> usedObs;
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[9642] | 236 | vector<t_lc::type> usedTypes;
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[9386] | 237 |
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| 238 | // Real Observations
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| 239 | // =================
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[9583] | 240 | double nSat = 0;
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[7237] | 241 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 242 | t_pppSatObs *obs = obsVector[ii];
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[9419] | 243 | if (iOutlier == 0 && !preProcessing) {
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| 244 | obs->resetOutlier();
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| 245 | }
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[7237] | 246 | if (!obs->outlier()) {
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[9583] | 247 | nSat++;
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[8905] | 248 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 249 | const t_lc::type tLC = LCs[jj];
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[9642] | 250 | if (tLC == t_lc::GIM) {
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| 251 | continue;
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| 252 | }
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[7237] | 253 | ++iObs;
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| 254 | usedObs.push_back(obs);
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| 255 | usedTypes.push_back(tLC);
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[9524] | 256 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 257 | const t_pppParam *par = params[iPar];
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[8956] | 258 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 259 | }
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[9642] | 260 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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| 261 | - DotProduct(_x0, AA.Row(iObs + 1));
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[7237] | 262 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 263 | }
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| 264 | }
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| 265 | }
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| 266 |
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[9556] | 267 | // Check number of observations
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| 268 | // ----------------------------
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[9699] | 269 |
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| 270 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 271 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 272 | if (nSat < 2.0) {
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| 273 | LOG << " number of observations < 2\n";
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| 274 | return failure;
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| 275 | }
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[9604] | 276 | }
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[9699] | 277 | else {
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| 278 | if (iObs == -1) {
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| 279 | LOG << " number of observations == -1\n";
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| 280 | return failure;
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| 281 | }
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| 282 | }
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[9625] | 283 |
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[9642] | 284 | if ((!iOutlier) && (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 285 | OPT->_obsModelType == OPT->DCMphaseBias) && (!preProcessing)) {
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| 286 | _datumTrafo->updateIndices(sys, iObs + 1);
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| 287 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, _parlist.nPar()), 1);
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[9386] | 288 | }
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| 289 |
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| 290 | // Pseudo Obs Iono
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| 291 | // ================
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| 292 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 293 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 294 | t_pppSatObs *obs = obsVector[ii];
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[9386] | 295 | if (!obs->outlier()) {
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| 296 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 297 | const t_lc::type tLC = LCs[jj];
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| 298 | if (tLC == t_lc::GIM && !obs->isReference()) {
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| 299 | ++iObs;
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[9642] | 300 | } else {
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| 301 | continue;
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| 302 | }
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[9386] | 303 | usedObs.push_back(obs);
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| 304 | usedTypes.push_back(tLC);
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[9524] | 305 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 306 | const t_pppParam *par = params[iPar];
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[9386] | 307 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 308 | }
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[9642] | 309 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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| 310 | - DotProduct(_x0, AA.Row(iObs + 1));
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[9386] | 311 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 312 | }
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| 313 | }
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[8956] | 314 | }
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[8915] | 315 | }
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| 316 |
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[9556] | 317 | // Truncate matrices
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| 318 | // -----------------
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[9642] | 319 | AA = AA.Rows(1, iObs + 1);
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| 320 | ll = ll.Rows(1, iObs + 1);
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| 321 | PP = PP.SymSubMatrix(1, iObs + 1);
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[7237] | 322 |
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| 323 | // Kalman update step
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| 324 | // ------------------
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| 325 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 326 |
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| 327 | // Check Residuals
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| 328 | // ---------------
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| 329 | ColumnVector vv = AA * _xFlt - ll;
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[9642] | 330 | double maxOutlier = 0.0;
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| 331 | int maxOutlierIndex = -1;
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| 332 | t_lc::type maxOutlierLC = t_lc::dummy;
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[7237] | 333 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 334 | const t_lc::type tLC = usedTypes[ii];
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| 335 | double res = fabs(vv[ii]);
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| 336 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 337 | if (res > fabs(maxOutlier)) {
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[9642] | 338 | maxOutlier = vv[ii];
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[7237] | 339 | maxOutlierIndex = ii;
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[9642] | 340 | maxOutlierLC = tLC;
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[7237] | 341 | }
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| 342 | }
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| 343 | }
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| 344 |
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| 345 | // Mark outlier or break outlier detection loop
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| 346 | // --------------------------------------------
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| 347 | if (maxOutlierIndex > -1) {
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[9642] | 348 | t_pppSatObs *obs = usedObs[maxOutlierIndex];
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| 349 | t_pppParam *par = 0;
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[9524] | 350 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 351 | t_pppParam *hlp = params[iPar];
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| 352 | if (hlp->type() == t_pppParam::amb && hlp->prn() == obs->prn()
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| 353 | && hlp->tLC() == usedTypes[maxOutlierIndex]) {
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[7237] | 354 | par = hlp;
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| 355 | }
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| 356 | }
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[8956] | 357 | if (preProcessing) {
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[9491] | 358 | // for refSats no ambiguity parameter exists
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[9642] | 359 | if ((obs->prn() == refPrn)
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[9699] | 360 | && (t_lc::toString(maxOutlierLC) == "l1" ||
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| 361 | t_lc::toString(maxOutlierLC) == "l2")) {
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[9642] | 362 | _obsPool->setRefSatChangeRequired(sys, true);
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| 363 | LOG << epoTimeStr << " Outlier ("
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| 364 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ")
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| 365 | << t_lc::toString(maxOutlierLC) << ' ' << obs->prn().toString()
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| 366 | << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
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| 367 | break;
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| 368 | } else {
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| 369 | obs->setOutlier();
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[8905] | 370 | }
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[9642] | 371 | } else { // fin-processing
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[9556] | 372 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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[9642] | 373 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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| 374 | << maxOutlier << endl;
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[8956] | 375 | if (par) {
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[9582] | 376 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
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[9642] | 377 | } else {
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[7237] | 378 | obs->setOutlier();
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| 379 | }
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| 380 | }
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| 381 | }
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| 382 | // Print Residuals
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| 383 | // ---------------
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| 384 | else {
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[8905] | 385 | if (!preProcessing) {
|
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| 386 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
---|
| 387 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 388 | const t_lc::type tLC = usedTypes[ii];
|
---|
[9642] | 389 | t_pppSatObs *obs = usedObs[ii];
|
---|
[8905] | 390 | if (tLC == LCs[jj]) {
|
---|
| 391 | obs->setRes(tLC, vv[ii]);
|
---|
[9642] | 392 | LOG << epoTimeStr << " RES " << left << setw(3)
|
---|
[9699] | 393 | << t_lc::toString(tLC) << right << ' '
|
---|
| 394 | << obs->prn().toString();
|
---|
[9435] | 395 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 396 | }
|
---|
[7237] | 397 | }
|
---|
| 398 | }
|
---|
| 399 | }
|
---|
| 400 | break;
|
---|
| 401 | }
|
---|
| 402 | }
|
---|
| 403 | return success;
|
---|
| 404 | }
|
---|
| 405 |
|
---|
| 406 | // Cycle-Slip Detection
|
---|
| 407 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 408 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
|
---|
| 409 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
|
---|
| 410 | bool preProcessing) {
|
---|
[9386] | 411 | const double SLIP = 20.0;
|
---|
| 412 | char sys = refPrn.system();
|
---|
| 413 | string epoTimeStr = string(_epoTime);
|
---|
[9642] | 414 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9524] | 415 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 416 |
|
---|
| 417 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
[9642] | 418 | const t_lc::type &tLC = LCs[ii];
|
---|
[7237] | 419 | if (t_lc::includesPhase(tLC)) {
|
---|
| 420 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
[9642] | 421 | const t_pppSatObs *obs = obsVector[iObs];
|
---|
[7237] | 422 |
|
---|
[7267] | 423 | // Check set Slips and Jump Counters
|
---|
[7237] | 424 | // ---------------------------------
|
---|
| 425 | bool slip = false;
|
---|
[9386] | 426 |
|
---|
| 427 | // in pre-processing only the reference satellite has to be checked
|
---|
| 428 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 429 | continue;
|
---|
| 430 | }
|
---|
| 431 |
|
---|
[7237] | 432 | if (obs->slip()) {
|
---|
[9642] | 433 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString()
|
---|
| 434 | << endl;
|
---|
[7237] | 435 | slip = true;
|
---|
| 436 | }
|
---|
| 437 |
|
---|
[9642] | 438 | if (_slips[obs->prn()]._obsSlipCounter != -1
|
---|
| 439 | && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
| 440 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) "
|
---|
| 441 | << obs->prn().toString() << endl;
|
---|
[7237] | 442 | slip = true;
|
---|
| 443 | }
|
---|
[8956] | 444 | if (!preProcessing) {
|
---|
| 445 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 446 | }
|
---|
[9642] | 447 | if (_slips[obs->prn()]._biasJumpCounter != -1
|
---|
| 448 | && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
| 449 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) "
|
---|
| 450 | << obs->prn().toString() << endl;
|
---|
[7237] | 451 | slip = true;
|
---|
| 452 | }
|
---|
[8956] | 453 | if (!preProcessing) {
|
---|
| 454 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 455 | }
|
---|
[7237] | 456 | // Slip Set
|
---|
[7267] | 457 | // --------
|
---|
[7237] | 458 | if (slip) {
|
---|
[8905] | 459 | if (preProcessing) {
|
---|
[9386] | 460 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9642] | 461 | } else {
|
---|
[8905] | 462 | resetAmb(obs->prn(), obsVector);
|
---|
| 463 | }
|
---|
[7237] | 464 | }
|
---|
| 465 | // Check Pre-Fit Residuals
|
---|
| 466 | // -----------------------
|
---|
| 467 | else {
|
---|
[9642] | 468 | if (refPrn != t_prn()) {
|
---|
| 469 | return success;
|
---|
| 470 | }
|
---|
[9524] | 471 | ColumnVector AA(nPar);
|
---|
| 472 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 473 | const t_pppParam *par = params[iPar];
|
---|
[8956] | 474 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[7237] | 475 | }
|
---|
[9642] | 476 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC)
|
---|
| 477 | - DotProduct(_x0, AA);
|
---|
[7237] | 478 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 479 | if (fabs(vv) > SLIP) {
|
---|
[9642] | 480 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC)
|
---|
| 481 | << ' ' << obs->prn().toString() << ' ' << setw(8)
|
---|
| 482 | << setprecision(4) << vv << endl;
|
---|
[8905] | 483 | if (preProcessing) {
|
---|
[9386] | 484 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9642] | 485 | } else {
|
---|
[8905] | 486 | resetAmb(obs->prn(), obsVector);
|
---|
| 487 | }
|
---|
[7237] | 488 | }
|
---|
| 489 | }
|
---|
| 490 | }
|
---|
| 491 | }
|
---|
| 492 | }
|
---|
| 493 | return success;
|
---|
| 494 | }
|
---|
| 495 |
|
---|
| 496 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 497 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 498 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*> &obsVector,
|
---|
| 499 | SymmetricMatrix *QSav, ColumnVector *xSav) {
|
---|
[8965] | 500 |
|
---|
[7237] | 501 | t_irc irc = failure;
|
---|
[9642] | 502 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 503 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 504 | t_pppParam *par = params[iPar];
|
---|
[7237] | 505 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 506 | int ind = par->indexNew();
|
---|
| 507 | t_lc::type tLC = par->tLC();
|
---|
| 508 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
[9642] | 509 | delete par;
|
---|
| 510 | par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
[7237] | 511 | par->setIndex(ind);
|
---|
| 512 | params[iPar] = par;
|
---|
| 513 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
[9642] | 514 | _QFlt(ii, ind + 1) = 0.0;
|
---|
[7237] | 515 | if (QSav) {
|
---|
[9642] | 516 | (*QSav)(ii, ind + 1) = 0.0;
|
---|
[7237] | 517 | }
|
---|
| 518 | }
|
---|
[9642] | 519 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[7237] | 520 | if (QSav) {
|
---|
[9642] | 521 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
|
---|
[7237] | 522 | }
|
---|
| 523 | _xFlt[ind] = 0.0;
|
---|
| 524 | if (xSav) {
|
---|
| 525 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 526 | }
|
---|
| 527 | _x0[ind] = par->x0();
|
---|
| 528 | irc = success;
|
---|
| 529 | }
|
---|
| 530 | }
|
---|
| 531 |
|
---|
| 532 | return irc;
|
---|
| 533 | }
|
---|
| 534 |
|
---|
[9395] | 535 | // Add infinite noise to iono
|
---|
[9386] | 536 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 537 | t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) {
|
---|
[9386] | 538 | t_irc irc = failure;
|
---|
[9642] | 539 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9386] | 540 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 541 | t_pppParam *par = params[iPar];
|
---|
| 542 | if (par->type() == parType && par->prn().system() == sys) {
|
---|
[9386] | 543 | int ind = par->indexNew();
|
---|
[9659] | 544 | LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl;
|
---|
[9386] | 545 | par->setIndex(ind);
|
---|
[9642] | 546 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[9386] | 547 | irc = success;
|
---|
| 548 | }
|
---|
| 549 | }
|
---|
| 550 |
|
---|
| 551 | return irc;
|
---|
| 552 | }
|
---|
| 553 |
|
---|
[7237] | 554 | // Compute various DOP Values
|
---|
| 555 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 556 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector,
|
---|
| 557 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[7237] | 558 |
|
---|
| 559 | _dop.reset();
|
---|
| 560 |
|
---|
| 561 | try {
|
---|
| 562 | const unsigned numPar = 4;
|
---|
| 563 | Matrix AA(obsVector.size(), numPar);
|
---|
| 564 | _numSat = 0;
|
---|
| 565 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 566 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9508] | 567 | char sys = obs->prn().system();
|
---|
[8956] | 568 | t_prn refPrn = t_prn();
|
---|
| 569 | if (OPT->_refSatRequired) {
|
---|
[9508] | 570 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 571 | }
|
---|
[7237] | 572 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 573 | ++_numSat;
|
---|
| 574 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9642] | 575 | const t_pppParam *par = _parlist.params()[iPar];
|
---|
| 576 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 577 | }
|
---|
| 578 | }
|
---|
| 579 | }
|
---|
| 580 | if (_numSat < 4) {
|
---|
| 581 | return;
|
---|
| 582 | }
|
---|
| 583 | AA = AA.Rows(1, _numSat);
|
---|
[9642] | 584 | SymmetricMatrix NN;
|
---|
| 585 | NN << AA.t() * AA;
|
---|
[7237] | 586 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 587 |
|
---|
[9642] | 588 | _dop.H = sqrt(QQ(1, 1) + QQ(2, 2));
|
---|
| 589 | _dop.V = sqrt(QQ(3, 3));
|
---|
| 590 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 591 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 592 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
| 593 | } catch (...) {
|
---|
[7237] | 594 | }
|
---|
| 595 | }
|
---|
| 596 |
|
---|
[9526] | 597 | //
|
---|
[7237] | 598 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 599 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld) {
|
---|
[7237] | 600 |
|
---|
[9642] | 601 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 602 | if (params.size() < 3) {
|
---|
| 603 | return;
|
---|
| 604 | }
|
---|
| 605 |
|
---|
| 606 | bool first = (params[0]->indexOld() < 0);
|
---|
| 607 |
|
---|
[9642] | 608 | SymmetricMatrix Qneu(3);
|
---|
| 609 | Qneu = 0.0;
|
---|
[7237] | 610 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 611 | const t_pppParam *par = params[ii];
|
---|
[7237] | 612 | if (first) {
|
---|
| 613 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[9642] | 614 | } else {
|
---|
[7237] | 615 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 616 | }
|
---|
| 617 | }
|
---|
| 618 |
|
---|
[9642] | 619 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 620 | SymmetricMatrix Qxyz(3);
|
---|
| 621 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 622 |
|
---|
| 623 | if (first) {
|
---|
[9642] | 624 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
| 625 | } else {
|
---|
[7237] | 626 | double dt = _epoTime - _firstEpoTime;
|
---|
| 627 | if (dt < OPT->_seedingTime) {
|
---|
[9642] | 628 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
| 629 | } else {
|
---|
| 630 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 631 | }
|
---|
| 632 | }
|
---|
| 633 | }
|
---|
[8912] | 634 |
|
---|
[9526] | 635 | //
|
---|
| 636 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 637 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
| 638 | const SymmetricMatrix &QFltOld) {
|
---|
[9526] | 639 |
|
---|
[9642] | 640 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 641 | unsigned nPar = params.size();
|
---|
| 642 |
|
---|
[9642] | 643 | _QFlt.ReSize(nPar);
|
---|
| 644 | _QFlt = 0.0;
|
---|
| 645 | _xFlt.ReSize(nPar);
|
---|
| 646 | _xFlt = 0.0;
|
---|
| 647 | _x0.ReSize(nPar);
|
---|
| 648 | _x0 = 0.0;
|
---|
[9526] | 649 |
|
---|
| 650 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 651 | t_pppParam *par1 = params[ii];
|
---|
[9526] | 652 | if (QFltOld.size() == 0) {
|
---|
| 653 | par1->resetIndex();
|
---|
| 654 | }
|
---|
| 655 | _x0[ii] = par1->x0();
|
---|
| 656 | int iOld = par1->indexOld();
|
---|
| 657 | if (iOld < 0) {
|
---|
| 658 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 659 | } else {
|
---|
[9526] | 660 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
[9642] | 661 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 662 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 663 | t_pppParam *par2 = params[jj];
|
---|
| 664 | int jOld = par2->indexOld();
|
---|
[9526] | 665 | if (jOld >= 0) {
|
---|
[9642] | 666 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 667 | }
|
---|
| 668 | }
|
---|
| 669 | }
|
---|
| 670 | }
|
---|
| 671 | predictCovCrdPart(QFltOld);
|
---|
| 672 | }
|
---|
| 673 |
|
---|
[8915] | 674 | // Compute datum transformation
|
---|
[8912] | 675 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 676 | t_irc t_pppFilter::datumTransformation(
|
---|
| 677 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[9508] | 678 |
|
---|
[9419] | 679 | // get last epoch
|
---|
[9642] | 680 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
|
---|
[9419] | 681 | if (!epoch) {
|
---|
[9508] | 682 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 683 | return failure;
|
---|
| 684 | }
|
---|
[9508] | 685 | _epoTime = epoch->epoTime();
|
---|
| 686 | LOG.setf(ios::fixed);
|
---|
| 687 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
[9419] | 688 |
|
---|
[9642] | 689 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
|
---|
[9386] | 690 |
|
---|
[9642] | 691 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9508] | 692 |
|
---|
[9548] | 693 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
[9508] | 694 |
|
---|
[9419] | 695 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 696 | // =============================================================
|
---|
[9642] | 697 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch)
|
---|
| 698 | != true) {
|
---|
| 699 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success"
|
---|
| 700 | << endl;
|
---|
[9548] | 701 | return failure;
|
---|
[9386] | 702 | }
|
---|
| 703 |
|
---|
[9419] | 704 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
[9548] | 705 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9419] | 706 | return success;
|
---|
| 707 | }
|
---|
[9537] | 708 | //LOG << "datumTransformation: printParams before set" << endl;
|
---|
| 709 | //_parlist.printParams(_epoTime);
|
---|
[9419] | 710 |
|
---|
[9386] | 711 | // set AA2
|
---|
| 712 | // =======
|
---|
[9508] | 713 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 714 | return failure;
|
---|
| 715 | }
|
---|
[9526] | 716 |
|
---|
[9386] | 717 | #ifdef BNC_DEBUG_PPP
|
---|
[9534] | 718 | _parlist.printParams(_epoTime);
|
---|
[9386] | 719 | #endif
|
---|
[9526] | 720 |
|
---|
[9642] | 721 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 722 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 723 | char sys = usedSystems[iSys];
|
---|
[9508] | 724 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 725 | vector<t_pppSatObs*> obsVector;
|
---|
| 726 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 727 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9618] | 728 | allObs[jj]->resetOutlier();
|
---|
[9386] | 729 | obsVector.push_back(allObs[jj]);
|
---|
| 730 | }
|
---|
| 731 | }
|
---|
[9431] | 732 | if (iSys == 0) {
|
---|
| 733 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 734 | }
|
---|
[9386] | 735 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 736 | unsigned usedLCs = LCs.size();
|
---|
[9548] | 737 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9642] | 738 | usedLCs -= 1; // GIM not used
|
---|
[9386] | 739 | }
|
---|
| 740 | // max Obs
|
---|
[9538] | 741 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
[9419] | 742 |
|
---|
[9548] | 743 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
[9386] | 744 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 745 | }
|
---|
[9526] | 746 |
|
---|
[9642] | 747 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 748 | unsigned nPar = _parlist.nPar();
|
---|
| 749 |
|
---|
[9642] | 750 | Matrix AA(maxObs, nPar);
|
---|
[9524] | 751 |
|
---|
[9386] | 752 | // Real Observations
|
---|
| 753 | // -----------------
|
---|
| 754 | int iObs = -1;
|
---|
| 755 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 756 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9419] | 757 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 758 | const t_lc::type tLC = LCs[jj];
|
---|
[9642] | 759 | if (tLC == t_lc::GIM) {
|
---|
| 760 | continue;
|
---|
| 761 | }
|
---|
[9419] | 762 | ++iObs;
|
---|
[9524] | 763 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 764 | const t_pppParam *par = params[iPar];
|
---|
[9419] | 765 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 766 | }
|
---|
| 767 | }
|
---|
| 768 | }
|
---|
[9538] | 769 |
|
---|
[9419] | 770 | if (!iObs) {
|
---|
| 771 | continue;
|
---|
| 772 | }
|
---|
[9642] | 773 | _datumTrafo->updateIndices(sys, iObs + 1); //LOG << "AA Ncols/Nrows: " << AA.Ncols() << "/" << AA.Nrows() << " nPar: " << nPar << endl; //LOG << "AA.SubMatrix(1 .. " << iObs+1 << " , 1 .. " << nPar << ")" << endl;
|
---|
| 774 | if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2)
|
---|
| 775 | != success) {
|
---|
[9508] | 776 | return failure;
|
---|
| 777 | }
|
---|
[9386] | 778 | }
|
---|
[9419] | 779 | _datumTrafo->updateNumObs();
|
---|
[9386] | 780 |
|
---|
| 781 | // Datum Transformation
|
---|
| 782 | // ====================
|
---|
| 783 | #ifdef BNC_DEBUG_PPP
|
---|
[9548] | 784 | //LOG << "AA1\n"; _datumTrafo->printMatrix(_datumTrafo->AA1(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
| 785 | //LOG << "AA2\n"; _datumTrafo->printMatrix(_datumTrafo->AA2(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 786 | #endif
|
---|
[9642] | 787 | if (_datumTrafo->computeTrafoMatrix() != success) {
|
---|
[9419] | 788 | return failure;
|
---|
| 789 | }
|
---|
[9386] | 790 | #ifdef BNC_DEBUG_PPP
|
---|
[9548] | 791 | //LOG << "D21" << endl; _datumTrafo->printMatrix(_datumTrafo->D21(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 792 | #endif
|
---|
[9642] | 793 | ColumnVector xFltOld = _xFlt;
|
---|
[9386] | 794 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 795 |
|
---|
[9419] | 796 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
[9642] | 797 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 798 |
|
---|
[9579] | 799 | #ifdef BNC_DEBUG_PPP
|
---|
[9562] | 800 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 801 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
[9579] | 802 | #endif
|
---|
[9386] | 803 |
|
---|
| 804 | // Reset Ambiguities after Datum Transformation
|
---|
| 805 | // ============================================
|
---|
[9431] | 806 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 807 | char sys = usedSystems[iSys];
|
---|
[9508] | 808 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 809 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 810 | if (refPrnNew != refPrnOld) {
|
---|
[9670] | 811 | resetAmb(refPrnOld, allObs);/*
|
---|
[9642] | 812 | if (resetAmb(refPrnOld, allObs) == success) {
|
---|
| 813 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
| 814 | addNoiseToPar(t_pppParam::ion, sys);
|
---|
| 815 | } else if (OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
[9656] | 816 | if (sys == 'G') {
|
---|
[9642] | 817 | addNoiseToPar(t_pppParam::pBiasG1, sys);
|
---|
| 818 | addNoiseToPar(t_pppParam::pBiasG2, sys);
|
---|
| 819 | } else if (sys == 'R') {
|
---|
| 820 | addNoiseToPar(t_pppParam::pBiasR1, sys);
|
---|
| 821 | addNoiseToPar(t_pppParam::pBiasR2, sys);
|
---|
| 822 | } else if (sys == 'E') {
|
---|
| 823 | addNoiseToPar(t_pppParam::pBiasE1, sys);
|
---|
| 824 | addNoiseToPar(t_pppParam::pBiasE2, sys);
|
---|
| 825 | } else if (sys == 'C') {
|
---|
| 826 | addNoiseToPar(t_pppParam::pBiasC1, sys);
|
---|
| 827 | addNoiseToPar(t_pppParam::pBiasC2, sys);
|
---|
| 828 | }
|
---|
| 829 | }
|
---|
[9670] | 830 | }*/
|
---|
[9386] | 831 | }
|
---|
| 832 | }
|
---|
| 833 |
|
---|
| 834 | // switch AA2 to AA1
|
---|
| 835 | // =================
|
---|
| 836 | _datumTrafo->switchAA();
|
---|
| 837 |
|
---|
[9548] | 838 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9508] | 839 |
|
---|
[9386] | 840 | return success;
|
---|
[8912] | 841 | }
|
---|
| 842 |
|
---|
[9386] | 843 | // Init datum transformation
|
---|
[8956] | 844 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 845 | void t_pppFilter::initDatumTransformation(
|
---|
| 846 | const std::vector<t_pppSatObs*> &allObs, bool pseudoObsIono) {
|
---|
[9395] | 847 | unsigned trafoObs = 0;
|
---|
[9642] | 848 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 849 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 850 | char sys = usedSystems[iSys];
|
---|
[9386] | 851 | int satNum = 0;
|
---|
| 852 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 853 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 854 | satNum++;
|
---|
[8956] | 855 | }
|
---|
| 856 | }
|
---|
[9386] | 857 | // all LCs
|
---|
[9419] | 858 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 859 | // exclude pseudo obs GIM
|
---|
[9419] | 860 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 861 | realUsedLCs -= 1;
|
---|
| 862 | }
|
---|
[9538] | 863 |
|
---|
[9395] | 864 | trafoObs += satNum * realUsedLCs;
|
---|
| 865 |
|
---|
[9419] | 866 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 867 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 868 | }
|
---|
[8956] | 869 | }
|
---|
[9419] | 870 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 871 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 872 | _datumTrafo->initAA();
|
---|
[8956] | 873 | }
|
---|
[9386] | 874 |
|
---|
| 875 | //
|
---|
| 876 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 877 | bool t_pppFilter::resetRefSatellitesLastEpoch(
|
---|
| 878 | std::vector<t_pppSatObs*> &obsVector,
|
---|
| 879 | const QMap<char, t_pppRefSat*> &refSatMap,
|
---|
| 880 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch) {
|
---|
[9431] | 881 | bool resetRefSat;
|
---|
[9386] | 882 | // reference satellite definition per system
|
---|
[9642] | 883 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 884 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 885 | resetRefSat = false;
|
---|
| 886 | char sys = usedSystems[iSys];
|
---|
[9508] | 887 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 888 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 889 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 890 | if (oldPrn != newPrn) {
|
---|
| 891 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 892 | }
|
---|
[9386] | 893 | #endif
|
---|
| 894 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 895 | while (it != obsVector.end()) {
|
---|
[9642] | 896 | t_pppSatObs *satObs = *it;
|
---|
| 897 | if (satObs->prn() == newPrn) {
|
---|
[9386] | 898 | resetRefSat = true;
|
---|
| 899 | satObs->setAsReference();
|
---|
[9508] | 900 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 901 | satObs->resetReference();
|
---|
| 902 | }
|
---|
[9642] | 903 | it++;
|
---|
[9386] | 904 | }
|
---|
[9431] | 905 | if (!resetRefSat) {
|
---|
| 906 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 907 | return resetRefSat;
|
---|
| 908 | }
|
---|
[9386] | 909 | }
|
---|
| 910 | return resetRefSat;
|
---|
| 911 | }
|
---|