source: ntrip/trunk/BNC/src/PPP/pppFilter.cpp@ 7267

Last change on this file since 7267 was 7267, checked in by stuerze, 9 years ago

satellite number per system is added in PPP output
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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppFilter
6 *
7 * Purpose: Filter Adjustment
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <iostream>
18#include <iomanip>
19#include <cmath>
20#include <newmat.h>
21#include <newmatio.h>
22#include <newmatap.h>
23
24#include "pppFilter.h"
25#include "bncutils.h"
26#include "pppParlist.h"
27#include "pppObsPool.h"
28#include "pppStation.h"
29#include "pppClient.h"
30
31using namespace BNC_PPP;
32using namespace std;
33
34// Constructor
35////////////////////////////////////////////////////////////////////////////
36t_pppFilter::t_pppFilter() {
37 _parlist = 0;
38}
39
40// Destructor
41////////////////////////////////////////////////////////////////////////////
42t_pppFilter::~t_pppFilter() {
43 delete _parlist;
44}
45
46// Process Single Epoch
47////////////////////////////////////////////////////////////////////////////
48t_irc t_pppFilter::processEpoch(t_pppObsPool* obsPool) {
49
50 _numSat = 0;
51
52 if (!_parlist) {
53 _parlist = new t_pppParlist();
54 }
55
56 // Vector of all Observations
57 // --------------------------
58 t_pppObsPool::t_epoch* epoch = obsPool->lastEpoch();
59 if (!epoch) {
60 return failure;
61 }
62 vector<t_pppSatObs*>& allObs = epoch->obsVector();
63
64 // Time of the Epoch
65 // -----------------
66 _epoTime = epoch->epoTime();
67
68 if (!_firstEpoTime.valid()) {
69 _firstEpoTime = _epoTime;
70 }
71
72 string epoTimeStr = string(_epoTime);
73
74 // Set Parameters
75 // --------------
76 _parlist->set(_epoTime, allObs);
77 const vector<t_pppParam*>& params = _parlist->params();
78
79 // Status Vector, Variance-Covariance Matrix
80 // -----------------------------------------
81 ColumnVector xFltOld = _xFlt;
82 SymmetricMatrix QFltOld = _QFlt;
83
84 _QFlt.ReSize(_parlist->nPar()); _QFlt = 0.0;
85 _xFlt.ReSize(_parlist->nPar()); _xFlt = 0.0;
86 _x0.ReSize(_parlist->nPar()); _x0 = 0.0;
87
88 for (unsigned ii = 0; ii < params.size(); ii++) {
89 const t_pppParam* par1 = params[ii];
90
91 _x0[ii] = par1->x0();
92
93 int iOld = par1->indexOld();
94 if (iOld < 0) {
95 _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
96 }
97 else {
98 _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
99 _xFlt[ii] = xFltOld[iOld];
100 for (unsigned jj = 0; jj < ii; jj++) {
101 const t_pppParam* par2 = params[jj];
102 int jOld = par2->indexOld();
103 if (jOld >= 0) {
104 _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1);
105 }
106 }
107 }
108 }
109
110 predictCovCrdPart(QFltOld);
111
112 // Process Satellite Systems separately
113 // ------------------------------------
114 for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
115 char system = OPT->systems()[iSys];
116 unsigned int num = 0;
117 vector<t_pppSatObs*> obsVector;
118 for (unsigned jj = 0; jj < allObs.size(); jj++) {
119 if (allObs[jj]->prn().system() == system) {
120 obsVector.push_back(allObs[jj]);
121 num++;
122 }
123 }
124 LOG << epoTimeStr << " SATNUM " << system << ' ' << right << setw(2) << num << endl;
125 if ( processSystem(OPT->LCs(system), obsVector) != success ) {
126 return failure;
127 }
128 }
129
130 cmpDOP(allObs);
131
132 _parlist->printResult(_epoTime, _QFlt, _xFlt);
133
134 return success;
135}
136
137// Process Selected LCs
138////////////////////////////////////////////////////////////////////////////
139t_irc t_pppFilter::processSystem(const vector<t_lc::type>& LCs,
140 const vector<t_pppSatObs*>& obsVector) {
141
142 LOG.setf(ios::fixed);
143
144 // Detect Cycle Slips
145 // ------------------
146 if (detectCycleSlips(LCs, obsVector) != success) {
147 return failure;
148 }
149
150 ColumnVector xSav = _xFlt;
151 SymmetricMatrix QSav = _QFlt;
152 string epoTimeStr = string(_epoTime);
153 const vector<t_pppParam*>& params = _parlist->params();
154 unsigned maxObs = obsVector.size() * LCs.size();
155
156 // Outlier Detection Loop
157 // ----------------------
158 for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
159
160 if (iOutlier > 0) {
161 _xFlt = xSav;
162 _QFlt = QSav;
163 }
164
165 // First-Design Matrix, Terms Observed-Computed, Weight Matrix
166 // -----------------------------------------------------------
167 Matrix AA(maxObs, _parlist->nPar());
168 ColumnVector ll(maxObs);
169 DiagonalMatrix PP(maxObs); PP = 0.0;
170
171 int iObs = -1;
172 vector<t_pppSatObs*> usedObs;
173 vector<t_lc::type> usedTypes;
174 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
175 t_pppSatObs* obs = obsVector[ii];
176 if (!obs->outlier()) {
177 for (unsigned jj = 0; jj < LCs.size(); jj++) {
178 const t_lc::type tLC = LCs[jj];
179 ++iObs;
180 usedObs.push_back(obs);
181 usedTypes.push_back(tLC);
182 for (unsigned iPar = 0; iPar < params.size(); iPar++) {
183 const t_pppParam* par = params[iPar];
184 AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
185 }
186 ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
187 PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
188 }
189 }
190 }
191
192 // Check number of observations, truncate matrices
193 // -----------------------------------------------
194 if (iObs == -1) {
195 return failure;
196 }
197 AA = AA.Rows(1, iObs+1);
198 ll = ll.Rows(1, iObs+1);
199 PP = PP.SymSubMatrix(1, iObs+1);
200
201 // Kalman update step
202 // ------------------
203 kalman(AA, ll, PP, _QFlt, _xFlt);
204
205 // Check Residuals
206 // ---------------
207 ColumnVector vv = AA * _xFlt - ll;
208 double maxOutlier = 0.0;
209 int maxOutlierIndex = -1;
210 t_lc::type maxOutlierLC = t_lc::dummy;
211 for (unsigned ii = 0; ii < usedObs.size(); ii++) {
212 const t_lc::type tLC = usedTypes[ii];
213 double res = fabs(vv[ii]);
214 if (res > usedObs[ii]->maxRes(tLC)) {
215 if (res > fabs(maxOutlier)) {
216 maxOutlier = vv[ii];
217 maxOutlierIndex = ii;
218 maxOutlierLC = tLC;
219 }
220 }
221 }
222
223 // Mark outlier or break outlier detection loop
224 // --------------------------------------------
225 if (maxOutlierIndex > -1) {
226 t_pppSatObs* obs = usedObs[maxOutlierIndex];
227 t_pppParam* par = 0;
228 LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
229 << obs->prn().toString() << ' '
230 << setw(8) << setprecision(4) << maxOutlier << endl;
231 for (unsigned iPar = 0; iPar < params.size(); iPar++) {
232 t_pppParam* hlp = params[iPar];
233 if (hlp->type() == t_pppParam::amb && hlp->prn() == obs->prn() &&
234 hlp->tLC() == usedTypes[maxOutlierIndex]) {
235 par = hlp;
236 }
237 }
238 if (par) {
239 if (par->ambResetCandidate()) {
240 resetAmb(par->prn(), obsVector, &QSav, &xSav);
241 }
242 else {
243 par->setAmbResetCandidate();
244 obs->setOutlier();
245 }
246 }
247 else {
248 obs->setOutlier();
249 }
250 }
251
252 // Print Residuals
253 // ---------------
254 else {
255 for (unsigned jj = 0; jj < LCs.size(); jj++) {
256 for (unsigned ii = 0; ii < usedObs.size(); ii++) {
257 const t_lc::type tLC = usedTypes[ii];
258 t_pppSatObs* obs = usedObs[ii];
259 if (tLC == LCs[jj]) {
260 obs->setRes(tLC, vv[ii]);
261 LOG << epoTimeStr << " RES "
262 << left << setw(3) << t_lc::toString(tLC) << right << ' '
263 << obs->prn().toString().substr(0,3) << ' '
264 << setw(8) << setprecision(4) << vv[ii] << endl;
265 }
266 }
267 }
268 break;
269 }
270 }
271
272 return success;
273}
274
275// Cycle-Slip Detection
276////////////////////////////////////////////////////////////////////////////
277t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type>& LCs,
278 const vector<t_pppSatObs*>& obsVector) {
279
280 const double SLIP = 20.0; // slip threshold
281 string epoTimeStr = string(_epoTime);
282 const vector<t_pppParam*>& params = _parlist->params();
283
284 for (unsigned ii = 0; ii < LCs.size(); ii++) {
285 const t_lc::type& tLC = LCs[ii];
286 if (t_lc::includesPhase(tLC)) {
287 for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
288 const t_pppSatObs* obs = obsVector[iObs];
289
290 // Check set Slips and Jump Counters
291 // ---------------------------------
292 bool slip = false;
293
294 if (obs->slip()) {
295 LOG << "cycle slip set (obs)" << endl;;
296 slip = true;
297 }
298
299 if (_slips[obs->prn()]._obsSlipCounter != -1 &&
300 _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
301 LOG << "cycle slip set (obsSlipCounter)" << endl;
302 slip = true;
303 }
304 _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
305
306 if (_slips[obs->prn()]._biasJumpCounter != -1 &&
307 _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
308 LOG << "cycle slip set (biasJumpCounter)" << endl;
309 slip = true;
310 }
311 _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
312
313 // Slip Set
314 // --------
315 if (slip) {
316 resetAmb(obs->prn(), obsVector);
317 }
318
319 // Check Pre-Fit Residuals
320 // -----------------------
321 else {
322 ColumnVector AA(params.size());
323 for (unsigned iPar = 0; iPar < params.size(); iPar++) {
324 const t_pppParam* par = params[iPar];
325 AA[iPar] = par->partial(_epoTime, obs, tLC);
326 }
327
328 double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
329 double vv = DotProduct(AA, _xFlt) - ll;
330
331 if (fabs(vv) > SLIP) {
332 LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
333 << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
334 resetAmb(obs->prn(), obsVector);
335 }
336 }
337 }
338 }
339 }
340
341 return success;
342}
343
344// Reset Ambiguity Parameter (cycle slip)
345////////////////////////////////////////////////////////////////////////////
346t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*>& obsVector,
347 SymmetricMatrix* QSav, ColumnVector* xSav) {
348 t_irc irc = failure;
349 vector<t_pppParam*>& params = _parlist->params();
350 for (unsigned iPar = 0; iPar < params.size(); iPar++) {
351 t_pppParam* par = params[iPar];
352 if (par->type() == t_pppParam::amb && par->prn() == prn) {
353 int ind = par->indexNew();
354 t_lc::type tLC = par->tLC();
355 LOG << string(_epoTime) << " RESET " << par->toString() << endl;
356 delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
357 par->setIndex(ind);
358 params[iPar] = par;
359 for (unsigned ii = 1; ii <= params.size(); ii++) {
360 _QFlt(ii, ind+1) = 0.0;
361 if (QSav) {
362 (*QSav)(ii, ind+1) = 0.0;
363 }
364 }
365 _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
366 if (QSav) {
367 (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1);
368 }
369 _xFlt[ind] = 0.0;
370 if (xSav) {
371 (*xSav)[ind] = _xFlt[ind];
372 }
373 _x0[ind] = par->x0();
374 irc = success;
375 }
376 }
377
378 return irc;
379}
380
381// Compute various DOP Values
382////////////////////////////////////////////////////////////////////////////
383void t_pppFilter::cmpDOP(const vector<t_pppSatObs*>& obsVector) {
384
385 _dop.reset();
386
387 try {
388 const unsigned numPar = 4;
389 Matrix AA(obsVector.size(), numPar);
390 _numSat = 0;
391 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
392 t_pppSatObs* obs = obsVector[ii];
393 if (obs->isValid() && !obs->outlier()) {
394 ++_numSat;
395 for (unsigned iPar = 0; iPar < numPar; iPar++) {
396 const t_pppParam* par = _parlist->params()[iPar];
397 AA[_numSat-1][iPar] = par->partial(_epoTime, obs, t_lc::c1);
398 }
399 }
400 }
401 if (_numSat < 4) {
402 return;
403 }
404 AA = AA.Rows(1, _numSat);
405 SymmetricMatrix NN; NN << AA.t() * AA;
406 SymmetricMatrix QQ = NN.i();
407
408 _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3));
409 _dop.T = sqrt(QQ(4,4));
410 _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4));
411 }
412 catch (...) {
413 }
414}
415
416// Compute various DOP Values
417////////////////////////////////////////////////////////////////////////////
418void t_pppFilter::predictCovCrdPart(const SymmetricMatrix& QFltOld) {
419
420 const vector<t_pppParam*>& params = _parlist->params();
421 if (params.size() < 3) {
422 return;
423 }
424
425 bool first = (params[0]->indexOld() < 0);
426
427 SymmetricMatrix Qneu(3); Qneu = 0.0;
428 for (unsigned ii = 0; ii < 3; ii++) {
429 const t_pppParam* par = params[ii];
430 if (first) {
431 Qneu[ii][ii] = par->sigma0() * par->sigma0();
432 }
433 else {
434 Qneu[ii][ii] = par->noise() * par->noise();
435 }
436 }
437
438 const t_pppStation* sta = PPP_CLIENT->staRover();
439 SymmetricMatrix Qxyz(3);
440 covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
441
442 if (first) {
443 _QFlt.SymSubMatrix(1,3) = Qxyz;
444 }
445 else {
446 double dt = _epoTime - _firstEpoTime;
447 if (dt < OPT->_seedingTime) {
448 _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3);
449 }
450 else {
451 _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3) + Qxyz;
452 }
453 }
454}
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