[7237] | 1 | /* -------------------------------------------------------------------------
|
---|
| 2 | * BKG NTRIP Client
|
---|
| 3 | * -------------------------------------------------------------------------
|
---|
| 4 | *
|
---|
| 5 | * Class: t_pppParlist
|
---|
| 6 | *
|
---|
| 7 | * Purpose: List of estimated parameters
|
---|
| 8 | *
|
---|
| 9 | * Author: L. Mervart
|
---|
| 10 | *
|
---|
| 11 | * Created: 29-Jul-2014
|
---|
| 12 | *
|
---|
| 13 | * Changes:
|
---|
| 14 | *
|
---|
| 15 | * -----------------------------------------------------------------------*/
|
---|
| 16 |
|
---|
| 17 | #include <cmath>
|
---|
| 18 | #include <iostream>
|
---|
| 19 | #include <sstream>
|
---|
| 20 | #include <iomanip>
|
---|
| 21 | #include <algorithm>
|
---|
| 22 | #include <newmatio.h>
|
---|
| 23 |
|
---|
| 24 | #include "pppParlist.h"
|
---|
| 25 | #include "pppSatObs.h"
|
---|
| 26 | #include "pppStation.h"
|
---|
| 27 | #include "bncutils.h"
|
---|
| 28 | #include "bncconst.h"
|
---|
| 29 | #include "pppClient.h"
|
---|
| 30 |
|
---|
| 31 | using namespace BNC_PPP;
|
---|
| 32 | using namespace std;
|
---|
| 33 |
|
---|
| 34 | // Constructor
|
---|
| 35 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 36 | t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
|
---|
| 37 | const vector<t_pppSatObs*>* obsVector) {
|
---|
| 38 |
|
---|
| 39 | _type = type;
|
---|
| 40 | _prn = prn;
|
---|
| 41 | _tLC = tLC;
|
---|
| 42 | _x0 = 0.0;
|
---|
| 43 | _indexOld = -1;
|
---|
| 44 | _indexNew = -1;
|
---|
| 45 | _noise = 0.0;
|
---|
| 46 | _ambInfo = 0;
|
---|
| 47 |
|
---|
| 48 | switch (_type) {
|
---|
| 49 | case crdX:
|
---|
| 50 | _epoSpec = false;
|
---|
| 51 | _sigma0 = OPT->_aprSigCrd[0];
|
---|
| 52 | _noise = OPT->_noiseCrd[0];
|
---|
| 53 | break;
|
---|
| 54 | case crdY:
|
---|
| 55 | _epoSpec = false;
|
---|
| 56 | _sigma0 = OPT->_aprSigCrd[1];
|
---|
| 57 | _noise = OPT->_noiseCrd[1];
|
---|
| 58 | break;
|
---|
| 59 | case crdZ:
|
---|
| 60 | _epoSpec = false;
|
---|
| 61 | _sigma0 = OPT->_aprSigCrd[2];
|
---|
| 62 | _noise = OPT->_noiseCrd[2];
|
---|
| 63 | break;
|
---|
| 64 | case clkR:
|
---|
| 65 | _epoSpec = true;
|
---|
| 66 | _sigma0 = OPT->_noiseClk;
|
---|
| 67 | break;
|
---|
| 68 | case amb:
|
---|
| 69 | _epoSpec = false;
|
---|
| 70 | _sigma0 = OPT->_aprSigAmb;
|
---|
| 71 | _ambInfo = new t_ambInfo();
|
---|
| 72 | if (obsVector) {
|
---|
| 73 | for (unsigned ii = 0; ii < obsVector->size(); ii++) {
|
---|
| 74 | const t_pppSatObs* obs = obsVector->at(ii);
|
---|
| 75 | if (obs->prn() == _prn) {
|
---|
| 76 | double offGG = 0;
|
---|
| 77 | if (_prn.system() == 'R' && tLC != t_lc::MW) {
|
---|
| 78 | offGG = PPP_CLIENT->offGG();
|
---|
| 79 | }
|
---|
| 80 | _x0 = floor((obs->obsValue(tLC) - offGG - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
|
---|
| 81 | break;
|
---|
| 82 | }
|
---|
| 83 | }
|
---|
| 84 | }
|
---|
| 85 | break;
|
---|
| 86 | case offGG:
|
---|
| 87 | _epoSpec = true;
|
---|
| 88 | _sigma0 = 1000.0;
|
---|
| 89 | _x0 = PPP_CLIENT->offGG();
|
---|
| 90 | break;
|
---|
| 91 | case trp:
|
---|
| 92 | _epoSpec = false;
|
---|
| 93 | _sigma0 = OPT->_aprSigTrp;
|
---|
| 94 | _noise = OPT->_noiseTrp;
|
---|
| 95 | break;
|
---|
[8905] | 96 | case ion:
|
---|
| 97 | _epoSpec = false;
|
---|
| 98 | _sigma0 = OPT->_aprSigIon;
|
---|
| 99 | _noise = OPT->_noiseIon;
|
---|
| 100 | break;
|
---|
| 101 | case cBias1:
|
---|
| 102 | case cBias2:
|
---|
| 103 | _epoSpec = false;
|
---|
| 104 | _sigma0 = OPT->_aprSigCodeBias;
|
---|
| 105 | _noise = OPT->_noiseCodeBias;
|
---|
| 106 | break;
|
---|
| 107 | case pBias1:
|
---|
| 108 | case pBias2:
|
---|
| 109 | _epoSpec = false;
|
---|
| 110 | _sigma0 = OPT->_aprSigPhaseBias;
|
---|
| 111 | _noise = OPT->_noisePhaseBias;
|
---|
| 112 | break;
|
---|
[7237] | 113 | }
|
---|
| 114 | }
|
---|
| 115 |
|
---|
| 116 | // Destructor
|
---|
| 117 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 118 | t_pppParam::~t_pppParam() {
|
---|
| 119 | delete _ambInfo;
|
---|
| 120 | }
|
---|
| 121 |
|
---|
| 122 | //
|
---|
| 123 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 124 | double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
|
---|
[8905] | 125 | const t_lc::type& tLC) const {//qDebug() << "t_pppParam::partial: " << tLC;
|
---|
[7237] | 126 |
|
---|
| 127 | // Special Case - Melbourne-Wuebbena
|
---|
| 128 | // ---------------------------------
|
---|
| 129 | if (tLC == t_lc::MW && _type != amb) {
|
---|
| 130 | return 0.0;
|
---|
| 131 | }
|
---|
| 132 |
|
---|
| 133 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
[8905] | 134 | ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
|
---|
[7237] | 135 |
|
---|
[8905] | 136 | map<t_frequency::type, double> codeCoeff;
|
---|
| 137 | map<t_frequency::type, double> phaseCoeff;
|
---|
| 138 | map<t_frequency::type, double> ionoCoeff;
|
---|
| 139 | obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
|
---|
| 140 |
|
---|
[7237] | 141 | switch (_type) {
|
---|
| 142 | case crdX:
|
---|
[8905] | 143 | if (tLC == t_lc::GIM) {return 0.0;}
|
---|
| 144 | return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
|
---|
[7237] | 145 | case crdY:
|
---|
[8905] | 146 | if (tLC == t_lc::GIM) {return 0.0;}
|
---|
| 147 | return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
|
---|
[7237] | 148 | case crdZ:
|
---|
[8905] | 149 | if (tLC == t_lc::GIM) {return 0.0;}
|
---|
| 150 | return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
|
---|
[7237] | 151 | case clkR:
|
---|
[8905] | 152 | if (tLC == t_lc::GIM) {return 0.0;}
|
---|
[7237] | 153 | return 1.0;
|
---|
| 154 | case offGG:
|
---|
[8905] | 155 | if (tLC == t_lc::GIM) {return 0.0;}
|
---|
[7237] | 156 | return (obs->prn().system() == 'R') ? 1.0 : 0.0;
|
---|
| 157 | case amb:
|
---|
[8905] | 158 | if (tLC == t_lc::GIM) {return 0.0;}
|
---|
| 159 | else if ((OPT->_obsModelType == OPT->IF) ||
|
---|
| 160 | (OPT->_obsModelType == OPT->PPPRTK) ||
|
---|
| 161 | (OPT->_obsModelType == OPT->UncombPPP) ||
|
---|
| 162 | (OPT->_obsModelType == OPT->DCMcodeBias && !obs->isReference()) ||
|
---|
| 163 | (OPT->_obsModelType == OPT->DCMphaseBias && !obs->isReference()) ) {
|
---|
| 164 | if (obs->prn() == _prn) {
|
---|
| 165 | if (tLC == _tLC) {
|
---|
| 166 | return (obs->lambda(tLC));
|
---|
| 167 | }
|
---|
| 168 | else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
|
---|
| 169 | return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
|
---|
| 170 | }
|
---|
| 171 | else {
|
---|
| 172 | if (_tLC == t_lc::l1) {
|
---|
| 173 | return obs->lambda(t_lc::l1) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
|
---|
| 174 | }
|
---|
| 175 | else if (_tLC == t_lc::l2) {
|
---|
| 176 | return obs->lambda(t_lc::l2) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
|
---|
| 177 | }
|
---|
| 178 | }
|
---|
| 179 | }
|
---|
| 180 | }
|
---|
| 181 | break;
|
---|
| 182 | case trp:
|
---|
| 183 | if (tLC == t_lc::GIM) {return 0.0;}
|
---|
| 184 | return 1.0 / sin(obs->eleSat());
|
---|
| 185 | case ion:
|
---|
| 186 | // qDebug() << "refPrn: " << _refPrn.toString().c_str();
|
---|
[7237] | 187 | if (obs->prn() == _prn) {
|
---|
[8905] | 188 | if (tLC == t_lc::c1) {
|
---|
| 189 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c1)];
|
---|
[7237] | 190 | }
|
---|
[8905] | 191 | else if (tLC == t_lc::c2) {
|
---|
| 192 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c2)];
|
---|
[7237] | 193 | }
|
---|
[8905] | 194 | else if (tLC == t_lc::l1) {
|
---|
| 195 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
|
---|
[7237] | 196 | }
|
---|
[8905] | 197 | else if (tLC == t_lc::l2) {
|
---|
| 198 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
|
---|
| 199 | }
|
---|
| 200 | else if (tLC == t_lc::GIM) {
|
---|
| 201 | return -1.0;
|
---|
| 202 | }
|
---|
[7237] | 203 | }
|
---|
[8905] | 204 | if (tLC == t_lc::GIM && _prn == _refPrn) {
|
---|
| 205 | return 1.0;
|
---|
| 206 | }
|
---|
| 207 | break;
|
---|
| 208 | case cBias1:
|
---|
| 209 | if (tLC == t_lc::c1) {
|
---|
| 210 | return 1.0;
|
---|
| 211 | }
|
---|
| 212 | else {
|
---|
| 213 | return 0.0;
|
---|
| 214 | }
|
---|
| 215 | break;
|
---|
| 216 | case cBias2:
|
---|
| 217 | if (tLC == t_lc::c2) {
|
---|
| 218 | return 1.0;
|
---|
| 219 | }
|
---|
| 220 | else {
|
---|
| 221 | return 0.0;
|
---|
| 222 | }
|
---|
| 223 | break;
|
---|
| 224 | case pBias1:
|
---|
| 225 | if (tLC == t_lc::l1) {
|
---|
| 226 | return 1.0;
|
---|
| 227 | }
|
---|
| 228 | else {
|
---|
| 229 | return 0.0;
|
---|
| 230 | }
|
---|
| 231 | break;
|
---|
| 232 | case pBias2:
|
---|
| 233 | if (tLC == t_lc::l2) {
|
---|
| 234 | return 1.0;
|
---|
| 235 | }
|
---|
| 236 | else {
|
---|
| 237 | return 0.0;
|
---|
| 238 | }
|
---|
[7237] | 239 | }
|
---|
| 240 | return 0.0;
|
---|
| 241 | }
|
---|
| 242 |
|
---|
| 243 | //
|
---|
| 244 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 245 | string t_pppParam::toString() const {
|
---|
| 246 | stringstream ss;
|
---|
| 247 | switch (_type) {
|
---|
| 248 | case crdX:
|
---|
| 249 | ss << "CRD_X";
|
---|
| 250 | break;
|
---|
| 251 | case crdY:
|
---|
| 252 | ss << "CRD_Y";
|
---|
| 253 | break;
|
---|
| 254 | case crdZ:
|
---|
| 255 | ss << "CRD_Z";
|
---|
| 256 | break;
|
---|
| 257 | case clkR:
|
---|
[8905] | 258 | ss << "REC_CLK ";
|
---|
[7237] | 259 | break;
|
---|
| 260 | case offGG:
|
---|
| 261 | ss << "OGG ";
|
---|
| 262 | break;
|
---|
| 263 | case trp:
|
---|
| 264 | ss << "TRP ";
|
---|
| 265 | break;
|
---|
[8905] | 266 | case amb:
|
---|
| 267 | ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
|
---|
| 268 | break;
|
---|
| 269 | case ion:
|
---|
| 270 | ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
|
---|
| 271 | break;
|
---|
| 272 | case cBias1:
|
---|
| 273 | case cBias2:
|
---|
| 274 | case pBias1:
|
---|
| 275 | case pBias2:
|
---|
| 276 | ss << "BIAS " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << "REC";
|
---|
| 277 | break;
|
---|
[7237] | 278 | }
|
---|
| 279 | return ss.str();
|
---|
| 280 | }
|
---|
| 281 |
|
---|
| 282 | // Constructor
|
---|
| 283 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 284 | t_pppParlist::t_pppParlist() {
|
---|
| 285 | }
|
---|
| 286 |
|
---|
| 287 | // Destructor
|
---|
| 288 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 289 | t_pppParlist::~t_pppParlist() {
|
---|
| 290 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 291 | delete _params[ii];
|
---|
| 292 | }
|
---|
| 293 | }
|
---|
| 294 |
|
---|
| 295 | //
|
---|
| 296 | ////////////////////////////////////////////////////////////////////////////
|
---|
[8905] | 297 | t_irc t_pppParlist::set(const bncTime& epoTime,
|
---|
| 298 | const std::vector<t_pppSatObs*>& obsVector) {
|
---|
[7237] | 299 |
|
---|
| 300 | // Remove some Parameters
|
---|
| 301 | // ----------------------
|
---|
| 302 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
| 303 | while (it != _params.end()) {
|
---|
| 304 | t_pppParam* par = *it;
|
---|
| 305 |
|
---|
| 306 | bool remove = false;
|
---|
| 307 |
|
---|
| 308 | if (par->epoSpec()) {
|
---|
| 309 | remove = true;
|
---|
| 310 | }
|
---|
| 311 |
|
---|
[7988] | 312 | else if (par->type() == t_pppParam::amb ||
|
---|
| 313 | par->type() == t_pppParam::crdX ||
|
---|
| 314 | par->type() == t_pppParam::crdY ||
|
---|
| 315 | par->type() == t_pppParam::crdZ) {
|
---|
[7973] | 316 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
[7237] | 317 | remove = true;
|
---|
| 318 | }
|
---|
| 319 | }
|
---|
| 320 |
|
---|
| 321 | if (remove) {
|
---|
| 322 | delete par;
|
---|
| 323 | it = _params.erase(it);
|
---|
| 324 | }
|
---|
| 325 | else {
|
---|
| 326 | ++it;
|
---|
| 327 | }
|
---|
| 328 | }
|
---|
| 329 |
|
---|
| 330 | // Check whether parameters have observations
|
---|
| 331 | // ------------------------------------------
|
---|
| 332 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 333 | t_pppParam* par = _params[ii];
|
---|
| 334 | if (par->prn() == 0) {
|
---|
| 335 | par->setLastObsTime(epoTime);
|
---|
| 336 | if (par->firstObsTime().undef()) {
|
---|
| 337 | par->setFirstObsTime(epoTime);
|
---|
| 338 | }
|
---|
| 339 | }
|
---|
| 340 | else {
|
---|
| 341 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 342 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 343 | if (satObs->prn() == par->prn()) {
|
---|
| 344 | par->setLastObsTime(epoTime);
|
---|
| 345 | if (par->firstObsTime().undef()) {
|
---|
| 346 | par->setFirstObsTime(epoTime);
|
---|
| 347 | }
|
---|
| 348 | break;
|
---|
| 349 | }
|
---|
| 350 | }
|
---|
| 351 | }
|
---|
| 352 | }
|
---|
| 353 |
|
---|
| 354 | // Required Set of Parameters
|
---|
| 355 | // --------------------------
|
---|
| 356 | vector<t_pppParam*> required;
|
---|
| 357 |
|
---|
| 358 | // Coordinates
|
---|
| 359 | // -----------
|
---|
| 360 | required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
|
---|
| 361 | required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
|
---|
| 362 | required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
|
---|
| 363 |
|
---|
| 364 | // Receiver Clock
|
---|
| 365 | // --------------
|
---|
| 366 | required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
|
---|
| 367 |
|
---|
[8905] | 368 | // GPS-GLONASS Clock Offset
|
---|
[7237] | 369 | // ------------------------
|
---|
| 370 | if (OPT->useSystem('R')) {
|
---|
| 371 | required.push_back(new t_pppParam(t_pppParam::offGG, t_prn(), t_lc::dummy));
|
---|
| 372 | }
|
---|
| 373 |
|
---|
| 374 | // Troposphere
|
---|
| 375 | // -----------
|
---|
| 376 | if (OPT->estTrp()) {
|
---|
| 377 | required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
|
---|
| 378 | }
|
---|
| 379 |
|
---|
[8905] | 380 | // Ionosphere
|
---|
| 381 | // ----------
|
---|
| 382 | if (OPT->_obsModelType == OPT->UncombPPP ||
|
---|
| 383 | OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 384 | OPT->_obsModelType == OPT->DCMphaseBias ) {
|
---|
| 385 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 386 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 387 | required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
|
---|
| 388 | }
|
---|
| 389 | }
|
---|
| 390 |
|
---|
[7237] | 391 | // Ambiguities
|
---|
| 392 | // -----------
|
---|
| 393 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 394 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[8905] | 395 | if ((OPT->_obsModelType == OPT->IF) ||
|
---|
| 396 | (OPT->_obsModelType == OPT->PPPRTK) ||
|
---|
| 397 | (OPT->_obsModelType == OPT->UncombPPP) ||
|
---|
| 398 | (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
|
---|
| 399 | (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
|
---|
| 400 | const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
|
---|
| 401 | for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
|
---|
| 402 | required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
|
---|
| 403 | }
|
---|
[7237] | 404 | }
|
---|
| 405 | }
|
---|
| 406 |
|
---|
[8905] | 407 | // Receiver Code Biases
|
---|
| 408 | // --------------------
|
---|
| 409 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
| 410 | required.push_back(new t_pppParam(t_pppParam::cBias1, t_prn(), t_lc::c1));
|
---|
| 411 | required.push_back(new t_pppParam(t_pppParam::cBias2, t_prn(), t_lc::c2));
|
---|
| 412 | }
|
---|
| 413 |
|
---|
| 414 | // Receiver Phase Biases
|
---|
| 415 | // ---------------------
|
---|
| 416 | if ((OPT->_obsModelType == OPT->DCMphaseBias) ||
|
---|
| 417 | (OPT->_obsModelType == OPT->PPPRTK) ) {
|
---|
| 418 | required.push_back(new t_pppParam(t_pppParam::pBias1, t_prn(), t_lc::l1));
|
---|
| 419 | required.push_back(new t_pppParam(t_pppParam::pBias2, t_prn(), t_lc::l2));
|
---|
| 420 | }
|
---|
| 421 |
|
---|
[7237] | 422 | // Check if all required parameters are present
|
---|
| 423 | // --------------------------------------------
|
---|
| 424 | for (unsigned ii = 0; ii < required.size(); ii++) {
|
---|
| 425 | t_pppParam* parReq = required[ii];
|
---|
| 426 |
|
---|
| 427 | bool found = false;
|
---|
| 428 | for (unsigned jj = 0; jj < _params.size(); jj++) {
|
---|
| 429 | t_pppParam* parOld = _params[jj];
|
---|
| 430 | if (parOld->isEqual(parReq)) {
|
---|
| 431 | found = true;
|
---|
| 432 | break;
|
---|
| 433 | }
|
---|
| 434 | }
|
---|
| 435 | if (found) {
|
---|
| 436 | delete parReq;
|
---|
| 437 | }
|
---|
| 438 | else {
|
---|
| 439 | _params.push_back(parReq);
|
---|
| 440 | }
|
---|
| 441 | }
|
---|
| 442 |
|
---|
| 443 | // Set Parameter Indices
|
---|
| 444 | // ---------------------
|
---|
| 445 | sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
|
---|
| 446 |
|
---|
| 447 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 448 | t_pppParam* par = _params[ii];
|
---|
| 449 | par->setIndex(ii);
|
---|
| 450 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 451 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 452 | if (satObs->prn() == par->prn()) {
|
---|
| 453 | par->setAmbEleSat(satObs->eleSat());
|
---|
| 454 | par->stepAmbNumEpo();
|
---|
| 455 | }
|
---|
| 456 | }
|
---|
| 457 | }
|
---|
| 458 |
|
---|
| 459 | return success;
|
---|
| 460 | }
|
---|
| 461 |
|
---|
| 462 | //
|
---|
| 463 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 464 | void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
|
---|
| 465 | const ColumnVector& xx) const {
|
---|
| 466 |
|
---|
| 467 | string epoTimeStr = string(epoTime);
|
---|
| 468 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 469 |
|
---|
| 470 | LOG << endl;
|
---|
| 471 |
|
---|
| 472 | t_pppParam* parX = 0;
|
---|
| 473 | t_pppParam* parY = 0;
|
---|
| 474 | t_pppParam* parZ = 0;
|
---|
| 475 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 476 | t_pppParam* par = _params[ii];
|
---|
| 477 | if (par->type() == t_pppParam::crdX) {
|
---|
| 478 | parX = par;
|
---|
| 479 | }
|
---|
| 480 | else if (par->type() == t_pppParam::crdY) {
|
---|
| 481 | parY = par;
|
---|
| 482 | }
|
---|
| 483 | else if (par->type() == t_pppParam::crdZ) {
|
---|
| 484 | parZ = par;
|
---|
| 485 | }
|
---|
| 486 | else {
|
---|
| 487 | int ind = par->indexNew();
|
---|
| 488 | double apr = (par->type() == t_pppParam::trp) ?
|
---|
| 489 | t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
|
---|
| 490 | LOG << epoTimeStr << ' ' << par->toString() << ' '
|
---|
| 491 | << setw(10) << setprecision(4) << apr << ' '
|
---|
| 492 | << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
|
---|
| 493 | << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
|
---|
| 494 | if (par->type() == t_pppParam::amb) {
|
---|
| 495 | LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
|
---|
| 496 | << " epo = " << setw(4) << par->ambNumEpo();
|
---|
| 497 | }
|
---|
| 498 | LOG << endl;
|
---|
| 499 | }
|
---|
| 500 | }
|
---|
| 501 |
|
---|
| 502 | if (parX && parY && parZ) {
|
---|
| 503 |
|
---|
| 504 | ColumnVector xyz(3);
|
---|
| 505 | xyz[0] = xx[parX->indexNew()];
|
---|
| 506 | xyz[1] = xx[parY->indexNew()];
|
---|
| 507 | xyz[2] = xx[parZ->indexNew()];
|
---|
| 508 |
|
---|
| 509 | ColumnVector neu(3);
|
---|
| 510 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
|
---|
| 511 |
|
---|
| 512 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
|
---|
| 513 |
|
---|
| 514 | SymmetricMatrix QQneu(3);
|
---|
| 515 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
|
---|
| 516 |
|
---|
| 517 | LOG << epoTimeStr << ' ' << sta->name()
|
---|
| 518 | << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
|
---|
| 519 | << setprecision(4) << sqrt(QQxyz[0][0])
|
---|
| 520 |
|
---|
| 521 | << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
|
---|
| 522 | << setprecision(4) << sqrt(QQxyz[1][1])
|
---|
| 523 |
|
---|
| 524 | << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
|
---|
| 525 | << setprecision(4) << sqrt(QQxyz[2][2])
|
---|
| 526 |
|
---|
| 527 | << " dN = " << setprecision(4) << neu[0] << " +- "
|
---|
| 528 | << setprecision(4) << sqrt(QQneu[0][0])
|
---|
| 529 |
|
---|
| 530 | << " dE = " << setprecision(4) << neu[1] << " +- "
|
---|
| 531 | << setprecision(4) << sqrt(QQneu[1][1])
|
---|
| 532 |
|
---|
| 533 | << " dU = " << setprecision(4) << neu[2] << " +- "
|
---|
| 534 | << setprecision(4) << sqrt(QQneu[2][2])
|
---|
| 535 |
|
---|
| 536 | << endl;
|
---|
| 537 | }
|
---|
| 538 | }
|
---|
| 539 |
|
---|