[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_pppSatObs
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| 6 | *
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| 7 | * Purpose: Satellite observations
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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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[7288] | 13 | * Changes:
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[7237] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 |
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| 18 | #include <iostream>
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| 19 | #include <cmath>
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| 20 | #include <newmatio.h>
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| 21 |
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| 22 | #include "pppSatObs.h"
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| 23 | #include "bncconst.h"
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| 24 | #include "pppEphPool.h"
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| 25 | #include "pppStation.h"
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| 26 | #include "bncutils.h"
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| 27 | #include "bncantex.h"
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| 28 | #include "pppObsPool.h"
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| 29 | #include "pppClient.h"
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| 30 |
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| 31 | using namespace BNC_PPP;
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| 32 | using namespace std;
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| 33 |
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| 34 | // Constructor
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| 35 | ////////////////////////////////////////////////////////////////////////////
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| 36 | t_pppSatObs::t_pppSatObs(const t_satObs& pppSatObs) {
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[8905] | 37 | _prn = pppSatObs._prn;
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| 38 | _time = pppSatObs._time;
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| 39 | _outlier = false;
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| 40 | _valid = true;
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| 41 | _reference = false;
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| 42 | _stecRefSat = 0.0;
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| 43 | _stecSat = 0.0;
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[7237] | 44 | for (unsigned ii = 0; ii < t_frequency::max; ii++) {
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| 45 | _obs[ii] = 0;
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| 46 | }
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| 47 | prepareObs(pppSatObs);
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| 48 | }
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| 49 |
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| 50 | // Destructor
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| 51 | ////////////////////////////////////////////////////////////////////////////
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| 52 | t_pppSatObs::~t_pppSatObs() {
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| 53 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
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| 54 | delete _obs[iFreq];
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| 55 | }
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| 56 | }
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| 57 |
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[7288] | 58 | //
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[7237] | 59 | ////////////////////////////////////////////////////////////////////////////
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| 60 | void t_pppSatObs::prepareObs(const t_satObs& pppSatObs) {
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| 61 |
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| 62 | _model.reset();
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| 63 |
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| 64 | // Select pseudoranges and phase observations
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| 65 | // ------------------------------------------
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[8905] | 66 | const string preferredAttrib = "G:12&PWCSLXYN G:5&IQX R:12&PC R:3&IQX E:16&BCX E:578&IQX J:1&SLXCZ J:26&SLX J:5&IQX C:IQX I:ABCX S:1&C S:5&IQX";
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[7237] | 67 |
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| 68 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
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| 69 | string frqNum = t_frequency::toString(t_frequency::type(iFreq)).substr(1);
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| 70 | for (unsigned iPref = 0; iPref < preferredAttrib.length(); iPref++) {
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| 71 | string obsType = (preferredAttrib[iPref] == '_') ? frqNum : frqNum + preferredAttrib[iPref];
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| 72 | if (_obs[iFreq] == 0) {
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| 73 | for (unsigned ii = 0; ii < pppSatObs._obs.size(); ii++) {
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| 74 | const t_frqObs* obs = pppSatObs._obs[ii];
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[8026] | 75 | if (obs->_rnxType2ch == obsType &&
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| 76 | obs->_codeValid && obs->_code &&
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| 77 | obs->_phaseValid && obs->_phase) {
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[7237] | 78 | _obs[iFreq] = new t_frqObs(*obs);
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| 79 | }
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| 80 | }
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| 81 | }
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| 82 | }
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| 83 | }
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| 84 |
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| 85 | // Used frequency types
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| 86 | // --------------------
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| 87 | _fType1 = t_lc::toFreq(_prn.system(),t_lc::l1);
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| 88 | _fType2 = t_lc::toFreq(_prn.system(),t_lc::l2);
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| 89 |
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| 90 | // Check whether all required frequencies available
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| 91 | // ------------------------------------------------
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| 92 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
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| 93 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
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[8905] | 94 | if (tLC == t_lc::GIM) {continue;}
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[7237] | 95 | if (!isValid(tLC)) {
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| 96 | _valid = false;
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| 97 | return;
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| 98 | }
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| 99 | }
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| 100 |
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| 101 | // Find Glonass Channel Number
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| 102 | // ---------------------------
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| 103 | if (_prn.system() == 'R') {
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| 104 | _channel = PPP_CLIENT->ephPool()->getChannel(_prn);
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| 105 | }
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| 106 | else {
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| 107 | _channel = 0;
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| 108 | }
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| 109 |
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| 110 | // Compute Satellite Coordinates at Time of Transmission
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| 111 | // -----------------------------------------------------
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[8619] | 112 | _xcSat.ReSize(6); _xcSat = 0.0;
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[8495] | 113 | _vvSat.ReSize(3); _vvSat = 0.0;
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[7237] | 114 | bool totOK = false;
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[8619] | 115 | ColumnVector satPosOld(6); satPosOld = 0.0;
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[7237] | 116 | t_lc::type tLC = isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
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| 117 | double prange = obsValue(tLC);
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| 118 | for (int ii = 1; ii <= 10; ii++) {
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| 119 | bncTime ToT = _time - prange / t_CST::c - _xcSat[3];
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| 120 | if (PPP_CLIENT->ephPool()->getCrd(_prn, ToT, _xcSat, _vvSat) != success) {
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| 121 | _valid = false;
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| 122 | return;
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| 123 | }
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| 124 | ColumnVector dx = _xcSat - satPosOld;
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| 125 | dx[3] *= t_CST::c;
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[8905] | 126 | if (dx.NormFrobenius() < 1.e-4) {
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[7237] | 127 | totOK = true;
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| 128 | break;
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| 129 | }
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[7288] | 130 | satPosOld = _xcSat;
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[7237] | 131 | }
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| 132 | if (totOK) {
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[7250] | 133 | _signalPropagationTime = prange / t_CST::c - _xcSat[3];
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[7288] | 134 | _model._satClkM = _xcSat[3] * t_CST::c;
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[7237] | 135 | }
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| 136 | else {
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| 137 | _valid = false;
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| 138 | }
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| 139 | }
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| 140 |
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[7288] | 141 | //
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[7237] | 142 | ////////////////////////////////////////////////////////////////////////////
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[7288] | 143 | void t_pppSatObs::lcCoeff(t_lc::type tLC,
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[7237] | 144 | map<t_frequency::type, double>& codeCoeff,
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[8905] | 145 | map<t_frequency::type, double>& phaseCoeff,
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| 146 | map<t_frequency::type, double>& ionoCoeff) const {
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[7237] | 147 |
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| 148 | codeCoeff.clear();
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| 149 | phaseCoeff.clear();
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[8905] | 150 | ionoCoeff.clear();
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[7237] | 151 |
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| 152 | double f1 = t_CST::freq(_fType1, _channel);
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| 153 | double f2 = t_CST::freq(_fType2, _channel);
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[8905] | 154 | double f1GPS = t_CST::freq(t_frequency::G1, 0);
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[7237] | 155 |
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| 156 | switch (tLC) {
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| 157 | case t_lc::l1:
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[8905] | 158 | phaseCoeff[_fType1] = 1.0;
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| 159 | ionoCoeff [_fType1] = -1.0 * pow(f1GPS, 2) / pow(f1, 2);
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[7237] | 160 | return;
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[7288] | 161 | case t_lc::l2:
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[8905] | 162 | phaseCoeff[_fType2] = 1.0;
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| 163 | ionoCoeff [_fType2] = -1.0 * pow(f1GPS, 2) / pow(f2, 2);
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[7237] | 164 | return;
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[7288] | 165 | case t_lc::lIF:
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[7237] | 166 | phaseCoeff[_fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
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| 167 | phaseCoeff[_fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
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| 168 | return;
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[7288] | 169 | case t_lc::MW:
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[7237] | 170 | phaseCoeff[_fType1] = f1 / (f1 - f2);
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| 171 | phaseCoeff[_fType2] = -f2 / (f1 - f2);
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| 172 | codeCoeff[_fType1] = -f1 / (f1 + f2);
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| 173 | codeCoeff[_fType2] = -f2 / (f1 + f2);
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| 174 | return;
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[7288] | 175 | case t_lc::CL:
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[7237] | 176 | phaseCoeff[_fType1] = 0.5;
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[8905] | 177 | codeCoeff [_fType1] = 0.5;
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[7237] | 178 | return;
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[7288] | 179 | case t_lc::c1:
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| 180 | codeCoeff[_fType1] = 1.0;
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[8905] | 181 | ionoCoeff[_fType1] = pow(f1GPS, 2) / pow(f1, 2);
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[7237] | 182 | return;
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[7288] | 183 | case t_lc::c2:
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| 184 | codeCoeff[_fType2] = 1.0;
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[8905] | 185 | ionoCoeff[_fType2] = pow(f1GPS, 2) / pow(f2, 2);
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[7237] | 186 | return;
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[7288] | 187 | case t_lc::cIF:
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[7237] | 188 | codeCoeff[_fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
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| 189 | codeCoeff[_fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
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| 190 | return;
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[8905] | 191 | case t_lc::GIM:
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[7288] | 192 | case t_lc::dummy:
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| 193 | case t_lc::maxLc:
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[7237] | 194 | return;
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| 195 | }
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| 196 | }
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| 197 |
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[7288] | 198 | //
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[7237] | 199 | ////////////////////////////////////////////////////////////////////////////
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| 200 | bool t_pppSatObs::isValid(t_lc::type tLC) const {
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| 201 | bool valid = true;
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| 202 | obsValue(tLC, &valid);
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[8905] | 203 | //qDebug() << "tLC: " << tLC << " valid: " << valid;
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[7237] | 204 | return valid;
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| 205 | }
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[7288] | 206 | //
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[7237] | 207 | ////////////////////////////////////////////////////////////////////////////
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| 208 | double t_pppSatObs::obsValue(t_lc::type tLC, bool* valid) const {
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| 209 |
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[8905] | 210 | double retVal = 0.0;
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| 211 | if (valid) *valid = true;
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| 212 |
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| 213 | // Pseudo observations
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| 214 | if (tLC == t_lc::GIM) {
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| 215 | if (_stecRefSat == 0.0 || _stecSat == 0.0) {
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| 216 | if (valid) *valid = false;
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| 217 | return 0.0;
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| 218 | }
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| 219 | else {
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| 220 | return _stecRefSat - _stecSat;
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| 221 | }
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| 222 | }
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| 223 |
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[7237] | 224 | map<t_frequency::type, double> codeCoeff;
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| 225 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 226 | map<t_frequency::type, double> ionoCoeff;
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| 227 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 228 |
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[8905] | 229 | map<t_frequency::type, double>::const_iterator it;
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[7237] | 230 |
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[8905] | 231 | // Code observations
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[7237] | 232 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
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| 233 | t_frequency::type tFreq = it->first;
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| 234 | if (_obs[tFreq] == 0) {
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| 235 | if (valid) *valid = false;
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| 236 | return 0.0;
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| 237 | }
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| 238 | else {
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| 239 | retVal += it->second * _obs[tFreq]->_code;
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| 240 | }
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| 241 | }
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[8905] | 242 | // Phase observations
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[7237] | 243 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
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| 244 | t_frequency::type tFreq = it->first;
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| 245 | if (_obs[tFreq] == 0) {
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| 246 | if (valid) *valid = false;
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| 247 | return 0.0;
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| 248 | }
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| 249 | else {
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| 250 | retVal += it->second * _obs[tFreq]->_phase * t_CST::lambda(tFreq, _channel);
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| 251 | }
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| 252 | }
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| 253 | return retVal;
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| 254 | }
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| 255 |
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[7288] | 256 | //
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[7237] | 257 | ////////////////////////////////////////////////////////////////////////////
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| 258 | double t_pppSatObs::lambda(t_lc::type tLC) const {
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| 259 |
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| 260 | double f1 = t_CST::freq(_fType1, _channel);
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| 261 | double f2 = t_CST::freq(_fType2, _channel);
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| 262 |
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| 263 | if (tLC == t_lc::l1) {
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| 264 | return t_CST::c / f1;
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| 265 | }
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| 266 | else if (tLC == t_lc::l2) {
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| 267 | return t_CST::c / f2;
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| 268 | }
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| 269 | else if (tLC == t_lc::lIF) {
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| 270 | return t_CST::c / (f1 + f2);
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| 271 | }
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| 272 | else if (tLC == t_lc::MW) {
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| 273 | return t_CST::c / (f1 - f2);
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| 274 | }
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| 275 | else if (tLC == t_lc::CL) {
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| 276 | return t_CST::c / f1 / 2.0;
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| 277 | }
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| 278 |
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| 279 | return 0.0;
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| 280 | }
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| 281 |
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[7288] | 282 | //
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[7237] | 283 | ////////////////////////////////////////////////////////////////////////////
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| 284 | double t_pppSatObs::sigma(t_lc::type tLC) const {
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| 285 |
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[8905] | 286 | double retVal = 0.0;
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[7237] | 287 | map<t_frequency::type, double> codeCoeff;
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| 288 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 289 | map<t_frequency::type, double> ionoCoeff;
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| 290 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 291 |
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[8905] | 292 | if (tLC == t_lc::GIM) {
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| 293 | retVal = OPT->_sigmaGIMdiff * OPT->_sigmaGIMdiff;
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| 294 | }
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[7237] | 295 |
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| 296 | map<t_frequency::type, double>::const_iterator it;
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[8905] | 297 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {//qDebug() << "codeCoeff : " << t_frequency::toString(it->first).c_str() << ": " << it->second;
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[7237] | 298 | retVal += it->second * it->second * OPT->_sigmaC1 * OPT->_sigmaC1;
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| 299 | }
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[8905] | 300 |
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| 301 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {//qDebug() << "phaseCoeff: " << t_frequency::toString(it->first).c_str() << ": " << it->second;
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[7237] | 302 | retVal += it->second * it->second * OPT->_sigmaL1 * OPT->_sigmaL1;
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| 303 | }
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| 304 |
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[7288] | 305 | retVal = sqrt(retVal);
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| 306 |
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[7237] | 307 | // De-Weight GLONASS
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| 308 | // -----------------
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| 309 | if (_prn.system() == 'R') {
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| 310 | retVal *= 5.0;
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| 311 | }
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| 312 |
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| 313 | // Elevation-Dependent Weighting
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| 314 | // -----------------------------
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| 315 | double cEle = 1.0;
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| 316 | if ( (OPT->_eleWgtCode && t_lc::includesCode(tLC)) ||
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| 317 | (OPT->_eleWgtPhase && t_lc::includesPhase(tLC)) ) {
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| 318 | double eleD = eleSat()*180.0/M_PI;
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| 319 | double hlp = fabs(90.0 - eleD);
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| 320 | cEle = (1.0 + hlp*hlp*hlp*0.000004);
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| 321 | }
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| 322 |
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| 323 | return cEle * retVal;
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| 324 | }
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| 325 |
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[7288] | 326 | //
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[7237] | 327 | ////////////////////////////////////////////////////////////////////////////
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[8905] | 328 | double t_pppSatObs::maxRes(t_lc::type tLC) const {//qDebug() << "t_pppSatObs::maxRes(t_lc::type tLC)";
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| 329 | double retVal = 0.0;
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[7237] | 330 |
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| 331 | map<t_frequency::type, double> codeCoeff;
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| 332 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 333 | map<t_frequency::type, double> ionoCoeff;
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| 334 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 335 |
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| 336 | map<t_frequency::type, double>::const_iterator it;
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[8905] | 337 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {//qDebug() << "codeCoeff: " << it->first << ": " << it->second;
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[7237] | 338 | retVal += it->second * it->second * OPT->_maxResC1 * OPT->_maxResC1;
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| 339 | }
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[8905] | 340 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {//qDebug() << "phaseCoeff: " << it->first << ": " << it->second;
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[7237] | 341 | retVal += it->second * it->second * OPT->_maxResL1 * OPT->_maxResL1;
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| 342 | }
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[8905] | 343 | if (tLC == t_lc::GIM) {
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[8956] | 344 | retVal = 3.0 * OPT->_sigmaGIMdiff * OPT->_sigmaGIMdiff;
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[8905] | 345 | }
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[7237] | 346 | return sqrt(retVal);
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| 347 | }
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| 348 |
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| 349 |
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[7288] | 350 | //
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[7237] | 351 | ////////////////////////////////////////////////////////////////////////////
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| 352 | t_irc t_pppSatObs::cmpModel(const t_pppStation* station) {
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| 353 |
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| 354 | // Reset all model values
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| 355 | // ----------------------
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| 356 | _model.reset();
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| 357 |
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| 358 | // Topocentric Satellite Position
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| 359 | // ------------------------------
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| 360 | ColumnVector rSat = _xcSat.Rows(1,3);
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[8905] | 361 | ColumnVector rRec = station->xyzApr();
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| 362 | ColumnVector rhoV = rSat - rRec;
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| 363 | _model._rho = rhoV.NormFrobenius();
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[7237] | 364 |
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[8619] | 365 | ColumnVector vSat = _vvSat;
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| 366 |
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[7237] | 367 | ColumnVector neu(3);
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| 368 | xyz2neu(station->ellApr().data(), rhoV.data(), neu.data());
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| 369 |
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[8905] | 370 | _model._eleSat = acos(sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / _model._rho);
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[7237] | 371 | if (neu[2] < 0) {
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| 372 | _model._eleSat *= -1.0;
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| 373 | }
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| 374 | _model._azSat = atan2(neu[1], neu[0]);
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| 375 |
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| 376 | // Satellite Clocks
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| 377 | // ----------------
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| 378 | _model._satClkM = _xcSat[3] * t_CST::c;
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---|
| 379 |
|
---|
| 380 | // Receiver Clocks
|
---|
| 381 | // ---------------
|
---|
| 382 | _model._recClkM = station->dClk() * t_CST::c;
|
---|
| 383 |
|
---|
| 384 | // Sagnac Effect (correction due to Earth rotation)
|
---|
| 385 | // ------------------------------------------------
|
---|
| 386 | ColumnVector Omega(3);
|
---|
| 387 | Omega[0] = 0.0;
|
---|
| 388 | Omega[1] = 0.0;
|
---|
| 389 | Omega[2] = t_CST::omega / t_CST::c;
|
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[8905] | 390 | _model._sagnac = DotProduct(Omega, crossproduct(rSat, rRec));
|
---|
[7237] | 391 |
|
---|
| 392 | // Antenna Eccentricity
|
---|
| 393 | // --------------------
|
---|
| 394 | _model._antEcc = -DotProduct(station->xyzEcc(), rhoV) / _model._rho;
|
---|
| 395 |
|
---|
| 396 | // Antenna Phase Center Offsets and Variations
|
---|
| 397 | // -------------------------------------------
|
---|
| 398 | if (PPP_CLIENT->antex()) {
|
---|
| 399 | for (unsigned ii = 0; ii < t_frequency::max; ii++) {
|
---|
| 400 | t_frequency::type frqType = static_cast<t_frequency::type>(ii);
|
---|
| 401 | bool found;
|
---|
[7288] | 402 | _model._antPCO[ii] = PPP_CLIENT->antex()->rcvCorr(station->antName(), frqType,
|
---|
[7237] | 403 | _model._eleSat, _model._azSat, found);
|
---|
| 404 | }
|
---|
| 405 | }
|
---|
| 406 |
|
---|
| 407 | // Tropospheric Delay
|
---|
| 408 | // ------------------
|
---|
[8905] | 409 | _model._tropo = t_tropo::delay_saast(rRec, _model._eleSat);
|
---|
[7237] | 410 |
|
---|
| 411 | // Code Biases
|
---|
| 412 | // -----------
|
---|
| 413 | const t_satCodeBias* satCodeBias = PPP_CLIENT->obsPool()->satCodeBias(_prn);
|
---|
[7288] | 414 | if (satCodeBias) {
|
---|
[7237] | 415 | for (unsigned ii = 0; ii < satCodeBias->_bias.size(); ii++) {
|
---|
| 416 | const t_frqCodeBias& bias = satCodeBias->_bias[ii];
|
---|
| 417 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
| 418 | const t_frqObs* obs = _obs[iFreq];
|
---|
| 419 | if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
|
---|
| 420 | _model._codeBias[iFreq] = bias._value;
|
---|
| 421 | }
|
---|
| 422 | }
|
---|
| 423 | }
|
---|
| 424 | }
|
---|
| 425 |
|
---|
[7288] | 426 | // Phase Biases
|
---|
| 427 | // -----------
|
---|
| 428 | const t_satPhaseBias* satPhaseBias = PPP_CLIENT->obsPool()->satPhaseBias(_prn);
|
---|
[8619] | 429 | double yaw = 0.0;
|
---|
| 430 | bool ssr = false;
|
---|
[7288] | 431 | if (satPhaseBias) {
|
---|
[8905] | 432 | double dt = station->epochTime() - satPhaseBias->_time;
|
---|
| 433 | if (satPhaseBias->_updateInt) {
|
---|
| 434 | dt -= (0.5 * ssrUpdateInt[satPhaseBias->_updateInt]);
|
---|
| 435 | }
|
---|
| 436 | yaw = satPhaseBias->_yaw + satPhaseBias->_yawRate * dt;
|
---|
[8619] | 437 | ssr = true;
|
---|
[7288] | 438 | for (unsigned ii = 0; ii < satPhaseBias->_bias.size(); ii++) {
|
---|
| 439 | const t_frqPhaseBias& bias = satPhaseBias->_bias[ii];
|
---|
| 440 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
| 441 | const t_frqObs* obs = _obs[iFreq];
|
---|
| 442 | if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
|
---|
| 443 | _model._phaseBias[iFreq] = bias._value;
|
---|
| 444 | }
|
---|
| 445 | }
|
---|
| 446 | }
|
---|
| 447 | }
|
---|
| 448 |
|
---|
[8619] | 449 | // Phase Wind-Up
|
---|
| 450 | // -------------
|
---|
| 451 | _model._windUp = station->windUp(_time, _prn, rSat, ssr, yaw, vSat) ;
|
---|
| 452 |
|
---|
[8905] | 453 | // Relativistic effect due to earth gravity
|
---|
| 454 | // ----------------------------------------
|
---|
| 455 | double a = rSat.NormFrobenius() + rRec.NormFrobenius();
|
---|
| 456 | double b = (rSat - rRec).NormFrobenius();
|
---|
| 457 | double gm = 3.986004418e14; // m3/s2
|
---|
| 458 | _model._rel = 2 * gm / t_CST::c / t_CST::c * log((a + b) / (a - b));
|
---|
[8619] | 459 |
|
---|
[7237] | 460 | // Tidal Correction
|
---|
| 461 | // ----------------
|
---|
[8905] | 462 | _model._tideEarth = -DotProduct(station->tideDsplEarth(), rhoV) / _model._rho;
|
---|
| 463 | _model._tideOcean = -DotProduct(station->tideDsplOcean(), rhoV) / _model._rho;
|
---|
[7237] | 464 |
|
---|
| 465 | // Ionospheric Delay
|
---|
| 466 | // -----------------
|
---|
[7250] | 467 | const t_vTec* vTec = PPP_CLIENT->obsPool()->vTec();
|
---|
[7253] | 468 | bool vTecUsage = true;
|
---|
| 469 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
|
---|
| 470 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
|
---|
| 471 | if (tLC == t_lc::cIF || tLC == t_lc::lIF) {
|
---|
| 472 | vTecUsage = false;
|
---|
[7237] | 473 | }
|
---|
| 474 | }
|
---|
[8905] | 475 |
|
---|
[7258] | 476 | if (vTecUsage && vTec) {
|
---|
[8905] | 477 | double stec = station->stec(vTec, _signalPropagationTime, rSat);
|
---|
| 478 | double f1GPS = t_CST::freq(t_frequency::G1, 0);
|
---|
[7258] | 479 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
[8905] | 480 | if (OPT->_pseudoObsIono) { // DCMcodeBias, DCMphaseBias
|
---|
| 481 | // For scaling the slant ionospheric delays the trick is to be consistent with units!
|
---|
| 482 | // The conversion of TECU into meters requires the frequency of the signal.
|
---|
| 483 | // Hence, GPS L1 frequency is used for all systems. The same is true for mu_i in lcCoeff().
|
---|
| 484 | _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(f1GPS, 2) * stec;
|
---|
| 485 | }
|
---|
| 486 | else { // PPP-RTK
|
---|
| 487 | t_frequency::type frqType = static_cast<t_frequency::type>(iFreq);
|
---|
| 488 | _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(t_CST::freq(frqType, _channel), 2) * stec;
|
---|
| 489 | }
|
---|
[7253] | 490 | }
|
---|
| 491 | }
|
---|
[7237] | 492 |
|
---|
| 493 | // Set Model Set Flag
|
---|
| 494 | // ------------------
|
---|
| 495 | _model._set = true;
|
---|
| 496 |
|
---|
[8956] | 497 | //printModel();
|
---|
[7252] | 498 |
|
---|
[7237] | 499 | return success;
|
---|
| 500 | }
|
---|
| 501 |
|
---|
[7288] | 502 | //
|
---|
[7237] | 503 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 504 | void t_pppSatObs::printModel() const {
|
---|
[8956] | 505 |
|
---|
| 506 | LOG.setf(ios::fixed);
|
---|
| 507 | LOG << "\nMODEL for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "")
|
---|
| 508 |
|
---|
| 509 | << "======================= " << endl
|
---|
| 510 | << "PPP STRATEGY : " << OPT->_obsmodelTypeStr.at((int)OPT->_obsModelType).toLocal8Bit().constData()
|
---|
| 511 | << ((OPT->_pseudoObsIono) ? " with pseudo-observations for STEC" : "") << endl
|
---|
[8905] | 512 | << "RHO : " << setw(12) << setprecision(3) << _model._rho << endl
|
---|
| 513 | << "ELE : " << setw(12) << setprecision(3) << _model._eleSat * RHO_DEG << endl
|
---|
| 514 | << "AZI : " << setw(12) << setprecision(3) << _model._azSat * RHO_DEG << endl
|
---|
| 515 | << "SATCLK : " << setw(12) << setprecision(3) << _model._satClkM << endl
|
---|
| 516 | << "RECCLK : " << setw(12) << setprecision(3) << _model._recClkM << endl
|
---|
| 517 | << "SAGNAC : " << setw(12) << setprecision(3) << _model._sagnac << endl
|
---|
| 518 | << "ANTECC : " << setw(12) << setprecision(3) << _model._antEcc << endl
|
---|
| 519 | << "TROPO : " << setw(12) << setprecision(3) << _model._tropo << endl
|
---|
| 520 | << "WINDUP : " << setw(12) << setprecision(3) << _model._windUp << endl
|
---|
| 521 | << "REL : " << setw(12) << setprecision(3) << _model._rel << endl
|
---|
| 522 | << "EARTH TIDES : " << setw(12) << setprecision(3) << _model._tideEarth << endl
|
---|
| 523 | << "OCEAN TIDES : " << setw(12) << setprecision(3) << _model._tideOcean << endl
|
---|
| 524 | << endl
|
---|
| 525 | << "FREQUENCY DEPENDENT CORRECTIONS:" << endl
|
---|
| 526 | << "-------------------------------" << endl;
|
---|
[7237] | 527 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
| 528 | if (_obs[iFreq]) {
|
---|
[7288] | 529 | string frqStr = t_frequency::toString(t_frequency::type(iFreq));
|
---|
| 530 | if (_prn.system() == frqStr[0]) {
|
---|
[8956] | 531 | LOG << "PCO : " << frqStr << setw(12) << setprecision(3) << _model._antPCO[iFreq] << endl
|
---|
[8905] | 532 | << "BIAS CODE : " << frqStr << setw(12) << setprecision(3) << _model._codeBias[iFreq] << endl
|
---|
| 533 | << "BIAS PHASE : " << frqStr << setw(12) << setprecision(3) << _model._phaseBias[iFreq] << endl
|
---|
| 534 | << "IONO CODEDELAY: " << frqStr << setw(12) << setprecision(3) << _model._ionoCodeDelay[iFreq]<< endl;
|
---|
[7288] | 535 | }
|
---|
[7237] | 536 | }
|
---|
| 537 | }
|
---|
[8905] | 538 | }
|
---|
| 539 |
|
---|
| 540 | //
|
---|
| 541 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 542 | void t_pppSatObs::printObsMinusComputed() const {
|
---|
| 543 | // TODO: cout should be LOG
|
---|
| 544 | cout.setf(ios::fixed);
|
---|
| 545 | cout << "\nOBS-COMP for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "") << endl
|
---|
| 546 | << "========================== " << endl;
|
---|
[7253] | 547 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
|
---|
| 548 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
|
---|
[8905] | 549 | cout << "OBS-CMP " << setw(4) << t_lc::toString(tLC) << ": " << _prn.toString() << " "
|
---|
[7253] | 550 | << setw(12) << setprecision(3) << obsValue(tLC) << " "
|
---|
| 551 | << setw(12) << setprecision(3) << cmpValue(tLC) << " "
|
---|
| 552 | << setw(12) << setprecision(3) << obsValue(tLC) - cmpValue(tLC) << endl;
|
---|
| 553 | }
|
---|
[7237] | 554 | }
|
---|
| 555 |
|
---|
[8905] | 556 |
|
---|
[7288] | 557 | //
|
---|
[7237] | 558 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 559 | double t_pppSatObs::cmpValueForBanc(t_lc::type tLC) const {
|
---|
| 560 | return cmpValue(tLC) - _model._rho - _model._sagnac - _model._recClkM;
|
---|
| 561 | }
|
---|
| 562 |
|
---|
[7288] | 563 | //
|
---|
[7237] | 564 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 565 | double t_pppSatObs::cmpValue(t_lc::type tLC) const {
|
---|
[8905] | 566 | double cmpValue;
|
---|
[7237] | 567 |
|
---|
[8905] | 568 | if (!isValid(tLC)) {
|
---|
| 569 | cmpValue = 0.0;
|
---|
[7237] | 570 | }
|
---|
[8905] | 571 | else if (tLC == t_lc::GIM) {
|
---|
| 572 | cmpValue = 0.0;
|
---|
| 573 | }
|
---|
| 574 | else {
|
---|
| 575 | // Non-Dispersive Part
|
---|
| 576 | // -------------------
|
---|
| 577 | double nonDisp = _model._rho
|
---|
| 578 | + _model._recClkM - _model._satClkM
|
---|
| 579 | + _model._sagnac + _model._antEcc + _model._tropo
|
---|
| 580 | + _model._tideEarth + _model._tideOcean + _model._rel;
|
---|
[7237] | 581 |
|
---|
[8905] | 582 | // Add Dispersive Part
|
---|
| 583 | // -------------------
|
---|
| 584 | double dispPart = 0.0;
|
---|
| 585 | map<t_frequency::type, double> codeCoeff;
|
---|
| 586 | map<t_frequency::type, double> phaseCoeff;
|
---|
| 587 | map<t_frequency::type, double> ionoCoeff;
|
---|
| 588 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
|
---|
| 589 | map<t_frequency::type, double>::const_iterator it;
|
---|
| 590 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
|
---|
| 591 | t_frequency::type tFreq = it->first;
|
---|
| 592 | dispPart += it->second * (_model._antPCO[tFreq] - _model._codeBias[tFreq]);
|
---|
| 593 | if (OPT->PPPRTK) {
|
---|
| 594 | dispPart += it->second * (_model._ionoCodeDelay[tFreq]);
|
---|
| 595 | }
|
---|
| 596 | }
|
---|
| 597 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
|
---|
| 598 | t_frequency::type tFreq = it->first;
|
---|
| 599 | dispPart += it->second * (_model._antPCO[tFreq] - _model._phaseBias[tFreq] +
|
---|
| 600 | _model._windUp * t_CST::lambda(tFreq, _channel));
|
---|
| 601 | if (OPT->PPPRTK) {
|
---|
| 602 | dispPart += it->second * (- _model._ionoCodeDelay[tFreq]);
|
---|
| 603 | }
|
---|
| 604 | }
|
---|
| 605 | cmpValue = nonDisp + dispPart;
|
---|
[7237] | 606 | }
|
---|
| 607 |
|
---|
[8905] | 608 | return cmpValue;
|
---|
[7237] | 609 | }
|
---|
| 610 |
|
---|
[7288] | 611 | //
|
---|
[7237] | 612 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 613 | void t_pppSatObs::setRes(t_lc::type tLC, double res) {
|
---|
| 614 | _res[tLC] = res;
|
---|
| 615 | }
|
---|
| 616 |
|
---|
[7288] | 617 | //
|
---|
[7237] | 618 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 619 | double t_pppSatObs::getRes(t_lc::type tLC) const {
|
---|
| 620 | map<t_lc::type, double>::const_iterator it = _res.find(tLC);
|
---|
| 621 | if (it != _res.end()) {
|
---|
| 622 | return it->second;
|
---|
| 623 | }
|
---|
| 624 | else {
|
---|
| 625 | return 0.0;
|
---|
| 626 | }
|
---|
| 627 | }
|
---|
[8905] | 628 |
|
---|
| 629 | //
|
---|
| 630 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 631 | void t_pppSatObs::setPseudoObsIono(t_frequency::type freq, double stecRefSat) {
|
---|
| 632 | _stecSat = _model._ionoCodeDelay[freq];
|
---|
| 633 | _stecRefSat = stecRefSat;
|
---|
| 634 | }
|
---|