| 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: t_pppClient
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| 30 | *
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| 31 | * Purpose: Precise Point Positioning
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 21-Nov-2009
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <newmatio.h>
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| 42 | #include <iomanip>
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| 43 | #include <sstream>
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| 44 |
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| 45 | #include "pppClient.h"
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| 46 | #include "bncephuser.h"
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| 47 | #include "bncutils.h"
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| 48 |
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| 49 | using namespace BNC_PPP;
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| 50 | using namespace std;
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| 51 |
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| 52 | // Constructor
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| 53 | ////////////////////////////////////////////////////////////////////////////
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| 54 | t_pppClient::t_pppClient(const t_pppOptions* opt) {
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| 55 |
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| 56 | _opt = new t_pppOptions(*opt);
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| 57 | _filter = new t_pppFilter(this);
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| 58 | _epoData = new t_epoData();
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| 59 | _log = new ostringstream();
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| 60 | _ephUser = new bncEphUser(false);
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| 61 |
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| 62 | for (unsigned ii = 0; ii <= t_prn::MAXPRN; ii++) {
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| 63 | _satCodeBiases[ii] = 0;
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| 64 | }
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| 65 |
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| 66 | }
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| 67 |
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| 68 | // Destructor
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| 69 | ////////////////////////////////////////////////////////////////////////////
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| 70 | t_pppClient::~t_pppClient() {
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| 71 |
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| 72 | for (unsigned ii = 0; ii <= t_prn::MAXPRN; ii++) {
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| 73 | delete _satCodeBiases[ii];
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| 74 | }
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| 75 |
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| 76 | delete _filter;
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| 77 | delete _epoData;
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| 78 | delete _opt;
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| 79 | delete _ephUser;
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| 80 | delete _log;
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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 | void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
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| 86 |
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| 87 | // Convert and store observations
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| 88 | // ------------------------------
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| 89 | _epoData->clear();
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| 90 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
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| 91 | const t_satObs* obs = satObs[ii];
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| 92 | t_prn prn = obs->_prn;
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| 93 | t_satData* satData = new t_satData();
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| 94 |
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| 95 | if (_epoData->tt.undef()) {
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| 96 | _epoData->tt = obs->_time;
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| 97 | }
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| 98 |
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| 99 | satData->tt = obs->_time;
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| 100 | satData->prn = QString(prn.toInternalString().c_str());
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| 101 | satData->slipFlag = false;
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| 102 | satData->P1 = 0.0;
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| 103 | satData->P2 = 0.0;
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| 104 | satData->P5 = 0.0;
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| 105 | satData->P7 = 0.0;
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| 106 | satData->L1 = 0.0;
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| 107 | satData->L2 = 0.0;
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| 108 | satData->L5 = 0.0;
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| 109 | satData->L7 = 0.0;
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| 110 | for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) {
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| 111 | t_frqObs* frqObs = obs->_obs[ifrq];
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| 112 | double cb = 0.0;
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| 113 | const t_satCodeBias* satCB = satCodeBias(prn);
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| 114 | if (satCB && satCB->_bias.size()) {
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| 115 | for (unsigned ii = 0; ii < satCB->_bias.size(); ii++) {
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| 116 | const t_frqCodeBias& bias = satCB->_bias[ii];
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| 117 | if (frqObs && frqObs->_rnxType2ch == bias._rnxType2ch) {
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| 118 | cb = bias._value;
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| 119 | }
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| 120 | }
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| 121 | }
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| 122 | if (frqObs->_rnxType2ch[0] == '1') {
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| 123 | if (frqObs->_codeValid) satData->P1 = frqObs->_code + cb;
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| 124 | if (frqObs->_phaseValid) satData->L1 = frqObs->_phase;
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| 125 | if (frqObs->_slip) satData->slipFlag = true;
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| 126 | }
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| 127 | else if (frqObs->_rnxType2ch[0] == '2') {
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| 128 | if (frqObs->_codeValid) satData->P2 = frqObs->_code + cb;
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| 129 | if (frqObs->_phaseValid) satData->L2 = frqObs->_phase;
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| 130 | if (frqObs->_slip) satData->slipFlag = true;
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| 131 | }
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| 132 | else if (frqObs->_rnxType2ch[0] == '5') {
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| 133 | if (frqObs->_codeValid) satData->P5 = frqObs->_code + cb;
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| 134 | if (frqObs->_phaseValid) satData->L5 = frqObs->_phase;
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| 135 | if (frqObs->_slip) satData->slipFlag = true;
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| 136 | }
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| 137 | else if (frqObs->_rnxType2ch[0] == '7') {
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| 138 | if (frqObs->_codeValid) satData->P7 = frqObs->_code + cb;
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| 139 | if (frqObs->_phaseValid) satData->L7 = frqObs->_phase;
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| 140 | if (frqObs->_slip) satData->slipFlag = true;
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| 141 | }
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| 142 | }
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| 143 | putNewObs(satData);
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| 144 | }
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| 145 |
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| 146 | // Data Pre-Processing
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| 147 | // -------------------
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| 148 | QMutableMapIterator<QString, t_satData*> it(_epoData->satData);
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| 149 | while (it.hasNext()) {
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| 150 | it.next();
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| 151 | QString prn = it.key();
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| 152 | t_satData* satData = it.value();
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| 153 |
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| 154 | if (cmpToT(satData) != success) {
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| 155 | delete satData;
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| 156 | it.remove();
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| 157 | continue;
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| 158 | }
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| 159 | }
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| 160 |
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| 161 | // Filter Solution
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| 162 | // ---------------
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| 163 | if (_filter->update(_epoData) == success) {
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| 164 | output->_error = false;
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| 165 | output->_epoTime = _filter->time();
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| 166 | output->_xyzRover[0] = _filter->x();
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| 167 | output->_xyzRover[1] = _filter->y();
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| 168 | output->_xyzRover[2] = _filter->z();
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| 169 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], output->_covMatrix);
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| 170 | output->_neu[0] = _filter->neu()[0];
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| 171 | output->_neu[1] = _filter->neu()[1];
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| 172 | output->_neu[2] = _filter->neu()[2];
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| 173 | output->_numSat = _filter->numSat();
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| 174 | output->_pDop = _filter->PDOP();
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| 175 | output->_trp0 = _filter->trp0();
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| 176 | output->_trp = _filter->trp();
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| 177 | }
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| 178 | else {
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| 179 | output->_error = true;
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| 180 | }
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| 181 |
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| 182 | output->_log = _log->str();
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| 183 | delete _log; _log = new ostringstream();
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| 184 | }
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| 185 |
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| 186 | //
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| 187 | ////////////////////////////////////////////////////////////////////////////
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| 188 | void t_pppClient::putNewObs(t_satData* satData) {
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| 189 |
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| 190 | // Set Observations GPS
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| 191 | // --------------------
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| 192 | if (satData->system() == 'G') {
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| 193 | if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
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| 194 | satData->L1 != 0.0 && satData->L2 != 0.0 ) {
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| 195 | t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
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| 196 | t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
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| 197 | double f1 = t_CST::freq(fType1, 0);
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| 198 | double f2 = t_CST::freq(fType2, 0);
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| 199 | double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
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| 200 | double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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| 201 | satData->L1 = satData->L1 * t_CST::c / f1;
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| 202 | satData->L2 = satData->L2 * t_CST::c / f2;
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| 203 | satData->P3 = a1 * satData->P1 + a2 * satData->P2;
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| 204 | satData->L3 = a1 * satData->L1 + a2 * satData->L2;
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| 205 | satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
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| 206 | satData->lkA = a1;
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| 207 | satData->lkB = a2;
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| 208 | _epoData->satData[satData->prn] = satData;
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| 209 | }
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| 210 | else {
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| 211 | delete satData;
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| 212 | }
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| 213 | }
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| 214 |
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| 215 | // Set Observations Glonass
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| 216 | // ------------------------
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| 217 | else if (satData->system() == 'R' && _opt->useSystem('R')) {
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| 218 | if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
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| 219 | satData->L1 != 0.0 && satData->L2 != 0.0 ) {
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| 220 |
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| 221 | int channel = 0;
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| 222 | if (satData->system() == 'R') {
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| 223 | const t_eph* eph = _ephUser->ephLast(satData->prn);
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| 224 | if (eph) {
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| 225 | channel = eph->slotNum();
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| 226 | }
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| 227 | else {
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| 228 | delete satData;
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| 229 | return;
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| 230 | }
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| 231 | }
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| 232 |
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| 233 | t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
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| 234 | t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
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| 235 | double f1 = t_CST::freq(fType1, channel);
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| 236 | double f2 = t_CST::freq(fType2, channel);
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| 237 | double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
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| 238 | double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
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| 239 | satData->L1 = satData->L1 * t_CST::c / f1;
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| 240 | satData->L2 = satData->L2 * t_CST::c / f2;
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| 241 | satData->P3 = a1 * satData->P1 + a2 * satData->P2;
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| 242 | satData->L3 = a1 * satData->L1 + a2 * satData->L2;
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| 243 | satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
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| 244 | satData->lkA = a1;
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| 245 | satData->lkB = a2;
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| 246 | _epoData->satData[satData->prn] = satData;
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| 247 | }
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| 248 | else {
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| 249 | delete satData;
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| 250 | }
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| 251 | }
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| 252 |
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| 253 | // Set Observations Galileo
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| 254 | // ------------------------
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| 255 | else if (satData->system() == 'E' && _opt->useSystem('E')) {
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| 256 | if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
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| 257 | satData->L1 != 0.0 && satData->L5 != 0.0 ) {
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| 258 | double f1 = t_CST::freq(t_frequency::E1, 0);
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| 259 | double f5 = t_CST::freq(t_frequency::E5, 0);
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| 260 | double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
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| 261 | double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
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| 262 | satData->L1 = satData->L1 * t_CST::c / f1;
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| 263 | satData->L5 = satData->L5 * t_CST::c / f5;
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| 264 | satData->P3 = a1 * satData->P1 + a5 * satData->P5;
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| 265 | satData->L3 = a1 * satData->L1 + a5 * satData->L5;
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| 266 | satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
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| 267 | satData->lkA = a1;
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| 268 | satData->lkB = a5;
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| 269 | _epoData->satData[satData->prn] = satData;
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| 270 | }
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| 271 | else {
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| 272 | delete satData;
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| 273 | }
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| 274 | }
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| 275 |
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| 276 | // Set Observations BDS
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| 277 | // ---------------------
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| 278 | else if (satData->system() == 'C' && _opt->useSystem('C')) {
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| 279 | if (satData->P2 != 0.0 && satData->P7 != 0.0 &&
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| 280 | satData->L2 != 0.0 && satData->L7 != 0.0 ) {
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| 281 | double f2 = t_CST::freq(t_frequency::C2, 0);
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| 282 | double f7 = t_CST::freq(t_frequency::C7, 0);
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| 283 | double a2 = f2 * f2 / (f2 * f2 - f7 * f7);
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| 284 | double a7 = - f7 * f7 / (f2 * f2 - f7 * f7);
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| 285 | satData->L2 = satData->L2 * t_CST::c / f2;
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| 286 | satData->L7 = satData->L7 * t_CST::c / f7;
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| 287 | satData->P3 = a2 * satData->P2 + a7 * satData->P7;
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| 288 | satData->L3 = a2 * satData->L2 + a7 * satData->L7;
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| 289 | satData->lambda3 = a2 * t_CST::c / f2 + a7 * t_CST::c / f7;
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| 290 | satData->lkA = a2;
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| 291 | satData->lkB = a7;
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| 292 | _epoData->satData[satData->prn] = satData;
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| 293 | }
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| 294 | else {
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| 295 | delete satData;
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| 296 | }
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| 297 | }
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| 298 | }
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| 299 |
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| 300 | //
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| 301 | ////////////////////////////////////////////////////////////////////////////
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| 302 | void t_pppClient::putOrbCorrections(const std::vector<t_orbCorr*>& corr) {
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| 303 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 304 | QString prn = QString(corr[ii]->_prn.toInternalString().c_str());
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| 305 | t_eph* eLast = _ephUser->ephLast(prn);
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| 306 | t_eph* ePrev = _ephUser->ephPrev(prn);
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| 307 | if (eLast && eLast->IOD() == corr[ii]->_iod) {
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| 308 | eLast->setOrbCorr(corr[ii]);
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| 309 | }
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| 310 | else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
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| 311 | ePrev->setOrbCorr(corr[ii]);
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| 312 | }
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| 313 | }
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| 314 | }
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| 315 |
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| 316 | //
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| 317 | ////////////////////////////////////////////////////////////////////////////
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| 318 | void t_pppClient::putClkCorrections(const std::vector<t_clkCorr*>& corr) {
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| 319 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 320 | QString prn = QString(corr[ii]->_prn.toInternalString().c_str());
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| 321 | t_eph* eLast = _ephUser->ephLast(prn);
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| 322 | t_eph* ePrev = _ephUser->ephPrev(prn);
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| 323 | if (eLast && eLast->IOD() == corr[ii]->_iod) {
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| 324 | eLast->setClkCorr(corr[ii]);
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| 325 | }
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| 326 | else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
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| 327 | ePrev->setClkCorr(corr[ii]);
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| 328 | }
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| 329 | }
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| 330 | }
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| 331 |
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| 332 | //
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| 333 | //////////////////////////////////////////////////////////////////////////////
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| 334 | void t_pppClient::putCodeBiases(const std::vector<t_satCodeBias*>& satCodeBias) {
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| 335 | for (unsigned ii = 0; ii < satCodeBias.size(); ii++) {
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| 336 | putCodeBias(new t_satCodeBias(*satCodeBias[ii]));
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| 337 | }
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| 338 | }
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| 339 |
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| 340 | //
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| 341 | //////////////////////////////////////////////////////////////////////////////
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| 342 | void t_pppClient::putEphemeris(const t_eph* eph) {
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| 343 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 344 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 345 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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| 346 | const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
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| 347 | if (ephGPS) {
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| 348 | _ephUser->putNewEph(new t_ephGPS(*ephGPS), true);
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| 349 | }
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| 350 | else if (ephGlo) {
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| 351 | _ephUser->putNewEph(new t_ephGlo(*ephGlo), true);
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| 352 | }
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| 353 | else if (ephGal) {
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| 354 | _ephUser->putNewEph(new t_ephGal(*ephGal), true);
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| 355 | }
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| 356 | else if (ephBDS) {
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| 357 | _ephUser->putNewEph(new t_ephBDS(*ephBDS), true);
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| 358 | }
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| 359 | }
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| 360 |
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| 361 | // Satellite Position
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| 362 | ////////////////////////////////////////////////////////////////////////////
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| 363 | t_irc t_pppClient::getSatPos(const bncTime& tt, const QString& prn,
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| 364 | ColumnVector& xc, ColumnVector& vv) {
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| 365 |
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| 366 | t_eph* eLast = _ephUser->ephLast(prn);
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| 367 | t_eph* ePrev = _ephUser->ephPrev(prn);
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| 368 | if (eLast && eLast->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
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| 369 | return success;
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| 370 | }
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| 371 | else if (ePrev && ePrev->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
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| 372 | return success;
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| 373 | }
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| 374 | return failure;
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| 375 | }
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| 376 |
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| 377 | // Correct Time of Transmission
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| 378 | ////////////////////////////////////////////////////////////////////////////
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| 379 | t_irc t_pppClient::cmpToT(t_satData* satData) {
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| 380 |
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| 381 | double prange = satData->P3;
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| 382 | if (prange == 0.0) {
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| 383 | return failure;
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| 384 | }
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| 385 |
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| 386 | double clkSat = 0.0;
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| 387 | for (int ii = 1; ii <= 10; ii++) {
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| 388 |
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| 389 | bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
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| 390 |
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| 391 | ColumnVector xc(4);
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| 392 | ColumnVector vv(3);
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| 393 | if (getSatPos(ToT, satData->prn, xc, vv) != success) {
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| 394 | return failure;
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| 395 | }
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| 396 |
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| 397 | double clkSatOld = clkSat;
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| 398 | clkSat = xc(4);
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| 399 |
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| 400 | if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
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| 401 | satData->xx = xc.Rows(1,3);
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| 402 | satData->vv = vv;
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| 403 | satData->clk = clkSat * t_CST::c;
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| 404 | return success;
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| 405 | }
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| 406 | }
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| 407 |
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| 408 | return failure;
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| 409 | }
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| 410 |
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| 411 | void t_pppClient::putCodeBias(t_satCodeBias* satCodeBias) {
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| 412 | int iPrn = satCodeBias->_prn.toInt();
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| 413 | delete _satCodeBiases[iPrn];
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| 414 | _satCodeBiases[iPrn] = satCodeBias;
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| 415 | }
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