[2057] | 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: bncParam, bncModel
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| 30 | *
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| 31 | * Purpose: Model for PPP
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 01-Dec-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 <iomanip>
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[2063] | 42 | #include <cmath>
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[2060] | 43 | #include <newmatio.h>
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[2113] | 44 | #include <sstream>
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[2057] | 45 |
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| 46 | #include "bncmodel.h"
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[3638] | 47 | #include "bncpppclient.h"
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[2113] | 48 | #include "bncapp.h"
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[2058] | 49 | #include "bncpppclient.h"
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| 50 | #include "bancroft.h"
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[2063] | 51 | #include "bncutils.h"
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[2580] | 52 | #include "bnctides.h"
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[2881] | 53 | #include "bncantex.h"
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[3636] | 54 | #include "pppopt.h"
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[2057] | 55 |
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| 56 | using namespace std;
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| 57 |
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[3420] | 58 | const unsigned MINOBS = 5;
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[3408] | 59 | const double MINELE = 10.0 * M_PI / 180.0;
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[3759] | 60 | const double MAXRES_CODE = 15.0;
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[3421] | 61 | const double MAXRES_PHASE_GPS = 0.04;
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[3419] | 62 | const double MAXRES_PHASE_GLONASS = 0.08;
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[3408] | 63 | const double GLONASS_WEIGHT_FACTOR = 5.0;
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[2070] | 64 |
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[2057] | 65 | // Constructor
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| 66 | ////////////////////////////////////////////////////////////////////////////
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[2080] | 67 | bncParam::bncParam(bncParam::parType typeIn, int indexIn,
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| 68 | const QString& prnIn) {
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| 69 | type = typeIn;
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| 70 | index = indexIn;
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| 71 | prn = prnIn;
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| 72 | index_old = 0;
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| 73 | xx = 0.0;
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[3330] | 74 | numEpo = 0;
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[2057] | 75 | }
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| 76 |
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| 77 | // Destructor
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| 78 | ////////////////////////////////////////////////////////////////////////////
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| 79 | bncParam::~bncParam() {
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| 80 | }
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| 81 |
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[2060] | 82 | // Partial
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| 83 | ////////////////////////////////////////////////////////////////////////////
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[2239] | 84 | double bncParam::partial(t_satData* satData, bool phase) {
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| 85 |
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[3312] | 86 | Tracer tracer("bncParam::partial");
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| 87 |
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[2239] | 88 | // Coordinates
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| 89 | // -----------
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[2060] | 90 | if (type == CRD_X) {
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[2109] | 91 | return (xx - satData->xx(1)) / satData->rho;
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[2060] | 92 | }
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| 93 | else if (type == CRD_Y) {
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[2109] | 94 | return (xx - satData->xx(2)) / satData->rho;
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[2060] | 95 | }
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| 96 | else if (type == CRD_Z) {
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[2109] | 97 | return (xx - satData->xx(3)) / satData->rho;
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[2060] | 98 | }
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[2239] | 99 |
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| 100 | // Receiver Clocks
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| 101 | // ---------------
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[2265] | 102 | else if (type == RECCLK) {
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| 103 | return 1.0;
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[2060] | 104 | }
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[2239] | 105 |
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| 106 | // Troposphere
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| 107 | // -----------
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[2084] | 108 | else if (type == TROPO) {
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| 109 | return 1.0 / sin(satData->eleSat);
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| 110 | }
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[2239] | 111 |
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[2782] | 112 | // Galileo Offset
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| 113 | // --------------
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| 114 | else if (type == GALILEO_OFFSET) {
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| 115 | if (satData->prn[0] == 'E') {
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| 116 | return 1.0;
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| 117 | }
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| 118 | else {
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| 119 | return 0.0;
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| 120 | }
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| 121 | }
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| 122 |
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[2239] | 123 | // Ambiguities
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| 124 | // -----------
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[2080] | 125 | else if (type == AMB_L3) {
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[2239] | 126 | if (phase && satData->prn == prn) {
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[2080] | 127 | return 1.0;
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| 128 | }
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| 129 | else {
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| 130 | return 0.0;
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| 131 | }
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| 132 | }
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[2239] | 133 |
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| 134 | // Default return
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| 135 | // --------------
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[2060] | 136 | return 0.0;
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| 137 | }
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| 138 |
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[2058] | 139 | // Constructor
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| 140 | ////////////////////////////////////////////////////////////////////////////
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[3638] | 141 | bncModel::bncModel(bncPPPclient* pppClient) {
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[2084] | 142 |
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[3638] | 143 | _pppClient = pppClient;
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| 144 | _staID = pppClient->staID();
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| 145 | _opt = pppClient->opt();
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[2113] | 146 |
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[2125] | 147 | // NMEA Output
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| 148 | // -----------
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[3636] | 149 | if (_opt->nmeaFile.isEmpty()) {
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[2125] | 150 | _nmeaFile = 0;
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| 151 | _nmeaStream = 0;
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| 152 | }
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| 153 | else {
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[3636] | 154 | QString hlpName = _opt->nmeaFile; expandEnvVar(hlpName);
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| 155 | _nmeaFile = new QFile(hlpName);
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| 156 | if (_opt->rnxAppend) {
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[2125] | 157 | _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 158 | }
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| 159 | else {
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| 160 | _nmeaFile->open(QIODevice::WriteOnly);
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| 161 | }
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| 162 | _nmeaStream = new QTextStream();
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| 163 | _nmeaStream->setDevice(_nmeaFile);
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| 164 | }
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[2881] | 165 |
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[3107] | 166 | // Antenna Name, ANTEX File
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| 167 | // ------------------------
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[2896] | 168 | _antex = 0;
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[3636] | 169 | if (!_opt->antexFile.isEmpty()) {
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[2881] | 170 | _antex = new bncAntex();
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[3636] | 171 | if (_antex->readFile(_opt->antexFile) != success) {
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[3638] | 172 | _pppClient->emitNewMessage("wrong ANTEX file", true);
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[2887] | 173 | delete _antex;
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| 174 | _antex = 0;
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[2883] | 175 | }
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[2881] | 176 | }
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[3107] | 177 |
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| 178 | // Bancroft Coordinates
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| 179 | // --------------------
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| 180 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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| 181 | _ellBanc.ReSize(3); _ellBanc = 0.0;
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[3408] | 182 |
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| 183 | // Save copy of data (used in outlier detection)
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| 184 | // ---------------------------------------------
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| 185 | _epoData_sav = new t_epoData();
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[2058] | 186 | }
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| 187 |
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[3108] | 188 | // Destructor
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[3107] | 189 | ////////////////////////////////////////////////////////////////////////////
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[3108] | 190 | bncModel::~bncModel() {
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| 191 | delete _nmeaStream;
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| 192 | delete _nmeaFile;
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| 193 | for (int ii = 0; ii < _posAverage.size(); ++ii) {
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| 194 | delete _posAverage[ii];
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| 195 | }
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| 196 | delete _antex;
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| 197 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 198 | delete _params[iPar-1];
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| 199 | }
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[3540] | 200 | for (int iPar = 1; iPar <= _params_sav.size(); iPar++) {
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| 201 | delete _params_sav[iPar-1];
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| 202 | }
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[3408] | 203 | delete _epoData_sav;
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[3108] | 204 | }
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| 205 |
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| 206 | // Reset Parameters and Variance-Covariance Matrix
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| 207 | ////////////////////////////////////////////////////////////////////////////
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[3107] | 208 | void bncModel::reset() {
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| 209 |
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[3312] | 210 | Tracer tracer("bncModel::reset");
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| 211 |
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[4801] | 212 | double lastTrp = 0.0;
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| 213 | for (int ii = 0; ii < _params.size(); ii++) {
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| 214 | bncParam* pp = _params[ii];
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| 215 | if (pp->type == bncParam::TROPO) {
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| 216 | lastTrp = pp->xx;
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| 217 | }
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| 218 | delete pp;
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[3107] | 219 | }
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| 220 | _params.clear();
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| 221 |
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| 222 | int nextPar = 0;
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| 223 | _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
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| 224 | _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
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| 225 | _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
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| 226 | _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
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[3636] | 227 | if (_opt->estTropo) {
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[4801] | 228 | bncParam* pp = new bncParam(bncParam::TROPO, ++nextPar, "");
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| 229 | pp->xx = lastTrp;
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| 230 | _params.push_back(pp);
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[3107] | 231 | }
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[3636] | 232 | if (_opt->useGalileo) {
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[3107] | 233 | _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, ""));
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| 234 | }
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| 235 |
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| 236 | _QQ.ReSize(_params.size());
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| 237 | _QQ = 0.0;
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| 238 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 239 | bncParam* pp = _params[iPar-1];
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| 240 | pp->xx = 0.0;
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| 241 | if (pp->isCrd()) {
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[3636] | 242 | _QQ(iPar,iPar) = _opt->sigCrd0 * _opt->sigCrd0;
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[3107] | 243 | }
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| 244 | else if (pp->type == bncParam::RECCLK) {
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[3636] | 245 | _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
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[3107] | 246 | }
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| 247 | else if (pp->type == bncParam::TROPO) {
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[3636] | 248 | _QQ(iPar,iPar) = _opt->sigTrp0 * _opt->sigTrp0;
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[3107] | 249 | }
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| 250 | else if (pp->type == bncParam::GALILEO_OFFSET) {
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[3636] | 251 | _QQ(iPar,iPar) = _opt->sigGalileoOffset0 * _opt->sigGalileoOffset0;
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[3107] | 252 | }
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| 253 | }
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| 254 | }
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| 255 |
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[2058] | 256 | // Bancroft Solution
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| 257 | ////////////////////////////////////////////////////////////////////////////
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| 258 | t_irc bncModel::cmpBancroft(t_epoData* epoData) {
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| 259 |
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[3312] | 260 | Tracer tracer("bncModel::cmpBancroft");
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| 261 |
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[3408] | 262 | if (epoData->sizeSys('G') < MINOBS) {
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[2547] | 263 | _log += "bncModel::cmpBancroft: not enough data\n";
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[2058] | 264 | return failure;
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| 265 | }
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| 266 |
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[3408] | 267 | Matrix BB(epoData->sizeSys('G'), 4);
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[2058] | 268 |
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[3408] | 269 | QMapIterator<QString, t_satData*> it(epoData->satData);
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[2791] | 270 | int iObsBanc = 0;
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[2058] | 271 | while (it.hasNext()) {
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| 272 | it.next();
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| 273 | t_satData* satData = it.value();
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[3408] | 274 | if (satData->system() == 'G') {
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| 275 | ++iObsBanc;
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| 276 | QString prn = it.key();
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| 277 | BB(iObsBanc, 1) = satData->xx(1);
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| 278 | BB(iObsBanc, 2) = satData->xx(2);
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| 279 | BB(iObsBanc, 3) = satData->xx(3);
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| 280 | BB(iObsBanc, 4) = satData->P3 + satData->clk;
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| 281 | }
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[2058] | 282 | }
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| 283 |
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| 284 | bancroft(BB, _xcBanc);
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| 285 |
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[2064] | 286 | // Ellipsoidal Coordinates
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| 287 | // ------------------------
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| 288 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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[2063] | 289 |
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[2064] | 290 | // Compute Satellite Elevations
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| 291 | // ----------------------------
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[3408] | 292 | QMutableMapIterator<QString, t_satData*> im(epoData->satData);
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| 293 | while (im.hasNext()) {
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| 294 | im.next();
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| 295 | t_satData* satData = im.value();
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[2789] | 296 | cmpEle(satData);
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[3408] | 297 | if (satData->eleSat < MINELE) {
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[2070] | 298 | delete satData;
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[3408] | 299 | im.remove();
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[2070] | 300 | }
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[2064] | 301 | }
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| 302 |
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[2058] | 303 | return success;
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| 304 | }
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[2060] | 305 |
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| 306 | // Computed Value
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| 307 | ////////////////////////////////////////////////////////////////////////////
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[2583] | 308 | double bncModel::cmpValue(t_satData* satData, bool phase) {
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[2060] | 309 |
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[3312] | 310 | Tracer tracer("bncModel::cmpValue");
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| 311 |
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[2073] | 312 | ColumnVector xRec(3);
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| 313 | xRec(1) = x();
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| 314 | xRec(2) = y();
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| 315 | xRec(3) = z();
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[2060] | 316 |
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[2073] | 317 | double rho0 = (satData->xx - xRec).norm_Frobenius();
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[2060] | 318 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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| 319 |
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[2073] | 320 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
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| 321 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
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| 322 | xRec(3) = z();
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| 323 |
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[2580] | 324 | tides(_time, xRec);
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| 325 |
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[2060] | 326 | satData->rho = (satData->xx - xRec).norm_Frobenius();
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| 327 |
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[2084] | 328 | double tropDelay = delay_saast(satData->eleSat) +
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| 329 | trp() / sin(satData->eleSat);
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[2060] | 330 |
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[2583] | 331 | double wind = 0.0;
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| 332 | if (phase) {
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| 333 | wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
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| 334 | }
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| 335 |
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[2783] | 336 | double offset = 0.0;
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| 337 | if (satData->prn[0] == 'E') {
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| 338 | offset = Galileo_offset();
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| 339 | }
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| 340 |
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[2894] | 341 | double phaseCenter = 0.0;
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[2938] | 342 | if (_antex) {
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| 343 | bool found;
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[3636] | 344 | phaseCenter = _antex->pco(_opt->antennaName, satData->eleSat, found);
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[2938] | 345 | if (!found) {
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[3638] | 346 | _pppClient->emitNewMessage("ANTEX: antenna >"
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[3636] | 347 | + _opt->antennaName.toAscii() + "< not found", true);
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[2938] | 348 | }
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[2894] | 349 | }
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| 350 |
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[3286] | 351 | double antennaOffset = 0.0;
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[3636] | 352 | if (_opt->antEccSet()) {
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[3287] | 353 | double cosa = cos(satData->azSat);
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| 354 | double sina = sin(satData->azSat);
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| 355 | double cose = cos(satData->eleSat);
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| 356 | double sine = sin(satData->eleSat);
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[3636] | 357 | antennaOffset = -_opt->antEccNEU[0] * cosa*cose
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| 358 | -_opt->antEccNEU[1] * sina*cose
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| 359 | -_opt->antEccNEU[2] * sine;
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[3286] | 360 | }
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| 361 |
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| 362 | return satData->rho + phaseCenter + antennaOffset + clk()
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[2894] | 363 | + offset - satData->clk + tropDelay + wind;
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[2060] | 364 | }
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| 365 |
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[2063] | 366 | // Tropospheric Model (Saastamoinen)
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| 367 | ////////////////////////////////////////////////////////////////////////////
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[2065] | 368 | double bncModel::delay_saast(double Ele) {
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[2063] | 369 |
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[3312] | 370 | Tracer tracer("bncModel::delay_saast");
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| 371 |
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[2769] | 372 | double xyz[3];
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| 373 | xyz[0] = x();
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| 374 | xyz[1] = y();
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| 375 | xyz[2] = z();
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| 376 | double ell[3];
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| 377 | xyz2ell(xyz, ell);
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| 378 | double height = ell[2];
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[2063] | 379 |
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[2064] | 380 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
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| 381 | double TT = 18.0 - height * 0.0065 + 273.15;
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| 382 | double hh = 50.0 * exp(-6.396e-4 * height);
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[2063] | 383 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
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| 384 |
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[2064] | 385 | double h_km = height / 1000.0;
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[2063] | 386 |
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| 387 | if (h_km < 0.0) h_km = 0.0;
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| 388 | if (h_km > 5.0) h_km = 5.0;
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| 389 | int ii = int(h_km + 1);
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| 390 | double href = ii - 1;
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| 391 |
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| 392 | double bCor[6];
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| 393 | bCor[0] = 1.156;
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| 394 | bCor[1] = 1.006;
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| 395 | bCor[2] = 0.874;
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| 396 | bCor[3] = 0.757;
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| 397 | bCor[4] = 0.654;
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| 398 | bCor[5] = 0.563;
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| 399 |
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| 400 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
|
---|
| 401 |
|
---|
| 402 | double zen = M_PI/2.0 - Ele;
|
---|
| 403 |
|
---|
| 404 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
|
---|
| 405 | }
|
---|
| 406 |
|
---|
[2073] | 407 | // Prediction Step of the Filter
|
---|
| 408 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3309] | 409 | void bncModel::predict(int iPhase, t_epoData* epoData) {
|
---|
[2073] | 410 |
|
---|
[3312] | 411 | Tracer tracer("bncModel::predict");
|
---|
| 412 |
|
---|
[3310] | 413 | if (iPhase == 0) {
|
---|
[2244] | 414 |
|
---|
[3310] | 415 | bool firstCrd = false;
|
---|
[3636] | 416 | if (!_lastTimeOK.valid() || (_opt->maxSolGap > 0 && _time - _lastTimeOK > _opt->maxSolGap)) {
|
---|
[3310] | 417 | firstCrd = true;
|
---|
| 418 | _startTime = epoData->tt;
|
---|
| 419 | reset();
|
---|
| 420 | }
|
---|
| 421 |
|
---|
| 422 | // Use different white noise for Quick-Start mode
|
---|
| 423 | // ----------------------------------------------
|
---|
[3636] | 424 | double sigCrdP_used = _opt->sigCrdP;
|
---|
| 425 | if ( _opt->quickStart > 0.0 && _opt->quickStart > (epoData->tt - _startTime) ) {
|
---|
[3310] | 426 | sigCrdP_used = 0.0;
|
---|
| 427 | }
|
---|
[3106] | 428 |
|
---|
[3310] | 429 | // Predict Parameter values, add white noise
|
---|
| 430 | // -----------------------------------------
|
---|
| 431 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 432 | bncParam* pp = _params[iPar-1];
|
---|
| 433 |
|
---|
| 434 | // Coordinates
|
---|
| 435 | // -----------
|
---|
| 436 | if (pp->type == bncParam::CRD_X) {
|
---|
| 437 | if (firstCrd) {
|
---|
[3636] | 438 | if (_opt->refCrdSet()) {
|
---|
| 439 | pp->xx = _opt->refCrd[0];
|
---|
[3310] | 440 | }
|
---|
| 441 | else {
|
---|
| 442 | pp->xx = _xcBanc(1);
|
---|
| 443 | }
|
---|
[2648] | 444 | }
|
---|
[3310] | 445 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 446 | }
|
---|
[3310] | 447 | else if (pp->type == bncParam::CRD_Y) {
|
---|
| 448 | if (firstCrd) {
|
---|
[3636] | 449 | if (_opt->refCrdSet()) {
|
---|
| 450 | pp->xx = _opt->refCrd[1];
|
---|
[3310] | 451 | }
|
---|
| 452 | else {
|
---|
| 453 | pp->xx = _xcBanc(2);
|
---|
| 454 | }
|
---|
[2648] | 455 | }
|
---|
[3310] | 456 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 457 | }
|
---|
[3310] | 458 | else if (pp->type == bncParam::CRD_Z) {
|
---|
| 459 | if (firstCrd) {
|
---|
[3636] | 460 | if (_opt->refCrdSet()) {
|
---|
| 461 | pp->xx = _opt->refCrd[2];
|
---|
[3310] | 462 | }
|
---|
| 463 | else {
|
---|
| 464 | pp->xx = _xcBanc(3);
|
---|
| 465 | }
|
---|
[2648] | 466 | }
|
---|
[3310] | 467 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
| 468 | }
|
---|
| 469 |
|
---|
| 470 | // Receiver Clocks
|
---|
| 471 | // ---------------
|
---|
| 472 | else if (pp->type == bncParam::RECCLK) {
|
---|
| 473 | pp->xx = _xcBanc(4);
|
---|
| 474 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
| 475 | _QQ(iPar, jj) = 0.0;
|
---|
[2648] | 476 | }
|
---|
[3636] | 477 | _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
|
---|
[2244] | 478 | }
|
---|
[3310] | 479 |
|
---|
| 480 | // Tropospheric Delay
|
---|
| 481 | // ------------------
|
---|
| 482 | else if (pp->type == bncParam::TROPO) {
|
---|
[3636] | 483 | _QQ(iPar,iPar) += _opt->sigTrpP * _opt->sigTrpP;
|
---|
[2244] | 484 | }
|
---|
[3310] | 485 |
|
---|
| 486 | // Galileo Offset
|
---|
| 487 | // --------------
|
---|
| 488 | else if (pp->type == bncParam::GALILEO_OFFSET) {
|
---|
[3636] | 489 | _QQ(iPar,iPar) += _opt->sigGalileoOffsetP * _opt->sigGalileoOffsetP;
|
---|
[3310] | 490 | }
|
---|
[2244] | 491 | }
|
---|
| 492 | }
|
---|
| 493 |
|
---|
| 494 | // Add New Ambiguities if necessary
|
---|
| 495 | // --------------------------------
|
---|
[3636] | 496 | if (_opt->usePhase) {
|
---|
[2080] | 497 |
|
---|
[2083] | 498 | // Make a copy of QQ and xx, set parameter indices
|
---|
| 499 | // -----------------------------------------------
|
---|
| 500 | SymmetricMatrix QQ_old = _QQ;
|
---|
| 501 |
|
---|
| 502 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 503 | _params[iPar-1]->index_old = _params[iPar-1]->index;
|
---|
| 504 | _params[iPar-1]->index = 0;
|
---|
| 505 | }
|
---|
| 506 |
|
---|
| 507 | // Remove Ambiguity Parameters without observations
|
---|
| 508 | // ------------------------------------------------
|
---|
| 509 | int iPar = 0;
|
---|
[3408] | 510 | QMutableVectorIterator<bncParam*> im(_params);
|
---|
| 511 | while (im.hasNext()) {
|
---|
| 512 | bncParam* par = im.next();
|
---|
[2083] | 513 | bool removed = false;
|
---|
| 514 | if (par->type == bncParam::AMB_L3) {
|
---|
[3408] | 515 | if (epoData->satData.find(par->prn) == epoData->satData.end()) {
|
---|
[2083] | 516 | removed = true;
|
---|
| 517 | delete par;
|
---|
[3408] | 518 | im.remove();
|
---|
[2083] | 519 | }
|
---|
[2080] | 520 | }
|
---|
[2083] | 521 | if (! removed) {
|
---|
| 522 | ++iPar;
|
---|
| 523 | par->index = iPar;
|
---|
| 524 | }
|
---|
[2080] | 525 | }
|
---|
[2083] | 526 |
|
---|
| 527 | // Add new ambiguity parameters
|
---|
| 528 | // ----------------------------
|
---|
[3408] | 529 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
| 530 | while (it.hasNext()) {
|
---|
| 531 | it.next();
|
---|
| 532 | t_satData* satData = it.value();
|
---|
[2789] | 533 | addAmb(satData);
|
---|
[2080] | 534 | }
|
---|
[2083] | 535 |
|
---|
| 536 | int nPar = _params.size();
|
---|
| 537 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
| 538 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
| 539 | bncParam* p1 = _params[i1-1];
|
---|
| 540 | if (p1->index_old != 0) {
|
---|
| 541 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
| 542 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
| 543 | bncParam* p2 = _params[i2-1];
|
---|
| 544 | if (p2->index_old != 0) {
|
---|
| 545 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
| 546 | }
|
---|
[2080] | 547 | }
|
---|
| 548 | }
|
---|
| 549 | }
|
---|
[2083] | 550 |
|
---|
| 551 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
| 552 | bncParam* par = _params[ii-1];
|
---|
| 553 | if (par->index_old == 0) {
|
---|
[3636] | 554 | _QQ(par->index, par->index) = _opt->sigAmb0 * _opt->sigAmb0;
|
---|
[2083] | 555 | }
|
---|
| 556 | par->index_old = par->index;
|
---|
[2080] | 557 | }
|
---|
| 558 | }
|
---|
[2073] | 559 | }
|
---|
| 560 |
|
---|
[2060] | 561 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
| 562 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 563 | t_irc bncModel::update(t_epoData* epoData) {
|
---|
| 564 |
|
---|
[3312] | 565 | Tracer tracer("bncModel::update");
|
---|
| 566 |
|
---|
[2248] | 567 | _log.clear();
|
---|
[2124] | 568 |
|
---|
[3536] | 569 | _time = epoData->tt; // current epoch time
|
---|
| 570 |
|
---|
[3636] | 571 | if (_opt->pppMode) {
|
---|
[2827] | 572 | _log += "Precise Point Positioning of Epoch "
|
---|
| 573 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
| 574 | "\n---------------------------------------------------------------\n";
|
---|
| 575 | }
|
---|
| 576 | else {
|
---|
| 577 | _log += "Single Point Positioning of Epoch "
|
---|
| 578 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
[2547] | 579 | "\n--------------------------------------------------------------\n";
|
---|
[2827] | 580 | }
|
---|
[2547] | 581 |
|
---|
[3307] | 582 | // Outlier Detection Loop
|
---|
[2113] | 583 | // ----------------------
|
---|
[3321] | 584 | if (update_p(epoData) != success) {
|
---|
[3638] | 585 | _pppClient->emitNewMessage(_log, false);
|
---|
[3307] | 586 | return failure;
|
---|
| 587 | }
|
---|
[2080] | 588 |
|
---|
[2670] | 589 | // Remember the Epoch-specific Results for the computation of means
|
---|
| 590 | // ----------------------------------------------------------------
|
---|
| 591 | pppPos* newPos = new pppPos;
|
---|
| 592 | newPos->time = epoData->tt;
|
---|
| 593 |
|
---|
[2109] | 594 | // Set Solution Vector
|
---|
| 595 | // -------------------
|
---|
[2265] | 596 | ostringstream strB;
|
---|
| 597 | strB.setf(ios::fixed);
|
---|
[2073] | 598 | QVectorIterator<bncParam*> itPar(_params);
|
---|
[2060] | 599 | while (itPar.hasNext()) {
|
---|
| 600 | bncParam* par = itPar.next();
|
---|
[2265] | 601 |
|
---|
| 602 | if (par->type == bncParam::RECCLK) {
|
---|
[2798] | 603 | strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
|
---|
[2124] | 604 | << " +- " << setw(6) << setprecision(3)
|
---|
| 605 | << sqrt(_QQ(par->index,par->index));
|
---|
| 606 | }
|
---|
| 607 | else if (par->type == bncParam::AMB_L3) {
|
---|
[3330] | 608 | ++par->numEpo;
|
---|
[2265] | 609 | strB << "\n amb " << par->prn.toAscii().data() << " = "
|
---|
[2798] | 610 | << setw(10) << setprecision(3) << par->xx
|
---|
[2124] | 611 | << " +- " << setw(6) << setprecision(3)
|
---|
[3330] | 612 | << sqrt(_QQ(par->index,par->index))
|
---|
| 613 | << " nEpo = " << par->numEpo;
|
---|
[2124] | 614 | }
|
---|
[2212] | 615 | else if (par->type == bncParam::TROPO) {
|
---|
[2670] | 616 | double aprTrp = delay_saast(M_PI/2.0);
|
---|
[2547] | 617 | strB << "\n trp = " << par->prn.toAscii().data()
|
---|
[2670] | 618 | << setw(7) << setprecision(3) << aprTrp << " "
|
---|
[2213] | 619 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
[2212] | 620 | << " +- " << setw(6) << setprecision(3)
|
---|
| 621 | << sqrt(_QQ(par->index,par->index));
|
---|
[2670] | 622 | newPos->xnt[6] = aprTrp + par->xx;
|
---|
[2212] | 623 | }
|
---|
[2782] | 624 | else if (par->type == bncParam::GALILEO_OFFSET) {
|
---|
[2798] | 625 | strB << "\n offset = " << setw(10) << setprecision(3) << par->xx
|
---|
[2782] | 626 | << " +- " << setw(6) << setprecision(3)
|
---|
| 627 | << sqrt(_QQ(par->index,par->index));
|
---|
| 628 | }
|
---|
[2060] | 629 | }
|
---|
[2265] | 630 | strB << '\n';
|
---|
[2547] | 631 | _log += strB.str().c_str();
|
---|
[3638] | 632 | _pppClient->emitNewMessage(_log, false);
|
---|
[2060] | 633 |
|
---|
[2547] | 634 | // Final Message (both log file and screen)
|
---|
| 635 | // ----------------------------------------
|
---|
| 636 | ostringstream strC;
|
---|
| 637 | strC.setf(ios::fixed);
|
---|
| 638 | strC << _staID.data() << " PPP "
|
---|
[2599] | 639 | << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
|
---|
[2231] | 640 | << setw(14) << setprecision(3) << x() << " +- "
|
---|
| 641 | << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
|
---|
| 642 | << setw(14) << setprecision(3) << y() << " +- "
|
---|
| 643 | << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
|
---|
| 644 | << setw(14) << setprecision(3) << z() << " +- "
|
---|
[2124] | 645 | << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
|
---|
[2113] | 646 |
|
---|
[2370] | 647 | // NEU Output
|
---|
| 648 | // ----------
|
---|
[3636] | 649 | if (_opt->refCrdSet()) {
|
---|
| 650 | newPos->xnt[0] = x() - _opt->refCrd[0];
|
---|
| 651 | newPos->xnt[1] = y() - _opt->refCrd[1];
|
---|
| 652 | newPos->xnt[2] = z() - _opt->refCrd[2];
|
---|
[2862] | 653 |
|
---|
[2649] | 654 | double ellRef[3];
|
---|
[3636] | 655 | xyz2ell(_opt->refCrd, ellRef);
|
---|
[2670] | 656 | xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
|
---|
[2649] | 657 |
|
---|
[2547] | 658 | strC << " NEU "
|
---|
[2670] | 659 | << setw(8) << setprecision(3) << newPos->xnt[3] << " "
|
---|
| 660 | << setw(8) << setprecision(3) << newPos->xnt[4] << " "
|
---|
[2797] | 661 | << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
|
---|
[2649] | 662 |
|
---|
[2370] | 663 | }
|
---|
| 664 |
|
---|
[3638] | 665 | _pppClient->emitNewMessage(QByteArray(strC.str().c_str()), true);
|
---|
[2547] | 666 |
|
---|
[3636] | 667 | if (_opt->pppAverage == 0.0) {
|
---|
[2671] | 668 | delete newPos;
|
---|
| 669 | }
|
---|
| 670 | else {
|
---|
| 671 |
|
---|
| 672 | _posAverage.push_back(newPos);
|
---|
[2599] | 673 |
|
---|
[2648] | 674 | // Compute the Mean
|
---|
| 675 | // ----------------
|
---|
[2670] | 676 | ColumnVector mean(7); mean = 0.0;
|
---|
[2648] | 677 |
|
---|
[2599] | 678 | QMutableVectorIterator<pppPos*> it(_posAverage);
|
---|
| 679 | while (it.hasNext()) {
|
---|
| 680 | pppPos* pp = it.next();
|
---|
[3636] | 681 | if ( (epoData->tt - pp->time) >= _opt->pppAverage ) {
|
---|
[2599] | 682 | delete pp;
|
---|
| 683 | it.remove();
|
---|
| 684 | }
|
---|
[2648] | 685 | else {
|
---|
[2670] | 686 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 687 | mean[ii] += pp->xnt[ii];
|
---|
[2649] | 688 | }
|
---|
[2648] | 689 | }
|
---|
[2599] | 690 | }
|
---|
[2648] | 691 |
|
---|
| 692 | int nn = _posAverage.size();
|
---|
| 693 |
|
---|
[2649] | 694 | if (nn > 0) {
|
---|
[2648] | 695 |
|
---|
[2649] | 696 | mean /= nn;
|
---|
| 697 |
|
---|
| 698 | // Compute the Deviation
|
---|
| 699 | // ---------------------
|
---|
[2670] | 700 | ColumnVector std(7); std = 0.0;
|
---|
[2649] | 701 | QVectorIterator<pppPos*> it2(_posAverage);
|
---|
| 702 | while (it2.hasNext()) {
|
---|
| 703 | pppPos* pp = it2.next();
|
---|
[2670] | 704 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 705 | std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
|
---|
[2649] | 706 | }
|
---|
| 707 | }
|
---|
[2670] | 708 | for (int ii = 0; ii < 7; ++ii) {
|
---|
[2649] | 709 | std[ii] = sqrt(std[ii] / nn);
|
---|
| 710 | }
|
---|
[3169] | 711 |
|
---|
[3636] | 712 | if (_opt->refCrdSet()) {
|
---|
[3169] | 713 | ostringstream strD; strD.setf(ios::fixed);
|
---|
| 714 | strD << _staID.data() << " AVE-XYZ "
|
---|
| 715 | << epoData->tt.timestr(1) << " "
|
---|
[3636] | 716 | << setw(13) << setprecision(3) << mean[0] + _opt->refCrd[0] << " +- "
|
---|
[3169] | 717 | << setw(6) << setprecision(3) << std[0] << " "
|
---|
[3636] | 718 | << setw(14) << setprecision(3) << mean[1] + _opt->refCrd[1] << " +- "
|
---|
[3169] | 719 | << setw(6) << setprecision(3) << std[1] << " "
|
---|
[3636] | 720 | << setw(14) << setprecision(3) << mean[2] + _opt->refCrd[2] << " +- "
|
---|
[3169] | 721 | << setw(6) << setprecision(3) << std[2];
|
---|
[3638] | 722 | _pppClient->emitNewMessage(QByteArray(strD.str().c_str()), true);
|
---|
[2649] | 723 |
|
---|
[3169] | 724 | ostringstream strE; strE.setf(ios::fixed);
|
---|
| 725 | strE << _staID.data() << " AVE-NEU "
|
---|
| 726 | << epoData->tt.timestr(1) << " "
|
---|
| 727 | << setw(13) << setprecision(3) << mean[3] << " +- "
|
---|
| 728 | << setw(6) << setprecision(3) << std[3] << " "
|
---|
| 729 | << setw(14) << setprecision(3) << mean[4] << " +- "
|
---|
| 730 | << setw(6) << setprecision(3) << std[4] << " "
|
---|
| 731 | << setw(14) << setprecision(3) << mean[5] << " +- "
|
---|
| 732 | << setw(6) << setprecision(3) << std[5];
|
---|
[3638] | 733 | _pppClient->emitNewMessage(QByteArray(strE.str().c_str()), true);
|
---|
[2649] | 734 |
|
---|
[3636] | 735 | if (_opt->estTropo) {
|
---|
[3169] | 736 | ostringstream strF; strF.setf(ios::fixed);
|
---|
| 737 | strF << _staID.data() << " AVE-TRP "
|
---|
| 738 | << epoData->tt.timestr(1) << " "
|
---|
| 739 | << setw(13) << setprecision(3) << mean[6] << " +- "
|
---|
| 740 | << setw(6) << setprecision(3) << std[6] << endl;
|
---|
[3638] | 741 | _pppClient->emitNewMessage(QByteArray(strF.str().c_str()), true);
|
---|
[3169] | 742 | }
|
---|
[2726] | 743 | }
|
---|
[2599] | 744 | }
|
---|
| 745 | }
|
---|
| 746 |
|
---|
[2131] | 747 | // NMEA Output
|
---|
| 748 | // -----------
|
---|
[2181] | 749 | double xyz[3];
|
---|
| 750 | xyz[0] = x();
|
---|
| 751 | xyz[1] = y();
|
---|
| 752 | xyz[2] = z();
|
---|
| 753 | double ell[3];
|
---|
| 754 | xyz2ell(xyz, ell);
|
---|
| 755 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
| 756 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
[2132] | 757 |
|
---|
[2181] | 758 | char phiCh = 'N';
|
---|
| 759 | if (phiDeg < 0) {
|
---|
| 760 | phiDeg = -phiDeg;
|
---|
| 761 | phiCh = 'S';
|
---|
| 762 | }
|
---|
| 763 | char lamCh = 'E';
|
---|
| 764 | if (lamDeg < 0) {
|
---|
[2563] | 765 | lamDeg = -lamDeg;
|
---|
| 766 | lamCh = 'W';
|
---|
[2181] | 767 | }
|
---|
[2132] | 768 |
|
---|
[2566] | 769 | string datestr = epoData->tt.datestr(0); // yyyymmdd
|
---|
| 770 | ostringstream strRMC;
|
---|
| 771 | strRMC.setf(ios::fixed);
|
---|
| 772 | strRMC << "GPRMC,"
|
---|
| 773 | << epoData->tt.timestr(0,0) << ",A,"
|
---|
| 774 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 775 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 776 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 777 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 778 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 779 | << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
|
---|
[2569] | 780 | << datestr[6] << datestr[7] << datestr[4] << datestr[5]
|
---|
| 781 | << datestr[2] << datestr[3] << ",,";
|
---|
[2566] | 782 |
|
---|
| 783 | writeNMEAstr(QString(strRMC.str().c_str()));
|
---|
| 784 |
|
---|
[2181] | 785 | double dop = 2.0; // TODO
|
---|
[2133] | 786 |
|
---|
[2566] | 787 | ostringstream strGGA;
|
---|
| 788 | strGGA.setf(ios::fixed);
|
---|
| 789 | strGGA << "GPGGA,"
|
---|
| 790 | << epoData->tt.timestr(0,0) << ','
|
---|
| 791 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 792 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 793 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 794 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 795 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 796 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
| 797 | << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
|
---|
| 798 | << setw(3) << setprecision(1) << dop << ','
|
---|
[2569] | 799 | << setprecision(3) << ell[2] << ",M,0.0,M,,";
|
---|
[2181] | 800 |
|
---|
[2566] | 801 | writeNMEAstr(QString(strGGA.str().c_str()));
|
---|
[2131] | 802 |
|
---|
[3106] | 803 | _lastTimeOK = _time; // remember time of last successful update
|
---|
[2060] | 804 | return success;
|
---|
| 805 | }
|
---|
[2112] | 806 |
|
---|
| 807 | // Outlier Detection
|
---|
| 808 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3412] | 809 | QString bncModel::outlierDetection(int iPhase, const ColumnVector& vv,
|
---|
| 810 | QMap<QString, t_satData*>& satData) {
|
---|
[2112] | 811 |
|
---|
[3312] | 812 | Tracer tracer("bncModel::outlierDetection");
|
---|
| 813 |
|
---|
[3414] | 814 | QString prnGPS;
|
---|
| 815 | QString prnGlo;
|
---|
| 816 | double maxResGPS = 0.0;
|
---|
| 817 | double maxResGlo = 0.0;
|
---|
| 818 | findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo);
|
---|
[2231] | 819 |
|
---|
[3414] | 820 | if (iPhase == 1) {
|
---|
| 821 | if (maxResGlo > MAXRES_PHASE_GLONASS) {
|
---|
| 822 | _log += "Outlier Phase " + prnGlo + " "
|
---|
| 823 | + QByteArray::number(maxResGlo, 'f', 3) + "\n";
|
---|
| 824 | return prnGlo;
|
---|
| 825 | }
|
---|
| 826 | else if (maxResGPS > MAXRES_PHASE_GPS) {
|
---|
| 827 | _log += "Outlier Phase " + prnGPS + " "
|
---|
| 828 | + QByteArray::number(maxResGPS, 'f', 3) + "\n";
|
---|
| 829 | return prnGPS;
|
---|
| 830 | }
|
---|
[2792] | 831 | }
|
---|
[3414] | 832 | else if (iPhase == 0 && maxResGPS > MAXRES_CODE) {
|
---|
| 833 | _log += "Outlier Code " + prnGPS + " "
|
---|
| 834 | + QByteArray::number(maxResGPS, 'f', 3) + "\n";
|
---|
| 835 | return prnGPS;
|
---|
[3408] | 836 | }
|
---|
[3414] | 837 |
|
---|
| 838 | return QString();
|
---|
[2112] | 839 | }
|
---|
[2130] | 840 |
|
---|
| 841 | //
|
---|
| 842 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 843 | void bncModel::writeNMEAstr(const QString& nmStr) {
|
---|
| 844 |
|
---|
[3312] | 845 | Tracer tracer("bncModel::writeNMEAstr");
|
---|
| 846 |
|
---|
[2130] | 847 | unsigned char XOR = 0;
|
---|
| 848 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
| 849 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
| 850 | }
|
---|
[2181] | 851 |
|
---|
| 852 | QString outStr = '$' + nmStr
|
---|
| 853 | + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
[2130] | 854 |
|
---|
[2178] | 855 | if (_nmeaStream) {
|
---|
[2181] | 856 | *_nmeaStream << outStr;
|
---|
[2178] | 857 | _nmeaStream->flush();
|
---|
| 858 | }
|
---|
[2130] | 859 |
|
---|
[3638] | 860 | _pppClient->emitNewNMEAstr(outStr.toAscii());
|
---|
[2130] | 861 | }
|
---|
[2283] | 862 |
|
---|
[3408] | 863 | //
|
---|
[2283] | 864 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 865 | void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
|
---|
| 866 | const DiagonalMatrix& PP,
|
---|
| 867 | SymmetricMatrix& QQ, ColumnVector& dx) {
|
---|
| 868 |
|
---|
[3312] | 869 | Tracer tracer("bncModel::kalman");
|
---|
| 870 |
|
---|
[2283] | 871 | int nObs = AA.Nrows();
|
---|
| 872 | int nPar = AA.Ncols();
|
---|
| 873 |
|
---|
| 874 | UpperTriangularMatrix SS = Cholesky(QQ).t();
|
---|
| 875 |
|
---|
| 876 | Matrix SA = SS*AA.t();
|
---|
| 877 | Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
|
---|
| 878 | for (int ii = 1; ii <= nObs; ++ii) {
|
---|
| 879 | SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
|
---|
| 880 | }
|
---|
| 881 |
|
---|
| 882 | SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
|
---|
| 883 | SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
|
---|
| 884 |
|
---|
| 885 | UpperTriangularMatrix UU;
|
---|
| 886 | QRZ(SRF, UU);
|
---|
| 887 |
|
---|
| 888 | SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
|
---|
| 889 | UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
|
---|
| 890 | Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
|
---|
| 891 |
|
---|
| 892 | UpperTriangularMatrix SHi = SH_rt.i();
|
---|
| 893 |
|
---|
| 894 | Matrix KT = SHi * YY;
|
---|
| 895 | SymmetricMatrix Hi; Hi << SHi * SHi.t();
|
---|
| 896 |
|
---|
| 897 | dx = KT.t() * ll;
|
---|
| 898 | QQ << (SS.t() * SS);
|
---|
| 899 | }
|
---|
[2582] | 900 |
|
---|
| 901 | // Phase Wind-Up Correction
|
---|
| 902 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 903 | double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
|
---|
| 904 | const ColumnVector& rRec) {
|
---|
| 905 |
|
---|
[3312] | 906 | Tracer tracer("bncModel::windUp");
|
---|
| 907 |
|
---|
[2582] | 908 | double Mjd = _time.mjd() + _time.daysec() / 86400.0;
|
---|
| 909 |
|
---|
| 910 | // First time - initialize to zero
|
---|
| 911 | // -------------------------------
|
---|
| 912 | if (!_windUpTime.contains(prn)) {
|
---|
| 913 | _windUpSum[prn] = 0.0;
|
---|
| 914 | }
|
---|
| 915 |
|
---|
| 916 | // Compute the correction for new time
|
---|
| 917 | // -----------------------------------
|
---|
[2942] | 918 | if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
|
---|
[2582] | 919 | _windUpTime[prn] = Mjd;
|
---|
| 920 |
|
---|
| 921 | // Unit Vector GPS Satellite --> Receiver
|
---|
| 922 | // --------------------------------------
|
---|
| 923 | ColumnVector rho = rRec - rSat;
|
---|
| 924 | rho /= rho.norm_Frobenius();
|
---|
| 925 |
|
---|
| 926 | // GPS Satellite unit Vectors sz, sy, sx
|
---|
| 927 | // -------------------------------------
|
---|
| 928 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
|
---|
| 929 |
|
---|
| 930 | ColumnVector xSun = Sun(Mjd);
|
---|
| 931 | xSun /= xSun.norm_Frobenius();
|
---|
| 932 |
|
---|
| 933 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
| 934 | ColumnVector sx = crossproduct(sy, sz);
|
---|
| 935 |
|
---|
| 936 | // Effective Dipole of the GPS Satellite Antenna
|
---|
| 937 | // ---------------------------------------------
|
---|
| 938 | ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
|
---|
| 939 | - crossproduct(rho, sy);
|
---|
| 940 |
|
---|
| 941 | // Receiver unit Vectors rx, ry
|
---|
| 942 | // ----------------------------
|
---|
| 943 | ColumnVector rx(3);
|
---|
| 944 | ColumnVector ry(3);
|
---|
| 945 |
|
---|
| 946 | double recEll[3]; xyz2ell(rRec.data(), recEll) ;
|
---|
| 947 | double neu[3];
|
---|
| 948 |
|
---|
| 949 | neu[0] = 1.0;
|
---|
| 950 | neu[1] = 0.0;
|
---|
| 951 | neu[2] = 0.0;
|
---|
| 952 | neu2xyz(recEll, neu, rx.data());
|
---|
| 953 |
|
---|
| 954 | neu[0] = 0.0;
|
---|
| 955 | neu[1] = -1.0;
|
---|
| 956 | neu[2] = 0.0;
|
---|
| 957 | neu2xyz(recEll, neu, ry.data());
|
---|
| 958 |
|
---|
| 959 | // Effective Dipole of the Receiver Antenna
|
---|
| 960 | // ----------------------------------------
|
---|
| 961 | ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
|
---|
| 962 | + crossproduct(rho, ry);
|
---|
| 963 |
|
---|
| 964 | // Resulting Effect
|
---|
| 965 | // ----------------
|
---|
| 966 | double alpha = DotProduct(dipSat,dipRec) /
|
---|
| 967 | (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
|
---|
| 968 |
|
---|
| 969 | if (alpha > 1.0) alpha = 1.0;
|
---|
| 970 | if (alpha < -1.0) alpha = -1.0;
|
---|
| 971 |
|
---|
| 972 | double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
|
---|
| 973 |
|
---|
| 974 | if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
|
---|
| 975 | dphi = -dphi;
|
---|
| 976 | }
|
---|
| 977 |
|
---|
| 978 | _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
|
---|
| 979 | }
|
---|
| 980 |
|
---|
| 981 | return _windUpSum[prn];
|
---|
| 982 | }
|
---|
[2789] | 983 |
|
---|
| 984 | //
|
---|
| 985 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 986 | void bncModel::cmpEle(t_satData* satData) {
|
---|
[3312] | 987 | Tracer tracer("bncModel::cmpEle");
|
---|
[2789] | 988 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
|
---|
| 989 | double rho = rr.norm_Frobenius();
|
---|
| 990 |
|
---|
| 991 | double neu[3];
|
---|
| 992 | xyz2neu(_ellBanc.data(), rr.data(), neu);
|
---|
| 993 |
|
---|
| 994 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
|
---|
| 995 | if (neu[2] < 0) {
|
---|
| 996 | satData->eleSat *= -1.0;
|
---|
| 997 | }
|
---|
| 998 | satData->azSat = atan2(neu[1], neu[0]);
|
---|
| 999 | }
|
---|
| 1000 |
|
---|
| 1001 | //
|
---|
| 1002 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1003 | void bncModel::addAmb(t_satData* satData) {
|
---|
[3312] | 1004 | Tracer tracer("bncModel::addAmb");
|
---|
[2789] | 1005 | bool found = false;
|
---|
| 1006 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1007 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 1008 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 1009 | found = true;
|
---|
| 1010 | break;
|
---|
| 1011 | }
|
---|
| 1012 | }
|
---|
| 1013 | if (!found) {
|
---|
| 1014 | bncParam* par = new bncParam(bncParam::AMB_L3,
|
---|
| 1015 | _params.size()+1, satData->prn);
|
---|
| 1016 | _params.push_back(par);
|
---|
| 1017 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
| 1018 | }
|
---|
| 1019 | }
|
---|
[2790] | 1020 |
|
---|
| 1021 | //
|
---|
| 1022 | ///////////////////////////////////////////////////////////////////////////
|
---|
[3309] | 1023 | void bncModel::addObs(int iPhase, unsigned& iObs, t_satData* satData,
|
---|
[2790] | 1024 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
|
---|
| 1025 |
|
---|
[3312] | 1026 | Tracer tracer("bncModel::addObs");
|
---|
| 1027 |
|
---|
[3316] | 1028 | const double ELEWGHT = 20.0;
|
---|
[3314] | 1029 | double ellWgtCoef = 1.0;
|
---|
| 1030 | double eleD = satData->eleSat * 180.0 / M_PI;
|
---|
| 1031 | if (eleD < ELEWGHT) {
|
---|
[3317] | 1032 | ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0);
|
---|
[3314] | 1033 | }
|
---|
| 1034 |
|
---|
[3408] | 1035 | // Remember Observation Index
|
---|
| 1036 | // --------------------------
|
---|
| 1037 | ++iObs;
|
---|
| 1038 | satData->obsIndex = iObs;
|
---|
| 1039 |
|
---|
[2791] | 1040 | // Phase Observations
|
---|
| 1041 | // ------------------
|
---|
[3309] | 1042 | if (iPhase == 1) {
|
---|
[2790] | 1043 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
[3636] | 1044 | double sigL3 = _opt->sigL3;
|
---|
[3319] | 1045 | if (satData->system() == 'R') {
|
---|
[3408] | 1046 | sigL3 *= GLONASS_WEIGHT_FACTOR;
|
---|
[3319] | 1047 | }
|
---|
[3408] | 1048 | PP(iObs,iObs) = 1.0 / (sigL3 * sigL3) / (ellWgtCoef * ellWgtCoef);
|
---|
[2790] | 1049 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1050 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 1051 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 1052 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
| 1053 | }
|
---|
| 1054 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
| 1055 | }
|
---|
| 1056 | }
|
---|
[3307] | 1057 |
|
---|
| 1058 | // Code Observations
|
---|
| 1059 | // -----------------
|
---|
| 1060 | else {
|
---|
| 1061 | ll(iObs) = satData->P3 - cmpValue(satData, false);
|
---|
[3636] | 1062 | PP(iObs,iObs) = 1.0 / (_opt->sigP3 * _opt->sigP3) / (ellWgtCoef * ellWgtCoef);
|
---|
[3307] | 1063 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1064 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
| 1065 | }
|
---|
| 1066 | }
|
---|
[2790] | 1067 | }
|
---|
[2791] | 1068 |
|
---|
| 1069 | //
|
---|
| 1070 | ///////////////////////////////////////////////////////////////////////////
|
---|
[3408] | 1071 | QByteArray bncModel::printRes(int iPhase, const ColumnVector& vv,
|
---|
| 1072 | const QMap<QString, t_satData*>& satDataMap) {
|
---|
| 1073 |
|
---|
[3312] | 1074 | Tracer tracer("bncModel::printRes");
|
---|
[3408] | 1075 |
|
---|
| 1076 | ostringstream str;
|
---|
| 1077 | str.setf(ios::fixed);
|
---|
| 1078 |
|
---|
| 1079 | QMapIterator<QString, t_satData*> it(satDataMap);
|
---|
| 1080 | while (it.hasNext()) {
|
---|
| 1081 | it.next();
|
---|
| 1082 | t_satData* satData = it.value();
|
---|
| 1083 | if (satData->obsIndex != 0) {
|
---|
| 1084 | str << _time.timestr(1)
|
---|
| 1085 | << " RES " << satData->prn.toAscii().data()
|
---|
| 1086 | << (iPhase ? " L3 " : " P3 ")
|
---|
| 1087 | << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl;
|
---|
| 1088 | }
|
---|
[2791] | 1089 | }
|
---|
[3408] | 1090 |
|
---|
| 1091 | return QByteArray(str.str().c_str());
|
---|
[2791] | 1092 | }
|
---|
[2792] | 1093 |
|
---|
| 1094 | //
|
---|
| 1095 | ///////////////////////////////////////////////////////////////////////////
|
---|
[3408] | 1096 | void bncModel::findMaxRes(const ColumnVector& vv,
|
---|
[2792] | 1097 | const QMap<QString, t_satData*>& satData,
|
---|
[3414] | 1098 | QString& prnGPS, QString& prnGlo,
|
---|
| 1099 | double& maxResGPS, double& maxResGlo) {
|
---|
[3408] | 1100 |
|
---|
[3312] | 1101 | Tracer tracer("bncModel::findMaxRes");
|
---|
[2792] | 1102 |
|
---|
[3414] | 1103 | maxResGPS = 0.0;
|
---|
| 1104 | maxResGlo = 0.0;
|
---|
[3408] | 1105 |
|
---|
[2792] | 1106 | QMapIterator<QString, t_satData*> it(satData);
|
---|
| 1107 | while (it.hasNext()) {
|
---|
| 1108 | it.next();
|
---|
| 1109 | t_satData* satData = it.value();
|
---|
[3414] | 1110 | if (satData->obsIndex != 0) {
|
---|
| 1111 | QString prn = satData->prn;
|
---|
| 1112 | if (prn[0] == 'R') {
|
---|
| 1113 | if (fabs(vv(satData->obsIndex)) > maxResGlo) {
|
---|
| 1114 | maxResGlo = fabs(vv(satData->obsIndex));
|
---|
| 1115 | prnGlo = prn;
|
---|
| 1116 | }
|
---|
| 1117 | }
|
---|
| 1118 | else {
|
---|
| 1119 | if (fabs(vv(satData->obsIndex)) > maxResGPS) {
|
---|
| 1120 | maxResGPS = fabs(vv(satData->obsIndex));
|
---|
| 1121 | prnGPS = prn;
|
---|
| 1122 | }
|
---|
| 1123 | }
|
---|
[2792] | 1124 | }
|
---|
| 1125 | }
|
---|
| 1126 | }
|
---|
| 1127 |
|
---|
[3307] | 1128 | // Update Step (private - loop over outliers)
|
---|
| 1129 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3321] | 1130 | t_irc bncModel::update_p(t_epoData* epoData) {
|
---|
[3307] | 1131 |
|
---|
[3312] | 1132 | Tracer tracer("bncModel::update_p");
|
---|
| 1133 |
|
---|
[3408] | 1134 | // Save Variance-Covariance Matrix, and Status Vector
|
---|
| 1135 | // --------------------------------------------------
|
---|
| 1136 | rememberState(epoData);
|
---|
[3307] | 1137 |
|
---|
[3412] | 1138 | QString lastOutlierPrn;
|
---|
[3375] | 1139 |
|
---|
[3408] | 1140 | // Try with all satellites, then with all minus one, etc.
|
---|
| 1141 | // ------------------------------------------------------
|
---|
[3412] | 1142 | while (selectSatellites(lastOutlierPrn, epoData->satData) == success) {
|
---|
[3307] | 1143 |
|
---|
[3412] | 1144 | QByteArray strResCode;
|
---|
| 1145 | QByteArray strResPhase;
|
---|
| 1146 |
|
---|
| 1147 | // Bancroft Solution
|
---|
| 1148 | // -----------------
|
---|
| 1149 | if (cmpBancroft(epoData) != success) {
|
---|
| 1150 | break;
|
---|
[3408] | 1151 | }
|
---|
[3406] | 1152 |
|
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[3412] | 1153 | // First update using code observations, then phase observations
|
---|
| 1154 | // -------------------------------------------------------------
|
---|
[3636] | 1155 | for (int iPhase = 0; iPhase <= (_opt->usePhase ? 1 : 0); iPhase++) {
|
---|
[3412] | 1156 |
|
---|
| 1157 | // Status Prediction
|
---|
| 1158 | // -----------------
|
---|
| 1159 | predict(iPhase, epoData);
|
---|
| 1160 |
|
---|
| 1161 | // Create First-Design Matrix
|
---|
| 1162 | // --------------------------
|
---|
| 1163 | unsigned nPar = _params.size();
|
---|
| 1164 | unsigned nObs = 0;
|
---|
| 1165 | if (iPhase == 0) {
|
---|
| 1166 | nObs = epoData->sizeAll() - epoData->sizeSys('R'); // Glonass code not used
|
---|
[3408] | 1167 | }
|
---|
[3412] | 1168 | else {
|
---|
| 1169 | nObs = epoData->sizeAll();
|
---|
[3409] | 1170 | }
|
---|
[3412] | 1171 |
|
---|
| 1172 | // Prepare first-design Matrix, vector observed-computed
|
---|
| 1173 | // -----------------------------------------------------
|
---|
| 1174 | Matrix AA(nObs, nPar); // first design matrix
|
---|
| 1175 | ColumnVector ll(nObs); // tems observed-computed
|
---|
| 1176 | DiagonalMatrix PP(nObs); PP = 0.0;
|
---|
| 1177 |
|
---|
| 1178 | unsigned iObs = 0;
|
---|
| 1179 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
| 1180 | while (it.hasNext()) {
|
---|
| 1181 | it.next();
|
---|
| 1182 | t_satData* satData = it.value();
|
---|
| 1183 | if (iPhase == 1 || satData->system() != 'R') {
|
---|
| 1184 | QString prn = satData->prn;
|
---|
| 1185 | addObs(iPhase, iObs, satData, AA, ll, PP);
|
---|
| 1186 | }
|
---|
[3408] | 1187 | }
|
---|
| 1188 |
|
---|
[3412] | 1189 | // Compute Filter Update
|
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| 1190 | // ---------------------
|
---|
[3422] | 1191 | ColumnVector dx;
|
---|
[3412] | 1192 | kalman(AA, ll, PP, _QQ, dx);
|
---|
| 1193 | ColumnVector vv = ll - AA * dx;
|
---|
| 1194 |
|
---|
| 1195 | // Print Residuals
|
---|
| 1196 | // ---------------
|
---|
| 1197 | if (iPhase == 0) {
|
---|
| 1198 | strResCode = printRes(iPhase, vv, epoData->satData);
|
---|
[3399] | 1199 | }
|
---|
[3412] | 1200 | else {
|
---|
| 1201 | strResPhase = printRes(iPhase, vv, epoData->satData);
|
---|
| 1202 | }
|
---|
[3408] | 1203 |
|
---|
[3412] | 1204 | // Check the residuals
|
---|
| 1205 | // -------------------
|
---|
| 1206 | lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData);
|
---|
[3408] | 1207 |
|
---|
[3412] | 1208 | // No Outlier Detected
|
---|
| 1209 | // -------------------
|
---|
| 1210 | if (lastOutlierPrn.isEmpty()) {
|
---|
[3413] | 1211 |
|
---|
[3422] | 1212 | QVectorIterator<bncParam*> itPar(_params);
|
---|
| 1213 | while (itPar.hasNext()) {
|
---|
| 1214 | bncParam* par = itPar.next();
|
---|
| 1215 | par->xx += dx(par->index);
|
---|
| 1216 | }
|
---|
[3413] | 1217 |
|
---|
[3636] | 1218 | if (!_opt->usePhase || iPhase == 1) {
|
---|
[3413] | 1219 | if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) {
|
---|
| 1220 | _log += "Neglected PRNs: ";
|
---|
[3415] | 1221 | if (!_outlierGPS.isEmpty()) {
|
---|
| 1222 | _log += _outlierGPS.last() + ' ';
|
---|
[3413] | 1223 | }
|
---|
| 1224 | QStringListIterator itGlo(_outlierGlo);
|
---|
| 1225 | while (itGlo.hasNext()) {
|
---|
| 1226 | QString prn = itGlo.next();
|
---|
| 1227 | _log += prn + ' ';
|
---|
| 1228 | }
|
---|
| 1229 | }
|
---|
| 1230 | _log += '\n';
|
---|
| 1231 |
|
---|
[3408] | 1232 | _log += strResCode + strResPhase;
|
---|
[3413] | 1233 |
|
---|
[3408] | 1234 | return success;
|
---|
[3393] | 1235 | }
|
---|
[3412] | 1236 | }
|
---|
[3393] | 1237 |
|
---|
[3412] | 1238 | // Outlier Found
|
---|
| 1239 | // -------------
|
---|
| 1240 | else {
|
---|
| 1241 | restoreState(epoData);
|
---|
| 1242 | break;
|
---|
| 1243 | }
|
---|
[3406] | 1244 |
|
---|
[3412] | 1245 | } // for iPhase
|
---|
[3406] | 1246 |
|
---|
[3412] | 1247 | } // while selectSatellites
|
---|
[3375] | 1248 |
|
---|
[3412] | 1249 | restoreState(epoData);
|
---|
[3408] | 1250 | return failure;
|
---|
[3323] | 1251 | }
|
---|
| 1252 |
|
---|
| 1253 | // Remeber Original State Vector and Variance-Covariance Matrix
|
---|
| 1254 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3408] | 1255 | void bncModel::rememberState(t_epoData* epoData) {
|
---|
[3323] | 1256 |
|
---|
| 1257 | _QQ_sav = _QQ;
|
---|
| 1258 |
|
---|
| 1259 | QVectorIterator<bncParam*> itSav(_params_sav);
|
---|
| 1260 | while (itSav.hasNext()) {
|
---|
| 1261 | bncParam* par = itSav.next();
|
---|
[3322] | 1262 | delete par;
|
---|
| 1263 | }
|
---|
[3323] | 1264 | _params_sav.clear();
|
---|
| 1265 |
|
---|
| 1266 | QVectorIterator<bncParam*> it(_params);
|
---|
| 1267 | while (it.hasNext()) {
|
---|
| 1268 | bncParam* par = it.next();
|
---|
| 1269 | _params_sav.push_back(new bncParam(*par));
|
---|
| 1270 | }
|
---|
[3408] | 1271 |
|
---|
| 1272 | _epoData_sav->deepCopy(epoData);
|
---|
[3307] | 1273 | }
|
---|
[3323] | 1274 |
|
---|
| 1275 | // Restore Original State Vector and Variance-Covariance Matrix
|
---|
| 1276 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3408] | 1277 | void bncModel::restoreState(t_epoData* epoData) {
|
---|
[3323] | 1278 |
|
---|
| 1279 | _QQ = _QQ_sav;
|
---|
| 1280 |
|
---|
| 1281 | QVectorIterator<bncParam*> it(_params);
|
---|
| 1282 | while (it.hasNext()) {
|
---|
| 1283 | bncParam* par = it.next();
|
---|
| 1284 | delete par;
|
---|
| 1285 | }
|
---|
| 1286 | _params.clear();
|
---|
| 1287 |
|
---|
| 1288 | QVectorIterator<bncParam*> itSav(_params_sav);
|
---|
| 1289 | while (itSav.hasNext()) {
|
---|
| 1290 | bncParam* par = itSav.next();
|
---|
| 1291 | _params.push_back(new bncParam(*par));
|
---|
| 1292 | }
|
---|
[3408] | 1293 |
|
---|
| 1294 | epoData->deepCopy(_epoData_sav);
|
---|
[3405] | 1295 | }
|
---|
[3412] | 1296 |
|
---|
| 1297 | //
|
---|
| 1298 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1299 | t_irc bncModel::selectSatellites(const QString& lastOutlierPrn,
|
---|
| 1300 | QMap<QString, t_satData*>& satData) {
|
---|
| 1301 |
|
---|
| 1302 | // First Call
|
---|
| 1303 | // ----------
|
---|
| 1304 | if (lastOutlierPrn.isEmpty()) {
|
---|
| 1305 | _outlierGPS.clear();
|
---|
| 1306 | _outlierGlo.clear();
|
---|
| 1307 | return success;
|
---|
| 1308 | }
|
---|
| 1309 |
|
---|
| 1310 | // Second and next trials
|
---|
| 1311 | // ----------------------
|
---|
| 1312 | else {
|
---|
| 1313 |
|
---|
| 1314 | if (lastOutlierPrn[0] == 'R') {
|
---|
| 1315 | _outlierGlo << lastOutlierPrn;
|
---|
| 1316 | }
|
---|
| 1317 |
|
---|
| 1318 | // Remove all Glonass Outliers
|
---|
| 1319 | // ---------------------------
|
---|
| 1320 | QStringListIterator it(_outlierGlo);
|
---|
| 1321 | while (it.hasNext()) {
|
---|
| 1322 | QString prn = it.next();
|
---|
| 1323 | if (satData.contains(prn)) {
|
---|
| 1324 | delete satData.take(prn);
|
---|
| 1325 | }
|
---|
| 1326 | }
|
---|
| 1327 |
|
---|
| 1328 | if (lastOutlierPrn[0] == 'R') {
|
---|
| 1329 | _outlierGPS.clear();
|
---|
| 1330 | return success;
|
---|
| 1331 | }
|
---|
| 1332 |
|
---|
| 1333 | // GPS Outlier appeared for the first time - try to delete it
|
---|
| 1334 | // ----------------------------------------------------------
|
---|
| 1335 | if (_outlierGPS.indexOf(lastOutlierPrn) == -1) {
|
---|
| 1336 | _outlierGPS << lastOutlierPrn;
|
---|
| 1337 | if (satData.contains(lastOutlierPrn)) {
|
---|
| 1338 | delete satData.take(lastOutlierPrn);
|
---|
| 1339 | }
|
---|
| 1340 | return success;
|
---|
| 1341 | }
|
---|
| 1342 |
|
---|
| 1343 | }
|
---|
| 1344 |
|
---|
| 1345 | return failure;
|
---|
| 1346 | }
|
---|