[2898] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: bncComb
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| 6 | *
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| 7 | * Purpose: Combinations of Orbit/Clock Corrections
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 22-Jan-2011
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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[2933] | 17 | #include <newmatio.h>
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[2921] | 18 | #include <iomanip>
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[3214] | 19 | #include <sstream>
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[2898] | 20 |
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| 21 | #include "bnccomb.h"
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[5070] | 22 | #include "bnccore.h"
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[3201] | 23 | #include "upload/bncrtnetdecoder.h"
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[2910] | 24 | #include "bncsettings.h"
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[2988] | 25 | #include "bncutils.h"
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[3181] | 26 | #include "bncsp3.h"
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[3052] | 27 | #include "bncantex.h"
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[5742] | 28 | #include "t_prn.h"
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[2898] | 29 |
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[3455] | 30 | const double sig0_offAC = 1000.0;
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| 31 | const double sig0_offACSat = 100.0;
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[3468] | 32 | const double sigP_offACSat = 0.01;
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[3455] | 33 | const double sig0_clkSat = 100.0;
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| 34 |
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| 35 | const double sigObs = 0.05;
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| 36 |
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| 37 | using namespace std;
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| 38 |
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[2898] | 39 | // Constructor
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| 40 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 41 | bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
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[3032] | 42 |
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[3433] | 43 | type = type_;
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| 44 | index = index_;
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| 45 | AC = ac_;
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| 46 | prn = prn_;
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| 47 | xx = 0.0;
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[3455] | 48 | eph = 0;
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[3429] | 49 |
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[3485] | 50 | if (type == offACgps) {
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[3455] | 51 | epoSpec = true;
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| 52 | sig0 = sig0_offAC;
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| 53 | sigP = sig0;
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[3429] | 54 | }
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[3485] | 55 | else if (type == offACglo) {
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| 56 | epoSpec = true;
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| 57 | sig0 = sig0_offAC;
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| 58 | sigP = sig0;
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| 59 | }
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[3429] | 60 | else if (type == offACSat) {
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[3455] | 61 | epoSpec = false;
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| 62 | sig0 = sig0_offACSat;
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| 63 | sigP = sigP_offACSat;
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[3429] | 64 | }
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| 65 | else if (type == clkSat) {
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[3455] | 66 | epoSpec = true;
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| 67 | sig0 = sig0_clkSat;
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| 68 | sigP = sig0;
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[3429] | 69 | }
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[2933] | 70 | }
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| 71 |
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| 72 | // Destructor
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| 73 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 74 | bncComb::cmbParam::~cmbParam() {
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[2933] | 75 | }
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| 76 |
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| 77 | // Partial
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| 78 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 79 | double bncComb::cmbParam::partial(const QString& AC_, const QString& prn_) {
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[2933] | 80 |
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[3485] | 81 | if (type == offACgps) {
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| 82 | if (AC == AC_ && prn_[0] == 'G') {
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[2934] | 83 | return 1.0;
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| 84 | }
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| 85 | }
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[3485] | 86 | else if (type == offACglo) {
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| 87 | if (AC == AC_ && prn_[0] == 'R') {
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| 88 | return 1.0;
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| 89 | }
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| 90 | }
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[3429] | 91 | else if (type == offACSat) {
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| 92 | if (AC == AC_ && prn == prn_) {
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[2933] | 93 | return 1.0;
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| 94 | }
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| 95 | }
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[3429] | 96 | else if (type == clkSat) {
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| 97 | if (prn == prn_) {
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[2933] | 98 | return 1.0;
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| 99 | }
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| 100 | }
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| 101 |
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| 102 | return 0.0;
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| 103 | }
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| 104 |
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[2990] | 105 | //
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| 106 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 107 | QString bncComb::cmbParam::toString() const {
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[2933] | 108 |
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[2990] | 109 | QString outStr;
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| 110 |
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[3485] | 111 | if (type == offACgps) {
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| 112 | outStr = "AC offset GPS " + AC;
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[2990] | 113 | }
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[3485] | 114 | else if (type == offACglo) {
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| 115 | outStr = "AC offset GLO " + AC;
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| 116 | }
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[3429] | 117 | else if (type == offACSat) {
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[2992] | 118 | outStr = "Sat Offset " + AC + " " + prn;
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[2990] | 119 | }
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[3429] | 120 | else if (type == clkSat) {
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[2992] | 121 | outStr = "Clk Corr " + prn;
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[2990] | 122 | }
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[2933] | 123 |
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[2990] | 124 | return outStr;
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| 125 | }
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| 126 |
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[2933] | 127 | // Constructor
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| 128 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 129 | bncComb::bncComb() : bncEphUser(true) {
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[2910] | 130 |
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| 131 | bncSettings settings;
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| 132 |
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| 133 | QStringList combineStreams = settings.value("combineStreams").toStringList();
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[2918] | 134 |
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[4183] | 135 | _cmbSampl = settings.value("cmbSampl").toInt();
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| 136 | if (_cmbSampl <= 0) {
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| 137 | _cmbSampl = 10;
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| 138 | }
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| 139 |
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[3455] | 140 | _masterMissingEpochs = 0;
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| 141 |
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[3143] | 142 | if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
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[2910] | 143 | QListIterator<QString> it(combineStreams);
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| 144 | while (it.hasNext()) {
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| 145 | QStringList hlp = it.next().split(" ");
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[2918] | 146 | cmbAC* newAC = new cmbAC();
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| 147 | newAC->mountPoint = hlp[0];
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| 148 | newAC->name = hlp[1];
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| 149 | newAC->weight = hlp[2].toDouble();
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[3453] | 150 | if (_masterOrbitAC.isEmpty()) {
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| 151 | _masterOrbitAC = newAC->name;
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| 152 | }
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[3429] | 153 | _ACs.append(newAC);
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[2910] | 154 | }
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| 155 | }
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[2927] | 156 |
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[3211] | 157 | _rtnetDecoder = 0;
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[3201] | 158 |
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[6155] | 159 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[5068] | 160 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[2933] | 161 |
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[5583] | 162 | connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
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[6155] | 163 | this, SLOT(slotProviderIDChanged(QString)));
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[5583] | 164 |
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[6155] | 165 | connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
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| 166 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
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| 167 |
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| 168 | connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
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| 169 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
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| 170 |
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[3470] | 171 | // Combination Method
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| 172 | // ------------------
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[3481] | 173 | if (settings.value("cmbMethod").toString() == "Single-Epoch") {
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| 174 | _method = singleEpoch;
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[3470] | 175 | }
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| 176 | else {
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[3481] | 177 | _method = filter;
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[3470] | 178 | }
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[3032] | 179 |
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[3484] | 180 | // Use Glonass
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| 181 | // -----------
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| 182 | if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
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| 183 | _useGlonass = true;
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| 184 | }
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| 185 | else {
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| 186 | _useGlonass = false;
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| 187 | }
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| 188 |
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[3032] | 189 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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| 190 | // ----------------------------------------------------------------------
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[3470] | 191 | if (_method == filter) {
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| 192 | int nextPar = 0;
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| 193 | QListIterator<cmbAC*> it(_ACs);
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| 194 | while (it.hasNext()) {
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| 195 | cmbAC* AC = it.next();
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[3485] | 196 | _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC->name, ""));
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[5808] | 197 | for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
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[3470] | 198 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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| 199 | _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
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| 200 | AC->name, prn));
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| 201 | }
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[3483] | 202 | if (_useGlonass) {
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[3485] | 203 | _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC->name, ""));
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[5808] | 204 | for (unsigned iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
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[3483] | 205 | QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
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| 206 | _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
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| 207 | AC->name, prn));
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| 208 | }
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| 209 | }
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[3470] | 210 | }
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[5808] | 211 | for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
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[3134] | 212 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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[3470] | 213 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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[2991] | 214 | }
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[3483] | 215 | if (_useGlonass) {
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[5808] | 216 | for (unsigned iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
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[3483] | 217 | QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
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| 218 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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| 219 | }
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| 220 | }
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[3470] | 221 |
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| 222 | // Initialize Variance-Covariance Matrix
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| 223 | // -------------------------------------
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| 224 | _QQ.ReSize(_params.size());
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| 225 | _QQ = 0.0;
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| 226 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 227 | cmbParam* pp = _params[iPar-1];
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| 228 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
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| 229 | }
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[2991] | 230 | }
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[2933] | 231 |
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[3052] | 232 | // ANTEX File
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| 233 | // ----------
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| 234 | _antex = 0;
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| 235 | QString antexFileName = settings.value("pppAntex").toString();
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| 236 | if (!antexFileName.isEmpty()) {
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| 237 | _antex = new bncAntex();
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| 238 | if (_antex->readFile(antexFileName) != success) {
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| 239 | emit newMessage("wrong ANTEX file", true);
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| 240 | delete _antex;
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| 241 | _antex = 0;
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| 242 | }
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| 243 | }
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[3138] | 244 |
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[3329] | 245 | // Maximal Residuum
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| 246 | // ----------------
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| 247 | _MAXRES = settings.value("cmbMaxres").toDouble();
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| 248 | if (_MAXRES <= 0.0) {
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| 249 | _MAXRES = 999.0;
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| 250 | }
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[2898] | 251 | }
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| 252 |
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| 253 | // Destructor
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| 254 | ////////////////////////////////////////////////////////////////////////////
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| 255 | bncComb::~bncComb() {
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[3429] | 256 | QListIterator<cmbAC*> icAC(_ACs);
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| 257 | while (icAC.hasNext()) {
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| 258 | delete icAC.next();
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[2918] | 259 | }
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[3201] | 260 | delete _rtnetDecoder;
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[3052] | 261 | delete _antex;
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[3296] | 262 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 263 | delete _params[iPar-1];
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| 264 | }
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[3556] | 265 | QListIterator<bncTime> itTime(_buffer.keys());
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[3551] | 266 | while (itTime.hasNext()) {
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[3556] | 267 | bncTime epoTime = itTime.next();
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| 268 | _buffer.remove(epoTime);
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[3429] | 269 | }
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[2898] | 270 | }
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| 271 |
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[6155] | 272 | // Remember orbit corrections
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[2898] | 273 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 274 | void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
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[2906] | 275 | QMutexLocker locker(&_mutex);
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[2913] | 276 |
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[6155] | 277 | for (int ii = 0; ii < orbCorrections.size(); ii++) {
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| 278 | t_orbCorr& orbCorr = orbCorrections[ii];
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| 279 | QString staID(orbCorr._staID.c_str());
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| 280 | QString prn(orbCorr._prn.toString().c_str());
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| 281 |
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| 282 | // Find/Check the AC Name
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| 283 | // ----------------------
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| 284 | QString acName;
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| 285 | QListIterator<cmbAC*> icAC(_ACs);
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| 286 | while (icAC.hasNext()) {
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| 287 | cmbAC* AC = icAC.next();
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| 288 | if (AC->mountPoint == staID) {
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| 289 | acName = AC->name;
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| 290 | break;
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| 291 | }
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[3431] | 292 | }
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[6155] | 293 | if (acName.isEmpty()) {
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| 294 | continue;
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| 295 | }
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[3431] | 296 |
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[6155] | 297 | // Store the correction
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| 298 | // --------------------
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| 299 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
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| 300 | storage[orbCorr._prn] = orbCorr;
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[2913] | 301 | }
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[6155] | 302 | }
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[2913] | 303 |
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[6155] | 304 | // Process clock corrections
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| 305 | ////////////////////////////////////////////////////////////////////////////
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| 306 | void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
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| 307 | QMutexLocker locker(&_mutex);
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| 308 |
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| 309 | bncTime lastTime;
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| 310 |
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| 311 | for (int ii = 0; ii < clkCorrections.size(); ii++) {
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| 312 | t_clkCorr& clkCorr = clkCorrections[ii];
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| 313 | QString staID(clkCorr._staID.c_str());
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| 314 | QString prn(clkCorr._prn.toString().c_str());
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| 315 |
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| 316 | // Set the last time
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| 317 | // -----------------
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| 318 | if (lastTime.undef() || clkCorr._time > lastTime) {
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| 319 | lastTime = clkCorr._time;
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[3483] | 320 | }
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| 321 |
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[6155] | 322 | // Find/Check the AC Name
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| 323 | // ----------------------
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| 324 | QString acName;
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| 325 | QListIterator<cmbAC*> icAC(_ACs);
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| 326 | while (icAC.hasNext()) {
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| 327 | cmbAC* AC = icAC.next();
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| 328 | if (AC->mountPoint == staID) {
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| 329 | acName = AC->name;
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| 330 | break;
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| 331 | }
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[3588] | 332 | }
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[6155] | 333 | if (acName.isEmpty()) {
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| 334 | continue;
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| 335 | }
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[3588] | 336 |
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[6155] | 337 | // Check GLONASS
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| 338 | // -------------
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| 339 | if (!_useGlonass && clkCorr._prn.system() == 'R') {
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| 340 | continue;
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[3590] | 341 | }
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| 342 |
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[6155] | 343 | // Check Modulo Time
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| 344 | // -----------------
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| 345 | if (int(clkCorr._time.gpssec()) % _cmbSampl != 0.0) {
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| 346 | continue;
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| 347 | }
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[3274] | 348 |
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[6155] | 349 | // Check Correction Age
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| 350 | // --------------------
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| 351 | if (_resTime.valid() && clkCorr._time <= _resTime) {
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| 352 | emit newMessage("bncComb: old correction: " + acName.toAscii() + " " + prn.toAscii(), true);
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| 353 | continue;
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| 354 | }
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[6156] | 355 |
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[6155] | 356 | // Create new correction
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| 357 | // ---------------------
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| 358 | cmbCorr* newCorr = new cmbCorr();
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| 359 | newCorr->_prn = clkCorr._prn;
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| 360 | newCorr->_time = clkCorr._time;
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| 361 | newCorr->_iod = clkCorr._iod;
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| 362 | newCorr->_acName = acName;
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| 363 | newCorr->_clkCorr = new t_clkCorr(clkCorr);
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| 364 |
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[6156] | 365 | // Check orbit correction
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| 366 | // ----------------------
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| 367 | if (!_orbCorrections.contains(acName)) {
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| 368 | delete newCorr;
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| 369 | continue;
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| 370 | }
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| 371 | else {
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| 372 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
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| 373 | if (!storage.contains(clkCorr._prn) || storage[clkCorr._prn]._iod != newCorr->_iod) {
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| 374 | delete newCorr;
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| 375 | continue;
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| 376 | }
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| 377 | else {
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| 378 | newCorr->_orbCorr = new t_orbCorr(storage[clkCorr._prn]);
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| 379 | }
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| 380 | }
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| 381 |
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[6155] | 382 | // Check the Ephemeris
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| 383 | //--------------------
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| 384 | if (_eph.find(prn) == _eph.end()) {
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| 385 | emit newMessage("bncComb: eph not found " + prn.toAscii(), true);
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| 386 | delete newCorr;
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| 387 | continue;
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[2986] | 388 | }
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[3029] | 389 | else {
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[6155] | 390 | t_eph* lastEph = _eph[prn]->last;
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| 391 | t_eph* prevEph = _eph[prn]->prev;
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| 392 | if (lastEph && lastEph->IOD() == newCorr->_iod) {
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| 393 | newCorr->_eph = lastEph;
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| 394 | }
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| 395 | else if (lastEph && prevEph && prevEph->IOD() == newCorr->_iod) {
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| 396 | newCorr->_eph = prevEph;
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| 397 | switchToLastEph(lastEph, newCorr);
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| 398 | }
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| 399 | else {
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| 400 | emit newMessage("bncComb: eph not found " + prn.toAscii() +
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| 401 | QString(" %1").arg(newCorr->_iod).toAscii(), true);
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| 402 | delete newCorr;
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| 403 | continue;
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| 404 | }
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[2986] | 405 | }
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[6155] | 406 |
|
---|
| 407 | // Store correction into the buffer
|
---|
| 408 | // --------------------------------
|
---|
| 409 | QVector<cmbCorr*>& corrs = _buffer[newCorr->_time].corrs;
|
---|
| 410 | corrs.push_back(newCorr);
|
---|
[2986] | 411 | }
|
---|
| 412 |
|
---|
[3435] | 413 | // Process previous Epoch(s)
|
---|
| 414 | // -------------------------
|
---|
[5134] | 415 | const double waitTime = 1.0 * _cmbSampl;
|
---|
[3556] | 416 | QListIterator<bncTime> itTime(_buffer.keys());
|
---|
[3435] | 417 | while (itTime.hasNext()) {
|
---|
[3556] | 418 | bncTime epoTime = itTime.next();
|
---|
[6155] | 419 | if (epoTime < lastTime - waitTime) {
|
---|
[3556] | 420 | _resTime = epoTime;
|
---|
[3435] | 421 | processEpoch();
|
---|
| 422 | }
|
---|
[2927] | 423 | }
|
---|
[2898] | 424 | }
|
---|
| 425 |
|
---|
[2986] | 426 | // Change the correction so that it refers to last received ephemeris
|
---|
| 427 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6155] | 428 | void bncComb::switchToLastEph(const t_eph* lastEph, cmbCorr* corr) {
|
---|
[3028] | 429 |
|
---|
[6155] | 430 | if (corr->_eph == lastEph) {
|
---|
[3429] | 431 | return;
|
---|
| 432 | }
|
---|
| 433 |
|
---|
[2987] | 434 | ColumnVector oldXC(4);
|
---|
| 435 | ColumnVector oldVV(3);
|
---|
[6155] | 436 | corr->_eph->getCrd(corr->_time, oldXC, oldVV, false);
|
---|
[2988] | 437 |
|
---|
[2987] | 438 | ColumnVector newXC(4);
|
---|
| 439 | ColumnVector newVV(3);
|
---|
[6155] | 440 | lastEph->getCrd(corr->_time, newXC, newVV, false);
|
---|
[2988] | 441 |
|
---|
| 442 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
|
---|
[2989] | 443 | ColumnVector dV = newVV - oldVV;
|
---|
| 444 | double dC = newXC(4) - oldXC(4);
|
---|
| 445 |
|
---|
[2988] | 446 | ColumnVector dRAO(3);
|
---|
| 447 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
|
---|
[2989] | 448 |
|
---|
| 449 | ColumnVector dDotRAO(3);
|
---|
| 450 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
|
---|
| 451 |
|
---|
[6155] | 452 | QString msg = "switch corr " + corr->_prn
|
---|
| 453 | + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
[3013] | 454 |
|
---|
[3029] | 455 | emit newMessage(msg.toAscii(), false);
|
---|
[3028] | 456 |
|
---|
[6155] | 457 | corr->_iod = lastEph->IOD();
|
---|
| 458 | corr->_eph = lastEph;
|
---|
| 459 |
|
---|
| 460 | if (corr->_clkCorr) {
|
---|
| 461 | corr->_clkCorr->_dClk -= dC;
|
---|
| 462 | }
|
---|
| 463 | if (corr->_orbCorr) {
|
---|
| 464 | for (int ii = 0; ii < 3; ii++) {
|
---|
| 465 | corr->_orbCorr->_xr[ii] += dRAO[ii];
|
---|
| 466 | corr->_orbCorr->_dotXr[ii] += dDotRAO[ii];
|
---|
| 467 | }
|
---|
| 468 | }
|
---|
[2986] | 469 | }
|
---|
| 470 |
|
---|
[3429] | 471 | // Process Epoch
|
---|
[2928] | 472 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 473 | void bncComb::processEpoch() {
|
---|
[2918] | 474 |
|
---|
[2990] | 475 | _log.clear();
|
---|
| 476 |
|
---|
| 477 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 478 |
|
---|
[3472] | 479 | out << endl << "Combination:" << endl
|
---|
| 480 | << "------------------------------" << endl;
|
---|
[2990] | 481 |
|
---|
[3433] | 482 | // Observation Statistics
|
---|
| 483 | // ----------------------
|
---|
[3455] | 484 | bool masterPresent = false;
|
---|
[3433] | 485 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 486 | while (icAC.hasNext()) {
|
---|
| 487 | cmbAC* AC = icAC.next();
|
---|
| 488 | AC->numObs = 0;
|
---|
[3434] | 489 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
[3433] | 490 | while (itCorr.hasNext()) {
|
---|
| 491 | cmbCorr* corr = itCorr.next();
|
---|
| 492 | if (corr->acName == AC->name) {
|
---|
| 493 | AC->numObs += 1;
|
---|
[3453] | 494 | if (AC->name == _masterOrbitAC) {
|
---|
| 495 | masterPresent = true;
|
---|
| 496 | }
|
---|
[3433] | 497 | }
|
---|
| 498 | }
|
---|
| 499 | out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
|
---|
| 500 | }
|
---|
| 501 |
|
---|
[3453] | 502 | // If Master not present, switch to another one
|
---|
| 503 | // --------------------------------------------
|
---|
[4889] | 504 | const unsigned switchMasterAfterGap = 1;
|
---|
[3456] | 505 | if (masterPresent) {
|
---|
| 506 | _masterMissingEpochs = 0;
|
---|
| 507 | }
|
---|
| 508 | else {
|
---|
[3455] | 509 | ++_masterMissingEpochs;
|
---|
[4889] | 510 | if (_masterMissingEpochs < switchMasterAfterGap) {
|
---|
[3457] | 511 | out << "Missing Master, Epoch skipped" << endl;
|
---|
[3556] | 512 | _buffer.remove(_resTime);
|
---|
[3455] | 513 | emit newMessage(_log, false);
|
---|
| 514 | return;
|
---|
[3453] | 515 | }
|
---|
[3455] | 516 | else {
|
---|
| 517 | _masterMissingEpochs = 0;
|
---|
| 518 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 519 | while (icAC.hasNext()) {
|
---|
| 520 | cmbAC* AC = icAC.next();
|
---|
| 521 | if (AC->numObs > 0) {
|
---|
| 522 | out << "Switching Master AC "
|
---|
| 523 | << _masterOrbitAC.toAscii().data() << " --> "
|
---|
| 524 | << AC->name.toAscii().data() << " "
|
---|
| 525 | << _resTime.datestr().c_str() << " "
|
---|
| 526 | << _resTime.timestr().c_str() << endl;
|
---|
| 527 | _masterOrbitAC = AC->name;
|
---|
| 528 | break;
|
---|
| 529 | }
|
---|
[3452] | 530 | }
|
---|
| 531 | }
|
---|
| 532 | }
|
---|
| 533 |
|
---|
[3472] | 534 | QMap<QString, t_corr*> resCorr;
|
---|
| 535 |
|
---|
| 536 | // Perform the actual Combination using selected Method
|
---|
| 537 | // ----------------------------------------------------
|
---|
| 538 | t_irc irc;
|
---|
[3475] | 539 | ColumnVector dx;
|
---|
[3472] | 540 | if (_method == filter) {
|
---|
[3475] | 541 | irc = processEpoch_filter(out, resCorr, dx);
|
---|
[3472] | 542 | }
|
---|
| 543 | else {
|
---|
[3475] | 544 | irc = processEpoch_singleEpoch(out, resCorr, dx);
|
---|
[3472] | 545 | }
|
---|
| 546 |
|
---|
[3475] | 547 | // Update Parameter Values, Print Results
|
---|
| 548 | // --------------------------------------
|
---|
[3472] | 549 | if (irc == success) {
|
---|
[3475] | 550 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 551 | cmbParam* pp = _params[iPar-1];
|
---|
| 552 | pp->xx += dx(iPar);
|
---|
| 553 | if (pp->type == cmbParam::clkSat) {
|
---|
| 554 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
| 555 | resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
|
---|
| 556 | }
|
---|
| 557 | }
|
---|
| 558 | out << _resTime.datestr().c_str() << " "
|
---|
| 559 | << _resTime.timestr().c_str() << " ";
|
---|
| 560 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 561 | out.setFieldWidth(8);
|
---|
| 562 | out.setRealNumberPrecision(4);
|
---|
| 563 | out << pp->toString() << " "
|
---|
| 564 | << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
|
---|
| 565 | out.setFieldWidth(0);
|
---|
| 566 | }
|
---|
[3472] | 567 | printResults(out, resCorr);
|
---|
| 568 | dumpResults(resCorr);
|
---|
| 569 | }
|
---|
| 570 |
|
---|
| 571 | // Delete Data, emit Message
|
---|
| 572 | // -------------------------
|
---|
[3556] | 573 | _buffer.remove(_resTime);
|
---|
[3472] | 574 | emit newMessage(_log, false);
|
---|
| 575 | }
|
---|
| 576 |
|
---|
| 577 | // Process Epoch - Filter Method
|
---|
| 578 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 579 | t_irc bncComb::processEpoch_filter(QTextStream& out,
|
---|
[3475] | 580 | QMap<QString, t_corr*>& resCorr,
|
---|
| 581 | ColumnVector& dx) {
|
---|
[3472] | 582 |
|
---|
[3429] | 583 | // Prediction Step
|
---|
| 584 | // ---------------
|
---|
[3472] | 585 | int nPar = _params.size();
|
---|
[2933] | 586 | ColumnVector x0(nPar);
|
---|
| 587 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
[3455] | 588 | cmbParam* pp = _params[iPar-1];
|
---|
| 589 | if (pp->epoSpec) {
|
---|
[3451] | 590 | pp->xx = 0.0;
|
---|
[3455] | 591 | _QQ.Row(iPar) = 0.0;
|
---|
| 592 | _QQ.Column(iPar) = 0.0;
|
---|
| 593 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3451] | 594 | }
|
---|
[3455] | 595 | else {
|
---|
| 596 | _QQ(iPar,iPar) += pp->sigP * pp->sigP;
|
---|
| 597 | }
|
---|
[2933] | 598 | x0(iPar) = pp->xx;
|
---|
| 599 | }
|
---|
| 600 |
|
---|
[3487] | 601 | // Check Satellite Positions for Outliers
|
---|
| 602 | // --------------------------------------
|
---|
[3497] | 603 | if (checkOrbits(out) != success) {
|
---|
[3487] | 604 | return failure;
|
---|
| 605 | }
|
---|
[3441] | 606 |
|
---|
[3455] | 607 | // Update and outlier detection loop
|
---|
| 608 | // ---------------------------------
|
---|
[3487] | 609 | SymmetricMatrix QQ_sav = _QQ;
|
---|
[3455] | 610 | while (true) {
|
---|
[3135] | 611 |
|
---|
[3455] | 612 | Matrix AA;
|
---|
| 613 | ColumnVector ll;
|
---|
| 614 | DiagonalMatrix PP;
|
---|
[3429] | 615 |
|
---|
[3455] | 616 | if (createAmat(AA, ll, PP, x0, resCorr) != success) {
|
---|
[3472] | 617 | return failure;
|
---|
[3441] | 618 | }
|
---|
[2933] | 619 |
|
---|
[5867] | 620 | dx = 0.0;
|
---|
[5808] | 621 | kalman(AA, ll, PP, _QQ, dx);
|
---|
[3429] | 622 | ColumnVector vv = ll - AA * dx;
|
---|
[3080] | 623 |
|
---|
[3429] | 624 | int maxResIndex;
|
---|
| 625 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
| 626 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 627 | out.setRealNumberPrecision(3);
|
---|
| 628 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
[3432] | 629 | << " Maximum Residuum " << maxRes << ' '
|
---|
[3434] | 630 | << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
|
---|
[3080] | 631 |
|
---|
[3432] | 632 | if (maxRes > _MAXRES) {
|
---|
| 633 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 634 | cmbParam* pp = _params[iPar-1];
|
---|
| 635 | if (pp->type == cmbParam::offACSat &&
|
---|
[3434] | 636 | pp->AC == corrs()[maxResIndex-1]->acName &&
|
---|
| 637 | pp->prn == corrs()[maxResIndex-1]->prn) {
|
---|
[3432] | 638 | QQ_sav.Row(iPar) = 0.0;
|
---|
| 639 | QQ_sav.Column(iPar) = 0.0;
|
---|
[3455] | 640 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3432] | 641 | }
|
---|
| 642 | }
|
---|
| 643 |
|
---|
| 644 | out << " Outlier" << endl;
|
---|
| 645 | _QQ = QQ_sav;
|
---|
[3455] | 646 | corrs().remove(maxResIndex-1);
|
---|
[3432] | 647 | }
|
---|
| 648 | else {
|
---|
| 649 | out << " OK" << endl;
|
---|
| 650 | break;
|
---|
| 651 | }
|
---|
| 652 | }
|
---|
| 653 |
|
---|
[3472] | 654 | return success;
|
---|
[2918] | 655 | }
|
---|
[3011] | 656 |
|
---|
[3201] | 657 | // Print results
|
---|
[3011] | 658 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 659 | void bncComb::printResults(QTextStream& out,
|
---|
[3011] | 660 | const QMap<QString, t_corr*>& resCorr) {
|
---|
| 661 |
|
---|
| 662 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 663 | while (it.hasNext()) {
|
---|
| 664 | it.next();
|
---|
| 665 | t_corr* corr = it.value();
|
---|
[3029] | 666 | const t_eph* eph = corr->eph;
|
---|
[3015] | 667 | if (eph) {
|
---|
[6109] | 668 | ColumnVector xc(4);
|
---|
| 669 | ColumnVector vv(3);
|
---|
| 670 | eph->getCrd(_resTime, xc, vv, false);
|
---|
[3015] | 671 |
|
---|
[3429] | 672 | out << _resTime.datestr().c_str() << " "
|
---|
| 673 | << _resTime.timestr().c_str() << " ";
|
---|
[3015] | 674 | out.setFieldWidth(3);
|
---|
| 675 | out << "Full Clock " << corr->prn << " " << corr->iod << " ";
|
---|
| 676 | out.setFieldWidth(14);
|
---|
[6109] | 677 | out << (xc(4) + corr->dClk) * t_CST::c << endl;
|
---|
[3370] | 678 | out.setFieldWidth(0);
|
---|
[3015] | 679 | }
|
---|
| 680 | else {
|
---|
| 681 | out << "bncComb::printResuls bug" << endl;
|
---|
| 682 | }
|
---|
[3011] | 683 | }
|
---|
| 684 | }
|
---|
[3202] | 685 |
|
---|
| 686 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
| 687 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 688 | void bncComb::dumpResults(const QMap<QString, t_corr*>& resCorr) {
|
---|
[3202] | 689 |
|
---|
[5337] | 690 | QString outLines;
|
---|
| 691 | QStringList corrLines;
|
---|
[3214] | 692 |
|
---|
| 693 | unsigned year, month, day, hour, minute;
|
---|
| 694 | double sec;
|
---|
[3429] | 695 | _resTime.civil_date(year, month, day);
|
---|
| 696 | _resTime.civil_time(hour, minute, sec);
|
---|
[3214] | 697 |
|
---|
[5337] | 698 | outLines.sprintf("* %4d %2d %2d %d %d %12.8f\n",
|
---|
| 699 | year, month, day, hour, minute, sec);
|
---|
[3214] | 700 |
|
---|
[3202] | 701 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 702 | while (it.hasNext()) {
|
---|
| 703 | it.next();
|
---|
| 704 | t_corr* corr = it.value();
|
---|
| 705 |
|
---|
[4978] | 706 | ColumnVector xc(4);
|
---|
| 707 | ColumnVector vv(3);
|
---|
[6109] | 708 | corr->eph->getCrd(_resTime, xc, vv, false);
|
---|
[4978] | 709 |
|
---|
| 710 | // Correction Phase Center --> CoM
|
---|
| 711 | // -------------------------------
|
---|
| 712 | ColumnVector dx(3); dx = 0.0;
|
---|
| 713 | if (_antex) {
|
---|
| 714 | double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
|
---|
[4992] | 715 | if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) != success) {
|
---|
| 716 | dx = 0;
|
---|
[5119] | 717 | cout << "antenna not found " << corr->prn.toAscii().data() << endl;
|
---|
[3214] | 718 | }
|
---|
| 719 | }
|
---|
[4978] | 720 |
|
---|
[5337] | 721 | outLines += corr->prn;
|
---|
| 722 | QString hlp;
|
---|
| 723 | hlp.sprintf(" APC 3 %15.4f %15.4f %15.4f"
|
---|
| 724 | " Clk 1 %15.4f"
|
---|
| 725 | " Vel 3 %15.4f %15.4f %15.4f"
|
---|
| 726 | " CoM 3 %15.4f %15.4f %15.4f\n",
|
---|
| 727 | xc(1), xc(2), xc(3),
|
---|
| 728 | xc(4)*t_CST::c,
|
---|
| 729 | vv(1), vv(2), vv(3),
|
---|
| 730 | xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
|
---|
| 731 | outLines += hlp;
|
---|
| 732 |
|
---|
[4978] | 733 | QString line;
|
---|
[5564] | 734 | int messageType = COTYPE_GPSCOMBINED;
|
---|
| 735 | int updateInt = 0;
|
---|
[4978] | 736 | line.sprintf("%d %d %d %.1f %s"
|
---|
| 737 | " %3d"
|
---|
| 738 | " %8.3f %8.3f %8.3f %8.3f"
|
---|
| 739 | " %10.5f %10.5f %10.5f %10.5f"
|
---|
[5576] | 740 | " %10.5f INTERNAL",
|
---|
[4978] | 741 | messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
|
---|
| 742 | corr->prn.toAscii().data(),
|
---|
| 743 | corr->iod,
|
---|
| 744 | corr->dClk * t_CST::c,
|
---|
| 745 | corr->rao[0],
|
---|
| 746 | corr->rao[1],
|
---|
| 747 | corr->rao[2],
|
---|
| 748 | corr->dotDClk * t_CST::c,
|
---|
| 749 | corr->dotRao[0],
|
---|
| 750 | corr->dotRao[1],
|
---|
| 751 | corr->dotRao[2],
|
---|
[5576] | 752 | corr->dotDotDClk * t_CST::c);
|
---|
[4978] | 753 | corrLines << line;
|
---|
| 754 |
|
---|
[3214] | 755 | delete corr;
|
---|
| 756 | }
|
---|
| 757 |
|
---|
[5337] | 758 | outLines += "EOE\n"; // End Of Epoch flag
|
---|
| 759 |
|
---|
[3215] | 760 | if (!_rtnetDecoder) {
|
---|
| 761 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
| 762 | }
|
---|
[3221] | 763 |
|
---|
[3215] | 764 | vector<string> errmsg;
|
---|
[5337] | 765 | _rtnetDecoder->Decode(outLines.toAscii().data(), outLines.length(), errmsg);
|
---|
[3215] | 766 |
|
---|
[5861] | 767 | // Send new Corrections to PPP etc.
|
---|
| 768 | // --------------------------------
|
---|
| 769 | emit newCorrections(corrLines);
|
---|
[3202] | 770 | }
|
---|
[3455] | 771 |
|
---|
| 772 | // Create First Design Matrix and Vector of Measurements
|
---|
| 773 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 774 | t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
| 775 | const ColumnVector& x0,
|
---|
| 776 | QMap<QString, t_corr*>& resCorr) {
|
---|
| 777 |
|
---|
| 778 | unsigned nPar = _params.size();
|
---|
| 779 | unsigned nObs = corrs().size();
|
---|
| 780 |
|
---|
| 781 | if (nObs == 0) {
|
---|
| 782 | return failure;
|
---|
| 783 | }
|
---|
| 784 |
|
---|
[5742] | 785 | int maxSat = t_prn::MAXPRN_GPS;
|
---|
[3486] | 786 | // if (_useGlonass) {
|
---|
[5742] | 787 | // maxSat = t_prn::MAXPRN_GPS + t_prn::MAXPRN_GLONASS;
|
---|
[3486] | 788 | // }
|
---|
[3455] | 789 |
|
---|
[5742] | 790 | const int nCon = (_method == filter) ? 1 + maxSat : 0;
|
---|
[3483] | 791 |
|
---|
[3455] | 792 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
| 793 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
| 794 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
| 795 |
|
---|
| 796 | int iObs = 0;
|
---|
| 797 |
|
---|
| 798 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 799 | while (itCorr.hasNext()) {
|
---|
| 800 | cmbCorr* corr = itCorr.next();
|
---|
| 801 | QString prn = corr->prn;
|
---|
[3487] | 802 |
|
---|
[3455] | 803 | ++iObs;
|
---|
| 804 |
|
---|
[3476] | 805 | if (corr->acName == _masterOrbitAC && resCorr.find(prn) == resCorr.end()) {
|
---|
| 806 | resCorr[prn] = new t_corr(*corr);
|
---|
[3455] | 807 | }
|
---|
| 808 |
|
---|
| 809 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 810 | cmbParam* pp = _params[iPar-1];
|
---|
| 811 | AA(iObs, iPar) = pp->partial(corr->acName, prn);
|
---|
| 812 | }
|
---|
| 813 |
|
---|
| 814 | ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
|
---|
| 815 | }
|
---|
| 816 |
|
---|
| 817 | // Regularization
|
---|
| 818 | // --------------
|
---|
[3474] | 819 | if (_method == filter) {
|
---|
| 820 | const double Ph = 1.e6;
|
---|
| 821 | PP(nObs+1) = Ph;
|
---|
[3461] | 822 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 823 | cmbParam* pp = _params[iPar-1];
|
---|
[3465] | 824 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[3474] | 825 | pp->type == cmbParam::clkSat ) {
|
---|
| 826 | AA(nObs+1, iPar) = 1.0;
|
---|
[3455] | 827 | }
|
---|
| 828 | }
|
---|
[3474] | 829 | int iCond = 1;
|
---|
[5808] | 830 | for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
|
---|
[3474] | 831 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
|
---|
| 832 | ++iCond;
|
---|
| 833 | PP(nObs+iCond) = Ph;
|
---|
| 834 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 835 | cmbParam* pp = _params[iPar-1];
|
---|
| 836 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
| 837 | pp->type == cmbParam::offACSat &&
|
---|
| 838 | pp->prn == prn) {
|
---|
| 839 | AA(nObs+iCond, iPar) = 1.0;
|
---|
| 840 | }
|
---|
| 841 | }
|
---|
| 842 | }
|
---|
[3486] | 843 | // if (_useGlonass) {
|
---|
[5742] | 844 | // for (int iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
|
---|
[3486] | 845 | // QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
|
---|
| 846 | // ++iCond;
|
---|
| 847 | // PP(nObs+iCond) = Ph;
|
---|
| 848 | // for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 849 | // cmbParam* pp = _params[iPar-1];
|
---|
| 850 | // if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
| 851 | // pp->type == cmbParam::offACSat &&
|
---|
| 852 | // pp->prn == prn) {
|
---|
| 853 | // AA(nObs+iCond, iPar) = 1.0;
|
---|
| 854 | // }
|
---|
| 855 | // }
|
---|
| 856 | // }
|
---|
| 857 | // }
|
---|
[3455] | 858 | }
|
---|
| 859 |
|
---|
| 860 | return success;
|
---|
| 861 | }
|
---|
[3470] | 862 |
|
---|
| 863 | // Process Epoch - Single-Epoch Method
|
---|
| 864 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3472] | 865 | t_irc bncComb::processEpoch_singleEpoch(QTextStream& out,
|
---|
[3475] | 866 | QMap<QString, t_corr*>& resCorr,
|
---|
| 867 | ColumnVector& dx) {
|
---|
[3470] | 868 |
|
---|
[3487] | 869 | // Check Satellite Positions for Outliers
|
---|
| 870 | // --------------------------------------
|
---|
[3497] | 871 | if (checkOrbits(out) != success) {
|
---|
[3487] | 872 | return failure;
|
---|
| 873 | }
|
---|
| 874 |
|
---|
[3482] | 875 | // Outlier Detection Loop
|
---|
| 876 | // ----------------------
|
---|
| 877 | while (true) {
|
---|
| 878 |
|
---|
| 879 | // Remove Satellites that are not in Master
|
---|
| 880 | // ----------------------------------------
|
---|
| 881 | QMutableVectorIterator<cmbCorr*> it(corrs());
|
---|
| 882 | while (it.hasNext()) {
|
---|
| 883 | cmbCorr* corr = it.next();
|
---|
| 884 | QString prn = corr->prn;
|
---|
| 885 | bool foundMaster = false;
|
---|
| 886 | QVectorIterator<cmbCorr*> itHlp(corrs());
|
---|
| 887 | while (itHlp.hasNext()) {
|
---|
| 888 | cmbCorr* corrHlp = itHlp.next();
|
---|
| 889 | QString prnHlp = corrHlp->prn;
|
---|
| 890 | QString ACHlp = corrHlp->acName;
|
---|
| 891 | if (ACHlp == _masterOrbitAC && prn == prnHlp) {
|
---|
| 892 | foundMaster = true;
|
---|
| 893 | break;
|
---|
| 894 | }
|
---|
[3476] | 895 | }
|
---|
[3482] | 896 | if (!foundMaster) {
|
---|
[3556] | 897 | delete corr;
|
---|
[3482] | 898 | it.remove();
|
---|
| 899 | }
|
---|
[3473] | 900 | }
|
---|
[3482] | 901 |
|
---|
| 902 | // Count Number of Observations per Satellite and per AC
|
---|
| 903 | // -----------------------------------------------------
|
---|
| 904 | QMap<QString, int> numObsPrn;
|
---|
| 905 | QMap<QString, int> numObsAC;
|
---|
| 906 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 907 | while (itCorr.hasNext()) {
|
---|
| 908 | cmbCorr* corr = itCorr.next();
|
---|
| 909 | QString prn = corr->prn;
|
---|
| 910 | QString AC = corr->acName;
|
---|
| 911 | if (numObsPrn.find(prn) == numObsPrn.end()) {
|
---|
| 912 | numObsPrn[prn] = 1;
|
---|
| 913 | }
|
---|
| 914 | else {
|
---|
| 915 | numObsPrn[prn] += 1;
|
---|
| 916 | }
|
---|
| 917 | if (numObsAC.find(AC) == numObsAC.end()) {
|
---|
| 918 | numObsAC[AC] = 1;
|
---|
| 919 | }
|
---|
| 920 | else {
|
---|
| 921 | numObsAC[AC] += 1;
|
---|
| 922 | }
|
---|
[3476] | 923 | }
|
---|
[3482] | 924 |
|
---|
| 925 | // Clean-Up the Paramters
|
---|
| 926 | // ----------------------
|
---|
| 927 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 928 | delete _params[iPar-1];
|
---|
[3474] | 929 | }
|
---|
[3482] | 930 | _params.clear();
|
---|
| 931 |
|
---|
| 932 | // Set new Parameters
|
---|
| 933 | // ------------------
|
---|
| 934 | int nextPar = 0;
|
---|
| 935 |
|
---|
| 936 | QMapIterator<QString, int> itAC(numObsAC);
|
---|
| 937 | while (itAC.hasNext()) {
|
---|
| 938 | itAC.next();
|
---|
| 939 | const QString& AC = itAC.key();
|
---|
| 940 | int numObs = itAC.value();
|
---|
| 941 | if (AC != _masterOrbitAC && numObs > 0) {
|
---|
[3485] | 942 | _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC, ""));
|
---|
| 943 | if (_useGlonass) {
|
---|
| 944 | _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC, ""));
|
---|
| 945 | }
|
---|
[3482] | 946 | }
|
---|
| 947 | }
|
---|
| 948 |
|
---|
| 949 | QMapIterator<QString, int> itPrn(numObsPrn);
|
---|
| 950 | while (itPrn.hasNext()) {
|
---|
| 951 | itPrn.next();
|
---|
| 952 | const QString& prn = itPrn.key();
|
---|
| 953 | int numObs = itPrn.value();
|
---|
| 954 | if (numObs > 0) {
|
---|
| 955 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
---|
| 956 | }
|
---|
| 957 | }
|
---|
| 958 |
|
---|
| 959 | int nPar = _params.size();
|
---|
| 960 | ColumnVector x0(nPar);
|
---|
| 961 | x0 = 0.0;
|
---|
| 962 |
|
---|
| 963 | // Create First-Design Matrix
|
---|
| 964 | // --------------------------
|
---|
| 965 | Matrix AA;
|
---|
| 966 | ColumnVector ll;
|
---|
| 967 | DiagonalMatrix PP;
|
---|
| 968 | if (createAmat(AA, ll, PP, x0, resCorr) != success) {
|
---|
| 969 | return failure;
|
---|
[3476] | 970 | }
|
---|
[3482] | 971 |
|
---|
| 972 | ColumnVector vv;
|
---|
| 973 | try {
|
---|
| 974 | Matrix ATP = AA.t() * PP;
|
---|
| 975 | SymmetricMatrix NN; NN << ATP * AA;
|
---|
| 976 | ColumnVector bb = ATP * ll;
|
---|
| 977 | _QQ = NN.i();
|
---|
| 978 | dx = _QQ * bb;
|
---|
| 979 | vv = ll - AA * dx;
|
---|
[3476] | 980 | }
|
---|
[3482] | 981 | catch (Exception& exc) {
|
---|
| 982 | out << exc.what() << endl;
|
---|
| 983 | return failure;
|
---|
[3476] | 984 | }
|
---|
[3474] | 985 |
|
---|
[3482] | 986 | int maxResIndex;
|
---|
| 987 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
| 988 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 989 | out.setRealNumberPrecision(3);
|
---|
| 990 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
| 991 | << " Maximum Residuum " << maxRes << ' '
|
---|
| 992 | << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
|
---|
[3474] | 993 |
|
---|
[3482] | 994 | if (maxRes > _MAXRES) {
|
---|
| 995 | out << " Outlier" << endl;
|
---|
[3556] | 996 | delete corrs()[maxResIndex-1];
|
---|
[3482] | 997 | corrs().remove(maxResIndex-1);
|
---|
[3474] | 998 | }
|
---|
[3482] | 999 | else {
|
---|
| 1000 | out << " OK" << endl;
|
---|
| 1001 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 1002 | out.setRealNumberPrecision(3);
|
---|
| 1003 | for (int ii = 0; ii < vv.Nrows(); ii++) {
|
---|
| 1004 | const cmbCorr* corr = corrs()[ii];
|
---|
| 1005 | out << _resTime.datestr().c_str() << ' '
|
---|
| 1006 | << _resTime.timestr().c_str() << " "
|
---|
| 1007 | << corr->acName << ' ' << corr->prn;
|
---|
| 1008 | out.setFieldWidth(6);
|
---|
| 1009 | out << " dClk = " << corr->dClk * t_CST::c << " res = " << vv[ii] << endl;
|
---|
| 1010 | out.setFieldWidth(0);
|
---|
| 1011 | }
|
---|
| 1012 | return success;
|
---|
[3474] | 1013 | }
|
---|
| 1014 |
|
---|
[3473] | 1015 | }
|
---|
[3474] | 1016 |
|
---|
[3482] | 1017 | return failure;
|
---|
[3470] | 1018 | }
|
---|
[3487] | 1019 |
|
---|
| 1020 | // Check Satellite Positions for Outliers
|
---|
| 1021 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3497] | 1022 | t_irc bncComb::checkOrbits(QTextStream& out) {
|
---|
[3487] | 1023 |
|
---|
[3489] | 1024 | const double MAX_DISPLACEMENT = 0.20;
|
---|
[3488] | 1025 |
|
---|
[3502] | 1026 | // Switch to last ephemeris (if possible)
|
---|
| 1027 | // --------------------------------------
|
---|
[3501] | 1028 | QMutableVectorIterator<cmbCorr*> im(corrs());
|
---|
| 1029 | while (im.hasNext()) {
|
---|
| 1030 | cmbCorr* corr = im.next();
|
---|
[3502] | 1031 | QString prn = corr->prn;
|
---|
[3503] | 1032 | if (_eph.find(prn) == _eph.end()) {
|
---|
[3502] | 1033 | out << "checkOrbit: missing eph (not found) " << corr->prn << endl;
|
---|
[3556] | 1034 | delete corr;
|
---|
[3501] | 1035 | im.remove();
|
---|
| 1036 | }
|
---|
[3503] | 1037 | else if (corr->eph == 0) {
|
---|
| 1038 | out << "checkOrbit: missing eph (zero) " << corr->prn << endl;
|
---|
[3556] | 1039 | delete corr;
|
---|
[3503] | 1040 | im.remove();
|
---|
| 1041 | }
|
---|
[3502] | 1042 | else {
|
---|
| 1043 | if ( corr->eph == _eph[prn]->last || corr->eph == _eph[prn]->prev ) {
|
---|
| 1044 | switchToLastEph(_eph[prn]->last, corr);
|
---|
| 1045 | }
|
---|
| 1046 | else {
|
---|
| 1047 | out << "checkOrbit: missing eph (deleted) " << corr->prn << endl;
|
---|
[3556] | 1048 | delete corr;
|
---|
[3502] | 1049 | im.remove();
|
---|
| 1050 | }
|
---|
| 1051 | }
|
---|
[3501] | 1052 | }
|
---|
| 1053 |
|
---|
[3488] | 1054 | while (true) {
|
---|
| 1055 |
|
---|
| 1056 | // Compute Mean Corrections for all Satellites
|
---|
| 1057 | // -------------------------------------------
|
---|
[3489] | 1058 | QMap<QString, int> numCorr;
|
---|
[3488] | 1059 | QMap<QString, ColumnVector> meanRao;
|
---|
| 1060 | QVectorIterator<cmbCorr*> it(corrs());
|
---|
| 1061 | while (it.hasNext()) {
|
---|
| 1062 | cmbCorr* corr = it.next();
|
---|
| 1063 | QString prn = corr->prn;
|
---|
| 1064 | if (meanRao.find(prn) == meanRao.end()) {
|
---|
| 1065 | meanRao[prn].ReSize(4);
|
---|
| 1066 | meanRao[prn].Rows(1,3) = corr->rao;
|
---|
| 1067 | meanRao[prn](4) = 1;
|
---|
| 1068 | }
|
---|
| 1069 | else {
|
---|
| 1070 | meanRao[prn].Rows(1,3) += corr->rao;
|
---|
| 1071 | meanRao[prn](4) += 1;
|
---|
| 1072 | }
|
---|
[3489] | 1073 | if (numCorr.find(prn) == numCorr.end()) {
|
---|
| 1074 | numCorr[prn] = 1;
|
---|
| 1075 | }
|
---|
| 1076 | else {
|
---|
| 1077 | numCorr[prn] += 1;
|
---|
| 1078 | }
|
---|
[3487] | 1079 | }
|
---|
[3488] | 1080 |
|
---|
| 1081 | // Compute Differences wrt Mean, find Maximum
|
---|
| 1082 | // ------------------------------------------
|
---|
| 1083 | QMap<QString, cmbCorr*> maxDiff;
|
---|
| 1084 | it.toFront();
|
---|
| 1085 | while (it.hasNext()) {
|
---|
| 1086 | cmbCorr* corr = it.next();
|
---|
| 1087 | QString prn = corr->prn;
|
---|
| 1088 | if (meanRao[prn](4) != 0) {
|
---|
| 1089 | meanRao[prn] /= meanRao[prn](4);
|
---|
| 1090 | meanRao[prn](4) = 0;
|
---|
| 1091 | }
|
---|
| 1092 | corr->diffRao = corr->rao - meanRao[prn].Rows(1,3);
|
---|
| 1093 | if (maxDiff.find(prn) == maxDiff.end()) {
|
---|
| 1094 | maxDiff[prn] = corr;
|
---|
| 1095 | }
|
---|
| 1096 | else {
|
---|
| 1097 | double normMax = maxDiff[prn]->diffRao.norm_Frobenius();
|
---|
| 1098 | double norm = corr->diffRao.norm_Frobenius();
|
---|
| 1099 | if (norm > normMax) {
|
---|
| 1100 | maxDiff[prn] = corr;
|
---|
| 1101 | }
|
---|
| 1102 | }
|
---|
[3487] | 1103 | }
|
---|
[3488] | 1104 |
|
---|
[3655] | 1105 | if (_ACs.size() == 1) {
|
---|
| 1106 | break;
|
---|
| 1107 | }
|
---|
| 1108 |
|
---|
[3488] | 1109 | // Remove Outliers
|
---|
| 1110 | // ---------------
|
---|
| 1111 | bool removed = false;
|
---|
| 1112 | QMutableVectorIterator<cmbCorr*> im(corrs());
|
---|
| 1113 | while (im.hasNext()) {
|
---|
| 1114 | cmbCorr* corr = im.next();
|
---|
| 1115 | QString prn = corr->prn;
|
---|
[3489] | 1116 | if (numCorr[prn] < 2) {
|
---|
[3556] | 1117 | delete corr;
|
---|
[3489] | 1118 | im.remove();
|
---|
| 1119 | }
|
---|
| 1120 | else if (corr == maxDiff[prn]) {
|
---|
[3488] | 1121 | double norm = corr->diffRao.norm_Frobenius();
|
---|
| 1122 | if (norm > MAX_DISPLACEMENT) {
|
---|
[3497] | 1123 | out << _resTime.datestr().c_str() << " "
|
---|
| 1124 | << _resTime.timestr().c_str() << " "
|
---|
| 1125 | << "Orbit Outlier: "
|
---|
| 1126 | << corr->acName.toAscii().data() << " "
|
---|
| 1127 | << prn.toAscii().data() << " "
|
---|
| 1128 | << corr->iod << " "
|
---|
| 1129 | << norm << endl;
|
---|
[3556] | 1130 | delete corr;
|
---|
[3488] | 1131 | im.remove();
|
---|
| 1132 | removed = true;
|
---|
| 1133 | }
|
---|
| 1134 | }
|
---|
[3487] | 1135 | }
|
---|
[3488] | 1136 |
|
---|
| 1137 | if (!removed) {
|
---|
| 1138 | break;
|
---|
| 1139 | }
|
---|
[3487] | 1140 | }
|
---|
| 1141 |
|
---|
| 1142 | return success;
|
---|
| 1143 | }
|
---|
[3588] | 1144 |
|
---|
| 1145 | //
|
---|
| 1146 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1147 | t_irc bncComb::mergeOrbitCorr(const cmbCorr* orbitCorr, cmbCorr* clkCorr) {
|
---|
| 1148 |
|
---|
[3751] | 1149 | clkCorr->iod = orbitCorr->iod; // is it always correct?
|
---|
| 1150 | clkCorr->eph = orbitCorr->eph;
|
---|
| 1151 | clkCorr->tRao = orbitCorr->tRao;
|
---|
| 1152 | clkCorr->rao = orbitCorr->rao;
|
---|
| 1153 | clkCorr->dotRao = orbitCorr->dotRao;
|
---|
[3589] | 1154 |
|
---|
[3588] | 1155 | return success;
|
---|
| 1156 | }
|
---|
[5583] | 1157 |
|
---|
| 1158 | //
|
---|
| 1159 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1160 | void bncComb::slotProviderIDChanged(QString mountPoint) {
|
---|
| 1161 | QMutexLocker locker(&_mutex);
|
---|
| 1162 |
|
---|
| 1163 | // Find the AC Name
|
---|
| 1164 | // ----------------
|
---|
| 1165 | QString acName;
|
---|
| 1166 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 1167 | while (icAC.hasNext()) {
|
---|
| 1168 | cmbAC* AC = icAC.next();
|
---|
| 1169 | if (AC->mountPoint == mountPoint) {
|
---|
| 1170 | acName = AC->name;
|
---|
| 1171 | break;
|
---|
| 1172 | }
|
---|
| 1173 | }
|
---|
| 1174 | if (acName.isEmpty()) {
|
---|
| 1175 | return;
|
---|
| 1176 | }
|
---|
| 1177 |
|
---|
| 1178 | // Remove all corrections of the corresponding AC
|
---|
| 1179 | // ----------------------------------------------
|
---|
| 1180 | QListIterator<bncTime> itTime(_buffer.keys());
|
---|
| 1181 | while (itTime.hasNext()) {
|
---|
| 1182 | bncTime epoTime = itTime.next();
|
---|
| 1183 | QVector<cmbCorr*>& corrVec = _buffer[epoTime].corrs;
|
---|
[5584] | 1184 | QMutableVectorIterator<cmbCorr*> it(corrVec);
|
---|
[5583] | 1185 | while (it.hasNext()) {
|
---|
| 1186 | cmbCorr* corr = it.next();
|
---|
| 1187 | if (acName == corr->acName) {
|
---|
[5584] | 1188 | delete corr;
|
---|
| 1189 | it.remove();
|
---|
[5583] | 1190 | }
|
---|
| 1191 | }
|
---|
| 1192 | }
|
---|
[5585] | 1193 |
|
---|
| 1194 | // Reset Satellite Offsets
|
---|
| 1195 | // -----------------------
|
---|
| 1196 | if (_method == filter) {
|
---|
| 1197 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1198 | cmbParam* pp = _params[iPar-1];
|
---|
| 1199 | if (pp->AC == acName && pp->type == cmbParam::offACSat) {
|
---|
| 1200 | pp->xx = 0.0;
|
---|
| 1201 | _QQ.Row(iPar) = 0.0;
|
---|
| 1202 | _QQ.Column(iPar) = 0.0;
|
---|
| 1203 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
| 1204 | }
|
---|
| 1205 | }
|
---|
| 1206 | }
|
---|
[5583] | 1207 | }
|
---|