/* -------------------------------------------------------------------------
* BKG NTRIP Client
* -------------------------------------------------------------------------
*
* Class: bncComb
*
* Purpose: Combinations of Orbit/Clock Corrections
*
* Author: L. Mervart
*
* Created: 22-Jan-2011
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <newmatio.h>
#include <iomanip>
#include <sstream>
#include "bnccomb.h"
#include "bnccore.h"
#include "upload/bncrtnetdecoder.h"
#include "bncsettings.h"
#include "bncutils.h"
#include "bncsp3.h"
#include "bncantex.h"
#include "t_prn.h"
const double sig0_offAC = 1000.0;
const double sig0_offACSat = 100.0;
const double sigP_offACSat = 0.01;
const double sig0_clkSat = 100.0;
const double sigObs = 0.05;
using namespace std;
// Constructor
////////////////////////////////////////////////////////////////////////////
bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
type = type_;
index = index_;
AC = ac_;
prn = prn_;
xx = 0.0;
eph = 0;
if (type == offACgps) {
epoSpec = true;
sig0 = sig0_offAC;
sigP = sig0;
}
else if (type == offACglo) {
epoSpec = true;
sig0 = sig0_offAC;
sigP = sig0;
}
else if (type == offACSat) {
epoSpec = false;
sig0 = sig0_offACSat;
sigP = sigP_offACSat;
}
else if (type == clkSat) {
epoSpec = true;
sig0 = sig0_clkSat;
sigP = sig0;
}
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncComb::cmbParam::~cmbParam() {
}
// Partial
////////////////////////////////////////////////////////////////////////////
double bncComb::cmbParam::partial(const QString& AC_, const QString& prn_) {
if (type == offACgps) {
if (AC == AC_ && prn_[0] == 'G') {
return 1.0;
}
}
else if (type == offACglo) {
if (AC == AC_ && prn_[0] == 'R') {
return 1.0;
}
}
else if (type == offACSat) {
if (AC == AC_ && prn == prn_) {
return 1.0;
}
}
else if (type == clkSat) {
if (prn == prn_) {
return 1.0;
}
}
return 0.0;
}
//
////////////////////////////////////////////////////////////////////////////
QString bncComb::cmbParam::toString() const {
QString outStr;
if (type == offACgps) {
outStr = "AC offset GPS " + AC;
}
else if (type == offACglo) {
outStr = "AC offset GLO " + AC;
}
else if (type == offACSat) {
outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
}
else if (type == clkSat) {
outStr = "Clk Corr " + prn.mid(0,3);
}
return outStr;
}
// Singleton
////////////////////////////////////////////////////////////////////////////
bncComb* bncComb::instance() {
static bncComb _bncComb;
return &_bncComb;
}
// Constructor
////////////////////////////////////////////////////////////////////////////
bncComb::bncComb() : _ephUser(true) {
bncSettings settings;
QStringList cmbStreams = settings.value("cmbStreams").toStringList();
_cmbSampl = settings.value("cmbSampl").toInt();
if (_cmbSampl <= 0) {
_cmbSampl = 10;
}
_masterMissingEpochs = 0;
if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
QListIterator<QString> it(cmbStreams);
while (it.hasNext()) {
QStringList hlp = it.next().split(" ");
cmbAC* newAC = new cmbAC();
newAC->mountPoint = hlp[0];
newAC->name = hlp[1];
newAC->weight = hlp[2].toDouble();
if (_masterOrbitAC.isEmpty()) {
_masterOrbitAC = newAC->name;
}
_ACs.append(newAC);
}
}
_rtnetDecoder = 0;
connect(this, SIGNAL(newMessage(QByteArray,bool)),
BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
this, SLOT(slotProviderIDChanged(QString)));
connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
// Combination Method
// ------------------
if (settings.value("cmbMethod").toString() == "Single-Epoch") {
_method = singleEpoch;
}
else {
_method = filter;
}
// Use Glonass
// -----------
if ( Qt::CheckState(settings.value("cmbUseGlonass").toInt()) == Qt::Checked) {
_useGlonass = true;
}
else {
_useGlonass = false;
}
// Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
// ----------------------------------------------------------------------
if (_method == filter) {
int nextPar = 0;
QListIterator<cmbAC*> it(_ACs);
while (it.hasNext()) {
cmbAC* AC = it.next();
_params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC->name, ""));
for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
QString prn = QString("G%1_0").arg(iGps, 2, 10, QChar('0'));
_params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
AC->name, prn));
}
if (_useGlonass) {
_params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC->name, ""));
for (unsigned iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
QString prn = QString("R%1_0").arg(iGlo, 2, 10, QChar('0'));
_params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
AC->name, prn));
}
}
}
for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
QString prn = QString("G%1_0").arg(iGps, 2, 10, QChar('0'));
_params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
}
if (_useGlonass) {
for (unsigned iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
QString prn = QString("R%1_0").arg(iGlo, 2, 10, QChar('0'));
_params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
}
}
// Initialize Variance-Covariance Matrix
// -------------------------------------
_QQ.ReSize(_params.size());
_QQ = 0.0;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
_QQ(iPar,iPar) = pp->sig0 * pp->sig0;
}
}
// ANTEX File
// ----------
_antex = 0;
QString antexFileName = settings.value("uploadAntexFile").toString();
if (!antexFileName.isEmpty()) {
_antex = new bncAntex();
if (_antex->readFile(antexFileName) != success) {
emit newMessage("wrong ANTEX file", true);
delete _antex;
_antex = 0;
}
}
// Maximal Residuum
// ----------------
_MAXRES = settings.value("cmbMaxres").toDouble();
if (_MAXRES <= 0.0) {
_MAXRES = 999.0;
}
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncComb::~bncComb() {
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
delete icAC.next();
}
delete _rtnetDecoder;
delete _antex;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
delete _params[iPar-1];
}
QListIterator<bncTime> itTime(_buffer.keys());
while (itTime.hasNext()) {
bncTime epoTime = itTime.next();
_buffer.remove(epoTime);
}
}
// Remember orbit corrections
////////////////////////////////////////////////////////////////////////////
void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
QMutexLocker locker(&_mutex);
for (int ii = 0; ii < orbCorrections.size(); ii++) {
t_orbCorr& orbCorr = orbCorrections[ii];
QString staID(orbCorr._staID.c_str());
QString prn(orbCorr._prn.toInternalString().c_str());
// Find/Check the AC Name
// ----------------------
QString acName;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->mountPoint == staID) {
acName = AC->name;
break;
}
}
if (acName.isEmpty()) {
continue;
}
// Store the correction
// --------------------
QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
storage[orbCorr._prn] = orbCorr;
}
}
// Process clock corrections
////////////////////////////////////////////////////////////////////////////
void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
QMutexLocker locker(&_mutex);
bncTime lastTime;
for (int ii = 0; ii < clkCorrections.size(); ii++) {
t_clkCorr& clkCorr = clkCorrections[ii];
QString staID(clkCorr._staID.c_str());
QString prn(clkCorr._prn.toInternalString().c_str());
// Set the last time
// -----------------
if (lastTime.undef() || clkCorr._time > lastTime) {
lastTime = clkCorr._time;
}
// Find/Check the AC Name
// ----------------------
QString acName;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->mountPoint == staID) {
acName = AC->name;
break;
}
}
if (acName.isEmpty()) {
continue;
}
// Check GLONASS
// -------------
if (!_useGlonass && clkCorr._prn.system() == 'R') {
continue;
}
// Check Modulo Time
// -----------------
if (int(clkCorr._time.gpssec()) % _cmbSampl != 0.0) {
continue;
}
// Check Correction Age
// --------------------
if (_resTime.valid() && clkCorr._time <= _resTime) {
emit newMessage("bncComb: old correction: " + acName.toAscii() + " " + prn.mid(0,3).toAscii(), true);
continue;
}
// Create new correction
// ---------------------
cmbCorr* newCorr = new cmbCorr();
newCorr->_prn = prn;
newCorr->_time = clkCorr._time;
newCorr->_iod = clkCorr._iod;
newCorr->_acName = acName;
newCorr->_clkCorr = clkCorr;
// Check orbit correction
// ----------------------
if (!_orbCorrections.contains(acName)) {
delete newCorr;
continue;
}
else {
QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
if (!storage.contains(clkCorr._prn) || storage[clkCorr._prn]._iod != newCorr->_iod) {
delete newCorr;
continue;
}
else {
newCorr->_orbCorr = storage[clkCorr._prn];
}
}
// Check the Ephemeris
//--------------------
t_eph* ephLast = _ephUser.ephLast(prn);
t_eph* ephPrev = _ephUser.ephPrev(prn);
if (ephLast == 0) {
emit newMessage("bncComb: eph not found " + prn.mid(0,3).toAscii(), true);
delete newCorr;
continue;
}
else {
if (ephLast->IOD() == newCorr->_iod) {
newCorr->_eph = ephLast;
}
else if (ephPrev && ephPrev->IOD() == newCorr->_iod) {
newCorr->_eph = ephPrev;
switchToLastEph(ephLast, newCorr);
}
else {
emit newMessage("bncComb: eph not found " + prn.mid(0,3).toAscii() +
QString(" %1").arg(newCorr->_iod).toAscii(), true);
delete newCorr;
continue;
}
}
// Store correction into the buffer
// --------------------------------
QVector<cmbCorr*>& corrs = _buffer[newCorr->_time].corrs;
corrs.push_back(newCorr);
}
// Process previous Epoch(s)
// -------------------------
const double outWait = 1.0 * _cmbSampl;
QListIterator<bncTime> itTime(_buffer.keys());
while (itTime.hasNext()) {
bncTime epoTime = itTime.next();
if (epoTime < lastTime - outWait) {
_resTime = epoTime;
processEpoch();
}
}
}
// Change the correction so that it refers to last received ephemeris
////////////////////////////////////////////////////////////////////////////
void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
if (corr->_eph == lastEph) {
return;
}
ColumnVector oldXC(4);
ColumnVector oldVV(3);
corr->_eph->getCrd(corr->_time, oldXC, oldVV, false);
ColumnVector newXC(4);
ColumnVector newVV(3);
lastEph->getCrd(corr->_time, newXC, newVV, false);
ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
ColumnVector dV = newVV - oldVV;
double dC = newXC(4) - oldXC(4);
ColumnVector dRAO(3);
XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
ColumnVector dDotRAO(3);
XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
QString msg = "switch corr " + corr->_prn.mid(0,3)
+ QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
emit newMessage(msg.toAscii(), false);
corr->_iod = lastEph->IOD();
corr->_eph = lastEph;
corr->_orbCorr._xr += dRAO;
corr->_orbCorr._dotXr += dDotRAO;
corr->_clkCorr._dClk -= dC;
}
// Process Epoch
////////////////////////////////////////////////////////////////////////////
void bncComb::processEpoch() {
_log.clear();
QTextStream out(&_log, QIODevice::WriteOnly);
out << endl << "Combination:" << endl
<< "------------------------------" << endl;
// Observation Statistics
// ----------------------
bool masterPresent = false;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
AC->numObs = 0;
QVectorIterator<cmbCorr*> itCorr(corrs());
while (itCorr.hasNext()) {
cmbCorr* corr = itCorr.next();
if (corr->_acName == AC->name) {
AC->numObs += 1;
if (AC->name == _masterOrbitAC) {
masterPresent = true;
}
}
}
out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
}
// If Master not present, switch to another one
// --------------------------------------------
const unsigned switchMasterAfterGap = 1;
if (masterPresent) {
_masterMissingEpochs = 0;
}
else {
++_masterMissingEpochs;
if (_masterMissingEpochs < switchMasterAfterGap) {
out << "Missing Master, Epoch skipped" << endl;
_buffer.remove(_resTime);
emit newMessage(_log, false);
return;
}
else {
_masterMissingEpochs = 0;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->numObs > 0) {
out << "Switching Master AC "
<< _masterOrbitAC.toAscii().data() << " --> "
<< AC->name.toAscii().data() << " "
<< _resTime.datestr().c_str() << " "
<< _resTime.timestr().c_str() << endl;
_masterOrbitAC = AC->name;
break;
}
}
}
}
QMap<QString, cmbCorr*> resCorr;
// Perform the actual Combination using selected Method
// ----------------------------------------------------
t_irc irc;
ColumnVector dx;
if (_method == filter) {
irc = processEpoch_filter(out, resCorr, dx);
}
else {
irc = processEpoch_singleEpoch(out, resCorr, dx);
}
// Update Parameter Values, Print Results
// --------------------------------------
if (irc == success) {
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
pp->xx += dx(iPar);
if (pp->type == cmbParam::clkSat) {
if (resCorr.find(pp->prn) != resCorr.end()) {
resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
}
}
out << _resTime.datestr().c_str() << " "
<< _resTime.timestr().c_str() << " ";
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setFieldWidth(8);
out.setRealNumberPrecision(4);
out << pp->toString() << " "
<< pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
out.setFieldWidth(0);
}
printResults(out, resCorr);
dumpResults(resCorr);
}
// Delete Data, emit Message
// -------------------------
_buffer.remove(_resTime);
emit newMessage(_log, false);
}
// Process Epoch - Filter Method
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::processEpoch_filter(QTextStream& out,
QMap<QString, cmbCorr*>& resCorr,
ColumnVector& dx) {
// Prediction Step
// ---------------
int nPar = _params.size();
ColumnVector x0(nPar);
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
if (pp->epoSpec) {
pp->xx = 0.0;
_QQ.Row(iPar) = 0.0;
_QQ.Column(iPar) = 0.0;
_QQ(iPar,iPar) = pp->sig0 * pp->sig0;
}
else {
_QQ(iPar,iPar) += pp->sigP * pp->sigP;
}
x0(iPar) = pp->xx;
}
// Check Satellite Positions for Outliers
// --------------------------------------
if (checkOrbits(out) != success) {
return failure;
}
// Update and outlier detection loop
// ---------------------------------
SymmetricMatrix QQ_sav = _QQ;
while (true) {
Matrix AA;
ColumnVector ll;
DiagonalMatrix PP;
if (createAmat(AA, ll, PP, x0, resCorr) != success) {
return failure;
}
dx.ReSize(nPar); dx = 0.0;
kalman(AA, ll, PP, _QQ, dx);
ColumnVector vv = ll - AA * dx;
int maxResIndex;
double maxRes = vv.maximum_absolute_value1(maxResIndex);
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(3);
out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
<< " Maximum Residuum " << maxRes << ' '
<< corrs()[maxResIndex-1]->_acName << ' ' << corrs()[maxResIndex-1]->_prn.mid(0,3);
if (maxRes > _MAXRES) {
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
if (pp->type == cmbParam::offACSat &&
pp->AC == corrs()[maxResIndex-1]->_acName &&
pp->prn == corrs()[maxResIndex-1]->_prn.mid(0,3)) {
QQ_sav.Row(iPar) = 0.0;
QQ_sav.Column(iPar) = 0.0;
QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
}
}
out << " Outlier" << endl;
_QQ = QQ_sav;
corrs().remove(maxResIndex-1);
}
else {
out << " OK" << endl;
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(4);
for (int ii = 0; ii < corrs().size(); ii++) {
const cmbCorr* corr = corrs()[ii];
out << _resTime.datestr().c_str() << ' '
<< _resTime.timestr().c_str() << " "
<< corr->_acName << ' ' << corr->_prn.mid(0,3);
out.setFieldWidth(10);
out << " res = " << vv[ii] << endl;
out.setFieldWidth(0);
}
break;
}
}
return success;
}
// Print results
////////////////////////////////////////////////////////////////////////////
void bncComb::printResults(QTextStream& out,
const QMap<QString, cmbCorr*>& resCorr) {
QMapIterator<QString, cmbCorr*> it(resCorr);
while (it.hasNext()) {
it.next();
cmbCorr* corr = it.value();
const t_eph* eph = corr->_eph;
if (eph) {
ColumnVector xc(4);
ColumnVector vv(3);
eph->getCrd(_resTime, xc, vv, false);
out << _resTime.datestr().c_str() << " "
<< _resTime.timestr().c_str() << " ";
out.setFieldWidth(3);
out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
out.setFieldWidth(14);
out << (xc(4) + corr->_dClkResult) * t_CST::c << endl;
out.setFieldWidth(0);
}
else {
out << "bncComb::printResuls bug" << endl;
}
}
}
// Send results to RTNet Decoder and directly to PPP Client
////////////////////////////////////////////////////////////////////////////
void bncComb::dumpResults(const QMap<QString, cmbCorr*>& resCorr) {
QList<t_orbCorr> orbCorrections;
QList<t_clkCorr> clkCorrections;
QString outLines;
QStringList corrLines;
unsigned year, month, day, hour, minute;
double sec;
_resTime.civil_date(year, month, day);
_resTime.civil_time(hour, minute, sec);
outLines.sprintf("* %4d %2d %2d %d %d %12.8f\n",
year, month, day, hour, minute, sec);
QMapIterator<QString, cmbCorr*> it(resCorr);
while (it.hasNext()) {
it.next();
cmbCorr* corr = it.value();
t_orbCorr orbCorr(corr->_orbCorr);
orbCorr._staID = "INTERNAL";
orbCorrections.push_back(orbCorr);
t_clkCorr clkCorr(corr->_clkCorr);
clkCorr._staID = "INTERNAL";
clkCorr._dClk = corr->_dClkResult;
clkCorr._dotDClk = 0.0;
clkCorr._dotDotDClk = 0.0;
clkCorrections.push_back(clkCorr);
ColumnVector xc(4);
ColumnVector vv(3);
corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
corr->_eph->getCrd(_resTime, xc, vv, true);
// Correction Phase Center --> CoM
// -------------------------------
ColumnVector dx(3); dx = 0.0;
if (_antex) {
double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
dx = 0;
_log += "antenna not found " + corr->_prn.mid(0,3).toAscii() + '\n';
}
}
outLines += corr->_prn.mid(0,3);
QString hlp;
hlp.sprintf(" APC 3 %15.4f %15.4f %15.4f"
" Clk 1 %15.4f"
" Vel 3 %15.4f %15.4f %15.4f"
" CoM 3 %15.4f %15.4f %15.4f\n",
xc(1), xc(2), xc(3),
xc(4) * t_CST::c,
vv(1), vv(2), vv(3),
xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
outLines += hlp;
QString line;
int messageType = COTYPE_GPSCOMBINED;
int updateInt = 0;
line.sprintf("%d %d %d %.1f %s"
" %lu"
" %8.3f %8.3f %8.3f %8.3f"
" %10.5f %10.5f %10.5f %10.5f"
" %10.5f INTERNAL",
messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
corr->_prn.mid(0,3).toAscii().data(),
corr->_iod,
corr->_dClkResult * t_CST::c,
corr->_orbCorr._xr[0],
corr->_orbCorr._xr[1],
corr->_orbCorr._xr[2],
0.0,
corr->_orbCorr._dotXr[0],
corr->_orbCorr._dotXr[1],
corr->_orbCorr._dotXr[2],
0.0);
corrLines << line;
delete corr;
}
outLines += "EOE\n"; // End Of Epoch flag
if (!_rtnetDecoder) {
_rtnetDecoder = new bncRtnetDecoder();
}
vector<string> errmsg;
_rtnetDecoder->Decode(outLines.toAscii().data(), outLines.length(), errmsg);
// Send new Corrections to PPP etc.
// --------------------------------
if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
emit newOrbCorrections(orbCorrections);
emit newClkCorrections(clkCorrections);
}
}
// Create First Design Matrix and Vector of Measurements
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
const ColumnVector& x0,
QMap<QString, cmbCorr*>& resCorr) {
unsigned nPar = _params.size();
unsigned nObs = corrs().size();
if (nObs == 0) {
return failure;
}
int maxSat = t_prn::MAXPRN_GPS;
// if (_useGlonass) {
// maxSat = t_prn::MAXPRN_GPS + t_prn::MAXPRN_GLONASS;
// }
const int nCon = (_method == filter) ? 1 + maxSat : 0;
AA.ReSize(nObs+nCon, nPar); AA = 0.0;
ll.ReSize(nObs+nCon); ll = 0.0;
PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
int iObs = 0;
QVectorIterator<cmbCorr*> itCorr(corrs());
while (itCorr.hasNext()) {
cmbCorr* corr = itCorr.next();
QString prn = corr->_prn;
++iObs;
if (corr->_acName == _masterOrbitAC && resCorr.find(prn) == resCorr.end()) {
resCorr[prn] = new cmbCorr(*corr);
}
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
AA(iObs, iPar) = pp->partial(corr->_acName, prn);
}
ll(iObs) = corr->_clkCorr._dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
}
// Regularization
// --------------
if (_method == filter) {
const double Ph = 1.e6;
PP(nObs+1) = Ph;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
pp->type == cmbParam::clkSat ) {
AA(nObs+1, iPar) = 1.0;
}
}
int iCond = 1;
for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
QString prn = QString("G%1_0").arg(iGps, 2, 10, QChar('0'));
++iCond;
PP(nObs+iCond) = Ph;
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
if ( pp &&
AA.Column(iPar).maximum_absolute_value() > 0.0 &&
pp->type == cmbParam::offACSat &&
pp->prn == prn) {
AA(nObs+iCond, iPar) = 1.0;
}
}
}
// if (_useGlonass) {
// for (int iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
// QString prn = QString("R%1_0").arg(iGlo, 2, 10, QChar('0'));
// ++iCond;
// PP(nObs+iCond) = Ph;
// for (int iPar = 1; iPar <= _params.size(); iPar++) {
// cmbParam* pp = _params[iPar-1];
// if ( pp &&
// AA.Column(iPar).maximum_absolute_value() > 0.0 &&
// pp->type == cmbParam::offACSat &&
// pp->prn == prn) {
// AA(nObs+iCond, iPar) = 1.0;
// }
// }
// }
// }
}
return success;
}
// Process Epoch - Single-Epoch Method
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::processEpoch_singleEpoch(QTextStream& out,
QMap<QString, cmbCorr*>& resCorr,
ColumnVector& dx) {
// Check Satellite Positions for Outliers
// --------------------------------------
if (checkOrbits(out) != success) {
return failure;
}
// Outlier Detection Loop
// ----------------------
while (true) {
// Remove Satellites that are not in Master
// ----------------------------------------
QMutableVectorIterator<cmbCorr*> it(corrs());
while (it.hasNext()) {
cmbCorr* corr = it.next();
QString prn = corr->_prn;
bool foundMaster = false;
QVectorIterator<cmbCorr*> itHlp(corrs());
while (itHlp.hasNext()) {
cmbCorr* corrHlp = itHlp.next();
QString prnHlp = corrHlp->_prn;
QString ACHlp = corrHlp->_acName;
if (ACHlp == _masterOrbitAC && prn == prnHlp) {
foundMaster = true;
break;
}
}
if (!foundMaster) {
delete corr;
it.remove();
}
}
// Count Number of Observations per Satellite and per AC
// -----------------------------------------------------
QMap<QString, int> numObsPrn;
QMap<QString, int> numObsAC;
QVectorIterator<cmbCorr*> itCorr(corrs());
while (itCorr.hasNext()) {
cmbCorr* corr = itCorr.next();
QString prn = corr->_prn;
QString AC = corr->_acName;
if (numObsPrn.find(prn) == numObsPrn.end()) {
numObsPrn[prn] = 1;
}
else {
numObsPrn[prn] += 1;
}
if (numObsAC.find(AC) == numObsAC.end()) {
numObsAC[AC] = 1;
}
else {
numObsAC[AC] += 1;
}
}
// Clean-Up the Paramters
// ----------------------
for (int iPar = 1; iPar <= _params.size(); iPar++) {
delete _params[iPar-1];
}
_params.clear();
// Set new Parameters
// ------------------
int nextPar = 0;
QMapIterator<QString, int> itAC(numObsAC);
while (itAC.hasNext()) {
itAC.next();
const QString& AC = itAC.key();
int numObs = itAC.value();
if (AC != _masterOrbitAC && numObs > 0) {
_params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC, ""));
if (_useGlonass) {
_params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC, ""));
}
}
}
QMapIterator<QString, int> itPrn(numObsPrn);
while (itPrn.hasNext()) {
itPrn.next();
const QString& prn = itPrn.key();
int numObs = itPrn.value();
if (numObs > 0) {
_params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
}
}
int nPar = _params.size();
ColumnVector x0(nPar);
x0 = 0.0;
// Create First-Design Matrix
// --------------------------
Matrix AA;
ColumnVector ll;
DiagonalMatrix PP;
if (createAmat(AA, ll, PP, x0, resCorr) != success) {
return failure;
}
ColumnVector vv;
try {
Matrix ATP = AA.t() * PP;
SymmetricMatrix NN; NN << ATP * AA;
ColumnVector bb = ATP * ll;
_QQ = NN.i();
dx = _QQ * bb;
vv = ll - AA * dx;
}
catch (Exception& exc) {
out << exc.what() << endl;
return failure;
}
int maxResIndex;
double maxRes = vv.maximum_absolute_value1(maxResIndex);
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(3);
out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
<< " Maximum Residuum " << maxRes << ' '
<< corrs()[maxResIndex-1]->_acName << ' ' << corrs()[maxResIndex-1]->_prn.mid(0,3);
if (maxRes > _MAXRES) {
out << " Outlier" << endl;
delete corrs()[maxResIndex-1];
corrs().remove(maxResIndex-1);
}
else {
out << " OK" << endl;
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(3);
for (int ii = 0; ii < vv.Nrows(); ii++) {
const cmbCorr* corr = corrs()[ii];
out << _resTime.datestr().c_str() << ' '
<< _resTime.timestr().c_str() << " "
<< corr->_acName << ' ' << corr->_prn.mid(0,3);
out.setFieldWidth(6);
out << " res = " << vv[ii] << endl;
out.setFieldWidth(0);
}
return success;
}
}
return failure;
}
// Check Satellite Positions for Outliers
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::checkOrbits(QTextStream& out) {
const double MAX_DISPLACEMENT = 0.20;
// Switch to last ephemeris (if possible)
// --------------------------------------
QMutableVectorIterator<cmbCorr*> im(corrs());
while (im.hasNext()) {
cmbCorr* corr = im.next();
QString prn = corr->_prn;
t_eph* ephLast = _ephUser.ephLast(prn);
t_eph* ephPrev = _ephUser.ephPrev(prn);
if (ephLast == 0) {
out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << endl;
delete corr;
im.remove();
}
else if (corr->_eph == 0) {
out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << endl;
delete corr;
im.remove();
}
else {
if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
switchToLastEph(ephLast, corr);
}
else {
out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << endl;
delete corr;
im.remove();
}
}
}
while (true) {
// Compute Mean Corrections for all Satellites
// -------------------------------------------
QMap<QString, int> numCorr;
QMap<QString, ColumnVector> meanRao;
QVectorIterator<cmbCorr*> it(corrs());
while (it.hasNext()) {
cmbCorr* corr = it.next();
QString prn = corr->_prn;
if (meanRao.find(prn) == meanRao.end()) {
meanRao[prn].ReSize(4);
meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
meanRao[prn](4) = 1;
}
else {
meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
meanRao[prn](4) += 1;
}
if (numCorr.find(prn) == numCorr.end()) {
numCorr[prn] = 1;
}
else {
numCorr[prn] += 1;
}
}
// Compute Differences wrt Mean, find Maximum
// ------------------------------------------
QMap<QString, cmbCorr*> maxDiff;
it.toFront();
while (it.hasNext()) {
cmbCorr* corr = it.next();
QString prn = corr->_prn;
if (meanRao[prn](4) != 0) {
meanRao[prn] /= meanRao[prn](4);
meanRao[prn](4) = 0;
}
corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
if (maxDiff.find(prn) == maxDiff.end()) {
maxDiff[prn] = corr;
}
else {
double normMax = maxDiff[prn]->_diffRao.norm_Frobenius();
double norm = corr->_diffRao.norm_Frobenius();
if (norm > normMax) {
maxDiff[prn] = corr;
}
}
}
if (_ACs.size() == 1) {
break;
}
// Remove Outliers
// ---------------
bool removed = false;
QMutableVectorIterator<cmbCorr*> im(corrs());
while (im.hasNext()) {
cmbCorr* corr = im.next();
QString prn = corr->_prn;
if (numCorr[prn] < 2) {
delete corr;
im.remove();
}
else if (corr == maxDiff[prn]) {
double norm = corr->_diffRao.norm_Frobenius();
if (norm > MAX_DISPLACEMENT) {
out << _resTime.datestr().c_str() << " "
<< _resTime.timestr().c_str() << " "
<< "Orbit Outlier: "
<< corr->_acName.toAscii().data() << " "
<< prn.mid(0,3).toAscii().data() << " "
<< corr->_iod << " "
<< norm << endl;
delete corr;
im.remove();
removed = true;
}
}
}
if (!removed) {
break;
}
}
return success;
}
//
////////////////////////////////////////////////////////////////////////////
void bncComb::slotProviderIDChanged(QString mountPoint) {
QMutexLocker locker(&_mutex);
// Find the AC Name
// ----------------
QString acName;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->mountPoint == mountPoint) {
acName = AC->name;
break;
}
}
if (acName.isEmpty()) {
return;
}
// Remove all corrections of the corresponding AC
// ----------------------------------------------
QListIterator<bncTime> itTime(_buffer.keys());
while (itTime.hasNext()) {
bncTime epoTime = itTime.next();
QVector<cmbCorr*>& corrVec = _buffer[epoTime].corrs;
QMutableVectorIterator<cmbCorr*> it(corrVec);
while (it.hasNext()) {
cmbCorr* corr = it.next();
if (acName == corr->_acName) {
delete corr;
it.remove();
}
}
}
// Reset Satellite Offsets
// -----------------------
if (_method == filter) {
for (int iPar = 1; iPar <= _params.size(); iPar++) {
cmbParam* pp = _params[iPar-1];
if (pp->AC == acName && pp->type == cmbParam::offACSat) {
pp->xx = 0.0;
_QQ.Row(iPar) = 0.0;
_QQ.Column(iPar) = 0.0;
_QQ(iPar,iPar) = pp->sig0 * pp->sig0;
}
}
}
}