source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 11110

Last change on this file since 11110 was 11110, checked in by stuerze, 11 days ago

clock combination: some updates regarding attitude correction
File size: 82.0 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncComb
6 *
7 * Purpose: Combinations of Orbit/Clock Corrections
8 *
9 * Author: L. Mervart
10 *
11 * Created: 22-Jan-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <newmatio.h>
18#include <iomanip>
19#include <sstream>
20#include <map>
21#include <algorithm>
22
23#include "bnccomb.h"
24#include <combination/bncbiassnx.h>
25#include "bnccore.h"
26#include "upload/bncrtnetdecoder.h"
27#include "bncsettings.h"
28#include "bncutils.h"
29#include "bncantex.h"
30#include "t_prn.h"
31
32const double sig0_offAC = 1000.0;
33const double sigP_offAC = 1000.0;
34
35const double sig0_offACSat = 1000.0;
36const double sigP_offACSat = 0.01; // per REF_SAMPL_offACSat, scaled with the time between the epochs
37const double REF_SAMPL_offACSat = 10.0; // [s]
38
39const double sig0_clkSat = 100.0;
40const double sigP_clkSat = 100.0; //*) White noise may be set to something between a few centimeters and tens of meters.
41 // A large value results in a combination that is equivalent to a single-epoch combination algorithm.
42
43const double sigObs = 0.05;
44
45using namespace std;
46
47// Constructor
48////////////////////////////////////////////////////////////////////////////
49bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
50
51 type = type_;
52 index = index_;
53 AC = ac_;
54 prn = prn_;
55 xx = 0.0;
56 eph = 0;
57
58 if (type == offACgnss) {
59 epoSpec = true;
60 sig0 = sig0_offAC; // 1000.0
61 sigP = sig0; // 1000.0
62 }
63 else if (type == offACSat) {
64 epoSpec = false;
65 sig0 = sig0_offACSat; // 100.0
66 sigP = sigP_offACSat; // 0.01
67 }
68 // combined clock
69 else if (type == clkSat) {
70 epoSpec = true;
71 sig0 = sig0_clkSat; // 100.0
72 sigP = sigP_clkSat; // 10.0
73
74 }
75
76}
77
78// Destructor
79////////////////////////////////////////////////////////////////////////////
80bncComb::cmbParam::~cmbParam() {
81}
82
83// Partial
84////////////////////////////////////////////////////////////////////////////
85double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) {
86
87 if (type == offACgnss) {
88 if (AC == AC_ && prn_[0].toLatin1() == sys) {
89 return 1.0;
90 }
91 }
92 else if (type == offACSat) {
93 if (AC == AC_ && prn == prn_) {
94 return 1.0;
95 }
96 }
97 else if (type == clkSat) {
98 if (prn == prn_) {
99 return 1.0;
100 }
101 }
102
103 return 0.0;
104}
105
106//
107////////////////////////////////////////////////////////////////////////////
108QString bncComb::cmbParam::toString(char sys) const {
109
110 QString outStr;
111
112 if (type == offACgnss) {
113 outStr = "AC Offset " + AC + " " + sys + " ";
114 }
115 else if (type == offACSat) {
116 outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
117 }
118 else if (type == clkSat) {
119 outStr = "Clk Corr " + prn.mid(0,3);
120 }
121
122 return outStr;
123}
124
125// Singleton: definition class variable
126////////////////////////////////////////////////////////////////////////////
127bncComb* bncComb::instance = nullptr;
128
129
130// Constructor
131////////////////////////////////////////////////////////////////////////////
132bncComb::bncComb() : _ephUser(true) {
133
134 bncSettings settings;
135
136 _running = true;
137
138 QStringList cmbStreams = settings.value("cmbStreams").toStringList();
139
140 _cmbSampl = settings.value("cmbSampl").toString().split("sec").first().toInt();
141 if (_cmbSampl <= 0) {
142 _cmbSampl = 5;
143 }
144 _useGps = (Qt::CheckState(settings.value("cmbGps").toInt()) == Qt::Checked) ? true : false;
145 if (_useGps) {
146 _cmbSysPrn['G'] = t_prn::MAXPRN_GPS;
147 _masterMissingEpochs['G'] = 0;
148 }
149 _useGlo = (Qt::CheckState(settings.value("cmbGlo").toInt()) == Qt::Checked) ? true : false;
150 if (_useGlo) {
151 _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS;
152 _masterMissingEpochs['R'] = 0;
153 }
154 _useGal = (Qt::CheckState(settings.value("cmbGal").toInt()) == Qt::Checked) ? true : false;
155 if (_useGal) {
156 _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO;
157 _masterMissingEpochs['E'] = 0;
158 }
159 _useBds = (Qt::CheckState(settings.value("cmbBds").toInt()) == Qt::Checked) ? true : false;
160 if (_useBds) {
161 _cmbSysPrn['C'] = t_prn::MAXPRN_BDS;
162 _masterMissingEpochs['C'] = 0;
163 }
164 _useQzss = (Qt::CheckState(settings.value("cmbQzss").toInt()) == Qt::Checked) ? true : false;
165 if (_useQzss) {
166 _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS;
167 _masterMissingEpochs['J'] = 0;
168 }
169 _useSbas = (Qt::CheckState(settings.value("cmbSbas").toInt()) == Qt::Checked) ? true : false;
170 if (_useSbas) {
171 _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS;
172 _masterMissingEpochs['S'] = 0;
173 }
174 _useNavic = (Qt::CheckState(settings.value("cmbNavic").toInt()) == Qt::Checked) ? true : false;
175 if (_useNavic) {
176 _cmbSysPrn['I'] = t_prn::MAXPRN_NavIC;
177 _masterMissingEpochs['I'] = 0;
178 }
179
180 if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
181 QListIterator<QString> it(cmbStreams);
182 while (it.hasNext()) {
183 QStringList hlp = it.next().split(" ");
184 cmbAC* newAC = new cmbAC();
185 newAC->mountPoint = hlp[0];
186 newAC->name = hlp[1];
187 newAC->weightFactor = hlp[2].toDouble();
188 newAC->excludeSats = hlp[3].split(QRegExp("[ ,]"), Qt::SkipEmptyParts);
189 newAC->isAPC = bool(newAC->mountPoint.mid(0,4) == "SSRA");
190 newAC->attitudeSource = (hlp.size() > 4) ? hlp[4] : "Computed";
191 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
192 // init
193 while (itSys.hasNext()) {
194 itSys.next();
195 char sys = itSys.key();
196 if (!_masterOrbitAC.contains(sys) &&
197 !newAC->excludeSats.contains(QString(sys), Qt::CaseSensitive)) {
198 _masterOrbitAC[sys] = newAC->name;
199 _masterIsAPC[sys] = newAC->isAPC;
200 }
201 }
202 _ACs.append(newAC);
203 }
204 }
205
206 _rtnetDecoder = new bncRtnetDecoder();
207
208 connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
209
210 // Reference signals of the clocks
211 for (const QString& err : t_ssrRefSig::init()) {
212 emit newMessage(("bncComb: " + err).toLatin1(), true);
213 }
214 if (!t_ssrRefSig::allDefault()) {
215 emit newMessage(("bncComb: reference signals of the clocks " + t_ssrRefSig::currentString()).toLatin1(), true);
216 }
217
218 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), this, SLOT(slotProviderIDChanged(QString)));
219 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
220 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
221 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
222 connect(BNC_CORE, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)), this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
223
224 // Combination Method
225 // ------------------
226 if (settings.value("cmbMethod").toString() == "Single-Epoch") {
227 _method = singleEpoch;
228 }
229 else {
230 _method = filter;
231 }
232
233 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
234 // ----------------------------------------------------------------------
235 if (_method == filter) {
236 // SYSTEM
237 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
238 while (itSys.hasNext()) {
239 itSys.next();
240 int nextPar = 0;
241 char sys = itSys.key();
242 int maxPrn = itSys.value();
243 // AC
244 QListIterator<cmbAC*> itAc(_ACs);
245 while (itAc.hasNext()) {
246 cmbAC* AC = itAc.next();
247 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
248 for (int iGnss = 1; iGnss <= maxPrn; iGnss++) {
249 int flag = t_corrSSR::getSsrNavTypeFlag(sys, iGnss);
250 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
251 _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
252 }
253 }
254 for (int iGnss = 1; iGnss <= maxPrn; iGnss++) {
255 int flag = t_corrSSR::getSsrNavTypeFlag(sys, iGnss);
256 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
257 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
258 }
259 // Initialize Variance-Covariance Matrix
260 // -------------------------------------
261 _QQ[sys].ReSize(_params[sys].size());
262 _QQ[sys] = 0.0;
263 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
264 cmbParam* pp = _params[sys][iPar-1];
265 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
266 }
267 }
268 }
269
270 // ANTEX File
271 // ----------
272 _antex = 0;
273 QString antexFileName = settings.value("uploadAntexFile").toString();
274 if (!antexFileName.isEmpty()) {
275 _antex = new bncAntex();
276 if (_antex->readFile(antexFileName) != success) {
277 emit newMessage("bncComb: wrong ANTEX file", true);
278 delete _antex;
279 _antex = 0;
280 }
281 else {
282 emit newMessage("bncComb: " + _antex->info().toLatin1(), true);
283 }
284 }
285
286 // Reference point of the combination: with ACs of both kinds (APC streams
287 // 'SSRA...', CoM streams 'SSRC...') and an ANTEX file, the combination is
288 // done in the CoM frame and the orbits of the APC ACs are converted to
289 // CoM; otherwise in the frame of the master AC (ACs of the other kind are
290 // not used)
291 // ------------------------------------------------------------------------
292 bool hasAPC = false, hasCoM = false;
293 for (const cmbAC* AC : _ACs) {
294 if (AC->isAPC) hasAPC = true; else hasCoM = true;
295 }
296 _cmbCoM = (_antex && hasAPC && hasCoM);
297 if (_cmbCoM) {
298 for (QMap<char, bool>::iterator it = _masterIsAPC.begin(); it != _masterIsAPC.end(); ++it) {
299 it.value() = false;
300 }
301 emit newMessage("bncComb: APC and CoM streams configured - combination in the CoM frame, "
302 "orbits of the APC streams converted to CoM", true);
303 }
304 else if (hasAPC && hasCoM) {
305 emit newMessage("bncComb: APC and CoM streams configured, but no ANTEX file - only the streams "
306 "with the reference point of the master AC are combined", true);
307 }
308 if (!_antex && hasCoM) {
309 emit newMessage("bncComb: CoM streams configured, but no ANTEX file - the combined orbits (INTERNAL) "
310 "may refer to the CoM, while the PPP assumes the APC", true);
311 }
312
313
314 // Bias SINEX File
315 // ---------------
316 _bsx = 0;
317 QString bsxFileName = settings.value("cmbBsxFile").toString();
318 if (!bsxFileName.isEmpty()) {
319 _bsx = new bncBiasSnx();
320 if (_bsx->readFile(bsxFileName) != success) {
321 emit newMessage("bncComb: wrong Bias SINEX file", true);
322 delete _bsx;
323 _bsx = 0;
324 }
325 }
326 if (_bsx) {
327 _ms = 3.0 * 3600 * 1000.0;
328 QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
329 }
330
331 // Maximal Residuum
332 // ----------------
333 _MAX_RES = settings.value("cmbMaxres").toDouble();
334 if (_MAX_RES <= 0.0) {
335 _MAX_RES = 999.0;
336 }
337
338 // Maximal Displacement
339 // --------------------
340 _MAX_DISPLACEMENT = settings.value("cmbMaxdisplacement").toDouble();
341 if (_MAX_DISPLACEMENT <= 0.0) {
342 _MAX_DISPLACEMENT = 2.0;
343 }
344
345 // Logfile
346 // -------
347 QString intr = "1 day";
348 QString logFileCmb = settings.value("cmbLogpath").toString();
349 int l = logFileCmb.length();
350 if (logFileCmb.isEmpty()) {
351 _logFile = 0;
352 }
353 else {
354 if (l && logFileCmb[l-1] != QDir::separator() ) {
355 logFileCmb += QDir::separator();
356 }
357
358 logFileCmb = logFileCmb + "COMB00BNC" + "${V3PROD}" + ".CMB";
359
360 _logFile = new bncoutf(logFileCmb, intr, _cmbSampl);
361 }
362
363 _newCorr = 0;
364}
365
366// Destructor
367////////////////////////////////////////////////////////////////////////////
368bncComb::~bncComb() {
369
370 _running = false;
371#ifndef WIN32
372 sleep(2);
373#else
374 Sleep(2000);
375#endif
376
377 QListIterator<cmbAC*> icAC(_ACs);
378 while (icAC.hasNext()) {
379 delete icAC.next();
380 }
381 _ACs.clear();
382
383 delete _rtnetDecoder;
384
385 if (_newCorr) {
386 delete _newCorr;
387 }
388
389 delete _antex;
390 delete _bsx;
391 delete _logFile;
392
393 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
394 while (itSys.hasNext()) {
395 itSys.next();
396 char sys = itSys.key();
397 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
398 delete _params[sys][iPar-1];
399 }
400 _buffer.remove(sys);
401 }
402 _params.clear();
403 _buffer.clear();
404 _cmbSysPrn.clear();
405
406 while (!_epoClkData.empty()) {
407 delete _epoClkData.front();
408 _epoClkData.pop_front();
409 }
410}
411
412void bncComb::slotReadBiasSnxFile() {
413 bncSettings settings;
414 QString bsxFileName = settings.value("cmbBsxFile").toString();
415
416 if (bsxFileName.isEmpty()) {
417 emit newMessage("bncComb: no Bias SINEX file specified", true);
418 return;
419 }
420 if (!_bsx) {
421 _bsx = new bncBiasSnx();
422 }
423 if (_bsx->readFile(bsxFileName) != success) {
424 emit newMessage("bncComb: wrong Bias SINEX file", true);
425 delete _bsx;
426 _bsx = 0;
427 }
428 else {
429 emit newMessage("bncComb: successfully read Bias SINEX file", true);
430 }
431
432 QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
433}
434
435
436// Remember orbit corrections
437////////////////////////////////////////////////////////////////////////////
438void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
439 QMutexLocker locker(&_mutex);
440 for (int ii = 0; ii < orbCorrections.size(); ii++) {
441 t_orbCorr& orbCorr = orbCorrections[ii];
442 QString staID(orbCorr._staID.c_str());
443 char sys = orbCorr._prn.system();
444
445 if (!_cmbSysPrn.contains(sys)){
446 continue;
447 }
448
449 // Find/Check the AC Name
450 // ----------------------
451 QString acName;
452 QStringList excludeSats;
453 QListIterator<cmbAC*> icAC(_ACs);
454 while (icAC.hasNext()) {
455 cmbAC* AC = icAC.next();
456 if (AC->mountPoint == staID) {
457 acName = AC->name;
458 excludeSats = AC->excludeSats;
459 break;
460 }
461 }
462 if (acName.isEmpty() || excludeSat(orbCorr._prn, excludeSats)) {
463 continue;
464 }
465
466 // Store the correction; the latest orbit of the previous IOD is kept as
467 // well: the clocks of an epoch may be processed only after the orbits of
468 // the next epoch have arrived, which already refer to a new IOD
469 // --------------------
470 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
471 if (storage.contains(orbCorr._prn) && storage[orbCorr._prn]._iod != orbCorr._iod) {
472 _orbCorrectionsPrev[acName][orbCorr._prn] = storage[orbCorr._prn];
473 }
474 storage[orbCorr._prn] = orbCorr;
475 }
476}
477
478// Remember Satellite Code Biases
479////////////////////////////////////////////////////////////////////////////
480void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
481 QMutexLocker locker(&_mutex);
482
483 for (int ii = 0; ii < satCodeBiases.size(); ii++) {
484 t_satCodeBias& satCodeBias = satCodeBiases[ii];
485 QString staID(satCodeBias._staID.c_str());
486 char sys = satCodeBias._prn.system();
487
488 if (!_cmbSysPrn.contains(sys)){
489 continue;
490 }
491
492 // Find/Check the AC Name
493 // ----------------------
494 QString acName;
495 QStringList excludeSats;
496 QListIterator<cmbAC*> icAC(_ACs);
497 while (icAC.hasNext()) {
498 cmbAC* AC = icAC.next();
499 if (AC->mountPoint == staID) {
500 acName = AC->name;
501 excludeSats = AC->excludeSats;
502 break;
503 }
504 }
505 if (acName.isEmpty() || excludeSat(satCodeBias._prn, excludeSats)) {
506 continue;
507 }
508
509 // Store the correction
510 // --------------------
511 QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
512 storage[satCodeBias._prn] = satCodeBias;
513 }
514 return;
515}
516
517// Remember Satellite Phase Biases
518////////////////////////////////////////////////////////////////////////////
519void bncComb::slotNewPhaseBiases(QList<t_satPhaseBias> satPhaseBiases) {
520 QMutexLocker locker(&_mutex);
521
522 for (int ii = 0; ii < satPhaseBiases.size(); ii++) {
523 t_satPhaseBias& satPhaseBias = satPhaseBiases[ii];
524 QString staID(satPhaseBias._staID.c_str());
525 char sys = satPhaseBias._prn.system();
526
527 if (!_cmbSysPrn.contains(sys)){
528 continue;
529 }
530
531 // Find/Check the AC Name
532 // ----------------------
533 QString acName;
534 QStringList excludeSats;
535 QListIterator<cmbAC*> icAC(_ACs);
536 while (icAC.hasNext()) {
537 cmbAC* AC = icAC.next();
538 if (AC->mountPoint == staID) {
539 acName = AC->name;
540 excludeSats = AC->excludeSats;
541 break;
542 }
543 }
544 if (acName.isEmpty() || excludeSat(satPhaseBias._prn, excludeSats)) {
545 continue;
546 }
547
548 // Store the correction
549 // --------------------
550 QMap<t_prn, t_satPhaseBias>& storage = _satPhaseBiases[acName];
551 storage[satPhaseBias._prn] = satPhaseBias;
552 }
553 return;
554}
555
556
557// True if every AC has delivered clock corrections for an epoch after epoTime
558////////////////////////////////////////////////////////////////////////////
559bool bncComb::allACsBeyond(const bncTime& epoTime) const {
560 QListIterator<cmbAC*> itAC(_ACs);
561 while (itAC.hasNext()) {
562 const cmbAC* AC = itAC.next();
563 bncTime acLast = _acLastClkTime.value(AC->name);
564 if (!acLast.valid() || !(acLast > epoTime)) {
565 return false;
566 }
567 }
568 return true;
569}
570
571// Process clock corrections
572////////////////////////////////////////////////////////////////////////////
573void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
574 QMutexLocker locker(&_mutex);
575 const double outWait = 1.0 * _cmbSampl;
576 int currentWeek = 0;
577 double currentSec = 0.0;
578 currentGPSWeeks(currentWeek, currentSec);
579 bncTime currentTime(currentWeek, currentSec);
580
581 // Loop over all observations (possible different epochs)
582 // -----------------------------------------------------
583 for (int ii = 0; ii < clkCorrections.size(); ii++) {
584 t_clkCorr& newClk = clkCorrections[ii];
585 char sys = newClk._prn.system();
586 if (!_cmbSysPrn.contains(sys)){
587 continue;
588 }
589
590 // Remember the latest correction epoch of each AC (whether or not the
591 // correction is used), to know when an AC has finished an epoch
592 // --------------------------------------------------------------------
593 QListIterator<cmbAC*> itAC(_ACs);
594 while (itAC.hasNext()) {
595 cmbAC* AC = itAC.next();
596 if (AC->mountPoint == QString(newClk._staID.c_str())) {
597 bncTime& acLast = _acLastClkTime[AC->name];
598 if (!acLast.valid() || newClk._time > acLast) {
599 acLast = newClk._time;
600 }
601 break;
602 }
603 }
604
605 // Check Modulo Time
606 // -----------------
607 int sec = int(nint(newClk._time.gpssec()*10));
608 if (sec % (_cmbSampl*10) != 0.0) {
609 continue;
610 }
611
612 // Find/Check the AC Name
613 // ----------------------
614 QString acName;
615 QStringList excludeSats;
616 bool isAPC;
617 QString staID(newClk._staID.c_str());
618 QListIterator<cmbAC*> icAC(_ACs);
619 while (icAC.hasNext()) {
620 cmbAC* AC = icAC.next();
621 if (AC->mountPoint == staID) {
622 acName = AC->name;
623 excludeSats = AC->excludeSats;
624 isAPC = AC->isAPC;
625 break;
626 }
627 }
628 if (acName.isEmpty() || excludeSat(newClk._prn, excludeSats)) {
629 continue;
630 }
631 if (!_cmbCoM && isAPC != _masterIsAPC[sys]) {
632 bncTime& warned = _refPointWarned[acName + sys];
633 if (!warned.valid() || newClk._time - warned >= 3600.0) {
634 warned = newClk._time;
635 emit newMessage("bncComb: " + acName.toLatin1() + " " + QByteArray(1, sys) + " not combined: its orbits refer to the " +
636 (isAPC ? "APC" : "CoM") + ", those of the master AC " + _masterOrbitAC[sys].toLatin1() +
637 " to the " + (isAPC ? "CoM" : "APC") +
638 " (an ANTEX file allows to combine both in the CoM frame)", true);
639 }
640 continue;
641 }
642
643 // Check regarding current time
644 // ----------------------------
645 if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
646 if (fabs(currentTime - newClk._time) > 60.0) { // future or very old data sets
647 #ifdef BNC_DEBUG_CMB
648 emit newMessage("bncComb: future or very old data sets: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
649 QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. current time" +
650 QString(" %1 ").arg(currentTime.timestr().c_str()).toLatin1(), true);
651 #endif
652 continue;
653 }
654 }
655
656 // Check Correction Age
657 // --------------------
658 if (_resTime.valid() && newClk._time <= _resTime) {
659#ifdef BNC_DEBUG_CMB
660 emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
661 QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. last processing Epoch" +
662 QString(" %1 ").arg(_resTime.timestr().c_str()).toLatin1(), true);
663#endif
664 continue;
665 }
666
667 // Set the last time
668 // -----------------
669 if (_lastClkCorrTime.undef() || newClk._time > _lastClkCorrTime) {
670 _lastClkCorrTime = newClk._time;
671 }
672
673 // Find the corresponding data epoch or create a new one
674 // -----------------------------------------------------
675 epoClkData* epoch = 0;
676 deque<epoClkData*>::const_iterator it;
677 for (it = _epoClkData.begin(); it != _epoClkData.end(); it++) {
678 if (newClk._time == (*it)->_time) {
679 epoch = *it;
680 break;
681 }
682 }
683 if (epoch == 0) {
684 if (_epoClkData.empty() || newClk._time > _epoClkData.back()->_time) {
685 epoch = new epoClkData;
686 epoch->_time = newClk._time;
687 _epoClkData.push_back(epoch);
688 }
689 }
690
691 // Put data into the epoch
692 // -----------------------
693 if (epoch != 0) {
694 epoch->_clkCorr.push_back(newClk);
695 }
696 }
697
698 // Make sure the buffer does not grow beyond any limit
699 // ---------------------------------------------------
700 const unsigned MAX_EPODATA_SIZE = 60.0 / _cmbSampl;
701 if (_epoClkData.size() > MAX_EPODATA_SIZE) {
702 delete _epoClkData.front();
703 _epoClkData.pop_front();
704 }
705
706 // Process the oldest epochs
707 // ------------------------
708 while (_epoClkData.size()) {
709
710 if (!_lastClkCorrTime.valid()) {
711 return;
712 }
713
714 const vector<t_clkCorr>& clkCorrVec = _epoClkData.front()->_clkCorr;
715
716 bncTime epoTime = _epoClkData.front()->_time;
717
718 if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
719 if ((currentTime - epoTime) > 60.0) {
720 delete _epoClkData.front();
721 _epoClkData.pop_front();
722 continue;
723 }
724 }
725 // Process the front epoch as soon as all ACs have delivered corrections
726 // for a later epoch (i.e. have finished this one), at the latest when
727 // the newest correction is maxWait newer (an AC may be late or missing).
728 // Waiting only outWait after the newest correction lost the corrections
729 // of ACs with a few seconds more latency ("old correction").
730 // -----------------------------------------------------------------------
731 const double maxWait = max(10.0, outWait);
732 if (allACsBeyond(epoTime) || epoTime < (_lastClkCorrTime - maxWait)) {
733 _resTime = epoTime;
734 processEpoch(_resTime, clkCorrVec);
735 delete _epoClkData.front();
736 _epoClkData.pop_front();
737 }
738 else {
739 return;
740 }
741 }
742}
743
744// Change the correction so that it refers to last received ephemeris
745////////////////////////////////////////////////////////////////////////////
746void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
747
748 if (corr->_eph == lastEph) {
749 return;
750 }
751
752 ColumnVector oldXC(6);
753 ColumnVector oldVV(3);
754 if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
755 return;
756 }
757
758 ColumnVector newXC(6);
759 ColumnVector newVV(3);
760 if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
761 return;
762 }
763
764 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
765 ColumnVector dV = newVV - oldVV;
766 double dC = newXC(4) - oldXC(4);
767
768 ColumnVector dRAO(3);
769 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
770
771 ColumnVector dDotRAO(3);
772 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
773
774 QString msg = "bncComb: switch corr " + corr->_prn.mid(0,3)
775 + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
776
777 emit newMessage(msg.toLatin1(), false);
778
779 corr->_iod = lastEph->IOD();
780 corr->_eph = lastEph;
781
782 corr->_orbCorr._xr += dRAO;
783 corr->_orbCorr._dotXr += dDotRAO;
784 corr->_clkCorr._dClk -= dC;
785}
786
787// Process Epoch
788////////////////////////////////////////////////////////////////////////////
789void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr>& clkCorrVec) {
790 QDateTime now = currentDateAndTimeGPS();
791 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
792 for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
793 const t_clkCorr& clkCorr = clkCorrVec[ii];
794 QString staID(clkCorr._staID.c_str());
795 QString prnStr(clkCorr._prn.toInternalString().c_str());
796 char sys = clkCorr._prn.system();
797
798 // Find/Check the AC Name
799 // ----------------------
800 QString acName;
801 double weigthFactor;
802 QListIterator<cmbAC*> icAC(_ACs);
803 while (icAC.hasNext()) {
804 cmbAC* AC = icAC.next();
805 if (AC->mountPoint == staID) {
806 acName = AC->name;
807 weigthFactor = AC->weightFactor;
808 break;
809 }
810 }
811
812 // Create new correction
813 // ---------------------
814 _newCorr = new cmbCorr();
815 _newCorr->_prn = prnStr;
816 _newCorr->_time = clkCorr._time;
817 _newCorr->_iod = clkCorr._iod;
818 _newCorr->_acName = acName;
819 _newCorr->_weightFactor = weigthFactor;
820 _newCorr->_clkCorr = clkCorr;
821
822 // Check orbit correction
823 // ----------------------
824 if (!_orbCorrections.contains(acName)) {
825 delete _newCorr; _newCorr = 0;
826 continue;
827 }
828 else {
829 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
830 QMap<t_prn, t_orbCorr>& prev = _orbCorrectionsPrev[acName];
831 if (storage.contains(clkCorr._prn) && storage[clkCorr._prn]._iod == _newCorr->_iod) {
832 _newCorr->_orbCorr = storage[clkCorr._prn];
833 }
834 else if (prev.contains(clkCorr._prn) && prev[clkCorr._prn]._iod == _newCorr->_iod) {
835 _newCorr->_orbCorr = prev[clkCorr._prn];
836 }
837 else {
838 delete _newCorr; _newCorr = 0;
839 continue;
840 }
841 }
842
843 // Check the Ephemeris
844 //--------------------
845 t_eph* ephLast = _ephUser.ephLast(prnStr);
846 t_eph* ephPrev = _ephUser.ephPrev(prnStr);
847 if (ephLast == 0) {
848#ifdef BNC_DEBUG_CMB
849 emit newMessage("bncComb: eph not found for " + prnStr.mid(0,3).toLatin1(), true);
850#endif
851 delete _newCorr; _newCorr = 0;
852 continue;
853 }
854 else if (outDatedBcep(ephLast, currentTime) ||
855 ephLast->checkState() == t_eph::bad ||
856 ephLast->checkState() == t_eph::outdated ||
857 ephLast->checkState() == t_eph::unhealthy) {
858#ifdef BNC_DEBUG_CMB
859 emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prnStr.mid(0,3).toLatin1(), true);
860#endif
861 delete _newCorr; _newCorr = 0;
862 continue;
863 }
864 else {
865 if (ephLast->IOD() == _newCorr->_iod) {
866 _newCorr->_eph = ephLast;
867 }
868 else if (ephPrev &&
869 !outDatedBcep(ephPrev, currentTime) && // if not updated in storage
870 ephPrev->checkState() == t_eph::ok && // received
871 ephPrev->IOD() == _newCorr->_iod) {
872 _newCorr->_eph = ephPrev;
873 switchToLastEph(ephLast, _newCorr);
874 }
875 else {
876#ifdef BNC_DEBUG_CMB
877 emit newMessage("bncComb: eph not found for " + prnStr.mid(0,3).toLatin1() +
878 QString(" with IOD %1").arg(_newCorr->_iod).toLatin1(), true);
879#endif
880 delete _newCorr; _newCorr = 0;
881 continue;
882 }
883 }
884
885 // Check satellite code biases
886 // ----------------------------
887 QMap<t_frequency::type, double> codeBiasesRefSig;
888 if (_satCodeBiases.contains(acName)) {
889 QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
890 if (storage.contains(clkCorr._prn)) {
891 _newCorr->_satCodeBias = storage[clkCorr._prn];
892 for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
893 t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
894 char frqNum = t_frequency::toString(frqType)[1];
895 char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
896 QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
897 for (unsigned ii = 0; ii < _newCorr->_satCodeBias._bias.size(); ii++) {
898 const t_frqCodeBias& bias = _newCorr->_satCodeBias._bias[ii];
899 if (rnxType2ch.toStdString() == bias._rnxType2ch) {
900 codeBiasesRefSig[frqType] = bias._value;
901 }
902 }
903 }
904 // only with the biases of both reference signals (one of them alone
905 // does not refer the clocks to the reference signals)
906 if (codeBiasesRefSig.size() == 2) {
907 map<t_frequency::type, double> codeCoeff;
908 double channel = double(_newCorr->_eph->slotNum());
909 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
910 map<t_frequency::type, double>::const_iterator it;
911 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
912 t_frequency::type frqType = it->first;
913 double codeCoeff = it->second;
914 _newCorr->_satCodeBiasIF += codeCoeff * codeBiasesRefSig[frqType];
915 }
916 _acBiasIF[acName][prnStr.mid(0,3)] = _newCorr->_satCodeBiasIF;
917 }
918 else {
919 _acBiasIF[acName].remove(prnStr.mid(0,3));
920 }
921 _newCorr->_satCodeBias._bias.clear();
922 }
923 }
924 // Without the code biases of both reference signals (none at all, or
925 // only one of them, e.g. Galileo HAS for GPS), the AC clock cannot be
926 // referred to the reference signals: it is combined as it is, but
927 // excluded from the clock datum (see createAmat) - warn at most once
928 // per hour per AC and system
929 _newCorr->_refBiasesOK = (codeBiasesRefSig.size() == 2);
930 if (!_newCorr->_refBiasesOK) {
931 _acBiasIF[acName].remove(prnStr.mid(0,3));
932 QString key = acName + sys;
933 bncTime& warned = _refBiasWarned[key];
934 if (!warned.valid() || _newCorr->_time - warned >= 3600.0) {
935 warned = _newCorr->_time;
936 QString missing;
937 for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
938 t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
939 if (!codeBiasesRefSig.contains(frqType)) {
940 missing += QString(" C%1%2").arg(t_frequency::toString(frqType)[1])
941 .arg(cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii)));
942 }
943 }
944 emit newMessage("bncComb: " + acName.toLatin1() + " provides no code biases for the " +
945 QByteArray(1, sys) + " reference signal(s)" + missing.toLatin1() +
946 " (e.g. " + prnStr.mid(0,3).toLatin1() + ") - these clocks are combined"
947 " without referring them to the reference signals and, as long as other ACs"
948 " provide referred clocks, excluded from the clock datum", false);
949 }
950 }
951
952 // Check satellite phase biases
953 // ----------------------------
954 if (_satPhaseBiases.contains(acName)) {
955 QMap<t_prn, t_satPhaseBias>& storage = _satPhaseBiases[acName];
956 if (storage.contains(clkCorr._prn)) {
957 // Yaw angle
958 t_satPhaseBias& pb = storage[clkCorr._prn];
959 double dt = _newCorr->_time - pb._time;
960 if (pb._updateInt) {
961 dt -= (0.5 * ssrUpdateInt[pb._updateInt]);
962 }
963 _newCorr->_satYawAngle = pb._yaw + pb._yawRate * dt;
964 _newCorr->_satYawAngleValid = true;
965 }
966 }
967
968 // _lambdaIF: ionosphere-free combination of the reference signals'
969 // wavelengths (narrow-lane wavelength), scales the phase wind-up
970 // -------------------------------------------------------------------
971 {
972 map<t_frequency::type, double> codeCoeff;
973 double channel = double(_newCorr->_eph->slotNum());
974 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
975 map<t_frequency::type, double>::const_iterator it;
976 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
977 t_frequency::type frqType = it->first;
978 double codeCoeff = it->second;
979 _newCorr->_lambdaIF += codeCoeff * t_CST::c / t_CST::freq(frqType, channel);
980 }
981 }
982
983 // Orbits of an APC AC in a combination in the CoM frame
984 // ------------------------------------------------------
985 if (_cmbCoM) {
986 const cmbAC* AC = 0;
987 for (const cmbAC* ac : _ACs) {
988 if (ac->name == acName) {
989 AC = ac;
990 break;
991 }
992 }
993 if (AC && AC->isAPC && convertApcToCoM(_newCorr, AC) != success) {
994 delete _newCorr; _newCorr = 0;
995 continue;
996 }
997 }
998
999 // Yaw angle of the AC's attitude, for the attitude consistency correction
1000 // -----------------------------------------------------------------------
1001 if (_antex && !_newCorr->_attYawValid) {
1002 for (const cmbAC* ac : _ACs) {
1003 if (ac->name == acName) {
1004 attitudeYaw(_newCorr, ac);
1005 break;
1006 }
1007 }
1008 }
1009
1010 // Store correction into the buffer
1011 // --------------------------------
1012 QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
1013 QVectorIterator<cmbCorr*> itCorr(corrs);
1014 bool available = false;
1015 while (itCorr.hasNext()) {
1016 cmbCorr* corr = itCorr.next();
1017 QString prnStr = corr->_prn;
1018 QString acName = corr->_acName;
1019 if (_newCorr->_acName == acName &&
1020 _newCorr->_prn == prnStr) {
1021 available = true;
1022 }
1023 }
1024
1025 if (!available) {
1026 corrs.push_back(_newCorr); _newCorr = 0;
1027 }
1028 else {
1029 delete _newCorr; _newCorr = 0;
1030 continue;
1031 }
1032 }
1033
1034 // Process Systems of this Epoch
1035 // ------------------------------
1036 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
1037 while (itSys.hasNext()) {
1038 itSys.next();
1039 char sys = itSys.key();
1040 _log.clear();
1041 QTextStream out(&_log, QIODevice::WriteOnly);
1042 processSystem(epoTime, sys, out);
1043 out.flush(); // QTextStream buffers: pass the complete log text on
1044 _buffer.remove(sys);
1045 if (_logFile) {
1046 _logFile->write(epoTime.gpsw(),epoTime.gpssec(), QString(_log));
1047 }
1048 }
1049}
1050
1051void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
1052
1053 out << "\n"
1054 << epoTime.datestr().c_str() << " "
1055 << epoTime.timestr().c_str() << " "
1056 << "Combination: " << sys << "\n"
1057 << "--------------------------------------" << "\n";
1058
1059 // Observation Statistics
1060 // ----------------------
1061 bool masterPresent = false;
1062 QListIterator<cmbAC*> icAC(_ACs);
1063 while (icAC.hasNext()) {
1064 cmbAC* AC = icAC.next();
1065 AC->numObs[sys] = 0;
1066 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1067 while (itCorr.hasNext()) {
1068 cmbCorr* corr = itCorr.next();
1069 if (corr->_acName == AC->name) {
1070 AC->numObs[sys] += 1;
1071 if (AC->name == _masterOrbitAC[sys]) {
1072 masterPresent = true;
1073 }
1074 }
1075 }
1076 if (AC->numObs[sys] > 0) {
1077 if (!AC->presentSince[sys].valid()) {
1078 AC->presentSince[sys] = epoTime;
1079 }
1080 }
1081 else {
1082 AC->presentSince[sys].reset();
1083 }
1084 out << epoTime.datestr().c_str() << " "
1085 << epoTime.timestr().c_str() << " "
1086 << "Sat Num " << sys << " "
1087 << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
1088 }
1089
1090 // If Master not present, switch to another one
1091 // --------------------------------------------
1092 const unsigned switchMasterAfterGap = 1;
1093 if (masterPresent) {
1094 _masterMissingEpochs[sys] = 0;
1095 }
1096 else {
1097 ++_masterMissingEpochs[sys];
1098 if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
1099 out << "Missing Master, Epoch skipped" << "\n";
1100 _buffer.remove(sys);
1101 emit newMessage(_log, false);
1102 return;
1103 }
1104 else {
1105 _masterMissingEpochs[sys] = 0;
1106 QListIterator<cmbAC*> icAC(_ACs);
1107 while (icAC.hasNext()) {
1108 cmbAC* AC = icAC.next();
1109 if (AC->numObs[sys] > 0) {
1110 out << epoTime.datestr().c_str() << " "
1111 << epoTime.timestr().c_str() << " "
1112 << "Switching Master " << sys << " "
1113 << _masterOrbitAC[sys].toLatin1().data() << " --> "
1114 << AC->name.toLatin1().data() << "\n";
1115 _masterOrbitAC[sys] = AC->name;
1116 _masterIsAPC[sys] = _cmbCoM ? false : AC->isAPC;
1117 break;
1118 }
1119 }
1120 }
1121 }
1122
1123 // Switch back to an AC higher in the table (the preferred one) once it
1124 // delivers again without interruption for SWITCH_BACK_SEC, so that a single
1125 // missing epoch of the preferred AC does not move the orbits permanently
1126 // to another AC, and the orbits do not change back and forth
1127 // ------------------------------------------------------------------------
1128 const double SWITCH_BACK_SEC = 60.0;
1129 QListIterator<cmbAC*> icPref(_ACs);
1130 while (icPref.hasNext()) {
1131 cmbAC* AC = icPref.next();
1132 if (AC->name == _masterOrbitAC[sys]) {
1133 break;
1134 }
1135 if (AC->numObs[sys] > 0 && AC->presentSince[sys].valid() &&
1136 epoTime - AC->presentSince[sys] >= SWITCH_BACK_SEC) {
1137 out << epoTime.datestr().c_str() << " "
1138 << epoTime.timestr().c_str() << " "
1139 << "Switching Master " << sys << " "
1140 << _masterOrbitAC[sys].toLatin1().data() << " --> "
1141 << AC->name.toLatin1().data() << " (preferred AC delivers again)\n";
1142 _masterOrbitAC[sys] = AC->name;
1143 _masterIsAPC[sys] = _cmbCoM ? false : AC->isAPC;
1144 break;
1145 }
1146 }
1147
1148 QMap<QString, cmbCorr*> masterCorr;
1149
1150 // Perform the actual Combination using selected Method
1151 // ----------------------------------------------------
1152 t_irc irc;
1153 ColumnVector dx;
1154 if (_method == filter) {
1155 irc = processEpoch_filter(epoTime, sys, out, masterCorr, dx);
1156 }
1157 else {
1158 irc = processEpoch_singleEpoch(epoTime, sys, out, masterCorr, dx);
1159 }
1160
1161 // Update Parameter Values, Print Results
1162 // --------------------------------------
1163 if (irc == success) {
1164 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1165 cmbParam* pp = _params[sys][iPar-1];
1166 pp->xx += dx(iPar);
1167 if (pp->type == cmbParam::clkSat) {
1168 if (masterCorr.find(pp->prn) != masterCorr.end()) {
1169 // set clock result
1170 masterCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
1171 // Add Code Biases from SINEX File
1172 if (_bsx) {
1173 map<t_frequency::type, double> codeCoeff;
1174 double channel = double(masterCorr[pp->prn]->_eph->slotNum());
1175 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
1176 t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
1177 t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
1178 _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], masterCorr[pp->prn]->_satCodeBias);
1179 }
1180 }
1181 }
1182 out << epoTime.datestr().c_str() << " "
1183 << epoTime.timestr().c_str() << " ";
1184 out.setRealNumberNotation(QTextStream::FixedNotation);
1185 out.setFieldWidth(8);
1186 out.setRealNumberPrecision(4);
1187 out << pp->toString(sys) << " "
1188 << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
1189 out.setFieldWidth(0);
1190 out.flush();
1191 }
1192 if (_method == filter) {
1193 checkBiasConsistency(epoTime, sys, out);
1194 checkPersistentOutliers(epoTime, sys, out);
1195 }
1196 printResults(epoTime, out, masterCorr);
1197 dumpResults(epoTime, masterCorr);
1198 }
1199}
1200
1201// Process Epoch - Filter Method
1202////////////////////////////////////////////////////////////////////////////
1203t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
1204 QMap<QString, cmbCorr*>& masterCorr,
1205 ColumnVector& dx) {
1206
1207 // Prediction Step
1208 // ---------------
1209 // The random walk of the AC satellite offsets is defined per time, not per
1210 // epoch (sigP_offACSat per REF_SAMPL_offACSat seconds), so that the result
1211 // does not depend on the combination sampling interval
1212 double dt = _lastFilterEpoch[sys].valid() ? epoTime - _lastFilterEpoch[sys] : double(_cmbSampl);
1213 if (dt <= 0.0) {
1214 dt = double(_cmbSampl);
1215 }
1216 _lastFilterEpoch[sys] = epoTime;
1217 int nPar = _params[sys].size();
1218 ColumnVector x0(nPar);
1219 for (int iPar = 1; iPar <= nPar; iPar++) {
1220 cmbParam* pp = _params[sys][iPar-1];
1221 if (pp->epoSpec) {
1222 pp->xx = 0.0;
1223 _QQ[sys].Row(iPar) = 0.0;
1224 _QQ[sys].Column(iPar) = 0.0;
1225 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
1226 }
1227 else {
1228 double fac = (pp->type == cmbParam::offACSat) ? dt / REF_SAMPL_offACSat : 1.0;
1229 _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP * fac;
1230 }
1231 x0(iPar) = pp->xx;
1232 }
1233
1234 // Check Satellite Positions for Outliers
1235 // --------------------------------------
1236 if (checkOrbits(epoTime, sys, out, masterCorr) != success) {
1237 return failure;
1238 }
1239
1240 // Statistics of persistent outliers
1241 // ---------------------------------
1242 for (int ii = 0; ii < corrs(sys).size(); ii++) {
1243 const cmbCorr* corr = corrs(sys)[ii];
1244 _outlierStat[sys][corr->_acName + ' ' + corr->_prn.mid(0,3)].numEpo += 1;
1245 }
1246
1247 // Update and outlier detection loop
1248 // ---------------------------------
1249 SymmetricMatrix QQ_sav = _QQ[sys];
1250 while (_running) {
1251
1252 Matrix AA;
1253 ColumnVector ll;
1254 DiagonalMatrix PP;
1255
1256 if (createAmat(sys, AA, ll, PP, x0, masterCorr) != success) {
1257 return failure;
1258 }
1259
1260 dx.ReSize(nPar); dx = 0.0;
1261 kalman(AA, ll, PP, _QQ[sys], dx);
1262
1263 ColumnVector vv = ll - AA * dx;
1264
1265 int maxResIndex;
1266 double maxRes = vv.maximum_absolute_value1(maxResIndex);
1267 out.setRealNumberNotation(QTextStream::FixedNotation);
1268 out.setRealNumberPrecision(3);
1269 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1270 << " Maximum Residuum " << maxRes << ' '
1271 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
1272 if (maxRes > _MAX_RES) {
1273 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1274 cmbParam* pp = _params[sys][iPar-1];
1275 if (pp->type == cmbParam::offACSat &&
1276 pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
1277 pp->prn == corrs(sys)[maxResIndex-1]->_prn) {
1278 QQ_sav.Row(iPar) = 0.0;
1279 QQ_sav.Column(iPar) = 0.0;
1280 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
1281 }
1282 }
1283
1284 out << " Outlier" << "\n";
1285 _outlierStat[sys][corrs(sys)[maxResIndex-1]->_acName + ' ' +
1286 corrs(sys)[maxResIndex-1]->_prn.mid(0,3)].residuals.push_back(maxRes);
1287 _QQ[sys] = QQ_sav;
1288 delete corrs(sys)[maxResIndex-1];
1289 corrs(sys).remove(maxResIndex-1);
1290 }
1291 else {
1292 out << " OK" << "\n";
1293 out.setRealNumberNotation(QTextStream::FixedNotation);
1294 out.setRealNumberPrecision(4);
1295 for (int ii = 0; ii < corrs(sys).size(); ii++) {
1296 const cmbCorr* corr = corrs(sys)[ii];
1297 out << epoTime.datestr().c_str() << ' '
1298 << epoTime.timestr().c_str() << " "
1299 << corr->_acName << ' ' << corr->_prn.mid(0,3);
1300 out.setFieldWidth(10);
1301 out << " res = " << vv[ii] << "\n";
1302 out.setFieldWidth(0);
1303 }
1304 break;
1305 }
1306 }
1307
1308 return success;
1309}
1310
1311// Check the consistency of the AC code biases with the AC clocks
1312////////////////////////////////////////////////////////////////////////////
1313// An AC's clocks refer to its own clock signals; the code biases of the
1314// reference signals refer them to the reference signals (B_IF, ionosphere-
1315// free combination of these biases, added to the AC clocks). If the code
1316// biases do not belong to the clocks (e.g. taken from another product), the
1317// error B_IF is absorbed by the AC's satellite offsets. The satellite offsets
1318// of each AC are therefore regressed against its B_IF every 5 minutes (from
1319// 5 minutes after the start); a warning is issued (at most once per hour per
1320// AC and system) if B_IF varies noticeably between the satellites and the
1321// offsets clearly follow it.
1322////////////////////////////////////////////////////////////////////////////
1323void bncComb::checkBiasConsistency(bncTime epoTime, char sys, QTextStream& out) {
1324
1325 const double CHECK_INT = 300.0; // [s] check interval, first check after start
1326 const unsigned MIN_SAT = 5;
1327 const double MIN_SPREAD = 0.03; // [m] minimum std. deviation of B_IF
1328 const double MIN_SLOPE = 0.3; // 0.5 expected for 2 ACs, -> 1 for more ACs
1329 const double MIN_CORR = 0.7;
1330
1331 if (!_biasCheckStart[sys].valid()) {
1332 _biasCheckStart[sys] = epoTime;
1333 _biasCheckLast[sys] = epoTime;
1334 return;
1335 }
1336 if (epoTime - _biasCheckLast[sys] < CHECK_INT) {
1337 return;
1338 }
1339 _biasCheckLast[sys] = epoTime;
1340
1341 QListIterator<cmbAC*> itAc(_ACs);
1342 while (itAc.hasNext()) {
1343 const QString& acName = itAc.next()->name;
1344 if (!_acBiasIF.contains(acName)) {
1345 continue;
1346 }
1347 const QMap<QString, double>& biasIF = _acBiasIF[acName];
1348
1349 // satellites of this AC in the current epoch with B_IF available
1350 QVector<double> xx, yy;
1351 for (int ii = 0; ii < corrs(sys).size(); ii++) {
1352 const cmbCorr* corr = corrs(sys)[ii];
1353 if (corr->_acName != acName || !biasIF.contains(corr->_prn.mid(0,3))) {
1354 continue;
1355 }
1356 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1357 const cmbParam* pp = _params[sys][iPar-1];
1358 if (pp->type == cmbParam::offACSat && pp->AC == acName && pp->prn == corr->_prn) {
1359 xx.push_back(biasIF[corr->_prn.mid(0,3)]);
1360 yy.push_back(pp->xx);
1361 break;
1362 }
1363 }
1364 }
1365 unsigned nn = xx.size();
1366 if (nn < MIN_SAT) {
1367 continue;
1368 }
1369 double mx = 0.0, my = 0.0;
1370 for (unsigned ii = 0; ii < nn; ii++) {
1371 mx += xx[ii] / nn;
1372 my += yy[ii] / nn;
1373 }
1374 double sxx = 0.0, syy = 0.0, sxy = 0.0;
1375 for (unsigned ii = 0; ii < nn; ii++) {
1376 sxx += (xx[ii] - mx) * (xx[ii] - mx);
1377 syy += (yy[ii] - my) * (yy[ii] - my);
1378 sxy += (xx[ii] - mx) * (yy[ii] - my);
1379 }
1380 QString key = acName + sys;
1381 double spread = sqrt(sxx / nn);
1382 double slope = (sxx > 0.0) ? sxy / sxx : 0.0;
1383 double corrCoeff = (sxx > 0.0 && syy > 0.0) ? sxy / sqrt(sxx * syy) : 0.0;
1384 // Hysteresis: a flagged AC is used for the clock datum again only after
1385 // REINCLUDE_CHECKS passing checks in a row (1 hour). Right after the
1386 // exclusion the offsets are reset and not yet converged, so a single
1387 // passing check does not prove consistency; a borderline AC would
1388 // otherwise change the clock datum every few minutes.
1389 const int REINCLUDE_CHECKS = 12;
1390 if (spread < MIN_SPREAD || slope < MIN_SLOPE || corrCoeff < MIN_CORR) {
1391 if (_biasInconsistent.contains(key) && ++_biasConsistentChecks[key] < REINCLUDE_CHECKS) {
1392 continue;
1393 }
1394 _biasConsistentChecks.remove(key);
1395 if (_biasInconsistent.remove(key)) {
1396 QString msg = QString("%1 %2 code biases consistent with its clocks again, "
1397 "AC used for the clock datum again").arg(acName).arg(sys);
1398 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1399 << " " << msg << "\n";
1400 emit newMessage("bncComb: " + msg.toLatin1(), true);
1401 resetSatOffsets(sys);
1402 }
1403 continue;
1404 }
1405
1406 QString refSig;
1407 for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
1408 t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
1409 refSig += QString("%1C%2%3").arg(ii > 1 ? "/" : "").arg(t_frequency::toString(frqType)[1])
1410 .arg(cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii)));
1411 }
1412 QString msg = QString("%1 %2 code biases (%3) seem inconsistent with its clocks: "
1413 "satellite offsets follow the bias combination B_IF "
1414 "(%4 satellites, B_IF spread %5 m, slope %6, correlation %7)")
1415 .arg(acName).arg(sys).arg(refSig).arg(nn)
1416 .arg(spread, 0, 'f', 3).arg(slope, 0, 'f', 2).arg(corrCoeff, 0, 'f', 2);
1417 _biasConsistentChecks[key] = 0;
1418 if (!_biasInconsistent.contains(key)) {
1419 _biasInconsistent.insert(key);
1420 msg += ", AC excluded from the clock datum";
1421 _biasCheckWarned.remove(key);
1422 resetSatOffsets(sys);
1423 }
1424 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1425 << " " << msg << "\n";
1426 bncTime& warned = _biasCheckWarned[key];
1427 if (!warned.valid() || epoTime - warned >= 3600.0) {
1428 warned = epoTime;
1429 emit newMessage("bncComb: " + msg.toLatin1(), true);
1430 }
1431 }
1432}
1433
1434// Convert the orbit correction of an APC AC to the satellite's CoM: the
1435// antenna offset (ANTEX, single reference frequency, attitude as configured
1436// for the AC) is added to the correction in radial, along-track and
1437// cross-track direction. The clock correction is not affected.
1438////////////////////////////////////////////////////////////////////////////
1439t_irc bncComb::convertApcToCoM(cmbCorr* corr, const cmbAC* AC) {
1440 corr->_eph->setOrbCorr(&corr->_orbCorr);
1441 corr->_eph->setClkCorr(&corr->_clkCorr);
1442 ColumnVector xc(6), vv(3);
1443 if (corr->_eph->getCrd(corr->_time, xc, vv, true) != success) {
1444 return failure;
1445 }
1446 bncAntex::e_attMode attMode = bncAntex::ATT_COMPUTED;
1447 double extYaw = 0.0;
1448 if (AC->attitudeSource == "SSR" && corr->_satYawAngleValid) {
1449 attMode = bncAntex::ATT_EXTERNAL;
1450 extYaw = corr->_satYawAngle;
1451 }
1452 else if (AC->attitudeSource == "Nominal") {
1453 attMode = bncAntex::ATT_NOMINAL;
1454 }
1455 double Mjd = corr->_time.mjd() + corr->_time.daysec() / 86400.0;
1456 ColumnVector dx(3); dx = 0.0;
1457 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), vv, dx, attMode, extYaw, AC->name,
1458 &corr->_attYaw) != success) {
1459 if (_antex->warnNoSatEntry(corr->_prn, corr->_time)) {
1460 emit newMessage("bncComb: no satellite antenna entry valid at " +
1461 QByteArray(corr->_time.datestr().c_str()) + " " + QByteArray(corr->_time.timestr().c_str()) +
1462 " for " + corr->_prn.mid(0,3).toLatin1() +
1463 " in ANTEX file - APC orbit of " + AC->name.toLatin1() + " not converted to CoM, not combined", true);
1464 }
1465 return failure;
1466 }
1467 corr->_attYawValid = true;
1468 // X = X_brdc - RSW(xr): X_CoM = X_APC - dx => xr_CoM = xr_APC + RSW(dx)
1469 ColumnVector dRAO(3);
1470 XYZ_to_RSW(xc.Rows(1,3), vv, dx, dRAO);
1471 corr->_orbCorr._xr += dRAO;
1472 return success;
1473}
1474
1475// Yaw angle of the attitude an AC uses (SSR yaw or attitude model)
1476////////////////////////////////////////////////////////////////////////////
1477// Only needed if the orbit is not converted from APC to CoM, which already
1478// provides the yaw angle. Separate model state per AC (key AC + ":att").
1479////////////////////////////////////////////////////////////////////////////
1480void bncComb::attitudeYaw(cmbCorr* corr, const cmbAC* AC) {
1481 if (AC->attitudeSource == "SSR" && corr->_satYawAngleValid) {
1482 corr->_attYaw = corr->_satYawAngle;
1483 corr->_attYawValid = true;
1484 return;
1485 }
1486 // broadcast orbit is accurate enough for the attitude; the ephemeris'
1487 // corrections are left untouched
1488 ColumnVector xc(6), vv(3);
1489 if (corr->_eph->getCrd(corr->_time, xc, vv, false) != success) {
1490 return;
1491 }
1492 bncAntex::e_attMode attMode = (AC->attitudeSource == "Nominal") ? bncAntex::ATT_NOMINAL
1493 : bncAntex::ATT_COMPUTED;
1494 double Mjd = corr->_time.mjd() + corr->_time.daysec() / 86400.0;
1495 ColumnVector dx(3); dx = 0.0;
1496 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), vv, dx, attMode, 0.0,
1497 AC->name + ":att", &corr->_attYaw) == success) {
1498 corr->_attYawValid = true;
1499 }
1500}
1501
1502// Report AC satellites rejected as outliers in most epochs
1503////////////////////////////////////////////////////////////////////////////
1504// A persistent clock difference of one AC for a satellite cannot be absorbed
1505// by its satellite offset, as the offsets of all ACs of the satellite sum up
1506// to zero: the correction is rejected again in every epoch. Once per hour
1507// and system, AC satellites rejected in at least half of their epochs are
1508// reported.
1509////////////////////////////////////////////////////////////////////////////
1510void bncComb::checkPersistentOutliers(bncTime epoTime, char sys, QTextStream& out) {
1511
1512 const double INTERVAL = 3600.0;
1513 const unsigned MIN_EPO = 10;
1514
1515 if (!_outlierStatStart[sys].valid()) {
1516 _outlierStatStart[sys] = epoTime;
1517 return;
1518 }
1519 if (epoTime - _outlierStatStart[sys] < INTERVAL) {
1520 return;
1521 }
1522 QMapIterator<QString, t_outlierStat> it(_outlierStat[sys]);
1523 while (it.hasNext()) {
1524 it.next();
1525 const t_outlierStat& stat = it.value();
1526 unsigned numOut = stat.residuals.size();
1527 if (stat.numEpo < MIN_EPO || 2 * numOut < stat.numEpo) {
1528 continue;
1529 }
1530 QVector<double> res = stat.residuals;
1531 std::sort(res.begin(), res.end());
1532 double median = (numOut % 2) ? res[numOut/2] : 0.5 * (res[numOut/2-1] + res[numOut/2]);
1533 QString msg = QString("%1 rejected as outlier in %2% of %3 epochs in the last hour "
1534 "(median residual %4 m)")
1535 .arg(it.key()).arg(100.0 * numOut / stat.numEpo, 0, 'f', 0)
1536 .arg(stat.numEpo).arg(median, 0, 'f', 2);
1537 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str() << " " << msg << "\n";
1538 emit newMessage("bncComb: " + msg.toLatin1(), true);
1539 }
1540 _outlierStat[sys].clear();
1541 _outlierStatStart[sys] = epoTime;
1542}
1543
1544// Re-initialize the satellite offsets of all ACs of a system (after a change
1545// of the clock datum)
1546////////////////////////////////////////////////////////////////////////////
1547void bncComb::resetSatOffsets(char sys) {
1548 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1549 cmbParam* pp = _params[sys][iPar-1];
1550 if (pp->type == cmbParam::offACSat) {
1551 pp->xx = 0.0;
1552 _QQ[sys].Row(iPar) = 0.0;
1553 _QQ[sys].Column(iPar) = 0.0;
1554 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
1555 }
1556 }
1557}
1558
1559// Print results
1560////////////////////////////////////////////////////////////////////////////
1561void bncComb::printResults(bncTime epoTime, QTextStream& out,
1562 const QMap<QString, cmbCorr*>& masterCorr) {
1563
1564 QMapIterator<QString, cmbCorr*> it(masterCorr);
1565 while (it.hasNext()) {
1566 it.next();
1567 cmbCorr* corr = it.value();
1568 const t_eph* eph = corr->_eph;
1569 if (eph) {
1570 ColumnVector xc(6);
1571 ColumnVector vv(3);
1572 if (eph->getCrd(epoTime, xc, vv, false) != success) {
1573 continue;
1574 }
1575 out << epoTime.datestr().c_str() << " "
1576 << epoTime.timestr().c_str() << " ";
1577 out.setFieldWidth(3);
1578 out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
1579 out.setFieldWidth(14);
1580 out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
1581 out.setFieldWidth(0);
1582 out.flush();
1583 }
1584 else {
1585 out << "bncComb::printResults bug" << "\n";
1586 }
1587 }
1588}
1589
1590// Send results to RTNet Decoder and directly to PPP Client
1591////////////////////////////////////////////////////////////////////////////
1592void bncComb::dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& masterCorr) {
1593
1594 QList<t_orbCorr> orbCorrections;
1595 QList<t_clkCorr> clkCorrections;
1596 QList<t_satCodeBias> satCodeBiasList;
1597 QList<t_satPhaseBias> satPhaseBiasList;
1598
1599 unsigned year, month, day, hour, minute;
1600 double sec;
1601 epoTime.civil_date(year, month, day);
1602 epoTime.civil_time(hour, minute, sec);
1603
1604 QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
1605 year, month, day, hour, minute, sec);
1606
1607 QMutableMapIterator<QString, cmbCorr*> it(masterCorr);
1608 while (it.hasNext()) {
1609 it.next();
1610 cmbCorr* corr = it.value();
1611
1612 // Reject GLONASS corrections whose broadcast ephemeris has exceeded its
1613 // declared validity window. GLONASS nav ephemerides are issued every
1614 // 30 min and are valid for ±900 s around the reference time (TOC).
1615 // t_ephGlo::position() uses Runge-Kutta integration from TOC; beyond
1616 // that the integration error grows and propagates into both the
1617 // combined clock estimate and the SP3 position. A margin of 60 s is
1618 // allowed, as ACs switch to the next ephemeris a few seconds before its
1619 // window begins (otherwise satellites drop out at every switch).
1620 if (corr->_eph->prn().system() == 'R') {
1621 double age = epoTime - corr->_eph->TOC();
1622 if (fabs(age) > 960.0) {
1623 emit newMessage(QString().asprintf(
1624 "bncComb: skip %s, GLONASS eph age %.0fs",
1625 corr->_prn.mid(0,3).toLatin1().data(), age).toLatin1(), false);
1626 delete corr;
1627 it.remove();
1628 continue;
1629 }
1630 }
1631
1632 // ORBIT
1633 t_orbCorr orbCorr(corr->_orbCorr);
1634 orbCorr._staID = "INTERNAL";
1635 orbCorrections.push_back(orbCorr);
1636
1637 // CLOCK
1638 t_clkCorr clkCorr(corr->_clkCorr);
1639 clkCorr._staID = "INTERNAL";
1640 clkCorr._dClk = corr->_dClkResult;
1641 clkCorr._dotDClk = 0.0;
1642 clkCorr._dotDotDClk = 0.0;
1643 clkCorrections.push_back(clkCorr);
1644
1645 ColumnVector xc(6);
1646 ColumnVector vv(3);
1647 corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
1648 corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
1649
1650 if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
1651 delete corr;
1652 it.remove();
1653 continue;
1654 }
1655
1656 // Correction Phase Center --> CoM
1657 // -------------------------------
1658 ColumnVector dx(3); dx = 0.0;
1659 ColumnVector apc(3); apc = 0.0;
1660 ColumnVector com(3); com = 0.0;
1661 bool masterIsAPC = true;
1662 if (_antex) {
1663 double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
1664 char sys = corr->_eph->prn().system();
1665 masterIsAPC = _masterIsAPC[sys];
1666
1667 // Determine attitude mode from the master orbit AC for this system
1668 bncAntex::e_attMode attMode = bncAntex::ATT_COMPUTED;
1669 double extYaw = 0.0;
1670 const QString& masterName = _masterOrbitAC[sys];
1671 for (const cmbAC* ac : _ACs) {
1672 if (ac->name == masterName) {
1673 if (ac->attitudeSource == "SSR" && corr->_satYawAngleValid) {
1674 attMode = bncAntex::ATT_EXTERNAL;
1675 extYaw = corr->_satYawAngle;
1676 }
1677 else if (ac->attitudeSource == "Nominal") {
1678 attMode = bncAntex::ATT_NOMINAL;
1679 }
1680 break;
1681 }
1682 }
1683
1684 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), vv, dx,
1685 attMode, extYaw) != success) {
1686 // without the satellite antenna offset, the orbit cannot be
1687 // converted between antenna phase center and center of mass
1688 if (_antex->warnNoSatEntry(corr->_prn, epoTime)) {
1689 emit newMessage("bncComb: no satellite antenna entry valid at " +
1690 QByteArray(epoTime.datestr().c_str()) + " " + QByteArray(epoTime.timestr().c_str()) +
1691 " for " + corr->_prn.mid(0,3).toLatin1() +
1692 " in ANTEX file - ANTEX file outdated? Satellite not combined", true);
1693 }
1694 orbCorrections.pop_back();
1695 clkCorrections.pop_back();
1696 delete corr;
1697 it.remove();
1698 continue;
1699 }
1700 // transitions of the output attitude only, not of the AC attitudes
1701 // used for the clock consistency (state keys "<AC>:att")
1702 QStringList yawLogs = (_antex->takeGlonassYawLog() + _antex->takeGpsYawLog() +
1703 _antex->takeOnYawLog()).split('\n', Qt::SkipEmptyParts);
1704 for (const QString& line : yawLogs) {
1705 if (!line.contains(":att:")) {
1706 emit newMessage(("bncComb: " + line.trimmed()).toLatin1(), false);
1707 }
1708 }
1709 }
1710 if (masterIsAPC) {
1711 apc(1) = xc(1);
1712 apc(2) = xc(2);
1713 apc(3) = xc(3);
1714 com(1) = xc(1)-dx(1);
1715 com(2) = xc(2)-dx(2);
1716 com(3) = xc(3)-dx(3);
1717 }
1718 else {
1719 com(1) = xc(1);
1720 com(2) = xc(2);
1721 com(3) = xc(3);
1722 apc(1) = xc(1)+dx(1);
1723 apc(2) = xc(2)+dx(2);
1724 apc(3) = xc(3)+dx(3);
1725 }
1726
1727 // The combined corrections passed on to the PPP (INTERNAL) always refer
1728 // to the APC: orbits combined in the CoM frame are converted
1729 if (!masterIsAPC && _antex) {
1730 ColumnVector dRAO(3);
1731 XYZ_to_RSW(xc.Rows(1,3), vv, dx, dRAO);
1732 orbCorrections.back()._xr -= dRAO;
1733 }
1734
1735 outLines += corr->_prn.mid(0,3);
1736 QString hlp = QString().asprintf(
1737 " APC 3 %15.4f %15.4f %15.4f"
1738 " Clk 1 %15.4f"
1739 " Vel 3 %15.4f %15.4f %15.4f"
1740 " CoM 3 %15.4f %15.4f %15.4f",
1741 apc(1), apc(2), apc(3),
1742 xc(4) * t_CST::c,
1743 vv(1), vv(2), vv(3),
1744 com(1), com(2), com(3));
1745 outLines += hlp;
1746 hlp.clear();
1747
1748 // CODE BIASES
1749 if (corr->_satCodeBias._bias.size()) {
1750 t_satCodeBias satCodeBias(corr->_satCodeBias);
1751 satCodeBias._staID = "INTERNAL";
1752 satCodeBias._ssrIOD = -1; // combined, not any single provider's solution
1753 satCodeBias._ssrProviderID = -1;
1754 satCodeBiasList.push_back(satCodeBias);
1755 hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
1756 outLines += hlp;
1757 hlp.clear();
1758 for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
1759 const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
1760 if (!frqCodeBias._rnxType2ch.empty()) {
1761 hlp = QString().asprintf(" %s%12.6f",
1762 frqCodeBias._rnxType2ch.c_str(),
1763 frqCodeBias._value);
1764 outLines += hlp;
1765 hlp.clear();
1766 }
1767 }
1768 }
1769 // PHASE BIASES
1770 /* can be added as soon as yaw agles from the ACs have useful values
1771 t_satPhaseBias satPhaseBias(corr->_satPhaseBias);
1772 satPhaseBias._staID = "INTERNAL";
1773 satPhaseBias._yaw = corr->_satYawAngle;
1774 satPhaseBiasList.push_back(satPhaseBias);
1775 hlp = QString().asprintf(" YawAngle %1.4f", satPhaseBias._yaw);
1776 outLines += hlp;
1777 hlp.clear();
1778 hlp = QString().asprintf(" PhaseBias %2lu", satPhaseBias._bias.size());
1779 outLines += hlp;
1780 hlp.clear();
1781 for (unsigned ii = 0; ii < satPhaseBias._bias.size(); ii++) {
1782 const t_frqPhaseBias& frqPhaseBias = satPhaseBias._bias[ii];
1783 if (!frqPhaseBias._rnxType2ch.empty()) {
1784 hlp = QString().asprintf(" %s%10.6f%3d%3d%3d",
1785 frqPhaseBias._rnxType2ch.c_str(),
1786 frqPhaseBias._value,
1787 frqPhaseBias._fixIndicator,
1788 frqPhaseBias._fixWideLaneIndicator,
1789 frqPhaseBias._jumpCounter);
1790 outLines += hlp;
1791 hlp.clear();
1792 }
1793 }*/
1794 outLines += "\n";
1795 delete corr;
1796 it.remove();
1797 }
1798 outLines += "EOE\n"; // End Of Epoch flag
1799 //cout << outLines.toStdString();
1800
1801 vector<string> errmsg;
1802 _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
1803
1804 // Send new Corrections to PPP etc.
1805 // --------------------------------
1806 if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
1807 emit newOrbCorrections(orbCorrections);
1808 emit newClkCorrections(clkCorrections);
1809 }
1810 if (satCodeBiasList.size()) {
1811 emit newCodeBiases(satCodeBiasList);
1812 }
1813}
1814
1815// Create First Design Matrix and Vector of Measurements
1816////////////////////////////////////////////////////////////////////////////
1817t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP, const ColumnVector& x0, const QMap<QString, cmbCorr*>& masterCorr) {
1818
1819 unsigned nPar = _params[sys].size();
1820 unsigned nObs = corrs(sys).size();
1821
1822 if (nObs == 0) {
1823 return failure;
1824 }
1825
1826 int maxSat = _cmbSysPrn[sys];
1827
1828 // AC clocks not referred to the reference signals are excluded from the
1829 // zero-sum conditions of the satellite offsets (the clock datum): those of
1830 // ACs whose code biases are inconsistent with their clocks (see
1831 // checkBiasConsistency) and those without the code biases of both
1832 // reference signals. This applies as long as another AC provides referred
1833 // corrections; the sum of the excluded offsets of an AC is constrained to
1834 // zero instead.
1835 QSet<QString> excludedOff; // "AC PRN" (full PRN)
1836 QStringList excludedACs; // ACs with excluded offsets
1837 if (_method == filter) {
1838 bool referredAC = false;
1839 for (int ii = 0; ii < corrs(sys).size(); ii++) {
1840 const cmbCorr* corr = corrs(sys)[ii];
1841 if (_biasInconsistent.contains(corr->_acName + sys) || !corr->_refBiasesOK) {
1842 excludedOff.insert(corr->_acName + ' ' + corr->_prn);
1843 if (!excludedACs.contains(corr->_acName)) {
1844 excludedACs << corr->_acName;
1845 }
1846 }
1847 else {
1848 referredAC = true;
1849 }
1850 }
1851 if (!referredAC) {
1852 excludedOff.clear();
1853 excludedACs.clear();
1854 }
1855 }
1856
1857 const int nCon = (_method == filter) ? 1 + maxSat + excludedACs.size() : 0;
1858
1859 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
1860 ll.ReSize(nObs+nCon); ll = 0.0;
1861 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
1862
1863 int iObs = 0;
1864 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1865 while (itCorr.hasNext()) {
1866 cmbCorr* corr = itCorr.next();
1867 QString prn = corr->_prn;
1868
1869 ++iObs;
1870
1871 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1872 cmbParam* pp = _params[sys][iPar-1];
1873 AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
1874 }
1875 // Consistency corrections to keep the combined clock consistent to masterOrbit
1876 // ----------------------------------------------------------------------------
1877 double dC_orb = DotProduct((corr->_satPos - masterCorr[prn]->_satPos), corr->_satPos);
1878 dC_orb /= masterCorr[prn]->_satPos.NormFrobenius();
1879 // Attitude: a yaw difference dpsi changes the phase wind-up of the
1880 // ionosphere-free combination by lambda_IF * dpsi / 2pi, which is
1881 // absorbed by the AC's clock (zero if both use the same attitude model)
1882 double dC_att = 0.0;
1883 if (corr->_attYawValid && masterCorr[prn]->_attYawValid) {
1884 // unwrapped over time: a turn in opposite directions accumulates a
1885 // full cycle of wind-up, which stays in the clock (reset after 30 min);
1886 // sign confirmed with the clocks of an AC turning opposite to the master;
1887 // a yaw rotation +dpsi (right-handed about the antenna boresight) shifts
1888 // the carrier phase by -dpsi/2pi cycles; an AC modelling its yaw larger by
1889 // dpsi gets its clock (IGS sense) smaller by lambda_IF * dpsi / 2pi:
1890 // dClk_AC - dClk_master = lambda_IF * (psi_master - psi_AC) / 2pi.
1891 // Chen et al. (2022, EPS 74:142, Eq. 4) give the opposite
1892 // sign, but did not apply the correction (no attitude products).
1893 double dPsi = remainder(masterCorr[prn]->_attYaw - corr->_attYaw, 2.0 * M_PI);
1894 QString key = corr->_acName + ' ' + masterCorr[prn]->_acName + ' ' + prn;
1895 if (_dPsiLast.contains(key) && corr->_time - _dPsiLast[key].second <= 1800.0) {
1896 double last = _dPsiLast[key].first;
1897 dPsi = last + remainder(dPsi - last, 2.0 * M_PI);
1898 }
1899 _dPsiLast[key] = QPair<double, bncTime>(dPsi, corr->_time);
1900 dC_att = corr->_lambdaIF * dPsi / (2.0 * M_PI);
1901 if (getenv("DCATT") && prn.startsWith(getenv("DCATT"))) fprintf(stderr, "DCATT %s %s %s %s %.4f %.2f %.2f %.2f\n", corr->_time.timestr().c_str(), corr->_acName.toLatin1().data(), masterCorr[prn]->_acName.toLatin1().data(), prn.toLatin1().data(), dC_att, dPsi*180/M_PI, corr->_attYaw*180/M_PI, masterCorr[prn]->_attYaw*180/M_PI); // TEMPORARY
1902 }
1903 double dC_apriori_corr = dC_orb + dC_att;
1904
1905 // Clock referred to the ionosphere-free combination of the reference
1906 // signals: dt - (alpha b1 + beta b2) with biases in Bias-SINEX sign
1907 // (subtracted from observations, Banville et al. 2020, Eq. 1). The code
1908 // biases taken from the SSR streams have the opposite sign (added to
1909 // observations), hence + _satCodeBiasIF.
1910 ll(iObs) = ((corr->_clkCorr._dClk * t_CST::c) - dC_apriori_corr + corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
1911
1912 PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
1913 }
1914
1915 // Regularization
1916 // --------------
1917 if (_method == filter) {
1918 const double Ph = 1.e6;
1919 PP(nObs+1) = Ph;
1920 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1921 cmbParam* pp = _params[sys][iPar-1];
1922 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1923 pp->type == cmbParam::clkSat ) {
1924 AA(nObs+1, iPar) = 1.0;
1925 }
1926 }
1927 //if (sys == 'R') {
1928 // return success;
1929 // }
1930 int iCond = 1;
1931 QSet<int> offExcluded; // offsets excluded from the zero-sum condition of their satellite
1932 QSet<QString> acsInDatum; // ACs with at least one offset in the zero-sum conditions
1933 // GNSS
1934 for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
1935 int flag = t_corrSSR::getSsrNavTypeFlag(sys, iGnss);
1936 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
1937 ++iCond;
1938 PP(nObs+iCond) = Ph;
1939 QList<int> offAll, offConsistent;
1940 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1941 cmbParam* pp = _params[sys][iPar-1];
1942 if ( pp &&
1943 AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1944 pp->type == cmbParam::offACSat &&
1945 pp->prn == prn) {
1946 offAll << iPar;
1947 if (!excludedOff.contains(pp->AC + ' ' + pp->prn)) {
1948 offConsistent << iPar;
1949 }
1950 }
1951 }
1952 // satellite observed by inconsistent ACs only: all its offsets are used
1953 const QList<int>& offUsed = offConsistent.isEmpty() ? offAll : offConsistent;
1954 for (int iPar : offAll) {
1955 if (offUsed.contains(iPar)) {
1956 AA(nObs+iCond, iPar) = 1.0;
1957 acsInDatum.insert(_params[sys][iPar-1]->AC);
1958 }
1959 else {
1960 offExcluded << iPar;
1961 }
1962 }
1963 }
1964 // ACs with all their offsets excluded from the zero-sum conditions above:
1965 // the sum of their offsets is constrained to zero (otherwise not
1966 // separable from the AC's epoch offset)
1967 for (const QString& acName : excludedACs) {
1968 ++iCond;
1969 if (acsInDatum.contains(acName)) {
1970 continue;
1971 }
1972 PP(nObs+iCond) = Ph;
1973 for (int iPar : offExcluded) {
1974 if (_params[sys][iPar-1]->AC == acName) {
1975 AA(nObs+iCond, iPar) = 1.0;
1976 }
1977 }
1978 }
1979 }
1980
1981 return success;
1982}
1983
1984// Process Epoch - Single-Epoch Method
1985////////////////////////////////////////////////////////////////////////////
1986t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
1987 QMap<QString, cmbCorr*>& masterCorr,
1988 ColumnVector& dx) {
1989
1990 // Check Satellite Positions for Outliers
1991 // --------------------------------------
1992 if (checkOrbits(epoTime, sys, out, masterCorr) != success) {
1993 return failure;
1994 }
1995
1996 // Outlier Detection Loop
1997 // ----------------------
1998 while (_running) {
1999 // Count Number of Observations per Satellite and per AC
2000 // -----------------------------------------------------
2001 QMap<QString, int> numObsPrn;
2002 QMap<QString, int> numObsAC;
2003 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
2004 while (itCorr.hasNext()) {
2005 cmbCorr* corr = itCorr.next();
2006 QString prn = corr->_prn;
2007 QString AC = corr->_acName;
2008 if (numObsPrn.find(prn) == numObsPrn.end()) {
2009 numObsPrn[prn] = 1;
2010 }
2011 else {
2012 numObsPrn[prn] += 1;
2013 }
2014 if (numObsAC.find(AC) == numObsAC.end()) {
2015 numObsAC[AC] = 1;
2016 }
2017 else {
2018 numObsAC[AC] += 1;
2019 }
2020 }
2021
2022 // Clean-Up the Parameters
2023 // -----------------------
2024 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
2025 delete _params[sys][iPar-1];
2026 }
2027 _params[sys].clear();
2028
2029 // Set new Parameters
2030 // ------------------
2031 int nextPar = 0;
2032
2033 QMapIterator<QString, int> itAC(numObsAC);
2034 while (itAC.hasNext()) {
2035 itAC.next();
2036 const QString& AC = itAC.key();
2037 int numObs = itAC.value();
2038 if (AC != _masterOrbitAC[sys] && numObs > 0) {
2039 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
2040 }
2041 }
2042
2043 QMapIterator<QString, int> itPrn(numObsPrn);
2044 while (itPrn.hasNext()) {
2045 itPrn.next();
2046 const QString& prn = itPrn.key();
2047 int numObs = itPrn.value();
2048 if (numObs > 0) {
2049 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
2050 }
2051 }
2052
2053 int nPar = _params[sys].size();
2054 ColumnVector x0(nPar);
2055 x0 = 0.0;
2056
2057 // Create First-Design Matrix
2058 // --------------------------
2059 Matrix AA;
2060 ColumnVector ll;
2061 DiagonalMatrix PP;
2062 if (createAmat(sys, AA, ll, PP, x0, masterCorr) != success) {
2063 return failure;
2064 }
2065
2066 ColumnVector vv;
2067 try {
2068 Matrix ATP = AA.t() * PP;
2069 SymmetricMatrix NN; NN << ATP * AA;
2070 ColumnVector bb = ATP * ll;
2071 _QQ[sys] = NN.i();
2072 dx = _QQ[sys] * bb;
2073 vv = ll - AA * dx;
2074 }
2075 catch (Exception& exc) {
2076 out << exc.what() << "\n";
2077 return failure;
2078 }
2079
2080 int maxResIndex;
2081 double maxRes = vv.maximum_absolute_value1(maxResIndex);
2082 out.setRealNumberNotation(QTextStream::FixedNotation);
2083 out.setRealNumberPrecision(3);
2084 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
2085 << " Maximum Residuum " << maxRes << ' '
2086 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
2087
2088 if (maxRes > _MAX_RES) {
2089 out << " Outlier" << "\n";
2090 delete corrs(sys)[maxResIndex-1];
2091 corrs(sys).remove(maxResIndex-1);
2092 }
2093 else {
2094 out << " OK" << "\n";
2095 out.setRealNumberNotation(QTextStream::FixedNotation);
2096 out.setRealNumberPrecision(3);
2097 for (int ii = 0; ii < vv.Nrows(); ii++) {
2098 const cmbCorr* corr = corrs(sys)[ii];
2099 out << epoTime.datestr().c_str() << ' '
2100 << epoTime.timestr().c_str() << " "
2101 << corr->_acName << ' ' << corr->_prn.mid(0,3);
2102 out.setFieldWidth(6);
2103 out << " res = " << vv[ii] << "\n";
2104 out.setFieldWidth(0);
2105 }
2106 return success;
2107 }
2108
2109 }
2110
2111 return failure;
2112}
2113
2114// Check Satellite Positions for Outliers
2115////////////////////////////////////////////////////////////////////////////
2116t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& masterCorr) {
2117
2118 // Switch to last ephemeris (if possible)
2119 // --------------------------------------
2120 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
2121 while (im.hasNext()) {
2122 cmbCorr* corr = im.next();
2123 QString prn = corr->_prn;
2124
2125 t_eph* ephLast = _ephUser.ephLast(prn);
2126 t_eph* ephPrev = _ephUser.ephPrev(prn);
2127
2128 if (ephLast == 0) {
2129 out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
2130 delete corr;
2131 im.remove();
2132 }
2133 else if (corr->_eph == 0) {
2134 out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
2135 delete corr;
2136 im.remove();
2137 }
2138 // a newer ephemeris may have arrived (or an older one been re-classified)
2139 // since the correction was accepted - never switch to an unusable one
2140 else if (ephLast->checkState() == t_eph::bad ||
2141 ephLast->checkState() == t_eph::outdated ||
2142 ephLast->checkState() == t_eph::unhealthy) {
2143 out << "checkOrbit: last eph not ok (" << ephLast->checkStateToString() << ") " << corr->_prn.mid(0,3) << "\n";
2144 delete corr;
2145 im.remove();
2146 }
2147 else {
2148 if ( corr->_eph == ephLast ||
2149 corr->_eph == ephPrev ) {
2150 switchToLastEph(ephLast, corr);
2151
2152 ColumnVector xc(6);
2153 ColumnVector vv(3);
2154 if (corr->_eph->getCrd(corr->_time, xc, vv, false) != success) {
2155 delete corr;
2156 im.remove();
2157 }
2158 else {
2159 corr->_satPos = xc.Rows(1,3);
2160 }
2161 }
2162 else {
2163 out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
2164 delete corr;
2165 im.remove();
2166 }
2167 }
2168 }
2169
2170 QSet<QString> singleACSats; // satellites skipped: corrections from < 2 ACs
2171 QSet<QString> singleACNames;
2172
2173 while (_running) {
2174
2175 // Compute Mean Corrections for all Satellites
2176 // -------------------------------------------
2177 QMap<QString, int> numCorr;
2178 QMap<QString, ColumnVector> meanRao;
2179 QVectorIterator<cmbCorr*> it(corrs(sys));
2180 while (it.hasNext()) {
2181 cmbCorr* corr = it.next();
2182 QString prn = corr->_prn;
2183
2184 if (meanRao.find(prn) == meanRao.end()) {
2185 meanRao[prn].ReSize(4);
2186 meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
2187 meanRao[prn](4) = 1;
2188 }
2189 else {
2190 meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
2191 meanRao[prn](4) += 1;
2192 }
2193 if (numCorr.find(prn) == numCorr.end()) {
2194 numCorr[prn] = 1;
2195 }
2196 else {
2197 numCorr[prn] += 1;
2198 }
2199 }
2200
2201 // Compute Differences wrt. Mean, find Maximum
2202 // -------------------------------------------
2203 QMap<QString, cmbCorr*> maxDiff;
2204 it.toFront();
2205 while (it.hasNext()) {
2206 cmbCorr* corr = it.next();
2207 QString prn = corr->_prn;
2208 if (meanRao[prn](4) != 0) {
2209 meanRao[prn] /= meanRao[prn](4);
2210 meanRao[prn](4) = 0;
2211 }
2212 corr->_diffRao2Mean = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
2213
2214 if (maxDiff.find(prn) == maxDiff.end()) {
2215 maxDiff[prn] = corr;
2216 }
2217 else {
2218 double normMax = maxDiff[prn]->_diffRao2Mean.NormFrobenius();
2219 double norm = corr->_diffRao2Mean.NormFrobenius();
2220 if (norm > normMax) {
2221 maxDiff[prn] = corr;
2222 }
2223 }
2224 }
2225
2226 if (_ACs.size() == 1) {
2227 QVectorIterator<cmbCorr*> it(corrs(sys));
2228 while (it.hasNext()) {
2229 cmbCorr* corr = it.next();
2230 QString prn = corr->_prn;
2231 if (corr->_acName == _masterOrbitAC[sys] && masterCorr.find(prn) == masterCorr.end()) {
2232 masterCorr[prn] = new cmbCorr(*corr);
2233 }
2234 }
2235 break;
2236 }
2237
2238 // Remove Outliers
2239 // ---------------
2240 bool removed = false;
2241 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
2242 while (im.hasNext()) {
2243 cmbCorr* corr = im.next();
2244 QString prn = corr->_prn;
2245 if (numCorr[prn] < 2) {
2246 singleACSats.insert(prn.mid(0,3));
2247 singleACNames.insert(corr->_acName);
2248 delete corr;
2249 im.remove();
2250 }
2251 else if (corr == maxDiff[prn]) {
2252 double norm = corr->_diffRao2Mean.NormFrobenius();
2253 if (norm > _MAX_DISPLACEMENT) {
2254 out << epoTime.datestr().c_str() << " "
2255 << epoTime.timestr().c_str() << " "
2256 << "Orbit Outlier: "
2257 << corr->_acName.toLatin1().data() << " "
2258 << prn.mid(0,3).toLatin1().data() << " "
2259 << corr->_iod << " "
2260 << norm << "\n";
2261 delete corr;
2262 im.remove();
2263 removed = true;
2264 }
2265 }
2266 }
2267 // Set master orbit
2268 // -----------------------------------------
2269 if (!removed) {
2270 QVectorIterator<cmbCorr*> it(corrs(sys));
2271 while (it.hasNext()) {
2272 cmbCorr* corr = it.next();
2273 QString prn = corr->_prn;
2274 if (corr->_acName == _masterOrbitAC[sys] && masterCorr.find(prn) == masterCorr.end()) {
2275 masterCorr[prn] = new cmbCorr(*corr);
2276 }
2277 }
2278 // Remove satellites that are not in masterOrbit
2279 // and compute differences wrt. masterOrbit
2280 // ----------------------------------------------
2281 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
2282 while (im.hasNext()) {
2283 cmbCorr* corr = im.next();
2284 QString prn = corr->_prn;
2285 if (masterCorr.find(prn) == masterCorr.end()) {
2286 delete corr;
2287 im.remove();
2288 }
2289 }
2290 break;
2291 }
2292 }
2293
2294
2295 // Satellites with corrections from fewer than 2 ACs cannot be checked for
2296 // orbit outliers and are skipped (e.g. if an AC is missing): log it, in
2297 // the combination log every epoch, in the BNC log at most once per hour
2298 // -------------------------------------------------------------------------
2299 if (!singleACSats.isEmpty()) {
2300 QStringList sats = singleACSats.values(); sats.sort();
2301 QStringList acs = singleACNames.values(); acs.sort();
2302 QString msg = QString("%1 satellite(s) skipped, corrections from fewer than 2 ACs (only %2): %3")
2303 .arg(sats.size()).arg(acs.join(",")).arg(sats.join(" "));
2304 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str() << " " << msg << "\n";
2305 bncTime& warned = _singleACWarned[sys];
2306 if (!warned.valid() || epoTime - warned >= 3600.0) {
2307 warned = epoTime;
2308 emit newMessage("bncComb: " + QByteArray(1, sys) + " " + msg.toLatin1(), false);
2309 }
2310 }
2311 return success;
2312}
2313
2314//
2315////////////////////////////////////////////////////////////////////////////
2316void bncComb::slotProviderIDChanged(QString mountPoint) {
2317 QMutexLocker locker(&_mutex);
2318
2319 QTextStream out(&_log, QIODevice::WriteOnly);
2320
2321 // Find the AC Name
2322 // ----------------
2323 QString acName;
2324 QListIterator<cmbAC*> icAC(_ACs);
2325 while (icAC.hasNext()) {
2326 cmbAC *AC = icAC.next();
2327 if (AC->mountPoint == mountPoint) {
2328 acName = AC->name;
2329 out << "SSR Provider or Service changed: AC " << AC->name.toLatin1().data() << " "
2330 << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
2331 << "\n";
2332 break;
2333 }
2334 }
2335 if (acName.isEmpty()) {
2336 return;
2337 }
2338 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
2339 while (itSys.hasNext()) {
2340 itSys.next();
2341 char sys = itSys.key();
2342 // Remove all corrections of the corresponding AC
2343 // ----------------------------------------------
2344 QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
2345 QMutableVectorIterator<cmbCorr*> it(corrVec);
2346 while (it.hasNext()) {
2347 cmbCorr *corr = it.next();
2348 if (acName == corr->_acName) {
2349 delete corr;
2350 it.remove();
2351 }
2352 }
2353 // Reset Satellite Offsets
2354 // -----------------------
2355 if (_method == filter) {
2356 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
2357 cmbParam *pp = _params[sys][iPar - 1];
2358 if (pp->AC == acName && pp->type == cmbParam::offACSat) {
2359 pp->xx = 0.0;
2360 _QQ[sys].Row(iPar) = 0.0;
2361 _QQ[sys].Column(iPar) = 0.0;
2362 _QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
2363 }
2364 }
2365 }
2366 }
2367}
2368
2369//
2370////////////////////////////////////////////////////////////////////////////
2371bool bncComb::excludeSat(const t_prn& prn, const QStringList excludeSats) const {
2372 QStringListIterator it(excludeSats);
2373 while (it.hasNext()) {
2374 string prnStr = it.next().toLatin1().data();
2375 if (prnStr == prn.toString() || // prn
2376 prnStr == prn.toString().substr(0,1)) { // sys
2377 return true;
2378 }
2379 }
2380 return false;
2381}
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