source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 4978

Last change on this file since 4978 was 4978, checked in by mervart, 9 years ago
File size: 32.0 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
21#include "bnccomb.h"
22#include "bncapp.h"
23#include "upload/bncrtnetdecoder.h"
24#include "bncsettings.h"
25#include "bncmodel.h"
26#include "bncutils.h"
27#include "bncpppclient.h"
28#include "bncsp3.h"
29#include "bncantex.h"
30#include "bnctides.h"
31
32const double sig0_offAC = 1000.0;
33const double sig0_offACSat = 100.0;
34const double sigP_offACSat = 0.01;
35const double sig0_clkSat = 100.0;
36
37const double sigObs = 0.05;
38
39const int MAXPRN_GLONASS = 24;
40
41using namespace std;
42
43// Constructor
44////////////////////////////////////////////////////////////////////////////
45cmbParam::cmbParam(parType type_, int index_,
46 const QString& ac_, const QString& prn_) {
47
48 type = type_;
49 index = index_;
50 AC = ac_;
51 prn = prn_;
52 xx = 0.0;
53 eph = 0;
54
55 if (type == offACgps) {
56 epoSpec = true;
57 sig0 = sig0_offAC;
58 sigP = sig0;
59 }
60 else if (type == offACglo) {
61 epoSpec = true;
62 sig0 = sig0_offAC;
63 sigP = sig0;
64 }
65 else if (type == offACSat) {
66 epoSpec = false;
67 sig0 = sig0_offACSat;
68 sigP = sigP_offACSat;
69 }
70 else if (type == clkSat) {
71 epoSpec = true;
72 sig0 = sig0_clkSat;
73 sigP = sig0;
74 }
75}
76
77// Destructor
78////////////////////////////////////////////////////////////////////////////
79cmbParam::~cmbParam() {
80}
81
82// Partial
83////////////////////////////////////////////////////////////////////////////
84double cmbParam::partial(const QString& AC_, const QString& prn_) {
85
86 if (type == offACgps) {
87 if (AC == AC_ && prn_[0] == 'G') {
88 return 1.0;
89 }
90 }
91 else if (type == offACglo) {
92 if (AC == AC_ && prn_[0] == 'R') {
93 return 1.0;
94 }
95 }
96 else if (type == offACSat) {
97 if (AC == AC_ && prn == prn_) {
98 return 1.0;
99 }
100 }
101 else if (type == clkSat) {
102 if (prn == prn_) {
103 return 1.0;
104 }
105 }
106
107 return 0.0;
108}
109
110//
111////////////////////////////////////////////////////////////////////////////
112QString cmbParam::toString() const {
113
114 QString outStr;
115
116 if (type == offACgps) {
117 outStr = "AC offset GPS " + AC;
118 }
119 else if (type == offACglo) {
120 outStr = "AC offset GLO " + AC;
121 }
122 else if (type == offACSat) {
123 outStr = "Sat Offset " + AC + " " + prn;
124 }
125 else if (type == clkSat) {
126 outStr = "Clk Corr " + prn;
127 }
128
129 return outStr;
130}
131
132// Constructor
133////////////////////////////////////////////////////////////////////////////
134bncComb::bncComb() {
135
136 bncSettings settings;
137
138 QStringList combineStreams = settings.value("combineStreams").toStringList();
139
140 _cmbSampl = settings.value("cmbSampl").toInt();
141 if (_cmbSampl <= 0) {
142 _cmbSampl = 10;
143 }
144
145 _masterMissingEpochs = 0;
146
147 if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
148 QListIterator<QString> it(combineStreams);
149 while (it.hasNext()) {
150 QStringList hlp = it.next().split(" ");
151 cmbAC* newAC = new cmbAC();
152 newAC->mountPoint = hlp[0];
153 newAC->name = hlp[1];
154 newAC->weight = hlp[2].toDouble();
155 if (_masterOrbitAC.isEmpty()) {
156 _masterOrbitAC = newAC->name;
157 }
158 _ACs.append(newAC);
159 }
160 }
161
162 _rtnetDecoder = 0;
163
164 connect(this, SIGNAL(newMessage(QByteArray,bool)),
165 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
166
167 // Combination Method
168 // ------------------
169 if (settings.value("cmbMethod").toString() == "Single-Epoch") {
170 _method = singleEpoch;
171 }
172 else {
173 _method = filter;
174 }
175
176 // Use Glonass
177 // -----------
178 if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
179 _useGlonass = true;
180 }
181 else {
182 _useGlonass = false;
183 }
184
185 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
186 // ----------------------------------------------------------------------
187 if (_method == filter) {
188 int nextPar = 0;
189 QListIterator<cmbAC*> it(_ACs);
190 while (it.hasNext()) {
191 cmbAC* AC = it.next();
192 _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC->name, ""));
193 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
194 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
195 _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
196 AC->name, prn));
197 }
198 if (_useGlonass) {
199 _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC->name, ""));
200 for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
201 QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
202 _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
203 AC->name, prn));
204 }
205 }
206 }
207 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
208 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
209 _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
210 }
211 if (_useGlonass) {
212 for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
213 QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
214 _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
215 }
216 }
217
218 // Initialize Variance-Covariance Matrix
219 // -------------------------------------
220 _QQ.ReSize(_params.size());
221 _QQ = 0.0;
222 for (int iPar = 1; iPar <= _params.size(); iPar++) {
223 cmbParam* pp = _params[iPar-1];
224 _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
225 }
226 }
227
228 // ANTEX File
229 // ----------
230 _antex = 0;
231 QString antexFileName = settings.value("pppAntex").toString();
232 if (!antexFileName.isEmpty()) {
233 _antex = new bncAntex();
234 if (_antex->readFile(antexFileName) != success) {
235 emit newMessage("wrong ANTEX file", true);
236 delete _antex;
237 _antex = 0;
238 }
239 }
240
241 // Maximal Residuum
242 // ----------------
243 _MAXRES = settings.value("cmbMaxres").toDouble();
244 if (_MAXRES <= 0.0) {
245 _MAXRES = 999.0;
246 }
247}
248
249// Destructor
250////////////////////////////////////////////////////////////////////////////
251bncComb::~bncComb() {
252 QListIterator<cmbAC*> icAC(_ACs);
253 while (icAC.hasNext()) {
254 delete icAC.next();
255 }
256 delete _rtnetDecoder;
257 delete _antex;
258 for (int iPar = 1; iPar <= _params.size(); iPar++) {
259 delete _params[iPar-1];
260 }
261 QListIterator<bncTime> itTime(_buffer.keys());
262 while (itTime.hasNext()) {
263 bncTime epoTime = itTime.next();
264 _buffer.remove(epoTime);
265 }
266 QMapIterator<QString, cmbCorr*> itOrbCorr(_orbitCorrs);
267 while (itOrbCorr.hasNext()) {
268 itOrbCorr.next();
269 delete itOrbCorr.value();
270 }
271}
272
273// Read and store one correction line
274////////////////////////////////////////////////////////////////////////////
275void bncComb::processCorrLine(const QString& staID, const QString& line) {
276 QMutexLocker locker(&_mutex);
277
278 // Find the AC Name
279 // ----------------
280 QString acName;
281 QListIterator<cmbAC*> icAC(_ACs);
282 while (icAC.hasNext()) {
283 cmbAC* AC = icAC.next();
284 if (AC->mountPoint == staID) {
285 acName = AC->name;
286 break;
287 }
288 }
289 if (acName.isEmpty()) {
290 return;
291 }
292
293 // Read the Correction
294 // -------------------
295 cmbCorr* newCorr = new cmbCorr();
296 newCorr->acName = acName;
297 if (!newCorr->readLine(line) == success) {
298 delete newCorr;
299 return;
300 }
301
302 // Check Glonass
303 // -------------
304 if (!_useGlonass) {
305 if (newCorr->prn[0] == 'R') {
306 delete newCorr;
307 return;
308 }
309 }
310
311 // Save Orbit-Only Corrections
312 // ---------------------------
313 if (newCorr->tRao.valid() && !newCorr->tClk.valid()) {
314 QString corrID = newCorr->ID();
315 if (_orbitCorrs.find(corrID) != _orbitCorrs.end()) {
316 delete _orbitCorrs[corrID];
317 }
318 _orbitCorrs[corrID] = newCorr;
319 return;
320 }
321
322 // Merge with saved orbit correction
323 // ---------------------------------
324 else if (newCorr->tClk.valid() && !newCorr->tRao.valid()) {
325 QString corrID = newCorr->ID();
326 if (_orbitCorrs.find(corrID) != _orbitCorrs.end()) {
327 mergeOrbitCorr(_orbitCorrs[corrID], newCorr);
328 }
329 }
330
331 // Check Modulo Time
332 // -----------------
333 if (int(newCorr->tClk.gpssec()) % _cmbSampl != 0.0) {
334 delete newCorr;
335 return;
336 }
337
338 // Delete old corrections
339 // ----------------------
340 if (_resTime.valid() && newCorr->tClk <= _resTime) {
341 delete newCorr;
342 return;
343 }
344
345 // Check the Ephemeris
346 //--------------------
347 if (_eph.find(newCorr->prn) == _eph.end()) {
348 delete newCorr;
349 return;
350 }
351 else {
352 t_eph* lastEph = _eph[newCorr->prn]->last;
353 t_eph* prevEph = _eph[newCorr->prn]->prev;
354 if (lastEph && lastEph->IOD() == newCorr->iod) {
355 newCorr->eph = lastEph;
356 }
357 else if (lastEph && prevEph && prevEph->IOD() == newCorr->iod) {
358 newCorr->eph = prevEph;
359 switchToLastEph(lastEph, newCorr);
360 }
361 else {
362 delete newCorr;
363 return;
364 }
365 }
366
367 // Process previous Epoch(s)
368 // -------------------------
369 QListIterator<bncTime> itTime(_buffer.keys());
370 while (itTime.hasNext()) {
371 bncTime epoTime = itTime.next();
372 if (epoTime < newCorr->tClk - _cmbSampl) {
373 _resTime = epoTime;
374 processEpoch();
375 }
376 }
377
378 // Merge or add the correction
379 // ---------------------------
380 QVector<cmbCorr*>& corrs = _buffer[newCorr->tClk].corrs;
381 cmbCorr* existingCorr = 0;
382 QVectorIterator<cmbCorr*> itCorr(corrs);
383 while (itCorr.hasNext()) {
384 cmbCorr* hlp = itCorr.next();
385 if (hlp->prn == newCorr->prn && hlp->acName == newCorr->acName) {
386 existingCorr = hlp;
387 break;
388 }
389 }
390 if (existingCorr) {
391 delete newCorr; newCorr = 0;
392 existingCorr->readLine(line); // merge (multiple messages)
393
394 }
395 else {
396 corrs.append(newCorr);
397 }
398}
399
400// Change the correction so that it refers to last received ephemeris
401////////////////////////////////////////////////////////////////////////////
402void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
403
404 if (corr->eph == lastEph) {
405 return;
406 }
407
408 ColumnVector oldXC(4);
409 ColumnVector oldVV(3);
410 corr->eph->position(corr->tRao.gpsw(), corr->tRao.gpssec(),
411 oldXC.data(), oldVV.data());
412
413 ColumnVector newXC(4);
414 ColumnVector newVV(3);
415 lastEph->position(corr->tRao.gpsw(), corr->tRao.gpssec(),
416 newXC.data(), newVV.data());
417
418 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
419 ColumnVector dV = newVV - oldVV;
420 double dC = newXC(4) - oldXC(4);
421
422 ColumnVector dRAO(3);
423 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
424
425 ColumnVector dDotRAO(3);
426 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
427
428 QString msg = "switch corr " + corr->prn
429 + QString(" %1 -> %2 %3").arg(corr->iod,3)
430 .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
431
432 emit newMessage(msg.toAscii(), false);
433
434 corr->iod = lastEph->IOD();
435 corr->eph = lastEph;
436 corr->rao += dRAO;
437 corr->dotRao += dDotRAO;
438 corr->dClk -= dC;
439}
440
441// Process Epoch
442////////////////////////////////////////////////////////////////////////////
443void bncComb::processEpoch() {
444
445 _log.clear();
446
447 QTextStream out(&_log, QIODevice::WriteOnly);
448
449 out << endl << "Combination:" << endl
450 << "------------------------------" << endl;
451
452 // Observation Statistics
453 // ----------------------
454 bool masterPresent = false;
455 QListIterator<cmbAC*> icAC(_ACs);
456 while (icAC.hasNext()) {
457 cmbAC* AC = icAC.next();
458 AC->numObs = 0;
459 QVectorIterator<cmbCorr*> itCorr(corrs());
460 while (itCorr.hasNext()) {
461 cmbCorr* corr = itCorr.next();
462 if (corr->acName == AC->name) {
463 AC->numObs += 1;
464 if (AC->name == _masterOrbitAC) {
465 masterPresent = true;
466 }
467 }
468 }
469 out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
470 }
471
472 // If Master not present, switch to another one
473 // --------------------------------------------
474 const unsigned switchMasterAfterGap = 1;
475 if (masterPresent) {
476 _masterMissingEpochs = 0;
477 }
478 else {
479 ++_masterMissingEpochs;
480 if (_masterMissingEpochs < switchMasterAfterGap) {
481 out << "Missing Master, Epoch skipped" << endl;
482 _buffer.remove(_resTime);
483 emit newMessage(_log, false);
484 return;
485 }
486 else {
487 _masterMissingEpochs = 0;
488 QListIterator<cmbAC*> icAC(_ACs);
489 while (icAC.hasNext()) {
490 cmbAC* AC = icAC.next();
491 if (AC->numObs > 0) {
492 out << "Switching Master AC "
493 << _masterOrbitAC.toAscii().data() << " --> "
494 << AC->name.toAscii().data() << " "
495 << _resTime.datestr().c_str() << " "
496 << _resTime.timestr().c_str() << endl;
497 _masterOrbitAC = AC->name;
498 break;
499 }
500 }
501 }
502 }
503
504 QMap<QString, t_corr*> resCorr;
505
506 // Perform the actual Combination using selected Method
507 // ----------------------------------------------------
508 t_irc irc;
509 ColumnVector dx;
510 if (_method == filter) {
511 irc = processEpoch_filter(out, resCorr, dx);
512 }
513 else {
514 irc = processEpoch_singleEpoch(out, resCorr, dx);
515 }
516
517 // Update Parameter Values, Print Results
518 // --------------------------------------
519 if (irc == success) {
520 for (int iPar = 1; iPar <= _params.size(); iPar++) {
521 cmbParam* pp = _params[iPar-1];
522 pp->xx += dx(iPar);
523 if (pp->type == cmbParam::clkSat) {
524 if (resCorr.find(pp->prn) != resCorr.end()) {
525 resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
526 }
527 }
528 out << _resTime.datestr().c_str() << " "
529 << _resTime.timestr().c_str() << " ";
530 out.setRealNumberNotation(QTextStream::FixedNotation);
531 out.setFieldWidth(8);
532 out.setRealNumberPrecision(4);
533 out << pp->toString() << " "
534 << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
535 out.setFieldWidth(0);
536 }
537 printResults(out, resCorr);
538 dumpResults(resCorr);
539 }
540
541 // Delete Data, emit Message
542 // -------------------------
543 _buffer.remove(_resTime);
544 emit newMessage(_log, false);
545}
546
547// Process Epoch - Filter Method
548////////////////////////////////////////////////////////////////////////////
549t_irc bncComb::processEpoch_filter(QTextStream& out,
550 QMap<QString, t_corr*>& resCorr,
551 ColumnVector& dx) {
552
553 // Prediction Step
554 // ---------------
555 int nPar = _params.size();
556 ColumnVector x0(nPar);
557 for (int iPar = 1; iPar <= _params.size(); iPar++) {
558 cmbParam* pp = _params[iPar-1];
559 if (pp->epoSpec) {
560 pp->xx = 0.0;
561 _QQ.Row(iPar) = 0.0;
562 _QQ.Column(iPar) = 0.0;
563 _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
564 }
565 else {
566 _QQ(iPar,iPar) += pp->sigP * pp->sigP;
567 }
568 x0(iPar) = pp->xx;
569 }
570
571 // Check Satellite Positions for Outliers
572 // --------------------------------------
573 if (checkOrbits(out) != success) {
574 return failure;
575 }
576
577 // Update and outlier detection loop
578 // ---------------------------------
579 SymmetricMatrix QQ_sav = _QQ;
580 while (true) {
581
582 Matrix AA;
583 ColumnVector ll;
584 DiagonalMatrix PP;
585
586 if (createAmat(AA, ll, PP, x0, resCorr) != success) {
587 return failure;
588 }
589
590 bncModel::kalman(AA, ll, PP, _QQ, dx);
591 ColumnVector vv = ll - AA * dx;
592
593 int maxResIndex;
594 double maxRes = vv.maximum_absolute_value1(maxResIndex);
595 out.setRealNumberNotation(QTextStream::FixedNotation);
596 out.setRealNumberPrecision(3);
597 out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
598 << " Maximum Residuum " << maxRes << ' '
599 << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
600
601 if (maxRes > _MAXRES) {
602 for (int iPar = 1; iPar <= _params.size(); iPar++) {
603 cmbParam* pp = _params[iPar-1];
604 if (pp->type == cmbParam::offACSat &&
605 pp->AC == corrs()[maxResIndex-1]->acName &&
606 pp->prn == corrs()[maxResIndex-1]->prn) {
607 QQ_sav.Row(iPar) = 0.0;
608 QQ_sav.Column(iPar) = 0.0;
609 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
610 }
611 }
612
613 out << " Outlier" << endl;
614 _QQ = QQ_sav;
615 corrs().remove(maxResIndex-1);
616 }
617 else {
618 out << " OK" << endl;
619 break;
620 }
621 }
622
623 return success;
624}
625
626// Print results
627////////////////////////////////////////////////////////////////////////////
628void bncComb::printResults(QTextStream& out,
629 const QMap<QString, t_corr*>& resCorr) {
630
631 QMapIterator<QString, t_corr*> it(resCorr);
632 while (it.hasNext()) {
633 it.next();
634 t_corr* corr = it.value();
635 const t_eph* eph = corr->eph;
636 if (eph) {
637 double xx, yy, zz, cc;
638 eph->position(_resTime.gpsw(), _resTime.gpssec(), xx, yy, zz, cc);
639
640 out << _resTime.datestr().c_str() << " "
641 << _resTime.timestr().c_str() << " ";
642 out.setFieldWidth(3);
643 out << "Full Clock " << corr->prn << " " << corr->iod << " ";
644 out.setFieldWidth(14);
645 out << (cc + corr->dClk) * t_CST::c << endl;
646 out.setFieldWidth(0);
647 }
648 else {
649 out << "bncComb::printResuls bug" << endl;
650 }
651 }
652}
653
654// Send results to RTNet Decoder and directly to PPP Client
655////////////////////////////////////////////////////////////////////////////
656void bncComb::dumpResults(const QMap<QString, t_corr*>& resCorr) {
657
658 ostringstream out; out.setf(std::ios::fixed);
659 QStringList corrLines;
660
661 unsigned year, month, day, hour, minute;
662 double sec;
663 _resTime.civil_date(year, month, day);
664 _resTime.civil_time(hour, minute, sec);
665
666 out << "* "
667 << setw(4) << year << " "
668 << setw(2) << month << " "
669 << setw(2) << day << " "
670 << setw(2) << hour << " "
671 << setw(2) << minute << " "
672 << setw(12) << setprecision(8) << sec << " "
673 << endl;
674
675 QMapIterator<QString, t_corr*> it(resCorr);
676 while (it.hasNext()) {
677 it.next();
678 t_corr* corr = it.value();
679
680 double dT = 60.0;
681
682 ColumnVector xc(4);
683 ColumnVector vv(3);
684 corr->eph->position(_resTime.gpsw(), _resTime.gpssec(),
685 xc.data(), vv.data());
686 bncPPPclient::applyCorr(_resTime, corr, xc, vv);
687
688 // Relativistic Correction
689 // -----------------------
690 double relCorr = - 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
691 xc(4) -= relCorr;
692
693 // Code Biases
694 // -----------
695 double dcbP1C1 = 0.0;
696 double dcbP1P2 = 0.0;
697
698 // Correction Phase Center --> CoM
699 // -------------------------------
700 ColumnVector dx(3); dx = 0.0;
701 if (_antex) {
702 double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
703 if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
704 xc(1) -= dx(1);
705 xc(2) -= dx(2);
706 xc(3) -= dx(3);
707 }
708 else {
709 cout << "antenna not found" << endl;
710 }
711 }
712
713 out << 'P' << corr->prn.toAscii().data()
714 << setw(14) << setprecision(6) << xc(1) / 1000.0
715 << setw(14) << setprecision(6) << xc(2) / 1000.0
716 << setw(14) << setprecision(6) << xc(3) / 1000.0
717 << setw(14) << setprecision(6) << xc(4) * 1e6
718 << setw(14) << setprecision(6) << relCorr * 1e6
719 << setw(8) << setprecision(3) << dx(1)
720 << setw(8) << setprecision(3) << dx(2)
721 << setw(8) << setprecision(3) << dx(3)
722 << setw(8) << setprecision(3) << dcbP1C1
723 << setw(8) << setprecision(3) << dcbP1P2
724 << setw(6) << setprecision(1) << dT
725 << setw(14) << setprecision(6) << (xc(1) + vv(1) * dT) / 1000.0
726 << setw(14) << setprecision(6) << (xc(2) + vv(2) * dT) / 1000.0
727 << setw(14) << setprecision(6) << (xc(3) + vv(3) * dT) / 1000.0 << endl;
728
729 QString line;
730 int messageType = COTYPE_GPSCOMBINED;
731 int updateInt = 0;
732 line.sprintf("%d %d %d %.1f %s"
733 " %3d"
734 " %8.3f %8.3f %8.3f %8.3f"
735 " %10.5f %10.5f %10.5f %10.5f"
736 " %10.5f %10.5f %10.5f %10.5f INTERNAL",
737 messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
738 corr->prn.toAscii().data(),
739 corr->iod,
740 corr->dClk * t_CST::c,
741 corr->rao[0],
742 corr->rao[1],
743 corr->rao[2],
744 corr->dotDClk * t_CST::c,
745 corr->dotRao[0],
746 corr->dotRao[1],
747 corr->dotRao[2],
748 corr->dotDotDClk * t_CST::c,
749 corr->dotDotRao[0],
750 corr->dotDotRao[1],
751 corr->dotDotRao[2]);
752 corrLines << line;
753
754 delete corr;
755 }
756 out << "EOE" << endl; // End Of Epoch flag
757
758 if (!_rtnetDecoder) {
759 _rtnetDecoder = new bncRtnetDecoder();
760 }
761
762 vector<string> errmsg;
763 _rtnetDecoder->Decode((char*) out.str().data(), out.str().size(), errmsg);
764
765 // Optionally send new Corrections to PPP
766 // --------------------------------------
767 bncApp* app = (bncApp*) qApp;
768 if (app->_bncPPPclient) {
769 app->_bncPPPclient->slotNewCorrections(corrLines);
770 }
771}
772
773// Create First Design Matrix and Vector of Measurements
774////////////////////////////////////////////////////////////////////////////
775t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
776 const ColumnVector& x0,
777 QMap<QString, t_corr*>& resCorr) {
778
779 unsigned nPar = _params.size();
780 unsigned nObs = corrs().size();
781
782 if (nObs == 0) {
783 return failure;
784 }
785
786 int MAXPRN = MAXPRN_GPS;
787// if (_useGlonass) {
788// MAXPRN = MAXPRN_GPS + MAXPRN_GLONASS;
789// }
790
791 const int nCon = (_method == filter) ? 1 + MAXPRN : 0;
792
793 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
794 ll.ReSize(nObs+nCon); ll = 0.0;
795 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
796
797 int iObs = 0;
798
799 QVectorIterator<cmbCorr*> itCorr(corrs());
800 while (itCorr.hasNext()) {
801 cmbCorr* corr = itCorr.next();
802 QString prn = corr->prn;
803
804 ++iObs;
805
806 if (corr->acName == _masterOrbitAC && resCorr.find(prn) == resCorr.end()) {
807 resCorr[prn] = new t_corr(*corr);
808 }
809
810 for (int iPar = 1; iPar <= _params.size(); iPar++) {
811 cmbParam* pp = _params[iPar-1];
812 AA(iObs, iPar) = pp->partial(corr->acName, prn);
813 }
814
815 ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
816 }
817
818 // Regularization
819 // --------------
820 if (_method == filter) {
821 const double Ph = 1.e6;
822 PP(nObs+1) = Ph;
823 for (int iPar = 1; iPar <= _params.size(); iPar++) {
824 cmbParam* pp = _params[iPar-1];
825 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
826 pp->type == cmbParam::clkSat ) {
827 AA(nObs+1, iPar) = 1.0;
828 }
829 }
830 int iCond = 1;
831 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
832 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
833 ++iCond;
834 PP(nObs+iCond) = Ph;
835 for (int iPar = 1; iPar <= _params.size(); iPar++) {
836 cmbParam* pp = _params[iPar-1];
837 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
838 pp->type == cmbParam::offACSat &&
839 pp->prn == prn) {
840 AA(nObs+iCond, iPar) = 1.0;
841 }
842 }
843 }
844// if (_useGlonass) {
845// for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
846// QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
847// ++iCond;
848// PP(nObs+iCond) = Ph;
849// for (int iPar = 1; iPar <= _params.size(); iPar++) {
850// cmbParam* pp = _params[iPar-1];
851// if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
852// pp->type == cmbParam::offACSat &&
853// pp->prn == prn) {
854// AA(nObs+iCond, iPar) = 1.0;
855// }
856// }
857// }
858// }
859 }
860
861 return success;
862}
863
864// Process Epoch - Single-Epoch Method
865////////////////////////////////////////////////////////////////////////////
866t_irc bncComb::processEpoch_singleEpoch(QTextStream& out,
867 QMap<QString, t_corr*>& resCorr,
868 ColumnVector& dx) {
869
870 // Check Satellite Positions for Outliers
871 // --------------------------------------
872 if (checkOrbits(out) != success) {
873 return failure;
874 }
875
876 // Outlier Detection Loop
877 // ----------------------
878 while (true) {
879
880 // Remove Satellites that are not in Master
881 // ----------------------------------------
882 QMutableVectorIterator<cmbCorr*> it(corrs());
883 while (it.hasNext()) {
884 cmbCorr* corr = it.next();
885 QString prn = corr->prn;
886 bool foundMaster = false;
887 QVectorIterator<cmbCorr*> itHlp(corrs());
888 while (itHlp.hasNext()) {
889 cmbCorr* corrHlp = itHlp.next();
890 QString prnHlp = corrHlp->prn;
891 QString ACHlp = corrHlp->acName;
892 if (ACHlp == _masterOrbitAC && prn == prnHlp) {
893 foundMaster = true;
894 break;
895 }
896 }
897 if (!foundMaster) {
898 delete corr;
899 it.remove();
900 }
901 }
902
903 // Count Number of Observations per Satellite and per AC
904 // -----------------------------------------------------
905 QMap<QString, int> numObsPrn;
906 QMap<QString, int> numObsAC;
907 QVectorIterator<cmbCorr*> itCorr(corrs());
908 while (itCorr.hasNext()) {
909 cmbCorr* corr = itCorr.next();
910 QString prn = corr->prn;
911 QString AC = corr->acName;
912 if (numObsPrn.find(prn) == numObsPrn.end()) {
913 numObsPrn[prn] = 1;
914 }
915 else {
916 numObsPrn[prn] += 1;
917 }
918 if (numObsAC.find(AC) == numObsAC.end()) {
919 numObsAC[AC] = 1;
920 }
921 else {
922 numObsAC[AC] += 1;
923 }
924 }
925
926 // Clean-Up the Paramters
927 // ----------------------
928 for (int iPar = 1; iPar <= _params.size(); iPar++) {
929 delete _params[iPar-1];
930 }
931 _params.clear();
932
933 // Set new Parameters
934 // ------------------
935 int nextPar = 0;
936
937 QMapIterator<QString, int> itAC(numObsAC);
938 while (itAC.hasNext()) {
939 itAC.next();
940 const QString& AC = itAC.key();
941 int numObs = itAC.value();
942 if (AC != _masterOrbitAC && numObs > 0) {
943 _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC, ""));
944 if (_useGlonass) {
945 _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC, ""));
946 }
947 }
948 }
949
950 QMapIterator<QString, int> itPrn(numObsPrn);
951 while (itPrn.hasNext()) {
952 itPrn.next();
953 const QString& prn = itPrn.key();
954 int numObs = itPrn.value();
955 if (numObs > 0) {
956 _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
957 }
958 }
959
960 int nPar = _params.size();
961 ColumnVector x0(nPar);
962 x0 = 0.0;
963
964 // Create First-Design Matrix
965 // --------------------------
966 Matrix AA;
967 ColumnVector ll;
968 DiagonalMatrix PP;
969 if (createAmat(AA, ll, PP, x0, resCorr) != success) {
970 return failure;
971 }
972
973 ColumnVector vv;
974 try {
975 Matrix ATP = AA.t() * PP;
976 SymmetricMatrix NN; NN << ATP * AA;
977 ColumnVector bb = ATP * ll;
978 _QQ = NN.i();
979 dx = _QQ * bb;
980 vv = ll - AA * dx;
981 }
982 catch (Exception& exc) {
983 out << exc.what() << endl;
984 return failure;
985 }
986
987 int maxResIndex;
988 double maxRes = vv.maximum_absolute_value1(maxResIndex);
989 out.setRealNumberNotation(QTextStream::FixedNotation);
990 out.setRealNumberPrecision(3);
991 out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
992 << " Maximum Residuum " << maxRes << ' '
993 << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
994
995 if (maxRes > _MAXRES) {
996 out << " Outlier" << endl;
997 delete corrs()[maxResIndex-1];
998 corrs().remove(maxResIndex-1);
999 }
1000 else {
1001 out << " OK" << endl;
1002 out.setRealNumberNotation(QTextStream::FixedNotation);
1003 out.setRealNumberPrecision(3);
1004 for (int ii = 0; ii < vv.Nrows(); ii++) {
1005 const cmbCorr* corr = corrs()[ii];
1006 out << _resTime.datestr().c_str() << ' '
1007 << _resTime.timestr().c_str() << " "
1008 << corr->acName << ' ' << corr->prn;
1009 out.setFieldWidth(6);
1010 out << " dClk = " << corr->dClk * t_CST::c << " res = " << vv[ii] << endl;
1011 out.setFieldWidth(0);
1012 }
1013 return success;
1014 }
1015
1016 }
1017
1018 return failure;
1019}
1020
1021// Check Satellite Positions for Outliers
1022////////////////////////////////////////////////////////////////////////////
1023t_irc bncComb::checkOrbits(QTextStream& out) {
1024
1025 const double MAX_DISPLACEMENT = 0.20;
1026
1027 // Switch to last ephemeris (if possible)
1028 // --------------------------------------
1029 QMutableVectorIterator<cmbCorr*> im(corrs());
1030 while (im.hasNext()) {
1031 cmbCorr* corr = im.next();
1032 QString prn = corr->prn;
1033 if (_eph.find(prn) == _eph.end()) {
1034 out << "checkOrbit: missing eph (not found) " << corr->prn << endl;
1035 delete corr;
1036 im.remove();
1037 }
1038 else if (corr->eph == 0) {
1039 out << "checkOrbit: missing eph (zero) " << corr->prn << endl;
1040 delete corr;
1041 im.remove();
1042 }
1043 else {
1044 if ( corr->eph == _eph[prn]->last || corr->eph == _eph[prn]->prev ) {
1045 switchToLastEph(_eph[prn]->last, corr);
1046 }
1047 else {
1048 out << "checkOrbit: missing eph (deleted) " << corr->prn << endl;
1049 delete corr;
1050 im.remove();
1051 }
1052 }
1053 }
1054
1055 while (true) {
1056
1057 // Compute Mean Corrections for all Satellites
1058 // -------------------------------------------
1059 QMap<QString, int> numCorr;
1060 QMap<QString, ColumnVector> meanRao;
1061 QVectorIterator<cmbCorr*> it(corrs());
1062 while (it.hasNext()) {
1063 cmbCorr* corr = it.next();
1064 QString prn = corr->prn;
1065 if (meanRao.find(prn) == meanRao.end()) {
1066 meanRao[prn].ReSize(4);
1067 meanRao[prn].Rows(1,3) = corr->rao;
1068 meanRao[prn](4) = 1;
1069 }
1070 else {
1071 meanRao[prn].Rows(1,3) += corr->rao;
1072 meanRao[prn](4) += 1;
1073 }
1074 if (numCorr.find(prn) == numCorr.end()) {
1075 numCorr[prn] = 1;
1076 }
1077 else {
1078 numCorr[prn] += 1;
1079 }
1080 }
1081
1082 // Compute Differences wrt Mean, find Maximum
1083 // ------------------------------------------
1084 QMap<QString, cmbCorr*> maxDiff;
1085 it.toFront();
1086 while (it.hasNext()) {
1087 cmbCorr* corr = it.next();
1088 QString prn = corr->prn;
1089 if (meanRao[prn](4) != 0) {
1090 meanRao[prn] /= meanRao[prn](4);
1091 meanRao[prn](4) = 0;
1092 }
1093 corr->diffRao = corr->rao - meanRao[prn].Rows(1,3);
1094 if (maxDiff.find(prn) == maxDiff.end()) {
1095 maxDiff[prn] = corr;
1096 }
1097 else {
1098 double normMax = maxDiff[prn]->diffRao.norm_Frobenius();
1099 double norm = corr->diffRao.norm_Frobenius();
1100 if (norm > normMax) {
1101 maxDiff[prn] = corr;
1102 }
1103 }
1104 }
1105
1106 if (_ACs.size() == 1) {
1107 break;
1108 }
1109
1110 // Remove Outliers
1111 // ---------------
1112 bool removed = false;
1113 QMutableVectorIterator<cmbCorr*> im(corrs());
1114 while (im.hasNext()) {
1115 cmbCorr* corr = im.next();
1116 QString prn = corr->prn;
1117 if (numCorr[prn] < 2) {
1118 delete corr;
1119 im.remove();
1120 }
1121 else if (corr == maxDiff[prn]) {
1122 double norm = corr->diffRao.norm_Frobenius();
1123 if (norm > MAX_DISPLACEMENT) {
1124 out << _resTime.datestr().c_str() << " "
1125 << _resTime.timestr().c_str() << " "
1126 << "Orbit Outlier: "
1127 << corr->acName.toAscii().data() << " "
1128 << prn.toAscii().data() << " "
1129 << corr->iod << " "
1130 << norm << endl;
1131 delete corr;
1132 im.remove();
1133 removed = true;
1134 }
1135 }
1136 }
1137
1138 if (!removed) {
1139 break;
1140 }
1141 }
1142
1143 return success;
1144}
1145
1146//
1147////////////////////////////////////////////////////////////////////////////
1148t_irc bncComb::mergeOrbitCorr(const cmbCorr* orbitCorr, cmbCorr* clkCorr) {
1149
1150 clkCorr->iod = orbitCorr->iod; // is it always correct?
1151 clkCorr->eph = orbitCorr->eph;
1152 clkCorr->tRao = orbitCorr->tRao;
1153 clkCorr->rao = orbitCorr->rao;
1154 clkCorr->dotRao = orbitCorr->dotRao;
1155 clkCorr->dotDotRao = orbitCorr->dotDotRao;
1156
1157 return success;
1158}
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