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source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 6161

Last change on this file since 6161 was 6161, checked in by mervart, 10 years ago

File size: 33.6 KB

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

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