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source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 8175

Last change on this file since 8175 was 8175, checked in by stuerze, 6 years ago
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File size: 34.9 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.mid(0,3);
119	}
120	else if (type == clkSat) {
121	outStr = "Clk Corr " + prn.mid(0,3);
122	}
123
124	return outStr;
125	}
126
127	// Singleton
128	////////////////////////////////////////////////////////////////////////////
129	bncComb* bncComb::instance() {
130	static bncComb _bncComb;
131	return &_bncComb;
132	}
133
134	// Constructor
135	////////////////////////////////////////////////////////////////////////////
136	bncComb::bncComb() : _ephUser(true) {
137
138	bncSettings settings;
139
140	QStringList cmbStreams = settings.value("cmbStreams").toStringList();
141
142	_cmbSampl = settings.value("cmbSampl").toInt();
143	if (_cmbSampl <= 0) {
144	_cmbSampl = 10;
145	}
146
147	_masterMissingEpochs = 0;
148
149	if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
150	QListIterator<QString> it(cmbStreams);
151	while (it.hasNext()) {
152	QStringList hlp = it.next().split(" ");
153	cmbAC* newAC = new cmbAC();
154	newAC->mountPoint = hlp[0];
155	newAC->name = hlp[1];
156	newAC->weight = hlp[2].toDouble();
157	if (_masterOrbitAC.isEmpty()) {
158	_masterOrbitAC = newAC->name;
159	}
160	_ACs.append(newAC);
161	}
162	}
163
164	_rtnetDecoder = 0;
165
166	connect(this, SIGNAL(newMessage(QByteArray,bool)),
167	BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
168
169	connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
170	this, SLOT(slotProviderIDChanged(QString)));
171
172	connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
173	this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
174
175	connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
176	this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
177
178	// Combination Method
179	// ------------------
180	if (settings.value("cmbMethod").toString() == "Single-Epoch") {
181	_method = singleEpoch;
182	}
183	else {
184	_method = filter;
185	}
186
187	// Use Glonass
188	// -----------
189	if ( Qt::CheckState(settings.value("cmbUseGlonass").toInt()) == Qt::Checked) {
190	_useGlonass = true;
191	}
192	else {
193	_useGlonass = false;
194	}
195
196	// Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
197	// ----------------------------------------------------------------------
198	if (_method == filter) {
199	int nextPar = 0;
200	QListIterator<cmbAC*> it(_ACs);
201	while (it.hasNext()) {
202	cmbAC* AC = it.next();
203	_params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC->name, ""));
204	for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
205	QString prn = QString("G%1_0").arg(iGps, 2, 10, QChar('0'));
206	_params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
207	AC->name, prn));
208	}
209	if (_useGlonass) {
210	_params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC->name, ""));
211	for (unsigned iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
212	QString prn = QString("R%1_0").arg(iGlo, 2, 10, QChar('0'));
213	_params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
214	AC->name, prn));
215	}
216	}
217	}
218	for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
219	QString prn = QString("G%1_0").arg(iGps, 2, 10, QChar('0'));
220	_params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
221	}
222	if (_useGlonass) {
223	for (unsigned iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
224	QString prn = QString("R%1_0").arg(iGlo, 2, 10, QChar('0'));
225	_params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
226	}
227	}
228
229	// Initialize Variance-Covariance Matrix
230	// -------------------------------------
231	_QQ.ReSize(_params.size());
232	_QQ = 0.0;
233	for (int iPar = 1; iPar <= _params.size(); iPar++) {
234	cmbParam* pp = _params[iPar-1];
235	_QQ(iPar,iPar) = pp->sig0 * pp->sig0;
236	}
237	}
238
239	// ANTEX File
240	// ----------
241	_antex = 0;
242	QString antexFileName = settings.value("uploadAntexFile").toString();
243	if (!antexFileName.isEmpty()) {
244	_antex = new bncAntex();
245	if (_antex->readFile(antexFileName) != success) {
246	emit newMessage("wrong ANTEX file", true);
247	delete _antex;
248	_antex = 0;
249	}
250	}
251
252	// Maximal Residuum
253	// ----------------
254	_MAXRES = settings.value("cmbMaxres").toDouble();
255	if (_MAXRES <= 0.0) {
256	_MAXRES = 999.0;
257	}
258	}
259
260	// Destructor
261	////////////////////////////////////////////////////////////////////////////
262	bncComb::~bncComb() {
263	QListIterator<cmbAC*> icAC(_ACs);
264	while (icAC.hasNext()) {
265	delete icAC.next();
266	}
267	delete _rtnetDecoder;
268	delete _antex;
269	for (int iPar = 1; iPar <= _params.size(); iPar++) {
270	delete _params[iPar-1];
271	}
272	QListIterator<bncTime> itTime(_buffer.keys());
273	while (itTime.hasNext()) {
274	bncTime epoTime = itTime.next();
275	_buffer.remove(epoTime);
276	}
277	}
278
279	// Remember orbit corrections
280	////////////////////////////////////////////////////////////////////////////
281	void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
282	QMutexLocker locker(&_mutex);
283
284	for (int ii = 0; ii < orbCorrections.size(); ii++) {
285	t_orbCorr& orbCorr = orbCorrections[ii];
286	QString staID(orbCorr._staID.c_str());
287	QString prn(orbCorr._prn.toInternalString().c_str());
288
289	// Find/Check the AC Name
290	// ----------------------
291	QString acName;
292	QListIterator<cmbAC*> icAC(_ACs);
293	while (icAC.hasNext()) {
294	cmbAC* AC = icAC.next();
295	if (AC->mountPoint == staID) {
296	acName = AC->name;
297	break;
298	}
299	}
300	if (acName.isEmpty()) {
301	continue;
302	}
303
304	// Store the correction
305	// --------------------
306	QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
307	storage[orbCorr._prn] = orbCorr;
308	}
309	}
310
311	// Process clock corrections
312	////////////////////////////////////////////////////////////////////////////
313	void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
314	QMutexLocker locker(&_mutex);
315
316	bncTime lastTime;
317
318	for (int ii = 0; ii < clkCorrections.size(); ii++) {
319	t_clkCorr& clkCorr = clkCorrections[ii];
320	QString staID(clkCorr._staID.c_str());
321	QString prn(clkCorr._prn.toInternalString().c_str());
322
323	// Set the last time
324	// -----------------
325	if (lastTime.undef() \|\| clkCorr._time > lastTime) {
326	lastTime = clkCorr._time;
327	}
328
329	// Find/Check the AC Name
330	// ----------------------
331	QString acName;
332	QListIterator<cmbAC*> icAC(_ACs);
333	while (icAC.hasNext()) {
334	cmbAC* AC = icAC.next();
335	if (AC->mountPoint == staID) {
336	acName = AC->name;
337	break;
338	}
339	}
340	if (acName.isEmpty()) {
341	continue;
342	}
343
344	// Check GLONASS
345	// -------------
346	if (!_useGlonass && clkCorr._prn.system() == 'R') {
347	continue;
348	}
349
350	if (
351	clkCorr._prn.system() == 'E' \|\|
352	clkCorr._prn.system() == 'C' \|\|
353	clkCorr._prn.system() == 'J' \|\|
354	clkCorr._prn.system() == 'I' \|\|
355	clkCorr._prn.system() == 'S' ) {
356	continue;
357	}
358
359	// Check Modulo Time
360	// -----------------
361	if (int(clkCorr._time.gpssec()) % _cmbSampl != 0.0) {
362	continue;
363	}
364
365	// Check Correction Age
366	// --------------------
367	if (_resTime.valid() && clkCorr._time <= _resTime) {
368	emit newMessage("bncComb: old correction: " + acName.toAscii() + " " + prn.mid(0,3).toAscii(), true);
369	continue;
370	}
371
372	// Create new correction
373	// ---------------------
374	cmbCorr* newCorr = new cmbCorr();
375	newCorr->_prn = prn;
376	newCorr->_time = clkCorr._time;
377	newCorr->_iod = clkCorr._iod;
378	newCorr->_acName = acName;
379	newCorr->_clkCorr = clkCorr;
380
381	// Check orbit correction
382	// ----------------------
383	if (!_orbCorrections.contains(acName)) {
384	delete newCorr;
385	continue;
386	}
387	else {
388	QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
389	if (!storage.contains(clkCorr._prn) \|\| storage[clkCorr._prn]._iod != newCorr->_iod) {
390	delete newCorr;
391	continue;
392	}
393	else {
394	newCorr->_orbCorr = storage[clkCorr._prn];
395	}
396	}
397
398	// Check the Ephemeris
399	//--------------------
400	t_eph* ephLast = _ephUser.ephLast(prn);
401	t_eph* ephPrev = _ephUser.ephPrev(prn);
402	if (ephLast == 0) {
403	emit newMessage("bncComb: eph not found " + prn.mid(0,3).toAscii(), true);
404	delete newCorr;
405	continue;
406	}
407	else {
408	if (ephLast->IOD() == newCorr->_iod) {
409	newCorr->_eph = ephLast;
410	}
411	else if (ephPrev && ephPrev->IOD() == newCorr->_iod) {
412	newCorr->_eph = ephPrev;
413	switchToLastEph(ephLast, newCorr);
414	}
415	else {
416	emit newMessage("bncComb: eph not found " + prn.mid(0,3).toAscii() +
417	QString(" %1").arg(newCorr->_iod).toAscii(), true);
418	delete newCorr;
419	continue;
420	}
421	}
422
423	// Store correction into the buffer
424	// --------------------------------
425	QVector<cmbCorr*>& corrs = _buffer[newCorr->_time].corrs;
426	corrs.push_back(newCorr);
427	}
428
429	// Process previous Epoch(s)
430	// -------------------------
431	const double outWait = 1.0 * _cmbSampl;
432	QListIterator<bncTime> itTime(_buffer.keys());
433	while (itTime.hasNext()) {
434	bncTime epoTime = itTime.next();
435	if (epoTime < lastTime - outWait) {
436	_resTime = epoTime;
437	processEpoch();
438	}
439	}
440	}
441
442	// Change the correction so that it refers to last received ephemeris
443	////////////////////////////////////////////////////////////////////////////
444	void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
445
446	if (corr->_eph == lastEph) {
447	return;
448	}
449
450	ColumnVector oldXC(4);
451	ColumnVector oldVV(3);
452	corr->_eph->getCrd(corr->_time, oldXC, oldVV, false);
453
454	ColumnVector newXC(4);
455	ColumnVector newVV(3);
456	lastEph->getCrd(corr->_time, newXC, newVV, false);
457
458	ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
459	ColumnVector dV = newVV - oldVV;
460	double dC = newXC(4) - oldXC(4);
461
462	ColumnVector dRAO(3);
463	XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
464
465	ColumnVector dDotRAO(3);
466	XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
467
468	QString msg = "switch corr " + corr->_prn.mid(0,3)
469	+ QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
470
471	emit newMessage(msg.toAscii(), false);
472
473	corr->_iod = lastEph->IOD();
474	corr->_eph = lastEph;
475
476	corr->_orbCorr._xr += dRAO;
477	corr->_orbCorr._dotXr += dDotRAO;
478	corr->_clkCorr._dClk -= dC;
479	}
480
481	// Process Epoch
482	////////////////////////////////////////////////////////////////////////////
483	void bncComb::processEpoch() {
484
485	_log.clear();
486
487	QTextStream out(&_log, QIODevice::WriteOnly);
488
489	out << endl << "Combination:" << endl
490	<< "------------------------------" << endl;
491
492	// Observation Statistics
493	// ----------------------
494	bool masterPresent = false;
495	QListIterator<cmbAC*> icAC(_ACs);
496	while (icAC.hasNext()) {
497	cmbAC* AC = icAC.next();
498	AC->numObs = 0;
499	QVectorIterator<cmbCorr*> itCorr(corrs());
500	while (itCorr.hasNext()) {
501	cmbCorr* corr = itCorr.next();
502	if (corr->_acName == AC->name) {
503	AC->numObs += 1;
504	if (AC->name == _masterOrbitAC) {
505	masterPresent = true;
506	}
507	}
508	}
509	out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
510	}
511
512	// If Master not present, switch to another one
513	// --------------------------------------------
514	const unsigned switchMasterAfterGap = 1;
515	if (masterPresent) {
516	_masterMissingEpochs = 0;
517	}
518	else {
519	++_masterMissingEpochs;
520	if (_masterMissingEpochs < switchMasterAfterGap) {
521	out << "Missing Master, Epoch skipped" << endl;
522	_buffer.remove(_resTime);
523	emit newMessage(_log, false);
524	return;
525	}
526	else {
527	_masterMissingEpochs = 0;
528	QListIterator<cmbAC*> icAC(_ACs);
529	while (icAC.hasNext()) {
530	cmbAC* AC = icAC.next();
531	if (AC->numObs > 0) {
532	out << "Switching Master AC "
533	<< _masterOrbitAC.toAscii().data() << " --> "
534	<< AC->name.toAscii().data() << " "
535	<< _resTime.datestr().c_str() << " "
536	<< _resTime.timestr().c_str() << endl;
537	_masterOrbitAC = AC->name;
538	break;
539	}
540	}
541	}
542	}
543
544	QMap<QString, cmbCorr*> resCorr;
545
546	// Perform the actual Combination using selected Method
547	// ----------------------------------------------------
548	t_irc irc;
549	ColumnVector dx;
550	if (_method == filter) {
551	irc = processEpoch_filter(out, resCorr, dx);
552	}
553	else {
554	irc = processEpoch_singleEpoch(out, resCorr, dx);
555	}
556
557	// Update Parameter Values, Print Results
558	// --------------------------------------
559	if (irc == success) {
560	for (int iPar = 1; iPar <= _params.size(); iPar++) {
561	cmbParam* pp = _params[iPar-1];
562	pp->xx += dx(iPar);
563	if (pp->type == cmbParam::clkSat) {
564	if (resCorr.find(pp->prn) != resCorr.end()) {
565	resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
566	}
567	}
568	out << _resTime.datestr().c_str() << " "
569	<< _resTime.timestr().c_str() << " ";
570	out.setRealNumberNotation(QTextStream::FixedNotation);
571	out.setFieldWidth(8);
572	out.setRealNumberPrecision(4);
573	out << pp->toString() << " "
574	<< pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
575	out.setFieldWidth(0);
576	}
577	printResults(out, resCorr);
578	dumpResults(resCorr);
579	}
580
581	// Delete Data, emit Message
582	// -------------------------
583	_buffer.remove(_resTime);
584	emit newMessage(_log, false);
585	}
586
587	// Process Epoch - Filter Method
588	////////////////////////////////////////////////////////////////////////////
589	t_irc bncComb::processEpoch_filter(QTextStream& out,
590	QMap<QString, cmbCorr*>& resCorr,
591	ColumnVector& dx) {
592
593	// Prediction Step
594	// ---------------
595	int nPar = _params.size();
596	ColumnVector x0(nPar);
597	for (int iPar = 1; iPar <= _params.size(); iPar++) {
598	cmbParam* pp = _params[iPar-1];
599	if (pp->epoSpec) {
600	pp->xx = 0.0;
601	_QQ.Row(iPar) = 0.0;
602	_QQ.Column(iPar) = 0.0;
603	_QQ(iPar,iPar) = pp->sig0 * pp->sig0;
604	}
605	else {
606	_QQ(iPar,iPar) += pp->sigP * pp->sigP;
607	}
608	x0(iPar) = pp->xx;
609	}
610
611	// Check Satellite Positions for Outliers
612	// --------------------------------------
613	if (checkOrbits(out) != success) {
614	return failure;
615	}
616
617	// Update and outlier detection loop
618	// ---------------------------------
619	SymmetricMatrix QQ_sav = _QQ;
620	while (true) {
621
622	Matrix AA;
623	ColumnVector ll;
624	DiagonalMatrix PP;
625
626	if (createAmat(AA, ll, PP, x0, resCorr) != success) {
627	return failure;
628	}
629
630	dx.ReSize(nPar); dx = 0.0;
631	kalman(AA, ll, PP, _QQ, dx);
632
633	ColumnVector vv = ll - AA * dx;
634
635	int maxResIndex;
636	double maxRes = vv.maximum_absolute_value1(maxResIndex);
637	out.setRealNumberNotation(QTextStream::FixedNotation);
638	out.setRealNumberPrecision(3);
639	out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
640	<< " Maximum Residuum " << maxRes << ' '
641	<< corrs()[maxResIndex-1]->_acName << ' ' << corrs()[maxResIndex-1]->_prn.mid(0,3);
642	if (maxRes > _MAXRES) {
643	for (int iPar = 1; iPar <= _params.size(); iPar++) {
644	cmbParam* pp = _params[iPar-1];
645	if (pp->type == cmbParam::offACSat &&
646	pp->AC == corrs()[maxResIndex-1]->_acName &&
647	pp->prn == corrs()[maxResIndex-1]->_prn.mid(0,3)) {
648	QQ_sav.Row(iPar) = 0.0;
649	QQ_sav.Column(iPar) = 0.0;
650	QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
651	}
652	}
653
654	out << " Outlier" << endl;
655	_QQ = QQ_sav;
656	corrs().remove(maxResIndex-1);
657	}
658	else {
659	out << " OK" << endl;
660	out.setRealNumberNotation(QTextStream::FixedNotation);
661	out.setRealNumberPrecision(4);
662	for (int ii = 0; ii < corrs().size(); ii++) {
663	const cmbCorr* corr = corrs()[ii];
664	out << _resTime.datestr().c_str() << ' '
665	<< _resTime.timestr().c_str() << " "
666	<< corr->_acName << ' ' << corr->_prn.mid(0,3);
667	out.setFieldWidth(10);
668	out << " res = " << vv[ii] << endl;
669	out.setFieldWidth(0);
670	}
671	break;
672	}
673	}
674
675	return success;
676	}
677
678	// Print results
679	////////////////////////////////////////////////////////////////////////////
680	void bncComb::printResults(QTextStream& out,
681	const QMap<QString, cmbCorr*>& resCorr) {
682
683	QMapIterator<QString, cmbCorr*> it(resCorr);
684	while (it.hasNext()) {
685	it.next();
686	cmbCorr* corr = it.value();
687	const t_eph* eph = corr->_eph;
688	if (eph) {
689	ColumnVector xc(4);
690	ColumnVector vv(3);
691	eph->getCrd(_resTime, xc, vv, false);
692
693	out << _resTime.datestr().c_str() << " "
694	<< _resTime.timestr().c_str() << " ";
695	out.setFieldWidth(3);
696	out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
697	out.setFieldWidth(14);
698	out << (xc(4) + corr->_dClkResult) * t_CST::c << endl;
699	out.setFieldWidth(0);
700	}
701	else {
702	out << "bncComb::printResuls bug" << endl;
703	}
704	}
705	}
706
707	// Send results to RTNet Decoder and directly to PPP Client
708	////////////////////////////////////////////////////////////////////////////
709	void bncComb::dumpResults(const QMap<QString, cmbCorr*>& resCorr) {
710
711	QList<t_orbCorr> orbCorrections;
712	QList<t_clkCorr> clkCorrections;
713
714	QString outLines;
715	QStringList corrLines;
716
717	unsigned year, month, day, hour, minute;
718	double sec;
719	_resTime.civil_date(year, month, day);
720	_resTime.civil_time(hour, minute, sec);
721
722	outLines.sprintf("* %4d %2d %2d %d %d %12.8f\n",
723	year, month, day, hour, minute, sec);
724
725	QMapIterator<QString, cmbCorr*> it(resCorr);
726	while (it.hasNext()) {
727	it.next();
728	cmbCorr* corr = it.value();
729
730	t_orbCorr orbCorr(corr->_orbCorr);
731	orbCorr._staID = "INTERNAL";
732	orbCorrections.push_back(orbCorr);
733
734	t_clkCorr clkCorr(corr->_clkCorr);
735	clkCorr._staID = "INTERNAL";
736	clkCorr._dClk = corr->_dClkResult;
737	clkCorr._dotDClk = 0.0;
738	clkCorr._dotDotDClk = 0.0;
739	clkCorrections.push_back(clkCorr);
740
741	ColumnVector xc(4);
742	ColumnVector vv(3);
743	corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
744	corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
745	corr->_eph->getCrd(_resTime, xc, vv, true);
746
747	// Correction Phase Center --> CoM
748	// -------------------------------
749	ColumnVector dx(3); dx = 0.0;
750	if (_antex) {
751	double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
752	if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
753	dx = 0;
754	_log += "antenna not found " + corr->_prn.mid(0,3).toAscii() + '\n';
755	}
756	}
757
758	outLines += corr->_prn.mid(0,3);
759	QString hlp;
760	hlp.sprintf(" APC 3 %15.4f %15.4f %15.4f"
761	" Clk 1 %15.4f"
762	" Vel 3 %15.4f %15.4f %15.4f"
763	" CoM 3 %15.4f %15.4f %15.4f\n",
764	xc(1), xc(2), xc(3),
765	xc(4) * t_CST::c,
766	vv(1), vv(2), vv(3),
767	xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
768	outLines += hlp;
769
770	QString line;
771	int messageType = COTYPE_GPSCOMBINED;
772	int updateInt = 0;
773	line.sprintf("%d %d %d %.1f %s"
774	" %lu"
775	" %8.3f %8.3f %8.3f %8.3f"
776	" %10.5f %10.5f %10.5f %10.5f"
777	" %10.5f INTERNAL",
778	messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
779	corr->_prn.mid(0,3).toAscii().data(),
780	corr->_iod,
781	corr->_dClkResult * t_CST::c,
782	corr->_orbCorr._xr[0],
783	corr->_orbCorr._xr[1],
784	corr->_orbCorr._xr[2],
785	0.0,
786	corr->_orbCorr._dotXr[0],
787	corr->_orbCorr._dotXr[1],
788	corr->_orbCorr._dotXr[2],
789	0.0);
790	corrLines << line;
791
792	delete corr;
793	}
794
795	outLines += "EOE\n"; // End Of Epoch flag
796
797	if (!_rtnetDecoder) {
798	_rtnetDecoder = new bncRtnetDecoder();
799	}
800
801	vector<string> errmsg;
802	_rtnetDecoder->Decode(outLines.toAscii().data(), outLines.length(), errmsg);
803
804	// Send new Corrections to PPP etc.
805	// --------------------------------
806	if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
807	emit newOrbCorrections(orbCorrections);
808	emit newClkCorrections(clkCorrections);
809	}
810	}
811
812	// Create First Design Matrix and Vector of Measurements
813	////////////////////////////////////////////////////////////////////////////
814	t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
815	const ColumnVector& x0,
816	QMap<QString, cmbCorr*>& resCorr) {
817
818	unsigned nPar = _params.size();
819	unsigned nObs = corrs().size();
820
821	if (nObs == 0) {
822	return failure;
823	}
824
825	int maxSat = t_prn::MAXPRN_GPS;
826	// if (_useGlonass) {
827	// maxSat = t_prn::MAXPRN_GPS + t_prn::MAXPRN_GLONASS;
828	// }
829
830	const int nCon = (_method == filter) ? 1 + maxSat : 0;
831
832	AA.ReSize(nObs+nCon, nPar); AA = 0.0;
833	ll.ReSize(nObs+nCon); ll = 0.0;
834	PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
835
836	int iObs = 0;
837	QVectorIterator<cmbCorr*> itCorr(corrs());
838	while (itCorr.hasNext()) {
839	cmbCorr* corr = itCorr.next();
840	QString prn = corr->_prn;
841
842	++iObs;
843
844	if (corr->_acName == _masterOrbitAC && resCorr.find(prn) == resCorr.end()) {
845	resCorr[prn] = new cmbCorr(*corr);
846	}
847
848	for (int iPar = 1; iPar <= _params.size(); iPar++) {
849	cmbParam* pp = _params[iPar-1];
850	AA(iObs, iPar) = pp->partial(corr->_acName, prn);
851	}
852
853	ll(iObs) = corr->_clkCorr._dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
854	}
855
856	// Regularization
857	// --------------
858	if (_method == filter) {
859	const double Ph = 1.e6;
860	PP(nObs+1) = Ph;
861	for (int iPar = 1; iPar <= _params.size(); iPar++) {
862	cmbParam* pp = _params[iPar-1];
863	if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
864	pp->type == cmbParam::clkSat ) {
865	AA(nObs+1, iPar) = 1.0;
866	}
867	}
868	int iCond = 1;
869	for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
870	QString prn = QString("G%1_0").arg(iGps, 2, 10, QChar('0'));
871	++iCond;
872	PP(nObs+iCond) = Ph;
873	for (int iPar = 1; iPar <= _params.size(); iPar++) {
874	cmbParam* pp = _params[iPar-1];
875	if ( pp &&
876	AA.Column(iPar).maximum_absolute_value() > 0.0 &&
877	pp->type == cmbParam::offACSat &&
878	pp->prn == prn) {
879	AA(nObs+iCond, iPar) = 1.0;
880	}
881	}
882	}
883	// if (_useGlonass) {
884	// for (int iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
885	// QString prn = QString("R%1_0").arg(iGlo, 2, 10, QChar('0'));
886	// ++iCond;
887	// PP(nObs+iCond) = Ph;
888	// for (int iPar = 1; iPar <= _params.size(); iPar++) {
889	// cmbParam* pp = _params[iPar-1];
890	// if ( pp &&
891	// AA.Column(iPar).maximum_absolute_value() > 0.0 &&
892	// pp->type == cmbParam::offACSat &&
893	// pp->prn == prn) {
894	// AA(nObs+iCond, iPar) = 1.0;
895	// }
896	// }
897	// }
898	// }
899	}
900
901	return success;
902	}
903
904	// Process Epoch - Single-Epoch Method
905	////////////////////////////////////////////////////////////////////////////
906	t_irc bncComb::processEpoch_singleEpoch(QTextStream& out,
907	QMap<QString, cmbCorr*>& resCorr,
908	ColumnVector& dx) {
909
910	// Check Satellite Positions for Outliers
911	// --------------------------------------
912	if (checkOrbits(out) != success) {
913	return failure;
914	}
915
916	// Outlier Detection Loop
917	// ----------------------
918	while (true) {
919
920	// Remove Satellites that are not in Master
921	// ----------------------------------------
922	QMutableVectorIterator<cmbCorr*> it(corrs());
923	while (it.hasNext()) {
924	cmbCorr* corr = it.next();
925	QString prn = corr->_prn;
926	bool foundMaster = false;
927	QVectorIterator<cmbCorr*> itHlp(corrs());
928	while (itHlp.hasNext()) {
929	cmbCorr* corrHlp = itHlp.next();
930	QString prnHlp = corrHlp->_prn;
931	QString ACHlp = corrHlp->_acName;
932	if (ACHlp == _masterOrbitAC && prn == prnHlp) {
933	foundMaster = true;
934	break;
935	}
936	}
937	if (!foundMaster) {
938	delete corr;
939	it.remove();
940	}
941	}
942
943	// Count Number of Observations per Satellite and per AC
944	// -----------------------------------------------------
945	QMap<QString, int> numObsPrn;
946	QMap<QString, int> numObsAC;
947	QVectorIterator<cmbCorr*> itCorr(corrs());
948	while (itCorr.hasNext()) {
949	cmbCorr* corr = itCorr.next();
950	QString prn = corr->_prn;
951	QString AC = corr->_acName;
952	if (numObsPrn.find(prn) == numObsPrn.end()) {
953	numObsPrn[prn] = 1;
954	}
955	else {
956	numObsPrn[prn] += 1;
957	}
958	if (numObsAC.find(AC) == numObsAC.end()) {
959	numObsAC[AC] = 1;
960	}
961	else {
962	numObsAC[AC] += 1;
963	}
964	}
965
966	// Clean-Up the Paramters
967	// ----------------------
968	for (int iPar = 1; iPar <= _params.size(); iPar++) {
969	delete _params[iPar-1];
970	}
971	_params.clear();
972
973	// Set new Parameters
974	// ------------------
975	int nextPar = 0;
976
977	QMapIterator<QString, int> itAC(numObsAC);
978	while (itAC.hasNext()) {
979	itAC.next();
980	const QString& AC = itAC.key();
981	int numObs = itAC.value();
982	if (AC != _masterOrbitAC && numObs > 0) {
983	_params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC, ""));
984	if (_useGlonass) {
985	_params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC, ""));
986	}
987	}
988	}
989
990	QMapIterator<QString, int> itPrn(numObsPrn);
991	while (itPrn.hasNext()) {
992	itPrn.next();
993	const QString& prn = itPrn.key();
994	int numObs = itPrn.value();
995	if (numObs > 0) {
996	_params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
997	}
998	}
999
1000	int nPar = _params.size();
1001	ColumnVector x0(nPar);
1002	x0 = 0.0;
1003
1004	// Create First-Design Matrix
1005	// --------------------------
1006	Matrix AA;
1007	ColumnVector ll;
1008	DiagonalMatrix PP;
1009	if (createAmat(AA, ll, PP, x0, resCorr) != success) {
1010	return failure;
1011	}
1012
1013	ColumnVector vv;
1014	try {
1015	Matrix ATP = AA.t() * PP;
1016	SymmetricMatrix NN; NN << ATP * AA;
1017	ColumnVector bb = ATP * ll;
1018	_QQ = NN.i();
1019	dx = _QQ * bb;
1020	vv = ll - AA * dx;
1021	}
1022	catch (Exception& exc) {
1023	out << exc.what() << endl;
1024	return failure;
1025	}
1026
1027	int maxResIndex;
1028	double maxRes = vv.maximum_absolute_value1(maxResIndex);
1029	out.setRealNumberNotation(QTextStream::FixedNotation);
1030	out.setRealNumberPrecision(3);
1031	out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
1032	<< " Maximum Residuum " << maxRes << ' '
1033	<< corrs()[maxResIndex-1]->_acName << ' ' << corrs()[maxResIndex-1]->_prn.mid(0,3);
1034
1035	if (maxRes > _MAXRES) {
1036	out << " Outlier" << endl;
1037	delete corrs()[maxResIndex-1];
1038	corrs().remove(maxResIndex-1);
1039	}
1040	else {
1041	out << " OK" << endl;
1042	out.setRealNumberNotation(QTextStream::FixedNotation);
1043	out.setRealNumberPrecision(3);
1044	for (int ii = 0; ii < vv.Nrows(); ii++) {
1045	const cmbCorr* corr = corrs()[ii];
1046	out << _resTime.datestr().c_str() << ' '
1047	<< _resTime.timestr().c_str() << " "
1048	<< corr->_acName << ' ' << corr->_prn.mid(0,3);
1049	out.setFieldWidth(6);
1050	out << " res = " << vv[ii] << endl;
1051	out.setFieldWidth(0);
1052	}
1053	return success;
1054	}
1055
1056	}
1057
1058	return failure;
1059	}
1060
1061	// Check Satellite Positions for Outliers
1062	////////////////////////////////////////////////////////////////////////////
1063	t_irc bncComb::checkOrbits(QTextStream& out) {
1064
1065	const double MAX_DISPLACEMENT = 0.20;
1066
1067	// Switch to last ephemeris (if possible)
1068	// --------------------------------------
1069	QMutableVectorIterator<cmbCorr*> im(corrs());
1070	while (im.hasNext()) {
1071	cmbCorr* corr = im.next();
1072	QString prn = corr->_prn;
1073
1074	t_eph* ephLast = _ephUser.ephLast(prn);
1075	t_eph* ephPrev = _ephUser.ephPrev(prn);
1076
1077	if (ephLast == 0) {
1078	out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << endl;
1079	delete corr;
1080	im.remove();
1081	}
1082	else if (corr->_eph == 0) {
1083	out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << endl;
1084	delete corr;
1085	im.remove();
1086	}
1087	else {
1088	if ( corr->_eph == ephLast \|\| corr->_eph == ephPrev ) {
1089	switchToLastEph(ephLast, corr);
1090	}
1091	else {
1092	out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << endl;
1093	delete corr;
1094	im.remove();
1095	}
1096	}
1097	}
1098
1099	while (true) {
1100
1101	// Compute Mean Corrections for all Satellites
1102	// -------------------------------------------
1103	QMap<QString, int> numCorr;
1104	QMap<QString, ColumnVector> meanRao;
1105	QVectorIterator<cmbCorr*> it(corrs());
1106	while (it.hasNext()) {
1107	cmbCorr* corr = it.next();
1108	QString prn = corr->_prn;
1109	if (meanRao.find(prn) == meanRao.end()) {
1110	meanRao[prn].ReSize(4);
1111	meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
1112	meanRao[prn](4) = 1;
1113	}
1114	else {
1115	meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
1116	meanRao[prn](4) += 1;
1117	}
1118	if (numCorr.find(prn) == numCorr.end()) {
1119	numCorr[prn] = 1;
1120	}
1121	else {
1122	numCorr[prn] += 1;
1123	}
1124	}
1125
1126	// Compute Differences wrt Mean, find Maximum
1127	// ------------------------------------------
1128	QMap<QString, cmbCorr*> maxDiff;
1129	it.toFront();
1130	while (it.hasNext()) {
1131	cmbCorr* corr = it.next();
1132	QString prn = corr->_prn;
1133	if (meanRao[prn](4) != 0) {
1134	meanRao[prn] /= meanRao[prn](4);
1135	meanRao[prn](4) = 0;
1136	}
1137	corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
1138	if (maxDiff.find(prn) == maxDiff.end()) {
1139	maxDiff[prn] = corr;
1140	}
1141	else {
1142	double normMax = maxDiff[prn]->_diffRao.norm_Frobenius();
1143	double norm = corr->_diffRao.norm_Frobenius();
1144	if (norm > normMax) {
1145	maxDiff[prn] = corr;
1146	}
1147	}
1148	}
1149
1150	if (_ACs.size() == 1) {
1151	break;
1152	}
1153
1154	// Remove Outliers
1155	// ---------------
1156	bool removed = false;
1157	QMutableVectorIterator<cmbCorr*> im(corrs());
1158	while (im.hasNext()) {
1159	cmbCorr* corr = im.next();
1160	QString prn = corr->_prn;
1161	if (numCorr[prn] < 2) {
1162	delete corr;
1163	im.remove();
1164	}
1165	else if (corr == maxDiff[prn]) {
1166	double norm = corr->_diffRao.norm_Frobenius();
1167	if (norm > MAX_DISPLACEMENT) {
1168	out << _resTime.datestr().c_str() << " "
1169	<< _resTime.timestr().c_str() << " "
1170	<< "Orbit Outlier: "
1171	<< corr->_acName.toAscii().data() << " "
1172	<< prn.mid(0,3).toAscii().data() << " "
1173	<< corr->_iod << " "
1174	<< norm << endl;
1175	delete corr;
1176	im.remove();
1177	removed = true;
1178	}
1179	}
1180	}
1181
1182	if (!removed) {
1183	break;
1184	}
1185	}
1186
1187	return success;
1188	}
1189
1190	//
1191	////////////////////////////////////////////////////////////////////////////
1192	void bncComb::slotProviderIDChanged(QString mountPoint) {
1193	QMutexLocker locker(&_mutex);
1194
1195	QTextStream out(&_log, QIODevice::WriteOnly);
1196
1197	// Find the AC Name
1198	// ----------------
1199	QString acName;
1200	QListIterator<cmbAC*> icAC(_ACs);
1201	while (icAC.hasNext()) {
1202	cmbAC* AC = icAC.next();
1203	if (AC->mountPoint == mountPoint) {
1204	acName = AC->name;
1205	out << "Provider ID changed: AC " << AC->name.toAscii().data() << " "
1206	<< _resTime.datestr().c_str() << " "
1207	<< _resTime.timestr().c_str() << endl;
1208	break;
1209	}
1210	}
1211	if (acName.isEmpty()) {
1212	return;
1213	}
1214
1215	// Remove all corrections of the corresponding AC
1216	// ----------------------------------------------
1217	QListIterator<bncTime> itTime(_buffer.keys());
1218	while (itTime.hasNext()) {
1219	bncTime epoTime = itTime.next();
1220	QVector<cmbCorr*>& corrVec = _buffer[epoTime].corrs;
1221	QMutableVectorIterator<cmbCorr*> it(corrVec);
1222	while (it.hasNext()) {
1223	cmbCorr* corr = it.next();
1224	if (acName == corr->_acName) {
1225	delete corr;
1226	it.remove();
1227	}
1228	}
1229	}
1230
1231	// Reset Satellite Offsets
1232	// -----------------------
1233	if (_method == filter) {
1234	for (int iPar = 1; iPar <= _params.size(); iPar++) {
1235	cmbParam* pp = _params[iPar-1];
1236	if (pp->AC == acName && pp->type == cmbParam::offACSat) {
1237	pp->xx = 0.0;
1238	_QQ.Row(iPar) = 0.0;
1239	_QQ.Column(iPar) = 0.0;
1240	_QQ(iPar,iPar) = pp->sig0 * pp->sig0;
1241	}
1242	}
1243	}
1244	}

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