1 | /* ------------------------------------------------------------------------- |
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2 | * BKG NTRIP Client |
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3 | * ------------------------------------------------------------------------- |
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4 | * |
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5 | * Class: bncComb |
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6 | * |
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7 | * Purpose: Combinations of Orbit/Clock Corrections |
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8 | * |
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9 | * Author: L. Mervart |
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10 | * |
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11 | * Created: 22-Jan-2011 |
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12 | * |
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13 | * Changes: |
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14 | * |
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15 | * -----------------------------------------------------------------------*/ |
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16 | |
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17 | #include <newmatio.h> |
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18 | #include <iomanip> |
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19 | #include <sstream> |
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20 | |
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21 | #include "bnccomb.h" |
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22 | #include "bnccore.h" |
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23 | #include "upload/bncrtnetdecoder.h" |
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24 | #include "bncsettings.h" |
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25 | #include "bncutils.h" |
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26 | #include "bncsp3.h" |
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27 | #include "bncantex.h" |
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28 | #include "t_prn.h" |
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29 | |
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30 | const double sig0_offAC = 1000.0; |
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31 | const double sig0_offACSat = 100.0; |
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32 | const double sigP_offACSat = 0.01; |
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33 | const double sig0_clkSat = 100.0; |
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34 | |
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35 | const double sigObs = 0.05; |
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36 | |
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37 | using namespace std; |
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38 | |
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39 | // Constructor |
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40 | //////////////////////////////////////////////////////////////////////////// |
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41 | bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) { |
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42 | |
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43 | type = type_; |
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44 | index = index_; |
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45 | AC = ac_; |
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46 | prn = prn_; |
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47 | xx = 0.0; |
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48 | eph = 0; |
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49 | |
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50 | if (type == offACgnss) { |
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51 | epoSpec = true; |
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52 | sig0 = sig0_offAC; |
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53 | sigP = sig0; |
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54 | } |
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55 | else if (type == offACSat) { |
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56 | epoSpec = false; |
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57 | sig0 = sig0_offACSat; |
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58 | sigP = sigP_offACSat; |
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59 | } |
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60 | else if (type == clkSat) { |
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61 | epoSpec = true; |
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62 | sig0 = sig0_clkSat; |
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63 | sigP = sig0; |
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64 | } |
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65 | } |
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66 | |
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67 | // Destructor |
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68 | //////////////////////////////////////////////////////////////////////////// |
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69 | bncComb::cmbParam::~cmbParam() { |
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70 | } |
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71 | |
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72 | // Partial |
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73 | //////////////////////////////////////////////////////////////////////////// |
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74 | double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) { |
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75 | |
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76 | if (type == offACgnss) { |
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77 | if (AC == AC_ && prn_[0].toLatin1() == sys) { |
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78 | return 1.0; |
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79 | } |
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80 | } |
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81 | else if (type == offACSat) { |
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82 | if (AC == AC_ && prn == prn_) { |
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83 | return 1.0; |
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84 | } |
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85 | } |
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86 | else if (type == clkSat) { |
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87 | if (prn == prn_) { |
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88 | return 1.0; |
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89 | } |
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90 | } |
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91 | |
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92 | return 0.0; |
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93 | } |
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94 | |
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95 | // |
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96 | //////////////////////////////////////////////////////////////////////////// |
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97 | QString bncComb::cmbParam::toString(char sys) const { |
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98 | |
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99 | QString outStr; |
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100 | |
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101 | if (type == offACgnss) { |
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102 | outStr = "AC Offset " + AC + " " + sys ; |
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103 | } |
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104 | else if (type == offACSat) { |
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105 | outStr = "Sat Offset " + AC + " " + prn.mid(0,3); |
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106 | } |
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107 | else if (type == clkSat) { |
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108 | outStr = "Clk Corr " + prn.mid(0,3); |
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109 | } |
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110 | |
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111 | return outStr; |
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112 | } |
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113 | |
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114 | // Singleton |
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115 | //////////////////////////////////////////////////////////////////////////// |
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116 | bncComb* bncComb::instance() { |
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117 | static bncComb _bncComb; |
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118 | return &_bncComb; |
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119 | } |
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120 | |
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121 | // Constructor |
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122 | //////////////////////////////////////////////////////////////////////////// |
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123 | bncComb::bncComb() : _ephUser(true) { |
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124 | |
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125 | bncSettings settings; |
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126 | |
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127 | QStringList cmbStreams = settings.value("cmbStreams").toStringList(); |
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128 | |
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129 | _cmbSampl = settings.value("cmbSampl").toInt(); |
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130 | if (_cmbSampl <= 0) { |
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131 | _cmbSampl = 10; |
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132 | } |
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133 | |
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134 | _cmbSysPrn['G'] = t_prn::MAXPRN_GPS; _masterMissingEpochs['G'] = 0; |
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135 | _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS; _masterMissingEpochs['R'] = 0; |
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136 | _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO; _masterMissingEpochs['E'] = 0; |
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137 | _cmbSysPrn['C'] = t_prn::MAXPRN_BDS; _masterMissingEpochs['C'] = 0;/* |
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138 | _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS; _masterMissingEpochs['J'] = 0; |
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139 | _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS; _masterMissingEpochs['S'] = 0; |
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140 | */ |
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141 | |
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142 | if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) { |
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143 | QListIterator<QString> it(cmbStreams); |
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144 | while (it.hasNext()) { |
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145 | QStringList hlp = it.next().split(" "); |
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146 | cmbAC* newAC = new cmbAC(); |
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147 | newAC->mountPoint = hlp[0]; |
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148 | newAC->name = hlp[1]; |
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149 | newAC->weight = hlp[2].toDouble(); |
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150 | QMapIterator<char, unsigned> itSys(_cmbSysPrn); |
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151 | // init |
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152 | while (itSys.hasNext()) { |
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153 | itSys.next(); |
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154 | char sys = itSys.key(); |
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155 | if (_masterOrbitAC.isEmpty()) { |
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156 | _masterOrbitAC[sys] = newAC->name; |
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157 | } |
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158 | } |
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159 | _ACs.append(newAC); |
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160 | } |
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161 | } |
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162 | |
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163 | QString ssrFormat; |
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164 | _ssrCorr = 0; |
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165 | QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList()); |
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166 | while (it.hasNext()) { |
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167 | QStringList hlp = it.next().split(","); |
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168 | if (hlp.size() > 7) { |
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169 | ssrFormat = hlp[7]; |
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170 | } |
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171 | } |
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172 | if (ssrFormat == "IGS-SSR") { |
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173 | _ssrCorr = new SsrCorrIgs(); |
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174 | } |
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175 | else if (ssrFormat == "RTCM-SSR") { |
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176 | _ssrCorr = new SsrCorrRtcm(); |
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177 | } |
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178 | else { // default |
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179 | _ssrCorr = new SsrCorrIgs(); |
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180 | } |
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181 | |
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182 | _rtnetDecoder = 0; |
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183 | |
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184 | connect(this, SIGNAL(newMessage(QByteArray,bool)), |
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185 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); |
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186 | |
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187 | connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), |
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188 | this, SLOT(slotProviderIDChanged(QString))); |
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189 | |
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190 | connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), |
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191 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>))); |
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192 | |
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193 | connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), |
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194 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>))); |
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195 | |
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196 | |
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197 | |
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198 | // Combination Method |
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199 | // ------------------ |
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200 | if (settings.value("cmbMethod").toString() == "Single-Epoch") { |
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201 | _method = singleEpoch; |
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202 | } |
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203 | else { |
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204 | _method = filter; |
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205 | } |
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206 | |
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207 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk) |
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208 | // ---------------------------------------------------------------------- |
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209 | if (_method == filter) { |
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210 | // SYSTEM |
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211 | QMapIterator<char, unsigned> itSys(_cmbSysPrn); |
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212 | while (itSys.hasNext()) { |
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213 | itSys.next(); |
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214 | int nextPar = 0; |
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215 | char sys = itSys.key(); |
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216 | unsigned maxPrn = itSys.value(); |
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217 | unsigned flag = 0; |
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218 | if (sys == 'E') { |
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219 | flag = 1; |
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220 | } |
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221 | // AC |
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222 | QListIterator<cmbAC*> itAc(_ACs); |
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223 | while (itAc.hasNext()) { |
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224 | cmbAC* AC = itAc.next(); |
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225 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, "")); |
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226 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) { |
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227 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag); |
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228 | _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn)); |
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229 | } |
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230 | } |
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231 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) { |
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232 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag); |
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233 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn)); |
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234 | } |
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235 | // Initialize Variance-Covariance Matrix |
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236 | // ------------------------------------- |
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237 | _QQ[sys].ReSize(_params[sys].size()); |
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238 | _QQ[sys] = 0.0; |
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239 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
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240 | cmbParam* pp = _params[sys][iPar-1]; |
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241 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0; |
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242 | } |
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243 | } |
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244 | } |
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245 | |
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246 | // ANTEX File |
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247 | // ---------- |
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248 | _antex = 0; |
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249 | QString antexFileName = settings.value("uploadAntexFile").toString(); |
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250 | if (!antexFileName.isEmpty()) { |
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251 | _antex = new bncAntex(); |
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252 | if (_antex->readFile(antexFileName) != success) { |
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253 | emit newMessage("wrong ANTEX file", true); |
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254 | delete _antex; |
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255 | _antex = 0; |
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256 | } |
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257 | } |
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258 | |
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259 | // Maximal Residuum |
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260 | // ---------------- |
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261 | _MAXRES = settings.value("cmbMaxres").toDouble(); |
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262 | if (_MAXRES <= 0.0) { |
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263 | _MAXRES = 999.0; |
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264 | } |
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265 | } |
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266 | |
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267 | // Destructor |
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268 | //////////////////////////////////////////////////////////////////////////// |
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269 | bncComb::~bncComb() { |
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270 | QListIterator<cmbAC*> icAC(_ACs); |
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271 | while (icAC.hasNext()) { |
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272 | delete icAC.next(); |
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273 | } |
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274 | delete _rtnetDecoder; |
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275 | if (_ssrCorr) { |
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276 | delete _ssrCorr; |
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277 | } |
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278 | delete _antex; |
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279 | QMapIterator<char, unsigned> itSys(_cmbSysPrn); |
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280 | while (itSys.hasNext()) { |
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281 | itSys.next(); |
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282 | char sys = itSys.key(); |
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283 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
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284 | delete _params[sys][iPar-1]; |
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285 | } |
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286 | QListIterator<bncTime> itTime(_buffer[sys].keys()); |
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287 | while (itTime.hasNext()) { |
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288 | bncTime epoTime = itTime.next(); |
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289 | _buffer[sys].remove(epoTime); |
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290 | } |
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291 | } |
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292 | |
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293 | } |
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294 | |
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295 | // Remember orbit corrections |
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296 | //////////////////////////////////////////////////////////////////////////// |
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297 | void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) { |
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298 | QMutexLocker locker(&_mutex); |
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299 | |
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300 | for (int ii = 0; ii < orbCorrections.size(); ii++) { |
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301 | t_orbCorr& orbCorr = orbCorrections[ii]; |
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302 | QString staID(orbCorr._staID.c_str()); |
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303 | QString prn(orbCorr._prn.toInternalString().c_str()); |
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304 | |
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305 | // Find/Check the AC Name |
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306 | // ---------------------- |
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307 | QString acName; |
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308 | QListIterator<cmbAC*> icAC(_ACs); |
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309 | while (icAC.hasNext()) { |
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310 | cmbAC* AC = icAC.next(); |
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311 | if (AC->mountPoint == staID) { |
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312 | acName = AC->name; |
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313 | break; |
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314 | } |
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315 | } |
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316 | if (acName.isEmpty()) { |
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317 | continue; |
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318 | } |
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319 | |
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320 | // Store the correction |
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321 | // -------------------- |
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322 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName]; |
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323 | storage[orbCorr._prn] = orbCorr; |
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324 | } |
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325 | } |
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326 | |
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327 | // Process clock corrections |
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328 | //////////////////////////////////////////////////////////////////////////// |
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329 | void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) { |
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330 | QMutexLocker locker(&_mutex); |
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331 | |
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332 | bncTime lastTime; |
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333 | |
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334 | for (int ii = 0; ii < clkCorrections.size(); ii++) { |
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335 | t_clkCorr& clkCorr = clkCorrections[ii]; |
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336 | QString staID(clkCorr._staID.c_str()); |
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337 | QString prn(clkCorr._prn.toInternalString().c_str()); |
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338 | char sys = clkCorr._prn.system(); |
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339 | |
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340 | // Set the last time |
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341 | // ----------------- |
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342 | if (lastTime.undef() || clkCorr._time > lastTime) { |
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343 | lastTime = clkCorr._time; |
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344 | } |
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345 | |
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346 | // Find/Check the AC Name |
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347 | // ---------------------- |
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348 | QString acName; |
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349 | QListIterator<cmbAC*> icAC(_ACs); |
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350 | while (icAC.hasNext()) { |
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351 | cmbAC* AC = icAC.next(); |
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352 | if (AC->mountPoint == staID) { |
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353 | acName = AC->name; |
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354 | break; |
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355 | } |
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356 | } |
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357 | if (acName.isEmpty()) { |
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358 | continue; |
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359 | } |
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360 | |
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361 | // Check Modulo Time |
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362 | // ----------------- |
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363 | int sec = int(nint(clkCorr._time.gpssec()*10)); |
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364 | if (sec % (_cmbSampl*10) != 0.0) { |
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365 | continue; |
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366 | } |
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367 | |
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368 | // Check Correction Age |
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369 | // -------------------- |
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370 | if (_resTime.valid() && clkCorr._time <= _resTime) { |
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371 | emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + prn.mid(0,3).toLatin1(), true); |
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372 | continue; |
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373 | } |
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374 | |
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375 | // Create new correction |
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376 | // --------------------- |
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377 | cmbCorr* newCorr = new cmbCorr(); |
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378 | newCorr->_prn = prn; |
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379 | newCorr->_time = clkCorr._time; |
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380 | newCorr->_iod = clkCorr._iod; |
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381 | newCorr->_acName = acName; |
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382 | newCorr->_clkCorr = clkCorr; |
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383 | |
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384 | // Check orbit correction |
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385 | // ---------------------- |
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386 | if (!_orbCorrections.contains(acName)) { |
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387 | delete newCorr; |
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388 | continue; |
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389 | } |
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390 | else { |
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391 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName]; |
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392 | if (!storage.contains(clkCorr._prn) || |
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393 | storage[clkCorr._prn]._iod != newCorr->_iod) { |
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394 | delete newCorr; |
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395 | continue; |
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396 | } |
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397 | else { |
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398 | newCorr->_orbCorr = storage[clkCorr._prn]; |
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399 | } |
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400 | } |
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401 | |
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402 | // Check the Ephemeris |
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403 | //-------------------- |
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404 | t_eph* ephLast = _ephUser.ephLast(prn); |
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405 | t_eph* ephPrev = _ephUser.ephPrev(prn); |
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406 | if (ephLast == 0) { |
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407 | //emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true); |
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408 | delete newCorr; |
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409 | continue; |
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410 | } |
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411 | else { |
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412 | if (ephLast->IOD() == newCorr->_iod) { |
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413 | newCorr->_eph = ephLast; |
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414 | } |
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415 | else if (ephPrev && ephPrev->IOD() == newCorr->_iod) { |
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416 | newCorr->_eph = ephPrev; |
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417 | switchToLastEph(ephLast, newCorr); |
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418 | } |
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419 | else { |
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420 | //emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() + |
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421 | //QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true); |
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422 | delete newCorr; |
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423 | continue; |
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424 | } |
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425 | } |
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426 | |
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427 | // Store correction into the buffer |
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428 | // -------------------------------- |
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429 | QVector<cmbCorr*>& corrs = _buffer[sys][newCorr->_time].corrs; |
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430 | corrs.push_back(newCorr); |
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431 | |
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432 | |
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433 | } |
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434 | |
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435 | // Process previous Epoch(s) |
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436 | // ------------------------- |
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437 | const double outWait = 1.0 * _cmbSampl; |
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438 | QMapIterator<char, unsigned> itSys(_cmbSysPrn); |
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439 | while (itSys.hasNext()) { |
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440 | itSys.next(); |
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441 | char sys = itSys.key(); |
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442 | QListIterator<bncTime> itTime(_buffer[sys].keys()); |
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443 | while (itTime.hasNext()) { |
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444 | bncTime epoTime = itTime.next(); |
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445 | if (epoTime < lastTime - outWait) { |
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446 | _resTime = epoTime; |
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447 | processEpoch(sys); |
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448 | } |
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449 | } |
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450 | } |
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451 | } |
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452 | |
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453 | // Change the correction so that it refers to last received ephemeris |
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454 | //////////////////////////////////////////////////////////////////////////// |
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455 | void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) { |
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456 | |
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457 | if (corr->_eph == lastEph) { |
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458 | return; |
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459 | } |
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460 | |
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461 | ColumnVector oldXC(6); |
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462 | ColumnVector oldVV(3); |
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463 | corr->_eph->getCrd(corr->_time, oldXC, oldVV, false); |
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464 | |
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465 | ColumnVector newXC(6); |
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466 | ColumnVector newVV(3); |
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467 | lastEph->getCrd(corr->_time, newXC, newVV, false); |
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468 | |
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469 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3); |
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470 | ColumnVector dV = newVV - oldVV; |
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471 | double dC = newXC(4) - oldXC(4); |
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472 | |
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473 | // small check |
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474 | // ----------- |
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475 | const double MAXDIFF = 1000.0; |
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476 | double diff = dX.NormFrobenius(); |
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477 | double diffC = dC * t_CST::c ; |
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478 | if (diff > MAXDIFF || |
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479 | diffC > MAXDIFF) { |
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480 | return; |
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481 | } |
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482 | |
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483 | ColumnVector dRAO(3); |
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484 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO); |
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485 | |
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486 | ColumnVector dDotRAO(3); |
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487 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO); |
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488 | |
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489 | QString msg = "switch corr " + corr->_prn.mid(0,3) |
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490 | + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4); |
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491 | |
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492 | emit newMessage(msg.toLatin1(), false); |
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493 | |
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494 | corr->_iod = lastEph->IOD(); |
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495 | corr->_eph = lastEph; |
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496 | |
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497 | corr->_orbCorr._xr += dRAO; |
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498 | corr->_orbCorr._dotXr += dDotRAO; |
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499 | corr->_clkCorr._dClk -= dC; |
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500 | } |
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501 | |
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502 | // Process Epoch |
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503 | //////////////////////////////////////////////////////////////////////////// |
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504 | void bncComb::processEpoch(char sys) { |
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505 | |
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506 | _log.clear(); |
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507 | |
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508 | QTextStream out(&_log, QIODevice::WriteOnly); |
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509 | |
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510 | out << endl << "Combination: " << sys << endl |
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511 | << "--------------------------------" << endl; |
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512 | |
---|
513 | // Observation Statistics |
---|
514 | // ---------------------- |
---|
515 | bool masterPresent = false; |
---|
516 | QListIterator<cmbAC*> icAC(_ACs); |
---|
517 | while (icAC.hasNext()) { |
---|
518 | cmbAC* AC = icAC.next(); |
---|
519 | AC->numObs[sys] = 0; |
---|
520 | QVectorIterator<cmbCorr*> itCorr(corrs(sys)); |
---|
521 | while (itCorr.hasNext()) { |
---|
522 | cmbCorr* corr = itCorr.next(); |
---|
523 | if (corr->_acName == AC->name) { |
---|
524 | AC->numObs[sys] += 1; |
---|
525 | if (AC->name == _masterOrbitAC[sys]) { |
---|
526 | masterPresent = true; |
---|
527 | } |
---|
528 | } |
---|
529 | } |
---|
530 | out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << endl; |
---|
531 | } |
---|
532 | |
---|
533 | // If Master not present, switch to another one |
---|
534 | // -------------------------------------------- |
---|
535 | const unsigned switchMasterAfterGap = 1; |
---|
536 | if (masterPresent) { |
---|
537 | _masterMissingEpochs[sys] = 0; |
---|
538 | } |
---|
539 | else { |
---|
540 | ++_masterMissingEpochs[sys]; |
---|
541 | if (_masterMissingEpochs[sys] < switchMasterAfterGap) { |
---|
542 | out << "Missing Master, Epoch skipped" << endl; |
---|
543 | _buffer[sys].remove(_resTime); |
---|
544 | emit newMessage(_log, false); |
---|
545 | return; |
---|
546 | } |
---|
547 | else { |
---|
548 | _masterMissingEpochs[sys] = 0; |
---|
549 | QListIterator<cmbAC*> icAC(_ACs); |
---|
550 | while (icAC.hasNext()) { |
---|
551 | cmbAC* AC = icAC.next(); |
---|
552 | if (AC->numObs[sys] > 0) { |
---|
553 | out << "Switching Master AC " |
---|
554 | << _masterOrbitAC[sys].toLatin1().data() << " --> " |
---|
555 | << AC->name.toLatin1().data() << " " |
---|
556 | << _resTime.datestr().c_str() << " " |
---|
557 | << _resTime.timestr().c_str() << endl; |
---|
558 | _masterOrbitAC[sys] = AC->name; |
---|
559 | break; |
---|
560 | } |
---|
561 | } |
---|
562 | } |
---|
563 | } |
---|
564 | |
---|
565 | QMap<QString, cmbCorr*> resCorr; |
---|
566 | |
---|
567 | // Perform the actual Combination using selected Method |
---|
568 | // ---------------------------------------------------- |
---|
569 | t_irc irc; |
---|
570 | ColumnVector dx; |
---|
571 | if (_method == filter) { |
---|
572 | irc = processEpoch_filter(sys, out, resCorr, dx); |
---|
573 | } |
---|
574 | else { |
---|
575 | irc = processEpoch_singleEpoch(sys, out, resCorr, dx); |
---|
576 | } |
---|
577 | |
---|
578 | // Update Parameter Values, Print Results |
---|
579 | // -------------------------------------- |
---|
580 | if (irc == success) { |
---|
581 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
---|
582 | cmbParam* pp = _params[sys][iPar-1]; |
---|
583 | pp->xx += dx(iPar); |
---|
584 | if (pp->type == cmbParam::clkSat) { |
---|
585 | if (resCorr.find(pp->prn) != resCorr.end()) { |
---|
586 | resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c; |
---|
587 | } |
---|
588 | } |
---|
589 | out << _resTime.datestr().c_str() << " " |
---|
590 | << _resTime.timestr().c_str() << " "; |
---|
591 | out.setRealNumberNotation(QTextStream::FixedNotation); |
---|
592 | out.setFieldWidth(8); |
---|
593 | out.setRealNumberPrecision(4); |
---|
594 | out << pp->toString(sys) << " " |
---|
595 | << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << endl; |
---|
596 | out.setFieldWidth(0); |
---|
597 | } |
---|
598 | printResults(out, resCorr); |
---|
599 | dumpResults(resCorr); |
---|
600 | } |
---|
601 | |
---|
602 | // Delete Data, emit Message |
---|
603 | // ------------------------- |
---|
604 | _buffer[sys].remove(_resTime); |
---|
605 | emit newMessage(_log, false); |
---|
606 | } |
---|
607 | |
---|
608 | // Process Epoch - Filter Method |
---|
609 | //////////////////////////////////////////////////////////////////////////// |
---|
610 | t_irc bncComb::processEpoch_filter(char sys, QTextStream& out, |
---|
611 | QMap<QString, cmbCorr*>& resCorr, |
---|
612 | ColumnVector& dx) { |
---|
613 | |
---|
614 | // Prediction Step |
---|
615 | // --------------- |
---|
616 | int nPar = _params[sys].size(); |
---|
617 | ColumnVector x0(nPar); |
---|
618 | for (int iPar = 1; iPar <= nPar; iPar++) { |
---|
619 | cmbParam* pp = _params[sys][iPar-1]; |
---|
620 | if (pp->epoSpec) { |
---|
621 | pp->xx = 0.0; |
---|
622 | _QQ[sys].Row(iPar) = 0.0; |
---|
623 | _QQ[sys].Column(iPar) = 0.0; |
---|
624 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0; |
---|
625 | } |
---|
626 | else { |
---|
627 | _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP; |
---|
628 | } |
---|
629 | x0(iPar) = pp->xx; |
---|
630 | } |
---|
631 | |
---|
632 | // Check Satellite Positions for Outliers |
---|
633 | // -------------------------------------- |
---|
634 | if (checkOrbits(sys, out) != success) { |
---|
635 | return failure; |
---|
636 | } |
---|
637 | |
---|
638 | // Update and outlier detection loop |
---|
639 | // --------------------------------- |
---|
640 | SymmetricMatrix QQ_sav = _QQ[sys]; |
---|
641 | while (true) { |
---|
642 | |
---|
643 | Matrix AA; |
---|
644 | ColumnVector ll; |
---|
645 | DiagonalMatrix PP; |
---|
646 | |
---|
647 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) { |
---|
648 | return failure; |
---|
649 | } |
---|
650 | |
---|
651 | dx.ReSize(nPar); dx = 0.0; |
---|
652 | kalman(AA, ll, PP, _QQ[sys], dx); |
---|
653 | |
---|
654 | ColumnVector vv = ll - AA * dx; |
---|
655 | |
---|
656 | int maxResIndex; |
---|
657 | double maxRes = vv.maximum_absolute_value1(maxResIndex); |
---|
658 | out.setRealNumberNotation(QTextStream::FixedNotation); |
---|
659 | out.setRealNumberPrecision(3); |
---|
660 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str() |
---|
661 | << " Maximum Residuum " << maxRes << ' ' |
---|
662 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3); |
---|
663 | if (maxRes > _MAXRES) { |
---|
664 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
---|
665 | cmbParam* pp = _params[sys][iPar-1]; |
---|
666 | if (pp->type == cmbParam::offACSat && |
---|
667 | pp->AC == corrs(sys)[maxResIndex-1]->_acName && |
---|
668 | pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) { |
---|
669 | QQ_sav.Row(iPar) = 0.0; |
---|
670 | QQ_sav.Column(iPar) = 0.0; |
---|
671 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0; |
---|
672 | } |
---|
673 | } |
---|
674 | |
---|
675 | out << " Outlier" << endl; |
---|
676 | _QQ[sys] = QQ_sav; |
---|
677 | corrs(sys).remove(maxResIndex-1); |
---|
678 | } |
---|
679 | else { |
---|
680 | out << " OK" << endl; |
---|
681 | out.setRealNumberNotation(QTextStream::FixedNotation); |
---|
682 | out.setRealNumberPrecision(4); |
---|
683 | for (int ii = 0; ii < corrs(sys).size(); ii++) { |
---|
684 | const cmbCorr* corr = corrs(sys)[ii]; |
---|
685 | out << _resTime.datestr().c_str() << ' ' |
---|
686 | << _resTime.timestr().c_str() << " " |
---|
687 | << corr->_acName << ' ' << corr->_prn.mid(0,3); |
---|
688 | out.setFieldWidth(10); |
---|
689 | out << " res = " << vv[ii] << endl; |
---|
690 | out.setFieldWidth(0); |
---|
691 | } |
---|
692 | break; |
---|
693 | } |
---|
694 | } |
---|
695 | |
---|
696 | return success; |
---|
697 | } |
---|
698 | |
---|
699 | // Print results |
---|
700 | //////////////////////////////////////////////////////////////////////////// |
---|
701 | void bncComb::printResults(QTextStream& out, |
---|
702 | const QMap<QString, cmbCorr*>& resCorr) { |
---|
703 | |
---|
704 | QMapIterator<QString, cmbCorr*> it(resCorr); |
---|
705 | while (it.hasNext()) { |
---|
706 | it.next(); |
---|
707 | cmbCorr* corr = it.value(); |
---|
708 | const t_eph* eph = corr->_eph; |
---|
709 | if (eph) { |
---|
710 | ColumnVector xc(6); |
---|
711 | ColumnVector vv(3); |
---|
712 | eph->getCrd(_resTime, xc, vv, false); |
---|
713 | |
---|
714 | out << _resTime.datestr().c_str() << " " |
---|
715 | << _resTime.timestr().c_str() << " "; |
---|
716 | out.setFieldWidth(3); |
---|
717 | out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " "; |
---|
718 | out.setFieldWidth(14); |
---|
719 | out << (xc(4) + corr->_dClkResult) * t_CST::c << endl; |
---|
720 | out.setFieldWidth(0); |
---|
721 | } |
---|
722 | else { |
---|
723 | out << "bncComb::printResuls bug" << endl; |
---|
724 | } |
---|
725 | } |
---|
726 | } |
---|
727 | |
---|
728 | // Send results to RTNet Decoder and directly to PPP Client |
---|
729 | //////////////////////////////////////////////////////////////////////////// |
---|
730 | void bncComb::dumpResults(const QMap<QString, cmbCorr*>& resCorr) { |
---|
731 | |
---|
732 | QList<t_orbCorr> orbCorrections; |
---|
733 | QList<t_clkCorr> clkCorrections; |
---|
734 | |
---|
735 | QString outLines; |
---|
736 | |
---|
737 | unsigned year, month, day, hour, minute; |
---|
738 | double sec; |
---|
739 | _resTime.civil_date(year, month, day); |
---|
740 | _resTime.civil_time(hour, minute, sec); |
---|
741 | |
---|
742 | outLines.sprintf("* %4d %2d %2d %d %d %12.8f\n", |
---|
743 | year, month, day, hour, minute, sec); |
---|
744 | |
---|
745 | QMapIterator<QString, cmbCorr*> it(resCorr); |
---|
746 | while (it.hasNext()) { |
---|
747 | it.next(); |
---|
748 | cmbCorr* corr = it.value(); |
---|
749 | |
---|
750 | t_orbCorr orbCorr(corr->_orbCorr); |
---|
751 | orbCorr._staID = "INTERNAL"; |
---|
752 | orbCorrections.push_back(orbCorr); |
---|
753 | |
---|
754 | t_clkCorr clkCorr(corr->_clkCorr); |
---|
755 | clkCorr._staID = "INTERNAL"; |
---|
756 | clkCorr._dClk = corr->_dClkResult; |
---|
757 | clkCorr._dotDClk = 0.0; |
---|
758 | clkCorr._dotDotDClk = 0.0; |
---|
759 | clkCorrections.push_back(clkCorr); |
---|
760 | |
---|
761 | ColumnVector xc(6); |
---|
762 | ColumnVector vv(3); |
---|
763 | corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr)); |
---|
764 | corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr)); |
---|
765 | corr->_eph->getCrd(_resTime, xc, vv, true); |
---|
766 | |
---|
767 | // Correction Phase Center --> CoM |
---|
768 | // ------------------------------- |
---|
769 | ColumnVector dx(3); dx = 0.0; |
---|
770 | if (_antex) { |
---|
771 | double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0; |
---|
772 | if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) { |
---|
773 | dx = 0; |
---|
774 | _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n'; |
---|
775 | } |
---|
776 | } |
---|
777 | |
---|
778 | outLines += corr->_prn.mid(0,3); |
---|
779 | QString hlp; |
---|
780 | hlp.sprintf(" APC 3 %15.4f %15.4f %15.4f" |
---|
781 | " Clk 1 %15.4f" |
---|
782 | " Vel 3 %15.4f %15.4f %15.4f" |
---|
783 | " CoM 3 %15.4f %15.4f %15.4f\n", |
---|
784 | xc(1), xc(2), xc(3), |
---|
785 | xc(4) * t_CST::c, |
---|
786 | vv(1), vv(2), vv(3), |
---|
787 | xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3)); |
---|
788 | outLines += hlp; |
---|
789 | |
---|
790 | QString line; |
---|
791 | int messageType = _ssrCorr->COTYPE_GPSCOMBINED; |
---|
792 | int updateInt = 0; |
---|
793 | line.sprintf("%d %d %d %.1f %s" |
---|
794 | " %lu" |
---|
795 | " %8.3f %8.3f %8.3f %8.3f" |
---|
796 | " %10.5f %10.5f %10.5f %10.5f" |
---|
797 | " %10.5f INTERNAL", |
---|
798 | messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(), |
---|
799 | corr->_prn.mid(0,3).toLatin1().data(), |
---|
800 | corr->_iod, |
---|
801 | corr->_dClkResult * t_CST::c, |
---|
802 | corr->_orbCorr._xr[0], |
---|
803 | corr->_orbCorr._xr[1], |
---|
804 | corr->_orbCorr._xr[2], |
---|
805 | 0.0, |
---|
806 | corr->_orbCorr._dotXr[0], |
---|
807 | corr->_orbCorr._dotXr[1], |
---|
808 | corr->_orbCorr._dotXr[2], |
---|
809 | 0.0); |
---|
810 | |
---|
811 | delete corr; |
---|
812 | } |
---|
813 | |
---|
814 | outLines += "EOE\n"; // End Of Epoch flag |
---|
815 | |
---|
816 | if (!_rtnetDecoder) { |
---|
817 | _rtnetDecoder = new bncRtnetDecoder(); |
---|
818 | } |
---|
819 | |
---|
820 | vector<string> errmsg; |
---|
821 | _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg); |
---|
822 | |
---|
823 | // Send new Corrections to PPP etc. |
---|
824 | // -------------------------------- |
---|
825 | if (orbCorrections.size() > 0 && clkCorrections.size() > 0) { |
---|
826 | emit newOrbCorrections(orbCorrections); |
---|
827 | emit newClkCorrections(clkCorrections); |
---|
828 | } |
---|
829 | } |
---|
830 | |
---|
831 | // Create First Design Matrix and Vector of Measurements |
---|
832 | //////////////////////////////////////////////////////////////////////////// |
---|
833 | t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP, |
---|
834 | const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) { |
---|
835 | |
---|
836 | unsigned nPar = _params[sys].size(); |
---|
837 | unsigned nObs = corrs(sys).size(); |
---|
838 | |
---|
839 | if (nObs == 0) { |
---|
840 | return failure; |
---|
841 | } |
---|
842 | |
---|
843 | int maxSat = _cmbSysPrn[sys]; |
---|
844 | |
---|
845 | const int nCon = (_method == filter) ? 1 + maxSat : 0; |
---|
846 | |
---|
847 | AA.ReSize(nObs+nCon, nPar); AA = 0.0; |
---|
848 | ll.ReSize(nObs+nCon); ll = 0.0; |
---|
849 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs); |
---|
850 | |
---|
851 | int iObs = 0; |
---|
852 | QVectorIterator<cmbCorr*> itCorr(corrs(sys)); |
---|
853 | while (itCorr.hasNext()) { |
---|
854 | cmbCorr* corr = itCorr.next(); |
---|
855 | QString prn = corr->_prn; |
---|
856 | |
---|
857 | ++iObs; |
---|
858 | |
---|
859 | if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) { |
---|
860 | resCorr[prn] = new cmbCorr(*corr); |
---|
861 | } |
---|
862 | |
---|
863 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
---|
864 | cmbParam* pp = _params[sys][iPar-1]; |
---|
865 | AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn); |
---|
866 | } |
---|
867 | |
---|
868 | ll(iObs) = corr->_clkCorr._dClk * t_CST::c - DotProduct(AA.Row(iObs), x0); |
---|
869 | } |
---|
870 | |
---|
871 | // Regularization |
---|
872 | // -------------- |
---|
873 | if (_method == filter) { |
---|
874 | const double Ph = 1.e6; |
---|
875 | PP(nObs+1) = Ph; |
---|
876 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
---|
877 | cmbParam* pp = _params[sys][iPar-1]; |
---|
878 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 && |
---|
879 | pp->type == cmbParam::clkSat ) { |
---|
880 | AA(nObs+1, iPar) = 1.0; |
---|
881 | } |
---|
882 | } |
---|
883 | unsigned flag = 0; |
---|
884 | if (sys == 'E') { |
---|
885 | flag = 1; |
---|
886 | } |
---|
887 | if (sys == 'R') { |
---|
888 | return success; |
---|
889 | } |
---|
890 | int iCond = 1; |
---|
891 | // GNSS |
---|
892 | for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) { |
---|
893 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag); |
---|
894 | ++iCond; |
---|
895 | PP(nObs+iCond) = Ph; |
---|
896 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
---|
897 | cmbParam* pp = _params[sys][iPar-1]; |
---|
898 | if ( pp && |
---|
899 | AA.Column(iPar).maximum_absolute_value() > 0.0 && |
---|
900 | pp->type == cmbParam::offACSat && |
---|
901 | pp->prn == prn) { |
---|
902 | AA(nObs+iCond, iPar) = 1.0; |
---|
903 | } |
---|
904 | } |
---|
905 | } |
---|
906 | } |
---|
907 | |
---|
908 | return success; |
---|
909 | } |
---|
910 | |
---|
911 | // Process Epoch - Single-Epoch Method |
---|
912 | //////////////////////////////////////////////////////////////////////////// |
---|
913 | t_irc bncComb::processEpoch_singleEpoch(char sys, QTextStream& out, |
---|
914 | QMap<QString, cmbCorr*>& resCorr, |
---|
915 | ColumnVector& dx) { |
---|
916 | |
---|
917 | // Check Satellite Positions for Outliers |
---|
918 | // -------------------------------------- |
---|
919 | if (checkOrbits(sys, out) != success) { |
---|
920 | return failure; |
---|
921 | } |
---|
922 | |
---|
923 | // Outlier Detection Loop |
---|
924 | // ---------------------- |
---|
925 | while (true) { |
---|
926 | |
---|
927 | // Remove Satellites that are not in Master |
---|
928 | // ---------------------------------------- |
---|
929 | QMutableVectorIterator<cmbCorr*> it(corrs(sys)); |
---|
930 | while (it.hasNext()) { |
---|
931 | cmbCorr* corr = it.next(); |
---|
932 | QString prn = corr->_prn; |
---|
933 | bool foundMaster = false; |
---|
934 | QVectorIterator<cmbCorr*> itHlp(corrs(sys)); |
---|
935 | while (itHlp.hasNext()) { |
---|
936 | cmbCorr* corrHlp = itHlp.next(); |
---|
937 | QString prnHlp = corrHlp->_prn; |
---|
938 | QString ACHlp = corrHlp->_acName; |
---|
939 | if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) { |
---|
940 | foundMaster = true; |
---|
941 | break; |
---|
942 | } |
---|
943 | } |
---|
944 | if (!foundMaster) { |
---|
945 | delete corr; |
---|
946 | it.remove(); |
---|
947 | } |
---|
948 | } |
---|
949 | |
---|
950 | // Count Number of Observations per Satellite and per AC |
---|
951 | // ----------------------------------------------------- |
---|
952 | QMap<QString, int> numObsPrn; |
---|
953 | QMap<QString, int> numObsAC; |
---|
954 | QVectorIterator<cmbCorr*> itCorr(corrs(sys)); |
---|
955 | while (itCorr.hasNext()) { |
---|
956 | cmbCorr* corr = itCorr.next(); |
---|
957 | QString prn = corr->_prn; |
---|
958 | QString AC = corr->_acName; |
---|
959 | if (numObsPrn.find(prn) == numObsPrn.end()) { |
---|
960 | numObsPrn[prn] = 1; |
---|
961 | } |
---|
962 | else { |
---|
963 | numObsPrn[prn] += 1; |
---|
964 | } |
---|
965 | if (numObsAC.find(AC) == numObsAC.end()) { |
---|
966 | numObsAC[AC] = 1; |
---|
967 | } |
---|
968 | else { |
---|
969 | numObsAC[AC] += 1; |
---|
970 | } |
---|
971 | } |
---|
972 | |
---|
973 | // Clean-Up the Parameters |
---|
974 | // ----------------------- |
---|
975 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
---|
976 | delete _params[sys][iPar-1]; |
---|
977 | } |
---|
978 | _params[sys].clear(); |
---|
979 | |
---|
980 | // Set new Parameters |
---|
981 | // ------------------ |
---|
982 | int nextPar = 0; |
---|
983 | |
---|
984 | QMapIterator<QString, int> itAC(numObsAC); |
---|
985 | while (itAC.hasNext()) { |
---|
986 | itAC.next(); |
---|
987 | const QString& AC = itAC.key(); |
---|
988 | int numObs = itAC.value(); |
---|
989 | if (AC != _masterOrbitAC[sys] && numObs > 0) { |
---|
990 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, "")); |
---|
991 | } |
---|
992 | } |
---|
993 | |
---|
994 | QMapIterator<QString, int> itPrn(numObsPrn); |
---|
995 | while (itPrn.hasNext()) { |
---|
996 | itPrn.next(); |
---|
997 | const QString& prn = itPrn.key(); |
---|
998 | int numObs = itPrn.value(); |
---|
999 | if (numObs > 0) { |
---|
1000 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn)); |
---|
1001 | } |
---|
1002 | } |
---|
1003 | |
---|
1004 | int nPar = _params[sys].size(); |
---|
1005 | ColumnVector x0(nPar); |
---|
1006 | x0 = 0.0; |
---|
1007 | |
---|
1008 | // Create First-Design Matrix |
---|
1009 | // -------------------------- |
---|
1010 | Matrix AA; |
---|
1011 | ColumnVector ll; |
---|
1012 | DiagonalMatrix PP; |
---|
1013 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) { |
---|
1014 | return failure; |
---|
1015 | } |
---|
1016 | |
---|
1017 | ColumnVector vv; |
---|
1018 | try { |
---|
1019 | Matrix ATP = AA.t() * PP; |
---|
1020 | SymmetricMatrix NN; NN << ATP * AA; |
---|
1021 | ColumnVector bb = ATP * ll; |
---|
1022 | _QQ[sys] = NN.i(); |
---|
1023 | dx = _QQ[sys] * bb; |
---|
1024 | vv = ll - AA * dx; |
---|
1025 | } |
---|
1026 | catch (Exception& exc) { |
---|
1027 | out << exc.what() << endl; |
---|
1028 | return failure; |
---|
1029 | } |
---|
1030 | |
---|
1031 | int maxResIndex; |
---|
1032 | double maxRes = vv.maximum_absolute_value1(maxResIndex); |
---|
1033 | out.setRealNumberNotation(QTextStream::FixedNotation); |
---|
1034 | out.setRealNumberPrecision(3); |
---|
1035 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str() |
---|
1036 | << " Maximum Residuum " << maxRes << ' ' |
---|
1037 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3); |
---|
1038 | |
---|
1039 | if (maxRes > _MAXRES) { |
---|
1040 | out << " Outlier" << endl; |
---|
1041 | delete corrs(sys)[maxResIndex-1]; |
---|
1042 | corrs(sys).remove(maxResIndex-1); |
---|
1043 | } |
---|
1044 | else { |
---|
1045 | out << " OK" << endl; |
---|
1046 | out.setRealNumberNotation(QTextStream::FixedNotation); |
---|
1047 | out.setRealNumberPrecision(3); |
---|
1048 | for (int ii = 0; ii < vv.Nrows(); ii++) { |
---|
1049 | const cmbCorr* corr = corrs(sys)[ii]; |
---|
1050 | out << _resTime.datestr().c_str() << ' ' |
---|
1051 | << _resTime.timestr().c_str() << " " |
---|
1052 | << corr->_acName << ' ' << corr->_prn.mid(0,3); |
---|
1053 | out.setFieldWidth(6); |
---|
1054 | out << " res = " << vv[ii] << endl; |
---|
1055 | out.setFieldWidth(0); |
---|
1056 | } |
---|
1057 | return success; |
---|
1058 | } |
---|
1059 | |
---|
1060 | } |
---|
1061 | |
---|
1062 | return failure; |
---|
1063 | } |
---|
1064 | |
---|
1065 | // Check Satellite Positions for Outliers |
---|
1066 | //////////////////////////////////////////////////////////////////////////// |
---|
1067 | t_irc bncComb::checkOrbits(char sys, QTextStream& out) { |
---|
1068 | |
---|
1069 | const double MAX_DISPLACEMENT = 0.20; |
---|
1070 | |
---|
1071 | // Switch to last ephemeris (if possible) |
---|
1072 | // -------------------------------------- |
---|
1073 | QMutableVectorIterator<cmbCorr*> im(corrs(sys)); |
---|
1074 | while (im.hasNext()) { |
---|
1075 | cmbCorr* corr = im.next(); |
---|
1076 | QString prn = corr->_prn; |
---|
1077 | |
---|
1078 | t_eph* ephLast = _ephUser.ephLast(prn); |
---|
1079 | t_eph* ephPrev = _ephUser.ephPrev(prn); |
---|
1080 | |
---|
1081 | if (ephLast == 0) { |
---|
1082 | out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << endl; |
---|
1083 | delete corr; |
---|
1084 | im.remove(); |
---|
1085 | } |
---|
1086 | else if (corr->_eph == 0) { |
---|
1087 | out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << endl; |
---|
1088 | delete corr; |
---|
1089 | im.remove(); |
---|
1090 | } |
---|
1091 | else { |
---|
1092 | if ( corr->_eph == ephLast || corr->_eph == ephPrev ) { |
---|
1093 | switchToLastEph(ephLast, corr); |
---|
1094 | } |
---|
1095 | else { |
---|
1096 | out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << endl; |
---|
1097 | delete corr; |
---|
1098 | im.remove(); |
---|
1099 | } |
---|
1100 | } |
---|
1101 | } |
---|
1102 | |
---|
1103 | while (true) { |
---|
1104 | |
---|
1105 | // Compute Mean Corrections for all Satellites |
---|
1106 | // ------------------------------------------- |
---|
1107 | QMap<QString, int> numCorr; |
---|
1108 | QMap<QString, ColumnVector> meanRao; |
---|
1109 | QVectorIterator<cmbCorr*> it(corrs(sys)); |
---|
1110 | while (it.hasNext()) { |
---|
1111 | cmbCorr* corr = it.next(); |
---|
1112 | QString prn = corr->_prn; |
---|
1113 | if (meanRao.find(prn) == meanRao.end()) { |
---|
1114 | meanRao[prn].ReSize(4); |
---|
1115 | meanRao[prn].Rows(1,3) = corr->_orbCorr._xr; |
---|
1116 | meanRao[prn](4) = 1; |
---|
1117 | } |
---|
1118 | else { |
---|
1119 | meanRao[prn].Rows(1,3) += corr->_orbCorr._xr; |
---|
1120 | meanRao[prn](4) += 1; |
---|
1121 | } |
---|
1122 | if (numCorr.find(prn) == numCorr.end()) { |
---|
1123 | numCorr[prn] = 1; |
---|
1124 | } |
---|
1125 | else { |
---|
1126 | numCorr[prn] += 1; |
---|
1127 | } |
---|
1128 | } |
---|
1129 | |
---|
1130 | // Compute Differences wrt. Mean, find Maximum |
---|
1131 | // ------------------------------------------- |
---|
1132 | QMap<QString, cmbCorr*> maxDiff; |
---|
1133 | it.toFront(); |
---|
1134 | while (it.hasNext()) { |
---|
1135 | cmbCorr* corr = it.next(); |
---|
1136 | QString prn = corr->_prn; |
---|
1137 | if (meanRao[prn](4) != 0) { |
---|
1138 | meanRao[prn] /= meanRao[prn](4); |
---|
1139 | meanRao[prn](4) = 0; |
---|
1140 | } |
---|
1141 | corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3); |
---|
1142 | if (maxDiff.find(prn) == maxDiff.end()) { |
---|
1143 | maxDiff[prn] = corr; |
---|
1144 | } |
---|
1145 | else { |
---|
1146 | double normMax = maxDiff[prn]->_diffRao.NormFrobenius(); |
---|
1147 | double norm = corr->_diffRao.NormFrobenius(); |
---|
1148 | if (norm > normMax) { |
---|
1149 | maxDiff[prn] = corr; |
---|
1150 | } |
---|
1151 | } |
---|
1152 | } |
---|
1153 | |
---|
1154 | if (_ACs.size() == 1) { |
---|
1155 | break; |
---|
1156 | } |
---|
1157 | |
---|
1158 | // Remove Outliers |
---|
1159 | // --------------- |
---|
1160 | bool removed = false; |
---|
1161 | QMutableVectorIterator<cmbCorr*> im(corrs(sys)); |
---|
1162 | while (im.hasNext()) { |
---|
1163 | cmbCorr* corr = im.next(); |
---|
1164 | QString prn = corr->_prn; |
---|
1165 | if (numCorr[prn] < 2) { |
---|
1166 | delete corr; |
---|
1167 | im.remove(); |
---|
1168 | } |
---|
1169 | else if (corr == maxDiff[prn]) { |
---|
1170 | double norm = corr->_diffRao.NormFrobenius(); |
---|
1171 | if (norm > MAX_DISPLACEMENT) { |
---|
1172 | out << _resTime.datestr().c_str() << " " |
---|
1173 | << _resTime.timestr().c_str() << " " |
---|
1174 | << "Orbit Outlier: " |
---|
1175 | << corr->_acName.toLatin1().data() << " " |
---|
1176 | << prn.mid(0,3).toLatin1().data() << " " |
---|
1177 | << corr->_iod << " " |
---|
1178 | << norm << endl; |
---|
1179 | delete corr; |
---|
1180 | im.remove(); |
---|
1181 | removed = true; |
---|
1182 | } |
---|
1183 | } |
---|
1184 | } |
---|
1185 | |
---|
1186 | if (!removed) { |
---|
1187 | break; |
---|
1188 | } |
---|
1189 | } |
---|
1190 | |
---|
1191 | return success; |
---|
1192 | } |
---|
1193 | |
---|
1194 | // |
---|
1195 | //////////////////////////////////////////////////////////////////////////// |
---|
1196 | void bncComb::slotProviderIDChanged(QString mountPoint) { |
---|
1197 | QMutexLocker locker(&_mutex); |
---|
1198 | |
---|
1199 | QTextStream out(&_log, QIODevice::WriteOnly); |
---|
1200 | |
---|
1201 | // Find the AC Name |
---|
1202 | // ---------------- |
---|
1203 | QString acName; |
---|
1204 | QListIterator<cmbAC*> icAC(_ACs); |
---|
1205 | while (icAC.hasNext()) { |
---|
1206 | cmbAC* AC = icAC.next(); |
---|
1207 | if (AC->mountPoint == mountPoint) { |
---|
1208 | acName = AC->name; |
---|
1209 | out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " " |
---|
1210 | << _resTime.datestr().c_str() << " " |
---|
1211 | << _resTime.timestr().c_str() << endl; |
---|
1212 | break; |
---|
1213 | } |
---|
1214 | } |
---|
1215 | if (acName.isEmpty()) { |
---|
1216 | return; |
---|
1217 | } |
---|
1218 | QMapIterator<char, unsigned> itSys(_cmbSysPrn); |
---|
1219 | while (itSys.hasNext()) { |
---|
1220 | itSys.next(); |
---|
1221 | char sys = itSys.key(); |
---|
1222 | // Remove all corrections of the corresponding AC |
---|
1223 | // ---------------------------------------------- |
---|
1224 | QListIterator<bncTime> itTime(_buffer[sys].keys()); |
---|
1225 | while (itTime.hasNext()) { |
---|
1226 | bncTime epoTime = itTime.next(); |
---|
1227 | QVector<cmbCorr*>& corrVec = _buffer[sys][epoTime].corrs; |
---|
1228 | QMutableVectorIterator<cmbCorr*> it(corrVec); |
---|
1229 | while (it.hasNext()) { |
---|
1230 | cmbCorr* corr = it.next(); |
---|
1231 | if (acName == corr->_acName) { |
---|
1232 | delete corr; |
---|
1233 | it.remove(); |
---|
1234 | } |
---|
1235 | } |
---|
1236 | } |
---|
1237 | |
---|
1238 | // Reset Satellite Offsets |
---|
1239 | // ----------------------- |
---|
1240 | if (_method == filter) { |
---|
1241 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) { |
---|
1242 | cmbParam* pp = _params[sys][iPar-1]; |
---|
1243 | if (pp->AC == acName && pp->type == cmbParam::offACSat) { |
---|
1244 | pp->xx = 0.0; |
---|
1245 | _QQ[sys].Row(iPar) = 0.0; |
---|
1246 | _QQ[sys].Column(iPar) = 0.0; |
---|
1247 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0; |
---|
1248 | } |
---|
1249 | } |
---|
1250 | } |
---|
1251 | } |
---|
1252 | } |
---|