1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: t_pppParam, t_pppFilter
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30 | *
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31 | * Purpose: Model for PPP
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 01-Dec-2009
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <iomanip>
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42 | #include <cmath>
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43 | #include <sstream>
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44 | #include <newmatio.h>
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45 | #include <newmatap.h>
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46 |
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47 | #include "pppFilter.h"
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48 | #include "pppClient.h"
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49 | #include "bncutils.h"
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50 | #include "bncantex.h"
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51 | #include "pppOptions.h"
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52 | #include "pppModel.h"
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53 |
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54 | using namespace BNC_PPP;
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55 | using namespace std;
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56 |
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57 | const double GLONASS_WEIGHT_FACTOR = 5.0;
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58 | const double BDS_WEIGHT_FACTOR = 2.0; // 5.0;
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59 |
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60 | #define LOG (_pppClient->log())
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61 | #define OPT (_pppClient->opt())
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62 |
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63 | // Constructor
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64 | ////////////////////////////////////////////////////////////////////////////
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65 | t_pppParam::t_pppParam(t_pppParam::parType typeIn, int indexIn,
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66 | const QString& prnIn) {
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67 | type = typeIn;
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68 | index = indexIn;
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69 | prn = prnIn;
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70 | index_old = 0;
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71 | xx = 0.0;
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72 | numEpo = 0;
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73 | }
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74 |
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75 | // Destructor
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76 | ////////////////////////////////////////////////////////////////////////////
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77 | t_pppParam::~t_pppParam() {
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78 | }
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79 |
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80 | // Partial
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81 | ////////////////////////////////////////////////////////////////////////////
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82 | double t_pppParam::partial(t_satData* satData, bool phase) {
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83 |
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84 | Tracer tracer("t_pppParam::partial");
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85 |
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86 | // Coordinates
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87 | // -----------
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88 | if (type == CRD_X) {
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89 | return (xx - satData->xx(1)) / satData->rho;
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90 | }
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91 | else if (type == CRD_Y) {
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92 | return (xx - satData->xx(2)) / satData->rho;
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93 | }
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94 | else if (type == CRD_Z) {
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95 | return (xx - satData->xx(3)) / satData->rho;
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96 | }
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97 |
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98 | // Receiver Clocks
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99 | // ---------------
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100 | else if (type == RECCLK) {
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101 | return 1.0;
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102 | }
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103 |
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104 | // Troposphere
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105 | // -----------
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106 | else if (type == TROPO) {
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107 | return 1.0 / sin(satData->eleSat);
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108 | }
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109 |
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110 | // Glonass Offset
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111 | // --------------
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112 | else if (type == GLONASS_OFFSET) {
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113 | if (satData->prn[0] == 'R') {
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114 | return 1.0;
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115 | }
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116 | else {
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117 | return 0.0;
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118 | }
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119 | }
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120 |
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121 | // Galileo Offset
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122 | // --------------
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123 | else if (type == GALILEO_OFFSET) {
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124 | if (satData->prn[0] == 'E') {
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125 | return 1.0;
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126 | }
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127 | else {
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128 | return 0.0;
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129 | }
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130 | }
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131 |
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132 | // BDS Offset
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133 | // ----------
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134 | else if (type == BDS_OFFSET) {
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135 | if (satData->prn[0] == 'C') {
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136 | return 1.0;
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137 | }
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138 | else {
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139 | return 0.0;
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140 | }
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141 | }
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142 |
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143 | // Ambiguities
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144 | // -----------
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145 | else if (type == AMB_L3) {
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146 | if (phase && satData->prn == prn) {
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147 | return 1.0;
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148 | }
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149 | else {
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150 | return 0.0;
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151 | }
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152 | }
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153 |
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154 | // Default return
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155 | // --------------
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156 | return 0.0;
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157 | }
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158 |
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159 | // Constructor
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160 | ////////////////////////////////////////////////////////////////////////////
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161 | t_pppFilter::t_pppFilter(t_pppClient* pppClient) {
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162 |
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163 | _pppClient = pppClient;
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164 | _tides = new t_tides();
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165 |
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166 | // Antenna Name, ANTEX File
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167 | // ------------------------
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168 | _antex = 0;
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169 | if (!OPT->_antexFileName.empty()) {
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170 | _antex = new bncAntex(OPT->_antexFileName.c_str());
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171 | }
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172 |
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173 | // Bancroft Coordinates
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174 | // --------------------
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175 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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176 | _ellBanc.ReSize(3); _ellBanc = 0.0;
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177 |
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178 | // Save copy of data (used in outlier detection)
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179 | // ---------------------------------------------
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180 | _epoData_sav = new t_epoData();
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181 |
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182 | // Some statistics
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183 | // ---------------
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184 | _neu.ReSize(3); _neu = 0.0;
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185 | _numSat = 0;
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186 | _hDop = 0.0;
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187 | }
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188 |
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189 | // Destructor
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190 | ////////////////////////////////////////////////////////////////////////////
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191 | t_pppFilter::~t_pppFilter() {
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192 | delete _tides;
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193 | delete _antex;
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194 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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195 | delete _params[iPar-1];
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196 | }
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197 | for (int iPar = 1; iPar <= _params_sav.size(); iPar++) {
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198 | delete _params_sav[iPar-1];
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199 | }
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200 | delete _epoData_sav;
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201 | }
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202 |
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203 | // Reset Parameters and Variance-Covariance Matrix
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204 | ////////////////////////////////////////////////////////////////////////////
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205 | void t_pppFilter::reset() {
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206 |
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207 | Tracer tracer("t_pppFilter::reset");
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208 |
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209 | double lastTrp = 0.0;
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210 | for (int ii = 0; ii < _params.size(); ii++) {
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211 | t_pppParam* pp = _params[ii];
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212 | if (pp->type == t_pppParam::TROPO) {
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213 | lastTrp = pp->xx;
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214 | }
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215 | delete pp;
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216 | }
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217 | _params.clear();
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218 |
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219 | int nextPar = 0;
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220 | _params.push_back(new t_pppParam(t_pppParam::CRD_X, ++nextPar, ""));
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221 | _params.push_back(new t_pppParam(t_pppParam::CRD_Y, ++nextPar, ""));
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222 | _params.push_back(new t_pppParam(t_pppParam::CRD_Z, ++nextPar, ""));
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223 | _params.push_back(new t_pppParam(t_pppParam::RECCLK, ++nextPar, ""));
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224 | if (OPT->estTrp()) {
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225 | _params.push_back(new t_pppParam(t_pppParam::TROPO, ++nextPar, ""));
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226 | }
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227 | if (OPT->useSystem('R')) {
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228 | _params.push_back(new t_pppParam(t_pppParam::GLONASS_OFFSET, ++nextPar, ""));
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229 | }
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230 | if (OPT->useSystem('E')) {
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231 | _params.push_back(new t_pppParam(t_pppParam::GALILEO_OFFSET, ++nextPar, ""));
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232 | }
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233 | if (OPT->useSystem('C')) {
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234 | _params.push_back(new t_pppParam(t_pppParam::BDS_OFFSET, ++nextPar, ""));
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235 | }
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236 |
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237 | _QQ.ReSize(_params.size());
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238 | _QQ = 0.0;
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239 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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240 | t_pppParam* pp = _params[iPar-1];
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241 | pp->xx = 0.0;
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242 | if (pp->isCrd()) {
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243 | _QQ(iPar,iPar) = OPT->_aprSigCrd(1) * OPT->_aprSigCrd(1);
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244 | }
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245 | else if (pp->type == t_pppParam::RECCLK) {
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246 | _QQ(iPar,iPar) = OPT->_noiseClk * OPT->_noiseClk;
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247 | }
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248 | else if (pp->type == t_pppParam::TROPO) {
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249 | _QQ(iPar,iPar) = OPT->_aprSigTrp * OPT->_aprSigTrp;
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250 | pp->xx = lastTrp;
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251 | }
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252 | else if (pp->type == t_pppParam::GLONASS_OFFSET) {
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253 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
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254 | }
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255 | else if (pp->type == t_pppParam::GALILEO_OFFSET) {
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256 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
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257 | }
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258 | else if (pp->type == t_pppParam::BDS_OFFSET) {
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259 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
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260 | }
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261 | }
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262 | }
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263 |
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264 | // Bancroft Solution
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265 | ////////////////////////////////////////////////////////////////////////////
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266 | t_irc t_pppFilter::cmpBancroft(t_epoData* epoData) {
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267 |
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268 | Tracer tracer("t_pppFilter::cmpBancroft");
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269 |
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270 | if (int(epoData->sizeSys('G')) < OPT->_minObs) {
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271 | LOG << "t_pppFilter::cmpBancroft: not enough data\n";
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272 | return failure;
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273 | }
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274 |
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275 | Matrix BB(epoData->sizeSys('G'), 4);
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276 |
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277 | QMapIterator<QString, t_satData*> it(epoData->satData);
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278 | int iObsBanc = 0;
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279 | while (it.hasNext()) {
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280 | it.next();
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281 | t_satData* satData = it.value();
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282 | if (satData->system() == 'G') {
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283 | ++iObsBanc;
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284 | QString prn = it.key();
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285 | BB(iObsBanc, 1) = satData->xx(1);
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286 | BB(iObsBanc, 2) = satData->xx(2);
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287 | BB(iObsBanc, 3) = satData->xx(3);
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288 | BB(iObsBanc, 4) = satData->P3 + satData->clk;
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289 | }
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290 | }
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291 |
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292 | bancroft(BB, _xcBanc);
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293 |
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294 | if (std::isnan(_xcBanc(1)) ||
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295 | std::isnan(_xcBanc(2)) ||
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296 | std::isnan(_xcBanc(3))) {
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297 | return failure;
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298 | }
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299 |
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300 | // Ellipsoidal Coordinates
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301 | // ------------------------
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302 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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303 |
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304 | // Compute Satellite Elevations
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305 | // ----------------------------
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306 | QMutableMapIterator<QString, t_satData*> im(epoData->satData);
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307 | while (im.hasNext()) {
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308 | im.next();
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309 | t_satData* satData = im.value();
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310 | cmpEle(satData);
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311 | if (satData->eleSat < OPT->_minEle) {
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312 | delete satData;
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313 | im.remove();
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314 | }
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315 | }
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316 |
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317 | return success;
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318 | }
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319 |
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320 | // Computed Value
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321 | ////////////////////////////////////////////////////////////////////////////
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322 | double t_pppFilter::cmpValue(t_satData* satData, bool phase) {
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323 |
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324 | Tracer tracer("t_pppFilter::cmpValue");
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325 |
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326 | ColumnVector xRec(3);
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327 | xRec(1) = x();
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328 | xRec(2) = y();
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329 | xRec(3) = z();
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330 |
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331 | double rho0 = (satData->xx - xRec).norm_Frobenius();
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332 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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333 |
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334 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
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335 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
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336 | xRec(3) = z();
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337 |
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338 | xRec += _tides->displacement(_time, xRec);
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339 |
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340 | satData->rho = (satData->xx - xRec).norm_Frobenius();
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341 |
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342 | double tropDelay = delay_saast(satData->eleSat) +
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343 | trp() / sin(satData->eleSat);
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344 |
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345 | double wind = 0.0;
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346 | if (phase) {
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347 | wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
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348 | }
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349 |
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350 | double offset = 0.0;
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351 |
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352 | t_frequency::type frqA;
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353 | t_frequency::type frqB;
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354 |
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355 | if (satData->prn[0] == 'R') {
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356 | offset = Glonass_offset();
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357 | frqA = t_frequency::R1;
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358 | frqB = t_frequency::R2;
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359 | }
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360 | else if (satData->prn[0] == 'E') {
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361 | offset = Galileo_offset();
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362 | frqA = t_frequency::E1;
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363 | frqB = t_frequency::E5;
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364 | }
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365 | else if (satData->prn[0] == 'C') {
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366 | offset = Bds_offset();
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367 | frqA = t_frequency::C2;
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368 | frqB = t_frequency::C6;
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369 | }
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370 | else {
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371 | frqA = t_frequency::G1;
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372 | frqB = t_frequency::G2;
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373 | }
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374 |
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375 | double phaseCenter = 0.0;
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376 |
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377 | if (_antex) {
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378 | bool found;
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379 | phaseCenter = satData->lkA * _antex->rcvCorr(OPT->_antNameRover, frqA,
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380 | satData->eleSat, satData->azSat,
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381 | found)
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382 | + satData->lkB * _antex->rcvCorr(OPT->_antNameRover, frqB,
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383 | satData->eleSat, satData->azSat,
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384 | found);
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385 | if (!found) {
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386 | LOG << "ANTEX: antenna >" << OPT->_antNameRover << "< not found\n";
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387 | }
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388 | }
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389 |
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390 | double antennaOffset = 0.0;
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391 | double cosa = cos(satData->azSat);
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392 | double sina = sin(satData->azSat);
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393 | double cose = cos(satData->eleSat);
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394 | double sine = sin(satData->eleSat);
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395 | antennaOffset = -OPT->_neuEccRover(1) * cosa*cose
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396 | -OPT->_neuEccRover(2) * sina*cose
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397 | -OPT->_neuEccRover(3) * sine;
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398 |
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399 | return satData->rho + phaseCenter + antennaOffset + clk()
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400 | + offset - satData->clk + tropDelay + wind;
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401 | }
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402 |
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403 | // Tropospheric Model (Saastamoinen)
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404 | ////////////////////////////////////////////////////////////////////////////
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405 | double t_pppFilter::delay_saast(double Ele) {
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406 |
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407 | Tracer tracer("t_pppFilter::delay_saast");
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408 |
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409 | double xyz[3];
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410 | xyz[0] = x();
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411 | xyz[1] = y();
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412 | xyz[2] = z();
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413 | double ell[3];
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414 | xyz2ell(xyz, ell);
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415 | double height = ell[2];
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416 | // Prevent pp from causing segmentation fault (Loukis)
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417 | if (height > 40000.0 ) {
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418 | return 0.000000001;
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419 | }
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420 |
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421 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
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422 | double TT = 18.0 - height * 0.0065 + 273.15;
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423 | double hh = 50.0 * exp(-6.396e-4 * height);
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424 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
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425 |
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426 | double h_km = height / 1000.0;
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427 |
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428 | if (h_km < 0.0) h_km = 0.0;
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429 | if (h_km > 5.0) h_km = 5.0;
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430 | int ii = int(h_km + 1);
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431 | double href = ii - 1;
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432 |
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433 | double bCor[6];
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434 | bCor[0] = 1.156;
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435 | bCor[1] = 1.006;
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436 | bCor[2] = 0.874;
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437 | bCor[3] = 0.757;
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438 | bCor[4] = 0.654;
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439 | bCor[5] = 0.563;
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440 |
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441 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
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442 |
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443 | double zen = M_PI/2.0 - Ele;
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444 |
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445 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
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446 | }
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447 |
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448 | // Prediction Step of the Filter
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449 | ////////////////////////////////////////////////////////////////////////////
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450 | void t_pppFilter::predict(int iPhase, t_epoData* epoData) {
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451 |
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452 | Tracer tracer("t_pppFilter::predict");
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453 |
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454 | if (iPhase == 0) {
|
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455 |
|
---|
456 | const double maxSolGap = 60.0;
|
---|
457 |
|
---|
458 | bool firstCrd = false;
|
---|
459 | if (!_lastTimeOK.valid() || (maxSolGap > 0.0 && _time - _lastTimeOK > maxSolGap)) {
|
---|
460 | firstCrd = true;
|
---|
461 | _startTime = epoData->tt;
|
---|
462 | reset();
|
---|
463 | }
|
---|
464 |
|
---|
465 | // Use different white noise for Quick-Start mode
|
---|
466 | // ----------------------------------------------
|
---|
467 | double sigCrdP_used = OPT->_noiseCrd(1);
|
---|
468 | if ( OPT->_seedingTime > 0.0 && OPT->_seedingTime > (epoData->tt - _startTime) ) {
|
---|
469 | sigCrdP_used = 0.0;
|
---|
470 | }
|
---|
471 |
|
---|
472 | // Predict Parameter values, add white noise
|
---|
473 | // -----------------------------------------
|
---|
474 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
475 | t_pppParam* pp = _params[iPar-1];
|
---|
476 |
|
---|
477 | // Coordinates
|
---|
478 | // -----------
|
---|
479 | if (pp->type == t_pppParam::CRD_X) {
|
---|
480 | if (firstCrd) {
|
---|
481 | if (OPT->xyzAprRoverSet()) {
|
---|
482 | pp->xx = OPT->_xyzAprRover[0];
|
---|
483 | }
|
---|
484 | else {
|
---|
485 | pp->xx = _xcBanc(1);
|
---|
486 | }
|
---|
487 | }
|
---|
488 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
489 | }
|
---|
490 | else if (pp->type == t_pppParam::CRD_Y) {
|
---|
491 | if (firstCrd) {
|
---|
492 | if (OPT->xyzAprRoverSet()) {
|
---|
493 | pp->xx = OPT->_xyzAprRover[1];
|
---|
494 | }
|
---|
495 | else {
|
---|
496 | pp->xx = _xcBanc(2);
|
---|
497 | }
|
---|
498 | }
|
---|
499 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
500 | }
|
---|
501 | else if (pp->type == t_pppParam::CRD_Z) {
|
---|
502 | if (firstCrd) {
|
---|
503 | if (OPT->xyzAprRoverSet()) {
|
---|
504 | pp->xx = OPT->_xyzAprRover[2];
|
---|
505 | }
|
---|
506 | else {
|
---|
507 | pp->xx = _xcBanc(3);
|
---|
508 | }
|
---|
509 | }
|
---|
510 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
511 | }
|
---|
512 |
|
---|
513 | // Receiver Clocks
|
---|
514 | // ---------------
|
---|
515 | else if (pp->type == t_pppParam::RECCLK) {
|
---|
516 | pp->xx = _xcBanc(4);
|
---|
517 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
518 | _QQ(iPar, jj) = 0.0;
|
---|
519 | }
|
---|
520 | _QQ(iPar,iPar) = OPT->_noiseClk * OPT->_noiseClk;
|
---|
521 | }
|
---|
522 |
|
---|
523 | // Tropospheric Delay
|
---|
524 | // ------------------
|
---|
525 | else if (pp->type == t_pppParam::TROPO) {
|
---|
526 | _QQ(iPar,iPar) += OPT->_noiseTrp * OPT->_noiseTrp;
|
---|
527 | }
|
---|
528 |
|
---|
529 | // Glonass Offset
|
---|
530 | // --------------
|
---|
531 | else if (pp->type == t_pppParam::GLONASS_OFFSET) {
|
---|
532 | pp->xx = 0.0;
|
---|
533 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
534 | _QQ(iPar, jj) = 0.0;
|
---|
535 | }
|
---|
536 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
537 | }
|
---|
538 |
|
---|
539 | // Galileo Offset
|
---|
540 | // --------------
|
---|
541 | else if (pp->type == t_pppParam::GALILEO_OFFSET) {
|
---|
542 | if (_QQ(iPar,iPar)>pow(1000.0,2))
|
---|
543 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
544 | else
|
---|
545 | _QQ(iPar,iPar) += 0.1 * 0.1;
|
---|
546 | }
|
---|
547 |
|
---|
548 | // BDS Offset
|
---|
549 | // ----------
|
---|
550 | else if (pp->type == t_pppParam::BDS_OFFSET) {
|
---|
551 | if (_QQ(iPar,iPar)>pow(1000.0,2))
|
---|
552 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
553 | else
|
---|
554 | _QQ(iPar,iPar) += 0.1 * 0.1;
|
---|
555 | }
|
---|
556 | }
|
---|
557 | }
|
---|
558 |
|
---|
559 | // Add New Ambiguities if necessary
|
---|
560 | // --------------------------------
|
---|
561 | if (OPT->ambLCs('G').size() || OPT->ambLCs('R').size() ||
|
---|
562 | OPT->ambLCs('E').size() || OPT->ambLCs('C').size()) {
|
---|
563 |
|
---|
564 | // Make a copy of QQ and xx, set parameter indices
|
---|
565 | // -----------------------------------------------
|
---|
566 | SymmetricMatrix QQ_old = _QQ;
|
---|
567 |
|
---|
568 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
569 | _params[iPar-1]->index_old = _params[iPar-1]->index;
|
---|
570 | _params[iPar-1]->index = 0;
|
---|
571 | }
|
---|
572 |
|
---|
573 | // Remove Ambiguity Parameters without observations
|
---|
574 | // ------------------------------------------------
|
---|
575 | int iPar = 0;
|
---|
576 | QMutableVectorIterator<t_pppParam*> im(_params);
|
---|
577 | while (im.hasNext()) {
|
---|
578 | t_pppParam* par = im.next();
|
---|
579 | bool removed = false;
|
---|
580 | if (par->type == t_pppParam::AMB_L3) {
|
---|
581 | if (epoData->satData.find(par->prn) == epoData->satData.end()) {
|
---|
582 | removed = true;
|
---|
583 | delete par;
|
---|
584 | im.remove();
|
---|
585 | }
|
---|
586 | }
|
---|
587 | if (! removed) {
|
---|
588 | ++iPar;
|
---|
589 | par->index = iPar;
|
---|
590 | }
|
---|
591 | }
|
---|
592 |
|
---|
593 | // Add new ambiguity parameters
|
---|
594 | // ----------------------------
|
---|
595 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
596 | while (it.hasNext()) {
|
---|
597 | it.next();
|
---|
598 | t_satData* satData = it.value();
|
---|
599 | addAmb(satData);
|
---|
600 | }
|
---|
601 |
|
---|
602 | int nPar = _params.size();
|
---|
603 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
604 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
605 | t_pppParam* p1 = _params[i1-1];
|
---|
606 | if (p1->index_old != 0) {
|
---|
607 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
608 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
609 | t_pppParam* p2 = _params[i2-1];
|
---|
610 | if (p2->index_old != 0) {
|
---|
611 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
612 | }
|
---|
613 | }
|
---|
614 | }
|
---|
615 | }
|
---|
616 |
|
---|
617 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
618 | t_pppParam* par = _params[ii-1];
|
---|
619 | if (par->index_old == 0) {
|
---|
620 | _QQ(par->index, par->index) = OPT->_aprSigAmb * OPT->_aprSigAmb;
|
---|
621 | }
|
---|
622 | par->index_old = par->index;
|
---|
623 | }
|
---|
624 | }
|
---|
625 | }
|
---|
626 |
|
---|
627 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
628 | ////////////////////////////////////////////////////////////////////////////
|
---|
629 | t_irc t_pppFilter::update(t_epoData* epoData) {
|
---|
630 |
|
---|
631 | Tracer tracer("t_pppFilter::update");
|
---|
632 |
|
---|
633 | _time = epoData->tt; // current epoch time
|
---|
634 |
|
---|
635 | if (OPT->useOrbClkCorr()) {
|
---|
636 | LOG << "Precise Point Positioning of Epoch " << _time.datestr() << "_" << _time.timestr(3)
|
---|
637 | << "\n---------------------------------------------------------------\n";
|
---|
638 | }
|
---|
639 | else {
|
---|
640 | LOG << "Single Point Positioning of Epoch " << _time.datestr() << "_" << _time.timestr(3)
|
---|
641 | << "\n---------------------------------------------------------------\n";
|
---|
642 | }
|
---|
643 |
|
---|
644 | // Outlier Detection Loop
|
---|
645 | // ----------------------
|
---|
646 | if (update_p(epoData) != success) {
|
---|
647 | return failure;
|
---|
648 | }
|
---|
649 |
|
---|
650 | // Set Solution Vector
|
---|
651 | // -------------------
|
---|
652 | LOG.setf(ios::fixed);
|
---|
653 | QVectorIterator<t_pppParam*> itPar(_params);
|
---|
654 | while (itPar.hasNext()) {
|
---|
655 | t_pppParam* par = itPar.next();
|
---|
656 | if (par->type == t_pppParam::RECCLK) {
|
---|
657 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
658 | << " CLK " << setw(10) << setprecision(3) << par->xx
|
---|
659 | << " +- " << setw(6) << setprecision(3)
|
---|
660 | << sqrt(_QQ(par->index,par->index));
|
---|
661 | }
|
---|
662 | else if (par->type == t_pppParam::AMB_L3) {
|
---|
663 | ++par->numEpo;
|
---|
664 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
665 | << " AMB " << par->prn.mid(0,3).toAscii().data() << " "
|
---|
666 | << setw(10) << setprecision(3) << par->xx
|
---|
667 | << " +- " << setw(6) << setprecision(3)
|
---|
668 | << sqrt(_QQ(par->index,par->index))
|
---|
669 | << " epo = " << par->numEpo;
|
---|
670 | }
|
---|
671 | else if (par->type == t_pppParam::TROPO) {
|
---|
672 | double aprTrp = delay_saast(M_PI/2.0);
|
---|
673 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
674 | << " TRP " << par->prn.mid(0,3).toAscii().data()
|
---|
675 | << setw(7) << setprecision(3) << aprTrp << " "
|
---|
676 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
677 | << " +- " << setw(6) << setprecision(3)
|
---|
678 | << sqrt(_QQ(par->index,par->index));
|
---|
679 | }
|
---|
680 | else if (par->type == t_pppParam::GLONASS_OFFSET) {
|
---|
681 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
682 | << " OFFGLO " << setw(10) << setprecision(3) << par->xx
|
---|
683 | << " +- " << setw(6) << setprecision(3)
|
---|
684 | << sqrt(_QQ(par->index,par->index));
|
---|
685 | }
|
---|
686 | else if (par->type == t_pppParam::GALILEO_OFFSET) {
|
---|
687 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
688 | << " OFFGAL " << setw(10) << setprecision(3) << par->xx
|
---|
689 | << " +- " << setw(6) << setprecision(3)
|
---|
690 | << sqrt(_QQ(par->index,par->index));
|
---|
691 | }
|
---|
692 | else if (par->type == t_pppParam::BDS_OFFSET) {
|
---|
693 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
694 | << " OFFBDS " << setw(10) << setprecision(3) << par->xx
|
---|
695 | << " +- " << setw(6) << setprecision(3)
|
---|
696 | << sqrt(_QQ(par->index,par->index));
|
---|
697 | }
|
---|
698 | }
|
---|
699 |
|
---|
700 | LOG << endl << endl;
|
---|
701 |
|
---|
702 | // Compute dilution of precision
|
---|
703 | // -----------------------------
|
---|
704 | cmpDOP(epoData);
|
---|
705 |
|
---|
706 | // Final Message (both log file and screen)
|
---|
707 | // ----------------------------------------
|
---|
708 | LOG << epoData->tt.datestr() << "_" << epoData->tt.timestr(3)
|
---|
709 | << " " << OPT->_roverName
|
---|
710 | << " X = "
|
---|
711 | << setprecision(4) << x() << " +- "
|
---|
712 | << setprecision(4) << sqrt(_QQ(1,1))
|
---|
713 |
|
---|
714 | << " Y = "
|
---|
715 | << setprecision(4) << y() << " +- "
|
---|
716 | << setprecision(4) << sqrt(_QQ(2,2))
|
---|
717 |
|
---|
718 | << " Z = "
|
---|
719 | << setprecision(4) << z() << " +- "
|
---|
720 | << setprecision(4) << sqrt(_QQ(3,3));
|
---|
721 |
|
---|
722 | // NEU Output
|
---|
723 | // ----------
|
---|
724 | if (OPT->xyzAprRoverSet()) {
|
---|
725 | SymmetricMatrix QQxyz = _QQ.SymSubMatrix(1,3);
|
---|
726 |
|
---|
727 | ColumnVector xyz(3);
|
---|
728 | xyz(1) = x() - OPT->_xyzAprRover[0];
|
---|
729 | xyz(2) = y() - OPT->_xyzAprRover[1];
|
---|
730 | xyz(3) = z() - OPT->_xyzAprRover[2];
|
---|
731 |
|
---|
732 | ColumnVector ellRef(3);
|
---|
733 | xyz2ell(OPT->_xyzAprRover.data(), ellRef.data());
|
---|
734 | xyz2neu(ellRef.data(), xyz.data(), _neu.data());
|
---|
735 |
|
---|
736 | SymmetricMatrix QQneu(3);
|
---|
737 | covariXYZ_NEU(QQxyz, ellRef.data(), QQneu);
|
---|
738 |
|
---|
739 | LOG << " dN = "
|
---|
740 | << setprecision(4) << _neu[0] << " +- "
|
---|
741 | << setprecision(4) << sqrt(QQneu[0][0])
|
---|
742 |
|
---|
743 | << " dE = "
|
---|
744 | << setprecision(4) << _neu[1] << " +- "
|
---|
745 | << setprecision(4) << sqrt(QQneu[1][1])
|
---|
746 |
|
---|
747 | << " dU = "
|
---|
748 | << setprecision(4) << _neu[2] << " +- "
|
---|
749 | << setprecision(4) << sqrt(QQneu[2][2]) << endl << endl;
|
---|
750 | }
|
---|
751 | else {
|
---|
752 | LOG << endl << endl;
|
---|
753 | }
|
---|
754 |
|
---|
755 | _lastTimeOK = _time; // remember time of last successful update
|
---|
756 | return success;
|
---|
757 | }
|
---|
758 |
|
---|
759 | // Iono combi noise factor
|
---|
760 | ////////////////////////////////////////////////////////////////////////////
|
---|
761 | double ionFac(const QString prn, QMap<QString, t_satData*>& satData) {
|
---|
762 | if (satData.contains(prn))
|
---|
763 | return sqrt(pow(satData.value(prn)->lkA,2) +
|
---|
764 | pow(satData.value(prn)->lkB,2) );
|
---|
765 | else
|
---|
766 | return 0.0;
|
---|
767 | };
|
---|
768 |
|
---|
769 | // Outlier Detection
|
---|
770 | ////////////////////////////////////////////////////////////////////////////
|
---|
771 | QString t_pppFilter::outlierDetection(int iPhase, const ColumnVector& vv,
|
---|
772 | QMap<QString, t_satData*>& satData) {
|
---|
773 |
|
---|
774 | Tracer tracer("t_pppFilter::outlierDetection");
|
---|
775 |
|
---|
776 | QString prnGPS;
|
---|
777 | QString prnGlo;
|
---|
778 |
|
---|
779 | double ionFacGPS;
|
---|
780 | double ionFacGLO;
|
---|
781 |
|
---|
782 | double maxResGPS = 0.0; // GPS + Galileo
|
---|
783 | double maxResGlo = 0.0; // GLONASS + BDS
|
---|
784 |
|
---|
785 | findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo);
|
---|
786 |
|
---|
787 | ionFacGLO = ionFac(prnGlo,satData);
|
---|
788 | if (iPhase == 0)
|
---|
789 | ionFacGLO *= (prnGlo[0]=='R'? GLONASS_WEIGHT_FACTOR : BDS_WEIGHT_FACTOR);
|
---|
790 | ionFacGPS = ionFac(prnGPS,satData);
|
---|
791 |
|
---|
792 | if (iPhase == 1) {
|
---|
793 | if (maxResGlo > ionFacGLO * OPT->_maxResL1) {
|
---|
794 | LOG << "Outlier Phase " << prnGlo.mid(0,3).toAscii().data() << ' ' << maxResGlo << endl;
|
---|
795 | return prnGlo;
|
---|
796 | }
|
---|
797 | else if (maxResGPS > ionFacGPS * OPT->_maxResL1) {
|
---|
798 | LOG << "Outlier Phase " << prnGPS.mid(0,3).toAscii().data() << ' ' << maxResGPS << endl;
|
---|
799 | return prnGPS;
|
---|
800 | }
|
---|
801 | }
|
---|
802 | else if (iPhase == 0) {
|
---|
803 | if (maxResGlo > ionFacGLO * OPT->_maxResC1) {
|
---|
804 | LOG << "Outlier Code " << prnGlo.mid(0,3).toLatin1().data() << ' ' << maxResGlo << endl;
|
---|
805 | return prnGlo;
|
---|
806 | }
|
---|
807 | else if (maxResGPS > ionFacGPS * OPT->_maxResC1) {
|
---|
808 | LOG << "Outlier Code " << prnGPS.mid(0,3).toLatin1().data() << ' ' << maxResGPS << endl;
|
---|
809 | return prnGPS;
|
---|
810 | }
|
---|
811 | }
|
---|
812 |
|
---|
813 | return QString();
|
---|
814 | }
|
---|
815 |
|
---|
816 | // Phase Wind-Up Correction
|
---|
817 | ///////////////////////////////////////////////////////////////////////////
|
---|
818 | double t_pppFilter::windUp(const QString& prn, const ColumnVector& rSat,
|
---|
819 | const ColumnVector& rRec) {
|
---|
820 |
|
---|
821 | Tracer tracer("t_pppFilter::windUp");
|
---|
822 |
|
---|
823 | double Mjd = _time.mjd() + _time.daysec() / 86400.0;
|
---|
824 |
|
---|
825 | // First time - initialize to zero
|
---|
826 | // -------------------------------
|
---|
827 | if (!_windUpTime.contains(prn)) {
|
---|
828 | _windUpSum[prn] = 0.0;
|
---|
829 | }
|
---|
830 |
|
---|
831 | // Compute the correction for new time
|
---|
832 | // -----------------------------------
|
---|
833 | if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
|
---|
834 | _windUpTime[prn] = Mjd;
|
---|
835 |
|
---|
836 | // Unit Vector GPS Satellite --> Receiver
|
---|
837 | // --------------------------------------
|
---|
838 | ColumnVector rho = rRec - rSat;
|
---|
839 | rho /= rho.norm_Frobenius();
|
---|
840 |
|
---|
841 | // GPS Satellite unit Vectors sz, sy, sx
|
---|
842 | // -------------------------------------
|
---|
843 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
|
---|
844 |
|
---|
845 | ColumnVector xSun = t_astro::Sun(Mjd);
|
---|
846 | xSun /= xSun.norm_Frobenius();
|
---|
847 |
|
---|
848 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
849 | ColumnVector sx = crossproduct(sy, sz);
|
---|
850 |
|
---|
851 | // Effective Dipole of the GPS Satellite Antenna
|
---|
852 | // ---------------------------------------------
|
---|
853 | ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
|
---|
854 | - crossproduct(rho, sy);
|
---|
855 |
|
---|
856 | // Receiver unit Vectors rx, ry
|
---|
857 | // ----------------------------
|
---|
858 | ColumnVector rx(3);
|
---|
859 | ColumnVector ry(3);
|
---|
860 |
|
---|
861 | double recEll[3]; xyz2ell(rRec.data(), recEll) ;
|
---|
862 | double neu[3];
|
---|
863 |
|
---|
864 | neu[0] = 1.0;
|
---|
865 | neu[1] = 0.0;
|
---|
866 | neu[2] = 0.0;
|
---|
867 | neu2xyz(recEll, neu, rx.data());
|
---|
868 |
|
---|
869 | neu[0] = 0.0;
|
---|
870 | neu[1] = -1.0;
|
---|
871 | neu[2] = 0.0;
|
---|
872 | neu2xyz(recEll, neu, ry.data());
|
---|
873 |
|
---|
874 | // Effective Dipole of the Receiver Antenna
|
---|
875 | // ----------------------------------------
|
---|
876 | ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
|
---|
877 | + crossproduct(rho, ry);
|
---|
878 |
|
---|
879 | // Resulting Effect
|
---|
880 | // ----------------
|
---|
881 | double alpha = DotProduct(dipSat,dipRec) /
|
---|
882 | (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
|
---|
883 |
|
---|
884 | if (alpha > 1.0) alpha = 1.0;
|
---|
885 | if (alpha < -1.0) alpha = -1.0;
|
---|
886 |
|
---|
887 | double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
|
---|
888 |
|
---|
889 | if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
|
---|
890 | dphi = -dphi;
|
---|
891 | }
|
---|
892 |
|
---|
893 | _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
|
---|
894 | }
|
---|
895 |
|
---|
896 | return _windUpSum[prn];
|
---|
897 | }
|
---|
898 |
|
---|
899 | //
|
---|
900 | ///////////////////////////////////////////////////////////////////////////
|
---|
901 | void t_pppFilter::cmpEle(t_satData* satData) {
|
---|
902 | Tracer tracer("t_pppFilter::cmpEle");
|
---|
903 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
|
---|
904 | double rho = rr.norm_Frobenius();
|
---|
905 |
|
---|
906 | double neu[3];
|
---|
907 | xyz2neu(_ellBanc.data(), rr.data(), neu);
|
---|
908 |
|
---|
909 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
|
---|
910 | if (neu[2] < 0) {
|
---|
911 | satData->eleSat *= -1.0;
|
---|
912 | }
|
---|
913 | satData->azSat = atan2(neu[1], neu[0]);
|
---|
914 | }
|
---|
915 |
|
---|
916 | //
|
---|
917 | ///////////////////////////////////////////////////////////////////////////
|
---|
918 | void t_pppFilter::addAmb(t_satData* satData) {
|
---|
919 | Tracer tracer("t_pppFilter::addAmb");
|
---|
920 | if (!OPT->ambLCs(satData->system()).size()){
|
---|
921 | return;
|
---|
922 | }
|
---|
923 | bool found = false;
|
---|
924 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
925 | if (_params[iPar-1]->type == t_pppParam::AMB_L3 &&
|
---|
926 | _params[iPar-1]->prn == satData->prn) {
|
---|
927 | found = true;
|
---|
928 | break;
|
---|
929 | }
|
---|
930 | }
|
---|
931 | if (!found) {
|
---|
932 | t_pppParam* par = new t_pppParam(t_pppParam::AMB_L3,
|
---|
933 | _params.size()+1, satData->prn);
|
---|
934 | _params.push_back(par);
|
---|
935 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
936 | }
|
---|
937 | }
|
---|
938 |
|
---|
939 | //
|
---|
940 | ///////////////////////////////////////////////////////////////////////////
|
---|
941 | void t_pppFilter::addObs(int iPhase, unsigned& iObs, t_satData* satData,
|
---|
942 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
|
---|
943 |
|
---|
944 | Tracer tracer("t_pppFilter::addObs");
|
---|
945 |
|
---|
946 | const double ELEWGHT = 20.0;
|
---|
947 | double ellWgtCoef = 1.0;
|
---|
948 | double eleD = satData->eleSat * 180.0 / M_PI;
|
---|
949 | if (eleD < ELEWGHT) {
|
---|
950 | ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0);
|
---|
951 | }
|
---|
952 |
|
---|
953 | // Remember Observation Index
|
---|
954 | // --------------------------
|
---|
955 | ++iObs;
|
---|
956 | satData->obsIndex = iObs;
|
---|
957 |
|
---|
958 | // Iono-free combination noise factor
|
---|
959 | // ----------------------------------
|
---|
960 | double ionFac = sqrt(pow(satData->lkA,2) + pow(satData->lkB,2));
|
---|
961 |
|
---|
962 | // Phase Observations
|
---|
963 | // ------------------
|
---|
964 |
|
---|
965 | if (iPhase == 1) {
|
---|
966 | double sigL3 = ionFac * ellWgtCoef * OPT->_sigmaL1;
|
---|
967 | if (satData->system() == 'R') {
|
---|
968 | sigL3 *= GLONASS_WEIGHT_FACTOR;
|
---|
969 | }
|
---|
970 | if (satData->system() == 'C') {
|
---|
971 | sigL3 *= BDS_WEIGHT_FACTOR;
|
---|
972 | }
|
---|
973 | satData->L3sig = sigL3;
|
---|
974 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
975 | PP(iObs,iObs) = 1.0 / (sigL3 * sigL3);
|
---|
976 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
977 | if (_params[iPar-1]->type == t_pppParam::AMB_L3 &&
|
---|
978 | _params[iPar-1]->prn == satData->prn) {
|
---|
979 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
980 | }
|
---|
981 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
982 | }
|
---|
983 | }
|
---|
984 |
|
---|
985 | // Code Observations
|
---|
986 | // -----------------
|
---|
987 | else {
|
---|
988 | double sigP3 = ionFac * ellWgtCoef * OPT->_sigmaC1;
|
---|
989 | if (satData->system() == 'R') {
|
---|
990 | sigP3 *= GLONASS_WEIGHT_FACTOR;
|
---|
991 | }
|
---|
992 | if (satData->system() == 'C') {
|
---|
993 | sigP3 *= BDS_WEIGHT_FACTOR;
|
---|
994 | }
|
---|
995 | satData->P3sig = sigP3;
|
---|
996 | ll(iObs) = satData->P3 - cmpValue(satData, false);
|
---|
997 | PP(iObs,iObs) = 1.0 / (sigP3 * sigP3);
|
---|
998 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
999 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
1000 | }
|
---|
1001 | }
|
---|
1002 | }
|
---|
1003 |
|
---|
1004 | //
|
---|
1005 | ///////////////////////////////////////////////////////////////////////////
|
---|
1006 | QByteArray t_pppFilter::printRes(int iPhase, const ColumnVector& vv,
|
---|
1007 | const QMap<QString, t_satData*>& satDataMap) {
|
---|
1008 |
|
---|
1009 | Tracer tracer("t_pppFilter::printRes");
|
---|
1010 |
|
---|
1011 | ostringstream str;
|
---|
1012 | str.setf(ios::fixed);
|
---|
1013 | bool useObs;
|
---|
1014 | QMapIterator<QString, t_satData*> it(satDataMap);
|
---|
1015 | while (it.hasNext()) {
|
---|
1016 | it.next();
|
---|
1017 | t_satData* satData = it.value();
|
---|
1018 | (iPhase == 0) ? useObs = OPT->codeLCs(satData->system()).size() :
|
---|
1019 | useObs = OPT->ambLCs(satData->system()).size();
|
---|
1020 | if (satData->obsIndex != 0 && useObs) {
|
---|
1021 | str << _time.datestr() << "_" << _time.timestr(3)
|
---|
1022 | << " RES " << satData->prn.mid(0,3).toAscii().data()
|
---|
1023 | << (iPhase ? " L3 " : " P3 ")
|
---|
1024 | << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl;
|
---|
1025 | }
|
---|
1026 | }
|
---|
1027 |
|
---|
1028 | return QByteArray(str.str().c_str());
|
---|
1029 | }
|
---|
1030 |
|
---|
1031 | //
|
---|
1032 | ///////////////////////////////////////////////////////////////////////////
|
---|
1033 | void t_pppFilter::findMaxRes(const ColumnVector& vv,
|
---|
1034 | const QMap<QString, t_satData*>& satData,
|
---|
1035 | QString& prnGPS, QString& prnGlo,
|
---|
1036 | double& maxResGPS, double& maxResGlo) {
|
---|
1037 |
|
---|
1038 | Tracer tracer("t_pppFilter::findMaxRes");
|
---|
1039 |
|
---|
1040 | maxResGPS = 0.0;
|
---|
1041 | maxResGlo = 0.0;
|
---|
1042 |
|
---|
1043 | QMapIterator<QString, t_satData*> it(satData);
|
---|
1044 | while (it.hasNext()) {
|
---|
1045 | it.next();
|
---|
1046 | t_satData* satData = it.value();
|
---|
1047 | if (satData->obsIndex != 0) {
|
---|
1048 | QString prn = satData->prn;
|
---|
1049 | if (prn[0] == 'R' || prn[0] == 'C') {
|
---|
1050 | if (fabs(vv(satData->obsIndex)) > maxResGlo) {
|
---|
1051 | maxResGlo = fabs(vv(satData->obsIndex));
|
---|
1052 | prnGlo = prn;
|
---|
1053 | }
|
---|
1054 | }
|
---|
1055 | else {
|
---|
1056 | if (fabs(vv(satData->obsIndex)) > maxResGPS) {
|
---|
1057 | maxResGPS = fabs(vv(satData->obsIndex));
|
---|
1058 | prnGPS = prn;
|
---|
1059 | }
|
---|
1060 | }
|
---|
1061 | }
|
---|
1062 | }
|
---|
1063 | }
|
---|
1064 |
|
---|
1065 | // Update Step (private - loop over outliers)
|
---|
1066 | ////////////////////////////////////////////////////////////////////////////
|
---|
1067 | t_irc t_pppFilter::update_p(t_epoData* epoData) {
|
---|
1068 |
|
---|
1069 | Tracer tracer("t_pppFilter::update_p");
|
---|
1070 |
|
---|
1071 | // Save Variance-Covariance Matrix, and Status Vector
|
---|
1072 | // --------------------------------------------------
|
---|
1073 | rememberState(epoData);
|
---|
1074 |
|
---|
1075 | QString lastOutlierPrn;
|
---|
1076 |
|
---|
1077 | // Try with all satellites, then with all minus one, etc.
|
---|
1078 | // ------------------------------------------------------
|
---|
1079 | while (selectSatellites(lastOutlierPrn, epoData->satData) == success) {
|
---|
1080 |
|
---|
1081 | QByteArray strResCode;
|
---|
1082 | QByteArray strResPhase;
|
---|
1083 |
|
---|
1084 | // Bancroft Solution
|
---|
1085 | // -----------------
|
---|
1086 | if (cmpBancroft(epoData) != success) {
|
---|
1087 | break;
|
---|
1088 | }
|
---|
1089 |
|
---|
1090 | // First update using code observations, then phase observations
|
---|
1091 | // -------------------------------------------------------------
|
---|
1092 | bool usePhase = OPT->ambLCs('G').size() || OPT->ambLCs('R').size() ||
|
---|
1093 | OPT->ambLCs('E').size() || OPT->ambLCs('C').size() ;
|
---|
1094 |
|
---|
1095 | char sys[] ={'G', 'R', 'E', 'C'};
|
---|
1096 |
|
---|
1097 | bool satnumPrinted[] = {false, false, false, false};
|
---|
1098 |
|
---|
1099 | for (int iPhase = 0; iPhase <= (usePhase ? 1 : 0); iPhase++) {
|
---|
1100 |
|
---|
1101 | // Status Prediction
|
---|
1102 | // -----------------
|
---|
1103 | predict(iPhase, epoData);
|
---|
1104 |
|
---|
1105 | // Create First-Design Matrix
|
---|
1106 | // --------------------------
|
---|
1107 | unsigned nPar = _params.size();
|
---|
1108 | unsigned nObs = 0;
|
---|
1109 | nObs = epoData->sizeAll();
|
---|
1110 | bool useObs = false;
|
---|
1111 | for (unsigned ii = 0; ii < sizeof(sys); ii++) {
|
---|
1112 | const char s = sys[ii];
|
---|
1113 | (iPhase == 0) ? useObs = OPT->codeLCs(s).size() : useObs = OPT->ambLCs(s).size();
|
---|
1114 | if (!useObs) {
|
---|
1115 | nObs -= epoData->sizeSys(s);
|
---|
1116 | }
|
---|
1117 | else {
|
---|
1118 | if (!satnumPrinted[ii]) {
|
---|
1119 | satnumPrinted[ii] = true;
|
---|
1120 | LOG << _time.datestr() << "_" << _time.timestr(3)
|
---|
1121 | << " SATNUM " << s << ' ' << right << setw(2)
|
---|
1122 | << epoData->sizeSys(s) << endl;
|
---|
1123 | }
|
---|
1124 | }
|
---|
1125 | }
|
---|
1126 |
|
---|
1127 | if (int(nObs) < OPT->_minObs) {
|
---|
1128 | restoreState(epoData);
|
---|
1129 | return failure;
|
---|
1130 | }
|
---|
1131 |
|
---|
1132 | // Prepare first-design Matrix, vector observed-computed
|
---|
1133 | // -----------------------------------------------------
|
---|
1134 | Matrix AA(nObs, nPar); // first design matrix
|
---|
1135 | ColumnVector ll(nObs); // terms observed-computed
|
---|
1136 | DiagonalMatrix PP(nObs); PP = 0.0;
|
---|
1137 |
|
---|
1138 | unsigned iObs = 0;
|
---|
1139 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
1140 |
|
---|
1141 | while (it.hasNext()) {
|
---|
1142 | it.next();
|
---|
1143 | t_satData* satData = it.value();
|
---|
1144 | QString prn = satData->prn;
|
---|
1145 | (iPhase == 0) ? useObs = OPT->codeLCs(satData->system()).size() :
|
---|
1146 | useObs = OPT->ambLCs(satData->system()).size();
|
---|
1147 | if (useObs) {
|
---|
1148 | addObs(iPhase, iObs, satData, AA, ll, PP);
|
---|
1149 | } else {
|
---|
1150 | satData->obsIndex = 0;
|
---|
1151 | }
|
---|
1152 | }
|
---|
1153 |
|
---|
1154 | // Compute Filter Update
|
---|
1155 | // ---------------------
|
---|
1156 | ColumnVector dx(nPar); dx = 0.0;
|
---|
1157 | kalman(AA, ll, PP, _QQ, dx);
|
---|
1158 | ColumnVector vv = ll - AA * dx;
|
---|
1159 |
|
---|
1160 | // Print Residuals
|
---|
1161 | // ---------------
|
---|
1162 | if (iPhase == 0) {
|
---|
1163 | strResCode = printRes(iPhase, vv, epoData->satData);
|
---|
1164 | }
|
---|
1165 | else {
|
---|
1166 | strResPhase = printRes(iPhase, vv, epoData->satData);
|
---|
1167 | }
|
---|
1168 |
|
---|
1169 | // Check the residuals
|
---|
1170 | // -------------------
|
---|
1171 | lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData);
|
---|
1172 |
|
---|
1173 | // No Outlier Detected
|
---|
1174 | // -------------------
|
---|
1175 | if (lastOutlierPrn.isEmpty()) {
|
---|
1176 |
|
---|
1177 | QVectorIterator<t_pppParam*> itPar(_params);
|
---|
1178 | while (itPar.hasNext()) {
|
---|
1179 | t_pppParam* par = itPar.next();
|
---|
1180 | par->xx += dx(par->index);
|
---|
1181 | }
|
---|
1182 |
|
---|
1183 | if (!usePhase || iPhase == 1) {
|
---|
1184 | if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) {
|
---|
1185 | LOG << "Neglected PRNs: ";
|
---|
1186 | if (!_outlierGPS.isEmpty()) {
|
---|
1187 | LOG << _outlierGPS.last().mid(0,3).toAscii().data() << ' ';
|
---|
1188 | }
|
---|
1189 | QStringListIterator itGlo(_outlierGlo);
|
---|
1190 | while (itGlo.hasNext()) {
|
---|
1191 | QString prn = itGlo.next();
|
---|
1192 | LOG << prn.mid(0,3).toAscii().data() << ' ';
|
---|
1193 | }
|
---|
1194 | LOG << endl;
|
---|
1195 | }
|
---|
1196 | LOG << strResCode.data() << strResPhase.data();
|
---|
1197 |
|
---|
1198 | return success;
|
---|
1199 | }
|
---|
1200 | }
|
---|
1201 |
|
---|
1202 | // Outlier Found
|
---|
1203 | // -------------
|
---|
1204 | else {
|
---|
1205 | restoreState(epoData);
|
---|
1206 | break;
|
---|
1207 | }
|
---|
1208 |
|
---|
1209 | } // for iPhase
|
---|
1210 |
|
---|
1211 | } // while selectSatellites
|
---|
1212 |
|
---|
1213 | restoreState(epoData);
|
---|
1214 | return failure;
|
---|
1215 | }
|
---|
1216 |
|
---|
1217 | // Remember Original State Vector and Variance-Covariance Matrix
|
---|
1218 | ////////////////////////////////////////////////////////////////////////////
|
---|
1219 | void t_pppFilter::rememberState(t_epoData* epoData) {
|
---|
1220 |
|
---|
1221 | _QQ_sav = _QQ;
|
---|
1222 |
|
---|
1223 | QVectorIterator<t_pppParam*> itSav(_params_sav);
|
---|
1224 | while (itSav.hasNext()) {
|
---|
1225 | t_pppParam* par = itSav.next();
|
---|
1226 | delete par;
|
---|
1227 | }
|
---|
1228 | _params_sav.clear();
|
---|
1229 |
|
---|
1230 | QVectorIterator<t_pppParam*> it(_params);
|
---|
1231 | while (it.hasNext()) {
|
---|
1232 | t_pppParam* par = it.next();
|
---|
1233 | _params_sav.push_back(new t_pppParam(*par));
|
---|
1234 | }
|
---|
1235 |
|
---|
1236 | _epoData_sav->deepCopy(epoData);
|
---|
1237 | }
|
---|
1238 |
|
---|
1239 | // Restore Original State Vector and Variance-Covariance Matrix
|
---|
1240 | ////////////////////////////////////////////////////////////////////////////
|
---|
1241 | void t_pppFilter::restoreState(t_epoData* epoData) {
|
---|
1242 |
|
---|
1243 | _QQ = _QQ_sav;
|
---|
1244 |
|
---|
1245 | QVectorIterator<t_pppParam*> it(_params);
|
---|
1246 | while (it.hasNext()) {
|
---|
1247 | t_pppParam* par = it.next();
|
---|
1248 | delete par;
|
---|
1249 | }
|
---|
1250 | _params.clear();
|
---|
1251 |
|
---|
1252 | QVectorIterator<t_pppParam*> itSav(_params_sav);
|
---|
1253 | while (itSav.hasNext()) {
|
---|
1254 | t_pppParam* par = itSav.next();
|
---|
1255 | _params.push_back(new t_pppParam(*par));
|
---|
1256 | }
|
---|
1257 |
|
---|
1258 | epoData->deepCopy(_epoData_sav);
|
---|
1259 | }
|
---|
1260 |
|
---|
1261 | //
|
---|
1262 | ////////////////////////////////////////////////////////////////////////////
|
---|
1263 | t_irc t_pppFilter::selectSatellites(const QString& lastOutlierPrn,
|
---|
1264 | QMap<QString, t_satData*>& satData) {
|
---|
1265 |
|
---|
1266 | // First Call
|
---|
1267 | // ----------
|
---|
1268 | if (lastOutlierPrn.isEmpty()) {
|
---|
1269 | _outlierGPS.clear();
|
---|
1270 | _outlierGlo.clear();
|
---|
1271 | return success;
|
---|
1272 | }
|
---|
1273 |
|
---|
1274 | // Second and next trials
|
---|
1275 | // ----------------------
|
---|
1276 | else {
|
---|
1277 |
|
---|
1278 | if (lastOutlierPrn[0] == 'R' || lastOutlierPrn[0] == 'C') {
|
---|
1279 | _outlierGlo << lastOutlierPrn;
|
---|
1280 | }
|
---|
1281 |
|
---|
1282 | // Remove all Glonass Outliers
|
---|
1283 | // ---------------------------
|
---|
1284 | QStringListIterator it(_outlierGlo);
|
---|
1285 | while (it.hasNext()) {
|
---|
1286 | QString prn = it.next();
|
---|
1287 | if (satData.contains(prn)) {
|
---|
1288 | delete satData.take(prn);
|
---|
1289 | }
|
---|
1290 | }
|
---|
1291 |
|
---|
1292 | if (lastOutlierPrn[0] == 'R' || lastOutlierPrn[0] == 'C') {
|
---|
1293 | _outlierGPS.clear();
|
---|
1294 | return success;
|
---|
1295 | }
|
---|
1296 |
|
---|
1297 | // GPS Outlier appeared for the first time - try to delete it
|
---|
1298 | // ----------------------------------------------------------
|
---|
1299 | if (_outlierGPS.indexOf(lastOutlierPrn) == -1) {
|
---|
1300 | _outlierGPS << lastOutlierPrn;
|
---|
1301 | if (satData.contains(lastOutlierPrn)) {
|
---|
1302 | delete satData.take(lastOutlierPrn);
|
---|
1303 | }
|
---|
1304 | return success;
|
---|
1305 | }
|
---|
1306 |
|
---|
1307 | }
|
---|
1308 |
|
---|
1309 | return failure;
|
---|
1310 | }
|
---|
1311 |
|
---|
1312 | //
|
---|
1313 | ////////////////////////////////////////////////////////////////////////////
|
---|
1314 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
1315 | return aa(1)*bb(1) + aa(2)*bb(2) + aa(3)*bb(3) - aa(4)*bb(4);
|
---|
1316 | }
|
---|
1317 |
|
---|
1318 | //
|
---|
1319 | ////////////////////////////////////////////////////////////////////////////
|
---|
1320 | void t_pppFilter::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
1321 |
|
---|
1322 | if (pos.Nrows() != 4) {
|
---|
1323 | pos.ReSize(4);
|
---|
1324 | }
|
---|
1325 | pos = 0.0;
|
---|
1326 |
|
---|
1327 | for (int iter = 1; iter <= 2; iter++) {
|
---|
1328 | Matrix BB = BBpass;
|
---|
1329 | int mm = BB.Nrows();
|
---|
1330 | for (int ii = 1; ii <= mm; ii++) {
|
---|
1331 | double xx = BB(ii,1);
|
---|
1332 | double yy = BB(ii,2);
|
---|
1333 | double traveltime = 0.072;
|
---|
1334 | if (iter > 1) {
|
---|
1335 | double zz = BB(ii,3);
|
---|
1336 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
1337 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
1338 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
1339 | traveltime = rho / t_CST::c;
|
---|
1340 | }
|
---|
1341 | double angle = traveltime * t_CST::omega;
|
---|
1342 | double cosa = cos(angle);
|
---|
1343 | double sina = sin(angle);
|
---|
1344 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
1345 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
1346 | }
|
---|
1347 |
|
---|
1348 | Matrix BBB;
|
---|
1349 | if (mm > 4) {
|
---|
1350 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
1351 | BBB = hlp.i() * BB.t();
|
---|
1352 | }
|
---|
1353 | else {
|
---|
1354 | BBB = BB.i();
|
---|
1355 | }
|
---|
1356 | ColumnVector ee(mm); ee = 1.0;
|
---|
1357 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
1358 | for (int ii = 1; ii <= mm; ii++) {
|
---|
1359 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
1360 | }
|
---|
1361 | ColumnVector BBBe = BBB * ee;
|
---|
1362 | ColumnVector BBBalpha = BBB * alpha;
|
---|
1363 | double aa = lorentz(BBBe, BBBe);
|
---|
1364 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
1365 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
1366 | double root = sqrt(bb*bb-aa*cc);
|
---|
1367 |
|
---|
1368 | Matrix hlpPos(4,2);
|
---|
1369 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
1370 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
1371 |
|
---|
1372 | ColumnVector omc(2);
|
---|
1373 | for (int pp = 1; pp <= 2; pp++) {
|
---|
1374 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
1375 | omc(pp) = BB(1,4) -
|
---|
1376 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
1377 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
1378 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
1379 | hlpPos(4,pp);
|
---|
1380 | }
|
---|
1381 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
1382 | pos = hlpPos.Column(2);
|
---|
1383 | }
|
---|
1384 | else {
|
---|
1385 | pos = hlpPos.Column(1);
|
---|
1386 | }
|
---|
1387 | }
|
---|
1388 | }
|
---|
1389 |
|
---|
1390 | //
|
---|
1391 | ////////////////////////////////////////////////////////////////////////////
|
---|
1392 | void t_pppFilter::cmpDOP(t_epoData* epoData) {
|
---|
1393 |
|
---|
1394 | Tracer tracer("t_pppFilter::cmpDOP");
|
---|
1395 |
|
---|
1396 | _numSat = 0;
|
---|
1397 | _hDop = 0.0;
|
---|
1398 |
|
---|
1399 | if (_params.size() < 4) {
|
---|
1400 | return;
|
---|
1401 | }
|
---|
1402 |
|
---|
1403 | const unsigned numPar = 4;
|
---|
1404 | Matrix AA(epoData->sizeAll(), numPar);
|
---|
1405 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
1406 | while (it.hasNext()) {
|
---|
1407 | it.next();
|
---|
1408 | t_satData* satData = it.value();
|
---|
1409 | _numSat += 1;
|
---|
1410 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
1411 | AA[_numSat-1][iPar] = _params[iPar]->partial(satData, false);
|
---|
1412 | }
|
---|
1413 | }
|
---|
1414 | if (_numSat < 4) {
|
---|
1415 | return;
|
---|
1416 | }
|
---|
1417 | AA = AA.Rows(1, _numSat);
|
---|
1418 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
1419 | SymmetricMatrix QQ = NN.i();
|
---|
1420 |
|
---|
1421 | _hDop = sqrt(QQ(1,1) + QQ(2,2));
|
---|
1422 | }
|
---|