[2057] | 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: bncParam, bncModel
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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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[2063] | 42 | #include <cmath>
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[2060] | 43 | #include <newmatio.h>
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[2113] | 44 | #include <sstream>
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[2057] | 45 |
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| 46 | #include "bncmodel.h"
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[2113] | 47 | #include "bncapp.h"
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[2058] | 48 | #include "bncpppclient.h"
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| 49 | #include "bancroft.h"
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[2063] | 50 | #include "bncutils.h"
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[2077] | 51 | #include "bncsettings.h"
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[2580] | 52 | #include "bnctides.h"
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[2881] | 53 | #include "bncantex.h"
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[2057] | 54 |
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| 55 | using namespace std;
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| 56 |
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[2243] | 57 | const unsigned MINOBS = 4;
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[2287] | 58 | const double MINELE_GPS = 10.0 * M_PI / 180.0;
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| 59 | const double MINELE_GLO = 10.0 * M_PI / 180.0;
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[2780] | 60 | const double MINELE_GAL = 10.0 * M_PI / 180.0;
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[2243] | 61 | const double MAXRES_CODE_GPS = 10.0;
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| 62 | const double MAXRES_PHASE_GPS = 0.10;
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[2539] | 63 | const double MAXRES_PHASE_GLO = 0.05;
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[2784] | 64 | const double MAXRES_CODE_GAL = 10.0;
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| 65 | const double MAXRES_PHASE_GAL = 0.10;
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[2070] | 66 |
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[2057] | 67 | // Constructor
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| 68 | ////////////////////////////////////////////////////////////////////////////
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[2080] | 69 | bncParam::bncParam(bncParam::parType typeIn, int indexIn,
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| 70 | const QString& prnIn) {
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| 71 | type = typeIn;
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| 72 | index = indexIn;
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| 73 | prn = prnIn;
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| 74 | index_old = 0;
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| 75 | xx = 0.0;
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[2473] | 76 |
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[2057] | 77 | }
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| 78 |
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| 79 | // Destructor
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| 80 | ////////////////////////////////////////////////////////////////////////////
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| 81 | bncParam::~bncParam() {
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| 82 | }
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| 83 |
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[2060] | 84 | // Partial
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| 85 | ////////////////////////////////////////////////////////////////////////////
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[2239] | 86 | double bncParam::partial(t_satData* satData, bool phase) {
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| 87 |
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| 88 | // Coordinates
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| 89 | // -----------
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[2060] | 90 | if (type == CRD_X) {
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[2109] | 91 | return (xx - satData->xx(1)) / satData->rho;
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[2060] | 92 | }
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| 93 | else if (type == CRD_Y) {
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[2109] | 94 | return (xx - satData->xx(2)) / satData->rho;
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[2060] | 95 | }
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| 96 | else if (type == CRD_Z) {
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[2109] | 97 | return (xx - satData->xx(3)) / satData->rho;
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[2060] | 98 | }
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[2239] | 99 |
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| 100 | // Receiver Clocks
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| 101 | // ---------------
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[2265] | 102 | else if (type == RECCLK) {
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| 103 | return 1.0;
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[2060] | 104 | }
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[2239] | 105 |
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| 106 | // Troposphere
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| 107 | // -----------
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[2084] | 108 | else if (type == TROPO) {
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| 109 | return 1.0 / sin(satData->eleSat);
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| 110 | }
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[2239] | 111 |
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[2782] | 112 | // Galileo Offset
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| 113 | // --------------
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| 114 | else if (type == GALILEO_OFFSET) {
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| 115 | if (satData->prn[0] == 'E') {
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| 116 | return 1.0;
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| 117 | }
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| 118 | else {
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| 119 | return 0.0;
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| 120 | }
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| 121 | }
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| 122 |
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[2239] | 123 | // Ambiguities
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| 124 | // -----------
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[2080] | 125 | else if (type == AMB_L3) {
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[2239] | 126 | if (phase && satData->prn == prn) {
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[2080] | 127 | return 1.0;
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| 128 | }
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| 129 | else {
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| 130 | return 0.0;
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| 131 | }
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| 132 | }
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[2239] | 133 |
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| 134 | // Default return
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| 135 | // --------------
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[2060] | 136 | return 0.0;
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| 137 | }
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| 138 |
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[2058] | 139 | // Constructor
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| 140 | ////////////////////////////////////////////////////////////////////////////
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[2113] | 141 | bncModel::bncModel(QByteArray staID) {
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[2084] | 142 |
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[2113] | 143 | _staID = staID;
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| 144 |
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[2648] | 145 | bncSettings settings;
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| 146 |
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[2720] | 147 | // Observation Sigmas
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| 148 | // ------------------
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| 149 | _sigP3 = 5.0;
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| 150 | if (!settings.value("pppSigmaCode").toString().isEmpty()) {
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| 151 | _sigP3 = settings.value("pppSigmaCode").toDouble();
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| 152 | }
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| 153 | _sigL3 = 0.02;
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| 154 | if (!settings.value("pppSigmaPhase").toString().isEmpty()) {
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[2741] | 155 | _sigL3 = settings.value("pppSigmaPhase").toDouble();
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[2720] | 156 | }
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[2648] | 157 |
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[2720] | 158 | // Parameter Sigmas
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| 159 | // ----------------
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| 160 | _sigCrd0 = 100.0;
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| 161 | if (!settings.value("pppSigCrd0").toString().isEmpty()) {
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| 162 | _sigCrd0 = settings.value("pppSigCrd0").toDouble();
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| 163 | }
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| 164 | _sigCrdP = 100.0;
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| 165 | if (!settings.value("pppSigCrdP").toString().isEmpty()) {
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| 166 | _sigCrdP = settings.value("pppSigCrdP").toDouble();
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| 167 | }
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| 168 | _sigTrp0 = 0.1;
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| 169 | if (!settings.value("pppSigTrp0").toString().isEmpty()) {
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| 170 | _sigTrp0 = settings.value("pppSigTrp0").toDouble();
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| 171 | }
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| 172 | _sigTrpP = 1e-6;
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| 173 | if (!settings.value("pppSigTrpP").toString().isEmpty()) {
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| 174 | _sigTrpP = settings.value("pppSigTrpP").toDouble();
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| 175 | }
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[2782] | 176 | _sigClk0 = 1000.0;
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| 177 | _sigAmb0 = 1000.0;
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| 178 | _sigGalileoOffset0 = 1000.0;
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[2784] | 179 | _sigGalileoOffsetP = 0.0;
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[2648] | 180 |
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[2720] | 181 | // Quick-Start Mode
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| 182 | // ----------------
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| 183 | _quickStart = 0;
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[2726] | 184 | if (settings.value("pppRefCrdX").toString() != "" &&
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| 185 | settings.value("pppRefCrdY").toString() != "" &&
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| 186 | settings.value("pppRefCrdZ").toString() != "" &&
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[2720] | 187 | !settings.value("pppQuickStart").toString().isEmpty()) {
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[2745] | 188 | _quickStart = settings.value("pppQuickStart").toDouble();
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[2720] | 189 | }
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| 190 |
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[2113] | 191 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[2548] | 192 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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[2113] | 193 |
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[2084] | 194 | _usePhase = false;
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| 195 | if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
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| 196 | _usePhase = true;
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| 197 | }
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| 198 |
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| 199 | _estTropo = false;
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| 200 | if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
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| 201 | _estTropo = true;
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| 202 | }
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| 203 |
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| 204 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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| 205 | _ellBanc.ReSize(3); _ellBanc = 0.0;
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| 206 |
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[2239] | 207 | int nextPar = 0;
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[2265] | 208 | _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
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| 209 | _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
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| 210 | _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
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| 211 | _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
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[2084] | 212 | if (_estTropo) {
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[2782] | 213 | _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
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[2084] | 214 | }
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[2799] | 215 | if ( Qt::CheckState(settings.value("pppGalileo").toInt()) == Qt::Checked) {
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[2782] | 216 | _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, ""));
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| 217 | }
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[2073] | 218 |
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| 219 | unsigned nPar = _params.size();
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[2084] | 220 |
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[2073] | 221 | _QQ.ReSize(nPar);
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[2239] | 222 |
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[2073] | 223 | _QQ = 0.0;
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| 224 |
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[2239] | 225 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 226 | bncParam* pp = _params[iPar-1];
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| 227 | if (pp->isCrd()) {
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[2720] | 228 | _QQ(iPar,iPar) = _sigCrd0 * _sigCrd0;
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[2239] | 229 | }
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[2265] | 230 | else if (pp->type == bncParam::RECCLK) {
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[2720] | 231 | _QQ(iPar,iPar) = _sigClk0 * _sigClk0;
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[2239] | 232 | }
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| 233 | else if (pp->type == bncParam::TROPO) {
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[2720] | 234 | _QQ(iPar,iPar) = _sigTrp0 * _sigTrp0;
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[2239] | 235 | }
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[2782] | 236 | else if (pp->type == bncParam::GALILEO_OFFSET) {
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| 237 | _QQ(iPar,iPar) = _sigGalileoOffset0 * _sigGalileoOffset0;
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| 238 | }
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[2077] | 239 | }
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[2125] | 240 |
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| 241 | // NMEA Output
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| 242 | // -----------
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| 243 | QString nmeaFileName = settings.value("nmeaFile").toString();
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| 244 | if (nmeaFileName.isEmpty()) {
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| 245 | _nmeaFile = 0;
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| 246 | _nmeaStream = 0;
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| 247 | }
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| 248 | else {
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| 249 | expandEnvVar(nmeaFileName);
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| 250 | _nmeaFile = new QFile(nmeaFileName);
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| 251 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 252 | _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 253 | }
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| 254 | else {
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| 255 | _nmeaFile->open(QIODevice::WriteOnly);
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| 256 | }
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| 257 | _nmeaStream = new QTextStream();
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| 258 | _nmeaStream->setDevice(_nmeaFile);
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| 259 | }
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[2881] | 260 |
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[2896] | 261 | _antex = 0;
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[2881] | 262 | QString antexFileName = settings.value("pppAntex").toString();
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| 263 | if (!antexFileName.isEmpty()) {
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| 264 | _antex = new bncAntex();
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[2883] | 265 | if (_antex->readFile(antexFileName) != success) {
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[2938] | 266 | emit newMessage("wrong ANTEX file", true);
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[2887] | 267 | delete _antex;
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| 268 | _antex = 0;
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[2883] | 269 | }
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[2938] | 270 | else {
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| 271 | _antennaName = settings.value("pppAntenna").toString();
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| 272 | }
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[2881] | 273 | }
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[2058] | 274 | }
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| 275 |
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| 276 | // Destructor
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| 277 | ////////////////////////////////////////////////////////////////////////////
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| 278 | bncModel::~bncModel() {
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[2126] | 279 | delete _nmeaStream;
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| 280 | delete _nmeaFile;
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[2648] | 281 | for (int ii = 0; ii < _posAverage.size(); ++ii) {
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| 282 | delete _posAverage[ii];
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| 283 | }
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[2881] | 284 | delete _antex;
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[2058] | 285 | }
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| 286 |
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| 287 | // Bancroft Solution
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| 288 | ////////////////////////////////////////////////////////////////////////////
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| 289 | t_irc bncModel::cmpBancroft(t_epoData* epoData) {
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| 290 |
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[2231] | 291 | if (epoData->sizeGPS() < MINOBS) {
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[2547] | 292 | _log += "bncModel::cmpBancroft: not enough data\n";
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[2058] | 293 | return failure;
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| 294 | }
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| 295 |
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[2231] | 296 | Matrix BB(epoData->sizeGPS(), 4);
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[2058] | 297 |
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[2231] | 298 | QMapIterator<QString, t_satData*> it(epoData->satDataGPS);
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[2791] | 299 | int iObsBanc = 0;
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[2058] | 300 | while (it.hasNext()) {
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[2791] | 301 | ++iObsBanc;
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[2058] | 302 | it.next();
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| 303 | QString prn = it.key();
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| 304 | t_satData* satData = it.value();
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[2791] | 305 | BB(iObsBanc, 1) = satData->xx(1);
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| 306 | BB(iObsBanc, 2) = satData->xx(2);
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| 307 | BB(iObsBanc, 3) = satData->xx(3);
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| 308 | BB(iObsBanc, 4) = satData->P3 + satData->clk;
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[2058] | 309 | }
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| 310 |
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| 311 | bancroft(BB, _xcBanc);
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| 312 |
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[2064] | 313 | // Ellipsoidal Coordinates
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| 314 | // ------------------------
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| 315 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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[2063] | 316 |
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[2064] | 317 | // Compute Satellite Elevations
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| 318 | // ----------------------------
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[2231] | 319 | QMutableMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
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| 320 | while (iGPS.hasNext()) {
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| 321 | iGPS.next();
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| 322 | t_satData* satData = iGPS.value();
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[2789] | 323 | cmpEle(satData);
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[2287] | 324 | if (satData->eleSat < MINELE_GPS) {
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[2070] | 325 | delete satData;
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[2231] | 326 | iGPS.remove();
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[2070] | 327 | }
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[2064] | 328 | }
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| 329 |
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[2231] | 330 | QMutableMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
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| 331 | while (iGlo.hasNext()) {
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| 332 | iGlo.next();
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| 333 | t_satData* satData = iGlo.value();
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[2789] | 334 | cmpEle(satData);
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[2287] | 335 | if (satData->eleSat < MINELE_GLO) {
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[2231] | 336 | delete satData;
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| 337 | iGlo.remove();
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| 338 | }
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| 339 | }
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| 340 |
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[2780] | 341 | QMutableMapIterator<QString, t_satData*> iGal(epoData->satDataGal);
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| 342 | while (iGal.hasNext()) {
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| 343 | iGal.next();
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| 344 | t_satData* satData = iGal.value();
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[2789] | 345 | cmpEle(satData);
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[2780] | 346 | if (satData->eleSat < MINELE_GAL) {
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| 347 | delete satData;
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| 348 | iGal.remove();
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| 349 | }
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| 350 | }
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| 351 |
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[2058] | 352 | return success;
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| 353 | }
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[2060] | 354 |
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| 355 | // Computed Value
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| 356 | ////////////////////////////////////////////////////////////////////////////
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[2583] | 357 | double bncModel::cmpValue(t_satData* satData, bool phase) {
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[2060] | 358 |
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[2073] | 359 | ColumnVector xRec(3);
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| 360 | xRec(1) = x();
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| 361 | xRec(2) = y();
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| 362 | xRec(3) = z();
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[2060] | 363 |
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[2073] | 364 | double rho0 = (satData->xx - xRec).norm_Frobenius();
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[2060] | 365 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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| 366 |
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[2073] | 367 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
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| 368 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
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| 369 | xRec(3) = z();
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| 370 |
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[2580] | 371 | tides(_time, xRec);
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| 372 |
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[2060] | 373 | satData->rho = (satData->xx - xRec).norm_Frobenius();
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| 374 |
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[2084] | 375 | double tropDelay = delay_saast(satData->eleSat) +
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| 376 | trp() / sin(satData->eleSat);
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[2060] | 377 |
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[2583] | 378 | double wind = 0.0;
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| 379 | if (phase) {
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| 380 | wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
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| 381 | }
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| 382 |
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[2783] | 383 | double offset = 0.0;
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| 384 | if (satData->prn[0] == 'E') {
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| 385 | offset = Galileo_offset();
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| 386 | }
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| 387 |
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[2894] | 388 | double phaseCenter = 0.0;
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[2938] | 389 | if (_antex) {
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| 390 | bool found;
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| 391 | phaseCenter = _antex->pco(_antennaName, satData->eleSat, found);
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| 392 | if (!found) {
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| 393 | emit newMessage("ANTEX: antenna >"
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| 394 | + _antennaName.toAscii() + "< not found", true);
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| 395 | }
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[2894] | 396 | }
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| 397 |
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| 398 | return satData->rho + phaseCenter + clk()
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| 399 | + offset - satData->clk + tropDelay + wind;
|
---|
[2060] | 400 | }
|
---|
| 401 |
|
---|
[2063] | 402 | // Tropospheric Model (Saastamoinen)
|
---|
| 403 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2065] | 404 | double bncModel::delay_saast(double Ele) {
|
---|
[2063] | 405 |
|
---|
[2769] | 406 | double xyz[3];
|
---|
| 407 | xyz[0] = x();
|
---|
| 408 | xyz[1] = y();
|
---|
| 409 | xyz[2] = z();
|
---|
| 410 | double ell[3];
|
---|
| 411 | xyz2ell(xyz, ell);
|
---|
| 412 | double height = ell[2];
|
---|
[2063] | 413 |
|
---|
[2064] | 414 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
|
---|
| 415 | double TT = 18.0 - height * 0.0065 + 273.15;
|
---|
| 416 | double hh = 50.0 * exp(-6.396e-4 * height);
|
---|
[2063] | 417 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
|
---|
| 418 |
|
---|
[2064] | 419 | double h_km = height / 1000.0;
|
---|
[2063] | 420 |
|
---|
| 421 | if (h_km < 0.0) h_km = 0.0;
|
---|
| 422 | if (h_km > 5.0) h_km = 5.0;
|
---|
| 423 | int ii = int(h_km + 1);
|
---|
| 424 | double href = ii - 1;
|
---|
| 425 |
|
---|
| 426 | double bCor[6];
|
---|
| 427 | bCor[0] = 1.156;
|
---|
| 428 | bCor[1] = 1.006;
|
---|
| 429 | bCor[2] = 0.874;
|
---|
| 430 | bCor[3] = 0.757;
|
---|
| 431 | bCor[4] = 0.654;
|
---|
| 432 | bCor[5] = 0.563;
|
---|
| 433 |
|
---|
| 434 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
|
---|
| 435 |
|
---|
| 436 | double zen = M_PI/2.0 - Ele;
|
---|
| 437 |
|
---|
| 438 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
|
---|
| 439 | }
|
---|
| 440 |
|
---|
[2073] | 441 | // Prediction Step of the Filter
|
---|
| 442 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2080] | 443 | void bncModel::predict(t_epoData* epoData) {
|
---|
[2073] | 444 |
|
---|
[2648] | 445 | bncSettings settings;
|
---|
[2244] | 446 |
|
---|
[2648] | 447 | bool firstCrd = false;
|
---|
| 448 | if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
|
---|
| 449 | firstCrd = true;
|
---|
[2874] | 450 | _startTime = epoData->tt;
|
---|
[2648] | 451 | }
|
---|
| 452 |
|
---|
[2726] | 453 | // Use different white noise for Quick-Start mode
|
---|
[2720] | 454 | // ----------------------------------------------
|
---|
| 455 | double sigCrdP_used = _sigCrdP;
|
---|
[2874] | 456 | if ( _quickStart > 0.0 && _quickStart > (epoData->tt - _startTime) ) {
|
---|
[2720] | 457 | sigCrdP_used = 0.0;
|
---|
[2648] | 458 | }
|
---|
| 459 |
|
---|
[2244] | 460 | // Predict Parameter values, add white noise
|
---|
| 461 | // -----------------------------------------
|
---|
| 462 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 463 | bncParam* pp = _params[iPar-1];
|
---|
| 464 |
|
---|
| 465 | // Coordinates
|
---|
| 466 | // -----------
|
---|
| 467 | if (pp->type == bncParam::CRD_X) {
|
---|
[2720] | 468 | if (firstCrd) {
|
---|
[2726] | 469 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 470 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 471 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 472 | pp->xx = settings.value("pppRefCrdX").toDouble();
|
---|
| 473 | }
|
---|
| 474 | else {
|
---|
| 475 | pp->xx = _xcBanc(1);
|
---|
| 476 | }
|
---|
[2244] | 477 | }
|
---|
[2720] | 478 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 479 | }
|
---|
| 480 | else if (pp->type == bncParam::CRD_Y) {
|
---|
[2720] | 481 | if (firstCrd) {
|
---|
[2726] | 482 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 483 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 484 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 485 | pp->xx = settings.value("pppRefCrdY").toDouble();
|
---|
| 486 | }
|
---|
| 487 | else {
|
---|
| 488 | pp->xx = _xcBanc(2);
|
---|
| 489 | }
|
---|
[2244] | 490 | }
|
---|
[2720] | 491 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 492 | }
|
---|
| 493 | else if (pp->type == bncParam::CRD_Z) {
|
---|
[2720] | 494 | if (firstCrd) {
|
---|
[2726] | 495 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 496 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 497 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2648] | 498 | pp->xx = settings.value("pppRefCrdZ").toDouble();
|
---|
| 499 | }
|
---|
| 500 | else {
|
---|
| 501 | pp->xx = _xcBanc(3);
|
---|
| 502 | }
|
---|
[2244] | 503 | }
|
---|
[2720] | 504 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 505 | }
|
---|
| 506 |
|
---|
| 507 | // Receiver Clocks
|
---|
| 508 | // ---------------
|
---|
[2265] | 509 | else if (pp->type == bncParam::RECCLK) {
|
---|
[2244] | 510 | pp->xx = _xcBanc(4);
|
---|
| 511 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
| 512 | _QQ(iPar, jj) = 0.0;
|
---|
| 513 | }
|
---|
[2720] | 514 | _QQ(iPar,iPar) = _sigClk0 * _sigClk0;
|
---|
[2244] | 515 | }
|
---|
| 516 |
|
---|
| 517 | // Tropospheric Delay
|
---|
| 518 | // ------------------
|
---|
| 519 | else if (pp->type == bncParam::TROPO) {
|
---|
[2720] | 520 | _QQ(iPar,iPar) += _sigTrpP * _sigTrpP;
|
---|
[2244] | 521 | }
|
---|
[2782] | 522 |
|
---|
| 523 | // Galileo Offset
|
---|
| 524 | // --------------
|
---|
| 525 | else if (pp->type == bncParam::GALILEO_OFFSET) {
|
---|
| 526 | _QQ(iPar,iPar) += _sigGalileoOffsetP * _sigGalileoOffsetP;
|
---|
| 527 | }
|
---|
[2244] | 528 | }
|
---|
| 529 |
|
---|
| 530 | // Add New Ambiguities if necessary
|
---|
| 531 | // --------------------------------
|
---|
[2083] | 532 | if (_usePhase) {
|
---|
[2080] | 533 |
|
---|
[2083] | 534 | // Make a copy of QQ and xx, set parameter indices
|
---|
| 535 | // -----------------------------------------------
|
---|
| 536 | SymmetricMatrix QQ_old = _QQ;
|
---|
| 537 |
|
---|
| 538 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 539 | _params[iPar-1]->index_old = _params[iPar-1]->index;
|
---|
| 540 | _params[iPar-1]->index = 0;
|
---|
| 541 | }
|
---|
| 542 |
|
---|
| 543 | // Remove Ambiguity Parameters without observations
|
---|
| 544 | // ------------------------------------------------
|
---|
| 545 | int iPar = 0;
|
---|
| 546 | QMutableVectorIterator<bncParam*> it(_params);
|
---|
| 547 | while (it.hasNext()) {
|
---|
| 548 | bncParam* par = it.next();
|
---|
| 549 | bool removed = false;
|
---|
| 550 | if (par->type == bncParam::AMB_L3) {
|
---|
[2231] | 551 | if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() &&
|
---|
[2780] | 552 | epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() &&
|
---|
| 553 | epoData->satDataGal.find(par->prn) == epoData->satDataGal.end() ) {
|
---|
[2083] | 554 | removed = true;
|
---|
| 555 | delete par;
|
---|
| 556 | it.remove();
|
---|
| 557 | }
|
---|
[2080] | 558 | }
|
---|
[2083] | 559 | if (! removed) {
|
---|
| 560 | ++iPar;
|
---|
| 561 | par->index = iPar;
|
---|
| 562 | }
|
---|
[2080] | 563 | }
|
---|
[2083] | 564 |
|
---|
| 565 | // Add new ambiguity parameters
|
---|
| 566 | // ----------------------------
|
---|
[2231] | 567 | QMapIterator<QString, t_satData*> iGPS(epoData->satDataGPS);
|
---|
| 568 | while (iGPS.hasNext()) {
|
---|
| 569 | iGPS.next();
|
---|
[2244] | 570 | t_satData* satData = iGPS.value();
|
---|
[2789] | 571 | addAmb(satData);
|
---|
[2080] | 572 | }
|
---|
[2231] | 573 |
|
---|
| 574 | QMapIterator<QString, t_satData*> iGlo(epoData->satDataGlo);
|
---|
| 575 | while (iGlo.hasNext()) {
|
---|
| 576 | iGlo.next();
|
---|
[2233] | 577 | t_satData* satData = iGlo.value();
|
---|
[2789] | 578 | addAmb(satData);
|
---|
[2231] | 579 | }
|
---|
[2780] | 580 |
|
---|
| 581 | QMapIterator<QString, t_satData*> iGal(epoData->satDataGal);
|
---|
| 582 | while (iGal.hasNext()) {
|
---|
| 583 | iGal.next();
|
---|
| 584 | t_satData* satData = iGal.value();
|
---|
[2789] | 585 | addAmb(satData);
|
---|
[2780] | 586 | }
|
---|
[2083] | 587 |
|
---|
| 588 | int nPar = _params.size();
|
---|
| 589 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
| 590 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
| 591 | bncParam* p1 = _params[i1-1];
|
---|
| 592 | if (p1->index_old != 0) {
|
---|
| 593 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
| 594 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
| 595 | bncParam* p2 = _params[i2-1];
|
---|
| 596 | if (p2->index_old != 0) {
|
---|
| 597 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
| 598 | }
|
---|
[2080] | 599 | }
|
---|
| 600 | }
|
---|
| 601 | }
|
---|
[2083] | 602 |
|
---|
| 603 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
| 604 | bncParam* par = _params[ii-1];
|
---|
| 605 | if (par->index_old == 0) {
|
---|
[2720] | 606 | _QQ(par->index, par->index) = _sigAmb0 * _sigAmb0;
|
---|
[2083] | 607 | }
|
---|
| 608 | par->index_old = par->index;
|
---|
[2080] | 609 | }
|
---|
| 610 | }
|
---|
[2073] | 611 | }
|
---|
| 612 |
|
---|
[2060] | 613 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
| 614 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 615 | t_irc bncModel::update(t_epoData* epoData) {
|
---|
| 616 |
|
---|
[2473] | 617 | bncSettings settings;
|
---|
| 618 |
|
---|
[2248] | 619 | _log.clear();
|
---|
[2124] | 620 |
|
---|
[2143] | 621 | _time = epoData->tt;
|
---|
| 622 |
|
---|
[2827] | 623 | if (settings.value("pppSPP").toString() == "PPP") {
|
---|
| 624 | _log += "Precise Point Positioning of Epoch "
|
---|
| 625 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
| 626 | "\n---------------------------------------------------------------\n";
|
---|
| 627 | }
|
---|
| 628 | else {
|
---|
| 629 | _log += "Single Point Positioning of Epoch "
|
---|
| 630 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
[2547] | 631 | "\n--------------------------------------------------------------\n";
|
---|
[2827] | 632 | }
|
---|
[2547] | 633 |
|
---|
[2112] | 634 | SymmetricMatrix QQsav;
|
---|
[2109] | 635 | ColumnVector dx;
|
---|
[2112] | 636 | ColumnVector vv;
|
---|
[2073] | 637 |
|
---|
[2113] | 638 | // Loop over all outliers
|
---|
| 639 | // ----------------------
|
---|
[2108] | 640 | do {
|
---|
| 641 |
|
---|
| 642 | // Bancroft Solution
|
---|
| 643 | // -----------------
|
---|
| 644 | if (cmpBancroft(epoData) != success) {
|
---|
[2124] | 645 | emit newMessage(_log, false);
|
---|
[2108] | 646 | return failure;
|
---|
| 647 | }
|
---|
[2080] | 648 |
|
---|
[2108] | 649 | // Status Prediction
|
---|
| 650 | // -----------------
|
---|
| 651 | predict(epoData);
|
---|
| 652 |
|
---|
[2109] | 653 | // Create First-Design Matrix
|
---|
| 654 | // --------------------------
|
---|
[2108] | 655 | unsigned nPar = _params.size();
|
---|
[2231] | 656 | unsigned nObs = 0;
|
---|
| 657 | if (_usePhase) {
|
---|
[2780] | 658 | nObs = 2 * (epoData->sizeGPS() + epoData->sizeGal()) + epoData->sizeGlo();
|
---|
[2231] | 659 | }
|
---|
| 660 | else {
|
---|
[2780] | 661 | nObs = epoData->sizeGPS() + epoData->sizeGal(); // Glonass code not used
|
---|
[2231] | 662 | }
|
---|
[2108] | 663 |
|
---|
[2540] | 664 | if (nObs < nPar) {
|
---|
[2547] | 665 | _log += "bncModel::update: nObs < nPar\n";
|
---|
[2540] | 666 | emit newMessage(_log, false);
|
---|
| 667 | return failure;
|
---|
| 668 | }
|
---|
| 669 |
|
---|
[2108] | 670 | Matrix AA(nObs, nPar); // first design matrix
|
---|
| 671 | ColumnVector ll(nObs); // tems observed-computed
|
---|
[2283] | 672 | DiagonalMatrix PP(nObs); PP = 0.0;
|
---|
[2108] | 673 |
|
---|
| 674 | unsigned iObs = 0;
|
---|
[2231] | 675 |
|
---|
| 676 | // GPS code and (optionally) phase observations
|
---|
| 677 | // --------------------------------------------
|
---|
| 678 | QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
|
---|
| 679 | while (itGPS.hasNext()) {
|
---|
| 680 | itGPS.next();
|
---|
| 681 | t_satData* satData = itGPS.value();
|
---|
[2790] | 682 | addObs(iObs, satData, AA, ll, PP);
|
---|
[2080] | 683 | }
|
---|
[2231] | 684 |
|
---|
| 685 | // Glonass phase observations
|
---|
| 686 | // --------------------------
|
---|
[2790] | 687 | QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
|
---|
| 688 | while (itGlo.hasNext()) {
|
---|
| 689 | itGlo.next();
|
---|
| 690 | t_satData* satData = itGlo.value();
|
---|
| 691 | addObs(iObs, satData, AA, ll, PP);
|
---|
[2231] | 692 | }
|
---|
| 693 |
|
---|
[2780] | 694 | // Galileo code and (optionally) phase observations
|
---|
| 695 | // ------------------------------------------------
|
---|
| 696 | QMapIterator<QString, t_satData*> itGal(epoData->satDataGal);
|
---|
| 697 | while (itGal.hasNext()) {
|
---|
| 698 | itGal.next();
|
---|
| 699 | t_satData* satData = itGal.value();
|
---|
[2790] | 700 | addObs(iObs, satData, AA, ll, PP);
|
---|
[2780] | 701 | }
|
---|
| 702 |
|
---|
[2112] | 703 | // Compute Filter Update
|
---|
[2108] | 704 | // ---------------------
|
---|
[2112] | 705 | QQsav = _QQ;
|
---|
| 706 |
|
---|
[2283] | 707 | kalman(AA, ll, PP, _QQ, dx);
|
---|
| 708 |
|
---|
| 709 | vv = ll - AA * dx;
|
---|
| 710 |
|
---|
[2791] | 711 | // Print Residuals
|
---|
| 712 | // ---------------
|
---|
| 713 | if (true) {
|
---|
| 714 | ostringstream str;
|
---|
| 715 | str.setf(ios::fixed);
|
---|
[2245] | 716 |
|
---|
[2791] | 717 | QMapIterator<QString, t_satData*> itGPS(epoData->satDataGPS);
|
---|
| 718 | while (itGPS.hasNext()) {
|
---|
| 719 | itGPS.next();
|
---|
| 720 | t_satData* satData = itGPS.value();
|
---|
| 721 | printRes(vv, str, satData);
|
---|
[2246] | 722 | }
|
---|
[2791] | 723 | QMapIterator<QString, t_satData*> itGlo(epoData->satDataGlo);
|
---|
| 724 | while (itGlo.hasNext()) {
|
---|
| 725 | itGlo.next();
|
---|
| 726 | t_satData* satData = itGlo.value();
|
---|
| 727 | printRes(vv, str, satData);
|
---|
[2265] | 728 | }
|
---|
[2791] | 729 | QMapIterator<QString, t_satData*> itGal(epoData->satDataGal);
|
---|
| 730 | while (itGal.hasNext()) {
|
---|
| 731 | itGal.next();
|
---|
| 732 | t_satData* satData = itGal.value();
|
---|
| 733 | printRes(vv, str, satData);
|
---|
[2246] | 734 | }
|
---|
[2791] | 735 | _log += str.str().c_str();
|
---|
[2265] | 736 | }
|
---|
[2246] | 737 |
|
---|
[2231] | 738 | } while (outlierDetection(QQsav, vv, epoData->satDataGPS,
|
---|
[2780] | 739 | epoData->satDataGlo, epoData->satDataGal) != 0);
|
---|
[2111] | 740 |
|
---|
[2670] | 741 | // Remember the Epoch-specific Results for the computation of means
|
---|
| 742 | // ----------------------------------------------------------------
|
---|
| 743 | pppPos* newPos = new pppPos;
|
---|
| 744 | newPos->time = epoData->tt;
|
---|
| 745 |
|
---|
[2109] | 746 | // Set Solution Vector
|
---|
| 747 | // -------------------
|
---|
[2265] | 748 | ostringstream strB;
|
---|
| 749 | strB.setf(ios::fixed);
|
---|
[2073] | 750 | QVectorIterator<bncParam*> itPar(_params);
|
---|
[2060] | 751 | while (itPar.hasNext()) {
|
---|
| 752 | bncParam* par = itPar.next();
|
---|
[2109] | 753 | par->xx += dx(par->index);
|
---|
[2265] | 754 |
|
---|
| 755 | if (par->type == bncParam::RECCLK) {
|
---|
[2798] | 756 | strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
|
---|
[2124] | 757 | << " +- " << setw(6) << setprecision(3)
|
---|
| 758 | << sqrt(_QQ(par->index,par->index));
|
---|
| 759 | }
|
---|
| 760 | else if (par->type == bncParam::AMB_L3) {
|
---|
[2265] | 761 | strB << "\n amb " << par->prn.toAscii().data() << " = "
|
---|
[2798] | 762 | << setw(10) << setprecision(3) << par->xx
|
---|
[2124] | 763 | << " +- " << setw(6) << setprecision(3)
|
---|
| 764 | << sqrt(_QQ(par->index,par->index));
|
---|
| 765 | }
|
---|
[2212] | 766 | else if (par->type == bncParam::TROPO) {
|
---|
[2670] | 767 | double aprTrp = delay_saast(M_PI/2.0);
|
---|
[2547] | 768 | strB << "\n trp = " << par->prn.toAscii().data()
|
---|
[2670] | 769 | << setw(7) << setprecision(3) << aprTrp << " "
|
---|
[2213] | 770 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
[2212] | 771 | << " +- " << setw(6) << setprecision(3)
|
---|
| 772 | << sqrt(_QQ(par->index,par->index));
|
---|
[2670] | 773 | newPos->xnt[6] = aprTrp + par->xx;
|
---|
[2212] | 774 | }
|
---|
[2782] | 775 | else if (par->type == bncParam::GALILEO_OFFSET) {
|
---|
[2798] | 776 | strB << "\n offset = " << setw(10) << setprecision(3) << par->xx
|
---|
[2782] | 777 | << " +- " << setw(6) << setprecision(3)
|
---|
| 778 | << sqrt(_QQ(par->index,par->index));
|
---|
| 779 | }
|
---|
[2060] | 780 | }
|
---|
[2265] | 781 | strB << '\n';
|
---|
[2547] | 782 | _log += strB.str().c_str();
|
---|
| 783 | emit newMessage(_log, false);
|
---|
[2060] | 784 |
|
---|
[2547] | 785 | // Final Message (both log file and screen)
|
---|
| 786 | // ----------------------------------------
|
---|
| 787 | ostringstream strC;
|
---|
| 788 | strC.setf(ios::fixed);
|
---|
| 789 | strC << _staID.data() << " PPP "
|
---|
[2599] | 790 | << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
|
---|
[2231] | 791 | << setw(14) << setprecision(3) << x() << " +- "
|
---|
| 792 | << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
|
---|
| 793 | << setw(14) << setprecision(3) << y() << " +- "
|
---|
| 794 | << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
|
---|
| 795 | << setw(14) << setprecision(3) << z() << " +- "
|
---|
[2124] | 796 | << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
|
---|
[2113] | 797 |
|
---|
[2370] | 798 | // NEU Output
|
---|
| 799 | // ----------
|
---|
[2862] | 800 | double xyzRef[3];
|
---|
| 801 |
|
---|
[2726] | 802 | if (settings.value("pppRefCrdX").toString() != "" &&
|
---|
| 803 | settings.value("pppRefCrdY").toString() != "" &&
|
---|
| 804 | settings.value("pppRefCrdZ").toString() != "") {
|
---|
[2649] | 805 |
|
---|
[2370] | 806 | xyzRef[0] = settings.value("pppRefCrdX").toDouble();
|
---|
| 807 | xyzRef[1] = settings.value("pppRefCrdY").toDouble();
|
---|
| 808 | xyzRef[2] = settings.value("pppRefCrdZ").toDouble();
|
---|
[2649] | 809 |
|
---|
[2670] | 810 | newPos->xnt[0] = x() - xyzRef[0];
|
---|
| 811 | newPos->xnt[1] = y() - xyzRef[1];
|
---|
| 812 | newPos->xnt[2] = z() - xyzRef[2];
|
---|
[2649] | 813 |
|
---|
| 814 | double ellRef[3];
|
---|
[2370] | 815 | xyz2ell(xyzRef, ellRef);
|
---|
[2670] | 816 | xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
|
---|
[2649] | 817 |
|
---|
[2547] | 818 | strC << " NEU "
|
---|
[2670] | 819 | << setw(8) << setprecision(3) << newPos->xnt[3] << " "
|
---|
| 820 | << setw(8) << setprecision(3) << newPos->xnt[4] << " "
|
---|
[2797] | 821 | << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
|
---|
[2649] | 822 |
|
---|
[2370] | 823 | }
|
---|
| 824 |
|
---|
[2547] | 825 | emit newMessage(QByteArray(strC.str().c_str()), true);
|
---|
| 826 |
|
---|
[2671] | 827 | if (settings.value("pppAverage").toString() == "") {
|
---|
| 828 | delete newPos;
|
---|
| 829 | }
|
---|
| 830 | else {
|
---|
| 831 |
|
---|
| 832 | _posAverage.push_back(newPos);
|
---|
[2599] | 833 |
|
---|
[2648] | 834 | // Time Span for Average Computation
|
---|
| 835 | // ---------------------------------
|
---|
| 836 | double tRangeAverage = settings.value("pppAverage").toDouble() * 60.;
|
---|
| 837 | if (tRangeAverage < 0) {
|
---|
| 838 | tRangeAverage = 0;
|
---|
| 839 | }
|
---|
| 840 | if (tRangeAverage > 86400) {
|
---|
| 841 | tRangeAverage = 86400;
|
---|
| 842 | }
|
---|
[2599] | 843 |
|
---|
[2648] | 844 | // Compute the Mean
|
---|
| 845 | // ----------------
|
---|
[2670] | 846 | ColumnVector mean(7); mean = 0.0;
|
---|
[2648] | 847 |
|
---|
[2599] | 848 | QMutableVectorIterator<pppPos*> it(_posAverage);
|
---|
| 849 | while (it.hasNext()) {
|
---|
| 850 | pppPos* pp = it.next();
|
---|
[2648] | 851 | if ( (epoData->tt - pp->time) >= tRangeAverage ) {
|
---|
[2599] | 852 | delete pp;
|
---|
| 853 | it.remove();
|
---|
| 854 | }
|
---|
[2648] | 855 | else {
|
---|
[2670] | 856 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 857 | mean[ii] += pp->xnt[ii];
|
---|
[2649] | 858 | }
|
---|
[2648] | 859 | }
|
---|
[2599] | 860 | }
|
---|
[2648] | 861 |
|
---|
| 862 | int nn = _posAverage.size();
|
---|
| 863 |
|
---|
[2649] | 864 | if (nn > 0) {
|
---|
[2648] | 865 |
|
---|
[2649] | 866 | mean /= nn;
|
---|
| 867 |
|
---|
| 868 | // Compute the Deviation
|
---|
| 869 | // ---------------------
|
---|
[2670] | 870 | ColumnVector std(7); std = 0.0;
|
---|
[2649] | 871 | QVectorIterator<pppPos*> it2(_posAverage);
|
---|
| 872 | while (it2.hasNext()) {
|
---|
| 873 | pppPos* pp = it2.next();
|
---|
[2670] | 874 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 875 | std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
|
---|
[2649] | 876 | }
|
---|
| 877 | }
|
---|
[2670] | 878 | for (int ii = 0; ii < 7; ++ii) {
|
---|
[2649] | 879 | std[ii] = sqrt(std[ii] / nn);
|
---|
| 880 | }
|
---|
| 881 |
|
---|
| 882 | ostringstream strD; strD.setf(ios::fixed);
|
---|
| 883 | strD << _staID.data() << " AVE-XYZ "
|
---|
| 884 | << epoData->tt.timestr(1) << " "
|
---|
[2862] | 885 | // << setw(13) << setprecision(3) << mean[0] << " +- "
|
---|
| 886 | << setw(13) << setprecision(3) << mean[0] + xyzRef[0] << " +- "
|
---|
[2649] | 887 | << setw(6) << setprecision(3) << std[0] << " "
|
---|
[2862] | 888 | // << setw(14) << setprecision(3) << mean[1] << " +- "
|
---|
| 889 | << setw(14) << setprecision(3) << mean[1] + xyzRef[1] << " +- "
|
---|
[2649] | 890 | << setw(6) << setprecision(3) << std[1] << " "
|
---|
[2862] | 891 | // << setw(14) << setprecision(3) << mean[2] << " +- "
|
---|
| 892 | << setw(14) << setprecision(3) << mean[2] + xyzRef[2] << " +- "
|
---|
[2650] | 893 | << setw(6) << setprecision(3) << std[2];
|
---|
| 894 | emit newMessage(QByteArray(strD.str().c_str()), true);
|
---|
[2649] | 895 |
|
---|
[2650] | 896 | ostringstream strE; strE.setf(ios::fixed);
|
---|
| 897 | strE << _staID.data() << " AVE-NEU "
|
---|
[2649] | 898 | << epoData->tt.timestr(1) << " "
|
---|
| 899 | << setw(13) << setprecision(3) << mean[3] << " +- "
|
---|
| 900 | << setw(6) << setprecision(3) << std[3] << " "
|
---|
| 901 | << setw(14) << setprecision(3) << mean[4] << " +- "
|
---|
| 902 | << setw(6) << setprecision(3) << std[4] << " "
|
---|
| 903 | << setw(14) << setprecision(3) << mean[5] << " +- "
|
---|
[2670] | 904 | << setw(6) << setprecision(3) << std[5];
|
---|
[2649] | 905 |
|
---|
[2650] | 906 | emit newMessage(QByteArray(strE.str().c_str()), true);
|
---|
[2670] | 907 |
|
---|
[2726] | 908 | if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
|
---|
| 909 | ostringstream strF; strF.setf(ios::fixed);
|
---|
| 910 | strF << _staID.data() << " AVE-TRP "
|
---|
| 911 | << epoData->tt.timestr(1) << " "
|
---|
| 912 | << setw(13) << setprecision(3) << mean[6] << " +- "
|
---|
| 913 | << setw(6) << setprecision(3) << std[6] << endl;
|
---|
| 914 | emit newMessage(QByteArray(strF.str().c_str()), true);
|
---|
| 915 | }
|
---|
[2599] | 916 | }
|
---|
| 917 | }
|
---|
| 918 |
|
---|
[2131] | 919 | // NMEA Output
|
---|
| 920 | // -----------
|
---|
[2181] | 921 | double xyz[3];
|
---|
| 922 | xyz[0] = x();
|
---|
| 923 | xyz[1] = y();
|
---|
| 924 | xyz[2] = z();
|
---|
| 925 | double ell[3];
|
---|
| 926 | xyz2ell(xyz, ell);
|
---|
| 927 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
| 928 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
[2132] | 929 |
|
---|
[2181] | 930 | char phiCh = 'N';
|
---|
| 931 | if (phiDeg < 0) {
|
---|
| 932 | phiDeg = -phiDeg;
|
---|
| 933 | phiCh = 'S';
|
---|
| 934 | }
|
---|
| 935 | char lamCh = 'E';
|
---|
| 936 | if (lamDeg < 0) {
|
---|
[2563] | 937 | lamDeg = -lamDeg;
|
---|
| 938 | lamCh = 'W';
|
---|
[2181] | 939 | }
|
---|
[2132] | 940 |
|
---|
[2566] | 941 | string datestr = epoData->tt.datestr(0); // yyyymmdd
|
---|
| 942 | ostringstream strRMC;
|
---|
| 943 | strRMC.setf(ios::fixed);
|
---|
| 944 | strRMC << "GPRMC,"
|
---|
| 945 | << epoData->tt.timestr(0,0) << ",A,"
|
---|
| 946 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 947 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 948 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 949 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 950 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 951 | << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
|
---|
[2569] | 952 | << datestr[6] << datestr[7] << datestr[4] << datestr[5]
|
---|
| 953 | << datestr[2] << datestr[3] << ",,";
|
---|
[2566] | 954 |
|
---|
| 955 | writeNMEAstr(QString(strRMC.str().c_str()));
|
---|
| 956 |
|
---|
[2181] | 957 | double dop = 2.0; // TODO
|
---|
[2133] | 958 |
|
---|
[2566] | 959 | ostringstream strGGA;
|
---|
| 960 | strGGA.setf(ios::fixed);
|
---|
| 961 | strGGA << "GPGGA,"
|
---|
| 962 | << epoData->tt.timestr(0,0) << ','
|
---|
| 963 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 964 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 965 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 966 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 967 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 968 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
| 969 | << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
|
---|
| 970 | << setw(3) << setprecision(1) << dop << ','
|
---|
[2569] | 971 | << setprecision(3) << ell[2] << ",M,0.0,M,,";
|
---|
[2181] | 972 |
|
---|
[2566] | 973 | writeNMEAstr(QString(strGGA.str().c_str()));
|
---|
[2131] | 974 |
|
---|
[2060] | 975 | return success;
|
---|
| 976 | }
|
---|
[2112] | 977 |
|
---|
| 978 | // Outlier Detection
|
---|
| 979 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 980 | int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
|
---|
| 981 | const ColumnVector& vv,
|
---|
[2231] | 982 | QMap<QString, t_satData*>& satDataGPS,
|
---|
[2780] | 983 | QMap<QString, t_satData*>& satDataGlo,
|
---|
| 984 | QMap<QString, t_satData*>& satDataGal) {
|
---|
[2112] | 985 |
|
---|
[2792] | 986 | QString prnCode;
|
---|
| 987 | QString prnPhase;
|
---|
| 988 | double maxResCode = 0.0;
|
---|
| 989 | double maxResPhase = 0.0;
|
---|
[2231] | 990 |
|
---|
[2792] | 991 | QString prnRemoved;
|
---|
| 992 | double maxRes;
|
---|
[2112] | 993 |
|
---|
[2793] | 994 | int irc = 0;
|
---|
| 995 |
|
---|
| 996 | // Check Glonass
|
---|
| 997 | // -------------
|
---|
| 998 | if (irc == 0) {
|
---|
| 999 | findMaxRes(vv,satDataGlo, prnCode, maxResCode, prnPhase, maxResPhase);
|
---|
| 1000 | if (maxResPhase > MAXRES_PHASE_GLO) {
|
---|
| 1001 | satDataGlo.remove(prnPhase);
|
---|
| 1002 | prnRemoved = prnPhase;
|
---|
| 1003 | maxRes = maxResPhase;
|
---|
| 1004 | irc = 1;
|
---|
| 1005 | }
|
---|
[2792] | 1006 | }
|
---|
[2112] | 1007 |
|
---|
[2793] | 1008 | // Check Galileo
|
---|
| 1009 | // -------------
|
---|
| 1010 | if (irc == 0) {
|
---|
[2792] | 1011 | findMaxRes(vv,satDataGal, prnCode, maxResCode, prnPhase, maxResPhase);
|
---|
| 1012 | if (maxResPhase > MAXRES_PHASE_GAL) {
|
---|
| 1013 | satDataGal.remove(prnPhase);
|
---|
| 1014 | prnRemoved = prnPhase;
|
---|
| 1015 | maxRes = maxResPhase;
|
---|
[2793] | 1016 | irc = 1;
|
---|
[2112] | 1017 | }
|
---|
[2792] | 1018 | else if (maxResCode > MAXRES_CODE_GAL) {
|
---|
| 1019 | satDataGal.remove(prnCode);
|
---|
| 1020 | prnRemoved = prnCode;
|
---|
| 1021 | maxRes = maxResCode;
|
---|
[2793] | 1022 | irc = 1;
|
---|
[2238] | 1023 | }
|
---|
[2793] | 1024 | }
|
---|
[2112] | 1025 |
|
---|
[2793] | 1026 | // Check GPS
|
---|
| 1027 | // ---------
|
---|
| 1028 | if (irc == 0) {
|
---|
| 1029 | findMaxRes(vv,satDataGPS, prnCode, maxResCode, prnPhase, maxResPhase);
|
---|
| 1030 | if (maxResPhase > MAXRES_PHASE_GPS) {
|
---|
| 1031 | satDataGPS.remove(prnPhase);
|
---|
| 1032 | prnRemoved = prnPhase;
|
---|
| 1033 | maxRes = maxResPhase;
|
---|
| 1034 | irc = 1;
|
---|
[2780] | 1035 | }
|
---|
[2793] | 1036 | else if (maxResCode > MAXRES_CODE_GPS) {
|
---|
| 1037 | satDataGPS.remove(prnCode);
|
---|
| 1038 | prnRemoved = prnCode;
|
---|
| 1039 | maxRes = maxResCode;
|
---|
| 1040 | irc = 1;
|
---|
| 1041 | }
|
---|
[2780] | 1042 | }
|
---|
| 1043 |
|
---|
[2793] | 1044 | if (irc != 0) {
|
---|
[2792] | 1045 | _log += "Outlier " + prnRemoved.toAscii() + " "
|
---|
| 1046 | + QByteArray::number(maxRes, 'f', 3) + "\n";
|
---|
[2248] | 1047 | _QQ = QQsav;
|
---|
| 1048 | }
|
---|
[2793] | 1049 |
|
---|
| 1050 | return irc;
|
---|
[2112] | 1051 | }
|
---|
[2130] | 1052 |
|
---|
| 1053 | //
|
---|
| 1054 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1055 | void bncModel::writeNMEAstr(const QString& nmStr) {
|
---|
| 1056 |
|
---|
| 1057 | unsigned char XOR = 0;
|
---|
| 1058 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
| 1059 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
| 1060 | }
|
---|
[2181] | 1061 |
|
---|
| 1062 | QString outStr = '$' + nmStr
|
---|
| 1063 | + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
[2130] | 1064 |
|
---|
[2178] | 1065 | if (_nmeaStream) {
|
---|
[2181] | 1066 | *_nmeaStream << outStr;
|
---|
[2178] | 1067 | _nmeaStream->flush();
|
---|
| 1068 | }
|
---|
[2130] | 1069 |
|
---|
[2181] | 1070 | emit newNMEAstr(outStr.toAscii());
|
---|
[2130] | 1071 | }
|
---|
[2283] | 1072 |
|
---|
| 1073 | ////
|
---|
| 1074 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1075 | void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
|
---|
| 1076 | const DiagonalMatrix& PP,
|
---|
| 1077 | SymmetricMatrix& QQ, ColumnVector& dx) {
|
---|
| 1078 |
|
---|
| 1079 | int nObs = AA.Nrows();
|
---|
| 1080 | int nPar = AA.Ncols();
|
---|
| 1081 |
|
---|
| 1082 | UpperTriangularMatrix SS = Cholesky(QQ).t();
|
---|
| 1083 |
|
---|
| 1084 | Matrix SA = SS*AA.t();
|
---|
| 1085 | Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
|
---|
| 1086 | for (int ii = 1; ii <= nObs; ++ii) {
|
---|
| 1087 | SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
|
---|
| 1088 | }
|
---|
| 1089 |
|
---|
| 1090 | SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
|
---|
| 1091 | SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
|
---|
| 1092 |
|
---|
| 1093 | UpperTriangularMatrix UU;
|
---|
| 1094 | QRZ(SRF, UU);
|
---|
| 1095 |
|
---|
| 1096 | SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
|
---|
| 1097 | UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
|
---|
| 1098 | Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
|
---|
| 1099 |
|
---|
| 1100 | UpperTriangularMatrix SHi = SH_rt.i();
|
---|
| 1101 |
|
---|
| 1102 | Matrix KT = SHi * YY;
|
---|
| 1103 | SymmetricMatrix Hi; Hi << SHi * SHi.t();
|
---|
| 1104 |
|
---|
| 1105 | dx = KT.t() * ll;
|
---|
| 1106 | QQ << (SS.t() * SS);
|
---|
| 1107 | }
|
---|
[2582] | 1108 |
|
---|
| 1109 | // Phase Wind-Up Correction
|
---|
| 1110 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1111 | double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
|
---|
| 1112 | const ColumnVector& rRec) {
|
---|
| 1113 |
|
---|
| 1114 | double Mjd = _time.mjd() + _time.daysec() / 86400.0;
|
---|
| 1115 |
|
---|
| 1116 | // First time - initialize to zero
|
---|
| 1117 | // -------------------------------
|
---|
| 1118 | if (!_windUpTime.contains(prn)) {
|
---|
| 1119 | _windUpSum[prn] = 0.0;
|
---|
| 1120 | }
|
---|
| 1121 |
|
---|
| 1122 | // Compute the correction for new time
|
---|
| 1123 | // -----------------------------------
|
---|
[2942] | 1124 | if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
|
---|
[2582] | 1125 | _windUpTime[prn] = Mjd;
|
---|
| 1126 |
|
---|
| 1127 | // Unit Vector GPS Satellite --> Receiver
|
---|
| 1128 | // --------------------------------------
|
---|
| 1129 | ColumnVector rho = rRec - rSat;
|
---|
| 1130 | rho /= rho.norm_Frobenius();
|
---|
| 1131 |
|
---|
| 1132 | // GPS Satellite unit Vectors sz, sy, sx
|
---|
| 1133 | // -------------------------------------
|
---|
| 1134 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
|
---|
| 1135 |
|
---|
| 1136 | ColumnVector xSun = Sun(Mjd);
|
---|
| 1137 | xSun /= xSun.norm_Frobenius();
|
---|
| 1138 |
|
---|
| 1139 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
| 1140 | ColumnVector sx = crossproduct(sy, sz);
|
---|
| 1141 |
|
---|
| 1142 | // Effective Dipole of the GPS Satellite Antenna
|
---|
| 1143 | // ---------------------------------------------
|
---|
| 1144 | ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
|
---|
| 1145 | - crossproduct(rho, sy);
|
---|
| 1146 |
|
---|
| 1147 | // Receiver unit Vectors rx, ry
|
---|
| 1148 | // ----------------------------
|
---|
| 1149 | ColumnVector rx(3);
|
---|
| 1150 | ColumnVector ry(3);
|
---|
| 1151 |
|
---|
| 1152 | double recEll[3]; xyz2ell(rRec.data(), recEll) ;
|
---|
| 1153 | double neu[3];
|
---|
| 1154 |
|
---|
| 1155 | neu[0] = 1.0;
|
---|
| 1156 | neu[1] = 0.0;
|
---|
| 1157 | neu[2] = 0.0;
|
---|
| 1158 | neu2xyz(recEll, neu, rx.data());
|
---|
| 1159 |
|
---|
| 1160 | neu[0] = 0.0;
|
---|
| 1161 | neu[1] = -1.0;
|
---|
| 1162 | neu[2] = 0.0;
|
---|
| 1163 | neu2xyz(recEll, neu, ry.data());
|
---|
| 1164 |
|
---|
| 1165 | // Effective Dipole of the Receiver Antenna
|
---|
| 1166 | // ----------------------------------------
|
---|
| 1167 | ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
|
---|
| 1168 | + crossproduct(rho, ry);
|
---|
| 1169 |
|
---|
| 1170 | // Resulting Effect
|
---|
| 1171 | // ----------------
|
---|
| 1172 | double alpha = DotProduct(dipSat,dipRec) /
|
---|
| 1173 | (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
|
---|
| 1174 |
|
---|
| 1175 | if (alpha > 1.0) alpha = 1.0;
|
---|
| 1176 | if (alpha < -1.0) alpha = -1.0;
|
---|
| 1177 |
|
---|
| 1178 | double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
|
---|
| 1179 |
|
---|
| 1180 | if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
|
---|
| 1181 | dphi = -dphi;
|
---|
| 1182 | }
|
---|
| 1183 |
|
---|
| 1184 | _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
|
---|
| 1185 | }
|
---|
| 1186 |
|
---|
| 1187 | return _windUpSum[prn];
|
---|
| 1188 | }
|
---|
[2789] | 1189 |
|
---|
| 1190 | //
|
---|
| 1191 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1192 | void bncModel::cmpEle(t_satData* satData) {
|
---|
| 1193 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
|
---|
| 1194 | double rho = rr.norm_Frobenius();
|
---|
| 1195 |
|
---|
| 1196 | double neu[3];
|
---|
| 1197 | xyz2neu(_ellBanc.data(), rr.data(), neu);
|
---|
| 1198 |
|
---|
| 1199 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
|
---|
| 1200 | if (neu[2] < 0) {
|
---|
| 1201 | satData->eleSat *= -1.0;
|
---|
| 1202 | }
|
---|
| 1203 | satData->azSat = atan2(neu[1], neu[0]);
|
---|
| 1204 | }
|
---|
| 1205 |
|
---|
| 1206 | //
|
---|
| 1207 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1208 | void bncModel::addAmb(t_satData* satData) {
|
---|
| 1209 | bool found = false;
|
---|
| 1210 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1211 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 1212 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 1213 | found = true;
|
---|
| 1214 | break;
|
---|
| 1215 | }
|
---|
| 1216 | }
|
---|
| 1217 | if (!found) {
|
---|
| 1218 | bncParam* par = new bncParam(bncParam::AMB_L3,
|
---|
| 1219 | _params.size()+1, satData->prn);
|
---|
| 1220 | _params.push_back(par);
|
---|
| 1221 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
| 1222 | }
|
---|
| 1223 | }
|
---|
[2790] | 1224 |
|
---|
| 1225 | //
|
---|
| 1226 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1227 | void bncModel::addObs(unsigned& iObs, t_satData* satData,
|
---|
| 1228 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
|
---|
| 1229 |
|
---|
[2791] | 1230 | // Code Observations
|
---|
| 1231 | // -----------------
|
---|
[2790] | 1232 | if (satData->system() != 'R') {
|
---|
| 1233 | ++iObs;
|
---|
| 1234 | ll(iObs) = satData->P3 - cmpValue(satData, false);
|
---|
| 1235 | PP(iObs,iObs) = 1.0 / (_sigP3 * _sigP3);
|
---|
| 1236 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1237 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
| 1238 | }
|
---|
[2791] | 1239 | satData->indexCode = iObs;
|
---|
[2790] | 1240 | }
|
---|
| 1241 |
|
---|
[2791] | 1242 | // Phase Observations
|
---|
| 1243 | // ------------------
|
---|
[2790] | 1244 | if (_usePhase) {
|
---|
| 1245 | ++iObs;
|
---|
| 1246 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
| 1247 | PP(iObs,iObs) = 1.0 / (_sigL3 * _sigL3);
|
---|
| 1248 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1249 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 1250 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 1251 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
| 1252 | }
|
---|
| 1253 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
| 1254 | }
|
---|
[2791] | 1255 | satData->indexPhase = iObs;
|
---|
[2790] | 1256 | }
|
---|
| 1257 | }
|
---|
[2791] | 1258 |
|
---|
| 1259 | //
|
---|
| 1260 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1261 | void bncModel::printRes(const ColumnVector& vv,
|
---|
| 1262 | ostringstream& str, t_satData* satData) {
|
---|
[2800] | 1263 | if (satData->indexPhase) {
|
---|
[2797] | 1264 | str << _time.timestr(1)
|
---|
[2800] | 1265 | << " RES " << satData->prn.toAscii().data() << " L3 "
|
---|
| 1266 | << setw(9) << setprecision(4) << vv(satData->indexPhase);
|
---|
| 1267 | if (satData->indexCode) {
|
---|
| 1268 | str << " P3 " << setw(9) << setprecision(4) << vv(satData->indexCode);
|
---|
[2797] | 1269 | }
|
---|
| 1270 | str << endl;
|
---|
[2791] | 1271 | }
|
---|
| 1272 | }
|
---|
[2792] | 1273 |
|
---|
| 1274 | //
|
---|
| 1275 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1276 | void bncModel::findMaxRes(const ColumnVector& vv,
|
---|
| 1277 | const QMap<QString, t_satData*>& satData,
|
---|
| 1278 | QString& prnCode, double& maxResCode,
|
---|
| 1279 | QString& prnPhase, double& maxResPhase) {
|
---|
| 1280 | maxResCode = 0.0;
|
---|
| 1281 | maxResPhase = 0.0;
|
---|
| 1282 |
|
---|
| 1283 | QMapIterator<QString, t_satData*> it(satData);
|
---|
| 1284 | while (it.hasNext()) {
|
---|
| 1285 | it.next();
|
---|
| 1286 | t_satData* satData = it.value();
|
---|
| 1287 | if (satData->indexCode) {
|
---|
| 1288 | if (fabs(vv(satData->indexCode)) > maxResCode) {
|
---|
| 1289 | maxResCode = fabs(vv(satData->indexCode));
|
---|
| 1290 | prnCode = satData->prn;
|
---|
| 1291 | }
|
---|
| 1292 | }
|
---|
| 1293 | if (satData->indexPhase) {
|
---|
| 1294 | if (fabs(vv(satData->indexPhase)) > maxResPhase) {
|
---|
| 1295 | maxResPhase = fabs(vv(satData->indexPhase));
|
---|
| 1296 | prnPhase = satData->prn;
|
---|
| 1297 | }
|
---|
| 1298 | }
|
---|
| 1299 | }
|
---|
| 1300 | }
|
---|
| 1301 |
|
---|