source: ntrip/trunk/BNC/bncmodel.cpp@ 4041

Last change on this file since 4041 was 3759, checked in by mervart, 13 years ago
File size: 37.8 KB
RevLine 
[2057]1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncParam, bncModel
30 *
31 * Purpose: Model for PPP
32 *
33 * Author: L. Mervart
34 *
35 * Created: 01-Dec-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iomanip>
[2063]42#include <cmath>
[2060]43#include <newmatio.h>
[2113]44#include <sstream>
[2057]45
46#include "bncmodel.h"
[3638]47#include "bncpppclient.h"
[2113]48#include "bncapp.h"
[2058]49#include "bncpppclient.h"
50#include "bancroft.h"
[2063]51#include "bncutils.h"
[2580]52#include "bnctides.h"
[2881]53#include "bncantex.h"
[3636]54#include "pppopt.h"
[2057]55
56using namespace std;
57
[3420]58const unsigned MINOBS = 5;
[3408]59const double MINELE = 10.0 * M_PI / 180.0;
[3759]60const double MAXRES_CODE = 15.0;
[3421]61const double MAXRES_PHASE_GPS = 0.04;
[3419]62const double MAXRES_PHASE_GLONASS = 0.08;
[3408]63const double GLONASS_WEIGHT_FACTOR = 5.0;
[2070]64
[2057]65// Constructor
66////////////////////////////////////////////////////////////////////////////
[2080]67bncParam::bncParam(bncParam::parType typeIn, int indexIn,
68 const QString& prnIn) {
69 type = typeIn;
70 index = indexIn;
71 prn = prnIn;
72 index_old = 0;
73 xx = 0.0;
[3330]74 numEpo = 0;
[2057]75}
76
77// Destructor
78////////////////////////////////////////////////////////////////////////////
79bncParam::~bncParam() {
80}
81
[2060]82// Partial
83////////////////////////////////////////////////////////////////////////////
[2239]84double bncParam::partial(t_satData* satData, bool phase) {
85
[3312]86 Tracer tracer("bncParam::partial");
87
[2239]88 // Coordinates
89 // -----------
[2060]90 if (type == CRD_X) {
[2109]91 return (xx - satData->xx(1)) / satData->rho;
[2060]92 }
93 else if (type == CRD_Y) {
[2109]94 return (xx - satData->xx(2)) / satData->rho;
[2060]95 }
96 else if (type == CRD_Z) {
[2109]97 return (xx - satData->xx(3)) / satData->rho;
[2060]98 }
[2239]99
100 // Receiver Clocks
101 // ---------------
[2265]102 else if (type == RECCLK) {
103 return 1.0;
[2060]104 }
[2239]105
106 // Troposphere
107 // -----------
[2084]108 else if (type == TROPO) {
109 return 1.0 / sin(satData->eleSat);
110 }
[2239]111
[2782]112 // Galileo Offset
113 // --------------
114 else if (type == GALILEO_OFFSET) {
115 if (satData->prn[0] == 'E') {
116 return 1.0;
117 }
118 else {
119 return 0.0;
120 }
121 }
122
[2239]123 // Ambiguities
124 // -----------
[2080]125 else if (type == AMB_L3) {
[2239]126 if (phase && satData->prn == prn) {
[2080]127 return 1.0;
128 }
129 else {
130 return 0.0;
131 }
132 }
[2239]133
134 // Default return
135 // --------------
[2060]136 return 0.0;
137}
138
[2058]139// Constructor
140////////////////////////////////////////////////////////////////////////////
[3638]141bncModel::bncModel(bncPPPclient* pppClient) {
[2084]142
[3638]143 _pppClient = pppClient;
144 _staID = pppClient->staID();
145 _opt = pppClient->opt();
[2113]146
[2125]147 // NMEA Output
148 // -----------
[3636]149 if (_opt->nmeaFile.isEmpty()) {
[2125]150 _nmeaFile = 0;
151 _nmeaStream = 0;
152 }
153 else {
[3636]154 QString hlpName = _opt->nmeaFile; expandEnvVar(hlpName);
155 _nmeaFile = new QFile(hlpName);
156 if (_opt->rnxAppend) {
[2125]157 _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
158 }
159 else {
160 _nmeaFile->open(QIODevice::WriteOnly);
161 }
162 _nmeaStream = new QTextStream();
163 _nmeaStream->setDevice(_nmeaFile);
164 }
[2881]165
[3107]166 // Antenna Name, ANTEX File
167 // ------------------------
[2896]168 _antex = 0;
[3636]169 if (!_opt->antexFile.isEmpty()) {
[2881]170 _antex = new bncAntex();
[3636]171 if (_antex->readFile(_opt->antexFile) != success) {
[3638]172 _pppClient->emitNewMessage("wrong ANTEX file", true);
[2887]173 delete _antex;
174 _antex = 0;
[2883]175 }
[2881]176 }
[3107]177
178 // Bancroft Coordinates
179 // --------------------
180 _xcBanc.ReSize(4); _xcBanc = 0.0;
181 _ellBanc.ReSize(3); _ellBanc = 0.0;
[3408]182
183 // Save copy of data (used in outlier detection)
184 // ---------------------------------------------
185 _epoData_sav = new t_epoData();
[2058]186}
187
[3108]188// Destructor
[3107]189////////////////////////////////////////////////////////////////////////////
[3108]190bncModel::~bncModel() {
191 delete _nmeaStream;
192 delete _nmeaFile;
193 for (int ii = 0; ii < _posAverage.size(); ++ii) {
194 delete _posAverage[ii];
195 }
196 delete _antex;
197 for (int iPar = 1; iPar <= _params.size(); iPar++) {
198 delete _params[iPar-1];
199 }
[3540]200 for (int iPar = 1; iPar <= _params_sav.size(); iPar++) {
201 delete _params_sav[iPar-1];
202 }
[3408]203 delete _epoData_sav;
[3108]204}
205
206// Reset Parameters and Variance-Covariance Matrix
207////////////////////////////////////////////////////////////////////////////
[3107]208void bncModel::reset() {
209
[3312]210 Tracer tracer("bncModel::reset");
211
[3107]212 for (int iPar = 1; iPar <= _params.size(); iPar++) {
213 delete _params[iPar-1];
214 }
215 _params.clear();
216
217 int nextPar = 0;
218 _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
219 _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
220 _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
221 _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
[3636]222 if (_opt->estTropo) {
[3107]223 _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
224 }
[3636]225 if (_opt->useGalileo) {
[3107]226 _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, ""));
227 }
228
229 _QQ.ReSize(_params.size());
230 _QQ = 0.0;
231 for (int iPar = 1; iPar <= _params.size(); iPar++) {
232 bncParam* pp = _params[iPar-1];
233 pp->xx = 0.0;
234 if (pp->isCrd()) {
[3636]235 _QQ(iPar,iPar) = _opt->sigCrd0 * _opt->sigCrd0;
[3107]236 }
237 else if (pp->type == bncParam::RECCLK) {
[3636]238 _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
[3107]239 }
240 else if (pp->type == bncParam::TROPO) {
[3636]241 _QQ(iPar,iPar) = _opt->sigTrp0 * _opt->sigTrp0;
[3107]242 }
243 else if (pp->type == bncParam::GALILEO_OFFSET) {
[3636]244 _QQ(iPar,iPar) = _opt->sigGalileoOffset0 * _opt->sigGalileoOffset0;
[3107]245 }
246 }
247}
248
[2058]249// Bancroft Solution
250////////////////////////////////////////////////////////////////////////////
251t_irc bncModel::cmpBancroft(t_epoData* epoData) {
252
[3312]253 Tracer tracer("bncModel::cmpBancroft");
254
[3408]255 if (epoData->sizeSys('G') < MINOBS) {
[2547]256 _log += "bncModel::cmpBancroft: not enough data\n";
[2058]257 return failure;
258 }
259
[3408]260 Matrix BB(epoData->sizeSys('G'), 4);
[2058]261
[3408]262 QMapIterator<QString, t_satData*> it(epoData->satData);
[2791]263 int iObsBanc = 0;
[2058]264 while (it.hasNext()) {
265 it.next();
266 t_satData* satData = it.value();
[3408]267 if (satData->system() == 'G') {
268 ++iObsBanc;
269 QString prn = it.key();
270 BB(iObsBanc, 1) = satData->xx(1);
271 BB(iObsBanc, 2) = satData->xx(2);
272 BB(iObsBanc, 3) = satData->xx(3);
273 BB(iObsBanc, 4) = satData->P3 + satData->clk;
274 }
[2058]275 }
276
277 bancroft(BB, _xcBanc);
278
[2064]279 // Ellipsoidal Coordinates
280 // ------------------------
281 xyz2ell(_xcBanc.data(), _ellBanc.data());
[2063]282
[2064]283 // Compute Satellite Elevations
284 // ----------------------------
[3408]285 QMutableMapIterator<QString, t_satData*> im(epoData->satData);
286 while (im.hasNext()) {
287 im.next();
288 t_satData* satData = im.value();
[2789]289 cmpEle(satData);
[3408]290 if (satData->eleSat < MINELE) {
[2070]291 delete satData;
[3408]292 im.remove();
[2070]293 }
[2064]294 }
295
[2058]296 return success;
297}
[2060]298
299// Computed Value
300////////////////////////////////////////////////////////////////////////////
[2583]301double bncModel::cmpValue(t_satData* satData, bool phase) {
[2060]302
[3312]303 Tracer tracer("bncModel::cmpValue");
304
[2073]305 ColumnVector xRec(3);
306 xRec(1) = x();
307 xRec(2) = y();
308 xRec(3) = z();
[2060]309
[2073]310 double rho0 = (satData->xx - xRec).norm_Frobenius();
[2060]311 double dPhi = t_CST::omega * rho0 / t_CST::c;
312
[2073]313 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
314 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
315 xRec(3) = z();
316
[2580]317 tides(_time, xRec);
318
[2060]319 satData->rho = (satData->xx - xRec).norm_Frobenius();
320
[2084]321 double tropDelay = delay_saast(satData->eleSat) +
322 trp() / sin(satData->eleSat);
[2060]323
[2583]324 double wind = 0.0;
325 if (phase) {
326 wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
327 }
328
[2783]329 double offset = 0.0;
330 if (satData->prn[0] == 'E') {
331 offset = Galileo_offset();
332 }
333
[2894]334 double phaseCenter = 0.0;
[2938]335 if (_antex) {
336 bool found;
[3636]337 phaseCenter = _antex->pco(_opt->antennaName, satData->eleSat, found);
[2938]338 if (!found) {
[3638]339 _pppClient->emitNewMessage("ANTEX: antenna >"
[3636]340 + _opt->antennaName.toAscii() + "< not found", true);
[2938]341 }
[2894]342 }
343
[3286]344 double antennaOffset = 0.0;
[3636]345 if (_opt->antEccSet()) {
[3287]346 double cosa = cos(satData->azSat);
347 double sina = sin(satData->azSat);
348 double cose = cos(satData->eleSat);
349 double sine = sin(satData->eleSat);
[3636]350 antennaOffset = -_opt->antEccNEU[0] * cosa*cose
351 -_opt->antEccNEU[1] * sina*cose
352 -_opt->antEccNEU[2] * sine;
[3286]353 }
354
355 return satData->rho + phaseCenter + antennaOffset + clk()
[2894]356 + offset - satData->clk + tropDelay + wind;
[2060]357}
358
[2063]359// Tropospheric Model (Saastamoinen)
360////////////////////////////////////////////////////////////////////////////
[2065]361double bncModel::delay_saast(double Ele) {
[2063]362
[3312]363 Tracer tracer("bncModel::delay_saast");
364
[2769]365 double xyz[3];
366 xyz[0] = x();
367 xyz[1] = y();
368 xyz[2] = z();
369 double ell[3];
370 xyz2ell(xyz, ell);
371 double height = ell[2];
[2063]372
[2064]373 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
374 double TT = 18.0 - height * 0.0065 + 273.15;
375 double hh = 50.0 * exp(-6.396e-4 * height);
[2063]376 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
377
[2064]378 double h_km = height / 1000.0;
[2063]379
380 if (h_km < 0.0) h_km = 0.0;
381 if (h_km > 5.0) h_km = 5.0;
382 int ii = int(h_km + 1);
383 double href = ii - 1;
384
385 double bCor[6];
386 bCor[0] = 1.156;
387 bCor[1] = 1.006;
388 bCor[2] = 0.874;
389 bCor[3] = 0.757;
390 bCor[4] = 0.654;
391 bCor[5] = 0.563;
392
393 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
394
395 double zen = M_PI/2.0 - Ele;
396
397 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
398}
399
[2073]400// Prediction Step of the Filter
401////////////////////////////////////////////////////////////////////////////
[3309]402void bncModel::predict(int iPhase, t_epoData* epoData) {
[2073]403
[3312]404 Tracer tracer("bncModel::predict");
405
[3310]406 if (iPhase == 0) {
[2244]407
[3310]408 bool firstCrd = false;
[3636]409 if (!_lastTimeOK.valid() || (_opt->maxSolGap > 0 && _time - _lastTimeOK > _opt->maxSolGap)) {
[3310]410 firstCrd = true;
411 _startTime = epoData->tt;
412 reset();
413 }
414
415 // Use different white noise for Quick-Start mode
416 // ----------------------------------------------
[3636]417 double sigCrdP_used = _opt->sigCrdP;
418 if ( _opt->quickStart > 0.0 && _opt->quickStart > (epoData->tt - _startTime) ) {
[3310]419 sigCrdP_used = 0.0;
420 }
[3106]421
[3310]422 // Predict Parameter values, add white noise
423 // -----------------------------------------
424 for (int iPar = 1; iPar <= _params.size(); iPar++) {
425 bncParam* pp = _params[iPar-1];
426
427 // Coordinates
428 // -----------
429 if (pp->type == bncParam::CRD_X) {
430 if (firstCrd) {
[3636]431 if (_opt->refCrdSet()) {
432 pp->xx = _opt->refCrd[0];
[3310]433 }
434 else {
435 pp->xx = _xcBanc(1);
436 }
[2648]437 }
[3310]438 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
[2244]439 }
[3310]440 else if (pp->type == bncParam::CRD_Y) {
441 if (firstCrd) {
[3636]442 if (_opt->refCrdSet()) {
443 pp->xx = _opt->refCrd[1];
[3310]444 }
445 else {
446 pp->xx = _xcBanc(2);
447 }
[2648]448 }
[3310]449 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
[2244]450 }
[3310]451 else if (pp->type == bncParam::CRD_Z) {
452 if (firstCrd) {
[3636]453 if (_opt->refCrdSet()) {
454 pp->xx = _opt->refCrd[2];
[3310]455 }
456 else {
457 pp->xx = _xcBanc(3);
458 }
[2648]459 }
[3310]460 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
461 }
462
463 // Receiver Clocks
464 // ---------------
465 else if (pp->type == bncParam::RECCLK) {
466 pp->xx = _xcBanc(4);
467 for (int jj = 1; jj <= _params.size(); jj++) {
468 _QQ(iPar, jj) = 0.0;
[2648]469 }
[3636]470 _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
[2244]471 }
[3310]472
473 // Tropospheric Delay
474 // ------------------
475 else if (pp->type == bncParam::TROPO) {
[3636]476 _QQ(iPar,iPar) += _opt->sigTrpP * _opt->sigTrpP;
[2244]477 }
[3310]478
479 // Galileo Offset
480 // --------------
481 else if (pp->type == bncParam::GALILEO_OFFSET) {
[3636]482 _QQ(iPar,iPar) += _opt->sigGalileoOffsetP * _opt->sigGalileoOffsetP;
[3310]483 }
[2244]484 }
485 }
486
487 // Add New Ambiguities if necessary
488 // --------------------------------
[3636]489 if (_opt->usePhase) {
[2080]490
[2083]491 // Make a copy of QQ and xx, set parameter indices
492 // -----------------------------------------------
493 SymmetricMatrix QQ_old = _QQ;
494
495 for (int iPar = 1; iPar <= _params.size(); iPar++) {
496 _params[iPar-1]->index_old = _params[iPar-1]->index;
497 _params[iPar-1]->index = 0;
498 }
499
500 // Remove Ambiguity Parameters without observations
501 // ------------------------------------------------
502 int iPar = 0;
[3408]503 QMutableVectorIterator<bncParam*> im(_params);
504 while (im.hasNext()) {
505 bncParam* par = im.next();
[2083]506 bool removed = false;
507 if (par->type == bncParam::AMB_L3) {
[3408]508 if (epoData->satData.find(par->prn) == epoData->satData.end()) {
[2083]509 removed = true;
510 delete par;
[3408]511 im.remove();
[2083]512 }
[2080]513 }
[2083]514 if (! removed) {
515 ++iPar;
516 par->index = iPar;
517 }
[2080]518 }
[2083]519
520 // Add new ambiguity parameters
521 // ----------------------------
[3408]522 QMapIterator<QString, t_satData*> it(epoData->satData);
523 while (it.hasNext()) {
524 it.next();
525 t_satData* satData = it.value();
[2789]526 addAmb(satData);
[2080]527 }
[2083]528
529 int nPar = _params.size();
530 _QQ.ReSize(nPar); _QQ = 0.0;
531 for (int i1 = 1; i1 <= nPar; i1++) {
532 bncParam* p1 = _params[i1-1];
533 if (p1->index_old != 0) {
534 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
535 for (int i2 = 1; i2 <= nPar; i2++) {
536 bncParam* p2 = _params[i2-1];
537 if (p2->index_old != 0) {
538 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
539 }
[2080]540 }
541 }
542 }
[2083]543
544 for (int ii = 1; ii <= nPar; ii++) {
545 bncParam* par = _params[ii-1];
546 if (par->index_old == 0) {
[3636]547 _QQ(par->index, par->index) = _opt->sigAmb0 * _opt->sigAmb0;
[2083]548 }
549 par->index_old = par->index;
[2080]550 }
551 }
[2073]552}
553
[2060]554// Update Step of the Filter (currently just a single-epoch solution)
555////////////////////////////////////////////////////////////////////////////
556t_irc bncModel::update(t_epoData* epoData) {
557
[3312]558 Tracer tracer("bncModel::update");
559
[2248]560 _log.clear();
[2124]561
[3536]562 _time = epoData->tt; // current epoch time
563
[3636]564 if (_opt->pppMode) {
[2827]565 _log += "Precise Point Positioning of Epoch "
566 + QByteArray(_time.timestr(1).c_str()) +
567 "\n---------------------------------------------------------------\n";
568 }
569 else {
570 _log += "Single Point Positioning of Epoch "
571 + QByteArray(_time.timestr(1).c_str()) +
[2547]572 "\n--------------------------------------------------------------\n";
[2827]573 }
[2547]574
[3307]575 // Outlier Detection Loop
[2113]576 // ----------------------
[3321]577 if (update_p(epoData) != success) {
[3638]578 _pppClient->emitNewMessage(_log, false);
[3307]579 return failure;
580 }
[2080]581
[2670]582 // Remember the Epoch-specific Results for the computation of means
583 // ----------------------------------------------------------------
584 pppPos* newPos = new pppPos;
585 newPos->time = epoData->tt;
586
[2109]587 // Set Solution Vector
588 // -------------------
[2265]589 ostringstream strB;
590 strB.setf(ios::fixed);
[2073]591 QVectorIterator<bncParam*> itPar(_params);
[2060]592 while (itPar.hasNext()) {
593 bncParam* par = itPar.next();
[2265]594
595 if (par->type == bncParam::RECCLK) {
[2798]596 strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
[2124]597 << " +- " << setw(6) << setprecision(3)
598 << sqrt(_QQ(par->index,par->index));
599 }
600 else if (par->type == bncParam::AMB_L3) {
[3330]601 ++par->numEpo;
[2265]602 strB << "\n amb " << par->prn.toAscii().data() << " = "
[2798]603 << setw(10) << setprecision(3) << par->xx
[2124]604 << " +- " << setw(6) << setprecision(3)
[3330]605 << sqrt(_QQ(par->index,par->index))
606 << " nEpo = " << par->numEpo;
[2124]607 }
[2212]608 else if (par->type == bncParam::TROPO) {
[2670]609 double aprTrp = delay_saast(M_PI/2.0);
[2547]610 strB << "\n trp = " << par->prn.toAscii().data()
[2670]611 << setw(7) << setprecision(3) << aprTrp << " "
[2213]612 << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
[2212]613 << " +- " << setw(6) << setprecision(3)
614 << sqrt(_QQ(par->index,par->index));
[2670]615 newPos->xnt[6] = aprTrp + par->xx;
[2212]616 }
[2782]617 else if (par->type == bncParam::GALILEO_OFFSET) {
[2798]618 strB << "\n offset = " << setw(10) << setprecision(3) << par->xx
[2782]619 << " +- " << setw(6) << setprecision(3)
620 << sqrt(_QQ(par->index,par->index));
621 }
[2060]622 }
[2265]623 strB << '\n';
[2547]624 _log += strB.str().c_str();
[3638]625 _pppClient->emitNewMessage(_log, false);
[2060]626
[2547]627 // Final Message (both log file and screen)
628 // ----------------------------------------
629 ostringstream strC;
630 strC.setf(ios::fixed);
631 strC << _staID.data() << " PPP "
[2599]632 << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
[2231]633 << setw(14) << setprecision(3) << x() << " +- "
634 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
635 << setw(14) << setprecision(3) << y() << " +- "
636 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
637 << setw(14) << setprecision(3) << z() << " +- "
[2124]638 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
[2113]639
[2370]640 // NEU Output
641 // ----------
[3636]642 if (_opt->refCrdSet()) {
643 newPos->xnt[0] = x() - _opt->refCrd[0];
644 newPos->xnt[1] = y() - _opt->refCrd[1];
645 newPos->xnt[2] = z() - _opt->refCrd[2];
[2862]646
[2649]647 double ellRef[3];
[3636]648 xyz2ell(_opt->refCrd, ellRef);
[2670]649 xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
[2649]650
[2547]651 strC << " NEU "
[2670]652 << setw(8) << setprecision(3) << newPos->xnt[3] << " "
653 << setw(8) << setprecision(3) << newPos->xnt[4] << " "
[2797]654 << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
[2649]655
[2370]656 }
657
[3638]658 _pppClient->emitNewMessage(QByteArray(strC.str().c_str()), true);
[2547]659
[3636]660 if (_opt->pppAverage == 0.0) {
[2671]661 delete newPos;
662 }
663 else {
664
665 _posAverage.push_back(newPos);
[2599]666
[2648]667 // Compute the Mean
668 // ----------------
[2670]669 ColumnVector mean(7); mean = 0.0;
[2648]670
[2599]671 QMutableVectorIterator<pppPos*> it(_posAverage);
672 while (it.hasNext()) {
673 pppPos* pp = it.next();
[3636]674 if ( (epoData->tt - pp->time) >= _opt->pppAverage ) {
[2599]675 delete pp;
676 it.remove();
677 }
[2648]678 else {
[2670]679 for (int ii = 0; ii < 7; ++ii) {
680 mean[ii] += pp->xnt[ii];
[2649]681 }
[2648]682 }
[2599]683 }
[2648]684
685 int nn = _posAverage.size();
686
[2649]687 if (nn > 0) {
[2648]688
[2649]689 mean /= nn;
690
691 // Compute the Deviation
692 // ---------------------
[2670]693 ColumnVector std(7); std = 0.0;
[2649]694 QVectorIterator<pppPos*> it2(_posAverage);
695 while (it2.hasNext()) {
696 pppPos* pp = it2.next();
[2670]697 for (int ii = 0; ii < 7; ++ii) {
698 std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
[2649]699 }
700 }
[2670]701 for (int ii = 0; ii < 7; ++ii) {
[2649]702 std[ii] = sqrt(std[ii] / nn);
703 }
[3169]704
[3636]705 if (_opt->refCrdSet()) {
[3169]706 ostringstream strD; strD.setf(ios::fixed);
707 strD << _staID.data() << " AVE-XYZ "
708 << epoData->tt.timestr(1) << " "
[3636]709 << setw(13) << setprecision(3) << mean[0] + _opt->refCrd[0] << " +- "
[3169]710 << setw(6) << setprecision(3) << std[0] << " "
[3636]711 << setw(14) << setprecision(3) << mean[1] + _opt->refCrd[1] << " +- "
[3169]712 << setw(6) << setprecision(3) << std[1] << " "
[3636]713 << setw(14) << setprecision(3) << mean[2] + _opt->refCrd[2] << " +- "
[3169]714 << setw(6) << setprecision(3) << std[2];
[3638]715 _pppClient->emitNewMessage(QByteArray(strD.str().c_str()), true);
[2649]716
[3169]717 ostringstream strE; strE.setf(ios::fixed);
718 strE << _staID.data() << " AVE-NEU "
719 << epoData->tt.timestr(1) << " "
720 << setw(13) << setprecision(3) << mean[3] << " +- "
721 << setw(6) << setprecision(3) << std[3] << " "
722 << setw(14) << setprecision(3) << mean[4] << " +- "
723 << setw(6) << setprecision(3) << std[4] << " "
724 << setw(14) << setprecision(3) << mean[5] << " +- "
725 << setw(6) << setprecision(3) << std[5];
[3638]726 _pppClient->emitNewMessage(QByteArray(strE.str().c_str()), true);
[2649]727
[3636]728 if (_opt->estTropo) {
[3169]729 ostringstream strF; strF.setf(ios::fixed);
730 strF << _staID.data() << " AVE-TRP "
731 << epoData->tt.timestr(1) << " "
732 << setw(13) << setprecision(3) << mean[6] << " +- "
733 << setw(6) << setprecision(3) << std[6] << endl;
[3638]734 _pppClient->emitNewMessage(QByteArray(strF.str().c_str()), true);
[3169]735 }
[2726]736 }
[2599]737 }
738 }
739
[2131]740 // NMEA Output
741 // -----------
[2181]742 double xyz[3];
743 xyz[0] = x();
744 xyz[1] = y();
745 xyz[2] = z();
746 double ell[3];
747 xyz2ell(xyz, ell);
748 double phiDeg = ell[0] * 180 / M_PI;
749 double lamDeg = ell[1] * 180 / M_PI;
[2132]750
[2181]751 char phiCh = 'N';
752 if (phiDeg < 0) {
753 phiDeg = -phiDeg;
754 phiCh = 'S';
755 }
756 char lamCh = 'E';
757 if (lamDeg < 0) {
[2563]758 lamDeg = -lamDeg;
759 lamCh = 'W';
[2181]760 }
[2132]761
[2566]762 string datestr = epoData->tt.datestr(0); // yyyymmdd
763 ostringstream strRMC;
764 strRMC.setf(ios::fixed);
765 strRMC << "GPRMC,"
766 << epoData->tt.timestr(0,0) << ",A,"
767 << setw(2) << setfill('0') << int(phiDeg)
768 << setw(6) << setprecision(3) << setfill('0')
769 << fmod(60*phiDeg,60) << ',' << phiCh << ','
770 << setw(3) << setfill('0') << int(lamDeg)
771 << setw(6) << setprecision(3) << setfill('0')
772 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
[2569]773 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
774 << datestr[2] << datestr[3] << ",,";
[2566]775
776 writeNMEAstr(QString(strRMC.str().c_str()));
777
[2181]778 double dop = 2.0; // TODO
[2133]779
[2566]780 ostringstream strGGA;
781 strGGA.setf(ios::fixed);
782 strGGA << "GPGGA,"
783 << epoData->tt.timestr(0,0) << ','
784 << setw(2) << setfill('0') << int(phiDeg)
785 << setw(10) << setprecision(7) << setfill('0')
786 << fmod(60*phiDeg,60) << ',' << phiCh << ','
787 << setw(3) << setfill('0') << int(lamDeg)
788 << setw(10) << setprecision(7) << setfill('0')
789 << fmod(60*lamDeg,60) << ',' << lamCh
790 << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
791 << setw(3) << setprecision(1) << dop << ','
[2569]792 << setprecision(3) << ell[2] << ",M,0.0,M,,";
[2181]793
[2566]794 writeNMEAstr(QString(strGGA.str().c_str()));
[2131]795
[3106]796 _lastTimeOK = _time; // remember time of last successful update
[2060]797 return success;
798}
[2112]799
800// Outlier Detection
801////////////////////////////////////////////////////////////////////////////
[3412]802QString bncModel::outlierDetection(int iPhase, const ColumnVector& vv,
803 QMap<QString, t_satData*>& satData) {
[2112]804
[3312]805 Tracer tracer("bncModel::outlierDetection");
806
[3414]807 QString prnGPS;
808 QString prnGlo;
809 double maxResGPS = 0.0;
810 double maxResGlo = 0.0;
811 findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo);
[2231]812
[3414]813 if (iPhase == 1) {
814 if (maxResGlo > MAXRES_PHASE_GLONASS) {
815 _log += "Outlier Phase " + prnGlo + " "
816 + QByteArray::number(maxResGlo, 'f', 3) + "\n";
817 return prnGlo;
818 }
819 else if (maxResGPS > MAXRES_PHASE_GPS) {
820 _log += "Outlier Phase " + prnGPS + " "
821 + QByteArray::number(maxResGPS, 'f', 3) + "\n";
822 return prnGPS;
823 }
[2792]824 }
[3414]825 else if (iPhase == 0 && maxResGPS > MAXRES_CODE) {
826 _log += "Outlier Code " + prnGPS + " "
827 + QByteArray::number(maxResGPS, 'f', 3) + "\n";
828 return prnGPS;
[3408]829 }
[3414]830
831 return QString();
[2112]832}
[2130]833
834//
835////////////////////////////////////////////////////////////////////////////
836void bncModel::writeNMEAstr(const QString& nmStr) {
837
[3312]838 Tracer tracer("bncModel::writeNMEAstr");
839
[2130]840 unsigned char XOR = 0;
841 for (int ii = 0; ii < nmStr.length(); ii++) {
842 XOR ^= (unsigned char) nmStr[ii].toAscii();
843 }
[2181]844
845 QString outStr = '$' + nmStr
846 + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
[2130]847
[2178]848 if (_nmeaStream) {
[2181]849 *_nmeaStream << outStr;
[2178]850 _nmeaStream->flush();
851 }
[2130]852
[3638]853 _pppClient->emitNewNMEAstr(outStr.toAscii());
[2130]854}
[2283]855
[3408]856//
[2283]857//////////////////////////////////////////////////////////////////////////////
858void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
859 const DiagonalMatrix& PP,
860 SymmetricMatrix& QQ, ColumnVector& dx) {
861
[3312]862 Tracer tracer("bncModel::kalman");
863
[2283]864 int nObs = AA.Nrows();
865 int nPar = AA.Ncols();
866
867 UpperTriangularMatrix SS = Cholesky(QQ).t();
868
869 Matrix SA = SS*AA.t();
870 Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
871 for (int ii = 1; ii <= nObs; ++ii) {
872 SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
873 }
874
875 SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
876 SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
877
878 UpperTriangularMatrix UU;
879 QRZ(SRF, UU);
880
881 SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
882 UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
883 Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
884
885 UpperTriangularMatrix SHi = SH_rt.i();
886
887 Matrix KT = SHi * YY;
888 SymmetricMatrix Hi; Hi << SHi * SHi.t();
889
890 dx = KT.t() * ll;
891 QQ << (SS.t() * SS);
892}
[2582]893
894// Phase Wind-Up Correction
895///////////////////////////////////////////////////////////////////////////
896double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
897 const ColumnVector& rRec) {
898
[3312]899 Tracer tracer("bncModel::windUp");
900
[2582]901 double Mjd = _time.mjd() + _time.daysec() / 86400.0;
902
903 // First time - initialize to zero
904 // -------------------------------
905 if (!_windUpTime.contains(prn)) {
906 _windUpSum[prn] = 0.0;
907 }
908
909 // Compute the correction for new time
910 // -----------------------------------
[2942]911 if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
[2582]912 _windUpTime[prn] = Mjd;
913
914 // Unit Vector GPS Satellite --> Receiver
915 // --------------------------------------
916 ColumnVector rho = rRec - rSat;
917 rho /= rho.norm_Frobenius();
918
919 // GPS Satellite unit Vectors sz, sy, sx
920 // -------------------------------------
921 ColumnVector sz = -rSat / rSat.norm_Frobenius();
922
923 ColumnVector xSun = Sun(Mjd);
924 xSun /= xSun.norm_Frobenius();
925
926 ColumnVector sy = crossproduct(sz, xSun);
927 ColumnVector sx = crossproduct(sy, sz);
928
929 // Effective Dipole of the GPS Satellite Antenna
930 // ---------------------------------------------
931 ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
932 - crossproduct(rho, sy);
933
934 // Receiver unit Vectors rx, ry
935 // ----------------------------
936 ColumnVector rx(3);
937 ColumnVector ry(3);
938
939 double recEll[3]; xyz2ell(rRec.data(), recEll) ;
940 double neu[3];
941
942 neu[0] = 1.0;
943 neu[1] = 0.0;
944 neu[2] = 0.0;
945 neu2xyz(recEll, neu, rx.data());
946
947 neu[0] = 0.0;
948 neu[1] = -1.0;
949 neu[2] = 0.0;
950 neu2xyz(recEll, neu, ry.data());
951
952 // Effective Dipole of the Receiver Antenna
953 // ----------------------------------------
954 ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
955 + crossproduct(rho, ry);
956
957 // Resulting Effect
958 // ----------------
959 double alpha = DotProduct(dipSat,dipRec) /
960 (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
961
962 if (alpha > 1.0) alpha = 1.0;
963 if (alpha < -1.0) alpha = -1.0;
964
965 double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
966
967 if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
968 dphi = -dphi;
969 }
970
971 _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
972 }
973
974 return _windUpSum[prn];
975}
[2789]976
977//
978///////////////////////////////////////////////////////////////////////////
979void bncModel::cmpEle(t_satData* satData) {
[3312]980 Tracer tracer("bncModel::cmpEle");
[2789]981 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
982 double rho = rr.norm_Frobenius();
983
984 double neu[3];
985 xyz2neu(_ellBanc.data(), rr.data(), neu);
986
987 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
988 if (neu[2] < 0) {
989 satData->eleSat *= -1.0;
990 }
991 satData->azSat = atan2(neu[1], neu[0]);
992}
993
994//
995///////////////////////////////////////////////////////////////////////////
996void bncModel::addAmb(t_satData* satData) {
[3312]997 Tracer tracer("bncModel::addAmb");
[2789]998 bool found = false;
999 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1000 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
1001 _params[iPar-1]->prn == satData->prn) {
1002 found = true;
1003 break;
1004 }
1005 }
1006 if (!found) {
1007 bncParam* par = new bncParam(bncParam::AMB_L3,
1008 _params.size()+1, satData->prn);
1009 _params.push_back(par);
1010 par->xx = satData->L3 - cmpValue(satData, true);
1011 }
1012}
[2790]1013
1014//
1015///////////////////////////////////////////////////////////////////////////
[3309]1016void bncModel::addObs(int iPhase, unsigned& iObs, t_satData* satData,
[2790]1017 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
1018
[3312]1019 Tracer tracer("bncModel::addObs");
1020
[3316]1021 const double ELEWGHT = 20.0;
[3314]1022 double ellWgtCoef = 1.0;
1023 double eleD = satData->eleSat * 180.0 / M_PI;
1024 if (eleD < ELEWGHT) {
[3317]1025 ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0);
[3314]1026 }
1027
[3408]1028 // Remember Observation Index
1029 // --------------------------
1030 ++iObs;
1031 satData->obsIndex = iObs;
1032
[2791]1033 // Phase Observations
1034 // ------------------
[3309]1035 if (iPhase == 1) {
[2790]1036 ll(iObs) = satData->L3 - cmpValue(satData, true);
[3636]1037 double sigL3 = _opt->sigL3;
[3319]1038 if (satData->system() == 'R') {
[3408]1039 sigL3 *= GLONASS_WEIGHT_FACTOR;
[3319]1040 }
[3408]1041 PP(iObs,iObs) = 1.0 / (sigL3 * sigL3) / (ellWgtCoef * ellWgtCoef);
[2790]1042 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1043 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
1044 _params[iPar-1]->prn == satData->prn) {
1045 ll(iObs) -= _params[iPar-1]->xx;
1046 }
1047 AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
1048 }
1049 }
[3307]1050
1051 // Code Observations
1052 // -----------------
1053 else {
1054 ll(iObs) = satData->P3 - cmpValue(satData, false);
[3636]1055 PP(iObs,iObs) = 1.0 / (_opt->sigP3 * _opt->sigP3) / (ellWgtCoef * ellWgtCoef);
[3307]1056 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1057 AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
1058 }
1059 }
[2790]1060}
[2791]1061
1062//
1063///////////////////////////////////////////////////////////////////////////
[3408]1064QByteArray bncModel::printRes(int iPhase, const ColumnVector& vv,
1065 const QMap<QString, t_satData*>& satDataMap) {
1066
[3312]1067 Tracer tracer("bncModel::printRes");
[3408]1068
1069 ostringstream str;
1070 str.setf(ios::fixed);
1071
1072 QMapIterator<QString, t_satData*> it(satDataMap);
1073 while (it.hasNext()) {
1074 it.next();
1075 t_satData* satData = it.value();
1076 if (satData->obsIndex != 0) {
1077 str << _time.timestr(1)
1078 << " RES " << satData->prn.toAscii().data()
1079 << (iPhase ? " L3 " : " P3 ")
1080 << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl;
1081 }
[2791]1082 }
[3408]1083
1084 return QByteArray(str.str().c_str());
[2791]1085}
[2792]1086
1087//
1088///////////////////////////////////////////////////////////////////////////
[3408]1089void bncModel::findMaxRes(const ColumnVector& vv,
[2792]1090 const QMap<QString, t_satData*>& satData,
[3414]1091 QString& prnGPS, QString& prnGlo,
1092 double& maxResGPS, double& maxResGlo) {
[3408]1093
[3312]1094 Tracer tracer("bncModel::findMaxRes");
[2792]1095
[3414]1096 maxResGPS = 0.0;
1097 maxResGlo = 0.0;
[3408]1098
[2792]1099 QMapIterator<QString, t_satData*> it(satData);
1100 while (it.hasNext()) {
1101 it.next();
1102 t_satData* satData = it.value();
[3414]1103 if (satData->obsIndex != 0) {
1104 QString prn = satData->prn;
1105 if (prn[0] == 'R') {
1106 if (fabs(vv(satData->obsIndex)) > maxResGlo) {
1107 maxResGlo = fabs(vv(satData->obsIndex));
1108 prnGlo = prn;
1109 }
1110 }
1111 else {
1112 if (fabs(vv(satData->obsIndex)) > maxResGPS) {
1113 maxResGPS = fabs(vv(satData->obsIndex));
1114 prnGPS = prn;
1115 }
1116 }
[2792]1117 }
1118 }
1119}
1120
[3307]1121// Update Step (private - loop over outliers)
1122////////////////////////////////////////////////////////////////////////////
[3321]1123t_irc bncModel::update_p(t_epoData* epoData) {
[3307]1124
[3312]1125 Tracer tracer("bncModel::update_p");
1126
[3408]1127 // Save Variance-Covariance Matrix, and Status Vector
1128 // --------------------------------------------------
1129 rememberState(epoData);
[3307]1130
[3412]1131 QString lastOutlierPrn;
[3375]1132
[3408]1133 // Try with all satellites, then with all minus one, etc.
1134 // ------------------------------------------------------
[3412]1135 while (selectSatellites(lastOutlierPrn, epoData->satData) == success) {
[3307]1136
[3412]1137 QByteArray strResCode;
1138 QByteArray strResPhase;
1139
1140 // Bancroft Solution
1141 // -----------------
1142 if (cmpBancroft(epoData) != success) {
1143 break;
[3408]1144 }
[3406]1145
[3412]1146 // First update using code observations, then phase observations
1147 // -------------------------------------------------------------
[3636]1148 for (int iPhase = 0; iPhase <= (_opt->usePhase ? 1 : 0); iPhase++) {
[3412]1149
1150 // Status Prediction
1151 // -----------------
1152 predict(iPhase, epoData);
1153
1154 // Create First-Design Matrix
1155 // --------------------------
1156 unsigned nPar = _params.size();
1157 unsigned nObs = 0;
1158 if (iPhase == 0) {
1159 nObs = epoData->sizeAll() - epoData->sizeSys('R'); // Glonass code not used
[3408]1160 }
[3412]1161 else {
1162 nObs = epoData->sizeAll();
[3409]1163 }
[3412]1164
1165 // Prepare first-design Matrix, vector observed-computed
1166 // -----------------------------------------------------
1167 Matrix AA(nObs, nPar); // first design matrix
1168 ColumnVector ll(nObs); // tems observed-computed
1169 DiagonalMatrix PP(nObs); PP = 0.0;
1170
1171 unsigned iObs = 0;
1172 QMapIterator<QString, t_satData*> it(epoData->satData);
1173 while (it.hasNext()) {
1174 it.next();
1175 t_satData* satData = it.value();
1176 if (iPhase == 1 || satData->system() != 'R') {
1177 QString prn = satData->prn;
1178 addObs(iPhase, iObs, satData, AA, ll, PP);
1179 }
[3408]1180 }
1181
[3412]1182 // Compute Filter Update
1183 // ---------------------
[3422]1184 ColumnVector dx;
[3412]1185 kalman(AA, ll, PP, _QQ, dx);
1186 ColumnVector vv = ll - AA * dx;
1187
1188 // Print Residuals
1189 // ---------------
1190 if (iPhase == 0) {
1191 strResCode = printRes(iPhase, vv, epoData->satData);
[3399]1192 }
[3412]1193 else {
1194 strResPhase = printRes(iPhase, vv, epoData->satData);
1195 }
[3408]1196
[3412]1197 // Check the residuals
1198 // -------------------
1199 lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData);
[3408]1200
[3412]1201 // No Outlier Detected
1202 // -------------------
1203 if (lastOutlierPrn.isEmpty()) {
[3413]1204
[3422]1205 QVectorIterator<bncParam*> itPar(_params);
1206 while (itPar.hasNext()) {
1207 bncParam* par = itPar.next();
1208 par->xx += dx(par->index);
1209 }
[3413]1210
[3636]1211 if (!_opt->usePhase || iPhase == 1) {
[3413]1212 if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) {
1213 _log += "Neglected PRNs: ";
[3415]1214 if (!_outlierGPS.isEmpty()) {
1215 _log += _outlierGPS.last() + ' ';
[3413]1216 }
1217 QStringListIterator itGlo(_outlierGlo);
1218 while (itGlo.hasNext()) {
1219 QString prn = itGlo.next();
1220 _log += prn + ' ';
1221 }
1222 }
1223 _log += '\n';
1224
[3408]1225 _log += strResCode + strResPhase;
[3413]1226
[3408]1227 return success;
[3393]1228 }
[3412]1229 }
[3393]1230
[3412]1231 // Outlier Found
1232 // -------------
1233 else {
1234 restoreState(epoData);
1235 break;
1236 }
[3406]1237
[3412]1238 } // for iPhase
[3406]1239
[3412]1240 } // while selectSatellites
[3375]1241
[3412]1242 restoreState(epoData);
[3408]1243 return failure;
[3323]1244}
1245
1246// Remeber Original State Vector and Variance-Covariance Matrix
1247////////////////////////////////////////////////////////////////////////////
[3408]1248void bncModel::rememberState(t_epoData* epoData) {
[3323]1249
1250 _QQ_sav = _QQ;
1251
1252 QVectorIterator<bncParam*> itSav(_params_sav);
1253 while (itSav.hasNext()) {
1254 bncParam* par = itSav.next();
[3322]1255 delete par;
1256 }
[3323]1257 _params_sav.clear();
1258
1259 QVectorIterator<bncParam*> it(_params);
1260 while (it.hasNext()) {
1261 bncParam* par = it.next();
1262 _params_sav.push_back(new bncParam(*par));
1263 }
[3408]1264
1265 _epoData_sav->deepCopy(epoData);
[3307]1266}
[3323]1267
1268// Restore Original State Vector and Variance-Covariance Matrix
1269////////////////////////////////////////////////////////////////////////////
[3408]1270void bncModel::restoreState(t_epoData* epoData) {
[3323]1271
1272 _QQ = _QQ_sav;
1273
1274 QVectorIterator<bncParam*> it(_params);
1275 while (it.hasNext()) {
1276 bncParam* par = it.next();
1277 delete par;
1278 }
1279 _params.clear();
1280
1281 QVectorIterator<bncParam*> itSav(_params_sav);
1282 while (itSav.hasNext()) {
1283 bncParam* par = itSav.next();
1284 _params.push_back(new bncParam(*par));
1285 }
[3408]1286
1287 epoData->deepCopy(_epoData_sav);
[3405]1288}
[3412]1289
1290//
1291////////////////////////////////////////////////////////////////////////////
1292t_irc bncModel::selectSatellites(const QString& lastOutlierPrn,
1293 QMap<QString, t_satData*>& satData) {
1294
1295 // First Call
1296 // ----------
1297 if (lastOutlierPrn.isEmpty()) {
1298 _outlierGPS.clear();
1299 _outlierGlo.clear();
1300 return success;
1301 }
1302
1303 // Second and next trials
1304 // ----------------------
1305 else {
1306
1307 if (lastOutlierPrn[0] == 'R') {
1308 _outlierGlo << lastOutlierPrn;
1309 }
1310
1311 // Remove all Glonass Outliers
1312 // ---------------------------
1313 QStringListIterator it(_outlierGlo);
1314 while (it.hasNext()) {
1315 QString prn = it.next();
1316 if (satData.contains(prn)) {
1317 delete satData.take(prn);
1318 }
1319 }
1320
1321 if (lastOutlierPrn[0] == 'R') {
1322 _outlierGPS.clear();
1323 return success;
1324 }
1325
1326 // GPS Outlier appeared for the first time - try to delete it
1327 // ----------------------------------------------------------
1328 if (_outlierGPS.indexOf(lastOutlierPrn) == -1) {
1329 _outlierGPS << lastOutlierPrn;
1330 if (satData.contains(lastOutlierPrn)) {
1331 delete satData.take(lastOutlierPrn);
1332 }
1333 return success;
1334 }
1335
1336 }
1337
1338 return failure;
1339}
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