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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42 | #include <cmath>
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43 | #include <newmatio.h>
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44 |
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45 | #include "bncmodel.h"
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46 | #include "bncpppclient.h"
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47 | #include "bancroft.h"
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48 | #include "bncutils.h"
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49 |
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50 | using namespace std;
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51 |
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52 | const unsigned MINOBS = 4;
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53 | const double MINELE = 10.0 * M_PI / 180.0;
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54 |
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55 | // Constructor
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56 | ////////////////////////////////////////////////////////////////////////////
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57 | bncParam::bncParam(bncParam::parType typeIn) {
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58 | type = typeIn;
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59 | }
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60 |
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61 | // Destructor
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62 | ////////////////////////////////////////////////////////////////////////////
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63 | bncParam::~bncParam() {
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64 | }
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65 |
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66 | // Partial
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67 | ////////////////////////////////////////////////////////////////////////////
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68 | double bncParam::partialP3(t_satData* satData) {
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69 | if (type == CRD_X) {
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70 | return (x0 - satData->xx(1)) / satData->rho;
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71 | }
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72 | else if (type == CRD_Y) {
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73 | return (x0 - satData->xx(2)) / satData->rho;
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74 | }
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75 | else if (type == CRD_Z) {
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76 | return (x0 - satData->xx(3)) / satData->rho;
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77 | }
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78 | else if (type == RECCLK) {
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79 | return 1.0;
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80 | }
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81 | return 0.0;
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82 | }
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83 |
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84 | // Constructor
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85 | ////////////////////////////////////////////////////////////////////////////
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86 | bncModel::bncModel() {
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87 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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88 | _params.push_back(new bncParam(bncParam::CRD_X));
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89 | _params.push_back(new bncParam(bncParam::CRD_Y));
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90 | _params.push_back(new bncParam(bncParam::CRD_Z));
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91 | _params.push_back(new bncParam(bncParam::RECCLK));
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92 | _ellBanc.ReSize(3);
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93 | }
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94 |
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95 | // Destructor
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96 | ////////////////////////////////////////////////////////////////////////////
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97 | bncModel::~bncModel() {
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98 | }
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99 |
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100 | // Bancroft Solution
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101 | ////////////////////////////////////////////////////////////////////////////
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102 | t_irc bncModel::cmpBancroft(t_epoData* epoData) {
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103 |
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104 | if (epoData->size() < MINOBS) {
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105 | return failure;
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106 | }
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107 |
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108 | Matrix BB(epoData->size(), 4);
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109 |
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110 | QMapIterator<QString, t_satData*> it(epoData->satData);
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111 | int iObs = 0;
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112 | while (it.hasNext()) {
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113 | ++iObs;
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114 | it.next();
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115 | QString prn = it.key();
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116 | t_satData* satData = it.value();
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117 | BB(iObs, 1) = satData->xx(1);
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118 | BB(iObs, 2) = satData->xx(2);
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119 | BB(iObs, 3) = satData->xx(3);
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120 | BB(iObs, 4) = satData->P3 + satData->clk;
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121 | }
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122 |
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123 | bancroft(BB, _xcBanc);
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124 |
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125 | // Set Parameter A Priori Values
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126 | // -----------------------------
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127 | QListIterator<bncParam*> itPar(_params);
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128 | while (itPar.hasNext()) {
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129 | bncParam* par = itPar.next();
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130 | if (par->type == bncParam::CRD_X) {
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131 | par->x0 = _xcBanc(1);
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132 | }
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133 | else if (par->type == bncParam::CRD_Y) {
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134 | par->x0 = _xcBanc(2);
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135 | }
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136 | else if (par->type == bncParam::CRD_Z) {
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137 | par->x0 = _xcBanc(3);
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138 | }
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139 | else if (par->type == bncParam::RECCLK) {
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140 | par->x0 = _xcBanc(4);
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141 | }
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142 | }
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143 |
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144 | // Ellipsoidal Coordinates
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145 | // ------------------------
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146 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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147 |
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148 | // Compute Satellite Elevations
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149 | // ----------------------------
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150 | QMutableMapIterator<QString, t_satData*> it2(epoData->satData);
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151 | while (it2.hasNext()) {
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152 | it2.next();
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153 | QString prn = it2.key();
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154 | t_satData* satData = it2.value();
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155 |
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156 | ColumnVector dx = satData->xx - _xcBanc.Rows(1,3);
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157 | double rho = dx.norm_Frobenius();
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158 |
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159 | double neu[3];
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160 | xyz2neu(_ellBanc.data(), dx.data(), neu);
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161 |
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162 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
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163 | if (neu[2] < 0) {
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164 | satData->eleSat *= -1.0;
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165 | }
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166 | satData->azSat = atan2(neu[1], neu[0]);
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167 |
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168 | if (satData->eleSat < MINELE) {
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169 | delete satData;
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170 | it2.remove();
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171 | }
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172 | }
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173 |
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174 | return success;
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175 | }
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176 |
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177 | // Computed Value
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178 | ////////////////////////////////////////////////////////////////////////////
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179 | double bncModel::cmpValueP3(t_satData* satData) {
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180 |
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181 | double rho0 = (satData->xx - _xcBanc.Rows(1,3)).norm_Frobenius();
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182 |
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183 | ColumnVector xRec(3);
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184 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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185 | xRec(1) = _xcBanc(1) * cos(dPhi) - _xcBanc(2) * sin(dPhi);
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186 | xRec(2) = _xcBanc(2) * cos(dPhi) + _xcBanc(1) * sin(dPhi);
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187 | xRec(3) = _xcBanc(3);
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188 |
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189 | satData->rho = (satData->xx - xRec).norm_Frobenius();
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190 |
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191 | double tropDelay = delay_saast(satData->eleSat);
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192 |
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193 | return satData->rho + _xcBanc(4) - satData->clk + tropDelay;
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194 | }
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195 |
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196 | // Tropospheric Model (Saastamoinen)
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197 | ////////////////////////////////////////////////////////////////////////////
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198 | double bncModel::delay_saast(double Ele) {
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199 |
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200 | double height = _ellBanc(3);
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201 |
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202 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
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203 | double TT = 18.0 - height * 0.0065 + 273.15;
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204 | double hh = 50.0 * exp(-6.396e-4 * height);
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205 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
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206 |
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207 | double h_km = height / 1000.0;
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208 |
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209 | if (h_km < 0.0) h_km = 0.0;
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210 | if (h_km > 5.0) h_km = 5.0;
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211 | int ii = int(h_km + 1);
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212 | double href = ii - 1;
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213 |
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214 | double bCor[6];
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215 | bCor[0] = 1.156;
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216 | bCor[1] = 1.006;
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217 | bCor[2] = 0.874;
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218 | bCor[3] = 0.757;
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219 | bCor[4] = 0.654;
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220 | bCor[5] = 0.563;
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221 |
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222 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
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223 |
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224 | double zen = M_PI/2.0 - Ele;
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225 |
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226 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
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227 | }
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228 |
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229 | // Update Step of the Filter (currently just a single-epoch solution)
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230 | ////////////////////////////////////////////////////////////////////////////
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231 | t_irc bncModel::update(t_epoData* epoData) {
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232 |
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233 | if (epoData->size() < MINOBS) {
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234 | return failure;
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235 | }
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236 |
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237 | unsigned nPar = _params.size();
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238 | unsigned nObs = epoData->size();
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239 |
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240 | // Create First-Design Matrix
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241 | // --------------------------
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242 | _AA.ReSize(nObs, nPar); // variance-covariance matrix
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243 | _ll.ReSize(nObs); // tems observed-computed
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244 |
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245 | unsigned iObs = 0;
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246 | QMapIterator<QString, t_satData*> itObs(epoData->satData);
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247 | while (itObs.hasNext()) {
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248 | ++iObs;
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249 | itObs.next();
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250 | QString prn = itObs.key();
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251 | t_satData* satData = itObs.value();
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252 | _ll(iObs) = satData->P3 - cmpValueP3(satData);
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253 |
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254 | unsigned iPar = 0;
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255 | QListIterator<bncParam*> itPar(_params);
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256 | while (itPar.hasNext()) {
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257 | ++iPar;
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258 | bncParam* par = itPar.next();
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259 | _AA(iObs, iPar) = par->partialP3(satData);
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260 | }
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261 | }
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262 |
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263 | // Compute Least-Squares Solution
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264 | // ------------------------------
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265 | _QQ.ReSize(nPar);
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266 | _QQ << _AA.t() * _AA;
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267 | _QQ = _QQ.i();
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268 | _dx = _QQ * _AA.t() * _ll;
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269 |
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270 | // Compute Residuals
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271 | // -----------------
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272 | ColumnVector vv = _AA * _dx - _ll;
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273 |
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274 | // Set Solution Vector
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275 | // -------------------
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276 | _xx.ReSize(nPar);
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277 | unsigned iPar = 0;
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278 | QListIterator<bncParam*> itPar(_params);
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279 | while (itPar.hasNext()) {
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280 | ++iPar;
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281 | bncParam* par = itPar.next();
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282 | _xx(iPar) = par->x0 + _dx(iPar);
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283 | }
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284 |
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285 | return success;
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286 | }
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