[2898] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: bncComb
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| 6 | *
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| 7 | * Purpose: Combinations of Orbit/Clock Corrections
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 22-Jan-2011
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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[2933] | 17 | #include <newmatio.h>
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[2921] | 18 | #include <iomanip>
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[2898] | 19 |
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| 20 | #include "bnccomb.h"
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| 21 | #include "bncapp.h"
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[2927] | 22 | #include "cmbcaster.h"
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[2910] | 23 | #include "bncsettings.h"
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[2933] | 24 | #include "bncmodel.h"
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[2898] | 25 |
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| 26 | using namespace std;
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| 27 |
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| 28 | // Constructor
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| 29 | ////////////////////////////////////////////////////////////////////////////
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[2933] | 30 | cmbParam::cmbParam(cmbParam::parType typeIn, int indexIn,
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| 31 | const QString& acIn, const QString& prnIn) {
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| 32 | type = typeIn;
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| 33 | index = indexIn;
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| 34 | AC = acIn;
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| 35 | prn = prnIn;
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| 36 | xx = 0.0;
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| 37 | }
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| 38 |
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| 39 | // Destructor
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| 40 | ////////////////////////////////////////////////////////////////////////////
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| 41 | cmbParam::~cmbParam() {
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| 42 | }
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| 43 |
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| 44 | // Partial
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| 45 | ////////////////////////////////////////////////////////////////////////////
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| 46 | double cmbParam::partial(const QString& acIn, t_corr* corr) {
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| 47 |
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[2934] | 48 | if (type == AC_offset) {
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| 49 | if (AC == acIn) {
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| 50 | return 1.0;
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| 51 | }
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| 52 | }
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| 53 | else if (type == Sat_offset) {
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[2933] | 54 | if (AC == acIn && prn == corr->prn) {
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| 55 | return 1.0;
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| 56 | }
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| 57 | }
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| 58 | else if (type == clk) {
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| 59 | if (prn == corr->prn) {
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| 60 | return 1.0;
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| 61 | }
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| 62 | }
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| 63 |
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| 64 | return 0.0;
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| 65 | }
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| 66 |
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| 67 |
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| 68 |
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| 69 | // Constructor
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| 70 | ////////////////////////////////////////////////////////////////////////////
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[2898] | 71 | bncComb::bncComb() {
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[2910] | 72 |
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| 73 | bncSettings settings;
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| 74 |
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| 75 | QStringList combineStreams = settings.value("combineStreams").toStringList();
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[2918] | 76 |
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| 77 | if (combineStreams.size() >= 2) {
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[2910] | 78 | QListIterator<QString> it(combineStreams);
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| 79 | while (it.hasNext()) {
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| 80 | QStringList hlp = it.next().split(" ");
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[2918] | 81 | cmbAC* newAC = new cmbAC();
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| 82 | newAC->mountPoint = hlp[0];
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| 83 | newAC->name = hlp[1];
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| 84 | newAC->weight = hlp[2].toDouble();
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| 85 |
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| 86 | _ACs[newAC->mountPoint] = newAC;
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[2910] | 87 | }
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| 88 | }
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[2927] | 89 |
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| 90 | _caster = new cmbCaster();
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[2929] | 91 | connect(_caster, SIGNAL(error(const QByteArray)),
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| 92 | this, SLOT(slotError(const QByteArray)));
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| 93 | connect(_caster, SIGNAL(newMessage(const QByteArray)),
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| 94 | this, SLOT(slotMessage(const QByteArray)));
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[2933] | 95 |
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| 96 | // Initialize Parameters
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| 97 | // ---------------------
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| 98 | int nextPar = 0;
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| 99 | for (int iGps = 1; iGps <= 32; iGps++) {
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| 100 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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| 101 | _params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn));
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| 102 | QMapIterator<QString, cmbAC*> it(_ACs);
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| 103 | while (it.hasNext()) {
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| 104 | it.next();
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| 105 | cmbAC* AC = it.value();
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[2934] | 106 | if (iGps == 1) {
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| 107 | _params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar, AC->name, ""));
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| 108 | }
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| 109 | _params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar, AC->name, prn));
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[2933] | 110 | }
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| 111 | }
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| 112 |
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| 113 | unsigned nPar = _params.size();
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| 114 | _QQ.ReSize(nPar);
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| 115 | _QQ = 0.0;
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| 116 |
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[2934] | 117 | _sigACOff = 100.0;
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| 118 | _sigSatOff = 100.0;
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| 119 | _sigClk = 100.0;
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[2933] | 120 |
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| 121 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 122 | cmbParam* pp = _params[iPar-1];
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[2934] | 123 | if (pp->type == cmbParam::AC_offset) {
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| 124 | _QQ(iPar,iPar) = _sigACOff * _sigACOff;
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[2933] | 125 | }
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[2934] | 126 | else if (pp->type == cmbParam::Sat_offset) {
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| 127 | _QQ(iPar,iPar) = _sigSatOff * _sigSatOff;
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[2933] | 128 | }
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[2934] | 129 | else if (pp->type == cmbParam::clk) {
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| 130 | _QQ(iPar,iPar) = _sigClk * _sigClk;
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| 131 | }
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[2933] | 132 | }
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[2898] | 133 | }
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| 134 |
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| 135 | // Destructor
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| 136 | ////////////////////////////////////////////////////////////////////////////
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| 137 | bncComb::~bncComb() {
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[2918] | 138 | QMapIterator<QString, cmbAC*> it(_ACs);
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| 139 | while (it.hasNext()) {
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| 140 | it.next();
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| 141 | delete it.value();
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| 142 | }
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[2927] | 143 | delete _caster;
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[2898] | 144 | }
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| 145 |
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[2928] | 146 | // Read and store one correction line
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[2898] | 147 | ////////////////////////////////////////////////////////////////////////////
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| 148 | void bncComb::processCorrLine(const QString& staID, const QString& line) {
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[2906] | 149 | QMutexLocker locker(&_mutex);
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[2913] | 150 |
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[2918] | 151 | // Find the relevant instance of cmbAC class
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| 152 | // -----------------------------------------
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| 153 | if (_ACs.find(staID) == _ACs.end()) {
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| 154 | return;
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| 155 | }
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| 156 | cmbAC* AC = _ACs[staID];
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| 157 |
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| 158 | // Read the Correction
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| 159 | // -------------------
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[2913] | 160 | t_corr* newCorr = new t_corr();
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| 161 | if (!newCorr->readLine(line) == success) {
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| 162 | delete newCorr;
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| 163 | return;
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| 164 | }
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| 165 |
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[2924] | 166 | // Reject delayed corrections
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| 167 | // --------------------------
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| 168 | if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
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| 169 | delete newCorr;
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| 170 | return;
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| 171 | }
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| 172 |
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| 173 | // Process all older Epochs (if there are any)
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| 174 | // -------------------------------------------
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| 175 | const double waitTime = 5.0; // wait 5 sec
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| 176 | _processedBeforeTime = newCorr->tt - waitTime;
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| 177 |
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[2927] | 178 | QList<cmbEpoch*> epochsToProcess;
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| 179 |
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| 180 | QMapIterator<QString, cmbAC*> itAC(_ACs);
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| 181 | while (itAC.hasNext()) {
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| 182 | itAC.next();
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| 183 | cmbAC* AC = itAC.value();
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| 184 |
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| 185 | QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
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| 186 | while (itEpo.hasNext()) {
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| 187 | cmbEpoch* epoch = itEpo.next();
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| 188 | if (epoch->time < _processedBeforeTime) {
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| 189 | epochsToProcess.append(epoch);
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| 190 | itEpo.remove();
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| 191 | }
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| 192 | }
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| 193 | }
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| 194 |
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| 195 | if (epochsToProcess.size()) {
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| 196 | processEpochs(epochsToProcess);
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| 197 | }
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| 198 |
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[2920] | 199 | // Check Modulo Time
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| 200 | // -----------------
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| 201 | const int moduloTime = 10;
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| 202 | if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
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| 203 | delete newCorr;
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| 204 | return;
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| 205 | }
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| 206 |
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[2918] | 207 | // Find/Create the instance of cmbEpoch class
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| 208 | // ------------------------------------------
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| 209 | cmbEpoch* newEpoch = 0;
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| 210 | QListIterator<cmbEpoch*> it(AC->epochs);
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| 211 | while (it.hasNext()) {
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| 212 | cmbEpoch* hlpEpoch = it.next();
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| 213 | if (hlpEpoch->time == newCorr->tt) {
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| 214 | newEpoch = hlpEpoch;
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| 215 | break;
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| 216 | }
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| 217 | }
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| 218 | if (newEpoch == 0) {
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[2927] | 219 | newEpoch = new cmbEpoch(AC->name);
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[2918] | 220 | newEpoch->time = newCorr->tt;
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| 221 | AC->epochs.append(newEpoch);
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| 222 | }
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[2924] | 223 |
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| 224 | // Merge or add the correction
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| 225 | // ---------------------------
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[2918] | 226 | if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
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[2919] | 227 | newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
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[2918] | 228 | }
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[2919] | 229 | else {
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| 230 | newEpoch->corr[newCorr->prn] = newCorr;
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| 231 | }
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[2898] | 232 | }
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| 233 |
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[2928] | 234 | // Print one correction
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[2918] | 235 | ////////////////////////////////////////////////////////////////////////////
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[2928] | 236 | void bncComb::printSingleCorr(const QString& acName, const t_corr* corr) {
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| 237 | cout.setf(ios::fixed);
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| 238 | cout << acName.toAscii().data() << " "
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| 239 | << corr->prn.toAscii().data() << " "
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| 240 | << corr->tt.timestr() << " "
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| 241 | << setw(4) << corr->iod << " "
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| 242 | << setw(8) << setprecision(4) << corr->dClk * t_CST::c << " "
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| 243 | << setw(8) << setprecision(4) << corr->rao[0] << " "
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| 244 | << setw(8) << setprecision(4) << corr->rao[1] << " "
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| 245 | << setw(8) << setprecision(4) << corr->rao[2] << endl;
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| 246 | }
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| 247 |
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| 248 | // Send results to caster
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| 249 | ////////////////////////////////////////////////////////////////////////////
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| 250 | void bncComb::dumpResults(const bncTime& resTime,
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| 251 | const QMap<QString, t_corr*>& resCorr) {
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| 252 |
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| 253 | _caster->open();
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| 254 |
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| 255 | unsigned year, month, day;
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| 256 | resTime.civil_date (year, month, day);
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| 257 | double GPSweeks = resTime.gpssec();
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| 258 |
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| 259 | struct ClockOrbit co;
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| 260 | memset(&co, 0, sizeof(co));
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| 261 | co.GPSEpochTime = (int)GPSweeks;
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| 262 | co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
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| 263 | + 3 * 3600 - gnumleap(year, month, day);
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| 264 | co.ClockDataSupplied = 1;
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| 265 | co.OrbitDataSupplied = 1;
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| 266 | co.SatRefDatum = DATUM_ITRF;
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| 267 |
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| 268 | QMapIterator<QString, t_corr*> it(resCorr);
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| 269 | while (it.hasNext()) {
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| 270 | it.next();
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| 271 | t_corr* corr = it.value();
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| 272 |
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[2931] | 273 | struct ClockOrbit::SatData* sd = 0;
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[2928] | 274 | if (corr->prn[0] == 'G') {
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| 275 | sd = co.Sat + co.NumberOfGPSSat;
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| 276 | ++co.NumberOfGPSSat;
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| 277 | }
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| 278 | else if (corr->prn[0] == 'R') {
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| 279 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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| 280 | ++co.NumberOfGLONASSSat;
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| 281 | }
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| 282 |
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| 283 | if (sd != 0) {
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| 284 | sd->ID = corr->prn.mid(1).toInt();
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| 285 | sd->IOD = corr->iod;
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[2930] | 286 | sd->Clock.DeltaA0 = corr->dClk * t_CST::c;
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[2928] | 287 | sd->Orbit.DeltaRadial = corr->rao(1);
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| 288 | sd->Orbit.DeltaAlongTrack = corr->rao(2);
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| 289 | sd->Orbit.DeltaCrossTrack = corr->rao(3);
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| 290 | sd->Orbit.DotDeltaRadial = corr->dotRao(1);
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| 291 | sd->Orbit.DotDeltaAlongTrack = corr->dotRao(2);
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| 292 | sd->Orbit.DotDeltaCrossTrack = corr->dotRao(3);
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| 293 | }
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| 294 |
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| 295 | delete corr;
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| 296 | }
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| 297 |
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| 298 | if ( _caster->usedSocket() &&
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| 299 | (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
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| 300 | char obuffer[CLOCKORBIT_BUFFERSIZE];
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| 301 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
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| 302 | if (len > 0) {
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| 303 | _caster->write(obuffer, len);
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| 304 | }
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| 305 | }
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| 306 | }
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| 307 |
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[2929] | 308 | // Write an Error Message
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| 309 | ////////////////////////////////////////////////////////////////////////////
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| 310 | void bncComb::slotError(const QByteArray msg) {
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| 311 | cout << msg.data() << endl;
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| 312 | }
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| 313 |
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| 314 | // Write a Message
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| 315 | ////////////////////////////////////////////////////////////////////////////
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| 316 | void bncComb::slotMessage(const QByteArray msg) {
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| 317 | cout << msg.data() << endl;
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| 318 | }
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| 319 |
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[2928] | 320 | // Process Epochs
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| 321 | ////////////////////////////////////////////////////////////////////////////
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[2927] | 322 | void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
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[2918] | 323 |
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[2933] | 324 | // Predict Parameters Values, Add White Noise
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| 325 | // ------------------------------------------
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| 326 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 327 | cmbParam* pp = _params[iPar-1];
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[2934] | 328 | if (pp->type == cmbParam::AC_offset || pp->type == cmbParam::clk) {
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[2933] | 329 | pp->xx = 0.0;
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| 330 | for (int jj = 1; jj <= _params.size(); jj++) {
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| 331 | _QQ(iPar, jj) = 0.0;
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| 332 | }
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| 333 | }
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[2934] | 334 | if (pp->type == cmbParam::AC_offset) {
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| 335 | _QQ(iPar,iPar) = _sigACOff * _sigACOff;
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| 336 | }
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| 337 | else if (pp->type == cmbParam::clk) {
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| 338 | _QQ(iPar,iPar) = _sigClk * _sigClk;
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| 339 | }
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[2933] | 340 | }
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| 341 |
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[2928] | 342 | bncTime resTime = epochs.first()->time;
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| 343 | QMap<QString, t_corr*> resCorr;
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| 344 |
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[2933] | 345 | int nPar = _params.size();
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| 346 | int nObs = 0;
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| 347 |
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| 348 | ColumnVector x0(nPar);
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| 349 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 350 | cmbParam* pp = _params[iPar-1];
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| 351 | x0(iPar) = pp->xx;
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| 352 | }
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| 353 |
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| 354 | // Count Observations
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| 355 | // ------------------
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[2927] | 356 | QListIterator<cmbEpoch*> itEpo(epochs);
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| 357 | while (itEpo.hasNext()) {
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| 358 | cmbEpoch* epo = itEpo.next();
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| 359 | QMapIterator<QString, t_corr*> itCorr(epo->corr);
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| 360 | while (itCorr.hasNext()) {
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| 361 | itCorr.next();
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[2933] | 362 | ++nObs;
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| 363 | }
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| 364 | }
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[2928] | 365 |
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[2933] | 366 | if (nObs > 0) {
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| 367 | Matrix AA(nObs, nPar);
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| 368 | ColumnVector ll(nObs);
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| 369 | DiagonalMatrix PP(nObs); PP = 1.0;
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| 370 |
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| 371 | int iObs = 0;
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| 372 | QListIterator<cmbEpoch*> itEpo(epochs);
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| 373 | while (itEpo.hasNext()) {
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| 374 | cmbEpoch* epo = itEpo.next();
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| 375 | QMapIterator<QString, t_corr*> itCorr(epo->corr);
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| 376 |
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| 377 | while (itCorr.hasNext()) {
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| 378 | itCorr.next();
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| 379 | ++iObs;
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| 380 | t_corr* corr = itCorr.value();
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| 381 |
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| 382 | //// beg test
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| 383 | if (epo->acName == "BKG") {
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| 384 | resCorr[corr->prn] = new t_corr(*corr);
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| 385 | }
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| 386 | //// end test
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| 387 |
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| 388 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 389 | cmbParam* pp = _params[iPar-1];
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| 390 | AA(iObs, iPar) = pp->partial(epo->acName, corr);
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| 391 | }
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| 392 |
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| 393 | ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
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| 394 |
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| 395 | printSingleCorr(epo->acName, corr);
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| 396 | delete corr;
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[2928] | 397 | }
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[2933] | 398 | }
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[2928] | 399 |
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[2933] | 400 | ColumnVector dx;
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| 401 | bncModel::kalman(AA, ll, PP, _QQ, dx);
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| 402 | ColumnVector vv = ll - AA * dx;
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| 403 |
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| 404 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 405 | cmbParam* pp = _params[iPar-1];
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| 406 | pp->xx += dx(iPar);
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[2935] | 407 | if (pp->type == cmbParam::clk) {
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| 408 | resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
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| 409 | }
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[2918] | 410 | }
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[2933] | 411 |
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| 412 | cout << "vv = " << vv.t();
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[2918] | 413 | }
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[2919] | 414 |
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[2928] | 415 | dumpResults(resTime, resCorr);
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| 416 |
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[2927] | 417 | cout << "Corrections processed" << endl << endl;
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[2918] | 418 | }
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[2919] | 419 |
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