[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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[3214] | 19 | #include <sstream>
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[2898] | 20 |
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| 21 | #include "bnccomb.h"
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| 22 | #include "bncapp.h"
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[3201] | 23 | #include "upload/bncrtnetdecoder.h"
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[2910] | 24 | #include "bncsettings.h"
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[2933] | 25 | #include "bncmodel.h"
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[2988] | 26 | #include "bncutils.h"
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[3027] | 27 | #include "bncpppclient.h"
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[3181] | 28 | #include "bncsp3.h"
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[3052] | 29 | #include "bncantex.h"
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[3055] | 30 | #include "bnctides.h"
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[2898] | 31 |
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[3455] | 32 | const int moduloTime = 10;
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[2898] | 33 |
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[3455] | 34 | const double sig0_offAC = 1000.0;
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| 35 | const double sig0_offACSat = 100.0;
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[3468] | 36 | const double sigP_offACSat = 0.01;
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[3455] | 37 | const double sig0_clkSat = 100.0;
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| 38 |
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| 39 | const double sigObs = 0.05;
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| 40 |
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[3134] | 41 | const int MAXPRN_GPS = 32;
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| 42 |
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[3455] | 43 | using namespace std;
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| 44 |
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[2898] | 45 | // Constructor
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| 46 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 47 | cmbParam::cmbParam(parType type_, int index_,
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| 48 | const QString& ac_, const QString& prn_) {
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[3032] | 49 |
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[3433] | 50 | type = type_;
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| 51 | index = index_;
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| 52 | AC = ac_;
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| 53 | prn = prn_;
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| 54 | xx = 0.0;
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[3455] | 55 | eph = 0;
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[3429] | 56 |
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| 57 | if (type == offAC) {
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[3455] | 58 | epoSpec = true;
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| 59 | sig0 = sig0_offAC;
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| 60 | sigP = sig0;
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[3429] | 61 | }
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| 62 | else if (type == offACSat) {
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[3455] | 63 | epoSpec = false;
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| 64 | sig0 = sig0_offACSat;
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| 65 | sigP = sigP_offACSat;
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[3429] | 66 | }
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| 67 | else if (type == clkSat) {
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[3455] | 68 | epoSpec = true;
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| 69 | sig0 = sig0_clkSat;
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| 70 | sigP = sig0;
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[3429] | 71 | }
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[2933] | 72 | }
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| 73 |
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| 74 | // Destructor
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| 75 | ////////////////////////////////////////////////////////////////////////////
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| 76 | cmbParam::~cmbParam() {
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| 77 | }
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| 78 |
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| 79 | // Partial
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| 80 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 81 | double cmbParam::partial(const QString& AC_, const QString& prn_) {
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[2933] | 82 |
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[3429] | 83 | if (type == offAC) {
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[3032] | 84 | if (AC == AC_) {
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[2934] | 85 | return 1.0;
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| 86 | }
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| 87 | }
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[3429] | 88 | else if (type == offACSat) {
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| 89 | if (AC == AC_ && prn == prn_) {
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[2933] | 90 | return 1.0;
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| 91 | }
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| 92 | }
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[3429] | 93 | else if (type == clkSat) {
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| 94 | if (prn == prn_) {
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[2933] | 95 | return 1.0;
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| 96 | }
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| 97 | }
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| 98 |
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| 99 | return 0.0;
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| 100 | }
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| 101 |
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[2990] | 102 | //
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| 103 | ////////////////////////////////////////////////////////////////////////////
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| 104 | QString cmbParam::toString() const {
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[2933] | 105 |
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[2990] | 106 | QString outStr;
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| 107 |
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[3429] | 108 | if (type == offAC) {
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[2992] | 109 | outStr = "AC offset " + AC;
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[2990] | 110 | }
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[3429] | 111 | else if (type == offACSat) {
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[2992] | 112 | outStr = "Sat Offset " + AC + " " + prn;
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[2990] | 113 | }
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[3429] | 114 | else if (type == clkSat) {
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[2992] | 115 | outStr = "Clk Corr " + prn;
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[2990] | 116 | }
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[2933] | 117 |
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[2990] | 118 | return outStr;
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| 119 | }
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| 120 |
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[2933] | 121 | // Constructor
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| 122 | ////////////////////////////////////////////////////////////////////////////
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[2898] | 123 | bncComb::bncComb() {
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[2910] | 124 |
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| 125 | bncSettings settings;
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| 126 |
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| 127 | QStringList combineStreams = settings.value("combineStreams").toStringList();
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[2918] | 128 |
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[3455] | 129 | _masterMissingEpochs = 0;
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| 130 |
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[3143] | 131 | if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
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[2910] | 132 | QListIterator<QString> it(combineStreams);
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| 133 | while (it.hasNext()) {
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| 134 | QStringList hlp = it.next().split(" ");
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[2918] | 135 | cmbAC* newAC = new cmbAC();
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| 136 | newAC->mountPoint = hlp[0];
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| 137 | newAC->name = hlp[1];
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| 138 | newAC->weight = hlp[2].toDouble();
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[3453] | 139 | if (_masterOrbitAC.isEmpty()) {
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| 140 | _masterOrbitAC = newAC->name;
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| 141 | }
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[3429] | 142 | _ACs.append(newAC);
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[2910] | 143 | }
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| 144 | }
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[2927] | 145 |
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[3211] | 146 | _rtnetDecoder = 0;
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[3201] | 147 |
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[2990] | 148 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 149 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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[2933] | 150 |
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[3470] | 151 | // Combination Method
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| 152 | // ------------------
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| 153 | if (settings.value("cmbMethod").toString() == "Filter") {
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| 154 | _method = filter;
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| 155 | }
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| 156 | else {
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| 157 | _method = singleEpoch;
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| 158 | }
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[3032] | 159 |
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| 160 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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| 161 | // ----------------------------------------------------------------------
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[3470] | 162 | if (_method == filter) {
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| 163 | int nextPar = 0;
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| 164 | QListIterator<cmbAC*> it(_ACs);
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| 165 | while (it.hasNext()) {
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| 166 | cmbAC* AC = it.next();
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| 167 | _params.push_back(new cmbParam(cmbParam::offAC, ++nextPar, AC->name, ""));
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| 168 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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| 169 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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| 170 | _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
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| 171 | AC->name, prn));
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| 172 | }
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| 173 | }
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[3134] | 174 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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| 175 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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[3470] | 176 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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[2991] | 177 | }
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[3470] | 178 |
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| 179 | // Initialize Variance-Covariance Matrix
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| 180 | // -------------------------------------
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| 181 | _QQ.ReSize(_params.size());
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| 182 | _QQ = 0.0;
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| 183 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 184 | cmbParam* pp = _params[iPar-1];
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| 185 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
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| 186 | }
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[2991] | 187 | }
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[2933] | 188 |
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[3052] | 189 | // ANTEX File
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| 190 | // ----------
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| 191 | _antex = 0;
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| 192 | QString antexFileName = settings.value("pppAntex").toString();
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| 193 | if (!antexFileName.isEmpty()) {
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| 194 | _antex = new bncAntex();
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| 195 | if (_antex->readFile(antexFileName) != success) {
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| 196 | emit newMessage("wrong ANTEX file", true);
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| 197 | delete _antex;
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| 198 | _antex = 0;
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| 199 | }
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| 200 | }
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[3138] | 201 |
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[3329] | 202 | // Maximal Residuum
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| 203 | // ----------------
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| 204 | _MAXRES = settings.value("cmbMaxres").toDouble();
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| 205 | if (_MAXRES <= 0.0) {
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| 206 | _MAXRES = 999.0;
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| 207 | }
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[2898] | 208 | }
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| 209 |
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| 210 | // Destructor
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| 211 | ////////////////////////////////////////////////////////////////////////////
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| 212 | bncComb::~bncComb() {
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[3429] | 213 | QListIterator<cmbAC*> icAC(_ACs);
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| 214 | while (icAC.hasNext()) {
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| 215 | delete icAC.next();
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[2918] | 216 | }
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[3201] | 217 | delete _rtnetDecoder;
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[3052] | 218 | delete _antex;
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[3296] | 219 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 220 | delete _params[iPar-1];
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| 221 | }
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[3434] | 222 | QVectorIterator<cmbCorr*> itCorr(corrs());
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[3429] | 223 | while (itCorr.hasNext()) {
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| 224 | delete itCorr.next();
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| 225 | }
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[2898] | 226 | }
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| 227 |
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[2928] | 228 | // Read and store one correction line
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[2898] | 229 | ////////////////////////////////////////////////////////////////////////////
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| 230 | void bncComb::processCorrLine(const QString& staID, const QString& line) {
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[2906] | 231 | QMutexLocker locker(&_mutex);
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[2913] | 232 |
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[3431] | 233 | // Find the AC Name
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| 234 | // ----------------
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| 235 | QString acName;
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| 236 | QListIterator<cmbAC*> icAC(_ACs);
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| 237 | while (icAC.hasNext()) {
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| 238 | cmbAC* AC = icAC.next();
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| 239 | if (AC->mountPoint == staID) {
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| 240 | acName = AC->name;
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| 241 | break;
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| 242 | }
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| 243 | }
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| 244 | if (acName.isEmpty()) {
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| 245 | return;
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| 246 | }
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| 247 |
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[2918] | 248 | // Read the Correction
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| 249 | // -------------------
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[3429] | 250 | cmbCorr* newCorr = new cmbCorr();
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[3431] | 251 | newCorr->acName = acName;
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[2913] | 252 | if (!newCorr->readLine(line) == success) {
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| 253 | delete newCorr;
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| 254 | return;
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| 255 | }
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| 256 |
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[3274] | 257 | // Check Modulo Time
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| 258 | // -----------------
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| 259 | if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
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| 260 | delete newCorr;
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| 261 | return;
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| 262 | }
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| 263 |
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[3299] | 264 | // Delete old corrections
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| 265 | // ----------------------
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[3437] | 266 | if (_resTime.valid() && newCorr->tt <= _resTime) {
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[2924] | 267 | delete newCorr;
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| 268 | return;
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| 269 | }
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| 270 |
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[3029] | 271 | // Check the Ephemeris
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| 272 | //--------------------
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[2986] | 273 | if (_eph.find(newCorr->prn) == _eph.end()) {
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| 274 | delete newCorr;
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| 275 | return;
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| 276 | }
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| 277 | else {
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| 278 | t_eph* lastEph = _eph[newCorr->prn]->last;
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| 279 | t_eph* prevEph = _eph[newCorr->prn]->prev;
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[3029] | 280 | if (lastEph && lastEph->IOD() == newCorr->iod) {
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| 281 | newCorr->eph = lastEph;
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[2986] | 282 | }
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[3029] | 283 | else if (prevEph && prevEph->IOD() == newCorr->iod) {
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| 284 | newCorr->eph = prevEph;
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[3429] | 285 | switchToLastEph(lastEph, newCorr);
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[3029] | 286 | }
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| 287 | else {
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[2986] | 288 | delete newCorr;
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| 289 | return;
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| 290 | }
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| 291 | }
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| 292 |
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[3435] | 293 | // Process previous Epoch(s)
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| 294 | // -------------------------
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| 295 | QListIterator<bncTime> itTime(_buffer.keys());
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| 296 | while (itTime.hasNext()) {
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| 297 | bncTime epoTime = itTime.next();
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[3438] | 298 | if (epoTime < newCorr->tt - moduloTime) {
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[3435] | 299 | _resTime = epoTime;
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| 300 | processEpoch();
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| 301 | }
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[2927] | 302 | }
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| 303 |
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[3429] | 304 | // Merge or add the correction
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| 305 | // ---------------------------
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[3435] | 306 | QVector<cmbCorr*>& corrs = _buffer[newCorr->tt].corrs;
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[3429] | 307 | cmbCorr* existingCorr = 0;
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[3435] | 308 | QVectorIterator<cmbCorr*> itCorr(corrs);
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[3429] | 309 | while (itCorr.hasNext()) {
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| 310 | cmbCorr* hlp = itCorr.next();
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| 311 | if (hlp->prn == newCorr->prn && hlp->acName == newCorr->prn) {
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| 312 | existingCorr = hlp;
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[2918] | 313 | break;
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| 314 | }
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| 315 | }
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[3429] | 316 | if (existingCorr) {
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[3298] | 317 | delete newCorr;
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[3429] | 318 | existingCorr->readLine(line); // merge (multiple messages)
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[2918] | 319 | }
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[2919] | 320 | else {
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[3435] | 321 | corrs.append(newCorr);
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[2919] | 322 | }
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[2898] | 323 | }
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| 324 |
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[2986] | 325 | // Change the correction so that it refers to last received ephemeris
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| 326 | ////////////////////////////////////////////////////////////////////////////
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[3029] | 327 | void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
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[3028] | 328 |
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[3429] | 329 | if (corr->eph == lastEph) {
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| 330 | return;
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| 331 | }
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| 332 |
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[2987] | 333 | ColumnVector oldXC(4);
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| 334 | ColumnVector oldVV(3);
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[3029] | 335 | corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
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| 336 | oldXC.data(), oldVV.data());
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[2988] | 337 |
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[2987] | 338 | ColumnVector newXC(4);
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| 339 | ColumnVector newVV(3);
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[3029] | 340 | lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
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[2987] | 341 | newXC.data(), newVV.data());
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[2988] | 342 |
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| 343 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
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[2989] | 344 | ColumnVector dV = newVV - oldVV;
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| 345 | double dC = newXC(4) - oldXC(4);
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| 346 |
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[2988] | 347 | ColumnVector dRAO(3);
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| 348 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
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[2989] | 349 |
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| 350 | ColumnVector dDotRAO(3);
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| 351 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
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| 352 |
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[3455] | 353 | QString msg = "switch corr " + corr->prn
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[3029] | 354 | + QString(" %1 -> %2 %3").arg(corr->iod,3)
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[3013] | 355 | .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
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| 356 |
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[3029] | 357 | emit newMessage(msg.toAscii(), false);
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[3028] | 358 |
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[3029] | 359 | corr->iod = lastEph->IOD();
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| 360 | corr->eph = lastEph;
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[3031] | 361 | corr->rao += dRAO;
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| 362 | corr->dotRao += dDotRAO;
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[3029] | 363 | corr->dClk -= dC;
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[2986] | 364 | }
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| 365 |
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[3429] | 366 | // Process Epoch
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[2928] | 367 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 368 | void bncComb::processEpoch() {
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[3470] | 369 | if (_method == filter) {
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| 370 | return processEpoch_filter();
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| 371 | }
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| 372 | else {
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| 373 | return processEpoch_singleEpoch();
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| 374 | }
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| 375 | }
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[2918] | 376 |
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[3470] | 377 | // Process Epoch - Filter Method
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| 378 | ////////////////////////////////////////////////////////////////////////////
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| 379 | void bncComb::processEpoch_filter() {
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[3429] | 380 | int nPar = _params.size();
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| 381 |
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[2990] | 382 | _log.clear();
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| 383 |
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| 384 | QTextStream out(&_log, QIODevice::WriteOnly);
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| 385 |
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[3471] | 386 | out << endl << "Combination (Filter):" << endl
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| 387 | << "---------------------------------------" << endl;
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[2990] | 388 |
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[3433] | 389 | // Observation Statistics
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| 390 | // ----------------------
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[3455] | 391 | bool masterPresent = false;
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[3433] | 392 | QListIterator<cmbAC*> icAC(_ACs);
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| 393 | while (icAC.hasNext()) {
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| 394 | cmbAC* AC = icAC.next();
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| 395 | AC->numObs = 0;
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[3434] | 396 | QVectorIterator<cmbCorr*> itCorr(corrs());
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[3433] | 397 | while (itCorr.hasNext()) {
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| 398 | cmbCorr* corr = itCorr.next();
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| 399 | if (corr->acName == AC->name) {
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| 400 | AC->numObs += 1;
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[3453] | 401 | if (AC->name == _masterOrbitAC) {
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| 402 | masterPresent = true;
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| 403 | }
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[3433] | 404 | }
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| 405 | }
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| 406 | out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
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| 407 | }
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| 408 |
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[3453] | 409 | // If Master not present, switch to another one
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| 410 | // --------------------------------------------
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[3456] | 411 | if (masterPresent) {
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| 412 | _masterMissingEpochs = 0;
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| 413 | }
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| 414 | else {
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[3455] | 415 | ++_masterMissingEpochs;
|
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[3459] | 416 | if (_masterMissingEpochs < 10) {
|
---|
[3457] | 417 | out << "Missing Master, Epoch skipped" << endl;
|
---|
[3455] | 418 | _buffer.remove(_resTime);
|
---|
| 419 | emit newMessage(_log, false);
|
---|
| 420 | return;
|
---|
[3453] | 421 | }
|
---|
[3455] | 422 | else {
|
---|
| 423 | _masterMissingEpochs = 0;
|
---|
| 424 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 425 | while (icAC.hasNext()) {
|
---|
| 426 | cmbAC* AC = icAC.next();
|
---|
| 427 | if (AC->numObs > 0) {
|
---|
| 428 | out << "Switching Master AC "
|
---|
| 429 | << _masterOrbitAC.toAscii().data() << " --> "
|
---|
| 430 | << AC->name.toAscii().data() << " "
|
---|
| 431 | << _resTime.datestr().c_str() << " "
|
---|
| 432 | << _resTime.timestr().c_str() << endl;
|
---|
| 433 | _masterOrbitAC = AC->name;
|
---|
| 434 | break;
|
---|
| 435 | }
|
---|
[3452] | 436 | }
|
---|
| 437 | }
|
---|
| 438 | }
|
---|
| 439 |
|
---|
[3429] | 440 | // Prediction Step
|
---|
| 441 | // ---------------
|
---|
[2933] | 442 | ColumnVector x0(nPar);
|
---|
| 443 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
[3455] | 444 | cmbParam* pp = _params[iPar-1];
|
---|
| 445 | if (pp->epoSpec) {
|
---|
[3451] | 446 | pp->xx = 0.0;
|
---|
[3455] | 447 | _QQ.Row(iPar) = 0.0;
|
---|
| 448 | _QQ.Column(iPar) = 0.0;
|
---|
| 449 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3451] | 450 | }
|
---|
[3455] | 451 | else {
|
---|
| 452 | _QQ(iPar,iPar) += pp->sigP * pp->sigP;
|
---|
| 453 | }
|
---|
[2933] | 454 | x0(iPar) = pp->xx;
|
---|
| 455 | }
|
---|
| 456 |
|
---|
[3455] | 457 | SymmetricMatrix QQ_sav = _QQ;
|
---|
[3441] | 458 |
|
---|
[3455] | 459 | ColumnVector dx;
|
---|
[3429] | 460 | QMap<QString, t_corr*> resCorr;
|
---|
[3455] | 461 |
|
---|
| 462 | // Update and outlier detection loop
|
---|
| 463 | // ---------------------------------
|
---|
| 464 | while (true) {
|
---|
[3135] | 465 |
|
---|
[3455] | 466 | Matrix AA;
|
---|
| 467 | ColumnVector ll;
|
---|
| 468 | DiagonalMatrix PP;
|
---|
[3429] | 469 |
|
---|
[3455] | 470 | if (createAmat(AA, ll, PP, x0, resCorr) != success) {
|
---|
| 471 | _buffer.remove(_resTime);
|
---|
| 472 | emit newMessage(_log, false);
|
---|
| 473 | return;
|
---|
[3441] | 474 | }
|
---|
[2933] | 475 |
|
---|
[3429] | 476 | bncModel::kalman(AA, ll, PP, _QQ, dx);
|
---|
| 477 | ColumnVector vv = ll - AA * dx;
|
---|
[3080] | 478 |
|
---|
[3429] | 479 | int maxResIndex;
|
---|
| 480 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
| 481 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 482 | out.setRealNumberPrecision(3);
|
---|
| 483 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
[3432] | 484 | << " Maximum Residuum " << maxRes << ' '
|
---|
[3434] | 485 | << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
|
---|
[3080] | 486 |
|
---|
[3432] | 487 | if (maxRes > _MAXRES) {
|
---|
| 488 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 489 | cmbParam* pp = _params[iPar-1];
|
---|
| 490 | if (pp->type == cmbParam::offACSat &&
|
---|
[3434] | 491 | pp->AC == corrs()[maxResIndex-1]->acName &&
|
---|
| 492 | pp->prn == corrs()[maxResIndex-1]->prn) {
|
---|
[3432] | 493 | QQ_sav.Row(iPar) = 0.0;
|
---|
| 494 | QQ_sav.Column(iPar) = 0.0;
|
---|
[3455] | 495 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3432] | 496 | }
|
---|
| 497 | }
|
---|
| 498 |
|
---|
| 499 | out << " Outlier" << endl;
|
---|
| 500 | _QQ = QQ_sav;
|
---|
[3455] | 501 | corrs().remove(maxResIndex-1);
|
---|
[3432] | 502 | }
|
---|
| 503 | else {
|
---|
| 504 | out << " OK" << endl;
|
---|
| 505 | break;
|
---|
| 506 | }
|
---|
| 507 | }
|
---|
| 508 |
|
---|
| 509 | // Update Parameter Values
|
---|
| 510 | // -----------------------
|
---|
[3429] | 511 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 512 | cmbParam* pp = _params[iPar-1];
|
---|
| 513 | pp->xx += dx(iPar);
|
---|
| 514 | if (pp->type == cmbParam::clkSat) {
|
---|
| 515 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
| 516 | resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
|
---|
[3080] | 517 | }
|
---|
| 518 | }
|
---|
[3429] | 519 | out << _resTime.datestr().c_str() << " "
|
---|
| 520 | << _resTime.timestr().c_str() << " ";
|
---|
| 521 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 522 | out.setFieldWidth(8);
|
---|
| 523 | out.setRealNumberPrecision(4);
|
---|
| 524 | out << pp->toString() << " "
|
---|
| 525 | << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
|
---|
| 526 | out.setFieldWidth(0);
|
---|
[2918] | 527 | }
|
---|
[2919] | 528 |
|
---|
[3432] | 529 | // Print Results
|
---|
| 530 | // -------------
|
---|
[3429] | 531 | printResults(out, resCorr);
|
---|
| 532 | dumpResults(resCorr);
|
---|
[2928] | 533 |
|
---|
[2990] | 534 | emit newMessage(_log, false);
|
---|
[3296] | 535 |
|
---|
[3432] | 536 | // Delete Data
|
---|
| 537 | // -----------
|
---|
[3434] | 538 | _buffer.remove(_resTime);
|
---|
[2918] | 539 | }
|
---|
[3011] | 540 |
|
---|
[3201] | 541 | // Print results
|
---|
[3011] | 542 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 543 | void bncComb::printResults(QTextStream& out,
|
---|
[3011] | 544 | const QMap<QString, t_corr*>& resCorr) {
|
---|
| 545 |
|
---|
| 546 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 547 | while (it.hasNext()) {
|
---|
| 548 | it.next();
|
---|
| 549 | t_corr* corr = it.value();
|
---|
[3029] | 550 | const t_eph* eph = corr->eph;
|
---|
[3015] | 551 | if (eph) {
|
---|
| 552 | double xx, yy, zz, cc;
|
---|
[3429] | 553 | eph->position(_resTime.gpsw(), _resTime.gpssec(), xx, yy, zz, cc);
|
---|
[3015] | 554 |
|
---|
[3429] | 555 | out << _resTime.datestr().c_str() << " "
|
---|
| 556 | << _resTime.timestr().c_str() << " ";
|
---|
[3015] | 557 | out.setFieldWidth(3);
|
---|
| 558 | out << "Full Clock " << corr->prn << " " << corr->iod << " ";
|
---|
| 559 | out.setFieldWidth(14);
|
---|
| 560 | out << (cc + corr->dClk) * t_CST::c << endl;
|
---|
[3370] | 561 | out.setFieldWidth(0);
|
---|
[3015] | 562 | }
|
---|
| 563 | else {
|
---|
| 564 | out << "bncComb::printResuls bug" << endl;
|
---|
| 565 | }
|
---|
[3011] | 566 | }
|
---|
| 567 | }
|
---|
[3202] | 568 |
|
---|
| 569 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
| 570 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 571 | void bncComb::dumpResults(const QMap<QString, t_corr*>& resCorr) {
|
---|
[3202] | 572 |
|
---|
[3214] | 573 | ostringstream out; out.setf(std::ios::fixed);
|
---|
[3216] | 574 | QStringList corrLines;
|
---|
[3214] | 575 |
|
---|
| 576 | unsigned year, month, day, hour, minute;
|
---|
| 577 | double sec;
|
---|
[3429] | 578 | _resTime.civil_date(year, month, day);
|
---|
| 579 | _resTime.civil_time(hour, minute, sec);
|
---|
[3214] | 580 |
|
---|
| 581 | out << "* "
|
---|
| 582 | << setw(4) << year << " "
|
---|
| 583 | << setw(2) << month << " "
|
---|
| 584 | << setw(2) << day << " "
|
---|
| 585 | << setw(2) << hour << " "
|
---|
| 586 | << setw(2) << minute << " "
|
---|
| 587 | << setw(12) << setprecision(8) << sec << " "
|
---|
| 588 | << endl;
|
---|
| 589 |
|
---|
[3202] | 590 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 591 | while (it.hasNext()) {
|
---|
| 592 | it.next();
|
---|
| 593 | t_corr* corr = it.value();
|
---|
| 594 |
|
---|
[3214] | 595 | double dT = 60.0;
|
---|
[3202] | 596 |
|
---|
[3214] | 597 | for (int iTime = 1; iTime <= 2; iTime++) {
|
---|
| 598 |
|
---|
[3429] | 599 | bncTime time12 = (iTime == 1) ? _resTime : _resTime + dT;
|
---|
[3214] | 600 |
|
---|
| 601 | ColumnVector xc(4);
|
---|
| 602 | ColumnVector vv(3);
|
---|
| 603 | corr->eph->position(time12.gpsw(), time12.gpssec(),
|
---|
| 604 | xc.data(), vv.data());
|
---|
| 605 | bncPPPclient::applyCorr(time12, corr, xc, vv);
|
---|
| 606 |
|
---|
| 607 | // Relativistic Correction
|
---|
| 608 | // -----------------------
|
---|
| 609 | double relCorr = - 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
|
---|
| 610 | xc(4) -= relCorr;
|
---|
| 611 |
|
---|
| 612 | // Code Biases
|
---|
| 613 | // -----------
|
---|
| 614 | double dcbP1C1 = 0.0;
|
---|
| 615 | double dcbP1P2 = 0.0;
|
---|
| 616 |
|
---|
| 617 | // Correction Phase Center --> CoM
|
---|
| 618 | // -------------------------------
|
---|
| 619 | ColumnVector dx(3); dx = 0.0;
|
---|
| 620 | if (_antex) {
|
---|
| 621 | double Mjd = time12.mjd() + time12.daysec()/86400.0;
|
---|
| 622 | if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
|
---|
| 623 | xc(1) -= dx(1);
|
---|
| 624 | xc(2) -= dx(2);
|
---|
| 625 | xc(3) -= dx(3);
|
---|
| 626 | }
|
---|
| 627 | else {
|
---|
| 628 | cout << "antenna not found" << endl;
|
---|
| 629 | }
|
---|
| 630 | }
|
---|
| 631 |
|
---|
| 632 | if (iTime == 1) {
|
---|
| 633 | out << 'P' << corr->prn.toAscii().data()
|
---|
| 634 | << setw(14) << setprecision(6) << xc(1) / 1000.0
|
---|
| 635 | << setw(14) << setprecision(6) << xc(2) / 1000.0
|
---|
| 636 | << setw(14) << setprecision(6) << xc(3) / 1000.0
|
---|
| 637 | << setw(14) << setprecision(6) << xc(4) * 1e6
|
---|
| 638 | << setw(14) << setprecision(6) << relCorr * 1e6
|
---|
| 639 | << setw(8) << setprecision(3) << dx(1)
|
---|
| 640 | << setw(8) << setprecision(3) << dx(2)
|
---|
| 641 | << setw(8) << setprecision(3) << dx(3)
|
---|
| 642 | << setw(8) << setprecision(3) << dcbP1C1
|
---|
| 643 | << setw(8) << setprecision(3) << dcbP1P2
|
---|
| 644 | << setw(6) << setprecision(1) << dT;
|
---|
[3216] | 645 |
|
---|
[3218] | 646 | QString line;
|
---|
[3217] | 647 | int messageType = COTYPE_GPSCOMBINED;
|
---|
[3218] | 648 | int updateInt = 0;
|
---|
| 649 | line.sprintf("%d %d %d %.1f %s"
|
---|
| 650 | " %3d"
|
---|
| 651 | " %8.3f %8.3f %8.3f %8.3f"
|
---|
| 652 | " %10.5f %10.5f %10.5f %10.5f"
|
---|
[3262] | 653 | " %10.5f %10.5f %10.5f %10.5f INTERNAL",
|
---|
[3218] | 654 | messageType, updateInt, time12.gpsw(), time12.gpssec(),
|
---|
| 655 | corr->prn.toAscii().data(),
|
---|
| 656 | corr->iod,
|
---|
[3219] | 657 | corr->dClk * t_CST::c,
|
---|
[3218] | 658 | corr->rao[0],
|
---|
| 659 | corr->rao[1],
|
---|
| 660 | corr->rao[2],
|
---|
[3219] | 661 | corr->dotDClk * t_CST::c,
|
---|
[3218] | 662 | corr->dotRao[0],
|
---|
| 663 | corr->dotRao[1],
|
---|
| 664 | corr->dotRao[2],
|
---|
[3262] | 665 | corr->dotDotDClk * t_CST::c,
|
---|
| 666 | corr->dotDotRao[0],
|
---|
| 667 | corr->dotDotRao[1],
|
---|
| 668 | corr->dotDotRao[2]);
|
---|
[3220] | 669 | corrLines << line;
|
---|
[3214] | 670 | }
|
---|
| 671 | else {
|
---|
| 672 | out << setw(14) << setprecision(6) << xc(1) / 1000.0
|
---|
| 673 | << setw(14) << setprecision(6) << xc(2) / 1000.0
|
---|
| 674 | << setw(14) << setprecision(6) << xc(3) / 1000.0 << endl;
|
---|
| 675 | }
|
---|
| 676 | }
|
---|
| 677 |
|
---|
| 678 | delete corr;
|
---|
| 679 | }
|
---|
[3228] | 680 | out << "EOE" << endl; // End Of Epoch flag
|
---|
[3214] | 681 |
|
---|
[3215] | 682 | if (!_rtnetDecoder) {
|
---|
| 683 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
| 684 | }
|
---|
[3221] | 685 |
|
---|
[3215] | 686 | vector<string> errmsg;
|
---|
[3221] | 687 | _rtnetDecoder->Decode((char*) out.str().data(), out.str().size(), errmsg);
|
---|
[3215] | 688 |
|
---|
[3216] | 689 | // Optionally send new Corrections to PPP
|
---|
| 690 | // --------------------------------------
|
---|
| 691 | bncApp* app = (bncApp*) qApp;
|
---|
| 692 | if (app->_bncPPPclient) {
|
---|
| 693 | app->_bncPPPclient->slotNewCorrections(corrLines);
|
---|
| 694 | }
|
---|
[3202] | 695 | }
|
---|
[3455] | 696 |
|
---|
| 697 | // Create First Design Matrix and Vector of Measurements
|
---|
| 698 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 699 | t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
| 700 | const ColumnVector& x0,
|
---|
| 701 | QMap<QString, t_corr*>& resCorr) {
|
---|
| 702 |
|
---|
| 703 | unsigned nPar = _params.size();
|
---|
| 704 | unsigned nObs = corrs().size();
|
---|
| 705 |
|
---|
| 706 | if (nObs == 0) {
|
---|
| 707 | return failure;
|
---|
| 708 | }
|
---|
| 709 |
|
---|
[3461] | 710 | const int nCon = 1 + MAXPRN_GPS;
|
---|
[3455] | 711 |
|
---|
| 712 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
| 713 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
| 714 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
| 715 |
|
---|
| 716 | int iObs = 0;
|
---|
| 717 |
|
---|
| 718 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 719 | while (itCorr.hasNext()) {
|
---|
| 720 | cmbCorr* corr = itCorr.next();
|
---|
| 721 | QString prn = corr->prn;
|
---|
| 722 | switchToLastEph(_eph[prn]->last, corr);
|
---|
| 723 | ++iObs;
|
---|
| 724 |
|
---|
| 725 | if (corr->acName == _masterOrbitAC && resCorr.find(prn) == resCorr.end()) {
|
---|
| 726 | resCorr[prn] = new t_corr(*corr);
|
---|
| 727 | }
|
---|
| 728 |
|
---|
| 729 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 730 | cmbParam* pp = _params[iPar-1];
|
---|
| 731 | AA(iObs, iPar) = pp->partial(corr->acName, prn);
|
---|
| 732 | }
|
---|
| 733 |
|
---|
| 734 | ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
|
---|
| 735 | }
|
---|
| 736 |
|
---|
| 737 | // Regularization
|
---|
| 738 | // --------------
|
---|
| 739 | const double Ph = 1.e6;
|
---|
[3461] | 740 | PP(nObs+1) = Ph;
|
---|
[3455] | 741 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 742 | cmbParam* pp = _params[iPar-1];
|
---|
[3465] | 743 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
| 744 | pp->type == cmbParam::clkSat ) {
|
---|
| 745 | AA(nObs+1, iPar) = 1.0;
|
---|
[3455] | 746 | }
|
---|
| 747 | }
|
---|
[3461] | 748 | int iCond = 1;
|
---|
| 749 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
|
---|
| 750 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
|
---|
| 751 | ++iCond;
|
---|
| 752 | PP(nObs+iCond) = Ph;
|
---|
| 753 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 754 | cmbParam* pp = _params[iPar-1];
|
---|
[3465] | 755 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
| 756 | pp->type == cmbParam::offACSat &&
|
---|
| 757 | pp->prn == prn) {
|
---|
[3461] | 758 | AA(nObs+iCond, iPar) = 1.0;
|
---|
[3455] | 759 | }
|
---|
| 760 | }
|
---|
| 761 | }
|
---|
| 762 |
|
---|
| 763 | return success;
|
---|
| 764 | }
|
---|
[3470] | 765 |
|
---|
| 766 | // Process Epoch - Single-Epoch Method
|
---|
| 767 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 768 | void bncComb::processEpoch_singleEpoch() {
|
---|
| 769 |
|
---|
[3471] | 770 | _log.clear();
|
---|
[3470] | 771 |
|
---|
[3471] | 772 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 773 |
|
---|
| 774 | out << endl << "Combination (Single-Epoch):" << endl
|
---|
| 775 | << "---------------------------------------------" << endl;
|
---|
| 776 |
|
---|
| 777 | // Observation Statistics
|
---|
| 778 | // ----------------------
|
---|
| 779 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 780 | while (icAC.hasNext()) {
|
---|
| 781 | cmbAC* AC = icAC.next();
|
---|
| 782 | AC->numObs = 0;
|
---|
| 783 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 784 | while (itCorr.hasNext()) {
|
---|
| 785 | cmbCorr* corr = itCorr.next();
|
---|
| 786 | if (corr->acName == AC->name) {
|
---|
| 787 | AC->numObs += 1;
|
---|
| 788 | }
|
---|
| 789 | }
|
---|
| 790 | out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
|
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| 791 | }
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| 792 |
|
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| 793 | QMap<QString, t_corr*> resCorr;
|
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| 794 |
|
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| 795 |
|
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| 796 | // Print Results
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| 797 | // -------------
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| 798 | printResults(out, resCorr);
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| 799 | dumpResults(resCorr);
|
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| 800 |
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| 801 | emit newMessage(_log, false);
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| 802 |
|
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| 803 | // Delete Data
|
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| 804 | // -----------
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| 805 | _buffer.remove(_resTime);
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[3470] | 806 | }
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