[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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[3483] | 41 | const int MAXPRN_GPS = 32;
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| 42 | const int MAXPRN_GLONASS = 24;
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[3134] | 43 |
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[3455] | 44 | using namespace std;
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| 45 |
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[2898] | 46 | // Constructor
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| 47 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 48 | cmbParam::cmbParam(parType type_, int index_,
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| 49 | const QString& ac_, const QString& prn_) {
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[3032] | 50 |
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[3433] | 51 | type = type_;
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| 52 | index = index_;
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| 53 | AC = ac_;
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| 54 | prn = prn_;
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| 55 | xx = 0.0;
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[3455] | 56 | eph = 0;
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[3429] | 57 |
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[3485] | 58 | if (type == offACgps) {
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[3455] | 59 | epoSpec = true;
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| 60 | sig0 = sig0_offAC;
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| 61 | sigP = sig0;
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[3429] | 62 | }
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[3485] | 63 | else if (type == offACglo) {
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| 64 | epoSpec = true;
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| 65 | sig0 = sig0_offAC;
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| 66 | sigP = sig0;
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| 67 | }
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[3429] | 68 | else if (type == offACSat) {
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[3455] | 69 | epoSpec = false;
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| 70 | sig0 = sig0_offACSat;
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| 71 | sigP = sigP_offACSat;
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[3429] | 72 | }
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| 73 | else if (type == clkSat) {
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[3455] | 74 | epoSpec = true;
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| 75 | sig0 = sig0_clkSat;
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| 76 | sigP = sig0;
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[3429] | 77 | }
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[2933] | 78 | }
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| 79 |
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| 80 | // Destructor
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| 81 | ////////////////////////////////////////////////////////////////////////////
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| 82 | cmbParam::~cmbParam() {
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| 83 | }
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| 84 |
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| 85 | // Partial
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| 86 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 87 | double cmbParam::partial(const QString& AC_, const QString& prn_) {
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[2933] | 88 |
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[3485] | 89 | if (type == offACgps) {
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| 90 | if (AC == AC_ && prn_[0] == 'G') {
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[2934] | 91 | return 1.0;
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| 92 | }
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| 93 | }
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[3485] | 94 | else if (type == offACglo) {
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| 95 | if (AC == AC_ && prn_[0] == 'R') {
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| 96 | return 1.0;
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| 97 | }
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| 98 | }
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[3429] | 99 | else if (type == offACSat) {
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| 100 | if (AC == AC_ && prn == prn_) {
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[2933] | 101 | return 1.0;
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| 102 | }
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| 103 | }
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[3429] | 104 | else if (type == clkSat) {
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| 105 | if (prn == prn_) {
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[2933] | 106 | return 1.0;
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| 107 | }
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| 108 | }
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| 109 |
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| 110 | return 0.0;
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| 111 | }
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| 112 |
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[2990] | 113 | //
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| 114 | ////////////////////////////////////////////////////////////////////////////
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| 115 | QString cmbParam::toString() const {
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[2933] | 116 |
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[2990] | 117 | QString outStr;
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| 118 |
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[3485] | 119 | if (type == offACgps) {
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| 120 | outStr = "AC offset GPS " + AC;
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[2990] | 121 | }
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[3485] | 122 | else if (type == offACglo) {
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| 123 | outStr = "AC offset GLO " + AC;
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| 124 | }
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[3429] | 125 | else if (type == offACSat) {
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[2992] | 126 | outStr = "Sat Offset " + AC + " " + prn;
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[2990] | 127 | }
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[3429] | 128 | else if (type == clkSat) {
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[2992] | 129 | outStr = "Clk Corr " + prn;
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[2990] | 130 | }
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[2933] | 131 |
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[2990] | 132 | return outStr;
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| 133 | }
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| 134 |
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[2933] | 135 | // Constructor
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| 136 | ////////////////////////////////////////////////////////////////////////////
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[2898] | 137 | bncComb::bncComb() {
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[2910] | 138 |
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| 139 | bncSettings settings;
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| 140 |
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| 141 | QStringList combineStreams = settings.value("combineStreams").toStringList();
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[2918] | 142 |
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[3455] | 143 | _masterMissingEpochs = 0;
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| 144 |
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[3143] | 145 | if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
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[2910] | 146 | QListIterator<QString> it(combineStreams);
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| 147 | while (it.hasNext()) {
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| 148 | QStringList hlp = it.next().split(" ");
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[2918] | 149 | cmbAC* newAC = new cmbAC();
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| 150 | newAC->mountPoint = hlp[0];
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| 151 | newAC->name = hlp[1];
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| 152 | newAC->weight = hlp[2].toDouble();
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[3453] | 153 | if (_masterOrbitAC.isEmpty()) {
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| 154 | _masterOrbitAC = newAC->name;
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| 155 | }
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[3429] | 156 | _ACs.append(newAC);
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[2910] | 157 | }
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| 158 | }
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[2927] | 159 |
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[3211] | 160 | _rtnetDecoder = 0;
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[3201] | 161 |
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[2990] | 162 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 163 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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[2933] | 164 |
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[3470] | 165 | // Combination Method
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| 166 | // ------------------
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[3481] | 167 | if (settings.value("cmbMethod").toString() == "Single-Epoch") {
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| 168 | _method = singleEpoch;
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[3470] | 169 | }
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| 170 | else {
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[3481] | 171 | _method = filter;
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[3470] | 172 | }
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[3032] | 173 |
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[3484] | 174 | // Use Glonass
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| 175 | // -----------
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| 176 | if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
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| 177 | _useGlonass = true;
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| 178 | }
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| 179 | else {
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| 180 | _useGlonass = false;
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| 181 | }
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| 182 |
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[3032] | 183 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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| 184 | // ----------------------------------------------------------------------
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[3470] | 185 | if (_method == filter) {
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| 186 | int nextPar = 0;
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| 187 | QListIterator<cmbAC*> it(_ACs);
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| 188 | while (it.hasNext()) {
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| 189 | cmbAC* AC = it.next();
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[3485] | 190 | _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC->name, ""));
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[3470] | 191 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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| 192 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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| 193 | _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
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| 194 | AC->name, prn));
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| 195 | }
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[3483] | 196 | if (_useGlonass) {
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[3485] | 197 | _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC->name, ""));
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[3483] | 198 | for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
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| 199 | QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
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| 200 | _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
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| 201 | AC->name, prn));
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| 202 | }
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| 203 | }
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[3470] | 204 | }
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[3134] | 205 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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| 206 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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[3470] | 207 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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[2991] | 208 | }
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[3483] | 209 | if (_useGlonass) {
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| 210 | for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
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| 211 | QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
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| 212 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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| 213 | }
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| 214 | }
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[3470] | 215 |
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| 216 | // Initialize Variance-Covariance Matrix
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| 217 | // -------------------------------------
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| 218 | _QQ.ReSize(_params.size());
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| 219 | _QQ = 0.0;
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| 220 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 221 | cmbParam* pp = _params[iPar-1];
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| 222 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
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| 223 | }
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[2991] | 224 | }
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[2933] | 225 |
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[3052] | 226 | // ANTEX File
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| 227 | // ----------
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| 228 | _antex = 0;
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| 229 | QString antexFileName = settings.value("pppAntex").toString();
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| 230 | if (!antexFileName.isEmpty()) {
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| 231 | _antex = new bncAntex();
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| 232 | if (_antex->readFile(antexFileName) != success) {
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| 233 | emit newMessage("wrong ANTEX file", true);
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| 234 | delete _antex;
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| 235 | _antex = 0;
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| 236 | }
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| 237 | }
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[3138] | 238 |
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[3329] | 239 | // Maximal Residuum
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| 240 | // ----------------
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| 241 | _MAXRES = settings.value("cmbMaxres").toDouble();
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| 242 | if (_MAXRES <= 0.0) {
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| 243 | _MAXRES = 999.0;
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| 244 | }
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[2898] | 245 | }
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| 246 |
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| 247 | // Destructor
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| 248 | ////////////////////////////////////////////////////////////////////////////
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| 249 | bncComb::~bncComb() {
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[3429] | 250 | QListIterator<cmbAC*> icAC(_ACs);
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| 251 | while (icAC.hasNext()) {
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| 252 | delete icAC.next();
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[2918] | 253 | }
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[3201] | 254 | delete _rtnetDecoder;
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[3052] | 255 | delete _antex;
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[3296] | 256 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 257 | delete _params[iPar-1];
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| 258 | }
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[3553] | 259 | QListIterator<unsigned long> itTime(_buffer.keys());
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[3551] | 260 | while (itTime.hasNext()) {
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| 261 | _buffer.remove(itTime.next());
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[3429] | 262 | }
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[2898] | 263 | }
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| 264 |
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[2928] | 265 | // Read and store one correction line
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[2898] | 266 | ////////////////////////////////////////////////////////////////////////////
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| 267 | void bncComb::processCorrLine(const QString& staID, const QString& line) {
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[2906] | 268 | QMutexLocker locker(&_mutex);
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[2913] | 269 |
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[3431] | 270 | // Find the AC Name
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| 271 | // ----------------
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| 272 | QString acName;
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| 273 | QListIterator<cmbAC*> icAC(_ACs);
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| 274 | while (icAC.hasNext()) {
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| 275 | cmbAC* AC = icAC.next();
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| 276 | if (AC->mountPoint == staID) {
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| 277 | acName = AC->name;
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| 278 | break;
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| 279 | }
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| 280 | }
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| 281 | if (acName.isEmpty()) {
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| 282 | return;
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| 283 | }
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| 284 |
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[2918] | 285 | // Read the Correction
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| 286 | // -------------------
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[3429] | 287 | cmbCorr* newCorr = new cmbCorr();
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[3431] | 288 | newCorr->acName = acName;
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[2913] | 289 | if (!newCorr->readLine(line) == success) {
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| 290 | delete newCorr;
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| 291 | return;
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| 292 | }
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| 293 |
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[3483] | 294 | // Check Glonass
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| 295 | // -------------
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| 296 | if (!_useGlonass) {
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| 297 | if (newCorr->prn[0] == 'R') {
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| 298 | delete newCorr;
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| 299 | return;
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| 300 | }
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| 301 | }
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| 302 |
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[3274] | 303 | // Check Modulo Time
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| 304 | // -----------------
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| 305 | if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
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| 306 | delete newCorr;
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| 307 | return;
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| 308 | }
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| 309 |
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[3299] | 310 | // Delete old corrections
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| 311 | // ----------------------
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[3437] | 312 | if (_resTime.valid() && newCorr->tt <= _resTime) {
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[2924] | 313 | delete newCorr;
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| 314 | return;
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| 315 | }
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| 316 |
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[3029] | 317 | // Check the Ephemeris
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| 318 | //--------------------
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[2986] | 319 | if (_eph.find(newCorr->prn) == _eph.end()) {
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| 320 | delete newCorr;
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| 321 | return;
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| 322 | }
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| 323 | else {
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| 324 | t_eph* lastEph = _eph[newCorr->prn]->last;
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| 325 | t_eph* prevEph = _eph[newCorr->prn]->prev;
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[3029] | 326 | if (lastEph && lastEph->IOD() == newCorr->iod) {
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| 327 | newCorr->eph = lastEph;
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[2986] | 328 | }
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[3501] | 329 | else if (lastEph && prevEph && prevEph->IOD() == newCorr->iod) {
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[3029] | 330 | newCorr->eph = prevEph;
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[3429] | 331 | switchToLastEph(lastEph, newCorr);
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[3029] | 332 | }
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| 333 | else {
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[2986] | 334 | delete newCorr;
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| 335 | return;
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| 336 | }
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| 337 | }
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| 338 |
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[3435] | 339 | // Process previous Epoch(s)
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| 340 | // -------------------------
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[3553] | 341 | QListIterator<unsigned long> itTime(_buffer.keys());
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[3435] | 342 | while (itTime.hasNext()) {
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[3553] | 343 | unsigned long epoTime = itTime.next();
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| 344 | if (epoTime < (newCorr->tt - moduloTime).longSec()) {
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| 345 | _resTime = _buffer[epoTime].tt();
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[3435] | 346 | processEpoch();
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| 347 | }
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[2927] | 348 | }
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| 349 |
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[3429] | 350 | // Merge or add the correction
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| 351 | // ---------------------------
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[3553] | 352 | QVector<cmbCorr*>& corrs = _buffer[newCorr->tt.longSec()].corrs;
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[3429] | 353 | cmbCorr* existingCorr = 0;
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[3435] | 354 | QVectorIterator<cmbCorr*> itCorr(corrs);
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[3429] | 355 | while (itCorr.hasNext()) {
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| 356 | cmbCorr* hlp = itCorr.next();
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[3554] | 357 | if (hlp->prn == newCorr->prn && hlp->acName == newCorr->acName) {
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[3429] | 358 | existingCorr = hlp;
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[2918] | 359 | break;
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| 360 | }
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| 361 | }
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[3429] | 362 | if (existingCorr) {
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[3298] | 363 | delete newCorr;
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[3429] | 364 | existingCorr->readLine(line); // merge (multiple messages)
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[2918] | 365 | }
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[2919] | 366 | else {
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[3435] | 367 | corrs.append(newCorr);
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[2919] | 368 | }
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[3555] | 369 |
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| 370 | if (_resTime.valid()) {
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| 371 | QListIterator<unsigned long> it(_buffer.keys());
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| 372 | while (it.hasNext()) {
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| 373 | unsigned long epoTime = it.next();
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| 374 | if (epoTime <= _resTime.longSec()) {
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| 375 | _buffer.remove(epoTime);
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| 376 | }
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| 377 | }
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| 378 | }
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[2898] | 379 | }
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| 380 |
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[2986] | 381 | // Change the correction so that it refers to last received ephemeris
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| 382 | ////////////////////////////////////////////////////////////////////////////
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[3029] | 383 | void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
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[3028] | 384 |
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[3429] | 385 | if (corr->eph == lastEph) {
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| 386 | return;
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| 387 | }
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| 388 |
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[2987] | 389 | ColumnVector oldXC(4);
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| 390 | ColumnVector oldVV(3);
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[3029] | 391 | corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
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| 392 | oldXC.data(), oldVV.data());
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[2988] | 393 |
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[2987] | 394 | ColumnVector newXC(4);
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| 395 | ColumnVector newVV(3);
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[3029] | 396 | lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
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[2987] | 397 | newXC.data(), newVV.data());
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[2988] | 398 |
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| 399 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
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[2989] | 400 | ColumnVector dV = newVV - oldVV;
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| 401 | double dC = newXC(4) - oldXC(4);
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| 402 |
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[2988] | 403 | ColumnVector dRAO(3);
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| 404 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
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[2989] | 405 |
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| 406 | ColumnVector dDotRAO(3);
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| 407 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
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| 408 |
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[3455] | 409 | QString msg = "switch corr " + corr->prn
|
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[3029] | 410 | + QString(" %1 -> %2 %3").arg(corr->iod,3)
|
---|
[3013] | 411 | .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
| 412 |
|
---|
[3029] | 413 | emit newMessage(msg.toAscii(), false);
|
---|
[3028] | 414 |
|
---|
[3029] | 415 | corr->iod = lastEph->IOD();
|
---|
| 416 | corr->eph = lastEph;
|
---|
[3031] | 417 | corr->rao += dRAO;
|
---|
| 418 | corr->dotRao += dDotRAO;
|
---|
[3029] | 419 | corr->dClk -= dC;
|
---|
[2986] | 420 | }
|
---|
| 421 |
|
---|
[3429] | 422 | // Process Epoch
|
---|
[2928] | 423 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 424 | void bncComb::processEpoch() {
|
---|
[2918] | 425 |
|
---|
[2990] | 426 | _log.clear();
|
---|
| 427 |
|
---|
| 428 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 429 |
|
---|
[3472] | 430 | out << endl << "Combination:" << endl
|
---|
| 431 | << "------------------------------" << endl;
|
---|
[2990] | 432 |
|
---|
[3433] | 433 | // Observation Statistics
|
---|
| 434 | // ----------------------
|
---|
[3455] | 435 | bool masterPresent = false;
|
---|
[3433] | 436 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 437 | while (icAC.hasNext()) {
|
---|
| 438 | cmbAC* AC = icAC.next();
|
---|
| 439 | AC->numObs = 0;
|
---|
[3434] | 440 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
[3433] | 441 | while (itCorr.hasNext()) {
|
---|
| 442 | cmbCorr* corr = itCorr.next();
|
---|
| 443 | if (corr->acName == AC->name) {
|
---|
| 444 | AC->numObs += 1;
|
---|
[3453] | 445 | if (AC->name == _masterOrbitAC) {
|
---|
| 446 | masterPresent = true;
|
---|
| 447 | }
|
---|
[3433] | 448 | }
|
---|
| 449 | }
|
---|
| 450 | out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
|
---|
| 451 | }
|
---|
| 452 |
|
---|
[3453] | 453 | // If Master not present, switch to another one
|
---|
| 454 | // --------------------------------------------
|
---|
[3456] | 455 | if (masterPresent) {
|
---|
| 456 | _masterMissingEpochs = 0;
|
---|
| 457 | }
|
---|
| 458 | else {
|
---|
[3455] | 459 | ++_masterMissingEpochs;
|
---|
[3459] | 460 | if (_masterMissingEpochs < 10) {
|
---|
[3457] | 461 | out << "Missing Master, Epoch skipped" << endl;
|
---|
[3553] | 462 | _buffer.remove(_resTime.longSec());
|
---|
[3455] | 463 | emit newMessage(_log, false);
|
---|
| 464 | return;
|
---|
[3453] | 465 | }
|
---|
[3455] | 466 | else {
|
---|
| 467 | _masterMissingEpochs = 0;
|
---|
| 468 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 469 | while (icAC.hasNext()) {
|
---|
| 470 | cmbAC* AC = icAC.next();
|
---|
| 471 | if (AC->numObs > 0) {
|
---|
| 472 | out << "Switching Master AC "
|
---|
| 473 | << _masterOrbitAC.toAscii().data() << " --> "
|
---|
| 474 | << AC->name.toAscii().data() << " "
|
---|
| 475 | << _resTime.datestr().c_str() << " "
|
---|
| 476 | << _resTime.timestr().c_str() << endl;
|
---|
| 477 | _masterOrbitAC = AC->name;
|
---|
| 478 | break;
|
---|
| 479 | }
|
---|
[3452] | 480 | }
|
---|
| 481 | }
|
---|
| 482 | }
|
---|
| 483 |
|
---|
[3472] | 484 | QMap<QString, t_corr*> resCorr;
|
---|
| 485 |
|
---|
| 486 | // Perform the actual Combination using selected Method
|
---|
| 487 | // ----------------------------------------------------
|
---|
| 488 | t_irc irc;
|
---|
[3475] | 489 | ColumnVector dx;
|
---|
[3472] | 490 | if (_method == filter) {
|
---|
[3475] | 491 | irc = processEpoch_filter(out, resCorr, dx);
|
---|
[3472] | 492 | }
|
---|
| 493 | else {
|
---|
[3475] | 494 | irc = processEpoch_singleEpoch(out, resCorr, dx);
|
---|
[3472] | 495 | }
|
---|
| 496 |
|
---|
[3475] | 497 | // Update Parameter Values, Print Results
|
---|
| 498 | // --------------------------------------
|
---|
[3472] | 499 | if (irc == success) {
|
---|
[3475] | 500 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 501 | cmbParam* pp = _params[iPar-1];
|
---|
| 502 | pp->xx += dx(iPar);
|
---|
| 503 | if (pp->type == cmbParam::clkSat) {
|
---|
| 504 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
| 505 | resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
|
---|
| 506 | }
|
---|
| 507 | }
|
---|
| 508 | out << _resTime.datestr().c_str() << " "
|
---|
| 509 | << _resTime.timestr().c_str() << " ";
|
---|
| 510 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 511 | out.setFieldWidth(8);
|
---|
| 512 | out.setRealNumberPrecision(4);
|
---|
| 513 | out << pp->toString() << " "
|
---|
| 514 | << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
|
---|
| 515 | out.setFieldWidth(0);
|
---|
| 516 | }
|
---|
[3472] | 517 | printResults(out, resCorr);
|
---|
| 518 | dumpResults(resCorr);
|
---|
| 519 | }
|
---|
| 520 |
|
---|
| 521 | // Delete Data, emit Message
|
---|
| 522 | // -------------------------
|
---|
[3553] | 523 | _buffer.remove(_resTime.longSec());
|
---|
[3472] | 524 | emit newMessage(_log, false);
|
---|
| 525 | }
|
---|
| 526 |
|
---|
| 527 | // Process Epoch - Filter Method
|
---|
| 528 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 529 | t_irc bncComb::processEpoch_filter(QTextStream& out,
|
---|
[3475] | 530 | QMap<QString, t_corr*>& resCorr,
|
---|
| 531 | ColumnVector& dx) {
|
---|
[3472] | 532 |
|
---|
[3429] | 533 | // Prediction Step
|
---|
| 534 | // ---------------
|
---|
[3472] | 535 | int nPar = _params.size();
|
---|
[2933] | 536 | ColumnVector x0(nPar);
|
---|
| 537 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
[3455] | 538 | cmbParam* pp = _params[iPar-1];
|
---|
| 539 | if (pp->epoSpec) {
|
---|
[3451] | 540 | pp->xx = 0.0;
|
---|
[3455] | 541 | _QQ.Row(iPar) = 0.0;
|
---|
| 542 | _QQ.Column(iPar) = 0.0;
|
---|
| 543 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3451] | 544 | }
|
---|
[3455] | 545 | else {
|
---|
| 546 | _QQ(iPar,iPar) += pp->sigP * pp->sigP;
|
---|
| 547 | }
|
---|
[2933] | 548 | x0(iPar) = pp->xx;
|
---|
| 549 | }
|
---|
| 550 |
|
---|
[3487] | 551 | // Check Satellite Positions for Outliers
|
---|
| 552 | // --------------------------------------
|
---|
[3497] | 553 | if (checkOrbits(out) != success) {
|
---|
[3487] | 554 | return failure;
|
---|
| 555 | }
|
---|
[3441] | 556 |
|
---|
[3455] | 557 | // Update and outlier detection loop
|
---|
| 558 | // ---------------------------------
|
---|
[3487] | 559 | SymmetricMatrix QQ_sav = _QQ;
|
---|
[3455] | 560 | while (true) {
|
---|
[3135] | 561 |
|
---|
[3455] | 562 | Matrix AA;
|
---|
| 563 | ColumnVector ll;
|
---|
| 564 | DiagonalMatrix PP;
|
---|
[3429] | 565 |
|
---|
[3455] | 566 | if (createAmat(AA, ll, PP, x0, resCorr) != success) {
|
---|
[3472] | 567 | return failure;
|
---|
[3441] | 568 | }
|
---|
[2933] | 569 |
|
---|
[3429] | 570 | bncModel::kalman(AA, ll, PP, _QQ, dx);
|
---|
| 571 | ColumnVector vv = ll - AA * dx;
|
---|
[3080] | 572 |
|
---|
[3429] | 573 | int maxResIndex;
|
---|
| 574 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
| 575 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 576 | out.setRealNumberPrecision(3);
|
---|
| 577 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
[3432] | 578 | << " Maximum Residuum " << maxRes << ' '
|
---|
[3434] | 579 | << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
|
---|
[3080] | 580 |
|
---|
[3432] | 581 | if (maxRes > _MAXRES) {
|
---|
| 582 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 583 | cmbParam* pp = _params[iPar-1];
|
---|
| 584 | if (pp->type == cmbParam::offACSat &&
|
---|
[3434] | 585 | pp->AC == corrs()[maxResIndex-1]->acName &&
|
---|
| 586 | pp->prn == corrs()[maxResIndex-1]->prn) {
|
---|
[3432] | 587 | QQ_sav.Row(iPar) = 0.0;
|
---|
| 588 | QQ_sav.Column(iPar) = 0.0;
|
---|
[3455] | 589 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3432] | 590 | }
|
---|
| 591 | }
|
---|
| 592 |
|
---|
| 593 | out << " Outlier" << endl;
|
---|
| 594 | _QQ = QQ_sav;
|
---|
[3455] | 595 | corrs().remove(maxResIndex-1);
|
---|
[3432] | 596 | }
|
---|
| 597 | else {
|
---|
| 598 | out << " OK" << endl;
|
---|
| 599 | break;
|
---|
| 600 | }
|
---|
| 601 | }
|
---|
| 602 |
|
---|
[3472] | 603 | return success;
|
---|
[2918] | 604 | }
|
---|
[3011] | 605 |
|
---|
[3201] | 606 | // Print results
|
---|
[3011] | 607 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 608 | void bncComb::printResults(QTextStream& out,
|
---|
[3011] | 609 | const QMap<QString, t_corr*>& resCorr) {
|
---|
| 610 |
|
---|
| 611 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 612 | while (it.hasNext()) {
|
---|
| 613 | it.next();
|
---|
| 614 | t_corr* corr = it.value();
|
---|
[3029] | 615 | const t_eph* eph = corr->eph;
|
---|
[3015] | 616 | if (eph) {
|
---|
| 617 | double xx, yy, zz, cc;
|
---|
[3429] | 618 | eph->position(_resTime.gpsw(), _resTime.gpssec(), xx, yy, zz, cc);
|
---|
[3015] | 619 |
|
---|
[3429] | 620 | out << _resTime.datestr().c_str() << " "
|
---|
| 621 | << _resTime.timestr().c_str() << " ";
|
---|
[3015] | 622 | out.setFieldWidth(3);
|
---|
| 623 | out << "Full Clock " << corr->prn << " " << corr->iod << " ";
|
---|
| 624 | out.setFieldWidth(14);
|
---|
| 625 | out << (cc + corr->dClk) * t_CST::c << endl;
|
---|
[3370] | 626 | out.setFieldWidth(0);
|
---|
[3015] | 627 | }
|
---|
| 628 | else {
|
---|
| 629 | out << "bncComb::printResuls bug" << endl;
|
---|
| 630 | }
|
---|
[3011] | 631 | }
|
---|
| 632 | }
|
---|
[3202] | 633 |
|
---|
| 634 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
| 635 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 636 | void bncComb::dumpResults(const QMap<QString, t_corr*>& resCorr) {
|
---|
[3202] | 637 |
|
---|
[3214] | 638 | ostringstream out; out.setf(std::ios::fixed);
|
---|
[3216] | 639 | QStringList corrLines;
|
---|
[3214] | 640 |
|
---|
| 641 | unsigned year, month, day, hour, minute;
|
---|
| 642 | double sec;
|
---|
[3429] | 643 | _resTime.civil_date(year, month, day);
|
---|
| 644 | _resTime.civil_time(hour, minute, sec);
|
---|
[3214] | 645 |
|
---|
| 646 | out << "* "
|
---|
| 647 | << setw(4) << year << " "
|
---|
| 648 | << setw(2) << month << " "
|
---|
| 649 | << setw(2) << day << " "
|
---|
| 650 | << setw(2) << hour << " "
|
---|
| 651 | << setw(2) << minute << " "
|
---|
| 652 | << setw(12) << setprecision(8) << sec << " "
|
---|
| 653 | << endl;
|
---|
| 654 |
|
---|
[3202] | 655 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 656 | while (it.hasNext()) {
|
---|
| 657 | it.next();
|
---|
| 658 | t_corr* corr = it.value();
|
---|
| 659 |
|
---|
[3214] | 660 | double dT = 60.0;
|
---|
[3202] | 661 |
|
---|
[3214] | 662 | for (int iTime = 1; iTime <= 2; iTime++) {
|
---|
| 663 |
|
---|
[3429] | 664 | bncTime time12 = (iTime == 1) ? _resTime : _resTime + dT;
|
---|
[3214] | 665 |
|
---|
| 666 | ColumnVector xc(4);
|
---|
| 667 | ColumnVector vv(3);
|
---|
| 668 | corr->eph->position(time12.gpsw(), time12.gpssec(),
|
---|
| 669 | xc.data(), vv.data());
|
---|
[3521] | 670 | bncPPPclient::applyCorr(time12, corr, xc, vv);
|
---|
[3214] | 671 |
|
---|
| 672 | // Relativistic Correction
|
---|
| 673 | // -----------------------
|
---|
| 674 | double relCorr = - 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
|
---|
| 675 | xc(4) -= relCorr;
|
---|
| 676 |
|
---|
| 677 | // Code Biases
|
---|
| 678 | // -----------
|
---|
| 679 | double dcbP1C1 = 0.0;
|
---|
| 680 | double dcbP1P2 = 0.0;
|
---|
| 681 |
|
---|
| 682 | // Correction Phase Center --> CoM
|
---|
| 683 | // -------------------------------
|
---|
| 684 | ColumnVector dx(3); dx = 0.0;
|
---|
| 685 | if (_antex) {
|
---|
| 686 | double Mjd = time12.mjd() + time12.daysec()/86400.0;
|
---|
| 687 | if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
|
---|
| 688 | xc(1) -= dx(1);
|
---|
| 689 | xc(2) -= dx(2);
|
---|
| 690 | xc(3) -= dx(3);
|
---|
| 691 | }
|
---|
| 692 | else {
|
---|
| 693 | cout << "antenna not found" << endl;
|
---|
| 694 | }
|
---|
| 695 | }
|
---|
| 696 |
|
---|
| 697 | if (iTime == 1) {
|
---|
| 698 | out << 'P' << corr->prn.toAscii().data()
|
---|
| 699 | << setw(14) << setprecision(6) << xc(1) / 1000.0
|
---|
| 700 | << setw(14) << setprecision(6) << xc(2) / 1000.0
|
---|
| 701 | << setw(14) << setprecision(6) << xc(3) / 1000.0
|
---|
| 702 | << setw(14) << setprecision(6) << xc(4) * 1e6
|
---|
| 703 | << setw(14) << setprecision(6) << relCorr * 1e6
|
---|
| 704 | << setw(8) << setprecision(3) << dx(1)
|
---|
| 705 | << setw(8) << setprecision(3) << dx(2)
|
---|
| 706 | << setw(8) << setprecision(3) << dx(3)
|
---|
| 707 | << setw(8) << setprecision(3) << dcbP1C1
|
---|
| 708 | << setw(8) << setprecision(3) << dcbP1P2
|
---|
| 709 | << setw(6) << setprecision(1) << dT;
|
---|
[3216] | 710 |
|
---|
[3218] | 711 | QString line;
|
---|
[3217] | 712 | int messageType = COTYPE_GPSCOMBINED;
|
---|
[3218] | 713 | int updateInt = 0;
|
---|
| 714 | line.sprintf("%d %d %d %.1f %s"
|
---|
| 715 | " %3d"
|
---|
| 716 | " %8.3f %8.3f %8.3f %8.3f"
|
---|
| 717 | " %10.5f %10.5f %10.5f %10.5f"
|
---|
[3262] | 718 | " %10.5f %10.5f %10.5f %10.5f INTERNAL",
|
---|
[3218] | 719 | messageType, updateInt, time12.gpsw(), time12.gpssec(),
|
---|
| 720 | corr->prn.toAscii().data(),
|
---|
| 721 | corr->iod,
|
---|
[3219] | 722 | corr->dClk * t_CST::c,
|
---|
[3218] | 723 | corr->rao[0],
|
---|
| 724 | corr->rao[1],
|
---|
| 725 | corr->rao[2],
|
---|
[3219] | 726 | corr->dotDClk * t_CST::c,
|
---|
[3218] | 727 | corr->dotRao[0],
|
---|
| 728 | corr->dotRao[1],
|
---|
| 729 | corr->dotRao[2],
|
---|
[3262] | 730 | corr->dotDotDClk * t_CST::c,
|
---|
| 731 | corr->dotDotRao[0],
|
---|
| 732 | corr->dotDotRao[1],
|
---|
| 733 | corr->dotDotRao[2]);
|
---|
[3220] | 734 | corrLines << line;
|
---|
[3214] | 735 | }
|
---|
| 736 | else {
|
---|
| 737 | out << setw(14) << setprecision(6) << xc(1) / 1000.0
|
---|
| 738 | << setw(14) << setprecision(6) << xc(2) / 1000.0
|
---|
| 739 | << setw(14) << setprecision(6) << xc(3) / 1000.0 << endl;
|
---|
| 740 | }
|
---|
| 741 | }
|
---|
| 742 |
|
---|
| 743 | delete corr;
|
---|
| 744 | }
|
---|
[3228] | 745 | out << "EOE" << endl; // End Of Epoch flag
|
---|
[3214] | 746 |
|
---|
[3215] | 747 | if (!_rtnetDecoder) {
|
---|
| 748 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
| 749 | }
|
---|
[3221] | 750 |
|
---|
[3215] | 751 | vector<string> errmsg;
|
---|
[3221] | 752 | _rtnetDecoder->Decode((char*) out.str().data(), out.str().size(), errmsg);
|
---|
[3215] | 753 |
|
---|
[3216] | 754 | // Optionally send new Corrections to PPP
|
---|
| 755 | // --------------------------------------
|
---|
| 756 | bncApp* app = (bncApp*) qApp;
|
---|
| 757 | if (app->_bncPPPclient) {
|
---|
| 758 | app->_bncPPPclient->slotNewCorrections(corrLines);
|
---|
| 759 | }
|
---|
[3202] | 760 | }
|
---|
[3455] | 761 |
|
---|
| 762 | // Create First Design Matrix and Vector of Measurements
|
---|
| 763 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 764 | t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
| 765 | const ColumnVector& x0,
|
---|
| 766 | QMap<QString, t_corr*>& resCorr) {
|
---|
| 767 |
|
---|
| 768 | unsigned nPar = _params.size();
|
---|
| 769 | unsigned nObs = corrs().size();
|
---|
| 770 |
|
---|
| 771 | if (nObs == 0) {
|
---|
| 772 | return failure;
|
---|
| 773 | }
|
---|
| 774 |
|
---|
[3483] | 775 | int MAXPRN = MAXPRN_GPS;
|
---|
[3486] | 776 | // if (_useGlonass) {
|
---|
| 777 | // MAXPRN = MAXPRN_GPS + MAXPRN_GLONASS;
|
---|
| 778 | // }
|
---|
[3455] | 779 |
|
---|
[3483] | 780 | const int nCon = (_method == filter) ? 1 + MAXPRN : 0;
|
---|
| 781 |
|
---|
[3455] | 782 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
| 783 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
| 784 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
| 785 |
|
---|
| 786 | int iObs = 0;
|
---|
| 787 |
|
---|
| 788 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 789 | while (itCorr.hasNext()) {
|
---|
| 790 | cmbCorr* corr = itCorr.next();
|
---|
| 791 | QString prn = corr->prn;
|
---|
[3487] | 792 |
|
---|
[3455] | 793 | ++iObs;
|
---|
| 794 |
|
---|
[3476] | 795 | if (corr->acName == _masterOrbitAC && resCorr.find(prn) == resCorr.end()) {
|
---|
| 796 | resCorr[prn] = new t_corr(*corr);
|
---|
[3455] | 797 | }
|
---|
| 798 |
|
---|
| 799 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 800 | cmbParam* pp = _params[iPar-1];
|
---|
| 801 | AA(iObs, iPar) = pp->partial(corr->acName, prn);
|
---|
| 802 | }
|
---|
| 803 |
|
---|
| 804 | ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
|
---|
| 805 | }
|
---|
| 806 |
|
---|
| 807 | // Regularization
|
---|
| 808 | // --------------
|
---|
[3474] | 809 | if (_method == filter) {
|
---|
| 810 | const double Ph = 1.e6;
|
---|
| 811 | PP(nObs+1) = Ph;
|
---|
[3461] | 812 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 813 | cmbParam* pp = _params[iPar-1];
|
---|
[3465] | 814 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[3474] | 815 | pp->type == cmbParam::clkSat ) {
|
---|
| 816 | AA(nObs+1, iPar) = 1.0;
|
---|
[3455] | 817 | }
|
---|
| 818 | }
|
---|
[3474] | 819 | int iCond = 1;
|
---|
| 820 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
|
---|
| 821 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
|
---|
| 822 | ++iCond;
|
---|
| 823 | PP(nObs+iCond) = Ph;
|
---|
| 824 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 825 | cmbParam* pp = _params[iPar-1];
|
---|
| 826 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
| 827 | pp->type == cmbParam::offACSat &&
|
---|
| 828 | pp->prn == prn) {
|
---|
| 829 | AA(nObs+iCond, iPar) = 1.0;
|
---|
| 830 | }
|
---|
| 831 | }
|
---|
| 832 | }
|
---|
[3486] | 833 | // if (_useGlonass) {
|
---|
| 834 | // for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
|
---|
| 835 | // QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
|
---|
| 836 | // ++iCond;
|
---|
| 837 | // PP(nObs+iCond) = Ph;
|
---|
| 838 | // for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 839 | // cmbParam* pp = _params[iPar-1];
|
---|
| 840 | // if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
| 841 | // pp->type == cmbParam::offACSat &&
|
---|
| 842 | // pp->prn == prn) {
|
---|
| 843 | // AA(nObs+iCond, iPar) = 1.0;
|
---|
| 844 | // }
|
---|
| 845 | // }
|
---|
| 846 | // }
|
---|
| 847 | // }
|
---|
[3455] | 848 | }
|
---|
| 849 |
|
---|
| 850 | return success;
|
---|
| 851 | }
|
---|
[3470] | 852 |
|
---|
| 853 | // Process Epoch - Single-Epoch Method
|
---|
| 854 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3472] | 855 | t_irc bncComb::processEpoch_singleEpoch(QTextStream& out,
|
---|
[3475] | 856 | QMap<QString, t_corr*>& resCorr,
|
---|
| 857 | ColumnVector& dx) {
|
---|
[3470] | 858 |
|
---|
[3487] | 859 | // Check Satellite Positions for Outliers
|
---|
| 860 | // --------------------------------------
|
---|
[3497] | 861 | if (checkOrbits(out) != success) {
|
---|
[3487] | 862 | return failure;
|
---|
| 863 | }
|
---|
| 864 |
|
---|
[3482] | 865 | // Outlier Detection Loop
|
---|
| 866 | // ----------------------
|
---|
| 867 | while (true) {
|
---|
| 868 |
|
---|
| 869 | // Remove Satellites that are not in Master
|
---|
| 870 | // ----------------------------------------
|
---|
| 871 | QMutableVectorIterator<cmbCorr*> it(corrs());
|
---|
| 872 | while (it.hasNext()) {
|
---|
| 873 | cmbCorr* corr = it.next();
|
---|
| 874 | QString prn = corr->prn;
|
---|
| 875 | bool foundMaster = false;
|
---|
| 876 | QVectorIterator<cmbCorr*> itHlp(corrs());
|
---|
| 877 | while (itHlp.hasNext()) {
|
---|
| 878 | cmbCorr* corrHlp = itHlp.next();
|
---|
| 879 | QString prnHlp = corrHlp->prn;
|
---|
| 880 | QString ACHlp = corrHlp->acName;
|
---|
| 881 | if (ACHlp == _masterOrbitAC && prn == prnHlp) {
|
---|
| 882 | foundMaster = true;
|
---|
| 883 | break;
|
---|
| 884 | }
|
---|
[3476] | 885 | }
|
---|
[3482] | 886 | if (!foundMaster) {
|
---|
| 887 | it.remove();
|
---|
| 888 | }
|
---|
[3473] | 889 | }
|
---|
[3482] | 890 |
|
---|
| 891 | // Count Number of Observations per Satellite and per AC
|
---|
| 892 | // -----------------------------------------------------
|
---|
| 893 | QMap<QString, int> numObsPrn;
|
---|
| 894 | QMap<QString, int> numObsAC;
|
---|
| 895 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 896 | while (itCorr.hasNext()) {
|
---|
| 897 | cmbCorr* corr = itCorr.next();
|
---|
| 898 | QString prn = corr->prn;
|
---|
| 899 | QString AC = corr->acName;
|
---|
| 900 | if (numObsPrn.find(prn) == numObsPrn.end()) {
|
---|
| 901 | numObsPrn[prn] = 1;
|
---|
| 902 | }
|
---|
| 903 | else {
|
---|
| 904 | numObsPrn[prn] += 1;
|
---|
| 905 | }
|
---|
| 906 | if (numObsAC.find(AC) == numObsAC.end()) {
|
---|
| 907 | numObsAC[AC] = 1;
|
---|
| 908 | }
|
---|
| 909 | else {
|
---|
| 910 | numObsAC[AC] += 1;
|
---|
| 911 | }
|
---|
[3476] | 912 | }
|
---|
[3482] | 913 |
|
---|
| 914 | // Clean-Up the Paramters
|
---|
| 915 | // ----------------------
|
---|
| 916 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 917 | delete _params[iPar-1];
|
---|
[3474] | 918 | }
|
---|
[3482] | 919 | _params.clear();
|
---|
| 920 |
|
---|
| 921 | // Set new Parameters
|
---|
| 922 | // ------------------
|
---|
| 923 | int nextPar = 0;
|
---|
| 924 |
|
---|
| 925 | QMapIterator<QString, int> itAC(numObsAC);
|
---|
| 926 | while (itAC.hasNext()) {
|
---|
| 927 | itAC.next();
|
---|
| 928 | const QString& AC = itAC.key();
|
---|
| 929 | int numObs = itAC.value();
|
---|
| 930 | if (AC != _masterOrbitAC && numObs > 0) {
|
---|
[3485] | 931 | _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC, ""));
|
---|
| 932 | if (_useGlonass) {
|
---|
| 933 | _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC, ""));
|
---|
| 934 | }
|
---|
[3482] | 935 | }
|
---|
| 936 | }
|
---|
| 937 |
|
---|
| 938 | QMapIterator<QString, int> itPrn(numObsPrn);
|
---|
| 939 | while (itPrn.hasNext()) {
|
---|
| 940 | itPrn.next();
|
---|
| 941 | const QString& prn = itPrn.key();
|
---|
| 942 | int numObs = itPrn.value();
|
---|
| 943 | if (numObs > 0) {
|
---|
| 944 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
---|
| 945 | }
|
---|
| 946 | }
|
---|
| 947 |
|
---|
| 948 | int nPar = _params.size();
|
---|
| 949 | ColumnVector x0(nPar);
|
---|
| 950 | x0 = 0.0;
|
---|
| 951 |
|
---|
| 952 | // Create First-Design Matrix
|
---|
| 953 | // --------------------------
|
---|
| 954 | Matrix AA;
|
---|
| 955 | ColumnVector ll;
|
---|
| 956 | DiagonalMatrix PP;
|
---|
| 957 | if (createAmat(AA, ll, PP, x0, resCorr) != success) {
|
---|
| 958 | return failure;
|
---|
[3476] | 959 | }
|
---|
[3482] | 960 |
|
---|
| 961 | ColumnVector vv;
|
---|
| 962 | try {
|
---|
| 963 | Matrix ATP = AA.t() * PP;
|
---|
| 964 | SymmetricMatrix NN; NN << ATP * AA;
|
---|
| 965 | ColumnVector bb = ATP * ll;
|
---|
| 966 | _QQ = NN.i();
|
---|
| 967 | dx = _QQ * bb;
|
---|
| 968 | vv = ll - AA * dx;
|
---|
[3476] | 969 | }
|
---|
[3482] | 970 | catch (Exception& exc) {
|
---|
| 971 | out << exc.what() << endl;
|
---|
| 972 | return failure;
|
---|
[3476] | 973 | }
|
---|
[3474] | 974 |
|
---|
[3482] | 975 | int maxResIndex;
|
---|
| 976 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
| 977 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 978 | out.setRealNumberPrecision(3);
|
---|
| 979 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
| 980 | << " Maximum Residuum " << maxRes << ' '
|
---|
| 981 | << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
|
---|
[3474] | 982 |
|
---|
[3482] | 983 | if (maxRes > _MAXRES) {
|
---|
| 984 | out << " Outlier" << endl;
|
---|
| 985 | corrs().remove(maxResIndex-1);
|
---|
[3474] | 986 | }
|
---|
[3482] | 987 | else {
|
---|
| 988 | out << " OK" << endl;
|
---|
| 989 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 990 | out.setRealNumberPrecision(3);
|
---|
| 991 | for (int ii = 0; ii < vv.Nrows(); ii++) {
|
---|
| 992 | const cmbCorr* corr = corrs()[ii];
|
---|
| 993 | out << _resTime.datestr().c_str() << ' '
|
---|
| 994 | << _resTime.timestr().c_str() << " "
|
---|
| 995 | << corr->acName << ' ' << corr->prn;
|
---|
| 996 | out.setFieldWidth(6);
|
---|
| 997 | out << " dClk = " << corr->dClk * t_CST::c << " res = " << vv[ii] << endl;
|
---|
| 998 | out.setFieldWidth(0);
|
---|
| 999 | }
|
---|
| 1000 | return success;
|
---|
[3474] | 1001 | }
|
---|
| 1002 |
|
---|
[3473] | 1003 | }
|
---|
[3474] | 1004 |
|
---|
[3482] | 1005 | return failure;
|
---|
[3470] | 1006 | }
|
---|
[3487] | 1007 |
|
---|
| 1008 | // Check Satellite Positions for Outliers
|
---|
| 1009 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3497] | 1010 | t_irc bncComb::checkOrbits(QTextStream& out) {
|
---|
[3487] | 1011 |
|
---|
[3489] | 1012 | const double MAX_DISPLACEMENT = 0.20;
|
---|
[3488] | 1013 |
|
---|
[3502] | 1014 | // Switch to last ephemeris (if possible)
|
---|
| 1015 | // --------------------------------------
|
---|
[3501] | 1016 | QMutableVectorIterator<cmbCorr*> im(corrs());
|
---|
| 1017 | while (im.hasNext()) {
|
---|
| 1018 | cmbCorr* corr = im.next();
|
---|
[3502] | 1019 | QString prn = corr->prn;
|
---|
[3503] | 1020 | if (_eph.find(prn) == _eph.end()) {
|
---|
[3502] | 1021 | out << "checkOrbit: missing eph (not found) " << corr->prn << endl;
|
---|
[3501] | 1022 | im.remove();
|
---|
| 1023 | }
|
---|
[3503] | 1024 | else if (corr->eph == 0) {
|
---|
| 1025 | out << "checkOrbit: missing eph (zero) " << corr->prn << endl;
|
---|
| 1026 | im.remove();
|
---|
| 1027 | }
|
---|
[3502] | 1028 | else {
|
---|
| 1029 | if ( corr->eph == _eph[prn]->last || corr->eph == _eph[prn]->prev ) {
|
---|
| 1030 | switchToLastEph(_eph[prn]->last, corr);
|
---|
| 1031 | }
|
---|
| 1032 | else {
|
---|
| 1033 | out << "checkOrbit: missing eph (deleted) " << corr->prn << endl;
|
---|
| 1034 | im.remove();
|
---|
| 1035 | }
|
---|
| 1036 | }
|
---|
[3501] | 1037 | }
|
---|
| 1038 |
|
---|
[3488] | 1039 | while (true) {
|
---|
| 1040 |
|
---|
| 1041 | // Compute Mean Corrections for all Satellites
|
---|
| 1042 | // -------------------------------------------
|
---|
[3489] | 1043 | QMap<QString, int> numCorr;
|
---|
[3488] | 1044 | QMap<QString, ColumnVector> meanRao;
|
---|
| 1045 | QVectorIterator<cmbCorr*> it(corrs());
|
---|
| 1046 | while (it.hasNext()) {
|
---|
| 1047 | cmbCorr* corr = it.next();
|
---|
| 1048 | QString prn = corr->prn;
|
---|
| 1049 | if (meanRao.find(prn) == meanRao.end()) {
|
---|
| 1050 | meanRao[prn].ReSize(4);
|
---|
| 1051 | meanRao[prn].Rows(1,3) = corr->rao;
|
---|
| 1052 | meanRao[prn](4) = 1;
|
---|
| 1053 | }
|
---|
| 1054 | else {
|
---|
| 1055 | meanRao[prn].Rows(1,3) += corr->rao;
|
---|
| 1056 | meanRao[prn](4) += 1;
|
---|
| 1057 | }
|
---|
[3489] | 1058 | if (numCorr.find(prn) == numCorr.end()) {
|
---|
| 1059 | numCorr[prn] = 1;
|
---|
| 1060 | }
|
---|
| 1061 | else {
|
---|
| 1062 | numCorr[prn] += 1;
|
---|
| 1063 | }
|
---|
[3487] | 1064 | }
|
---|
[3488] | 1065 |
|
---|
| 1066 | // Compute Differences wrt Mean, find Maximum
|
---|
| 1067 | // ------------------------------------------
|
---|
| 1068 | QMap<QString, cmbCorr*> maxDiff;
|
---|
| 1069 | it.toFront();
|
---|
| 1070 | while (it.hasNext()) {
|
---|
| 1071 | cmbCorr* corr = it.next();
|
---|
| 1072 | QString prn = corr->prn;
|
---|
| 1073 | if (meanRao[prn](4) != 0) {
|
---|
| 1074 | meanRao[prn] /= meanRao[prn](4);
|
---|
| 1075 | meanRao[prn](4) = 0;
|
---|
| 1076 | }
|
---|
| 1077 | corr->diffRao = corr->rao - meanRao[prn].Rows(1,3);
|
---|
| 1078 | if (maxDiff.find(prn) == maxDiff.end()) {
|
---|
| 1079 | maxDiff[prn] = corr;
|
---|
| 1080 | }
|
---|
| 1081 | else {
|
---|
| 1082 | double normMax = maxDiff[prn]->diffRao.norm_Frobenius();
|
---|
| 1083 | double norm = corr->diffRao.norm_Frobenius();
|
---|
| 1084 | if (norm > normMax) {
|
---|
| 1085 | maxDiff[prn] = corr;
|
---|
| 1086 | }
|
---|
| 1087 | }
|
---|
[3487] | 1088 | }
|
---|
[3488] | 1089 |
|
---|
| 1090 | // Remove Outliers
|
---|
| 1091 | // ---------------
|
---|
| 1092 | bool removed = false;
|
---|
| 1093 | QMutableVectorIterator<cmbCorr*> im(corrs());
|
---|
| 1094 | while (im.hasNext()) {
|
---|
| 1095 | cmbCorr* corr = im.next();
|
---|
| 1096 | QString prn = corr->prn;
|
---|
[3489] | 1097 | if (numCorr[prn] < 2) {
|
---|
| 1098 | im.remove();
|
---|
| 1099 | }
|
---|
| 1100 | else if (corr == maxDiff[prn]) {
|
---|
[3488] | 1101 | double norm = corr->diffRao.norm_Frobenius();
|
---|
| 1102 | if (norm > MAX_DISPLACEMENT) {
|
---|
[3497] | 1103 | out << _resTime.datestr().c_str() << " "
|
---|
| 1104 | << _resTime.timestr().c_str() << " "
|
---|
| 1105 | << "Orbit Outlier: "
|
---|
| 1106 | << corr->acName.toAscii().data() << " "
|
---|
| 1107 | << prn.toAscii().data() << " "
|
---|
| 1108 | << corr->iod << " "
|
---|
| 1109 | << norm << endl;
|
---|
[3488] | 1110 | im.remove();
|
---|
| 1111 | removed = true;
|
---|
| 1112 | }
|
---|
| 1113 | }
|
---|
[3487] | 1114 | }
|
---|
[3488] | 1115 |
|
---|
| 1116 | if (!removed) {
|
---|
| 1117 | break;
|
---|
| 1118 | }
|
---|
[3487] | 1119 | }
|
---|
| 1120 |
|
---|
| 1121 | return success;
|
---|
| 1122 | }
|
---|