[5683] | 1 |
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| 2 | #include <iostream>
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| 3 | #include <iomanip>
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| 4 | #include <stdlib.h>
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| 5 | #include <string.h>
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| 6 | #include <stdexcept>
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| 7 |
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| 8 | #include "pppMain.h"
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| 9 | #include "ephpool.h"
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| 10 | #include "obspool.h"
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| 11 | #include "satbias.h"
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| 12 | #include "genconst.h"
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| 13 | #include "utils.h"
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| 14 | #include "station.h"
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| 15 | #include "tides.h"
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| 16 | #include "antex.h"
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| 17 | #include "filter.h"
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| 18 |
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| 19 | using namespace BNC;
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| 20 | using namespace std;
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| 21 |
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| 22 | // Global Variable
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| 23 | //////////////////////////////////////////////////////////////////////////////
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| 24 | t_pppMain* pppMain = 0;
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| 25 |
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| 26 | // Constructor
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| 27 | //////////////////////////////////////////////////////////////////////////////
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| 28 | t_pppMain::t_pppMain() {
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| 29 | _opt = 0;
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| 30 | _output = 0;
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| 31 | _antex = 0;
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| 32 | _log = new ostringstream();
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| 33 | _ephPool = new t_ephPool();
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| 34 | _obsPool = new t_obsPool();
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| 35 | _staRover = new t_station(e_rover);
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| 36 | _staBase = new t_station(e_base);
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| 37 | _filter = new t_filter();
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| 38 | }
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| 39 |
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| 40 | // Destructor
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| 41 | //////////////////////////////////////////////////////////////////////////////
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| 42 | t_pppMain::~t_pppMain() {
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| 43 | delete _log;
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| 44 | delete _opt;
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| 45 | delete _ephPool;
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| 46 | delete _obsPool;
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| 47 | delete _staRover;
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| 48 | delete _staBase;
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| 49 | delete _antex;
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| 50 | delete _filter;
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| 51 | clearObs();
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| 52 | }
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| 53 |
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| 54 | //
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| 55 | //////////////////////////////////////////////////////////////////////////////
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| 56 | void t_pppMain::setOptions(const t_pppOpt* opt) {
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| 57 | delete _opt;
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| 58 | _opt = new t_options(opt);
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| 59 |
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| 60 | delete _antex; _antex = 0;
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| 61 | if (!_opt->antexFileName().empty()) {
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| 62 | _antex = new t_antex(_opt->antexFileName());
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| 63 | }
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| 64 |
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| 65 | _opt->print();
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| 66 | }
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| 67 |
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| 68 | //
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| 69 | //////////////////////////////////////////////////////////////////////////////
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| 70 | void t_pppMain::putGPSEphemeris(const t_ephGPS* eph) {
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| 71 | _ephPool->putEphemeris(new t_ephGPS(*eph));
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| 72 | }
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| 73 |
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| 74 | //
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| 75 | //////////////////////////////////////////////////////////////////////////////
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| 76 | void t_pppMain::putGloEphemeris(const t_ephGlo* eph) {
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| 77 | _ephPool->putEphemeris(new t_ephGlo(*eph));
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| 78 | }
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| 79 |
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| 80 | //
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| 81 | //////////////////////////////////////////////////////////////////////////////
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| 82 | void t_pppMain::putOrbCorrections(int numCorr, const t_pppOrbCorr* corr) {
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| 83 | for (int ii = 0; ii < numCorr; ii++) {
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| 84 | _ephPool->putOrbCorrection(new t_orbCorr(corr[ii]));
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| 85 | }
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| 86 | }
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| 87 |
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| 88 | //
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| 89 | //////////////////////////////////////////////////////////////////////////////
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| 90 | void t_pppMain::putClkCorrections(int numCorr, const t_pppClkCorr* corr) {
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| 91 | for (int ii = 0; ii < numCorr; ii++) {
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| 92 | _ephPool->putClkCorrection(new t_clkCorr(corr[ii]));
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| 93 | }
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| 94 | }
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| 95 |
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| 96 | //
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| 97 | //////////////////////////////////////////////////////////////////////////////
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| 98 | void t_pppMain::putBiases(int numBiases, const t_pppSatBiases* biases) {
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| 99 | for (int ii = 0; ii < numBiases; ii++) {
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| 100 | _obsPool->putBiases(new t_satBias(biases[ii]));
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| 101 | }
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| 102 | }
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| 103 |
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| 104 | //
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| 105 | //////////////////////////////////////////////////////////////////////////////
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| 106 | t_irc::irc t_pppMain::prepareObs(int numSat, const t_pppSatObs* satObs,
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| 107 | vector<t_satObs*>& obsVector, t_time& epoTime) {
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| 108 | // Default
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| 109 | // -------
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| 110 | epoTime.reset();
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| 111 |
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| 112 | // Create vector of valid observations
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| 113 | // -----------------------------------
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| 114 | int numValidGPS = 0;
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| 115 | for (int ii = 0; ii < numSat; ii++) {
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| 116 | char system = satObs[ii]._satellite._system;
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| 117 | if (system == 'G' || (system == 'R' && OPT->useGlonass())) {
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| 118 | t_satObs* satObs = new t_satObs(satObs[ii]);
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| 119 | if (satObs->isValid()) {
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| 120 | obsVector.push_back(satObs);
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| 121 | if (satObs->prn().system() == 'G') {
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| 122 | ++numValidGPS;
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| 123 | }
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| 124 | }
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| 125 | else {
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| 126 | delete satObs;
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| 127 | }
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| 128 | }
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| 129 | }
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| 130 |
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| 131 | // Check whether data are synchronized, compute epoTime
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| 132 | // ----------------------------------------------------
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| 133 | const double MAXSYNC = 0.05; // synchronization limit
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| 134 | double meanDt = 0.0;
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| 135 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 136 | const t_satObs* satObs = obsVector.at(ii);
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| 137 | if (epoTime.undef()) {
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| 138 | epoTime = satObs->time();
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| 139 | }
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| 140 | else {
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| 141 | double dt = satObs->time() - epoTime;
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| 142 | if (fabs(dt) > MAXSYNC) {
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| 143 | LOG << "t_pppMain::prepareObs asynchronous observations" << endl;
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| 144 | return t_irc::failure;
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| 145 | }
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| 146 | meanDt += dt;
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| 147 | }
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| 148 | }
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| 149 | epoTime += meanDt / obsVector.size();
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| 150 |
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| 151 | return t_irc::success;
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| 152 | }
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| 153 |
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| 154 | // Compute the Bancroft position, check for blunders
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| 155 | //////////////////////////////////////////////////////////////////////////////
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| 156 | t_irc::irc t_pppMain::cmpBancroft(const t_time& epoTime,
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| 157 | vector<t_satObs*>& obsVector,
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| 158 | ColumnVector& xyzc, bool print) {
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| 159 |
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| 160 | t_lc::type tLC = (OPT->dualFreqRequired() ? t_lc::cIF : t_lc::c1);
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| 161 |
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| 162 | while (true) {
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| 163 | Matrix BB(obsVector.size(), 4);
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| 164 | int iObs = -1;
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| 165 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 166 | const t_satObs* satObs = obsVector.at(ii);
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| 167 | if ( satObs->isValid() && satObs->prn().system() == 'G' &&
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| 168 | (!satObs->modelSet() || satObs->eleSat() >= OPT->minEle()) ) {
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| 169 | ++iObs;
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| 170 | BB[iObs][0] = satObs->xc()[0];
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| 171 | BB[iObs][1] = satObs->xc()[1];
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| 172 | BB[iObs][2] = satObs->xc()[2];
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| 173 | BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
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| 174 | }
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| 175 | }
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| 176 | if (iObs + 1 < OPT->minobs()) {
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| 177 | LOG << "t_pppMain::cmpBancroft not enough observations" << endl;
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| 178 | return t_irc::failure;
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| 179 | }
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| 180 | BB = BB.Rows(1,iObs+1);
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| 181 | bancroft(BB, xyzc);
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| 182 |
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| 183 | xyzc[3] /= t_genConst::c;
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| 184 |
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| 185 | // Check Blunders
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| 186 | // --------------
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| 187 | const double BLUNDER = 100.0;
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| 188 | double maxRes = 0.0;
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| 189 | unsigned maxResIndex = 0;
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| 190 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 191 | const t_satObs* satObs = obsVector.at(ii);
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| 192 | if ( satObs->isValid() && satObs->prn().system() == 'G' &&
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| 193 | (!satObs->modelSet() || satObs->eleSat() >= OPT->minEle()) ) {
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| 194 | ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
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| 195 | double res = rr.norm_Frobenius() - satObs->obsValue(tLC)
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| 196 | - (satObs->xc()[3] - xyzc[3]) * t_genConst::c;
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| 197 | if (fabs(res) > maxRes) {
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| 198 | maxRes = fabs(res);
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| 199 | maxResIndex = ii;
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| 200 | }
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| 201 | }
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| 202 | }
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| 203 | if (maxRes < BLUNDER) {
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| 204 | if (print) {
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| 205 | LOG.setf(ios::fixed);
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| 206 | LOG << string(epoTime) << " BANCROFT:" << ' '
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| 207 | << setw(14) << setprecision(3) << xyzc[0] << ' '
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| 208 | << setw(14) << setprecision(3) << xyzc[1] << ' '
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| 209 | << setw(14) << setprecision(3) << xyzc[2] << ' '
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| 210 | << setw(14) << setprecision(3) << xyzc[3] * t_genConst::c << endl << endl;
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| 211 | }
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| 212 | break;
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| 213 | }
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| 214 | else {
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| 215 | t_satObs* satObs = obsVector.at(maxResIndex);
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| 216 | LOG << "t_pppMain::cmpBancroft outlier " << satObs->prn().toString()
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| 217 | << " " << maxRes << endl;
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| 218 | delete satObs;
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| 219 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 220 | }
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| 221 | }
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| 222 |
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| 223 | return t_irc::success;
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| 224 | }
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| 225 |
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| 226 | // Compute A Priori GPS-Glonass Offset
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| 227 | //////////////////////////////////////////////////////////////////////////////
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| 228 | double t_pppMain::cmpOffGG(vector<t_satObs*>& obsVector) {
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| 229 |
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| 230 | t_lc::type tLC = (OPT->dualFreqRequired() ? t_lc::cIF : t_lc::c1);
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| 231 | double offGG = 0.0;
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| 232 |
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| 233 | if (OPT->useGlonass()) {
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| 234 | while (true) {
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| 235 | offGG = 0.0;
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| 236 | bool outlierFound = false;
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| 237 | unsigned nObs = 0;
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| 238 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 239 | t_satObs* satObs = obsVector.at(ii);
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| 240 | if ( !satObs->outlier() && satObs->isValid() && satObs->prn().system() == 'R' &&
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| 241 | (!satObs->modelSet() || satObs->eleSat() >= OPT->minEle()) ) {
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| 242 | ++nObs;
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| 243 | double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
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| 244 | if (fabs(ll) > 1000.0) {
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| 245 | satObs->setOutlier();
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| 246 | outlierFound = true;
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| 247 | LOG << "t_pppMain::cmpOffGG outlier " << satObs->prn().toString()
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| 248 | << " " << ll << endl;
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| 249 | }
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| 250 | offGG += ll;
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| 251 | }
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| 252 | }
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| 253 | if (nObs > 0) {
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| 254 | offGG = offGG / nObs;
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| 255 | }
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| 256 | else {
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| 257 | offGG = 0.0;
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| 258 | }
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| 259 | if (!outlierFound) {
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| 260 | break;
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| 261 | }
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| 262 | }
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| 263 | }
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| 264 |
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| 265 | return offGG;
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| 266 | }
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| 267 |
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| 268 | //
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| 269 | //////////////////////////////////////////////////////////////////////////////
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| 270 | void t_pppMain::initOutput(t_pppOutput* output) {
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| 271 | _output = output;
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| 272 | _output->_epoTime._mjd = 0;
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| 273 | _output->_epoTime._sec = 0.0;
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| 274 | _output->_numSat = 0;
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| 275 | _output->_pDop = 0.0;
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| 276 | _output->_ambFixRate = 0.0;
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| 277 | _output->_log = 0;
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| 278 | _output->_error = false;
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| 279 | }
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| 280 |
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| 281 | //
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| 282 | //////////////////////////////////////////////////////////////////////////////
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| 283 | void t_pppMain::clearObs() {
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| 284 | for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
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| 285 | delete _obsRover.at(ii);
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| 286 | }
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| 287 | _obsRover.clear();
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| 288 | for (unsigned ii = 0; ii < _obsBase.size(); ii++) {
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| 289 | delete _obsBase.at(ii);
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| 290 | }
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| 291 | _obsBase.clear();
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| 292 | }
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| 293 |
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| 294 | //
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| 295 | //////////////////////////////////////////////////////////////////////////////
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| 296 | void t_pppMain::finish(t_irc::irc irc) {
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| 297 |
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| 298 | clearObs();
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| 299 |
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| 300 | _output->_epoTime._mjd = _epoTimeRover.mjd();
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| 301 | _output->_epoTime._sec = _epoTimeRover.daysec();
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| 302 |
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| 303 | if (irc == t_irc::success) {
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| 304 | _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
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| 305 | _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
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| 306 | _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
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| 307 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
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| 308 | _output->_numSat = _filter->numSat();
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| 309 | _output->_pDop = _filter->PDOP();
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| 310 | _output->_ambFixRate = _filter->ambFixRate();
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| 311 | _output->_error = false;
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| 312 | }
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| 313 | else {
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| 314 | _output->_error = true;
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| 315 | }
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| 316 | if (OPT->logLevel() > 0) {
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| 317 | _output->_log = strdup(_log->str().c_str());
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| 318 | }
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| 319 | delete _log; _log = new ostringstream();
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| 320 | }
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| 321 |
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| 322 | //
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| 323 | //////////////////////////////////////////////////////////////////////////////
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| 324 | t_irc::irc t_pppMain::cmpModel(t_station* station, const ColumnVector& xyzc,
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| 325 | vector<t_satObs*>& obsVector) {
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| 326 |
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| 327 | t_time time;
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| 328 | if (station->roverBase() == e_rover) {
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| 329 | time = _epoTimeRover;
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| 330 | station->setName(OPT->roverName());
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| 331 | station->setAntName(OPT->antNameRover());
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| 332 | if (OPT->xyzAprRoverSet()) {
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| 333 | station->setXyzApr(OPT->xyzAprRover());
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| 334 | }
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| 335 | else {
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| 336 | station->setXyzApr(xyzc.Rows(1,3));
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| 337 | }
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| 338 | station->setNeuEcc(OPT->neuEccRover());
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| 339 | }
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| 340 | else {
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| 341 | time = _epoTimeBase;
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| 342 | station->setName(OPT->baseName());
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| 343 | station->setAntName(OPT->antNameBase());
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| 344 | station->setXyzApr(OPT->xyzAprBase());
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| 345 | station->setNeuEcc(OPT->neuEccBase());
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| 346 | }
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| 347 |
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| 348 | // Receiver Clock
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| 349 | // --------------
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| 350 | station->setDClk(xyzc[3]);
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| 351 |
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| 352 | // US Restriction
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| 353 | // --------------
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| 354 | station->checkRestriction(time);
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| 355 |
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| 356 | // Tides
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| 357 | // -----
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| 358 | station->setTideDspl(t_tides::displacement(time, station->xyzApr()));
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| 359 |
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| 360 | // Observation model
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| 361 | // -----------------
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| 362 | vector<t_satObs*>::iterator it = obsVector.begin();
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| 363 | while (it != obsVector.end()) {
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| 364 | t_satObs* satObs = *it;
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| 365 | satObs->cmpModel(station);
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| 366 | if (satObs->isValid() && satObs->eleSat() >= OPT->minEle()) {
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| 367 | ++it;
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| 368 | }
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| 369 | else {
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| 370 | delete satObs;
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| 371 | it = obsVector.erase(it);
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| 372 | }
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| 373 | }
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| 374 |
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| 375 | return t_irc::success;
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| 376 | }
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| 377 |
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| 378 | //
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| 379 | //////////////////////////////////////////////////////////////////////////////
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| 380 | t_irc::irc t_pppMain::createDifferences() {
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| 381 |
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| 382 | vector<t_satObs*>::iterator it = _obsRover.begin();
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| 383 | while (it != _obsRover.end()) {
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| 384 | t_satObs* obsR = *it;
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| 385 | t_satObs* obsB = 0;
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| 386 | for (unsigned ii = 0; ii < _obsBase.size(); ii++) {
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| 387 | if (_obsBase[ii]->prn() == obsR->prn()) {
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| 388 | obsB = _obsBase[ii];
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| 389 | break;
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| 390 | }
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| 391 | }
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| 392 | if (obsB) {
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| 393 | obsR->createDifference(obsB);
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| 394 | ++it;
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| 395 | }
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| 396 | else {
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| 397 | delete obsR;
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| 398 | it = _obsRover.erase(it);
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| 399 | }
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| 400 | }
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| 401 |
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| 402 | return t_irc::success;
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| 403 | }
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| 404 |
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| 405 | //
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| 406 | //////////////////////////////////////////////////////////////////////////////
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| 407 | void t_pppMain::processEpoch(int numSatRover, const t_pppSatObs* satObsRover,
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| 408 | t_pppOutput* output) {
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| 409 |
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| 410 | try {
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| 411 | initOutput(output);
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| 412 |
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| 413 | // Prepare Observations of the Rover
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| 414 | // ---------------------------------
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| 415 | if (prepareObs(numSatRover, satObsRover, _obsRover,
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| 416 | _epoTimeRover) != t_irc::success) {
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| 417 | return finish(t_irc::failure);
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| 418 | }
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| 419 |
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| 420 | LOG << "\nResults of Epoch ";
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| 421 | if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
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| 422 | LOG << "\n--------------------------------------\n";
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| 423 |
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| 424 | for (int iter = 1; iter <= 2; iter++) {
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| 425 | ColumnVector xyzc(4); xyzc = 0.0;
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| 426 | bool print = (iter == 2);
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| 427 | if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != t_irc::success) {
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| 428 | return finish(t_irc::failure);
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---|
| 429 | }
|
---|
| 430 | if (cmpModel(_staRover, xyzc, _obsRover) != t_irc::success) {
|
---|
| 431 | return finish(t_irc::failure);
|
---|
| 432 | }
|
---|
| 433 | }
|
---|
| 434 |
|
---|
| 435 | _offGG = cmpOffGG(_obsRover);
|
---|
| 436 |
|
---|
| 437 | // Prepare Observations of the Base
|
---|
| 438 | // --------------------------------
|
---|
| 439 | if (OPT->isDifferential()) {
|
---|
| 440 | if (prepareObs(numSatBase, satObsBase, _obsBase,
|
---|
| 441 | _epoTimeBase) != t_irc::success) {
|
---|
| 442 | return finish(t_irc::failure);
|
---|
| 443 | }
|
---|
| 444 | ColumnVector xyzc(4); xyzc = 0.0;
|
---|
| 445 | if (cmpModel(_staBase, xyzc, _obsBase) != t_irc::success) {
|
---|
| 446 | return finish(t_irc::failure);
|
---|
| 447 | }
|
---|
| 448 | if (cmpBancroft(_epoTimeBase, _obsBase, xyzc, true) != t_irc::success) {
|
---|
| 449 | return finish(t_irc::failure);
|
---|
| 450 | }
|
---|
| 451 | _staBase->setDClk(xyzc[3]);
|
---|
| 452 |
|
---|
| 453 | _offGG -= cmpOffGG(_obsBase);
|
---|
| 454 |
|
---|
| 455 | // Create single-differences of observations
|
---|
| 456 | // -----------------------------------------
|
---|
| 457 | if (createDifferences() != t_irc::success) {
|
---|
| 458 | return finish(t_irc::failure);
|
---|
| 459 | }
|
---|
| 460 | for (unsigned ii = 0; ii < _obsBase.size(); ii++) {
|
---|
| 461 | delete _obsBase[ii];
|
---|
| 462 | }
|
---|
| 463 | _obsBase.clear();
|
---|
| 464 | }
|
---|
| 465 |
|
---|
| 466 | // Store last epoch of data
|
---|
| 467 | // ------------------------
|
---|
| 468 | _obsPool->putEpoch(_epoTimeRover, _obsRover);
|
---|
| 469 |
|
---|
| 470 | // Process Epoch in Filter
|
---|
| 471 | // -----------------------
|
---|
| 472 | if (_filter->processEpoch(_obsPool) != t_irc::success) {
|
---|
| 473 | return finish(t_irc::failure);
|
---|
| 474 | }
|
---|
| 475 | }
|
---|
| 476 | catch (Exception& exc) {
|
---|
| 477 | LOG << exc.what() << endl;
|
---|
| 478 | return finish(t_irc::failure);
|
---|
| 479 | }
|
---|
| 480 | catch (string& msg) {
|
---|
| 481 | LOG << "Exception: " << msg << endl;
|
---|
| 482 | return finish(t_irc::failure);
|
---|
| 483 | }
|
---|
| 484 | catch (logic_error exc) {
|
---|
| 485 | LOG << exc.what() << endl;
|
---|
| 486 | return finish(t_irc::failure);
|
---|
| 487 | }
|
---|
| 488 | catch (const char* msg) {
|
---|
| 489 | LOG << msg << endl;
|
---|
| 490 | return finish(t_irc::failure);
|
---|
| 491 | }
|
---|
| 492 | catch (...) {
|
---|
| 493 | LOG << "unknown exception" << endl;
|
---|
| 494 | return finish(t_irc::failure);
|
---|
| 495 | }
|
---|
| 496 |
|
---|
| 497 | return finish(t_irc::success);
|
---|
| 498 | }
|
---|