[7237] | 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: t_pppClient
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| 6 | *
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| 7 | * Purpose: PPP Client processing starts here
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Jul-2014
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| 12 | *
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[7271] | 13 | * Changes:
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[7237] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <QThreadStorage>
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| 18 |
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| 19 | #include <iostream>
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| 20 | #include <iomanip>
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[8451] | 21 | #include <cmath>
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[7237] | 22 | #include <string.h>
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| 23 | #include <stdexcept>
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| 24 |
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| 25 | #include "pppClient.h"
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| 26 | #include "pppEphPool.h"
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| 27 | #include "pppObsPool.h"
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| 28 | #include "bncconst.h"
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| 29 | #include "bncutils.h"
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| 30 | #include "pppStation.h"
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| 31 | #include "bncantex.h"
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| 32 | #include "pppFilter.h"
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| 33 |
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| 34 | using namespace BNC_PPP;
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| 35 | using namespace std;
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| 36 |
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| 37 | // Global variable holding thread-specific pointers
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| 38 | //////////////////////////////////////////////////////////////////////////////
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| 39 | QThreadStorage<t_pppClient*> CLIENTS;
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| 40 |
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| 41 | // Static function returning thread-specific pointer
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| 42 | //////////////////////////////////////////////////////////////////////////////
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| 43 | t_pppClient* t_pppClient::instance() {
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| 44 | return CLIENTS.localData();
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| 45 | }
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| 46 |
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| 47 | // Constructor
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| 48 | //////////////////////////////////////////////////////////////////////////////
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| 49 | t_pppClient::t_pppClient(const t_pppOptions* opt) {
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| 50 | _output = 0;
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| 51 | _opt = new t_pppOptions(*opt);
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| 52 | _log = new ostringstream();
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| 53 | _ephPool = new t_pppEphPool();
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| 54 | _obsPool = new t_pppObsPool();
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| 55 | _staRover = new t_pppStation();
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[8905] | 56 | _filter = new t_pppFilter(_obsPool);
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[7237] | 57 | _tides = new t_tides();
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[8905] | 58 | _antex = 0;
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[7237] | 59 | if (!_opt->_antexFileName.empty()) {
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| 60 | _antex = new bncAntex(_opt->_antexFileName.c_str());
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| 61 | }
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[8905] | 62 | if (!_opt->_blqFileName.empty()) {
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| 63 | if (_tides->readBlqFile(_opt->_blqFileName.c_str()) == success) {
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| 64 | //_tides->printAllBlqSets();
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| 65 | }
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[7237] | 66 | }
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[7996] | 67 |
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[8910] | 68 | if (_opt->_refSatRequired) {
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[8912] | 69 | for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
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[9508] | 70 | char sys = _opt->systems()[iSys];
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| 71 | _refSatMap[sys] = new t_pppRefSat();
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[8905] | 72 | }
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[7972] | 73 | }
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[9419] | 74 |
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[10002] | 75 | _offGG = 0.0;
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[7237] | 76 | CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
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| 77 | }
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| 78 |
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| 79 | // Destructor
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| 80 | //////////////////////////////////////////////////////////////////////////////
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| 81 | t_pppClient::~t_pppClient() {
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| 82 | delete _log;
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| 83 | delete _opt;
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[8905] | 84 | delete _filter;
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[7237] | 85 | delete _ephPool;
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| 86 | delete _obsPool;
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| 87 | delete _staRover;
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[7866] | 88 | if (_antex) {
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| 89 | delete _antex;
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| 90 | }
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[7237] | 91 | delete _tides;
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| 92 | clearObs();
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[9508] | 93 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
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| 94 | while (it.hasNext()) {
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| 95 | it.next();
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| 96 | delete it.value();
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| 97 | }
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| 98 | _refSatMap.clear();
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[7237] | 99 | }
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| 100 |
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[7271] | 101 | //
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[7237] | 102 | //////////////////////////////////////////////////////////////////////////////
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| 103 | void t_pppClient::putEphemeris(const t_eph* eph) {
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| 104 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 105 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 106 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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[7271] | 107 | const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
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[7237] | 108 | if (ephGPS) {
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| 109 | _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
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| 110 | }
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| 111 | else if (ephGlo) {
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| 112 | _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
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| 113 | }
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| 114 | else if (ephGal) {
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| 115 | _ephPool->putEphemeris(new t_ephGal(*ephGal));
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| 116 | }
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[7271] | 117 | else if (ephBDS) {
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| 118 | _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
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| 119 | }
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[7237] | 120 | }
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| 121 |
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| 122 | //
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| 123 | //////////////////////////////////////////////////////////////////////////////
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| 124 | void t_pppClient::putTec(const t_vTec* vTec) {
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[7248] | 125 | _obsPool->putTec(new t_vTec(*vTec));
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[7237] | 126 | }
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| 127 |
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[7271] | 128 | //
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[7237] | 129 | //////////////////////////////////////////////////////////////////////////////
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| 130 | void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
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| 131 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 132 | _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
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| 133 | }
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| 134 | }
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| 135 |
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[7271] | 136 | //
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[7237] | 137 | //////////////////////////////////////////////////////////////////////////////
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| 138 | void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
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| 139 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 140 | _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
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| 141 | }
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| 142 | }
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| 143 |
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[7271] | 144 | //
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[7237] | 145 | //////////////////////////////////////////////////////////////////////////////
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| 146 | void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
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| 147 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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| 148 | _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
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| 149 | }
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| 150 | }
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| 151 |
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| 152 | //
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| 153 | //////////////////////////////////////////////////////////////////////////////
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[7288] | 154 | void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
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| 155 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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| 156 | _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
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| 157 | }
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| 158 | }
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| 159 |
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| 160 | //
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| 161 | //////////////////////////////////////////////////////////////////////////////
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[7237] | 162 | t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
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| 163 | vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
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[8905] | 164 |
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[7271] | 165 | // Default
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[7237] | 166 | // -------
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| 167 | epoTime.reset();
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[8956] | 168 | clearObs();
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[7237] | 169 |
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| 170 | // Create vector of valid observations
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| 171 | // -----------------------------------
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| 172 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
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[9567] | 173 | char sys = satObs[ii]->_prn.system();
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| 174 | if (_opt->useSystem(sys)) {
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[7237] | 175 | t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
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| 176 | if (pppSatObs->isValid()) {
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| 177 | obsVector.push_back(pppSatObs);
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| 178 | }
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| 179 | else {
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| 180 | delete pppSatObs;
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| 181 | }
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| 182 | }
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| 183 | }
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| 184 |
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| 185 | // Check whether data are synchronized, compute epoTime
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| 186 | // ----------------------------------------------------
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| 187 | const double MAXSYNC = 0.05; // synchronization limit
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| 188 | double meanDt = 0.0;
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| 189 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 190 | const t_pppSatObs* satObs = obsVector.at(ii);
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| 191 | if (epoTime.undef()) {
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| 192 | epoTime = satObs->time();
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| 193 | }
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| 194 | else {
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| 195 | double dt = satObs->time() - epoTime;
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| 196 | if (fabs(dt) > MAXSYNC) {
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| 197 | LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
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| 198 | return failure;
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| 199 | }
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| 200 | meanDt += dt;
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| 201 | }
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| 202 | }
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| 203 |
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| 204 | if (obsVector.size() > 0) {
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| 205 | epoTime += meanDt / obsVector.size();
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| 206 | }
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| 207 |
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| 208 | return success;
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| 209 | }
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| 210 |
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[8905] | 211 | //
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| 212 | //////////////////////////////////////////////////////////////////////////////
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| 213 | bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
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| 214 |
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| 215 | bool pseudoObsIono = false;
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| 216 |
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[8912] | 217 | if (_opt->_pseudoObsIono) {
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[8905] | 218 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 219 | while (it != obsVector.end()) {
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| 220 | t_pppSatObs* satObs = *it;
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[9508] | 221 | char sys = satObs->prn().system();
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| 222 | t_pppRefSat* refSat = _refSatMap[sys];
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[8905] | 223 | double stecRef = refSat->stecValue();
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| 224 | if (stecRef && !satObs->isReference()) {
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| 225 | pseudoObsIono = true;
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| 226 | satObs->setPseudoObsIono(t_frequency::G1, stecRef);
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| 227 | }
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| 228 | it++;
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| 229 | }
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| 230 | }
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[9538] | 231 |
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[8961] | 232 | /*
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| 233 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 234 | while (it != obsVector.end()) {
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| 235 | t_pppSatObs* satObs = *it;
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| 236 | satObs->printObsMinusComputed();
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| 237 | it++;
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| 238 | }
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| 239 | */
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[8905] | 240 | return pseudoObsIono;
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| 241 | }
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| 242 |
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[9560] | 243 | //
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| 244 | //////////////////////////////////////////////////////////////////////////////
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| 245 | void t_pppClient::useObsWithCodeBiasesOnly(std::vector<t_pppSatObs*>& obsVector) {
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| 246 |
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| 247 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 248 | while (it != obsVector.end()) {
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| 249 | t_pppSatObs* pppSatObs = *it;
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| 250 | char sys = pppSatObs->prn().system();
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| 251 | bool codeBiasesAvailable = false;
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| 252 | t_frequency::type fType1 = t_lc::toFreq(sys,t_lc::c1);
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| 253 | t_frequency::type fType2 = t_lc::toFreq(sys,t_lc::c2);
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| 254 | if (pppSatObs->getCodeBias(fType1) &&
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| 255 | pppSatObs->getCodeBias(fType2)) {
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| 256 | codeBiasesAvailable = true;
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| 257 | }
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| 258 | if (codeBiasesAvailable) {
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| 259 | ++it;
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| 260 | }
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| 261 | else {
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| 262 | it = obsVector.erase(it);
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| 263 | delete pppSatObs;
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| 264 | }
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| 265 | }
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| 266 |
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| 267 | }
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| 268 |
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| 269 |
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[7237] | 270 | // Compute the Bancroft position, check for blunders
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| 271 | //////////////////////////////////////////////////////////////////////////////
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[7271] | 272 | t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
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[7237] | 273 | vector<t_pppSatObs*>& obsVector,
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| 274 | ColumnVector& xyzc, bool print) {
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| 275 |
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| 276 | t_lc::type tLC = t_lc::dummy;
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| 277 |
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| 278 | while (true) {
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| 279 | Matrix BB(obsVector.size(), 4);
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| 280 | int iObs = -1;
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| 281 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 282 | const t_pppSatObs* satObs = obsVector.at(ii);
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[8034] | 283 | if (tLC == t_lc::dummy) {
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| 284 | if (satObs->isValid(t_lc::cIF)) {
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| 285 | tLC = t_lc::cIF;
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[7237] | 286 | }
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[8034] | 287 | else if (satObs->isValid(t_lc::c1)) {
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| 288 | tLC = t_lc::c1;
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[7237] | 289 | }
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[8445] | 290 | else if (satObs->isValid(t_lc::c2)) {
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[8034] | 291 | tLC = t_lc::c2;
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| 292 | }
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[7237] | 293 | }
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[9600] | 294 | if ( satObs->isValid(tLC) &&
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| 295 | (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
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[8034] | 296 | ++iObs;
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| 297 | BB[iObs][0] = satObs->xc()[0];
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| 298 | BB[iObs][1] = satObs->xc()[1];
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| 299 | BB[iObs][2] = satObs->xc()[2];
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| 300 | BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
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| 301 | }
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[7237] | 302 | }
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[8912] | 303 | if (iObs + 1 < _opt->_minObs) {
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[9943] | 304 | LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl;
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[7237] | 305 | return failure;
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| 306 | }
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| 307 | BB = BB.Rows(1,iObs+1);
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[9600] | 308 | if (bancroft(BB, xyzc) != success) {
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| 309 | return failure;
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| 310 | }
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[7237] | 311 |
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| 312 | xyzc[3] /= t_CST::c;
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| 313 |
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| 314 | // Check Blunders
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| 315 | // --------------
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| 316 | const double BLUNDER = 100.0;
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| 317 | double maxRes = 0.0;
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| 318 | unsigned maxResIndex = 0;
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| 319 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 320 | const t_pppSatObs* satObs = obsVector.at(ii);
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[8905] | 321 | if (satObs->isValid() &&
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[8912] | 322 | (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
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[7237] | 323 | ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
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[8905] | 324 | double res = rr.NormFrobenius() - satObs->obsValue(tLC)
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[8453] | 325 | - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
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[9600] | 326 | if (fabs(res) > maxRes) {
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| 327 | maxRes = fabs(res);
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[7237] | 328 | maxResIndex = ii;
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| 329 | }
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| 330 | }
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| 331 | }
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[9600] | 332 | if (maxRes < BLUNDER) {
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[9386] | 333 | if (print && _numEpoProcessing == 1) {
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[7237] | 334 | LOG.setf(ios::fixed);
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[9783] | 335 | LOG << "\nPPP of Epoch ";
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| 336 | if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
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| 337 | LOG << "\n---------------------------------------------------------------\n";
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[7237] | 338 | LOG << string(epoTime) << " BANCROFT:" << ' '
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| 339 | << setw(14) << setprecision(3) << xyzc[0] << ' '
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| 340 | << setw(14) << setprecision(3) << xyzc[1] << ' '
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| 341 | << setw(14) << setprecision(3) << xyzc[2] << ' '
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| 342 | << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
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| 343 | }
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| 344 | break;
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| 345 | }
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| 346 | else {
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| 347 | t_pppSatObs* satObs = obsVector.at(maxResIndex);
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| 348 | LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
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| 349 | << " " << maxRes << endl;
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| 350 | delete satObs;
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| 351 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 352 | }
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| 353 | }
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| 354 |
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| 355 | return success;
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| 356 | }
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[10002] | 357 | // Compute A Priori GPS-Glonass Offset
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| 358 | //////////////////////////////////////////////////////////////////////////////
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| 359 | double t_pppClient::cmpOffGG(vector<t_pppSatObs*>& obsVector) {
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[7237] | 360 |
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[10002] | 361 | t_lc::type tLC = t_lc::dummy;
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| 362 | double offGG = 0.0;
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| 363 |
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| 364 | if (OPT->useSystem('R')) {
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| 365 |
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| 366 | while (obsVector.size() > 0) {
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| 367 | offGG = 0.0;
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| 368 | double maxRes = 0.0;
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| 369 | int maxResIndex = -1;
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| 370 | t_prn maxResPrn;
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| 371 | unsigned nObs = 0;
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| 372 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 373 | t_pppSatObs* satObs = obsVector.at(ii);
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| 374 | if (satObs->prn().system() == 'R') {
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| 375 | if (tLC == t_lc::dummy) {
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| 376 | tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
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| 377 | }
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| 378 | if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) {
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| 379 | double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
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| 380 | ++nObs;
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| 381 | offGG += ll;
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| 382 | if (fabs(ll) > fabs(maxRes)) {
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| 383 | maxRes = ll;
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| 384 | maxResIndex = ii;
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| 385 | maxResPrn = satObs->prn();
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| 386 | }
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| 387 | }
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| 388 | }
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| 389 | }
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| 390 |
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| 391 | if (nObs > 0) {
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| 392 | offGG = offGG / nObs;
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| 393 | }
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| 394 | else {
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| 395 | offGG = 0.0;
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| 396 | }
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| 397 |
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| 398 | if (fabs(maxRes) > 1000.0) {
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| 399 | LOG << "t_pppClient::cmpOffGG outlier " << maxResPrn.toString() << " " << maxRes << endl;
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| 400 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 401 | }
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| 402 | else {
|
---|
| 403 | break;
|
---|
| 404 | }
|
---|
| 405 | }
|
---|
| 406 | }
|
---|
| 407 |
|
---|
| 408 | return offGG;
|
---|
| 409 | }
|
---|
| 410 |
|
---|
[7271] | 411 | //
|
---|
[7237] | 412 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 413 | void t_pppClient::initOutput(t_output* output) {
|
---|
| 414 | _output = output;
|
---|
| 415 | _output->_numSat = 0;
|
---|
[7927] | 416 | _output->_hDop = 0.0;
|
---|
[7237] | 417 | _output->_error = false;
|
---|
| 418 | }
|
---|
| 419 |
|
---|
[7271] | 420 | //
|
---|
[7237] | 421 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 422 | void t_pppClient::clearObs() {
|
---|
| 423 | for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
|
---|
| 424 | delete _obsRover.at(ii);
|
---|
| 425 | }
|
---|
| 426 | _obsRover.clear();
|
---|
| 427 | }
|
---|
| 428 |
|
---|
[7271] | 429 | //
|
---|
[7237] | 430 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9585] | 431 | void t_pppClient::finish(t_irc irc, int ind) {
|
---|
[9783] | 432 | #ifdef BNC_DEBUG_PPP
|
---|
[9585] | 433 | LOG << "t_pppClient::finish(" << ind << "): " << irc << endl;
|
---|
[9783] | 434 | #endif
|
---|
[9585] | 435 |
|
---|
[7237] | 436 | clearObs();
|
---|
| 437 |
|
---|
| 438 | _output->_epoTime = _epoTimeRover;
|
---|
| 439 |
|
---|
| 440 | if (irc == success) {
|
---|
| 441 | _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
|
---|
| 442 | _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
|
---|
| 443 | _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
|
---|
| 444 |
|
---|
| 445 | xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
|
---|
| 446 |
|
---|
| 447 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
|
---|
| 448 |
|
---|
| 449 | _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
|
---|
| 450 | _output->_trp = _filter->trp();
|
---|
| 451 | _output->_trpStdev = _filter->trpStdev();
|
---|
| 452 |
|
---|
[9386] | 453 | _output->_numSat = _filter->numSat();
|
---|
| 454 | _output->_hDop = _filter->HDOP();
|
---|
[7237] | 455 | _output->_error = false;
|
---|
| 456 | }
|
---|
| 457 | else {
|
---|
| 458 | _output->_error = true;
|
---|
[9581] | 459 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 460 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
[9607] | 461 | if (ind == 1 || ind > 7) {
|
---|
| 462 | reset();
|
---|
| 463 | }
|
---|
[9581] | 464 | }
|
---|
[7237] | 465 | }
|
---|
| 466 | _output->_log = _log->str();
|
---|
| 467 | delete _log; _log = new ostringstream();
|
---|
[9545] | 468 |
|
---|
| 469 | return;
|
---|
[7237] | 470 | }
|
---|
| 471 |
|
---|
[7271] | 472 | //
|
---|
[7237] | 473 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 474 | t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
|
---|
| 475 | vector<t_pppSatObs*>& obsVector) {
|
---|
| 476 | bncTime time;
|
---|
| 477 | time = _epoTimeRover;
|
---|
[8912] | 478 | station->setName(_opt->_roverName);
|
---|
| 479 | station->setAntName(_opt->_antNameRover);
|
---|
[8905] | 480 | station->setEpochTime(time);
|
---|
[8912] | 481 | if (_opt->xyzAprRoverSet()) {
|
---|
| 482 | station->setXyzApr(_opt->_xyzAprRover);
|
---|
[7237] | 483 | }
|
---|
| 484 | else {
|
---|
| 485 | station->setXyzApr(xyzc.Rows(1,3));
|
---|
| 486 | }
|
---|
[8912] | 487 | station->setNeuEcc(_opt->_neuEccRover);
|
---|
[7237] | 488 |
|
---|
| 489 | // Receiver Clock
|
---|
| 490 | // --------------
|
---|
| 491 | station->setDClk(xyzc[3]);
|
---|
| 492 |
|
---|
| 493 | // Tides
|
---|
| 494 | // -----
|
---|
[8905] | 495 | station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
|
---|
| 496 | station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
|
---|
[7271] | 497 |
|
---|
[7237] | 498 | // Observation model
|
---|
| 499 | // -----------------
|
---|
| 500 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 501 | while (it != obsVector.end()) {
|
---|
| 502 | t_pppSatObs* satObs = *it;
|
---|
[7254] | 503 | t_irc modelSetup;
|
---|
[7237] | 504 | if (satObs->isValid()) {
|
---|
[7254] | 505 | modelSetup = satObs->cmpModel(station);
|
---|
[7237] | 506 | }
|
---|
[7254] | 507 | if (satObs->isValid() &&
|
---|
[8912] | 508 | satObs->eleSat() >= _opt->_minEle &&
|
---|
[7254] | 509 | modelSetup == success) {
|
---|
[7237] | 510 | ++it;
|
---|
| 511 | }
|
---|
| 512 | else {
|
---|
| 513 | delete satObs;
|
---|
| 514 | it = obsVector.erase(it);
|
---|
| 515 | }
|
---|
| 516 | }
|
---|
| 517 |
|
---|
| 518 | return success;
|
---|
| 519 | }
|
---|
| 520 |
|
---|
[7271] | 521 | //
|
---|
[7237] | 522 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 523 | void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
|
---|
| 524 |
|
---|
| 525 | try {
|
---|
| 526 | initOutput(output);
|
---|
[8912] | 527 | bool epochReProcessing = false;
|
---|
[9386] | 528 | _numEpoProcessing = 0;
|
---|
[9419] | 529 | _historicalRefSats.clear();
|
---|
| 530 |
|
---|
[8905] | 531 | do {
|
---|
[9386] | 532 | _numEpoProcessing++;
|
---|
[9419] | 533 | #ifdef BNC_DEBUG_PPP
|
---|
| 534 | LOG << "_numEpoProcessing " << _numEpoProcessing << endl;
|
---|
| 535 | #endif
|
---|
[9386] | 536 | if (_obsPool->refSatChanged()) {
|
---|
[9508] | 537 | if(_filter->datumTransformation(_refSatMap) != success) {
|
---|
| 538 | LOG << "t_pppFilter::datumTransformation() != success" << endl;
|
---|
[9545] | 539 | return finish(failure,1);
|
---|
[9386] | 540 | }
|
---|
| 541 | else {
|
---|
[9508] | 542 | LOG << "t_pppFilter::datumTransformation() == success" << endl;
|
---|
[9527] | 543 | _filter->rememberState(1);
|
---|
[9386] | 544 | }
|
---|
[8956] | 545 | }
|
---|
[8905] | 546 | // Prepare Observations of the Rover
|
---|
| 547 | // ---------------------------------
|
---|
| 548 | if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
|
---|
[9545] | 549 | return finish(failure,2);
|
---|
[7237] | 550 | }
|
---|
[8905] | 551 |
|
---|
| 552 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 553 | ColumnVector xyzc(4); xyzc = 0.0;
|
---|
| 554 | bool print = (iter == 2);
|
---|
| 555 | if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
|
---|
[9545] | 556 | return finish(failure,3);
|
---|
[8905] | 557 | }
|
---|
[9783] | 558 |
|
---|
[8905] | 559 | if (cmpModel(_staRover, xyzc, _obsRover) != success) {
|
---|
[9545] | 560 | return finish(failure,4);
|
---|
[8905] | 561 | }
|
---|
| 562 | }
|
---|
| 563 |
|
---|
[8912] | 564 | if (_opt->_refSatRequired) {
|
---|
[9386] | 565 | if (handleRefSatellites(_obsRover) != success) {
|
---|
[9545] | 566 | return finish(failure,6);
|
---|
[8905] | 567 | }
|
---|
[9508] | 568 | if (_obsPool->refSatChanged()) {
|
---|
| 569 | LOG << "t_pppFilter: refSatChanged()" << endl;
|
---|
[9527] | 570 | epochReProcessing = true;
|
---|
| 571 | continue;
|
---|
[9386] | 572 | }
|
---|
[8905] | 573 | }
|
---|
[7237] | 574 |
|
---|
[9565] | 575 | // use observations only if satellite code biases are available
|
---|
| 576 | // ------------------------------------------------------------
|
---|
[9783] | 577 | if (!_opt->_corrMount.empty() &&
|
---|
[9601] | 578 | (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 579 | OPT->_obsModelType == OPT->DCMphaseBias)) {
|
---|
[9584] | 580 | useObsWithCodeBiasesOnly(_obsRover);
|
---|
| 581 | }
|
---|
[9560] | 582 |
|
---|
| 583 | if (int(_obsRover.size()) < _opt->_minObs) {
|
---|
| 584 | LOG << "t_pppClient::processEpoch not enough observations" << endl;
|
---|
| 585 | return finish(failure,5);
|
---|
| 586 | }
|
---|
| 587 |
|
---|
[10002] | 588 | _offGG = cmpOffGG(_obsRover);
|
---|
| 589 |
|
---|
[8956] | 590 | // Prepare Pseudo Observations of the Rover
|
---|
| 591 | // ----------------------------------------
|
---|
| 592 | _pseudoObsIono = preparePseudoObs(_obsRover);
|
---|
| 593 |
|
---|
[8905] | 594 | // Store last epoch of data
|
---|
| 595 | // ------------------------
|
---|
[9508] | 596 | _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono, _refSatMap);
|
---|
[7904] | 597 |
|
---|
[8905] | 598 | // Process Epoch in Filter
|
---|
| 599 | // -----------------------
|
---|
[9386] | 600 | if (_filter->processEpoch() != success) {
|
---|
[9545] | 601 | LOG << "filter->processEpoch() != success" << endl;
|
---|
| 602 | return finish(failure,7);
|
---|
[8905] | 603 | }
|
---|
[8912] | 604 |
|
---|
| 605 | // Epoch re-processing required?
|
---|
| 606 | // -----------------------------
|
---|
[9395] | 607 | if (_obsPool->refSatChangeRequired() && //SLIP
|
---|
| 608 | _opt->_obsModelType != t_pppOptions::UncombPPP) {
|
---|
[9545] | 609 | LOG << "pppClient: _obsPool->refSatChangeRequired() " << endl;
|
---|
[8912] | 610 | epochReProcessing = true;
|
---|
[8956] | 611 | _obsPool->deleteLastEpoch();
|
---|
[9527] | 612 | _filter->restoreState(0);
|
---|
[9386] | 613 | setHistoricalRefSats();
|
---|
[8912] | 614 | }
|
---|
| 615 | else {
|
---|
| 616 | epochReProcessing = false;
|
---|
[9537] | 617 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 618 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
| 619 | _filter->rememberState(0);
|
---|
| 620 | }
|
---|
[8912] | 621 | }
|
---|
| 622 | } while (epochReProcessing);
|
---|
[9431] | 623 |
|
---|
[7237] | 624 | }
|
---|
| 625 | catch (Exception& exc) {
|
---|
| 626 | LOG << exc.what() << endl;
|
---|
[9545] | 627 | return finish(failure,8);
|
---|
[7237] | 628 | }
|
---|
| 629 | catch (t_except msg) {
|
---|
| 630 | LOG << msg.what() << endl;
|
---|
[9545] | 631 | return finish(failure,9);
|
---|
[7237] | 632 | }
|
---|
| 633 | catch (const char* msg) {
|
---|
| 634 | LOG << msg << endl;
|
---|
[9545] | 635 | return finish(failure,10);
|
---|
[7237] | 636 | }
|
---|
| 637 | catch (...) {
|
---|
| 638 | LOG << "unknown exception" << endl;
|
---|
[9545] | 639 | return finish(failure,11);
|
---|
[7237] | 640 | }
|
---|
[9545] | 641 | return finish(success,12);
|
---|
[7237] | 642 | }
|
---|
| 643 |
|
---|
[7271] | 644 | //
|
---|
[7237] | 645 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 646 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
| 647 | return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
|
---|
| 648 | }
|
---|
| 649 |
|
---|
[7271] | 650 | //
|
---|
[7237] | 651 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9600] | 652 | t_irc t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
[7237] | 653 |
|
---|
| 654 | if (pos.Nrows() != 4) {
|
---|
| 655 | pos.ReSize(4);
|
---|
| 656 | }
|
---|
| 657 | pos = 0.0;
|
---|
| 658 |
|
---|
| 659 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 660 | Matrix BB = BBpass;
|
---|
| 661 | int mm = BB.Nrows();
|
---|
| 662 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 663 | double xx = BB(ii,1);
|
---|
| 664 | double yy = BB(ii,2);
|
---|
| 665 | double traveltime = 0.072;
|
---|
| 666 | if (iter > 1) {
|
---|
| 667 | double zz = BB(ii,3);
|
---|
[7271] | 668 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
| 669 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
[7237] | 670 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
| 671 | traveltime = rho / t_CST::c;
|
---|
| 672 | }
|
---|
| 673 | double angle = traveltime * t_CST::omega;
|
---|
| 674 | double cosa = cos(angle);
|
---|
| 675 | double sina = sin(angle);
|
---|
| 676 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
| 677 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
| 678 | }
|
---|
[7271] | 679 |
|
---|
[7237] | 680 | Matrix BBB;
|
---|
| 681 | if (mm > 4) {
|
---|
| 682 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
| 683 | BBB = hlp.i() * BB.t();
|
---|
| 684 | }
|
---|
| 685 | else {
|
---|
| 686 | BBB = BB.i();
|
---|
| 687 | }
|
---|
| 688 | ColumnVector ee(mm); ee = 1.0;
|
---|
| 689 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
| 690 | for (int ii = 1; ii <= mm; ii++) {
|
---|
[7271] | 691 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
[7237] | 692 | }
|
---|
| 693 | ColumnVector BBBe = BBB * ee;
|
---|
| 694 | ColumnVector BBBalpha = BBB * alpha;
|
---|
| 695 | double aa = lorentz(BBBe, BBBe);
|
---|
| 696 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
| 697 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
| 698 | double root = sqrt(bb*bb-aa*cc);
|
---|
| 699 |
|
---|
[7271] | 700 | Matrix hlpPos(4,2);
|
---|
[7237] | 701 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
| 702 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
| 703 |
|
---|
| 704 | ColumnVector omc(2);
|
---|
| 705 | for (int pp = 1; pp <= 2; pp++) {
|
---|
| 706 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
[7271] | 707 | omc(pp) = BB(1,4) -
|
---|
[7237] | 708 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
| 709 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
[7271] | 710 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
[7237] | 711 | hlpPos(4,pp);
|
---|
| 712 | }
|
---|
| 713 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
| 714 | pos = hlpPos.Column(2);
|
---|
| 715 | }
|
---|
| 716 | else {
|
---|
| 717 | pos = hlpPos.Column(1);
|
---|
| 718 | }
|
---|
| 719 | }
|
---|
[9600] | 720 | if (pos.size() != 4 ||
|
---|
| 721 | std::isnan(pos(1)) ||
|
---|
| 722 | std::isnan(pos(2)) ||
|
---|
| 723 | std::isnan(pos(3)) ||
|
---|
| 724 | std::isnan(pos(4))) {
|
---|
| 725 | return failure;
|
---|
| 726 | }
|
---|
| 727 |
|
---|
| 728 | return success;
|
---|
[7237] | 729 | }
|
---|
| 730 |
|
---|
[7972] | 731 | //
|
---|
| 732 | //////////////////////////////////////////////////////////////////////////////
|
---|
[8956] | 733 | void t_pppClient::setRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
|
---|
| 734 | // reference satellite definition per system
|
---|
| 735 | for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
|
---|
[9490] | 736 | t_irc refSatReDefinition = success;
|
---|
[9386] | 737 | char sys = _opt->systems()[iSys];
|
---|
[8956] | 738 | bool refSatDefined = false;
|
---|
[9508] | 739 | t_pppRefSat* refSat = _refSatMap[sys];
|
---|
[8956] | 740 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 741 | t_pppSatObs* satObs = obsVector.at(ii);
|
---|
[9386] | 742 | if (satObs->eleSat() < _opt->_minEle) {
|
---|
| 743 | continue;
|
---|
| 744 | }
|
---|
[8956] | 745 | // reference satellite is unchanged
|
---|
[9395] | 746 | // ================================
|
---|
[9508] | 747 | if ( !_obsPool->refSatChangeRequired(sys) && refSat->prn() == satObs->prn()) {
|
---|
[8956] | 748 | refSatDefined = true;
|
---|
| 749 | obsVector[ii]->setAsReference();
|
---|
| 750 | }
|
---|
| 751 | // reference satellite has changed
|
---|
[9395] | 752 | // ===============================
|
---|
| 753 | else if ( _obsPool->refSatChangeRequired(sys) && refSat->prn() != satObs->prn()) {
|
---|
[9386] | 754 | if (satObs->prn().system() == sys) {
|
---|
[9395] | 755 | if (!_historicalRefSats[sys].contains(satObs->prn())) {
|
---|
| 756 | refSatDefined = true;
|
---|
| 757 | obsVector[ii]->setAsReference();
|
---|
| 758 | refSat->setPrn(satObs->prn());
|
---|
| 759 | }
|
---|
| 760 | else if ( _historicalRefSats[sys].contains(satObs->prn())) {
|
---|
| 761 | refSatReDefinition = failure;
|
---|
| 762 | }
|
---|
[8956] | 763 | }
|
---|
| 764 | }
|
---|
| 765 | if (refSatDefined) {
|
---|
| 766 | if (OPT->_pseudoObsIono) {
|
---|
| 767 | refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
|
---|
| 768 | }
|
---|
| 769 | break;
|
---|
| 770 | }
|
---|
| 771 | }
|
---|
[9490] | 772 |
|
---|
[9398] | 773 | // all available satellites were already tried to use
|
---|
[9395] | 774 | if ((!refSatDefined) && (refSatReDefinition == failure)) {
|
---|
| 775 | refSat->setPrn(t_prn(sys, 99));
|
---|
[9398] | 776 | _obsPool->setRefSatChangeRequired(sys, false);
|
---|
| 777 | return;
|
---|
[9395] | 778 | }
|
---|
| 779 |
|
---|
[8956] | 780 | // reference satellite has to be initialized
|
---|
[9395] | 781 | // =========================================
|
---|
[8956] | 782 | if (!refSatDefined) {
|
---|
| 783 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 784 | t_pppSatObs* satObs = obsVector.at(ii);
|
---|
| 785 | if (satObs->eleSat() < _opt->_minEle) {
|
---|
| 786 | continue;
|
---|
| 787 | }
|
---|
[9583] | 788 | if (satObs->prn().system() == sys &&
|
---|
| 789 | !_historicalRefSats[sys].contains(satObs->prn())) {
|
---|
[8956] | 790 | obsVector[ii]->setAsReference();
|
---|
| 791 | refSat->setPrn(satObs->prn());
|
---|
| 792 | if (OPT->_pseudoObsIono) {
|
---|
| 793 | refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
|
---|
| 794 | }
|
---|
| 795 | refSatDefined = true;
|
---|
| 796 | break;
|
---|
| 797 | }
|
---|
| 798 | }
|
---|
| 799 | }
|
---|
[9395] | 800 |
|
---|
[9398] | 801 | // no observations for that system
|
---|
| 802 | // ===============================
|
---|
| 803 | if (!refSatDefined) {
|
---|
[9386] | 804 | refSat->setPrn(t_prn());
|
---|
| 805 | }
|
---|
[9398] | 806 | _obsPool->setRefSatChangeRequired(sys, false); // done or impossible
|
---|
[8956] | 807 | }
|
---|
[9398] | 808 |
|
---|
| 809 | return;
|
---|
[9386] | 810 | }
|
---|
[8956] | 811 |
|
---|
[9386] | 812 | //
|
---|
| 813 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 814 | t_irc t_pppClient::handleRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
|
---|
| 815 |
|
---|
| 816 | // set refSats in current epoch
|
---|
| 817 | // ============================
|
---|
| 818 | setRefSatellites(obsVector); // current epoch
|
---|
| 819 | LOG.setf(ios::fixed);
|
---|
[9508] | 820 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
|
---|
| 821 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9527] | 822 |
|
---|
[9508] | 823 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
|
---|
[9386] | 824 | while (it.hasNext()) {
|
---|
| 825 | it.next();
|
---|
| 826 | char sys = it.key();
|
---|
| 827 | t_prn prn = it.value()->prn();
|
---|
[9508] | 828 | t_prn refSatLastEpochPrn = t_prn();
|
---|
| 829 | if (epoch) {
|
---|
| 830 | refSatLastEpochPrn = refSatMapLastEpoch[sys]->prn();
|
---|
| 831 | }
|
---|
[9395] | 832 | if (prn.number() == 0) { // no obs for that system available
|
---|
| 833 | continue;
|
---|
| 834 | }
|
---|
| 835 | else if (prn.number() == 99) { // refSat re-definition not possible
|
---|
[9490] | 836 | LOG << " => refSat re-definition impossible: " << sys << endl;
|
---|
[9386] | 837 | return failure;
|
---|
| 838 | }
|
---|
[9432] | 839 | QString str;
|
---|
[9508] | 840 | if (prn == refSatLastEpochPrn || refSatLastEpochPrn == t_prn() ) {
|
---|
[9386] | 841 | _obsPool->setRefSatChanged(sys, false);
|
---|
| 842 | str = " SET ";
|
---|
| 843 | }
|
---|
| 844 | else {
|
---|
| 845 | _obsPool->setRefSatChanged(sys, true);
|
---|
| 846 | str = " RESET ";
|
---|
| 847 | }
|
---|
| 848 | LOG << string(_epoTimeRover) << str.toStdString() << " REFSAT " << sys << ": " << prn.toString() << endl;
|
---|
| 849 | }
|
---|
| 850 | return success;
|
---|
[8956] | 851 | }
|
---|
| 852 |
|
---|
[9386] | 853 | void t_pppClient::setHistoricalRefSats() {
|
---|
[9508] | 854 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
|
---|
[9386] | 855 | while (it.hasNext()) {
|
---|
| 856 | it.next();
|
---|
| 857 | t_prn prn = it.value()->prn();
|
---|
| 858 | char sys = prn.system();
|
---|
[9548] | 859 | if (_obsPool->refSatChangeRequired(sys)) {
|
---|
[9386] | 860 | _historicalRefSats[sys].append(prn);
|
---|
| 861 | }
|
---|
[9508] | 862 | }
|
---|
| 863 | }
|
---|
[9386] | 864 |
|
---|
[8956] | 865 | //
|
---|
| 866 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9548] | 867 | void t_pppClient::reset() {LOG << "t_pppClient::reset()" << endl;
|
---|
[7972] | 868 |
|
---|
| 869 | // to delete old orbit and clock corrections
|
---|
| 870 | delete _ephPool;
|
---|
| 871 | _ephPool = new t_pppEphPool();
|
---|
| 872 |
|
---|
| 873 | // to delete old code biases
|
---|
| 874 | delete _obsPool;
|
---|
| 875 | _obsPool = new t_pppObsPool();
|
---|
[8905] | 876 |
|
---|
| 877 | // to delete all parameters
|
---|
| 878 | delete _filter;
|
---|
| 879 | _filter = new t_pppFilter(_obsPool);
|
---|
| 880 |
|
---|
[7996] | 881 | }
|
---|