[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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[7237] | 75 | CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
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| 76 | }
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| 77 |
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| 78 | // Destructor
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| 79 | //////////////////////////////////////////////////////////////////////////////
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| 80 | t_pppClient::~t_pppClient() {
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| 81 | delete _log;
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| 82 | delete _opt;
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[8905] | 83 | delete _filter;
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[7237] | 84 | delete _ephPool;
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| 85 | delete _obsPool;
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| 86 | delete _staRover;
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[7866] | 87 | if (_antex) {
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| 88 | delete _antex;
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| 89 | }
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[7237] | 90 | delete _tides;
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| 91 | clearObs();
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[9508] | 92 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
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| 93 | while (it.hasNext()) {
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| 94 | it.next();
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| 95 | delete it.value();
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| 96 | }
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| 97 | _refSatMap.clear();
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[7237] | 98 | }
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| 99 |
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[7271] | 100 | //
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[7237] | 101 | //////////////////////////////////////////////////////////////////////////////
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| 102 | void t_pppClient::putEphemeris(const t_eph* eph) {
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| 103 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 104 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 105 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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[7271] | 106 | const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
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[7237] | 107 | if (ephGPS) {
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| 108 | _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
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| 109 | }
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| 110 | else if (ephGlo) {
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| 111 | _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
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| 112 | }
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| 113 | else if (ephGal) {
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| 114 | _ephPool->putEphemeris(new t_ephGal(*ephGal));
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| 115 | }
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[7271] | 116 | else if (ephBDS) {
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| 117 | _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
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| 118 | }
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[7237] | 119 | }
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| 120 |
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| 121 | //
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| 122 | //////////////////////////////////////////////////////////////////////////////
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| 123 | void t_pppClient::putTec(const t_vTec* vTec) {
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[7248] | 124 | _obsPool->putTec(new t_vTec(*vTec));
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[7237] | 125 | }
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| 126 |
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[7271] | 127 | //
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[7237] | 128 | //////////////////////////////////////////////////////////////////////////////
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| 129 | void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
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| 130 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 131 | _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
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| 132 | }
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| 133 | }
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| 134 |
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[7271] | 135 | //
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[7237] | 136 | //////////////////////////////////////////////////////////////////////////////
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| 137 | void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
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| 138 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 139 | _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
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| 140 | }
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| 141 | }
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| 142 |
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[7271] | 143 | //
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[7237] | 144 | //////////////////////////////////////////////////////////////////////////////
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| 145 | void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
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| 146 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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| 147 | _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
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| 148 | }
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| 149 | }
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| 150 |
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| 151 | //
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| 152 | //////////////////////////////////////////////////////////////////////////////
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[7288] | 153 | void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
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| 154 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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| 155 | _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
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| 156 | }
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| 157 | }
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| 158 |
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| 159 | //
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| 160 | //////////////////////////////////////////////////////////////////////////////
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[7237] | 161 | t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
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| 162 | vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
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[8905] | 163 |
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[7271] | 164 | // Default
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[7237] | 165 | // -------
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| 166 | epoTime.reset();
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[8956] | 167 | clearObs();
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[7237] | 168 |
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| 169 | // Create vector of valid observations
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| 170 | // -----------------------------------
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| 171 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
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[9567] | 172 | char sys = satObs[ii]->_prn.system();
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| 173 | if (_opt->useSystem(sys)) {
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[7237] | 174 | t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
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| 175 | if (pppSatObs->isValid()) {
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| 176 | obsVector.push_back(pppSatObs);
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| 177 | }
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| 178 | else {
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| 179 | delete pppSatObs;
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| 180 | }
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| 181 | }
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| 182 | }
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| 183 |
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| 184 | // Check whether data are synchronized, compute epoTime
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| 185 | // ----------------------------------------------------
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| 186 | const double MAXSYNC = 0.05; // synchronization limit
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| 187 | double meanDt = 0.0;
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| 188 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 189 | const t_pppSatObs* satObs = obsVector.at(ii);
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| 190 | if (epoTime.undef()) {
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| 191 | epoTime = satObs->time();
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| 192 | }
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| 193 | else {
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| 194 | double dt = satObs->time() - epoTime;
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| 195 | if (fabs(dt) > MAXSYNC) {
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| 196 | LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
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| 197 | return failure;
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| 198 | }
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| 199 | meanDt += dt;
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| 200 | }
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| 201 | }
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| 202 |
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| 203 | if (obsVector.size() > 0) {
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| 204 | epoTime += meanDt / obsVector.size();
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| 205 | }
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| 206 |
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| 207 | return success;
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| 208 | }
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| 209 |
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[8905] | 210 | //
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| 211 | //////////////////////////////////////////////////////////////////////////////
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| 212 | bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
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| 213 |
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| 214 | bool pseudoObsIono = false;
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| 215 |
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[8912] | 216 | if (_opt->_pseudoObsIono) {
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[8905] | 217 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 218 | while (it != obsVector.end()) {
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| 219 | t_pppSatObs* satObs = *it;
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[9508] | 220 | char sys = satObs->prn().system();
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| 221 | t_pppRefSat* refSat = _refSatMap[sys];
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[8905] | 222 | double stecRef = refSat->stecValue();
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| 223 | if (stecRef && !satObs->isReference()) {
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| 224 | pseudoObsIono = true;
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| 225 | satObs->setPseudoObsIono(t_frequency::G1, stecRef);
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| 226 | }
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| 227 | it++;
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| 228 | }
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| 229 | }
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[9538] | 230 |
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[8961] | 231 | /*
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| 232 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 233 | while (it != obsVector.end()) {
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| 234 | t_pppSatObs* satObs = *it;
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| 235 | satObs->printObsMinusComputed();
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| 236 | it++;
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| 237 | }
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| 238 | */
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[8905] | 239 | return pseudoObsIono;
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| 240 | }
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| 241 |
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[9560] | 242 | //
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| 243 | //////////////////////////////////////////////////////////////////////////////
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| 244 | void t_pppClient::useObsWithCodeBiasesOnly(std::vector<t_pppSatObs*>& obsVector) {
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| 245 |
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| 246 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 247 | while (it != obsVector.end()) {
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| 248 | t_pppSatObs* pppSatObs = *it;
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| 249 | char sys = pppSatObs->prn().system();
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| 250 | bool codeBiasesAvailable = false;
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| 251 | t_frequency::type fType1 = t_lc::toFreq(sys,t_lc::c1);
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| 252 | t_frequency::type fType2 = t_lc::toFreq(sys,t_lc::c2);
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| 253 | if (pppSatObs->getCodeBias(fType1) &&
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| 254 | pppSatObs->getCodeBias(fType2)) {
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| 255 | codeBiasesAvailable = true;
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| 256 | }
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| 257 | if (codeBiasesAvailable) {
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| 258 | ++it;
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| 259 | }
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| 260 | else {
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| 261 | it = obsVector.erase(it);
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| 262 | delete pppSatObs;
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| 263 | }
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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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[7237] | 269 | // Compute the Bancroft position, check for blunders
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| 270 | //////////////////////////////////////////////////////////////////////////////
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[7271] | 271 | t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
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[7237] | 272 | vector<t_pppSatObs*>& obsVector,
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| 273 | ColumnVector& xyzc, bool print) {
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| 274 |
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| 275 | t_lc::type tLC = t_lc::dummy;
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| 276 |
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| 277 | while (true) {
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| 278 | Matrix BB(obsVector.size(), 4);
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| 279 | int iObs = -1;
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| 280 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 281 | const t_pppSatObs* satObs = obsVector.at(ii);
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[8034] | 282 | if (tLC == t_lc::dummy) {
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| 283 | if (satObs->isValid(t_lc::cIF)) {
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| 284 | tLC = t_lc::cIF;
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[7237] | 285 | }
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[8034] | 286 | else if (satObs->isValid(t_lc::c1)) {
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| 287 | tLC = t_lc::c1;
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[7237] | 288 | }
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[8445] | 289 | else if (satObs->isValid(t_lc::c2)) {
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[8034] | 290 | tLC = t_lc::c2;
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| 291 | }
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[7237] | 292 | }
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[9600] | 293 | if ( satObs->isValid(tLC) &&
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| 294 | (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
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[8034] | 295 | ++iObs;
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| 296 | BB[iObs][0] = satObs->xc()[0];
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| 297 | BB[iObs][1] = satObs->xc()[1];
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| 298 | BB[iObs][2] = satObs->xc()[2];
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| 299 | BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
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| 300 | }
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[7237] | 301 | }
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[8912] | 302 | if (iObs + 1 < _opt->_minObs) {
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[9943] | 303 | LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl;
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[7237] | 304 | return failure;
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| 305 | }
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| 306 | BB = BB.Rows(1,iObs+1);
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[9600] | 307 | if (bancroft(BB, xyzc) != success) {
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| 308 | return failure;
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| 309 | }
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[7237] | 310 |
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| 311 | xyzc[3] /= t_CST::c;
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| 312 |
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| 313 | // Check Blunders
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| 314 | // --------------
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| 315 | const double BLUNDER = 100.0;
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| 316 | double maxRes = 0.0;
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| 317 | unsigned maxResIndex = 0;
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| 318 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 319 | const t_pppSatObs* satObs = obsVector.at(ii);
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[8905] | 320 | if (satObs->isValid() &&
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[8912] | 321 | (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
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[7237] | 322 | ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
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[8905] | 323 | double res = rr.NormFrobenius() - satObs->obsValue(tLC)
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[8453] | 324 | - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
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[9600] | 325 | if (fabs(res) > maxRes) {
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| 326 | maxRes = fabs(res);
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[7237] | 327 | maxResIndex = ii;
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| 328 | }
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| 329 | }
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| 330 | }
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[9600] | 331 | if (maxRes < BLUNDER) {
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[9386] | 332 | if (print && _numEpoProcessing == 1) {
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[7237] | 333 | LOG.setf(ios::fixed);
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[9783] | 334 | LOG << "\nPPP of Epoch ";
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| 335 | if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
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| 336 | LOG << "\n---------------------------------------------------------------\n";
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[7237] | 337 | LOG << string(epoTime) << " BANCROFT:" << ' '
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| 338 | << setw(14) << setprecision(3) << xyzc[0] << ' '
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| 339 | << setw(14) << setprecision(3) << xyzc[1] << ' '
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| 340 | << setw(14) << setprecision(3) << xyzc[2] << ' '
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| 341 | << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
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| 342 | }
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| 343 | break;
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| 344 | }
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| 345 | else {
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| 346 | t_pppSatObs* satObs = obsVector.at(maxResIndex);
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| 347 | LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
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| 348 | << " " << maxRes << endl;
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| 349 | delete satObs;
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| 350 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 351 | }
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| 352 | }
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| 353 |
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| 354 | return success;
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| 355 | }
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| 356 |
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[7271] | 357 | //
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[7237] | 358 | //////////////////////////////////////////////////////////////////////////////
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| 359 | void t_pppClient::initOutput(t_output* output) {
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| 360 | _output = output;
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| 361 | _output->_numSat = 0;
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[7927] | 362 | _output->_hDop = 0.0;
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[7237] | 363 | _output->_error = false;
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| 364 | }
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| 365 |
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[7271] | 366 | //
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[7237] | 367 | //////////////////////////////////////////////////////////////////////////////
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| 368 | void t_pppClient::clearObs() {
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| 369 | for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
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| 370 | delete _obsRover.at(ii);
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| 371 | }
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| 372 | _obsRover.clear();
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| 373 | }
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| 374 |
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[7271] | 375 | //
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[7237] | 376 | //////////////////////////////////////////////////////////////////////////////
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[9585] | 377 | void t_pppClient::finish(t_irc irc, int ind) {
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[9783] | 378 | #ifdef BNC_DEBUG_PPP
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[9585] | 379 | LOG << "t_pppClient::finish(" << ind << "): " << irc << endl;
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[9783] | 380 | #endif
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[9585] | 381 |
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[7237] | 382 | clearObs();
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| 383 |
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| 384 | _output->_epoTime = _epoTimeRover;
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| 385 |
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| 386 | if (irc == success) {
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| 387 | _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
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| 388 | _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
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| 389 | _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
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| 390 |
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| 391 | xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
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| 392 |
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| 393 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
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| 394 |
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| 395 | _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
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| 396 | _output->_trp = _filter->trp();
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| 397 | _output->_trpStdev = _filter->trpStdev();
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| 398 |
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[9386] | 399 | _output->_numSat = _filter->numSat();
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| 400 | _output->_hDop = _filter->HDOP();
|
---|
[7237] | 401 | _output->_error = false;
|
---|
| 402 | }
|
---|
| 403 | else {
|
---|
| 404 | _output->_error = true;
|
---|
[9581] | 405 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 406 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
[10018] | 407 | if (ind == 1 || ind == 6 || ind > 7) {
|
---|
[9607] | 408 | reset();
|
---|
| 409 | }
|
---|
[10018] | 410 | //else {_filter->restoreState(ind);}
|
---|
[9581] | 411 | }
|
---|
[7237] | 412 | }
|
---|
| 413 | _output->_log = _log->str();
|
---|
| 414 | delete _log; _log = new ostringstream();
|
---|
[9545] | 415 |
|
---|
| 416 | return;
|
---|
[7237] | 417 | }
|
---|
| 418 |
|
---|
[7271] | 419 | //
|
---|
[7237] | 420 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 421 | t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
|
---|
| 422 | vector<t_pppSatObs*>& obsVector) {
|
---|
| 423 | bncTime time;
|
---|
| 424 | time = _epoTimeRover;
|
---|
[8912] | 425 | station->setName(_opt->_roverName);
|
---|
| 426 | station->setAntName(_opt->_antNameRover);
|
---|
[8905] | 427 | station->setEpochTime(time);
|
---|
[8912] | 428 | if (_opt->xyzAprRoverSet()) {
|
---|
| 429 | station->setXyzApr(_opt->_xyzAprRover);
|
---|
[7237] | 430 | }
|
---|
| 431 | else {
|
---|
| 432 | station->setXyzApr(xyzc.Rows(1,3));
|
---|
| 433 | }
|
---|
[8912] | 434 | station->setNeuEcc(_opt->_neuEccRover);
|
---|
[7237] | 435 |
|
---|
| 436 | // Receiver Clock
|
---|
| 437 | // --------------
|
---|
| 438 | station->setDClk(xyzc[3]);
|
---|
| 439 |
|
---|
| 440 | // Tides
|
---|
| 441 | // -----
|
---|
[8905] | 442 | station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
|
---|
| 443 | station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
|
---|
[7271] | 444 |
|
---|
[7237] | 445 | // Observation model
|
---|
| 446 | // -----------------
|
---|
| 447 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 448 | while (it != obsVector.end()) {
|
---|
| 449 | t_pppSatObs* satObs = *it;
|
---|
[7254] | 450 | t_irc modelSetup;
|
---|
[7237] | 451 | if (satObs->isValid()) {
|
---|
[7254] | 452 | modelSetup = satObs->cmpModel(station);
|
---|
[7237] | 453 | }
|
---|
[7254] | 454 | if (satObs->isValid() &&
|
---|
[8912] | 455 | satObs->eleSat() >= _opt->_minEle &&
|
---|
[7254] | 456 | modelSetup == success) {
|
---|
[7237] | 457 | ++it;
|
---|
| 458 | }
|
---|
| 459 | else {
|
---|
| 460 | delete satObs;
|
---|
| 461 | it = obsVector.erase(it);
|
---|
| 462 | }
|
---|
| 463 | }
|
---|
| 464 |
|
---|
| 465 | return success;
|
---|
| 466 | }
|
---|
| 467 |
|
---|
[7271] | 468 | //
|
---|
[7237] | 469 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 470 | void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
|
---|
| 471 |
|
---|
| 472 | try {
|
---|
| 473 | initOutput(output);
|
---|
[8912] | 474 | bool epochReProcessing = false;
|
---|
[9386] | 475 | _numEpoProcessing = 0;
|
---|
[9419] | 476 | _historicalRefSats.clear();
|
---|
| 477 |
|
---|
[8905] | 478 | do {
|
---|
[9386] | 479 | _numEpoProcessing++;
|
---|
| 480 | if (_obsPool->refSatChanged()) {
|
---|
[9508] | 481 | if(_filter->datumTransformation(_refSatMap) != success) {
|
---|
| 482 | LOG << "t_pppFilter::datumTransformation() != success" << endl;
|
---|
[9545] | 483 | return finish(failure,1);
|
---|
[9386] | 484 | }
|
---|
| 485 | else {
|
---|
[9508] | 486 | LOG << "t_pppFilter::datumTransformation() == success" << endl;
|
---|
[9527] | 487 | _filter->rememberState(1);
|
---|
[9386] | 488 | }
|
---|
[8956] | 489 | }
|
---|
[8905] | 490 | // Prepare Observations of the Rover
|
---|
| 491 | // ---------------------------------
|
---|
| 492 | if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
|
---|
[9545] | 493 | return finish(failure,2);
|
---|
[7237] | 494 | }
|
---|
[8905] | 495 |
|
---|
| 496 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 497 | ColumnVector xyzc(4); xyzc = 0.0;
|
---|
| 498 | bool print = (iter == 2);
|
---|
| 499 | if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
|
---|
[9545] | 500 | return finish(failure,3);
|
---|
[8905] | 501 | }
|
---|
[9783] | 502 |
|
---|
[8905] | 503 | if (cmpModel(_staRover, xyzc, _obsRover) != success) {
|
---|
[9545] | 504 | return finish(failure,4);
|
---|
[8905] | 505 | }
|
---|
| 506 | }
|
---|
[10015] | 507 | // use observations only if satellite code biases are available
|
---|
| 508 | // ------------------------------------------------------------
|
---|
| 509 | if (!_opt->_corrMount.empty() &&
|
---|
| 510 | (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 511 | OPT->_obsModelType == OPT->DCMphaseBias)) {
|
---|
| 512 | useObsWithCodeBiasesOnly(_obsRover);
|
---|
| 513 | }
|
---|
[8905] | 514 |
|
---|
[10018] | 515 | if (int(_obsRover.size()) < _opt->_minObs) {
|
---|
| 516 | LOG << "t_pppClient::processEpoch not enough observations" << endl;
|
---|
| 517 | return finish(failure,5);
|
---|
| 518 | }
|
---|
| 519 |
|
---|
[8912] | 520 | if (_opt->_refSatRequired) {
|
---|
[9386] | 521 | if (handleRefSatellites(_obsRover) != success) {
|
---|
[9545] | 522 | return finish(failure,6);
|
---|
[8905] | 523 | }
|
---|
[9508] | 524 | if (_obsPool->refSatChanged()) {
|
---|
[9527] | 525 | epochReProcessing = true;
|
---|
| 526 | continue;
|
---|
[9386] | 527 | }
|
---|
[8905] | 528 | }
|
---|
[7237] | 529 |
|
---|
[8956] | 530 | // Prepare Pseudo Observations of the Rover
|
---|
| 531 | // ----------------------------------------
|
---|
| 532 | _pseudoObsIono = preparePseudoObs(_obsRover);
|
---|
| 533 |
|
---|
[8905] | 534 | // Store last epoch of data
|
---|
| 535 | // ------------------------
|
---|
[9508] | 536 | _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono, _refSatMap);
|
---|
[10028] | 537 | #ifdef BNC_DEBUG_PPP
|
---|
| 538 | LOG << "PUT EPOCH t_pppClient::processEpoch " << _epoTimeRover.timestr().c_str() << endl;
|
---|
| 539 | #endif
|
---|
| 540 |
|
---|
[8905] | 541 | // Process Epoch in Filter
|
---|
| 542 | // -----------------------
|
---|
[10028] | 543 | if (_filter->processEpoch(_numEpoProcessing) != success) {
|
---|
[9545] | 544 | LOG << "filter->processEpoch() != success" << endl;
|
---|
| 545 | return finish(failure,7);
|
---|
[8905] | 546 | }
|
---|
[8912] | 547 |
|
---|
| 548 | // Epoch re-processing required?
|
---|
| 549 | // -----------------------------
|
---|
[9395] | 550 | if (_obsPool->refSatChangeRequired() && //SLIP
|
---|
| 551 | _opt->_obsModelType != t_pppOptions::UncombPPP) {
|
---|
[9545] | 552 | LOG << "pppClient: _obsPool->refSatChangeRequired() " << endl;
|
---|
[8912] | 553 | epochReProcessing = true;
|
---|
[10028] | 554 | #ifdef BNC_DEBUG_PPP
|
---|
| 555 | LOG << "DELETE EPOCH" << endl;
|
---|
| 556 | #endif
|
---|
| 557 | _obsPool->deleteLastEpoch();
|
---|
[9527] | 558 | _filter->restoreState(0);
|
---|
[9386] | 559 | setHistoricalRefSats();
|
---|
[8912] | 560 | }
|
---|
| 561 | else {
|
---|
[10018] | 562 | epochReProcessing = false;
|
---|
| 563 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 564 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
| 565 | _filter->rememberState(0);
|
---|
| 566 | }
|
---|
[8912] | 567 | }
|
---|
| 568 | } while (epochReProcessing);
|
---|
[9431] | 569 |
|
---|
[7237] | 570 | }
|
---|
| 571 | catch (Exception& exc) {
|
---|
| 572 | LOG << exc.what() << endl;
|
---|
[9545] | 573 | return finish(failure,8);
|
---|
[7237] | 574 | }
|
---|
| 575 | catch (t_except msg) {
|
---|
| 576 | LOG << msg.what() << endl;
|
---|
[9545] | 577 | return finish(failure,9);
|
---|
[7237] | 578 | }
|
---|
| 579 | catch (const char* msg) {
|
---|
| 580 | LOG << msg << endl;
|
---|
[9545] | 581 | return finish(failure,10);
|
---|
[7237] | 582 | }
|
---|
| 583 | catch (...) {
|
---|
| 584 | LOG << "unknown exception" << endl;
|
---|
[9545] | 585 | return finish(failure,11);
|
---|
[7237] | 586 | }
|
---|
[9545] | 587 | return finish(success,12);
|
---|
[7237] | 588 | }
|
---|
| 589 |
|
---|
[7271] | 590 | //
|
---|
[7237] | 591 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 592 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
| 593 | return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
|
---|
| 594 | }
|
---|
| 595 |
|
---|
[7271] | 596 | //
|
---|
[7237] | 597 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9600] | 598 | t_irc t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
[7237] | 599 |
|
---|
| 600 | if (pos.Nrows() != 4) {
|
---|
| 601 | pos.ReSize(4);
|
---|
| 602 | }
|
---|
| 603 | pos = 0.0;
|
---|
| 604 |
|
---|
| 605 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 606 | Matrix BB = BBpass;
|
---|
| 607 | int mm = BB.Nrows();
|
---|
| 608 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 609 | double xx = BB(ii,1);
|
---|
| 610 | double yy = BB(ii,2);
|
---|
| 611 | double traveltime = 0.072;
|
---|
| 612 | if (iter > 1) {
|
---|
| 613 | double zz = BB(ii,3);
|
---|
[7271] | 614 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
| 615 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
[7237] | 616 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
| 617 | traveltime = rho / t_CST::c;
|
---|
| 618 | }
|
---|
| 619 | double angle = traveltime * t_CST::omega;
|
---|
| 620 | double cosa = cos(angle);
|
---|
| 621 | double sina = sin(angle);
|
---|
| 622 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
| 623 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
| 624 | }
|
---|
[7271] | 625 |
|
---|
[7237] | 626 | Matrix BBB;
|
---|
| 627 | if (mm > 4) {
|
---|
| 628 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
| 629 | BBB = hlp.i() * BB.t();
|
---|
| 630 | }
|
---|
| 631 | else {
|
---|
| 632 | BBB = BB.i();
|
---|
| 633 | }
|
---|
| 634 | ColumnVector ee(mm); ee = 1.0;
|
---|
| 635 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
| 636 | for (int ii = 1; ii <= mm; ii++) {
|
---|
[7271] | 637 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
[7237] | 638 | }
|
---|
| 639 | ColumnVector BBBe = BBB * ee;
|
---|
| 640 | ColumnVector BBBalpha = BBB * alpha;
|
---|
| 641 | double aa = lorentz(BBBe, BBBe);
|
---|
| 642 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
| 643 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
| 644 | double root = sqrt(bb*bb-aa*cc);
|
---|
| 645 |
|
---|
[7271] | 646 | Matrix hlpPos(4,2);
|
---|
[7237] | 647 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
| 648 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
| 649 |
|
---|
| 650 | ColumnVector omc(2);
|
---|
| 651 | for (int pp = 1; pp <= 2; pp++) {
|
---|
| 652 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
[7271] | 653 | omc(pp) = BB(1,4) -
|
---|
[7237] | 654 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
| 655 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
[7271] | 656 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
[7237] | 657 | hlpPos(4,pp);
|
---|
| 658 | }
|
---|
| 659 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
| 660 | pos = hlpPos.Column(2);
|
---|
| 661 | }
|
---|
| 662 | else {
|
---|
| 663 | pos = hlpPos.Column(1);
|
---|
| 664 | }
|
---|
| 665 | }
|
---|
[9600] | 666 | if (pos.size() != 4 ||
|
---|
| 667 | std::isnan(pos(1)) ||
|
---|
| 668 | std::isnan(pos(2)) ||
|
---|
| 669 | std::isnan(pos(3)) ||
|
---|
| 670 | std::isnan(pos(4))) {
|
---|
| 671 | return failure;
|
---|
| 672 | }
|
---|
| 673 |
|
---|
| 674 | return success;
|
---|
[7237] | 675 | }
|
---|
| 676 |
|
---|
[7972] | 677 | //
|
---|
| 678 | //////////////////////////////////////////////////////////////////////////////
|
---|
[8956] | 679 | void t_pppClient::setRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
|
---|
| 680 | // reference satellite definition per system
|
---|
| 681 | for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
|
---|
[9490] | 682 | t_irc refSatReDefinition = success;
|
---|
[9386] | 683 | char sys = _opt->systems()[iSys];
|
---|
[8956] | 684 | bool refSatDefined = false;
|
---|
[9508] | 685 | t_pppRefSat* refSat = _refSatMap[sys];
|
---|
[8956] | 686 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 687 | t_pppSatObs* satObs = obsVector.at(ii);
|
---|
[9386] | 688 | if (satObs->eleSat() < _opt->_minEle) {
|
---|
| 689 | continue;
|
---|
| 690 | }
|
---|
[8956] | 691 | // reference satellite is unchanged
|
---|
[9395] | 692 | // ================================
|
---|
[9508] | 693 | if ( !_obsPool->refSatChangeRequired(sys) && refSat->prn() == satObs->prn()) {
|
---|
[8956] | 694 | refSatDefined = true;
|
---|
| 695 | obsVector[ii]->setAsReference();
|
---|
| 696 | }
|
---|
| 697 | // reference satellite has changed
|
---|
[9395] | 698 | // ===============================
|
---|
| 699 | else if ( _obsPool->refSatChangeRequired(sys) && refSat->prn() != satObs->prn()) {
|
---|
[9386] | 700 | if (satObs->prn().system() == sys) {
|
---|
[9395] | 701 | if (!_historicalRefSats[sys].contains(satObs->prn())) {
|
---|
| 702 | refSatDefined = true;
|
---|
| 703 | obsVector[ii]->setAsReference();
|
---|
| 704 | refSat->setPrn(satObs->prn());
|
---|
| 705 | }
|
---|
| 706 | else if ( _historicalRefSats[sys].contains(satObs->prn())) {
|
---|
| 707 | refSatReDefinition = failure;
|
---|
| 708 | }
|
---|
[8956] | 709 | }
|
---|
| 710 | }
|
---|
| 711 | if (refSatDefined) {
|
---|
| 712 | if (OPT->_pseudoObsIono) {
|
---|
| 713 | refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
|
---|
| 714 | }
|
---|
| 715 | break;
|
---|
| 716 | }
|
---|
| 717 | }
|
---|
[9490] | 718 |
|
---|
[9398] | 719 | // all available satellites were already tried to use
|
---|
[9395] | 720 | if ((!refSatDefined) && (refSatReDefinition == failure)) {
|
---|
| 721 | refSat->setPrn(t_prn(sys, 99));
|
---|
[9398] | 722 | _obsPool->setRefSatChangeRequired(sys, false);
|
---|
| 723 | return;
|
---|
[9395] | 724 | }
|
---|
| 725 |
|
---|
[8956] | 726 | // reference satellite has to be initialized
|
---|
[9395] | 727 | // =========================================
|
---|
[8956] | 728 | if (!refSatDefined) {
|
---|
| 729 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 730 | t_pppSatObs* satObs = obsVector.at(ii);
|
---|
| 731 | if (satObs->eleSat() < _opt->_minEle) {
|
---|
| 732 | continue;
|
---|
| 733 | }
|
---|
[9583] | 734 | if (satObs->prn().system() == sys &&
|
---|
| 735 | !_historicalRefSats[sys].contains(satObs->prn())) {
|
---|
[8956] | 736 | obsVector[ii]->setAsReference();
|
---|
| 737 | refSat->setPrn(satObs->prn());
|
---|
| 738 | if (OPT->_pseudoObsIono) {
|
---|
| 739 | refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
|
---|
| 740 | }
|
---|
| 741 | refSatDefined = true;
|
---|
| 742 | break;
|
---|
| 743 | }
|
---|
| 744 | }
|
---|
| 745 | }
|
---|
[9395] | 746 |
|
---|
[9398] | 747 | // no observations for that system
|
---|
| 748 | // ===============================
|
---|
| 749 | if (!refSatDefined) {
|
---|
[9386] | 750 | refSat->setPrn(t_prn());
|
---|
| 751 | }
|
---|
[9398] | 752 | _obsPool->setRefSatChangeRequired(sys, false); // done or impossible
|
---|
[8956] | 753 | }
|
---|
[9398] | 754 |
|
---|
| 755 | return;
|
---|
[9386] | 756 | }
|
---|
[8956] | 757 |
|
---|
[9386] | 758 | //
|
---|
| 759 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 760 | t_irc t_pppClient::handleRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
|
---|
| 761 |
|
---|
| 762 | // set refSats in current epoch
|
---|
| 763 | // ============================
|
---|
| 764 | setRefSatellites(obsVector); // current epoch
|
---|
| 765 | LOG.setf(ios::fixed);
|
---|
[9508] | 766 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
|
---|
| 767 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9527] | 768 |
|
---|
[9508] | 769 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
|
---|
[9386] | 770 | while (it.hasNext()) {
|
---|
| 771 | it.next();
|
---|
| 772 | char sys = it.key();
|
---|
| 773 | t_prn prn = it.value()->prn();
|
---|
[9508] | 774 | t_prn refSatLastEpochPrn = t_prn();
|
---|
| 775 | if (epoch) {
|
---|
| 776 | refSatLastEpochPrn = refSatMapLastEpoch[sys]->prn();
|
---|
| 777 | }
|
---|
[9395] | 778 | if (prn.number() == 0) { // no obs for that system available
|
---|
| 779 | continue;
|
---|
| 780 | }
|
---|
| 781 | else if (prn.number() == 99) { // refSat re-definition not possible
|
---|
[9490] | 782 | LOG << " => refSat re-definition impossible: " << sys << endl;
|
---|
[9386] | 783 | return failure;
|
---|
| 784 | }
|
---|
[9432] | 785 | QString str;
|
---|
[9508] | 786 | if (prn == refSatLastEpochPrn || refSatLastEpochPrn == t_prn() ) {
|
---|
[9386] | 787 | _obsPool->setRefSatChanged(sys, false);
|
---|
| 788 | str = " SET ";
|
---|
| 789 | }
|
---|
| 790 | else {
|
---|
| 791 | _obsPool->setRefSatChanged(sys, true);
|
---|
| 792 | str = " RESET ";
|
---|
| 793 | }
|
---|
| 794 | LOG << string(_epoTimeRover) << str.toStdString() << " REFSAT " << sys << ": " << prn.toString() << endl;
|
---|
| 795 | }
|
---|
| 796 | return success;
|
---|
[8956] | 797 | }
|
---|
| 798 |
|
---|
[9386] | 799 | void t_pppClient::setHistoricalRefSats() {
|
---|
[9508] | 800 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
|
---|
[9386] | 801 | while (it.hasNext()) {
|
---|
| 802 | it.next();
|
---|
| 803 | t_prn prn = it.value()->prn();
|
---|
| 804 | char sys = prn.system();
|
---|
[9548] | 805 | if (_obsPool->refSatChangeRequired(sys)) {
|
---|
[9386] | 806 | _historicalRefSats[sys].append(prn);
|
---|
| 807 | }
|
---|
[9508] | 808 | }
|
---|
| 809 | }
|
---|
[9386] | 810 |
|
---|
[8956] | 811 | //
|
---|
| 812 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9548] | 813 | void t_pppClient::reset() {LOG << "t_pppClient::reset()" << endl;
|
---|
[7972] | 814 |
|
---|
| 815 | // to delete old orbit and clock corrections
|
---|
| 816 | delete _ephPool;
|
---|
| 817 | _ephPool = new t_pppEphPool();
|
---|
| 818 |
|
---|
| 819 | // to delete old code biases
|
---|
| 820 | delete _obsPool;
|
---|
| 821 | _obsPool = new t_pppObsPool();
|
---|
[8905] | 822 |
|
---|
| 823 | // to delete all parameters
|
---|
| 824 | delete _filter;
|
---|
| 825 | _filter = new t_pppFilter(_obsPool);
|
---|
| 826 |
|
---|
[7996] | 827 | }
|
---|