[5683] | 1 |
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[5740] | 2 | // Part of BNC, a utility for retrieving decoding and
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| 3 | // converting GNSS data streams from NTRIP broadcasters.
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| 4 | //
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| 5 | // Copyright (C) 2007
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| 6 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 7 | // http://www.bkg.bund.de
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| 8 | // Czech Technical University Prague, Department of Geodesy
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| 9 | // http://www.fsv.cvut.cz
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| 10 | //
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| 11 | // Email: euref-ip@bkg.bund.de
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| 12 | //
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| 13 | // This program is free software; you can redistribute it and/or
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| 14 | // modify it under the terms of the GNU General Public License
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| 15 | // as published by the Free Software Foundation, version 2.
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| 16 | //
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| 17 | // This program is distributed in the hope that it will be useful,
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| 18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 20 | // GNU General Public License for more details.
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| 21 | //
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| 22 | // You should have received a copy of the GNU General Public License
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| 23 | // along with this program; if not, write to the Free Software
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| 24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 25 |
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| 26 | /* -------------------------------------------------------------------------
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| 27 | * BKG NTRIP Client
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| 28 | * -------------------------------------------------------------------------
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| 29 | *
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| 30 | * Class: t_pppClient
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| 31 | *
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| 32 | * Purpose: PPP Client processing starts here
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| 33 | *
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| 34 | * Author: L. Mervart
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| 35 | *
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| 36 | * Created: 29-Jul-2014
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| 37 | *
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| 38 | * Changes:
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| 39 | *
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| 40 | * -----------------------------------------------------------------------*/
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| 41 |
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[5758] | 42 | #include <QThreadStorage>
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[5740] | 43 |
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[5683] | 44 | #include <iostream>
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| 45 | #include <iomanip>
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| 46 | #include <stdlib.h>
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| 47 | #include <string.h>
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| 48 | #include <stdexcept>
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| 49 |
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[5734] | 50 | #include "pppClient.h"
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[5683] | 51 | #include "ephpool.h"
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| 52 | #include "obspool.h"
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| 53 | #include "satbias.h"
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[5740] | 54 | #include "bncconst.h"
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| 55 | #include "bncutils.h"
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[5683] | 56 | #include "station.h"
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[5740] | 57 | #include "bnctides.h"
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| 58 | #include "bncantex.h"
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[5683] | 59 | #include "filter.h"
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| 60 |
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| 61 | using namespace BNC;
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| 62 | using namespace std;
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| 63 |
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[5758] | 64 | // Global variable holding thread-specific pointers
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[5683] | 65 | //////////////////////////////////////////////////////////////////////////////
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[5758] | 66 | QThreadStorage<t_pppClient*> CLIENTS;
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[5683] | 67 |
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[5758] | 68 | // Static function returning thread-specific pointer
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| 69 | //////////////////////////////////////////////////////////////////////////////
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| 70 | t_pppClient* t_pppClient::instance() {
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| 71 | return CLIENTS.localData();
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| 72 | }
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| 73 |
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[5683] | 74 | // Constructor
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| 75 | //////////////////////////////////////////////////////////////////////////////
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[5761] | 76 | t_pppClient::t_pppClient(const t_options* opt) {
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[5683] | 77 | _output = 0;
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[5761] | 78 | _opt = new t_options(*opt);
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[5683] | 79 | _log = new ostringstream();
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| 80 | _ephPool = new t_ephPool();
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| 81 | _obsPool = new t_obsPool();
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[5740] | 82 | _staRover = new t_station();
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[5683] | 83 | _filter = new t_filter();
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[5761] | 84 |
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| 85 | if (!_opt->_antexFile.empty()) {
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| 86 | _antex = new bncAntex(_opt->_antexFile.c_str());
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| 87 | }
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| 88 | else {
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| 89 | _antex = 0;
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| 90 | }
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| 91 |
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[5759] | 92 | CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
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[5683] | 93 | }
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| 94 |
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| 95 | // Destructor
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| 96 | //////////////////////////////////////////////////////////////////////////////
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[5734] | 97 | t_pppClient::~t_pppClient() {
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[5683] | 98 | delete _log;
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| 99 | delete _opt;
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| 100 | delete _ephPool;
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| 101 | delete _obsPool;
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| 102 | delete _staRover;
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| 103 | delete _antex;
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| 104 | delete _filter;
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| 105 | clearObs();
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| 106 | }
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| 107 |
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| 108 | //
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| 109 | //////////////////////////////////////////////////////////////////////////////
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[5772] | 110 | void t_pppClient::putEphemeris(const t_eph* eph) {
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| 111 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 112 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 113 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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| 114 | if (ephGPS) {
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| 115 | _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
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| 116 | }
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| 117 | else if (ephGlo) {
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| 118 | _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
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| 119 | }
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| 120 | else if (ephGal) {
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| 121 | _ephPool->putEphemeris(new t_ephGal(*ephGal));
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| 122 | }
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[5683] | 123 | }
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| 124 |
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| 125 | //
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| 126 | //////////////////////////////////////////////////////////////////////////////
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[5772] | 127 | void t_pppClient::putOrbCorrections(const vector<t_orbCorr>& corr) {
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| 128 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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[5683] | 129 | _ephPool->putOrbCorrection(new t_orbCorr(corr[ii]));
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| 130 | }
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| 131 | }
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| 132 |
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| 133 | //
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| 134 | //////////////////////////////////////////////////////////////////////////////
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[5772] | 135 | void t_pppClient::putClkCorrections(const vector<t_clkCorr>& corr) {
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| 136 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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[5683] | 137 | _ephPool->putClkCorrection(new t_clkCorr(corr[ii]));
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| 138 | }
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| 139 | }
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| 140 |
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| 141 | //
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| 142 | //////////////////////////////////////////////////////////////////////////////
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[5772] | 143 | void t_pppClient::putBiases(const vector<t_satBiases>& biases) {
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| 144 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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[5683] | 145 | _obsPool->putBiases(new t_satBias(biases[ii]));
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| 146 | }
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| 147 | }
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| 148 |
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| 149 | //
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| 150 | //////////////////////////////////////////////////////////////////////////////
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[5772] | 151 | t_irc t_pppClient::prepareObs(const vector<t_pppSatObs>& pppSatObs,
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| 152 | vector<t_satObs*>& obsVector, bncTime& epoTime) {
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[5683] | 153 | // Default
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| 154 | // -------
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| 155 | epoTime.reset();
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| 156 |
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| 157 | // Create vector of valid observations
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| 158 | // -----------------------------------
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| 159 | int numValidGPS = 0;
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[5772] | 160 | for (unsigned ii = 0; ii < pppSatObs.size(); ii++) {
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| 161 | char system = pppSatObs[ii]._prn.system();
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[5683] | 162 | if (system == 'G' || (system == 'R' && OPT->useGlonass())) {
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[5772] | 163 | t_satObs* satObs = new t_satObs(pppSatObs[ii]);
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[5683] | 164 | if (satObs->isValid()) {
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| 165 | obsVector.push_back(satObs);
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| 166 | if (satObs->prn().system() == 'G') {
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| 167 | ++numValidGPS;
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| 168 | }
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| 169 | }
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| 170 | else {
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| 171 | delete satObs;
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| 172 | }
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| 173 | }
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| 174 | }
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| 175 |
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| 176 | // Check whether data are synchronized, compute epoTime
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| 177 | // ----------------------------------------------------
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| 178 | const double MAXSYNC = 0.05; // synchronization limit
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| 179 | double meanDt = 0.0;
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| 180 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 181 | const t_satObs* satObs = obsVector.at(ii);
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| 182 | if (epoTime.undef()) {
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| 183 | epoTime = satObs->time();
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| 184 | }
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| 185 | else {
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| 186 | double dt = satObs->time() - epoTime;
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| 187 | if (fabs(dt) > MAXSYNC) {
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[5734] | 188 | LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
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[5740] | 189 | return failure;
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[5683] | 190 | }
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| 191 | meanDt += dt;
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| 192 | }
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| 193 | }
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| 194 | epoTime += meanDt / obsVector.size();
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| 195 |
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[5740] | 196 | return success;
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[5683] | 197 | }
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| 198 |
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| 199 | // Compute the Bancroft position, check for blunders
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| 200 | //////////////////////////////////////////////////////////////////////////////
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[5740] | 201 | t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
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[5683] | 202 | vector<t_satObs*>& obsVector,
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| 203 | ColumnVector& xyzc, bool print) {
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| 204 |
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| 205 | t_lc::type tLC = (OPT->dualFreqRequired() ? t_lc::cIF : t_lc::c1);
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| 206 |
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| 207 | while (true) {
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| 208 | Matrix BB(obsVector.size(), 4);
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| 209 | int iObs = -1;
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| 210 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 211 | const t_satObs* satObs = obsVector.at(ii);
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| 212 | if ( satObs->isValid() && satObs->prn().system() == 'G' &&
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[5740] | 213 | (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
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[5683] | 214 | ++iObs;
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| 215 | BB[iObs][0] = satObs->xc()[0];
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| 216 | BB[iObs][1] = satObs->xc()[1];
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| 217 | BB[iObs][2] = satObs->xc()[2];
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| 218 | BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
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| 219 | }
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| 220 | }
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[5740] | 221 | if (iObs + 1 < OPT->_minObs) {
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[5734] | 222 | LOG << "t_pppClient::cmpBancroft not enough observations" << endl;
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[5740] | 223 | return failure;
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[5683] | 224 | }
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| 225 | BB = BB.Rows(1,iObs+1);
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| 226 | bancroft(BB, xyzc);
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| 227 |
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[5740] | 228 | xyzc[3] /= t_CST::c;
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[5683] | 229 |
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| 230 | // Check Blunders
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| 231 | // --------------
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| 232 | const double BLUNDER = 100.0;
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| 233 | double maxRes = 0.0;
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| 234 | unsigned maxResIndex = 0;
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| 235 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 236 | const t_satObs* satObs = obsVector.at(ii);
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| 237 | if ( satObs->isValid() && satObs->prn().system() == 'G' &&
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[5740] | 238 | (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
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[5683] | 239 | ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
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| 240 | double res = rr.norm_Frobenius() - satObs->obsValue(tLC)
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[5740] | 241 | - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
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[5683] | 242 | if (fabs(res) > maxRes) {
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| 243 | maxRes = fabs(res);
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| 244 | maxResIndex = ii;
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| 245 | }
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| 246 | }
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| 247 | }
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| 248 | if (maxRes < BLUNDER) {
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| 249 | if (print) {
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| 250 | LOG.setf(ios::fixed);
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| 251 | LOG << string(epoTime) << " BANCROFT:" << ' '
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| 252 | << setw(14) << setprecision(3) << xyzc[0] << ' '
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| 253 | << setw(14) << setprecision(3) << xyzc[1] << ' '
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| 254 | << setw(14) << setprecision(3) << xyzc[2] << ' '
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[5740] | 255 | << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
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[5683] | 256 | }
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| 257 | break;
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| 258 | }
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| 259 | else {
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| 260 | t_satObs* satObs = obsVector.at(maxResIndex);
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[5734] | 261 | LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
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[5683] | 262 | << " " << maxRes << endl;
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| 263 | delete satObs;
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| 264 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 265 | }
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| 266 | }
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| 267 |
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[5740] | 268 | return success;
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[5683] | 269 | }
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| 270 |
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| 271 | // Compute A Priori GPS-Glonass Offset
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| 272 | //////////////////////////////////////////////////////////////////////////////
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[5734] | 273 | double t_pppClient::cmpOffGG(vector<t_satObs*>& obsVector) {
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[5683] | 274 |
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| 275 | t_lc::type tLC = (OPT->dualFreqRequired() ? t_lc::cIF : t_lc::c1);
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| 276 | double offGG = 0.0;
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| 277 |
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| 278 | if (OPT->useGlonass()) {
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| 279 | while (true) {
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| 280 | offGG = 0.0;
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| 281 | bool outlierFound = false;
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| 282 | unsigned nObs = 0;
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| 283 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 284 | t_satObs* satObs = obsVector.at(ii);
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| 285 | if ( !satObs->outlier() && satObs->isValid() && satObs->prn().system() == 'R' &&
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[5740] | 286 | (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
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[5683] | 287 | ++nObs;
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| 288 | double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
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| 289 | if (fabs(ll) > 1000.0) {
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| 290 | satObs->setOutlier();
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| 291 | outlierFound = true;
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[5734] | 292 | LOG << "t_pppClient::cmpOffGG outlier " << satObs->prn().toString()
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[5683] | 293 | << " " << ll << endl;
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| 294 | }
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| 295 | offGG += ll;
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| 296 | }
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| 297 | }
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| 298 | if (nObs > 0) {
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| 299 | offGG = offGG / nObs;
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| 300 | }
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| 301 | else {
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| 302 | offGG = 0.0;
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| 303 | }
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| 304 | if (!outlierFound) {
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| 305 | break;
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| 306 | }
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| 307 | }
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| 308 | }
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| 309 |
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| 310 | return offGG;
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| 311 | }
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| 312 |
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| 313 | //
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| 314 | //////////////////////////////////////////////////////////////////////////////
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[5744] | 315 | void t_pppClient::initOutput(t_output* output) {
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[5683] | 316 | _output = output;
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[5740] | 317 | _output->_numSat = 0;
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| 318 | _output->_pDop = 0.0;
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| 319 | _output->_error = false;
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[5683] | 320 | }
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| 321 |
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| 322 | //
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| 323 | //////////////////////////////////////////////////////////////////////////////
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[5734] | 324 | void t_pppClient::clearObs() {
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[5683] | 325 | for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
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| 326 | delete _obsRover.at(ii);
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| 327 | }
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| 328 | _obsRover.clear();
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| 329 | }
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| 330 |
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| 331 | //
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| 332 | //////////////////////////////////////////////////////////////////////////////
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[5740] | 333 | void t_pppClient::finish(t_irc irc) {
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[5683] | 334 |
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| 335 | clearObs();
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| 336 |
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[5740] | 337 | _output->_epoTime = _epoTimeRover;
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[5683] | 338 |
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[5740] | 339 | if (irc == success) {
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[5683] | 340 | _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
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| 341 | _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
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| 342 | _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
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| 343 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
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| 344 | _output->_numSat = _filter->numSat();
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| 345 | _output->_pDop = _filter->PDOP();
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| 346 | _output->_error = false;
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| 347 | }
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| 348 | else {
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| 349 | _output->_error = true;
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| 350 | }
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[5740] | 351 | _output->_log = _log->str();
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[5683] | 352 | delete _log; _log = new ostringstream();
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| 353 | }
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| 354 |
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| 355 | //
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| 356 | //////////////////////////////////////////////////////////////////////////////
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[5740] | 357 | t_irc t_pppClient::cmpModel(t_station* station, const ColumnVector& xyzc,
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[5683] | 358 | vector<t_satObs*>& obsVector) {
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| 359 |
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[5740] | 360 | bncTime time;
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| 361 | time = _epoTimeRover;
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| 362 | station->setName(OPT->_roverName);
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| 363 | station->setAntName(OPT->_antNameRover);
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| 364 | if (OPT->xyzAprRoverSet()) {
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| 365 | station->setXyzApr(OPT->_xyzAprRover);
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[5683] | 366 | }
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| 367 | else {
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[5740] | 368 | station->setXyzApr(xyzc.Rows(1,3));
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[5683] | 369 | }
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[5740] | 370 | station->setNeuEcc(OPT->_neuEccRover);
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[5683] | 371 |
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| 372 | // Receiver Clock
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| 373 | // --------------
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| 374 | station->setDClk(xyzc[3]);
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| 375 |
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| 376 | // Tides
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| 377 | // -----
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[5740] | 378 | ColumnVector hlp = station->xyzApr();
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| 379 | tides(time, hlp);
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| 380 | station->setTideDspl(hlp - station->xyzApr());
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[5683] | 381 |
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| 382 | // Observation model
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| 383 | // -----------------
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| 384 | vector<t_satObs*>::iterator it = obsVector.begin();
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| 385 | while (it != obsVector.end()) {
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| 386 | t_satObs* satObs = *it;
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| 387 | satObs->cmpModel(station);
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[5740] | 388 | if (satObs->isValid() && satObs->eleSat() >= OPT->_minEle) {
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[5683] | 389 | ++it;
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| 390 | }
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| 391 | else {
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| 392 | delete satObs;
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| 393 | it = obsVector.erase(it);
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| 394 | }
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| 395 | }
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| 396 |
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[5740] | 397 | return success;
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[5683] | 398 | }
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| 399 |
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| 400 | //
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| 401 | //////////////////////////////////////////////////////////////////////////////
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[5772] | 402 | void t_pppClient::processEpoch(const vector<t_pppSatObs>& pppSatObs, t_output* output) {
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[5683] | 403 |
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| 404 | try {
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| 405 | initOutput(output);
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| 406 |
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| 407 | // Prepare Observations of the Rover
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| 408 | // ---------------------------------
|
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[5772] | 409 | if (prepareObs(pppSatObs, _obsRover, _epoTimeRover) != success) {
|
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[5740] | 410 | return finish(failure);
|
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[5683] | 411 | }
|
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| 412 |
|
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| 413 | LOG << "\nResults of Epoch ";
|
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| 414 | if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
|
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| 415 | LOG << "\n--------------------------------------\n";
|
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| 416 |
|
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| 417 | for (int iter = 1; iter <= 2; iter++) {
|
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| 418 | ColumnVector xyzc(4); xyzc = 0.0;
|
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| 419 | bool print = (iter == 2);
|
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[5740] | 420 | if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
|
---|
| 421 | return finish(failure);
|
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[5683] | 422 | }
|
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[5740] | 423 | if (cmpModel(_staRover, xyzc, _obsRover) != success) {
|
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| 424 | return finish(failure);
|
---|
[5683] | 425 | }
|
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| 426 | }
|
---|
| 427 |
|
---|
| 428 | _offGG = cmpOffGG(_obsRover);
|
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| 429 |
|
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| 430 | // Store last epoch of data
|
---|
| 431 | // ------------------------
|
---|
| 432 | _obsPool->putEpoch(_epoTimeRover, _obsRover);
|
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| 433 |
|
---|
| 434 | // Process Epoch in Filter
|
---|
| 435 | // -----------------------
|
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[5740] | 436 | if (_filter->processEpoch(_obsPool) != success) {
|
---|
| 437 | return finish(failure);
|
---|
[5683] | 438 | }
|
---|
| 439 | }
|
---|
| 440 | catch (Exception& exc) {
|
---|
| 441 | LOG << exc.what() << endl;
|
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[5740] | 442 | return finish(failure);
|
---|
[5683] | 443 | }
|
---|
[5763] | 444 | catch (pppExcept msg) {
|
---|
| 445 | LOG << msg.what() << endl;
|
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[5740] | 446 | return finish(failure);
|
---|
[5683] | 447 | }
|
---|
| 448 | catch (...) {
|
---|
| 449 | LOG << "unknown exception" << endl;
|
---|
[5740] | 450 | return finish(failure);
|
---|
[5683] | 451 | }
|
---|
| 452 |
|
---|
[5740] | 453 | return finish(success);
|
---|
[5683] | 454 | }
|
---|
[5740] | 455 |
|
---|
| 456 | //
|
---|
| 457 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 458 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
| 459 | return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
|
---|
| 460 | }
|
---|
| 461 |
|
---|
| 462 | //
|
---|
| 463 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 464 | void t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
| 465 |
|
---|
| 466 | if (pos.Nrows() != 4) {
|
---|
| 467 | pos.ReSize(4);
|
---|
| 468 | }
|
---|
| 469 | pos = 0.0;
|
---|
| 470 |
|
---|
| 471 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 472 | Matrix BB = BBpass;
|
---|
| 473 | int mm = BB.Nrows();
|
---|
| 474 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 475 | double xx = BB(ii,1);
|
---|
| 476 | double yy = BB(ii,2);
|
---|
| 477 | double traveltime = 0.072;
|
---|
| 478 | if (iter > 1) {
|
---|
| 479 | double zz = BB(ii,3);
|
---|
| 480 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
| 481 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
| 482 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
| 483 | traveltime = rho / t_CST::c;
|
---|
| 484 | }
|
---|
| 485 | double angle = traveltime * t_CST::omega;
|
---|
| 486 | double cosa = cos(angle);
|
---|
| 487 | double sina = sin(angle);
|
---|
| 488 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
| 489 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
| 490 | }
|
---|
| 491 |
|
---|
| 492 | Matrix BBB;
|
---|
| 493 | if (mm > 4) {
|
---|
| 494 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
| 495 | BBB = hlp.i() * BB.t();
|
---|
| 496 | }
|
---|
| 497 | else {
|
---|
| 498 | BBB = BB.i();
|
---|
| 499 | }
|
---|
| 500 | ColumnVector ee(mm); ee = 1.0;
|
---|
| 501 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
| 502 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 503 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
| 504 | }
|
---|
| 505 | ColumnVector BBBe = BBB * ee;
|
---|
| 506 | ColumnVector BBBalpha = BBB * alpha;
|
---|
| 507 | double aa = lorentz(BBBe, BBBe);
|
---|
| 508 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
| 509 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
| 510 | double root = sqrt(bb*bb-aa*cc);
|
---|
| 511 |
|
---|
| 512 | Matrix hlpPos(4,2);
|
---|
| 513 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
| 514 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
| 515 |
|
---|
| 516 | ColumnVector omc(2);
|
---|
| 517 | for (int pp = 1; pp <= 2; pp++) {
|
---|
| 518 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
| 519 | omc(pp) = BB(1,4) -
|
---|
| 520 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
| 521 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
| 522 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
| 523 | hlpPos(4,pp);
|
---|
| 524 | }
|
---|
| 525 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
| 526 | pos = hlpPos.Column(2);
|
---|
| 527 | }
|
---|
| 528 | else {
|
---|
| 529 | pos = hlpPos.Column(1);
|
---|
| 530 | }
|
---|
| 531 | }
|
---|
| 532 | }
|
---|
| 533 |
|
---|