[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 <stdlib.h>
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| 23 | #include <string.h>
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| 24 | #include <stdexcept>
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| 25 |
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| 26 | #include "pppClient.h"
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| 27 | #include "pppEphPool.h"
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| 28 | #include "pppObsPool.h"
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| 29 | #include "bncconst.h"
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| 30 | #include "bncutils.h"
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| 31 | #include "pppStation.h"
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| 32 | #include "bncantex.h"
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| 33 | #include "pppFilter.h"
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| 34 |
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| 35 | using namespace BNC_PPP;
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| 36 | using namespace std;
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| 37 |
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| 38 | // Global variable holding thread-specific pointers
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| 39 | //////////////////////////////////////////////////////////////////////////////
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| 40 | QThreadStorage<t_pppClient*> CLIENTS;
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| 41 |
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| 42 | // Static function returning thread-specific pointer
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| 43 | //////////////////////////////////////////////////////////////////////////////
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| 44 | t_pppClient* t_pppClient::instance() {
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| 45 | return CLIENTS.localData();
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| 46 | }
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| 47 |
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| 48 | // Constructor
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| 49 | //////////////////////////////////////////////////////////////////////////////
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| 50 | t_pppClient::t_pppClient(const t_pppOptions* opt) {
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| 51 | _output = 0;
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| 52 | _opt = new t_pppOptions(*opt);
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| 53 | _log = new ostringstream();
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| 54 | _ephPool = new t_pppEphPool();
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| 55 | _obsPool = new t_pppObsPool();
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| 56 | _staRover = new t_pppStation();
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[8905] | 57 | _filter = new t_pppFilter(_obsPool);
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[7237] | 58 | _tides = new t_tides();
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[8905] | 59 | _antex = 0;
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[7237] | 60 | if (!_opt->_antexFileName.empty()) {
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| 61 | _antex = new bncAntex(_opt->_antexFileName.c_str());
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| 62 | }
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[8905] | 63 | if (!_opt->_blqFileName.empty()) {
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| 64 | if (_tides->readBlqFile(_opt->_blqFileName.c_str()) == success) {
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| 65 | //_tides->printAllBlqSets();
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| 66 | }
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[7237] | 67 | }
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[7996] | 68 |
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[8910] | 69 | if (_opt->_refSatRequired) {
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[8912] | 70 | for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
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[9508] | 71 | char sys = _opt->systems()[iSys];
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| 72 | _refSatMap[sys] = new t_pppRefSat();
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[8905] | 73 | }
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[7972] | 74 | }
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[9419] | 75 |
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[9288] | 76 | _offGR = 0.0;
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| 77 | _offGE = 0.0;
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| 78 | _offGC = 0.0;
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[7237] | 79 | CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
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| 80 | }
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| 81 |
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| 82 | // Destructor
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| 83 | //////////////////////////////////////////////////////////////////////////////
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| 84 | t_pppClient::~t_pppClient() {
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| 85 | delete _log;
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| 86 | delete _opt;
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[8905] | 87 | delete _filter;
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[7237] | 88 | delete _ephPool;
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| 89 | delete _obsPool;
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| 90 | delete _staRover;
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[7866] | 91 | if (_antex) {
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| 92 | delete _antex;
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| 93 | }
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[7237] | 94 | delete _tides;
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| 95 | clearObs();
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[9508] | 96 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
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| 97 | while (it.hasNext()) {
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| 98 | it.next();
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| 99 | delete it.value();
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| 100 | }
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| 101 | _refSatMap.clear();
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[7237] | 102 | }
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| 103 |
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[7271] | 104 | //
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[7237] | 105 | //////////////////////////////////////////////////////////////////////////////
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| 106 | void t_pppClient::putEphemeris(const t_eph* eph) {
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| 107 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 108 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 109 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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[7271] | 110 | const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
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[7237] | 111 | if (ephGPS) {
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| 112 | _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
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| 113 | }
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| 114 | else if (ephGlo) {
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| 115 | _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
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| 116 | }
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| 117 | else if (ephGal) {
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| 118 | _ephPool->putEphemeris(new t_ephGal(*ephGal));
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| 119 | }
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[7271] | 120 | else if (ephBDS) {
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| 121 | _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
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| 122 | }
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[7237] | 123 | }
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| 124 |
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| 125 | //
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| 126 | //////////////////////////////////////////////////////////////////////////////
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| 127 | void t_pppClient::putTec(const t_vTec* vTec) {
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[7248] | 128 | _obsPool->putTec(new t_vTec(*vTec));
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[7237] | 129 | }
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| 130 |
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[7271] | 131 | //
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[7237] | 132 | //////////////////////////////////////////////////////////////////////////////
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| 133 | void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
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| 134 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 135 | _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
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| 136 | }
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| 137 | }
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| 138 |
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[7271] | 139 | //
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[7237] | 140 | //////////////////////////////////////////////////////////////////////////////
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| 141 | void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
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| 142 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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| 143 | _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
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| 144 | }
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| 145 | }
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| 146 |
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[7271] | 147 | //
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[7237] | 148 | //////////////////////////////////////////////////////////////////////////////
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| 149 | void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
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| 150 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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| 151 | _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
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| 152 | }
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| 153 | }
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| 154 |
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| 155 | //
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| 156 | //////////////////////////////////////////////////////////////////////////////
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[7288] | 157 | void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
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| 158 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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| 159 | _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
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| 160 | }
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| 161 | }
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| 162 |
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| 163 | //
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| 164 | //////////////////////////////////////////////////////////////////////////////
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[7237] | 165 | t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
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| 166 | vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
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[8905] | 167 |
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[7271] | 168 | // Default
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[7237] | 169 | // -------
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| 170 | epoTime.reset();
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[8956] | 171 | clearObs();
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[7237] | 172 |
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| 173 | // Create vector of valid observations
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| 174 | // -----------------------------------
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| 175 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
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| 176 | char system = satObs[ii]->_prn.system();
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[8912] | 177 | if (_opt->useSystem(system)) {
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[7237] | 178 | t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
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| 179 | if (pppSatObs->isValid()) {
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| 180 | obsVector.push_back(pppSatObs);
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| 181 | }
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| 182 | else {
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| 183 | delete pppSatObs;
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| 184 | }
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| 185 | }
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| 186 | }
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| 187 |
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| 188 | // Check whether data are synchronized, compute epoTime
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| 189 | // ----------------------------------------------------
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| 190 | const double MAXSYNC = 0.05; // synchronization limit
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| 191 | double meanDt = 0.0;
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| 192 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 193 | const t_pppSatObs* satObs = obsVector.at(ii);
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| 194 | if (epoTime.undef()) {
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| 195 | epoTime = satObs->time();
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| 196 | }
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| 197 | else {
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| 198 | double dt = satObs->time() - epoTime;
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| 199 | if (fabs(dt) > MAXSYNC) {
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| 200 | LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
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| 201 | return failure;
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| 202 | }
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| 203 | meanDt += dt;
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| 204 | }
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| 205 | }
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| 206 |
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| 207 | if (obsVector.size() > 0) {
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| 208 | epoTime += meanDt / obsVector.size();
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| 209 | }
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| 210 |
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| 211 | return success;
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| 212 | }
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| 213 |
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[8905] | 214 | //
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| 215 | //////////////////////////////////////////////////////////////////////////////
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| 216 | bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
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| 217 |
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| 218 | bool pseudoObsIono = false;
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| 219 |
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[8912] | 220 | if (_opt->_pseudoObsIono) {
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[8905] | 221 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 222 | while (it != obsVector.end()) {
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| 223 | t_pppSatObs* satObs = *it;
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[9508] | 224 | char sys = satObs->prn().system();
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| 225 | t_pppRefSat* refSat = _refSatMap[sys];
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[8905] | 226 | double stecRef = refSat->stecValue();
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| 227 | if (stecRef && !satObs->isReference()) {
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| 228 | pseudoObsIono = true;
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| 229 | satObs->setPseudoObsIono(t_frequency::G1, stecRef);
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| 230 | }
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| 231 | it++;
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| 232 | }
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| 233 | }
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[9538] | 234 |
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[8961] | 235 | /*
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| 236 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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| 237 | while (it != obsVector.end()) {
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| 238 | t_pppSatObs* satObs = *it;
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| 239 | satObs->printObsMinusComputed();
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| 240 | it++;
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| 241 | }
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| 242 | */
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[8905] | 243 | return pseudoObsIono;
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| 244 | }
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| 245 |
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[7237] | 246 | // Compute the Bancroft position, check for blunders
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| 247 | //////////////////////////////////////////////////////////////////////////////
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[7271] | 248 | t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
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[7237] | 249 | vector<t_pppSatObs*>& obsVector,
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| 250 | ColumnVector& xyzc, bool print) {
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| 251 |
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| 252 | t_lc::type tLC = t_lc::dummy;
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| 253 |
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| 254 | while (true) {
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| 255 | Matrix BB(obsVector.size(), 4);
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| 256 | int iObs = -1;
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| 257 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 258 | const t_pppSatObs* satObs = obsVector.at(ii);
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[8034] | 259 | if (tLC == t_lc::dummy) {
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| 260 | if (satObs->isValid(t_lc::cIF)) {
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| 261 | tLC = t_lc::cIF;
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[7237] | 262 | }
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[8034] | 263 | else if (satObs->isValid(t_lc::c1)) {
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| 264 | tLC = t_lc::c1;
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[7237] | 265 | }
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[8445] | 266 | else if (satObs->isValid(t_lc::c2)) {
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[8034] | 267 | tLC = t_lc::c2;
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| 268 | }
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[7237] | 269 | }
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[8912] | 270 | if ( satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
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[8034] | 271 | ++iObs;
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| 272 | BB[iObs][0] = satObs->xc()[0];
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| 273 | BB[iObs][1] = satObs->xc()[1];
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| 274 | BB[iObs][2] = satObs->xc()[2];
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| 275 | BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
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| 276 | }
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[7237] | 277 | }
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[8912] | 278 | if (iObs + 1 < _opt->_minObs) {
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[7237] | 279 | LOG << "t_pppClient::cmpBancroft not enough observations" << endl;
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| 280 | return failure;
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| 281 | }
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| 282 | BB = BB.Rows(1,iObs+1);
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| 283 | bancroft(BB, xyzc);
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| 284 |
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| 285 | xyzc[3] /= t_CST::c;
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| 286 |
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| 287 | // Check Blunders
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| 288 | // --------------
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| 289 | const double BLUNDER = 100.0;
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| 290 | double maxRes = 0.0;
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| 291 | unsigned maxResIndex = 0;
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| 292 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 293 | const t_pppSatObs* satObs = obsVector.at(ii);
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[8905] | 294 | if (satObs->isValid() &&
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| 295 | satObs->prn().system() == 'G' &&
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[8912] | 296 | (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
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[7237] | 297 | ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
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[8905] | 298 | double res = rr.NormFrobenius() - satObs->obsValue(tLC)
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[8453] | 299 | - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
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| 300 | if (std::isnan(res) || fabs(res) > maxRes) {
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| 301 | std::isnan(res) ?
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| 302 | maxRes = res :
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[7237] | 303 | maxRes = fabs(res);
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| 304 | maxResIndex = ii;
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| 305 | }
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| 306 | }
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| 307 | }
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[8453] | 308 | if (!std::isnan(maxRes) && maxRes < BLUNDER) {
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[9386] | 309 | if (print && _numEpoProcessing == 1) {
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[7237] | 310 | LOG.setf(ios::fixed);
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| 311 | LOG << string(epoTime) << " BANCROFT:" << ' '
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| 312 | << setw(14) << setprecision(3) << xyzc[0] << ' '
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| 313 | << setw(14) << setprecision(3) << xyzc[1] << ' '
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| 314 | << setw(14) << setprecision(3) << xyzc[2] << ' '
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| 315 | << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
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| 316 | }
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| 317 | break;
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| 318 | }
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| 319 | else {
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| 320 | t_pppSatObs* satObs = obsVector.at(maxResIndex);
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| 321 | LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
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| 322 | << " " << maxRes << endl;
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| 323 | delete satObs;
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| 324 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 325 | }
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| 326 | }
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| 327 |
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| 328 | return success;
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| 329 | }
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| 330 |
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| 331 | // Compute A Priori GPS-Glonass Offset
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| 332 | //////////////////////////////////////////////////////////////////////////////
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[9288] | 333 | double t_pppClient::cmpOffGR(vector<t_pppSatObs*>& obsVector) {
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[7237] | 334 |
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| 335 | t_lc::type tLC = t_lc::dummy;
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[9288] | 336 | double offGR = 0.0;
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[7237] | 337 |
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[8912] | 338 | if (_opt->useSystem('R')) {
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[7237] | 339 | while (obsVector.size() > 0) {
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[9288] | 340 | offGR = 0.0;
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[7237] | 341 | double maxRes = 0.0;
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| 342 | int maxResIndex = -1;
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| 343 | t_prn maxResPrn;
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| 344 | unsigned nObs = 0;
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| 345 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[7888] | 346 | const t_pppSatObs* satObs = obsVector.at(ii);
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[7237] | 347 | if (satObs->prn().system() == 'R') {
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| 348 | if (tLC == t_lc::dummy) {
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| 349 | tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
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| 350 | }
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[8912] | 351 | if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle)) {
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[7237] | 352 | double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
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| 353 | ++nObs;
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[9288] | 354 | offGR += ll;
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[7237] | 355 | if (fabs(ll) > fabs(maxRes)) {
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| 356 | maxRes = ll;
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| 357 | maxResIndex = ii;
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| 358 | maxResPrn = satObs->prn();
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| 359 | }
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| 360 | }
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| 361 | }
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| 362 | }
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| 363 |
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| 364 | if (nObs > 0) {
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[9288] | 365 | offGR = offGR / nObs;
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[7237] | 366 | }
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| 367 | else {
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[9288] | 368 | offGR = 0.0;
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[7237] | 369 | }
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[9386] | 370 | if (fabs(maxRes) > OPT->_aprSigOGC) {
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[9288] | 371 | LOG << "t_pppClient::cmpOffGR outlier " << maxResPrn.toString() << " " << maxRes << endl;
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[7904] | 372 | delete obsVector.at(maxResIndex);
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[7237] | 373 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 374 | }
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| 375 | else {
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| 376 | break;
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| 377 | }
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| 378 | }
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| 379 | }
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[9288] | 380 | return offGR;
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[7237] | 381 | }
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| 382 |
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[9288] | 383 | // Compute A Priori GPS-Galileo Offset
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| 384 | //////////////////////////////////////////////////////////////////////////////
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| 385 | double t_pppClient::cmpOffGE(vector<t_pppSatObs*>& obsVector) {
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| 386 |
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| 387 | t_lc::type tLC = t_lc::dummy;
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| 388 | double offGE = 0.0;
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| 389 |
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| 390 | if (_opt->useSystem('E')) {
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| 391 | while (obsVector.size() > 0) {
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| 392 | offGE = 0.0;
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| 393 | double maxRes = 0.0;
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| 394 | int maxResIndex = -1;
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| 395 | t_prn maxResPrn;
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| 396 | unsigned nObs = 0;
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| 397 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 398 | const t_pppSatObs* satObs = obsVector.at(ii);
|
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| 399 | if (satObs->prn().system() == 'E') {
|
---|
| 400 | if (tLC == t_lc::dummy) {
|
---|
| 401 | tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
|
---|
| 402 | }
|
---|
| 403 | if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle)) {
|
---|
| 404 | double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
|
---|
| 405 | ++nObs;
|
---|
| 406 | offGE += ll;
|
---|
| 407 | if (fabs(ll) > fabs(maxRes)) {
|
---|
| 408 | maxRes = ll;
|
---|
| 409 | maxResIndex = ii;
|
---|
| 410 | maxResPrn = satObs->prn();
|
---|
| 411 | }
|
---|
| 412 | }
|
---|
| 413 | }
|
---|
| 414 | }
|
---|
| 415 |
|
---|
| 416 | if (nObs > 0) {
|
---|
| 417 | offGE = offGE / nObs;
|
---|
| 418 | }
|
---|
| 419 | else {
|
---|
| 420 | offGE = 0.0;
|
---|
| 421 | }
|
---|
| 422 |
|
---|
[9386] | 423 | if (fabs(maxRes) > OPT->_aprSigOGE) {
|
---|
[9288] | 424 | LOG << "t_pppClient::cmpOffGE outlier " << maxResPrn.toString() << " " << maxRes << endl;
|
---|
| 425 | delete obsVector.at(maxResIndex);
|
---|
| 426 | obsVector.erase(obsVector.begin() + maxResIndex);
|
---|
| 427 | }
|
---|
| 428 | else {
|
---|
| 429 | break;
|
---|
| 430 | }
|
---|
| 431 | }
|
---|
| 432 | }
|
---|
| 433 | return offGE;
|
---|
| 434 | }
|
---|
| 435 |
|
---|
[8993] | 436 | // Compute A Priori GPS-BDS Offset
|
---|
| 437 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9288] | 438 | double t_pppClient::cmpOffGC(vector<t_pppSatObs*>& obsVector) {
|
---|
[8993] | 439 |
|
---|
| 440 | t_lc::type tLC = t_lc::dummy;
|
---|
[9288] | 441 | double offGC = 0.0;
|
---|
[8993] | 442 |
|
---|
| 443 | if (_opt->useSystem('C')) {
|
---|
| 444 | while (obsVector.size() > 0) {
|
---|
[9288] | 445 | offGC = 0.0;
|
---|
[8993] | 446 | double maxRes = 0.0;
|
---|
| 447 | int maxResIndex = -1;
|
---|
| 448 | t_prn maxResPrn;
|
---|
| 449 | unsigned nObs = 0;
|
---|
| 450 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 451 | const t_pppSatObs* satObs = obsVector.at(ii);
|
---|
| 452 | if (satObs->prn().system() == 'C') {
|
---|
| 453 | if (tLC == t_lc::dummy) {
|
---|
| 454 | tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
|
---|
| 455 | }
|
---|
| 456 | if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle)) {
|
---|
| 457 | double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
|
---|
| 458 | ++nObs;
|
---|
[9288] | 459 | offGC += ll;
|
---|
[8993] | 460 | if (fabs(ll) > fabs(maxRes)) {
|
---|
| 461 | maxRes = ll;
|
---|
| 462 | maxResIndex = ii;
|
---|
| 463 | maxResPrn = satObs->prn();
|
---|
| 464 | }
|
---|
| 465 | }
|
---|
| 466 | }
|
---|
| 467 | }
|
---|
| 468 |
|
---|
| 469 | if (nObs > 0) {
|
---|
[9288] | 470 | offGC = offGC / nObs;
|
---|
[8993] | 471 | }
|
---|
| 472 | else {
|
---|
[9288] | 473 | offGC = 0.0;
|
---|
[8993] | 474 | }
|
---|
| 475 |
|
---|
[9386] | 476 | if (fabs(maxRes) > OPT->_aprSigOGC) {
|
---|
[9288] | 477 | LOG << "t_pppClient::cmpOffGC outlier " << maxResPrn.toString() << " " << maxRes << endl;
|
---|
[8993] | 478 | delete obsVector.at(maxResIndex);
|
---|
| 479 | obsVector.erase(obsVector.begin() + maxResIndex);
|
---|
| 480 | }
|
---|
| 481 | else {
|
---|
| 482 | break;
|
---|
| 483 | }
|
---|
| 484 | }
|
---|
| 485 | }
|
---|
[9288] | 486 | return offGC;
|
---|
[8993] | 487 | }
|
---|
| 488 |
|
---|
[7271] | 489 | //
|
---|
[7237] | 490 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 491 | void t_pppClient::initOutput(t_output* output) {
|
---|
| 492 | _output = output;
|
---|
| 493 | _output->_numSat = 0;
|
---|
[7927] | 494 | _output->_hDop = 0.0;
|
---|
[7237] | 495 | _output->_error = false;
|
---|
| 496 | }
|
---|
| 497 |
|
---|
[7271] | 498 | //
|
---|
[7237] | 499 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 500 | void t_pppClient::clearObs() {
|
---|
| 501 | for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
|
---|
| 502 | delete _obsRover.at(ii);
|
---|
| 503 | }
|
---|
| 504 | _obsRover.clear();
|
---|
| 505 | }
|
---|
| 506 |
|
---|
[7271] | 507 | //
|
---|
[7237] | 508 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 509 | void t_pppClient::finish(t_irc irc) {
|
---|
| 510 |
|
---|
| 511 | clearObs();
|
---|
| 512 |
|
---|
| 513 | _output->_epoTime = _epoTimeRover;
|
---|
| 514 |
|
---|
| 515 | if (irc == success) {
|
---|
| 516 | _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
|
---|
| 517 | _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
|
---|
| 518 | _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
|
---|
| 519 |
|
---|
| 520 | xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
|
---|
| 521 |
|
---|
| 522 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
|
---|
| 523 |
|
---|
| 524 | _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
|
---|
| 525 | _output->_trp = _filter->trp();
|
---|
| 526 | _output->_trpStdev = _filter->trpStdev();
|
---|
| 527 |
|
---|
[9386] | 528 | _output->_numSat = _filter->numSat();
|
---|
| 529 | _output->_hDop = _filter->HDOP();
|
---|
[7237] | 530 | _output->_error = false;
|
---|
| 531 | }
|
---|
| 532 | else {
|
---|
| 533 | _output->_error = true;
|
---|
| 534 | }
|
---|
| 535 | _output->_log = _log->str();
|
---|
| 536 | delete _log; _log = new ostringstream();
|
---|
| 537 | }
|
---|
| 538 |
|
---|
[7271] | 539 | //
|
---|
[7237] | 540 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 541 | t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
|
---|
| 542 | vector<t_pppSatObs*>& obsVector) {
|
---|
| 543 | bncTime time;
|
---|
| 544 | time = _epoTimeRover;
|
---|
[8912] | 545 | station->setName(_opt->_roverName);
|
---|
| 546 | station->setAntName(_opt->_antNameRover);
|
---|
[8905] | 547 | station->setEpochTime(time);
|
---|
[8912] | 548 | if (_opt->xyzAprRoverSet()) {
|
---|
| 549 | station->setXyzApr(_opt->_xyzAprRover);
|
---|
[7237] | 550 | }
|
---|
| 551 | else {
|
---|
| 552 | station->setXyzApr(xyzc.Rows(1,3));
|
---|
| 553 | }
|
---|
[8912] | 554 | station->setNeuEcc(_opt->_neuEccRover);
|
---|
[7237] | 555 |
|
---|
| 556 | // Receiver Clock
|
---|
| 557 | // --------------
|
---|
| 558 | station->setDClk(xyzc[3]);
|
---|
| 559 |
|
---|
| 560 | // Tides
|
---|
| 561 | // -----
|
---|
[8905] | 562 | station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
|
---|
| 563 | station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
|
---|
[7271] | 564 |
|
---|
[7237] | 565 | // Observation model
|
---|
| 566 | // -----------------
|
---|
| 567 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 568 | while (it != obsVector.end()) {
|
---|
| 569 | t_pppSatObs* satObs = *it;
|
---|
[7254] | 570 | t_irc modelSetup;
|
---|
[7237] | 571 | if (satObs->isValid()) {
|
---|
[7254] | 572 | modelSetup = satObs->cmpModel(station);
|
---|
[7237] | 573 | }
|
---|
[7254] | 574 | if (satObs->isValid() &&
|
---|
[8912] | 575 | satObs->eleSat() >= _opt->_minEle &&
|
---|
[7254] | 576 | modelSetup == success) {
|
---|
[7237] | 577 | ++it;
|
---|
| 578 | }
|
---|
| 579 | else {
|
---|
| 580 | delete satObs;
|
---|
| 581 | it = obsVector.erase(it);
|
---|
| 582 | }
|
---|
| 583 | }
|
---|
| 584 |
|
---|
| 585 | return success;
|
---|
| 586 | }
|
---|
| 587 |
|
---|
[7271] | 588 | //
|
---|
[7237] | 589 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 590 | void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
|
---|
| 591 |
|
---|
| 592 | try {
|
---|
| 593 | initOutput(output);
|
---|
[8912] | 594 | bool epochReProcessing = false;
|
---|
[9386] | 595 | _numEpoProcessing = 0;
|
---|
[9419] | 596 | _historicalRefSats.clear();
|
---|
| 597 |
|
---|
[8905] | 598 | do {
|
---|
[9386] | 599 | _numEpoProcessing++;
|
---|
[9419] | 600 | #ifdef BNC_DEBUG_PPP
|
---|
| 601 | LOG << "_numEpoProcessing " << _numEpoProcessing << endl;
|
---|
| 602 | #endif
|
---|
[9386] | 603 | if (_obsPool->refSatChanged()) {
|
---|
[9508] | 604 | if(_filter->datumTransformation(_refSatMap) != success) {
|
---|
| 605 | LOG << "t_pppFilter::datumTransformation() != success" << endl;
|
---|
[9386] | 606 | return finish(failure);
|
---|
| 607 | }
|
---|
| 608 | else {
|
---|
[9508] | 609 | LOG << "t_pppFilter::datumTransformation() == success" << endl;
|
---|
[9527] | 610 | _filter->rememberState(1);
|
---|
[9386] | 611 | }
|
---|
[8956] | 612 | }
|
---|
[8905] | 613 | // Prepare Observations of the Rover
|
---|
| 614 | // ---------------------------------
|
---|
| 615 | if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
|
---|
[7237] | 616 | return finish(failure);
|
---|
| 617 | }
|
---|
[8905] | 618 |
|
---|
[9386] | 619 | if (_numEpoProcessing == 1) {
|
---|
| 620 | LOG << "\nPPP of Epoch ";
|
---|
| 621 | if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
|
---|
| 622 | LOG << "\n---------------------------------------------------------------\n";
|
---|
| 623 | }
|
---|
| 624 |
|
---|
[8905] | 625 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 626 | ColumnVector xyzc(4); xyzc = 0.0;
|
---|
| 627 | bool print = (iter == 2);
|
---|
| 628 | if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
|
---|
| 629 | return finish(failure);
|
---|
| 630 | }
|
---|
| 631 | if (cmpModel(_staRover, xyzc, _obsRover) != success) {
|
---|
| 632 | return finish(failure);
|
---|
| 633 | }
|
---|
| 634 | }
|
---|
| 635 |
|
---|
[8912] | 636 | if (_opt->_refSatRequired) {
|
---|
[9386] | 637 | if (handleRefSatellites(_obsRover) != success) {
|
---|
| 638 | return finish(failure);
|
---|
[8905] | 639 | }
|
---|
[9508] | 640 | if (_obsPool->refSatChanged()) {
|
---|
| 641 | LOG << "t_pppFilter: refSatChanged()" << endl;
|
---|
[9527] | 642 | epochReProcessing = true;
|
---|
| 643 | continue;
|
---|
[9386] | 644 | }
|
---|
[8905] | 645 | }
|
---|
[7237] | 646 |
|
---|
[9386] | 647 | _offGR = cmpOffGR(_obsRover);
|
---|
| 648 | _offGE = cmpOffGE(_obsRover);
|
---|
| 649 | _offGC = cmpOffGC(_obsRover);
|
---|
[8956] | 650 |
|
---|
| 651 | // Prepare Pseudo Observations of the Rover
|
---|
| 652 | // ----------------------------------------
|
---|
| 653 | _pseudoObsIono = preparePseudoObs(_obsRover);
|
---|
| 654 |
|
---|
| 655 | if (int(_obsRover.size()) < _opt->_minObs) {
|
---|
| 656 | LOG << "t_pppClient::processEpoch not enough observations" << endl;
|
---|
| 657 | return finish(failure);
|
---|
| 658 | }
|
---|
| 659 |
|
---|
[8905] | 660 | // Store last epoch of data
|
---|
| 661 | // ------------------------
|
---|
[9508] | 662 | _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono, _refSatMap);
|
---|
[7904] | 663 |
|
---|
[8905] | 664 | // Process Epoch in Filter
|
---|
| 665 | // -----------------------
|
---|
[9386] | 666 | if (_filter->processEpoch() != success) {
|
---|
[8905] | 667 | return finish(failure);
|
---|
| 668 | }
|
---|
[8912] | 669 |
|
---|
| 670 | // Epoch re-processing required?
|
---|
| 671 | // -----------------------------
|
---|
[9395] | 672 | if (_obsPool->refSatChangeRequired() && //SLIP
|
---|
| 673 | _opt->_obsModelType != t_pppOptions::UncombPPP) {
|
---|
[8912] | 674 | epochReProcessing = true;
|
---|
[8956] | 675 | _obsPool->deleteLastEpoch();
|
---|
[9527] | 676 | _filter->restoreState(0);
|
---|
[9386] | 677 | setHistoricalRefSats();
|
---|
[8912] | 678 | }
|
---|
| 679 | else {
|
---|
| 680 | epochReProcessing = false;
|
---|
[9537] | 681 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 682 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
| 683 | _filter->rememberState(0);
|
---|
| 684 | }
|
---|
[8912] | 685 | }
|
---|
| 686 | } while (epochReProcessing);
|
---|
[9431] | 687 |
|
---|
[7237] | 688 | }
|
---|
| 689 | catch (Exception& exc) {
|
---|
| 690 | LOG << exc.what() << endl;
|
---|
| 691 | return finish(failure);
|
---|
| 692 | }
|
---|
| 693 | catch (t_except msg) {
|
---|
| 694 | LOG << msg.what() << endl;
|
---|
| 695 | return finish(failure);
|
---|
| 696 | }
|
---|
| 697 | catch (const char* msg) {
|
---|
| 698 | LOG << msg << endl;
|
---|
| 699 | return finish(failure);
|
---|
| 700 | }
|
---|
| 701 | catch (...) {
|
---|
| 702 | LOG << "unknown exception" << endl;
|
---|
| 703 | return finish(failure);
|
---|
| 704 | }
|
---|
| 705 |
|
---|
| 706 | return finish(success);
|
---|
| 707 | }
|
---|
| 708 |
|
---|
[7271] | 709 | //
|
---|
[7237] | 710 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 711 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
| 712 | return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
|
---|
| 713 | }
|
---|
| 714 |
|
---|
[7271] | 715 | //
|
---|
[7237] | 716 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 717 | void t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
| 718 |
|
---|
| 719 | if (pos.Nrows() != 4) {
|
---|
| 720 | pos.ReSize(4);
|
---|
| 721 | }
|
---|
| 722 | pos = 0.0;
|
---|
| 723 |
|
---|
| 724 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 725 | Matrix BB = BBpass;
|
---|
| 726 | int mm = BB.Nrows();
|
---|
| 727 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 728 | double xx = BB(ii,1);
|
---|
| 729 | double yy = BB(ii,2);
|
---|
| 730 | double traveltime = 0.072;
|
---|
| 731 | if (iter > 1) {
|
---|
| 732 | double zz = BB(ii,3);
|
---|
[7271] | 733 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
| 734 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
[7237] | 735 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
| 736 | traveltime = rho / t_CST::c;
|
---|
| 737 | }
|
---|
| 738 | double angle = traveltime * t_CST::omega;
|
---|
| 739 | double cosa = cos(angle);
|
---|
| 740 | double sina = sin(angle);
|
---|
| 741 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
| 742 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
| 743 | }
|
---|
[7271] | 744 |
|
---|
[7237] | 745 | Matrix BBB;
|
---|
| 746 | if (mm > 4) {
|
---|
| 747 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
| 748 | BBB = hlp.i() * BB.t();
|
---|
| 749 | }
|
---|
| 750 | else {
|
---|
| 751 | BBB = BB.i();
|
---|
| 752 | }
|
---|
| 753 | ColumnVector ee(mm); ee = 1.0;
|
---|
| 754 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
| 755 | for (int ii = 1; ii <= mm; ii++) {
|
---|
[7271] | 756 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
[7237] | 757 | }
|
---|
| 758 | ColumnVector BBBe = BBB * ee;
|
---|
| 759 | ColumnVector BBBalpha = BBB * alpha;
|
---|
| 760 | double aa = lorentz(BBBe, BBBe);
|
---|
| 761 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
| 762 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
| 763 | double root = sqrt(bb*bb-aa*cc);
|
---|
| 764 |
|
---|
[7271] | 765 | Matrix hlpPos(4,2);
|
---|
[7237] | 766 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
| 767 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
| 768 |
|
---|
| 769 | ColumnVector omc(2);
|
---|
| 770 | for (int pp = 1; pp <= 2; pp++) {
|
---|
| 771 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
[7271] | 772 | omc(pp) = BB(1,4) -
|
---|
[7237] | 773 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
| 774 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
[7271] | 775 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
[7237] | 776 | hlpPos(4,pp);
|
---|
| 777 | }
|
---|
| 778 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
| 779 | pos = hlpPos.Column(2);
|
---|
| 780 | }
|
---|
| 781 | else {
|
---|
| 782 | pos = hlpPos.Column(1);
|
---|
| 783 | }
|
---|
| 784 | }
|
---|
| 785 | }
|
---|
| 786 |
|
---|
[7972] | 787 | //
|
---|
| 788 | //////////////////////////////////////////////////////////////////////////////
|
---|
[8956] | 789 | void t_pppClient::setRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
|
---|
| 790 | // reference satellite definition per system
|
---|
| 791 | for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
|
---|
[9490] | 792 | t_irc refSatReDefinition = success;
|
---|
[9386] | 793 | char sys = _opt->systems()[iSys];
|
---|
[8956] | 794 | bool refSatDefined = false;
|
---|
[9508] | 795 | t_pppRefSat* refSat = _refSatMap[sys];
|
---|
[8956] | 796 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 797 | t_pppSatObs* satObs = obsVector.at(ii);
|
---|
[9386] | 798 | if (satObs->eleSat() < _opt->_minEle) {
|
---|
| 799 | continue;
|
---|
| 800 | }
|
---|
[8956] | 801 | // reference satellite is unchanged
|
---|
[9395] | 802 | // ================================
|
---|
[9508] | 803 | if ( !_obsPool->refSatChangeRequired(sys) && refSat->prn() == satObs->prn()) {
|
---|
[8956] | 804 | refSatDefined = true;
|
---|
| 805 | obsVector[ii]->setAsReference();
|
---|
| 806 | }
|
---|
| 807 | // reference satellite has changed
|
---|
[9395] | 808 | // ===============================
|
---|
| 809 | else if ( _obsPool->refSatChangeRequired(sys) && refSat->prn() != satObs->prn()) {
|
---|
[9386] | 810 | if (satObs->prn().system() == sys) {
|
---|
[9395] | 811 | if (!_historicalRefSats[sys].contains(satObs->prn())) {
|
---|
| 812 | refSatDefined = true;
|
---|
| 813 | obsVector[ii]->setAsReference();
|
---|
| 814 | refSat->setPrn(satObs->prn());
|
---|
| 815 | }
|
---|
| 816 | else if ( _historicalRefSats[sys].contains(satObs->prn())) {
|
---|
| 817 | refSatReDefinition = failure;
|
---|
| 818 | }
|
---|
[8956] | 819 | }
|
---|
| 820 | }
|
---|
| 821 | if (refSatDefined) {
|
---|
| 822 | if (OPT->_pseudoObsIono) {
|
---|
| 823 | refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
|
---|
| 824 | }
|
---|
| 825 | break;
|
---|
| 826 | }
|
---|
| 827 | }
|
---|
[9490] | 828 |
|
---|
[9398] | 829 | // all available satellites were already tried to use
|
---|
[9395] | 830 | if ((!refSatDefined) && (refSatReDefinition == failure)) {
|
---|
| 831 | refSat->setPrn(t_prn(sys, 99));
|
---|
[9398] | 832 | _obsPool->setRefSatChangeRequired(sys, false);
|
---|
| 833 | return;
|
---|
[9395] | 834 | }
|
---|
| 835 |
|
---|
[8956] | 836 | // reference satellite has to be initialized
|
---|
[9395] | 837 | // =========================================
|
---|
[8956] | 838 | if (!refSatDefined) {
|
---|
| 839 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 840 | t_pppSatObs* satObs = obsVector.at(ii);
|
---|
| 841 | if (satObs->eleSat() < _opt->_minEle) {
|
---|
| 842 | continue;
|
---|
| 843 | }
|
---|
[9395] | 844 | if (satObs->prn().system() == sys) {
|
---|
[8956] | 845 | obsVector[ii]->setAsReference();
|
---|
| 846 | refSat->setPrn(satObs->prn());
|
---|
| 847 | if (OPT->_pseudoObsIono) {
|
---|
| 848 | refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
|
---|
| 849 | }
|
---|
| 850 | refSatDefined = true;
|
---|
| 851 | break;
|
---|
| 852 | }
|
---|
| 853 | }
|
---|
| 854 | }
|
---|
[9395] | 855 |
|
---|
[9398] | 856 | // no observations for that system
|
---|
| 857 | // ===============================
|
---|
| 858 | if (!refSatDefined) {
|
---|
[9386] | 859 | refSat->setPrn(t_prn());
|
---|
| 860 | }
|
---|
[9398] | 861 | _obsPool->setRefSatChangeRequired(sys, false); // done or impossible
|
---|
[8956] | 862 | }
|
---|
[9398] | 863 |
|
---|
| 864 | return;
|
---|
[9386] | 865 | }
|
---|
[8956] | 866 |
|
---|
[9386] | 867 | //
|
---|
| 868 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 869 | t_irc t_pppClient::handleRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
|
---|
| 870 |
|
---|
| 871 | // set refSats in current epoch
|
---|
| 872 | // ============================
|
---|
| 873 | setRefSatellites(obsVector); // current epoch
|
---|
| 874 | LOG.setf(ios::fixed);
|
---|
[9508] | 875 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
|
---|
| 876 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9527] | 877 |
|
---|
[9508] | 878 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
|
---|
[9386] | 879 | while (it.hasNext()) {
|
---|
| 880 | it.next();
|
---|
| 881 | char sys = it.key();
|
---|
| 882 | t_prn prn = it.value()->prn();
|
---|
[9508] | 883 | t_prn refSatLastEpochPrn = t_prn();
|
---|
| 884 | if (epoch) {
|
---|
| 885 | refSatLastEpochPrn = refSatMapLastEpoch[sys]->prn();
|
---|
| 886 | }
|
---|
[9395] | 887 | if (prn.number() == 0) { // no obs for that system available
|
---|
| 888 | continue;
|
---|
| 889 | }
|
---|
| 890 | else if (prn.number() == 99) { // refSat re-definition not possible
|
---|
[9490] | 891 | LOG << " => refSat re-definition impossible: " << sys << endl;
|
---|
[9386] | 892 | return failure;
|
---|
| 893 | }
|
---|
[9432] | 894 | QString str;
|
---|
[9508] | 895 | if (prn == refSatLastEpochPrn || refSatLastEpochPrn == t_prn() ) {
|
---|
[9386] | 896 | _obsPool->setRefSatChanged(sys, false);
|
---|
| 897 | str = " SET ";
|
---|
| 898 | }
|
---|
| 899 | else {
|
---|
| 900 | _obsPool->setRefSatChanged(sys, true);
|
---|
| 901 | str = " RESET ";
|
---|
| 902 | }
|
---|
| 903 | LOG << string(_epoTimeRover) << str.toStdString() << " REFSAT " << sys << ": " << prn.toString() << endl;
|
---|
| 904 | }
|
---|
| 905 | return success;
|
---|
[8956] | 906 | }
|
---|
| 907 |
|
---|
[9386] | 908 | void t_pppClient::setHistoricalRefSats() {
|
---|
[9508] | 909 | QMapIterator<char, t_pppRefSat*> it(_refSatMap);
|
---|
[9386] | 910 | while (it.hasNext()) {
|
---|
| 911 | it.next();
|
---|
| 912 | t_prn prn = it.value()->prn();
|
---|
| 913 | char sys = prn.system();
|
---|
| 914 | if (_obsPool->refSatChangeRequired(sys)){
|
---|
| 915 | _historicalRefSats[sys].append(prn);
|
---|
| 916 | }
|
---|
[9508] | 917 | }
|
---|
| 918 | }
|
---|
[9386] | 919 |
|
---|
[8956] | 920 | //
|
---|
| 921 | //////////////////////////////////////////////////////////////////////////////
|
---|
[7972] | 922 | void t_pppClient::reset() {
|
---|
| 923 |
|
---|
| 924 | // to delete old orbit and clock corrections
|
---|
| 925 | delete _ephPool;
|
---|
| 926 | _ephPool = new t_pppEphPool();
|
---|
| 927 |
|
---|
| 928 | // to delete old code biases
|
---|
| 929 | delete _obsPool;
|
---|
| 930 | _obsPool = new t_pppObsPool();
|
---|
[8905] | 931 |
|
---|
| 932 | // to delete all parameters
|
---|
| 933 | delete _filter;
|
---|
| 934 | _filter = new t_pppFilter(_obsPool);
|
---|
| 935 |
|
---|
[7996] | 936 | }
|
---|