source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 10127

Last change on this file since 10127 was 10038, checked in by stuerze, 19 months ago

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