source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 10212

Last change on this file since 10212 was 10195, checked in by stuerze, 15 months ago

changes regarding ppp
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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
72 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
73}
74
75// Destructor
76//////////////////////////////////////////////////////////////////////////////
77t_pppClient::~t_pppClient() {
78 delete _log;
79 delete _opt;
80 delete _ephPool;
81 delete _obsPool;
82 delete _staRover;
83 if (_antex) {
84 delete _antex;
85 }
86 delete _filter;
87 delete _tides;
88 clearObs();
89}
90
91//
92//////////////////////////////////////////////////////////////////////////////
93void t_pppClient::putEphemeris(const t_eph* eph) {
94 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
95 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
96 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
97 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
98 if (ephGPS) {
99 _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
100 }
101 else if (ephGlo) {
102 _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
103 }
104 else if (ephGal) {
105 _ephPool->putEphemeris(new t_ephGal(*ephGal));
106 }
107 else if (ephBDS) {
108 _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
109 }
110}
111
112//
113//////////////////////////////////////////////////////////////////////////////
114void t_pppClient::putTec(const t_vTec* vTec) {
115 _obsPool->putTec(new t_vTec(*vTec));
116}
117
118//
119//////////////////////////////////////////////////////////////////////////////
120void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
121 for (unsigned ii = 0; ii < corr.size(); ii++) {
122 _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
123 }
124}
125
126//
127//////////////////////////////////////////////////////////////////////////////
128void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
129 for (unsigned ii = 0; ii < corr.size(); ii++) {
130 _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
131 }
132}
133
134//
135//////////////////////////////////////////////////////////////////////////////
136void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
137 for (unsigned ii = 0; ii < biases.size(); ii++) {
138 _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
139 }
140}
141
142//
143//////////////////////////////////////////////////////////////////////////////
144void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
145 for (unsigned ii = 0; ii < biases.size(); ii++) {
146 _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
147 }
148}
149
150//
151//////////////////////////////////////////////////////////////////////////////
152t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
153 vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
154
155 // Default
156 // -------
157 epoTime.reset();
158 clearObs();
159
160 // Create vector of valid observations
161 // -----------------------------------
162 for (unsigned ii = 0; ii < satObs.size(); ii++) {
163 char sys = satObs[ii]->_prn.system();
164 if (_opt->useSystem(sys)) {
165 t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
166 if (pppSatObs->isValid()) {
167 obsVector.push_back(pppSatObs);
168 }
169 else {
170 delete pppSatObs;
171 }
172 }
173 }
174
175 // Check whether data are synchronized, compute epoTime
176 // ----------------------------------------------------
177 const double MAXSYNC = 0.05; // synchronization limit
178 double meanDt = 0.0;
179 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
180 const t_pppSatObs* satObs = obsVector.at(ii);
181 if (epoTime.undef()) {
182 epoTime = satObs->time();
183 }
184 else {
185 double dt = satObs->time() - epoTime;
186 if (fabs(dt) > MAXSYNC) {
187 LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
188 return failure;
189 }
190 meanDt += dt;
191 }
192 }
193
194 if (obsVector.size() > 0) {
195 epoTime += meanDt / obsVector.size();
196 }
197
198 return success;
199}
200
201//
202//////////////////////////////////////////////////////////////////////////////
203bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
204
205 bool pseudoObsIono = false;
206
207 if (_opt->_pseudoObsIono) {
208 vector<t_pppSatObs*>::iterator it = obsVector.begin();
209 while (it != obsVector.end()) {
210 t_pppSatObs* satObs = *it;
211 pseudoObsIono = satObs->setPseudoObsIono(t_frequency::G1);
212 it++;
213 }
214 }
215 /*vector<t_pppSatObs*>::iterator it = obsVector.begin();
216 while (it != obsVector.end()) {
217 t_pppSatObs* satObs = *it;
218 satObs->printObsMinusComputed();
219 it++;
220 }*/
221
222 return pseudoObsIono;
223}
224
225//
226//////////////////////////////////////////////////////////////////////////////
227void t_pppClient::useObsWithCodeBiasesOnly(std::vector<t_pppSatObs*>& obsVector) {
228
229 vector<t_pppSatObs*>::iterator it = obsVector.begin();
230 while (it != obsVector.end()) {
231 t_pppSatObs* pppSatObs = *it;
232 char sys = pppSatObs->prn().system();
233 bool codeBiasesAvailable = false;
234 t_frequency::type fType1 = t_lc::toFreq(sys,t_lc::c1);
235 t_frequency::type fType2 = t_lc::toFreq(sys,t_lc::c2);
236 if (pppSatObs->getCodeBias(fType1) &&
237 pppSatObs->getCodeBias(fType2)) {
238 codeBiasesAvailable = true;
239 }
240 if (codeBiasesAvailable) {
241 ++it;
242 }
243 else {
244 it = obsVector.erase(it);
245 delete pppSatObs;
246 }
247 }
248
249}
250
251
252// Compute the Bancroft position, check for blunders
253//////////////////////////////////////////////////////////////////////////////
254t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
255 vector<t_pppSatObs*>& obsVector,
256 ColumnVector& xyzc, bool print) {
257
258 t_lc::type tLC = t_lc::dummy;
259
260 while (true) {
261 Matrix BB(obsVector.size(), 4);
262 int iObs = -1;
263 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
264 const t_pppSatObs* satObs = obsVector.at(ii);
265 if (tLC == t_lc::dummy) {
266 if (satObs->isValid(t_lc::cIF)) {
267 tLC = t_lc::cIF;
268 }
269 else if (satObs->isValid(t_lc::c1)) {
270 tLC = t_lc::c1;
271 }
272 else if (satObs->isValid(t_lc::c2)) {
273 tLC = t_lc::c2;
274 }
275 }
276 if ( satObs->isValid(tLC) &&
277 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
278 ++iObs;
279 BB[iObs][0] = satObs->xc()[0];
280 BB[iObs][1] = satObs->xc()[1];
281 BB[iObs][2] = satObs->xc()[2];
282 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
283 }
284 }
285 if (iObs + 1 < _opt->_minObs) {
286 LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl;
287 return failure;
288 }
289 BB = BB.Rows(1,iObs+1);
290 if (bancroft(BB, xyzc) != success) {
291 return failure;
292 }
293
294 xyzc[3] /= t_CST::c;
295
296 // Check Blunders
297 // --------------
298 const double BLUNDER = 150.0;
299 double maxRes = 0.0;
300 unsigned maxResIndex = 0;
301 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
302 const t_pppSatObs* satObs = obsVector.at(ii);
303 if (satObs->isValid() &&
304 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
305 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
306 double res = rr.NormFrobenius() - satObs->obsValue(tLC)
307 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
308 if (fabs(res) > maxRes) {
309 maxRes = fabs(res);
310 maxResIndex = ii;
311 }
312 }
313 }
314 if (maxRes < BLUNDER) {
315 if (print) {
316 LOG.setf(ios::fixed);
317 LOG << "\nPPP of Epoch ";
318 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
319 LOG << "\n---------------------------------------------------------------\n";
320 LOG << string(epoTime) << " BANCROFT:" << ' '
321 << setw(14) << setprecision(3) << xyzc[0] << ' '
322 << setw(14) << setprecision(3) << xyzc[1] << ' '
323 << setw(14) << setprecision(3) << xyzc[2] << ' '
324 << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
325 }
326 break;
327 }
328 else {
329 t_pppSatObs* satObs = obsVector.at(maxResIndex);
330 LOG << "t_pppClient::cmpBancroft Outlier " << satObs->prn().toString()
331 << " " << maxRes << endl;
332 delete satObs;
333 obsVector.erase(obsVector.begin() + maxResIndex);
334 }
335 }
336
337 return success;
338}
339// Compute A Priori Glonass Receiver Clock Offset
340//////////////////////////////////////////////////////////////////////////////
341double t_pppClient::cmpOffGlo(vector<t_pppSatObs*>& obsVector) {
342
343 t_lc::type tLC = t_lc::dummy;
344 double offGlo = 0.0;
345 const double MAXRES = 150.0;
346
347 if (OPT->useSystem('R')) {
348 while (obsVector.size() > 0) {
349 offGlo = 0.0;
350 double maxRes = 0.0;
351 int maxResIndex = -1;
352 t_prn maxResPrn;
353 unsigned nObs = 0;
354 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
355 t_pppSatObs* satObs = obsVector.at(ii);
356 if (satObs->prn().system() == 'R') {
357 if (tLC == t_lc::dummy) {
358 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
359 }
360 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) {
361 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
362 ++nObs;
363 offGlo += ll;
364 if (fabs(ll) > fabs(maxRes)) {
365 maxRes = ll;
366 maxResIndex = ii;
367 maxResPrn = satObs->prn();
368 }
369 }
370 }
371 }
372 if (nObs > 0) {
373 offGlo = offGlo / nObs;
374 }
375 else {
376 offGlo = 0.0;
377 }
378 if (fabs(maxRes) > MAXRES) {
379 LOG << "t_pppClient::cmpOffGlo outlier " << maxResPrn.toString() << " " << maxRes << endl;
380 obsVector.erase(obsVector.begin() + maxResIndex);
381 }
382 else {
383 break;
384 }
385 }
386 }
387
388 return offGlo;
389}
390
391// Compute A Priori Galileo Receiver Clock Offset
392//////////////////////////////////////////////////////////////////////////////
393double t_pppClient::cmpOffGal(vector<t_pppSatObs*>& obsVector) {
394
395 t_lc::type tLC = t_lc::dummy;
396 double offGal = 0.0;
397 const double MAXRES = 150.0;
398
399 if (OPT->useSystem('E')) {
400 while (obsVector.size() > 0) {
401 offGal = 0.0;
402 double maxRes = 0.0;
403 int maxResIndex = -1;
404 t_prn maxResPrn;
405 unsigned nObs = 0;
406 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
407 t_pppSatObs* satObs = obsVector.at(ii);
408 if (satObs->prn().system() == 'E') {
409 if (tLC == t_lc::dummy) {
410 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
411 }
412 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) {
413 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
414 ++nObs;
415 offGal += ll;
416 if (fabs(ll) > fabs(maxRes)) {
417 maxRes = ll;
418 maxResIndex = ii;
419 maxResPrn = satObs->prn();
420 }
421 }
422 }
423 }
424 if (nObs > 0) {
425 offGal = offGal / nObs;
426 }
427 else {
428 offGal = 0.0;
429 }
430 if (fabs(maxRes) > MAXRES) {
431 LOG << "t_pppClient::cmpOffGal outlier " << maxResPrn.toString() << " " << maxRes << endl;
432 obsVector.erase(obsVector.begin() + maxResIndex);
433 }
434 else {
435 break;
436 }
437 }
438 }
439
440 return offGal;
441}
442
443
444// Compute A Priori BDS Receiver Clock Offset
445//////////////////////////////////////////////////////////////////////////////
446double t_pppClient::cmpOffBds(vector<t_pppSatObs*>& obsVector) {
447
448 t_lc::type tLC = t_lc::dummy;
449 double offBds = 0.0;
450 const double MAXRES = 150.0;
451
452 if (_opt->useSystem('C')) {
453 while (obsVector.size() > 0) {
454 offBds = 0.0;
455 double maxRes = 0.0;
456 int maxResIndex = -1;
457 t_prn maxResPrn;
458 unsigned nObs = 0;
459 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
460 const t_pppSatObs* satObs = obsVector.at(ii);
461 if (satObs->prn().system() == 'C') {
462 if (tLC == t_lc::dummy) {
463 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
464 }
465 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle)) {
466 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
467 ++nObs;
468 offBds += ll;
469 if (fabs(ll) > fabs(maxRes)) {
470 maxRes = ll;
471 maxResIndex = ii;
472 maxResPrn = satObs->prn();
473 }
474 }
475 }
476 }
477 if (nObs > 0) {
478 offBds = offBds / nObs;
479 }
480 else {
481 offBds = 0.0;
482 }
483 if (fabs(maxRes) > MAXRES) {
484 LOG << "t_pppClient::cmpOffBds outlier " << maxResPrn.toString() << " " << maxRes << endl;
485 delete obsVector.at(maxResIndex);
486 obsVector.erase(obsVector.begin() + maxResIndex);
487 }
488 else {
489 break;
490 }
491 }
492 }
493 return offBds;
494}
495//
496//////////////////////////////////////////////////////////////////////////////
497void t_pppClient::initOutput(t_output* output) {
498 _output = output;
499 _output->_numSat = 0;
500 _output->_hDop = 0.0;
501 _output->_error = false;
502}
503
504//
505//////////////////////////////////////////////////////////////////////////////
506void t_pppClient::clearObs() {
507 for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
508 delete _obsRover.at(ii);
509 }
510 _obsRover.clear();
511}
512
513//
514//////////////////////////////////////////////////////////////////////////////
515void t_pppClient::finish(t_irc irc, int ind) {
516#ifdef BNC_DEBUG_PPP
517 LOG << "t_pppClient::finish(" << ind << "): " << irc << endl;
518#endif
519
520 clearObs();
521
522 _output->_epoTime = _epoTimeRover;
523
524 if (irc == success) {
525 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
526 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
527 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
528
529 xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
530
531 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
532
533 _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
534 _output->_trp = _filter->trp();
535 _output->_trpStdev = _filter->trpStdev();
536
537 _output->_numSat = _filter->numSat();
538 _output->_hDop = _filter->HDOP();
539 _output->_error = false;
540 }
541 else {
542 _output->_error = true;
543 }
544
545 _output->_log = _log->str();
546 delete _log; _log = new ostringstream();
547
548 return;
549}
550
551//
552//////////////////////////////////////////////////////////////////////////////
553t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
554 vector<t_pppSatObs*>& obsVector) {
555 bncTime time;
556 time = _epoTimeRover;
557 station->setName(_opt->_roverName);
558 station->setAntName(_opt->_antNameRover);
559 station->setEpochTime(time);
560
561 if (_opt->xyzAprRoverSet()) {
562 station->setXyzApr(_opt->_xyzAprRover);
563 }
564 else {
565 station->setXyzApr(xyzc.Rows(1,3));
566 }
567 station->setNeuEcc(_opt->_neuEccRover);
568
569 // Receiver Clock
570 // --------------
571 station->setDClk(xyzc[3]);
572
573 // Tides
574 // -----
575 station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
576 station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
577
578 // Observation model
579 // -----------------
580 vector<t_pppSatObs*>::iterator it = obsVector.begin();
581 while (it != obsVector.end()) {
582 t_pppSatObs* satObs = *it;
583 t_irc modelSetup;
584 if (satObs->isValid()) {
585 modelSetup = satObs->cmpModel(station);
586 }
587 if (satObs->isValid() &&
588 satObs->eleSat() >= _opt->_minEle &&
589 modelSetup == success) {
590 ++it;
591 }
592 else {
593 delete satObs;
594 it = obsVector.erase(it);
595 }
596 }
597
598 return success;
599}
600
601//
602//////////////////////////////////////////////////////////////////////////////
603void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
604
605 try {
606 initOutput(output);
607
608 // Prepare Observations of the Rover
609 // ---------------------------------
610 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
611 return finish(failure, 1);
612 }
613
614 for (int iter = 1; iter <= 2; iter++) {
615 ColumnVector xyzc(4); xyzc = 0.0;
616 bool print = (iter == 2);
617 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
618 return finish(failure, 2);
619 }
620 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
621 return finish(failure, 3);
622 }
623 }
624 // use observations only if satellite code biases are available
625 /* ------------------------------------------------------------
626 if (!_opt->_corrMount.empty() {
627 useObsWithCodeBiasesOnly(_obsRover);
628 }*/
629
630 if (int(_obsRover.size()) < _opt->_minObs) {
631 LOG << "t_pppClient::processEpoch not enough observations" << endl;
632 return finish(failure, 4);
633 }
634
635 _offGlo = cmpOffGlo(_obsRover);
636 _offGal = cmpOffGal(_obsRover);
637 _offBds = cmpOffBds(_obsRover);
638
639 // Prepare Pseudo Observations of the Rover
640 // ----------------------------------------
641 _pseudoObsIono = preparePseudoObs(_obsRover);
642
643 // Store last epoch of data
644 // ------------------------
645 _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono);
646
647 // Process Epoch in Filter
648 // -----------------------
649 if (_filter->processEpoch(_obsPool) != success) {
650 LOG << "filter->processEpoch() != success" << endl;
651 return finish(failure, 5);
652 }
653 }
654 catch (Exception& exc) {
655 LOG << exc.what() << endl;
656 return finish(failure, 6);
657 }
658 catch (t_except msg) {
659 LOG << msg.what() << endl;
660 return finish(failure, 7);
661 }
662 catch (const char* msg) {
663 LOG << msg << endl;
664 return finish(failure, 8);
665 }
666 catch (...) {
667 LOG << "unknown exception" << endl;
668 return finish(failure, 9);
669 }
670 return finish(success, 0);
671}
672
673//
674////////////////////////////////////////////////////////////////////////////
675double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
676 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
677}
678
679//
680////////////////////////////////////////////////////////////////////////////
681t_irc t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
682
683 if (pos.Nrows() != 4) {
684 pos.ReSize(4);
685 }
686 pos = 0.0;
687
688 for (int iter = 1; iter <= 2; iter++) {
689 Matrix BB = BBpass;
690 int mm = BB.Nrows();
691 for (int ii = 1; ii <= mm; ii++) {
692 double xx = BB(ii,1);
693 double yy = BB(ii,2);
694 double traveltime = 0.072;
695 if (iter > 1) {
696 double zz = BB(ii,3);
697 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
698 (yy-pos(2)) * (yy-pos(2)) +
699 (zz-pos(3)) * (zz-pos(3)) );
700 traveltime = rho / t_CST::c;
701 }
702 double angle = traveltime * t_CST::omega;
703 double cosa = cos(angle);
704 double sina = sin(angle);
705 BB(ii,1) = cosa * xx + sina * yy;
706 BB(ii,2) = -sina * xx + cosa * yy;
707 }
708
709 Matrix BBB;
710 if (mm > 4) {
711 SymmetricMatrix hlp; hlp << BB.t() * BB;
712 BBB = hlp.i() * BB.t();
713 }
714 else {
715 BBB = BB.i();
716 }
717 ColumnVector ee(mm); ee = 1.0;
718 ColumnVector alpha(mm); alpha = 0.0;
719 for (int ii = 1; ii <= mm; ii++) {
720 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
721 }
722 ColumnVector BBBe = BBB * ee;
723 ColumnVector BBBalpha = BBB * alpha;
724 double aa = lorentz(BBBe, BBBe);
725 double bb = lorentz(BBBe, BBBalpha)-1;
726 double cc = lorentz(BBBalpha, BBBalpha);
727 double root = sqrt(bb*bb-aa*cc);
728
729 Matrix hlpPos(4,2);
730 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
731 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
732
733 ColumnVector omc(2);
734 for (int pp = 1; pp <= 2; pp++) {
735 hlpPos(4,pp) = -hlpPos(4,pp);
736 omc(pp) = BB(1,4) -
737 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
738 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
739 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
740 hlpPos(4,pp);
741 }
742 if ( fabs(omc(1)) > fabs(omc(2)) ) {
743 pos = hlpPos.Column(2);
744 }
745 else {
746 pos = hlpPos.Column(1);
747 }
748 }
749 if (pos.size() != 4 ||
750 std::isnan(pos(1)) ||
751 std::isnan(pos(2)) ||
752 std::isnan(pos(3)) ||
753 std::isnan(pos(4))) {
754 return failure;
755 }
756
757 return success;
758}
759
760//
761//////////////////////////////////////////////////////////////////////////////
762void t_pppClient::reset() {cout << "t_pppClient::reset()" << endl;
763
764 // to delete old orbit and clock corrections
765 delete _ephPool;
766 _ephPool = new t_pppEphPool();
767
768 // to delete old code biases
769 delete _obsPool;
770 _obsPool = new t_pppObsPool();
771
772 // to delete all parameters
773 delete _filter;
774 _filter = new t_pppFilter();
775
776}
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