source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 10031

Last change on this file since 10031 was 10031, checked in by stuerze, 3 years 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 <string.h>
23#include <stdexcept>
24
25#include "pppClient.h"
26#include "pppEphPool.h"
27#include "pppObsPool.h"
28#include "bncconst.h"
29#include "bncutils.h"
30#include "pppStation.h"
31#include "bncantex.h"
32#include "pppFilter.h"
33
34using namespace BNC_PPP;
35using namespace std;
36
37// Global variable holding thread-specific pointers
38//////////////////////////////////////////////////////////////////////////////
39QThreadStorage<t_pppClient*> CLIENTS;
40
41// Static function returning thread-specific pointer
42//////////////////////////////////////////////////////////////////////////////
43t_pppClient* t_pppClient::instance() {
44 return CLIENTS.localData();
45}
46
47// Constructor
48//////////////////////////////////////////////////////////////////////////////
49t_pppClient::t_pppClient(const t_pppOptions* opt) {
50 _output = 0;
51 _opt = new t_pppOptions(*opt);
52 _log = new ostringstream();
53 _ephPool = new t_pppEphPool();
54 _obsPool = new t_pppObsPool();
55 _staRover = new t_pppStation();
56 _filter = new t_pppFilter(_obsPool);
57 _tides = new t_tides();
58 _antex = 0;
59 if (!_opt->_antexFileName.empty()) {
60 _antex = new bncAntex(_opt->_antexFileName.c_str());
61 }
62 if (!_opt->_blqFileName.empty()) {
63 if (_tides->readBlqFile(_opt->_blqFileName.c_str()) == success) {
64 //_tides->printAllBlqSets();
65 }
66 }
67
68 if (_opt->_refSatRequired) {
69 for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
70 char sys = _opt->systems()[iSys];
71 _refSatMap[sys] = new t_pppRefSat();
72 }
73 }
74
75 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
76}
77
78// Destructor
79//////////////////////////////////////////////////////////////////////////////
80t_pppClient::~t_pppClient() {
81 delete _log;
82 delete _opt;
83 delete _filter;
84 delete _ephPool;
85 delete _obsPool;
86 delete _staRover;
87 if (_antex) {
88 delete _antex;
89 }
90 delete _tides;
91 clearObs();
92 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
93 while (it.hasNext()) {
94 it.next();
95 delete it.value();
96 }
97 _refSatMap.clear();
98}
99
100//
101//////////////////////////////////////////////////////////////////////////////
102void t_pppClient::putEphemeris(const t_eph* eph) {
103 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
104 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
105 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
106 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
107 if (ephGPS) {
108 _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
109 }
110 else if (ephGlo) {
111 _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
112 }
113 else if (ephGal) {
114 _ephPool->putEphemeris(new t_ephGal(*ephGal));
115 }
116 else if (ephBDS) {
117 _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
118 }
119}
120
121//
122//////////////////////////////////////////////////////////////////////////////
123void t_pppClient::putTec(const t_vTec* vTec) {
124 _obsPool->putTec(new t_vTec(*vTec));
125}
126
127//
128//////////////////////////////////////////////////////////////////////////////
129void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
130 for (unsigned ii = 0; ii < corr.size(); ii++) {
131 _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
132 }
133}
134
135//
136//////////////////////////////////////////////////////////////////////////////
137void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
138 for (unsigned ii = 0; ii < corr.size(); ii++) {
139 _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
140 }
141}
142
143//
144//////////////////////////////////////////////////////////////////////////////
145void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
146 for (unsigned ii = 0; ii < biases.size(); ii++) {
147 _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
148 }
149}
150
151//
152//////////////////////////////////////////////////////////////////////////////
153void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
154 for (unsigned ii = 0; ii < biases.size(); ii++) {
155 _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
156 }
157}
158
159//
160//////////////////////////////////////////////////////////////////////////////
161t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
162 vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
163
164 // Default
165 // -------
166 epoTime.reset();
167 clearObs();
168
169 // Create vector of valid observations
170 // -----------------------------------
171 for (unsigned ii = 0; ii < satObs.size(); ii++) {
172 char sys = satObs[ii]->_prn.system();
173 if (_opt->useSystem(sys)) {
174 t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
175 if (pppSatObs->isValid()) {
176 obsVector.push_back(pppSatObs);
177 }
178 else {
179 delete pppSatObs;
180 }
181 }
182 }
183
184 // Check whether data are synchronized, compute epoTime
185 // ----------------------------------------------------
186 const double MAXSYNC = 0.05; // synchronization limit
187 double meanDt = 0.0;
188 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
189 const t_pppSatObs* satObs = obsVector.at(ii);
190 if (epoTime.undef()) {
191 epoTime = satObs->time();
192 }
193 else {
194 double dt = satObs->time() - epoTime;
195 if (fabs(dt) > MAXSYNC) {
196 LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
197 return failure;
198 }
199 meanDt += dt;
200 }
201 }
202
203 if (obsVector.size() > 0) {
204 epoTime += meanDt / obsVector.size();
205 }
206
207 return success;
208}
209
210//
211//////////////////////////////////////////////////////////////////////////////
212bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
213
214 bool pseudoObsIono = false;
215
216 if (_opt->_pseudoObsIono) {
217 vector<t_pppSatObs*>::iterator it = obsVector.begin();
218 while (it != obsVector.end()) {
219 t_pppSatObs* satObs = *it;
220 char sys = satObs->prn().system();
221 t_pppRefSat* refSat = _refSatMap[sys];
222 double stecRef = refSat->stecValue();
223 if (stecRef && !satObs->isReference()) {
224 pseudoObsIono = true;
225 satObs->setPseudoObsIono(t_frequency::G1, stecRef);
226 }
227 it++;
228 }
229 }
230
231/*
232 vector<t_pppSatObs*>::iterator it = obsVector.begin();
233 while (it != obsVector.end()) {
234 t_pppSatObs* satObs = *it;
235 satObs->printObsMinusComputed();
236 it++;
237 }
238*/
239 return pseudoObsIono;
240}
241
242//
243//////////////////////////////////////////////////////////////////////////////
244void t_pppClient::useObsWithCodeBiasesOnly(std::vector<t_pppSatObs*>& obsVector) {
245
246 vector<t_pppSatObs*>::iterator it = obsVector.begin();
247 while (it != obsVector.end()) {
248 t_pppSatObs* pppSatObs = *it;
249 char sys = pppSatObs->prn().system();
250 bool codeBiasesAvailable = false;
251 t_frequency::type fType1 = t_lc::toFreq(sys,t_lc::c1);
252 t_frequency::type fType2 = t_lc::toFreq(sys,t_lc::c2);
253 if (pppSatObs->getCodeBias(fType1) &&
254 pppSatObs->getCodeBias(fType2)) {
255 codeBiasesAvailable = true;
256 }
257 if (codeBiasesAvailable) {
258 ++it;
259 }
260 else {
261 it = obsVector.erase(it);
262 delete pppSatObs;
263 }
264 }
265
266}
267
268
269// Compute the Bancroft position, check for blunders
270//////////////////////////////////////////////////////////////////////////////
271t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
272 vector<t_pppSatObs*>& obsVector,
273 ColumnVector& xyzc, bool print) {
274
275 t_lc::type tLC = t_lc::dummy;
276
277 while (true) {
278 Matrix BB(obsVector.size(), 4);
279 int iObs = -1;
280 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
281 const t_pppSatObs* satObs = obsVector.at(ii);
282 if (tLC == t_lc::dummy) {
283 if (satObs->isValid(t_lc::cIF)) {
284 tLC = t_lc::cIF;
285 }
286 else if (satObs->isValid(t_lc::c1)) {
287 tLC = t_lc::c1;
288 }
289 else if (satObs->isValid(t_lc::c2)) {
290 tLC = t_lc::c2;
291 }
292 }
293 if ( satObs->isValid(tLC) &&
294 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
295 ++iObs;
296 BB[iObs][0] = satObs->xc()[0];
297 BB[iObs][1] = satObs->xc()[1];
298 BB[iObs][2] = satObs->xc()[2];
299 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
300 }
301 }
302 if (iObs + 1 < _opt->_minObs) {
303 LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl;
304 return failure;
305 }
306 BB = BB.Rows(1,iObs+1);
307 if (bancroft(BB, xyzc) != success) {
308 return failure;
309 }
310
311 xyzc[3] /= t_CST::c;
312
313 // Check Blunders
314 // --------------
315 const double BLUNDER = 100.0;
316 double maxRes = 0.0;
317 unsigned maxResIndex = 0;
318 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
319 const t_pppSatObs* satObs = obsVector.at(ii);
320 if (satObs->isValid() &&
321 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
322 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
323 double res = rr.NormFrobenius() - satObs->obsValue(tLC)
324 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
325 if (fabs(res) > maxRes) {
326 maxRes = fabs(res);
327 maxResIndex = ii;
328 }
329 }
330 }
331 if (maxRes < BLUNDER) {
332 if (print && _numEpoProcessing == 1) {
333 LOG.setf(ios::fixed);
334 LOG << "\nPPP of Epoch ";
335 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
336 LOG << "\n---------------------------------------------------------------\n";
337 LOG << string(epoTime) << " BANCROFT:" << ' '
338 << setw(14) << setprecision(3) << xyzc[0] << ' '
339 << setw(14) << setprecision(3) << xyzc[1] << ' '
340 << setw(14) << setprecision(3) << xyzc[2] << ' '
341 << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
342 }
343 break;
344 }
345 else {
346 t_pppSatObs* satObs = obsVector.at(maxResIndex);
347 LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
348 << " " << maxRes << endl;
349 delete satObs;
350 obsVector.erase(obsVector.begin() + maxResIndex);
351 }
352 }
353
354 return success;
355}
356
357//
358//////////////////////////////////////////////////////////////////////////////
359void t_pppClient::initOutput(t_output* output) {
360 _output = output;
361 _output->_numSat = 0;
362 _output->_hDop = 0.0;
363 _output->_error = false;
364}
365
366//
367//////////////////////////////////////////////////////////////////////////////
368void t_pppClient::clearObs() {
369 for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
370 delete _obsRover.at(ii);
371 }
372 _obsRover.clear();
373}
374
375//
376//////////////////////////////////////////////////////////////////////////////
377void t_pppClient::finish(t_irc irc, int ind) {
378#ifdef BNC_DEBUG_PPP
379 LOG << "t_pppClient::finish(" << ind << "): " << irc << endl;
380#endif
381
382 clearObs();
383
384 _output->_epoTime = _epoTimeRover;
385
386 if (irc == success) {
387 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
388 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
389 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
390
391 xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
392
393 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
394
395 _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
396 _output->_trp = _filter->trp();
397 _output->_trpStdev = _filter->trpStdev();
398
399 _output->_numSat = _filter->numSat();
400 _output->_hDop = _filter->HDOP();
401 _output->_error = false;
402 }
403 else {
404 _output->_error = true;
405 if (OPT->_obsModelType == OPT->DCMcodeBias ||
406 OPT->_obsModelType == OPT->DCMphaseBias) {
407 if (ind == 1 || ind == 6 || ind > 7) {
408 reset();
409 }
410 //else {_filter->restoreState(ind);}
411 }
412 }
413 _output->_log = _log->str();
414 delete _log; _log = new ostringstream();
415
416 return;
417}
418
419//
420//////////////////////////////////////////////////////////////////////////////
421t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
422 vector<t_pppSatObs*>& obsVector) {
423 bncTime time;
424 time = _epoTimeRover;
425 station->setName(_opt->_roverName);
426 station->setAntName(_opt->_antNameRover);
427 station->setEpochTime(time);
428 if (_opt->xyzAprRoverSet()) {
429 station->setXyzApr(_opt->_xyzAprRover);
430 }
431 else {
432 station->setXyzApr(xyzc.Rows(1,3));
433 }
434 station->setNeuEcc(_opt->_neuEccRover);
435
436 // Receiver Clock
437 // --------------
438 station->setDClk(xyzc[3]);
439
440 // Tides
441 // -----
442 station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
443 station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
444
445 // Observation model
446 // -----------------
447 vector<t_pppSatObs*>::iterator it = obsVector.begin();
448 while (it != obsVector.end()) {
449 t_pppSatObs* satObs = *it;
450 t_irc modelSetup;
451 if (satObs->isValid()) {
452 modelSetup = satObs->cmpModel(station);
453 }
454 if (satObs->isValid() &&
455 satObs->eleSat() >= _opt->_minEle &&
456 modelSetup == success) {
457 ++it;
458 }
459 else {
460 delete satObs;
461 it = obsVector.erase(it);
462 }
463 }
464
465 return success;
466}
467
468//
469//////////////////////////////////////////////////////////////////////////////
470void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
471
472 try {
473 initOutput(output);
474 bool epochReProcessing = false;
475 _numEpoProcessing = 0;
476 if (!_historicalRefSats.isEmpty()) {
477 _historicalRefSats.clear();
478 }
479
480 do {
481 if ((_numEpoProcessing++) > 30) {
482 LOG << "t_pppClient::processEpoch: _numEpoProcessing > 30" << endl;
483 return finish(failure,12);
484 }
485
486 if (_obsPool->refSatChanged()) {
487 if(_filter->datumTransformation(_refSatMap) != success) {
488 LOG << "t_pppFilter::datumTransformation() != success" << endl;
489 return finish(failure,1);
490 }
491 else {
492 LOG << "t_pppFilter::datumTransformation() == success" << endl;
493 _filter->rememberState(1);
494 }
495 }
496
497 // Prepare Observations of the Rover
498 // ---------------------------------
499 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
500 return finish(failure,2);
501 }
502
503 for (int iter = 1; iter <= 2; iter++) {
504 ColumnVector xyzc(4); xyzc = 0.0;
505 bool print = (iter == 2);
506 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
507 return finish(failure,3);
508 }
509
510 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
511 return finish(failure,4);
512 }
513 }
514 // use observations only if satellite code biases are available
515 // ------------------------------------------------------------
516 if (!_opt->_corrMount.empty() &&
517 (OPT->_obsModelType == OPT->DCMcodeBias ||
518 OPT->_obsModelType == OPT->DCMphaseBias)) {
519 useObsWithCodeBiasesOnly(_obsRover);
520 }
521
522 if (int(_obsRover.size()) < _opt->_minObs) {
523 LOG << "t_pppClient::processEpoch not enough observations" << endl;
524 return finish(failure,5);
525 }
526
527 if (_opt->_refSatRequired) {
528 if (handleRefSatellites(_obsRover) != success) {
529 return finish(failure,6);
530 }
531 if (_obsPool->refSatChanged()) {
532 epochReProcessing = true;
533 continue;
534 }
535 }
536
537 // Prepare Pseudo Observations of the Rover
538 // ----------------------------------------
539 _pseudoObsIono = preparePseudoObs(_obsRover);
540
541 // Store last epoch of data
542 // ------------------------
543 _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono, _refSatMap);
544#ifdef BNC_DEBUG_PPP
545 LOG << "PUT EPOCH t_pppClient::processEpoch " << _epoTimeRover.timestr().c_str() << endl;
546#endif
547
548 // Process Epoch in Filter
549 // -----------------------
550 if (_filter->processEpoch(_numEpoProcessing) != success) {
551 LOG << "filter->processEpoch() != success" << endl;
552 return finish(failure,7);
553 }
554
555 // Epoch re-processing required?
556 // -----------------------------
557 if (_obsPool->refSatChangeRequired() && //SLIP
558 _opt->_obsModelType != t_pppOptions::UncombPPP) {
559 LOG << "pppClient: _obsPool->refSatChangeRequired() " << endl;
560 epochReProcessing = true;
561#ifdef BNC_DEBUG_PPP
562 LOG << "DELETE EPOCH" << endl;
563#endif
564 _obsPool->deleteLastEpoch();
565 _filter->restoreState(0);
566 setHistoricalRefSats();
567 }
568 else {
569 epochReProcessing = false;
570 if (OPT->_obsModelType == OPT->DCMcodeBias ||
571 OPT->_obsModelType == OPT->DCMphaseBias) {
572 _filter->rememberState(0);
573 }
574 }
575 } while (epochReProcessing);
576
577 }
578 catch (Exception& exc) {
579 LOG << exc.what() << endl;
580 return finish(failure,8);
581 }
582 catch (t_except msg) {
583 LOG << msg.what() << endl;
584 return finish(failure,9);
585 }
586 catch (const char* msg) {
587 LOG << msg << endl;
588 return finish(failure,10);
589 }
590 catch (...) {
591 LOG << "unknown exception" << endl;
592 return finish(failure,11);
593 }
594 return finish(success,0);
595}
596
597//
598////////////////////////////////////////////////////////////////////////////
599double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
600 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
601}
602
603//
604////////////////////////////////////////////////////////////////////////////
605t_irc t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
606
607 if (pos.Nrows() != 4) {
608 pos.ReSize(4);
609 }
610 pos = 0.0;
611
612 for (int iter = 1; iter <= 2; iter++) {
613 Matrix BB = BBpass;
614 int mm = BB.Nrows();
615 for (int ii = 1; ii <= mm; ii++) {
616 double xx = BB(ii,1);
617 double yy = BB(ii,2);
618 double traveltime = 0.072;
619 if (iter > 1) {
620 double zz = BB(ii,3);
621 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
622 (yy-pos(2)) * (yy-pos(2)) +
623 (zz-pos(3)) * (zz-pos(3)) );
624 traveltime = rho / t_CST::c;
625 }
626 double angle = traveltime * t_CST::omega;
627 double cosa = cos(angle);
628 double sina = sin(angle);
629 BB(ii,1) = cosa * xx + sina * yy;
630 BB(ii,2) = -sina * xx + cosa * yy;
631 }
632
633 Matrix BBB;
634 if (mm > 4) {
635 SymmetricMatrix hlp; hlp << BB.t() * BB;
636 BBB = hlp.i() * BB.t();
637 }
638 else {
639 BBB = BB.i();
640 }
641 ColumnVector ee(mm); ee = 1.0;
642 ColumnVector alpha(mm); alpha = 0.0;
643 for (int ii = 1; ii <= mm; ii++) {
644 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
645 }
646 ColumnVector BBBe = BBB * ee;
647 ColumnVector BBBalpha = BBB * alpha;
648 double aa = lorentz(BBBe, BBBe);
649 double bb = lorentz(BBBe, BBBalpha)-1;
650 double cc = lorentz(BBBalpha, BBBalpha);
651 double root = sqrt(bb*bb-aa*cc);
652
653 Matrix hlpPos(4,2);
654 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
655 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
656
657 ColumnVector omc(2);
658 for (int pp = 1; pp <= 2; pp++) {
659 hlpPos(4,pp) = -hlpPos(4,pp);
660 omc(pp) = BB(1,4) -
661 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
662 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
663 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
664 hlpPos(4,pp);
665 }
666 if ( fabs(omc(1)) > fabs(omc(2)) ) {
667 pos = hlpPos.Column(2);
668 }
669 else {
670 pos = hlpPos.Column(1);
671 }
672 }
673 if (pos.size() != 4 ||
674 std::isnan(pos(1)) ||
675 std::isnan(pos(2)) ||
676 std::isnan(pos(3)) ||
677 std::isnan(pos(4))) {
678 return failure;
679 }
680
681 return success;
682}
683
684//
685//////////////////////////////////////////////////////////////////////////////
686void t_pppClient::setRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
687 // reference satellite definition per system
688 for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
689 t_irc refSatReDefinition = success;
690 char sys = _opt->systems()[iSys];
691 bool refSatDefined = false;
692 t_pppRefSat* refSat = _refSatMap[sys];
693 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
694 t_pppSatObs* satObs = obsVector.at(ii);
695 if (satObs->eleSat() < _opt->_minEle) {
696 continue;
697 }
698 // reference satellite is unchanged
699 // ================================
700 if ( !_obsPool->refSatChangeRequired(sys) && refSat->prn() == satObs->prn()) {
701 refSatDefined = true;
702 obsVector[ii]->setAsReference();
703 }
704 // reference satellite has changed
705 // ===============================
706 else if ( _obsPool->refSatChangeRequired(sys) && refSat->prn() != satObs->prn()) {
707 if (satObs->prn().system() == sys) {
708 if (!_historicalRefSats[sys].contains(satObs->prn())) {
709 refSatDefined = true;
710 obsVector[ii]->setAsReference();
711 refSat->setPrn(satObs->prn());
712 }
713 else if ( _historicalRefSats[sys].contains(satObs->prn())) {
714 refSatReDefinition = failure;
715 }
716 }
717 }
718 if (refSatDefined) {
719 if (OPT->_pseudoObsIono) {
720 refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
721 }
722 break;
723 }
724 }
725
726 // all available satellites were already tried to use
727 if ((!refSatDefined) && (refSatReDefinition == failure)) {
728 refSat->setPrn(t_prn(sys, 99));
729 _obsPool->setRefSatChangeRequired(sys, false);
730 return;
731 }
732
733 // reference satellite has to be initialized
734 // =========================================
735 if (!refSatDefined) {
736 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
737 t_pppSatObs* satObs = obsVector.at(ii);
738 if (satObs->eleSat() < _opt->_minEle) {
739 continue;
740 }
741 if (satObs->prn().system() == sys &&
742 !_historicalRefSats[sys].contains(satObs->prn())) {
743 obsVector[ii]->setAsReference();
744 refSat->setPrn(satObs->prn());
745 if (OPT->_pseudoObsIono) {
746 refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
747 }
748 refSatDefined = true;
749 break;
750 }
751 }
752 }
753
754 // no observations for that system
755 // ===============================
756 if (!refSatDefined) {
757 refSat->setPrn(t_prn());
758 }
759 _obsPool->setRefSatChangeRequired(sys, false); // done or impossible
760 }
761
762 return;
763}
764
765//
766//////////////////////////////////////////////////////////////////////////////
767t_irc t_pppClient::handleRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
768
769 // set refSats in current epoch
770 // ============================
771 setRefSatellites(obsVector); // current epoch
772 LOG.setf(ios::fixed);
773 t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
774 const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
775
776 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
777 while (it.hasNext()) {
778 it.next();
779 char sys = it.key();
780 t_prn prn = it.value()->prn();
781 t_prn refSatLastEpochPrn = t_prn();
782 if (epoch) {
783 refSatLastEpochPrn = refSatMapLastEpoch[sys]->prn();
784 }
785 if (prn.number() == 0) { // no obs for that system available
786 continue;
787 }
788 else if (prn.number() == 99) { // refSat re-definition not possible
789 LOG << " => refSat re-definition impossible: " << sys << endl;
790 return failure;
791 }
792 QString str;
793 if (prn == refSatLastEpochPrn || refSatLastEpochPrn == t_prn() ) {
794 _obsPool->setRefSatChanged(sys, false);
795 str = " SET ";
796 }
797 else {
798 _obsPool->setRefSatChanged(sys, true);
799 str = " RESET ";
800 }
801 LOG << string(_epoTimeRover) << str.toStdString() << " REFSAT " << sys << ": " << prn.toString() << endl;
802 }
803 return success;
804}
805
806void t_pppClient::setHistoricalRefSats() {
807 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
808 while (it.hasNext()) {
809 it.next();
810 t_prn prn = it.value()->prn();
811 char sys = prn.system();
812 if (_obsPool->refSatChangeRequired(sys)) {
813 _historicalRefSats[sys].append(prn);
814 }
815 }
816}
817
818//
819//////////////////////////////////////////////////////////////////////////////
820void t_pppClient::reset() {LOG << "t_pppClient::reset()" << endl;
821
822 // to delete old orbit and clock corrections
823 delete _ephPool;
824 _ephPool = new t_pppEphPool();
825
826 // to delete old code biases
827 delete _obsPool;
828 _obsPool = new t_pppObsPool();
829
830 // to delete all parameters
831 delete _filter;
832 _filter = new t_pppFilter(_obsPool);
833
834}
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