source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 10230

Last change on this file since 10230 was 10222, checked in by stuerze, 13 months ago

minor changes regarding ppp
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File size: 22.0 KB
Line 
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 /*
216 vector<t_pppSatObs*>::iterator it = obsVector.begin();
217 while (it != obsVector.end()) {
218 t_pppSatObs* satObs = *it;
219 satObs->printObsMinusComputed();
220 it++;
221 }
222*/
223 return pseudoObsIono;
224}
225
226//
227//////////////////////////////////////////////////////////////////////////////
228void t_pppClient::useObsWithCodeBiasesOnly(std::vector<t_pppSatObs*>& obsVector) {
229
230 vector<t_pppSatObs*>::iterator it = obsVector.begin();
231 while (it != obsVector.end()) {
232 t_pppSatObs* pppSatObs = *it;
233 char sys = pppSatObs->prn().system();
234 bool codeBiasesAvailable = false;
235 t_frequency::type fType1 = t_lc::toFreq(sys,t_lc::c1);
236 t_frequency::type fType2 = t_lc::toFreq(sys,t_lc::c2);
237 if (pppSatObs->getCodeBias(fType1) &&
238 pppSatObs->getCodeBias(fType2)) {
239 codeBiasesAvailable = true;
240 }
241 if (codeBiasesAvailable) {
242 ++it;
243 }
244 else {
245 it = obsVector.erase(it);
246 delete pppSatObs;
247 }
248 }
249
250}
251
252
253// Compute the Bancroft position, check for blunders
254//////////////////////////////////////////////////////////////////////////////
255t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
256 vector<t_pppSatObs*>& obsVector,
257 ColumnVector& xyzc, bool print) {
258
259 t_lc::type tLC = t_lc::dummy;
260
261 while (true) {
262 Matrix BB(obsVector.size(), 4);
263 int iObs = -1;
264 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
265 const t_pppSatObs* satObs = obsVector.at(ii);
266 if (tLC == t_lc::dummy) {
267 if (satObs->isValid(t_lc::cIF)) {
268 tLC = t_lc::cIF;
269 }
270 else if (satObs->isValid(t_lc::c1)) {
271 tLC = t_lc::c1;
272 }
273 else if (satObs->isValid(t_lc::c2)) {
274 tLC = t_lc::c2;
275 }
276 }
277 if ( satObs->isValid(tLC) &&
278 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
279 ++iObs;
280 BB[iObs][0] = satObs->xc()[0];
281 BB[iObs][1] = satObs->xc()[1];
282 BB[iObs][2] = satObs->xc()[2];
283 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
284 }
285 }
286 if (iObs + 1 < _opt->_minObs) {
287 LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl;
288 return failure;
289 }
290 BB = BB.Rows(1,iObs+1);
291 if (bancroft(BB, xyzc) != success) {
292 return failure;
293 }
294
295 xyzc[3] /= t_CST::c;
296
297 // Check Blunders
298 // --------------
299 const double BLUNDER = 150.0;
300 double maxRes = 0.0;
301 unsigned maxResIndex = 0;
302 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
303 const t_pppSatObs* satObs = obsVector.at(ii);
304 if (satObs->isValid() &&
305 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
306 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
307 double res = rr.NormFrobenius() - satObs->obsValue(tLC)
308 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
309 if (fabs(res) > maxRes) {
310 maxRes = fabs(res);
311 maxResIndex = ii;
312 }
313 }
314 }
315 if (maxRes < BLUNDER) {
316 if (print) {
317 LOG.setf(ios::fixed);
318 LOG << "\nPPP of Epoch ";
319 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
320 LOG << "\n---------------------------------------------------------------\n";
321 LOG << string(epoTime) << " BANCROFT:" << ' '
322 << setw(14) << setprecision(3) << xyzc[0] << ' '
323 << setw(14) << setprecision(3) << xyzc[1] << ' '
324 << setw(14) << setprecision(3) << xyzc[2] << ' '
325 << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
326 }
327 break;
328 }
329 else {
330 t_pppSatObs* satObs = obsVector.at(maxResIndex);
331 LOG << "t_pppClient::cmpBancroft Outlier " << satObs->prn().toString()
332 << " " << maxRes << endl;
333 delete satObs;
334 obsVector.erase(obsVector.begin() + maxResIndex);
335 }
336 }
337
338 return success;
339}
340// Compute A Priori Glonass Receiver Clock Offset
341//////////////////////////////////////////////////////////////////////////////
342double t_pppClient::cmpOffGlo(vector<t_pppSatObs*>& obsVector) {
343
344 t_lc::type tLC = t_lc::dummy;
345 double offGlo = 0.0;
346 const double MAXRES = 1000.0;
347
348 if (OPT->useSystem('R')) {
349 while (obsVector.size() > 0) {
350 offGlo = 0.0;
351 double maxRes = 0.0;
352 int maxResIndex = -1;
353 t_prn maxResPrn;
354 unsigned nObs = 0;
355 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
356 t_pppSatObs* satObs = obsVector.at(ii);
357 if (satObs->prn().system() == 'R') {
358 if (tLC == t_lc::dummy) {
359 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
360 }
361 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) {
362 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
363 ++nObs;
364 offGlo += ll;
365 if (fabs(ll) > fabs(maxRes)) {
366 maxRes = ll;
367 maxResIndex = ii;
368 maxResPrn = satObs->prn();
369 }
370 }
371 }
372 }
373 if (nObs > 0) {
374 offGlo = offGlo / nObs;
375 }
376 else {
377 offGlo = 0.0;
378 }
379 if (fabs(maxRes) > MAXRES) {
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 const double MAXRES = 1000.0;
399
400 if (OPT->useSystem('E')) {
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 if (nObs > 0) {
426 offGal = offGal / nObs;
427 }
428 else {
429 offGal = 0.0;
430 }
431 if (fabs(maxRes) > MAXRES) {
432 LOG << "t_pppClient::cmpOffGal Outlier " << maxResPrn.toString() << " " << maxRes << endl;
433 obsVector.erase(obsVector.begin() + maxResIndex);
434 }
435 else {
436 break;
437 }
438 }
439 }
440
441 return offGal;
442}
443
444
445// Compute A Priori BDS Receiver Clock Offset
446//////////////////////////////////////////////////////////////////////////////
447double t_pppClient::cmpOffBds(vector<t_pppSatObs*>& obsVector) {
448
449 t_lc::type tLC = t_lc::dummy;
450 double offBds = 0.0;
451 const double MAXRES = 1000.0;
452
453 if (_opt->useSystem('C')) {
454 while (obsVector.size() > 0) {
455 offBds = 0.0;
456 double maxRes = 0.0;
457 int maxResIndex = -1;
458 t_prn maxResPrn;
459 unsigned nObs = 0;
460 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
461 const t_pppSatObs* satObs = obsVector.at(ii);
462 if (satObs->prn().system() == 'C') {
463 if (tLC == t_lc::dummy) {
464 tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
465 }
466 if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle)) {
467 double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
468 ++nObs;
469 offBds += ll;
470 if (fabs(ll) > fabs(maxRes)) {
471 maxRes = ll;
472 maxResIndex = ii;
473 maxResPrn = satObs->prn();
474 }
475 }
476 }
477 }
478 if (nObs > 0) {
479 offBds = offBds / nObs;
480 }
481 else {
482 offBds = 0.0;
483 }
484 if (fabs(maxRes) > MAXRES) {
485 LOG << "t_pppClient::cmpOffBds Outlier " << maxResPrn.toString() << " " << maxRes << endl;
486 delete obsVector.at(maxResIndex);
487 obsVector.erase(obsVector.begin() + maxResIndex);
488 }
489 else {
490 break;
491 }
492 }
493 }
494 return offBds;
495}
496//
497//////////////////////////////////////////////////////////////////////////////
498void t_pppClient::initOutput(t_output* output) {
499 _output = output;
500 _output->_numSat = 0;
501 _output->_hDop = 0.0;
502 _output->_error = false;
503}
504
505//
506//////////////////////////////////////////////////////////////////////////////
507void t_pppClient::clearObs() {
508 for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
509 delete _obsRover.at(ii);
510 }
511 _obsRover.clear();
512}
513
514//
515//////////////////////////////////////////////////////////////////////////////
516void t_pppClient::finish(t_irc irc, int ind) {
517#ifdef BNC_DEBUG_PPP
518 LOG << "t_pppClient::finish(" << ind << "): " << irc << endl;
519#endif
520
521 clearObs();
522
523 _output->_epoTime = _epoTimeRover;
524
525 if (irc == success) {
526 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
527 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
528 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
529
530 xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
531
532 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
533
534 _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
535 _output->_trp = _filter->trp();
536 _output->_trpStdev = _filter->trpStdev();
537
538 _output->_numSat = _filter->numSat();
539 _output->_hDop = _filter->HDOP();
540 _output->_error = false;
541 }
542 else {
543 _output->_error = true;
544 }
545
546 _output->_log = _log->str();
547 delete _log; _log = new ostringstream();
548
549 return;
550}
551
552//
553//////////////////////////////////////////////////////////////////////////////
554t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
555 vector<t_pppSatObs*>& obsVector) {
556 bncTime time;
557 time = _epoTimeRover;
558 station->setName(_opt->_roverName);
559 station->setAntName(_opt->_antNameRover);
560 station->setEpochTime(time);
561
562 if (_opt->xyzAprRoverSet()) {
563 station->setXyzApr(_opt->_xyzAprRover);
564 }
565 else {
566 station->setXyzApr(xyzc.Rows(1,3));
567 }
568 station->setNeuEcc(_opt->_neuEccRover);
569
570 // Receiver Clock
571 // --------------
572 station->setDClk(xyzc[3]);
573
574 // Tides
575 // -----
576 station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
577 station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
578
579 // Observation model
580 // -----------------
581 vector<t_pppSatObs*>::iterator it = obsVector.begin();
582 while (it != obsVector.end()) {
583 t_pppSatObs* satObs = *it;
584 t_irc modelSetup;
585 if (satObs->isValid()) {
586 modelSetup = satObs->cmpModel(station);
587 }
588 if (satObs->isValid() &&
589 satObs->eleSat() >= _opt->_minEle &&
590 modelSetup == success) {
591 ++it;
592 }
593 else {
594 delete satObs;
595 it = obsVector.erase(it);
596 }
597 }
598
599 return success;
600}
601
602//
603//////////////////////////////////////////////////////////////////////////////
604void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
605
606 try {
607 initOutput(output);
608
609 // Prepare Observations of the Rover
610 // ---------------------------------
611 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
612 return finish(failure, 1);
613 }
614
615 for (int iter = 1; iter <= 2; iter++) {
616 ColumnVector xyzc(4); xyzc = 0.0;
617 bool print = (iter == 2);
618 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
619 return finish(failure, 2);
620 }
621 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
622 return finish(failure, 3);
623 }
624 }
625 // use observations only if satellite code biases are available
626 /* ------------------------------------------------------------
627 if (!_opt->_corrMount.empty() {
628 useObsWithCodeBiasesOnly(_obsRover);
629 }*/
630
631 if (int(_obsRover.size()) < _opt->_minObs) {
632 LOG << "t_pppClient::processEpoch not enough observations" << endl;
633 return finish(failure, 4);
634 }
635
636 _offGlo = cmpOffGlo(_obsRover);
637 _offGal = cmpOffGal(_obsRover);
638 _offBds = cmpOffBds(_obsRover);
639
640 // Prepare Pseudo Observations of the Rover
641 // ----------------------------------------
642 _pseudoObsIono = preparePseudoObs(_obsRover);
643
644 // Store last epoch of data
645 // ------------------------
646 _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono);
647
648 // Process Epoch in Filter
649 // -----------------------
650 if (_filter->processEpoch(_obsPool) != success) {
651 LOG << "t_pppFilter::processEpoch() != success" << endl;
652 return finish(failure, 5);
653 }
654 }
655 catch (Exception& exc) {
656 LOG << exc.what() << endl;
657 return finish(failure, 6);
658 }
659 catch (t_except msg) {
660 LOG << msg.what() << endl;
661 return finish(failure, 7);
662 }
663 catch (const char* msg) {
664 LOG << msg << endl;
665 return finish(failure, 8);
666 }
667 catch (...) {
668 LOG << "unknown exception" << endl;
669 return finish(failure, 9);
670 }
671 return finish(success, 0);
672}
673
674//
675////////////////////////////////////////////////////////////////////////////
676double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
677 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
678}
679
680//
681////////////////////////////////////////////////////////////////////////////
682t_irc t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
683
684 if (pos.Nrows() != 4) {
685 pos.ReSize(4);
686 }
687 pos = 0.0;
688
689 for (int iter = 1; iter <= 2; iter++) {
690 Matrix BB = BBpass;
691 int mm = BB.Nrows();
692 for (int ii = 1; ii <= mm; ii++) {
693 double xx = BB(ii,1);
694 double yy = BB(ii,2);
695 double traveltime = 0.072;
696 if (iter > 1) {
697 double zz = BB(ii,3);
698 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
699 (yy-pos(2)) * (yy-pos(2)) +
700 (zz-pos(3)) * (zz-pos(3)) );
701 traveltime = rho / t_CST::c;
702 }
703 double angle = traveltime * t_CST::omega;
704 double cosa = cos(angle);
705 double sina = sin(angle);
706 BB(ii,1) = cosa * xx + sina * yy;
707 BB(ii,2) = -sina * xx + cosa * yy;
708 }
709
710 Matrix BBB;
711 if (mm > 4) {
712 SymmetricMatrix hlp; hlp << BB.t() * BB;
713 BBB = hlp.i() * BB.t();
714 }
715 else {
716 BBB = BB.i();
717 }
718 ColumnVector ee(mm); ee = 1.0;
719 ColumnVector alpha(mm); alpha = 0.0;
720 for (int ii = 1; ii <= mm; ii++) {
721 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
722 }
723 ColumnVector BBBe = BBB * ee;
724 ColumnVector BBBalpha = BBB * alpha;
725 double aa = lorentz(BBBe, BBBe);
726 double bb = lorentz(BBBe, BBBalpha)-1;
727 double cc = lorentz(BBBalpha, BBBalpha);
728 double root = sqrt(bb*bb-aa*cc);
729
730 Matrix hlpPos(4,2);
731 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
732 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
733
734 ColumnVector omc(2);
735 for (int pp = 1; pp <= 2; pp++) {
736 hlpPos(4,pp) = -hlpPos(4,pp);
737 omc(pp) = BB(1,4) -
738 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
739 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
740 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
741 hlpPos(4,pp);
742 }
743 if ( fabs(omc(1)) > fabs(omc(2)) ) {
744 pos = hlpPos.Column(2);
745 }
746 else {
747 pos = hlpPos.Column(1);
748 }
749 }
750 if (pos.size() != 4 ||
751 std::isnan(pos(1)) ||
752 std::isnan(pos(2)) ||
753 std::isnan(pos(3)) ||
754 std::isnan(pos(4))) {
755 return failure;
756 }
757
758 return success;
759}
760
761//
762//////////////////////////////////////////////////////////////////////////////
763void t_pppClient::reset() {cout << "t_pppClient::reset()" << endl;
764
765 // to delete old orbit and clock corrections
766 delete _ephPool;
767 _ephPool = new t_pppEphPool();
768
769 // to delete old code biases
770 delete _obsPool;
771 _obsPool = new t_pppObsPool();
772
773 // to delete all parameters
774 delete _filter;
775 _filter = new t_pppFilter();
776
777}
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