source: ntrip/trunk/BNC/src/PPP/pppClient.cpp@ 9600

Last change on this file since 9600 was 9600, checked in by stuerze, 2 years ago
  • Property svn:keywords set to Author Date Id Rev URL;svn:eol-style=native
  • Property svn:mime-type set to text/plain
File size: 23.9 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 <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 _offGR = 0.0;
76 _offGE = 0.0;
77 _offGC = 0.0;
78 CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
79}
80
81// Destructor
82//////////////////////////////////////////////////////////////////////////////
83t_pppClient::~t_pppClient() {
84 delete _log;
85 delete _opt;
86 delete _filter;
87 delete _ephPool;
88 delete _obsPool;
89 delete _staRover;
90 if (_antex) {
91 delete _antex;
92 }
93 delete _tides;
94 clearObs();
95 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
96 while (it.hasNext()) {
97 it.next();
98 delete it.value();
99 }
100 _refSatMap.clear();
101}
102
103//
104//////////////////////////////////////////////////////////////////////////////
105void t_pppClient::putEphemeris(const t_eph* eph) {
106 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
107 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
108 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
109 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
110 if (ephGPS) {
111 _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
112 }
113 else if (ephGlo) {
114 _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
115 }
116 else if (ephGal) {
117 _ephPool->putEphemeris(new t_ephGal(*ephGal));
118 }
119 else if (ephBDS) {
120 _ephPool->putEphemeris(new t_ephBDS(*ephBDS));
121 }
122}
123
124//
125//////////////////////////////////////////////////////////////////////////////
126void t_pppClient::putTec(const t_vTec* vTec) {
127 _obsPool->putTec(new t_vTec(*vTec));
128}
129
130//
131//////////////////////////////////////////////////////////////////////////////
132void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
133 for (unsigned ii = 0; ii < corr.size(); ii++) {
134 _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
135 }
136}
137
138//
139//////////////////////////////////////////////////////////////////////////////
140void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
141 for (unsigned ii = 0; ii < corr.size(); ii++) {
142 _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
143 }
144}
145
146//
147//////////////////////////////////////////////////////////////////////////////
148void t_pppClient::putCodeBiases(const vector<t_satCodeBias*>& biases) {
149 for (unsigned ii = 0; ii < biases.size(); ii++) {
150 _obsPool->putCodeBias(new t_satCodeBias(*biases[ii]));
151 }
152}
153
154//
155//////////////////////////////////////////////////////////////////////////////
156void t_pppClient::putPhaseBiases(const vector<t_satPhaseBias*>& biases) {
157 for (unsigned ii = 0; ii < biases.size(); ii++) {
158 _obsPool->putPhaseBias(new t_satPhaseBias(*biases[ii]));
159 }
160}
161
162//
163//////////////////////////////////////////////////////////////////////////////
164t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
165 vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
166
167 // Default
168 // -------
169 epoTime.reset();
170 clearObs();
171
172 // Create vector of valid observations
173 // -----------------------------------
174 for (unsigned ii = 0; ii < satObs.size(); ii++) {
175 char sys = satObs[ii]->_prn.system();
176 if (_opt->useSystem(sys)) {
177 t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
178 if (pppSatObs->isValid()) {
179 obsVector.push_back(pppSatObs);
180 }
181 else {
182 delete pppSatObs;
183 }
184 }
185 }
186
187 // Check whether data are synchronized, compute epoTime
188 // ----------------------------------------------------
189 const double MAXSYNC = 0.05; // synchronization limit
190 double meanDt = 0.0;
191 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
192 const t_pppSatObs* satObs = obsVector.at(ii);
193 if (epoTime.undef()) {
194 epoTime = satObs->time();
195 }
196 else {
197 double dt = satObs->time() - epoTime;
198 if (fabs(dt) > MAXSYNC) {
199 LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
200 return failure;
201 }
202 meanDt += dt;
203 }
204 }
205
206 if (obsVector.size() > 0) {
207 epoTime += meanDt / obsVector.size();
208 }
209
210 return success;
211}
212
213//
214//////////////////////////////////////////////////////////////////////////////
215bool t_pppClient::preparePseudoObs(std::vector<t_pppSatObs*>& obsVector) {
216
217 bool pseudoObsIono = false;
218
219 if (_opt->_pseudoObsIono) {
220 vector<t_pppSatObs*>::iterator it = obsVector.begin();
221 while (it != obsVector.end()) {
222 t_pppSatObs* satObs = *it;
223 char sys = satObs->prn().system();
224 t_pppRefSat* refSat = _refSatMap[sys];
225 double stecRef = refSat->stecValue();
226 if (stecRef && !satObs->isReference()) {
227 pseudoObsIono = true;
228 satObs->setPseudoObsIono(t_frequency::G1, stecRef);
229 }
230 it++;
231 }
232 }
233
234/*
235 vector<t_pppSatObs*>::iterator it = obsVector.begin();
236 while (it != obsVector.end()) {
237 t_pppSatObs* satObs = *it;
238 satObs->printObsMinusComputed();
239 it++;
240 }
241*/
242 return pseudoObsIono;
243}
244
245//
246//////////////////////////////////////////////////////////////////////////////
247void t_pppClient::useObsWithCodeBiasesOnly(std::vector<t_pppSatObs*>& obsVector) {
248
249 vector<t_pppSatObs*>::iterator it = obsVector.begin();
250 while (it != obsVector.end()) {
251 t_pppSatObs* pppSatObs = *it;
252 char sys = pppSatObs->prn().system();
253 bool codeBiasesAvailable = false;
254 t_frequency::type fType1 = t_lc::toFreq(sys,t_lc::c1);
255 t_frequency::type fType2 = t_lc::toFreq(sys,t_lc::c2);
256 if (pppSatObs->getCodeBias(fType1) &&
257 pppSatObs->getCodeBias(fType2)) {
258 codeBiasesAvailable = true;
259 }
260 if (codeBiasesAvailable) {
261 ++it;
262 }
263 else {
264 it = obsVector.erase(it);
265 delete pppSatObs;
266 }
267 }
268
269}
270
271
272// Compute the Bancroft position, check for blunders
273//////////////////////////////////////////////////////////////////////////////
274t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
275 vector<t_pppSatObs*>& obsVector,
276 ColumnVector& xyzc, bool print) {
277
278 t_lc::type tLC = t_lc::dummy;
279
280 while (true) {
281 Matrix BB(obsVector.size(), 4);
282 int iObs = -1;
283 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
284 const t_pppSatObs* satObs = obsVector.at(ii);
285 if (tLC == t_lc::dummy) {
286 if (satObs->isValid(t_lc::cIF)) {
287 tLC = t_lc::cIF;
288 }
289 else if (satObs->isValid(t_lc::c1)) {
290 tLC = t_lc::c1;
291 }
292 else if (satObs->isValid(t_lc::c2)) {
293 tLC = t_lc::c2;
294 }
295 }
296 if ( satObs->isValid(tLC) &&
297 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
298 ++iObs;
299 BB[iObs][0] = satObs->xc()[0];
300 BB[iObs][1] = satObs->xc()[1];
301 BB[iObs][2] = satObs->xc()[2];
302 BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
303 }
304 }
305 if (iObs + 1 < _opt->_minObs) {
306 LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl;
307 return failure;
308 }
309 BB = BB.Rows(1,iObs+1);
310 if (bancroft(BB, xyzc) != success) {
311 return failure;
312 }
313
314 xyzc[3] /= t_CST::c;
315
316 // Check Blunders
317 // --------------
318 const double BLUNDER = 100.0;
319 double maxRes = 0.0;
320 unsigned maxResIndex = 0;
321 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
322 const t_pppSatObs* satObs = obsVector.at(ii);
323 if (satObs->isValid() &&
324 (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) {
325 ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
326 double res = rr.NormFrobenius() - satObs->obsValue(tLC)
327 - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
328 if (fabs(res) > maxRes) {
329 maxRes = fabs(res);
330 maxResIndex = ii;
331 }
332 }
333 }
334 if (maxRes < BLUNDER) {
335 if (print && _numEpoProcessing == 1) {
336 LOG.setf(ios::fixed);
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
379 LOG << "t_pppClient::finish(" << ind << "): " << irc << endl;
380
381 clearObs();
382
383 _output->_epoTime = _epoTimeRover;
384
385 if (irc == success) {
386 _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
387 _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
388 _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
389
390 xyz2neu(_staRover->ellApr().data(), _filter->x().data(), _output->_neu);
391
392 copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
393
394 _output->_trp0 = t_tropo::delay_saast(_staRover->xyzApr(), M_PI/2.0);
395 _output->_trp = _filter->trp();
396 _output->_trpStdev = _filter->trpStdev();
397
398 _output->_numSat = _filter->numSat();
399 _output->_hDop = _filter->HDOP();
400 _output->_error = false;
401 }
402 else {
403 _output->_error = true;
404 if (OPT->_obsModelType == OPT->DCMcodeBias ||
405 OPT->_obsModelType == OPT->DCMphaseBias) {
406 reset();
407 }
408 }
409 _output->_log = _log->str();
410 delete _log; _log = new ostringstream();
411
412 return;
413}
414
415//
416//////////////////////////////////////////////////////////////////////////////
417t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
418 vector<t_pppSatObs*>& obsVector) {
419 bncTime time;
420 time = _epoTimeRover;
421 station->setName(_opt->_roverName);
422 station->setAntName(_opt->_antNameRover);
423 station->setEpochTime(time);
424 if (_opt->xyzAprRoverSet()) {
425 station->setXyzApr(_opt->_xyzAprRover);
426 }
427 else {
428 station->setXyzApr(xyzc.Rows(1,3));
429 }
430 station->setNeuEcc(_opt->_neuEccRover);
431
432 // Receiver Clock
433 // --------------
434 station->setDClk(xyzc[3]);
435
436 // Tides
437 // -----
438 station->setTideDsplEarth(_tides->earth(time, station->xyzApr()));
439 station->setTideDsplOcean(_tides->ocean(time, station->xyzApr(), station->name()));
440
441 // Observation model
442 // -----------------
443 vector<t_pppSatObs*>::iterator it = obsVector.begin();
444 while (it != obsVector.end()) {
445 t_pppSatObs* satObs = *it;
446 t_irc modelSetup;
447 if (satObs->isValid()) {
448 modelSetup = satObs->cmpModel(station);
449 }
450 if (satObs->isValid() &&
451 satObs->eleSat() >= _opt->_minEle &&
452 modelSetup == success) {
453 ++it;
454 }
455 else {
456 delete satObs;
457 it = obsVector.erase(it);
458 }
459 }
460
461 return success;
462}
463
464//
465//////////////////////////////////////////////////////////////////////////////
466void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
467
468 try {
469 initOutput(output);
470 bool epochReProcessing = false;
471 _numEpoProcessing = 0;
472 _historicalRefSats.clear();
473
474 do {
475 _numEpoProcessing++;
476#ifdef BNC_DEBUG_PPP
477 LOG << "_numEpoProcessing " << _numEpoProcessing << endl;
478#endif
479 if (_obsPool->refSatChanged()) {
480 if(_filter->datumTransformation(_refSatMap) != success) {
481 LOG << "t_pppFilter::datumTransformation() != success" << endl;
482 return finish(failure,1);
483 }
484 else {
485 LOG << "t_pppFilter::datumTransformation() == success" << endl;
486 _filter->rememberState(1);
487 }
488 }
489 // Prepare Observations of the Rover
490 // ---------------------------------
491 if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
492 return finish(failure,2);
493 }
494
495 if (_numEpoProcessing == 1) {
496 LOG << "\nPPP of Epoch ";
497 if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
498 LOG << "\n---------------------------------------------------------------\n";
499 }
500
501 for (int iter = 1; iter <= 2; iter++) {
502 ColumnVector xyzc(4); xyzc = 0.0;
503 bool print = (iter == 2);
504 if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
505 return finish(failure,3);
506 }
507 if (cmpModel(_staRover, xyzc, _obsRover) != success) {
508 return finish(failure,4);
509 }
510 }
511
512 if (_opt->_refSatRequired) {
513 if (handleRefSatellites(_obsRover) != success) {
514 return finish(failure,6);
515 }
516 if (_obsPool->refSatChanged()) {
517 LOG << "t_pppFilter: refSatChanged()" << endl;
518 epochReProcessing = true;
519 continue;
520 }
521 }
522
523 // use observations only if satellite code biases are available
524 // ------------------------------------------------------------
525 if (!_opt->_corrMount.empty()) {
526 useObsWithCodeBiasesOnly(_obsRover);
527 }
528
529 if (int(_obsRover.size()) < _opt->_minObs) {
530 LOG << "t_pppClient::processEpoch not enough observations" << endl;
531 return finish(failure,5);
532 }
533
534 // Prepare Pseudo Observations of the Rover
535 // ----------------------------------------
536 _pseudoObsIono = preparePseudoObs(_obsRover);
537
538 // Store last epoch of data
539 // ------------------------
540 _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono, _refSatMap);
541
542 // Process Epoch in Filter
543 // -----------------------
544 if (_filter->processEpoch() != success) {
545 LOG << "filter->processEpoch() != success" << endl;
546 return finish(failure,7);
547 }
548
549 // Epoch re-processing required?
550 // -----------------------------
551 if (_obsPool->refSatChangeRequired() && //SLIP
552 _opt->_obsModelType != t_pppOptions::UncombPPP) {
553 LOG << "pppClient: _obsPool->refSatChangeRequired() " << endl;
554 epochReProcessing = true;
555 _obsPool->deleteLastEpoch();
556 _filter->restoreState(0);
557 setHistoricalRefSats();
558 }
559 else {
560 epochReProcessing = false;
561 if (OPT->_obsModelType == OPT->DCMcodeBias ||
562 OPT->_obsModelType == OPT->DCMphaseBias) {
563 _filter->rememberState(0);
564 }
565 }
566 } while (epochReProcessing);
567
568 }
569 catch (Exception& exc) {
570 LOG << exc.what() << endl;
571 return finish(failure,8);
572 }
573 catch (t_except msg) {
574 LOG << msg.what() << endl;
575 return finish(failure,9);
576 }
577 catch (const char* msg) {
578 LOG << msg << endl;
579 return finish(failure,10);
580 }
581 catch (...) {
582 LOG << "unknown exception" << endl;
583 return finish(failure,11);
584 }
585 return finish(success,12);
586}
587
588//
589////////////////////////////////////////////////////////////////////////////
590double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
591 return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
592}
593
594//
595////////////////////////////////////////////////////////////////////////////
596t_irc t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
597
598 if (pos.Nrows() != 4) {
599 pos.ReSize(4);
600 }
601 pos = 0.0;
602
603 for (int iter = 1; iter <= 2; iter++) {
604 Matrix BB = BBpass;
605 int mm = BB.Nrows();
606 for (int ii = 1; ii <= mm; ii++) {
607 double xx = BB(ii,1);
608 double yy = BB(ii,2);
609 double traveltime = 0.072;
610 if (iter > 1) {
611 double zz = BB(ii,3);
612 double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
613 (yy-pos(2)) * (yy-pos(2)) +
614 (zz-pos(3)) * (zz-pos(3)) );
615 traveltime = rho / t_CST::c;
616 }
617 double angle = traveltime * t_CST::omega;
618 double cosa = cos(angle);
619 double sina = sin(angle);
620 BB(ii,1) = cosa * xx + sina * yy;
621 BB(ii,2) = -sina * xx + cosa * yy;
622 }
623
624 Matrix BBB;
625 if (mm > 4) {
626 SymmetricMatrix hlp; hlp << BB.t() * BB;
627 BBB = hlp.i() * BB.t();
628 }
629 else {
630 BBB = BB.i();
631 }
632 ColumnVector ee(mm); ee = 1.0;
633 ColumnVector alpha(mm); alpha = 0.0;
634 for (int ii = 1; ii <= mm; ii++) {
635 alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
636 }
637 ColumnVector BBBe = BBB * ee;
638 ColumnVector BBBalpha = BBB * alpha;
639 double aa = lorentz(BBBe, BBBe);
640 double bb = lorentz(BBBe, BBBalpha)-1;
641 double cc = lorentz(BBBalpha, BBBalpha);
642 double root = sqrt(bb*bb-aa*cc);
643
644 Matrix hlpPos(4,2);
645 hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
646 hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
647
648 ColumnVector omc(2);
649 for (int pp = 1; pp <= 2; pp++) {
650 hlpPos(4,pp) = -hlpPos(4,pp);
651 omc(pp) = BB(1,4) -
652 sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
653 (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
654 (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
655 hlpPos(4,pp);
656 }
657 if ( fabs(omc(1)) > fabs(omc(2)) ) {
658 pos = hlpPos.Column(2);
659 }
660 else {
661 pos = hlpPos.Column(1);
662 }
663 }
664 if (pos.size() != 4 ||
665 std::isnan(pos(1)) ||
666 std::isnan(pos(2)) ||
667 std::isnan(pos(3)) ||
668 std::isnan(pos(4))) {
669 return failure;
670 }
671
672 return success;
673}
674
675//
676//////////////////////////////////////////////////////////////////////////////
677void t_pppClient::setRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
678 // reference satellite definition per system
679 for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) {
680 t_irc refSatReDefinition = success;
681 char sys = _opt->systems()[iSys];
682 bool refSatDefined = false;
683 t_pppRefSat* refSat = _refSatMap[sys];
684 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
685 t_pppSatObs* satObs = obsVector.at(ii);
686 if (satObs->eleSat() < _opt->_minEle) {
687 continue;
688 }
689 // reference satellite is unchanged
690 // ================================
691 if ( !_obsPool->refSatChangeRequired(sys) && refSat->prn() == satObs->prn()) {
692 refSatDefined = true;
693 obsVector[ii]->setAsReference();
694 }
695 // reference satellite has changed
696 // ===============================
697 else if ( _obsPool->refSatChangeRequired(sys) && refSat->prn() != satObs->prn()) {
698 if (satObs->prn().system() == sys) {
699 if (!_historicalRefSats[sys].contains(satObs->prn())) {
700 refSatDefined = true;
701 obsVector[ii]->setAsReference();
702 refSat->setPrn(satObs->prn());
703 }
704 else if ( _historicalRefSats[sys].contains(satObs->prn())) {
705 refSatReDefinition = failure;
706 }
707 }
708 }
709 if (refSatDefined) {
710 if (OPT->_pseudoObsIono) {
711 refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
712 }
713 break;
714 }
715 }
716
717 // all available satellites were already tried to use
718 if ((!refSatDefined) && (refSatReDefinition == failure)) {
719 refSat->setPrn(t_prn(sys, 99));
720 _obsPool->setRefSatChangeRequired(sys, false);
721 return;
722 }
723
724 // reference satellite has to be initialized
725 // =========================================
726 if (!refSatDefined) {
727 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
728 t_pppSatObs* satObs = obsVector.at(ii);
729 if (satObs->eleSat() < _opt->_minEle) {
730 continue;
731 }
732 if (satObs->prn().system() == sys &&
733 !_historicalRefSats[sys].contains(satObs->prn())) {
734 obsVector[ii]->setAsReference();
735 refSat->setPrn(satObs->prn());
736 if (OPT->_pseudoObsIono) {
737 refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1));
738 }
739 refSatDefined = true;
740 break;
741 }
742 }
743 }
744
745 // no observations for that system
746 // ===============================
747 if (!refSatDefined) {
748 refSat->setPrn(t_prn());
749 }
750 _obsPool->setRefSatChangeRequired(sys, false); // done or impossible
751 }
752
753 return;
754}
755
756//
757//////////////////////////////////////////////////////////////////////////////
758t_irc t_pppClient::handleRefSatellites(std::vector<t_pppSatObs*>& obsVector) {
759
760 // set refSats in current epoch
761 // ============================
762 setRefSatellites(obsVector); // current epoch
763 LOG.setf(ios::fixed);
764 t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
765 const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
766
767 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
768 while (it.hasNext()) {
769 it.next();
770 char sys = it.key();
771 t_prn prn = it.value()->prn();
772 t_prn refSatLastEpochPrn = t_prn();
773 if (epoch) {
774 refSatLastEpochPrn = refSatMapLastEpoch[sys]->prn();
775 }
776 if (prn.number() == 0) { // no obs for that system available
777 continue;
778 }
779 else if (prn.number() == 99) { // refSat re-definition not possible
780 LOG << " => refSat re-definition impossible: " << sys << endl;
781 return failure;
782 }
783 QString str;
784 if (prn == refSatLastEpochPrn || refSatLastEpochPrn == t_prn() ) {
785 _obsPool->setRefSatChanged(sys, false);
786 str = " SET ";
787 }
788 else {
789 _obsPool->setRefSatChanged(sys, true);
790 str = " RESET ";
791 }
792 LOG << string(_epoTimeRover) << str.toStdString() << " REFSAT " << sys << ": " << prn.toString() << endl;
793 }
794 return success;
795}
796
797void t_pppClient::setHistoricalRefSats() {
798 QMapIterator<char, t_pppRefSat*> it(_refSatMap);
799 while (it.hasNext()) {
800 it.next();
801 t_prn prn = it.value()->prn();
802 char sys = prn.system();
803 if (_obsPool->refSatChangeRequired(sys)) {
804 _historicalRefSats[sys].append(prn);
805 }
806 }
807}
808
809//
810//////////////////////////////////////////////////////////////////////////////
811void t_pppClient::reset() {LOG << "t_pppClient::reset()" << endl;
812
813 // to delete old orbit and clock corrections
814 delete _ephPool;
815 _ephPool = new t_pppEphPool();
816
817 // to delete old code biases
818 delete _obsPool;
819 _obsPool = new t_pppObsPool();
820
821 // to delete all parameters
822 delete _filter;
823 _filter = new t_pppFilter(_obsPool);
824
825}
Note: See TracBrowser for help on using the repository browser.