[7237] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: t_pppFilter
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| 6 | *
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| 7 | * Purpose: Filter Adjustment
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Jul-2014
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| 12 | *
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[7267] | 13 | * Changes:
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[7237] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <iostream>
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| 18 | #include <iomanip>
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| 19 | #include <cmath>
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| 20 | #include <newmat.h>
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| 21 | #include <newmatio.h>
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| 22 | #include <newmatap.h>
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| 23 |
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| 24 | #include "pppFilter.h"
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| 25 | #include "bncutils.h"
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| 26 | #include "pppParlist.h"
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| 27 | #include "pppObsPool.h"
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| 28 | #include "pppStation.h"
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| 29 |
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| 30 | using namespace BNC_PPP;
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| 31 | using namespace std;
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| 32 |
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| 33 | // Constructor
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| 34 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 35 | t_pppFilter::t_pppFilter(t_pppObsPool *obsPool) {
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[8905] | 36 | _numSat = 0;
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| 37 | _obsPool = obsPool;
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[9642] | 38 | _refPrn = t_prn();
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[8915] | 39 | _datumTrafo = new t_datumTrafo();
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[7237] | 40 | }
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| 41 |
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| 42 | // Destructor
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| 43 | ////////////////////////////////////////////////////////////////////////////
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| 44 | t_pppFilter::~t_pppFilter() {
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[8915] | 45 | delete _datumTrafo;
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[7237] | 46 | }
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| 47 |
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| 48 | // Process Single Epoch
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| 49 | ////////////////////////////////////////////////////////////////////////////
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[9386] | 50 | t_irc t_pppFilter::processEpoch() {
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[9642] | 51 | _numSat = 0;
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[7302] | 52 | const double maxSolGap = 60.0;
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[7237] | 53 |
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| 54 | // Vector of all Observations
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| 55 | // --------------------------
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[9642] | 56 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
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[7237] | 57 | if (!epoch) {
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| 58 | return failure;
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| 59 | }
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[9642] | 60 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
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[7237] | 61 |
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| 62 | // Time of the Epoch
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| 63 | // -----------------
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| 64 | _epoTime = epoch->epoTime();
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| 65 |
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[9642] | 66 | if (!_firstEpoTime.valid() || !_lastEpoTimeOK.valid()
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| 67 | || (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 68 | _firstEpoTime = _epoTime;
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| 69 | }
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| 70 |
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[7267] | 71 | string epoTimeStr = string(_epoTime);
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| 72 |
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[9642] | 73 | const QMap<char, t_pppRefSat*> &refSatMap = epoch->refSatMap();
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[9532] | 74 |
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[8905] | 75 | //--
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[7237] | 76 | // Set Parameters
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[9508] | 77 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
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[9419] | 78 | return failure;
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| 79 | }
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[9526] | 80 |
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[9527] | 81 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 82 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9386] | 83 | #ifdef BNC_DEBUG_PPP
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[9534] | 84 | _parlist.printParams(_epoTime);
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[9386] | 85 | #endif
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[9527] | 86 | }
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[7237] | 87 | // Status Vector, Variance-Covariance Matrix
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| 88 | // -----------------------------------------
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[9642] | 89 | ColumnVector xFltOld = _xFlt;
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[7237] | 90 | SymmetricMatrix QFltOld = _QFlt;
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[9526] | 91 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld);
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[8956] | 92 |
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[8905] | 93 | // Pre-Process Satellite Systems separately
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| 94 | // ----------------------------------------
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| 95 | bool preProcessing = false;
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| 96 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 97 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[8905] | 98 | preProcessing = true;
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[9642] | 99 | const QList<char> &usedSystems = _parlist.usedSystems();
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[9431] | 100 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 101 | char sys = usedSystems[iSys];
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[9526] | 102 | _refPrn.set(sys, 0);
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| 103 | if (OPT->_refSatRequired) {
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| 104 | _refPrn = refSatMap[sys]->prn();
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| 105 | }
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[9642] | 106 | vector<t_pppSatObs*> obsVector;
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[8905] | 107 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 108 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 109 | obsVector.push_back(allObs[jj]);
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| 110 | }
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| 111 | }
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[9431] | 112 | if (iSys == 0) {
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| 113 | _datumTrafo->setFirstSystem(sys);
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[9419] | 114 | }
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[9386] | 115 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[9642] | 116 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9583] | 117 | LOG << sys << ": processSystem != success (pre-processing)" << endl;
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[9386] | 118 | _xFlt = xFltOld;
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| 119 | _QFlt = QFltOld;
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[9532] | 120 | _obsPool->deleteLastEpoch();
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[9527] | 121 | restoreState(2);
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[8905] | 122 | return failure;
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| 123 | }
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| 124 | }
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[8956] | 125 | // refSat change required?
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| 126 | // -----------------------
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| 127 | if (_obsPool->refSatChangeRequired()) {
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| 128 | _xFlt = xFltOld;
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| 129 | _QFlt = QFltOld;
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| 130 | return success;
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[9642] | 131 | } else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 132 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 133 | }
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[8905] | 134 | }
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| 135 |
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[7237] | 136 | // Process Satellite Systems separately
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| 137 | // ------------------------------------
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[8912] | 138 | preProcessing = false;
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[9642] | 139 | const QList<char> &usedSystems = _parlist.usedSystems();
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[9431] | 140 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 141 | char sys = usedSystems[iSys];
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[9526] | 142 | _refPrn.set(sys, 0);
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[8910] | 143 | if (OPT->_refSatRequired) {
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[9508] | 144 | _refPrn = refSatMap[sys]->prn();
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[8910] | 145 | }
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[7267] | 146 | unsigned int num = 0;
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[7237] | 147 | vector<t_pppSatObs*> obsVector;
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| 148 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 149 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 150 | obsVector.push_back(allObs[jj]);
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[9419] | 151 | ++num;
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[7237] | 152 | }
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| 153 | }
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[9431] | 154 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 155 | _datumTrafo->setFirstSystem(sys);
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[9419] | 156 | }
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[9642] | 157 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num
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| 158 | << endl;
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| 159 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn, epoch->pseudoObsIono(),
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| 160 | preProcessing) != success) {
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[9537] | 161 | LOG << "processSystem != success (fin-processing)" << endl;
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| 162 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9699] | 163 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9590] | 164 | _xFlt = xFltOld;
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| 165 | _QFlt = QFltOld;
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[9537] | 166 | _obsPool->deleteLastEpoch();
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| 167 | restoreState(3);
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| 168 | }
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[7237] | 169 | return failure;
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| 170 | }
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| 171 | }
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[8912] | 172 |
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| 173 | // close epoch processing
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| 174 | // ----------------------
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[9508] | 175 | cmpDOP(allObs, refSatMap);
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[9504] | 176 | _parlist.printResult(_epoTime, _QFlt, _xFlt);
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[9642] | 177 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 178 | return success;
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| 179 | }
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| 180 |
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| 181 | // Process Selected LCs
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| 182 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 183 | t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
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| 184 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
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| 185 | bool pseudoObsIonoAvailable, bool preProcessing) {
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[7237] | 186 | LOG.setf(ios::fixed);
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[9386] | 187 | char sys = refPrn.system();
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[7237] | 188 |
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| 189 | // Detect Cycle Slips
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| 190 | // ------------------
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[8905] | 191 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 192 | return failure;
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| 193 | }
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[9398] | 194 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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[9386] | 195 | return success;
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| 196 | }
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[7237] | 197 |
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[9642] | 198 | ColumnVector xSav = _xFlt;
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| 199 | SymmetricMatrix QSav = _QFlt;
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| 200 | string epoTimeStr = string(_epoTime);
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| 201 | const vector<t_pppParam*> ¶ms = _parlist.params();
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[9524] | 202 | unsigned nPar = _parlist.nPar();
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[8965] | 203 |
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[9642] | 204 | unsigned usedLCs = LCs.size();
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[8965] | 205 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9642] | 206 | usedLCs -= 1; // GIM not used
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[8961] | 207 | }
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| 208 | // max Obs
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[9538] | 209 | unsigned maxObs = obsVector.size() * usedLCs;
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| 210 |
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[8965] | 211 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 212 | maxObs -= 1; // pseudo obs iono with respect to refSat
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[8905] | 213 | }
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| 214 |
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[7237] | 215 | // Outlier Detection Loop
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| 216 | // ----------------------
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| 217 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 218 |
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| 219 | if (iOutlier > 0) {
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| 220 | _xFlt = xSav;
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| 221 | _QFlt = QSav;
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| 222 | }
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| 223 |
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| 224 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 225 | // -----------------------------------------------------------
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[9642] | 226 | Matrix AA(maxObs, nPar);
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| 227 | ColumnVector ll(maxObs);
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| 228 | DiagonalMatrix PP(maxObs);
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| 229 | PP = 0.0;
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[8912] | 230 |
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[7237] | 231 | int iObs = -1;
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| 232 | vector<t_pppSatObs*> usedObs;
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[9642] | 233 | vector<t_lc::type> usedTypes;
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[9386] | 234 |
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| 235 | // Real Observations
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| 236 | // =================
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[9583] | 237 | double nSat = 0;
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[7237] | 238 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 239 | t_pppSatObs *obs = obsVector[ii];
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[9419] | 240 | if (iOutlier == 0 && !preProcessing) {
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| 241 | obs->resetOutlier();
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| 242 | }
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[7237] | 243 | if (!obs->outlier()) {
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[9583] | 244 | nSat++;
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[8905] | 245 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 246 | const t_lc::type tLC = LCs[jj];
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[9642] | 247 | if (tLC == t_lc::GIM) {
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| 248 | continue;
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| 249 | }
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[7237] | 250 | ++iObs;
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| 251 | usedObs.push_back(obs);
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| 252 | usedTypes.push_back(tLC);
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[9524] | 253 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 254 | const t_pppParam *par = params[iPar];
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[8956] | 255 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 256 | }
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[9642] | 257 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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[9967] | 258 | - DotProduct(_x0, AA.Row(iObs + 1));
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[7237] | 259 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 260 | }
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| 261 | }
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| 262 | }
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| 263 |
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[9556] | 264 | // Check number of observations
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| 265 | // ----------------------------
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[9701] | 266 | if (iObs == -1) {
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[9992] | 267 | LOG << " number of observations == " << iObs + 1 << "\n";
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[9997] | 268 | if (preProcessing) {
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| 269 | _obsPool->setRefSatChangeRequired(sys, true);
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| 270 | return success;
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| 271 | }
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[9701] | 272 | return failure;
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[9699] | 273 | }
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[9625] | 274 |
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[9967] | 275 | if ((!iOutlier) &&
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| 276 | (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 277 | OPT->_obsModelType == OPT->DCMphaseBias) && (!preProcessing)) {
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[9642] | 278 | _datumTrafo->updateIndices(sys, iObs + 1);
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| 279 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, _parlist.nPar()), 1);
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[9386] | 280 | }
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| 281 |
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| 282 | // Pseudo Obs Iono
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| 283 | // ================
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| 284 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 285 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 286 | t_pppSatObs *obs = obsVector[ii];
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[9386] | 287 | if (!obs->outlier()) {
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| 288 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 289 | const t_lc::type tLC = LCs[jj];
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| 290 | if (tLC == t_lc::GIM && !obs->isReference()) {
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| 291 | ++iObs;
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[9642] | 292 | } else {
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| 293 | continue;
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| 294 | }
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[9386] | 295 | usedObs.push_back(obs);
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| 296 | usedTypes.push_back(tLC);
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[9524] | 297 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 298 | const t_pppParam *par = params[iPar];
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[9386] | 299 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 300 | }
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[9642] | 301 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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[9967] | 302 | - DotProduct(_x0, AA.Row(iObs + 1));
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[9386] | 303 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 304 | }
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| 305 | }
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[8956] | 306 | }
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[8915] | 307 | }
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| 308 |
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[9556] | 309 | // Truncate matrices
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| 310 | // -----------------
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[9642] | 311 | AA = AA.Rows(1, iObs + 1);
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| 312 | ll = ll.Rows(1, iObs + 1);
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| 313 | PP = PP.SymSubMatrix(1, iObs + 1);
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[7237] | 314 |
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| 315 | // Kalman update step
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| 316 | // ------------------
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| 317 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 318 |
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| 319 | // Check Residuals
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| 320 | // ---------------
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| 321 | ColumnVector vv = AA * _xFlt - ll;
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[9642] | 322 | double maxOutlier = 0.0;
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| 323 | int maxOutlierIndex = -1;
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| 324 | t_lc::type maxOutlierLC = t_lc::dummy;
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[7237] | 325 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 326 | const t_lc::type tLC = usedTypes[ii];
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| 327 | double res = fabs(vv[ii]);
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| 328 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 329 | if (res > fabs(maxOutlier)) {
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[9642] | 330 | maxOutlier = vv[ii];
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[7237] | 331 | maxOutlierIndex = ii;
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[9642] | 332 | maxOutlierLC = tLC;
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[7237] | 333 | }
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| 334 | }
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| 335 | }
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| 336 |
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| 337 | // Mark outlier or break outlier detection loop
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| 338 | // --------------------------------------------
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| 339 | if (maxOutlierIndex > -1) {
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[9642] | 340 | t_pppSatObs *obs = usedObs[maxOutlierIndex];
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| 341 | t_pppParam *par = 0;
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[9524] | 342 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 343 | t_pppParam *hlp = params[iPar];
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[10008] | 344 | if (hlp->type() == t_pppParam::amb &&
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| 345 | hlp->prn() == obs->prn() &&
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| 346 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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[7237] | 347 | par = hlp;
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| 348 | }
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| 349 | }
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[8956] | 350 | if (preProcessing) {
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[10002] | 351 | if (obs->prn() == refPrn) {
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[9642] | 352 | _obsPool->setRefSatChangeRequired(sys, true);
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| 353 | LOG << epoTimeStr << " Outlier ("
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| 354 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ")
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| 355 | << t_lc::toString(maxOutlierLC) << ' ' << obs->prn().toString()
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| 356 | << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
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[10003] | 357 | break;
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[10008] | 358 | } //else {obs->setOutlier();}
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[9642] | 359 | } else { // fin-processing
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[9556] | 360 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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[9642] | 361 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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| 362 | << maxOutlier << endl;
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[8956] | 363 | if (par) {
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[10002] | 364 | if (par->ambResetCandidate() ||
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| 365 | OPT->_obsModelType == OPT->DCMcodeBias ||
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| 366 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[10008] | 367 | resetAmb(par->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
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[10002] | 368 | }
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| 369 | else {
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| 370 | par->setAmbResetCandidate();
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| 371 | obs->setOutlier();
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| 372 | }
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[9704] | 373 | }
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[9703] | 374 | else {
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[7237] | 375 | obs->setOutlier();
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| 376 | }
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| 377 | }
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| 378 | }
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| 379 | // Print Residuals
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| 380 | // ---------------
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| 381 | else {
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[8905] | 382 | if (!preProcessing) {
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| 383 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
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| 384 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 385 | const t_lc::type tLC = usedTypes[ii];
|
---|
[9642] | 386 | t_pppSatObs *obs = usedObs[ii];
|
---|
[8905] | 387 | if (tLC == LCs[jj]) {
|
---|
| 388 | obs->setRes(tLC, vv[ii]);
|
---|
[9642] | 389 | LOG << epoTimeStr << " RES " << left << setw(3)
|
---|
[9699] | 390 | << t_lc::toString(tLC) << right << ' '
|
---|
| 391 | << obs->prn().toString();
|
---|
[9435] | 392 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 393 | }
|
---|
[7237] | 394 | }
|
---|
| 395 | }
|
---|
| 396 | }
|
---|
| 397 | break;
|
---|
| 398 | }
|
---|
| 399 | }
|
---|
| 400 | return success;
|
---|
| 401 | }
|
---|
| 402 |
|
---|
| 403 | // Cycle-Slip Detection
|
---|
| 404 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 405 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
|
---|
| 406 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
|
---|
| 407 | bool preProcessing) {
|
---|
[10002] | 408 | const double SLIP = 20.0;
|
---|
[9386] | 409 | char sys = refPrn.system();
|
---|
| 410 | string epoTimeStr = string(_epoTime);
|
---|
[9642] | 411 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9524] | 412 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 413 |
|
---|
| 414 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
[9642] | 415 | const t_lc::type &tLC = LCs[ii];
|
---|
[7237] | 416 | if (t_lc::includesPhase(tLC)) {
|
---|
| 417 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
[9642] | 418 | const t_pppSatObs *obs = obsVector[iObs];
|
---|
[7237] | 419 |
|
---|
[7267] | 420 | // Check set Slips and Jump Counters
|
---|
[7237] | 421 | // ---------------------------------
|
---|
| 422 | bool slip = false;
|
---|
[9386] | 423 |
|
---|
| 424 | // in pre-processing only the reference satellite has to be checked
|
---|
| 425 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 426 | continue;
|
---|
| 427 | }
|
---|
| 428 |
|
---|
[7237] | 429 | if (obs->slip()) {
|
---|
[9642] | 430 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString()
|
---|
| 431 | << endl;
|
---|
[7237] | 432 | slip = true;
|
---|
| 433 | }
|
---|
| 434 |
|
---|
[9642] | 435 | if (_slips[obs->prn()]._obsSlipCounter != -1
|
---|
| 436 | && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
| 437 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) "
|
---|
| 438 | << obs->prn().toString() << endl;
|
---|
[7237] | 439 | slip = true;
|
---|
| 440 | }
|
---|
[8956] | 441 | if (!preProcessing) {
|
---|
| 442 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 443 | }
|
---|
[9642] | 444 | if (_slips[obs->prn()]._biasJumpCounter != -1
|
---|
| 445 | && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
| 446 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) "
|
---|
| 447 | << obs->prn().toString() << endl;
|
---|
[7237] | 448 | slip = true;
|
---|
| 449 | }
|
---|
[8956] | 450 | if (!preProcessing) {
|
---|
| 451 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 452 | }
|
---|
[7237] | 453 | // Slip Set
|
---|
[7267] | 454 | // --------
|
---|
[7237] | 455 | if (slip) {
|
---|
[8905] | 456 | if (preProcessing) {
|
---|
[9386] | 457 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9642] | 458 | } else {
|
---|
[10008] | 459 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 460 | }
|
---|
[7237] | 461 | }
|
---|
[10002] | 462 | // Check Pre-Fit Residuals
|
---|
[9982] | 463 | // -----------------------
|
---|
[7237] | 464 | else {
|
---|
[9982] | 465 | ColumnVector AA(nPar);
|
---|
| 466 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
| 467 | const t_pppParam *par = params[iPar];
|
---|
| 468 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
| 469 | }
|
---|
| 470 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC)
|
---|
| 471 | - DotProduct(_x0, AA);
|
---|
| 472 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 473 | if (fabs(vv) > SLIP) {
|
---|
| 474 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC)
|
---|
| 475 | << ' ' << obs->prn().toString() << ' ' << setw(8)
|
---|
| 476 | << setprecision(4) << vv << endl;
|
---|
| 477 | if (preProcessing) {
|
---|
[9386] | 478 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9982] | 479 | } else {
|
---|
[10008] | 480 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 481 | }
|
---|
[7237] | 482 | }
|
---|
[10002] | 483 | }
|
---|
[7237] | 484 | }
|
---|
| 485 | }
|
---|
| 486 | }
|
---|
| 487 | return success;
|
---|
| 488 | }
|
---|
| 489 |
|
---|
| 490 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 491 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 492 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*> &obsVector,
|
---|
[10008] | 493 | t_lc::type lc, SymmetricMatrix *QSav, ColumnVector *xSav) {
|
---|
[8965] | 494 |
|
---|
[7237] | 495 | t_irc irc = failure;
|
---|
[9642] | 496 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 497 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 498 | t_pppParam *par = params[iPar];
|
---|
[7237] | 499 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 500 | int ind = par->indexNew();
|
---|
| 501 | t_lc::type tLC = par->tLC();
|
---|
[10008] | 502 | if (tLC != lc) {continue;}
|
---|
[7237] | 503 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
[9642] | 504 | delete par;
|
---|
| 505 | par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
[7237] | 506 | par->setIndex(ind);
|
---|
| 507 | params[iPar] = par;
|
---|
| 508 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
[9642] | 509 | _QFlt(ii, ind + 1) = 0.0;
|
---|
[7237] | 510 | if (QSav) {
|
---|
[9642] | 511 | (*QSav)(ii, ind + 1) = 0.0;
|
---|
[7237] | 512 | }
|
---|
| 513 | }
|
---|
[9642] | 514 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[7237] | 515 | if (QSav) {
|
---|
[9642] | 516 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
|
---|
[7237] | 517 | }
|
---|
| 518 | _xFlt[ind] = 0.0;
|
---|
| 519 | if (xSav) {
|
---|
| 520 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 521 | }
|
---|
| 522 | _x0[ind] = par->x0();
|
---|
| 523 | irc = success;
|
---|
| 524 | }
|
---|
| 525 | }
|
---|
| 526 |
|
---|
| 527 | return irc;
|
---|
| 528 | }
|
---|
| 529 |
|
---|
[9395] | 530 | // Add infinite noise to iono
|
---|
[9386] | 531 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 532 | t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) {
|
---|
[9386] | 533 | t_irc irc = failure;
|
---|
[9642] | 534 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9386] | 535 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 536 | t_pppParam *par = params[iPar];
|
---|
| 537 | if (par->type() == parType && par->prn().system() == sys) {
|
---|
[9386] | 538 | int ind = par->indexNew();
|
---|
[9659] | 539 | LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl;
|
---|
[9386] | 540 | par->setIndex(ind);
|
---|
[9642] | 541 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[9386] | 542 | irc = success;
|
---|
| 543 | }
|
---|
| 544 | }
|
---|
| 545 |
|
---|
| 546 | return irc;
|
---|
| 547 | }
|
---|
| 548 |
|
---|
[7237] | 549 | // Compute various DOP Values
|
---|
| 550 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 551 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector,
|
---|
| 552 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[7237] | 553 |
|
---|
| 554 | _dop.reset();
|
---|
| 555 |
|
---|
| 556 | try {
|
---|
| 557 | const unsigned numPar = 4;
|
---|
| 558 | Matrix AA(obsVector.size(), numPar);
|
---|
| 559 | _numSat = 0;
|
---|
| 560 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 561 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9508] | 562 | char sys = obs->prn().system();
|
---|
[8956] | 563 | t_prn refPrn = t_prn();
|
---|
| 564 | if (OPT->_refSatRequired) {
|
---|
[9508] | 565 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 566 | }
|
---|
[7237] | 567 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 568 | ++_numSat;
|
---|
| 569 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9642] | 570 | const t_pppParam *par = _parlist.params()[iPar];
|
---|
| 571 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 572 | }
|
---|
| 573 | }
|
---|
| 574 | }
|
---|
| 575 | if (_numSat < 4) {
|
---|
| 576 | return;
|
---|
| 577 | }
|
---|
| 578 | AA = AA.Rows(1, _numSat);
|
---|
[9642] | 579 | SymmetricMatrix NN;
|
---|
| 580 | NN << AA.t() * AA;
|
---|
[7237] | 581 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 582 |
|
---|
[9642] | 583 | _dop.H = sqrt(QQ(1, 1) + QQ(2, 2));
|
---|
| 584 | _dop.V = sqrt(QQ(3, 3));
|
---|
| 585 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 586 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 587 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
| 588 | } catch (...) {
|
---|
[7237] | 589 | }
|
---|
| 590 | }
|
---|
| 591 |
|
---|
[9526] | 592 | //
|
---|
[7237] | 593 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 594 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld) {
|
---|
[7237] | 595 |
|
---|
[9642] | 596 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 597 | if (params.size() < 3) {
|
---|
| 598 | return;
|
---|
| 599 | }
|
---|
| 600 |
|
---|
| 601 | bool first = (params[0]->indexOld() < 0);
|
---|
| 602 |
|
---|
[9642] | 603 | SymmetricMatrix Qneu(3);
|
---|
| 604 | Qneu = 0.0;
|
---|
[7237] | 605 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 606 | const t_pppParam *par = params[ii];
|
---|
[7237] | 607 | if (first) {
|
---|
| 608 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[9642] | 609 | } else {
|
---|
[7237] | 610 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 611 | }
|
---|
| 612 | }
|
---|
| 613 |
|
---|
[9642] | 614 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 615 | SymmetricMatrix Qxyz(3);
|
---|
| 616 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 617 |
|
---|
| 618 | if (first) {
|
---|
[9642] | 619 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
| 620 | } else {
|
---|
[7237] | 621 | double dt = _epoTime - _firstEpoTime;
|
---|
| 622 | if (dt < OPT->_seedingTime) {
|
---|
[9642] | 623 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
| 624 | } else {
|
---|
| 625 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 626 | }
|
---|
| 627 | }
|
---|
| 628 | }
|
---|
[8912] | 629 |
|
---|
[9526] | 630 | //
|
---|
| 631 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 632 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
| 633 | const SymmetricMatrix &QFltOld) {
|
---|
[9526] | 634 |
|
---|
[9642] | 635 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 636 | unsigned nPar = params.size();
|
---|
| 637 |
|
---|
[9642] | 638 | _QFlt.ReSize(nPar);
|
---|
| 639 | _QFlt = 0.0;
|
---|
| 640 | _xFlt.ReSize(nPar);
|
---|
| 641 | _xFlt = 0.0;
|
---|
| 642 | _x0.ReSize(nPar);
|
---|
| 643 | _x0 = 0.0;
|
---|
[9526] | 644 |
|
---|
| 645 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 646 | t_pppParam *par1 = params[ii];
|
---|
[9526] | 647 | if (QFltOld.size() == 0) {
|
---|
| 648 | par1->resetIndex();
|
---|
| 649 | }
|
---|
| 650 | _x0[ii] = par1->x0();
|
---|
| 651 | int iOld = par1->indexOld();
|
---|
| 652 | if (iOld < 0) {
|
---|
| 653 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 654 | } else {
|
---|
[9526] | 655 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
[9642] | 656 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 657 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 658 | t_pppParam *par2 = params[jj];
|
---|
| 659 | int jOld = par2->indexOld();
|
---|
[9526] | 660 | if (jOld >= 0) {
|
---|
[9642] | 661 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 662 | }
|
---|
| 663 | }
|
---|
| 664 | }
|
---|
| 665 | }
|
---|
| 666 | predictCovCrdPart(QFltOld);
|
---|
| 667 | }
|
---|
| 668 |
|
---|
[8915] | 669 | // Compute datum transformation
|
---|
[8912] | 670 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 671 | t_irc t_pppFilter::datumTransformation(
|
---|
| 672 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[9508] | 673 |
|
---|
[9419] | 674 | // get last epoch
|
---|
[9642] | 675 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
|
---|
[9419] | 676 | if (!epoch) {
|
---|
[9508] | 677 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 678 | return failure;
|
---|
| 679 | }
|
---|
[9508] | 680 | _epoTime = epoch->epoTime();
|
---|
| 681 | LOG.setf(ios::fixed);
|
---|
| 682 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
[9419] | 683 |
|
---|
[9642] | 684 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
|
---|
[9386] | 685 |
|
---|
[9642] | 686 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9508] | 687 |
|
---|
[9548] | 688 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
[9508] | 689 |
|
---|
[9419] | 690 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 691 | // =============================================================
|
---|
[10008] | 692 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
|
---|
| 693 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl;
|
---|
[9548] | 694 | return failure;
|
---|
[9386] | 695 | }
|
---|
| 696 |
|
---|
[9419] | 697 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
[9548] | 698 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9419] | 699 | return success;
|
---|
| 700 | }
|
---|
| 701 |
|
---|
[9386] | 702 | // set AA2
|
---|
| 703 | // =======
|
---|
[9508] | 704 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 705 | return failure;
|
---|
| 706 | }
|
---|
[9526] | 707 |
|
---|
[9386] | 708 | #ifdef BNC_DEBUG_PPP
|
---|
[9534] | 709 | _parlist.printParams(_epoTime);
|
---|
[9386] | 710 | #endif
|
---|
[9526] | 711 |
|
---|
[9642] | 712 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 713 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 714 | char sys = usedSystems[iSys];
|
---|
[9508] | 715 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 716 | vector<t_pppSatObs*> obsVector;
|
---|
| 717 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 718 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9618] | 719 | allObs[jj]->resetOutlier();
|
---|
[9386] | 720 | obsVector.push_back(allObs[jj]);
|
---|
| 721 | }
|
---|
| 722 | }
|
---|
[9431] | 723 | if (iSys == 0) {
|
---|
| 724 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 725 | }
|
---|
[9386] | 726 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 727 | unsigned usedLCs = LCs.size();
|
---|
[9548] | 728 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9642] | 729 | usedLCs -= 1; // GIM not used
|
---|
[9386] | 730 | }
|
---|
| 731 | // max Obs
|
---|
[9538] | 732 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
[9419] | 733 |
|
---|
[9548] | 734 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
[9386] | 735 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 736 | }
|
---|
[9526] | 737 |
|
---|
[9642] | 738 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 739 | unsigned nPar = _parlist.nPar();
|
---|
| 740 |
|
---|
[9642] | 741 | Matrix AA(maxObs, nPar);
|
---|
[9524] | 742 |
|
---|
[9386] | 743 | // Real Observations
|
---|
| 744 | // -----------------
|
---|
| 745 | int iObs = -1;
|
---|
| 746 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 747 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9419] | 748 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 749 | const t_lc::type tLC = LCs[jj];
|
---|
[9642] | 750 | if (tLC == t_lc::GIM) {
|
---|
| 751 | continue;
|
---|
| 752 | }
|
---|
[9419] | 753 | ++iObs;
|
---|
[9524] | 754 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 755 | const t_pppParam *par = params[iPar];
|
---|
[9419] | 756 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 757 | }
|
---|
| 758 | }
|
---|
| 759 | }
|
---|
[9538] | 760 |
|
---|
[9999] | 761 | if (!(iObs+1)) {
|
---|
[9419] | 762 | continue;
|
---|
| 763 | }
|
---|
[10002] | 764 | _datumTrafo->updateIndices(sys, iObs + 1);
|
---|
| 765 | #ifdef BNC_DEBUG_PPP
|
---|
| 766 | LOG << "AA Ncols/Nrows: " << AA.Ncols() << "/" << AA.Nrows() << " nPar: " << nPar << endl;
|
---|
| 767 | LOG << "AA.SubMatrix(1 .. " << iObs+1 << " , 1 .. " << nPar << ")" << endl;
|
---|
| 768 | #endif
|
---|
[10008] | 769 | if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2) != success) {
|
---|
[9508] | 770 | return failure;
|
---|
| 771 | }
|
---|
[9386] | 772 | }
|
---|
[9419] | 773 | _datumTrafo->updateNumObs();
|
---|
[9386] | 774 |
|
---|
| 775 | // Datum Transformation
|
---|
| 776 | // ====================
|
---|
[9642] | 777 | if (_datumTrafo->computeTrafoMatrix() != success) {
|
---|
[9419] | 778 | return failure;
|
---|
| 779 | }
|
---|
[10008] | 780 |
|
---|
[9642] | 781 | ColumnVector xFltOld = _xFlt;
|
---|
[9386] | 782 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 783 |
|
---|
[9419] | 784 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
[9642] | 785 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 786 |
|
---|
[9579] | 787 | #ifdef BNC_DEBUG_PPP
|
---|
[9562] | 788 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 789 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
[9579] | 790 | #endif
|
---|
[9386] | 791 |
|
---|
| 792 | // Reset Ambiguities after Datum Transformation
|
---|
| 793 | // ============================================
|
---|
[9431] | 794 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 795 | char sys = usedSystems[iSys];
|
---|
[10008] | 796 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 797 | unsigned usedLCs = LCs.size();
|
---|
| 798 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
| 799 | usedLCs -= 1; // GIM not used
|
---|
| 800 | }
|
---|
[9508] | 801 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 802 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 803 | if (refPrnNew != refPrnOld) {
|
---|
[10008] | 804 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 805 | const t_lc::type tLC = LCs[jj];
|
---|
| 806 | if (tLC == t_lc::GIM) {
|
---|
| 807 | continue;
|
---|
[9642] | 808 | }
|
---|
[10008] | 809 | resetAmb(refPrnOld, allObs, tLC);
|
---|
| 810 | }
|
---|
[9386] | 811 | }
|
---|
| 812 | }
|
---|
| 813 |
|
---|
| 814 | // switch AA2 to AA1
|
---|
| 815 | // =================
|
---|
| 816 | _datumTrafo->switchAA();
|
---|
| 817 |
|
---|
[9548] | 818 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9508] | 819 |
|
---|
[9386] | 820 | return success;
|
---|
[8912] | 821 | }
|
---|
| 822 |
|
---|
[9386] | 823 | // Init datum transformation
|
---|
[8956] | 824 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 825 | void t_pppFilter::initDatumTransformation(
|
---|
| 826 | const std::vector<t_pppSatObs*> &allObs, bool pseudoObsIono) {
|
---|
[9395] | 827 | unsigned trafoObs = 0;
|
---|
[9642] | 828 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 829 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 830 | char sys = usedSystems[iSys];
|
---|
[9386] | 831 | int satNum = 0;
|
---|
| 832 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 833 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 834 | satNum++;
|
---|
[8956] | 835 | }
|
---|
| 836 | }
|
---|
[9386] | 837 | // all LCs
|
---|
[9419] | 838 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 839 | // exclude pseudo obs GIM
|
---|
[9419] | 840 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 841 | realUsedLCs -= 1;
|
---|
| 842 | }
|
---|
[9538] | 843 |
|
---|
[9395] | 844 | trafoObs += satNum * realUsedLCs;
|
---|
| 845 |
|
---|
[9419] | 846 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 847 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 848 | }
|
---|
[8956] | 849 | }
|
---|
[9419] | 850 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 851 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 852 | _datumTrafo->initAA();
|
---|
[8956] | 853 | }
|
---|
[9386] | 854 |
|
---|
| 855 | //
|
---|
| 856 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 857 | bool t_pppFilter::resetRefSatellitesLastEpoch(
|
---|
| 858 | std::vector<t_pppSatObs*> &obsVector,
|
---|
| 859 | const QMap<char, t_pppRefSat*> &refSatMap,
|
---|
| 860 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch) {
|
---|
[9431] | 861 | bool resetRefSat;
|
---|
[9386] | 862 | // reference satellite definition per system
|
---|
[9642] | 863 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 864 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 865 | resetRefSat = false;
|
---|
| 866 | char sys = usedSystems[iSys];
|
---|
[9508] | 867 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 868 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 869 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 870 | if (oldPrn != newPrn) {
|
---|
| 871 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 872 | }
|
---|
[9386] | 873 | #endif
|
---|
| 874 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 875 | while (it != obsVector.end()) {
|
---|
[9642] | 876 | t_pppSatObs *satObs = *it;
|
---|
| 877 | if (satObs->prn() == newPrn) {
|
---|
[9386] | 878 | resetRefSat = true;
|
---|
| 879 | satObs->setAsReference();
|
---|
[9508] | 880 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 881 | satObs->resetReference();
|
---|
| 882 | }
|
---|
[9642] | 883 | it++;
|
---|
[9386] | 884 | }
|
---|
[9431] | 885 | if (!resetRefSat) {
|
---|
| 886 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 887 | return resetRefSat;
|
---|
| 888 | }
|
---|
[9386] | 889 | }
|
---|
| 890 | return resetRefSat;
|
---|
| 891 | }
|
---|