[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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[10009] | 351 | LOG << epoTimeStr << " Outlier ("
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| 352 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ")
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| 353 | << t_lc::toString(maxOutlierLC) << ' ' << obs->prn().toString()
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| 354 | << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
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[10002] | 355 | if (obs->prn() == refPrn) {
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[9642] | 356 | _obsPool->setRefSatChangeRequired(sys, true);
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[10003] | 357 | break;
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[10009] | 358 | } else {
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| 359 | obs->setOutlier();
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| 360 | }
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[9642] | 361 | } else { // fin-processing
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[9556] | 362 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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[9642] | 363 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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| 364 | << maxOutlier << endl;
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[8956] | 365 | if (par) {
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[10002] | 366 | if (par->ambResetCandidate() ||
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| 367 | OPT->_obsModelType == OPT->DCMcodeBias ||
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| 368 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[10008] | 369 | resetAmb(par->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
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[10002] | 370 | }
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| 371 | else {
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| 372 | par->setAmbResetCandidate();
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| 373 | obs->setOutlier();
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| 374 | }
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[9704] | 375 | }
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[9703] | 376 | else {
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[7237] | 377 | obs->setOutlier();
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| 378 | }
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| 379 | }
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| 380 | }
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| 381 | // Print Residuals
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| 382 | // ---------------
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| 383 | else {
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[8905] | 384 | if (!preProcessing) {
|
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| 385 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
---|
| 386 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 387 | const t_lc::type tLC = usedTypes[ii];
|
---|
[9642] | 388 | t_pppSatObs *obs = usedObs[ii];
|
---|
[8905] | 389 | if (tLC == LCs[jj]) {
|
---|
| 390 | obs->setRes(tLC, vv[ii]);
|
---|
[9642] | 391 | LOG << epoTimeStr << " RES " << left << setw(3)
|
---|
[9699] | 392 | << t_lc::toString(tLC) << right << ' '
|
---|
| 393 | << obs->prn().toString();
|
---|
[9435] | 394 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 395 | }
|
---|
[7237] | 396 | }
|
---|
| 397 | }
|
---|
| 398 | }
|
---|
| 399 | break;
|
---|
| 400 | }
|
---|
| 401 | }
|
---|
| 402 | return success;
|
---|
| 403 | }
|
---|
| 404 |
|
---|
| 405 | // Cycle-Slip Detection
|
---|
| 406 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 407 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
|
---|
| 408 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
|
---|
| 409 | bool preProcessing) {
|
---|
[10002] | 410 | const double SLIP = 20.0;
|
---|
[9386] | 411 | char sys = refPrn.system();
|
---|
| 412 | string epoTimeStr = string(_epoTime);
|
---|
[9642] | 413 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9524] | 414 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 415 |
|
---|
| 416 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
[9642] | 417 | const t_lc::type &tLC = LCs[ii];
|
---|
[7237] | 418 | if (t_lc::includesPhase(tLC)) {
|
---|
| 419 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
[9642] | 420 | const t_pppSatObs *obs = obsVector[iObs];
|
---|
[7237] | 421 |
|
---|
[7267] | 422 | // Check set Slips and Jump Counters
|
---|
[7237] | 423 | // ---------------------------------
|
---|
| 424 | bool slip = false;
|
---|
[9386] | 425 |
|
---|
| 426 | // in pre-processing only the reference satellite has to be checked
|
---|
| 427 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 428 | continue;
|
---|
| 429 | }
|
---|
| 430 |
|
---|
[7237] | 431 | if (obs->slip()) {
|
---|
[9642] | 432 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString()
|
---|
| 433 | << endl;
|
---|
[7237] | 434 | slip = true;
|
---|
| 435 | }
|
---|
| 436 |
|
---|
[9642] | 437 | if (_slips[obs->prn()]._obsSlipCounter != -1
|
---|
| 438 | && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
| 439 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) "
|
---|
| 440 | << obs->prn().toString() << endl;
|
---|
[7237] | 441 | slip = true;
|
---|
| 442 | }
|
---|
[8956] | 443 | if (!preProcessing) {
|
---|
| 444 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 445 | }
|
---|
[9642] | 446 | if (_slips[obs->prn()]._biasJumpCounter != -1
|
---|
| 447 | && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
| 448 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) "
|
---|
| 449 | << obs->prn().toString() << endl;
|
---|
[7237] | 450 | slip = true;
|
---|
| 451 | }
|
---|
[8956] | 452 | if (!preProcessing) {
|
---|
| 453 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 454 | }
|
---|
[7237] | 455 | // Slip Set
|
---|
[7267] | 456 | // --------
|
---|
[7237] | 457 | if (slip) {
|
---|
[8905] | 458 | if (preProcessing) {
|
---|
[9386] | 459 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9642] | 460 | } else {
|
---|
[10008] | 461 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 462 | }
|
---|
[7237] | 463 | }
|
---|
[10002] | 464 | // Check Pre-Fit Residuals
|
---|
[9982] | 465 | // -----------------------
|
---|
[7237] | 466 | else {
|
---|
[9982] | 467 | ColumnVector AA(nPar);
|
---|
| 468 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
| 469 | const t_pppParam *par = params[iPar];
|
---|
| 470 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
| 471 | }
|
---|
| 472 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC)
|
---|
| 473 | - DotProduct(_x0, AA);
|
---|
| 474 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 475 | if (fabs(vv) > SLIP) {
|
---|
| 476 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC)
|
---|
| 477 | << ' ' << obs->prn().toString() << ' ' << setw(8)
|
---|
| 478 | << setprecision(4) << vv << endl;
|
---|
| 479 | if (preProcessing) {
|
---|
[9386] | 480 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9982] | 481 | } else {
|
---|
[10008] | 482 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 483 | }
|
---|
[7237] | 484 | }
|
---|
[10002] | 485 | }
|
---|
[7237] | 486 | }
|
---|
| 487 | }
|
---|
| 488 | }
|
---|
| 489 | return success;
|
---|
| 490 | }
|
---|
| 491 |
|
---|
| 492 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 493 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 494 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*> &obsVector,
|
---|
[10008] | 495 | t_lc::type lc, SymmetricMatrix *QSav, ColumnVector *xSav) {
|
---|
[8965] | 496 |
|
---|
[7237] | 497 | t_irc irc = failure;
|
---|
[9642] | 498 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 499 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 500 | t_pppParam *par = params[iPar];
|
---|
[7237] | 501 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 502 | int ind = par->indexNew();
|
---|
| 503 | t_lc::type tLC = par->tLC();
|
---|
[10008] | 504 | if (tLC != lc) {continue;}
|
---|
[7237] | 505 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
[9642] | 506 | delete par;
|
---|
| 507 | par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
[7237] | 508 | par->setIndex(ind);
|
---|
| 509 | params[iPar] = par;
|
---|
| 510 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
[9642] | 511 | _QFlt(ii, ind + 1) = 0.0;
|
---|
[7237] | 512 | if (QSav) {
|
---|
[9642] | 513 | (*QSav)(ii, ind + 1) = 0.0;
|
---|
[7237] | 514 | }
|
---|
| 515 | }
|
---|
[9642] | 516 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[7237] | 517 | if (QSav) {
|
---|
[9642] | 518 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
|
---|
[7237] | 519 | }
|
---|
| 520 | _xFlt[ind] = 0.0;
|
---|
| 521 | if (xSav) {
|
---|
| 522 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 523 | }
|
---|
| 524 | _x0[ind] = par->x0();
|
---|
| 525 | irc = success;
|
---|
| 526 | }
|
---|
| 527 | }
|
---|
| 528 |
|
---|
| 529 | return irc;
|
---|
| 530 | }
|
---|
| 531 |
|
---|
[9395] | 532 | // Add infinite noise to iono
|
---|
[9386] | 533 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 534 | t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) {
|
---|
[9386] | 535 | t_irc irc = failure;
|
---|
[9642] | 536 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9386] | 537 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 538 | t_pppParam *par = params[iPar];
|
---|
| 539 | if (par->type() == parType && par->prn().system() == sys) {
|
---|
[9386] | 540 | int ind = par->indexNew();
|
---|
[9659] | 541 | LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl;
|
---|
[9386] | 542 | par->setIndex(ind);
|
---|
[9642] | 543 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[9386] | 544 | irc = success;
|
---|
| 545 | }
|
---|
| 546 | }
|
---|
| 547 |
|
---|
| 548 | return irc;
|
---|
| 549 | }
|
---|
| 550 |
|
---|
[7237] | 551 | // Compute various DOP Values
|
---|
| 552 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 553 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector,
|
---|
| 554 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[7237] | 555 |
|
---|
| 556 | _dop.reset();
|
---|
| 557 |
|
---|
| 558 | try {
|
---|
| 559 | const unsigned numPar = 4;
|
---|
| 560 | Matrix AA(obsVector.size(), numPar);
|
---|
| 561 | _numSat = 0;
|
---|
| 562 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 563 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9508] | 564 | char sys = obs->prn().system();
|
---|
[8956] | 565 | t_prn refPrn = t_prn();
|
---|
| 566 | if (OPT->_refSatRequired) {
|
---|
[9508] | 567 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 568 | }
|
---|
[7237] | 569 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 570 | ++_numSat;
|
---|
| 571 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9642] | 572 | const t_pppParam *par = _parlist.params()[iPar];
|
---|
| 573 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 574 | }
|
---|
| 575 | }
|
---|
| 576 | }
|
---|
| 577 | if (_numSat < 4) {
|
---|
| 578 | return;
|
---|
| 579 | }
|
---|
| 580 | AA = AA.Rows(1, _numSat);
|
---|
[9642] | 581 | SymmetricMatrix NN;
|
---|
| 582 | NN << AA.t() * AA;
|
---|
[7237] | 583 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 584 |
|
---|
[9642] | 585 | _dop.H = sqrt(QQ(1, 1) + QQ(2, 2));
|
---|
| 586 | _dop.V = sqrt(QQ(3, 3));
|
---|
| 587 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 588 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 589 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
| 590 | } catch (...) {
|
---|
[7237] | 591 | }
|
---|
| 592 | }
|
---|
| 593 |
|
---|
[9526] | 594 | //
|
---|
[7237] | 595 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 596 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld) {
|
---|
[7237] | 597 |
|
---|
[9642] | 598 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 599 | if (params.size() < 3) {
|
---|
| 600 | return;
|
---|
| 601 | }
|
---|
| 602 |
|
---|
| 603 | bool first = (params[0]->indexOld() < 0);
|
---|
| 604 |
|
---|
[9642] | 605 | SymmetricMatrix Qneu(3);
|
---|
| 606 | Qneu = 0.0;
|
---|
[7237] | 607 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 608 | const t_pppParam *par = params[ii];
|
---|
[7237] | 609 | if (first) {
|
---|
| 610 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[9642] | 611 | } else {
|
---|
[7237] | 612 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 613 | }
|
---|
| 614 | }
|
---|
| 615 |
|
---|
[9642] | 616 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 617 | SymmetricMatrix Qxyz(3);
|
---|
| 618 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 619 |
|
---|
| 620 | if (first) {
|
---|
[9642] | 621 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
| 622 | } else {
|
---|
[7237] | 623 | double dt = _epoTime - _firstEpoTime;
|
---|
| 624 | if (dt < OPT->_seedingTime) {
|
---|
[9642] | 625 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
| 626 | } else {
|
---|
| 627 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 628 | }
|
---|
| 629 | }
|
---|
| 630 | }
|
---|
[8912] | 631 |
|
---|
[9526] | 632 | //
|
---|
| 633 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 634 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
| 635 | const SymmetricMatrix &QFltOld) {
|
---|
[9526] | 636 |
|
---|
[9642] | 637 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 638 | unsigned nPar = params.size();
|
---|
| 639 |
|
---|
[9642] | 640 | _QFlt.ReSize(nPar);
|
---|
| 641 | _QFlt = 0.0;
|
---|
| 642 | _xFlt.ReSize(nPar);
|
---|
| 643 | _xFlt = 0.0;
|
---|
| 644 | _x0.ReSize(nPar);
|
---|
| 645 | _x0 = 0.0;
|
---|
[9526] | 646 |
|
---|
| 647 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 648 | t_pppParam *par1 = params[ii];
|
---|
[9526] | 649 | if (QFltOld.size() == 0) {
|
---|
| 650 | par1->resetIndex();
|
---|
| 651 | }
|
---|
| 652 | _x0[ii] = par1->x0();
|
---|
| 653 | int iOld = par1->indexOld();
|
---|
| 654 | if (iOld < 0) {
|
---|
| 655 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 656 | } else {
|
---|
[9526] | 657 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
[9642] | 658 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 659 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 660 | t_pppParam *par2 = params[jj];
|
---|
| 661 | int jOld = par2->indexOld();
|
---|
[9526] | 662 | if (jOld >= 0) {
|
---|
[9642] | 663 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 664 | }
|
---|
| 665 | }
|
---|
| 666 | }
|
---|
| 667 | }
|
---|
| 668 | predictCovCrdPart(QFltOld);
|
---|
| 669 | }
|
---|
| 670 |
|
---|
[8915] | 671 | // Compute datum transformation
|
---|
[8912] | 672 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 673 | t_irc t_pppFilter::datumTransformation(
|
---|
| 674 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[9508] | 675 |
|
---|
[9419] | 676 | // get last epoch
|
---|
[9642] | 677 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
|
---|
[9419] | 678 | if (!epoch) {
|
---|
[9508] | 679 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 680 | return failure;
|
---|
| 681 | }
|
---|
[9508] | 682 | _epoTime = epoch->epoTime();
|
---|
| 683 | LOG.setf(ios::fixed);
|
---|
| 684 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
[9419] | 685 |
|
---|
[9642] | 686 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
|
---|
[9386] | 687 |
|
---|
[9642] | 688 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9508] | 689 |
|
---|
[9548] | 690 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
[9508] | 691 |
|
---|
[9419] | 692 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 693 | // =============================================================
|
---|
[10008] | 694 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
|
---|
| 695 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl;
|
---|
[9548] | 696 | return failure;
|
---|
[9386] | 697 | }
|
---|
| 698 |
|
---|
[9419] | 699 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
[9548] | 700 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9419] | 701 | return success;
|
---|
| 702 | }
|
---|
| 703 |
|
---|
[9386] | 704 | // set AA2
|
---|
| 705 | // =======
|
---|
[9508] | 706 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 707 | return failure;
|
---|
| 708 | }
|
---|
[9526] | 709 |
|
---|
[9386] | 710 | #ifdef BNC_DEBUG_PPP
|
---|
[9534] | 711 | _parlist.printParams(_epoTime);
|
---|
[9386] | 712 | #endif
|
---|
[9526] | 713 |
|
---|
[9642] | 714 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 715 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 716 | char sys = usedSystems[iSys];
|
---|
[9508] | 717 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 718 | vector<t_pppSatObs*> obsVector;
|
---|
| 719 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 720 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9618] | 721 | allObs[jj]->resetOutlier();
|
---|
[9386] | 722 | obsVector.push_back(allObs[jj]);
|
---|
| 723 | }
|
---|
| 724 | }
|
---|
[9431] | 725 | if (iSys == 0) {
|
---|
| 726 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 727 | }
|
---|
[9386] | 728 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 729 | unsigned usedLCs = LCs.size();
|
---|
[9548] | 730 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9642] | 731 | usedLCs -= 1; // GIM not used
|
---|
[9386] | 732 | }
|
---|
| 733 | // max Obs
|
---|
[9538] | 734 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
[9419] | 735 |
|
---|
[9548] | 736 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
[9386] | 737 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 738 | }
|
---|
[9526] | 739 |
|
---|
[9642] | 740 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 741 | unsigned nPar = _parlist.nPar();
|
---|
| 742 |
|
---|
[9642] | 743 | Matrix AA(maxObs, nPar);
|
---|
[9524] | 744 |
|
---|
[9386] | 745 | // Real Observations
|
---|
| 746 | // -----------------
|
---|
| 747 | int iObs = -1;
|
---|
| 748 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 749 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9419] | 750 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 751 | const t_lc::type tLC = LCs[jj];
|
---|
[9642] | 752 | if (tLC == t_lc::GIM) {
|
---|
| 753 | continue;
|
---|
| 754 | }
|
---|
[9419] | 755 | ++iObs;
|
---|
[9524] | 756 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 757 | const t_pppParam *par = params[iPar];
|
---|
[9419] | 758 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 759 | }
|
---|
| 760 | }
|
---|
| 761 | }
|
---|
[9538] | 762 |
|
---|
[9999] | 763 | if (!(iObs+1)) {
|
---|
[9419] | 764 | continue;
|
---|
| 765 | }
|
---|
[10002] | 766 | _datumTrafo->updateIndices(sys, iObs + 1);
|
---|
| 767 | #ifdef BNC_DEBUG_PPP
|
---|
| 768 | LOG << "AA Ncols/Nrows: " << AA.Ncols() << "/" << AA.Nrows() << " nPar: " << nPar << endl;
|
---|
| 769 | LOG << "AA.SubMatrix(1 .. " << iObs+1 << " , 1 .. " << nPar << ")" << endl;
|
---|
| 770 | #endif
|
---|
[10008] | 771 | if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2) != success) {
|
---|
[9508] | 772 | return failure;
|
---|
| 773 | }
|
---|
[9386] | 774 | }
|
---|
[9419] | 775 | _datumTrafo->updateNumObs();
|
---|
[9386] | 776 |
|
---|
| 777 | // Datum Transformation
|
---|
| 778 | // ====================
|
---|
[9642] | 779 | if (_datumTrafo->computeTrafoMatrix() != success) {
|
---|
[9419] | 780 | return failure;
|
---|
| 781 | }
|
---|
[10008] | 782 |
|
---|
[9642] | 783 | ColumnVector xFltOld = _xFlt;
|
---|
[9386] | 784 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 785 |
|
---|
[9419] | 786 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
[9642] | 787 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 788 |
|
---|
[9579] | 789 | #ifdef BNC_DEBUG_PPP
|
---|
[9562] | 790 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 791 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
[9579] | 792 | #endif
|
---|
[9386] | 793 |
|
---|
| 794 | // Reset Ambiguities after Datum Transformation
|
---|
| 795 | // ============================================
|
---|
[9431] | 796 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 797 | char sys = usedSystems[iSys];
|
---|
[10008] | 798 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 799 | unsigned usedLCs = LCs.size();
|
---|
| 800 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
| 801 | usedLCs -= 1; // GIM not used
|
---|
| 802 | }
|
---|
[9508] | 803 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 804 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 805 | if (refPrnNew != refPrnOld) {
|
---|
[10008] | 806 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 807 | const t_lc::type tLC = LCs[jj];
|
---|
| 808 | if (tLC == t_lc::GIM) {
|
---|
| 809 | continue;
|
---|
[9642] | 810 | }
|
---|
[10008] | 811 | resetAmb(refPrnOld, allObs, tLC);
|
---|
| 812 | }
|
---|
[9386] | 813 | }
|
---|
| 814 | }
|
---|
| 815 |
|
---|
| 816 | // switch AA2 to AA1
|
---|
| 817 | // =================
|
---|
| 818 | _datumTrafo->switchAA();
|
---|
| 819 |
|
---|
[9548] | 820 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9508] | 821 |
|
---|
[9386] | 822 | return success;
|
---|
[8912] | 823 | }
|
---|
| 824 |
|
---|
[9386] | 825 | // Init datum transformation
|
---|
[8956] | 826 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 827 | void t_pppFilter::initDatumTransformation(
|
---|
| 828 | const std::vector<t_pppSatObs*> &allObs, bool pseudoObsIono) {
|
---|
[9395] | 829 | unsigned trafoObs = 0;
|
---|
[9642] | 830 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 831 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 832 | char sys = usedSystems[iSys];
|
---|
[9386] | 833 | int satNum = 0;
|
---|
| 834 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 835 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 836 | satNum++;
|
---|
[8956] | 837 | }
|
---|
| 838 | }
|
---|
[9386] | 839 | // all LCs
|
---|
[9419] | 840 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 841 | // exclude pseudo obs GIM
|
---|
[9419] | 842 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 843 | realUsedLCs -= 1;
|
---|
| 844 | }
|
---|
[9538] | 845 |
|
---|
[9395] | 846 | trafoObs += satNum * realUsedLCs;
|
---|
| 847 |
|
---|
[9419] | 848 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 849 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 850 | }
|
---|
[8956] | 851 | }
|
---|
[9419] | 852 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 853 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 854 | _datumTrafo->initAA();
|
---|
[8956] | 855 | }
|
---|
[9386] | 856 |
|
---|
| 857 | //
|
---|
| 858 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 859 | bool t_pppFilter::resetRefSatellitesLastEpoch(
|
---|
| 860 | std::vector<t_pppSatObs*> &obsVector,
|
---|
| 861 | const QMap<char, t_pppRefSat*> &refSatMap,
|
---|
| 862 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch) {
|
---|
[9431] | 863 | bool resetRefSat;
|
---|
[9386] | 864 | // reference satellite definition per system
|
---|
[9642] | 865 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 866 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 867 | resetRefSat = false;
|
---|
| 868 | char sys = usedSystems[iSys];
|
---|
[9508] | 869 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 870 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 871 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 872 | if (oldPrn != newPrn) {
|
---|
| 873 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 874 | }
|
---|
[9386] | 875 | #endif
|
---|
| 876 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 877 | while (it != obsVector.end()) {
|
---|
[9642] | 878 | t_pppSatObs *satObs = *it;
|
---|
| 879 | if (satObs->prn() == newPrn) {
|
---|
[9386] | 880 | resetRefSat = true;
|
---|
| 881 | satObs->setAsReference();
|
---|
[9508] | 882 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 883 | satObs->resetReference();
|
---|
| 884 | }
|
---|
[9642] | 885 | it++;
|
---|
[9386] | 886 | }
|
---|
[9431] | 887 | if (!resetRefSat) {
|
---|
| 888 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 889 | return resetRefSat;
|
---|
| 890 | }
|
---|
[9386] | 891 | }
|
---|
| 892 | return resetRefSat;
|
---|
| 893 | }
|
---|