[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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[10010] | 74 | const QList<char> &usedSystems = _parlist.usedSystems();
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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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[10010] | 80 | #ifdef BNC_DEBUG_PPP
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[9527] | 81 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[10010] | 82 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 83 | _parlist.printParams(_epoTime);
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| 84 | }
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[9386] | 85 | #endif
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[10010] | 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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[10010] | 91 | bool setNeuNoiseToZero = false;
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| 92 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 93 | char sys = usedSystems[iSys];
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| 94 | int num = 0;
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| 95 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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| 96 | if (allObs[jj]->prn().system() == sys) {
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| 97 | ++num;
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| 98 | }
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| 99 | }
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| 100 | if (num < OPT->_minObs) {
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| 101 | setNeuNoiseToZero = true;
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| 102 | }
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| 103 | }
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| 104 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld, setNeuNoiseToZero);
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[8956] | 105 |
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[8905] | 106 | // Pre-Process Satellite Systems separately
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| 107 | // ----------------------------------------
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| 108 | bool preProcessing = false;
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| 109 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 110 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[8905] | 111 | preProcessing = true;
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[9431] | 112 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 113 | char sys = usedSystems[iSys];
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[9526] | 114 | _refPrn.set(sys, 0);
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| 115 | if (OPT->_refSatRequired) {
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| 116 | _refPrn = refSatMap[sys]->prn();
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| 117 | }
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[9642] | 118 | vector<t_pppSatObs*> obsVector;
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[8905] | 119 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 120 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 121 | obsVector.push_back(allObs[jj]);
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| 122 | }
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| 123 | }
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[9431] | 124 | if (iSys == 0) {
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| 125 | _datumTrafo->setFirstSystem(sys);
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[9419] | 126 | }
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[9386] | 127 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[9642] | 128 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9583] | 129 | LOG << sys << ": processSystem != success (pre-processing)" << endl;
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[9386] | 130 | _xFlt = xFltOld;
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| 131 | _QFlt = QFltOld;
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[9532] | 132 | _obsPool->deleteLastEpoch();
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[9527] | 133 | restoreState(2);
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[8905] | 134 | return failure;
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| 135 | }
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| 136 | }
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[8956] | 137 | // refSat change required?
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| 138 | // -----------------------
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| 139 | if (_obsPool->refSatChangeRequired()) {
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| 140 | _xFlt = xFltOld;
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| 141 | _QFlt = QFltOld;
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| 142 | return success;
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[9642] | 143 | } else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 144 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 145 | }
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[8905] | 146 | }
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| 147 |
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[7237] | 148 | // Process Satellite Systems separately
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| 149 | // ------------------------------------
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[8912] | 150 | preProcessing = false;
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[9431] | 151 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 152 | char sys = usedSystems[iSys];
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[9526] | 153 | _refPrn.set(sys, 0);
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[8910] | 154 | if (OPT->_refSatRequired) {
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[9508] | 155 | _refPrn = refSatMap[sys]->prn();
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[8910] | 156 | }
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[7267] | 157 | unsigned int num = 0;
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[7237] | 158 | vector<t_pppSatObs*> obsVector;
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| 159 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 160 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 161 | obsVector.push_back(allObs[jj]);
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[9419] | 162 | ++num;
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[7237] | 163 | }
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| 164 | }
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[9431] | 165 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 166 | _datumTrafo->setFirstSystem(sys);
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[9419] | 167 | }
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[9642] | 168 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num
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| 169 | << endl;
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| 170 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn, epoch->pseudoObsIono(),
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| 171 | preProcessing) != success) {
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[9537] | 172 | LOG << "processSystem != success (fin-processing)" << endl;
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| 173 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9699] | 174 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9590] | 175 | _xFlt = xFltOld;
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| 176 | _QFlt = QFltOld;
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[9537] | 177 | _obsPool->deleteLastEpoch();
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| 178 | restoreState(3);
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| 179 | }
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[7237] | 180 | return failure;
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| 181 | }
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| 182 | }
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[8912] | 183 |
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| 184 | // close epoch processing
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| 185 | // ----------------------
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[9508] | 186 | cmpDOP(allObs, refSatMap);
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[9504] | 187 | _parlist.printResult(_epoTime, _QFlt, _xFlt);
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[9642] | 188 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 189 | return success;
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| 190 | }
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| 191 |
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| 192 | // Process Selected LCs
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| 193 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 194 | t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
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| 195 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
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| 196 | bool pseudoObsIonoAvailable, bool preProcessing) {
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[7237] | 197 | LOG.setf(ios::fixed);
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[9386] | 198 | char sys = refPrn.system();
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[7237] | 199 |
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| 200 | // Detect Cycle Slips
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| 201 | // ------------------
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[8905] | 202 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 203 | return failure;
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| 204 | }
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[9398] | 205 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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[9386] | 206 | return success;
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| 207 | }
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[7237] | 208 |
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[9642] | 209 | ColumnVector xSav = _xFlt;
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| 210 | SymmetricMatrix QSav = _QFlt;
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| 211 | string epoTimeStr = string(_epoTime);
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| 212 | const vector<t_pppParam*> ¶ms = _parlist.params();
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[9524] | 213 | unsigned nPar = _parlist.nPar();
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[8965] | 214 |
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[9642] | 215 | unsigned usedLCs = LCs.size();
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[8965] | 216 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9642] | 217 | usedLCs -= 1; // GIM not used
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[8961] | 218 | }
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| 219 | // max Obs
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[9538] | 220 | unsigned maxObs = obsVector.size() * usedLCs;
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| 221 |
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[8965] | 222 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 223 | maxObs -= 1; // pseudo obs iono with respect to refSat
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[8905] | 224 | }
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| 225 |
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[7237] | 226 | // Outlier Detection Loop
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| 227 | // ----------------------
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| 228 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 229 |
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| 230 | if (iOutlier > 0) {
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| 231 | _xFlt = xSav;
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| 232 | _QFlt = QSav;
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| 233 | }
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| 234 |
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| 235 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 236 | // -----------------------------------------------------------
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[9642] | 237 | Matrix AA(maxObs, nPar);
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| 238 | ColumnVector ll(maxObs);
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| 239 | DiagonalMatrix PP(maxObs);
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| 240 | PP = 0.0;
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[8912] | 241 |
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[7237] | 242 | int iObs = -1;
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| 243 | vector<t_pppSatObs*> usedObs;
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[9642] | 244 | vector<t_lc::type> usedTypes;
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[9386] | 245 |
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| 246 | // Real Observations
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| 247 | // =================
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[9583] | 248 | double nSat = 0;
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[7237] | 249 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 250 | t_pppSatObs *obs = obsVector[ii];
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[9419] | 251 | if (iOutlier == 0 && !preProcessing) {
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| 252 | obs->resetOutlier();
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| 253 | }
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[7237] | 254 | if (!obs->outlier()) {
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[9583] | 255 | nSat++;
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[8905] | 256 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 257 | const t_lc::type tLC = LCs[jj];
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[9642] | 258 | if (tLC == t_lc::GIM) {
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| 259 | continue;
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| 260 | }
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[7237] | 261 | ++iObs;
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| 262 | usedObs.push_back(obs);
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| 263 | usedTypes.push_back(tLC);
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[9524] | 264 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 265 | const t_pppParam *par = params[iPar];
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[8956] | 266 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 267 | }
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[9642] | 268 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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[9967] | 269 | - DotProduct(_x0, AA.Row(iObs + 1));
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[7237] | 270 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 271 | }
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| 272 | }
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| 273 | }
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| 274 |
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[9556] | 275 | // Check number of observations
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| 276 | // ----------------------------
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[9701] | 277 | if (iObs == -1) {
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[9992] | 278 | LOG << " number of observations == " << iObs + 1 << "\n";
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[9997] | 279 | if (preProcessing) {
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| 280 | _obsPool->setRefSatChangeRequired(sys, true);
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| 281 | return success;
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| 282 | }
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[9701] | 283 | return failure;
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[9699] | 284 | }
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[9625] | 285 |
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[9967] | 286 | if ((!iOutlier) &&
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| 287 | (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 288 | OPT->_obsModelType == OPT->DCMphaseBias) && (!preProcessing)) {
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[9642] | 289 | _datumTrafo->updateIndices(sys, iObs + 1);
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| 290 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, _parlist.nPar()), 1);
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[9386] | 291 | }
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| 292 |
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| 293 | // Pseudo Obs Iono
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| 294 | // ================
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| 295 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 296 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 297 | t_pppSatObs *obs = obsVector[ii];
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[9386] | 298 | if (!obs->outlier()) {
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| 299 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 300 | const t_lc::type tLC = LCs[jj];
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| 301 | if (tLC == t_lc::GIM && !obs->isReference()) {
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| 302 | ++iObs;
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[9642] | 303 | } else {
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| 304 | continue;
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| 305 | }
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[9386] | 306 | usedObs.push_back(obs);
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| 307 | usedTypes.push_back(tLC);
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[9524] | 308 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 309 | const t_pppParam *par = params[iPar];
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[9386] | 310 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 311 | }
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[9642] | 312 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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[9967] | 313 | - DotProduct(_x0, AA.Row(iObs + 1));
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[9386] | 314 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 315 | }
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| 316 | }
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[8956] | 317 | }
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[8915] | 318 | }
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| 319 |
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[9556] | 320 | // Truncate matrices
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| 321 | // -----------------
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[9642] | 322 | AA = AA.Rows(1, iObs + 1);
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| 323 | ll = ll.Rows(1, iObs + 1);
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| 324 | PP = PP.SymSubMatrix(1, iObs + 1);
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[7237] | 325 |
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| 326 | // Kalman update step
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| 327 | // ------------------
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| 328 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 329 |
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| 330 | // Check Residuals
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| 331 | // ---------------
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| 332 | ColumnVector vv = AA * _xFlt - ll;
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[9642] | 333 | double maxOutlier = 0.0;
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| 334 | int maxOutlierIndex = -1;
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| 335 | t_lc::type maxOutlierLC = t_lc::dummy;
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[7237] | 336 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 337 | const t_lc::type tLC = usedTypes[ii];
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| 338 | double res = fabs(vv[ii]);
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| 339 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 340 | if (res > fabs(maxOutlier)) {
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[9642] | 341 | maxOutlier = vv[ii];
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[7237] | 342 | maxOutlierIndex = ii;
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[9642] | 343 | maxOutlierLC = tLC;
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[7237] | 344 | }
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| 345 | }
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| 346 | }
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| 347 |
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| 348 | // Mark outlier or break outlier detection loop
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| 349 | // --------------------------------------------
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| 350 | if (maxOutlierIndex > -1) {
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[9642] | 351 | t_pppSatObs *obs = usedObs[maxOutlierIndex];
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| 352 | t_pppParam *par = 0;
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[9524] | 353 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 354 | t_pppParam *hlp = params[iPar];
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[10008] | 355 | if (hlp->type() == t_pppParam::amb &&
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| 356 | hlp->prn() == obs->prn() &&
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| 357 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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[7237] | 358 | par = hlp;
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| 359 | }
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| 360 | }
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[8956] | 361 | if (preProcessing) {
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[10002] | 362 | if (obs->prn() == refPrn) {
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[10012] | 363 | LOG << epoTimeStr << " Outlier ("
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| 364 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ")
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| 365 | << t_lc::toString(maxOutlierLC) << ' ' << obs->prn().toString()
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| 366 | << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
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[9642] | 367 | _obsPool->setRefSatChangeRequired(sys, true);
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[10003] | 368 | break;
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[10009] | 369 | } else {
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| 370 | obs->setOutlier();
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| 371 | }
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[9642] | 372 | } else { // fin-processing
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[9556] | 373 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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[9642] | 374 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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| 375 | << maxOutlier << endl;
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[8956] | 376 | if (par) {
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[10002] | 377 | if (par->ambResetCandidate() ||
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| 378 | OPT->_obsModelType == OPT->DCMcodeBias ||
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| 379 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[10008] | 380 | resetAmb(par->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
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[10002] | 381 | }
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| 382 | else {
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| 383 | par->setAmbResetCandidate();
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| 384 | obs->setOutlier();
|
---|
| 385 | }
|
---|
[9704] | 386 | }
|
---|
[9703] | 387 | else {
|
---|
[7237] | 388 | obs->setOutlier();
|
---|
| 389 | }
|
---|
| 390 | }
|
---|
| 391 | }
|
---|
| 392 | // Print Residuals
|
---|
| 393 | // ---------------
|
---|
| 394 | else {
|
---|
[8905] | 395 | if (!preProcessing) {
|
---|
| 396 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
---|
| 397 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 398 | const t_lc::type tLC = usedTypes[ii];
|
---|
[9642] | 399 | t_pppSatObs *obs = usedObs[ii];
|
---|
[8905] | 400 | if (tLC == LCs[jj]) {
|
---|
| 401 | obs->setRes(tLC, vv[ii]);
|
---|
[9642] | 402 | LOG << epoTimeStr << " RES " << left << setw(3)
|
---|
[9699] | 403 | << t_lc::toString(tLC) << right << ' '
|
---|
| 404 | << obs->prn().toString();
|
---|
[9435] | 405 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 406 | }
|
---|
[7237] | 407 | }
|
---|
| 408 | }
|
---|
| 409 | }
|
---|
| 410 | break;
|
---|
| 411 | }
|
---|
| 412 | }
|
---|
| 413 | return success;
|
---|
| 414 | }
|
---|
| 415 |
|
---|
| 416 | // Cycle-Slip Detection
|
---|
| 417 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 418 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
|
---|
| 419 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
|
---|
| 420 | bool preProcessing) {
|
---|
[10011] | 421 | const double SLIP = 50.0;
|
---|
[9386] | 422 | char sys = refPrn.system();
|
---|
| 423 | string epoTimeStr = string(_epoTime);
|
---|
[9642] | 424 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9524] | 425 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 426 |
|
---|
| 427 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
[9642] | 428 | const t_lc::type &tLC = LCs[ii];
|
---|
[7237] | 429 | if (t_lc::includesPhase(tLC)) {
|
---|
| 430 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
[9642] | 431 | const t_pppSatObs *obs = obsVector[iObs];
|
---|
[7237] | 432 |
|
---|
[7267] | 433 | // Check set Slips and Jump Counters
|
---|
[7237] | 434 | // ---------------------------------
|
---|
| 435 | bool slip = false;
|
---|
[9386] | 436 |
|
---|
| 437 | // in pre-processing only the reference satellite has to be checked
|
---|
| 438 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 439 | continue;
|
---|
| 440 | }
|
---|
| 441 |
|
---|
[7237] | 442 | if (obs->slip()) {
|
---|
[9642] | 443 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString()
|
---|
| 444 | << endl;
|
---|
[7237] | 445 | slip = true;
|
---|
| 446 | }
|
---|
| 447 |
|
---|
[9642] | 448 | if (_slips[obs->prn()]._obsSlipCounter != -1
|
---|
| 449 | && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
| 450 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) "
|
---|
| 451 | << obs->prn().toString() << endl;
|
---|
[7237] | 452 | slip = true;
|
---|
| 453 | }
|
---|
[8956] | 454 | if (!preProcessing) {
|
---|
| 455 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 456 | }
|
---|
[9642] | 457 | if (_slips[obs->prn()]._biasJumpCounter != -1
|
---|
| 458 | && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
| 459 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) "
|
---|
| 460 | << obs->prn().toString() << endl;
|
---|
[7237] | 461 | slip = true;
|
---|
| 462 | }
|
---|
[8956] | 463 | if (!preProcessing) {
|
---|
| 464 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 465 | }
|
---|
[7237] | 466 | // Slip Set
|
---|
[7267] | 467 | // --------
|
---|
[7237] | 468 | if (slip) {
|
---|
[8905] | 469 | if (preProcessing) {
|
---|
[9386] | 470 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9642] | 471 | } else {
|
---|
[10008] | 472 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 473 | }
|
---|
[7237] | 474 | }
|
---|
[10002] | 475 | // Check Pre-Fit Residuals
|
---|
[9982] | 476 | // -----------------------
|
---|
[7237] | 477 | else {
|
---|
[9982] | 478 | ColumnVector AA(nPar);
|
---|
| 479 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
| 480 | const t_pppParam *par = params[iPar];
|
---|
| 481 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
| 482 | }
|
---|
| 483 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC)
|
---|
| 484 | - DotProduct(_x0, AA);
|
---|
| 485 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 486 | if (fabs(vv) > SLIP) {
|
---|
| 487 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC)
|
---|
| 488 | << ' ' << obs->prn().toString() << ' ' << setw(8)
|
---|
| 489 | << setprecision(4) << vv << endl;
|
---|
| 490 | if (preProcessing) {
|
---|
[9386] | 491 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9982] | 492 | } else {
|
---|
[10008] | 493 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 494 | }
|
---|
[7237] | 495 | }
|
---|
[10002] | 496 | }
|
---|
[7237] | 497 | }
|
---|
| 498 | }
|
---|
| 499 | }
|
---|
| 500 | return success;
|
---|
| 501 | }
|
---|
| 502 |
|
---|
| 503 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 504 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 505 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*> &obsVector,
|
---|
[10008] | 506 | t_lc::type lc, SymmetricMatrix *QSav, ColumnVector *xSav) {
|
---|
[8965] | 507 |
|
---|
[7237] | 508 | t_irc irc = failure;
|
---|
[9642] | 509 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 510 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 511 | t_pppParam *par = params[iPar];
|
---|
[7237] | 512 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 513 | int ind = par->indexNew();
|
---|
| 514 | t_lc::type tLC = par->tLC();
|
---|
[10008] | 515 | if (tLC != lc) {continue;}
|
---|
[7237] | 516 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
[9642] | 517 | delete par;
|
---|
| 518 | par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
[7237] | 519 | par->setIndex(ind);
|
---|
| 520 | params[iPar] = par;
|
---|
| 521 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
[9642] | 522 | _QFlt(ii, ind + 1) = 0.0;
|
---|
[7237] | 523 | if (QSav) {
|
---|
[9642] | 524 | (*QSav)(ii, ind + 1) = 0.0;
|
---|
[7237] | 525 | }
|
---|
| 526 | }
|
---|
[9642] | 527 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[7237] | 528 | if (QSav) {
|
---|
[9642] | 529 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
|
---|
[7237] | 530 | }
|
---|
| 531 | _xFlt[ind] = 0.0;
|
---|
| 532 | if (xSav) {
|
---|
| 533 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 534 | }
|
---|
| 535 | _x0[ind] = par->x0();
|
---|
| 536 | irc = success;
|
---|
| 537 | }
|
---|
| 538 | }
|
---|
| 539 |
|
---|
| 540 | return irc;
|
---|
| 541 | }
|
---|
| 542 |
|
---|
[9395] | 543 | // Add infinite noise to iono
|
---|
[9386] | 544 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 545 | t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) {
|
---|
[9386] | 546 | t_irc irc = failure;
|
---|
[9642] | 547 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9386] | 548 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 549 | t_pppParam *par = params[iPar];
|
---|
| 550 | if (par->type() == parType && par->prn().system() == sys) {
|
---|
[9386] | 551 | int ind = par->indexNew();
|
---|
[9659] | 552 | LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl;
|
---|
[9386] | 553 | par->setIndex(ind);
|
---|
[9642] | 554 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[9386] | 555 | irc = success;
|
---|
| 556 | }
|
---|
| 557 | }
|
---|
| 558 |
|
---|
| 559 | return irc;
|
---|
| 560 | }
|
---|
| 561 |
|
---|
[7237] | 562 | // Compute various DOP Values
|
---|
| 563 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 564 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector,
|
---|
| 565 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[7237] | 566 |
|
---|
| 567 | _dop.reset();
|
---|
| 568 |
|
---|
| 569 | try {
|
---|
| 570 | const unsigned numPar = 4;
|
---|
| 571 | Matrix AA(obsVector.size(), numPar);
|
---|
| 572 | _numSat = 0;
|
---|
| 573 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 574 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9508] | 575 | char sys = obs->prn().system();
|
---|
[8956] | 576 | t_prn refPrn = t_prn();
|
---|
| 577 | if (OPT->_refSatRequired) {
|
---|
[9508] | 578 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 579 | }
|
---|
[7237] | 580 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 581 | ++_numSat;
|
---|
| 582 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9642] | 583 | const t_pppParam *par = _parlist.params()[iPar];
|
---|
| 584 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 585 | }
|
---|
| 586 | }
|
---|
| 587 | }
|
---|
| 588 | if (_numSat < 4) {
|
---|
| 589 | return;
|
---|
| 590 | }
|
---|
| 591 | AA = AA.Rows(1, _numSat);
|
---|
[9642] | 592 | SymmetricMatrix NN;
|
---|
| 593 | NN << AA.t() * AA;
|
---|
[7237] | 594 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 595 |
|
---|
[9642] | 596 | _dop.H = sqrt(QQ(1, 1) + QQ(2, 2));
|
---|
| 597 | _dop.V = sqrt(QQ(3, 3));
|
---|
| 598 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 599 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 600 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
| 601 | } catch (...) {
|
---|
[7237] | 602 | }
|
---|
| 603 | }
|
---|
| 604 |
|
---|
[9526] | 605 | //
|
---|
[7237] | 606 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10010] | 607 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
|
---|
[7237] | 608 |
|
---|
[9642] | 609 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 610 | if (params.size() < 3) {
|
---|
| 611 | return;
|
---|
| 612 | }
|
---|
| 613 |
|
---|
| 614 | bool first = (params[0]->indexOld() < 0);
|
---|
| 615 |
|
---|
[9642] | 616 | SymmetricMatrix Qneu(3);
|
---|
| 617 | Qneu = 0.0;
|
---|
[7237] | 618 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 619 | const t_pppParam *par = params[ii];
|
---|
[7237] | 620 | if (first) {
|
---|
| 621 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[9642] | 622 | } else {
|
---|
[7237] | 623 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 624 | }
|
---|
| 625 | }
|
---|
| 626 |
|
---|
[9642] | 627 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 628 | SymmetricMatrix Qxyz(3);
|
---|
| 629 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 630 |
|
---|
| 631 | if (first) {
|
---|
[9642] | 632 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
| 633 | } else {
|
---|
[7237] | 634 | double dt = _epoTime - _firstEpoTime;
|
---|
[10010] | 635 | if (dt < OPT->_seedingTime || setNeuNoiseToZero) {
|
---|
[9642] | 636 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
| 637 | } else {
|
---|
| 638 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 639 | }
|
---|
| 640 | }
|
---|
| 641 | }
|
---|
[8912] | 642 |
|
---|
[9526] | 643 | //
|
---|
| 644 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 645 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
[10010] | 646 | const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
|
---|
[9526] | 647 |
|
---|
[9642] | 648 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 649 | unsigned nPar = params.size();
|
---|
| 650 |
|
---|
[9642] | 651 | _QFlt.ReSize(nPar);
|
---|
| 652 | _QFlt = 0.0;
|
---|
| 653 | _xFlt.ReSize(nPar);
|
---|
| 654 | _xFlt = 0.0;
|
---|
| 655 | _x0.ReSize(nPar);
|
---|
| 656 | _x0 = 0.0;
|
---|
[9526] | 657 |
|
---|
| 658 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 659 | t_pppParam *par1 = params[ii];
|
---|
[9526] | 660 | if (QFltOld.size() == 0) {
|
---|
| 661 | par1->resetIndex();
|
---|
| 662 | }
|
---|
| 663 | _x0[ii] = par1->x0();
|
---|
| 664 | int iOld = par1->indexOld();
|
---|
| 665 | if (iOld < 0) {
|
---|
| 666 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 667 | } else {
|
---|
[9526] | 668 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
[9642] | 669 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 670 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 671 | t_pppParam *par2 = params[jj];
|
---|
| 672 | int jOld = par2->indexOld();
|
---|
[9526] | 673 | if (jOld >= 0) {
|
---|
[9642] | 674 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 675 | }
|
---|
| 676 | }
|
---|
| 677 | }
|
---|
| 678 | }
|
---|
[10010] | 679 | predictCovCrdPart(QFltOld, setNeuNoiseToZero);
|
---|
[9526] | 680 | }
|
---|
| 681 |
|
---|
[8915] | 682 | // Compute datum transformation
|
---|
[8912] | 683 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 684 | t_irc t_pppFilter::datumTransformation(
|
---|
| 685 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[9508] | 686 |
|
---|
[9419] | 687 | // get last epoch
|
---|
[9642] | 688 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
|
---|
[9419] | 689 | if (!epoch) {
|
---|
[9508] | 690 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 691 | return failure;
|
---|
| 692 | }
|
---|
[9508] | 693 | _epoTime = epoch->epoTime();
|
---|
| 694 | LOG.setf(ios::fixed);
|
---|
| 695 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
[9419] | 696 |
|
---|
[9642] | 697 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
|
---|
[9386] | 698 |
|
---|
[9642] | 699 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9508] | 700 |
|
---|
[9548] | 701 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
[9508] | 702 |
|
---|
[9419] | 703 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 704 | // =============================================================
|
---|
[10008] | 705 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
|
---|
| 706 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl;
|
---|
[9548] | 707 | return failure;
|
---|
[9386] | 708 | }
|
---|
| 709 |
|
---|
[9419] | 710 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
[9548] | 711 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9419] | 712 | return success;
|
---|
| 713 | }
|
---|
| 714 |
|
---|
[9386] | 715 | // set AA2
|
---|
| 716 | // =======
|
---|
[9508] | 717 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 718 | return failure;
|
---|
| 719 | }
|
---|
[9526] | 720 |
|
---|
[9386] | 721 | #ifdef BNC_DEBUG_PPP
|
---|
[9534] | 722 | _parlist.printParams(_epoTime);
|
---|
[9386] | 723 | #endif
|
---|
[9526] | 724 |
|
---|
[9642] | 725 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 726 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 727 | char sys = usedSystems[iSys];
|
---|
[9508] | 728 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 729 | vector<t_pppSatObs*> obsVector;
|
---|
| 730 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 731 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9618] | 732 | allObs[jj]->resetOutlier();
|
---|
[9386] | 733 | obsVector.push_back(allObs[jj]);
|
---|
| 734 | }
|
---|
| 735 | }
|
---|
[9431] | 736 | if (iSys == 0) {
|
---|
| 737 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 738 | }
|
---|
[9386] | 739 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 740 | unsigned usedLCs = LCs.size();
|
---|
[9548] | 741 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9642] | 742 | usedLCs -= 1; // GIM not used
|
---|
[9386] | 743 | }
|
---|
| 744 | // max Obs
|
---|
[9538] | 745 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
[9419] | 746 |
|
---|
[9548] | 747 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
[9386] | 748 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 749 | }
|
---|
[9526] | 750 |
|
---|
[9642] | 751 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 752 | unsigned nPar = _parlist.nPar();
|
---|
| 753 |
|
---|
[9642] | 754 | Matrix AA(maxObs, nPar);
|
---|
[9524] | 755 |
|
---|
[9386] | 756 | // Real Observations
|
---|
| 757 | // -----------------
|
---|
| 758 | int iObs = -1;
|
---|
| 759 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 760 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9419] | 761 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 762 | const t_lc::type tLC = LCs[jj];
|
---|
[9642] | 763 | if (tLC == t_lc::GIM) {
|
---|
| 764 | continue;
|
---|
| 765 | }
|
---|
[9419] | 766 | ++iObs;
|
---|
[9524] | 767 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 768 | const t_pppParam *par = params[iPar];
|
---|
[9419] | 769 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 770 | }
|
---|
| 771 | }
|
---|
| 772 | }
|
---|
[9538] | 773 |
|
---|
[9999] | 774 | if (!(iObs+1)) {
|
---|
[9419] | 775 | continue;
|
---|
| 776 | }
|
---|
[10002] | 777 | _datumTrafo->updateIndices(sys, iObs + 1);
|
---|
| 778 | #ifdef BNC_DEBUG_PPP
|
---|
| 779 | LOG << "AA Ncols/Nrows: " << AA.Ncols() << "/" << AA.Nrows() << " nPar: " << nPar << endl;
|
---|
| 780 | LOG << "AA.SubMatrix(1 .. " << iObs+1 << " , 1 .. " << nPar << ")" << endl;
|
---|
| 781 | #endif
|
---|
[10008] | 782 | if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2) != success) {
|
---|
[9508] | 783 | return failure;
|
---|
| 784 | }
|
---|
[9386] | 785 | }
|
---|
[9419] | 786 | _datumTrafo->updateNumObs();
|
---|
[9386] | 787 |
|
---|
| 788 | // Datum Transformation
|
---|
| 789 | // ====================
|
---|
[9642] | 790 | if (_datumTrafo->computeTrafoMatrix() != success) {
|
---|
[9419] | 791 | return failure;
|
---|
| 792 | }
|
---|
[10008] | 793 |
|
---|
[9642] | 794 | ColumnVector xFltOld = _xFlt;
|
---|
[9386] | 795 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 796 |
|
---|
[9419] | 797 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
[9642] | 798 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 799 |
|
---|
[9579] | 800 | #ifdef BNC_DEBUG_PPP
|
---|
[9562] | 801 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 802 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
[9579] | 803 | #endif
|
---|
[9386] | 804 |
|
---|
| 805 | // Reset Ambiguities after Datum Transformation
|
---|
| 806 | // ============================================
|
---|
[9431] | 807 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 808 | char sys = usedSystems[iSys];
|
---|
[10008] | 809 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 810 | unsigned usedLCs = LCs.size();
|
---|
| 811 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
| 812 | usedLCs -= 1; // GIM not used
|
---|
| 813 | }
|
---|
[9508] | 814 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 815 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 816 | if (refPrnNew != refPrnOld) {
|
---|
[10008] | 817 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 818 | const t_lc::type tLC = LCs[jj];
|
---|
| 819 | if (tLC == t_lc::GIM) {
|
---|
| 820 | continue;
|
---|
[9642] | 821 | }
|
---|
[10008] | 822 | resetAmb(refPrnOld, allObs, tLC);
|
---|
| 823 | }
|
---|
[9386] | 824 | }
|
---|
| 825 | }
|
---|
| 826 |
|
---|
| 827 | // switch AA2 to AA1
|
---|
| 828 | // =================
|
---|
| 829 | _datumTrafo->switchAA();
|
---|
| 830 |
|
---|
[9548] | 831 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9508] | 832 |
|
---|
[9386] | 833 | return success;
|
---|
[8912] | 834 | }
|
---|
| 835 |
|
---|
[9386] | 836 | // Init datum transformation
|
---|
[8956] | 837 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 838 | void t_pppFilter::initDatumTransformation(
|
---|
| 839 | const std::vector<t_pppSatObs*> &allObs, bool pseudoObsIono) {
|
---|
[9395] | 840 | unsigned trafoObs = 0;
|
---|
[9642] | 841 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 842 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 843 | char sys = usedSystems[iSys];
|
---|
[9386] | 844 | int satNum = 0;
|
---|
| 845 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 846 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 847 | satNum++;
|
---|
[8956] | 848 | }
|
---|
| 849 | }
|
---|
[9386] | 850 | // all LCs
|
---|
[9419] | 851 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 852 | // exclude pseudo obs GIM
|
---|
[9419] | 853 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 854 | realUsedLCs -= 1;
|
---|
| 855 | }
|
---|
[9538] | 856 |
|
---|
[9395] | 857 | trafoObs += satNum * realUsedLCs;
|
---|
| 858 |
|
---|
[9419] | 859 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 860 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 861 | }
|
---|
[8956] | 862 | }
|
---|
[9419] | 863 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 864 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 865 | _datumTrafo->initAA();
|
---|
[8956] | 866 | }
|
---|
[9386] | 867 |
|
---|
| 868 | //
|
---|
| 869 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 870 | bool t_pppFilter::resetRefSatellitesLastEpoch(
|
---|
| 871 | std::vector<t_pppSatObs*> &obsVector,
|
---|
| 872 | const QMap<char, t_pppRefSat*> &refSatMap,
|
---|
| 873 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch) {
|
---|
[9431] | 874 | bool resetRefSat;
|
---|
[9386] | 875 | // reference satellite definition per system
|
---|
[9642] | 876 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 877 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 878 | resetRefSat = false;
|
---|
| 879 | char sys = usedSystems[iSys];
|
---|
[9508] | 880 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 881 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 882 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 883 | if (oldPrn != newPrn) {
|
---|
| 884 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 885 | }
|
---|
[9386] | 886 | #endif
|
---|
| 887 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 888 | while (it != obsVector.end()) {
|
---|
[9642] | 889 | t_pppSatObs *satObs = *it;
|
---|
| 890 | if (satObs->prn() == newPrn) {
|
---|
[9386] | 891 | resetRefSat = true;
|
---|
| 892 | satObs->setAsReference();
|
---|
[9508] | 893 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 894 | satObs->resetReference();
|
---|
| 895 | }
|
---|
[9642] | 896 | it++;
|
---|
[9386] | 897 | }
|
---|
[9431] | 898 | if (!resetRefSat) {
|
---|
| 899 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 900 | return resetRefSat;
|
---|
| 901 | }
|
---|
[9386] | 902 | }
|
---|
| 903 | return resetRefSat;
|
---|
| 904 | }
|
---|