[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 |
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[7237] | 81 | // Status Vector, Variance-Covariance Matrix
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| 82 | // -----------------------------------------
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[9642] | 83 | ColumnVector xFltOld = _xFlt;
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[7237] | 84 | SymmetricMatrix QFltOld = _QFlt;
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[10010] | 85 | bool setNeuNoiseToZero = false;
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| 86 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 87 | char sys = usedSystems[iSys];
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| 88 | int num = 0;
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| 89 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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| 90 | if (allObs[jj]->prn().system() == sys) {
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| 91 | ++num;
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| 92 | }
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| 93 | }
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| 94 | if (num < OPT->_minObs) {
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| 95 | setNeuNoiseToZero = true;
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| 96 | }
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| 97 | }
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| 98 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld, setNeuNoiseToZero);
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[8956] | 99 |
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[8905] | 100 | // Pre-Process Satellite Systems separately
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| 101 | // ----------------------------------------
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| 102 | bool preProcessing = false;
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| 103 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 104 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[8905] | 105 | preProcessing = true;
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[9431] | 106 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 107 | char sys = usedSystems[iSys];
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[9526] | 108 | _refPrn.set(sys, 0);
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| 109 | if (OPT->_refSatRequired) {
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| 110 | _refPrn = refSatMap[sys]->prn();
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| 111 | }
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[9642] | 112 | vector<t_pppSatObs*> obsVector;
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[8905] | 113 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 114 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 115 | obsVector.push_back(allObs[jj]);
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| 116 | }
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| 117 | }
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[9431] | 118 | if (iSys == 0) {
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| 119 | _datumTrafo->setFirstSystem(sys);
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[9419] | 120 | }
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[9386] | 121 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[9642] | 122 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9583] | 123 | LOG << sys << ": processSystem != success (pre-processing)" << endl;
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[9386] | 124 | _xFlt = xFltOld;
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| 125 | _QFlt = QFltOld;
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[9532] | 126 | _obsPool->deleteLastEpoch();
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[9527] | 127 | restoreState(2);
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[8905] | 128 | return failure;
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| 129 | }
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| 130 | }
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[8956] | 131 | // refSat change required?
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| 132 | // -----------------------
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| 133 | if (_obsPool->refSatChangeRequired()) {
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| 134 | _xFlt = xFltOld;
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| 135 | _QFlt = QFltOld;
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| 136 | return success;
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[9642] | 137 | } else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 138 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 139 | }
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[8905] | 140 | }
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| 141 |
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[7237] | 142 | // Process Satellite Systems separately
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| 143 | // ------------------------------------
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[8912] | 144 | preProcessing = false;
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[9431] | 145 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 146 | char sys = usedSystems[iSys];
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[9526] | 147 | _refPrn.set(sys, 0);
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[8910] | 148 | if (OPT->_refSatRequired) {
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[9508] | 149 | _refPrn = refSatMap[sys]->prn();
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[8910] | 150 | }
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[7267] | 151 | unsigned int num = 0;
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[7237] | 152 | vector<t_pppSatObs*> obsVector;
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| 153 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 154 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 155 | obsVector.push_back(allObs[jj]);
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[9419] | 156 | ++num;
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[7237] | 157 | }
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| 158 | }
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[9431] | 159 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 160 | _datumTrafo->setFirstSystem(sys);
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[9419] | 161 | }
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[9642] | 162 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num
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| 163 | << endl;
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| 164 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn, epoch->pseudoObsIono(),
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| 165 | preProcessing) != success) {
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[9537] | 166 | LOG << "processSystem != success (fin-processing)" << endl;
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| 167 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9699] | 168 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9590] | 169 | _xFlt = xFltOld;
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| 170 | _QFlt = QFltOld;
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[9537] | 171 | _obsPool->deleteLastEpoch();
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| 172 | restoreState(3);
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| 173 | }
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[7237] | 174 | return failure;
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| 175 | }
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| 176 | }
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[8912] | 177 |
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| 178 | // close epoch processing
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| 179 | // ----------------------
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[9508] | 180 | cmpDOP(allObs, refSatMap);
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[9504] | 181 | _parlist.printResult(_epoTime, _QFlt, _xFlt);
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[9642] | 182 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 183 | return success;
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| 184 | }
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| 185 |
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| 186 | // Process Selected LCs
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| 187 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 188 | t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
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| 189 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
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| 190 | bool pseudoObsIonoAvailable, bool preProcessing) {
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[7237] | 191 | LOG.setf(ios::fixed);
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[9386] | 192 | char sys = refPrn.system();
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[7237] | 193 |
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| 194 | // Detect Cycle Slips
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| 195 | // ------------------
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[8905] | 196 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 197 | return failure;
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| 198 | }
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[9398] | 199 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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[9386] | 200 | return success;
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| 201 | }
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[7237] | 202 |
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[9642] | 203 | ColumnVector xSav = _xFlt;
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| 204 | SymmetricMatrix QSav = _QFlt;
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| 205 | string epoTimeStr = string(_epoTime);
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| 206 | const vector<t_pppParam*> ¶ms = _parlist.params();
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[9524] | 207 | unsigned nPar = _parlist.nPar();
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[8965] | 208 |
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[9642] | 209 | unsigned usedLCs = LCs.size();
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[8965] | 210 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9642] | 211 | usedLCs -= 1; // GIM not used
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[8961] | 212 | }
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| 213 | // max Obs
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[9538] | 214 | unsigned maxObs = obsVector.size() * usedLCs;
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| 215 |
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[8965] | 216 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 217 | maxObs -= 1; // pseudo obs iono with respect to refSat
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[8905] | 218 | }
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| 219 |
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[7237] | 220 | // Outlier Detection Loop
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| 221 | // ----------------------
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| 222 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 223 |
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| 224 | if (iOutlier > 0) {
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| 225 | _xFlt = xSav;
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| 226 | _QFlt = QSav;
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| 227 | }
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| 228 |
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| 229 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 230 | // -----------------------------------------------------------
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[9642] | 231 | Matrix AA(maxObs, nPar);
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| 232 | ColumnVector ll(maxObs);
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| 233 | DiagonalMatrix PP(maxObs);
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| 234 | PP = 0.0;
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[8912] | 235 |
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[7237] | 236 | int iObs = -1;
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| 237 | vector<t_pppSatObs*> usedObs;
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[9642] | 238 | vector<t_lc::type> usedTypes;
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[9386] | 239 |
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| 240 | // Real Observations
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| 241 | // =================
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[9583] | 242 | double nSat = 0;
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[7237] | 243 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 244 | t_pppSatObs *obs = obsVector[ii];
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[9419] | 245 | if (iOutlier == 0 && !preProcessing) {
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| 246 | obs->resetOutlier();
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| 247 | }
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[7237] | 248 | if (!obs->outlier()) {
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[9583] | 249 | nSat++;
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[8905] | 250 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 251 | const t_lc::type tLC = LCs[jj];
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[9642] | 252 | if (tLC == t_lc::GIM) {
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| 253 | continue;
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| 254 | }
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[7237] | 255 | ++iObs;
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| 256 | usedObs.push_back(obs);
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| 257 | usedTypes.push_back(tLC);
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[9524] | 258 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 259 | const t_pppParam *par = params[iPar];
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[8956] | 260 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 261 | }
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[9642] | 262 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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[9967] | 263 | - DotProduct(_x0, AA.Row(iObs + 1));
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[7237] | 264 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 265 | }
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| 266 | }
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| 267 | }
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| 268 |
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[9556] | 269 | // Check number of observations
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| 270 | // ----------------------------
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[9701] | 271 | if (iObs == -1) {
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[9992] | 272 | LOG << " number of observations == " << iObs + 1 << "\n";
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[9997] | 273 | if (preProcessing) {
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| 274 | _obsPool->setRefSatChangeRequired(sys, true);
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| 275 | return success;
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| 276 | }
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[9701] | 277 | return failure;
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[9699] | 278 | }
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[9625] | 279 |
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[9967] | 280 | if ((!iOutlier) &&
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| 281 | (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 282 | OPT->_obsModelType == OPT->DCMphaseBias) && (!preProcessing)) {
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[9642] | 283 | _datumTrafo->updateIndices(sys, iObs + 1);
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| 284 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, _parlist.nPar()), 1);
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[9386] | 285 | }
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| 286 |
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| 287 | // Pseudo Obs Iono
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| 288 | // ================
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| 289 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 290 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 291 | t_pppSatObs *obs = obsVector[ii];
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[9386] | 292 | if (!obs->outlier()) {
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| 293 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 294 | const t_lc::type tLC = LCs[jj];
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| 295 | if (tLC == t_lc::GIM && !obs->isReference()) {
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| 296 | ++iObs;
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[9642] | 297 | } else {
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| 298 | continue;
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| 299 | }
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[9386] | 300 | usedObs.push_back(obs);
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| 301 | usedTypes.push_back(tLC);
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[9524] | 302 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 303 | const t_pppParam *par = params[iPar];
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[9386] | 304 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 305 | }
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[9642] | 306 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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[9967] | 307 | - DotProduct(_x0, AA.Row(iObs + 1));
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[9386] | 308 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 309 | }
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| 310 | }
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[8956] | 311 | }
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[8915] | 312 | }
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| 313 |
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[9556] | 314 | // Truncate matrices
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| 315 | // -----------------
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[9642] | 316 | AA = AA.Rows(1, iObs + 1);
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| 317 | ll = ll.Rows(1, iObs + 1);
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| 318 | PP = PP.SymSubMatrix(1, iObs + 1);
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[7237] | 319 |
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| 320 | // Kalman update step
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| 321 | // ------------------
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| 322 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 323 |
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| 324 | // Check Residuals
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| 325 | // ---------------
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| 326 | ColumnVector vv = AA * _xFlt - ll;
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[9642] | 327 | double maxOutlier = 0.0;
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| 328 | int maxOutlierIndex = -1;
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| 329 | t_lc::type maxOutlierLC = t_lc::dummy;
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[7237] | 330 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 331 | const t_lc::type tLC = usedTypes[ii];
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| 332 | double res = fabs(vv[ii]);
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| 333 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 334 | if (res > fabs(maxOutlier)) {
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[9642] | 335 | maxOutlier = vv[ii];
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[7237] | 336 | maxOutlierIndex = ii;
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[9642] | 337 | maxOutlierLC = tLC;
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[7237] | 338 | }
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| 339 | }
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| 340 | }
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| 341 |
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| 342 | // Mark outlier or break outlier detection loop
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| 343 | // --------------------------------------------
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| 344 | if (maxOutlierIndex > -1) {
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[9642] | 345 | t_pppSatObs *obs = usedObs[maxOutlierIndex];
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| 346 | t_pppParam *par = 0;
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[9524] | 347 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 348 | t_pppParam *hlp = params[iPar];
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[10008] | 349 | if (hlp->type() == t_pppParam::amb &&
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| 350 | hlp->prn() == obs->prn() &&
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| 351 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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[7237] | 352 | par = hlp;
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| 353 | }
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| 354 | }
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[8956] | 355 | if (preProcessing) {
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[10002] | 356 | if (obs->prn() == refPrn) {
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[10012] | 357 | LOG << epoTimeStr << " Outlier ("
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| 358 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ")
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| 359 | << t_lc::toString(maxOutlierLC) << ' ' << obs->prn().toString()
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| 360 | << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
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[9642] | 361 | _obsPool->setRefSatChangeRequired(sys, true);
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[10003] | 362 | break;
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[10009] | 363 | } else {
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| 364 | obs->setOutlier();
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| 365 | }
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[9642] | 366 | } else { // fin-processing
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[9556] | 367 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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[9642] | 368 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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| 369 | << maxOutlier << endl;
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[8956] | 370 | if (par) {
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[10002] | 371 | if (par->ambResetCandidate() ||
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| 372 | OPT->_obsModelType == OPT->DCMcodeBias ||
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| 373 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[10008] | 374 | resetAmb(par->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
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[10002] | 375 | }
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| 376 | else {
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| 377 | par->setAmbResetCandidate();
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| 378 | obs->setOutlier();
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| 379 | }
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[9704] | 380 | }
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[9703] | 381 | else {
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[7237] | 382 | obs->setOutlier();
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| 383 | }
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| 384 | }
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| 385 | }
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| 386 | // Print Residuals
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| 387 | // ---------------
|
---|
| 388 | else {
|
---|
[8905] | 389 | if (!preProcessing) {
|
---|
| 390 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
---|
| 391 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 392 | const t_lc::type tLC = usedTypes[ii];
|
---|
[9642] | 393 | t_pppSatObs *obs = usedObs[ii];
|
---|
[8905] | 394 | if (tLC == LCs[jj]) {
|
---|
| 395 | obs->setRes(tLC, vv[ii]);
|
---|
[9642] | 396 | LOG << epoTimeStr << " RES " << left << setw(3)
|
---|
[9699] | 397 | << t_lc::toString(tLC) << right << ' '
|
---|
| 398 | << obs->prn().toString();
|
---|
[9435] | 399 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 400 | }
|
---|
[7237] | 401 | }
|
---|
| 402 | }
|
---|
| 403 | }
|
---|
| 404 | break;
|
---|
| 405 | }
|
---|
| 406 | }
|
---|
| 407 | return success;
|
---|
| 408 | }
|
---|
| 409 |
|
---|
| 410 | // Cycle-Slip Detection
|
---|
| 411 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 412 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
|
---|
| 413 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
|
---|
| 414 | bool preProcessing) {
|
---|
[10013] | 415 | const double SLIP = 500.0;
|
---|
[9386] | 416 | char sys = refPrn.system();
|
---|
| 417 | string epoTimeStr = string(_epoTime);
|
---|
[9642] | 418 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9524] | 419 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 420 |
|
---|
| 421 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
[9642] | 422 | const t_lc::type &tLC = LCs[ii];
|
---|
[7237] | 423 | if (t_lc::includesPhase(tLC)) {
|
---|
| 424 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
[9642] | 425 | const t_pppSatObs *obs = obsVector[iObs];
|
---|
[7237] | 426 |
|
---|
[7267] | 427 | // Check set Slips and Jump Counters
|
---|
[7237] | 428 | // ---------------------------------
|
---|
| 429 | bool slip = false;
|
---|
[9386] | 430 |
|
---|
| 431 | // in pre-processing only the reference satellite has to be checked
|
---|
| 432 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 433 | continue;
|
---|
| 434 | }
|
---|
| 435 |
|
---|
[7237] | 436 | if (obs->slip()) {
|
---|
[9642] | 437 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString()
|
---|
| 438 | << endl;
|
---|
[7237] | 439 | slip = true;
|
---|
| 440 | }
|
---|
| 441 |
|
---|
[9642] | 442 | if (_slips[obs->prn()]._obsSlipCounter != -1
|
---|
| 443 | && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
| 444 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) "
|
---|
| 445 | << obs->prn().toString() << endl;
|
---|
[7237] | 446 | slip = true;
|
---|
| 447 | }
|
---|
[8956] | 448 | if (!preProcessing) {
|
---|
| 449 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 450 | }
|
---|
[9642] | 451 | if (_slips[obs->prn()]._biasJumpCounter != -1
|
---|
| 452 | && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
| 453 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) "
|
---|
| 454 | << obs->prn().toString() << endl;
|
---|
[7237] | 455 | slip = true;
|
---|
| 456 | }
|
---|
[8956] | 457 | if (!preProcessing) {
|
---|
| 458 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 459 | }
|
---|
[7237] | 460 | // Slip Set
|
---|
[7267] | 461 | // --------
|
---|
[7237] | 462 | if (slip) {
|
---|
[8905] | 463 | if (preProcessing) {
|
---|
[9386] | 464 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9642] | 465 | } else {
|
---|
[10008] | 466 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 467 | }
|
---|
[7237] | 468 | }
|
---|
[10002] | 469 | // Check Pre-Fit Residuals
|
---|
[9982] | 470 | // -----------------------
|
---|
[7237] | 471 | else {
|
---|
[9982] | 472 | ColumnVector AA(nPar);
|
---|
| 473 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
| 474 | const t_pppParam *par = params[iPar];
|
---|
| 475 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
| 476 | }
|
---|
| 477 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC)
|
---|
| 478 | - DotProduct(_x0, AA);
|
---|
| 479 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 480 | if (fabs(vv) > SLIP) {
|
---|
| 481 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC)
|
---|
| 482 | << ' ' << obs->prn().toString() << ' ' << setw(8)
|
---|
| 483 | << setprecision(4) << vv << endl;
|
---|
| 484 | if (preProcessing) {
|
---|
[9386] | 485 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9982] | 486 | } else {
|
---|
[10008] | 487 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 488 | }
|
---|
[7237] | 489 | }
|
---|
[10002] | 490 | }
|
---|
[7237] | 491 | }
|
---|
| 492 | }
|
---|
| 493 | }
|
---|
| 494 | return success;
|
---|
| 495 | }
|
---|
| 496 |
|
---|
| 497 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 498 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 499 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*> &obsVector,
|
---|
[10008] | 500 | t_lc::type lc, SymmetricMatrix *QSav, ColumnVector *xSav) {
|
---|
[8965] | 501 |
|
---|
[7237] | 502 | t_irc irc = failure;
|
---|
[9642] | 503 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 504 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 505 | t_pppParam *par = params[iPar];
|
---|
[7237] | 506 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 507 | int ind = par->indexNew();
|
---|
| 508 | t_lc::type tLC = par->tLC();
|
---|
[10013] | 509 | //if (tLC != lc) {continue;}
|
---|
[7237] | 510 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
[9642] | 511 | delete par;
|
---|
| 512 | par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
[7237] | 513 | par->setIndex(ind);
|
---|
| 514 | params[iPar] = par;
|
---|
| 515 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
[9642] | 516 | _QFlt(ii, ind + 1) = 0.0;
|
---|
[7237] | 517 | if (QSav) {
|
---|
[9642] | 518 | (*QSav)(ii, ind + 1) = 0.0;
|
---|
[7237] | 519 | }
|
---|
| 520 | }
|
---|
[9642] | 521 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[7237] | 522 | if (QSav) {
|
---|
[9642] | 523 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
|
---|
[7237] | 524 | }
|
---|
| 525 | _xFlt[ind] = 0.0;
|
---|
| 526 | if (xSav) {
|
---|
| 527 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 528 | }
|
---|
| 529 | _x0[ind] = par->x0();
|
---|
| 530 | irc = success;
|
---|
| 531 | }
|
---|
| 532 | }
|
---|
| 533 |
|
---|
| 534 | return irc;
|
---|
| 535 | }
|
---|
| 536 |
|
---|
[9395] | 537 | // Add infinite noise to iono
|
---|
[9386] | 538 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 539 | t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) {
|
---|
[9386] | 540 | t_irc irc = failure;
|
---|
[9642] | 541 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9386] | 542 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 543 | t_pppParam *par = params[iPar];
|
---|
| 544 | if (par->type() == parType && par->prn().system() == sys) {
|
---|
[9386] | 545 | int ind = par->indexNew();
|
---|
[9659] | 546 | LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl;
|
---|
[9386] | 547 | par->setIndex(ind);
|
---|
[9642] | 548 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[9386] | 549 | irc = success;
|
---|
| 550 | }
|
---|
| 551 | }
|
---|
| 552 |
|
---|
| 553 | return irc;
|
---|
| 554 | }
|
---|
| 555 |
|
---|
[7237] | 556 | // Compute various DOP Values
|
---|
| 557 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 558 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector,
|
---|
| 559 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[7237] | 560 |
|
---|
| 561 | _dop.reset();
|
---|
| 562 |
|
---|
| 563 | try {
|
---|
| 564 | const unsigned numPar = 4;
|
---|
| 565 | Matrix AA(obsVector.size(), numPar);
|
---|
| 566 | _numSat = 0;
|
---|
| 567 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 568 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9508] | 569 | char sys = obs->prn().system();
|
---|
[8956] | 570 | t_prn refPrn = t_prn();
|
---|
| 571 | if (OPT->_refSatRequired) {
|
---|
[9508] | 572 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 573 | }
|
---|
[7237] | 574 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 575 | ++_numSat;
|
---|
| 576 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9642] | 577 | const t_pppParam *par = _parlist.params()[iPar];
|
---|
| 578 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 579 | }
|
---|
| 580 | }
|
---|
| 581 | }
|
---|
| 582 | if (_numSat < 4) {
|
---|
| 583 | return;
|
---|
| 584 | }
|
---|
| 585 | AA = AA.Rows(1, _numSat);
|
---|
[9642] | 586 | SymmetricMatrix NN;
|
---|
| 587 | NN << AA.t() * AA;
|
---|
[7237] | 588 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 589 |
|
---|
[9642] | 590 | _dop.H = sqrt(QQ(1, 1) + QQ(2, 2));
|
---|
| 591 | _dop.V = sqrt(QQ(3, 3));
|
---|
| 592 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 593 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 594 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
| 595 | } catch (...) {
|
---|
[7237] | 596 | }
|
---|
| 597 | }
|
---|
| 598 |
|
---|
[9526] | 599 | //
|
---|
[7237] | 600 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10010] | 601 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
|
---|
[7237] | 602 |
|
---|
[9642] | 603 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 604 | if (params.size() < 3) {
|
---|
| 605 | return;
|
---|
| 606 | }
|
---|
| 607 |
|
---|
| 608 | bool first = (params[0]->indexOld() < 0);
|
---|
| 609 |
|
---|
[9642] | 610 | SymmetricMatrix Qneu(3);
|
---|
| 611 | Qneu = 0.0;
|
---|
[7237] | 612 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 613 | const t_pppParam *par = params[ii];
|
---|
[7237] | 614 | if (first) {
|
---|
| 615 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[9642] | 616 | } else {
|
---|
[7237] | 617 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 618 | }
|
---|
| 619 | }
|
---|
| 620 |
|
---|
[9642] | 621 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 622 | SymmetricMatrix Qxyz(3);
|
---|
| 623 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 624 |
|
---|
| 625 | if (first) {
|
---|
[9642] | 626 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
| 627 | } else {
|
---|
[7237] | 628 | double dt = _epoTime - _firstEpoTime;
|
---|
[10010] | 629 | if (dt < OPT->_seedingTime || setNeuNoiseToZero) {
|
---|
[9642] | 630 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
| 631 | } else {
|
---|
| 632 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 633 | }
|
---|
| 634 | }
|
---|
| 635 | }
|
---|
[8912] | 636 |
|
---|
[9526] | 637 | //
|
---|
| 638 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 639 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
[10010] | 640 | const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
|
---|
[9526] | 641 |
|
---|
[9642] | 642 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 643 | unsigned nPar = params.size();
|
---|
| 644 |
|
---|
[9642] | 645 | _QFlt.ReSize(nPar);
|
---|
| 646 | _QFlt = 0.0;
|
---|
| 647 | _xFlt.ReSize(nPar);
|
---|
| 648 | _xFlt = 0.0;
|
---|
| 649 | _x0.ReSize(nPar);
|
---|
| 650 | _x0 = 0.0;
|
---|
[9526] | 651 |
|
---|
| 652 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 653 | t_pppParam *par1 = params[ii];
|
---|
[9526] | 654 | if (QFltOld.size() == 0) {
|
---|
| 655 | par1->resetIndex();
|
---|
| 656 | }
|
---|
| 657 | _x0[ii] = par1->x0();
|
---|
| 658 | int iOld = par1->indexOld();
|
---|
| 659 | if (iOld < 0) {
|
---|
| 660 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 661 | } else {
|
---|
[9526] | 662 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
[9642] | 663 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 664 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 665 | t_pppParam *par2 = params[jj];
|
---|
| 666 | int jOld = par2->indexOld();
|
---|
[9526] | 667 | if (jOld >= 0) {
|
---|
[9642] | 668 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 669 | }
|
---|
| 670 | }
|
---|
| 671 | }
|
---|
| 672 | }
|
---|
[10010] | 673 | predictCovCrdPart(QFltOld, setNeuNoiseToZero);
|
---|
[9526] | 674 | }
|
---|
| 675 |
|
---|
[8915] | 676 | // Compute datum transformation
|
---|
[8912] | 677 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 678 | t_irc t_pppFilter::datumTransformation(
|
---|
| 679 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[9508] | 680 |
|
---|
[9419] | 681 | // get last epoch
|
---|
[9642] | 682 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
|
---|
[9419] | 683 | if (!epoch) {
|
---|
[9508] | 684 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 685 | return failure;
|
---|
| 686 | }
|
---|
[9508] | 687 | _epoTime = epoch->epoTime();
|
---|
| 688 | LOG.setf(ios::fixed);
|
---|
| 689 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
[9419] | 690 |
|
---|
[9642] | 691 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
|
---|
[9386] | 692 |
|
---|
[9642] | 693 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9508] | 694 |
|
---|
[9548] | 695 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
[9508] | 696 |
|
---|
[9419] | 697 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 698 | // =============================================================
|
---|
[10008] | 699 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
|
---|
| 700 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl;
|
---|
[9548] | 701 | return failure;
|
---|
[9386] | 702 | }
|
---|
| 703 |
|
---|
[9419] | 704 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
[9548] | 705 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9419] | 706 | return success;
|
---|
| 707 | }
|
---|
| 708 |
|
---|
[9386] | 709 | // set AA2
|
---|
| 710 | // =======
|
---|
[9508] | 711 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 712 | return failure;
|
---|
| 713 | }
|
---|
[9526] | 714 |
|
---|
[9642] | 715 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 716 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 717 | char sys = usedSystems[iSys];
|
---|
[9508] | 718 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 719 | vector<t_pppSatObs*> obsVector;
|
---|
| 720 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 721 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9618] | 722 | allObs[jj]->resetOutlier();
|
---|
[9386] | 723 | obsVector.push_back(allObs[jj]);
|
---|
| 724 | }
|
---|
| 725 | }
|
---|
[9431] | 726 | if (iSys == 0) {
|
---|
| 727 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 728 | }
|
---|
[9386] | 729 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 730 | unsigned usedLCs = LCs.size();
|
---|
[9548] | 731 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9642] | 732 | usedLCs -= 1; // GIM not used
|
---|
[9386] | 733 | }
|
---|
| 734 | // max Obs
|
---|
[9538] | 735 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
[9419] | 736 |
|
---|
[9548] | 737 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
[9386] | 738 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 739 | }
|
---|
[9526] | 740 |
|
---|
[9642] | 741 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 742 | unsigned nPar = _parlist.nPar();
|
---|
| 743 |
|
---|
[10013] | 744 | Matrix AA(maxObs, nPar); AA = 0.0; cout << "AA Ncols/Nrows: " << AA.Ncols() << "/" << AA.Nrows() << " nPar: " << nPar << endl;
|
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[9524] | 745 |
|
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[9386] | 746 | // Real Observations
|
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| 747 | // -----------------
|
---|
| 748 | int iObs = -1;
|
---|
| 749 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 750 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9419] | 751 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 752 | const t_lc::type tLC = LCs[jj];
|
---|
[9642] | 753 | if (tLC == t_lc::GIM) {
|
---|
| 754 | continue;
|
---|
| 755 | }
|
---|
[9419] | 756 | ++iObs;
|
---|
[9524] | 757 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 758 | const t_pppParam *par = params[iPar];
|
---|
[9419] | 759 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 760 | }
|
---|
| 761 | }
|
---|
| 762 | }
|
---|
[9538] | 763 |
|
---|
[9999] | 764 | if (!(iObs+1)) {
|
---|
[9419] | 765 | continue;
|
---|
| 766 | }
|
---|
[10002] | 767 | _datumTrafo->updateIndices(sys, iObs + 1);
|
---|
[10013] | 768 |
|
---|
[10008] | 769 | if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2) != success) {
|
---|
[9508] | 770 | return failure;
|
---|
| 771 | }
|
---|
[9386] | 772 | }
|
---|
[9419] | 773 | _datumTrafo->updateNumObs();
|
---|
[9386] | 774 |
|
---|
| 775 | // Datum Transformation
|
---|
| 776 | // ====================
|
---|
[9642] | 777 | if (_datumTrafo->computeTrafoMatrix() != success) {
|
---|
[9419] | 778 | return failure;
|
---|
| 779 | }
|
---|
[10008] | 780 |
|
---|
[9642] | 781 | ColumnVector xFltOld = _xFlt;
|
---|
[9386] | 782 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 783 |
|
---|
[9419] | 784 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
[9642] | 785 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 786 |
|
---|
[9579] | 787 | #ifdef BNC_DEBUG_PPP
|
---|
[9562] | 788 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 789 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
[9579] | 790 | #endif
|
---|
[9386] | 791 |
|
---|
| 792 | // Reset Ambiguities after Datum Transformation
|
---|
| 793 | // ============================================
|
---|
[9431] | 794 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 795 | char sys = usedSystems[iSys];
|
---|
[10008] | 796 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 797 | unsigned usedLCs = LCs.size();
|
---|
| 798 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
| 799 | usedLCs -= 1; // GIM not used
|
---|
| 800 | }
|
---|
[9508] | 801 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 802 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 803 | if (refPrnNew != refPrnOld) {
|
---|
[10008] | 804 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 805 | const t_lc::type tLC = LCs[jj];
|
---|
| 806 | if (tLC == t_lc::GIM) {
|
---|
| 807 | continue;
|
---|
[9642] | 808 | }
|
---|
[10008] | 809 | resetAmb(refPrnOld, allObs, tLC);
|
---|
| 810 | }
|
---|
[9386] | 811 | }
|
---|
| 812 | }
|
---|
| 813 |
|
---|
| 814 | // switch AA2 to AA1
|
---|
| 815 | // =================
|
---|
| 816 | _datumTrafo->switchAA();
|
---|
| 817 |
|
---|
[9548] | 818 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9508] | 819 |
|
---|
[9386] | 820 | return success;
|
---|
[8912] | 821 | }
|
---|
| 822 |
|
---|
[9386] | 823 | // Init datum transformation
|
---|
[8956] | 824 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 825 | void t_pppFilter::initDatumTransformation(
|
---|
| 826 | const std::vector<t_pppSatObs*> &allObs, bool pseudoObsIono) {
|
---|
[9395] | 827 | unsigned trafoObs = 0;
|
---|
[9642] | 828 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 829 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 830 | char sys = usedSystems[iSys];
|
---|
[9386] | 831 | int satNum = 0;
|
---|
| 832 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 833 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 834 | satNum++;
|
---|
[8956] | 835 | }
|
---|
| 836 | }
|
---|
[9386] | 837 | // all LCs
|
---|
[9419] | 838 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 839 | // exclude pseudo obs GIM
|
---|
[9419] | 840 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 841 | realUsedLCs -= 1;
|
---|
| 842 | }
|
---|
[9538] | 843 |
|
---|
[9395] | 844 | trafoObs += satNum * realUsedLCs;
|
---|
| 845 |
|
---|
[9419] | 846 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 847 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 848 | }
|
---|
[8956] | 849 | }
|
---|
[9419] | 850 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 851 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 852 | _datumTrafo->initAA();
|
---|
[8956] | 853 | }
|
---|
[9386] | 854 |
|
---|
| 855 | //
|
---|
| 856 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 857 | bool t_pppFilter::resetRefSatellitesLastEpoch(
|
---|
| 858 | std::vector<t_pppSatObs*> &obsVector,
|
---|
| 859 | const QMap<char, t_pppRefSat*> &refSatMap,
|
---|
| 860 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch) {
|
---|
[9431] | 861 | bool resetRefSat;
|
---|
[9386] | 862 | // reference satellite definition per system
|
---|
[9642] | 863 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 864 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 865 | resetRefSat = false;
|
---|
| 866 | char sys = usedSystems[iSys];
|
---|
[9508] | 867 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 868 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 869 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 870 | if (oldPrn != newPrn) {
|
---|
| 871 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 872 | }
|
---|
[9386] | 873 | #endif
|
---|
| 874 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 875 | while (it != obsVector.end()) {
|
---|
[9642] | 876 | t_pppSatObs *satObs = *it;
|
---|
| 877 | if (satObs->prn() == newPrn) {
|
---|
[9386] | 878 | resetRefSat = true;
|
---|
| 879 | satObs->setAsReference();
|
---|
[9508] | 880 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 881 | satObs->resetReference();
|
---|
| 882 | }
|
---|
[9642] | 883 | it++;
|
---|
[9386] | 884 | }
|
---|
[9431] | 885 | if (!resetRefSat) {
|
---|
| 886 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 887 | return resetRefSat;
|
---|
| 888 | }
|
---|
[9386] | 889 | }
|
---|
| 890 | return resetRefSat;
|
---|
| 891 | }
|
---|