[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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[10015] | 66 | if (!_firstEpoTime.valid() ||
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| 67 | !_lastEpoTimeOK.valid()||
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| 68 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 69 | _firstEpoTime = _epoTime;
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| 70 | }
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| 71 |
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[7267] | 72 | string epoTimeStr = string(_epoTime);
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| 73 |
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[9642] | 74 | const QMap<char, t_pppRefSat*> &refSatMap = epoch->refSatMap();
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[10015] | 75 |
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[10010] | 76 | const QList<char> &usedSystems = _parlist.usedSystems();
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[8905] | 77 | //--
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[7237] | 78 | // Set Parameters
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[9508] | 79 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
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[9419] | 80 | return failure;
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| 81 | }
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[10015] | 82 | #ifdef BNC_DEBUG_PPP
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| 83 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 84 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[10018] | 85 | // _parlist.printParams(_epoTime);
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[10015] | 86 | }
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| 87 | #endif
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[10010] | 88 |
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[7237] | 89 | // Status Vector, Variance-Covariance Matrix
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| 90 | // -----------------------------------------
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[9642] | 91 | ColumnVector xFltOld = _xFlt;
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[7237] | 92 | SymmetricMatrix QFltOld = _QFlt;
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[10010] | 93 | bool setNeuNoiseToZero = false;
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| 94 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 95 | char sys = usedSystems[iSys];
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| 96 | int num = 0;
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| 97 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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| 98 | if (allObs[jj]->prn().system() == sys) {
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| 99 | ++num;
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| 100 | }
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| 101 | }
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[10021] | 102 | // if (num < OPT->_minObs) {
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| 103 | // setNeuNoiseToZero = true;
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| 104 | // }
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[10010] | 105 | }
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| 106 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld, setNeuNoiseToZero);
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[8956] | 107 |
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[8905] | 108 | // Pre-Process Satellite Systems separately
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| 109 | // ----------------------------------------
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| 110 | bool preProcessing = false;
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| 111 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[10015] | 112 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[8905] | 113 | preProcessing = true;
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[9431] | 114 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 115 | char sys = usedSystems[iSys];
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[9526] | 116 | _refPrn.set(sys, 0);
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| 117 | if (OPT->_refSatRequired) {
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| 118 | _refPrn = refSatMap[sys]->prn();
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| 119 | }
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[9642] | 120 | vector<t_pppSatObs*> obsVector;
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[8905] | 121 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 122 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 123 | obsVector.push_back(allObs[jj]);
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| 124 | }
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| 125 | }
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[9431] | 126 | if (iSys == 0) {
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| 127 | _datumTrafo->setFirstSystem(sys);
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[9419] | 128 | }
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[9386] | 129 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[9642] | 130 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9583] | 131 | LOG << sys << ": processSystem != success (pre-processing)" << endl;
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[9386] | 132 | _xFlt = xFltOld;
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| 133 | _QFlt = QFltOld;
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[10018] | 134 | restoreState(1);
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[8905] | 135 | return failure;
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| 136 | }
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| 137 | }
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[8956] | 138 | // refSat change required?
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| 139 | // -----------------------
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| 140 | if (_obsPool->refSatChangeRequired()) {
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| 141 | _xFlt = xFltOld;
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| 142 | _QFlt = QFltOld;
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| 143 | return success;
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[9642] | 144 | } else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 145 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 146 | }
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[8905] | 147 | }
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| 148 |
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[7237] | 149 | // Process Satellite Systems separately
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| 150 | // ------------------------------------
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[8912] | 151 | preProcessing = false;
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[9431] | 152 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 153 | char sys = usedSystems[iSys];
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[9526] | 154 | _refPrn.set(sys, 0);
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[8910] | 155 | if (OPT->_refSatRequired) {
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[9508] | 156 | _refPrn = refSatMap[sys]->prn();
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[8910] | 157 | }
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[7267] | 158 | unsigned int num = 0;
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[7237] | 159 | vector<t_pppSatObs*> obsVector;
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| 160 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 161 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 162 | obsVector.push_back(allObs[jj]);
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[9419] | 163 | ++num;
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[7237] | 164 | }
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| 165 | }
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[9431] | 166 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 167 | _datumTrafo->setFirstSystem(sys);
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[9419] | 168 | }
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[9642] | 169 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num
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| 170 | << endl;
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[10015] | 171 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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| 172 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9537] | 173 | LOG << "processSystem != success (fin-processing)" << endl;
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| 174 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9699] | 175 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9590] | 176 | _xFlt = xFltOld;
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| 177 | _QFlt = QFltOld;
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[10018] | 178 | restoreState(2);
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[9537] | 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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[10021] | 277 | if ((iObs +1) < OPT->_minObs) {
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| 278 | LOG << "t_pppFilter::processSystem not enough 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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[10018] | 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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| 367 | _obsPool->setRefSatChangeRequired(sys, true);
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| 368 | break;
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| 369 | }
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| 370 | else {
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[10009] | 371 | obs->setOutlier();
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| 372 | }
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[10021] | 373 | }
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| 374 | else { // fin-processing
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| 375 | if (obs->prn() != refPrn) {
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| 376 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC)
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| 377 | << ' ' << obs->prn().toString() << ' ' << setw(8)
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| 378 | << setprecision(4) << maxOutlier << endl;
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| 379 | if (par) {
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| 380 | resetAmb(par->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
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| 381 | } else {
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[10018] | 382 | obs->setOutlier();
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| 383 | }
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[9704] | 384 | }
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[7237] | 385 | }
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| 386 | }
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| 387 | // Print Residuals
|
---|
| 388 | // ---------------
|
---|
| 389 | else {
|
---|
[8905] | 390 | if (!preProcessing) {
|
---|
| 391 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
---|
| 392 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 393 | const t_lc::type tLC = usedTypes[ii];
|
---|
[9642] | 394 | t_pppSatObs *obs = usedObs[ii];
|
---|
[8905] | 395 | if (tLC == LCs[jj]) {
|
---|
| 396 | obs->setRes(tLC, vv[ii]);
|
---|
[9642] | 397 | LOG << epoTimeStr << " RES " << left << setw(3)
|
---|
[9699] | 398 | << t_lc::toString(tLC) << right << ' '
|
---|
| 399 | << obs->prn().toString();
|
---|
[9435] | 400 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 401 | }
|
---|
[7237] | 402 | }
|
---|
| 403 | }
|
---|
| 404 | }
|
---|
| 405 | break;
|
---|
| 406 | }
|
---|
| 407 | }
|
---|
| 408 | return success;
|
---|
| 409 | }
|
---|
| 410 |
|
---|
| 411 | // Cycle-Slip Detection
|
---|
| 412 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 413 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
|
---|
| 414 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
|
---|
| 415 | bool preProcessing) {
|
---|
[10014] | 416 | const double SLIP = 50.0;
|
---|
[9386] | 417 | char sys = refPrn.system();
|
---|
| 418 | string epoTimeStr = string(_epoTime);
|
---|
[9642] | 419 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9524] | 420 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 421 |
|
---|
| 422 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
[9642] | 423 | const t_lc::type &tLC = LCs[ii];
|
---|
[7237] | 424 | if (t_lc::includesPhase(tLC)) {
|
---|
| 425 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
[9642] | 426 | const t_pppSatObs *obs = obsVector[iObs];
|
---|
[7237] | 427 |
|
---|
[7267] | 428 | // Check set Slips and Jump Counters
|
---|
[7237] | 429 | // ---------------------------------
|
---|
| 430 | bool slip = false;
|
---|
[9386] | 431 |
|
---|
| 432 | // in pre-processing only the reference satellite has to be checked
|
---|
| 433 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 434 | continue;
|
---|
| 435 | }
|
---|
| 436 |
|
---|
[7237] | 437 | if (obs->slip()) {
|
---|
[9642] | 438 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString()
|
---|
| 439 | << endl;
|
---|
[7237] | 440 | slip = true;
|
---|
| 441 | }
|
---|
| 442 |
|
---|
[9642] | 443 | if (_slips[obs->prn()]._obsSlipCounter != -1
|
---|
| 444 | && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
| 445 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) "
|
---|
| 446 | << obs->prn().toString() << endl;
|
---|
[7237] | 447 | slip = true;
|
---|
| 448 | }
|
---|
[8956] | 449 | if (!preProcessing) {
|
---|
| 450 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 451 | }
|
---|
[9642] | 452 | if (_slips[obs->prn()]._biasJumpCounter != -1
|
---|
| 453 | && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
| 454 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) "
|
---|
| 455 | << obs->prn().toString() << endl;
|
---|
[7237] | 456 | slip = true;
|
---|
| 457 | }
|
---|
[8956] | 458 | if (!preProcessing) {
|
---|
| 459 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 460 | }
|
---|
[7237] | 461 | // Slip Set
|
---|
[7267] | 462 | // --------
|
---|
[7237] | 463 | if (slip) {
|
---|
[8905] | 464 | if (preProcessing) {
|
---|
[9386] | 465 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9642] | 466 | } else {
|
---|
[10008] | 467 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 468 | }
|
---|
[7237] | 469 | }
|
---|
[10002] | 470 | // Check Pre-Fit Residuals
|
---|
[9982] | 471 | // -----------------------
|
---|
[7237] | 472 | else {
|
---|
[9982] | 473 | ColumnVector AA(nPar);
|
---|
| 474 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
| 475 | const t_pppParam *par = params[iPar];
|
---|
| 476 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
| 477 | }
|
---|
| 478 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC)
|
---|
| 479 | - DotProduct(_x0, AA);
|
---|
| 480 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 481 | if (fabs(vv) > SLIP) {
|
---|
| 482 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC)
|
---|
| 483 | << ' ' << obs->prn().toString() << ' ' << setw(8)
|
---|
| 484 | << setprecision(4) << vv << endl;
|
---|
| 485 | if (preProcessing) {
|
---|
[9386] | 486 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9982] | 487 | } else {
|
---|
[10008] | 488 | resetAmb(obs->prn(), obsVector, tLC);
|
---|
[8905] | 489 | }
|
---|
[7237] | 490 | }
|
---|
[10002] | 491 | }
|
---|
[7237] | 492 | }
|
---|
| 493 | }
|
---|
| 494 | }
|
---|
| 495 | return success;
|
---|
| 496 | }
|
---|
| 497 |
|
---|
| 498 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 499 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 500 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*> &obsVector,
|
---|
[10008] | 501 | t_lc::type lc, SymmetricMatrix *QSav, ColumnVector *xSav) {
|
---|
[8965] | 502 |
|
---|
[7237] | 503 | t_irc irc = failure;
|
---|
[9642] | 504 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 505 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 506 | t_pppParam *par = params[iPar];
|
---|
[7237] | 507 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 508 | int ind = par->indexNew();
|
---|
| 509 | t_lc::type tLC = par->tLC();
|
---|
[10014] | 510 | if (tLC != lc) {
|
---|
| 511 | continue;
|
---|
| 512 | }
|
---|
[7237] | 513 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
[9642] | 514 | delete par;
|
---|
| 515 | par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
[7237] | 516 | par->setIndex(ind);
|
---|
| 517 | params[iPar] = par;
|
---|
| 518 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
[9642] | 519 | _QFlt(ii, ind + 1) = 0.0;
|
---|
[7237] | 520 | if (QSav) {
|
---|
[9642] | 521 | (*QSav)(ii, ind + 1) = 0.0;
|
---|
[7237] | 522 | }
|
---|
| 523 | }
|
---|
[9642] | 524 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[7237] | 525 | if (QSav) {
|
---|
[9642] | 526 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
|
---|
[7237] | 527 | }
|
---|
| 528 | _xFlt[ind] = 0.0;
|
---|
| 529 | if (xSav) {
|
---|
| 530 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 531 | }
|
---|
| 532 | _x0[ind] = par->x0();
|
---|
| 533 | irc = success;
|
---|
| 534 | }
|
---|
| 535 | }
|
---|
| 536 |
|
---|
| 537 | return irc;
|
---|
| 538 | }
|
---|
| 539 |
|
---|
[9395] | 540 | // Add infinite noise to iono
|
---|
[9386] | 541 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 542 | t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) {
|
---|
[9386] | 543 | t_irc irc = failure;
|
---|
[9642] | 544 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9386] | 545 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 546 | t_pppParam *par = params[iPar];
|
---|
| 547 | if (par->type() == parType && par->prn().system() == sys) {
|
---|
[9386] | 548 | int ind = par->indexNew();
|
---|
[9659] | 549 | LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl;
|
---|
[9386] | 550 | par->setIndex(ind);
|
---|
[9642] | 551 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[9386] | 552 | irc = success;
|
---|
| 553 | }
|
---|
| 554 | }
|
---|
| 555 |
|
---|
| 556 | return irc;
|
---|
| 557 | }
|
---|
| 558 |
|
---|
[7237] | 559 | // Compute various DOP Values
|
---|
| 560 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 561 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector,
|
---|
| 562 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[7237] | 563 |
|
---|
| 564 | _dop.reset();
|
---|
| 565 |
|
---|
| 566 | try {
|
---|
| 567 | const unsigned numPar = 4;
|
---|
| 568 | Matrix AA(obsVector.size(), numPar);
|
---|
| 569 | _numSat = 0;
|
---|
| 570 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 571 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9508] | 572 | char sys = obs->prn().system();
|
---|
[8956] | 573 | t_prn refPrn = t_prn();
|
---|
| 574 | if (OPT->_refSatRequired) {
|
---|
[9508] | 575 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 576 | }
|
---|
[7237] | 577 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 578 | ++_numSat;
|
---|
| 579 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9642] | 580 | const t_pppParam *par = _parlist.params()[iPar];
|
---|
| 581 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 582 | }
|
---|
| 583 | }
|
---|
| 584 | }
|
---|
| 585 | if (_numSat < 4) {
|
---|
| 586 | return;
|
---|
| 587 | }
|
---|
| 588 | AA = AA.Rows(1, _numSat);
|
---|
[9642] | 589 | SymmetricMatrix NN;
|
---|
| 590 | NN << AA.t() * AA;
|
---|
[7237] | 591 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 592 |
|
---|
[9642] | 593 | _dop.H = sqrt(QQ(1, 1) + QQ(2, 2));
|
---|
| 594 | _dop.V = sqrt(QQ(3, 3));
|
---|
| 595 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 596 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 597 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
| 598 | } catch (...) {
|
---|
[7237] | 599 | }
|
---|
| 600 | }
|
---|
| 601 |
|
---|
[9526] | 602 | //
|
---|
[7237] | 603 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10010] | 604 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
|
---|
[7237] | 605 |
|
---|
[9642] | 606 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 607 | if (params.size() < 3) {
|
---|
| 608 | return;
|
---|
| 609 | }
|
---|
| 610 |
|
---|
| 611 | bool first = (params[0]->indexOld() < 0);
|
---|
| 612 |
|
---|
[9642] | 613 | SymmetricMatrix Qneu(3);
|
---|
| 614 | Qneu = 0.0;
|
---|
[7237] | 615 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 616 | const t_pppParam *par = params[ii];
|
---|
[7237] | 617 | if (first) {
|
---|
| 618 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[9642] | 619 | } else {
|
---|
[7237] | 620 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 621 | }
|
---|
| 622 | }
|
---|
| 623 |
|
---|
[9642] | 624 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 625 | SymmetricMatrix Qxyz(3);
|
---|
| 626 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 627 |
|
---|
| 628 | if (first) {
|
---|
[9642] | 629 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
| 630 | } else {
|
---|
[7237] | 631 | double dt = _epoTime - _firstEpoTime;
|
---|
[10010] | 632 | if (dt < OPT->_seedingTime || setNeuNoiseToZero) {
|
---|
[9642] | 633 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
| 634 | } else {
|
---|
| 635 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 636 | }
|
---|
| 637 | }
|
---|
| 638 | }
|
---|
[8912] | 639 |
|
---|
[9526] | 640 | //
|
---|
| 641 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 642 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
[10010] | 643 | const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
|
---|
[9526] | 644 |
|
---|
[9642] | 645 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 646 | unsigned nPar = params.size();
|
---|
| 647 |
|
---|
[9642] | 648 | _QFlt.ReSize(nPar);
|
---|
| 649 | _QFlt = 0.0;
|
---|
| 650 | _xFlt.ReSize(nPar);
|
---|
| 651 | _xFlt = 0.0;
|
---|
| 652 | _x0.ReSize(nPar);
|
---|
| 653 | _x0 = 0.0;
|
---|
[9526] | 654 |
|
---|
| 655 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 656 | t_pppParam *par1 = params[ii];
|
---|
[9526] | 657 | if (QFltOld.size() == 0) {
|
---|
| 658 | par1->resetIndex();
|
---|
| 659 | }
|
---|
| 660 | _x0[ii] = par1->x0();
|
---|
| 661 | int iOld = par1->indexOld();
|
---|
| 662 | if (iOld < 0) {
|
---|
| 663 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 664 | } else {
|
---|
[9526] | 665 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
[9642] | 666 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 667 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 668 | t_pppParam *par2 = params[jj];
|
---|
| 669 | int jOld = par2->indexOld();
|
---|
[9526] | 670 | if (jOld >= 0) {
|
---|
[9642] | 671 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 672 | }
|
---|
| 673 | }
|
---|
| 674 | }
|
---|
| 675 | }
|
---|
[10010] | 676 | predictCovCrdPart(QFltOld, setNeuNoiseToZero);
|
---|
[9526] | 677 | }
|
---|
| 678 |
|
---|
[8915] | 679 | // Compute datum transformation
|
---|
[8912] | 680 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 681 | t_irc t_pppFilter::datumTransformation(
|
---|
| 682 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[9508] | 683 |
|
---|
[9419] | 684 | // get last epoch
|
---|
[9642] | 685 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
|
---|
[9419] | 686 | if (!epoch) {
|
---|
[9508] | 687 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 688 | return failure;
|
---|
| 689 | }
|
---|
[9508] | 690 | _epoTime = epoch->epoTime();
|
---|
| 691 | LOG.setf(ios::fixed);
|
---|
[10015] | 692 | LOG << string(_epoTime) << "\nDATUM TRANSFORMATION " << endl;
|
---|
[9419] | 693 |
|
---|
[9642] | 694 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
|
---|
[9386] | 695 |
|
---|
[9642] | 696 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9508] | 697 |
|
---|
[9548] | 698 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
[9508] | 699 |
|
---|
[9419] | 700 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 701 | // =============================================================
|
---|
[10008] | 702 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
|
---|
| 703 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl;
|
---|
[9548] | 704 | return failure;
|
---|
[9386] | 705 | }
|
---|
| 706 |
|
---|
[9419] | 707 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
[9548] | 708 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9419] | 709 | return success;
|
---|
| 710 | }
|
---|
| 711 |
|
---|
[9386] | 712 | // set AA2
|
---|
| 713 | // =======
|
---|
[9508] | 714 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 715 | return failure;
|
---|
| 716 | }
|
---|
[10015] | 717 | #ifdef BNC_DEBUG_PPP
|
---|
[10018] | 718 | //_parlist.printParams(_epoTime);
|
---|
[10015] | 719 | #endif
|
---|
[9526] | 720 |
|
---|
[9642] | 721 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 722 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 723 | char sys = usedSystems[iSys];
|
---|
[9508] | 724 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 725 | vector<t_pppSatObs*> obsVector;
|
---|
| 726 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 727 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9618] | 728 | allObs[jj]->resetOutlier();
|
---|
[9386] | 729 | obsVector.push_back(allObs[jj]);
|
---|
| 730 | }
|
---|
| 731 | }
|
---|
[9431] | 732 | if (iSys == 0) {
|
---|
| 733 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 734 | }
|
---|
[9386] | 735 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 736 | unsigned usedLCs = LCs.size();
|
---|
[9548] | 737 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9642] | 738 | usedLCs -= 1; // GIM not used
|
---|
[9386] | 739 | }
|
---|
| 740 | // max Obs
|
---|
[9538] | 741 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
[9419] | 742 |
|
---|
[9548] | 743 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
[9386] | 744 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 745 | }
|
---|
[9526] | 746 |
|
---|
[9642] | 747 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 748 | unsigned nPar = _parlist.nPar();
|
---|
| 749 |
|
---|
[10017] | 750 | Matrix AA(maxObs, nPar); AA = 0.0;
|
---|
[9524] | 751 |
|
---|
[9386] | 752 | // Real Observations
|
---|
| 753 | // -----------------
|
---|
| 754 | int iObs = -1;
|
---|
| 755 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 756 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9419] | 757 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 758 | const t_lc::type tLC = LCs[jj];
|
---|
[9642] | 759 | if (tLC == t_lc::GIM) {
|
---|
| 760 | continue;
|
---|
| 761 | }
|
---|
[9419] | 762 | ++iObs;
|
---|
[9524] | 763 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 764 | const t_pppParam *par = params[iPar];
|
---|
[9419] | 765 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 766 | }
|
---|
| 767 | }
|
---|
| 768 | }
|
---|
[9538] | 769 |
|
---|
[9999] | 770 | if (!(iObs+1)) {
|
---|
[9419] | 771 | continue;
|
---|
| 772 | }
|
---|
[10002] | 773 | _datumTrafo->updateIndices(sys, iObs + 1);
|
---|
[10013] | 774 |
|
---|
[10008] | 775 | if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2) != success) {
|
---|
[9508] | 776 | return failure;
|
---|
| 777 | }
|
---|
[9386] | 778 | }
|
---|
[9419] | 779 | _datumTrafo->updateNumObs();
|
---|
[9386] | 780 |
|
---|
| 781 | // Datum Transformation
|
---|
| 782 | // ====================
|
---|
[9642] | 783 | if (_datumTrafo->computeTrafoMatrix() != success) {
|
---|
[9419] | 784 | return failure;
|
---|
| 785 | }
|
---|
[10008] | 786 |
|
---|
[9642] | 787 | ColumnVector xFltOld = _xFlt;
|
---|
[9386] | 788 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 789 |
|
---|
[9419] | 790 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
[9642] | 791 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 792 |
|
---|
[9579] | 793 | #ifdef BNC_DEBUG_PPP
|
---|
[10015] | 794 | //LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 795 | //LOG << "xFlt :\n" << _xFlt << endl;
|
---|
[9579] | 796 | #endif
|
---|
[9386] | 797 |
|
---|
| 798 | // Reset Ambiguities after Datum Transformation
|
---|
| 799 | // ============================================
|
---|
[9431] | 800 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 801 | char sys = usedSystems[iSys];
|
---|
[10008] | 802 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 803 | unsigned usedLCs = LCs.size();
|
---|
| 804 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
| 805 | usedLCs -= 1; // GIM not used
|
---|
| 806 | }
|
---|
[9508] | 807 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 808 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 809 | if (refPrnNew != refPrnOld) {
|
---|
[10008] | 810 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 811 | const t_lc::type tLC = LCs[jj];
|
---|
| 812 | if (tLC == t_lc::GIM) {
|
---|
| 813 | continue;
|
---|
[9642] | 814 | }
|
---|
[10008] | 815 | resetAmb(refPrnOld, allObs, tLC);
|
---|
| 816 | }
|
---|
[9386] | 817 | }
|
---|
| 818 | }
|
---|
| 819 |
|
---|
| 820 | // switch AA2 to AA1
|
---|
| 821 | // =================
|
---|
| 822 | _datumTrafo->switchAA();
|
---|
| 823 |
|
---|
[9548] | 824 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9508] | 825 |
|
---|
[9386] | 826 | return success;
|
---|
[8912] | 827 | }
|
---|
| 828 |
|
---|
[9386] | 829 | // Init datum transformation
|
---|
[8956] | 830 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 831 | void t_pppFilter::initDatumTransformation(
|
---|
| 832 | const std::vector<t_pppSatObs*> &allObs, bool pseudoObsIono) {
|
---|
[9395] | 833 | unsigned trafoObs = 0;
|
---|
[9642] | 834 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 835 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 836 | char sys = usedSystems[iSys];
|
---|
[9386] | 837 | int satNum = 0;
|
---|
| 838 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 839 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 840 | satNum++;
|
---|
[8956] | 841 | }
|
---|
| 842 | }
|
---|
[9386] | 843 | // all LCs
|
---|
[9419] | 844 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 845 | // exclude pseudo obs GIM
|
---|
[9419] | 846 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 847 | realUsedLCs -= 1;
|
---|
| 848 | }
|
---|
[9538] | 849 |
|
---|
[9395] | 850 | trafoObs += satNum * realUsedLCs;
|
---|
| 851 |
|
---|
[9419] | 852 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 853 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 854 | }
|
---|
[8956] | 855 | }
|
---|
[9419] | 856 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 857 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 858 | _datumTrafo->initAA();
|
---|
[8956] | 859 | }
|
---|
[9386] | 860 |
|
---|
| 861 | //
|
---|
| 862 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 863 | bool t_pppFilter::resetRefSatellitesLastEpoch(
|
---|
| 864 | std::vector<t_pppSatObs*> &obsVector,
|
---|
| 865 | const QMap<char, t_pppRefSat*> &refSatMap,
|
---|
| 866 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch) {
|
---|
[9431] | 867 | bool resetRefSat;
|
---|
[9386] | 868 | // reference satellite definition per system
|
---|
[9642] | 869 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 870 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 871 | resetRefSat = false;
|
---|
| 872 | char sys = usedSystems[iSys];
|
---|
[9508] | 873 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 874 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 875 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 876 | if (oldPrn != newPrn) {
|
---|
| 877 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 878 | }
|
---|
[9386] | 879 | #endif
|
---|
| 880 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 881 | while (it != obsVector.end()) {
|
---|
[9642] | 882 | t_pppSatObs *satObs = *it;
|
---|
| 883 | if (satObs->prn() == newPrn) {
|
---|
[9386] | 884 | resetRefSat = true;
|
---|
| 885 | satObs->setAsReference();
|
---|
[9508] | 886 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 887 | satObs->resetReference();
|
---|
| 888 | }
|
---|
[9642] | 889 | it++;
|
---|
[9386] | 890 | }
|
---|
[9431] | 891 | if (!resetRefSat) {
|
---|
| 892 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 893 | return resetRefSat;
|
---|
| 894 | }
|
---|
[9386] | 895 | }
|
---|
| 896 | return resetRefSat;
|
---|
| 897 | }
|
---|