[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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[10034] | 29 | #include "pppClient.h"
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[7237] | 30 |
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| 31 | using namespace BNC_PPP;
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| 32 | using namespace std;
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| 33 |
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| 34 | // Constructor
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| 35 | ////////////////////////////////////////////////////////////////////////////
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[10034] | 36 | t_pppFilter::t_pppFilter() {
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| 37 | _parlist = 0;
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[7237] | 38 | }
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| 39 |
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| 40 | // Destructor
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| 41 | ////////////////////////////////////////////////////////////////////////////
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| 42 | t_pppFilter::~t_pppFilter() {
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[10034] | 43 | delete _parlist;
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[7237] | 44 | }
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| 45 |
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| 46 | // Process Single Epoch
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| 47 | ////////////////////////////////////////////////////////////////////////////
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[10034] | 48 | t_irc t_pppFilter::processEpoch(t_pppObsPool* obsPool) {
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| 49 |
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[9642] | 50 | _numSat = 0;
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[7302] | 51 | const double maxSolGap = 60.0;
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[10028] | 52 | bool setNeuNoiseToZero = false;
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[7237] | 53 |
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[10034] | 54 | if (!_parlist) {
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| 55 | _parlist = new t_pppParlist();
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[10028] | 56 | }
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| 57 |
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[7237] | 58 | // Vector of all Observations
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| 59 | // --------------------------
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[10034] | 60 | t_pppObsPool::t_epoch *epoch = obsPool->lastEpoch();
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[7237] | 61 | if (!epoch) {
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| 62 | return failure;
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| 63 | }
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[9642] | 64 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
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[7237] | 65 |
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| 66 | // Time of the Epoch
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| 67 | // -----------------
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| 68 | _epoTime = epoch->epoTime();
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| 69 |
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[10015] | 70 | if (!_firstEpoTime.valid() ||
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| 71 | !_lastEpoTimeOK.valid()||
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| 72 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 73 | _firstEpoTime = _epoTime;
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| 74 | }
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| 75 |
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[7267] | 76 | string epoTimeStr = string(_epoTime);
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| 77 |
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[10034] | 78 | const QList<char> &usedSystems = _parlist->usedSystems();
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[10015] | 79 |
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[7237] | 80 | // Set Parameters
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[10034] | 81 | // --------------
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| 82 | if (_parlist->set(_epoTime, allObs) != success) {
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[9419] | 83 | return failure;
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| 84 | }
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[10028] | 85 |
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[7237] | 86 | // Status Vector, Variance-Covariance Matrix
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| 87 | // -----------------------------------------
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[10256] | 88 | ColumnVector xFltOld = _xFlt;
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| 89 | SymmetricMatrix QFltOld = _QFlt;
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| 90 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld, setNeuNoiseToZero);
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[8956] | 91 |
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[7237] | 92 | // Process Satellite Systems separately
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| 93 | // ------------------------------------
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[9431] | 94 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 95 | char sys = usedSystems[iSys];
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[7267] | 96 | unsigned int num = 0;
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[7237] | 97 | vector<t_pppSatObs*> obsVector;
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| 98 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 99 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 100 | obsVector.push_back(allObs[jj]);
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[10034] | 101 | num++;
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[7237] | 102 | }
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| 103 | }
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[10034] | 104 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num << endl;
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| 105 | if (processSystem(OPT->LCs(sys), obsVector, epoch->pseudoObsIono()) != success) {
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[10220] | 106 | LOG << "t_pppFilter::processSystem() != success: " << sys << endl;
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[7237] | 107 | return failure;
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| 108 | }
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| 109 | }
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[8912] | 110 |
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| 111 | // close epoch processing
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| 112 | // ----------------------
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[10034] | 113 | cmpDOP(allObs);
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| 114 | _parlist->printResult(_epoTime, _QFlt, _xFlt);
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[9642] | 115 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 116 | return success;
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| 117 | }
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| 118 |
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| 119 | // Process Selected LCs
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| 120 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 121 | t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
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[10034] | 122 | const vector<t_pppSatObs*> &obsVector,
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| 123 | bool pseudoObsIonoAvailable) {
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[7237] | 124 | LOG.setf(ios::fixed);
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| 125 |
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| 126 | // Detect Cycle Slips
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| 127 | // ------------------
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[10034] | 128 | if (detectCycleSlips(LCs, obsVector) != success) {
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[7237] | 129 | return failure;
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| 130 | }
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| 131 |
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[10034] | 132 | ColumnVector xSav = _xFlt;
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[9642] | 133 | SymmetricMatrix QSav = _QFlt;
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[10034] | 134 | string epoTimeStr = string(_epoTime);
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| 135 | const vector<t_pppParam*> ¶ms = _parlist->params();
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| 136 | unsigned nPar = _parlist->nPar();
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[8965] | 137 |
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[9642] | 138 | unsigned usedLCs = LCs.size();
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[8965] | 139 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9642] | 140 | usedLCs -= 1; // GIM not used
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[8961] | 141 | }
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| 142 | // max Obs
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[9538] | 143 | unsigned maxObs = obsVector.size() * usedLCs;
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| 144 |
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[7237] | 145 | // Outlier Detection Loop
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| 146 | // ----------------------
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| 147 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 148 |
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| 149 | if (iOutlier > 0) {
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| 150 | _xFlt = xSav;
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| 151 | _QFlt = QSav;
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| 152 | }
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| 153 |
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| 154 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 155 | // -----------------------------------------------------------
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[9642] | 156 | Matrix AA(maxObs, nPar);
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[10034] | 157 | ColumnVector ll(maxObs); ll = 0.0;
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| 158 | DiagonalMatrix PP(maxObs); PP = 0.0;
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[8912] | 159 |
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[7237] | 160 | int iObs = -1;
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| 161 | vector<t_pppSatObs*> usedObs;
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[9642] | 162 | vector<t_lc::type> usedTypes;
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[9386] | 163 |
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| 164 | // Real Observations
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| 165 | // =================
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[10184] | 166 | int nSat = 0;
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[7237] | 167 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 168 | t_pppSatObs *obs = obsVector[ii];
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[10256] | 169 | char sys = obs->prn().system();
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[10034] | 170 | if (iOutlier == 0) {
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[9419] | 171 | obs->resetOutlier();
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| 172 | }
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[7237] | 173 | if (!obs->outlier()) {
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[9583] | 174 | nSat++;
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[8905] | 175 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 176 | const t_lc::type tLC = LCs[jj];
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[9642] | 177 | if (tLC == t_lc::GIM) {
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| 178 | continue;
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| 179 | }
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[7237] | 180 | ++iObs;
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| 181 | usedObs.push_back(obs);
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| 182 | usedTypes.push_back(tLC);
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[9524] | 183 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 184 | const t_pppParam *par = params[iPar];
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[10034] | 185 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
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[7237] | 186 | }
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[10326] | 187 | double offGlo = 0.0;
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[10256] | 188 | if (sys == 'R' && tLC != t_lc::MW) {
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| 189 | offGlo = PPP_CLIENT->offGlo();
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| 190 | }
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[10326] | 191 | double offGal = 0.0;
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[10256] | 192 | if (sys == 'E' && tLC != t_lc::MW) {
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| 193 | offGal = PPP_CLIENT->offGal();
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| 194 | }
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[10326] | 195 | double offBds = 0.0;
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[10256] | 196 | if (sys == 'C' && tLC != t_lc::MW) {
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| 197 | offBds = PPP_CLIENT->offBds();
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| 198 | }
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| 199 | ll[iObs] = obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
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[7237] | 200 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 201 | }
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| 202 | }
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| 203 | }
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| 204 |
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[9556] | 205 | // Check number of observations
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| 206 | // ----------------------------
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[10257] | 207 | if (!nSat) {
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[9701] | 208 | return failure;
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[9699] | 209 | }
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[9625] | 210 |
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[9386] | 211 | // Pseudo Obs Iono
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| 212 | // ================
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| 213 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 214 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 215 | t_pppSatObs *obs = obsVector[ii];
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[10256] | 216 | char sys = obs->prn().system();
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[9386] | 217 | if (!obs->outlier()) {
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| 218 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 219 | const t_lc::type tLC = LCs[jj];
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[10034] | 220 | if (tLC == t_lc::GIM) {
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[9386] | 221 | ++iObs;
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[9642] | 222 | } else {
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| 223 | continue;
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| 224 | }
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[9386] | 225 | usedObs.push_back(obs);
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| 226 | usedTypes.push_back(tLC);
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[9524] | 227 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 228 | const t_pppParam *par = params[iPar];
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[10034] | 229 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
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[9386] | 230 | }
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[10326] | 231 | double offGlo = 0.0;
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[10256] | 232 | if (sys == 'R' && tLC != t_lc::MW) {
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| 233 | offGlo = PPP_CLIENT->offGlo();
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| 234 | }
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[10326] | 235 | double offGal = 0.0;
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[10256] | 236 | if (sys == 'E' && tLC != t_lc::MW) {
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| 237 | offGal = PPP_CLIENT->offGal();
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| 238 | }
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[10326] | 239 | double offBds = 0.0;
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[10256] | 240 | if (sys == 'C' && tLC != t_lc::MW) {
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| 241 | offBds = PPP_CLIENT->offBds();
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| 242 | }
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| 243 | ll[iObs] = obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
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[9386] | 244 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 245 | }
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| 246 | }
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[8956] | 247 | }
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[8915] | 248 | }
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| 249 |
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[9556] | 250 | // Truncate matrices
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| 251 | // -----------------
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[9642] | 252 | AA = AA.Rows(1, iObs + 1);
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| 253 | ll = ll.Rows(1, iObs + 1);
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| 254 | PP = PP.SymSubMatrix(1, iObs + 1);
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[7237] | 255 |
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| 256 | // Kalman update step
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| 257 | // ------------------
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| 258 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 259 |
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| 260 | // Check Residuals
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| 261 | // ---------------
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| 262 | ColumnVector vv = AA * _xFlt - ll;
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[9642] | 263 | double maxOutlier = 0.0;
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| 264 | int maxOutlierIndex = -1;
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| 265 | t_lc::type maxOutlierLC = t_lc::dummy;
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[7237] | 266 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 267 | const t_lc::type tLC = usedTypes[ii];
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| 268 | double res = fabs(vv[ii]);
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| 269 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 270 | if (res > fabs(maxOutlier)) {
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[9642] | 271 | maxOutlier = vv[ii];
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[7237] | 272 | maxOutlierIndex = ii;
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[9642] | 273 | maxOutlierLC = tLC;
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[7237] | 274 | }
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| 275 | }
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| 276 | }
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| 277 |
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| 278 | // Mark outlier or break outlier detection loop
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| 279 | // --------------------------------------------
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| 280 | if (maxOutlierIndex > -1) {
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[9642] | 281 | t_pppSatObs *obs = usedObs[maxOutlierIndex];
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| 282 | t_pppParam *par = 0;
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[10034] | 283 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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| 284 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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| 285 | << maxOutlier << endl;
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[9524] | 286 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 287 | t_pppParam *hlp = params[iPar];
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[10008] | 288 | if (hlp->type() == t_pppParam::amb &&
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[10034] | 289 | hlp->prn() == obs->prn() &&
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| 290 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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[7237] | 291 | par = hlp;
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| 292 | }
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| 293 | }
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[10034] | 294 | if (par) {
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[10319] | 295 | resetAmb(obs->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
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[10021] | 296 | }
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[10034] | 297 | else {
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| 298 | obs->setOutlier();
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[7237] | 299 | }
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| 300 | }
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| 301 | // Print Residuals
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| 302 | // ---------------
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| 303 | else {
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[8905] | 304 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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| 305 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 306 | const t_lc::type tLC = usedTypes[ii];
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[9642] | 307 | t_pppSatObs *obs = usedObs[ii];
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[8905] | 308 | if (tLC == LCs[jj]) {
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| 309 | obs->setRes(tLC, vv[ii]);
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[9642] | 310 | LOG << epoTimeStr << " RES " << left << setw(3)
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[9699] | 311 | << t_lc::toString(tLC) << right << ' '
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[10034] | 312 | << obs->prn().toString() << ' '
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| 313 | << setw(8) << setprecision(4) << vv[ii] << endl;
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[7237] | 314 | }
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| 315 | }
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| 316 | }
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| 317 | break;
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| 318 | }
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| 319 | }
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| 320 | return success;
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| 321 | }
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| 322 |
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| 323 | // Cycle-Slip Detection
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| 324 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 325 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
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[10034] | 326 | const vector<t_pppSatObs*> &obsVector) {
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| 327 |
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[10327] | 328 | double SLIP = 20.0;
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| 329 | double fac = 1.0;
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| 330 | if (_lastEpoTimeOK.valid()) {
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| 331 | fac = _epoTime - _lastEpoTimeOK;
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| 332 | if (fac > 60.0 || fac < 1.0) {
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| 333 | fac = 1.0;
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| 334 | }
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| 335 | }
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| 336 | SLIP *= fac;
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[9386] | 337 | string epoTimeStr = string(_epoTime);
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[10034] | 338 | const vector<t_pppParam*> ¶ms = _parlist->params();
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[7237] | 339 |
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| 340 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
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[9642] | 341 | const t_lc::type &tLC = LCs[ii];
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[7237] | 342 | if (t_lc::includesPhase(tLC)) {
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| 343 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
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[9642] | 344 | const t_pppSatObs *obs = obsVector[iObs];
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[10256] | 345 | char sys = obs->prn().system();
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[7237] | 346 |
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[7267] | 347 | // Check set Slips and Jump Counters
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[7237] | 348 | // ---------------------------------
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| 349 | bool slip = false;
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[9386] | 350 |
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[7237] | 351 | if (obs->slip()) {
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[10319] | 352 | LOG << epoTimeStr << " Cycle slip set (obs) " << obs->prn().toString() << endl;
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[7237] | 353 | slip = true;
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| 354 | }
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| 355 |
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[10034] | 356 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
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| 357 | _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
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[10319] | 358 | LOG << epoTimeStr << " Cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
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[7237] | 359 | slip = true;
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| 360 | }
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[10034] | 361 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
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| 362 |
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| 363 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
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| 364 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
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[10319] | 365 | LOG << epoTimeStr << " Cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
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[7237] | 366 | slip = true;
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| 367 | }
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[10034] | 368 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
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| 369 |
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[7237] | 370 | // Slip Set
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[7267] | 371 | // --------
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[7237] | 372 | if (slip) {
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[10034] | 373 | resetAmb(obs->prn(), obsVector, tLC);
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[7237] | 374 | }
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[10034] | 375 |
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[10259] | 376 | // Check Pre-Fit Residuals
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[10335] | 377 | /* -----------------------
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[7237] | 378 | else {
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[10034] | 379 | ColumnVector AA(params.size());
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| 380 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 381 | const t_pppParam* par = params[iPar];
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| 382 | AA[iPar] = par->partial(_epoTime, obs, tLC);
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[7237] | 383 | }
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[10326] | 384 | double offGlo = 0.0;
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[10256] | 385 | if (sys == 'R' && tLC != t_lc::MW) {
|
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| 386 | offGlo = PPP_CLIENT->offGlo();
|
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| 387 | }
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[10326] | 388 | double offGal = 0.0;
|
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[10256] | 389 | if (sys == 'E' && tLC != t_lc::MW) {
|
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| 390 | offGal = PPP_CLIENT->offGal();
|
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| 391 | }
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[10326] | 392 | double offBds = 0.0;
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[10256] | 393 | if (sys == 'C' && tLC != t_lc::MW) {
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| 394 | offBds = PPP_CLIENT->offBds();
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| 395 | }
|
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| 396 | double ll = obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA);
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[10034] | 397 | double vv = DotProduct(AA, _xFlt) - ll;
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| 398 |
|
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| 399 | if (fabs(vv) > SLIP) {
|
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| 400 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
|
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| 401 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
|
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| 402 | resetAmb(obs->prn(), obsVector, tLC);
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| 403 | }
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[10335] | 404 | }*/
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[7237] | 405 | }
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| 406 | }
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| 407 | }
|
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| 408 | return success;
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| 409 | }
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| 410 |
|
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| 411 | // Reset Ambiguity Parameter (cycle slip)
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| 412 | ////////////////////////////////////////////////////////////////////////////
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[10248] | 413 | t_irc t_pppFilter::resetAmb(const t_prn prn, const vector<t_pppSatObs*> &obsVector, t_lc::type lc,
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| 414 | SymmetricMatrix *QSav, ColumnVector *xSav) {
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[8965] | 415 |
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[7237] | 416 | t_irc irc = failure;
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[10034] | 417 | vector<t_pppParam*>& params = _parlist->params();
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[7237] | 418 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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[9642] | 419 | t_pppParam *par = params[iPar];
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[7237] | 420 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
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[10249] | 421 | int ind = par->indexNew();
|
---|
| 422 | double eleSat = par->ambEleSat();
|
---|
[10156] | 423 | bncTime firstObsTime;
|
---|
| 424 | bncTime lastObsTime = par->lastObsTime();
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[10249] | 425 | (par->firstObsTime().undef()) ?
|
---|
| 426 | firstObsTime = lastObsTime : firstObsTime = par->firstObsTime();
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[7237] | 427 | t_lc::type tLC = par->tLC();
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---|
[10184] | 428 | if (tLC != lc) {continue;}
|
---|
[7237] | 429 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
[10034] | 430 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
[7237] | 431 | par->setIndex(ind);
|
---|
[10156] | 432 | par->setFirstObsTime(firstObsTime);
|
---|
| 433 | par->setLastObsTime(lastObsTime);
|
---|
[10248] | 434 | par->setAmbEleSat(eleSat);
|
---|
[7237] | 435 | params[iPar] = par;
|
---|
| 436 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
[9642] | 437 | _QFlt(ii, ind + 1) = 0.0;
|
---|
[7237] | 438 | if (QSav) {
|
---|
[10250] | 439 | (*QSav)(ii, ind + 1) = 0.0;
|
---|
[7237] | 440 | }
|
---|
| 441 | }
|
---|
[9642] | 442 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[7237] | 443 | if (QSav) {
|
---|
[9642] | 444 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
|
---|
[7237] | 445 | }
|
---|
| 446 | _xFlt[ind] = 0.0;
|
---|
| 447 | if (xSav) {
|
---|
| 448 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 449 | }
|
---|
| 450 | _x0[ind] = par->x0();
|
---|
[10256] | 451 | irc = success;
|
---|
[7237] | 452 | }
|
---|
| 453 | }
|
---|
| 454 |
|
---|
| 455 | return irc;
|
---|
| 456 | }
|
---|
| 457 |
|
---|
| 458 | // Compute various DOP Values
|
---|
| 459 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10034] | 460 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector) {
|
---|
[7237] | 461 |
|
---|
| 462 | _dop.reset();
|
---|
| 463 |
|
---|
| 464 | try {
|
---|
| 465 | const unsigned numPar = 4;
|
---|
| 466 | Matrix AA(obsVector.size(), numPar);
|
---|
[10328] | 467 | t_pppParam* parX = 0;
|
---|
| 468 | t_pppParam* parY = 0;
|
---|
| 469 | t_pppParam* parZ = 0;
|
---|
[7237] | 470 | _numSat = 0;
|
---|
| 471 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 472 | t_pppSatObs *obs = obsVector[ii];
|
---|
[7237] | 473 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 474 | ++_numSat;
|
---|
| 475 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[10328] | 476 | t_pppParam* par = _parlist->params()[iPar];
|
---|
[10034] | 477 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1);
|
---|
[10328] | 478 | if (par->type() == t_pppParam::crdX) {
|
---|
| 479 | parX = par;
|
---|
| 480 | }
|
---|
| 481 | else if (par->type() == t_pppParam::crdY) {
|
---|
| 482 | parY = par;
|
---|
| 483 | }
|
---|
| 484 | else if (par->type() == t_pppParam::crdZ) {
|
---|
| 485 | parZ = par;
|
---|
| 486 | }
|
---|
[7237] | 487 | }
|
---|
| 488 | }
|
---|
| 489 | }
|
---|
| 490 | if (_numSat < 4) {
|
---|
| 491 | return;
|
---|
| 492 | }
|
---|
| 493 | AA = AA.Rows(1, _numSat);
|
---|
[10034] | 494 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
[7237] | 495 | SymmetricMatrix QQ = NN.i();
|
---|
[10328] | 496 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
|
---|
[7267] | 497 |
|
---|
[10328] | 498 | ColumnVector xyz(3), neu(3);
|
---|
| 499 | SymmetricMatrix QQneu(3);
|
---|
| 500 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
| 501 | xyz[0] = _xFlt[parX->indexNew()];
|
---|
| 502 | xyz[1] = _xFlt[parY->indexNew()];
|
---|
| 503 | xyz[2] = _xFlt[parZ->indexNew()];
|
---|
| 504 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
|
---|
| 505 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
|
---|
| 506 |
|
---|
| 507 | _dop.H = sqrt(QQneu(1, 1) + QQneu(2, 2));
|
---|
| 508 | _dop.V = sqrt(QQneu(3, 3));
|
---|
[9642] | 509 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 510 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 511 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
[7237] | 512 | }
|
---|
[10034] | 513 | catch (...) {
|
---|
| 514 | }
|
---|
[7237] | 515 | }
|
---|
| 516 |
|
---|
[9526] | 517 | //
|
---|
[7237] | 518 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10256] | 519 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
|
---|
[7237] | 520 |
|
---|
[10034] | 521 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
| 522 |
|
---|
[7237] | 523 | if (params.size() < 3) {
|
---|
| 524 | return;
|
---|
| 525 | }
|
---|
| 526 |
|
---|
| 527 | bool first = (params[0]->indexOld() < 0);
|
---|
| 528 |
|
---|
[10034] | 529 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
---|
[7237] | 530 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 531 | const t_pppParam *par = params[ii];
|
---|
[7237] | 532 | if (first) {
|
---|
| 533 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[10034] | 534 | }
|
---|
| 535 | else {
|
---|
[7237] | 536 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 537 | }
|
---|
| 538 | }
|
---|
| 539 |
|
---|
[9642] | 540 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 541 | SymmetricMatrix Qxyz(3);
|
---|
| 542 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 543 |
|
---|
| 544 | if (first) {
|
---|
[9642] | 545 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
[10034] | 546 | }
|
---|
| 547 | else {
|
---|
[7237] | 548 | double dt = _epoTime - _firstEpoTime;
|
---|
[10010] | 549 | if (dt < OPT->_seedingTime || setNeuNoiseToZero) {
|
---|
[10256] | 550 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
[10034] | 551 | }
|
---|
| 552 | else {
|
---|
[10256] | 553 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 554 | }
|
---|
| 555 | }
|
---|
| 556 | }
|
---|
[8912] | 557 |
|
---|
[9526] | 558 | //
|
---|
| 559 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10256] | 560 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
| 561 | const SymmetricMatrix &QFltOld,
|
---|
| 562 | bool setNeuNoiseToZero) {
|
---|
[9526] | 563 |
|
---|
[10034] | 564 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
[9526] | 565 | unsigned nPar = params.size();
|
---|
| 566 |
|
---|
[10034] | 567 | _QFlt.ReSize(nPar); _QFlt = 0.0;
|
---|
| 568 | _xFlt.ReSize(nPar); _xFlt = 0.0;
|
---|
| 569 | _x0.ReSize(nPar); _x0 = 0.0;
|
---|
[9526] | 570 |
|
---|
| 571 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 572 | t_pppParam *par1 = params[ii];
|
---|
[10256] | 573 | if (QFltOld.size() == 0) {
|
---|
[9526] | 574 | par1->resetIndex();
|
---|
| 575 | }
|
---|
| 576 | _x0[ii] = par1->x0();
|
---|
| 577 | int iOld = par1->indexOld();
|
---|
| 578 | if (iOld < 0) {
|
---|
| 579 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 580 | } else {
|
---|
[10256] | 581 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
| 582 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 583 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 584 | t_pppParam *par2 = params[jj];
|
---|
| 585 | int jOld = par2->indexOld();
|
---|
[9526] | 586 | if (jOld >= 0) {
|
---|
[10256] | 587 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 588 | }
|
---|
| 589 | }
|
---|
| 590 | }
|
---|
| 591 | }
|
---|
[10256] | 592 | predictCovCrdPart(QFltOld, setNeuNoiseToZero);
|
---|
[9526] | 593 | }
|
---|