[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 | #include "pppClient.h"
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| 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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| 36 | t_pppFilter::t_pppFilter() {
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| 37 | _parlist = 0;
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| 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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| 43 | delete _parlist;
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| 44 | }
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| 45 |
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| 46 | // Process Single Epoch
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| 47 | ////////////////////////////////////////////////////////////////////////////
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| 48 | t_irc t_pppFilter::processEpoch(t_pppObsPool* obsPool) {
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| 49 |
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| 50 | _numSat = 0;
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[7302] | 51 | const double maxSolGap = 60.0;
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[7237] | 52 |
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| 53 | if (!_parlist) {
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| 54 | _parlist = new t_pppParlist();
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| 55 | }
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| 56 |
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| 57 | // Vector of all Observations
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| 58 | // --------------------------
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| 59 | t_pppObsPool::t_epoch* epoch = obsPool->lastEpoch();
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| 60 | if (!epoch) {
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| 61 | return failure;
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| 62 | }
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| 63 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
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| 64 |
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| 65 | // Time of the Epoch
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| 66 | // -----------------
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| 67 | _epoTime = epoch->epoTime();
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| 68 |
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[7302] | 69 | if (!_firstEpoTime.valid() ||
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| 70 | !_lastEpoTimeOK.valid() ||
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| 71 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 72 | _firstEpoTime = _epoTime;
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| 73 | }
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| 74 |
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[7267] | 75 | string epoTimeStr = string(_epoTime);
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| 76 |
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[7237] | 77 | // Set Parameters
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| 78 | // --------------
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| 79 | _parlist->set(_epoTime, allObs);
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| 80 | const vector<t_pppParam*>& params = _parlist->params();
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| 81 |
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| 82 | // Status Vector, Variance-Covariance Matrix
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| 83 | // -----------------------------------------
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| 84 | ColumnVector xFltOld = _xFlt;
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| 85 | SymmetricMatrix QFltOld = _QFlt;
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| 86 |
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| 87 | _QFlt.ReSize(_parlist->nPar()); _QFlt = 0.0;
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| 88 | _xFlt.ReSize(_parlist->nPar()); _xFlt = 0.0;
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| 89 | _x0.ReSize(_parlist->nPar()); _x0 = 0.0;
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[7267] | 90 |
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[7237] | 91 | for (unsigned ii = 0; ii < params.size(); ii++) {
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| 92 | const t_pppParam* par1 = params[ii];
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| 93 |
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| 94 | _x0[ii] = par1->x0();
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| 95 |
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| 96 | int iOld = par1->indexOld();
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| 97 | if (iOld < 0) {
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| 98 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
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| 99 | }
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| 100 | else {
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| 101 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
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| 102 | _xFlt[ii] = xFltOld[iOld];
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| 103 | for (unsigned jj = 0; jj < ii; jj++) {
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| 104 | const t_pppParam* par2 = params[jj];
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| 105 | int jOld = par2->indexOld();
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| 106 | if (jOld >= 0) {
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| 107 | _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1);
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| 108 | }
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| 109 | }
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| 110 | }
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| 111 | }
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| 112 |
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| 113 | predictCovCrdPart(QFltOld);
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| 114 |
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| 115 | // Process Satellite Systems separately
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| 116 | // ------------------------------------
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| 117 | for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
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| 118 | char system = OPT->systems()[iSys];
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[7267] | 119 | unsigned int num = 0;
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[7237] | 120 | vector<t_pppSatObs*> obsVector;
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| 121 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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| 122 | if (allObs[jj]->prn().system() == system) {
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| 123 | obsVector.push_back(allObs[jj]);
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[7267] | 124 | num++;
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[7237] | 125 | }
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| 126 | }
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[7267] | 127 | LOG << epoTimeStr << " SATNUM " << system << ' ' << right << setw(2) << num << endl;
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[7237] | 128 | if ( processSystem(OPT->LCs(system), obsVector) != success ) {
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| 129 | return failure;
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| 130 | }
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| 131 | }
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[7267] | 132 |
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[7237] | 133 | cmpDOP(allObs);
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| 134 |
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| 135 | _parlist->printResult(_epoTime, _QFlt, _xFlt);
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[7302] | 136 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 137 | return success;
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| 138 | }
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| 139 |
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| 140 | // Process Selected LCs
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| 141 | ////////////////////////////////////////////////////////////////////////////
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[7267] | 142 | t_irc t_pppFilter::processSystem(const vector<t_lc::type>& LCs,
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[7237] | 143 | const vector<t_pppSatObs*>& obsVector) {
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| 144 |
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| 145 | LOG.setf(ios::fixed);
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| 146 |
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| 147 | // Detect Cycle Slips
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| 148 | // ------------------
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| 149 | if (detectCycleSlips(LCs, obsVector) != success) {
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| 150 | return failure;
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| 151 | }
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| 152 |
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| 153 | ColumnVector xSav = _xFlt;
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| 154 | SymmetricMatrix QSav = _QFlt;
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| 155 | string epoTimeStr = string(_epoTime);
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| 156 | const vector<t_pppParam*>& params = _parlist->params();
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| 157 | unsigned maxObs = obsVector.size() * LCs.size();
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[7267] | 158 |
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[7237] | 159 | // Outlier Detection Loop
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| 160 | // ----------------------
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| 161 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 162 |
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| 163 | if (iOutlier > 0) {
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| 164 | _xFlt = xSav;
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| 165 | _QFlt = QSav;
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| 166 | }
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| 167 |
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| 168 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 169 | // -----------------------------------------------------------
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| 170 | Matrix AA(maxObs, _parlist->nPar());
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| 171 | ColumnVector ll(maxObs);
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| 172 | DiagonalMatrix PP(maxObs); PP = 0.0;
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[7267] | 173 |
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[7237] | 174 | int iObs = -1;
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| 175 | vector<t_pppSatObs*> usedObs;
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| 176 | vector<t_lc::type> usedTypes;
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| 177 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 178 | t_pppSatObs* obs = obsVector[ii];
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| 179 | if (!obs->outlier()) {
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| 180 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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| 181 | const t_lc::type tLC = LCs[jj];
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| 182 | ++iObs;
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| 183 | usedObs.push_back(obs);
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| 184 | usedTypes.push_back(tLC);
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| 185 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 186 | const t_pppParam* par = params[iPar];
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| 187 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
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| 188 | }
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| 189 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 190 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 191 | }
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| 192 | }
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| 193 | }
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| 194 |
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| 195 | // Check number of observations, truncate matrices
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| 196 | // -----------------------------------------------
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| 197 | if (iObs == -1) {
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| 198 | return failure;
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| 199 | }
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| 200 | AA = AA.Rows(1, iObs+1);
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| 201 | ll = ll.Rows(1, iObs+1);
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| 202 | PP = PP.SymSubMatrix(1, iObs+1);
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| 203 |
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| 204 | // Kalman update step
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| 205 | // ------------------
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| 206 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 207 |
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| 208 | // Check Residuals
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| 209 | // ---------------
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| 210 | ColumnVector vv = AA * _xFlt - ll;
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| 211 | double maxOutlier = 0.0;
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| 212 | int maxOutlierIndex = -1;
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| 213 | t_lc::type maxOutlierLC = t_lc::dummy;
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| 214 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 215 | const t_lc::type tLC = usedTypes[ii];
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| 216 | double res = fabs(vv[ii]);
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| 217 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 218 | if (res > fabs(maxOutlier)) {
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| 219 | maxOutlier = vv[ii];
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| 220 | maxOutlierIndex = ii;
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| 221 | maxOutlierLC = tLC;
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| 222 | }
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| 223 | }
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| 224 | }
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| 225 |
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| 226 | // Mark outlier or break outlier detection loop
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| 227 | // --------------------------------------------
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| 228 | if (maxOutlierIndex > -1) {
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| 229 | t_pppSatObs* obs = usedObs[maxOutlierIndex];
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| 230 | t_pppParam* par = 0;
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[7267] | 231 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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| 232 | << obs->prn().toString() << ' '
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[7237] | 233 | << setw(8) << setprecision(4) << maxOutlier << endl;
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| 234 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 235 | t_pppParam* hlp = params[iPar];
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[7267] | 236 | if (hlp->type() == t_pppParam::amb && hlp->prn() == obs->prn() &&
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[7237] | 237 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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| 238 | par = hlp;
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| 239 | }
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| 240 | }
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| 241 | if (par) {
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| 242 | if (par->ambResetCandidate()) {
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| 243 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
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| 244 | }
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| 245 | else {
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| 246 | par->setAmbResetCandidate();
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| 247 | obs->setOutlier();
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| 248 | }
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| 249 | }
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| 250 | else {
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| 251 | obs->setOutlier();
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| 252 | }
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| 253 | }
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| 254 |
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| 255 | // Print Residuals
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| 256 | // ---------------
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| 257 | else {
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| 258 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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| 259 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 260 | const t_lc::type tLC = usedTypes[ii];
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| 261 | t_pppSatObs* obs = usedObs[ii];
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| 262 | if (tLC == LCs[jj]) {
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| 263 | obs->setRes(tLC, vv[ii]);
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[7267] | 264 | LOG << epoTimeStr << " RES "
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| 265 | << left << setw(3) << t_lc::toString(tLC) << right << ' '
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[7237] | 266 | << obs->prn().toString().substr(0,3) << ' '
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| 267 | << setw(8) << setprecision(4) << vv[ii] << endl;
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| 268 | }
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| 269 | }
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| 270 | }
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| 271 | break;
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| 272 | }
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| 273 | }
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| 274 |
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| 275 | return success;
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| 276 | }
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| 277 |
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| 278 | // Cycle-Slip Detection
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| 279 | ////////////////////////////////////////////////////////////////////////////
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[7267] | 280 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type>& LCs,
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[7237] | 281 | const vector<t_pppSatObs*>& obsVector) {
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| 282 |
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| 283 | const double SLIP = 20.0; // slip threshold
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| 284 | string epoTimeStr = string(_epoTime);
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| 285 | const vector<t_pppParam*>& params = _parlist->params();
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| 286 |
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| 287 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
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| 288 | const t_lc::type& tLC = LCs[ii];
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| 289 | if (t_lc::includesPhase(tLC)) {
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| 290 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
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| 291 | const t_pppSatObs* obs = obsVector[iObs];
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| 292 |
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[7267] | 293 | // Check set Slips and Jump Counters
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[7237] | 294 | // ---------------------------------
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| 295 | bool slip = false;
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| 296 |
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| 297 | if (obs->slip()) {
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[8329] | 298 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() << endl;
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[7237] | 299 | slip = true;
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| 300 | }
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| 301 |
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| 302 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
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[7837] | 303 | _slips[obs->prn()]._obsSlipCounter > obs->slipCounter()) {
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[8329] | 304 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
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[7237] | 305 | slip = true;
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| 306 | }
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| 307 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
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| 308 |
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| 309 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
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| 310 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
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[8329] | 311 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
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[7237] | 312 | slip = true;
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| 313 | }
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| 314 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
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| 315 |
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| 316 | // Slip Set
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[7267] | 317 | // --------
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[7237] | 318 | if (slip) {
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| 319 | resetAmb(obs->prn(), obsVector);
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| 320 | }
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[7267] | 321 |
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[7237] | 322 | // Check Pre-Fit Residuals
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| 323 | // -----------------------
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| 324 | else {
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| 325 | ColumnVector AA(params.size());
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| 326 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 327 | const t_pppParam* par = params[iPar];
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| 328 | AA[iPar] = par->partial(_epoTime, obs, tLC);
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| 329 | }
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[7267] | 330 |
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[7237] | 331 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
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| 332 | double vv = DotProduct(AA, _xFlt) - ll;
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[7267] | 333 |
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[7237] | 334 | if (fabs(vv) > SLIP) {
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[7267] | 335 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
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[7237] | 336 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
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| 337 | resetAmb(obs->prn(), obsVector);
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| 338 | }
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| 339 | }
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| 340 | }
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| 341 | }
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| 342 | }
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| 343 |
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| 344 | return success;
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| 345 | }
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| 346 |
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| 347 | // Reset Ambiguity Parameter (cycle slip)
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| 348 | ////////////////////////////////////////////////////////////////////////////
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| 349 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*>& obsVector,
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| 350 | SymmetricMatrix* QSav, ColumnVector* xSav) {
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| 351 | t_irc irc = failure;
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| 352 | vector<t_pppParam*>& params = _parlist->params();
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| 353 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 354 | t_pppParam* par = params[iPar];
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| 355 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
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| 356 | int ind = par->indexNew();
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| 357 | t_lc::type tLC = par->tLC();
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| 358 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
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| 359 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
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| 360 | par->setIndex(ind);
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| 361 | params[iPar] = par;
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| 362 | for (unsigned ii = 1; ii <= params.size(); ii++) {
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| 363 | _QFlt(ii, ind+1) = 0.0;
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| 364 | if (QSav) {
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| 365 | (*QSav)(ii, ind+1) = 0.0;
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| 366 | }
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| 367 | }
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| 368 | _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
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| 369 | if (QSav) {
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| 370 | (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1);
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| 371 | }
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| 372 | _xFlt[ind] = 0.0;
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| 373 | if (xSav) {
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| 374 | (*xSav)[ind] = _xFlt[ind];
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| 375 | }
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| 376 | _x0[ind] = par->x0();
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| 377 | irc = success;
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| 378 | }
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| 379 | }
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| 380 |
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| 381 | return irc;
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| 382 | }
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| 383 |
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| 384 | // Compute various DOP Values
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| 385 | ////////////////////////////////////////////////////////////////////////////
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| 386 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*>& obsVector) {
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| 387 |
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| 388 | _dop.reset();
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| 389 |
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| 390 | try {
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| 391 | const unsigned numPar = 4;
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| 392 | Matrix AA(obsVector.size(), numPar);
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| 393 | _numSat = 0;
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| 394 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 395 | t_pppSatObs* obs = obsVector[ii];
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| 396 | if (obs->isValid() && !obs->outlier()) {
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| 397 | ++_numSat;
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| 398 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
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| 399 | const t_pppParam* par = _parlist->params()[iPar];
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| 400 | AA[_numSat-1][iPar] = par->partial(_epoTime, obs, t_lc::c1);
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| 401 | }
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| 402 | }
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| 403 | }
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| 404 | if (_numSat < 4) {
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| 405 | return;
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| 406 | }
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| 407 | AA = AA.Rows(1, _numSat);
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[7267] | 408 | SymmetricMatrix NN; NN << AA.t() * AA;
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[7237] | 409 | SymmetricMatrix QQ = NN.i();
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[7267] | 410 |
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[7928] | 411 | _dop.H = sqrt(QQ(1,1) + QQ(2,2));
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| 412 | _dop.V = sqrt(QQ(3,3));
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[7237] | 413 | _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3));
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| 414 | _dop.T = sqrt(QQ(4,4));
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| 415 | _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4));
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| 416 | }
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| 417 | catch (...) {
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| 418 | }
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| 419 | }
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| 420 |
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| 421 | // Compute various DOP Values
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| 422 | ////////////////////////////////////////////////////////////////////////////
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| 423 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix& QFltOld) {
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| 424 |
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| 425 | const vector<t_pppParam*>& params = _parlist->params();
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| 426 | if (params.size() < 3) {
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| 427 | return;
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| 428 | }
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| 429 |
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| 430 | bool first = (params[0]->indexOld() < 0);
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| 431 |
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| 432 | SymmetricMatrix Qneu(3); Qneu = 0.0;
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| 433 | for (unsigned ii = 0; ii < 3; ii++) {
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| 434 | const t_pppParam* par = params[ii];
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| 435 | if (first) {
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| 436 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
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| 437 | }
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| 438 | else {
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| 439 | Qneu[ii][ii] = par->noise() * par->noise();
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| 440 | }
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| 441 | }
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| 442 |
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| 443 | const t_pppStation* sta = PPP_CLIENT->staRover();
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| 444 | SymmetricMatrix Qxyz(3);
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| 445 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
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| 446 |
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| 447 | if (first) {
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| 448 | _QFlt.SymSubMatrix(1,3) = Qxyz;
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| 449 | }
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| 450 | else {
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| 451 | double dt = _epoTime - _firstEpoTime;
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| 452 | if (dt < OPT->_seedingTime) {
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| 453 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3);
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| 454 | }
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| 455 | else {
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| 456 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3) + Qxyz;
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| 457 | }
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| 458 | }
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| 459 | }
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