[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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[8905] | 35 | t_pppFilter::t_pppFilter(t_pppObsPool* obsPool) {
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[7237] | 36 | _parlist = 0;
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[8905] | 37 | _numSat = 0;
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| 38 | _obsPool = obsPool;
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[8910] | 39 | _refPrn = t_prn();
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[8915] | 40 | _datumTrafo = new t_datumTrafo();
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[7237] | 41 | }
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| 42 |
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| 43 | // Destructor
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| 44 | ////////////////////////////////////////////////////////////////////////////
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| 45 | t_pppFilter::~t_pppFilter() {
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| 46 | delete _parlist;
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[8915] | 47 | delete _datumTrafo;
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[7237] | 48 | }
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| 49 |
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| 50 | // Process Single Epoch
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| 51 | ////////////////////////////////////////////////////////////////////////////
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[9386] | 52 | t_irc t_pppFilter::processEpoch() {
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[7237] | 53 | _numSat = 0;
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[7302] | 54 | const double maxSolGap = 60.0;
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[7237] | 55 |
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| 56 | if (!_parlist) {
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| 57 | _parlist = new t_pppParlist();
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| 58 | }
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| 59 |
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| 60 | // Vector of all Observations
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| 61 | // --------------------------
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[8905] | 62 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
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[7237] | 63 | if (!epoch) {
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| 64 | return failure;
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| 65 | }
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| 66 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
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| 67 |
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| 68 | // Time of the Epoch
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| 69 | // -----------------
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| 70 | _epoTime = epoch->epoTime();
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| 71 |
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[7302] | 72 | if (!_firstEpoTime.valid() ||
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| 73 | !_lastEpoTimeOK.valid() ||
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| 74 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 75 | _firstEpoTime = _epoTime;
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| 76 | }
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| 77 |
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[7267] | 78 | string epoTimeStr = string(_epoTime);
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| 79 |
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[8905] | 80 | //--
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[7237] | 81 | // Set Parameters
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| 82 | // --------------
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[9419] | 83 | if (_parlist->set(_epoTime, allObs, _obsPool->getRefSatMap()) != success) {
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| 84 | return failure;
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| 85 | }
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[7237] | 86 | const vector<t_pppParam*>& params = _parlist->params();
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[9386] | 87 | #ifdef BNC_DEBUG_PPP
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| 88 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 89 | LOG << params[iPar]->toString() << endl;
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| 90 | }
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| 91 | #endif
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[9419] | 92 |
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[7237] | 93 | // Status Vector, Variance-Covariance Matrix
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| 94 | // -----------------------------------------
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| 95 | ColumnVector xFltOld = _xFlt;
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| 96 | SymmetricMatrix QFltOld = _QFlt;
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[8956] | 97 |
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[7237] | 98 | _QFlt.ReSize(_parlist->nPar()); _QFlt = 0.0;
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| 99 | _xFlt.ReSize(_parlist->nPar()); _xFlt = 0.0;
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| 100 | _x0.ReSize(_parlist->nPar()); _x0 = 0.0;
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[9386] | 101 |
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[7237] | 102 | for (unsigned ii = 0; ii < params.size(); ii++) {
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[9386] | 103 | t_pppParam* par1 = params[ii];
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| 104 | if (QFltOld.size() == 0) {
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| 105 | par1->resetIndex();
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| 106 | }
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[7237] | 107 | _x0[ii] = par1->x0();
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| 108 | int iOld = par1->indexOld();
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| 109 | if (iOld < 0) {
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| 110 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
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| 111 | }
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| 112 | else {
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| 113 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
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| 114 | _xFlt[ii] = xFltOld[iOld];
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| 115 | for (unsigned jj = 0; jj < ii; jj++) {
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[9386] | 116 | t_pppParam* par2 = params[jj];
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| 117 | int jOld = par2->indexOld();
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[7237] | 118 | if (jOld >= 0) {
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| 119 | _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1);
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| 120 | }
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| 121 | }
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| 122 | }
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| 123 | }
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| 124 | predictCovCrdPart(QFltOld);
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| 125 |
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[8905] | 126 | // Pre-Process Satellite Systems separately
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| 127 | // ----------------------------------------
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| 128 | bool preProcessing = false;
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| 129 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 130 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 131 | preProcessing = true;
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[9431] | 132 | QList<char>& usedSystems = _parlist->usedSystems();
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| 133 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 134 | char sys = usedSystems[iSys];
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[9421] | 135 | _refPrn = (_obsPool->getRefSatMapElement(sys))->prn();
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[9386] | 136 | vector<t_pppSatObs*> obsVector;
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[8905] | 137 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 138 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 139 | obsVector.push_back(allObs[jj]);
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| 140 | }
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| 141 | }
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[9431] | 142 | if (iSys == 0) {
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| 143 | _datumTrafo->setFirstSystem(sys);
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[9419] | 144 | }
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[9386] | 145 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[8905] | 146 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9386] | 147 | _xFlt = xFltOld;
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| 148 | _QFlt = QFltOld;
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[8905] | 149 | return failure;
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| 150 | }
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| 151 | }
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[8956] | 152 | // refSat change required?
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| 153 | // -----------------------
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| 154 | if (_obsPool->refSatChangeRequired()) {
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| 155 | _xFlt = xFltOld;
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| 156 | _QFlt = QFltOld;
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| 157 | return success;
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| 158 | }
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[9386] | 159 | else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 160 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 161 | }
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[8905] | 162 | }
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| 163 |
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[7237] | 164 | // Process Satellite Systems separately
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| 165 | // ------------------------------------
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[8912] | 166 | preProcessing = false;
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[9431] | 167 | QList<char>& usedSystems = _parlist-> usedSystems();
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| 168 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 169 | char sys = usedSystems[iSys];
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[8910] | 170 | if (OPT->_refSatRequired) {
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[9419] | 171 | _refPrn = (_obsPool->getRefSatMapElement(sys))->prn();
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[8910] | 172 | }
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[9421] | 173 | else {
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| 174 | _refPrn.set(sys, 0);
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| 175 | }
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[7267] | 176 | unsigned int num = 0;
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[7237] | 177 | vector<t_pppSatObs*> obsVector;
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| 178 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 179 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 180 | obsVector.push_back(allObs[jj]);
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[9419] | 181 | ++num;
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[7237] | 182 | }
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| 183 | }
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[9431] | 184 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 185 | _datumTrafo->setFirstSystem(sys);
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[9419] | 186 | }
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| 187 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num << endl;
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| 188 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[8905] | 189 | epoch->pseudoObsIono(), preProcessing) != success) {
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[7237] | 190 | return failure;
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| 191 | }
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| 192 | }
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[8912] | 193 |
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| 194 | // close epoch processing
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| 195 | // ----------------------
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[8956] | 196 | cmpDOP(allObs);
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| 197 | _parlist->printResult(_epoTime, _QFlt, _xFlt);
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| 198 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[9386] | 199 | if (OPT->_refSatRequired) {
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| 200 | _obsPool->saveLastEpoRefSats();
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[9419] | 201 | _datumTrafo->setLastEpoParlist(_parlist);
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[9386] | 202 | }
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[7237] | 203 | return success;
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| 204 | }
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| 205 |
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| 206 | // Process Selected LCs
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| 207 | ////////////////////////////////////////////////////////////////////////////
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[7267] | 208 | t_irc t_pppFilter::processSystem(const vector<t_lc::type>& LCs,
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[8905] | 209 | const vector<t_pppSatObs*>& obsVector,
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| 210 | const t_prn& refPrn,
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| 211 | bool pseudoObsIonoAvailable,
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| 212 | bool preProcessing) {
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[7237] | 213 | LOG.setf(ios::fixed);
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[9386] | 214 | char sys = refPrn.system();
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[7237] | 215 |
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| 216 | // Detect Cycle Slips
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| 217 | // ------------------
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[8905] | 218 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 219 | return failure;
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| 220 | }
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[9398] | 221 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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[9386] | 222 | return success;
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| 223 | }
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[7237] | 224 |
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[8905] | 225 | ColumnVector xSav = _xFlt;
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| 226 | SymmetricMatrix QSav = _QFlt;
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| 227 | string epoTimeStr = string(_epoTime);
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[7237] | 228 | const vector<t_pppParam*>& params = _parlist->params();
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[8965] | 229 |
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[9386] | 230 | unsigned usedLCs = LCs.size();
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[8965] | 231 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9386] | 232 | usedLCs -= 1; // GIM not used
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[8961] | 233 | }
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[9386] | 234 | int hlpLCs = 0;
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| 235 | if (OPT->_pseudoObsTropo) {
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| 236 | hlpLCs = -1;
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[8965] | 237 | }
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[8961] | 238 | // max Obs
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[9386] | 239 | unsigned maxObs = obsVector.size() * (usedLCs + hlpLCs);
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[9419] | 240 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
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[9386] | 241 | maxObs += 1;
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| 242 | }
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[8965] | 243 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 244 | maxObs -= 1; // pseudo obs iono with respect to refSat
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[8905] | 245 | }
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| 246 |
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[7237] | 247 | // Outlier Detection Loop
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| 248 | // ----------------------
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| 249 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 250 |
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| 251 | if (iOutlier > 0) {
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| 252 | _xFlt = xSav;
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| 253 | _QFlt = QSav;
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| 254 | }
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| 255 |
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| 256 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 257 | // -----------------------------------------------------------
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| 258 | Matrix AA(maxObs, _parlist->nPar());
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| 259 | ColumnVector ll(maxObs);
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| 260 | DiagonalMatrix PP(maxObs); PP = 0.0;
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[8912] | 261 |
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[7237] | 262 | int iObs = -1;
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| 263 | vector<t_pppSatObs*> usedObs;
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| 264 | vector<t_lc::type> usedTypes;
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[9386] | 265 |
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| 266 | // Real Observations
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| 267 | // =================
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[7237] | 268 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[8956] | 269 | t_pppSatObs* obs = obsVector[ii];
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[9419] | 270 | if (iOutlier == 0 && !preProcessing) {
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| 271 | obs->resetOutlier();
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| 272 | }
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[7237] | 273 | if (!obs->outlier()) {
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[8905] | 274 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 275 | const t_lc::type tLC = LCs[jj];
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[9386] | 276 | if (tLC == t_lc::GIM) {continue;}
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| 277 | if (tLC == t_lc::Tz0) {continue;}
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[7237] | 278 | ++iObs;
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| 279 | usedObs.push_back(obs);
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| 280 | usedTypes.push_back(tLC);
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| 281 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 282 | const t_pppParam* par = params[iPar];
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[8956] | 283 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 284 | }
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| 285 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 286 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 287 | }
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| 288 | }
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| 289 | }
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[9431] | 290 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 291 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 292 | if (iObs < 2) { // TODO SATNUM => usableSys has to be removed
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| 293 | return failure;
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| 294 | }
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| 295 | }
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[7237] | 296 |
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[9395] | 297 | // pseudo Obs Tropo
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| 298 | // ================
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[9419] | 299 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
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[9421] | 300 | bool _pseudoObsTropoConsidered = false;
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[9395] | 301 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9421] | 302 | if (_pseudoObsTropoConsidered) {break;}
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[9395] | 303 | t_pppSatObs* obs = obsVector[ii];
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| 304 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 305 | const t_lc::type tLC = LCs[jj];
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| 306 | if (tLC != t_lc::Tz0) {continue;}
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| 307 | ++iObs;
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[9421] | 308 | _pseudoObsTropoConsidered = true;
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[9395] | 309 | usedObs.push_back(obs);
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| 310 | usedTypes.push_back(tLC);
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| 311 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 312 | const t_pppParam* par = params[iPar];
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| 313 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 314 | }
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| 315 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 316 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 317 | }
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| 318 | }
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| 319 | }
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| 320 |
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[9386] | 321 | if ((!iOutlier) &&
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| 322 | (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9419] | 323 | OPT->_obsModelType == OPT->DCMphaseBias) &&
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| 324 | (!preProcessing)) {
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| 325 | _datumTrafo->updateIndices(sys, iObs+1);
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[9386] | 326 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs+1 , 1, _parlist->nPar()), 1);
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| 327 | }
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| 328 |
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| 329 | // Pseudo Obs Iono
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| 330 | // ================
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| 331 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 332 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 333 | t_pppSatObs* obs = obsVector[ii];
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| 334 | if (!obs->outlier()) {
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| 335 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 336 | const t_lc::type tLC = LCs[jj];
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| 337 | if (tLC == t_lc::GIM && !obs->isReference()) {
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| 338 | ++iObs;
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| 339 | } else {continue;}
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| 340 | usedObs.push_back(obs);
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| 341 | usedTypes.push_back(tLC);
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| 342 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 343 | const t_pppParam* par = params[iPar];
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| 344 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 345 | }
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| 346 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 347 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 348 | }
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| 349 | }
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[8956] | 350 | }
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[8915] | 351 | }
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| 352 |
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[7237] | 353 | // Check number of observations, truncate matrices
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| 354 | // -----------------------------------------------
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| 355 | if (iObs == -1) {
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| 356 | return failure;
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| 357 | }
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| 358 | AA = AA.Rows(1, iObs+1);
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| 359 | ll = ll.Rows(1, iObs+1);
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| 360 | PP = PP.SymSubMatrix(1, iObs+1);
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| 361 |
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| 362 | // Kalman update step
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| 363 | // ------------------
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| 364 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 365 |
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| 366 | // Check Residuals
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| 367 | // ---------------
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| 368 | ColumnVector vv = AA * _xFlt - ll;
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| 369 | double maxOutlier = 0.0;
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| 370 | int maxOutlierIndex = -1;
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| 371 | t_lc::type maxOutlierLC = t_lc::dummy;
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| 372 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 373 | const t_lc::type tLC = usedTypes[ii];
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| 374 | double res = fabs(vv[ii]);
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| 375 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 376 | if (res > fabs(maxOutlier)) {
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| 377 | maxOutlier = vv[ii];
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| 378 | maxOutlierIndex = ii;
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| 379 | maxOutlierLC = tLC;
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| 380 | }
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| 381 | }
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| 382 | }
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| 383 |
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| 384 | // Mark outlier or break outlier detection loop
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| 385 | // --------------------------------------------
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| 386 | if (maxOutlierIndex > -1) {
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| 387 | t_pppSatObs* obs = usedObs[maxOutlierIndex];
|
---|
| 388 | t_pppParam* par = 0;
|
---|
[9386] | 389 | LOG << epoTimeStr << " Outlier ("
|
---|
| 390 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ") << t_lc::toString(maxOutlierLC) << ' '
|
---|
| 391 | << obs->prn().toString() << ' '
|
---|
| 392 | << setw(8) << setprecision(4) << maxOutlier << endl;
|
---|
[7237] | 393 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 394 | t_pppParam* hlp = params[iPar];
|
---|
[8905] | 395 | if (hlp->type() == t_pppParam::amb &&
|
---|
| 396 | hlp->prn() == obs->prn() &&
|
---|
[7237] | 397 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
|
---|
| 398 | par = hlp;
|
---|
| 399 | }
|
---|
| 400 | }
|
---|
[8956] | 401 | if (preProcessing) {
|
---|
[9386] | 402 | // for refSats no ambiguity parameter exists
|
---|
| 403 | if ((obs->prn() == refPrn) &&
|
---|
| 404 | (t_lc::toString(maxOutlierLC) == "l1" ||
|
---|
| 405 | t_lc::toString(maxOutlierLC) == "l2") ) {
|
---|
| 406 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 407 | }
|
---|
| 408 | else {
|
---|
| 409 | if (par) {
|
---|
| 410 | par->setAmbResetCandidate();
|
---|
| 411 | obs->setOutlier();
|
---|
| 412 | }
|
---|
| 413 | else {
|
---|
| 414 | obs->setOutlier();
|
---|
| 415 | }
|
---|
[8905] | 416 | }
|
---|
| 417 | }
|
---|
[9386] | 418 | else {// fin-processing
|
---|
[8956] | 419 | if (par) {
|
---|
[9386] | 420 | if (par->ambResetCandidate()) {
|
---|
[8956] | 421 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
|
---|
| 422 | }
|
---|
| 423 | else {
|
---|
| 424 | par->setAmbResetCandidate();
|
---|
| 425 | obs->setOutlier();
|
---|
| 426 | }
|
---|
[7237] | 427 | }
|
---|
| 428 | else {
|
---|
| 429 | obs->setOutlier();
|
---|
| 430 | }
|
---|
| 431 | }
|
---|
| 432 | }
|
---|
| 433 | // Print Residuals
|
---|
| 434 | // ---------------
|
---|
| 435 | else {
|
---|
[8905] | 436 | if (!preProcessing) {
|
---|
| 437 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
---|
| 438 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 439 | const t_lc::type tLC = usedTypes[ii];
|
---|
[9386] | 440 | t_pppSatObs* obs = usedObs[ii];
|
---|
[8905] | 441 | if (tLC == LCs[jj]) {
|
---|
| 442 | obs->setRes(tLC, vv[ii]);
|
---|
| 443 | LOG << epoTimeStr << " RES "
|
---|
[9386] | 444 | << left << setw(3) << t_lc::toString(tLC) << right << ' ';
|
---|
| 445 | if (t_lc::toString(tLC) == "Tz0") {LOG << sys << " ";}
|
---|
| 446 | else {LOG << obs->prn().toString();}
|
---|
| 447 | LOG << setw(8) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 448 | }
|
---|
[7237] | 449 | }
|
---|
| 450 | }
|
---|
| 451 | }
|
---|
| 452 | break;
|
---|
| 453 | }
|
---|
| 454 | }
|
---|
| 455 | return success;
|
---|
| 456 | }
|
---|
| 457 |
|
---|
| 458 | // Cycle-Slip Detection
|
---|
| 459 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7267] | 460 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type>& LCs,
|
---|
[8905] | 461 | const vector<t_pppSatObs*>& obsVector,
|
---|
| 462 | const t_prn& refPrn,
|
---|
| 463 | bool preProcessing) {
|
---|
[7237] | 464 |
|
---|
[9386] | 465 | const double SLIP = 20.0;
|
---|
| 466 | char sys = refPrn.system();
|
---|
| 467 | string epoTimeStr = string(_epoTime);
|
---|
[8905] | 468 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
[7237] | 469 |
|
---|
| 470 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
| 471 | const t_lc::type& tLC = LCs[ii];
|
---|
| 472 | if (t_lc::includesPhase(tLC)) {
|
---|
| 473 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
| 474 | const t_pppSatObs* obs = obsVector[iObs];
|
---|
| 475 |
|
---|
[7267] | 476 | // Check set Slips and Jump Counters
|
---|
[7237] | 477 | // ---------------------------------
|
---|
| 478 | bool slip = false;
|
---|
[9386] | 479 |
|
---|
| 480 | // in pre-processing only the reference satellite has to be checked
|
---|
| 481 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 482 | continue;
|
---|
| 483 | }
|
---|
| 484 |
|
---|
[7237] | 485 | if (obs->slip()) {
|
---|
[8329] | 486 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() << endl;
|
---|
[7237] | 487 | slip = true;
|
---|
| 488 | }
|
---|
| 489 |
|
---|
| 490 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
|
---|
[9088] | 491 | _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
[8329] | 492 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
|
---|
[7237] | 493 | slip = true;
|
---|
| 494 | }
|
---|
[8956] | 495 | if (!preProcessing) {
|
---|
| 496 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 497 | }
|
---|
[7237] | 498 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
|
---|
| 499 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
[8329] | 500 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
|
---|
[7237] | 501 | slip = true;
|
---|
| 502 | }
|
---|
[8956] | 503 | if (!preProcessing) {
|
---|
| 504 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 505 | }
|
---|
[7237] | 506 | // Slip Set
|
---|
[7267] | 507 | // --------
|
---|
[7237] | 508 | if (slip) {
|
---|
[8905] | 509 | if (preProcessing) {
|
---|
[9386] | 510 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[8905] | 511 | }
|
---|
| 512 | else {
|
---|
| 513 | resetAmb(obs->prn(), obsVector);
|
---|
| 514 | }
|
---|
[7237] | 515 | }
|
---|
| 516 | // Check Pre-Fit Residuals
|
---|
| 517 | // -----------------------
|
---|
| 518 | else {
|
---|
[9419] | 519 | if (refPrn != t_prn()) {return success;}
|
---|
[7237] | 520 | ColumnVector AA(params.size());
|
---|
| 521 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 522 | const t_pppParam* par = params[iPar];
|
---|
[8956] | 523 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[7237] | 524 | }
|
---|
| 525 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
|
---|
| 526 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 527 | if (fabs(vv) > SLIP) {
|
---|
[9386] | 528 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
|
---|
| 529 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
|
---|
[8905] | 530 | if (preProcessing) {
|
---|
[9386] | 531 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[8905] | 532 | }
|
---|
| 533 | else {
|
---|
| 534 | resetAmb(obs->prn(), obsVector);
|
---|
| 535 | }
|
---|
[7237] | 536 | }
|
---|
| 537 | }
|
---|
| 538 | }
|
---|
| 539 | }
|
---|
| 540 | }
|
---|
| 541 | return success;
|
---|
| 542 | }
|
---|
| 543 |
|
---|
| 544 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 545 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 546 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*>& obsVector,
|
---|
| 547 | SymmetricMatrix* QSav, ColumnVector* xSav) {
|
---|
[8965] | 548 |
|
---|
[7237] | 549 | t_irc irc = failure;
|
---|
| 550 | vector<t_pppParam*>& params = _parlist->params();
|
---|
| 551 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 552 | t_pppParam* par = params[iPar];
|
---|
| 553 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 554 | int ind = par->indexNew();
|
---|
| 555 | t_lc::type tLC = par->tLC();
|
---|
| 556 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
| 557 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
| 558 | par->setIndex(ind);
|
---|
| 559 | params[iPar] = par;
|
---|
| 560 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
| 561 | _QFlt(ii, ind+1) = 0.0;
|
---|
| 562 | if (QSav) {
|
---|
| 563 | (*QSav)(ii, ind+1) = 0.0;
|
---|
| 564 | }
|
---|
| 565 | }
|
---|
| 566 | _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
|
---|
| 567 | if (QSav) {
|
---|
| 568 | (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1);
|
---|
| 569 | }
|
---|
| 570 | _xFlt[ind] = 0.0;
|
---|
| 571 | if (xSav) {
|
---|
| 572 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 573 | }
|
---|
| 574 | _x0[ind] = par->x0();
|
---|
| 575 | irc = success;
|
---|
| 576 | }
|
---|
| 577 | }
|
---|
| 578 |
|
---|
| 579 | return irc;
|
---|
| 580 | }
|
---|
| 581 |
|
---|
[9395] | 582 | // Add infinite noise to iono
|
---|
[9386] | 583 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 584 | t_irc t_pppFilter::addNoiseToIono(char sys) {
|
---|
| 585 |
|
---|
| 586 | t_irc irc = failure;
|
---|
| 587 | vector<t_pppParam*>& params = _parlist->params();
|
---|
| 588 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 589 | t_pppParam* par = params[iPar];
|
---|
| 590 | if (par->type() == t_pppParam::ion && par->prn().system() == sys) {
|
---|
| 591 | int ind = par->indexNew();
|
---|
| 592 | LOG << string(_epoTime) << " ADD IONO_NOISE TO " << par->prn().toString() << endl;
|
---|
| 593 | par->setIndex(ind);
|
---|
| 594 | _QFlt(ind+1,ind+1) += par->sigma0() * par->sigma0();
|
---|
| 595 | irc = success;
|
---|
| 596 | }
|
---|
| 597 | }
|
---|
| 598 |
|
---|
| 599 | return irc;
|
---|
| 600 | }
|
---|
| 601 |
|
---|
[7237] | 602 | // Compute various DOP Values
|
---|
| 603 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 604 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*>& obsVector) {
|
---|
| 605 |
|
---|
| 606 | _dop.reset();
|
---|
| 607 |
|
---|
| 608 | try {
|
---|
| 609 | const unsigned numPar = 4;
|
---|
| 610 | Matrix AA(obsVector.size(), numPar);
|
---|
| 611 | _numSat = 0;
|
---|
| 612 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 613 | t_pppSatObs* obs = obsVector[ii];
|
---|
[8956] | 614 | char system = obs->prn().system();
|
---|
| 615 | t_prn refPrn = t_prn();
|
---|
| 616 | if (OPT->_refSatRequired) {
|
---|
| 617 | refPrn = _obsPool->getRefSatMapElement(system)->prn();
|
---|
| 618 | }
|
---|
[7237] | 619 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 620 | ++_numSat;
|
---|
| 621 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
| 622 | const t_pppParam* par = _parlist->params()[iPar];
|
---|
[8956] | 623 | AA[_numSat-1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 624 | }
|
---|
| 625 | }
|
---|
| 626 | }
|
---|
| 627 | if (_numSat < 4) {
|
---|
| 628 | return;
|
---|
| 629 | }
|
---|
| 630 | AA = AA.Rows(1, _numSat);
|
---|
[7267] | 631 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
[7237] | 632 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 633 |
|
---|
[7928] | 634 | _dop.H = sqrt(QQ(1,1) + QQ(2,2));
|
---|
| 635 | _dop.V = sqrt(QQ(3,3));
|
---|
[7237] | 636 | _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3));
|
---|
| 637 | _dop.T = sqrt(QQ(4,4));
|
---|
| 638 | _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4));
|
---|
| 639 | }
|
---|
| 640 | catch (...) {
|
---|
| 641 | }
|
---|
| 642 | }
|
---|
| 643 |
|
---|
| 644 | // Compute various DOP Values
|
---|
| 645 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 646 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix& QFltOld) {
|
---|
| 647 |
|
---|
| 648 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
| 649 | if (params.size() < 3) {
|
---|
| 650 | return;
|
---|
| 651 | }
|
---|
| 652 |
|
---|
| 653 | bool first = (params[0]->indexOld() < 0);
|
---|
| 654 |
|
---|
| 655 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
---|
| 656 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
| 657 | const t_pppParam* par = params[ii];
|
---|
| 658 | if (first) {
|
---|
| 659 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
| 660 | }
|
---|
| 661 | else {
|
---|
| 662 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 663 | }
|
---|
| 664 | }
|
---|
| 665 |
|
---|
| 666 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 667 | SymmetricMatrix Qxyz(3);
|
---|
| 668 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 669 |
|
---|
| 670 | if (first) {
|
---|
| 671 | _QFlt.SymSubMatrix(1,3) = Qxyz;
|
---|
| 672 | }
|
---|
| 673 | else {
|
---|
| 674 | double dt = _epoTime - _firstEpoTime;
|
---|
| 675 | if (dt < OPT->_seedingTime) {
|
---|
| 676 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3);
|
---|
| 677 | }
|
---|
| 678 | else {
|
---|
| 679 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3) + Qxyz;
|
---|
| 680 | }
|
---|
| 681 | }
|
---|
| 682 | }
|
---|
[8912] | 683 |
|
---|
[8915] | 684 | // Compute datum transformation
|
---|
[8912] | 685 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9386] | 686 | t_irc t_pppFilter::datumTransformation() {
|
---|
[9419] | 687 | // get last epoch
|
---|
[9386] | 688 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
|
---|
[9419] | 689 | if (!epoch) {
|
---|
| 690 | LOG << "!lastEpoch" << endl;
|
---|
[9386] | 691 | return failure;
|
---|
| 692 | }
|
---|
| 693 | else {
|
---|
| 694 | LOG.setf(ios::fixed);
|
---|
| 695 | LOG << string(epoch->epoTime()) << " DATUM TRANSFORMATION " << endl;
|
---|
| 696 | }
|
---|
[9419] | 697 |
|
---|
[9386] | 698 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
|
---|
| 699 |
|
---|
[9419] | 700 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 701 | // =============================================================
|
---|
[9386] | 702 | if (resetRefSatellitesLastEpoch(allObs) != true) {
|
---|
[9431] | 703 | LOG << "refsatChange required" << endl;
|
---|
| 704 | return success;
|
---|
[9386] | 705 | }
|
---|
| 706 |
|
---|
[9419] | 707 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
| 708 | return success;
|
---|
| 709 | }
|
---|
| 710 |
|
---|
[9386] | 711 | // set AA2
|
---|
| 712 | // =======
|
---|
[9419] | 713 | t_pppParlist* parlist = _datumTrafo->lastEpoParlist();
|
---|
| 714 | if (parlist->set(epoch->epoTime(), allObs, _obsPool->getRefSatMap()) != success) {
|
---|
| 715 | return failure;
|
---|
| 716 | }
|
---|
| 717 | vector<t_pppParam*>& params = parlist->params();
|
---|
[9431] | 718 | unsigned nPar = parlist->nPar();
|
---|
[9386] | 719 | #ifdef BNC_DEBUG_PPP
|
---|
[9419] | 720 | LOG << " parameters of last epoch" << endl;
|
---|
[9431] | 721 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9386] | 722 | LOG << params[iPar]->toString() << "\t\t" << endl;
|
---|
| 723 | }
|
---|
| 724 | #endif
|
---|
[9431] | 725 | QList<char>& usedSystems = _parlist->usedSystems();
|
---|
| 726 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 727 | char sys = usedSystems[iSys];
|
---|
[9386] | 728 | t_prn refPrn = (_obsPool->getRefSatMapElement(sys))->prn();
|
---|
| 729 | vector<t_pppSatObs*> obsVector;
|
---|
| 730 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 731 | if (allObs[jj]->prn().system() == sys) {
|
---|
| 732 | obsVector.push_back(allObs[jj]);
|
---|
| 733 | }
|
---|
| 734 | }
|
---|
[9431] | 735 | if (iSys == 0) {
|
---|
| 736 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 737 | }
|
---|
[9386] | 738 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 739 | unsigned usedLCs = LCs.size();
|
---|
| 740 | if (OPT->_pseudoObsIono && !epoch->pseudoObsIono()) {
|
---|
| 741 | usedLCs -= 1; // GIM not used
|
---|
| 742 | }
|
---|
| 743 | int hlpLCs = 0;
|
---|
| 744 | if (OPT->_pseudoObsTropo) {
|
---|
| 745 | hlpLCs = -1;
|
---|
| 746 | }
|
---|
| 747 | // max Obs
|
---|
| 748 | unsigned maxObs = obsVector.size() * (usedLCs + hlpLCs);
|
---|
[9419] | 749 |
|
---|
| 750 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
|
---|
[9386] | 751 | maxObs += 1;
|
---|
| 752 | }
|
---|
| 753 | if (OPT->_pseudoObsIono && epoch->pseudoObsIono()) {
|
---|
| 754 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 755 | }
|
---|
[9419] | 756 | Matrix AA(maxObs, nPar);
|
---|
[9386] | 757 |
|
---|
| 758 | // Real Observations
|
---|
| 759 | // -----------------
|
---|
| 760 | int iObs = -1;
|
---|
| 761 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 762 | t_pppSatObs* obs = obsVector[ii];
|
---|
[9419] | 763 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 764 | const t_lc::type tLC = LCs[jj];
|
---|
| 765 | if (tLC == t_lc::GIM) {continue;}
|
---|
| 766 | if (tLC == t_lc::Tz0) {continue;}
|
---|
| 767 | ++iObs;
|
---|
| 768 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 769 | const t_pppParam* par = params[iPar];
|
---|
| 770 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 771 | }
|
---|
| 772 | }
|
---|
| 773 | }
|
---|
[9395] | 774 | // pseudo Obs Tropo
|
---|
| 775 | // ================
|
---|
[9419] | 776 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
|
---|
[9421] | 777 | bool pseudoObsTropoConsidered = false;
|
---|
[9395] | 778 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9421] | 779 | if (pseudoObsTropoConsidered) {break;}
|
---|
[9395] | 780 | t_pppSatObs* obs = obsVector[ii];
|
---|
| 781 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 782 | const t_lc::type tLC = LCs[jj];
|
---|
| 783 | if (tLC != t_lc::Tz0) {continue;}
|
---|
| 784 | ++iObs;
|
---|
[9421] | 785 | pseudoObsTropoConsidered = true;
|
---|
[9395] | 786 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 787 | const t_pppParam* par = params[iPar];
|
---|
| 788 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
| 789 | }
|
---|
| 790 | }
|
---|
| 791 | }
|
---|
| 792 | }
|
---|
[9419] | 793 | if (!iObs) {
|
---|
| 794 | continue;
|
---|
| 795 | }
|
---|
| 796 | _datumTrafo->updateIndices(sys, iObs+1);
|
---|
| 797 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs+1 , 1, nPar), 2);
|
---|
[9386] | 798 | }
|
---|
[9419] | 799 | _datumTrafo->updateNumObs();
|
---|
[9386] | 800 |
|
---|
| 801 | // Datum Transformation
|
---|
| 802 | // ====================
|
---|
| 803 | #ifdef BNC_DEBUG_PPP
|
---|
[9419] | 804 | //LOG << "AA1\n"; _datumTrafo->printMatrix(_datumTrafo->AA1(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
| 805 | //LOG << "AA2\n"; _datumTrafo->printMatrix(_datumTrafo->AA2(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 806 | #endif
|
---|
[9419] | 807 | if(_datumTrafo->computeTrafoMatrix() != success) {
|
---|
| 808 | return failure;
|
---|
| 809 | }
|
---|
[9386] | 810 | #ifdef BNC_DEBUG_PPP
|
---|
[9419] | 811 | //LOG << "D21" << endl; _datumTrafo->printMatrix(_datumTrafo->D21(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 812 | #endif
|
---|
| 813 | ColumnVector xFltOld = _xFlt;
|
---|
| 814 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 815 |
|
---|
[9419] | 816 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
| 817 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 818 |
|
---|
| 819 | #ifdef BNC_DEBUG_PPP
|
---|
| 820 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 821 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
| 822 | #endif
|
---|
| 823 |
|
---|
| 824 | // Reset Ambiguities after Datum Transformation
|
---|
| 825 | // ============================================
|
---|
[9431] | 826 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 827 | char sys = usedSystems[iSys];
|
---|
[9419] | 828 | t_prn refPrnOld = _obsPool->getRefSatMapElementLastEpoch(sys);
|
---|
| 829 | t_prn refPrnNew = (_obsPool->getRefSatMapElement(sys))->prn();
|
---|
| 830 | if (refPrnNew != refPrnOld) {
|
---|
| 831 | t_irc irc = resetAmb(_obsPool->getRefSatMapElementLastEpoch(sys), allObs);
|
---|
| 832 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
| 833 | if (irc == success) {
|
---|
| 834 | addNoiseToIono(sys);
|
---|
| 835 | }
|
---|
| 836 | }
|
---|
[9386] | 837 | }
|
---|
| 838 | }
|
---|
| 839 |
|
---|
| 840 | // switch AA2 to AA1
|
---|
| 841 | // =================
|
---|
| 842 | _datumTrafo->switchAA();
|
---|
| 843 |
|
---|
[9419] | 844 | // save parameter list
|
---|
| 845 | // ====================
|
---|
| 846 | _datumTrafo->setLastEpoParlist(_parlist);
|
---|
[9386] | 847 | return success;
|
---|
[8912] | 848 | }
|
---|
| 849 |
|
---|
[9386] | 850 | // Init datum transformation
|
---|
[8956] | 851 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9419] | 852 | void t_pppFilter::initDatumTransformation(const std::vector<t_pppSatObs*>& allObs,
|
---|
| 853 | bool pseudoObsIono) {
|
---|
[9395] | 854 | unsigned trafoObs = 0;
|
---|
[9431] | 855 | QList<char>& usedSystems = _parlist-> usedSystems();
|
---|
| 856 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 857 | char sys = usedSystems[iSys];
|
---|
[9386] | 858 | int satNum = 0;
|
---|
| 859 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 860 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 861 | satNum++;
|
---|
[8956] | 862 | }
|
---|
| 863 | }
|
---|
[9386] | 864 | // all LCs
|
---|
[9419] | 865 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 866 | // exclude pseudo obs GIM
|
---|
[9419] | 867 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 868 | realUsedLCs -= 1;
|
---|
| 869 | }
|
---|
| 870 | if (OPT->_pseudoObsTropo) {
|
---|
| 871 | realUsedLCs -= 1;
|
---|
| 872 | }
|
---|
[9395] | 873 | trafoObs += satNum * realUsedLCs;
|
---|
| 874 |
|
---|
[9419] | 875 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
|
---|
[9395] | 876 | trafoObs += 1;
|
---|
| 877 | }
|
---|
[9419] | 878 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 879 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 880 | }
|
---|
[8956] | 881 | }
|
---|
[9419] | 882 | _datumTrafo->setNumObs(trafoObs);
|
---|
| 883 | _datumTrafo->setNumPar(_parlist->nPar());
|
---|
[9386] | 884 | _datumTrafo->initAA();
|
---|
[8956] | 885 | }
|
---|
[9386] | 886 |
|
---|
| 887 | //
|
---|
| 888 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 889 | bool t_pppFilter::resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector) {
|
---|
[9431] | 890 | bool resetRefSat;
|
---|
[9386] | 891 | // reference satellite definition per system
|
---|
[9431] | 892 | QList<char>& usedSystems = _parlist-> usedSystems();
|
---|
| 893 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 894 | resetRefSat = false;
|
---|
| 895 | char sys = usedSystems[iSys];
|
---|
[9386] | 896 | t_pppRefSat* refSat = _obsPool->getRefSatMapElement(sys);
|
---|
| 897 | t_prn newPrn = refSat->prn();
|
---|
| 898 | t_prn oldPrn = _obsPool->getRefSatMapElementLastEpoch(sys);
|
---|
| 899 | #ifdef BNC_DEBUG_PPP
|
---|
| 900 | LOG << "oldPrn: " << oldPrn.toString() << " => newPrn: " << newPrn.toString() << endl;
|
---|
| 901 | #endif
|
---|
| 902 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 903 | while (it != obsVector.end()) {
|
---|
| 904 | t_pppSatObs* satObs = *it;
|
---|
| 905 | if (satObs->prn() == newPrn) {
|
---|
| 906 | resetRefSat = true;
|
---|
| 907 | satObs->setAsReference();
|
---|
| 908 | }
|
---|
| 909 | else if (satObs->prn() == oldPrn) {
|
---|
| 910 | satObs->resetReference();
|
---|
| 911 | }
|
---|
| 912 | it++;
|
---|
| 913 | }
|
---|
[9431] | 914 | if (!resetRefSat) {
|
---|
| 915 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 916 | return resetRefSat;
|
---|
| 917 | }
|
---|
[9386] | 918 | }
|
---|
| 919 | return resetRefSat;
|
---|
| 920 | }
|
---|