[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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| 36 | _numSat = 0;
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| 37 | _obsPool = obsPool;
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[8910] | 38 | _refPrn = t_prn();
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[8915] | 39 | _datumTrafo = new t_datumTrafo();
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[7237] | 40 | }
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| 41 |
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| 42 | // Destructor
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| 43 | ////////////////////////////////////////////////////////////////////////////
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| 44 | t_pppFilter::~t_pppFilter() {
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[8915] | 45 | delete _datumTrafo;
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[7237] | 46 | }
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| 47 |
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| 48 | // Process Single Epoch
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| 49 | ////////////////////////////////////////////////////////////////////////////
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[9386] | 50 | t_irc t_pppFilter::processEpoch() {
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[7237] | 51 | _numSat = 0;
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[7302] | 52 | const double maxSolGap = 60.0;
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[7237] | 53 |
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| 54 | // Vector of all Observations
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| 55 | // --------------------------
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[8905] | 56 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
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[7237] | 57 | if (!epoch) {
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| 58 | return failure;
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| 59 | }
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| 60 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
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| 61 |
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| 62 | // Time of the Epoch
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| 63 | // -----------------
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| 64 | _epoTime = epoch->epoTime();
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| 65 |
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[7302] | 66 | if (!_firstEpoTime.valid() ||
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| 67 | !_lastEpoTimeOK.valid() ||
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| 68 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 69 | _firstEpoTime = _epoTime;
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| 70 | }
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| 71 |
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[7267] | 72 | string epoTimeStr = string(_epoTime);
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| 73 |
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[9508] | 74 | const QMap<char, t_pppRefSat*>& refSatMap = epoch->refSatMap();
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| 75 |
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[9504] | 76 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 77 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 78 | // Save parameters of epoch before
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| 79 | _parlist_sav = _parlist;
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[9508] | 80 | }
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[9504] | 81 |
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[8905] | 82 | //--
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[7237] | 83 | // Set Parameters
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[9508] | 84 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
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[9419] | 85 | return failure;
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| 86 | }
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[9504] | 87 | const vector<t_pppParam*>& params = _parlist.params();
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[9524] | 88 | unsigned nPar = _parlist.nPar();
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[9386] | 89 | #ifdef BNC_DEBUG_PPP
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[9524] | 90 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9521] | 91 | LOG << "t_pppFilter::processEpoch par_cur " << params[iPar]->toString()
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| 92 | << " lastObsTime().valid() " << params[iPar]->lastObsTime().valid()
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| 93 | << " epoTime-params[iPar]->lastObsTime() " << (_epoTime - params[iPar]->lastObsTime()) << endl;
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[9386] | 94 | }
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| 95 | #endif
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[9419] | 96 |
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[7237] | 97 | // Status Vector, Variance-Covariance Matrix
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| 98 | // -----------------------------------------
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| 99 | ColumnVector xFltOld = _xFlt;
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| 100 | SymmetricMatrix QFltOld = _QFlt;
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[8956] | 101 |
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[9524] | 102 | _QFlt.ReSize(nPar); _QFlt = 0.0;
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| 103 | _xFlt.ReSize(nPar); _xFlt = 0.0;
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| 104 | _x0.ReSize(nPar); _x0 = 0.0;
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[9386] | 105 |
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[9524] | 106 | for (unsigned ii = 0; ii < nPar; ii++) {
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[9386] | 107 | t_pppParam* par1 = params[ii];
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| 108 | if (QFltOld.size() == 0) {
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| 109 | par1->resetIndex();
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| 110 | }
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[7237] | 111 | _x0[ii] = par1->x0();
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| 112 | int iOld = par1->indexOld();
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| 113 | if (iOld < 0) {
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| 114 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
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| 115 | }
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| 116 | else {
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| 117 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
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| 118 | _xFlt[ii] = xFltOld[iOld];
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| 119 | for (unsigned jj = 0; jj < ii; jj++) {
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[9386] | 120 | t_pppParam* par2 = params[jj];
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| 121 | int jOld = par2->indexOld();
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[7237] | 122 | if (jOld >= 0) {
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| 123 | _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1);
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| 124 | }
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| 125 | }
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| 126 | }
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| 127 | }
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| 128 | predictCovCrdPart(QFltOld);
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| 129 |
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[8905] | 130 | // Pre-Process Satellite Systems separately
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| 131 | // ----------------------------------------
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| 132 | bool preProcessing = false;
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| 133 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 134 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 135 | preProcessing = true;
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[9504] | 136 | const QList<char>& usedSystems = _parlist.usedSystems();
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[9431] | 137 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 138 | char sys = usedSystems[iSys];
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[9508] | 139 | _refPrn = refSatMap[sys]->prn();
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[9386] | 140 | vector<t_pppSatObs*> obsVector;
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[8905] | 141 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 142 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 143 | obsVector.push_back(allObs[jj]);
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| 144 | }
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| 145 | }
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[9431] | 146 | if (iSys == 0) {
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| 147 | _datumTrafo->setFirstSystem(sys);
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[9419] | 148 | }
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[9386] | 149 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[8905] | 150 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9386] | 151 | _xFlt = xFltOld;
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| 152 | _QFlt = QFltOld;
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[8905] | 153 | return failure;
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| 154 | }
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| 155 | }
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[8956] | 156 | // refSat change required?
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| 157 | // -----------------------
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| 158 | if (_obsPool->refSatChangeRequired()) {
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| 159 | _xFlt = xFltOld;
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| 160 | _QFlt = QFltOld;
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[9504] | 161 | _parlist = _parlist_sav;
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[8956] | 162 | return success;
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| 163 | }
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[9386] | 164 | else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 165 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 166 | }
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[8905] | 167 | }
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| 168 |
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[7237] | 169 | // Process Satellite Systems separately
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| 170 | // ------------------------------------
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[8912] | 171 | preProcessing = false;
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[9504] | 172 | const QList<char>& usedSystems = _parlist. usedSystems();
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[9431] | 173 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 174 | char sys = usedSystems[iSys];
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[8910] | 175 | if (OPT->_refSatRequired) {
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[9508] | 176 | _refPrn = refSatMap[sys]->prn();
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[8910] | 177 | }
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[9421] | 178 | else {
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| 179 | _refPrn.set(sys, 0);
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| 180 | }
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[7267] | 181 | unsigned int num = 0;
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[7237] | 182 | vector<t_pppSatObs*> obsVector;
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| 183 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 184 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 185 | obsVector.push_back(allObs[jj]);
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[9419] | 186 | ++num;
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[7237] | 187 | }
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| 188 | }
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[9431] | 189 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 190 | _datumTrafo->setFirstSystem(sys);
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[9419] | 191 | }
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| 192 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num << endl;
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| 193 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[8905] | 194 | epoch->pseudoObsIono(), preProcessing) != success) {
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[7237] | 195 | return failure;
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| 196 | }
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| 197 | }
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[8912] | 198 |
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| 199 | // close epoch processing
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| 200 | // ----------------------
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[9508] | 201 | cmpDOP(allObs, refSatMap);
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[9504] | 202 | _parlist.printResult(_epoTime, _QFlt, _xFlt);
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[8956] | 203 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 204 | return success;
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| 205 | }
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| 206 |
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| 207 | // Process Selected LCs
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| 208 | ////////////////////////////////////////////////////////////////////////////
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[7267] | 209 | t_irc t_pppFilter::processSystem(const vector<t_lc::type>& LCs,
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[8905] | 210 | const vector<t_pppSatObs*>& obsVector,
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| 211 | const t_prn& refPrn,
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| 212 | bool pseudoObsIonoAvailable,
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| 213 | bool preProcessing) {
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[7237] | 214 | LOG.setf(ios::fixed);
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[9386] | 215 | char sys = refPrn.system();
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[7237] | 216 |
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| 217 | // Detect Cycle Slips
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| 218 | // ------------------
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[8905] | 219 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 220 | return failure;
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| 221 | }
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[9398] | 222 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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[9386] | 223 | return success;
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| 224 | }
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[7237] | 225 |
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[8905] | 226 | ColumnVector xSav = _xFlt;
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| 227 | SymmetricMatrix QSav = _QFlt;
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| 228 | string epoTimeStr = string(_epoTime);
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[9504] | 229 | const vector<t_pppParam*>& params = _parlist.params();
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[9524] | 230 | unsigned nPar = _parlist.nPar();
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[8965] | 231 |
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[9386] | 232 | unsigned usedLCs = LCs.size();
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[8965] | 233 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9386] | 234 | usedLCs -= 1; // GIM not used
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[8961] | 235 | }
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[9386] | 236 | int hlpLCs = 0;
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| 237 | if (OPT->_pseudoObsTropo) {
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| 238 | hlpLCs = -1;
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[8965] | 239 | }
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[8961] | 240 | // max Obs
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[9386] | 241 | unsigned maxObs = obsVector.size() * (usedLCs + hlpLCs);
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[9419] | 242 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
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[9386] | 243 | maxObs += 1;
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| 244 | }
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[8965] | 245 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 246 | maxObs -= 1; // pseudo obs iono with respect to refSat
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[8905] | 247 | }
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| 248 |
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[7237] | 249 | // Outlier Detection Loop
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| 250 | // ----------------------
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| 251 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 252 |
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| 253 | if (iOutlier > 0) {
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| 254 | _xFlt = xSav;
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| 255 | _QFlt = QSav;
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| 256 | }
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| 257 |
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| 258 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 259 | // -----------------------------------------------------------
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[9524] | 260 | Matrix AA(maxObs, nPar);
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[7237] | 261 | ColumnVector ll(maxObs);
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| 262 | DiagonalMatrix PP(maxObs); PP = 0.0;
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[8912] | 263 |
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[7237] | 264 | int iObs = -1;
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| 265 | vector<t_pppSatObs*> usedObs;
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| 266 | vector<t_lc::type> usedTypes;
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[9386] | 267 |
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| 268 | // Real Observations
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| 269 | // =================
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[7237] | 270 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[8956] | 271 | t_pppSatObs* obs = obsVector[ii];
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[9419] | 272 | if (iOutlier == 0 && !preProcessing) {
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| 273 | obs->resetOutlier();
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| 274 | }
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[7237] | 275 | if (!obs->outlier()) {
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[8905] | 276 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 277 | const t_lc::type tLC = LCs[jj];
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[9386] | 278 | if (tLC == t_lc::GIM) {continue;}
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| 279 | if (tLC == t_lc::Tz0) {continue;}
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[7237] | 280 | ++iObs;
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| 281 | usedObs.push_back(obs);
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| 282 | usedTypes.push_back(tLC);
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[9524] | 283 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[7237] | 284 | const t_pppParam* par = params[iPar];
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[8956] | 285 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 286 | }
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| 287 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 288 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 289 | }
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| 290 | }
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| 291 | }
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| 292 |
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[9395] | 293 | // pseudo Obs Tropo
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| 294 | // ================
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[9419] | 295 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
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[9421] | 296 | bool _pseudoObsTropoConsidered = false;
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[9395] | 297 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9421] | 298 | if (_pseudoObsTropoConsidered) {break;}
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[9395] | 299 | t_pppSatObs* obs = obsVector[ii];
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| 300 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 301 | const t_lc::type tLC = LCs[jj];
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| 302 | if (tLC != t_lc::Tz0) {continue;}
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| 303 | ++iObs;
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[9421] | 304 | _pseudoObsTropoConsidered = true;
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[9395] | 305 | usedObs.push_back(obs);
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| 306 | usedTypes.push_back(tLC);
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[9524] | 307 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9395] | 308 | const t_pppParam* par = params[iPar];
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| 309 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 310 | }
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| 311 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 312 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 313 | }
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| 314 | }
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| 315 | }
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| 316 |
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[9386] | 317 | if ((!iOutlier) &&
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| 318 | (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9419] | 319 | OPT->_obsModelType == OPT->DCMphaseBias) &&
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| 320 | (!preProcessing)) {
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| 321 | _datumTrafo->updateIndices(sys, iObs+1);
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[9504] | 322 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs+1 , 1, _parlist.nPar()), 1);
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[9386] | 323 | }
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| 324 |
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| 325 | // Pseudo Obs Iono
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| 326 | // ================
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| 327 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 328 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 329 | t_pppSatObs* obs = obsVector[ii];
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| 330 | if (!obs->outlier()) {
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| 331 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 332 | const t_lc::type tLC = LCs[jj];
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| 333 | if (tLC == t_lc::GIM && !obs->isReference()) {
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| 334 | ++iObs;
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| 335 | } else {continue;}
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| 336 | usedObs.push_back(obs);
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| 337 | usedTypes.push_back(tLC);
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[9524] | 338 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9386] | 339 | const t_pppParam* par = params[iPar];
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| 340 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 341 | }
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| 342 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 343 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 344 | }
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| 345 | }
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[8956] | 346 | }
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[8915] | 347 | }
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| 348 |
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[7237] | 349 | // Check number of observations, truncate matrices
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| 350 | // -----------------------------------------------
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| 351 | if (iObs == -1) {
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| 352 | return failure;
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| 353 | }
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| 354 | AA = AA.Rows(1, iObs+1);
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| 355 | ll = ll.Rows(1, iObs+1);
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| 356 | PP = PP.SymSubMatrix(1, iObs+1);
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| 357 |
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| 358 | // Kalman update step
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| 359 | // ------------------
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| 360 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 361 |
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| 362 | // Check Residuals
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| 363 | // ---------------
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| 364 | ColumnVector vv = AA * _xFlt - ll;
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| 365 | double maxOutlier = 0.0;
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| 366 | int maxOutlierIndex = -1;
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| 367 | t_lc::type maxOutlierLC = t_lc::dummy;
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| 368 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 369 | const t_lc::type tLC = usedTypes[ii];
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| 370 | double res = fabs(vv[ii]);
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| 371 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 372 | if (res > fabs(maxOutlier)) {
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| 373 | maxOutlier = vv[ii];
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| 374 | maxOutlierIndex = ii;
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| 375 | maxOutlierLC = tLC;
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| 376 | }
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| 377 | }
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| 378 | }
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| 379 |
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| 380 | // Mark outlier or break outlier detection loop
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| 381 | // --------------------------------------------
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| 382 | if (maxOutlierIndex > -1) {
|
---|
| 383 | t_pppSatObs* obs = usedObs[maxOutlierIndex];
|
---|
| 384 | t_pppParam* par = 0;
|
---|
[9386] | 385 | LOG << epoTimeStr << " Outlier ("
|
---|
| 386 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ") << t_lc::toString(maxOutlierLC) << ' '
|
---|
| 387 | << obs->prn().toString() << ' '
|
---|
| 388 | << setw(8) << setprecision(4) << maxOutlier << endl;
|
---|
[9524] | 389 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[7237] | 390 | t_pppParam* hlp = params[iPar];
|
---|
[8905] | 391 | if (hlp->type() == t_pppParam::amb &&
|
---|
| 392 | hlp->prn() == obs->prn() &&
|
---|
[7237] | 393 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
|
---|
| 394 | par = hlp;
|
---|
| 395 | }
|
---|
| 396 | }
|
---|
[8956] | 397 | if (preProcessing) {
|
---|
[9491] | 398 | // for refSats no ambiguity parameter exists
|
---|
[9386] | 399 | if ((obs->prn() == refPrn) &&
|
---|
| 400 | (t_lc::toString(maxOutlierLC) == "l1" ||
|
---|
| 401 | t_lc::toString(maxOutlierLC) == "l2") ) {
|
---|
| 402 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9491] | 403 | break;
|
---|
[9386] | 404 | }
|
---|
| 405 | else {
|
---|
| 406 | if (par) {
|
---|
| 407 | par->setAmbResetCandidate();
|
---|
| 408 | obs->setOutlier();
|
---|
| 409 | }
|
---|
| 410 | else {
|
---|
| 411 | obs->setOutlier();
|
---|
| 412 | }
|
---|
[8905] | 413 | }
|
---|
| 414 | }
|
---|
[9386] | 415 | else {// fin-processing
|
---|
[8956] | 416 | if (par) {
|
---|
[9386] | 417 | if (par->ambResetCandidate()) {
|
---|
[8956] | 418 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
|
---|
| 419 | }
|
---|
| 420 | else {
|
---|
| 421 | par->setAmbResetCandidate();
|
---|
| 422 | obs->setOutlier();
|
---|
| 423 | }
|
---|
[7237] | 424 | }
|
---|
| 425 | else {
|
---|
| 426 | obs->setOutlier();
|
---|
| 427 | }
|
---|
| 428 | }
|
---|
| 429 | }
|
---|
| 430 | // Print Residuals
|
---|
| 431 | // ---------------
|
---|
| 432 | else {
|
---|
[8905] | 433 | if (!preProcessing) {
|
---|
| 434 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
|
---|
| 435 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
|
---|
| 436 | const t_lc::type tLC = usedTypes[ii];
|
---|
[9386] | 437 | t_pppSatObs* obs = usedObs[ii];
|
---|
[8905] | 438 | if (tLC == LCs[jj]) {
|
---|
| 439 | obs->setRes(tLC, vv[ii]);
|
---|
| 440 | LOG << epoTimeStr << " RES "
|
---|
[9386] | 441 | << left << setw(3) << t_lc::toString(tLC) << right << ' ';
|
---|
| 442 | if (t_lc::toString(tLC) == "Tz0") {LOG << sys << " ";}
|
---|
| 443 | else {LOG << obs->prn().toString();}
|
---|
[9435] | 444 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 445 | }
|
---|
[7237] | 446 | }
|
---|
| 447 | }
|
---|
| 448 | }
|
---|
| 449 | break;
|
---|
| 450 | }
|
---|
| 451 | }
|
---|
| 452 | return success;
|
---|
| 453 | }
|
---|
| 454 |
|
---|
| 455 | // Cycle-Slip Detection
|
---|
| 456 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7267] | 457 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type>& LCs,
|
---|
[8905] | 458 | const vector<t_pppSatObs*>& obsVector,
|
---|
| 459 | const t_prn& refPrn,
|
---|
| 460 | bool preProcessing) {
|
---|
[9386] | 461 | const double SLIP = 20.0;
|
---|
| 462 | char sys = refPrn.system();
|
---|
| 463 | string epoTimeStr = string(_epoTime);
|
---|
[9504] | 464 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
[9524] | 465 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 466 |
|
---|
| 467 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
| 468 | const t_lc::type& tLC = LCs[ii];
|
---|
| 469 | if (t_lc::includesPhase(tLC)) {
|
---|
| 470 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
| 471 | const t_pppSatObs* obs = obsVector[iObs];
|
---|
| 472 |
|
---|
[7267] | 473 | // Check set Slips and Jump Counters
|
---|
[7237] | 474 | // ---------------------------------
|
---|
| 475 | bool slip = false;
|
---|
[9386] | 476 |
|
---|
| 477 | // in pre-processing only the reference satellite has to be checked
|
---|
| 478 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 479 | continue;
|
---|
| 480 | }
|
---|
| 481 |
|
---|
[7237] | 482 | if (obs->slip()) {
|
---|
[8329] | 483 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() << endl;
|
---|
[7237] | 484 | slip = true;
|
---|
| 485 | }
|
---|
| 486 |
|
---|
| 487 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
|
---|
[9088] | 488 | _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
[8329] | 489 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
|
---|
[7237] | 490 | slip = true;
|
---|
| 491 | }
|
---|
[8956] | 492 | if (!preProcessing) {
|
---|
| 493 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 494 | }
|
---|
[7237] | 495 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
|
---|
| 496 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
[8329] | 497 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
|
---|
[7237] | 498 | slip = true;
|
---|
| 499 | }
|
---|
[8956] | 500 | if (!preProcessing) {
|
---|
| 501 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 502 | }
|
---|
[7237] | 503 | // Slip Set
|
---|
[7267] | 504 | // --------
|
---|
[7237] | 505 | if (slip) {
|
---|
[8905] | 506 | if (preProcessing) {
|
---|
[9386] | 507 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[8905] | 508 | }
|
---|
| 509 | else {
|
---|
| 510 | resetAmb(obs->prn(), obsVector);
|
---|
| 511 | }
|
---|
[7237] | 512 | }
|
---|
| 513 | // Check Pre-Fit Residuals
|
---|
| 514 | // -----------------------
|
---|
| 515 | else {
|
---|
[9419] | 516 | if (refPrn != t_prn()) {return success;}
|
---|
[9524] | 517 | ColumnVector AA(nPar);
|
---|
| 518 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[7237] | 519 | const t_pppParam* par = params[iPar];
|
---|
[8956] | 520 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[7237] | 521 | }
|
---|
| 522 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
|
---|
| 523 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 524 | if (fabs(vv) > SLIP) {
|
---|
[9386] | 525 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
|
---|
| 526 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
|
---|
[8905] | 527 | if (preProcessing) {
|
---|
[9386] | 528 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[8905] | 529 | }
|
---|
| 530 | else {
|
---|
| 531 | resetAmb(obs->prn(), obsVector);
|
---|
| 532 | }
|
---|
[7237] | 533 | }
|
---|
| 534 | }
|
---|
| 535 | }
|
---|
| 536 | }
|
---|
| 537 | }
|
---|
| 538 | return success;
|
---|
| 539 | }
|
---|
| 540 |
|
---|
| 541 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 542 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 543 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*>& obsVector,
|
---|
| 544 | SymmetricMatrix* QSav, ColumnVector* xSav) {
|
---|
[8965] | 545 |
|
---|
[7237] | 546 | t_irc irc = failure;
|
---|
[9504] | 547 | vector<t_pppParam*>& params = _parlist.params();
|
---|
[7237] | 548 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 549 | t_pppParam* par = params[iPar];
|
---|
| 550 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 551 | int ind = par->indexNew();
|
---|
| 552 | t_lc::type tLC = par->tLC();
|
---|
| 553 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
| 554 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
| 555 | par->setIndex(ind);
|
---|
| 556 | params[iPar] = par;
|
---|
| 557 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
| 558 | _QFlt(ii, ind+1) = 0.0;
|
---|
| 559 | if (QSav) {
|
---|
| 560 | (*QSav)(ii, ind+1) = 0.0;
|
---|
| 561 | }
|
---|
| 562 | }
|
---|
| 563 | _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
|
---|
| 564 | if (QSav) {
|
---|
| 565 | (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1);
|
---|
| 566 | }
|
---|
| 567 | _xFlt[ind] = 0.0;
|
---|
| 568 | if (xSav) {
|
---|
| 569 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 570 | }
|
---|
| 571 | _x0[ind] = par->x0();
|
---|
| 572 | irc = success;
|
---|
| 573 | }
|
---|
| 574 | }
|
---|
| 575 |
|
---|
| 576 | return irc;
|
---|
| 577 | }
|
---|
| 578 |
|
---|
[9395] | 579 | // Add infinite noise to iono
|
---|
[9386] | 580 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 581 | t_irc t_pppFilter::addNoiseToIono(char sys) {
|
---|
| 582 |
|
---|
| 583 | t_irc irc = failure;
|
---|
[9504] | 584 | vector<t_pppParam*>& params = _parlist.params();
|
---|
[9386] | 585 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 586 | t_pppParam* par = params[iPar];
|
---|
| 587 | if (par->type() == t_pppParam::ion && par->prn().system() == sys) {
|
---|
| 588 | int ind = par->indexNew();
|
---|
| 589 | LOG << string(_epoTime) << " ADD IONO_NOISE TO " << par->prn().toString() << endl;
|
---|
| 590 | par->setIndex(ind);
|
---|
| 591 | _QFlt(ind+1,ind+1) += par->sigma0() * par->sigma0();
|
---|
| 592 | irc = success;
|
---|
| 593 | }
|
---|
| 594 | }
|
---|
| 595 |
|
---|
| 596 | return irc;
|
---|
| 597 | }
|
---|
| 598 |
|
---|
[7237] | 599 | // Compute various DOP Values
|
---|
| 600 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9521] | 601 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*>& obsVector,
|
---|
[9508] | 602 | const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
[7237] | 603 |
|
---|
| 604 | _dop.reset();
|
---|
| 605 |
|
---|
| 606 | try {
|
---|
| 607 | const unsigned numPar = 4;
|
---|
| 608 | Matrix AA(obsVector.size(), numPar);
|
---|
| 609 | _numSat = 0;
|
---|
| 610 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 611 | t_pppSatObs* obs = obsVector[ii];
|
---|
[9508] | 612 | char sys = obs->prn().system();
|
---|
[8956] | 613 | t_prn refPrn = t_prn();
|
---|
| 614 | if (OPT->_refSatRequired) {
|
---|
[9508] | 615 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 616 | }
|
---|
[7237] | 617 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 618 | ++_numSat;
|
---|
| 619 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9504] | 620 | const t_pppParam* par = _parlist.params()[iPar];
|
---|
[8956] | 621 | AA[_numSat-1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 622 | }
|
---|
| 623 | }
|
---|
| 624 | }
|
---|
| 625 | if (_numSat < 4) {
|
---|
| 626 | return;
|
---|
| 627 | }
|
---|
| 628 | AA = AA.Rows(1, _numSat);
|
---|
[7267] | 629 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
[7237] | 630 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 631 |
|
---|
[7928] | 632 | _dop.H = sqrt(QQ(1,1) + QQ(2,2));
|
---|
| 633 | _dop.V = sqrt(QQ(3,3));
|
---|
[7237] | 634 | _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3));
|
---|
| 635 | _dop.T = sqrt(QQ(4,4));
|
---|
| 636 | _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4));
|
---|
| 637 | }
|
---|
| 638 | catch (...) {
|
---|
| 639 | }
|
---|
| 640 | }
|
---|
| 641 |
|
---|
| 642 | // Compute various DOP Values
|
---|
| 643 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 644 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix& QFltOld) {
|
---|
| 645 |
|
---|
[9504] | 646 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
[7237] | 647 | if (params.size() < 3) {
|
---|
| 648 | return;
|
---|
| 649 | }
|
---|
| 650 |
|
---|
| 651 | bool first = (params[0]->indexOld() < 0);
|
---|
| 652 |
|
---|
| 653 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
---|
| 654 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
| 655 | const t_pppParam* par = params[ii];
|
---|
| 656 | if (first) {
|
---|
| 657 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
| 658 | }
|
---|
| 659 | else {
|
---|
| 660 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 661 | }
|
---|
| 662 | }
|
---|
| 663 |
|
---|
| 664 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 665 | SymmetricMatrix Qxyz(3);
|
---|
| 666 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 667 |
|
---|
| 668 | if (first) {
|
---|
| 669 | _QFlt.SymSubMatrix(1,3) = Qxyz;
|
---|
| 670 | }
|
---|
| 671 | else {
|
---|
| 672 | double dt = _epoTime - _firstEpoTime;
|
---|
| 673 | if (dt < OPT->_seedingTime) {
|
---|
| 674 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3);
|
---|
| 675 | }
|
---|
| 676 | else {
|
---|
| 677 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3) + Qxyz;
|
---|
| 678 | }
|
---|
| 679 | }
|
---|
| 680 | }
|
---|
[8912] | 681 |
|
---|
[8915] | 682 | // Compute datum transformation
|
---|
[8912] | 683 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9508] | 684 | t_irc t_pppFilter::datumTransformation(const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
| 685 |
|
---|
[9419] | 686 | // get last epoch
|
---|
[9386] | 687 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
|
---|
[9419] | 688 | if (!epoch) {
|
---|
[9508] | 689 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 690 | return failure;
|
---|
| 691 | }
|
---|
[9508] | 692 | _epoTime = epoch->epoTime();
|
---|
| 693 | LOG.setf(ios::fixed);
|
---|
| 694 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
[9419] | 695 |
|
---|
[9386] | 696 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
|
---|
| 697 |
|
---|
[9508] | 698 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
|
---|
| 699 |
|
---|
| 700 | bool peseudoObsIono = epoch->pseudoObsIono();
|
---|
| 701 |
|
---|
[9419] | 702 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 703 | // =============================================================
|
---|
[9508] | 704 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
|
---|
[9431] | 705 | LOG << "refsatChange required" << endl;
|
---|
| 706 | return success;
|
---|
[9386] | 707 | }
|
---|
| 708 |
|
---|
[9419] | 709 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
| 710 | return success;
|
---|
| 711 | }
|
---|
| 712 |
|
---|
[9386] | 713 | // set AA2
|
---|
| 714 | // =======
|
---|
[9508] | 715 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 716 | return failure;
|
---|
| 717 | }
|
---|
[9524] | 718 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
[9504] | 719 | unsigned nPar = _parlist.nPar();
|
---|
[9386] | 720 | #ifdef BNC_DEBUG_PPP
|
---|
[9524] | 721 | LOG << " t_pppFilter::datumTransformation par last epoch: " << nPar << "/" << nPar << endl;
|
---|
[9431] | 722 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9524] | 723 | LOG << "t_pppFilter::processEpoch par_cur " << params[iPar]->toString()
|
---|
| 724 | << " lastObsTime().valid() " << params[iPar]->lastObsTime().valid()
|
---|
| 725 | << " epoTime-params[iPar]->lastObsTime() " << (_epoTime - params[iPar]->lastObsTime()) << endl;
|
---|
[9386] | 726 | }
|
---|
| 727 | #endif
|
---|
[9504] | 728 | const QList<char>& usedSystems = _parlist.usedSystems();
|
---|
[9431] | 729 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 730 | char sys = usedSystems[iSys];
|
---|
[9508] | 731 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 732 | vector<t_pppSatObs*> obsVector;
|
---|
| 733 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 734 | if (allObs[jj]->prn().system() == sys) {
|
---|
| 735 | obsVector.push_back(allObs[jj]);
|
---|
| 736 | }
|
---|
| 737 | }
|
---|
[9431] | 738 | if (iSys == 0) {
|
---|
| 739 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 740 | }
|
---|
[9386] | 741 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 742 | unsigned usedLCs = LCs.size();
|
---|
[9508] | 743 | if (OPT->_pseudoObsIono && !peseudoObsIono) {
|
---|
[9386] | 744 | usedLCs -= 1; // GIM not used
|
---|
| 745 | }
|
---|
| 746 | int hlpLCs = 0;
|
---|
| 747 | if (OPT->_pseudoObsTropo) {
|
---|
| 748 | hlpLCs = -1;
|
---|
| 749 | }
|
---|
| 750 | // max Obs
|
---|
| 751 | unsigned maxObs = obsVector.size() * (usedLCs + hlpLCs);
|
---|
[9419] | 752 |
|
---|
| 753 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
|
---|
[9386] | 754 | maxObs += 1;
|
---|
| 755 | }
|
---|
[9508] | 756 | if (OPT->_pseudoObsIono && peseudoObsIono) {
|
---|
[9386] | 757 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 758 | }
|
---|
[9419] | 759 | Matrix AA(maxObs, nPar);
|
---|
[9524] | 760 |
|
---|
[9386] | 761 | // Real Observations
|
---|
| 762 | // -----------------
|
---|
| 763 | int iObs = -1;
|
---|
| 764 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 765 | t_pppSatObs* obs = obsVector[ii];
|
---|
[9419] | 766 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 767 | const t_lc::type tLC = LCs[jj];
|
---|
| 768 | if (tLC == t_lc::GIM) {continue;}
|
---|
| 769 | if (tLC == t_lc::Tz0) {continue;}
|
---|
| 770 | ++iObs;
|
---|
[9524] | 771 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
| 772 | const t_pppParam* par = params[iPar];
|
---|
[9419] | 773 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 774 | }
|
---|
| 775 | }
|
---|
| 776 | }
|
---|
[9395] | 777 | // pseudo Obs Tropo
|
---|
| 778 | // ================
|
---|
[9419] | 779 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
|
---|
[9421] | 780 | bool pseudoObsTropoConsidered = false;
|
---|
[9395] | 781 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9421] | 782 | if (pseudoObsTropoConsidered) {break;}
|
---|
[9395] | 783 | t_pppSatObs* obs = obsVector[ii];
|
---|
| 784 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 785 | const t_lc::type tLC = LCs[jj];
|
---|
| 786 | if (tLC != t_lc::Tz0) {continue;}
|
---|
| 787 | ++iObs;
|
---|
[9421] | 788 | pseudoObsTropoConsidered = true;
|
---|
[9524] | 789 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
| 790 | const t_pppParam* par = params[iPar];
|
---|
[9395] | 791 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
| 792 | }
|
---|
| 793 | }
|
---|
| 794 | }
|
---|
| 795 | }
|
---|
[9419] | 796 | if (!iObs) {
|
---|
| 797 | continue;
|
---|
| 798 | }
|
---|
[9508] | 799 | _datumTrafo->updateIndices(sys, iObs+1); //LOG << "AA Ncols/Nrows: " << AA.Ncols() << "/" << AA.Nrows() << " nPar: " << nPar << endl; //LOG << "AA.SubMatrix(1 .. " << iObs+1 << " , 1 .. " << nPar << ")" << endl;
|
---|
| 800 | if(_datumTrafo->prepareAA(AA.SubMatrix(1, iObs+1 , 1, nPar), 2) != success) {
|
---|
| 801 | return failure;
|
---|
| 802 | }
|
---|
[9386] | 803 | }
|
---|
[9419] | 804 | _datumTrafo->updateNumObs();
|
---|
[9386] | 805 |
|
---|
| 806 | // Datum Transformation
|
---|
| 807 | // ====================
|
---|
| 808 | #ifdef BNC_DEBUG_PPP
|
---|
[9419] | 809 | //LOG << "AA1\n"; _datumTrafo->printMatrix(_datumTrafo->AA1(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9521] | 810 | LOG << "AA2\n"; _datumTrafo->printMatrix(_datumTrafo->AA2(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 811 | #endif
|
---|
[9419] | 812 | if(_datumTrafo->computeTrafoMatrix() != success) {
|
---|
| 813 | return failure;
|
---|
| 814 | }
|
---|
[9386] | 815 | #ifdef BNC_DEBUG_PPP
|
---|
[9419] | 816 | //LOG << "D21" << endl; _datumTrafo->printMatrix(_datumTrafo->D21(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 817 | #endif
|
---|
| 818 | ColumnVector xFltOld = _xFlt;
|
---|
| 819 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 820 |
|
---|
[9419] | 821 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
| 822 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 823 |
|
---|
| 824 | #ifdef BNC_DEBUG_PPP
|
---|
| 825 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 826 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
| 827 | #endif
|
---|
| 828 |
|
---|
| 829 | // Reset Ambiguities after Datum Transformation
|
---|
| 830 | // ============================================
|
---|
[9431] | 831 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 832 | char sys = usedSystems[iSys];
|
---|
[9508] | 833 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 834 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 835 | if (refPrnNew != refPrnOld) {
|
---|
[9508] | 836 | t_irc irc = resetAmb(refPrnOld, allObs);
|
---|
[9419] | 837 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
| 838 | if (irc == success) {
|
---|
| 839 | addNoiseToIono(sys);
|
---|
| 840 | }
|
---|
| 841 | }
|
---|
[9386] | 842 | }
|
---|
| 843 | }
|
---|
| 844 |
|
---|
| 845 | // switch AA2 to AA1
|
---|
| 846 | // =================
|
---|
| 847 | _datumTrafo->switchAA();
|
---|
| 848 |
|
---|
[9508] | 849 | _obsPool->putEpoch(_epoTime, allObs, peseudoObsIono, refSatMap);
|
---|
| 850 |
|
---|
[9386] | 851 | return success;
|
---|
[8912] | 852 | }
|
---|
| 853 |
|
---|
[9386] | 854 | // Init datum transformation
|
---|
[8956] | 855 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9419] | 856 | void t_pppFilter::initDatumTransformation(const std::vector<t_pppSatObs*>& allObs,
|
---|
| 857 | bool pseudoObsIono) {
|
---|
[9395] | 858 | unsigned trafoObs = 0;
|
---|
[9504] | 859 | const QList<char>& usedSystems = _parlist. usedSystems();
|
---|
[9431] | 860 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 861 | char sys = usedSystems[iSys];
|
---|
[9386] | 862 | int satNum = 0;
|
---|
| 863 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 864 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 865 | satNum++;
|
---|
[8956] | 866 | }
|
---|
| 867 | }
|
---|
[9386] | 868 | // all LCs
|
---|
[9419] | 869 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 870 | // exclude pseudo obs GIM
|
---|
[9419] | 871 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 872 | realUsedLCs -= 1;
|
---|
| 873 | }
|
---|
| 874 | if (OPT->_pseudoObsTropo) {
|
---|
| 875 | realUsedLCs -= 1;
|
---|
| 876 | }
|
---|
[9395] | 877 | trafoObs += satNum * realUsedLCs;
|
---|
| 878 |
|
---|
[9419] | 879 | if (OPT->_pseudoObsTropo && _datumTrafo->firstSystem(sys)) {
|
---|
[9395] | 880 | trafoObs += 1;
|
---|
| 881 | }
|
---|
[9419] | 882 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 883 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 884 | }
|
---|
[8956] | 885 | }
|
---|
[9419] | 886 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 887 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 888 | _datumTrafo->initAA();
|
---|
[8956] | 889 | }
|
---|
[9386] | 890 |
|
---|
| 891 | //
|
---|
| 892 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9508] | 893 | bool t_pppFilter::resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector,
|
---|
| 894 | const QMap<char, t_pppRefSat*>& refSatMap,
|
---|
| 895 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch) {
|
---|
[9431] | 896 | bool resetRefSat;
|
---|
[9386] | 897 | // reference satellite definition per system
|
---|
[9504] | 898 | const QList<char>& usedSystems = _parlist.usedSystems();
|
---|
[9431] | 899 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 900 | resetRefSat = false;
|
---|
| 901 | char sys = usedSystems[iSys];
|
---|
[9508] | 902 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 903 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 904 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 905 | if (oldPrn != newPrn) {
|
---|
| 906 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 907 | }
|
---|
[9386] | 908 | #endif
|
---|
| 909 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 910 | while (it != obsVector.end()) {
|
---|
| 911 | t_pppSatObs* satObs = *it;
|
---|
| 912 | if (satObs->prn() == newPrn) {
|
---|
| 913 | resetRefSat = true;
|
---|
| 914 | satObs->setAsReference();
|
---|
[9508] | 915 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 916 | satObs->resetReference();
|
---|
| 917 | }
|
---|
| 918 | it++;
|
---|
| 919 | }
|
---|
[9431] | 920 | if (!resetRefSat) {
|
---|
| 921 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 922 | return resetRefSat;
|
---|
| 923 | }
|
---|
[9386] | 924 | }
|
---|
| 925 | return resetRefSat;
|
---|
| 926 | }
|
---|