[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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[9532] | 75 |
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| 76 | //LOG << "processEpoch: printParams before set" << endl;
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| 77 | //_parlist.printParams(_epoTime);
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| 78 |
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[8905] | 79 | //--
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[7237] | 80 | // Set Parameters
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[9508] | 81 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
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[9419] | 82 | return failure;
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| 83 | }
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[9526] | 84 |
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[9527] | 85 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 86 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9386] | 87 | #ifdef BNC_DEBUG_PPP
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[9534] | 88 | _parlist.printParams(_epoTime);
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[9386] | 89 | #endif
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[9527] | 90 | }
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[7237] | 91 | // Status Vector, Variance-Covariance Matrix
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| 92 | // -----------------------------------------
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| 93 | ColumnVector xFltOld = _xFlt;
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| 94 | SymmetricMatrix QFltOld = _QFlt;
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[9526] | 95 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld);
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[8956] | 96 |
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[8905] | 97 | // Pre-Process Satellite Systems separately
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| 98 | // ----------------------------------------
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| 99 | bool preProcessing = false;
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| 100 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 101 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 102 | preProcessing = true;
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[9504] | 103 | const QList<char>& usedSystems = _parlist.usedSystems();
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[9431] | 104 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 105 | char sys = usedSystems[iSys];
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[9526] | 106 | _refPrn.set(sys, 0);
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| 107 | if (OPT->_refSatRequired) {
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| 108 | _refPrn = refSatMap[sys]->prn();
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| 109 | }
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[9386] | 110 | vector<t_pppSatObs*> obsVector;
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[8905] | 111 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 112 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 113 | obsVector.push_back(allObs[jj]);
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| 114 | }
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| 115 | }
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[9431] | 116 | if (iSys == 0) {
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| 117 | _datumTrafo->setFirstSystem(sys);
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[9419] | 118 | }
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[9386] | 119 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[8905] | 120 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9537] | 121 | LOG << "processSystem != success (pre-processing)" << endl;
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[9386] | 122 | _xFlt = xFltOld;
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| 123 | _QFlt = QFltOld;
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[9532] | 124 | _obsPool->deleteLastEpoch();
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[9527] | 125 | restoreState(2);
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[8905] | 126 | return failure;
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| 127 | }
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| 128 | }
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[8956] | 129 | // refSat change required?
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| 130 | // -----------------------
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| 131 | if (_obsPool->refSatChangeRequired()) {
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| 132 | _xFlt = xFltOld;
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| 133 | _QFlt = QFltOld;
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| 134 | return success;
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| 135 | }
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[9386] | 136 | else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 137 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 138 | }
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[8905] | 139 | }
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| 140 |
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[7237] | 141 | // Process Satellite Systems separately
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| 142 | // ------------------------------------
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[8912] | 143 | preProcessing = false;
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[9504] | 144 | const QList<char>& usedSystems = _parlist. usedSystems();
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[9431] | 145 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 146 | char sys = usedSystems[iSys];
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[9526] | 147 | _refPrn.set(sys, 0);
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[8910] | 148 | if (OPT->_refSatRequired) {
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[9508] | 149 | _refPrn = refSatMap[sys]->prn();
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[8910] | 150 | }
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[7267] | 151 | unsigned int num = 0;
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[7237] | 152 | vector<t_pppSatObs*> obsVector;
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| 153 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 154 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 155 | obsVector.push_back(allObs[jj]);
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[9419] | 156 | ++num;
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[7237] | 157 | }
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| 158 | }
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[9431] | 159 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 160 | _datumTrafo->setFirstSystem(sys);
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[9419] | 161 | }
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| 162 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num << endl;
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| 163 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[8905] | 164 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9537] | 165 | LOG << "processSystem != success (fin-processing)" << endl;
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| 166 | _xFlt = xFltOld;
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| 167 | _QFlt = QFltOld;
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| 168 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 169 | OPT->_obsModelType == OPT->DCMphaseBias) {
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| 170 | _obsPool->deleteLastEpoch();
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| 171 | restoreState(3);
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| 172 | }
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[7237] | 173 | return failure;
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| 174 | }
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| 175 | }
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[8912] | 176 |
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| 177 | // close epoch processing
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| 178 | // ----------------------
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[9508] | 179 | cmpDOP(allObs, refSatMap);
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[9504] | 180 | _parlist.printResult(_epoTime, _QFlt, _xFlt);
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[8956] | 181 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 182 | return success;
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| 183 | }
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| 184 |
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| 185 | // Process Selected LCs
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| 186 | ////////////////////////////////////////////////////////////////////////////
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[7267] | 187 | t_irc t_pppFilter::processSystem(const vector<t_lc::type>& LCs,
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[8905] | 188 | const vector<t_pppSatObs*>& obsVector,
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| 189 | const t_prn& refPrn,
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| 190 | bool pseudoObsIonoAvailable,
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| 191 | bool preProcessing) {
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[7237] | 192 | LOG.setf(ios::fixed);
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[9386] | 193 | char sys = refPrn.system();
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[7237] | 194 |
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| 195 | // Detect Cycle Slips
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| 196 | // ------------------
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[8905] | 197 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 198 | return failure;
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| 199 | }
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[9398] | 200 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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[9386] | 201 | return success;
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| 202 | }
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[7237] | 203 |
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[8905] | 204 | ColumnVector xSav = _xFlt;
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| 205 | SymmetricMatrix QSav = _QFlt;
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| 206 | string epoTimeStr = string(_epoTime);
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[9504] | 207 | const vector<t_pppParam*>& params = _parlist.params();
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[9524] | 208 | unsigned nPar = _parlist.nPar();
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[8965] | 209 |
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[9386] | 210 | unsigned usedLCs = LCs.size();
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[8965] | 211 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9386] | 212 | usedLCs -= 1; // GIM not used
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[8961] | 213 | }
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| 214 | // max Obs
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[9538] | 215 | unsigned maxObs = obsVector.size() * usedLCs;
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| 216 |
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[8965] | 217 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 218 | maxObs -= 1; // pseudo obs iono with respect to refSat
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[8905] | 219 | }
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| 220 |
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[7237] | 221 | // Outlier Detection Loop
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| 222 | // ----------------------
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| 223 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 224 |
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| 225 | if (iOutlier > 0) {
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| 226 | _xFlt = xSav;
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| 227 | _QFlt = QSav;
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| 228 | }
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| 229 |
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| 230 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 231 | // -----------------------------------------------------------
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[9524] | 232 | Matrix AA(maxObs, nPar);
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[7237] | 233 | ColumnVector ll(maxObs);
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| 234 | DiagonalMatrix PP(maxObs); PP = 0.0;
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[8912] | 235 |
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[7237] | 236 | int iObs = -1;
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| 237 | vector<t_pppSatObs*> usedObs;
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| 238 | vector<t_lc::type> usedTypes;
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[9386] | 239 |
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| 240 | // Real Observations
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| 241 | // =================
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[7237] | 242 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[8956] | 243 | t_pppSatObs* obs = obsVector[ii];
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[9419] | 244 | if (iOutlier == 0 && !preProcessing) {
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| 245 | obs->resetOutlier();
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| 246 | }
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[7237] | 247 | if (!obs->outlier()) {
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[8905] | 248 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 249 | const t_lc::type tLC = LCs[jj];
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[9386] | 250 | if (tLC == t_lc::GIM) {continue;}
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[7237] | 251 | ++iObs;
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| 252 | usedObs.push_back(obs);
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| 253 | usedTypes.push_back(tLC);
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[9524] | 254 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[7237] | 255 | const t_pppParam* par = params[iPar];
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[8956] | 256 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 257 | }
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| 258 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 259 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 260 | }
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| 261 | }
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| 262 | }
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| 263 |
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[9386] | 264 | if ((!iOutlier) &&
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| 265 | (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9419] | 266 | OPT->_obsModelType == OPT->DCMphaseBias) &&
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| 267 | (!preProcessing)) {
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| 268 | _datumTrafo->updateIndices(sys, iObs+1);
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[9504] | 269 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs+1 , 1, _parlist.nPar()), 1);
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[9386] | 270 | }
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| 271 |
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| 272 | // Pseudo Obs Iono
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| 273 | // ================
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| 274 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 275 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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| 276 | t_pppSatObs* obs = obsVector[ii];
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| 277 | if (!obs->outlier()) {
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| 278 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 279 | const t_lc::type tLC = LCs[jj];
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| 280 | if (tLC == t_lc::GIM && !obs->isReference()) {
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| 281 | ++iObs;
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| 282 | } else {continue;}
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| 283 | usedObs.push_back(obs);
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| 284 | usedTypes.push_back(tLC);
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[9524] | 285 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9386] | 286 | const t_pppParam* par = params[iPar];
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| 287 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 288 | }
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| 289 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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| 290 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 291 | }
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| 292 | }
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[8956] | 293 | }
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[8915] | 294 | }
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| 295 |
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[7237] | 296 | // Check number of observations, truncate matrices
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| 297 | // -----------------------------------------------
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[9537] | 298 | if (iObs == -1) {LOG << "iObs == -1\n";
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[7237] | 299 | return failure;
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| 300 | }
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| 301 | AA = AA.Rows(1, iObs+1);
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| 302 | ll = ll.Rows(1, iObs+1);
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| 303 | PP = PP.SymSubMatrix(1, iObs+1);
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| 304 |
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| 305 | // Kalman update step
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| 306 | // ------------------
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| 307 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 308 |
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| 309 | // Check Residuals
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| 310 | // ---------------
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| 311 | ColumnVector vv = AA * _xFlt - ll;
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| 312 | double maxOutlier = 0.0;
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| 313 | int maxOutlierIndex = -1;
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| 314 | t_lc::type maxOutlierLC = t_lc::dummy;
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| 315 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 316 | const t_lc::type tLC = usedTypes[ii];
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| 317 | double res = fabs(vv[ii]);
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| 318 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 319 | if (res > fabs(maxOutlier)) {
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| 320 | maxOutlier = vv[ii];
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| 321 | maxOutlierIndex = ii;
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| 322 | maxOutlierLC = tLC;
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| 323 | }
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| 324 | }
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| 325 | }
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| 326 |
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| 327 | // Mark outlier or break outlier detection loop
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| 328 | // --------------------------------------------
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| 329 | if (maxOutlierIndex > -1) {
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| 330 | t_pppSatObs* obs = usedObs[maxOutlierIndex];
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| 331 | t_pppParam* par = 0;
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[9386] | 332 | LOG << epoTimeStr << " Outlier ("
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| 333 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ") << t_lc::toString(maxOutlierLC) << ' '
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| 334 | << obs->prn().toString() << ' '
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| 335 | << setw(8) << setprecision(4) << maxOutlier << endl;
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[9524] | 336 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[7237] | 337 | t_pppParam* hlp = params[iPar];
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[8905] | 338 | if (hlp->type() == t_pppParam::amb &&
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| 339 | hlp->prn() == obs->prn() &&
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[7237] | 340 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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| 341 | par = hlp;
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| 342 | }
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| 343 | }
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[8956] | 344 | if (preProcessing) {
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[9491] | 345 | // for refSats no ambiguity parameter exists
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[9386] | 346 | if ((obs->prn() == refPrn) &&
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| 347 | (t_lc::toString(maxOutlierLC) == "l1" ||
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| 348 | t_lc::toString(maxOutlierLC) == "l2") ) {
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| 349 | _obsPool->setRefSatChangeRequired(sys, true);
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[9491] | 350 | break;
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[9386] | 351 | }
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| 352 | else {
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| 353 | if (par) {
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| 354 | par->setAmbResetCandidate();
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| 355 | obs->setOutlier();
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| 356 | }
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| 357 | else {
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| 358 | obs->setOutlier();
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| 359 | }
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[8905] | 360 | }
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| 361 | }
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[9386] | 362 | else {// fin-processing
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[8956] | 363 | if (par) {
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[9386] | 364 | if (par->ambResetCandidate()) {
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[8956] | 365 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
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| 366 | }
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| 367 | else {
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| 368 | par->setAmbResetCandidate();
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| 369 | obs->setOutlier();
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| 370 | }
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[7237] | 371 | }
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| 372 | else {
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| 373 | obs->setOutlier();
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| 374 | }
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| 375 | }
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| 376 | }
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| 377 | // Print Residuals
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| 378 | // ---------------
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| 379 | else {
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[8905] | 380 | if (!preProcessing) {
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| 381 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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| 382 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 383 | const t_lc::type tLC = usedTypes[ii];
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[9386] | 384 | t_pppSatObs* obs = usedObs[ii];
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[8905] | 385 | if (tLC == LCs[jj]) {
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| 386 | obs->setRes(tLC, vv[ii]);
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| 387 | LOG << epoTimeStr << " RES "
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[9386] | 388 | << left << setw(3) << t_lc::toString(tLC) << right << ' ';
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| 389 | if (t_lc::toString(tLC) == "Tz0") {LOG << sys << " ";}
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| 390 | else {LOG << obs->prn().toString();}
|
---|
[9435] | 391 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 392 | }
|
---|
[7237] | 393 | }
|
---|
| 394 | }
|
---|
| 395 | }
|
---|
| 396 | break;
|
---|
| 397 | }
|
---|
| 398 | }
|
---|
| 399 | return success;
|
---|
| 400 | }
|
---|
| 401 |
|
---|
| 402 | // Cycle-Slip Detection
|
---|
| 403 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7267] | 404 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type>& LCs,
|
---|
[8905] | 405 | const vector<t_pppSatObs*>& obsVector,
|
---|
| 406 | const t_prn& refPrn,
|
---|
| 407 | bool preProcessing) {
|
---|
[9386] | 408 | const double SLIP = 20.0;
|
---|
| 409 | char sys = refPrn.system();
|
---|
| 410 | string epoTimeStr = string(_epoTime);
|
---|
[9504] | 411 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
[9524] | 412 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 413 |
|
---|
| 414 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
| 415 | const t_lc::type& tLC = LCs[ii];
|
---|
| 416 | if (t_lc::includesPhase(tLC)) {
|
---|
| 417 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
| 418 | const t_pppSatObs* obs = obsVector[iObs];
|
---|
| 419 |
|
---|
[7267] | 420 | // Check set Slips and Jump Counters
|
---|
[7237] | 421 | // ---------------------------------
|
---|
| 422 | bool slip = false;
|
---|
[9386] | 423 |
|
---|
| 424 | // in pre-processing only the reference satellite has to be checked
|
---|
| 425 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 426 | continue;
|
---|
| 427 | }
|
---|
| 428 |
|
---|
[7237] | 429 | if (obs->slip()) {
|
---|
[8329] | 430 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() << endl;
|
---|
[7237] | 431 | slip = true;
|
---|
| 432 | }
|
---|
| 433 |
|
---|
| 434 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
|
---|
[9088] | 435 | _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
[8329] | 436 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
|
---|
[7237] | 437 | slip = true;
|
---|
| 438 | }
|
---|
[8956] | 439 | if (!preProcessing) {
|
---|
| 440 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 441 | }
|
---|
[7237] | 442 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
|
---|
| 443 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
[8329] | 444 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
|
---|
[7237] | 445 | slip = true;
|
---|
| 446 | }
|
---|
[8956] | 447 | if (!preProcessing) {
|
---|
| 448 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
| 449 | }
|
---|
[7237] | 450 | // Slip Set
|
---|
[7267] | 451 | // --------
|
---|
[7237] | 452 | if (slip) {
|
---|
[8905] | 453 | if (preProcessing) {
|
---|
[9386] | 454 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[8905] | 455 | }
|
---|
| 456 | else {
|
---|
| 457 | resetAmb(obs->prn(), obsVector);
|
---|
| 458 | }
|
---|
[7237] | 459 | }
|
---|
| 460 | // Check Pre-Fit Residuals
|
---|
| 461 | // -----------------------
|
---|
| 462 | else {
|
---|
[9419] | 463 | if (refPrn != t_prn()) {return success;}
|
---|
[9524] | 464 | ColumnVector AA(nPar);
|
---|
| 465 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[7237] | 466 | const t_pppParam* par = params[iPar];
|
---|
[8956] | 467 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[7237] | 468 | }
|
---|
| 469 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
|
---|
| 470 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 471 | if (fabs(vv) > SLIP) {
|
---|
[9386] | 472 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
|
---|
| 473 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
|
---|
[8905] | 474 | if (preProcessing) {
|
---|
[9386] | 475 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[8905] | 476 | }
|
---|
| 477 | else {
|
---|
| 478 | resetAmb(obs->prn(), obsVector);
|
---|
| 479 | }
|
---|
[7237] | 480 | }
|
---|
| 481 | }
|
---|
| 482 | }
|
---|
| 483 | }
|
---|
| 484 | }
|
---|
| 485 | return success;
|
---|
| 486 | }
|
---|
| 487 |
|
---|
| 488 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 489 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 490 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*>& obsVector,
|
---|
| 491 | SymmetricMatrix* QSav, ColumnVector* xSav) {
|
---|
[8965] | 492 |
|
---|
[7237] | 493 | t_irc irc = failure;
|
---|
[9504] | 494 | vector<t_pppParam*>& params = _parlist.params();
|
---|
[7237] | 495 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 496 | t_pppParam* par = params[iPar];
|
---|
| 497 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 498 | int ind = par->indexNew();
|
---|
| 499 | t_lc::type tLC = par->tLC();
|
---|
| 500 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
| 501 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
| 502 | par->setIndex(ind);
|
---|
| 503 | params[iPar] = par;
|
---|
| 504 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
| 505 | _QFlt(ii, ind+1) = 0.0;
|
---|
| 506 | if (QSav) {
|
---|
| 507 | (*QSav)(ii, ind+1) = 0.0;
|
---|
| 508 | }
|
---|
| 509 | }
|
---|
| 510 | _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
|
---|
| 511 | if (QSav) {
|
---|
| 512 | (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1);
|
---|
| 513 | }
|
---|
| 514 | _xFlt[ind] = 0.0;
|
---|
| 515 | if (xSav) {
|
---|
| 516 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 517 | }
|
---|
| 518 | _x0[ind] = par->x0();
|
---|
| 519 | irc = success;
|
---|
| 520 | }
|
---|
| 521 | }
|
---|
| 522 |
|
---|
| 523 | return irc;
|
---|
| 524 | }
|
---|
| 525 |
|
---|
[9395] | 526 | // Add infinite noise to iono
|
---|
[9386] | 527 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 528 | t_irc t_pppFilter::addNoiseToIono(char sys) {
|
---|
| 529 |
|
---|
| 530 | t_irc irc = failure;
|
---|
[9504] | 531 | vector<t_pppParam*>& params = _parlist.params();
|
---|
[9386] | 532 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
| 533 | t_pppParam* par = params[iPar];
|
---|
| 534 | if (par->type() == t_pppParam::ion && par->prn().system() == sys) {
|
---|
| 535 | int ind = par->indexNew();
|
---|
| 536 | LOG << string(_epoTime) << " ADD IONO_NOISE TO " << par->prn().toString() << endl;
|
---|
| 537 | par->setIndex(ind);
|
---|
| 538 | _QFlt(ind+1,ind+1) += par->sigma0() * par->sigma0();
|
---|
| 539 | irc = success;
|
---|
| 540 | }
|
---|
| 541 | }
|
---|
| 542 |
|
---|
| 543 | return irc;
|
---|
| 544 | }
|
---|
| 545 |
|
---|
[7237] | 546 | // Compute various DOP Values
|
---|
| 547 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9521] | 548 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*>& obsVector,
|
---|
[9508] | 549 | const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
[7237] | 550 |
|
---|
| 551 | _dop.reset();
|
---|
| 552 |
|
---|
| 553 | try {
|
---|
| 554 | const unsigned numPar = 4;
|
---|
| 555 | Matrix AA(obsVector.size(), numPar);
|
---|
| 556 | _numSat = 0;
|
---|
| 557 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 558 | t_pppSatObs* obs = obsVector[ii];
|
---|
[9508] | 559 | char sys = obs->prn().system();
|
---|
[8956] | 560 | t_prn refPrn = t_prn();
|
---|
| 561 | if (OPT->_refSatRequired) {
|
---|
[9508] | 562 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 563 | }
|
---|
[7237] | 564 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 565 | ++_numSat;
|
---|
| 566 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9504] | 567 | const t_pppParam* par = _parlist.params()[iPar];
|
---|
[8956] | 568 | AA[_numSat-1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 569 | }
|
---|
| 570 | }
|
---|
| 571 | }
|
---|
| 572 | if (_numSat < 4) {
|
---|
| 573 | return;
|
---|
| 574 | }
|
---|
| 575 | AA = AA.Rows(1, _numSat);
|
---|
[7267] | 576 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
[7237] | 577 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 578 |
|
---|
[7928] | 579 | _dop.H = sqrt(QQ(1,1) + QQ(2,2));
|
---|
| 580 | _dop.V = sqrt(QQ(3,3));
|
---|
[7237] | 581 | _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3));
|
---|
| 582 | _dop.T = sqrt(QQ(4,4));
|
---|
| 583 | _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4));
|
---|
| 584 | }
|
---|
| 585 | catch (...) {
|
---|
| 586 | }
|
---|
| 587 | }
|
---|
| 588 |
|
---|
[9526] | 589 | //
|
---|
[7237] | 590 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 591 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix& QFltOld) {
|
---|
| 592 |
|
---|
[9504] | 593 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
[7237] | 594 | if (params.size() < 3) {
|
---|
| 595 | return;
|
---|
| 596 | }
|
---|
| 597 |
|
---|
| 598 | bool first = (params[0]->indexOld() < 0);
|
---|
| 599 |
|
---|
| 600 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
---|
| 601 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
| 602 | const t_pppParam* par = params[ii];
|
---|
| 603 | if (first) {
|
---|
| 604 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
| 605 | }
|
---|
| 606 | else {
|
---|
| 607 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 608 | }
|
---|
| 609 | }
|
---|
| 610 |
|
---|
| 611 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 612 | SymmetricMatrix Qxyz(3);
|
---|
| 613 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 614 |
|
---|
| 615 | if (first) {
|
---|
| 616 | _QFlt.SymSubMatrix(1,3) = Qxyz;
|
---|
| 617 | }
|
---|
| 618 | else {
|
---|
| 619 | double dt = _epoTime - _firstEpoTime;
|
---|
| 620 | if (dt < OPT->_seedingTime) {
|
---|
| 621 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3);
|
---|
| 622 | }
|
---|
| 623 | else {
|
---|
| 624 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3) + Qxyz;
|
---|
| 625 | }
|
---|
| 626 | }
|
---|
| 627 | }
|
---|
[8912] | 628 |
|
---|
[9526] | 629 | //
|
---|
| 630 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 631 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector& xFltOld,
|
---|
| 632 | const SymmetricMatrix& QFltOld) {
|
---|
| 633 |
|
---|
| 634 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
| 635 | unsigned nPar = params.size();
|
---|
| 636 |
|
---|
| 637 | _QFlt.ReSize(nPar); _QFlt = 0.0;
|
---|
| 638 | _xFlt.ReSize(nPar); _xFlt = 0.0;
|
---|
| 639 | _x0.ReSize(nPar); _x0 = 0.0;
|
---|
| 640 |
|
---|
| 641 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
| 642 | t_pppParam* par1 = params[ii];
|
---|
| 643 | if (QFltOld.size() == 0) {
|
---|
| 644 | par1->resetIndex();
|
---|
| 645 | }
|
---|
| 646 | _x0[ii] = par1->x0();
|
---|
| 647 | int iOld = par1->indexOld();
|
---|
| 648 | if (iOld < 0) {
|
---|
| 649 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
| 650 | }
|
---|
| 651 | else {
|
---|
| 652 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
| 653 | _xFlt[ii] = xFltOld[iOld];
|
---|
| 654 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
| 655 | t_pppParam* par2 = params[jj];
|
---|
| 656 | int jOld = par2->indexOld();
|
---|
| 657 | if (jOld >= 0) {
|
---|
| 658 | _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1);
|
---|
| 659 | }
|
---|
| 660 | }
|
---|
| 661 | }
|
---|
| 662 | }
|
---|
| 663 | predictCovCrdPart(QFltOld);
|
---|
| 664 | }
|
---|
| 665 |
|
---|
[8915] | 666 | // Compute datum transformation
|
---|
[8912] | 667 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9508] | 668 | t_irc t_pppFilter::datumTransformation(const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
| 669 |
|
---|
[9419] | 670 | // get last epoch
|
---|
[9386] | 671 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
|
---|
[9419] | 672 | if (!epoch) {
|
---|
[9508] | 673 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 674 | return failure;
|
---|
| 675 | }
|
---|
[9508] | 676 | _epoTime = epoch->epoTime();
|
---|
| 677 | LOG.setf(ios::fixed);
|
---|
| 678 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
[9419] | 679 |
|
---|
[9386] | 680 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
|
---|
| 681 |
|
---|
[9508] | 682 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
|
---|
| 683 |
|
---|
[9548] | 684 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
[9508] | 685 |
|
---|
[9419] | 686 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 687 | // =============================================================
|
---|
[9508] | 688 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
|
---|
[9548] | 689 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl;
|
---|
| 690 | return failure;
|
---|
[9386] | 691 | }
|
---|
| 692 |
|
---|
[9419] | 693 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
[9548] | 694 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9419] | 695 | return success;
|
---|
| 696 | }
|
---|
[9537] | 697 | //LOG << "datumTransformation: printParams before set" << endl;
|
---|
| 698 | //_parlist.printParams(_epoTime);
|
---|
[9419] | 699 |
|
---|
[9386] | 700 | // set AA2
|
---|
| 701 | // =======
|
---|
[9508] | 702 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 703 | return failure;
|
---|
| 704 | }
|
---|
[9526] | 705 |
|
---|
[9386] | 706 | #ifdef BNC_DEBUG_PPP
|
---|
[9534] | 707 | _parlist.printParams(_epoTime);
|
---|
[9386] | 708 | #endif
|
---|
[9526] | 709 |
|
---|
[9504] | 710 | const QList<char>& usedSystems = _parlist.usedSystems();
|
---|
[9431] | 711 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 712 | char sys = usedSystems[iSys];
|
---|
[9508] | 713 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 714 | vector<t_pppSatObs*> obsVector;
|
---|
| 715 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 716 | if (allObs[jj]->prn().system() == sys) {
|
---|
| 717 | obsVector.push_back(allObs[jj]);
|
---|
| 718 | }
|
---|
| 719 | }
|
---|
[9431] | 720 | if (iSys == 0) {
|
---|
| 721 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 722 | }
|
---|
[9386] | 723 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 724 | unsigned usedLCs = LCs.size();
|
---|
[9548] | 725 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 726 | usedLCs -= 1; // GIM not used
|
---|
| 727 | }
|
---|
| 728 | // max Obs
|
---|
[9538] | 729 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
[9419] | 730 |
|
---|
[9548] | 731 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
[9386] | 732 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 733 | }
|
---|
[9526] | 734 |
|
---|
| 735 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
| 736 | unsigned nPar = _parlist.nPar();
|
---|
| 737 |
|
---|
[9419] | 738 | Matrix AA(maxObs, nPar);
|
---|
[9524] | 739 |
|
---|
[9386] | 740 | // Real Observations
|
---|
| 741 | // -----------------
|
---|
| 742 | int iObs = -1;
|
---|
| 743 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
| 744 | t_pppSatObs* obs = obsVector[ii];
|
---|
[9419] | 745 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 746 | const t_lc::type tLC = LCs[jj];
|
---|
| 747 | if (tLC == t_lc::GIM) {continue;}
|
---|
| 748 | ++iObs;
|
---|
[9524] | 749 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
| 750 | const t_pppParam* par = params[iPar];
|
---|
[9419] | 751 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 752 | }
|
---|
| 753 | }
|
---|
| 754 | }
|
---|
[9538] | 755 |
|
---|
[9419] | 756 | if (!iObs) {
|
---|
| 757 | continue;
|
---|
| 758 | }
|
---|
[9508] | 759 | _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;
|
---|
| 760 | if(_datumTrafo->prepareAA(AA.SubMatrix(1, iObs+1 , 1, nPar), 2) != success) {
|
---|
| 761 | return failure;
|
---|
| 762 | }
|
---|
[9386] | 763 | }
|
---|
[9419] | 764 | _datumTrafo->updateNumObs();
|
---|
[9386] | 765 |
|
---|
| 766 | // Datum Transformation
|
---|
| 767 | // ====================
|
---|
| 768 | #ifdef BNC_DEBUG_PPP
|
---|
[9548] | 769 | //LOG << "AA1\n"; _datumTrafo->printMatrix(_datumTrafo->AA1(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
| 770 | //LOG << "AA2\n"; _datumTrafo->printMatrix(_datumTrafo->AA2(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 771 | #endif
|
---|
[9419] | 772 | if(_datumTrafo->computeTrafoMatrix() != success) {
|
---|
| 773 | return failure;
|
---|
| 774 | }
|
---|
[9386] | 775 | #ifdef BNC_DEBUG_PPP
|
---|
[9548] | 776 | //LOG << "D21" << endl; _datumTrafo->printMatrix(_datumTrafo->D21(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 777 | #endif
|
---|
| 778 | ColumnVector xFltOld = _xFlt;
|
---|
| 779 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 780 |
|
---|
[9419] | 781 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
| 782 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 783 |
|
---|
| 784 | #ifdef BNC_DEBUG_PPP
|
---|
[9527] | 785 | //LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 786 | //LOG << "xFlt :\n" << _xFlt << endl;
|
---|
[9386] | 787 | #endif
|
---|
| 788 |
|
---|
| 789 | // Reset Ambiguities after Datum Transformation
|
---|
| 790 | // ============================================
|
---|
[9431] | 791 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 792 | char sys = usedSystems[iSys];
|
---|
[9508] | 793 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 794 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 795 | if (refPrnNew != refPrnOld) {
|
---|
[9508] | 796 | t_irc irc = resetAmb(refPrnOld, allObs);
|
---|
[9419] | 797 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
| 798 | if (irc == success) {
|
---|
| 799 | addNoiseToIono(sys);
|
---|
| 800 | }
|
---|
| 801 | }
|
---|
[9386] | 802 | }
|
---|
| 803 | }
|
---|
| 804 |
|
---|
| 805 | // switch AA2 to AA1
|
---|
| 806 | // =================
|
---|
| 807 | _datumTrafo->switchAA();
|
---|
| 808 |
|
---|
[9548] | 809 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9508] | 810 |
|
---|
[9386] | 811 | return success;
|
---|
[8912] | 812 | }
|
---|
| 813 |
|
---|
[9386] | 814 | // Init datum transformation
|
---|
[8956] | 815 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9419] | 816 | void t_pppFilter::initDatumTransformation(const std::vector<t_pppSatObs*>& allObs,
|
---|
| 817 | bool pseudoObsIono) {
|
---|
[9395] | 818 | unsigned trafoObs = 0;
|
---|
[9504] | 819 | const QList<char>& usedSystems = _parlist. usedSystems();
|
---|
[9431] | 820 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 821 | char sys = usedSystems[iSys];
|
---|
[9386] | 822 | int satNum = 0;
|
---|
| 823 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 824 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 825 | satNum++;
|
---|
[8956] | 826 | }
|
---|
| 827 | }
|
---|
[9386] | 828 | // all LCs
|
---|
[9419] | 829 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 830 | // exclude pseudo obs GIM
|
---|
[9419] | 831 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 832 | realUsedLCs -= 1;
|
---|
| 833 | }
|
---|
[9538] | 834 |
|
---|
[9395] | 835 | trafoObs += satNum * realUsedLCs;
|
---|
| 836 |
|
---|
[9419] | 837 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 838 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 839 | }
|
---|
[8956] | 840 | }
|
---|
[9419] | 841 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 842 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 843 | _datumTrafo->initAA();
|
---|
[8956] | 844 | }
|
---|
[9386] | 845 |
|
---|
| 846 | //
|
---|
| 847 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9508] | 848 | bool t_pppFilter::resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector,
|
---|
| 849 | const QMap<char, t_pppRefSat*>& refSatMap,
|
---|
| 850 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch) {
|
---|
[9431] | 851 | bool resetRefSat;
|
---|
[9386] | 852 | // reference satellite definition per system
|
---|
[9504] | 853 | const QList<char>& usedSystems = _parlist.usedSystems();
|
---|
[9431] | 854 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 855 | resetRefSat = false;
|
---|
| 856 | char sys = usedSystems[iSys];
|
---|
[9508] | 857 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 858 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 859 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 860 | if (oldPrn != newPrn) {
|
---|
| 861 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 862 | }
|
---|
[9386] | 863 | #endif
|
---|
| 864 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 865 | while (it != obsVector.end()) {
|
---|
| 866 | t_pppSatObs* satObs = *it;
|
---|
| 867 | if (satObs->prn() == newPrn) {
|
---|
| 868 | resetRefSat = true;
|
---|
| 869 | satObs->setAsReference();
|
---|
[9508] | 870 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 871 | satObs->resetReference();
|
---|
| 872 | }
|
---|
| 873 | it++;
|
---|
| 874 | }
|
---|
[9431] | 875 | if (!resetRefSat) {
|
---|
| 876 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 877 | return resetRefSat;
|
---|
| 878 | }
|
---|
[9386] | 879 | }
|
---|
| 880 | return resetRefSat;
|
---|
| 881 | }
|
---|