[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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[9642] | 35 | t_pppFilter::t_pppFilter(t_pppObsPool *obsPool) {
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[8905] | 36 | _numSat = 0;
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| 37 | _obsPool = obsPool;
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[9642] | 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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[9642] | 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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[9642] | 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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[9642] | 60 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
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[7237] | 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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[9642] | 66 | if (!_firstEpoTime.valid() || !_lastEpoTimeOK.valid()
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| 67 | || (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 68 | _firstEpoTime = _epoTime;
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| 69 | }
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| 70 |
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[7267] | 71 | string epoTimeStr = string(_epoTime);
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| 72 |
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[9642] | 73 | const QMap<char, t_pppRefSat*> &refSatMap = epoch->refSatMap();
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[9532] | 74 |
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| 75 | //LOG << "processEpoch: printParams before set" << endl;
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| 76 | //_parlist.printParams(_epoTime);
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| 77 |
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[8905] | 78 | //--
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[7237] | 79 | // Set Parameters
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[9508] | 80 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
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[9419] | 81 | return failure;
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| 82 | }
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[9526] | 83 |
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[9527] | 84 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 85 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9386] | 86 | #ifdef BNC_DEBUG_PPP
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[9534] | 87 | _parlist.printParams(_epoTime);
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[9386] | 88 | #endif
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[9527] | 89 | }
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[7237] | 90 | // Status Vector, Variance-Covariance Matrix
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| 91 | // -----------------------------------------
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[9642] | 92 | ColumnVector xFltOld = _xFlt;
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[7237] | 93 | SymmetricMatrix QFltOld = _QFlt;
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[9526] | 94 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld);
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[8956] | 95 |
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[8905] | 96 | // Pre-Process Satellite Systems separately
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| 97 | // ----------------------------------------
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| 98 | bool preProcessing = false;
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| 99 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 100 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[8905] | 101 | preProcessing = true;
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[9642] | 102 | const QList<char> &usedSystems = _parlist.usedSystems();
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[9431] | 103 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 104 | char sys = usedSystems[iSys];
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[9526] | 105 | _refPrn.set(sys, 0);
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| 106 | if (OPT->_refSatRequired) {
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| 107 | _refPrn = refSatMap[sys]->prn();
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| 108 | }
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[9642] | 109 | vector<t_pppSatObs*> obsVector;
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[8905] | 110 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9386] | 111 | if (allObs[jj]->prn().system() == sys) {
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[8905] | 112 | obsVector.push_back(allObs[jj]);
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| 113 | }
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| 114 | }
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[9431] | 115 | if (iSys == 0) {
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| 116 | _datumTrafo->setFirstSystem(sys);
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[9419] | 117 | }
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[9386] | 118 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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[9642] | 119 | epoch->pseudoObsIono(), preProcessing) != success) {
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[9583] | 120 | LOG << sys << ": processSystem != success (pre-processing)" << endl;
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[9386] | 121 | _xFlt = xFltOld;
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| 122 | _QFlt = QFltOld;
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[9532] | 123 | _obsPool->deleteLastEpoch();
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[9527] | 124 | restoreState(2);
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[8905] | 125 | return failure;
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| 126 | }
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| 127 | }
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[8956] | 128 | // refSat change required?
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| 129 | // -----------------------
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| 130 | if (_obsPool->refSatChangeRequired()) {
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| 131 | _xFlt = xFltOld;
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| 132 | _QFlt = QFltOld;
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| 133 | return success;
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[9642] | 134 | } else if (!_obsPool->refSatChangeRequired()) {
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[9419] | 135 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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[8956] | 136 | }
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[8905] | 137 | }
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| 138 |
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[7237] | 139 | // Process Satellite Systems separately
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| 140 | // ------------------------------------
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[8912] | 141 | preProcessing = false;
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[9642] | 142 | const QList<char> &usedSystems = _parlist.usedSystems();
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[9431] | 143 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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| 144 | char sys = usedSystems[iSys];
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[9526] | 145 | _refPrn.set(sys, 0);
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[8910] | 146 | if (OPT->_refSatRequired) {
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[9508] | 147 | _refPrn = refSatMap[sys]->prn();
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[8910] | 148 | }
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[7267] | 149 | unsigned int num = 0;
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[7237] | 150 | vector<t_pppSatObs*> obsVector;
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| 151 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 152 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 153 | obsVector.push_back(allObs[jj]);
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[9419] | 154 | ++num;
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[7237] | 155 | }
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| 156 | }
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[9431] | 157 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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| 158 | _datumTrafo->setFirstSystem(sys);
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[9419] | 159 | }
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[9642] | 160 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num
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| 161 | << endl;
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| 162 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn, epoch->pseudoObsIono(),
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| 163 | preProcessing) != success) {
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[9537] | 164 | LOG << "processSystem != success (fin-processing)" << endl;
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| 165 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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[9642] | 166 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9590] | 167 | _xFlt = xFltOld;
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| 168 | _QFlt = QFltOld;
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[9537] | 169 | _obsPool->deleteLastEpoch();
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| 170 | restoreState(3);
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| 171 | }
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[7237] | 172 | return failure;
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| 173 | }
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| 174 | }
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[8912] | 175 |
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| 176 | // close epoch processing
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| 177 | // ----------------------
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[9508] | 178 | cmpDOP(allObs, refSatMap);
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[9504] | 179 | _parlist.printResult(_epoTime, _QFlt, _xFlt);
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[9642] | 180 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 181 | return success;
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| 182 | }
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| 183 |
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| 184 | // Process Selected LCs
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| 185 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 186 | t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
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| 187 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
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| 188 | bool pseudoObsIonoAvailable, bool preProcessing) {
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[7237] | 189 | LOG.setf(ios::fixed);
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[9386] | 190 | char sys = refPrn.system();
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[7237] | 191 |
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| 192 | // Detect Cycle Slips
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| 193 | // ------------------
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[8905] | 194 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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[7237] | 195 | return failure;
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| 196 | }
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[9398] | 197 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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[9386] | 198 | return success;
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| 199 | }
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[7237] | 200 |
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[9642] | 201 | ColumnVector xSav = _xFlt;
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| 202 | SymmetricMatrix QSav = _QFlt;
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| 203 | string epoTimeStr = string(_epoTime);
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| 204 | const vector<t_pppParam*> ¶ms = _parlist.params();
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[9524] | 205 | unsigned nPar = _parlist.nPar();
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[8965] | 206 |
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[9642] | 207 | unsigned usedLCs = LCs.size();
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[8965] | 208 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9642] | 209 | usedLCs -= 1; // GIM not used
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[8961] | 210 | }
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| 211 | // max Obs
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[9538] | 212 | unsigned maxObs = obsVector.size() * usedLCs;
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| 213 |
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[8965] | 214 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 215 | maxObs -= 1; // pseudo obs iono with respect to refSat
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[8905] | 216 | }
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| 217 |
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[7237] | 218 | // Outlier Detection Loop
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| 219 | // ----------------------
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| 220 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 221 |
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| 222 | if (iOutlier > 0) {
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| 223 | _xFlt = xSav;
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| 224 | _QFlt = QSav;
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| 225 | }
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| 226 |
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| 227 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 228 | // -----------------------------------------------------------
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[9642] | 229 | Matrix AA(maxObs, nPar);
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| 230 | ColumnVector ll(maxObs);
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| 231 | DiagonalMatrix PP(maxObs);
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| 232 | PP = 0.0;
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[8912] | 233 |
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[7237] | 234 | int iObs = -1;
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| 235 | vector<t_pppSatObs*> usedObs;
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[9642] | 236 | vector<t_lc::type> usedTypes;
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[9386] | 237 |
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| 238 | // Real Observations
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| 239 | // =================
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[9583] | 240 | double nSat = 0;
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[7237] | 241 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 242 | t_pppSatObs *obs = obsVector[ii];
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[9419] | 243 | if (iOutlier == 0 && !preProcessing) {
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| 244 | obs->resetOutlier();
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| 245 | }
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[7237] | 246 | if (!obs->outlier()) {
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[9583] | 247 | nSat++;
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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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[9642] | 250 | if (tLC == t_lc::GIM) {
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| 251 | continue;
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| 252 | }
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[7237] | 253 | ++iObs;
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| 254 | usedObs.push_back(obs);
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| 255 | usedTypes.push_back(tLC);
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[9524] | 256 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 257 | const t_pppParam *par = params[iPar];
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[8956] | 258 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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[7237] | 259 | }
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[9642] | 260 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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| 261 | - DotProduct(_x0, AA.Row(iObs + 1));
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[7237] | 262 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 263 | }
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| 264 | }
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| 265 | }
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| 266 |
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[9556] | 267 | // Check number of observations
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| 268 | // ----------------------------
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[9604] | 269 | if (iObs == -1) {
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| 270 | LOG << " number of observations == -1\n";
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| 271 | return failure;
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| 272 | }
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[9625] | 273 |
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[9642] | 274 | if ((!iOutlier) && (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 275 | OPT->_obsModelType == OPT->DCMphaseBias) && (!preProcessing)) {
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| 276 | _datumTrafo->updateIndices(sys, iObs + 1);
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| 277 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, _parlist.nPar()), 1);
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[9386] | 278 | }
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| 279 |
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| 280 | // Pseudo Obs Iono
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| 281 | // ================
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| 282 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 283 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 284 | t_pppSatObs *obs = obsVector[ii];
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[9386] | 285 | if (!obs->outlier()) {
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| 286 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 287 | const t_lc::type tLC = LCs[jj];
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| 288 | if (tLC == t_lc::GIM && !obs->isReference()) {
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| 289 | ++iObs;
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[9642] | 290 | } else {
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| 291 | continue;
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| 292 | }
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[9386] | 293 | usedObs.push_back(obs);
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| 294 | usedTypes.push_back(tLC);
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[9524] | 295 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 296 | const t_pppParam *par = params[iPar];
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[9386] | 297 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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| 298 | }
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[9642] | 299 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
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| 300 | - DotProduct(_x0, AA.Row(iObs + 1));
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[9386] | 301 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 302 | }
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| 303 | }
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[8956] | 304 | }
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[8915] | 305 | }
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| 306 |
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[9556] | 307 | // Truncate matrices
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| 308 | // -----------------
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[9642] | 309 | AA = AA.Rows(1, iObs + 1);
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| 310 | ll = ll.Rows(1, iObs + 1);
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| 311 | PP = PP.SymSubMatrix(1, iObs + 1);
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[7237] | 312 |
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| 313 | // Kalman update step
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| 314 | // ------------------
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| 315 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 316 |
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| 317 | // Check Residuals
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| 318 | // ---------------
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| 319 | ColumnVector vv = AA * _xFlt - ll;
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[9642] | 320 | double maxOutlier = 0.0;
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| 321 | int maxOutlierIndex = -1;
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| 322 | t_lc::type maxOutlierLC = t_lc::dummy;
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[7237] | 323 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 324 | const t_lc::type tLC = usedTypes[ii];
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| 325 | double res = fabs(vv[ii]);
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| 326 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 327 | if (res > fabs(maxOutlier)) {
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[9642] | 328 | maxOutlier = vv[ii];
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[7237] | 329 | maxOutlierIndex = ii;
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[9642] | 330 | maxOutlierLC = tLC;
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[7237] | 331 | }
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| 332 | }
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| 333 | }
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| 334 |
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| 335 | // Mark outlier or break outlier detection loop
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| 336 | // --------------------------------------------
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| 337 | if (maxOutlierIndex > -1) {
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[9642] | 338 | t_pppSatObs *obs = usedObs[maxOutlierIndex];
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| 339 | t_pppParam *par = 0;
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[9524] | 340 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 341 | t_pppParam *hlp = params[iPar];
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| 342 | if (hlp->type() == t_pppParam::amb && hlp->prn() == obs->prn()
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| 343 | && hlp->tLC() == usedTypes[maxOutlierIndex]) {
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[7237] | 344 | par = hlp;
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| 345 | }
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| 346 | }
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[8956] | 347 | if (preProcessing) {
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[9491] | 348 | // for refSats no ambiguity parameter exists
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[9642] | 349 | if ((obs->prn() == refPrn)
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| 350 | && (t_lc::toString(maxOutlierLC) == "l1"
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| 351 | || t_lc::toString(maxOutlierLC) == "l2")) {
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| 352 | _obsPool->setRefSatChangeRequired(sys, true);
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| 353 | LOG << epoTimeStr << " Outlier ("
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| 354 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ")
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| 355 | << t_lc::toString(maxOutlierLC) << ' ' << obs->prn().toString()
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| 356 | << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
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| 357 | break;
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| 358 | } else {
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| 359 | obs->setOutlier();
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[8905] | 360 | }
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[9642] | 361 | } else { // fin-processing
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[9556] | 362 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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[9642] | 363 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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| 364 | << maxOutlier << endl;
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[8956] | 365 | if (par) {
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[9582] | 366 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
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[9642] | 367 | } else {
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[7237] | 368 | obs->setOutlier();
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| 369 | }
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| 370 | }
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| 371 | }
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| 372 | // Print Residuals
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| 373 | // ---------------
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| 374 | else {
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[8905] | 375 | if (!preProcessing) {
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| 376 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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| 377 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 378 | const t_lc::type tLC = usedTypes[ii];
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[9642] | 379 | t_pppSatObs *obs = usedObs[ii];
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[8905] | 380 | if (tLC == LCs[jj]) {
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| 381 | obs->setRes(tLC, vv[ii]);
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[9642] | 382 | LOG << epoTimeStr << " RES " << left << setw(3)
|
---|
| 383 | << t_lc::toString(tLC) << right << ' ';
|
---|
| 384 | if (t_lc::toString(tLC) == "Tz0") {
|
---|
| 385 | LOG << sys << " ";
|
---|
| 386 | } else {
|
---|
| 387 | LOG << obs->prn().toString();
|
---|
| 388 | }
|
---|
[9435] | 389 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
|
---|
[8905] | 390 | }
|
---|
[7237] | 391 | }
|
---|
| 392 | }
|
---|
| 393 | }
|
---|
| 394 | break;
|
---|
| 395 | }
|
---|
| 396 | }
|
---|
| 397 | return success;
|
---|
| 398 | }
|
---|
| 399 |
|
---|
| 400 | // Cycle-Slip Detection
|
---|
| 401 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 402 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
|
---|
| 403 | const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
|
---|
| 404 | bool preProcessing) {
|
---|
[9386] | 405 | const double SLIP = 20.0;
|
---|
| 406 | char sys = refPrn.system();
|
---|
| 407 | string epoTimeStr = string(_epoTime);
|
---|
[9642] | 408 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9524] | 409 | unsigned nPar = _parlist.nPar();
|
---|
[7237] | 410 |
|
---|
| 411 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
|
---|
[9642] | 412 | const t_lc::type &tLC = LCs[ii];
|
---|
[7237] | 413 | if (t_lc::includesPhase(tLC)) {
|
---|
| 414 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
|
---|
[9642] | 415 | const t_pppSatObs *obs = obsVector[iObs];
|
---|
[7237] | 416 |
|
---|
[7267] | 417 | // Check set Slips and Jump Counters
|
---|
[7237] | 418 | // ---------------------------------
|
---|
| 419 | bool slip = false;
|
---|
[9386] | 420 |
|
---|
| 421 | // in pre-processing only the reference satellite has to be checked
|
---|
| 422 | if (preProcessing && obs->prn() != refPrn) {
|
---|
| 423 | continue;
|
---|
| 424 | }
|
---|
| 425 |
|
---|
[7237] | 426 | if (obs->slip()) {
|
---|
[9642] | 427 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString()
|
---|
| 428 | << endl;
|
---|
[7237] | 429 | slip = true;
|
---|
| 430 | }
|
---|
| 431 |
|
---|
[9642] | 432 | if (_slips[obs->prn()]._obsSlipCounter != -1
|
---|
| 433 | && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
|
---|
| 434 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) "
|
---|
| 435 | << obs->prn().toString() << endl;
|
---|
[7237] | 436 | slip = true;
|
---|
| 437 | }
|
---|
[8956] | 438 | if (!preProcessing) {
|
---|
| 439 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
|
---|
| 440 | }
|
---|
[9642] | 441 | if (_slips[obs->prn()]._biasJumpCounter != -1
|
---|
| 442 | && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
| 443 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) "
|
---|
| 444 | << 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);
|
---|
[9642] | 455 | } else {
|
---|
[8905] | 456 | resetAmb(obs->prn(), obsVector);
|
---|
| 457 | }
|
---|
[7237] | 458 | }
|
---|
| 459 | // Check Pre-Fit Residuals
|
---|
| 460 | // -----------------------
|
---|
| 461 | else {
|
---|
[9642] | 462 | if (refPrn != t_prn()) {
|
---|
| 463 | return success;
|
---|
| 464 | }
|
---|
[9524] | 465 | ColumnVector AA(nPar);
|
---|
| 466 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 467 | const t_pppParam *par = params[iPar];
|
---|
[8956] | 468 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[7237] | 469 | }
|
---|
[9642] | 470 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC)
|
---|
| 471 | - DotProduct(_x0, AA);
|
---|
[7237] | 472 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
| 473 | if (fabs(vv) > SLIP) {
|
---|
[9642] | 474 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC)
|
---|
| 475 | << ' ' << obs->prn().toString() << ' ' << setw(8)
|
---|
| 476 | << setprecision(4) << vv << endl;
|
---|
[8905] | 477 | if (preProcessing) {
|
---|
[9386] | 478 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
[9642] | 479 | } else {
|
---|
[8905] | 480 | resetAmb(obs->prn(), obsVector);
|
---|
| 481 | }
|
---|
[7237] | 482 | }
|
---|
| 483 | }
|
---|
| 484 | }
|
---|
| 485 | }
|
---|
| 486 | }
|
---|
| 487 | return success;
|
---|
| 488 | }
|
---|
| 489 |
|
---|
| 490 | // Reset Ambiguity Parameter (cycle slip)
|
---|
| 491 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 492 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*> &obsVector,
|
---|
| 493 | SymmetricMatrix *QSav, ColumnVector *xSav) {
|
---|
[8965] | 494 |
|
---|
[7237] | 495 | t_irc irc = failure;
|
---|
[9642] | 496 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 497 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 498 | t_pppParam *par = params[iPar];
|
---|
[7237] | 499 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
| 500 | int ind = par->indexNew();
|
---|
| 501 | t_lc::type tLC = par->tLC();
|
---|
| 502 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
[9642] | 503 | delete par;
|
---|
| 504 | par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
[7237] | 505 | par->setIndex(ind);
|
---|
| 506 | params[iPar] = par;
|
---|
| 507 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
[9642] | 508 | _QFlt(ii, ind + 1) = 0.0;
|
---|
[7237] | 509 | if (QSav) {
|
---|
[9642] | 510 | (*QSav)(ii, ind + 1) = 0.0;
|
---|
[7237] | 511 | }
|
---|
| 512 | }
|
---|
[9642] | 513 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[7237] | 514 | if (QSav) {
|
---|
[9642] | 515 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
|
---|
[7237] | 516 | }
|
---|
| 517 | _xFlt[ind] = 0.0;
|
---|
| 518 | if (xSav) {
|
---|
| 519 | (*xSav)[ind] = _xFlt[ind];
|
---|
| 520 | }
|
---|
| 521 | _x0[ind] = par->x0();
|
---|
| 522 | irc = success;
|
---|
| 523 | }
|
---|
| 524 | }
|
---|
| 525 |
|
---|
| 526 | return irc;
|
---|
| 527 | }
|
---|
| 528 |
|
---|
[9395] | 529 | // Add infinite noise to iono
|
---|
[9386] | 530 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 531 | t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) {
|
---|
[9386] | 532 | t_irc irc = failure;
|
---|
[9642] | 533 | vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9386] | 534 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
[9642] | 535 | t_pppParam *par = params[iPar];
|
---|
| 536 | if (par->type() == parType && par->prn().system() == sys) {
|
---|
[9386] | 537 | int ind = par->indexNew();
|
---|
[9659] | 538 | LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl;
|
---|
[9386] | 539 | par->setIndex(ind);
|
---|
[9642] | 540 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
|
---|
[9386] | 541 | irc = success;
|
---|
| 542 | }
|
---|
| 543 | }
|
---|
| 544 |
|
---|
| 545 | return irc;
|
---|
| 546 | }
|
---|
| 547 |
|
---|
[7237] | 548 | // Compute various DOP Values
|
---|
| 549 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 550 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector,
|
---|
| 551 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[7237] | 552 |
|
---|
| 553 | _dop.reset();
|
---|
| 554 |
|
---|
| 555 | try {
|
---|
| 556 | const unsigned numPar = 4;
|
---|
| 557 | Matrix AA(obsVector.size(), numPar);
|
---|
| 558 | _numSat = 0;
|
---|
| 559 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 560 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9508] | 561 | char sys = obs->prn().system();
|
---|
[8956] | 562 | t_prn refPrn = t_prn();
|
---|
| 563 | if (OPT->_refSatRequired) {
|
---|
[9508] | 564 | refPrn = refSatMap[sys]->prn();
|
---|
[8956] | 565 | }
|
---|
[7237] | 566 | if (obs->isValid() && !obs->outlier()) {
|
---|
| 567 | ++_numSat;
|
---|
| 568 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
[9642] | 569 | const t_pppParam *par = _parlist.params()[iPar];
|
---|
| 570 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
[7237] | 571 | }
|
---|
| 572 | }
|
---|
| 573 | }
|
---|
| 574 | if (_numSat < 4) {
|
---|
| 575 | return;
|
---|
| 576 | }
|
---|
| 577 | AA = AA.Rows(1, _numSat);
|
---|
[9642] | 578 | SymmetricMatrix NN;
|
---|
| 579 | NN << AA.t() * AA;
|
---|
[7237] | 580 | SymmetricMatrix QQ = NN.i();
|
---|
[7267] | 581 |
|
---|
[9642] | 582 | _dop.H = sqrt(QQ(1, 1) + QQ(2, 2));
|
---|
| 583 | _dop.V = sqrt(QQ(3, 3));
|
---|
| 584 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 585 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 586 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
| 587 | } catch (...) {
|
---|
[7237] | 588 | }
|
---|
| 589 | }
|
---|
| 590 |
|
---|
[9526] | 591 | //
|
---|
[7237] | 592 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 593 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld) {
|
---|
[7237] | 594 |
|
---|
[9642] | 595 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[7237] | 596 | if (params.size() < 3) {
|
---|
| 597 | return;
|
---|
| 598 | }
|
---|
| 599 |
|
---|
| 600 | bool first = (params[0]->indexOld() < 0);
|
---|
| 601 |
|
---|
[9642] | 602 | SymmetricMatrix Qneu(3);
|
---|
| 603 | Qneu = 0.0;
|
---|
[7237] | 604 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 605 | const t_pppParam *par = params[ii];
|
---|
[7237] | 606 | if (first) {
|
---|
| 607 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[9642] | 608 | } else {
|
---|
[7237] | 609 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 610 | }
|
---|
| 611 | }
|
---|
| 612 |
|
---|
[9642] | 613 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 614 | SymmetricMatrix Qxyz(3);
|
---|
| 615 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 616 |
|
---|
| 617 | if (first) {
|
---|
[9642] | 618 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
| 619 | } else {
|
---|
[7237] | 620 | double dt = _epoTime - _firstEpoTime;
|
---|
| 621 | if (dt < OPT->_seedingTime) {
|
---|
[9642] | 622 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
| 623 | } else {
|
---|
| 624 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 625 | }
|
---|
| 626 | }
|
---|
| 627 | }
|
---|
[8912] | 628 |
|
---|
[9526] | 629 | //
|
---|
| 630 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 631 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
| 632 | const SymmetricMatrix &QFltOld) {
|
---|
[9526] | 633 |
|
---|
[9642] | 634 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 635 | unsigned nPar = params.size();
|
---|
| 636 |
|
---|
[9642] | 637 | _QFlt.ReSize(nPar);
|
---|
| 638 | _QFlt = 0.0;
|
---|
| 639 | _xFlt.ReSize(nPar);
|
---|
| 640 | _xFlt = 0.0;
|
---|
| 641 | _x0.ReSize(nPar);
|
---|
| 642 | _x0 = 0.0;
|
---|
[9526] | 643 |
|
---|
| 644 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 645 | t_pppParam *par1 = params[ii];
|
---|
[9526] | 646 | if (QFltOld.size() == 0) {
|
---|
| 647 | par1->resetIndex();
|
---|
| 648 | }
|
---|
| 649 | _x0[ii] = par1->x0();
|
---|
| 650 | int iOld = par1->indexOld();
|
---|
| 651 | if (iOld < 0) {
|
---|
| 652 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 653 | } else {
|
---|
[9526] | 654 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
[9642] | 655 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 656 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 657 | t_pppParam *par2 = params[jj];
|
---|
| 658 | int jOld = par2->indexOld();
|
---|
[9526] | 659 | if (jOld >= 0) {
|
---|
[9642] | 660 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 661 | }
|
---|
| 662 | }
|
---|
| 663 | }
|
---|
| 664 | }
|
---|
| 665 | predictCovCrdPart(QFltOld);
|
---|
| 666 | }
|
---|
| 667 |
|
---|
[8915] | 668 | // Compute datum transformation
|
---|
[8912] | 669 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 670 | t_irc t_pppFilter::datumTransformation(
|
---|
| 671 | const QMap<char, t_pppRefSat*> &refSatMap) {
|
---|
[9508] | 672 |
|
---|
[9419] | 673 | // get last epoch
|
---|
[9642] | 674 | t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
|
---|
[9419] | 675 | if (!epoch) {
|
---|
[9508] | 676 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
[9386] | 677 | return failure;
|
---|
| 678 | }
|
---|
[9508] | 679 | _epoTime = epoch->epoTime();
|
---|
| 680 | LOG.setf(ios::fixed);
|
---|
| 681 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
[9419] | 682 |
|
---|
[9642] | 683 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
|
---|
[9386] | 684 |
|
---|
[9642] | 685 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch = epoch->refSatMap();
|
---|
[9508] | 686 |
|
---|
[9548] | 687 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
[9508] | 688 |
|
---|
[9419] | 689 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
| 690 | // =============================================================
|
---|
[9642] | 691 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch)
|
---|
| 692 | != true) {
|
---|
| 693 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success"
|
---|
| 694 | << endl;
|
---|
[9548] | 695 | return failure;
|
---|
[9386] | 696 | }
|
---|
| 697 |
|
---|
[9419] | 698 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
[9548] | 699 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9419] | 700 | return success;
|
---|
| 701 | }
|
---|
[9537] | 702 | //LOG << "datumTransformation: printParams before set" << endl;
|
---|
| 703 | //_parlist.printParams(_epoTime);
|
---|
[9419] | 704 |
|
---|
[9386] | 705 | // set AA2
|
---|
| 706 | // =======
|
---|
[9508] | 707 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
[9419] | 708 | return failure;
|
---|
| 709 | }
|
---|
[9526] | 710 |
|
---|
[9386] | 711 | #ifdef BNC_DEBUG_PPP
|
---|
[9534] | 712 | _parlist.printParams(_epoTime);
|
---|
[9386] | 713 | #endif
|
---|
[9526] | 714 |
|
---|
[9642] | 715 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 716 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 717 | char sys = usedSystems[iSys];
|
---|
[9508] | 718 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
[9386] | 719 | vector<t_pppSatObs*> obsVector;
|
---|
| 720 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
| 721 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9618] | 722 | allObs[jj]->resetOutlier();
|
---|
[9386] | 723 | obsVector.push_back(allObs[jj]);
|
---|
| 724 | }
|
---|
| 725 | }
|
---|
[9431] | 726 | if (iSys == 0) {
|
---|
| 727 | _datumTrafo->setFirstSystem(sys);
|
---|
[9419] | 728 | }
|
---|
[9386] | 729 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 730 | unsigned usedLCs = LCs.size();
|
---|
[9548] | 731 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9642] | 732 | usedLCs -= 1; // GIM not used
|
---|
[9386] | 733 | }
|
---|
| 734 | // max Obs
|
---|
[9538] | 735 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
[9419] | 736 |
|
---|
[9548] | 737 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
[9386] | 738 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 739 | }
|
---|
[9526] | 740 |
|
---|
[9642] | 741 | const vector<t_pppParam*> ¶ms = _parlist.params();
|
---|
[9526] | 742 | unsigned nPar = _parlist.nPar();
|
---|
| 743 |
|
---|
[9642] | 744 | Matrix AA(maxObs, nPar);
|
---|
[9524] | 745 |
|
---|
[9386] | 746 | // Real Observations
|
---|
| 747 | // -----------------
|
---|
| 748 | int iObs = -1;
|
---|
| 749 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
[9642] | 750 | t_pppSatObs *obs = obsVector[ii];
|
---|
[9419] | 751 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
| 752 | const t_lc::type tLC = LCs[jj];
|
---|
[9642] | 753 | if (tLC == t_lc::GIM) {
|
---|
| 754 | continue;
|
---|
| 755 | }
|
---|
[9419] | 756 | ++iObs;
|
---|
[9524] | 757 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
[9642] | 758 | const t_pppParam *par = params[iPar];
|
---|
[9419] | 759 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
[9386] | 760 | }
|
---|
| 761 | }
|
---|
| 762 | }
|
---|
[9538] | 763 |
|
---|
[9419] | 764 | if (!iObs) {
|
---|
| 765 | continue;
|
---|
| 766 | }
|
---|
[9642] | 767 | _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;
|
---|
| 768 | if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2)
|
---|
| 769 | != success) {
|
---|
[9508] | 770 | return failure;
|
---|
| 771 | }
|
---|
[9386] | 772 | }
|
---|
[9419] | 773 | _datumTrafo->updateNumObs();
|
---|
[9386] | 774 |
|
---|
| 775 | // Datum Transformation
|
---|
| 776 | // ====================
|
---|
| 777 | #ifdef BNC_DEBUG_PPP
|
---|
[9548] | 778 | //LOG << "AA1\n"; _datumTrafo->printMatrix(_datumTrafo->AA1(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
| 779 | //LOG << "AA2\n"; _datumTrafo->printMatrix(_datumTrafo->AA2(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 780 | #endif
|
---|
[9642] | 781 | if (_datumTrafo->computeTrafoMatrix() != success) {
|
---|
[9419] | 782 | return failure;
|
---|
| 783 | }
|
---|
[9386] | 784 | #ifdef BNC_DEBUG_PPP
|
---|
[9548] | 785 | //LOG << "D21" << endl; _datumTrafo->printMatrix(_datumTrafo->D21(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
[9386] | 786 | #endif
|
---|
[9642] | 787 | ColumnVector xFltOld = _xFlt;
|
---|
[9386] | 788 | SymmetricMatrix QFltOld = _QFlt;
|
---|
| 789 |
|
---|
[9419] | 790 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
[9642] | 791 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
[9386] | 792 |
|
---|
[9579] | 793 | #ifdef BNC_DEBUG_PPP
|
---|
[9562] | 794 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
| 795 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
[9579] | 796 | #endif
|
---|
[9386] | 797 |
|
---|
| 798 | // Reset Ambiguities after Datum Transformation
|
---|
| 799 | // ============================================
|
---|
[9431] | 800 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 801 | char sys = usedSystems[iSys];
|
---|
[9508] | 802 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
| 803 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
[9419] | 804 | if (refPrnNew != refPrnOld) {
|
---|
[9670] | 805 | resetAmb(refPrnOld, allObs);/*
|
---|
[9642] | 806 | if (resetAmb(refPrnOld, allObs) == success) {
|
---|
| 807 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
| 808 | addNoiseToPar(t_pppParam::ion, sys);
|
---|
| 809 | } else if (OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
[9656] | 810 | if (sys == 'G') {
|
---|
[9642] | 811 | addNoiseToPar(t_pppParam::pBiasG1, sys);
|
---|
| 812 | addNoiseToPar(t_pppParam::pBiasG2, sys);
|
---|
| 813 | } else if (sys == 'R') {
|
---|
| 814 | addNoiseToPar(t_pppParam::pBiasR1, sys);
|
---|
| 815 | addNoiseToPar(t_pppParam::pBiasR2, sys);
|
---|
| 816 | } else if (sys == 'E') {
|
---|
| 817 | addNoiseToPar(t_pppParam::pBiasE1, sys);
|
---|
| 818 | addNoiseToPar(t_pppParam::pBiasE2, sys);
|
---|
| 819 | } else if (sys == 'C') {
|
---|
| 820 | addNoiseToPar(t_pppParam::pBiasC1, sys);
|
---|
| 821 | addNoiseToPar(t_pppParam::pBiasC2, sys);
|
---|
| 822 | }
|
---|
| 823 | }
|
---|
[9670] | 824 | }*/
|
---|
[9386] | 825 | }
|
---|
| 826 | }
|
---|
| 827 |
|
---|
| 828 | // switch AA2 to AA1
|
---|
| 829 | // =================
|
---|
| 830 | _datumTrafo->switchAA();
|
---|
| 831 |
|
---|
[9548] | 832 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
[9508] | 833 |
|
---|
[9386] | 834 | return success;
|
---|
[8912] | 835 | }
|
---|
| 836 |
|
---|
[9386] | 837 | // Init datum transformation
|
---|
[8956] | 838 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 839 | void t_pppFilter::initDatumTransformation(
|
---|
| 840 | const std::vector<t_pppSatObs*> &allObs, bool pseudoObsIono) {
|
---|
[9395] | 841 | unsigned trafoObs = 0;
|
---|
[9642] | 842 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 843 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 844 | char sys = usedSystems[iSys];
|
---|
[9386] | 845 | int satNum = 0;
|
---|
| 846 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
[9419] | 847 | if (allObs[jj]->prn().system() == sys) {
|
---|
[9386] | 848 | satNum++;
|
---|
[8956] | 849 | }
|
---|
| 850 | }
|
---|
[9386] | 851 | // all LCs
|
---|
[9419] | 852 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
[9386] | 853 | // exclude pseudo obs GIM
|
---|
[9419] | 854 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
[9386] | 855 | realUsedLCs -= 1;
|
---|
| 856 | }
|
---|
[9538] | 857 |
|
---|
[9395] | 858 | trafoObs += satNum * realUsedLCs;
|
---|
| 859 |
|
---|
[9419] | 860 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
| 861 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
| 862 | }
|
---|
[8956] | 863 | }
|
---|
[9419] | 864 | _datumTrafo->setNumObs(trafoObs);
|
---|
[9504] | 865 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
[9386] | 866 | _datumTrafo->initAA();
|
---|
[8956] | 867 | }
|
---|
[9386] | 868 |
|
---|
| 869 | //
|
---|
| 870 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9642] | 871 | bool t_pppFilter::resetRefSatellitesLastEpoch(
|
---|
| 872 | std::vector<t_pppSatObs*> &obsVector,
|
---|
| 873 | const QMap<char, t_pppRefSat*> &refSatMap,
|
---|
| 874 | const QMap<char, t_pppRefSat*> &refSatMapLastEpoch) {
|
---|
[9431] | 875 | bool resetRefSat;
|
---|
[9386] | 876 | // reference satellite definition per system
|
---|
[9642] | 877 | const QList<char> &usedSystems = _parlist.usedSystems();
|
---|
[9431] | 878 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
| 879 | resetRefSat = false;
|
---|
| 880 | char sys = usedSystems[iSys];
|
---|
[9508] | 881 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
| 882 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
[9386] | 883 | #ifdef BNC_DEBUG_PPP
|
---|
[9508] | 884 | if (oldPrn != newPrn) {
|
---|
| 885 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
| 886 | }
|
---|
[9386] | 887 | #endif
|
---|
| 888 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
| 889 | while (it != obsVector.end()) {
|
---|
[9642] | 890 | t_pppSatObs *satObs = *it;
|
---|
| 891 | if (satObs->prn() == newPrn) {
|
---|
[9386] | 892 | resetRefSat = true;
|
---|
| 893 | satObs->setAsReference();
|
---|
[9508] | 894 | } else if (satObs->prn() == oldPrn) {
|
---|
[9386] | 895 | satObs->resetReference();
|
---|
| 896 | }
|
---|
[9642] | 897 | it++;
|
---|
[9386] | 898 | }
|
---|
[9431] | 899 | if (!resetRefSat) {
|
---|
| 900 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
| 901 | return resetRefSat;
|
---|
| 902 | }
|
---|
[9386] | 903 | }
|
---|
| 904 | return resetRefSat;
|
---|
| 905 | }
|
---|