source: ntrip/trunk/BNC/src/PPP/pppFilter.cpp@ 10009

Last change on this file since 10009 was 10009, checked in by stuerze, 13 months ago

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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppFilter
6 *
7 * Purpose: Filter Adjustment
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <iostream>
18#include <iomanip>
19#include <cmath>
20#include <newmat.h>
21#include <newmatio.h>
22#include <newmatap.h>
23
24#include "pppFilter.h"
25#include "bncutils.h"
26#include "pppParlist.h"
27#include "pppObsPool.h"
28#include "pppStation.h"
29
30using namespace BNC_PPP;
31using namespace std;
32
33// Constructor
34////////////////////////////////////////////////////////////////////////////
35t_pppFilter::t_pppFilter(t_pppObsPool *obsPool) {
36 _numSat = 0;
37 _obsPool = obsPool;
38 _refPrn = t_prn();
39 _datumTrafo = new t_datumTrafo();
40}
41
42// Destructor
43////////////////////////////////////////////////////////////////////////////
44t_pppFilter::~t_pppFilter() {
45 delete _datumTrafo;
46}
47
48// Process Single Epoch
49////////////////////////////////////////////////////////////////////////////
50t_irc t_pppFilter::processEpoch() {
51 _numSat = 0;
52 const double maxSolGap = 60.0;
53
54 // Vector of all Observations
55 // --------------------------
56 t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
57 if (!epoch) {
58 return failure;
59 }
60 vector<t_pppSatObs*> &allObs = epoch->obsVector();
61
62 // Time of the Epoch
63 // -----------------
64 _epoTime = epoch->epoTime();
65
66 if (!_firstEpoTime.valid() || !_lastEpoTimeOK.valid()
67 || (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
68 _firstEpoTime = _epoTime;
69 }
70
71 string epoTimeStr = string(_epoTime);
72
73 const QMap<char, t_pppRefSat*> &refSatMap = epoch->refSatMap();
74
75 //--
76 // Set Parameters
77 if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
78 return failure;
79 }
80
81 if (OPT->_obsModelType == OPT->DCMcodeBias ||
82 OPT->_obsModelType == OPT->DCMphaseBias) {
83#ifdef BNC_DEBUG_PPP
84 _parlist.printParams(_epoTime);
85#endif
86 }
87 // Status Vector, Variance-Covariance Matrix
88 // -----------------------------------------
89 ColumnVector xFltOld = _xFlt;
90 SymmetricMatrix QFltOld = _QFlt;
91 setStateVectorAndVarCovMatrix(xFltOld, QFltOld);
92
93 // Pre-Process Satellite Systems separately
94 // ----------------------------------------
95 bool preProcessing = false;
96 if (OPT->_obsModelType == OPT->DCMcodeBias ||
97 OPT->_obsModelType == OPT->DCMphaseBias) {
98 preProcessing = true;
99 const QList<char> &usedSystems = _parlist.usedSystems();
100 for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
101 char sys = usedSystems[iSys];
102 _refPrn.set(sys, 0);
103 if (OPT->_refSatRequired) {
104 _refPrn = refSatMap[sys]->prn();
105 }
106 vector<t_pppSatObs*> obsVector;
107 for (unsigned jj = 0; jj < allObs.size(); jj++) {
108 if (allObs[jj]->prn().system() == sys) {
109 obsVector.push_back(allObs[jj]);
110 }
111 }
112 if (iSys == 0) {
113 _datumTrafo->setFirstSystem(sys);
114 }
115 if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
116 epoch->pseudoObsIono(), preProcessing) != success) {
117 LOG << sys << ": processSystem != success (pre-processing)" << endl;
118 _xFlt = xFltOld;
119 _QFlt = QFltOld;
120 _obsPool->deleteLastEpoch();
121 restoreState(2);
122 return failure;
123 }
124 }
125 // refSat change required?
126 // -----------------------
127 if (_obsPool->refSatChangeRequired()) {
128 _xFlt = xFltOld;
129 _QFlt = QFltOld;
130 return success;
131 } else if (!_obsPool->refSatChangeRequired()) {
132 initDatumTransformation(allObs, epoch->pseudoObsIono());
133 }
134 }
135
136 // Process Satellite Systems separately
137 // ------------------------------------
138 preProcessing = false;
139 const QList<char> &usedSystems = _parlist.usedSystems();
140 for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
141 char sys = usedSystems[iSys];
142 _refPrn.set(sys, 0);
143 if (OPT->_refSatRequired) {
144 _refPrn = refSatMap[sys]->prn();
145 }
146 unsigned int num = 0;
147 vector<t_pppSatObs*> obsVector;
148 for (unsigned jj = 0; jj < allObs.size(); jj++) {
149 if (allObs[jj]->prn().system() == sys) {
150 obsVector.push_back(allObs[jj]);
151 ++num;
152 }
153 }
154 if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
155 _datumTrafo->setFirstSystem(sys);
156 }
157 LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num
158 << endl;
159 if (processSystem(OPT->LCs(sys), obsVector, _refPrn, epoch->pseudoObsIono(),
160 preProcessing) != success) {
161 LOG << "processSystem != success (fin-processing)" << endl;
162 if (OPT->_obsModelType == OPT->DCMcodeBias ||
163 OPT->_obsModelType == OPT->DCMphaseBias) {
164 _xFlt = xFltOld;
165 _QFlt = QFltOld;
166 _obsPool->deleteLastEpoch();
167 restoreState(3);
168 }
169 return failure;
170 }
171 }
172
173 // close epoch processing
174 // ----------------------
175 cmpDOP(allObs, refSatMap);
176 _parlist.printResult(_epoTime, _QFlt, _xFlt);
177 _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
178 return success;
179}
180
181// Process Selected LCs
182////////////////////////////////////////////////////////////////////////////
183t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
184 const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
185 bool pseudoObsIonoAvailable, bool preProcessing) {
186 LOG.setf(ios::fixed);
187 char sys = refPrn.system();
188
189 // Detect Cycle Slips
190 // ------------------
191 if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
192 return failure;
193 }
194 if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
195 return success;
196 }
197
198 ColumnVector xSav = _xFlt;
199 SymmetricMatrix QSav = _QFlt;
200 string epoTimeStr = string(_epoTime);
201 const vector<t_pppParam*> &params = _parlist.params();
202 unsigned nPar = _parlist.nPar();
203
204 unsigned usedLCs = LCs.size();
205 if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
206 usedLCs -= 1; // GIM not used
207 }
208 // max Obs
209 unsigned maxObs = obsVector.size() * usedLCs;
210
211 if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
212 maxObs -= 1; // pseudo obs iono with respect to refSat
213 }
214
215 // Outlier Detection Loop
216 // ----------------------
217 for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
218
219 if (iOutlier > 0) {
220 _xFlt = xSav;
221 _QFlt = QSav;
222 }
223
224 // First-Design Matrix, Terms Observed-Computed, Weight Matrix
225 // -----------------------------------------------------------
226 Matrix AA(maxObs, nPar);
227 ColumnVector ll(maxObs);
228 DiagonalMatrix PP(maxObs);
229 PP = 0.0;
230
231 int iObs = -1;
232 vector<t_pppSatObs*> usedObs;
233 vector<t_lc::type> usedTypes;
234
235 // Real Observations
236 // =================
237 double nSat = 0;
238 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
239 t_pppSatObs *obs = obsVector[ii];
240 if (iOutlier == 0 && !preProcessing) {
241 obs->resetOutlier();
242 }
243 if (!obs->outlier()) {
244 nSat++;
245 for (unsigned jj = 0; jj < usedLCs; jj++) {
246 const t_lc::type tLC = LCs[jj];
247 if (tLC == t_lc::GIM) {
248 continue;
249 }
250 ++iObs;
251 usedObs.push_back(obs);
252 usedTypes.push_back(tLC);
253 for (unsigned iPar = 0; iPar < nPar; iPar++) {
254 const t_pppParam *par = params[iPar];
255 AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
256 }
257 ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
258 - DotProduct(_x0, AA.Row(iObs + 1));
259 PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
260 }
261 }
262 }
263
264 // Check number of observations
265 // ----------------------------
266 if (iObs == -1) {
267 LOG << " number of observations == " << iObs + 1 << "\n";
268 if (preProcessing) {
269 _obsPool->setRefSatChangeRequired(sys, true);
270 return success;
271 }
272 return failure;
273 }
274
275 if ((!iOutlier) &&
276 (OPT->_obsModelType == OPT->DCMcodeBias ||
277 OPT->_obsModelType == OPT->DCMphaseBias) && (!preProcessing)) {
278 _datumTrafo->updateIndices(sys, iObs + 1);
279 _datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, _parlist.nPar()), 1);
280 }
281
282 // Pseudo Obs Iono
283 // ================
284 if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
285 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
286 t_pppSatObs *obs = obsVector[ii];
287 if (!obs->outlier()) {
288 for (unsigned jj = 0; jj < usedLCs; jj++) {
289 const t_lc::type tLC = LCs[jj];
290 if (tLC == t_lc::GIM && !obs->isReference()) {
291 ++iObs;
292 } else {
293 continue;
294 }
295 usedObs.push_back(obs);
296 usedTypes.push_back(tLC);
297 for (unsigned iPar = 0; iPar < nPar; iPar++) {
298 const t_pppParam *par = params[iPar];
299 AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
300 }
301 ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC)
302 - DotProduct(_x0, AA.Row(iObs + 1));
303 PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
304 }
305 }
306 }
307 }
308
309 // Truncate matrices
310 // -----------------
311 AA = AA.Rows(1, iObs + 1);
312 ll = ll.Rows(1, iObs + 1);
313 PP = PP.SymSubMatrix(1, iObs + 1);
314
315 // Kalman update step
316 // ------------------
317 kalman(AA, ll, PP, _QFlt, _xFlt);
318
319 // Check Residuals
320 // ---------------
321 ColumnVector vv = AA * _xFlt - ll;
322 double maxOutlier = 0.0;
323 int maxOutlierIndex = -1;
324 t_lc::type maxOutlierLC = t_lc::dummy;
325 for (unsigned ii = 0; ii < usedObs.size(); ii++) {
326 const t_lc::type tLC = usedTypes[ii];
327 double res = fabs(vv[ii]);
328 if (res > usedObs[ii]->maxRes(tLC)) {
329 if (res > fabs(maxOutlier)) {
330 maxOutlier = vv[ii];
331 maxOutlierIndex = ii;
332 maxOutlierLC = tLC;
333 }
334 }
335 }
336
337 // Mark outlier or break outlier detection loop
338 // --------------------------------------------
339 if (maxOutlierIndex > -1) {
340 t_pppSatObs *obs = usedObs[maxOutlierIndex];
341 t_pppParam *par = 0;
342 for (unsigned iPar = 0; iPar < nPar; iPar++) {
343 t_pppParam *hlp = params[iPar];
344 if (hlp->type() == t_pppParam::amb &&
345 hlp->prn() == obs->prn() &&
346 hlp->tLC() == usedTypes[maxOutlierIndex]) {
347 par = hlp;
348 }
349 }
350 if (preProcessing) {
351 LOG << epoTimeStr << " Outlier ("
352 << ((preProcessing) ? "pre-processing) " : "fin-processing) ")
353 << t_lc::toString(maxOutlierLC) << ' ' << obs->prn().toString()
354 << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
355 if (obs->prn() == refPrn) {
356 _obsPool->setRefSatChangeRequired(sys, true);
357 break;
358 } else {
359 obs->setOutlier();
360 }
361 } else { // fin-processing
362 LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
363 << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
364 << maxOutlier << endl;
365 if (par) {
366 if (par->ambResetCandidate() ||
367 OPT->_obsModelType == OPT->DCMcodeBias ||
368 OPT->_obsModelType == OPT->DCMphaseBias) {
369 resetAmb(par->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
370 }
371 else {
372 par->setAmbResetCandidate();
373 obs->setOutlier();
374 }
375 }
376 else {
377 obs->setOutlier();
378 }
379 }
380 }
381 // Print Residuals
382 // ---------------
383 else {
384 if (!preProcessing) {
385 for (unsigned jj = 0; jj < LCs.size(); jj++) {
386 for (unsigned ii = 0; ii < usedObs.size(); ii++) {
387 const t_lc::type tLC = usedTypes[ii];
388 t_pppSatObs *obs = usedObs[ii];
389 if (tLC == LCs[jj]) {
390 obs->setRes(tLC, vv[ii]);
391 LOG << epoTimeStr << " RES " << left << setw(3)
392 << t_lc::toString(tLC) << right << ' '
393 << obs->prn().toString();
394 LOG << setw(9) << setprecision(4) << vv[ii] << endl;
395 }
396 }
397 }
398 }
399 break;
400 }
401 }
402 return success;
403}
404
405// Cycle-Slip Detection
406////////////////////////////////////////////////////////////////////////////
407t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
408 const vector<t_pppSatObs*> &obsVector, const t_prn &refPrn,
409 bool preProcessing) {
410 const double SLIP = 20.0;
411 char sys = refPrn.system();
412 string epoTimeStr = string(_epoTime);
413 const vector<t_pppParam*> &params = _parlist.params();
414 unsigned nPar = _parlist.nPar();
415
416 for (unsigned ii = 0; ii < LCs.size(); ii++) {
417 const t_lc::type &tLC = LCs[ii];
418 if (t_lc::includesPhase(tLC)) {
419 for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
420 const t_pppSatObs *obs = obsVector[iObs];
421
422 // Check set Slips and Jump Counters
423 // ---------------------------------
424 bool slip = false;
425
426 // in pre-processing only the reference satellite has to be checked
427 if (preProcessing && obs->prn() != refPrn) {
428 continue;
429 }
430
431 if (obs->slip()) {
432 LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString()
433 << endl;
434 slip = true;
435 }
436
437 if (_slips[obs->prn()]._obsSlipCounter != -1
438 && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
439 LOG << epoTimeStr << "cycle slip set (obsSlipCounter) "
440 << obs->prn().toString() << endl;
441 slip = true;
442 }
443 if (!preProcessing) {
444 _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
445 }
446 if (_slips[obs->prn()]._biasJumpCounter != -1
447 && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
448 LOG << epoTimeStr << "cycle slip set (biasJumpCounter) "
449 << obs->prn().toString() << endl;
450 slip = true;
451 }
452 if (!preProcessing) {
453 _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
454 }
455 // Slip Set
456 // --------
457 if (slip) {
458 if (preProcessing) {
459 _obsPool->setRefSatChangeRequired(sys, true);
460 } else {
461 resetAmb(obs->prn(), obsVector, tLC);
462 }
463 }
464 // Check Pre-Fit Residuals
465 // -----------------------
466 else {
467 ColumnVector AA(nPar);
468 for (unsigned iPar = 0; iPar < nPar; iPar++) {
469 const t_pppParam *par = params[iPar];
470 AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
471 }
472 double ll = obs->obsValue(tLC) - obs->cmpValue(tLC)
473 - DotProduct(_x0, AA);
474 double vv = DotProduct(AA, _xFlt) - ll;
475 if (fabs(vv) > SLIP) {
476 LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC)
477 << ' ' << obs->prn().toString() << ' ' << setw(8)
478 << setprecision(4) << vv << endl;
479 if (preProcessing) {
480 _obsPool->setRefSatChangeRequired(sys, true);
481 } else {
482 resetAmb(obs->prn(), obsVector, tLC);
483 }
484 }
485 }
486 }
487 }
488 }
489 return success;
490}
491
492// Reset Ambiguity Parameter (cycle slip)
493////////////////////////////////////////////////////////////////////////////
494t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*> &obsVector,
495 t_lc::type lc, SymmetricMatrix *QSav, ColumnVector *xSav) {
496
497 t_irc irc = failure;
498 vector<t_pppParam*> &params = _parlist.params();
499 for (unsigned iPar = 0; iPar < params.size(); iPar++) {
500 t_pppParam *par = params[iPar];
501 if (par->type() == t_pppParam::amb && par->prn() == prn) {
502 int ind = par->indexNew();
503 t_lc::type tLC = par->tLC();
504 if (tLC != lc) {continue;}
505 LOG << string(_epoTime) << " RESET " << par->toString() << endl;
506 delete par;
507 par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
508 par->setIndex(ind);
509 params[iPar] = par;
510 for (unsigned ii = 1; ii <= params.size(); ii++) {
511 _QFlt(ii, ind + 1) = 0.0;
512 if (QSav) {
513 (*QSav)(ii, ind + 1) = 0.0;
514 }
515 }
516 _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
517 if (QSav) {
518 (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
519 }
520 _xFlt[ind] = 0.0;
521 if (xSav) {
522 (*xSav)[ind] = _xFlt[ind];
523 }
524 _x0[ind] = par->x0();
525 irc = success;
526 }
527 }
528
529 return irc;
530}
531
532// Add infinite noise to iono
533////////////////////////////////////////////////////////////////////////////
534t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) {
535 t_irc irc = failure;
536 vector<t_pppParam*> &params = _parlist.params();
537 for (unsigned iPar = 0; iPar < params.size(); iPar++) {
538 t_pppParam *par = params[iPar];
539 if (par->type() == parType && par->prn().system() == sys) {
540 int ind = par->indexNew();
541 LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl;
542 par->setIndex(ind);
543 _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
544 irc = success;
545 }
546 }
547
548 return irc;
549}
550
551// Compute various DOP Values
552////////////////////////////////////////////////////////////////////////////
553void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector,
554 const QMap<char, t_pppRefSat*> &refSatMap) {
555
556 _dop.reset();
557
558 try {
559 const unsigned numPar = 4;
560 Matrix AA(obsVector.size(), numPar);
561 _numSat = 0;
562 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
563 t_pppSatObs *obs = obsVector[ii];
564 char sys = obs->prn().system();
565 t_prn refPrn = t_prn();
566 if (OPT->_refSatRequired) {
567 refPrn = refSatMap[sys]->prn();
568 }
569 if (obs->isValid() && !obs->outlier()) {
570 ++_numSat;
571 for (unsigned iPar = 0; iPar < numPar; iPar++) {
572 const t_pppParam *par = _parlist.params()[iPar];
573 AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
574 }
575 }
576 }
577 if (_numSat < 4) {
578 return;
579 }
580 AA = AA.Rows(1, _numSat);
581 SymmetricMatrix NN;
582 NN << AA.t() * AA;
583 SymmetricMatrix QQ = NN.i();
584
585 _dop.H = sqrt(QQ(1, 1) + QQ(2, 2));
586 _dop.V = sqrt(QQ(3, 3));
587 _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
588 _dop.T = sqrt(QQ(4, 4));
589 _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
590 } catch (...) {
591 }
592}
593
594//
595////////////////////////////////////////////////////////////////////////////
596void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld) {
597
598 const vector<t_pppParam*> &params = _parlist.params();
599 if (params.size() < 3) {
600 return;
601 }
602
603 bool first = (params[0]->indexOld() < 0);
604
605 SymmetricMatrix Qneu(3);
606 Qneu = 0.0;
607 for (unsigned ii = 0; ii < 3; ii++) {
608 const t_pppParam *par = params[ii];
609 if (first) {
610 Qneu[ii][ii] = par->sigma0() * par->sigma0();
611 } else {
612 Qneu[ii][ii] = par->noise() * par->noise();
613 }
614 }
615
616 const t_pppStation *sta = PPP_CLIENT->staRover();
617 SymmetricMatrix Qxyz(3);
618 covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
619
620 if (first) {
621 _QFlt.SymSubMatrix(1, 3) = Qxyz;
622 } else {
623 double dt = _epoTime - _firstEpoTime;
624 if (dt < OPT->_seedingTime) {
625 _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
626 } else {
627 _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
628 }
629 }
630}
631
632//
633////////////////////////////////////////////////////////////////////////////
634void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
635 const SymmetricMatrix &QFltOld) {
636
637 const vector<t_pppParam*> &params = _parlist.params();
638 unsigned nPar = params.size();
639
640 _QFlt.ReSize(nPar);
641 _QFlt = 0.0;
642 _xFlt.ReSize(nPar);
643 _xFlt = 0.0;
644 _x0.ReSize(nPar);
645 _x0 = 0.0;
646
647 for (unsigned ii = 0; ii < nPar; ii++) {
648 t_pppParam *par1 = params[ii];
649 if (QFltOld.size() == 0) {
650 par1->resetIndex();
651 }
652 _x0[ii] = par1->x0();
653 int iOld = par1->indexOld();
654 if (iOld < 0) {
655 _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
656 } else {
657 _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
658 _xFlt[ii] = xFltOld[iOld];
659 for (unsigned jj = 0; jj < ii; jj++) {
660 t_pppParam *par2 = params[jj];
661 int jOld = par2->indexOld();
662 if (jOld >= 0) {
663 _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
664 }
665 }
666 }
667 }
668 predictCovCrdPart(QFltOld);
669}
670
671// Compute datum transformation
672////////////////////////////////////////////////////////////////////////////
673t_irc t_pppFilter::datumTransformation(
674 const QMap<char, t_pppRefSat*> &refSatMap) {
675
676 // get last epoch
677 t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch();
678 if (!epoch) {
679 LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
680 return failure;
681 }
682 _epoTime = epoch->epoTime();
683 LOG.setf(ios::fixed);
684 LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
685
686 vector<t_pppSatObs*> &allObs = epoch->obsVector();
687
688 const QMap<char, t_pppRefSat*> &refSatMapLastEpoch = epoch->refSatMap();
689
690 bool pseudoObsIono = epoch->pseudoObsIono();
691
692 // reset old and set new refSats in last epoch (ambiguities/GIM)
693 // =============================================================
694 if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
695 LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl;
696 return failure;
697 }
698
699 if (OPT->_obsModelType == OPT->UncombPPP) {
700 _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
701 return success;
702 }
703
704 // set AA2
705 // =======
706 if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
707 return failure;
708 }
709
710#ifdef BNC_DEBUG_PPP
711 _parlist.printParams(_epoTime);
712#endif
713
714 const QList<char> &usedSystems = _parlist.usedSystems();
715 for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
716 char sys = usedSystems[iSys];
717 t_prn refPrn = refSatMap[sys]->prn();
718 vector<t_pppSatObs*> obsVector;
719 for (unsigned jj = 0; jj < allObs.size(); jj++) {
720 if (allObs[jj]->prn().system() == sys) {
721 allObs[jj]->resetOutlier();
722 obsVector.push_back(allObs[jj]);
723 }
724 }
725 if (iSys == 0) {
726 _datumTrafo->setFirstSystem(sys);
727 }
728 vector<t_lc::type> LCs = OPT->LCs(sys);
729 unsigned usedLCs = LCs.size();
730 if (OPT->_pseudoObsIono && !pseudoObsIono) {
731 usedLCs -= 1; // GIM not used
732 }
733 // max Obs
734 unsigned maxObs = obsVector.size() * usedLCs;
735
736 if (OPT->_pseudoObsIono && pseudoObsIono) {
737 maxObs -= 1; // pseudo obs iono with respect to refSat
738 }
739
740 const vector<t_pppParam*> &params = _parlist.params();
741 unsigned nPar = _parlist.nPar();
742
743 Matrix AA(maxObs, nPar);
744
745 // Real Observations
746 // -----------------
747 int iObs = -1;
748 for (unsigned ii = 0; ii < obsVector.size(); ii++) {
749 t_pppSatObs *obs = obsVector[ii];
750 for (unsigned jj = 0; jj < usedLCs; jj++) {
751 const t_lc::type tLC = LCs[jj];
752 if (tLC == t_lc::GIM) {
753 continue;
754 }
755 ++iObs;
756 for (unsigned iPar = 0; iPar < nPar; iPar++) {
757 const t_pppParam *par = params[iPar];
758 AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
759 }
760 }
761 }
762
763 if (!(iObs+1)) {
764 continue;
765 }
766 _datumTrafo->updateIndices(sys, iObs + 1);
767#ifdef BNC_DEBUG_PPP
768 LOG << "AA Ncols/Nrows: " << AA.Ncols() << "/" << AA.Nrows() << " nPar: " << nPar << endl;
769 LOG << "AA.SubMatrix(1 .. " << iObs+1 << " , 1 .. " << nPar << ")" << endl;
770#endif
771 if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2) != success) {
772 return failure;
773 }
774 }
775 _datumTrafo->updateNumObs();
776
777 // Datum Transformation
778 // ====================
779 if (_datumTrafo->computeTrafoMatrix() != success) {
780 return failure;
781 }
782
783 ColumnVector xFltOld = _xFlt;
784 SymmetricMatrix QFltOld = _QFlt;
785
786 _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
787 _xFlt = _datumTrafo->D21() * xFltOld;
788
789#ifdef BNC_DEBUG_PPP
790 LOG << "xFltOld:\n" << xFltOld << endl;
791 LOG << "xFlt :\n" << _xFlt << endl;
792#endif
793
794 // Reset Ambiguities after Datum Transformation
795 // ============================================
796 for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
797 char sys = usedSystems[iSys];
798 vector<t_lc::type> LCs = OPT->LCs(sys);
799 unsigned usedLCs = LCs.size();
800 if (OPT->_pseudoObsIono && !pseudoObsIono) {
801 usedLCs -= 1; // GIM not used
802 }
803 t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
804 t_prn refPrnNew = refSatMap[sys]->prn();
805 if (refPrnNew != refPrnOld) {
806 for (unsigned jj = 0; jj < usedLCs; jj++) {
807 const t_lc::type tLC = LCs[jj];
808 if (tLC == t_lc::GIM) {
809 continue;
810 }
811 resetAmb(refPrnOld, allObs, tLC);
812 }
813 }
814 }
815
816 // switch AA2 to AA1
817 // =================
818 _datumTrafo->switchAA();
819
820 _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
821
822 return success;
823}
824
825// Init datum transformation
826////////////////////////////////////////////////////////////////////////////
827void t_pppFilter::initDatumTransformation(
828 const std::vector<t_pppSatObs*> &allObs, bool pseudoObsIono) {
829 unsigned trafoObs = 0;
830 const QList<char> &usedSystems = _parlist.usedSystems();
831 for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
832 char sys = usedSystems[iSys];
833 int satNum = 0;
834 for (unsigned jj = 0; jj < allObs.size(); jj++) {
835 if (allObs[jj]->prn().system() == sys) {
836 satNum++;
837 }
838 }
839 // all LCs
840 unsigned realUsedLCs = OPT->LCs(sys).size();
841 // exclude pseudo obs GIM
842 if (OPT->_pseudoObsIono && !pseudoObsIono) {
843 realUsedLCs -= 1;
844 }
845
846 trafoObs += satNum * realUsedLCs;
847
848 if (OPT->_pseudoObsIono && pseudoObsIono) {
849 trafoObs -= 1; // pseudo obs iono with respect to refSat
850 }
851 }
852 _datumTrafo->setNumObs(trafoObs);
853 _datumTrafo->setNumPar(_parlist.nPar());
854 _datumTrafo->initAA();
855}
856
857//
858//////////////////////////////////////////////////////////////////////////////
859bool t_pppFilter::resetRefSatellitesLastEpoch(
860 std::vector<t_pppSatObs*> &obsVector,
861 const QMap<char, t_pppRefSat*> &refSatMap,
862 const QMap<char, t_pppRefSat*> &refSatMapLastEpoch) {
863 bool resetRefSat;
864 // reference satellite definition per system
865 const QList<char> &usedSystems = _parlist.usedSystems();
866 for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
867 resetRefSat = false;
868 char sys = usedSystems[iSys];
869 t_prn newPrn = refSatMap[sys]->prn();
870 t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
871#ifdef BNC_DEBUG_PPP
872 if (oldPrn != newPrn) {
873 LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
874 }
875#endif
876 vector<t_pppSatObs*>::iterator it = obsVector.begin();
877 while (it != obsVector.end()) {
878 t_pppSatObs *satObs = *it;
879 if (satObs->prn() == newPrn) {
880 resetRefSat = true;
881 satObs->setAsReference();
882 } else if (satObs->prn() == oldPrn) {
883 satObs->resetReference();
884 }
885 it++;
886 }
887 if (!resetRefSat) {
888 _obsPool->setRefSatChangeRequired(sys, true);
889 return resetRefSat;
890 }
891 }
892 return resetRefSat;
893}
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