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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13 | * Changes:
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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 | #include "pppClient.h"
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30 |
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31 | using namespace BNC_PPP;
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32 | using namespace std;
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33 |
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34 | // Constructor
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35 | ////////////////////////////////////////////////////////////////////////////
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36 | t_pppFilter::t_pppFilter() {
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37 | _parlist = 0;
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38 | }
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39 |
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40 | // Destructor
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41 | ////////////////////////////////////////////////////////////////////////////
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42 | t_pppFilter::~t_pppFilter() {
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43 | delete _parlist;
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44 | }
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45 |
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46 | // Process Single Epoch
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47 | ////////////////////////////////////////////////////////////////////////////
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48 | t_irc t_pppFilter::processEpoch(t_pppObsPool* obsPool) {
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49 |
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50 | _numSat = 0;
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51 | const double maxSolGap = 60.0;
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52 | bool setNeuNoiseToZero = false;
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53 |
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54 | if (!_parlist) {
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55 | _parlist = new t_pppParlist();
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56 | }
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57 |
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58 | // Vector of all Observations
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59 | // --------------------------
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60 | t_pppObsPool::t_epoch *epoch = obsPool->lastEpoch();
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61 | if (!epoch) {
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62 | return failure;
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63 | }
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64 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
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65 |
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66 | // Time of the Epoch
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67 | // -----------------
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68 | _epoTime = epoch->epoTime();
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69 |
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70 | if (!_firstEpoTime.valid() ||
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71 | !_lastEpoTimeOK.valid()||
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72 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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73 | _firstEpoTime = _epoTime;
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74 | }
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75 |
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76 | string epoTimeStr = string(_epoTime);
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77 |
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78 | // Set Parameters
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79 | // --------------
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80 | if (_parlist->set(_epoTime, allObs) != success) {
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81 | return failure;
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82 | }
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83 |
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84 | // Status Vector, Variance-Covariance Matrix
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85 | // -----------------------------------------
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86 | ColumnVector xFltOld = _xFlt;
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87 | SymmetricMatrix QFltOld = _QFlt;
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88 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld, setNeuNoiseToZero);
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89 |
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90 | // Process Satellite Systems separately
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91 | // ------------------------------------
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92 | for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
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93 | char sys = OPT->systems()[iSys];
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94 | int num = 0;
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95 | vector<t_pppSatObs*> obsVector;
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96 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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97 | if (allObs[jj]->prn().system() == sys) {
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98 | obsVector.push_back(allObs[jj]);
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99 | num++;
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100 | }
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101 | }
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102 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num << endl;
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103 | if (processSystem(OPT->LCs(sys), obsVector, epoch->pseudoObsIono()) != success) {
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104 | LOG << "t_pppFilter::processSystem() != success: " << sys << endl;
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105 | return failure;
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106 | }
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107 | }
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108 |
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109 | // close epoch processing
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110 | // ----------------------
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111 | cmpDOP(allObs);
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112 | _parlist->printResult(_epoTime, _QFlt, _xFlt);
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113 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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114 | return success;
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115 | }
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116 |
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117 | // Process Selected LCs
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118 | ////////////////////////////////////////////////////////////////////////////
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119 | t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
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120 | const vector<t_pppSatObs*> &obsVector,
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121 | bool pseudoObsIonoAvailable) {
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122 | LOG.setf(ios::fixed);
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123 |
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124 | // Detect Cycle Slips
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125 | // ------------------
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126 | if (detectCycleSlips(LCs, obsVector) != success) {
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127 | return failure;
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128 | }
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129 |
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130 | ColumnVector xSav = _xFlt;
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131 | SymmetricMatrix QSav = _QFlt;
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132 | string epoTimeStr = string(_epoTime);
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133 | const vector<t_pppParam*> ¶ms = _parlist->params();
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134 | unsigned nPar = _parlist->nPar();
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135 |
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136 | unsigned usedLCs = LCs.size();
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137 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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138 | usedLCs -= 1; // GIM not used
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139 | }
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140 | // max Obs
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141 | unsigned maxObs = obsVector.size() * usedLCs;
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142 |
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143 | // Outlier Detection Loop
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144 | // ----------------------
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145 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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146 |
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147 | if (iOutlier > 0) {
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148 | _xFlt = xSav;
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149 | _QFlt = QSav;
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150 | }
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151 |
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152 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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153 | // -----------------------------------------------------------
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154 | Matrix AA(maxObs, nPar);
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155 | ColumnVector ll(maxObs); ll = 0.0;
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156 | DiagonalMatrix PP(maxObs); PP = 0.0;
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157 |
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158 | int iObs = -1;
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159 | vector<t_pppSatObs*> usedObs;
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160 | vector<t_lc::type> usedTypes;
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161 |
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162 | // Real Observations
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163 | // =================
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164 | int nSat = 0;
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165 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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166 | t_pppSatObs *obs = obsVector[ii];
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167 | if (iOutlier == 0) {
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168 | obs->resetOutlier();
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169 | }
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170 | if (!obs->outlier()) {
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171 | nSat++;
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172 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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173 | const t_lc::type tLC = LCs[jj];
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174 | if (tLC == t_lc::GIM) {
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175 | continue;
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176 | }
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177 | ++iObs;
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178 | usedObs.push_back(obs);
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179 | usedTypes.push_back(tLC);
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180 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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181 | const t_pppParam *par = params[iPar];
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182 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
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183 | }
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184 |
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185 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
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186 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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187 | }
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188 | }
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189 | }
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190 |
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191 | // Check number of observations
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192 | // ----------------------------
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193 | if (!nSat) {
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194 | return failure;
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195 | }
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196 |
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197 | // Pseudo Obs Iono
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198 | // ================
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199 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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200 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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201 | t_pppSatObs *obs = obsVector[ii];
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202 | if (!obs->outlier()) {
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203 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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204 | const t_lc::type tLC = LCs[jj];
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205 | if (tLC == t_lc::GIM) {
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206 | ++iObs;
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207 | } else {
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208 | continue;
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209 | }
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210 | usedObs.push_back(obs);
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211 | usedTypes.push_back(tLC);
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212 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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213 | const t_pppParam *par = params[iPar];
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214 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
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215 | }
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216 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
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217 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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218 | }
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219 | }
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220 | }
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221 | }
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222 |
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223 | // Truncate matrices
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224 | // -----------------
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225 | AA = AA.Rows(1, iObs + 1);
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226 | ll = ll.Rows(1, iObs + 1);
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227 | PP = PP.SymSubMatrix(1, iObs + 1);
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228 |
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229 | // Kalman update step
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230 | // ------------------
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231 | kalman(AA, ll, PP, _QFlt, _xFlt);
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232 |
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233 | // Check Residuals
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234 | // ---------------
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235 | ColumnVector vv = AA * _xFlt - ll;
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236 | double maxOutlier = 0.0;
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237 | int maxOutlierIndex = -1;
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238 | t_lc::type maxOutlierLC = t_lc::dummy;
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239 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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240 | const t_lc::type tLC = usedTypes[ii];
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241 | double res = fabs(vv[ii]);
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242 | if (res > usedObs[ii]->maxRes(tLC)) {
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243 | if (res > fabs(maxOutlier)) {
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244 | maxOutlier = vv[ii];
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245 | maxOutlierIndex = ii;
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246 | maxOutlierLC = tLC;
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247 | }
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248 | }
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249 | }
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250 |
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251 | // Mark outlier or break outlier detection loop
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252 | // --------------------------------------------
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253 | if (maxOutlierIndex > -1) {
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254 | t_pppSatObs *obs = usedObs[maxOutlierIndex];
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255 | t_pppParam *par = 0;
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256 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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257 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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258 | << maxOutlier << endl;
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259 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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260 | t_pppParam *hlp = params[iPar];
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261 | if (hlp->type() == t_pppParam::amb &&
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262 | hlp->prn() == obs->prn() &&
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263 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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264 | par = hlp;
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265 | }
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266 | }
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267 | if (par) {
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268 | resetAmb(obs->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
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269 | }
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270 | else {
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271 | obs->setOutlier();
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272 | }
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273 | }
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274 | // Print Residuals
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275 | // ---------------
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276 | else {
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277 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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278 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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279 | const t_lc::type tLC = usedTypes[ii];
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280 | t_pppSatObs *obs = usedObs[ii];
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281 | if (tLC == LCs[jj]) {
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282 | obs->setRes(tLC, vv[ii]);
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283 | LOG << epoTimeStr << " RES " << left << setw(3)
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284 | << t_lc::toString(tLC) << right << ' '
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285 | << obs->prn().toString() << ' '
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286 | << setw(8) << setprecision(4) << vv[ii] << endl;
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287 | }
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288 | }
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289 | }
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290 | break;
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291 | }
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292 | }
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293 | return success;
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294 | }
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295 |
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296 | // Cycle-Slip Detection
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297 | ////////////////////////////////////////////////////////////////////////////
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298 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
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299 | const vector<t_pppSatObs*> &obsVector) {
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300 |
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301 | double SLIP = 20.0;
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302 | double fac = 1.0;
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303 | if (_lastEpoTimeOK.valid()) {
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304 | fac = _epoTime - _lastEpoTimeOK;
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305 | if (fac > 60.0 || fac < 1.0) {
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306 | fac = 1.0;
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307 | }
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308 | }
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309 | SLIP *= fac;
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310 | string epoTimeStr = string(_epoTime);
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311 | const vector<t_pppParam*> ¶ms = _parlist->params();
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312 |
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313 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
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314 | const t_lc::type &tLC = LCs[ii];
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315 | if (t_lc::includesPhase(tLC)) {
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316 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
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317 | const t_pppSatObs *obs = obsVector[iObs];
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318 |
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319 | // Check set Slips and Jump Counters
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320 | // ---------------------------------
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321 | bool slip = false;
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322 |
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323 | if (obs->slip()) {
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324 | LOG << epoTimeStr << " Cycle slip set (obs) " << obs->prn().toString() << endl;
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325 | slip = true;
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326 | }
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327 |
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328 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
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329 | _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
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330 | LOG << epoTimeStr << " Cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
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331 | slip = true;
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332 | }
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333 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
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334 |
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335 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
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336 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
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337 | LOG << epoTimeStr << " Cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
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338 | slip = true;
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339 | }
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340 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
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341 |
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342 | // Slip Set
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343 | // --------
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344 | if (slip) {
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345 | resetAmb(obs->prn(), obsVector, tLC);
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346 | }
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347 |
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348 | // Check Pre-Fit Residuals
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349 | // -----------------------
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350 | else {
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351 | ColumnVector AA(params.size());
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352 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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353 | const t_pppParam* par = params[iPar];
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354 | AA[iPar] = par->partial(_epoTime, obs, tLC);
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355 | }
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356 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
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357 | double vv = DotProduct(AA, _xFlt) - ll;
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358 |
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359 | if (fabs(vv) > SLIP) {
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360 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
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361 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
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362 | resetAmb(obs->prn(), obsVector, tLC);
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363 | }
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364 | }
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365 | }
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366 | }
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367 | }
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368 | return success;
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369 | }
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370 |
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371 | // Reset Ambiguity Parameter (cycle slip)
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372 | ////////////////////////////////////////////////////////////////////////////
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373 | t_irc t_pppFilter::resetAmb(const t_prn prn, const vector<t_pppSatObs*> &obsVector, t_lc::type lc,
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374 | SymmetricMatrix *QSav, ColumnVector *xSav) {
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375 |
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376 | t_irc irc = failure;
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377 | vector<t_pppParam*>& params = _parlist->params();
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378 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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379 | t_pppParam *par = params[iPar];
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380 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
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381 | int ind = par->indexNew();
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382 | double eleSat = par->ambEleSat();
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383 | bncTime firstObsTime;
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384 | bncTime lastObsTime = par->lastObsTime();
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385 | (par->firstObsTime().undef()) ?
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386 | firstObsTime = lastObsTime : firstObsTime = par->firstObsTime();
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387 | t_lc::type tLC = par->tLC();
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388 | if (tLC != lc) {continue;}
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389 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
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390 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
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391 | par->setIndex(ind);
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392 | par->setFirstObsTime(firstObsTime);
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393 | par->setLastObsTime(lastObsTime);
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394 | par->setAmbEleSat(eleSat);
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395 | params[iPar] = par;
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396 | for (unsigned ii = 1; ii <= params.size(); ii++) {
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397 | _QFlt(ii, ind + 1) = 0.0;
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398 | if (QSav) {
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399 | (*QSav)(ii, ind + 1) = 0.0;
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400 | }
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401 | }
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402 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
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403 | if (QSav) {
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404 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
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405 | }
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406 | _xFlt[ind] = 0.0;
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407 | if (xSav) {
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408 | (*xSav)[ind] = _xFlt[ind];
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409 | }
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410 | _x0[ind] = par->x0();
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411 | irc = success;
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412 | }
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413 | }
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414 |
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415 | return irc;
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416 | }
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417 |
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418 | // Compute various DOP Values
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419 | ////////////////////////////////////////////////////////////////////////////
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420 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector) {
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421 |
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422 | _dop.reset();
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423 |
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424 | try {
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425 | const unsigned numPar = 4;
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426 | Matrix AA(obsVector.size(), numPar);
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427 | t_pppParam* parX = 0;
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428 | t_pppParam* parY = 0;
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429 | t_pppParam* parZ = 0;
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430 | _numSat = 0;
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431 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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432 | t_pppSatObs *obs = obsVector[ii];
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433 | if (obs->isValid() && !obs->outlier()) {
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434 | ++_numSat;
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435 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
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436 | t_pppParam* par = _parlist->params()[iPar];
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437 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1);
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438 | if (par->type() == t_pppParam::crdX) {
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439 | parX = par;
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440 | }
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441 | else if (par->type() == t_pppParam::crdY) {
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442 | parY = par;
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443 | }
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444 | else if (par->type() == t_pppParam::crdZ) {
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445 | parZ = par;
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446 | }
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447 | }
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448 | }
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449 | }
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450 | if (_numSat < 4) {
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451 | return;
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452 | }
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453 | AA = AA.Rows(1, _numSat);
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454 | SymmetricMatrix NN; NN << AA.t() * AA;
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455 | SymmetricMatrix QQ = NN.i();
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456 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
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457 |
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458 | ColumnVector xyz(3), neu(3);
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459 | SymmetricMatrix QQneu(3);
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460 | const t_pppStation *sta = PPP_CLIENT->staRover();
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461 | xyz[0] = _xFlt[parX->indexNew()];
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462 | xyz[1] = _xFlt[parY->indexNew()];
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463 | xyz[2] = _xFlt[parZ->indexNew()];
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464 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
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465 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
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466 |
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467 | _dop.H = sqrt(QQneu(1, 1) + QQneu(2, 2));
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468 | _dop.V = sqrt(QQneu(3, 3));
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469 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
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470 | _dop.T = sqrt(QQ(4, 4));
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471 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
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472 | }
|
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473 | catch (...) {
|
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474 | }
|
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475 | }
|
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476 |
|
---|
477 | //
|
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478 | ////////////////////////////////////////////////////////////////////////////
|
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479 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
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480 |
|
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481 | const vector<t_pppParam*>& params = _parlist->params();
|
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482 |
|
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483 | if (params.size() < 3) {
|
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484 | return;
|
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485 | }
|
---|
486 |
|
---|
487 | bool first = (params[0]->indexOld() < 0);
|
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488 |
|
---|
489 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
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490 | for (unsigned ii = 0; ii < 3; ii++) {
|
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491 | const t_pppParam *par = params[ii];
|
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492 | if (first) {
|
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493 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
494 | }
|
---|
495 | else {
|
---|
496 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
497 | }
|
---|
498 | }
|
---|
499 |
|
---|
500 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
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501 | SymmetricMatrix Qxyz(3);
|
---|
502 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
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503 |
|
---|
504 | if (first) {
|
---|
505 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
506 | }
|
---|
507 | else {
|
---|
508 | double dt = _epoTime - _firstEpoTime;
|
---|
509 | if (dt < OPT->_seedingTime || setNeuNoiseToZero) {
|
---|
510 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
511 | }
|
---|
512 | else {
|
---|
513 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
514 | }
|
---|
515 | }
|
---|
516 | }
|
---|
517 |
|
---|
518 | //
|
---|
519 | ////////////////////////////////////////////////////////////////////////////
|
---|
520 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
521 | const SymmetricMatrix &QFltOld,
|
---|
522 | bool setNeuNoiseToZero) {
|
---|
523 |
|
---|
524 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
525 | unsigned nPar = params.size();
|
---|
526 |
|
---|
527 | _QFlt.ReSize(nPar); _QFlt = 0.0;
|
---|
528 | _xFlt.ReSize(nPar); _xFlt = 0.0;
|
---|
529 | _x0.ReSize(nPar); _x0 = 0.0;
|
---|
530 |
|
---|
531 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
532 | t_pppParam *par1 = params[ii];
|
---|
533 | if (QFltOld.size() == 0) {
|
---|
534 | par1->resetIndex();
|
---|
535 | }
|
---|
536 | _x0[ii] = par1->x0();
|
---|
537 | int iOld = par1->indexOld();
|
---|
538 | if (iOld < 0) {
|
---|
539 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
540 | } else {
|
---|
541 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
542 | _xFlt[ii] = xFltOld[iOld];
|
---|
543 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
544 | t_pppParam *par2 = params[jj];
|
---|
545 | int jOld = par2->indexOld();
|
---|
546 | if (jOld >= 0) {
|
---|
547 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
548 | }
|
---|
549 | }
|
---|
550 | }
|
---|
551 | }
|
---|
552 | predictCovCrdPart(QFltOld, setNeuNoiseToZero);
|
---|
553 | }
|
---|