source: ntrip/trunk/BNC/src/PPP/pppFilter.cpp@ 9524

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