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 |
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30 | using namespace BNC_PPP;
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31 | using namespace std;
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32 |
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33 | // Constructor
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34 | ////////////////////////////////////////////////////////////////////////////
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35 | t_pppFilter::t_pppFilter(t_pppObsPool* obsPool) {
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36 | _numSat = 0;
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37 | _obsPool = obsPool;
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38 | _refPrn = t_prn();
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39 | _datumTrafo = new t_datumTrafo();
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40 | }
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41 |
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42 | // Destructor
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43 | ////////////////////////////////////////////////////////////////////////////
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44 | t_pppFilter::~t_pppFilter() {
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45 | delete _datumTrafo;
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46 | }
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47 |
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48 | // Process Single Epoch
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49 | ////////////////////////////////////////////////////////////////////////////
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50 | t_irc t_pppFilter::processEpoch() {
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51 | _numSat = 0;
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52 | const double maxSolGap = 60.0;
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53 |
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54 | // Vector of all Observations
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55 | // --------------------------
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56 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
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57 | if (!epoch) {
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58 | return failure;
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59 | }
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60 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
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61 |
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62 | // Time of the Epoch
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63 | // -----------------
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64 | _epoTime = epoch->epoTime();
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65 |
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66 | if (!_firstEpoTime.valid() ||
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67 | !_lastEpoTimeOK.valid() ||
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68 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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69 | _firstEpoTime = _epoTime;
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70 | }
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71 |
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72 | string epoTimeStr = string(_epoTime);
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73 |
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74 | const QMap<char, t_pppRefSat*>& refSatMap = epoch->refSatMap();
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75 |
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76 | //LOG << "processEpoch: printParams before set" << endl;
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77 | //_parlist.printParams(_epoTime);
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78 |
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79 | //--
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80 | // Set Parameters
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81 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
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82 | return failure;
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83 | }
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84 |
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85 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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86 | OPT->_obsModelType == OPT->DCMphaseBias) {
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87 | #ifdef BNC_DEBUG_PPP
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88 | _parlist.printParams(_epoTime);
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89 | #endif
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90 | }
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91 | // Status Vector, Variance-Covariance Matrix
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92 | // -----------------------------------------
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93 | ColumnVector xFltOld = _xFlt;
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94 | SymmetricMatrix QFltOld = _QFlt;
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95 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld);
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96 |
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97 | // Pre-Process Satellite Systems separately
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98 | // ----------------------------------------
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99 | bool preProcessing = false;
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100 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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101 | OPT->_obsModelType == OPT->DCMphaseBias) {
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102 | preProcessing = true;
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103 | const QList<char>& usedSystems = _parlist.usedSystems();
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104 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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105 | char sys = usedSystems[iSys];
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106 | _refPrn.set(sys, 0);
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107 | if (OPT->_refSatRequired) {
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108 | _refPrn = refSatMap[sys]->prn();
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109 | }
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110 | vector<t_pppSatObs*> obsVector;
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111 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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112 | if (allObs[jj]->prn().system() == sys) {
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113 | obsVector.push_back(allObs[jj]);
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114 | }
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115 | }
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116 | if (iSys == 0) {
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117 | _datumTrafo->setFirstSystem(sys);
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118 | }
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119 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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120 | epoch->pseudoObsIono(), preProcessing) != success) {
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121 | LOG << sys << ": processSystem != success (pre-processing)" << endl;
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122 | _xFlt = xFltOld;
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123 | _QFlt = QFltOld;
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124 | _obsPool->deleteLastEpoch();
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125 | restoreState(2);
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126 | return failure;
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127 | }
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128 | }
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129 | // refSat change required?
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130 | // -----------------------
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131 | if (_obsPool->refSatChangeRequired()) {
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132 | _xFlt = xFltOld;
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133 | _QFlt = QFltOld;
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134 | return success;
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135 | }
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136 | else if (!_obsPool->refSatChangeRequired()) {
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137 | initDatumTransformation(allObs, epoch->pseudoObsIono());
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138 | }
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139 | }
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140 |
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141 | // Process Satellite Systems separately
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142 | // ------------------------------------
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143 | preProcessing = false;
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144 | const QList<char>& usedSystems = _parlist. usedSystems();
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145 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
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146 | char sys = usedSystems[iSys];
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147 | _refPrn.set(sys, 0);
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148 | if (OPT->_refSatRequired) {
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149 | _refPrn = refSatMap[sys]->prn();
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150 | }
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151 | unsigned int num = 0;
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152 | vector<t_pppSatObs*> obsVector;
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153 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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154 | if (allObs[jj]->prn().system() == sys) {
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155 | obsVector.push_back(allObs[jj]);
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156 | ++num;
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157 | }
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158 | }
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159 | if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) {
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160 | _datumTrafo->setFirstSystem(sys);
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161 | }
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162 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num << endl;
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163 | if (processSystem(OPT->LCs(sys), obsVector, _refPrn,
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164 | epoch->pseudoObsIono(), preProcessing) != success) {
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165 | LOG << "processSystem != success (fin-processing)" << endl;
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166 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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167 | OPT->_obsModelType == OPT->DCMphaseBias) {
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168 | _xFlt = xFltOld;
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169 | _QFlt = QFltOld;
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170 | _obsPool->deleteLastEpoch();
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171 | restoreState(3);
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172 | }
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173 | return failure;
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174 | }
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175 | }
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176 |
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177 | // close epoch processing
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178 | // ----------------------
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179 | cmpDOP(allObs, refSatMap);
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180 | _parlist.printResult(_epoTime, _QFlt, _xFlt);
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181 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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182 | return success;
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183 | }
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184 |
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185 | // Process Selected LCs
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186 | ////////////////////////////////////////////////////////////////////////////
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187 | t_irc t_pppFilter::processSystem(const vector<t_lc::type>& LCs,
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188 | const vector<t_pppSatObs*>& obsVector,
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189 | const t_prn& refPrn,
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190 | bool pseudoObsIonoAvailable,
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191 | bool preProcessing) {
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192 | LOG.setf(ios::fixed);
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193 | char sys = refPrn.system();
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194 |
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195 | // Detect Cycle Slips
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196 | // ------------------
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197 | if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) {
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198 | return failure;
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199 | }
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200 | if (preProcessing && _obsPool->refSatChangeRequired(sys)) {
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201 | return success;
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202 | }
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203 |
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204 | ColumnVector xSav = _xFlt;
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205 | SymmetricMatrix QSav = _QFlt;
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206 | string epoTimeStr = string(_epoTime);
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207 | const vector<t_pppParam*>& params = _parlist.params();
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208 | unsigned nPar = _parlist.nPar();
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209 |
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210 | unsigned usedLCs = LCs.size();
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211 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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212 | usedLCs -= 1; // GIM not used
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213 | }
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214 | // max Obs
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215 | unsigned maxObs = obsVector.size() * usedLCs;
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216 |
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217 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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218 | maxObs -= 1; // pseudo obs iono with respect to refSat
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219 | }
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220 |
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221 | // Outlier Detection Loop
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222 | // ----------------------
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223 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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224 |
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225 | if (iOutlier > 0) {
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226 | _xFlt = xSav;
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227 | _QFlt = QSav;
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228 | }
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229 |
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230 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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231 | // -----------------------------------------------------------
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232 | Matrix AA(maxObs, nPar);
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233 | ColumnVector ll(maxObs);
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234 | DiagonalMatrix PP(maxObs); PP = 0.0;
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235 |
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236 | int iObs = -1;
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237 | vector<t_pppSatObs*> usedObs;
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238 | vector<t_lc::type> usedTypes;
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239 |
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240 | // Real Observations
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241 | // =================
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242 | double nSat = 0;
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243 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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244 | t_pppSatObs* obs = obsVector[ii];
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245 | if (iOutlier == 0 && !preProcessing) {
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246 | obs->resetOutlier();
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247 | }
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248 | if (!obs->outlier()) {
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249 | nSat++;
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250 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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251 | const t_lc::type tLC = LCs[jj];
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252 | if (tLC == t_lc::GIM) {continue;}
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253 | ++iObs;
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254 | usedObs.push_back(obs);
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255 | usedTypes.push_back(tLC);
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256 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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257 | const t_pppParam* par = params[iPar];
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258 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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259 | }
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260 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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261 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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262 | }
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263 | }
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264 | }
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265 |
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266 | // Check number of observations
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267 | // ----------------------------
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268 | if (iObs == -1) {
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269 | LOG << " number of observations == -1\n";
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270 | return failure;
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271 | }
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272 |
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273 | if ((!iOutlier) &&
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274 | (OPT->_obsModelType == OPT->DCMcodeBias ||
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275 | OPT->_obsModelType == OPT->DCMphaseBias) &&
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276 | (!preProcessing)) {
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277 | _datumTrafo->updateIndices(sys, iObs+1);
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278 | _datumTrafo->prepareAA(AA.SubMatrix(1, iObs+1 , 1, _parlist.nPar()), 1);
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279 | }
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280 |
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281 | // Pseudo Obs Iono
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282 | // ================
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283 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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284 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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285 | t_pppSatObs* obs = obsVector[ii];
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286 | if (!obs->outlier()) {
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287 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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288 | const t_lc::type tLC = LCs[jj];
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289 | if (tLC == t_lc::GIM && !obs->isReference()) {
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290 | ++iObs;
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291 | } else {continue;}
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292 | usedObs.push_back(obs);
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293 | usedTypes.push_back(tLC);
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294 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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295 | const t_pppParam* par = params[iPar];
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296 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
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297 | }
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298 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs+1));
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299 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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300 | }
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301 | }
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302 | }
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303 | }
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304 |
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305 | // Truncate matrices
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306 | // -----------------
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307 | AA = AA.Rows(1, iObs+1);
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308 | ll = ll.Rows(1, iObs+1);
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309 | PP = PP.SymSubMatrix(1, iObs+1);
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310 |
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311 | // Kalman update step
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312 | // ------------------
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313 | kalman(AA, ll, PP, _QFlt, _xFlt);
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314 |
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315 | // Check Residuals
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316 | // ---------------
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317 | ColumnVector vv = AA * _xFlt - ll;
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318 | double maxOutlier = 0.0;
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319 | int maxOutlierIndex = -1;
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320 | t_lc::type maxOutlierLC = t_lc::dummy;
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321 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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322 | const t_lc::type tLC = usedTypes[ii];
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323 | double res = fabs(vv[ii]);
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324 | if (res > usedObs[ii]->maxRes(tLC)) {
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325 | if (res > fabs(maxOutlier)) {
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326 | maxOutlier = vv[ii];
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327 | maxOutlierIndex = ii;
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328 | maxOutlierLC = tLC;
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329 | }
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330 | }
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331 | }
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332 |
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333 | // Mark outlier or break outlier detection loop
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334 | // --------------------------------------------
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335 | if (maxOutlierIndex > -1) {
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336 | t_pppSatObs* obs = usedObs[maxOutlierIndex];
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337 | t_pppParam* par = 0;
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338 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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339 | t_pppParam* hlp = params[iPar];
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340 | if (hlp->type() == t_pppParam::amb &&
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341 | hlp->prn() == obs->prn() &&
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342 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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343 | par = hlp;
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344 | }
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345 | }
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346 | if (preProcessing) {
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347 | // for refSats no ambiguity parameter exists
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348 | if ((obs->prn() == refPrn) &&
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349 | (t_lc::toString(maxOutlierLC) == "l1" ||
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350 | t_lc::toString(maxOutlierLC) == "l2" )) {
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351 | _obsPool->setRefSatChangeRequired(sys, true);
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352 | LOG << epoTimeStr << " Outlier ("
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353 | << ((preProcessing) ? "pre-processing) " : "fin-processing) ") << t_lc::toString(maxOutlierLC) << ' '
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354 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
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355 | break;
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356 | }
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357 | else {
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358 | obs->setOutlier();
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359 | }
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360 | }
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361 | else {// fin-processing
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362 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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363 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << maxOutlier << endl;
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364 | if (par) {
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365 | resetAmb(par->prn(), obsVector, &QSav, &xSav);
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366 | }
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367 | else {
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368 | obs->setOutlier();
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369 | }
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370 | }
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371 | }
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372 | // Print Residuals
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373 | // ---------------
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374 | else {
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375 | if (!preProcessing) {
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376 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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377 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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378 | const t_lc::type tLC = usedTypes[ii];
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379 | t_pppSatObs* obs = usedObs[ii];
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380 | if (tLC == LCs[jj]) {
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381 | obs->setRes(tLC, vv[ii]);
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382 | LOG << epoTimeStr << " RES "
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383 | << left << setw(3) << t_lc::toString(tLC) << right << ' ';
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384 | if (t_lc::toString(tLC) == "Tz0") {LOG << sys << " ";}
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385 | else {LOG << obs->prn().toString();}
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386 | LOG << setw(9) << setprecision(4) << vv[ii] << endl;
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387 | }
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388 | }
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389 | }
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390 | }
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391 | break;
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392 | }
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393 | }
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394 | return success;
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395 | }
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396 |
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397 | // Cycle-Slip Detection
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398 | ////////////////////////////////////////////////////////////////////////////
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399 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type>& LCs,
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400 | const vector<t_pppSatObs*>& obsVector,
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401 | const t_prn& refPrn,
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402 | bool preProcessing) {
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403 | const double SLIP = 20.0;
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404 | char sys = refPrn.system();
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405 | string epoTimeStr = string(_epoTime);
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406 | const vector<t_pppParam*>& params = _parlist.params();
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407 | unsigned nPar = _parlist.nPar();
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408 |
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409 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
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410 | const t_lc::type& tLC = LCs[ii];
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411 | if (t_lc::includesPhase(tLC)) {
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412 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
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413 | const t_pppSatObs* obs = obsVector[iObs];
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414 |
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415 | // Check set Slips and Jump Counters
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416 | // ---------------------------------
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417 | bool slip = false;
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418 |
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419 | // in pre-processing only the reference satellite has to be checked
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420 | if (preProcessing && obs->prn() != refPrn) {
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421 | continue;
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422 | }
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423 |
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424 | if (obs->slip()) {
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425 | LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() << endl;
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426 | slip = true;
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427 | }
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428 |
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429 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
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430 | _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
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431 | LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
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432 | slip = true;
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433 | }
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434 | if (!preProcessing) {
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435 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
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436 | }
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437 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
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438 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
|
---|
439 | LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
|
---|
440 | slip = true;
|
---|
441 | }
|
---|
442 | if (!preProcessing) {
|
---|
443 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
|
---|
444 | }
|
---|
445 | // Slip Set
|
---|
446 | // --------
|
---|
447 | if (slip) {
|
---|
448 | if (preProcessing) {
|
---|
449 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
450 | }
|
---|
451 | else {
|
---|
452 | resetAmb(obs->prn(), obsVector);
|
---|
453 | }
|
---|
454 | }
|
---|
455 | // Check Pre-Fit Residuals
|
---|
456 | // -----------------------
|
---|
457 | else {
|
---|
458 | if (refPrn != t_prn()) {return success;}
|
---|
459 | ColumnVector AA(nPar);
|
---|
460 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
461 | const t_pppParam* par = params[iPar];
|
---|
462 | AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
463 | }
|
---|
464 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
|
---|
465 | double vv = DotProduct(AA, _xFlt) - ll;
|
---|
466 | if (fabs(vv) > SLIP) {
|
---|
467 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
|
---|
468 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
|
---|
469 | if (preProcessing) {
|
---|
470 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
471 | }
|
---|
472 | else {
|
---|
473 | resetAmb(obs->prn(), obsVector);
|
---|
474 | }
|
---|
475 | }
|
---|
476 | }
|
---|
477 | }
|
---|
478 | }
|
---|
479 | }
|
---|
480 | return success;
|
---|
481 | }
|
---|
482 |
|
---|
483 | // Reset Ambiguity Parameter (cycle slip)
|
---|
484 | ////////////////////////////////////////////////////////////////////////////
|
---|
485 | t_irc t_pppFilter::resetAmb(t_prn prn, const vector<t_pppSatObs*>& obsVector,
|
---|
486 | SymmetricMatrix* QSav, ColumnVector* xSav) {
|
---|
487 |
|
---|
488 | t_irc irc = failure;
|
---|
489 | vector<t_pppParam*>& params = _parlist.params();
|
---|
490 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
491 | t_pppParam* par = params[iPar];
|
---|
492 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
|
---|
493 | int ind = par->indexNew();
|
---|
494 | t_lc::type tLC = par->tLC();
|
---|
495 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
|
---|
496 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
|
---|
497 | par->setIndex(ind);
|
---|
498 | params[iPar] = par;
|
---|
499 | for (unsigned ii = 1; ii <= params.size(); ii++) {
|
---|
500 | _QFlt(ii, ind+1) = 0.0;
|
---|
501 | if (QSav) {
|
---|
502 | (*QSav)(ii, ind+1) = 0.0;
|
---|
503 | }
|
---|
504 | }
|
---|
505 | _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
|
---|
506 | if (QSav) {
|
---|
507 | (*QSav)(ind+1,ind+1) = _QFlt(ind+1,ind+1);
|
---|
508 | }
|
---|
509 | _xFlt[ind] = 0.0;
|
---|
510 | if (xSav) {
|
---|
511 | (*xSav)[ind] = _xFlt[ind];
|
---|
512 | }
|
---|
513 | _x0[ind] = par->x0();
|
---|
514 | irc = success;
|
---|
515 | }
|
---|
516 | }
|
---|
517 |
|
---|
518 | return irc;
|
---|
519 | }
|
---|
520 |
|
---|
521 | // Add infinite noise to iono
|
---|
522 | ////////////////////////////////////////////////////////////////////////////
|
---|
523 | t_irc t_pppFilter::addNoiseToIono(char sys) {
|
---|
524 |
|
---|
525 | t_irc irc = failure;
|
---|
526 | vector<t_pppParam*>& params = _parlist.params();
|
---|
527 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
|
---|
528 | t_pppParam* par = params[iPar];
|
---|
529 | if (par->type() == t_pppParam::ion && par->prn().system() == sys) {
|
---|
530 | int ind = par->indexNew();
|
---|
531 | LOG << string(_epoTime) << " ADD IONO_NOISE TO " << par->prn().toString() << endl;
|
---|
532 | par->setIndex(ind);
|
---|
533 | _QFlt(ind+1,ind+1) = par->sigma0() * par->sigma0();
|
---|
534 | irc = success;
|
---|
535 | }
|
---|
536 | }
|
---|
537 |
|
---|
538 | return irc;
|
---|
539 | }
|
---|
540 |
|
---|
541 | // Compute various DOP Values
|
---|
542 | ////////////////////////////////////////////////////////////////////////////
|
---|
543 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*>& obsVector,
|
---|
544 | const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
545 |
|
---|
546 | _dop.reset();
|
---|
547 |
|
---|
548 | try {
|
---|
549 | const unsigned numPar = 4;
|
---|
550 | Matrix AA(obsVector.size(), numPar);
|
---|
551 | _numSat = 0;
|
---|
552 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
553 | t_pppSatObs* obs = obsVector[ii];
|
---|
554 | char sys = obs->prn().system();
|
---|
555 | t_prn refPrn = t_prn();
|
---|
556 | if (OPT->_refSatRequired) {
|
---|
557 | refPrn = refSatMap[sys]->prn();
|
---|
558 | }
|
---|
559 | if (obs->isValid() && !obs->outlier()) {
|
---|
560 | ++_numSat;
|
---|
561 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
562 | const t_pppParam* par = _parlist.params()[iPar];
|
---|
563 | AA[_numSat-1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn);
|
---|
564 | }
|
---|
565 | }
|
---|
566 | }
|
---|
567 | if (_numSat < 4) {
|
---|
568 | return;
|
---|
569 | }
|
---|
570 | AA = AA.Rows(1, _numSat);
|
---|
571 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
572 | SymmetricMatrix QQ = NN.i();
|
---|
573 |
|
---|
574 | _dop.H = sqrt(QQ(1,1) + QQ(2,2));
|
---|
575 | _dop.V = sqrt(QQ(3,3));
|
---|
576 | _dop.P = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3));
|
---|
577 | _dop.T = sqrt(QQ(4,4));
|
---|
578 | _dop.G = sqrt(QQ(1,1) + QQ(2,2) + QQ(3,3) + QQ(4,4));
|
---|
579 | }
|
---|
580 | catch (...) {
|
---|
581 | }
|
---|
582 | }
|
---|
583 |
|
---|
584 | //
|
---|
585 | ////////////////////////////////////////////////////////////////////////////
|
---|
586 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix& QFltOld) {
|
---|
587 |
|
---|
588 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
589 | if (params.size() < 3) {
|
---|
590 | return;
|
---|
591 | }
|
---|
592 |
|
---|
593 | bool first = (params[0]->indexOld() < 0);
|
---|
594 |
|
---|
595 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
---|
596 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
597 | const t_pppParam* par = params[ii];
|
---|
598 | if (first) {
|
---|
599 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
600 | }
|
---|
601 | else {
|
---|
602 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
603 | }
|
---|
604 | }
|
---|
605 |
|
---|
606 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
607 | SymmetricMatrix Qxyz(3);
|
---|
608 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
609 |
|
---|
610 | if (first) {
|
---|
611 | _QFlt.SymSubMatrix(1,3) = Qxyz;
|
---|
612 | }
|
---|
613 | else {
|
---|
614 | double dt = _epoTime - _firstEpoTime;
|
---|
615 | if (dt < OPT->_seedingTime) {
|
---|
616 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3);
|
---|
617 | }
|
---|
618 | else {
|
---|
619 | _QFlt.SymSubMatrix(1,3) = QFltOld.SymSubMatrix(1,3) + Qxyz;
|
---|
620 | }
|
---|
621 | }
|
---|
622 | }
|
---|
623 |
|
---|
624 | //
|
---|
625 | ////////////////////////////////////////////////////////////////////////////
|
---|
626 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector& xFltOld,
|
---|
627 | const SymmetricMatrix& QFltOld) {
|
---|
628 |
|
---|
629 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
630 | unsigned nPar = params.size();
|
---|
631 |
|
---|
632 | _QFlt.ReSize(nPar); _QFlt = 0.0;
|
---|
633 | _xFlt.ReSize(nPar); _xFlt = 0.0;
|
---|
634 | _x0.ReSize(nPar); _x0 = 0.0;
|
---|
635 |
|
---|
636 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
637 | t_pppParam* par1 = params[ii];
|
---|
638 | if (QFltOld.size() == 0) {
|
---|
639 | par1->resetIndex();
|
---|
640 | }
|
---|
641 | _x0[ii] = par1->x0();
|
---|
642 | int iOld = par1->indexOld();
|
---|
643 | if (iOld < 0) {
|
---|
644 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
645 | }
|
---|
646 | else {
|
---|
647 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
648 | _xFlt[ii] = xFltOld[iOld];
|
---|
649 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
650 | t_pppParam* par2 = params[jj];
|
---|
651 | int jOld = par2->indexOld();
|
---|
652 | if (jOld >= 0) {
|
---|
653 | _QFlt[ii][jj] = QFltOld(iOld+1,jOld+1);
|
---|
654 | }
|
---|
655 | }
|
---|
656 | }
|
---|
657 | }
|
---|
658 | predictCovCrdPart(QFltOld);
|
---|
659 | }
|
---|
660 |
|
---|
661 | // Compute datum transformation
|
---|
662 | ////////////////////////////////////////////////////////////////////////////
|
---|
663 | t_irc t_pppFilter::datumTransformation(const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
664 |
|
---|
665 | // get last epoch
|
---|
666 | t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch();
|
---|
667 | if (!epoch) {
|
---|
668 | LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl;
|
---|
669 | return failure;
|
---|
670 | }
|
---|
671 | _epoTime = epoch->epoTime();
|
---|
672 | LOG.setf(ios::fixed);
|
---|
673 | LOG << string(_epoTime) << " DATUM TRANSFORMATION " << endl;
|
---|
674 |
|
---|
675 | vector<t_pppSatObs*>& allObs = epoch->obsVector();
|
---|
676 |
|
---|
677 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch = epoch->refSatMap();
|
---|
678 |
|
---|
679 | bool pseudoObsIono = epoch->pseudoObsIono();
|
---|
680 |
|
---|
681 | // reset old and set new refSats in last epoch (ambiguities/GIM)
|
---|
682 | // =============================================================
|
---|
683 | if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) {
|
---|
684 | LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl;
|
---|
685 | return failure;
|
---|
686 | }
|
---|
687 |
|
---|
688 | if (OPT->_obsModelType == OPT->UncombPPP) {
|
---|
689 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
690 | return success;
|
---|
691 | }
|
---|
692 | //LOG << "datumTransformation: printParams before set" << endl;
|
---|
693 | //_parlist.printParams(_epoTime);
|
---|
694 |
|
---|
695 | // set AA2
|
---|
696 | // =======
|
---|
697 | if (_parlist.set(_epoTime, allObs, refSatMap) != success) {
|
---|
698 | return failure;
|
---|
699 | }
|
---|
700 |
|
---|
701 | #ifdef BNC_DEBUG_PPP
|
---|
702 | _parlist.printParams(_epoTime);
|
---|
703 | #endif
|
---|
704 |
|
---|
705 | const QList<char>& usedSystems = _parlist.usedSystems();
|
---|
706 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
707 | char sys = usedSystems[iSys];
|
---|
708 | t_prn refPrn = refSatMap[sys]->prn();
|
---|
709 | vector<t_pppSatObs*> obsVector;
|
---|
710 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
711 | if (allObs[jj]->prn().system() == sys) {
|
---|
712 | allObs[jj]->resetOutlier();
|
---|
713 | obsVector.push_back(allObs[jj]);
|
---|
714 | }
|
---|
715 | }
|
---|
716 | if (iSys == 0) {
|
---|
717 | _datumTrafo->setFirstSystem(sys);
|
---|
718 | }
|
---|
719 | vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
720 | unsigned usedLCs = LCs.size();
|
---|
721 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
722 | usedLCs -= 1; // GIM not used
|
---|
723 | }
|
---|
724 | // max Obs
|
---|
725 | unsigned maxObs = obsVector.size() * usedLCs;
|
---|
726 |
|
---|
727 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
728 | maxObs -= 1; // pseudo obs iono with respect to refSat
|
---|
729 | }
|
---|
730 |
|
---|
731 | const vector<t_pppParam*>& params = _parlist.params();
|
---|
732 | unsigned nPar = _parlist.nPar();
|
---|
733 |
|
---|
734 | Matrix AA(maxObs, nPar);
|
---|
735 |
|
---|
736 | // Real Observations
|
---|
737 | // -----------------
|
---|
738 | int iObs = -1;
|
---|
739 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
|
---|
740 | t_pppSatObs* obs = obsVector[ii];
|
---|
741 | for (unsigned jj = 0; jj < usedLCs; jj++) {
|
---|
742 | const t_lc::type tLC = LCs[jj];
|
---|
743 | if (tLC == t_lc::GIM) {continue;}
|
---|
744 | ++iObs;
|
---|
745 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
|
---|
746 | const t_pppParam* par = params[iPar];
|
---|
747 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn);
|
---|
748 | }
|
---|
749 | }
|
---|
750 | }
|
---|
751 |
|
---|
752 | if (!iObs) {
|
---|
753 | continue;
|
---|
754 | }
|
---|
755 | _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;
|
---|
756 | if(_datumTrafo->prepareAA(AA.SubMatrix(1, iObs+1 , 1, nPar), 2) != success) {
|
---|
757 | return failure;
|
---|
758 | }
|
---|
759 | }
|
---|
760 | _datumTrafo->updateNumObs();
|
---|
761 |
|
---|
762 | // Datum Transformation
|
---|
763 | // ====================
|
---|
764 | #ifdef BNC_DEBUG_PPP
|
---|
765 | //LOG << "AA1\n"; _datumTrafo->printMatrix(_datumTrafo->AA1(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
766 | //LOG << "AA2\n"; _datumTrafo->printMatrix(_datumTrafo->AA2(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
767 | #endif
|
---|
768 | if(_datumTrafo->computeTrafoMatrix() != success) {
|
---|
769 | return failure;
|
---|
770 | }
|
---|
771 | #ifdef BNC_DEBUG_PPP
|
---|
772 | //LOG << "D21" << endl; _datumTrafo->printMatrix(_datumTrafo->D21(), _datumTrafo->numObs(), _datumTrafo->numPar());
|
---|
773 | #endif
|
---|
774 | ColumnVector xFltOld = _xFlt;
|
---|
775 | SymmetricMatrix QFltOld = _QFlt;
|
---|
776 |
|
---|
777 | _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t();
|
---|
778 | _xFlt = _datumTrafo->D21() * xFltOld;
|
---|
779 |
|
---|
780 | #ifdef BNC_DEBUG_PPP
|
---|
781 | LOG << "xFltOld:\n" << xFltOld << endl;
|
---|
782 | LOG << "xFlt :\n" << _xFlt << endl;
|
---|
783 | #endif
|
---|
784 |
|
---|
785 | // Reset Ambiguities after Datum Transformation
|
---|
786 | // ============================================
|
---|
787 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
788 | char sys = usedSystems[iSys];
|
---|
789 | t_prn refPrnOld = refSatMapLastEpoch[sys]->prn();
|
---|
790 | t_prn refPrnNew = refSatMap[sys]->prn();
|
---|
791 | if (refPrnNew != refPrnOld) {
|
---|
792 | t_irc irc = resetAmb(refPrnOld, allObs);
|
---|
793 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
794 | if (irc == success) {addNoiseToIono(sys);}
|
---|
795 | }
|
---|
796 | }
|
---|
797 | }
|
---|
798 |
|
---|
799 | // switch AA2 to AA1
|
---|
800 | // =================
|
---|
801 | _datumTrafo->switchAA();
|
---|
802 |
|
---|
803 | _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap);
|
---|
804 |
|
---|
805 | return success;
|
---|
806 | }
|
---|
807 |
|
---|
808 | // Init datum transformation
|
---|
809 | ////////////////////////////////////////////////////////////////////////////
|
---|
810 | void t_pppFilter::initDatumTransformation(const std::vector<t_pppSatObs*>& allObs,
|
---|
811 | bool pseudoObsIono) {
|
---|
812 | unsigned trafoObs = 0;
|
---|
813 | const QList<char>& usedSystems = _parlist. usedSystems();
|
---|
814 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
815 | char sys = usedSystems[iSys];
|
---|
816 | int satNum = 0;
|
---|
817 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
|
---|
818 | if (allObs[jj]->prn().system() == sys) {
|
---|
819 | satNum++;
|
---|
820 | }
|
---|
821 | }
|
---|
822 | // all LCs
|
---|
823 | unsigned realUsedLCs = OPT->LCs(sys).size();
|
---|
824 | // exclude pseudo obs GIM
|
---|
825 | if (OPT->_pseudoObsIono && !pseudoObsIono) {
|
---|
826 | realUsedLCs -= 1;
|
---|
827 | }
|
---|
828 |
|
---|
829 | trafoObs += satNum * realUsedLCs;
|
---|
830 |
|
---|
831 | if (OPT->_pseudoObsIono && pseudoObsIono) {
|
---|
832 | trafoObs -= 1; // pseudo obs iono with respect to refSat
|
---|
833 | }
|
---|
834 | }
|
---|
835 | _datumTrafo->setNumObs(trafoObs);
|
---|
836 | _datumTrafo->setNumPar(_parlist.nPar());
|
---|
837 | _datumTrafo->initAA();
|
---|
838 | }
|
---|
839 |
|
---|
840 | //
|
---|
841 | //////////////////////////////////////////////////////////////////////////////
|
---|
842 | bool t_pppFilter::resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector,
|
---|
843 | const QMap<char, t_pppRefSat*>& refSatMap,
|
---|
844 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch) {
|
---|
845 | bool resetRefSat;
|
---|
846 | // reference satellite definition per system
|
---|
847 | const QList<char>& usedSystems = _parlist.usedSystems();
|
---|
848 | for (int iSys = 0; iSys < usedSystems.size(); iSys++) {
|
---|
849 | resetRefSat = false;
|
---|
850 | char sys = usedSystems[iSys];
|
---|
851 | t_prn newPrn = refSatMap[sys]->prn();
|
---|
852 | t_prn oldPrn = refSatMapLastEpoch[sys]->prn();
|
---|
853 | #ifdef BNC_DEBUG_PPP
|
---|
854 | if (oldPrn != newPrn) {
|
---|
855 | LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl;
|
---|
856 | }
|
---|
857 | #endif
|
---|
858 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
|
---|
859 | while (it != obsVector.end()) {
|
---|
860 | t_pppSatObs* satObs = *it;
|
---|
861 | if (satObs->prn() == newPrn) {
|
---|
862 | resetRefSat = true;
|
---|
863 | satObs->setAsReference();
|
---|
864 | } else if (satObs->prn() == oldPrn) {
|
---|
865 | satObs->resetReference();
|
---|
866 | }
|
---|
867 | it++;
|
---|
868 | }
|
---|
869 | if (!resetRefSat) {
|
---|
870 | _obsPool->setRefSatChangeRequired(sys, true);
|
---|
871 | return resetRefSat;
|
---|
872 | }
|
---|
873 | }
|
---|
874 | return resetRefSat;
|
---|
875 | }
|
---|