[7237] | 1 | #ifndef FILTER_H
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| 2 | #define FILTER_H
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| 3 |
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| 4 | #include <vector>
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| 5 | #include <newmat.h>
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| 6 | #include "pppInclude.h"
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| 7 | #include "pppParlist.h"
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| 8 | #include "bnctime.h"
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| 9 | #include "t_prn.h"
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[9386] | 10 | #include "pppClient.h"
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[7237] | 11 |
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| 12 | namespace BNC_PPP {
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| 13 |
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| 14 | class t_pppParlist;
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| 15 | class t_pppObsPool;
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| 16 | class t_pppSatObs;
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| 17 |
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| 18 | class t_pppFilter {
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| 19 | public:
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[8905] | 20 | t_pppFilter(t_pppObsPool* obsPool);
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[7237] | 21 | ~t_pppFilter();
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| 22 |
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[9386] | 23 | t_irc processEpoch();
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[7237] | 24 |
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[9431] | 25 | const ColumnVector& x() const {return _xFlt;}
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| 26 | const SymmetricMatrix& Q() const {return _QFlt;}
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| 27 |
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[9508] | 28 | t_irc datumTransformation(const QMap<char, t_pppRefSat*>& refSatMap);
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[9419] | 29 | void initDatumTransformation(const std::vector<t_pppSatObs*>& allObs, bool pseudoObsIono);
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| 30 | unsigned setTrafoObs();
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[10006] | 31 | void restoreState(int num) {
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| 32 | #ifdef BNC_DEBUG_PPP
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| 33 | LOG << "Restore parameter from last epoch : _parlist = _parlist_sav ("<< num << ")\n";
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| 34 | #endif
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[9526] | 35 | _QFlt = _QFlt_sav;
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| 36 | _parlist = _parlist_sav;
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| 37 | }
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[10006] | 38 | void rememberState(int num) {
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| 39 | #ifdef BNC_DEBUG_PPP
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| 40 | LOG << "Remember parameters from epoch before: _parlist_sav = _parlist ("<< num << ")\n";
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| 41 | #endif
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[9526] | 42 | _QFlt_sav = _QFlt;
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| 43 | _parlist_sav = _parlist;
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| 44 | }
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[8912] | 45 |
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[7237] | 46 | int numSat() const {return _numSat;}
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[7928] | 47 | double HDOP() const {return _dop.H;}
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| 48 | double HDOV() const {return _dop.V;}
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[7237] | 49 | double PDOP() const {return _dop.P;}
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| 50 | double GDOP() const {return _dop.G;}
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| 51 | double trp() const {
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[9504] | 52 | const std::vector<t_pppParam*>& par = _parlist.params();
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[7237] | 53 | for (unsigned ii = 0; ii < par.size(); ++ii) {
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| 54 | if (par[ii]->type() == t_pppParam::trp) {
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| 55 | return x()[ii];
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| 56 | }
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| 57 | }
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| 58 | return 0.0;
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| 59 | };
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| 60 | double trpStdev() const {
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[9504] | 61 | const std::vector<t_pppParam*>& par = _parlist.params();
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[7237] | 62 | for (unsigned ii = 0; ii < par.size(); ++ii) {
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| 63 | if (par[ii]->type() == t_pppParam::trp) {
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| 64 | return sqrt(Q()[ii][ii]);
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| 65 | }
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| 66 | }
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| 67 | return 0.0;
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| 68 | };
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| 69 |
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| 70 | private:
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| 71 | class t_slip {
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| 72 | public:
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| 73 | t_slip() {
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| 74 | _slip = false;
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| 75 | _obsSlipCounter = -1;
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| 76 | _biasJumpCounter = -1;
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| 77 | }
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| 78 | bool _slip;
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| 79 | int _obsSlipCounter;
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| 80 | int _biasJumpCounter;
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| 81 | };
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| 82 |
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| 83 | class t_dop {
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| 84 | public:
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| 85 | t_dop() {reset();}
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[7928] | 86 | void reset() {H = V = P = T = G = 0.0;}
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| 87 | double H;
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| 88 | double V;
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[7237] | 89 | double P;
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| 90 | double T;
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| 91 | double G;
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| 92 | };
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| 93 |
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[8956] | 94 | class t_datumTrafo {
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[8915] | 95 | public:
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[9431] | 96 | t_datumTrafo () {initIndices();}
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| 97 | ~t_datumTrafo (){}
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[9419] | 98 |
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[9431] | 99 | void initIndices() {_firstRow = 1; _lastRow = 0;}
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[9419] | 100 | void updateIndices(char sys, int maxObsSys) {
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| 101 | if (firstSystem(sys)) {
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[8915] | 102 | initIndices();
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| 103 | }
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| 104 | else {
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[9304] | 105 | _firstRow = _lastRow + 1;
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[8915] | 106 | }
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[10006] | 107 | _lastRow += maxObsSys;
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| 108 | #ifdef BNC_DEBUG_PPP
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| 109 | LOG << sys << " updateIndices: lastRow: " << _lastRow << "\n" ;
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| 110 | #endif
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[9419] | 111 | };
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[9386] | 112 |
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[9431] | 113 | void setFirstSystem(char firstSys) { _firstSys = firstSys;}
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| 114 | bool firstSystem(char sys) {
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| 115 | if (_firstSys == sys) {
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| 116 | return true;
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| 117 | }
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| 118 | return false;
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| 119 | }
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[9419] | 120 | void setNumObs(int maxObs) {_maxObs = maxObs;}
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[9431] | 121 | void setNumPar(int numPar) {_numPar = numPar;}
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[9419] | 122 | int numPar() {return _numPar;}
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| 123 | int numObs() {return _maxObs;}
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[9431] | 124 | void updateNumObs() {
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| 125 | _maxObs = _lastRow;
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[9419] | 126 | _AA1 = _AA1.SubMatrix(1, _lastRow, 1, _numPar);
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| 127 | _AA2 = _AA2.SubMatrix(1, _lastRow, 1, _numPar);
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| 128 | }
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| 129 |
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[9386] | 130 | const Matrix& AA1() {return _AA1;}
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| 131 | const Matrix& AA2() {return _AA2;}
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[9419] | 132 | const Matrix& D21() {return _D21;}
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[9386] | 133 |
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[9431] | 134 | void initAA() {
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[9386] | 135 | _AA1.ReSize(_maxObs, _numPar); _AA1 = 0.0;
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| 136 | _AA2.ReSize(_maxObs, _numPar); _AA2 = 0.0;
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[9419] | 137 | _D21.ReSize(_numPar, _numPar); _D21 = 0.0;
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[8915] | 138 | }
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[10006] | 139 | t_irc prepareAA(const Matrix& AA, int ind) {
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| 140 | #ifdef BNC_DEBUG_PPP
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| 141 | LOG << "prepare AA" << ind << "\n";
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| 142 | #endif
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[8956] | 143 | Matrix* Prep = &_AA2;
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[9386] | 144 | if (ind == 1) {
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[8956] | 145 | Prep = &_AA1;
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[8915] | 146 | }
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[10006] | 147 | #ifdef BNC_DEBUG_PPP
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[10003] | 148 | LOG << "_firstRow: " << _firstRow << " _lastRow: " << _lastRow << " _numPar " << _numPar << std::endl;
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[10006] | 149 | LOG << "AA.Ncols() > _numPar? " << AA.Ncols() << " / " << _numPar << std::endl;
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| 150 | #endif
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[9508] | 151 | if (AA.Ncols() > _numPar) {
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| 152 | LOG << "t_pppFilter::prepareAA: AA.Ncols() > _numPar: " << AA.Ncols() << " > " << _numPar << std::endl;
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| 153 | return failure;
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| 154 | }
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[9386] | 155 | Prep->SubMatrix(_firstRow, _lastRow, 1, _numPar) << AA;
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[9508] | 156 | return success;
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[8915] | 157 | }
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[9386] | 158 | void switchAA() {
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| 159 | _AA1 = _AA2;
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| 160 | }
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[9419] | 161 | t_irc computeTrafoMatrix() {
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| 162 | if (((_AA2.t() * _AA2)).Determinant() == 0.0) {
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[9508] | 163 | LOG << "t_pppFilter::computeTrafoMatrix: (_AA2.t() * _AA2).inv() is singular" << std::endl;
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[9419] | 164 | return failure;
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[9386] | 165 | }
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[9419] | 166 | _D21 = ((_AA2.t() * _AA2).i()) * _AA2.t() * _AA1;
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| 167 | return success;
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[9386] | 168 | }
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[9419] | 169 |
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[9386] | 170 | void printMatrix(const Matrix& X, int nRow, int nCol) {
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[8956] | 171 | for (int rr = 0; rr < nRow; rr++) {
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| 172 | for (int cc = 0; cc < nCol; cc++) {
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[9433] | 173 | LOG << std::setw(6) << std::setprecision(3) << X[rr][cc] << " ;";
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[8956] | 174 | }
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[9433] | 175 | LOG << std::endl;
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[9386] | 176 | }
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[9433] | 177 | LOG << std::endl;
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[8956] | 178 | }
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[9419] | 179 | private:
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[9386] | 180 | int _firstRow;
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| 181 | int _lastRow;
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| 182 | Matrix _AA1;
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| 183 | Matrix _AA2;
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[9419] | 184 | Matrix _D21;
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| 185 | char _firstSys;
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[9386] | 186 | int _maxObs;
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| 187 | int _numPar;
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| 188 | QMap<char, t_prn> _refSatMapPseudoObs;
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[8915] | 189 | };
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| 190 |
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[7302] | 191 | t_irc processSystem(const std::vector<t_lc::type>& LCs,
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[8905] | 192 | const std::vector<t_pppSatObs*>& obsVector,
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| 193 | const t_prn& refPrn,
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| 194 | bool pseudoObsIonoAvailable,
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| 195 | bool preProcessing);
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[7237] | 196 |
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[7302] | 197 | t_irc detectCycleSlips(const std::vector<t_lc::type>& LCs,
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[8905] | 198 | const std::vector<t_pppSatObs*>& obsVector,
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| 199 | const t_prn& refPrn,
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| 200 | bool preProcessing);
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[7237] | 201 |
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| 202 | t_irc resetAmb(t_prn prn, const std::vector<t_pppSatObs*>& obsVector,
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| 203 | SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0);
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| 204 |
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[9508] | 205 | void cmpDOP(const std::vector<t_pppSatObs*>& obsVector,
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| 206 | const QMap<char, t_pppRefSat*>& refSatMap);
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[7237] | 207 |
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[9526] | 208 | void setStateVectorAndVarCovMatrix(const ColumnVector& xFltOld, const SymmetricMatrix& QFltOld);
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| 209 |
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[7237] | 210 | void predictCovCrdPart(const SymmetricMatrix& QFltOld);
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| 211 |
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[9642] | 212 | t_irc addNoiseToPar(t_pppParam::e_type parType, char sys);
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[8956] | 213 |
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[9508] | 214 | bool resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector,
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| 215 | const QMap<char, t_pppRefSat*>& refSatMap,
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| 216 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch);
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[9386] | 217 |
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[7237] | 218 | bncTime _epoTime;
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[9504] | 219 | t_pppParlist _parlist;
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| 220 | t_pppParlist _parlist_sav;
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[8905] | 221 | t_pppObsPool* _obsPool;
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[8915] | 222 | t_datumTrafo* _datumTrafo;
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[7237] | 223 | SymmetricMatrix _QFlt;
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[9526] | 224 | SymmetricMatrix _QFlt_sav;
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[7237] | 225 | ColumnVector _xFlt;
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| 226 | ColumnVector _x0;
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| 227 | t_slip _slips[t_prn::MAXPRN+1];
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| 228 | int _numSat;
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| 229 | t_dop _dop;
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| 230 | bncTime _firstEpoTime;
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[7302] | 231 | bncTime _lastEpoTimeOK;
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[8910] | 232 | t_prn _refPrn;
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[7237] | 233 | };
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| 234 |
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| 235 | }
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| 236 |
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| 237 | #endif
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