[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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[9386] | 28 | t_irc datumTransformation();
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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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[8912] | 31 |
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[7237] | 32 | int numSat() const {return _numSat;}
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[7928] | 33 | double HDOP() const {return _dop.H;}
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| 34 | double HDOV() const {return _dop.V;}
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[7237] | 35 | double PDOP() const {return _dop.P;}
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| 36 | double GDOP() const {return _dop.G;}
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| 37 | double trp() const {
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| 38 | const std::vector<t_pppParam*>& par = _parlist->params();
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| 39 | for (unsigned ii = 0; ii < par.size(); ++ii) {
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| 40 | if (par[ii]->type() == t_pppParam::trp) {
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| 41 | return x()[ii];
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| 42 | }
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| 43 | }
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| 44 | return 0.0;
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| 45 | };
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| 46 | double trpStdev() const {
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| 47 | const std::vector<t_pppParam*>& par = _parlist->params();
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| 48 | for (unsigned ii = 0; ii < par.size(); ++ii) {
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| 49 | if (par[ii]->type() == t_pppParam::trp) {
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| 50 | return sqrt(Q()[ii][ii]);
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| 51 | }
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| 52 | }
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| 53 | return 0.0;
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| 54 | };
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| 55 |
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| 56 | private:
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| 57 | class t_slip {
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| 58 | public:
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| 59 | t_slip() {
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| 60 | _slip = false;
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| 61 | _obsSlipCounter = -1;
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| 62 | _biasJumpCounter = -1;
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| 63 | }
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| 64 | bool _slip;
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| 65 | int _obsSlipCounter;
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| 66 | int _biasJumpCounter;
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| 67 | };
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| 68 |
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| 69 | class t_dop {
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| 70 | public:
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| 71 | t_dop() {reset();}
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[7928] | 72 | void reset() {H = V = P = T = G = 0.0;}
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| 73 | double H;
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| 74 | double V;
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[7237] | 75 | double P;
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| 76 | double T;
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| 77 | double G;
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| 78 | };
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| 79 |
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[8956] | 80 | class t_datumTrafo {
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[8915] | 81 | public:
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[9431] | 82 | t_datumTrafo () {initIndices();}
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| 83 | ~t_datumTrafo (){}
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[9419] | 84 |
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[9431] | 85 | void initIndices() {_firstRow = 1; _lastRow = 0;}
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[9419] | 86 | void updateIndices(char sys, int maxObsSys) {
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| 87 | if (firstSystem(sys)) {
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[8915] | 88 | initIndices();
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| 89 | }
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| 90 | else {
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[9304] | 91 | _firstRow = _lastRow + 1;
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[8915] | 92 | }
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[9419] | 93 | _lastRow += maxObsSys;//LOG << "updateIndices: lastRow: " << _lastRow << endl;
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| 94 | };
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[9386] | 95 |
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[9431] | 96 | void setFirstSystem(char firstSys) { _firstSys = firstSys;}
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| 97 | bool firstSystem(char sys) {
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| 98 | if (_firstSys == sys) {
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| 99 | return true;
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| 100 | }
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| 101 | return false;
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| 102 | }
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[9419] | 103 | void setNumObs(int maxObs) {_maxObs = maxObs;}
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[9431] | 104 | void setNumPar(int numPar) {_numPar = numPar;}
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[9419] | 105 | int numPar() {return _numPar;}
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| 106 | int numObs() {return _maxObs;}
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[9431] | 107 | void updateNumObs() {
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| 108 | _maxObs = _lastRow;
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[9419] | 109 | _AA1 = _AA1.SubMatrix(1, _lastRow, 1, _numPar);
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| 110 | _AA2 = _AA2.SubMatrix(1, _lastRow, 1, _numPar);
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| 111 | }
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| 112 |
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[9431] | 113 | void setLastEpoParlist(t_pppParlist* parlist) {_parlist = parlist;}
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| 114 | t_pppParlist* lastEpoParlist() {return _parlist;}
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| 115 |
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[9386] | 116 | const Matrix& AA1() {return _AA1;}
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| 117 | const Matrix& AA2() {return _AA2;}
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[9419] | 118 | const Matrix& D21() {return _D21;}
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[9386] | 119 |
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[9431] | 120 | void initAA() {
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[9386] | 121 | _AA1.ReSize(_maxObs, _numPar); _AA1 = 0.0;
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| 122 | _AA2.ReSize(_maxObs, _numPar); _AA2 = 0.0;
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[9419] | 123 | _D21.ReSize(_numPar, _numPar); _D21 = 0.0;
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[8915] | 124 | }
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[9386] | 125 | void prepareAA(const Matrix& AA, int ind) {
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[8956] | 126 | Matrix* Prep = &_AA2;
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[9386] | 127 | if (ind == 1) {
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[8956] | 128 | Prep = &_AA1;
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[8915] | 129 | }
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[9386] | 130 | Prep->SubMatrix(_firstRow, _lastRow, 1, _numPar) << AA;
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[8915] | 131 | }
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[9386] | 132 | void switchAA() {
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| 133 | _AA1 = _AA2;
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| 134 | }
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[9419] | 135 | t_irc computeTrafoMatrix() {
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| 136 | if (((_AA2.t() * _AA2)).Determinant() == 0.0) {
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| 137 | LOG << "(_AA2.t() * _AA2).inv() is singular" << endl;
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| 138 | return failure;
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[9386] | 139 | }
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[9419] | 140 | _D21 = ((_AA2.t() * _AA2).i()) * _AA2.t() * _AA1;
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| 141 | return success;
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[9386] | 142 | }
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[9419] | 143 |
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[9386] | 144 | void printMatrix(const Matrix& X, int nRow, int nCol) {
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[8956] | 145 | for (int rr = 0; rr < nRow; rr++) {
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| 146 | for (int cc = 0; cc < nCol; cc++) {
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[9386] | 147 | LOG << setw(6) << setprecision(3) << X[rr][cc] << " ;";
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[8956] | 148 | }
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[9386] | 149 | LOG << endl;
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| 150 | }
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| 151 | LOG << endl;
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[8956] | 152 | }
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[9419] | 153 | private:
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[9386] | 154 | int _firstRow;
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| 155 | int _lastRow;
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| 156 | Matrix _AA1;
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| 157 | Matrix _AA2;
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[9419] | 158 | Matrix _D21;
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| 159 | char _firstSys;
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[9386] | 160 | int _maxObs;
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| 161 | int _numPar;
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| 162 | QMap<char, t_prn> _refSatMapPseudoObs;
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[9419] | 163 | t_pppParlist* _parlist;
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[8915] | 164 | };
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| 165 |
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[7302] | 166 | t_irc processSystem(const std::vector<t_lc::type>& LCs,
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[8905] | 167 | const std::vector<t_pppSatObs*>& obsVector,
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| 168 | const t_prn& refPrn,
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| 169 | bool pseudoObsIonoAvailable,
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| 170 | bool preProcessing);
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[7237] | 171 |
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[7302] | 172 | t_irc detectCycleSlips(const std::vector<t_lc::type>& LCs,
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[8905] | 173 | const std::vector<t_pppSatObs*>& obsVector,
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| 174 | const t_prn& refPrn,
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| 175 | bool preProcessing);
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[7237] | 176 |
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| 177 | t_irc resetAmb(t_prn prn, const std::vector<t_pppSatObs*>& obsVector,
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| 178 | SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0);
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| 179 |
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| 180 | void cmpDOP(const std::vector<t_pppSatObs*>& obsVector);
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| 181 |
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| 182 | void predictCovCrdPart(const SymmetricMatrix& QFltOld);
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| 183 |
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[9386] | 184 | t_irc addNoiseToIono(char sys);
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[8956] | 185 |
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[9386] | 186 | bool resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector);
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| 187 |
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[7237] | 188 | bncTime _epoTime;
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| 189 | t_pppParlist* _parlist;
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[8905] | 190 | t_pppObsPool* _obsPool;
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[8915] | 191 | t_datumTrafo* _datumTrafo;
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[7237] | 192 | SymmetricMatrix _QFlt;
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| 193 | ColumnVector _xFlt;
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| 194 | ColumnVector _x0;
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| 195 | t_slip _slips[t_prn::MAXPRN+1];
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| 196 | int _numSat;
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| 197 | t_dop _dop;
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| 198 | bncTime _firstEpoTime;
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[7302] | 199 | bncTime _lastEpoTimeOK;
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[8910] | 200 | t_prn _refPrn;
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[7237] | 201 | };
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| 202 |
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| 203 | }
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| 204 |
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| 205 | #endif
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