[7237] | 1 | #ifndef FILTER_H
|
---|
| 2 | #define FILTER_H
|
---|
| 3 |
|
---|
| 4 | #include <vector>
|
---|
| 5 | #include <newmat.h>
|
---|
| 6 | #include "pppInclude.h"
|
---|
| 7 | #include "pppParlist.h"
|
---|
| 8 | #include "bnctime.h"
|
---|
| 9 | #include "t_prn.h"
|
---|
[9386] | 10 | #include "pppClient.h"
|
---|
[7237] | 11 |
|
---|
| 12 | namespace BNC_PPP {
|
---|
| 13 |
|
---|
| 14 | class t_pppParlist;
|
---|
| 15 | class t_pppObsPool;
|
---|
| 16 | class t_pppSatObs;
|
---|
| 17 |
|
---|
| 18 | class t_pppFilter {
|
---|
| 19 | public:
|
---|
[8905] | 20 | t_pppFilter(t_pppObsPool* obsPool);
|
---|
[7237] | 21 | ~t_pppFilter();
|
---|
| 22 |
|
---|
[9386] | 23 | t_irc processEpoch();
|
---|
[7237] | 24 |
|
---|
[9431] | 25 | const ColumnVector& x() const {return _xFlt;}
|
---|
| 26 | const SymmetricMatrix& Q() const {return _QFlt;}
|
---|
| 27 |
|
---|
[9508] | 28 | t_irc datumTransformation(const QMap<char, t_pppRefSat*>& refSatMap);
|
---|
[9419] | 29 | void initDatumTransformation(const std::vector<t_pppSatObs*>& allObs, bool pseudoObsIono);
|
---|
| 30 | unsigned setTrafoObs();
|
---|
[9527] | 31 | void restoreState(int num) { LOG << "Restore parameter from last epoch : _parlist = _parlist_sav ("<< num << ")\n";
|
---|
[9526] | 32 | _QFlt = _QFlt_sav;
|
---|
| 33 | _parlist = _parlist_sav;
|
---|
| 34 | }
|
---|
[9527] | 35 | void rememberState(int num) { LOG << "Remember parameters from epoch before: _parlist_sav = _parlist ("<< num << ")\n";
|
---|
[9526] | 36 | _QFlt_sav = _QFlt;
|
---|
| 37 | _parlist_sav = _parlist;
|
---|
| 38 | }
|
---|
[8912] | 39 |
|
---|
[7237] | 40 | int numSat() const {return _numSat;}
|
---|
[7928] | 41 | double HDOP() const {return _dop.H;}
|
---|
| 42 | double HDOV() const {return _dop.V;}
|
---|
[7237] | 43 | double PDOP() const {return _dop.P;}
|
---|
| 44 | double GDOP() const {return _dop.G;}
|
---|
| 45 | double trp() const {
|
---|
[9504] | 46 | const std::vector<t_pppParam*>& par = _parlist.params();
|
---|
[7237] | 47 | for (unsigned ii = 0; ii < par.size(); ++ii) {
|
---|
| 48 | if (par[ii]->type() == t_pppParam::trp) {
|
---|
| 49 | return x()[ii];
|
---|
| 50 | }
|
---|
| 51 | }
|
---|
| 52 | return 0.0;
|
---|
| 53 | };
|
---|
| 54 | double trpStdev() const {
|
---|
[9504] | 55 | const std::vector<t_pppParam*>& par = _parlist.params();
|
---|
[7237] | 56 | for (unsigned ii = 0; ii < par.size(); ++ii) {
|
---|
| 57 | if (par[ii]->type() == t_pppParam::trp) {
|
---|
| 58 | return sqrt(Q()[ii][ii]);
|
---|
| 59 | }
|
---|
| 60 | }
|
---|
| 61 | return 0.0;
|
---|
| 62 | };
|
---|
| 63 |
|
---|
| 64 | private:
|
---|
| 65 | class t_slip {
|
---|
| 66 | public:
|
---|
| 67 | t_slip() {
|
---|
| 68 | _slip = false;
|
---|
| 69 | _obsSlipCounter = -1;
|
---|
| 70 | _biasJumpCounter = -1;
|
---|
| 71 | }
|
---|
| 72 | bool _slip;
|
---|
| 73 | int _obsSlipCounter;
|
---|
| 74 | int _biasJumpCounter;
|
---|
| 75 | };
|
---|
| 76 |
|
---|
| 77 | class t_dop {
|
---|
| 78 | public:
|
---|
| 79 | t_dop() {reset();}
|
---|
[7928] | 80 | void reset() {H = V = P = T = G = 0.0;}
|
---|
| 81 | double H;
|
---|
| 82 | double V;
|
---|
[7237] | 83 | double P;
|
---|
| 84 | double T;
|
---|
| 85 | double G;
|
---|
| 86 | };
|
---|
| 87 |
|
---|
[8956] | 88 | class t_datumTrafo {
|
---|
[8915] | 89 | public:
|
---|
[9431] | 90 | t_datumTrafo () {initIndices();}
|
---|
| 91 | ~t_datumTrafo (){}
|
---|
[9419] | 92 |
|
---|
[9431] | 93 | void initIndices() {_firstRow = 1; _lastRow = 0;}
|
---|
[9419] | 94 | void updateIndices(char sys, int maxObsSys) {
|
---|
| 95 | if (firstSystem(sys)) {
|
---|
[8915] | 96 | initIndices();
|
---|
| 97 | }
|
---|
| 98 | else {
|
---|
[9304] | 99 | _firstRow = _lastRow + 1;
|
---|
[8915] | 100 | }
|
---|
[9508] | 101 | _lastRow += maxObsSys; //LOG << sys << " updateIndices: lastRow: " << _lastRow << "\n" ;
|
---|
[9419] | 102 | };
|
---|
[9386] | 103 |
|
---|
[9431] | 104 | void setFirstSystem(char firstSys) { _firstSys = firstSys;}
|
---|
| 105 | bool firstSystem(char sys) {
|
---|
| 106 | if (_firstSys == sys) {
|
---|
| 107 | return true;
|
---|
| 108 | }
|
---|
| 109 | return false;
|
---|
| 110 | }
|
---|
[9419] | 111 | void setNumObs(int maxObs) {_maxObs = maxObs;}
|
---|
[9431] | 112 | void setNumPar(int numPar) {_numPar = numPar;}
|
---|
[9419] | 113 | int numPar() {return _numPar;}
|
---|
| 114 | int numObs() {return _maxObs;}
|
---|
[9431] | 115 | void updateNumObs() {
|
---|
| 116 | _maxObs = _lastRow;
|
---|
[9419] | 117 | _AA1 = _AA1.SubMatrix(1, _lastRow, 1, _numPar);
|
---|
| 118 | _AA2 = _AA2.SubMatrix(1, _lastRow, 1, _numPar);
|
---|
| 119 | }
|
---|
| 120 |
|
---|
[9386] | 121 | const Matrix& AA1() {return _AA1;}
|
---|
| 122 | const Matrix& AA2() {return _AA2;}
|
---|
[9419] | 123 | const Matrix& D21() {return _D21;}
|
---|
[9386] | 124 |
|
---|
[9431] | 125 | void initAA() {
|
---|
[9386] | 126 | _AA1.ReSize(_maxObs, _numPar); _AA1 = 0.0;
|
---|
| 127 | _AA2.ReSize(_maxObs, _numPar); _AA2 = 0.0;
|
---|
[9419] | 128 | _D21.ReSize(_numPar, _numPar); _D21 = 0.0;
|
---|
[8915] | 129 | }
|
---|
[9527] | 130 | t_irc prepareAA(const Matrix& AA, int ind) {//LOG << "prepare AA" << ind << "\n";
|
---|
[8956] | 131 | Matrix* Prep = &_AA2;
|
---|
[9386] | 132 | if (ind == 1) {
|
---|
[8956] | 133 | Prep = &_AA1;
|
---|
[8915] | 134 | }
|
---|
[9508] | 135 | //LOG << "_firstRow: " << _firstRow << " _lastRow: " << _lastRow << " _numPar " << _numPar << std::endl;
|
---|
| 136 | if (AA.Ncols() > _numPar) {
|
---|
| 137 | LOG << "t_pppFilter::prepareAA: AA.Ncols() > _numPar: " << AA.Ncols() << " > " << _numPar << std::endl;
|
---|
| 138 | return failure;
|
---|
| 139 | }
|
---|
[9386] | 140 | Prep->SubMatrix(_firstRow, _lastRow, 1, _numPar) << AA;
|
---|
[9508] | 141 | return success;
|
---|
[8915] | 142 | }
|
---|
[9386] | 143 | void switchAA() {
|
---|
| 144 | _AA1 = _AA2;
|
---|
| 145 | }
|
---|
[9419] | 146 | t_irc computeTrafoMatrix() {
|
---|
| 147 | if (((_AA2.t() * _AA2)).Determinant() == 0.0) {
|
---|
[9508] | 148 | LOG << "t_pppFilter::computeTrafoMatrix: (_AA2.t() * _AA2).inv() is singular" << std::endl;
|
---|
[9419] | 149 | return failure;
|
---|
[9386] | 150 | }
|
---|
[9419] | 151 | _D21 = ((_AA2.t() * _AA2).i()) * _AA2.t() * _AA1;
|
---|
| 152 | return success;
|
---|
[9386] | 153 | }
|
---|
[9419] | 154 |
|
---|
[9386] | 155 | void printMatrix(const Matrix& X, int nRow, int nCol) {
|
---|
[8956] | 156 | for (int rr = 0; rr < nRow; rr++) {
|
---|
| 157 | for (int cc = 0; cc < nCol; cc++) {
|
---|
[9433] | 158 | LOG << std::setw(6) << std::setprecision(3) << X[rr][cc] << " ;";
|
---|
[8956] | 159 | }
|
---|
[9433] | 160 | LOG << std::endl;
|
---|
[9386] | 161 | }
|
---|
[9433] | 162 | LOG << std::endl;
|
---|
[8956] | 163 | }
|
---|
[9419] | 164 | private:
|
---|
[9386] | 165 | int _firstRow;
|
---|
| 166 | int _lastRow;
|
---|
| 167 | Matrix _AA1;
|
---|
| 168 | Matrix _AA2;
|
---|
[9419] | 169 | Matrix _D21;
|
---|
| 170 | char _firstSys;
|
---|
[9386] | 171 | int _maxObs;
|
---|
| 172 | int _numPar;
|
---|
| 173 | QMap<char, t_prn> _refSatMapPseudoObs;
|
---|
[8915] | 174 | };
|
---|
| 175 |
|
---|
[7302] | 176 | t_irc processSystem(const std::vector<t_lc::type>& LCs,
|
---|
[8905] | 177 | const std::vector<t_pppSatObs*>& obsVector,
|
---|
| 178 | const t_prn& refPrn,
|
---|
| 179 | bool pseudoObsIonoAvailable,
|
---|
| 180 | bool preProcessing);
|
---|
[7237] | 181 |
|
---|
[7302] | 182 | t_irc detectCycleSlips(const std::vector<t_lc::type>& LCs,
|
---|
[8905] | 183 | const std::vector<t_pppSatObs*>& obsVector,
|
---|
| 184 | const t_prn& refPrn,
|
---|
| 185 | bool preProcessing);
|
---|
[7237] | 186 |
|
---|
| 187 | t_irc resetAmb(t_prn prn, const std::vector<t_pppSatObs*>& obsVector,
|
---|
| 188 | SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0);
|
---|
| 189 |
|
---|
[9508] | 190 | void cmpDOP(const std::vector<t_pppSatObs*>& obsVector,
|
---|
| 191 | const QMap<char, t_pppRefSat*>& refSatMap);
|
---|
[7237] | 192 |
|
---|
[9526] | 193 | void setStateVectorAndVarCovMatrix(const ColumnVector& xFltOld, const SymmetricMatrix& QFltOld);
|
---|
| 194 |
|
---|
[7237] | 195 | void predictCovCrdPart(const SymmetricMatrix& QFltOld);
|
---|
| 196 |
|
---|
[9386] | 197 | t_irc addNoiseToIono(char sys);
|
---|
[8956] | 198 |
|
---|
[9508] | 199 | bool resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector,
|
---|
| 200 | const QMap<char, t_pppRefSat*>& refSatMap,
|
---|
| 201 | const QMap<char, t_pppRefSat*>& refSatMapLastEpoch);
|
---|
[9386] | 202 |
|
---|
[7237] | 203 | bncTime _epoTime;
|
---|
[9504] | 204 | t_pppParlist _parlist;
|
---|
| 205 | t_pppParlist _parlist_sav;
|
---|
[8905] | 206 | t_pppObsPool* _obsPool;
|
---|
[8915] | 207 | t_datumTrafo* _datumTrafo;
|
---|
[7237] | 208 | SymmetricMatrix _QFlt;
|
---|
[9526] | 209 | SymmetricMatrix _QFlt_sav;
|
---|
[7237] | 210 | ColumnVector _xFlt;
|
---|
| 211 | ColumnVector _x0;
|
---|
| 212 | t_slip _slips[t_prn::MAXPRN+1];
|
---|
| 213 | int _numSat;
|
---|
| 214 | t_dop _dop;
|
---|
| 215 | bncTime _firstEpoTime;
|
---|
[7302] | 216 | bncTime _lastEpoTimeOK;
|
---|
[8910] | 217 | t_prn _refPrn;
|
---|
[7237] | 218 | };
|
---|
| 219 |
|
---|
| 220 | }
|
---|
| 221 |
|
---|
| 222 | #endif
|
---|