| 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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| 10 |
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| 11 | namespace BNC_PPP {
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| 12 |
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| 13 | class t_pppParlist;
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| 14 | class t_pppObsPool;
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| 15 | class t_pppSatObs;
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| 16 |
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| 17 | class t_pppFilter {
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| 18 | public:
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| 19 | t_pppFilter();
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| 20 | ~t_pppFilter();
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| 21 |
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| 22 | t_irc processEpoch(t_pppObsPool* obsPool);
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| 23 |
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| 24 | const ColumnVector& x() const {return _xFlt;}
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| 25 | const SymmetricMatrix& Q() const {return _QFlt;}
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| 26 |
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| 27 | int numSat() const {return _numSat;}
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| 28 | double HDOP() const {return _dop.H;}
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| 29 | double HDOV() const {return _dop.V;}
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| 30 | double PDOP() const {return _dop.P;}
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| 31 | double GDOP() const {return _dop.G;}
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| 32 | double trp() const {
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| 33 | const std::vector<t_pppParam*>& par = _parlist->params();
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| 34 | for (unsigned ii = 0; ii < par.size(); ++ii) {
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| 35 | if (par[ii]->type() == t_pppParam::trp) {
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| 36 | return x()[ii];
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| 37 | }
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| 38 | }
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| 39 | return 0.0;
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| 40 | };
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| 41 | double trpStdev() const {
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| 42 | const std::vector<t_pppParam*>& par = _parlist->params();
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| 43 | for (unsigned ii = 0; ii < par.size(); ++ii) {
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| 44 | if (par[ii]->type() == t_pppParam::trp) {
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| 45 | return sqrt(Q()[ii][ii]);
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| 46 | }
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| 47 | }
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| 48 | return 0.0;
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| 49 | };
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| 50 |
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| 51 | private:
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| 52 | class t_slip {
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| 53 | public:
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| 54 | t_slip() {
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| 55 | _slip = false;
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| 56 | _obsSlipCounter = -1;
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| 57 | _biasJumpCounter = -1;
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| 58 | }
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| 59 | bool _slip;
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| 60 | int _obsSlipCounter;
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| 61 | int _biasJumpCounter;
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| 62 | };
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| 63 |
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| 64 | class t_dop {
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| 65 | public:
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| 66 | t_dop() {reset();}
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| 67 | void reset() {H = V = P = T = G = 0.0;}
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| 68 | double H;
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| 69 | double V;
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| 70 | double P;
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| 71 | double T;
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| 72 | double G;
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| 73 | };
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| 74 |
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| 75 | t_irc processSystem(const std::vector<t_lc::type>& LCs,
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| 76 | const std::vector<t_pppSatObs*>& obsVector,
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| 77 | bool pseudoObsIonoAvailable);
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| 78 |
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| 79 | t_irc detectCycleSlips(const std::vector<t_lc::type>& LCs,
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| 80 | const std::vector<t_pppSatObs*>& obsVector);
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| 81 |
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| 82 | t_irc resetAmb(t_prn prn, const std::vector<t_pppSatObs*>& obsVector, t_lc::type lc,
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| 83 | SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0);
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| 84 |
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| 85 | void cmpDOP(const std::vector<t_pppSatObs*>& obsVector);
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| 86 |
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| 87 | void setStateVectorAndVarCovMatrix(const ColumnVector& xFltOld, const SymmetricMatrix& QFltOld,
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| 88 | bool setNeuNoiseToZero);
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| 89 |
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| 90 | void predictCovCrdPart(const SymmetricMatrix& QFltOld, bool setNeuNoiseToZero);
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| 91 |
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| 92 | bncTime _epoTime;
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| 93 | t_pppParlist* _parlist;
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| 94 | SymmetricMatrix _QFlt;
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| 95 | ColumnVector _xFlt;
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| 96 | ColumnVector _x0;
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| 97 | t_slip _slips[t_prn::MAXPRN+1];
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| 98 | int _numSat;
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| 99 | t_dop _dop;
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| 100 | bncTime _firstEpoTime;
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| 101 | bncTime _lastEpoTimeOK;
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| 102 | };
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| 103 |
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| 104 | }
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| 105 |
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| 106 | #endif
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