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 |
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93 | bncTime _epoTime;
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94 | t_pppParlist* _parlist;
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95 | SymmetricMatrix _QFlt;
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96 | ColumnVector _xFlt;
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97 | ColumnVector _x0;
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98 | t_slip _slips[t_prn::MAXPRN+1];
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99 | int _numSat;
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100 | t_dop _dop;
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101 | bncTime _firstEpoTime;
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102 | bncTime _lastEpoTimeOK;
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103 | };
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104 |
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105 | }
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106 |
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107 | #endif
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