source: ntrip/trunk/BNC/src/PPP/pppFilter.h@ 9419

Last change on this file since 9419 was 9419, checked in by stuerze, 16 months ago

update regarding PPP

  • Property svn:keywords set to Author Date Id Rev URL;svn:eol-style=native
  • Property svn:mime-type set to text/plain
File size: 5.5 KB
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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"
10#include "pppClient.h"
11
12namespace BNC_PPP {
13
14class t_pppParlist;
15class t_pppObsPool;
16class t_pppSatObs;
17
18class t_pppFilter {
19 public:
20 t_pppFilter(t_pppObsPool* obsPool);
21 ~t_pppFilter();
22
23 t_irc processEpoch();
24
25 t_irc datumTransformation();
26 void initDatumTransformation(const std::vector<t_pppSatObs*>& allObs, bool pseudoObsIono);
27 unsigned setTrafoObs();
28
29 const ColumnVector& x() const {return _xFlt;}
30 const SymmetricMatrix& Q() const {return _QFlt;}
31
32 int numSat() const {return _numSat;}
33 double HDOP() const {return _dop.H;}
34 double HDOV() const {return _dop.V;}
35 double PDOP() const {return _dop.P;}
36 double GDOP() const {return _dop.G;}
37 double trp() const {
38 const std::vector<t_pppParam*>& par = _parlist->params();
39 for (unsigned ii = 0; ii < par.size(); ++ii) {
40 if (par[ii]->type() == t_pppParam::trp) {
41 return x()[ii];
42 }
43 }
44 return 0.0;
45 };
46 double trpStdev() const {
47 const std::vector<t_pppParam*>& par = _parlist->params();
48 for (unsigned ii = 0; ii < par.size(); ++ii) {
49 if (par[ii]->type() == t_pppParam::trp) {
50 return sqrt(Q()[ii][ii]);
51 }
52 }
53 return 0.0;
54 };
55
56 private:
57 class t_slip {
58 public:
59 t_slip() {
60 _slip = false;
61 _obsSlipCounter = -1;
62 _biasJumpCounter = -1;
63 }
64 bool _slip;
65 int _obsSlipCounter;
66 int _biasJumpCounter;
67 };
68
69 class t_dop {
70 public:
71 t_dop() {reset();}
72 void reset() {H = V = P = T = G = 0.0;}
73 double H;
74 double V;
75 double P;
76 double T;
77 double G;
78 };
79
80 class t_datumTrafo {
81 public:
82 t_datumTrafo () {
83 initIndices();
84 }
85 ~t_datumTrafo () {
86
87 }
88
89 void initIndices() {
90 _firstRow = 1; _lastRow = 0;
91 }
92
93 void setFirstSystem(char firstSys) {
94 _firstSys = firstSys;
95 }
96
97 bool firstSystem(char sys) {
98 if (_firstSys == sys) {
99 return true;
100 }
101 return false;
102 }
103
104 void updateIndices(char sys, int maxObsSys) {
105 if (firstSystem(sys)) {
106 initIndices();
107 }
108 else {
109 _firstRow = _lastRow + 1;
110 }
111 _lastRow += maxObsSys;//LOG << "updateIndices: lastRow: " << _lastRow << endl;
112 };
113
114 void setNumObs(int maxObs) {_maxObs = maxObs;}
115 void setNumPar(int numPar) { _numPar = numPar;}
116 void setLastEpoParlist(t_pppParlist* parlist) {_parlist = parlist;}
117 t_pppParlist* lastEpoParlist() {return _parlist;}
118 int numPar() {return _numPar;}
119 int numObs() {return _maxObs;}
120 void updateNumObs() {//LOG << "updateObsNum _maxObs " << _maxObs;
121 _maxObs = _lastRow;//LOG << "=> _maxObs " << _maxObs << " _numPar: " << _numPar << endl;
122 _AA1 = _AA1.SubMatrix(1, _lastRow, 1, _numPar);
123 _AA2 = _AA2.SubMatrix(1, _lastRow, 1, _numPar);
124 }
125
126 const Matrix& AA1() {return _AA1;}
127 const Matrix& AA2() {return _AA2;}
128 const Matrix& D21() {return _D21;}
129
130 void initAA() {//LOG << "initAA: _maxObs: " << _maxObs << " _numPar: " << _numPar << endl;
131 _AA1.ReSize(_maxObs, _numPar); _AA1 = 0.0;
132 _AA2.ReSize(_maxObs, _numPar); _AA2 = 0.0;
133 _D21.ReSize(_numPar, _numPar); _D21 = 0.0;
134 }
135
136 void prepareAA(const Matrix& AA, int ind) {
137 Matrix* Prep = &_AA2;
138 if (ind == 1) {
139 Prep = &_AA1;
140 }
141 Prep->SubMatrix(_firstRow, _lastRow, 1, _numPar) << AA;
142 }
143
144 void switchAA() {
145 _AA1 = _AA2;
146 }
147
148 t_irc computeTrafoMatrix() {
149 if (((_AA2.t() * _AA2)).Determinant() == 0.0) {
150 LOG << "(_AA2.t() * _AA2).inv() is singular" << endl;
151 return failure;
152 }
153 _D21 = ((_AA2.t() * _AA2).i()) * _AA2.t() * _AA1;
154 return success;
155 }
156
157 void printMatrix(const Matrix& X, int nRow, int nCol) {
158 for (int rr = 0; rr < nRow; rr++) {
159 for (int cc = 0; cc < nCol; cc++) {
160 LOG << setw(6) << setprecision(3) << X[rr][cc] << " ;";
161 }
162 LOG << endl;
163 }
164 LOG << endl;
165 }
166 private:
167 int _firstRow;
168 int _lastRow;
169 Matrix _AA1;
170 Matrix _AA2;
171 Matrix _D21;
172 char _firstSys;
173 int _maxObs;
174 int _numPar;
175 QMap<char, t_prn> _refSatMapPseudoObs;
176 t_pppParlist* _parlist;
177 };
178
179 t_irc processSystem(const std::vector<t_lc::type>& LCs,
180 const std::vector<t_pppSatObs*>& obsVector,
181 const t_prn& refPrn,
182 bool pseudoObsIonoAvailable,
183 bool preProcessing);
184
185 t_irc detectCycleSlips(const std::vector<t_lc::type>& LCs,
186 const std::vector<t_pppSatObs*>& obsVector,
187 const t_prn& refPrn,
188 bool preProcessing);
189
190 t_irc resetAmb(t_prn prn, const std::vector<t_pppSatObs*>& obsVector,
191 SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0);
192
193 void cmpDOP(const std::vector<t_pppSatObs*>& obsVector);
194
195 void predictCovCrdPart(const SymmetricMatrix& QFltOld);
196
197 t_irc addNoiseToIono(char sys);
198
199 bool resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector);
200
201 bncTime _epoTime;
202 t_pppParlist* _parlist;
203 t_pppObsPool* _obsPool;
204 t_datumTrafo* _datumTrafo;
205 SymmetricMatrix _QFlt;
206 ColumnVector _xFlt;
207 ColumnVector _x0;
208 t_slip _slips[t_prn::MAXPRN+1];
209 int _numSat;
210 t_dop _dop;
211 bncTime _firstEpoTime;
212 bncTime _lastEpoTimeOK;
213 t_prn _refPrn;
214};
215
216}
217
218#endif
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