source: ntrip/trunk/BNC/src/PPP/pppFilter.h@ 9431

Last change on this file since 9431 was 9431, checked in by stuerze, 15 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: 5.3 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 const ColumnVector& x() const {return _xFlt;}
26 const SymmetricMatrix& Q() const {return _QFlt;}
27
28 t_irc datumTransformation();
29 void initDatumTransformation(const std::vector<t_pppSatObs*>& allObs, bool pseudoObsIono);
30 unsigned setTrafoObs();
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 () {initIndices();}
83 ~t_datumTrafo (){}
84
85 void initIndices() {_firstRow = 1; _lastRow = 0;}
86 void updateIndices(char sys, int maxObsSys) {
87 if (firstSystem(sys)) {
88 initIndices();
89 }
90 else {
91 _firstRow = _lastRow + 1;
92 }
93 _lastRow += maxObsSys;//LOG << "updateIndices: lastRow: " << _lastRow << endl;
94 };
95
96 void setFirstSystem(char firstSys) { _firstSys = firstSys;}
97 bool firstSystem(char sys) {
98 if (_firstSys == sys) {
99 return true;
100 }
101 return false;
102 }
103 void setNumObs(int maxObs) {_maxObs = maxObs;}
104 void setNumPar(int numPar) {_numPar = numPar;}
105 int numPar() {return _numPar;}
106 int numObs() {return _maxObs;}
107 void updateNumObs() {
108 _maxObs = _lastRow;
109 _AA1 = _AA1.SubMatrix(1, _lastRow, 1, _numPar);
110 _AA2 = _AA2.SubMatrix(1, _lastRow, 1, _numPar);
111 }
112
113 void setLastEpoParlist(t_pppParlist* parlist) {_parlist = parlist;}
114 t_pppParlist* lastEpoParlist() {return _parlist;}
115
116 const Matrix& AA1() {return _AA1;}
117 const Matrix& AA2() {return _AA2;}
118 const Matrix& D21() {return _D21;}
119
120 void initAA() {
121 _AA1.ReSize(_maxObs, _numPar); _AA1 = 0.0;
122 _AA2.ReSize(_maxObs, _numPar); _AA2 = 0.0;
123 _D21.ReSize(_numPar, _numPar); _D21 = 0.0;
124 }
125 void prepareAA(const Matrix& AA, int ind) {
126 Matrix* Prep = &_AA2;
127 if (ind == 1) {
128 Prep = &_AA1;
129 }
130 Prep->SubMatrix(_firstRow, _lastRow, 1, _numPar) << AA;
131 }
132 void switchAA() {
133 _AA1 = _AA2;
134 }
135 t_irc computeTrafoMatrix() {
136 if (((_AA2.t() * _AA2)).Determinant() == 0.0) {
137 LOG << "(_AA2.t() * _AA2).inv() is singular" << endl;
138 return failure;
139 }
140 _D21 = ((_AA2.t() * _AA2).i()) * _AA2.t() * _AA1;
141 return success;
142 }
143
144 void printMatrix(const Matrix& X, int nRow, int nCol) {
145 for (int rr = 0; rr < nRow; rr++) {
146 for (int cc = 0; cc < nCol; cc++) {
147 LOG << setw(6) << setprecision(3) << X[rr][cc] << " ;";
148 }
149 LOG << endl;
150 }
151 LOG << endl;
152 }
153 private:
154 int _firstRow;
155 int _lastRow;
156 Matrix _AA1;
157 Matrix _AA2;
158 Matrix _D21;
159 char _firstSys;
160 int _maxObs;
161 int _numPar;
162 QMap<char, t_prn> _refSatMapPseudoObs;
163 t_pppParlist* _parlist;
164 };
165
166 t_irc processSystem(const std::vector<t_lc::type>& LCs,
167 const std::vector<t_pppSatObs*>& obsVector,
168 const t_prn& refPrn,
169 bool pseudoObsIonoAvailable,
170 bool preProcessing);
171
172 t_irc detectCycleSlips(const std::vector<t_lc::type>& LCs,
173 const std::vector<t_pppSatObs*>& obsVector,
174 const t_prn& refPrn,
175 bool preProcessing);
176
177 t_irc resetAmb(t_prn prn, const std::vector<t_pppSatObs*>& obsVector,
178 SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0);
179
180 void cmpDOP(const std::vector<t_pppSatObs*>& obsVector);
181
182 void predictCovCrdPart(const SymmetricMatrix& QFltOld);
183
184 t_irc addNoiseToIono(char sys);
185
186 bool resetRefSatellitesLastEpoch(std::vector<t_pppSatObs*>& obsVector);
187
188 bncTime _epoTime;
189 t_pppParlist* _parlist;
190 t_pppObsPool* _obsPool;
191 t_datumTrafo* _datumTrafo;
192 SymmetricMatrix _QFlt;
193 ColumnVector _xFlt;
194 ColumnVector _x0;
195 t_slip _slips[t_prn::MAXPRN+1];
196 int _numSat;
197 t_dop _dop;
198 bncTime _firstEpoTime;
199 bncTime _lastEpoTimeOK;
200 t_prn _refPrn;
201};
202
203}
204
205#endif
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