[7237] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: t_pppParlist
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| 6 | *
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| 7 | * Purpose: List of estimated parameters
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Jul-2014
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <cmath>
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| 18 | #include <iostream>
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| 19 | #include <sstream>
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| 20 | #include <iomanip>
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| 21 | #include <algorithm>
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| 22 | #include <newmatio.h>
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| 23 |
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| 24 | #include "pppParlist.h"
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| 25 | #include "pppSatObs.h"
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| 26 | #include "pppStation.h"
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| 27 | #include "bncutils.h"
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| 28 | #include "bncconst.h"
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| 29 | #include "pppClient.h"
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| 30 |
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| 31 | using namespace BNC_PPP;
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| 32 | using namespace std;
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| 33 |
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| 34 | // Constructor
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| 35 | ////////////////////////////////////////////////////////////////////////////
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| 36 | t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
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[9504] | 37 | const vector<t_pppSatObs*>* obsVector) {
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[7237] | 38 |
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| 39 | _type = type;
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| 40 | _prn = prn;
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| 41 | _tLC = tLC;
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| 42 | _x0 = 0.0;
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| 43 | _indexOld = -1;
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| 44 | _indexNew = -1;
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| 45 | _noise = 0.0;
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| 46 | _ambInfo = 0;
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| 47 |
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| 48 | switch (_type) {
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| 49 | case crdX:
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| 50 | _epoSpec = false;
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| 51 | _sigma0 = OPT->_aprSigCrd[0];
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| 52 | _noise = OPT->_noiseCrd[0];
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| 53 | break;
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| 54 | case crdY:
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| 55 | _epoSpec = false;
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| 56 | _sigma0 = OPT->_aprSigCrd[1];
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| 57 | _noise = OPT->_noiseCrd[1];
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| 58 | break;
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| 59 | case crdZ:
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| 60 | _epoSpec = false;
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| 61 | _sigma0 = OPT->_aprSigCrd[2];
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| 62 | _noise = OPT->_noiseCrd[2];
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| 63 | break;
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[10002] | 64 | case clkR:
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[7237] | 65 | _epoSpec = true;
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[9303] | 66 | _sigma0 = OPT->_aprSigClk;
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[7237] | 67 | break;
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| 68 | case amb:
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| 69 | _epoSpec = false;
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| 70 | _sigma0 = OPT->_aprSigAmb;
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| 71 | _ambInfo = new t_ambInfo();
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| 72 | if (obsVector) {
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| 73 | for (unsigned ii = 0; ii < obsVector->size(); ii++) {
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| 74 | const t_pppSatObs* obs = obsVector->at(ii);
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| 75 | if (obs->prn() == _prn) {
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[10002] | 76 | double offGG = 0;
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| 77 | if (_prn.system() == 'R' && tLC != t_lc::MW) {
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| 78 | offGG = PPP_CLIENT->offGG();
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| 79 | }
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| 80 | _x0 = floor((obs->obsValue(tLC) - offGG - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
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[7237] | 81 | break;
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| 82 | }
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| 83 | }
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| 84 | }
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| 85 | break;
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[10002] | 86 | case offGG:
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| 87 | _epoSpec = true;
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| 88 | _sigma0 = OPT->_aprSigClk;
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| 89 | _x0 = PPP_CLIENT->offGG();
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| 90 | break;
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[7237] | 91 | case trp:
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| 92 | _epoSpec = false;
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| 93 | _sigma0 = OPT->_aprSigTrp;
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| 94 | _noise = OPT->_noiseTrp;
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| 95 | break;
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[8905] | 96 | case ion:
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[9439] | 97 | _epoSpec = false;
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[9386] | 98 | _sigma0 = OPT->_aprSigIon;
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[9439] | 99 | _noise = OPT->_noiseIon;
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[8905] | 100 | break;
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[9644] | 101 | case cBiasG1: case cBiasR1: case cBiasE1: case cBiasC1:
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| 102 | case cBiasG2: case cBiasR2: case cBiasE2: case cBiasC2:
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| 103 | _epoSpec = false;
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| 104 | _sigma0 = OPT->_aprSigCodeBias;
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| 105 | _noise = OPT->_noiseCodeBias;
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| 106 | break;
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| 107 | case pBiasG1: case pBiasR1: case pBiasE1: case pBiasC1:
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| 108 | case pBiasG2: case pBiasR2: case pBiasE2: case pBiasC2:
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| 109 | _epoSpec = false;
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| 110 | _sigma0 = OPT->_aprSigPhaseBias;
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| 111 | _noise = OPT->_noisePhaseBias;
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| 112 | break;
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[7237] | 113 | }
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| 114 | }
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| 115 |
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[9504] | 116 | //
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| 117 | ////////////////////////////////////////////////////////////////////////////
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| 118 | t_pppParam::t_pppParam(const t_pppParam* old) {
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| 119 | _type = old->type();
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| 120 | _prn = old->prn();
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| 121 | _tLC = old->tLC();
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| 122 | _indexOld = old->indexOld();
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| 123 | _indexNew = old->indexNew();
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| 124 | _noise = old->noise();
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| 125 | _sigma0 = old->sigma0();
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| 126 | _epoSpec = old->epoSpec();
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[9508] | 127 | _x0 = old->x0();
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| 128 | setFirstObsTime(old->firstObsTime());
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| 129 | setLastObsTime(old->lastObsTime());
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[9504] | 130 | _ambInfo = 0;
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| 131 | if (_type == t_pppParam::amb) {
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| 132 | _ambInfo = new t_ambInfo();
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| 133 | _ambInfo->_resetCandidate = old->_ambInfo->_resetCandidate;
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| 134 | _ambInfo->_eleSat = old->_ambInfo->_eleSat;
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| 135 | _ambInfo->_numEpo = old->_ambInfo->_numEpo;
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| 136 | }
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| 137 | }
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| 138 |
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[7237] | 139 | // Destructor
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| 140 | ////////////////////////////////////////////////////////////////////////////
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| 141 | t_pppParam::~t_pppParam() {
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[9504] | 142 | if (_ambInfo) {
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| 143 | delete _ambInfo;
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| 144 | }
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[7237] | 145 | }
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| 146 | //
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| 147 | ////////////////////////////////////////////////////////////////////////////
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| 148 | double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
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[8956] | 149 | const t_lc::type& tLC, const t_prn refPrn) const {
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[7237] | 150 |
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| 151 | // Special Case - Melbourne-Wuebbena
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| 152 | // ---------------------------------
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| 153 | if (tLC == t_lc::MW && _type != amb) {
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| 154 | return 0.0;
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| 155 | }
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| 156 |
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| 157 | const t_pppStation* sta = PPP_CLIENT->staRover();
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[8905] | 158 | ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
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[7237] | 159 |
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[8905] | 160 | map<t_frequency::type, double> codeCoeff;
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| 161 | map<t_frequency::type, double> phaseCoeff;
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| 162 | map<t_frequency::type, double> ionoCoeff;
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| 163 | obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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| 164 |
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[7237] | 165 | switch (_type) {
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| 166 | case crdX:
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[9548] | 167 | if (tLC == t_lc::GIM) {return 0.0;}
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[8905] | 168 | return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
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[7237] | 169 | case crdY:
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[9548] | 170 | if (tLC == t_lc::GIM) {return 0.0;}
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[8905] | 171 | return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
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[7237] | 172 | case crdZ:
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[9548] | 173 | if (tLC == t_lc::GIM) {return 0.0;}
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[8905] | 174 | return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
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[10002] | 175 | case clkR:
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[9548] | 176 | if (tLC == t_lc::GIM) {return 0.0;}
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[10002] | 177 | return 1.0;
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| 178 | case offGG:
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[9548] | 179 | if (tLC == t_lc::GIM) {return 0.0;}
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[7237] | 180 | return (obs->prn().system() == 'R') ? 1.0 : 0.0;
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| 181 | case amb:
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[9548] | 182 | if (tLC == t_lc::GIM) {return 0.0;}
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[8905] | 183 | else if ((OPT->_obsModelType == OPT->IF) ||
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| 184 | (OPT->_obsModelType == OPT->PPPRTK) ||
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| 185 | (OPT->_obsModelType == OPT->UncombPPP) ||
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| 186 | (OPT->_obsModelType == OPT->DCMcodeBias && !obs->isReference()) ||
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| 187 | (OPT->_obsModelType == OPT->DCMphaseBias && !obs->isReference()) ) {
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[9386] | 188 |
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[8905] | 189 | if (obs->prn() == _prn) {
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| 190 | if (tLC == _tLC) {
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| 191 | return (obs->lambda(tLC));
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| 192 | }
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| 193 | else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
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| 194 | return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
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| 195 | }
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| 196 | else {
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| 197 | if (_tLC == t_lc::l1) {
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| 198 | return obs->lambda(t_lc::l1) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
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| 199 | }
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| 200 | else if (_tLC == t_lc::l2) {
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| 201 | return obs->lambda(t_lc::l2) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
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| 202 | }
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| 203 | }
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| 204 | }
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| 205 | }
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| 206 | break;
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| 207 | case trp:
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[8961] | 208 | if (tLC == t_lc::GIM) {
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| 209 | return 0.0;
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| 210 | }
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| 211 | else {
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| 212 | return 1.0 / sin(obs->eleSat());
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| 213 | }
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[8905] | 214 | case ion:
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[7237] | 215 | if (obs->prn() == _prn) {
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[8905] | 216 | if (tLC == t_lc::c1) {
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| 217 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c1)];
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[7237] | 218 | }
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[8905] | 219 | else if (tLC == t_lc::c2) {
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| 220 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c2)];
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[7237] | 221 | }
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[8905] | 222 | else if (tLC == t_lc::l1) {
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| 223 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
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[7237] | 224 | }
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[8905] | 225 | else if (tLC == t_lc::l2) {
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| 226 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
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| 227 | }
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| 228 | else if (tLC == t_lc::GIM) {
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| 229 | return -1.0;
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| 230 | }
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[7237] | 231 | }
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[8956] | 232 | if (tLC == t_lc::GIM && _prn == refPrn) {
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[8961] | 233 | return 1.0;
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[8905] | 234 | }
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| 235 | break;
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[9386] | 236 | case cBiasG1:
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| 237 | if ((obs->prn().system() == 'G') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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[8905] | 238 | break;
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[9561] | 239 | case cBiasR1:
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| 240 | if ((obs->prn().system() == 'R') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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| 241 | break;
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[9386] | 242 | case cBiasE1:
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| 243 | if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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[8905] | 244 | break;
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[9386] | 245 | case cBiasC1:
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| 246 | if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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| 247 | break;
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| 248 | case cBiasG2:
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| 249 | if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 250 | break;
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[9561] | 251 | case cBiasR2:
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| 252 | if ((obs->prn().system() == 'R') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 253 | break;
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[9386] | 254 | case cBiasE2:
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| 255 | if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 256 | break;
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| 257 | case cBiasC2:
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| 258 | if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 259 | break;
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| 260 | case pBiasG1:
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| 261 | if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 262 | break;
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[9561] | 263 | case pBiasR1:
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| 264 | if ((obs->prn().system() == 'R') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 265 | break;
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[9386] | 266 | case pBiasE1:
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| 267 | if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 268 | break;
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| 269 | case pBiasC1:
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| 270 | if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 271 | break;
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| 272 | case pBiasG2:
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| 273 | if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 274 | break;
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[9561] | 275 | case pBiasR2:
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| 276 | if ((obs->prn().system() == 'R') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 277 | break;
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[9386] | 278 | case pBiasE2:
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| 279 | if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 280 | break;
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| 281 | case pBiasC2:
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| 282 | if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 283 | break;
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| 284 |
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[7237] | 285 | }
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| 286 | return 0.0;
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| 287 | }
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| 288 |
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| 289 | //
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| 290 | ////////////////////////////////////////////////////////////////////////////
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| 291 | string t_pppParam::toString() const {
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| 292 | stringstream ss;
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| 293 | switch (_type) {
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| 294 | case crdX:
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| 295 | ss << "CRD_X";
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| 296 | break;
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| 297 | case crdY:
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| 298 | ss << "CRD_Y";
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| 299 | break;
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| 300 | case crdZ:
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| 301 | ss << "CRD_Z";
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| 302 | break;
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[10002] | 303 | case clkR:
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| 304 | ss << "REC_CLK ";
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[7237] | 305 | break;
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[10002] | 306 | case offGG:
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| 307 | ss << "OFF_GLO ";
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[7237] | 308 | break;
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| 309 | case trp:
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[9386] | 310 | ss << "TRP ";
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[7237] | 311 | break;
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[8905] | 312 | case amb:
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| 313 | ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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| 314 | break;
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| 315 | case ion:
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| 316 | ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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| 317 | break;
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[9386] | 318 | case cBiasG1: case pBiasG1:
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| 319 | case cBiasG2: case pBiasG2:
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| 320 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
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[8905] | 321 | break;
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[9561] | 322 | case cBiasR1: case pBiasR1:
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| 323 | case cBiasR2: case pBiasR2:
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| 324 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " R ";
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| 325 | break;
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[9386] | 326 | case cBiasE1: case pBiasE1:
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| 327 | case cBiasE2: case pBiasE2:
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| 328 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
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| 329 | break;
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| 330 | case cBiasC1: case pBiasC1:
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| 331 | case cBiasC2: case pBiasC2:
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| 332 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
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| 333 | break;
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[7237] | 334 | }
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| 335 | return ss.str();
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| 336 | }
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| 337 |
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| 338 | // Constructor
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| 339 | ////////////////////////////////////////////////////////////////////////////
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| 340 | t_pppParlist::t_pppParlist() {
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| 341 | }
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| 342 |
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| 343 | // Destructor
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| 344 | ////////////////////////////////////////////////////////////////////////////
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| 345 | t_pppParlist::~t_pppParlist() {
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[9504] | 346 | _usedSystems.clear();
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| 347 |
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| 348 | vector<t_pppParam*>::iterator it = _params.begin();
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| 349 | while (it != _params.end()) {
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| 350 | t_pppParam* par = *it;
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| 351 | delete par;
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| 352 | it = _params.erase(it);
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[7237] | 353 | }
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| 354 | }
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| 355 |
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| 356 | //
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| 357 | ////////////////////////////////////////////////////////////////////////////
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[9504] | 358 | t_pppParlist::t_pppParlist(const t_pppParlist& old) {
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| 359 |
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| 360 | _usedSystems = old._usedSystems;
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| 361 |
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| 362 | vector<t_pppParam*>::const_iterator it = old.params().begin();
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| 363 | while (it != old.params().end()) {
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| 364 | const t_pppParam* oldParam = *it;
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| 365 | _params.push_back(new t_pppParam(oldParam));
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| 366 | }
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| 367 | }
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| 368 |
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| 369 | //
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| 370 | ////////////////////////////////////////////////////////////////////////////
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| 371 | const t_pppParlist& t_pppParlist::operator= (const t_pppParlist& p) {
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| 372 |
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| 373 | _usedSystems.clear();
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| 374 |
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| 375 | _usedSystems = p._usedSystems;
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| 376 |
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| 377 | vector<t_pppParam*>::iterator it = _params.begin();
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| 378 | while (it != _params.end()) {
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| 379 | t_pppParam* par = *it;
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| 380 | delete par;
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| 381 | it = _params.erase(it);
|
---|
| 382 | }
|
---|
| 383 |
|
---|
| 384 | for (unsigned jj = 0; jj < p.params().size(); jj++) {
|
---|
| 385 | t_pppParam* parFrom = p.params()[jj];
|
---|
| 386 | _params.push_back(new t_pppParam(parFrom));
|
---|
| 387 | }
|
---|
| 388 | return *this;
|
---|
| 389 | }
|
---|
| 390 |
|
---|
| 391 | //
|
---|
| 392 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9419] | 393 | t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector,
|
---|
[8956] | 394 | const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
[7237] | 395 |
|
---|
| 396 | // Remove some Parameters
|
---|
| 397 | // ----------------------
|
---|
| 398 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
| 399 | while (it != _params.end()) {
|
---|
| 400 | t_pppParam* par = *it;
|
---|
| 401 |
|
---|
| 402 | bool remove = false;
|
---|
| 403 |
|
---|
| 404 | if (par->epoSpec()) {
|
---|
| 405 | remove = true;
|
---|
| 406 | }
|
---|
| 407 |
|
---|
[8956] | 408 | else if (par->type() == t_pppParam::crdX ||
|
---|
[7988] | 409 | par->type() == t_pppParam::crdY ||
|
---|
| 410 | par->type() == t_pppParam::crdZ) {
|
---|
[7973] | 411 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
[7237] | 412 | remove = true;
|
---|
| 413 | }
|
---|
| 414 | }
|
---|
[9419] | 415 |
|
---|
[8956] | 416 | else if (par->type() == t_pppParam::amb) {
|
---|
[9545] | 417 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
| 418 | remove = true;
|
---|
| 419 | }
|
---|
[9494] | 420 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 421 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
[9508] | 422 | char sys = par->prn().system();
|
---|
| 423 | t_prn refPrn = (refSatMap[sys])->prn();
|
---|
[9527] | 424 | if (par->lastObsTime().valid() && par->prn() == refPrn) {
|
---|
[9419] | 425 | remove = true;
|
---|
| 426 | }
|
---|
[8956] | 427 | }
|
---|
| 428 | }
|
---|
[7237] | 429 |
|
---|
[9447] | 430 | else if (par->type() == t_pppParam::ion) {
|
---|
[9527] | 431 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
| 432 | remove = true;
|
---|
[9447] | 433 | }
|
---|
| 434 | }
|
---|
[7237] | 435 | if (remove) {
|
---|
[9508] | 436 | #ifdef BNC_DEBUG_PPP
|
---|
[9527] | 437 | LOG << "remove0 " << par->toString() << std::endl;
|
---|
[9508] | 438 | #endif
|
---|
[7237] | 439 | delete par;
|
---|
| 440 | it = _params.erase(it);
|
---|
| 441 | }
|
---|
| 442 | else {
|
---|
| 443 | ++it;
|
---|
| 444 | }
|
---|
| 445 | }
|
---|
| 446 |
|
---|
[9532] | 447 | // check which systems have observations
|
---|
| 448 | // -------------------------------------
|
---|
| 449 | _usedSystems.clear();
|
---|
| 450 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 451 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[9533] | 452 | char sys = satObs->prn().system();
|
---|
[9532] | 453 | if (!_usedSystems.contains(sys)) {
|
---|
| 454 | _usedSystems.append(sys);
|
---|
| 455 | }
|
---|
| 456 | }
|
---|
| 457 |
|
---|
[7237] | 458 | // Check whether parameters have observations
|
---|
| 459 | // ------------------------------------------
|
---|
| 460 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 461 | t_pppParam* par = _params[ii];
|
---|
| 462 | if (par->prn() == 0) {
|
---|
| 463 | par->setLastObsTime(epoTime);
|
---|
| 464 | if (par->firstObsTime().undef()) {
|
---|
| 465 | par->setFirstObsTime(epoTime);
|
---|
| 466 | }
|
---|
| 467 | }
|
---|
| 468 | else {
|
---|
| 469 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 470 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 471 | if (satObs->prn() == par->prn()) {
|
---|
| 472 | par->setLastObsTime(epoTime);
|
---|
| 473 | if (par->firstObsTime().undef()) {
|
---|
| 474 | par->setFirstObsTime(epoTime);
|
---|
| 475 | }
|
---|
| 476 | break;
|
---|
| 477 | }
|
---|
| 478 | }
|
---|
| 479 | }
|
---|
| 480 | }
|
---|
| 481 |
|
---|
[9527] | 482 |
|
---|
[9419] | 483 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 484 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
[9527] | 485 | // Check if ambiguity parameters have observations
|
---|
| 486 | // -----------------------------------------------
|
---|
[9419] | 487 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
[9527] | 488 | QList<t_prn> lostSats;
|
---|
[9419] | 489 | while (it != _params.end()) {
|
---|
| 490 | t_pppParam* par = *it;
|
---|
[9527] | 491 | if ((par->type() == t_pppParam::amb) &&
|
---|
[9528] | 492 | (!par->lastObsTime().valid() || (epoTime - par->lastObsTime() > 0.0))) {
|
---|
[9534] | 493 | #ifdef BNC_DEBUG_PPP
|
---|
[9527] | 494 | LOG << "remove1 " << par->toString() << std::endl;
|
---|
[9534] | 495 | #endif
|
---|
[9527] | 496 | lostSats.append(par->prn());
|
---|
[9419] | 497 | delete par;
|
---|
| 498 | it = _params.erase(it);
|
---|
| 499 | }
|
---|
[9532] | 500 | // Check if systems have to be presented per biases
|
---|
[9535] | 501 | // ----------------------------------------------
|
---|
[9532] | 502 | else if ((par->type() == t_pppParam::cBiasG1 ||
|
---|
| 503 | par->type() == t_pppParam::cBiasG2 ||
|
---|
| 504 | par->type() == t_pppParam::pBiasG1 ||
|
---|
| 505 | par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('G')) {
|
---|
[9534] | 506 | #ifdef BNC_DEBUG_PPP
|
---|
| 507 | LOG << "remove1 " << par->toString() << std::endl;
|
---|
| 508 | #endif
|
---|
[9548] | 509 | delete par;
|
---|
| 510 | it = _params.erase(it);
|
---|
[9532] | 511 | }
|
---|
[9561] | 512 | else if ((par->type() == t_pppParam::cBiasR1 ||
|
---|
| 513 | par->type() == t_pppParam::cBiasR2 ||
|
---|
| 514 | par->type() == t_pppParam::pBiasR1 ||
|
---|
| 515 | par->type() == t_pppParam::pBiasR2) && !usedSystems().contains('R')) {
|
---|
| 516 | #ifdef BNC_DEBUG_PPP
|
---|
| 517 | LOG << "remove1 " << par->toString() << std::endl;
|
---|
| 518 | #endif
|
---|
| 519 | delete par;
|
---|
| 520 | it = _params.erase(it);
|
---|
| 521 | }
|
---|
[9532] | 522 | else if ((par->type() == t_pppParam::cBiasE1 ||
|
---|
| 523 | par->type() == t_pppParam::cBiasE2 ||
|
---|
| 524 | par->type() == t_pppParam::pBiasE1 ||
|
---|
| 525 | par->type() == t_pppParam::pBiasE2) && !usedSystems().contains('E')) {
|
---|
[9534] | 526 | #ifdef BNC_DEBUG_PPP
|
---|
| 527 | LOG << "remove1 " << par->toString() << std::endl;
|
---|
| 528 | #endif
|
---|
[9548] | 529 | delete par;
|
---|
| 530 | it = _params.erase(it);
|
---|
[9532] | 531 | }
|
---|
| 532 | else if ((par->type() == t_pppParam::cBiasC1 ||
|
---|
| 533 | par->type() == t_pppParam::cBiasC2 ||
|
---|
| 534 | par->type() == t_pppParam::pBiasC1 ||
|
---|
[9548] | 535 | par->type() == t_pppParam::pBiasC2) && !usedSystems().contains('C')) {
|
---|
[9534] | 536 | #ifdef BNC_DEBUG_PPP
|
---|
| 537 | LOG << "remove1 " << par->toString() << std::endl;
|
---|
| 538 | #endif
|
---|
[9548] | 539 | delete par;
|
---|
| 540 | it = _params.erase(it);
|
---|
[9532] | 541 | }
|
---|
[9419] | 542 | else {
|
---|
| 543 | ++it;
|
---|
| 544 | }
|
---|
| 545 | }
|
---|
[9527] | 546 | // remove respective iono parameters
|
---|
| 547 | // ---------------------------------
|
---|
| 548 | it = _params.begin();
|
---|
| 549 | while (it != _params.end()) {
|
---|
| 550 | t_pppParam* par = *it;
|
---|
| 551 | if ((par->type() == t_pppParam::ion) &&
|
---|
[9528] | 552 | (lostSats.contains(par->prn()) || (epoTime - par->lastObsTime() > 0.0))) {
|
---|
[9549] | 553 | #ifdef BNC_DEBUG_PPP
|
---|
[9527] | 554 | LOG << "remove1 " << par->toString() << std::endl;
|
---|
[9549] | 555 | #endif
|
---|
[9527] | 556 | delete par;
|
---|
| 557 | it = _params.erase(it);
|
---|
| 558 | }
|
---|
| 559 | else {
|
---|
| 560 | ++it;
|
---|
| 561 | }
|
---|
| 562 | }
|
---|
[9419] | 563 | }
|
---|
| 564 |
|
---|
| 565 |
|
---|
[7237] | 566 | // Required Set of Parameters
|
---|
| 567 | // --------------------------
|
---|
| 568 | vector<t_pppParam*> required;
|
---|
| 569 |
|
---|
| 570 | // Coordinates
|
---|
| 571 | // -----------
|
---|
| 572 | required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
|
---|
| 573 | required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
|
---|
| 574 | required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
|
---|
| 575 |
|
---|
[9386] | 576 | // Receiver Code Biases
|
---|
| 577 | // --------------------
|
---|
| 578 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
[9494] | 579 | std::vector<t_lc::type> lc;
|
---|
[9419] | 580 | if (_usedSystems.contains('G')) {
|
---|
[9494] | 581 | lc = OPT->LCs('G');
|
---|
| 582 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 583 | required.push_back(new t_pppParam(t_pppParam::cBiasG1, t_prn(), t_lc::c1));
|
---|
| 584 | }
|
---|
| 585 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 586 | required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
|
---|
| 587 | }
|
---|
[9663] | 588 | }
|
---|
[9561] | 589 | if (_usedSystems.contains('R')) {
|
---|
| 590 | lc = OPT->LCs('R');
|
---|
| 591 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 592 | required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
|
---|
| 593 | }
|
---|
| 594 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 595 | required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
|
---|
| 596 | }
|
---|
[9663] | 597 | }
|
---|
[9419] | 598 | if (_usedSystems.contains('E')) {
|
---|
[9494] | 599 | lc = OPT->LCs('E');
|
---|
| 600 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 601 | required.push_back(new t_pppParam(t_pppParam::cBiasE1, t_prn(), t_lc::c1));
|
---|
| 602 | }
|
---|
| 603 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 604 | required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
|
---|
| 605 | }
|
---|
[9386] | 606 | }
|
---|
[9419] | 607 | if (_usedSystems.contains('C')) {
|
---|
[9494] | 608 | lc = OPT->LCs('C');
|
---|
| 609 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 610 | required.push_back(new t_pppParam(t_pppParam::cBiasC1, t_prn(), t_lc::c1));
|
---|
| 611 | }
|
---|
| 612 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 613 | required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
|
---|
| 614 | }
|
---|
[9386] | 615 | }
|
---|
| 616 | }
|
---|
| 617 |
|
---|
| 618 | // Receiver Phase Biases
|
---|
| 619 | // ---------------------
|
---|
| 620 | if ((OPT->_obsModelType == OPT->DCMphaseBias) ||
|
---|
| 621 | (OPT->_obsModelType == OPT->PPPRTK) ) {
|
---|
[9494] | 622 | std::vector<t_lc::type> lc;
|
---|
[9419] | 623 | if (_usedSystems.contains('G')) {
|
---|
[9494] | 624 | lc = OPT->LCs('G');
|
---|
| 625 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 626 | required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
|
---|
| 627 | }
|
---|
| 628 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 629 | required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
|
---|
| 630 | }
|
---|
[9663] | 631 | }
|
---|
[9561] | 632 | if (_usedSystems.contains('R')) {
|
---|
| 633 | lc = OPT->LCs('R');
|
---|
| 634 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 635 | required.push_back(new t_pppParam(t_pppParam::pBiasR1, t_prn(), t_lc::l1));
|
---|
| 636 | }
|
---|
| 637 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 638 | required.push_back(new t_pppParam(t_pppParam::pBiasR2, t_prn(), t_lc::l2));
|
---|
| 639 | }
|
---|
[9663] | 640 | }
|
---|
[9419] | 641 | if (_usedSystems.contains('E')) {
|
---|
[9494] | 642 | lc = OPT->LCs('E');
|
---|
| 643 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 644 | required.push_back(new t_pppParam(t_pppParam::pBiasE1, t_prn(), t_lc::l1));
|
---|
| 645 | }
|
---|
| 646 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 647 | required.push_back(new t_pppParam(t_pppParam::pBiasE2, t_prn(), t_lc::l2));
|
---|
| 648 | }
|
---|
[9386] | 649 | }
|
---|
[9419] | 650 | if (_usedSystems.contains('C')) {
|
---|
[9494] | 651 | lc = OPT->LCs('C');
|
---|
| 652 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 653 | required.push_back(new t_pppParam(t_pppParam::pBiasC1, t_prn(), t_lc::l1));
|
---|
| 654 | }
|
---|
| 655 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 656 | required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2));
|
---|
| 657 | }
|
---|
[9386] | 658 | }
|
---|
| 659 | }
|
---|
[9419] | 660 |
|
---|
[10002] | 661 | // Receiver Clock
|
---|
| 662 | // --------------
|
---|
| 663 | required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
|
---|
[7237] | 664 |
|
---|
[10002] | 665 | // GPS-Glonass Clock Offset
|
---|
| 666 | // ------------------------
|
---|
| 667 | if (OPT->useSystem('R')) {
|
---|
| 668 | required.push_back(new t_pppParam(t_pppParam::offGG, t_prn(), t_lc::dummy));
|
---|
[9569] | 669 | }
|
---|
[7237] | 670 |
|
---|
| 671 | // Troposphere
|
---|
| 672 | // -----------
|
---|
| 673 | if (OPT->estTrp()) {
|
---|
| 674 | required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
|
---|
| 675 | }
|
---|
| 676 |
|
---|
[8905] | 677 | // Ionosphere
|
---|
| 678 | // ----------
|
---|
| 679 | if (OPT->_obsModelType == OPT->UncombPPP ||
|
---|
| 680 | OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 681 | OPT->_obsModelType == OPT->DCMphaseBias ) {
|
---|
| 682 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
[9386] | 683 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[8905] | 684 | required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
|
---|
| 685 | }
|
---|
| 686 | }
|
---|
[7237] | 687 | // Ambiguities
|
---|
| 688 | // -----------
|
---|
| 689 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
[9419] | 690 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[8905] | 691 | if ((OPT->_obsModelType == OPT->IF) ||
|
---|
| 692 | (OPT->_obsModelType == OPT->PPPRTK) ||
|
---|
| 693 | (OPT->_obsModelType == OPT->UncombPPP) ||
|
---|
| 694 | (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
|
---|
| 695 | (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
|
---|
| 696 | const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
|
---|
| 697 | for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
|
---|
| 698 | required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
|
---|
| 699 | }
|
---|
[7237] | 700 | }
|
---|
| 701 | }
|
---|
| 702 |
|
---|
| 703 | // Check if all required parameters are present
|
---|
| 704 | // --------------------------------------------
|
---|
| 705 | for (unsigned ii = 0; ii < required.size(); ii++) {
|
---|
| 706 | t_pppParam* parReq = required[ii];
|
---|
| 707 |
|
---|
| 708 | bool found = false;
|
---|
| 709 | for (unsigned jj = 0; jj < _params.size(); jj++) {
|
---|
| 710 | t_pppParam* parOld = _params[jj];
|
---|
| 711 | if (parOld->isEqual(parReq)) {
|
---|
| 712 | found = true;
|
---|
| 713 | break;
|
---|
| 714 | }
|
---|
| 715 | }
|
---|
| 716 | if (found) {
|
---|
| 717 | delete parReq;
|
---|
| 718 | }
|
---|
| 719 | else {
|
---|
[9508] | 720 | #ifdef BNC_DEBUG_PPP
|
---|
| 721 | LOG << "push_back parReq " << parReq->toString() << std::endl;
|
---|
| 722 | #endif
|
---|
[7237] | 723 | _params.push_back(parReq);
|
---|
| 724 | }
|
---|
| 725 | }
|
---|
| 726 |
|
---|
| 727 | // Set Parameter Indices
|
---|
| 728 | // ---------------------
|
---|
| 729 | sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
|
---|
| 730 |
|
---|
| 731 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 732 | t_pppParam* par = _params[ii];
|
---|
| 733 | par->setIndex(ii);
|
---|
| 734 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 735 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 736 | if (satObs->prn() == par->prn()) {
|
---|
| 737 | par->setAmbEleSat(satObs->eleSat());
|
---|
| 738 | par->stepAmbNumEpo();
|
---|
| 739 | }
|
---|
| 740 | }
|
---|
| 741 | }
|
---|
| 742 |
|
---|
| 743 | return success;
|
---|
| 744 | }
|
---|
| 745 |
|
---|
| 746 | //
|
---|
| 747 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 748 | void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
|
---|
| 749 | const ColumnVector& xx) const {
|
---|
| 750 |
|
---|
| 751 | string epoTimeStr = string(epoTime);
|
---|
| 752 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 753 |
|
---|
| 754 | LOG << endl;
|
---|
| 755 |
|
---|
| 756 | t_pppParam* parX = 0;
|
---|
| 757 | t_pppParam* parY = 0;
|
---|
| 758 | t_pppParam* parZ = 0;
|
---|
[9504] | 759 | vector<t_pppParam*>::const_iterator it = _params.begin();
|
---|
| 760 | while (it != _params.end()) {
|
---|
| 761 | t_pppParam* par = *it;
|
---|
[7237] | 762 | if (par->type() == t_pppParam::crdX) {
|
---|
| 763 | parX = par;
|
---|
| 764 | }
|
---|
| 765 | else if (par->type() == t_pppParam::crdY) {
|
---|
| 766 | parY = par;
|
---|
| 767 | }
|
---|
| 768 | else if (par->type() == t_pppParam::crdZ) {
|
---|
| 769 | parZ = par;
|
---|
| 770 | }
|
---|
| 771 | else {
|
---|
| 772 | int ind = par->indexNew();
|
---|
| 773 | double apr = (par->type() == t_pppParam::trp) ?
|
---|
| 774 | t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
|
---|
| 775 | LOG << epoTimeStr << ' ' << par->toString() << ' '
|
---|
| 776 | << setw(10) << setprecision(4) << apr << ' '
|
---|
| 777 | << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
|
---|
| 778 | << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
|
---|
| 779 | if (par->type() == t_pppParam::amb) {
|
---|
| 780 | LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
|
---|
| 781 | << " epo = " << setw(4) << par->ambNumEpo();
|
---|
| 782 | }
|
---|
| 783 | LOG << endl;
|
---|
| 784 | }
|
---|
[9504] | 785 | ++it;
|
---|
[7237] | 786 | }
|
---|
| 787 |
|
---|
| 788 | if (parX && parY && parZ) {
|
---|
| 789 |
|
---|
| 790 | ColumnVector xyz(3);
|
---|
| 791 | xyz[0] = xx[parX->indexNew()];
|
---|
| 792 | xyz[1] = xx[parY->indexNew()];
|
---|
| 793 | xyz[2] = xx[parZ->indexNew()];
|
---|
| 794 |
|
---|
| 795 | ColumnVector neu(3);
|
---|
| 796 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
|
---|
| 797 |
|
---|
| 798 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
|
---|
| 799 |
|
---|
| 800 | SymmetricMatrix QQneu(3);
|
---|
| 801 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
|
---|
| 802 |
|
---|
| 803 | LOG << epoTimeStr << ' ' << sta->name()
|
---|
| 804 | << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
|
---|
| 805 | << setprecision(4) << sqrt(QQxyz[0][0])
|
---|
| 806 |
|
---|
| 807 | << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
|
---|
| 808 | << setprecision(4) << sqrt(QQxyz[1][1])
|
---|
| 809 |
|
---|
| 810 | << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
|
---|
| 811 | << setprecision(4) << sqrt(QQxyz[2][2])
|
---|
| 812 |
|
---|
| 813 | << " dN = " << setprecision(4) << neu[0] << " +- "
|
---|
| 814 | << setprecision(4) << sqrt(QQneu[0][0])
|
---|
| 815 |
|
---|
| 816 | << " dE = " << setprecision(4) << neu[1] << " +- "
|
---|
| 817 | << setprecision(4) << sqrt(QQneu[1][1])
|
---|
| 818 |
|
---|
| 819 | << " dU = " << setprecision(4) << neu[2] << " +- "
|
---|
| 820 | << setprecision(4) << sqrt(QQneu[2][2])
|
---|
| 821 |
|
---|
| 822 | << endl;
|
---|
| 823 | }
|
---|
[9545] | 824 | return;
|
---|
[7237] | 825 | }
|
---|
| 826 |
|
---|
[9525] | 827 | //
|
---|
| 828 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9527] | 829 | void t_pppParlist::printParams(const bncTime& epoTime) {
|
---|
[9526] | 830 |
|
---|
| 831 | for (unsigned iPar = 0; iPar < _params.size(); iPar++) {
|
---|
[9527] | 832 | LOG << _params[iPar]->toString()
|
---|
| 833 | << "\t lastObsTime().valid() \t" << _params[iPar]->lastObsTime().valid()
|
---|
| 834 | << "\t epoTime - par->lastObsTime() \t" << (epoTime - _params[iPar]->lastObsTime())
|
---|
| 835 | << endl;
|
---|
[9525] | 836 | }
|
---|
| 837 | }
|
---|
| 838 |
|
---|