[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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[10319] | 47 | double fac = 1.0;
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[7237] | 48 |
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| 49 | switch (_type) {
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| 50 | case crdX:
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| 51 | _epoSpec = false;
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| 52 | _sigma0 = OPT->_aprSigCrd[0];
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| 53 | _noise = OPT->_noiseCrd[0];
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| 54 | break;
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| 55 | case crdY:
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| 56 | _epoSpec = false;
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| 57 | _sigma0 = OPT->_aprSigCrd[1];
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| 58 | _noise = OPT->_noiseCrd[1];
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| 59 | break;
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| 60 | case crdZ:
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| 61 | _epoSpec = false;
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| 62 | _sigma0 = OPT->_aprSigCrd[2];
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| 63 | _noise = OPT->_noiseCrd[2];
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| 64 | break;
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[10256] | 65 | case rClk:
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[7237] | 66 | _epoSpec = true;
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[9303] | 67 | _sigma0 = OPT->_aprSigClk;
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[7237] | 68 | break;
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| 69 | case amb:
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[10319] | 70 | if (tLC == t_lc::lIF) {fac = 3.0;}
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[7237] | 71 | _epoSpec = false;
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[10319] | 72 | _sigma0 = fac * OPT->_aprSigAmb;
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[7237] | 73 | _ambInfo = new t_ambInfo();
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| 74 | if (obsVector) {
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| 75 | for (unsigned ii = 0; ii < obsVector->size(); ii++) {
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| 76 | const t_pppSatObs* obs = obsVector->at(ii);
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| 77 | if (obs->prn() == _prn) {
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[10256] | 78 | double offGlo = 0;
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| 79 | if (_prn.system() == 'R' && tLC != t_lc::MW) {
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| 80 | offGlo = PPP_CLIENT->offGlo();
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| 81 | }
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| 82 | double offGal = 0;
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| 83 | if (_prn.system() == 'E' && tLC != t_lc::MW) {
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| 84 | offGal = PPP_CLIENT->offGal();
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| 85 | }
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| 86 | double offBds = 0;
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| 87 | if (_prn.system() == 'C' && tLC != t_lc::MW) {
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| 88 | offBds = PPP_CLIENT->offBds();
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| 89 | }
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| 90 | _x0 = floor((obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
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[7237] | 91 | break;
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| 92 | }
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| 93 | }
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| 94 | }
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| 95 | break;
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[10256] | 96 | case offGlo:
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| 97 | _epoSpec = true;
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| 98 | _sigma0 = OPT->_aprSigClk;
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| 99 | _x0 = PPP_CLIENT->offGlo();
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| 100 | break;
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| 101 | case offGal:
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| 102 | _epoSpec = true;
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| 103 | _sigma0 = OPT->_aprSigClk;
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| 104 | _x0 = PPP_CLIENT->offGal();
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| 105 | break;
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| 106 | case offBds:
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| 107 | _epoSpec = true;
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| 108 | _sigma0 = OPT->_aprSigClk;
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| 109 | _x0 = PPP_CLIENT->offBds();
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| 110 | break;
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[7237] | 111 | case trp:
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| 112 | _epoSpec = false;
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| 113 | _sigma0 = OPT->_aprSigTrp;
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| 114 | _noise = OPT->_noiseTrp;
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| 115 | break;
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[8905] | 116 | case ion:
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[9439] | 117 | _epoSpec = false;
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[9386] | 118 | _sigma0 = OPT->_aprSigIon;
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[9439] | 119 | _noise = OPT->_noiseIon;
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[8905] | 120 | break;
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[9644] | 121 | case cBiasG1: case cBiasR1: case cBiasE1: case cBiasC1:
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| 122 | case cBiasG2: case cBiasR2: case cBiasE2: case cBiasC2:
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| 123 | _epoSpec = false;
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| 124 | _sigma0 = OPT->_aprSigCodeBias;
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| 125 | _noise = OPT->_noiseCodeBias;
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| 126 | break;
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| 127 | case pBiasG1: case pBiasR1: case pBiasE1: case pBiasC1:
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| 128 | case pBiasG2: case pBiasR2: case pBiasE2: case pBiasC2:
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| 129 | _epoSpec = false;
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| 130 | _sigma0 = OPT->_aprSigPhaseBias;
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| 131 | _noise = OPT->_noisePhaseBias;
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| 132 | break;
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[7237] | 133 | }
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| 134 | }
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| 135 |
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| 136 | // Destructor
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| 137 | ////////////////////////////////////////////////////////////////////////////
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| 138 | t_pppParam::~t_pppParam() {
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[9504] | 139 | if (_ambInfo) {
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| 140 | delete _ambInfo;
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| 141 | }
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[7237] | 142 | }
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| 143 | //
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| 144 | ////////////////////////////////////////////////////////////////////////////
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| 145 | double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
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[10034] | 146 | const t_lc::type& tLC) const {
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[7237] | 147 |
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| 148 | // Special Case - Melbourne-Wuebbena
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| 149 | // ---------------------------------
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| 150 | if (tLC == t_lc::MW && _type != amb) {
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| 151 | return 0.0;
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| 152 | }
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| 153 |
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| 154 | const t_pppStation* sta = PPP_CLIENT->staRover();
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[8905] | 155 | ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
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[7237] | 156 |
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[8905] | 157 | map<t_frequency::type, double> codeCoeff;
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| 158 | map<t_frequency::type, double> phaseCoeff;
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| 159 | map<t_frequency::type, double> ionoCoeff;
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| 160 | obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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| 161 |
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[7237] | 162 | switch (_type) {
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| 163 | case crdX:
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[9548] | 164 | if (tLC == t_lc::GIM) {return 0.0;}
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[8905] | 165 | return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
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[7237] | 166 | case crdY:
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[9548] | 167 | if (tLC == t_lc::GIM) {return 0.0;}
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[8905] | 168 | return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
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[7237] | 169 | case crdZ:
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[9548] | 170 | if (tLC == t_lc::GIM) {return 0.0;}
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[8905] | 171 | return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
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[10256] | 172 | case rClk:
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[9548] | 173 | if (tLC == t_lc::GIM) {return 0.0;}
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[10256] | 174 | return 1.0;
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| 175 | case offGlo:
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[9548] | 176 | if (tLC == t_lc::GIM) {return 0.0;}
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[7237] | 177 | return (obs->prn().system() == 'R') ? 1.0 : 0.0;
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[10256] | 178 | case offGal:
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[10003] | 179 | if (tLC == t_lc::GIM) {return 0.0;}
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| 180 | return (obs->prn().system() == 'E') ? 1.0 : 0.0;
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[10256] | 181 | case offBds:
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[10003] | 182 | if (tLC == t_lc::GIM) {return 0.0;}
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| 183 | return (obs->prn().system() == 'C') ? 1.0 : 0.0;
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[7237] | 184 | case amb:
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[10034] | 185 | if (tLC == t_lc::GIM) {
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| 186 | return 0.0;
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| 187 | }
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| 188 | else {
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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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[10251] | 198 | return obs->lambda(t_lc::l1) * phaseCoeff[obs->fType1()];
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[8905] | 199 | }
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| 200 | else if (_tLC == t_lc::l2) {
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[10251] | 201 | return obs->lambda(t_lc::l2) * phaseCoeff[obs->fType2()];
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[8905] | 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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[10251] | 217 | return ionoCoeff[obs->fType1()];
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[7237] | 218 | }
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[8905] | 219 | else if (tLC == t_lc::c2) {
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[10251] | 220 | return ionoCoeff[obs->fType2()];
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[7237] | 221 | }
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[8905] | 222 | else if (tLC == t_lc::l1) {
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[10251] | 223 | return ionoCoeff[obs->fType1()];
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[7237] | 224 | }
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[8905] | 225 | else if (tLC == t_lc::l2) {
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[10251] | 226 | return ionoCoeff[obs->fType2()];
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[8905] | 227 | }
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| 228 | else if (tLC == t_lc::GIM) {
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[10034] | 229 | return 1.0;
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[8905] | 230 | }
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[7237] | 231 | }
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[8905] | 232 | break;
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[9386] | 233 | case cBiasG1:
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| 234 | if ((obs->prn().system() == 'G') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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[8905] | 235 | break;
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[9561] | 236 | case cBiasR1:
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| 237 | if ((obs->prn().system() == 'R') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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| 238 | break;
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[9386] | 239 | case cBiasE1:
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| 240 | if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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[8905] | 241 | break;
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[9386] | 242 | case cBiasC1:
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| 243 | if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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| 244 | break;
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| 245 | case cBiasG2:
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| 246 | if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 247 | break;
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[9561] | 248 | case cBiasR2:
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| 249 | if ((obs->prn().system() == 'R') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 250 | break;
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[9386] | 251 | case cBiasE2:
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| 252 | if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 253 | break;
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| 254 | case cBiasC2:
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| 255 | if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 256 | break;
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| 257 | case pBiasG1:
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| 258 | if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 259 | break;
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[9561] | 260 | case pBiasR1:
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| 261 | if ((obs->prn().system() == 'R') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 262 | break;
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[9386] | 263 | case pBiasE1:
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| 264 | if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 265 | break;
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| 266 | case pBiasC1:
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| 267 | if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 268 | break;
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| 269 | case pBiasG2:
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| 270 | if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 271 | break;
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[9561] | 272 | case pBiasR2:
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| 273 | if ((obs->prn().system() == 'R') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 274 | break;
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[9386] | 275 | case pBiasE2:
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| 276 | if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 277 | break;
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| 278 | case pBiasC2:
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| 279 | if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 280 | break;
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| 281 |
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[7237] | 282 | }
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| 283 | return 0.0;
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| 284 | }
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| 285 |
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| 286 | //
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| 287 | ////////////////////////////////////////////////////////////////////////////
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| 288 | string t_pppParam::toString() const {
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| 289 | stringstream ss;
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| 290 | switch (_type) {
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| 291 | case crdX:
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| 292 | ss << "CRD_X";
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| 293 | break;
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| 294 | case crdY:
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| 295 | ss << "CRD_Y";
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| 296 | break;
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| 297 | case crdZ:
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| 298 | ss << "CRD_Z";
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| 299 | break;
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[10256] | 300 | case rClk:
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| 301 | ss << "REC_CLK ";
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[7237] | 302 | break;
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[10256] | 303 | case offGlo:
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| 304 | ss << "OFF_GLO ";
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[7237] | 305 | break;
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[10256] | 306 | case offGal:
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| 307 | ss << "OFF_GAL ";
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[10003] | 308 | break;
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[10256] | 309 | case offBds:
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| 310 | ss << "OFF_BDS ";
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[10003] | 311 | break;
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[7237] | 312 | case trp:
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[9386] | 313 | ss << "TRP ";
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[7237] | 314 | break;
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[8905] | 315 | case amb:
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| 316 | ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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| 317 | break;
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| 318 | case ion:
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| 319 | ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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| 320 | break;
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[9386] | 321 | case cBiasG1: case pBiasG1:
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| 322 | case cBiasG2: case pBiasG2:
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| 323 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
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[8905] | 324 | break;
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[9561] | 325 | case cBiasR1: case pBiasR1:
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| 326 | case cBiasR2: case pBiasR2:
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| 327 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " R ";
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| 328 | break;
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[9386] | 329 | case cBiasE1: case pBiasE1:
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| 330 | case cBiasE2: case pBiasE2:
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| 331 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
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| 332 | break;
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| 333 | case cBiasC1: case pBiasC1:
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| 334 | case cBiasC2: case pBiasC2:
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| 335 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
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| 336 | break;
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[7237] | 337 | }
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| 338 | return ss.str();
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| 339 | }
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| 340 |
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| 341 | // Constructor
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| 342 | ////////////////////////////////////////////////////////////////////////////
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| 343 | t_pppParlist::t_pppParlist() {
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| 344 | }
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| 345 |
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| 346 | // Destructor
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| 347 | ////////////////////////////////////////////////////////////////////////////
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| 348 | t_pppParlist::~t_pppParlist() {
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[9504] | 349 | _usedSystems.clear();
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| 350 |
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[10034] | 351 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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| 352 | delete _params[ii];
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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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[10034] | 358 | t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector) {
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[9504] | 359 |
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[7237] | 360 | // Remove some Parameters
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| 361 | // ----------------------
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| 362 | vector<t_pppParam*>::iterator it = _params.begin();
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| 363 | while (it != _params.end()) {
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| 364 | t_pppParam* par = *it;
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| 365 |
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| 366 | bool remove = false;
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| 367 |
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| 368 | if (par->epoSpec()) {
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| 369 | remove = true;
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| 370 | }
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| 371 |
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[10034] | 372 | else if (par->type() == t_pppParam::amb ||
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| 373 | par->type() == t_pppParam::crdX ||
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[7988] | 374 | par->type() == t_pppParam::crdY ||
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| 375 | par->type() == t_pppParam::crdZ) {
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[10219] | 376 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
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[7237] | 377 | remove = true;
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| 378 | }
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| 379 | }
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[10219] | 380 | else if (par->type() == t_pppParam::ion) {
|
---|
| 381 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 5.0)) {
|
---|
| 382 | remove = true;
|
---|
| 383 | }
|
---|
| 384 | }
|
---|
[9419] | 385 |
|
---|
[7237] | 386 | if (remove) {
|
---|
[9508] | 387 | #ifdef BNC_DEBUG_PPP
|
---|
[10018] | 388 | // LOG << "remove0 " << par->toString() << std::endl;
|
---|
[9508] | 389 | #endif
|
---|
[7237] | 390 | delete par;
|
---|
| 391 | it = _params.erase(it);
|
---|
| 392 | }
|
---|
| 393 | else {
|
---|
| 394 | ++it;
|
---|
| 395 | }
|
---|
| 396 | }
|
---|
| 397 |
|
---|
[9532] | 398 | // check which systems have observations
|
---|
| 399 | // -------------------------------------
|
---|
| 400 | _usedSystems.clear();
|
---|
| 401 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 402 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[9533] | 403 | char sys = satObs->prn().system();
|
---|
[9532] | 404 | if (!_usedSystems.contains(sys)) {
|
---|
| 405 | _usedSystems.append(sys);
|
---|
| 406 | }
|
---|
| 407 | }
|
---|
| 408 |
|
---|
[7237] | 409 | // Check whether parameters have observations
|
---|
| 410 | // ------------------------------------------
|
---|
| 411 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 412 | t_pppParam* par = _params[ii];
|
---|
| 413 | if (par->prn() == 0) {
|
---|
| 414 | par->setLastObsTime(epoTime);
|
---|
| 415 | if (par->firstObsTime().undef()) {
|
---|
| 416 | par->setFirstObsTime(epoTime);
|
---|
| 417 | }
|
---|
| 418 | }
|
---|
| 419 | else {
|
---|
| 420 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 421 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 422 | if (satObs->prn() == par->prn()) {
|
---|
| 423 | par->setLastObsTime(epoTime);
|
---|
| 424 | if (par->firstObsTime().undef()) {
|
---|
| 425 | par->setFirstObsTime(epoTime);
|
---|
| 426 | }
|
---|
| 427 | break;
|
---|
| 428 | }
|
---|
| 429 | }
|
---|
| 430 | }
|
---|
| 431 | }
|
---|
| 432 |
|
---|
[10251] | 433 | if (OPT->_ionoModelType == OPT->PPP_RTK || OPT->_pseudoObsIono) {
|
---|
[9419] | 434 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
| 435 | while (it != _params.end()) {
|
---|
| 436 | t_pppParam* par = *it;
|
---|
[9532] | 437 | // Check if systems have to be presented per biases
|
---|
[9535] | 438 | // ----------------------------------------------
|
---|
[10034] | 439 | if (( par->type() == t_pppParam::cBiasG1 ||
|
---|
[9532] | 440 | par->type() == t_pppParam::cBiasG2 ||
|
---|
| 441 | par->type() == t_pppParam::pBiasG1 ||
|
---|
| 442 | par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('G')) {
|
---|
[9534] | 443 | #ifdef BNC_DEBUG_PPP
|
---|
[10031] | 444 | //LOG << "remove1 " << par->toString() << std::endl;
|
---|
[9534] | 445 | #endif
|
---|
[9548] | 446 | delete par;
|
---|
| 447 | it = _params.erase(it);
|
---|
[9532] | 448 | }
|
---|
[9561] | 449 | else if ((par->type() == t_pppParam::cBiasR1 ||
|
---|
| 450 | par->type() == t_pppParam::cBiasR2 ||
|
---|
| 451 | par->type() == t_pppParam::pBiasR1 ||
|
---|
| 452 | par->type() == t_pppParam::pBiasR2) && !usedSystems().contains('R')) {
|
---|
| 453 | #ifdef BNC_DEBUG_PPP
|
---|
[10031] | 454 | //LOG << "remove1 " << par->toString() << std::endl;
|
---|
[9561] | 455 | #endif
|
---|
| 456 | delete par;
|
---|
| 457 | it = _params.erase(it);
|
---|
| 458 | }
|
---|
[9532] | 459 | else if ((par->type() == t_pppParam::cBiasE1 ||
|
---|
| 460 | par->type() == t_pppParam::cBiasE2 ||
|
---|
| 461 | par->type() == t_pppParam::pBiasE1 ||
|
---|
| 462 | par->type() == t_pppParam::pBiasE2) && !usedSystems().contains('E')) {
|
---|
[9534] | 463 | #ifdef BNC_DEBUG_PPP
|
---|
[10031] | 464 | //LOG << "remove1 " << par->toString() << std::endl;
|
---|
[9534] | 465 | #endif
|
---|
[9548] | 466 | delete par;
|
---|
| 467 | it = _params.erase(it);
|
---|
[9532] | 468 | }
|
---|
| 469 | else if ((par->type() == t_pppParam::cBiasC1 ||
|
---|
| 470 | par->type() == t_pppParam::cBiasC2 ||
|
---|
| 471 | par->type() == t_pppParam::pBiasC1 ||
|
---|
[9548] | 472 | par->type() == t_pppParam::pBiasC2) && !usedSystems().contains('C')) {
|
---|
[9534] | 473 | #ifdef BNC_DEBUG_PPP
|
---|
[10031] | 474 | //LOG << "remove1 " << par->toString() << std::endl;
|
---|
[9534] | 475 | #endif
|
---|
[9548] | 476 | delete par;
|
---|
| 477 | it = _params.erase(it);
|
---|
[9532] | 478 | }
|
---|
[9419] | 479 | else {
|
---|
| 480 | ++it;
|
---|
| 481 | }
|
---|
| 482 | }
|
---|
| 483 | }
|
---|
| 484 |
|
---|
[7237] | 485 | // Required Set of Parameters
|
---|
| 486 | // --------------------------
|
---|
| 487 | vector<t_pppParam*> required;
|
---|
| 488 |
|
---|
| 489 | // Coordinates
|
---|
| 490 | // -----------
|
---|
| 491 | required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
|
---|
| 492 | required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
|
---|
| 493 | required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
|
---|
| 494 |
|
---|
[10232] | 495 | // Receiver Clocks
|
---|
| 496 | // ---------------
|
---|
[10256] | 497 | required.push_back(new t_pppParam(t_pppParam::rClk, t_prn(), t_lc::dummy));
|
---|
[10034] | 498 |
|
---|
[10256] | 499 | // GLONASS Clock Offset
|
---|
| 500 | // --------------------
|
---|
[10259] | 501 | if ( _usedSystems.contains('R') &&
|
---|
| 502 | (_usedSystems.contains('G') || _usedSystems.contains('E') || _usedSystems.contains('C'))) {
|
---|
[10256] | 503 | required.push_back(new t_pppParam(t_pppParam::offGlo, t_prn(), t_lc::dummy));
|
---|
| 504 | }
|
---|
[10259] | 505 | else {
|
---|
| 506 | PPP_CLIENT->resetOffGlo();
|
---|
| 507 | }
|
---|
[10034] | 508 |
|
---|
[10256] | 509 | // Galileo Clock Offset
|
---|
| 510 | // --------------------
|
---|
[10259] | 511 | if (_usedSystems.contains('E') && _usedSystems.contains('G')) {
|
---|
[10256] | 512 | required.push_back(new t_pppParam(t_pppParam::offGal, t_prn(), t_lc::dummy));
|
---|
| 513 | }
|
---|
[10259] | 514 | else {
|
---|
| 515 | PPP_CLIENT->resetOffGal();
|
---|
| 516 | }
|
---|
[10034] | 517 |
|
---|
[10256] | 518 | // BDS Clock Offset
|
---|
| 519 | // ----------------
|
---|
[10259] | 520 | if (_usedSystems.contains('C') && (_usedSystems.contains('G') || _usedSystems.contains('E'))) {
|
---|
[10256] | 521 | required.push_back(new t_pppParam(t_pppParam::offBds, t_prn(), t_lc::dummy));
|
---|
| 522 | }
|
---|
[10259] | 523 | else {
|
---|
| 524 | PPP_CLIENT->resetOffBds();
|
---|
| 525 | }
|
---|
[10034] | 526 |
|
---|
| 527 | // Troposphere
|
---|
| 528 | // -----------
|
---|
| 529 | if (OPT->estTrp()) {
|
---|
| 530 | required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
|
---|
| 531 | }
|
---|
| 532 |
|
---|
| 533 | // Ionosphere
|
---|
| 534 | // ----------
|
---|
[10251] | 535 | if (OPT->_ionoModelType == OPT->est) {
|
---|
[10034] | 536 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 537 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[10251] | 538 | char sys = satObs->prn().system();
|
---|
| 539 | std::vector<t_lc::type> LCs = OPT->LCs(sys);
|
---|
| 540 | if (std::find(LCs.begin(), LCs.end(), t_lc::cIF) == LCs.end() &&
|
---|
| 541 | std::find(LCs.begin(), LCs.end(), t_lc::lIF) == LCs.end()) {
|
---|
| 542 | required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
|
---|
| 543 | }
|
---|
[10034] | 544 | }
|
---|
| 545 | }
|
---|
| 546 | // Ambiguities
|
---|
| 547 | // -----------
|
---|
| 548 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 549 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[10251] | 550 | char sys = satObs->prn().system();
|
---|
| 551 | const vector<t_lc::type>& ambLCs = OPT->ambLCs(sys);
|
---|
[10034] | 552 | for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
|
---|
| 553 | required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
|
---|
| 554 | }
|
---|
| 555 | }
|
---|
| 556 |
|
---|
[9386] | 557 | // Receiver Code Biases
|
---|
| 558 | // --------------------
|
---|
[10251] | 559 | if (OPT->_ionoModelType == OPT->PPP_RTK) {
|
---|
[9494] | 560 | std::vector<t_lc::type> lc;
|
---|
[9419] | 561 | if (_usedSystems.contains('G')) {
|
---|
[9494] | 562 | lc = OPT->LCs('G');
|
---|
| 563 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 564 | required.push_back(new t_pppParam(t_pppParam::cBiasG1, t_prn(), t_lc::c1));
|
---|
| 565 | }
|
---|
| 566 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 567 | required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
|
---|
| 568 | }
|
---|
[9663] | 569 | }
|
---|
[9561] | 570 | if (_usedSystems.contains('R')) {
|
---|
| 571 | lc = OPT->LCs('R');
|
---|
| 572 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 573 | required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
|
---|
| 574 | }
|
---|
| 575 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 576 | required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
|
---|
| 577 | }
|
---|
[9663] | 578 | }
|
---|
[9419] | 579 | if (_usedSystems.contains('E')) {
|
---|
[9494] | 580 | lc = OPT->LCs('E');
|
---|
| 581 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 582 | required.push_back(new t_pppParam(t_pppParam::cBiasE1, t_prn(), t_lc::c1));
|
---|
| 583 | }
|
---|
| 584 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 585 | required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
|
---|
| 586 | }
|
---|
[9386] | 587 | }
|
---|
[9419] | 588 | if (_usedSystems.contains('C')) {
|
---|
[9494] | 589 | lc = OPT->LCs('C');
|
---|
| 590 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 591 | required.push_back(new t_pppParam(t_pppParam::cBiasC1, t_prn(), t_lc::c1));
|
---|
| 592 | }
|
---|
| 593 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 594 | required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
|
---|
| 595 | }
|
---|
[9386] | 596 | }
|
---|
| 597 | }
|
---|
[10034] | 598 | if (OPT->_pseudoObsIono) {
|
---|
| 599 | std::vector<t_lc::type> lc;
|
---|
| 600 | if (_usedSystems.contains('G')) {
|
---|
| 601 | lc = OPT->LCs('G');
|
---|
| 602 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 603 | required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
|
---|
| 604 | }
|
---|
| 605 | }
|
---|
| 606 | if (_usedSystems.contains('R')) {
|
---|
| 607 | lc = OPT->LCs('R');
|
---|
| 608 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 609 | required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
|
---|
| 610 | }
|
---|
| 611 | }
|
---|
| 612 | if (_usedSystems.contains('E')) {
|
---|
| 613 | lc = OPT->LCs('E');
|
---|
| 614 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 615 | required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
|
---|
| 616 | }
|
---|
| 617 | }
|
---|
| 618 | if (_usedSystems.contains('C')) {
|
---|
| 619 | lc = OPT->LCs('C');
|
---|
| 620 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 621 | required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
|
---|
| 622 | }
|
---|
| 623 | }
|
---|
| 624 | }
|
---|
[9386] | 625 |
|
---|
| 626 | // Receiver Phase Biases
|
---|
| 627 | // ---------------------
|
---|
[10251] | 628 | if (OPT->_ionoModelType == OPT->PPP_RTK) {
|
---|
[9494] | 629 | std::vector<t_lc::type> lc;
|
---|
[9419] | 630 | if (_usedSystems.contains('G')) {
|
---|
[9494] | 631 | lc = OPT->LCs('G');
|
---|
| 632 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 633 | required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
|
---|
| 634 | }
|
---|
| 635 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 636 | required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
|
---|
| 637 | }
|
---|
[9663] | 638 | }
|
---|
[9561] | 639 | if (_usedSystems.contains('R')) {
|
---|
| 640 | lc = OPT->LCs('R');
|
---|
| 641 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 642 | required.push_back(new t_pppParam(t_pppParam::pBiasR1, t_prn(), t_lc::l1));
|
---|
| 643 | }
|
---|
| 644 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 645 | required.push_back(new t_pppParam(t_pppParam::pBiasR2, t_prn(), t_lc::l2));
|
---|
| 646 | }
|
---|
[9663] | 647 | }
|
---|
[9419] | 648 | if (_usedSystems.contains('E')) {
|
---|
[9494] | 649 | lc = OPT->LCs('E');
|
---|
| 650 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 651 | required.push_back(new t_pppParam(t_pppParam::pBiasE1, t_prn(), t_lc::l1));
|
---|
| 652 | }
|
---|
| 653 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 654 | required.push_back(new t_pppParam(t_pppParam::pBiasE2, t_prn(), t_lc::l2));
|
---|
| 655 | }
|
---|
[9386] | 656 | }
|
---|
[9419] | 657 | if (_usedSystems.contains('C')) {
|
---|
[9494] | 658 | lc = OPT->LCs('C');
|
---|
| 659 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 660 | required.push_back(new t_pppParam(t_pppParam::pBiasC1, t_prn(), t_lc::l1));
|
---|
| 661 | }
|
---|
| 662 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 663 | required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2));
|
---|
| 664 | }
|
---|
[9386] | 665 | }
|
---|
| 666 | }
|
---|
[9419] | 667 |
|
---|
[7237] | 668 | // Check if all required parameters are present
|
---|
| 669 | // --------------------------------------------
|
---|
| 670 | for (unsigned ii = 0; ii < required.size(); ii++) {
|
---|
| 671 | t_pppParam* parReq = required[ii];
|
---|
| 672 |
|
---|
| 673 | bool found = false;
|
---|
| 674 | for (unsigned jj = 0; jj < _params.size(); jj++) {
|
---|
| 675 | t_pppParam* parOld = _params[jj];
|
---|
| 676 | if (parOld->isEqual(parReq)) {
|
---|
| 677 | found = true;
|
---|
| 678 | break;
|
---|
| 679 | }
|
---|
| 680 | }
|
---|
| 681 | if (found) {
|
---|
| 682 | delete parReq;
|
---|
| 683 | }
|
---|
| 684 | else {
|
---|
[9508] | 685 | #ifdef BNC_DEBUG_PPP
|
---|
[10031] | 686 | //LOG << "push_back parReq " << parReq->toString() << std::endl;
|
---|
[9508] | 687 | #endif
|
---|
[7237] | 688 | _params.push_back(parReq);
|
---|
| 689 | }
|
---|
| 690 | }
|
---|
| 691 |
|
---|
| 692 | // Set Parameter Indices
|
---|
| 693 | // ---------------------
|
---|
| 694 | sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
|
---|
| 695 |
|
---|
| 696 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 697 | t_pppParam* par = _params[ii];
|
---|
| 698 | par->setIndex(ii);
|
---|
| 699 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 700 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 701 | if (satObs->prn() == par->prn()) {
|
---|
| 702 | par->setAmbEleSat(satObs->eleSat());
|
---|
| 703 | par->stepAmbNumEpo();
|
---|
| 704 | }
|
---|
| 705 | }
|
---|
| 706 | }
|
---|
| 707 |
|
---|
| 708 | return success;
|
---|
| 709 | }
|
---|
| 710 |
|
---|
| 711 | //
|
---|
| 712 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 713 | void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
|
---|
| 714 | const ColumnVector& xx) const {
|
---|
| 715 |
|
---|
| 716 | string epoTimeStr = string(epoTime);
|
---|
| 717 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 718 |
|
---|
| 719 | LOG << endl;
|
---|
| 720 |
|
---|
| 721 | t_pppParam* parX = 0;
|
---|
| 722 | t_pppParam* parY = 0;
|
---|
| 723 | t_pppParam* parZ = 0;
|
---|
[10034] | 724 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 725 | t_pppParam* par = _params[ii];
|
---|
[7237] | 726 | if (par->type() == t_pppParam::crdX) {
|
---|
| 727 | parX = par;
|
---|
| 728 | }
|
---|
| 729 | else if (par->type() == t_pppParam::crdY) {
|
---|
| 730 | parY = par;
|
---|
| 731 | }
|
---|
| 732 | else if (par->type() == t_pppParam::crdZ) {
|
---|
| 733 | parZ = par;
|
---|
| 734 | }
|
---|
| 735 | else {
|
---|
| 736 | int ind = par->indexNew();
|
---|
| 737 | double apr = (par->type() == t_pppParam::trp) ?
|
---|
| 738 | t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
|
---|
| 739 | LOG << epoTimeStr << ' ' << par->toString() << ' '
|
---|
| 740 | << setw(10) << setprecision(4) << apr << ' '
|
---|
| 741 | << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
|
---|
| 742 | << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
|
---|
| 743 | if (par->type() == t_pppParam::amb) {
|
---|
| 744 | LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
|
---|
| 745 | << " epo = " << setw(4) << par->ambNumEpo();
|
---|
| 746 | }
|
---|
| 747 | LOG << endl;
|
---|
| 748 | }
|
---|
| 749 | }
|
---|
| 750 |
|
---|
| 751 | if (parX && parY && parZ) {
|
---|
| 752 |
|
---|
| 753 | ColumnVector xyz(3);
|
---|
| 754 | xyz[0] = xx[parX->indexNew()];
|
---|
| 755 | xyz[1] = xx[parY->indexNew()];
|
---|
| 756 | xyz[2] = xx[parZ->indexNew()];
|
---|
| 757 |
|
---|
| 758 | ColumnVector neu(3);
|
---|
| 759 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
|
---|
| 760 |
|
---|
| 761 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
|
---|
| 762 |
|
---|
| 763 | SymmetricMatrix QQneu(3);
|
---|
| 764 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
|
---|
| 765 |
|
---|
| 766 | LOG << epoTimeStr << ' ' << sta->name()
|
---|
| 767 | << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
|
---|
| 768 | << setprecision(4) << sqrt(QQxyz[0][0])
|
---|
| 769 |
|
---|
| 770 | << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
|
---|
| 771 | << setprecision(4) << sqrt(QQxyz[1][1])
|
---|
| 772 |
|
---|
| 773 | << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
|
---|
| 774 | << setprecision(4) << sqrt(QQxyz[2][2])
|
---|
| 775 |
|
---|
| 776 | << " dN = " << setprecision(4) << neu[0] << " +- "
|
---|
| 777 | << setprecision(4) << sqrt(QQneu[0][0])
|
---|
| 778 |
|
---|
| 779 | << " dE = " << setprecision(4) << neu[1] << " +- "
|
---|
| 780 | << setprecision(4) << sqrt(QQneu[1][1])
|
---|
| 781 |
|
---|
| 782 | << " dU = " << setprecision(4) << neu[2] << " +- "
|
---|
| 783 | << setprecision(4) << sqrt(QQneu[2][2])
|
---|
| 784 |
|
---|
| 785 | << endl;
|
---|
| 786 | }
|
---|
[9545] | 787 | return;
|
---|
[7237] | 788 | }
|
---|
| 789 |
|
---|
[9525] | 790 | //
|
---|
| 791 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9527] | 792 | void t_pppParlist::printParams(const bncTime& epoTime) {
|
---|
[9526] | 793 |
|
---|
| 794 | for (unsigned iPar = 0; iPar < _params.size(); iPar++) {
|
---|
[9527] | 795 | LOG << _params[iPar]->toString()
|
---|
| 796 | << "\t lastObsTime().valid() \t" << _params[iPar]->lastObsTime().valid()
|
---|
| 797 | << "\t epoTime - par->lastObsTime() \t" << (epoTime - _params[iPar]->lastObsTime())
|
---|
| 798 | << endl;
|
---|
[9525] | 799 | }
|
---|
| 800 | }
|
---|
| 801 |
|
---|