[5743] | 1 | #include <cmath>
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| 2 | #include <iostream>
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| 3 | #include <sstream>
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| 4 | #include <iomanip>
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| 5 | #include <algorithm>
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| 6 | #include <newmatio.h>
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[5810] | 7 | #include "pppParlist.h"
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[5743] | 8 | #include "satobs.h"
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[5752] | 9 |
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[5810] | 10 | #include "pppStation.h"
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[5752] | 11 | #include "bncutils.h"
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| 12 | #include "bncconst.h"
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| 13 | #include "pppClient.h"
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[5743] | 14 |
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| 15 | using namespace BNC;
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| 16 | using namespace std;
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| 17 |
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| 18 | // Constructor
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| 19 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 20 | t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
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[5743] | 21 | const vector<t_satObs*>* obsVector) {
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| 22 |
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| 23 | _type = type;
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| 24 | _prn = prn;
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| 25 | _tLC = tLC;
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| 26 | _x0 = 0.0;
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| 27 | _indexOld = -1;
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| 28 | _indexNew = -1;
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| 29 | _noise = 0.0;
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| 30 | _ambInfo = 0;
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| 31 |
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| 32 | switch (_type) {
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| 33 | case crdX:
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| 34 | _epoSpec = true;
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[5752] | 35 | _sigma0 = OPT->_sigCrd[0];
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[5743] | 36 | break;
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| 37 | case crdY:
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| 38 | _epoSpec = true;
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[5752] | 39 | _sigma0 = OPT->_sigCrd[1];
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[5743] | 40 | break;
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| 41 | case crdZ:
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| 42 | _epoSpec = true;
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[5752] | 43 | _sigma0 = OPT->_sigCrd[2];
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[5743] | 44 | break;
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| 45 | case clkR:
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| 46 | _epoSpec = true;
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| 47 | _sigma0 = 1000.0;
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| 48 | break;
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| 49 | case amb:
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| 50 | _ambInfo = new t_ambInfo();
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| 51 | if (obsVector) {
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| 52 | for (unsigned ii = 0; ii < obsVector->size(); ii++) {
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| 53 | const t_satObs* obs = obsVector->at(ii);
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| 54 | if (obs->prn() == _prn) {
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| 55 | double offGG = 0;
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| 56 | if (_prn.system() == 'R' && tLC != t_lc::MW) {
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| 57 | offGG = PPP_CLIENT->offGG();
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| 58 | }
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[5752] | 59 | _x0 = floor((obs->obsValue(tLC) - offGG - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
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[5743] | 60 | break;
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| 61 | }
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| 62 | }
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| 63 | }
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| 64 | _epoSpec = false;
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| 65 | _sigma0 = 100.0;
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| 66 | break;
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| 67 | case offGG:
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| 68 | _epoSpec = true;
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| 69 | _sigma0 = 1000.0;
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| 70 | _x0 = PPP_CLIENT->offGG();
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| 71 | break;
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| 72 | case trp:
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| 73 | _epoSpec = false;
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[5752] | 74 | _sigma0 = OPT->_sigTropo;
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| 75 | _noise = OPT->_noiseTropo;
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[5743] | 76 | break;
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| 77 | case bias:
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| 78 | _epoSpec = true;
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| 79 | _sigma0 = 10.0;
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| 80 | break;
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| 81 | }
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| 82 | }
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| 83 |
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| 84 | // Destructor
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| 85 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 86 | t_pppParam::~t_pppParam() {
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[5743] | 87 | delete _ambInfo;
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| 88 | }
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| 89 |
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| 90 | //
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| 91 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 92 | double t_pppParam::partial(const bncTime& /* epoTime */, const t_satObs* obs,
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[5743] | 93 | const t_lc::type& tLC) const {
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| 94 |
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| 95 | // Special Case - Melbourne-Wuebbena
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| 96 | // ---------------------------------
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| 97 | if (tLC == t_lc::MW && _type != amb && _type != bias) {
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| 98 | return 0.0;
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| 99 | }
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| 100 |
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[5810] | 101 | const t_pppStation* sta = PPP_CLIENT->staRover();
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[5743] | 102 | ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
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| 103 |
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| 104 | switch (_type) {
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| 105 | case crdX:
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| 106 | return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.norm_Frobenius();
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| 107 | case crdY:
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| 108 | return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.norm_Frobenius();
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| 109 | case crdZ:
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| 110 | return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.norm_Frobenius();
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| 111 | case clkR:
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| 112 | return 1.0;
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| 113 | case offGG:
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| 114 | return (obs->prn().system() == 'R') ? 1.0 : 0.0;
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| 115 | case amb:
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| 116 | if (obs->prn() == _prn) {
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| 117 | if (tLC == _tLC) {
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| 118 | return (obs->lambda(tLC));
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| 119 | }
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| 120 | else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
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| 121 | return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
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| 122 | }
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| 123 | else {
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| 124 | ColumnVector coeff(4);
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| 125 | obs->lc(tLC, 0.0, 0.0, 0.0, 0.0, &coeff);
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| 126 | if (_tLC == t_lc::l1) {
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| 127 | return obs->lambda(t_lc::l1) * coeff(1);
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| 128 | }
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| 129 | else if (_tLC == t_lc::l2) {
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| 130 | return obs->lambda(t_lc::l2) * coeff(2);
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| 131 | }
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| 132 | }
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| 133 | }
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| 134 | return 0.0;
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| 135 | case trp:
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[5752] | 136 | return 1.0 / sin(obs->eleSat());
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[5743] | 137 | case bias:
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| 138 | if (tLC == _tLC && obs->prn().system() == _prn.system()) {
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| 139 | return 1.0;
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| 140 | }
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| 141 | else {
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| 142 | return 0.0;
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| 143 | }
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| 144 | }
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| 145 |
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| 146 | return 0.0;
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| 147 | }
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| 148 |
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| 149 | //
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| 150 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 151 | string t_pppParam::toString() const {
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[5743] | 152 | stringstream ss;
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| 153 | switch (_type) {
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| 154 | case crdX:
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| 155 | ss << "CRD_X";
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| 156 | break;
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| 157 | case crdY:
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| 158 | ss << "CRD_Y";
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| 159 | break;
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| 160 | case crdZ:
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| 161 | ss << "CRD_Z";
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| 162 | break;
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| 163 | case clkR:
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| 164 | ss << "CLK ";
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| 165 | break;
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| 166 | case amb:
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| 167 | ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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| 168 | break;
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| 169 | case offGG:
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| 170 | ss << "OGG ";
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| 171 | break;
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| 172 | case trp:
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| 173 | ss << "TRP ";
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| 174 | break;
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| 175 | case bias:
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| 176 | ss << "BIAS " << _prn.system() << ' ' << left << setw(3) << t_lc::toString(_tLC);
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| 177 | break;
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| 178 | }
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| 179 | return ss.str();
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| 180 | }
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| 181 |
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| 182 | // Constructor
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| 183 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 184 | t_pppParlist::t_pppParlist() {
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[5743] | 185 | }
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| 186 |
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| 187 | // Destructor
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| 188 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 189 | t_pppParlist::~t_pppParlist() {
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[5743] | 190 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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| 191 | delete _params[ii];
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| 192 | }
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| 193 | }
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| 194 |
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| 195 | //
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| 196 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 197 | t_irc t_pppParlist::set(const bncTime& epoTime, const vector<t_lc::type>& ambLCs,
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[5743] | 198 | const vector<t_satObs*>& obsVector) {
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| 199 |
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| 200 | // Remove some Parameters
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| 201 | // ----------------------
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[5810] | 202 | vector<t_pppParam*>::iterator it = _params.begin();
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[5743] | 203 | while (it != _params.end()) {
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[5810] | 204 | t_pppParam* par = *it;
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[5743] | 205 |
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| 206 | bool remove = false;
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| 207 |
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| 208 | if (par->epoSpec()) {
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| 209 | remove = true;
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| 210 | }
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| 211 |
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[5810] | 212 | else if (par->type() == t_pppParam::amb) {
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[5743] | 213 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 120.0)) {
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| 214 | remove = true;
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| 215 | }
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| 216 | }
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| 217 |
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[5810] | 218 | else if (par->type() == t_pppParam::amb) {
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[5743] | 219 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 3600.0)) {
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| 220 | remove = true;
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| 221 | }
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| 222 | }
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| 223 |
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| 224 | if (remove) {
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| 225 | delete par;
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| 226 | it = _params.erase(it);
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| 227 | }
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| 228 | else {
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| 229 | ++it;
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| 230 | }
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| 231 | }
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| 232 |
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| 233 | // Check whether parameters have observations
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| 234 | // ------------------------------------------
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| 235 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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[5810] | 236 | t_pppParam* par = _params[ii];
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[5743] | 237 | if (par->prn() == 0) {
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| 238 | par->setLastObsTime(epoTime);
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| 239 | if (par->firstObsTime().undef()) {
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| 240 | par->setFirstObsTime(epoTime);
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| 241 | }
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| 242 | }
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| 243 | else {
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| 244 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
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| 245 | const t_satObs* satObs = obsVector[jj];
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| 246 | if (satObs->prn() == par->prn()) {
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| 247 | par->setLastObsTime(epoTime);
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| 248 | if (par->firstObsTime().undef()) {
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| 249 | par->setFirstObsTime(epoTime);
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| 250 | }
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| 251 | break;
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| 252 | }
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| 253 | }
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| 254 | }
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| 255 | }
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| 256 |
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| 257 | // Required Set of Parameters
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| 258 | // --------------------------
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[5810] | 259 | vector<t_pppParam*> required;
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[5743] | 260 |
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| 261 | // Coordinates
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| 262 | // -----------
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[5810] | 263 | required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
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| 264 | required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
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| 265 | required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
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[5743] | 266 |
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| 267 | // Receiver Clock
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| 268 | // --------------
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[5810] | 269 | required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
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[5743] | 270 |
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| 271 | // GPS-Glonass Clock Offset
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| 272 | // ------------------------
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| 273 | if (OPT->useGlonass()) {
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[5810] | 274 | required.push_back(new t_pppParam(t_pppParam::offGG, t_prn(), t_lc::dummy));
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[5743] | 275 | }
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| 276 |
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| 277 | // Receiver Biases
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| 278 | // ---------------
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[5752] | 279 | for (unsigned ii = 0; ii < OPT->_estBias.size(); ii++) {
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[5810] | 280 | const t_pppOptions::t_optBias& optBias = OPT->_estBias[ii];
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| 281 | required.push_back(new t_pppParam(t_pppParam::bias, t_prn(optBias._system, 1), optBias._tLC));
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[5743] | 282 | }
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| 283 |
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| 284 | // Troposphere
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| 285 | // -----------
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| 286 | if (OPT->estTropo()) {
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[5810] | 287 | required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
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[5743] | 288 | }
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| 289 |
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| 290 | // Ambiguities
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| 291 | // -----------
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| 292 | for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
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| 293 | const t_lc::type& tLC = ambLCs[ii];
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| 294 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
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| 295 | const t_satObs* satObs = obsVector[jj];
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[5810] | 296 | required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), tLC, &obsVector));
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[5743] | 297 | }
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| 298 | }
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| 299 |
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| 300 | // Check if all required parameters are present
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| 301 | // --------------------------------------------
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| 302 | for (unsigned ii = 0; ii < required.size(); ii++) {
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[5810] | 303 | t_pppParam* parReq = required[ii];
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[5743] | 304 |
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| 305 | bool found = false;
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| 306 | for (unsigned jj = 0; jj < _params.size(); jj++) {
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[5810] | 307 | t_pppParam* parOld = _params[jj];
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[5743] | 308 | if (parOld->isEqual(parReq)) {
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| 309 | found = true;
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| 310 | break;
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| 311 | }
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| 312 | }
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| 313 | if (found) {
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| 314 | delete parReq;
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| 315 | }
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| 316 | else {
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| 317 | _params.push_back(parReq);
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| 318 | }
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| 319 | }
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| 320 |
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| 321 | // Set Parameter Indices
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| 322 | // ---------------------
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[5810] | 323 | sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
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[5743] | 324 |
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| 325 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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[5810] | 326 | t_pppParam* par = _params[ii];
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[5743] | 327 | par->setIndex(ii);
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| 328 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
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| 329 | const t_satObs* satObs = obsVector[jj];
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| 330 | if (satObs->prn() == par->prn()) {
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| 331 | par->setAmbEleSat(satObs->eleSat());
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| 332 | par->stepAmbNumEpo();
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| 333 | }
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| 334 | }
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| 335 | }
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| 336 |
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[5752] | 337 | return success;
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[5743] | 338 | }
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| 339 |
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| 340 | //
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| 341 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 342 | void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
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[5743] | 343 | const ColumnVector& xx, double ambFixRate) const {
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| 344 |
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| 345 | string epoTimeStr = string(epoTime);
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| 346 |
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| 347 | LOG << endl;
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| 348 |
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[5810] | 349 | t_pppParam* parX = 0;
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| 350 | t_pppParam* parY = 0;
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| 351 | t_pppParam* parZ = 0;
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[5743] | 352 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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[5810] | 353 | t_pppParam* par = _params[ii];
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| 354 | if (par->type() == t_pppParam::crdX) {
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[5743] | 355 | parX = par;
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| 356 | }
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[5810] | 357 | else if (par->type() == t_pppParam::crdY) {
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[5743] | 358 | parY = par;
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| 359 | }
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[5810] | 360 | else if (par->type() == t_pppParam::crdZ) {
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[5743] | 361 | parZ = par;
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| 362 | }
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| 363 | else {
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| 364 | int ind = par->indexNew();
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| 365 | LOG << epoTimeStr << ' ' << par->toString() << ' '
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| 366 | << setw(10) << setprecision(4) << par->x0() << ' '
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| 367 | << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
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| 368 | << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
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[5810] | 369 | if (par->type() == t_pppParam::amb) {
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[5752] | 370 | LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
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[5743] | 371 | << " epo = " << setw(4) << par->ambNumEpo();
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| 372 | }
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| 373 | LOG << endl;
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| 374 | }
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| 375 | }
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| 376 |
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| 377 | if (parX && parY && parZ) {
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[5810] | 378 | const t_pppStation* sta = PPP_CLIENT->staRover();
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[5743] | 379 |
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| 380 | ColumnVector xyz(3);
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| 381 | xyz[0] = xx[parX->indexNew()];
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| 382 | xyz[1] = xx[parY->indexNew()];
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| 383 | xyz[2] = xx[parZ->indexNew()];
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| 384 |
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| 385 | ColumnVector neu(3);
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| 386 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
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| 387 |
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| 388 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
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| 389 |
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| 390 | SymmetricMatrix QQneu(3);
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| 391 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
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| 392 |
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| 393 | LOG << epoTimeStr
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| 394 | << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
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| 395 | << setprecision(4) << sqrt(QQxyz[0][0])
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| 396 |
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| 397 | << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
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| 398 | << setprecision(4) << sqrt(QQxyz[1][1])
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| 399 |
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| 400 | << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
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| 401 | << setprecision(4) << sqrt(QQxyz[2][2])
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| 402 |
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| 403 | << " dN = " << setprecision(4) << neu[0] << " +- "
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| 404 | << setprecision(4) << sqrt(QQneu[0][0])
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| 405 |
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| 406 | << " dE = " << setprecision(4) << neu[1] << " +- "
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| 407 | << setprecision(4) << sqrt(QQneu[1][1])
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| 408 |
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| 409 | << " dU = " << setprecision(4) << neu[2] << " +- "
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| 410 | << setprecision(4) << sqrt(QQneu[2][2]);
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| 411 | if (ambFixRate > 0.0) {
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| 412 | LOG << " fix ";
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| 413 | }
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| 414 | else {
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| 415 | LOG << " flt ";
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| 416 | }
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| 417 | LOG << int(100*ambFixRate) << " %\n";
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| 418 | }
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| 419 | }
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| 420 |
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