[5828] | 1 |
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| 2 | // Part of BNC, a utility for retrieving decoding and
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| 3 | // converting GNSS data streams from NTRIP broadcasters.
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| 4 | //
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| 5 | // Copyright (C) 2007
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| 6 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 7 | // http://www.bkg.bund.de
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| 8 | // Czech Technical University Prague, Department of Geodesy
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| 9 | // http://www.fsv.cvut.cz
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| 10 | //
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| 11 | // Email: euref-ip@bkg.bund.de
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| 12 | //
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| 13 | // This program is free software; you can redistribute it and/or
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| 14 | // modify it under the terms of the GNU General Public License
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| 15 | // as published by the Free Software Foundation, version 2.
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| 16 | //
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| 17 | // This program is distributed in the hope that it will be useful,
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| 18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 20 | // GNU General Public License for more details.
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| 21 | //
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| 22 | // You should have received a copy of the GNU General Public License
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| 23 | // along with this program; if not, write to the Free Software
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| 24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 25 |
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| 26 | /* -------------------------------------------------------------------------
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| 27 | * BKG NTRIP Client
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| 28 | * -------------------------------------------------------------------------
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| 29 | *
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| 30 | * Class: t_pppParlist
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| 31 | *
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| 32 | * Purpose: List of estimated parameters
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| 33 | *
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| 34 | * Author: L. Mervart
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| 35 | *
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| 36 | * Created: 29-Jul-2014
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| 37 | *
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| 38 | * Changes:
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| 39 | *
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| 40 | * -----------------------------------------------------------------------*/
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| 41 |
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[5743] | 42 | #include <cmath>
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| 43 | #include <iostream>
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| 44 | #include <sstream>
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| 45 | #include <iomanip>
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| 46 | #include <algorithm>
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| 47 | #include <newmatio.h>
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[5822] | 48 |
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[5810] | 49 | #include "pppParlist.h"
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[5822] | 50 | #include "pppSatObs.h"
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[5810] | 51 | #include "pppStation.h"
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[5752] | 52 | #include "bncutils.h"
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| 53 | #include "bncconst.h"
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| 54 | #include "pppClient.h"
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[5743] | 55 |
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[5814] | 56 | using namespace BNC_PPP;
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[5743] | 57 | using namespace std;
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| 58 |
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| 59 | // Constructor
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| 60 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 61 | t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
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[5819] | 62 | const vector<t_pppSatObs*>* obsVector) {
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[5743] | 63 |
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| 64 | _type = type;
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| 65 | _prn = prn;
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| 66 | _tLC = tLC;
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| 67 | _x0 = 0.0;
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| 68 | _indexOld = -1;
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| 69 | _indexNew = -1;
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| 70 | _noise = 0.0;
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| 71 | _ambInfo = 0;
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| 72 |
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| 73 | switch (_type) {
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| 74 | case crdX:
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| 75 | _epoSpec = true;
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[5914] | 76 | _sigma0 = OPT->_aprSigCrd[0];
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[5743] | 77 | break;
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| 78 | case crdY:
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| 79 | _epoSpec = true;
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[5914] | 80 | _sigma0 = OPT->_aprSigCrd[1];
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[5743] | 81 | break;
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| 82 | case crdZ:
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| 83 | _epoSpec = true;
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[5914] | 84 | _sigma0 = OPT->_aprSigCrd[2];
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[5743] | 85 | break;
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| 86 | case clkR:
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| 87 | _epoSpec = true;
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| 88 | _sigma0 = 1000.0;
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| 89 | break;
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| 90 | case amb:
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| 91 | _ambInfo = new t_ambInfo();
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| 92 | if (obsVector) {
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| 93 | for (unsigned ii = 0; ii < obsVector->size(); ii++) {
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[5819] | 94 | const t_pppSatObs* obs = obsVector->at(ii);
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[5743] | 95 | if (obs->prn() == _prn) {
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| 96 | double offGG = 0;
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| 97 | if (_prn.system() == 'R' && tLC != t_lc::MW) {
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| 98 | offGG = PPP_CLIENT->offGG();
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| 99 | }
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[5752] | 100 | _x0 = floor((obs->obsValue(tLC) - offGG - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
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[5743] | 101 | break;
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| 102 | }
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| 103 | }
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| 104 | }
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| 105 | _epoSpec = false;
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| 106 | _sigma0 = 100.0;
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| 107 | break;
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| 108 | case trp:
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| 109 | _epoSpec = false;
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[5914] | 110 | _sigma0 = OPT->_aprSigTrp;
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| 111 | _noise = OPT->_noiseTrp;
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[5743] | 112 | break;
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| 113 | }
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| 114 | }
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| 115 |
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| 116 | // Destructor
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| 117 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 118 | t_pppParam::~t_pppParam() {
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[5743] | 119 | delete _ambInfo;
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| 120 | }
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| 121 |
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| 122 | //
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| 123 | ////////////////////////////////////////////////////////////////////////////
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[5819] | 124 | double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
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[5743] | 125 | const t_lc::type& tLC) const {
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| 126 |
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| 127 | // Special Case - Melbourne-Wuebbena
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| 128 | // ---------------------------------
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[5914] | 129 | if (tLC == t_lc::MW && _type != amb) {
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[5743] | 130 | return 0.0;
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| 131 | }
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| 132 |
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[5810] | 133 | const t_pppStation* sta = PPP_CLIENT->staRover();
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[5743] | 134 | ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
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| 135 |
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| 136 | switch (_type) {
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| 137 | case crdX:
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| 138 | return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.norm_Frobenius();
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| 139 | case crdY:
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| 140 | return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.norm_Frobenius();
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| 141 | case crdZ:
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| 142 | return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.norm_Frobenius();
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| 143 | case clkR:
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| 144 | return 1.0;
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| 145 | case amb:
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| 146 | if (obs->prn() == _prn) {
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| 147 | if (tLC == _tLC) {
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| 148 | return (obs->lambda(tLC));
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| 149 | }
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| 150 | else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
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| 151 | return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
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| 152 | }
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| 153 | else {
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| 154 | ColumnVector coeff(4);
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| 155 | obs->lc(tLC, 0.0, 0.0, 0.0, 0.0, &coeff);
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| 156 | if (_tLC == t_lc::l1) {
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| 157 | return obs->lambda(t_lc::l1) * coeff(1);
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| 158 | }
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| 159 | else if (_tLC == t_lc::l2) {
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| 160 | return obs->lambda(t_lc::l2) * coeff(2);
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| 161 | }
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| 162 | }
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| 163 | }
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| 164 | return 0.0;
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| 165 | case trp:
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[5752] | 166 | return 1.0 / sin(obs->eleSat());
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[5743] | 167 | }
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| 168 |
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| 169 | return 0.0;
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| 170 | }
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| 171 |
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| 172 | //
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| 173 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 174 | string t_pppParam::toString() const {
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[5743] | 175 | stringstream ss;
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| 176 | switch (_type) {
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| 177 | case crdX:
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| 178 | ss << "CRD_X";
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| 179 | break;
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| 180 | case crdY:
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| 181 | ss << "CRD_Y";
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| 182 | break;
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| 183 | case crdZ:
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| 184 | ss << "CRD_Z";
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| 185 | break;
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| 186 | case clkR:
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| 187 | ss << "CLK ";
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| 188 | break;
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| 189 | case amb:
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| 190 | ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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| 191 | break;
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| 192 | case trp:
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| 193 | ss << "TRP ";
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| 194 | break;
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| 195 | }
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| 196 | return ss.str();
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| 197 | }
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| 198 |
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| 199 | // Constructor
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| 200 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 201 | t_pppParlist::t_pppParlist() {
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[5743] | 202 | }
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| 203 |
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| 204 | // Destructor
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| 205 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 206 | t_pppParlist::~t_pppParlist() {
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[5743] | 207 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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| 208 | delete _params[ii];
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| 209 | }
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| 210 | }
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| 211 |
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| 212 | //
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| 213 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 214 | t_irc t_pppParlist::set(const bncTime& epoTime, const vector<t_lc::type>& ambLCs,
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[5819] | 215 | const vector<t_pppSatObs*>& obsVector) {
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[5743] | 216 |
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| 217 | // Remove some Parameters
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| 218 | // ----------------------
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[5810] | 219 | vector<t_pppParam*>::iterator it = _params.begin();
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[5743] | 220 | while (it != _params.end()) {
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[5810] | 221 | t_pppParam* par = *it;
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[5743] | 222 |
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| 223 | bool remove = false;
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| 224 |
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| 225 | if (par->epoSpec()) {
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| 226 | remove = true;
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| 227 | }
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| 228 |
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[5810] | 229 | else if (par->type() == t_pppParam::amb) {
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[5743] | 230 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 120.0)) {
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| 231 | remove = true;
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| 232 | }
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| 233 | }
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| 234 |
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[5810] | 235 | else if (par->type() == t_pppParam::amb) {
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[5743] | 236 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 3600.0)) {
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| 237 | remove = true;
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| 238 | }
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| 239 | }
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| 240 |
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| 241 | if (remove) {
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| 242 | delete par;
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| 243 | it = _params.erase(it);
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| 244 | }
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| 245 | else {
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| 246 | ++it;
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| 247 | }
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| 248 | }
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| 249 |
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| 250 | // Check whether parameters have observations
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| 251 | // ------------------------------------------
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| 252 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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[5810] | 253 | t_pppParam* par = _params[ii];
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[5743] | 254 | if (par->prn() == 0) {
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| 255 | par->setLastObsTime(epoTime);
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| 256 | if (par->firstObsTime().undef()) {
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| 257 | par->setFirstObsTime(epoTime);
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| 258 | }
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| 259 | }
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| 260 | else {
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| 261 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
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[5819] | 262 | const t_pppSatObs* satObs = obsVector[jj];
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[5743] | 263 | if (satObs->prn() == par->prn()) {
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| 264 | par->setLastObsTime(epoTime);
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| 265 | if (par->firstObsTime().undef()) {
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| 266 | par->setFirstObsTime(epoTime);
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| 267 | }
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| 268 | break;
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| 269 | }
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| 270 | }
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| 271 | }
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| 272 | }
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| 273 |
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| 274 | // Required Set of Parameters
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| 275 | // --------------------------
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[5810] | 276 | vector<t_pppParam*> required;
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[5743] | 277 |
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| 278 | // Coordinates
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| 279 | // -----------
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[5810] | 280 | required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
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| 281 | required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
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| 282 | required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
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[5743] | 283 |
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| 284 | // Receiver Clock
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| 285 | // --------------
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[5810] | 286 | required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
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[5743] | 287 |
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| 288 | // Troposphere
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| 289 | // -----------
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[5914] | 290 | if (OPT->estTrp()) {
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[5810] | 291 | required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
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[5743] | 292 | }
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| 293 |
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| 294 | // Ambiguities
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| 295 | // -----------
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| 296 | for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
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| 297 | const t_lc::type& tLC = ambLCs[ii];
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| 298 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
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[5819] | 299 | const t_pppSatObs* satObs = obsVector[jj];
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[5810] | 300 | required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), tLC, &obsVector));
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[5743] | 301 | }
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| 302 | }
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| 303 |
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| 304 | // Check if all required parameters are present
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| 305 | // --------------------------------------------
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| 306 | for (unsigned ii = 0; ii < required.size(); ii++) {
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[5810] | 307 | t_pppParam* parReq = required[ii];
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[5743] | 308 |
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| 309 | bool found = false;
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| 310 | for (unsigned jj = 0; jj < _params.size(); jj++) {
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[5810] | 311 | t_pppParam* parOld = _params[jj];
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[5743] | 312 | if (parOld->isEqual(parReq)) {
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| 313 | found = true;
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| 314 | break;
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| 315 | }
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| 316 | }
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| 317 | if (found) {
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| 318 | delete parReq;
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| 319 | }
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| 320 | else {
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| 321 | _params.push_back(parReq);
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| 322 | }
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| 323 | }
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| 324 |
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| 325 | // Set Parameter Indices
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| 326 | // ---------------------
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[5810] | 327 | sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
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[5743] | 328 |
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| 329 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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[5810] | 330 | t_pppParam* par = _params[ii];
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[5743] | 331 | par->setIndex(ii);
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| 332 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
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[5819] | 333 | const t_pppSatObs* satObs = obsVector[jj];
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[5743] | 334 | if (satObs->prn() == par->prn()) {
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| 335 | par->setAmbEleSat(satObs->eleSat());
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| 336 | par->stepAmbNumEpo();
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| 337 | }
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| 338 | }
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| 339 | }
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| 340 |
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[5752] | 341 | return success;
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[5743] | 342 | }
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| 343 |
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| 344 | //
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| 345 | ////////////////////////////////////////////////////////////////////////////
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[5810] | 346 | void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
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[5877] | 347 | const ColumnVector& xx) const {
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[5743] | 348 |
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| 349 | string epoTimeStr = string(epoTime);
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| 350 |
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| 351 | LOG << endl;
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| 352 |
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[5810] | 353 | t_pppParam* parX = 0;
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| 354 | t_pppParam* parY = 0;
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| 355 | t_pppParam* parZ = 0;
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[5743] | 356 | for (unsigned ii = 0; ii < _params.size(); ii++) {
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[5810] | 357 | t_pppParam* par = _params[ii];
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| 358 | if (par->type() == t_pppParam::crdX) {
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[5743] | 359 | parX = par;
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| 360 | }
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[5810] | 361 | else if (par->type() == t_pppParam::crdY) {
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[5743] | 362 | parY = par;
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| 363 | }
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[5810] | 364 | else if (par->type() == t_pppParam::crdZ) {
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[5743] | 365 | parZ = par;
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| 366 | }
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| 367 | else {
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| 368 | int ind = par->indexNew();
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| 369 | LOG << epoTimeStr << ' ' << par->toString() << ' '
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| 370 | << setw(10) << setprecision(4) << par->x0() << ' '
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| 371 | << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
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| 372 | << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
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[5810] | 373 | if (par->type() == t_pppParam::amb) {
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[5752] | 374 | LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
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[5743] | 375 | << " epo = " << setw(4) << par->ambNumEpo();
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| 376 | }
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| 377 | LOG << endl;
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| 378 | }
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| 379 | }
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| 380 |
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| 381 | if (parX && parY && parZ) {
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[5810] | 382 | const t_pppStation* sta = PPP_CLIENT->staRover();
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[5743] | 383 |
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| 384 | ColumnVector xyz(3);
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| 385 | xyz[0] = xx[parX->indexNew()];
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| 386 | xyz[1] = xx[parY->indexNew()];
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| 387 | xyz[2] = xx[parZ->indexNew()];
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| 388 |
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| 389 | ColumnVector neu(3);
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| 390 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
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| 391 |
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| 392 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
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| 393 |
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| 394 | SymmetricMatrix QQneu(3);
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| 395 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
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| 396 |
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| 397 | LOG << epoTimeStr
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| 398 | << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
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| 399 | << setprecision(4) << sqrt(QQxyz[0][0])
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| 400 |
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| 401 | << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
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| 402 | << setprecision(4) << sqrt(QQxyz[1][1])
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| 403 |
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| 404 | << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
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| 405 | << setprecision(4) << sqrt(QQxyz[2][2])
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| 406 |
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| 407 | << " dN = " << setprecision(4) << neu[0] << " +- "
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| 408 | << setprecision(4) << sqrt(QQneu[0][0])
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| 409 |
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| 410 | << " dE = " << setprecision(4) << neu[1] << " +- "
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| 411 | << setprecision(4) << sqrt(QQneu[1][1])
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| 412 |
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| 413 | << " dU = " << setprecision(4) << neu[2] << " +- "
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| 414 | << setprecision(4) << sqrt(QQneu[2][2]);
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[5877] | 415 | LOG << endl;
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[5743] | 416 | }
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| 417 | }
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| 418 |
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