[7237] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: t_pppParlist
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| 6 | *
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| 7 | * Purpose: List of estimated parameters
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Jul-2014
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <cmath>
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| 18 | #include <iostream>
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| 19 | #include <sstream>
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| 20 | #include <iomanip>
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| 21 | #include <algorithm>
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| 22 | #include <newmatio.h>
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| 23 |
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| 24 | #include "pppParlist.h"
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| 25 | #include "pppSatObs.h"
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| 26 | #include "pppStation.h"
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| 27 | #include "bncutils.h"
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| 28 | #include "bncconst.h"
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| 29 | #include "pppClient.h"
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| 30 |
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| 31 | using namespace BNC_PPP;
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| 32 | using namespace std;
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| 33 |
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| 34 | // Constructor
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| 35 | ////////////////////////////////////////////////////////////////////////////
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| 36 | t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
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[9504] | 37 | const vector<t_pppSatObs*>* obsVector) {
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[7237] | 38 |
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| 39 | _type = type;
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| 40 | _prn = prn;
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| 41 | _tLC = tLC;
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| 42 | _x0 = 0.0;
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| 43 | _indexOld = -1;
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| 44 | _indexNew = -1;
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| 45 | _noise = 0.0;
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| 46 | _ambInfo = 0;
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| 47 |
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| 48 | switch (_type) {
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| 49 | case crdX:
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| 50 | _epoSpec = false;
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| 51 | _sigma0 = OPT->_aprSigCrd[0];
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| 52 | _noise = OPT->_noiseCrd[0];
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| 53 | break;
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| 54 | case crdY:
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| 55 | _epoSpec = false;
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| 56 | _sigma0 = OPT->_aprSigCrd[1];
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| 57 | _noise = OPT->_noiseCrd[1];
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| 58 | break;
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| 59 | case crdZ:
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| 60 | _epoSpec = false;
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| 61 | _sigma0 = OPT->_aprSigCrd[2];
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| 62 | _noise = OPT->_noiseCrd[2];
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| 63 | break;
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| 64 | case clkR:
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| 65 | _epoSpec = true;
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[9303] | 66 | _sigma0 = OPT->_aprSigClk;
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[7237] | 67 | break;
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| 68 | case amb:
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| 69 | _epoSpec = false;
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| 70 | _sigma0 = OPT->_aprSigAmb;
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| 71 | _ambInfo = new t_ambInfo();
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| 72 | if (obsVector) {
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| 73 | for (unsigned ii = 0; ii < obsVector->size(); ii++) {
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| 74 | const t_pppSatObs* obs = obsVector->at(ii);
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| 75 | if (obs->prn() == _prn) {
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[9288] | 76 | double offGR = 0;
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[7237] | 77 | if (_prn.system() == 'R' && tLC != t_lc::MW) {
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[9288] | 78 | offGR = PPP_CLIENT->offGR();
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[7237] | 79 | }
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[9288] | 80 | double offGE = 0;
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| 81 | if (_prn.system() == 'E' && tLC != t_lc::MW) {
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| 82 | offGE = PPP_CLIENT->offGE();
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| 83 | }
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| 84 | double offGC = 0;
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[8993] | 85 | if (_prn.system() == 'C' && tLC != t_lc::MW) {
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[9288] | 86 | offGC = PPP_CLIENT->offGC();
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[8993] | 87 | }
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[9288] | 88 | _x0 = floor((obs->obsValue(tLC) - offGR -offGE - offGC - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
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[7237] | 89 | break;
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| 90 | }
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| 91 | }
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| 92 | }
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| 93 | break;
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[9288] | 94 | case offGR:
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[7237] | 95 | _epoSpec = true;
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[9386] | 96 | _sigma0 = OPT->_aprSigOGR;
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[9288] | 97 | _x0 = PPP_CLIENT->offGR();
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[7237] | 98 | break;
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[9288] | 99 | case offGE:
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[8993] | 100 | _epoSpec = true;
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[9386] | 101 | _sigma0 = OPT->_aprSigOGE;
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[9288] | 102 | _x0 = PPP_CLIENT->offGE();
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[8993] | 103 | break;
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[9288] | 104 | case offGC:
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| 105 | _epoSpec = true;
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[9386] | 106 | _sigma0 = OPT->_aprSigOGC;
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[9288] | 107 | _x0 = PPP_CLIENT->offGC();
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| 108 | break;
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[7237] | 109 | case trp:
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| 110 | _epoSpec = false;
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| 111 | _sigma0 = OPT->_aprSigTrp;
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| 112 | _noise = OPT->_noiseTrp;
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| 113 | break;
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[8905] | 114 | case ion:
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[9439] | 115 | _epoSpec = false;
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[9386] | 116 | _sigma0 = OPT->_aprSigIon;
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[9439] | 117 | _noise = OPT->_noiseIon;
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[8905] | 118 | break;
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[9386] | 119 | case cBiasG1: case cBiasR1: case cBiasE1: case cBiasC1:
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| 120 | case cBiasG2: case cBiasR2: case cBiasE2: case cBiasC2:
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[9486] | 121 | _epoSpec = false;
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[8905] | 122 | _sigma0 = OPT->_aprSigCodeBias;
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[9486] | 123 | _noise = OPT->_noiseCodeBias;
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[8905] | 124 | break;
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[9419] | 125 | case pBiasG1: case pBiasE1: case pBiasR1: case pBiasC1:
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| 126 | case pBiasG2: case pBiasE2: case pBiasR2: case pBiasC2:
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[9486] | 127 | _epoSpec = false;
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[8905] | 128 | _sigma0 = OPT->_aprSigPhaseBias;
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[9486] | 129 | _noise = OPT->_noisePhaseBias;
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[8905] | 130 | break;
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[7237] | 131 | }
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| 132 | }
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| 133 |
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[9504] | 134 | //
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| 135 | ////////////////////////////////////////////////////////////////////////////
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| 136 | t_pppParam::t_pppParam(const t_pppParam* old) {
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| 137 | _type = old->type();
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| 138 | _prn = old->prn();
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| 139 | _tLC = old->tLC();
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| 140 | _indexOld = old->indexOld();
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| 141 | _indexNew = old->indexNew();
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| 142 | _noise = old->noise();
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| 143 | _sigma0 = old->sigma0();
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| 144 | _epoSpec = old->epoSpec();
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[9508] | 145 | _x0 = old->x0();
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| 146 | setFirstObsTime(old->firstObsTime());
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| 147 | setLastObsTime(old->lastObsTime());
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[9504] | 148 | _ambInfo = 0;
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| 149 | if (_type == t_pppParam::amb) {
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| 150 | _ambInfo = new t_ambInfo();
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| 151 | _ambInfo->_resetCandidate = old->_ambInfo->_resetCandidate;
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| 152 | _ambInfo->_eleSat = old->_ambInfo->_eleSat;
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| 153 | _ambInfo->_numEpo = old->_ambInfo->_numEpo;
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| 154 | }
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| 155 | }
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| 156 |
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[7237] | 157 | // Destructor
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| 158 | ////////////////////////////////////////////////////////////////////////////
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| 159 | t_pppParam::~t_pppParam() {
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[9504] | 160 | if (_ambInfo) {
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| 161 | delete _ambInfo;
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| 162 | }
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[7237] | 163 | }
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| 164 | //
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| 165 | ////////////////////////////////////////////////////////////////////////////
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| 166 | double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
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[8956] | 167 | const t_lc::type& tLC, const t_prn refPrn) const {
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[7237] | 168 |
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| 169 | // Special Case - Melbourne-Wuebbena
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| 170 | // ---------------------------------
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| 171 | if (tLC == t_lc::MW && _type != amb) {
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| 172 | return 0.0;
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| 173 | }
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| 174 |
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| 175 | const t_pppStation* sta = PPP_CLIENT->staRover();
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[8905] | 176 | ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
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[7237] | 177 |
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[8905] | 178 | map<t_frequency::type, double> codeCoeff;
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| 179 | map<t_frequency::type, double> phaseCoeff;
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| 180 | map<t_frequency::type, double> ionoCoeff;
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| 181 | obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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| 182 |
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[7237] | 183 | switch (_type) {
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| 184 | case crdX:
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[8961] | 185 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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[8905] | 186 | return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
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[7237] | 187 | case crdY:
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[8961] | 188 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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[8905] | 189 | return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
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[7237] | 190 | case crdZ:
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[8961] | 191 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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[8905] | 192 | return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
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[7237] | 193 | case clkR:
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[8961] | 194 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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[7237] | 195 | return 1.0;
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[9288] | 196 | case offGR:
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[8961] | 197 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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[7237] | 198 | return (obs->prn().system() == 'R') ? 1.0 : 0.0;
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[9288] | 199 | case offGE:
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[8993] | 200 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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[9288] | 201 | return (obs->prn().system() == 'E') ? 1.0 : 0.0;
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| 202 | case offGC:
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| 203 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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[8993] | 204 | return (obs->prn().system() == 'C') ? 1.0 : 0.0;
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[7237] | 205 | case amb:
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[8961] | 206 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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[8905] | 207 | else if ((OPT->_obsModelType == OPT->IF) ||
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| 208 | (OPT->_obsModelType == OPT->PPPRTK) ||
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| 209 | (OPT->_obsModelType == OPT->UncombPPP) ||
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| 210 | (OPT->_obsModelType == OPT->DCMcodeBias && !obs->isReference()) ||
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| 211 | (OPT->_obsModelType == OPT->DCMphaseBias && !obs->isReference()) ) {
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[9386] | 212 |
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[8905] | 213 | if (obs->prn() == _prn) {
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| 214 | if (tLC == _tLC) {
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| 215 | return (obs->lambda(tLC));
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| 216 | }
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| 217 | else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
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| 218 | return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
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| 219 | }
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| 220 | else {
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| 221 | if (_tLC == t_lc::l1) {
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| 222 | return obs->lambda(t_lc::l1) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
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| 223 | }
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| 224 | else if (_tLC == t_lc::l2) {
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| 225 | return obs->lambda(t_lc::l2) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
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| 226 | }
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| 227 | }
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| 228 | }
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| 229 | }
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| 230 | break;
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| 231 | case trp:
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[8961] | 232 | if (tLC == t_lc::GIM) {
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| 233 | return 0.0;
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| 234 | }
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| 235 | else if (tLC == t_lc::Tz0) {
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| 236 | return 1.0;
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| 237 | }
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| 238 | else {
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| 239 | return 1.0 / sin(obs->eleSat());
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| 240 | }
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[8905] | 241 | case ion:
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[7237] | 242 | if (obs->prn() == _prn) {
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[8905] | 243 | if (tLC == t_lc::c1) {
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| 244 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c1)];
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[7237] | 245 | }
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[8905] | 246 | else if (tLC == t_lc::c2) {
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| 247 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c2)];
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[7237] | 248 | }
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[8905] | 249 | else if (tLC == t_lc::l1) {
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| 250 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
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[7237] | 251 | }
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[8905] | 252 | else if (tLC == t_lc::l2) {
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| 253 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
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| 254 | }
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| 255 | else if (tLC == t_lc::GIM) {
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| 256 | return -1.0;
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| 257 | }
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[7237] | 258 | }
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[8956] | 259 | if (tLC == t_lc::GIM && _prn == refPrn) {
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[8961] | 260 | return 1.0;
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[8905] | 261 | }
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| 262 | break;
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[9386] | 263 | case cBiasG1:
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| 264 | if ((obs->prn().system() == 'G') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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[8905] | 265 | break;
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[9386] | 266 | case cBiasR1:
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| 267 | if ((obs->prn().system() == 'R') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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[8905] | 268 | break;
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[9386] | 269 | case cBiasE1:
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| 270 | if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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[8905] | 271 | break;
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[9386] | 272 | case cBiasC1:
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| 273 | if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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| 274 | break;
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| 275 | case cBiasG2:
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| 276 | if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 277 | break;
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| 278 | case cBiasR2:
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| 279 | if ((obs->prn().system() == 'R') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 280 | break;
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| 281 | case cBiasE2:
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| 282 | if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 283 | break;
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| 284 | case cBiasC2:
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| 285 | if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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| 286 | break;
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| 287 | case pBiasG1:
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| 288 | if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 289 | break;
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[9419] | 290 | case pBiasR1:
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| 291 | if ((obs->prn().system() == 'R') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 292 | break;
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[9386] | 293 | case pBiasE1:
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| 294 | if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 295 | break;
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| 296 | case pBiasC1:
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| 297 | if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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| 298 | break;
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| 299 | case pBiasG2:
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| 300 | if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 301 | break;
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[9419] | 302 | case pBiasR2:
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| 303 | if ((obs->prn().system() == 'R') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 304 | break;
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[9386] | 305 | case pBiasE2:
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| 306 | if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 307 | break;
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| 308 | case pBiasC2:
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| 309 | if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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| 310 | break;
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| 311 |
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[7237] | 312 | }
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| 313 | return 0.0;
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| 314 | }
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| 315 |
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| 316 | //
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| 317 | ////////////////////////////////////////////////////////////////////////////
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| 318 | string t_pppParam::toString() const {
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| 319 | stringstream ss;
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| 320 | switch (_type) {
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| 321 | case crdX:
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| 322 | ss << "CRD_X";
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| 323 | break;
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| 324 | case crdY:
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| 325 | ss << "CRD_Y";
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| 326 | break;
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| 327 | case crdZ:
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| 328 | ss << "CRD_Z";
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| 329 | break;
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| 330 | case clkR:
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[9386] | 331 | ss << "REC_CLK ";
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[7237] | 332 | break;
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[9288] | 333 | case offGR:
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[9386] | 334 | ss << "OGR ";
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[7237] | 335 | break;
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[9288] | 336 | case offGE:
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[9386] | 337 | ss << "OGE ";
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[9288] | 338 | break;
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| 339 | case offGC:
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[9386] | 340 | ss << "OGC ";
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[8993] | 341 | break;
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[7237] | 342 | case trp:
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[9386] | 343 | ss << "TRP ";
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[7237] | 344 | break;
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[8905] | 345 | case amb:
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| 346 | ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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| 347 | break;
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| 348 | case ion:
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| 349 | ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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| 350 | break;
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[9386] | 351 | case cBiasG1: case pBiasG1:
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| 352 | case cBiasG2: case pBiasG2:
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| 353 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
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[8905] | 354 | break;
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[9419] | 355 | case cBiasR1: case pBiasR1:
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| 356 | case cBiasR2: case pBiasR2:
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[9386] | 357 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " R ";
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| 358 | break;
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| 359 | case cBiasE1: case pBiasE1:
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| 360 | case cBiasE2: case pBiasE2:
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| 361 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
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| 362 | break;
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| 363 | case cBiasC1: case pBiasC1:
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| 364 | case cBiasC2: case pBiasC2:
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| 365 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
|
---|
| 366 | break;
|
---|
[7237] | 367 | }
|
---|
| 368 | return ss.str();
|
---|
| 369 | }
|
---|
| 370 |
|
---|
| 371 | // Constructor
|
---|
| 372 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 373 | t_pppParlist::t_pppParlist() {
|
---|
| 374 | }
|
---|
| 375 |
|
---|
| 376 | // Destructor
|
---|
| 377 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 378 | t_pppParlist::~t_pppParlist() {
|
---|
[9504] | 379 | _usedSystems.clear();
|
---|
| 380 |
|
---|
| 381 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
| 382 | while (it != _params.end()) {
|
---|
| 383 | t_pppParam* par = *it;
|
---|
| 384 | delete par;
|
---|
| 385 | it = _params.erase(it);
|
---|
[7237] | 386 | }
|
---|
| 387 | }
|
---|
| 388 |
|
---|
| 389 | //
|
---|
| 390 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9504] | 391 | t_pppParlist::t_pppParlist(const t_pppParlist& old) {
|
---|
| 392 |
|
---|
| 393 | _usedSystems = old._usedSystems;
|
---|
| 394 |
|
---|
| 395 | vector<t_pppParam*>::const_iterator it = old.params().begin();
|
---|
| 396 | while (it != old.params().end()) {
|
---|
| 397 | const t_pppParam* oldParam = *it;
|
---|
| 398 | _params.push_back(new t_pppParam(oldParam));
|
---|
| 399 | }
|
---|
| 400 | }
|
---|
| 401 |
|
---|
| 402 | //
|
---|
| 403 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 404 | const t_pppParlist& t_pppParlist::operator= (const t_pppParlist& p) {
|
---|
| 405 |
|
---|
| 406 | _usedSystems.clear();
|
---|
| 407 |
|
---|
| 408 | _usedSystems = p._usedSystems;
|
---|
| 409 |
|
---|
| 410 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
| 411 | while (it != _params.end()) {
|
---|
| 412 | t_pppParam* par = *it;
|
---|
| 413 | delete par;
|
---|
| 414 | it = _params.erase(it);
|
---|
| 415 | }
|
---|
| 416 |
|
---|
| 417 | for (unsigned jj = 0; jj < p.params().size(); jj++) {
|
---|
| 418 | t_pppParam* parFrom = p.params()[jj];
|
---|
| 419 | _params.push_back(new t_pppParam(parFrom));
|
---|
| 420 | }
|
---|
| 421 | return *this;
|
---|
| 422 | }
|
---|
| 423 |
|
---|
| 424 | //
|
---|
| 425 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9419] | 426 | t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector,
|
---|
[8956] | 427 | const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
[7237] | 428 |
|
---|
| 429 | // Remove some Parameters
|
---|
| 430 | // ----------------------
|
---|
| 431 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
| 432 | while (it != _params.end()) {
|
---|
| 433 | t_pppParam* par = *it;
|
---|
| 434 |
|
---|
| 435 | bool remove = false;
|
---|
| 436 |
|
---|
| 437 | if (par->epoSpec()) {
|
---|
| 438 | remove = true;
|
---|
| 439 | }
|
---|
| 440 |
|
---|
[8956] | 441 | else if (par->type() == t_pppParam::crdX ||
|
---|
[7988] | 442 | par->type() == t_pppParam::crdY ||
|
---|
| 443 | par->type() == t_pppParam::crdZ) {
|
---|
[7973] | 444 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
[7237] | 445 | remove = true;
|
---|
| 446 | }
|
---|
| 447 | }
|
---|
[9419] | 448 |
|
---|
[8956] | 449 | else if (par->type() == t_pppParam::amb) {
|
---|
[9494] | 450 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 451 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
[9508] | 452 | char sys = par->prn().system();
|
---|
| 453 | t_prn refPrn = (refSatMap[sys])->prn();
|
---|
[9527] | 454 | if (par->lastObsTime().valid() && par->prn() == refPrn) {
|
---|
[9419] | 455 | remove = true;
|
---|
| 456 | }
|
---|
[8956] | 457 | }
|
---|
[9419] | 458 | else {
|
---|
| 459 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
| 460 | remove = true;
|
---|
| 461 | }
|
---|
[8956] | 462 | }
|
---|
| 463 | }
|
---|
[7237] | 464 |
|
---|
[9447] | 465 | else if (par->type() == t_pppParam::ion) {
|
---|
[9527] | 466 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
| 467 | remove = true;
|
---|
[9447] | 468 | }
|
---|
| 469 | }
|
---|
[7237] | 470 | if (remove) {
|
---|
[9508] | 471 | #ifdef BNC_DEBUG_PPP
|
---|
[9527] | 472 | LOG << "remove0 " << par->toString() << std::endl;
|
---|
[9508] | 473 | #endif
|
---|
[7237] | 474 | delete par;
|
---|
| 475 | it = _params.erase(it);
|
---|
| 476 | }
|
---|
| 477 | else {
|
---|
| 478 | ++it;
|
---|
| 479 | }
|
---|
| 480 | }
|
---|
| 481 |
|
---|
| 482 | // Check whether parameters have observations
|
---|
| 483 | // ------------------------------------------
|
---|
| 484 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 485 | t_pppParam* par = _params[ii];
|
---|
| 486 | if (par->prn() == 0) {
|
---|
| 487 | par->setLastObsTime(epoTime);
|
---|
| 488 | if (par->firstObsTime().undef()) {
|
---|
| 489 | par->setFirstObsTime(epoTime);
|
---|
| 490 | }
|
---|
| 491 | }
|
---|
| 492 | else {
|
---|
| 493 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 494 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 495 | if (satObs->prn() == par->prn()) {
|
---|
| 496 | par->setLastObsTime(epoTime);
|
---|
| 497 | if (par->firstObsTime().undef()) {
|
---|
| 498 | par->setFirstObsTime(epoTime);
|
---|
| 499 | }
|
---|
| 500 | break;
|
---|
| 501 | }
|
---|
| 502 | }
|
---|
| 503 | }
|
---|
| 504 | }
|
---|
| 505 |
|
---|
[9527] | 506 |
|
---|
[9419] | 507 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 508 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
[9527] | 509 | // Check if ambiguity parameters have observations
|
---|
| 510 | // -----------------------------------------------
|
---|
[9419] | 511 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
[9527] | 512 | QList<t_prn> lostSats;
|
---|
[9419] | 513 | while (it != _params.end()) {
|
---|
| 514 | t_pppParam* par = *it;
|
---|
[9527] | 515 | if ((par->type() == t_pppParam::amb) &&
|
---|
[9528] | 516 | (!par->lastObsTime().valid() || (epoTime - par->lastObsTime() > 0.0))) {
|
---|
[9508] | 517 | #ifdef BNC_DEBUG_PPP
|
---|
[9527] | 518 | LOG << "remove1 " << par->toString() << std::endl;
|
---|
[9508] | 519 | #endif
|
---|
[9527] | 520 | lostSats.append(par->prn());
|
---|
[9419] | 521 | delete par;
|
---|
| 522 | it = _params.erase(it);
|
---|
| 523 | }
|
---|
| 524 | else {
|
---|
| 525 | ++it;
|
---|
| 526 | }
|
---|
| 527 | }
|
---|
[9527] | 528 | // remove respective iono parameters
|
---|
| 529 | // ---------------------------------
|
---|
| 530 | it = _params.begin();
|
---|
| 531 | while (it != _params.end()) {
|
---|
| 532 | t_pppParam* par = *it;
|
---|
| 533 | if ((par->type() == t_pppParam::ion) &&
|
---|
[9528] | 534 | (lostSats.contains(par->prn()) || (epoTime - par->lastObsTime() > 0.0))) {
|
---|
[9527] | 535 | #ifdef BNC_DEBUG_PPP
|
---|
| 536 | LOG << "remove1 " << par->toString() << std::endl;
|
---|
| 537 | #endif
|
---|
| 538 | delete par;
|
---|
| 539 | it = _params.erase(it);
|
---|
| 540 | }
|
---|
| 541 | else {
|
---|
| 542 | ++it;
|
---|
| 543 | }
|
---|
| 544 | }
|
---|
[9419] | 545 | }
|
---|
| 546 |
|
---|
| 547 | // check which systems have observations
|
---|
| 548 | // -------------------------------------
|
---|
| 549 | _usedSystems.clear();
|
---|
| 550 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 551 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 552 | char sys = satObs->prn().system();
|
---|
| 553 | if (!_usedSystems.contains(sys)) {
|
---|
| 554 | _usedSystems.append(sys);
|
---|
| 555 | }
|
---|
| 556 | }
|
---|
| 557 |
|
---|
[9498] | 558 | if (_usedSystems.size() > 1 &&
|
---|
| 559 | !_usedSystems.contains('G')) { // required to setup ISB w. r. t. GPS
|
---|
| 560 | return failure;
|
---|
| 561 | }
|
---|
| 562 |
|
---|
[7237] | 563 | // Required Set of Parameters
|
---|
| 564 | // --------------------------
|
---|
| 565 | vector<t_pppParam*> required;
|
---|
| 566 |
|
---|
| 567 | // Coordinates
|
---|
| 568 | // -----------
|
---|
| 569 | required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
|
---|
| 570 | required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
|
---|
| 571 | required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
|
---|
| 572 |
|
---|
[9386] | 573 | // Receiver Code Biases
|
---|
| 574 | // --------------------
|
---|
| 575 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
[9494] | 576 | std::vector<t_lc::type> lc;
|
---|
[9419] | 577 | if (_usedSystems.contains('G')) {
|
---|
[9494] | 578 | lc = OPT->LCs('G');
|
---|
| 579 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 580 | required.push_back(new t_pppParam(t_pppParam::cBiasG1, t_prn(), t_lc::c1));
|
---|
| 581 | }
|
---|
| 582 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 583 | required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
|
---|
| 584 | }
|
---|
[9386] | 585 | }
|
---|
[9419] | 586 | if (_usedSystems.contains('R')) {
|
---|
[9494] | 587 | lc = OPT->LCs('R');
|
---|
| 588 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 589 | required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
|
---|
| 590 | }
|
---|
| 591 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 592 | required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
|
---|
| 593 | }
|
---|
[9386] | 594 | }
|
---|
[9419] | 595 | if (_usedSystems.contains('E')) {
|
---|
[9494] | 596 | lc = OPT->LCs('E');
|
---|
| 597 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 598 | required.push_back(new t_pppParam(t_pppParam::cBiasE1, t_prn(), t_lc::c1));
|
---|
| 599 | }
|
---|
| 600 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 601 | required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
|
---|
| 602 | }
|
---|
[9386] | 603 | }
|
---|
[9419] | 604 | if (_usedSystems.contains('C')) {
|
---|
[9494] | 605 | lc = OPT->LCs('C');
|
---|
| 606 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
| 607 | required.push_back(new t_pppParam(t_pppParam::cBiasC1, t_prn(), t_lc::c1));
|
---|
| 608 | }
|
---|
| 609 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
| 610 | required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
|
---|
| 611 | }
|
---|
[9386] | 612 | }
|
---|
| 613 | }
|
---|
| 614 |
|
---|
| 615 | // Receiver Phase Biases
|
---|
| 616 | // ---------------------
|
---|
| 617 | if ((OPT->_obsModelType == OPT->DCMphaseBias) ||
|
---|
| 618 | (OPT->_obsModelType == OPT->PPPRTK) ) {
|
---|
[9494] | 619 | std::vector<t_lc::type> lc;
|
---|
[9419] | 620 | if (_usedSystems.contains('G')) {
|
---|
[9494] | 621 | lc = OPT->LCs('G');
|
---|
| 622 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 623 | required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
|
---|
| 624 | }
|
---|
| 625 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 626 | required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
|
---|
| 627 | }
|
---|
[9386] | 628 | }
|
---|
[9419] | 629 | if (_usedSystems.contains('R')) {
|
---|
[9494] | 630 | lc = OPT->LCs('R');
|
---|
| 631 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 632 | required.push_back(new t_pppParam(t_pppParam::pBiasR1, t_prn(), t_lc::l1));
|
---|
| 633 | }
|
---|
| 634 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
| 635 | required.push_back(new t_pppParam(t_pppParam::pBiasR2, t_prn(), t_lc::l2));
|
---|
| 636 | }
|
---|
| 637 |
|
---|
[9419] | 638 | }
|
---|
| 639 | if (_usedSystems.contains('E')) {
|
---|
[9494] | 640 | lc = OPT->LCs('E');
|
---|
| 641 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 642 | required.push_back(new t_pppParam(t_pppParam::pBiasE1, 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::pBiasE2, t_prn(), t_lc::l2));
|
---|
| 646 | }
|
---|
[9386] | 647 | }
|
---|
[9419] | 648 | if (_usedSystems.contains('C')) {
|
---|
[9494] | 649 | lc = OPT->LCs('C');
|
---|
| 650 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
| 651 | required.push_back(new t_pppParam(t_pppParam::pBiasC1, 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::pBiasC2, t_prn(), t_lc::l2));
|
---|
| 655 | }
|
---|
[9386] | 656 | }
|
---|
| 657 | }
|
---|
[9419] | 658 |
|
---|
[7237] | 659 | // Receiver Clock
|
---|
| 660 | // --------------
|
---|
| 661 | required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
|
---|
| 662 |
|
---|
[8905] | 663 | // GPS-GLONASS Clock Offset
|
---|
[7237] | 664 | // ------------------------
|
---|
[9498] | 665 | if (_usedSystems.contains('G') && _usedSystems.contains('R')) {
|
---|
| 666 | required.push_back(new t_pppParam(t_pppParam::offGR, t_prn(), t_lc::dummy));
|
---|
| 667 | }
|
---|
[7237] | 668 |
|
---|
[9419] | 669 | //GPS-Galileo Clock Offset
|
---|
[9288] | 670 | // ------------------------
|
---|
[9498] | 671 | if (_usedSystems.contains('G') && _usedSystems.contains('E')) {
|
---|
| 672 | required.push_back(new t_pppParam(t_pppParam::offGE, t_prn(), t_lc::dummy));
|
---|
| 673 | }
|
---|
[9288] | 674 |
|
---|
[8993] | 675 | // GPS-BDS Clock Offset
|
---|
| 676 | // ------------------------
|
---|
[9498] | 677 | if (_usedSystems.contains('G') && _usedSystems.contains('C')) {
|
---|
| 678 | required.push_back(new t_pppParam(t_pppParam::offGC, t_prn(), t_lc::dummy));
|
---|
| 679 | }
|
---|
[8993] | 680 |
|
---|
[7237] | 681 | // Troposphere
|
---|
| 682 | // -----------
|
---|
| 683 | if (OPT->estTrp()) {
|
---|
| 684 | required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
|
---|
| 685 | }
|
---|
| 686 |
|
---|
[8905] | 687 | // Ionosphere
|
---|
| 688 | // ----------
|
---|
| 689 | if (OPT->_obsModelType == OPT->UncombPPP ||
|
---|
| 690 | OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
| 691 | OPT->_obsModelType == OPT->DCMphaseBias ) {
|
---|
| 692 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
[9386] | 693 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[8905] | 694 | required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
|
---|
| 695 | }
|
---|
| 696 | }
|
---|
[7237] | 697 | // Ambiguities
|
---|
| 698 | // -----------
|
---|
| 699 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
[9419] | 700 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
[8905] | 701 | if ((OPT->_obsModelType == OPT->IF) ||
|
---|
| 702 | (OPT->_obsModelType == OPT->PPPRTK) ||
|
---|
| 703 | (OPT->_obsModelType == OPT->UncombPPP) ||
|
---|
| 704 | (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
|
---|
| 705 | (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
|
---|
| 706 | const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
|
---|
| 707 | for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
|
---|
| 708 | required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
|
---|
| 709 | }
|
---|
[7237] | 710 | }
|
---|
| 711 | }
|
---|
| 712 |
|
---|
| 713 | // Check if all required parameters are present
|
---|
| 714 | // --------------------------------------------
|
---|
| 715 | for (unsigned ii = 0; ii < required.size(); ii++) {
|
---|
| 716 | t_pppParam* parReq = required[ii];
|
---|
| 717 |
|
---|
| 718 | bool found = false;
|
---|
| 719 | for (unsigned jj = 0; jj < _params.size(); jj++) {
|
---|
| 720 | t_pppParam* parOld = _params[jj];
|
---|
| 721 | if (parOld->isEqual(parReq)) {
|
---|
| 722 | found = true;
|
---|
| 723 | break;
|
---|
| 724 | }
|
---|
| 725 | }
|
---|
| 726 | if (found) {
|
---|
| 727 | delete parReq;
|
---|
| 728 | }
|
---|
| 729 | else {
|
---|
[9508] | 730 | #ifdef BNC_DEBUG_PPP
|
---|
| 731 | LOG << "push_back parReq " << parReq->toString() << std::endl;
|
---|
| 732 | #endif
|
---|
[7237] | 733 | _params.push_back(parReq);
|
---|
| 734 | }
|
---|
| 735 | }
|
---|
| 736 |
|
---|
| 737 | // Set Parameter Indices
|
---|
| 738 | // ---------------------
|
---|
| 739 | sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
|
---|
| 740 |
|
---|
| 741 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
| 742 | t_pppParam* par = _params[ii];
|
---|
| 743 | par->setIndex(ii);
|
---|
| 744 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
| 745 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
| 746 | if (satObs->prn() == par->prn()) {
|
---|
| 747 | par->setAmbEleSat(satObs->eleSat());
|
---|
| 748 | par->stepAmbNumEpo();
|
---|
| 749 | }
|
---|
| 750 | }
|
---|
| 751 | }
|
---|
| 752 |
|
---|
| 753 | return success;
|
---|
| 754 | }
|
---|
| 755 |
|
---|
| 756 | //
|
---|
| 757 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 758 | void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
|
---|
| 759 | const ColumnVector& xx) const {
|
---|
| 760 |
|
---|
| 761 | string epoTimeStr = string(epoTime);
|
---|
| 762 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
| 763 |
|
---|
| 764 | LOG << endl;
|
---|
| 765 |
|
---|
| 766 | t_pppParam* parX = 0;
|
---|
| 767 | t_pppParam* parY = 0;
|
---|
| 768 | t_pppParam* parZ = 0;
|
---|
[9504] | 769 | vector<t_pppParam*>::const_iterator it = _params.begin();
|
---|
| 770 | while (it != _params.end()) {
|
---|
| 771 | t_pppParam* par = *it;
|
---|
[7237] | 772 | if (par->type() == t_pppParam::crdX) {
|
---|
| 773 | parX = par;
|
---|
| 774 | }
|
---|
| 775 | else if (par->type() == t_pppParam::crdY) {
|
---|
| 776 | parY = par;
|
---|
| 777 | }
|
---|
| 778 | else if (par->type() == t_pppParam::crdZ) {
|
---|
| 779 | parZ = par;
|
---|
| 780 | }
|
---|
| 781 | else {
|
---|
| 782 | int ind = par->indexNew();
|
---|
| 783 | double apr = (par->type() == t_pppParam::trp) ?
|
---|
| 784 | t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
|
---|
| 785 | LOG << epoTimeStr << ' ' << par->toString() << ' '
|
---|
| 786 | << setw(10) << setprecision(4) << apr << ' '
|
---|
| 787 | << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
|
---|
| 788 | << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
|
---|
| 789 | if (par->type() == t_pppParam::amb) {
|
---|
| 790 | LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
|
---|
| 791 | << " epo = " << setw(4) << par->ambNumEpo();
|
---|
| 792 | }
|
---|
| 793 | LOG << endl;
|
---|
| 794 | }
|
---|
[9504] | 795 | ++it;
|
---|
[7237] | 796 | }
|
---|
| 797 |
|
---|
| 798 | if (parX && parY && parZ) {
|
---|
| 799 |
|
---|
| 800 | ColumnVector xyz(3);
|
---|
| 801 | xyz[0] = xx[parX->indexNew()];
|
---|
| 802 | xyz[1] = xx[parY->indexNew()];
|
---|
| 803 | xyz[2] = xx[parZ->indexNew()];
|
---|
| 804 |
|
---|
| 805 | ColumnVector neu(3);
|
---|
| 806 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
|
---|
| 807 |
|
---|
| 808 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
|
---|
| 809 |
|
---|
| 810 | SymmetricMatrix QQneu(3);
|
---|
| 811 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
|
---|
| 812 |
|
---|
| 813 | LOG << epoTimeStr << ' ' << sta->name()
|
---|
| 814 | << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
|
---|
| 815 | << setprecision(4) << sqrt(QQxyz[0][0])
|
---|
| 816 |
|
---|
| 817 | << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
|
---|
| 818 | << setprecision(4) << sqrt(QQxyz[1][1])
|
---|
| 819 |
|
---|
| 820 | << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
|
---|
| 821 | << setprecision(4) << sqrt(QQxyz[2][2])
|
---|
| 822 |
|
---|
| 823 | << " dN = " << setprecision(4) << neu[0] << " +- "
|
---|
| 824 | << setprecision(4) << sqrt(QQneu[0][0])
|
---|
| 825 |
|
---|
| 826 | << " dE = " << setprecision(4) << neu[1] << " +- "
|
---|
| 827 | << setprecision(4) << sqrt(QQneu[1][1])
|
---|
| 828 |
|
---|
| 829 | << " dU = " << setprecision(4) << neu[2] << " +- "
|
---|
| 830 | << setprecision(4) << sqrt(QQneu[2][2])
|
---|
| 831 |
|
---|
| 832 | << endl;
|
---|
| 833 | }
|
---|
| 834 | }
|
---|
| 835 |
|
---|
[9525] | 836 | //
|
---|
| 837 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9527] | 838 | void t_pppParlist::printParams(const bncTime& epoTime) {
|
---|
[9526] | 839 |
|
---|
| 840 | for (unsigned iPar = 0; iPar < _params.size(); iPar++) {
|
---|
[9527] | 841 | LOG << _params[iPar]->toString()
|
---|
| 842 | << "\t lastObsTime().valid() \t" << _params[iPar]->lastObsTime().valid()
|
---|
| 843 | << "\t epoTime - par->lastObsTime() \t" << (epoTime - _params[iPar]->lastObsTime())
|
---|
| 844 | << endl;
|
---|
[9525] | 845 | }
|
---|
| 846 | }
|
---|
| 847 |
|
---|