source: ntrip/trunk/BNC/src/PPP/pppParlist.cpp@ 10215

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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppParlist
6 *
7 * Purpose: List of estimated parameters
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <cmath>
18#include <iostream>
19#include <sstream>
20#include <iomanip>
21#include <algorithm>
22#include <newmatio.h>
23
24#include "pppParlist.h"
25#include "pppSatObs.h"
26#include "pppStation.h"
27#include "bncutils.h"
28#include "bncconst.h"
29#include "pppClient.h"
30
31using namespace BNC_PPP;
32using namespace std;
33
34// Constructor
35////////////////////////////////////////////////////////////////////////////
36t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
37 const vector<t_pppSatObs*>* obsVector) {
38
39 _type = type;
40 _prn = prn;
41 _tLC = tLC;
42 _x0 = 0.0;
43 _indexOld = -1;
44 _indexNew = -1;
45 _noise = 0.0;
46 _ambInfo = 0;
47
48 switch (_type) {
49 case crdX:
50 _epoSpec = false;
51 _sigma0 = OPT->_aprSigCrd[0];
52 _noise = OPT->_noiseCrd[0];
53 break;
54 case crdY:
55 _epoSpec = false;
56 _sigma0 = OPT->_aprSigCrd[1];
57 _noise = OPT->_noiseCrd[1];
58 break;
59 case crdZ:
60 _epoSpec = false;
61 _sigma0 = OPT->_aprSigCrd[2];
62 _noise = OPT->_noiseCrd[2];
63 break;
64 case clkR:
65 _epoSpec = true;
66 _sigma0 = OPT->_aprSigClk;
67 break;
68 case amb:
69 _epoSpec = false;
70 _sigma0 = OPT->_aprSigAmb;
71 _ambInfo = new t_ambInfo();
72 if (obsVector) {
73 for (unsigned ii = 0; ii < obsVector->size(); ii++) {
74 const t_pppSatObs* obs = obsVector->at(ii);
75 if (obs->prn() == _prn) {
76 double offGlo = 0;
77 if (_prn.system() == 'R' && tLC != t_lc::MW) {
78 offGlo = PPP_CLIENT->offGlo();
79 }
80 double offGal = 0;
81 if (_prn.system() == 'E' && tLC != t_lc::MW) {
82 offGal = PPP_CLIENT->offGal();
83 }
84 double offBds = 0;
85 if (_prn.system() == 'C' && tLC != t_lc::MW) {
86 offBds = PPP_CLIENT->offBds();
87 }
88 _x0 = floor((obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
89 break;
90 }
91 }
92 }
93 break;
94 case offGlo:
95 _epoSpec = true;
96 _sigma0 = OPT->_aprSigClk;
97 _x0 = PPP_CLIENT->offGlo();
98 break;
99 case offGal:
100 _epoSpec = true;
101 _sigma0 = OPT->_aprSigClk;
102 _x0 = PPP_CLIENT->offGal();
103 break;
104 case offBds:
105 _epoSpec = true;
106 _sigma0 = OPT->_aprSigClk;
107 _x0 = PPP_CLIENT->offBds();
108 break;
109 case trp:
110 _epoSpec = false;
111 _sigma0 = OPT->_aprSigTrp;
112 _noise = OPT->_noiseTrp;
113 break;
114 case ion:
115 _epoSpec = false;
116 _sigma0 = OPT->_aprSigIon;
117 _noise = OPT->_noiseIon;
118 break;
119 case cBiasG1: case cBiasR1: case cBiasE1: case cBiasC1:
120 case cBiasG2: case cBiasR2: case cBiasE2: case cBiasC2:
121 _epoSpec = false;
122 _sigma0 = OPT->_aprSigCodeBias;
123 _noise = OPT->_noiseCodeBias;
124 break;
125 case pBiasG1: case pBiasR1: case pBiasE1: case pBiasC1:
126 case pBiasG2: case pBiasR2: case pBiasE2: case pBiasC2:
127 _epoSpec = false;
128 _sigma0 = OPT->_aprSigPhaseBias;
129 _noise = OPT->_noisePhaseBias;
130 break;
131 }
132}
133
134// Destructor
135////////////////////////////////////////////////////////////////////////////
136t_pppParam::~t_pppParam() {
137 if (_ambInfo) {
138 delete _ambInfo;
139 }
140}
141//
142////////////////////////////////////////////////////////////////////////////
143double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
144 const t_lc::type& tLC) const {
145
146 // Special Case - Melbourne-Wuebbena
147 // ---------------------------------
148 if (tLC == t_lc::MW && _type != amb) {
149 return 0.0;
150 }
151
152 const t_pppStation* sta = PPP_CLIENT->staRover();
153 ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
154
155 map<t_frequency::type, double> codeCoeff;
156 map<t_frequency::type, double> phaseCoeff;
157 map<t_frequency::type, double> ionoCoeff;
158 obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
159
160 switch (_type) {
161 case crdX:
162 if (tLC == t_lc::GIM) {return 0.0;}
163 return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
164 case crdY:
165 if (tLC == t_lc::GIM) {return 0.0;}
166 return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
167 case crdZ:
168 if (tLC == t_lc::GIM) {return 0.0;}
169 return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
170 case clkR:
171 if (tLC == t_lc::GIM) {return 0.0;}
172 return 1.0;
173 case offGlo:
174 if (tLC == t_lc::GIM) {return 0.0;}
175 return (obs->prn().system() == 'R') ? 1.0 : 0.0;
176 case offGal:
177 if (tLC == t_lc::GIM) {return 0.0;}
178 return (obs->prn().system() == 'E') ? 1.0 : 0.0;
179 case offBds:
180 if (tLC == t_lc::GIM) {return 0.0;}
181 return (obs->prn().system() == 'C') ? 1.0 : 0.0;
182 case amb:
183 if (tLC == t_lc::GIM) {
184 return 0.0;
185 }
186 else {
187 if (obs->prn() == _prn) {
188 if (tLC == _tLC) {
189 return (obs->lambda(tLC));
190 }
191 else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
192 return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
193 }
194 else {
195 if (_tLC == t_lc::l1) {
196 return obs->lambda(t_lc::l1) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
197 }
198 else if (_tLC == t_lc::l2) {
199 return obs->lambda(t_lc::l2) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
200 }
201 }
202 }
203 }
204 break;
205 case trp:
206 if (tLC == t_lc::GIM) {
207 return 0.0;
208 }
209 else {
210 return 1.0 / sin(obs->eleSat());
211 }
212 case ion:
213 if (obs->prn() == _prn) {
214 if (tLC == t_lc::c1) {
215 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c1)];
216 }
217 else if (tLC == t_lc::c2) {
218 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c2)];
219 }
220 else if (tLC == t_lc::l1) {
221 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
222 }
223 else if (tLC == t_lc::l2) {
224 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
225 }
226 else if (tLC == t_lc::GIM) {
227 return 1.0;
228 }
229 }
230 break;
231 case cBiasG1:
232 if ((obs->prn().system() == 'G') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
233 break;
234 case cBiasR1:
235 if ((obs->prn().system() == 'R') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
236 break;
237 case cBiasE1:
238 if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
239 break;
240 case cBiasC1:
241 if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
242 break;
243 case cBiasG2:
244 if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
245 break;
246 case cBiasR2:
247 if ((obs->prn().system() == 'R') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
248 break;
249 case cBiasE2:
250 if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
251 break;
252 case cBiasC2:
253 if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
254 break;
255 case pBiasG1:
256 if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
257 break;
258 case pBiasR1:
259 if ((obs->prn().system() == 'R') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
260 break;
261 case pBiasE1:
262 if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
263 break;
264 case pBiasC1:
265 if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
266 break;
267 case pBiasG2:
268 if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
269 break;
270 case pBiasR2:
271 if ((obs->prn().system() == 'R') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
272 break;
273 case pBiasE2:
274 if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
275 break;
276 case pBiasC2:
277 if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
278 break;
279
280 }
281 return 0.0;
282}
283
284//
285////////////////////////////////////////////////////////////////////////////
286string t_pppParam::toString() const {
287 stringstream ss;
288 switch (_type) {
289 case crdX:
290 ss << "CRD_X";
291 break;
292 case crdY:
293 ss << "CRD_Y";
294 break;
295 case crdZ:
296 ss << "CRD_Z";
297 break;
298 case clkR:
299 ss << "REC_CLK ";
300 break;
301 case offGlo:
302 ss << "OFF_GLO ";
303 break;
304 case offGal:
305 ss << "OFF_GAL ";
306 break;
307 case offBds:
308 ss << "OFF_BDS ";
309 break;
310 case trp:
311 ss << "TRP ";
312 break;
313 case amb:
314 ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
315 break;
316 case ion:
317 ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
318 break;
319 case cBiasG1: case pBiasG1:
320 case cBiasG2: case pBiasG2:
321 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
322 break;
323 case cBiasR1: case pBiasR1:
324 case cBiasR2: case pBiasR2:
325 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " R ";
326 break;
327 case cBiasE1: case pBiasE1:
328 case cBiasE2: case pBiasE2:
329 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
330 break;
331 case cBiasC1: case pBiasC1:
332 case cBiasC2: case pBiasC2:
333 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
334 break;
335 }
336 return ss.str();
337}
338
339// Constructor
340////////////////////////////////////////////////////////////////////////////
341t_pppParlist::t_pppParlist() {
342}
343
344// Destructor
345////////////////////////////////////////////////////////////////////////////
346t_pppParlist::~t_pppParlist() {
347 _usedSystems.clear();
348
349 for (unsigned ii = 0; ii < _params.size(); ii++) {
350 delete _params[ii];
351 }
352}
353
354//
355////////////////////////////////////////////////////////////////////////////
356t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector) {
357
358 // Remove some Parameters
359 // ----------------------
360 vector<t_pppParam*>::iterator it = _params.begin();
361 while (it != _params.end()) {
362 t_pppParam* par = *it;
363
364 bool remove = false;
365
366 if (par->epoSpec()) {
367 remove = true;
368 }
369
370 else if (par->type() == t_pppParam::amb ||
371 par->type() == t_pppParam::ion ||
372 par->type() == t_pppParam::crdX ||
373 par->type() == t_pppParam::crdY ||
374 par->type() == t_pppParam::crdZ) {
375 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 10.0)) {
376 remove = true;
377 }
378 }
379
380 if (remove) {
381#ifdef BNC_DEBUG_PPP
382// LOG << "remove0 " << par->toString() << std::endl;
383#endif
384 delete par;
385 it = _params.erase(it);
386 }
387 else {
388 ++it;
389 }
390 }
391
392 // check which systems have observations
393 // -------------------------------------
394 _usedSystems.clear();
395 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
396 const t_pppSatObs* satObs = obsVector[jj];
397 char sys = satObs->prn().system();
398 if (!_usedSystems.contains(sys)) {
399 _usedSystems.append(sys);
400 }
401 }
402
403 // Check whether parameters have observations
404 // ------------------------------------------
405 for (unsigned ii = 0; ii < _params.size(); ii++) {
406 t_pppParam* par = _params[ii];
407 if (par->prn() == 0) {
408 par->setLastObsTime(epoTime);
409 if (par->firstObsTime().undef()) {
410 par->setFirstObsTime(epoTime);
411 }
412 }
413 else {
414 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
415 const t_pppSatObs* satObs = obsVector[jj];
416 if (satObs->prn() == par->prn()) {
417 par->setLastObsTime(epoTime);
418 if (par->firstObsTime().undef()) {
419 par->setFirstObsTime(epoTime);
420 }
421 break;
422 }
423 }
424 }
425 }
426
427 if (OPT->_obsModelType == OPT->PPPRTK || OPT->_pseudoObsIono) {
428 vector<t_pppParam*>::iterator it = _params.begin();
429 while (it != _params.end()) {
430 t_pppParam* par = *it;
431 // Check if systems have to be presented per biases
432 // ----------------------------------------------
433 if (( par->type() == t_pppParam::cBiasG1 ||
434 par->type() == t_pppParam::cBiasG2 ||
435 par->type() == t_pppParam::pBiasG1 ||
436 par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('G')) {
437#ifdef BNC_DEBUG_PPP
438 //LOG << "remove1 " << par->toString() << std::endl;
439#endif
440 delete par;
441 it = _params.erase(it);
442 }
443 else if ((par->type() == t_pppParam::cBiasR1 ||
444 par->type() == t_pppParam::cBiasR2 ||
445 par->type() == t_pppParam::pBiasR1 ||
446 par->type() == t_pppParam::pBiasR2) && !usedSystems().contains('R')) {
447#ifdef BNC_DEBUG_PPP
448 //LOG << "remove1 " << par->toString() << std::endl;
449#endif
450 delete par;
451 it = _params.erase(it);
452 }
453 else if ((par->type() == t_pppParam::cBiasE1 ||
454 par->type() == t_pppParam::cBiasE2 ||
455 par->type() == t_pppParam::pBiasE1 ||
456 par->type() == t_pppParam::pBiasE2) && !usedSystems().contains('E')) {
457#ifdef BNC_DEBUG_PPP
458 //LOG << "remove1 " << par->toString() << std::endl;
459#endif
460 delete par;
461 it = _params.erase(it);
462 }
463 else if ((par->type() == t_pppParam::cBiasC1 ||
464 par->type() == t_pppParam::cBiasC2 ||
465 par->type() == t_pppParam::pBiasC1 ||
466 par->type() == t_pppParam::pBiasC2) && !usedSystems().contains('C')) {
467#ifdef BNC_DEBUG_PPP
468 //LOG << "remove1 " << par->toString() << std::endl;
469#endif
470 delete par;
471 it = _params.erase(it);
472 }
473 else {
474 ++it;
475 }
476 }
477 }
478
479 // Required Set of Parameters
480 // --------------------------
481 vector<t_pppParam*> required;
482
483 // Coordinates
484 // -----------
485 required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
486 required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
487 required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
488
489 // Receiver Clock
490 // --------------
491 required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
492
493 // GLONASS Clock Offset
494 // --------------------
495 if ( _usedSystems.contains('R') &&
496 (_usedSystems.contains('G') || _usedSystems.contains('E') || _usedSystems.contains('C'))) {
497 required.push_back(new t_pppParam(t_pppParam::offGlo, t_prn(), t_lc::dummy));
498 }
499
500 // Galileo Clock Offset
501 // --------------------
502 if (_usedSystems.contains('E') && _usedSystems.contains('G')) {
503 required.push_back(new t_pppParam(t_pppParam::offGal, t_prn(), t_lc::dummy));
504 }
505
506 // BDS Clock Offset
507 // ----------------
508 if (_usedSystems.contains('C') && (_usedSystems.contains('G') || _usedSystems.contains('E'))) {
509 required.push_back(new t_pppParam(t_pppParam::offBds, t_prn(), t_lc::dummy));
510 }
511
512 // Troposphere
513 // -----------
514 if (OPT->estTrp()) {
515 required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
516 }
517
518 // Ionosphere
519 // ----------
520 if (OPT->_obsModelType == OPT->UncombPPP) {
521 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
522 const t_pppSatObs* satObs = obsVector[jj];
523 required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
524 }
525 }
526 // Ambiguities
527 // -----------
528 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
529 const t_pppSatObs* satObs = obsVector[jj];
530 const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
531 for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
532 required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
533 }
534 }
535
536 // Receiver Code Biases
537 // --------------------
538 if (OPT->_obsModelType == OPT->PPPRTK) {
539 std::vector<t_lc::type> lc;
540 if (_usedSystems.contains('G')) {
541 lc = OPT->LCs('G');
542 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
543 required.push_back(new t_pppParam(t_pppParam::cBiasG1, t_prn(), t_lc::c1));
544 }
545 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
546 required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
547 }
548 }
549 if (_usedSystems.contains('R')) {
550 lc = OPT->LCs('R');
551 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
552 required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
553 }
554 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
555 required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
556 }
557 }
558 if (_usedSystems.contains('E')) {
559 lc = OPT->LCs('E');
560 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
561 required.push_back(new t_pppParam(t_pppParam::cBiasE1, t_prn(), t_lc::c1));
562 }
563 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
564 required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
565 }
566 }
567 if (_usedSystems.contains('C')) {
568 lc = OPT->LCs('C');
569 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
570 required.push_back(new t_pppParam(t_pppParam::cBiasC1, t_prn(), t_lc::c1));
571 }
572 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
573 required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
574 }
575 }
576 }
577 if (OPT->_pseudoObsIono) {
578 std::vector<t_lc::type> lc;
579 if (_usedSystems.contains('G')) {
580 lc = OPT->LCs('G');
581 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
582 required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
583 }
584 }
585 if (_usedSystems.contains('R')) {
586 lc = OPT->LCs('R');
587 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
588 required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
589 }
590 }
591 if (_usedSystems.contains('E')) {
592 lc = OPT->LCs('E');
593 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
594 required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
595 }
596 }
597 if (_usedSystems.contains('C')) {
598 lc = OPT->LCs('C');
599 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
600 required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
601 }
602 }
603 }
604
605 // Receiver Phase Biases
606 // ---------------------
607 if (OPT->_obsModelType == OPT->PPPRTK) {
608 std::vector<t_lc::type> lc;
609 if (_usedSystems.contains('G')) {
610 lc = OPT->LCs('G');
611 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
612 required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
613 }
614 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
615 required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
616 }
617 }
618 if (_usedSystems.contains('R')) {
619 lc = OPT->LCs('R');
620 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
621 required.push_back(new t_pppParam(t_pppParam::pBiasR1, t_prn(), t_lc::l1));
622 }
623 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
624 required.push_back(new t_pppParam(t_pppParam::pBiasR2, t_prn(), t_lc::l2));
625 }
626 }
627 if (_usedSystems.contains('E')) {
628 lc = OPT->LCs('E');
629 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
630 required.push_back(new t_pppParam(t_pppParam::pBiasE1, t_prn(), t_lc::l1));
631 }
632 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
633 required.push_back(new t_pppParam(t_pppParam::pBiasE2, t_prn(), t_lc::l2));
634 }
635 }
636 if (_usedSystems.contains('C')) {
637 lc = OPT->LCs('C');
638 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
639 required.push_back(new t_pppParam(t_pppParam::pBiasC1, t_prn(), t_lc::l1));
640 }
641 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
642 required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2));
643 }
644 }
645 }
646
647 // Check if all required parameters are present
648 // --------------------------------------------
649 for (unsigned ii = 0; ii < required.size(); ii++) {
650 t_pppParam* parReq = required[ii];
651
652 bool found = false;
653 for (unsigned jj = 0; jj < _params.size(); jj++) {
654 t_pppParam* parOld = _params[jj];
655 if (parOld->isEqual(parReq)) {
656 found = true;
657 break;
658 }
659 }
660 if (found) {
661 delete parReq;
662 }
663 else {
664#ifdef BNC_DEBUG_PPP
665 //LOG << "push_back parReq " << parReq->toString() << std::endl;
666#endif
667 _params.push_back(parReq);
668 }
669 }
670
671 // Set Parameter Indices
672 // ---------------------
673 sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
674
675 for (unsigned ii = 0; ii < _params.size(); ii++) {
676 t_pppParam* par = _params[ii];
677 par->setIndex(ii);
678 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
679 const t_pppSatObs* satObs = obsVector[jj];
680 if (satObs->prn() == par->prn()) {
681 par->setAmbEleSat(satObs->eleSat());
682 par->stepAmbNumEpo();
683 }
684 }
685 }
686
687 return success;
688}
689
690//
691////////////////////////////////////////////////////////////////////////////
692void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
693 const ColumnVector& xx) const {
694
695 string epoTimeStr = string(epoTime);
696 const t_pppStation* sta = PPP_CLIENT->staRover();
697
698 LOG << endl;
699
700 t_pppParam* parX = 0;
701 t_pppParam* parY = 0;
702 t_pppParam* parZ = 0;
703 for (unsigned ii = 0; ii < _params.size(); ii++) {
704 t_pppParam* par = _params[ii];
705 if (par->type() == t_pppParam::crdX) {
706 parX = par;
707 }
708 else if (par->type() == t_pppParam::crdY) {
709 parY = par;
710 }
711 else if (par->type() == t_pppParam::crdZ) {
712 parZ = par;
713 }
714 else {
715 int ind = par->indexNew();
716 double apr = (par->type() == t_pppParam::trp) ?
717 t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
718 LOG << epoTimeStr << ' ' << par->toString() << ' '
719 << setw(10) << setprecision(4) << apr << ' '
720 << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
721 << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
722 if (par->type() == t_pppParam::amb) {
723 LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
724 << " epo = " << setw(4) << par->ambNumEpo();
725 }
726 LOG << endl;
727 }
728 }
729
730 if (parX && parY && parZ) {
731
732 ColumnVector xyz(3);
733 xyz[0] = xx[parX->indexNew()];
734 xyz[1] = xx[parY->indexNew()];
735 xyz[2] = xx[parZ->indexNew()];
736
737 ColumnVector neu(3);
738 xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
739
740 SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
741
742 SymmetricMatrix QQneu(3);
743 covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
744
745 LOG << epoTimeStr << ' ' << sta->name()
746 << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
747 << setprecision(4) << sqrt(QQxyz[0][0])
748
749 << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
750 << setprecision(4) << sqrt(QQxyz[1][1])
751
752 << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
753 << setprecision(4) << sqrt(QQxyz[2][2])
754
755 << " dN = " << setprecision(4) << neu[0] << " +- "
756 << setprecision(4) << sqrt(QQneu[0][0])
757
758 << " dE = " << setprecision(4) << neu[1] << " +- "
759 << setprecision(4) << sqrt(QQneu[1][1])
760
761 << " dU = " << setprecision(4) << neu[2] << " +- "
762 << setprecision(4) << sqrt(QQneu[2][2])
763
764 << endl;
765 }
766 return;
767}
768
769//
770////////////////////////////////////////////////////////////////////////////
771void t_pppParlist::printParams(const bncTime& epoTime) {
772
773 for (unsigned iPar = 0; iPar < _params.size(); iPar++) {
774 LOG << _params[iPar]->toString()
775 << "\t lastObsTime().valid() \t" << _params[iPar]->lastObsTime().valid()
776 << "\t epoTime - par->lastObsTime() \t" << (epoTime - _params[iPar]->lastObsTime())
777 << endl;
778 }
779}
780
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