source: ntrip/trunk/BNC/src/PPP/pppParlist.cpp@ 9419

Last change on this file since 9419 was 9419, checked in by stuerze, 3 years ago

update regarding PPP
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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 offGR = 0;
77 if (_prn.system() == 'R' && tLC != t_lc::MW) {
78 offGR = PPP_CLIENT->offGR();
79 }
80 double offGE = 0;
81 if (_prn.system() == 'E' && tLC != t_lc::MW) {
82 offGE = PPP_CLIENT->offGE();
83 }
84 double offGC = 0;
85 if (_prn.system() == 'C' && tLC != t_lc::MW) {
86 offGC = PPP_CLIENT->offGC();
87 }
88 _x0 = floor((obs->obsValue(tLC) - offGR -offGE - offGC - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
89 break;
90 }
91 }
92 }
93 break;
94 case offGR:
95 _epoSpec = true;
96 _sigma0 = OPT->_aprSigOGR;
97 _x0 = PPP_CLIENT->offGR();
98 break;
99 case offGE:
100 _epoSpec = true;
101 _sigma0 = OPT->_aprSigOGE;
102 _x0 = PPP_CLIENT->offGE();
103 break;
104 case offGC:
105 _epoSpec = true;
106 _sigma0 = OPT->_aprSigOGC;
107 _x0 = PPP_CLIENT->offGC();
108 break;
109 case trp:
110 _epoSpec = false;
111 _sigma0 = OPT->_aprSigTrp;
112 _noise = OPT->_noiseTrp;
113 break;
114 case ion:
115 _epoSpec = true;
116 _sigma0 = OPT->_aprSigIon;
117 break;
118 case cBiasG1: case cBiasR1: case cBiasE1: case cBiasC1:
119 case cBiasG2: case cBiasR2: case cBiasE2: case cBiasC2:
120 _epoSpec = true;
121 _sigma0 = OPT->_aprSigCodeBias;
122 break;
123 case pBiasG1: case pBiasE1: case pBiasR1: case pBiasC1:
124 case pBiasG2: case pBiasE2: case pBiasR2: case pBiasC2:
125 _epoSpec = true;
126 _sigma0 = OPT->_aprSigPhaseBias;
127 break;
128 }
129}
130
131// Destructor
132////////////////////////////////////////////////////////////////////////////
133t_pppParam::~t_pppParam() {
134 delete _ambInfo;
135}
136
137//
138////////////////////////////////////////////////////////////////////////////
139double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
140 const t_lc::type& tLC, const t_prn refPrn) const {
141
142 // Special Case - Melbourne-Wuebbena
143 // ---------------------------------
144 if (tLC == t_lc::MW && _type != amb) {
145 return 0.0;
146 }
147
148 const t_pppStation* sta = PPP_CLIENT->staRover();
149 ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
150
151 map<t_frequency::type, double> codeCoeff;
152 map<t_frequency::type, double> phaseCoeff;
153 map<t_frequency::type, double> ionoCoeff;
154 obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
155
156 switch (_type) {
157 case crdX:
158 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
159 return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
160 case crdY:
161 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
162 return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
163 case crdZ:
164 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
165 return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
166 case clkR:
167 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
168 return 1.0;
169 case offGR:
170 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
171 return (obs->prn().system() == 'R') ? 1.0 : 0.0;
172 case offGE:
173 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
174 return (obs->prn().system() == 'E') ? 1.0 : 0.0;
175 case offGC:
176 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
177 return (obs->prn().system() == 'C') ? 1.0 : 0.0;
178 case amb:
179 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
180 else if ((OPT->_obsModelType == OPT->IF) ||
181 (OPT->_obsModelType == OPT->PPPRTK) ||
182 (OPT->_obsModelType == OPT->UncombPPP) ||
183 (OPT->_obsModelType == OPT->DCMcodeBias && !obs->isReference()) ||
184 (OPT->_obsModelType == OPT->DCMphaseBias && !obs->isReference()) ) {
185
186 if (obs->prn() == _prn) {
187 if (tLC == _tLC) {
188 return (obs->lambda(tLC));
189 }
190 else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
191 return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
192 }
193 else {
194 if (_tLC == t_lc::l1) {
195 return obs->lambda(t_lc::l1) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
196 }
197 else if (_tLC == t_lc::l2) {
198 return obs->lambda(t_lc::l2) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
199 }
200 }
201 }
202 }
203 break;
204 case trp:
205 if (tLC == t_lc::GIM) {
206 return 0.0;
207 }
208 else if (tLC == t_lc::Tz0) {
209 return 1.0;
210 }
211 else {
212 return 1.0 / sin(obs->eleSat());
213 }
214 case ion:
215 if (obs->prn() == _prn) {
216 if (tLC == t_lc::c1) {
217 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c1)];
218 }
219 else if (tLC == t_lc::c2) {
220 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c2)];
221 }
222 else if (tLC == t_lc::l1) {
223 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
224 }
225 else if (tLC == t_lc::l2) {
226 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
227 }
228 else if (tLC == t_lc::GIM) {
229 return -1.0;
230 }
231 }
232 if (tLC == t_lc::GIM && _prn == refPrn) {
233 return 1.0;
234 }
235 break;
236 case cBiasG1:
237 if ((obs->prn().system() == 'G') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
238 break;
239 case cBiasR1:
240 if ((obs->prn().system() == 'R') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
241 break;
242 case cBiasE1:
243 if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
244 break;
245 case cBiasC1:
246 if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
247 break;
248 case cBiasG2:
249 if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
250 break;
251 case cBiasR2:
252 if ((obs->prn().system() == 'R') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
253 break;
254 case cBiasE2:
255 if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
256 break;
257 case cBiasC2:
258 if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
259 break;
260 case pBiasG1:
261 if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
262 break;
263 case pBiasR1:
264 if ((obs->prn().system() == 'R') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
265 break;
266 case pBiasE1:
267 if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
268 break;
269 case pBiasC1:
270 if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
271 break;
272 case pBiasG2:
273 if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
274 break;
275 case pBiasR2:
276 if ((obs->prn().system() == 'R') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
277 break;
278 case pBiasE2:
279 if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
280 break;
281 case pBiasC2:
282 if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
283 break;
284
285 }
286 return 0.0;
287}
288
289//
290////////////////////////////////////////////////////////////////////////////
291string t_pppParam::toString() const {
292 stringstream ss;
293 switch (_type) {
294 case crdX:
295 ss << "CRD_X";
296 break;
297 case crdY:
298 ss << "CRD_Y";
299 break;
300 case crdZ:
301 ss << "CRD_Z";
302 break;
303 case clkR:
304 ss << "REC_CLK ";
305 break;
306 case offGR:
307 ss << "OGR ";
308 break;
309 case offGE:
310 ss << "OGE ";
311 break;
312 case offGC:
313 ss << "OGC ";
314 break;
315 case trp:
316 ss << "TRP ";
317 break;
318 case amb:
319 ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
320 break;
321 case ion:
322 ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
323 break;
324 case cBiasG1: case pBiasG1:
325 case cBiasG2: case pBiasG2:
326 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
327 break;
328 case cBiasR1: case pBiasR1:
329 case cBiasR2: case pBiasR2:
330 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " R ";
331 break;
332 case cBiasE1: case pBiasE1:
333 case cBiasE2: case pBiasE2:
334 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
335 break;
336 case cBiasC1: case pBiasC1:
337 case cBiasC2: case pBiasC2:
338 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
339 break;
340 }
341 return ss.str();
342}
343
344// Constructor
345////////////////////////////////////////////////////////////////////////////
346t_pppParlist::t_pppParlist() {
347}
348
349// Destructor
350////////////////////////////////////////////////////////////////////////////
351t_pppParlist::~t_pppParlist() {
352 for (unsigned ii = 0; ii < _params.size(); ii++) {
353 delete _params[ii];
354 }
355}
356
357//
358////////////////////////////////////////////////////////////////////////////
359t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector,
360 const QMap<char, t_pppRefSat*>& refSatMap) {
361
362 // Remove some Parameters
363 // ----------------------
364 vector<t_pppParam*>::iterator it = _params.begin();
365 while (it != _params.end()) {
366 t_pppParam* par = *it;
367
368 bool remove = false;
369
370 if (par->epoSpec()) {
371 remove = true;
372 }
373
374 else if (par->type() == t_pppParam::crdX ||
375 par->type() == t_pppParam::crdY ||
376 par->type() == t_pppParam::crdZ) {
377 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
378 remove = true;
379 }
380 }
381
382 else if (par->type() == t_pppParam::amb) {
383 if (OPT->_obsModelType == OPT->DCMcodeBias || OPT->_obsModelType == OPT->DCMphaseBias) {
384 t_prn refPrn = (refSatMap[par->prn().system()])->prn();
385 if (par->lastObsTime().valid() &&
386 ((epoTime - par->lastObsTime() > 1.0) || (par->prn() == refPrn))) {
387 remove = true;
388 }
389 }
390 else {
391 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
392 remove = true;
393 }
394 }
395 }
396
397 if (remove) {
398 delete par;
399 it = _params.erase(it);
400 }
401 else {
402 ++it;
403 }
404 }
405
406 // Check whether parameters have observations
407 // ------------------------------------------
408 for (unsigned ii = 0; ii < _params.size(); ii++) {
409 t_pppParam* par = _params[ii];
410 if (par->prn() == 0) {
411 par->setLastObsTime(epoTime);
412 if (par->firstObsTime().undef()) {
413 par->setFirstObsTime(epoTime);
414 }
415 }
416 else {
417 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
418 const t_pppSatObs* satObs = obsVector[jj];
419 if (satObs->prn() == par->prn()) {
420 par->setLastObsTime(epoTime);
421 if (par->firstObsTime().undef()) {
422 par->setFirstObsTime(epoTime);
423 }
424 break;
425 }
426 }
427 }
428 }
429
430 // Check if ambiguity parameters have observations
431 // -----------------------------------------------
432 if (OPT->_obsModelType == OPT->DCMcodeBias ||
433 OPT->_obsModelType == OPT->DCMphaseBias) {
434 vector<t_pppParam*>::iterator it = _params.begin();
435 while (it != _params.end()) {
436 t_pppParam* par = *it;
437 bool remove = false;
438 if (par->type() == t_pppParam::amb && !par->lastObsTime().valid()) {
439 remove = true;
440 }
441 if (remove) {
442 delete par;
443 it = _params.erase(it);
444 }
445 else {
446 ++it;
447 }
448 }
449 }
450
451 // check which systems have observations
452 // -------------------------------------
453 _usedSystems.clear();
454 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
455 const t_pppSatObs* satObs = obsVector[jj];
456 char sys = satObs->prn().system();
457 if (!_usedSystems.contains(sys)) {
458 _usedSystems.append(sys);
459 }
460 }
461
462 if (_usedSystems.size() > 1 &&
463 !_usedSystems.contains('G')) { // required to setup ISB w. r. t. GPS
464 return failure;
465 }
466
467 // Required Set of Parameters
468 // --------------------------
469 vector<t_pppParam*> required;
470
471 // Coordinates
472 // -----------
473 required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
474 required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
475 required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
476
477 // Receiver Code Biases
478 // --------------------
479 if (OPT->_obsModelType == OPT->DCMcodeBias) {
480 if (_usedSystems.contains('G')) {
481 required.push_back(new t_pppParam(t_pppParam::cBiasG1, t_prn(), t_lc::c1));
482 required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
483 }
484 if (_usedSystems.contains('R')) {
485 required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
486 required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
487 }
488 if (_usedSystems.contains('E')) {
489 required.push_back(new t_pppParam(t_pppParam::cBiasE1, t_prn(), t_lc::c1));
490 required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
491 }
492 if (_usedSystems.contains('C')) {
493 required.push_back(new t_pppParam(t_pppParam::cBiasC1, t_prn(), t_lc::c1));
494 required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
495 }
496 }
497
498 // Receiver Phase Biases
499 // ---------------------
500 if ((OPT->_obsModelType == OPT->DCMphaseBias) ||
501 (OPT->_obsModelType == OPT->PPPRTK) ) {
502 if (_usedSystems.contains('G')) {
503 required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
504 required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
505 }
506 if (_usedSystems.contains('R')) {
507 required.push_back(new t_pppParam(t_pppParam::pBiasR1, t_prn(), t_lc::l1));
508 required.push_back(new t_pppParam(t_pppParam::pBiasR2, t_prn(), t_lc::l2));
509 }
510 if (_usedSystems.contains('E')) {
511 required.push_back(new t_pppParam(t_pppParam::pBiasE1, t_prn(), t_lc::l1));
512 required.push_back(new t_pppParam(t_pppParam::pBiasE2, t_prn(), t_lc::l2));
513 }
514 if (_usedSystems.contains('C')) {
515 required.push_back(new t_pppParam(t_pppParam::pBiasC1, t_prn(), t_lc::l1));
516 required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2));
517 }
518 }
519
520 // Receiver Clock
521 // --------------
522 required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
523
524 // GPS-GLONASS Clock Offset
525 // ------------------------
526 if (_usedSystems.contains('G') && _usedSystems.contains('R')) {
527 required.push_back(new t_pppParam(t_pppParam::offGR, t_prn(), t_lc::dummy));
528 }
529
530 //GPS-Galileo Clock Offset
531 // ------------------------
532 if (_usedSystems.contains('G') && _usedSystems.contains('E')) {
533 required.push_back(new t_pppParam(t_pppParam::offGE, t_prn(), t_lc::dummy));
534 }
535
536 // GPS-BDS Clock Offset
537 // ------------------------
538 if (_usedSystems.contains('G') && _usedSystems.contains('C')) {
539 required.push_back(new t_pppParam(t_pppParam::offGC, t_prn(), t_lc::dummy));
540 }
541
542 // Troposphere
543 // -----------
544 if (OPT->estTrp()) {
545 required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
546 }
547
548 // Ionosphere
549 // ----------
550 if (OPT->_obsModelType == OPT->UncombPPP ||
551 OPT->_obsModelType == OPT->DCMcodeBias ||
552 OPT->_obsModelType == OPT->DCMphaseBias ) {
553 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
554 const t_pppSatObs* satObs = obsVector[jj];
555 required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
556 }
557 }
558 // Ambiguities
559 // -----------
560 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
561 const t_pppSatObs* satObs = obsVector[jj];
562 if ((OPT->_obsModelType == OPT->IF) ||
563 (OPT->_obsModelType == OPT->PPPRTK) ||
564 (OPT->_obsModelType == OPT->UncombPPP) ||
565 (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
566 (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
567 const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
568 for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
569 required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
570 }
571 }
572 }
573
574 // Check if all required parameters are present
575 // --------------------------------------------
576 for (unsigned ii = 0; ii < required.size(); ii++) {
577 t_pppParam* parReq = required[ii];
578
579 bool found = false;
580 for (unsigned jj = 0; jj < _params.size(); jj++) {
581 t_pppParam* parOld = _params[jj];
582 if (parOld->isEqual(parReq)) {
583 found = true;
584 break;
585 }
586 }
587 if (found) {
588 delete parReq;
589 }
590 else {
591 _params.push_back(parReq);
592 }
593 }
594
595 // Set Parameter Indices
596 // ---------------------
597 sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
598
599 for (unsigned ii = 0; ii < _params.size(); ii++) {
600 t_pppParam* par = _params[ii];
601 par->setIndex(ii);
602 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
603 const t_pppSatObs* satObs = obsVector[jj];
604 if (satObs->prn() == par->prn()) {
605 par->setAmbEleSat(satObs->eleSat());
606 par->stepAmbNumEpo();
607 }
608 }
609 }
610
611 return success;
612}
613
614//
615////////////////////////////////////////////////////////////////////////////
616void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
617 const ColumnVector& xx) const {
618
619 string epoTimeStr = string(epoTime);
620 const t_pppStation* sta = PPP_CLIENT->staRover();
621
622 LOG << endl;
623
624 t_pppParam* parX = 0;
625 t_pppParam* parY = 0;
626 t_pppParam* parZ = 0;
627 for (unsigned ii = 0; ii < _params.size(); ii++) {
628 t_pppParam* par = _params[ii];
629 if (par->type() == t_pppParam::crdX) {
630 parX = par;
631 }
632 else if (par->type() == t_pppParam::crdY) {
633 parY = par;
634 }
635 else if (par->type() == t_pppParam::crdZ) {
636 parZ = par;
637 }
638 else {
639 int ind = par->indexNew();
640 double apr = (par->type() == t_pppParam::trp) ?
641 t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
642 LOG << epoTimeStr << ' ' << par->toString() << ' '
643 << setw(10) << setprecision(4) << apr << ' '
644 << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
645 << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
646 if (par->type() == t_pppParam::amb) {
647 LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
648 << " epo = " << setw(4) << par->ambNumEpo();
649 }
650 LOG << endl;
651 }
652 }
653
654 if (parX && parY && parZ) {
655
656 ColumnVector xyz(3);
657 xyz[0] = xx[parX->indexNew()];
658 xyz[1] = xx[parY->indexNew()];
659 xyz[2] = xx[parZ->indexNew()];
660
661 ColumnVector neu(3);
662 xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
663
664 SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
665
666 SymmetricMatrix QQneu(3);
667 covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
668
669 LOG << epoTimeStr << ' ' << sta->name()
670 << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
671 << setprecision(4) << sqrt(QQxyz[0][0])
672
673 << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
674 << setprecision(4) << sqrt(QQxyz[1][1])
675
676 << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
677 << setprecision(4) << sqrt(QQxyz[2][2])
678
679 << " dN = " << setprecision(4) << neu[0] << " +- "
680 << setprecision(4) << sqrt(QQneu[0][0])
681
682 << " dE = " << setprecision(4) << neu[1] << " +- "
683 << setprecision(4) << sqrt(QQneu[1][1])
684
685 << " dU = " << setprecision(4) << neu[2] << " +- "
686 << setprecision(4) << sqrt(QQneu[2][2])
687
688 << endl;
689 }
690}
691
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