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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37 | const vector<t_pppSatObs*>* obsVector) {
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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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66 | _sigma0 = OPT->_aprSigClk;
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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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76 | double offGR = 0;
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77 | if (_prn.system() == 'R' && tLC != t_lc::MW) {
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78 | offGR = PPP_CLIENT->offGR();
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79 | }
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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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85 | if (_prn.system() == 'C' && tLC != t_lc::MW) {
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86 | offGC = PPP_CLIENT->offGC();
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87 | }
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88 | _x0 = floor((obs->obsValue(tLC) - offGR -offGE - offGC - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
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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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94 | case offGR:
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95 | _epoSpec = true;
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96 | _sigma0 = OPT->_aprSigOGR;
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97 | _x0 = PPP_CLIENT->offGR();
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98 | break;
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99 | case offGE:
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100 | _epoSpec = true;
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101 | _sigma0 = OPT->_aprSigOGE;
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102 | _x0 = PPP_CLIENT->offGE();
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103 | break;
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104 | case offGC:
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105 | _epoSpec = true;
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106 | _sigma0 = OPT->_aprSigOGC;
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107 | _x0 = PPP_CLIENT->offGC();
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108 | break;
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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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114 | case ion:
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115 | _epoSpec = false;
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116 | _sigma0 = OPT->_aprSigIon;
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117 | _noise = OPT->_noiseIon;
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118 | break;
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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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121 | _epoSpec = false;
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122 | _sigma0 = OPT->_aprSigCodeBias;
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123 | _noise = OPT->_noiseCodeBias;
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124 | break;
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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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127 | _epoSpec = false;
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128 | _sigma0 = OPT->_aprSigPhaseBias;
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129 | _noise = OPT->_noisePhaseBias;
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130 | break;
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131 | }
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132 | }
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133 |
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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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145 | _ambInfo = 0;
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146 | if (_type == t_pppParam::amb) {
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147 | _ambInfo = new t_ambInfo();
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148 | _ambInfo->_resetCandidate = old->_ambInfo->_resetCandidate;
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149 | _ambInfo->_eleSat = old->_ambInfo->_eleSat;
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150 | _ambInfo->_numEpo = old->_ambInfo->_numEpo;
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151 | _x0 = x0();
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152 | }
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153 | }
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154 |
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155 | // Destructor
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156 | ////////////////////////////////////////////////////////////////////////////
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157 | t_pppParam::~t_pppParam() {
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158 | if (_ambInfo) {
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159 | delete _ambInfo;
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160 | }
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161 | }
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162 | //
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163 | ////////////////////////////////////////////////////////////////////////////
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164 | double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
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165 | const t_lc::type& tLC, const t_prn refPrn) const {
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166 |
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167 | // Special Case - Melbourne-Wuebbena
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168 | // ---------------------------------
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169 | if (tLC == t_lc::MW && _type != amb) {
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170 | return 0.0;
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171 | }
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172 |
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173 | const t_pppStation* sta = PPP_CLIENT->staRover();
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174 | ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
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175 |
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176 | map<t_frequency::type, double> codeCoeff;
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177 | map<t_frequency::type, double> phaseCoeff;
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178 | map<t_frequency::type, double> ionoCoeff;
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179 | obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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180 |
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181 | switch (_type) {
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182 | case crdX:
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183 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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184 | return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
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185 | case crdY:
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186 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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187 | return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
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188 | case crdZ:
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189 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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190 | return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
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191 | case clkR:
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192 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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193 | return 1.0;
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194 | case offGR:
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195 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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196 | return (obs->prn().system() == 'R') ? 1.0 : 0.0;
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197 | case offGE:
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198 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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199 | return (obs->prn().system() == 'E') ? 1.0 : 0.0;
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200 | case offGC:
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201 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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202 | return (obs->prn().system() == 'C') ? 1.0 : 0.0;
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203 | case amb:
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204 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
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205 | else if ((OPT->_obsModelType == OPT->IF) ||
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206 | (OPT->_obsModelType == OPT->PPPRTK) ||
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207 | (OPT->_obsModelType == OPT->UncombPPP) ||
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208 | (OPT->_obsModelType == OPT->DCMcodeBias && !obs->isReference()) ||
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209 | (OPT->_obsModelType == OPT->DCMphaseBias && !obs->isReference()) ) {
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210 |
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211 | if (obs->prn() == _prn) {
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212 | if (tLC == _tLC) {
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213 | return (obs->lambda(tLC));
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214 | }
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215 | else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
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216 | return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
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217 | }
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218 | else {
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219 | if (_tLC == t_lc::l1) {
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220 | return obs->lambda(t_lc::l1) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
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221 | }
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222 | else if (_tLC == t_lc::l2) {
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223 | return obs->lambda(t_lc::l2) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
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224 | }
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225 | }
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226 | }
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227 | }
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228 | break;
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229 | case trp:
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230 | if (tLC == t_lc::GIM) {
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231 | return 0.0;
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232 | }
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233 | else if (tLC == t_lc::Tz0) {
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234 | return 1.0;
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235 | }
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236 | else {
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237 | return 1.0 / sin(obs->eleSat());
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238 | }
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239 | case ion:
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240 | if (obs->prn() == _prn) {
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241 | if (tLC == t_lc::c1) {
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242 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c1)];
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243 | }
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244 | else if (tLC == t_lc::c2) {
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245 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c2)];
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246 | }
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247 | else if (tLC == t_lc::l1) {
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248 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
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249 | }
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250 | else if (tLC == t_lc::l2) {
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251 | return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
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252 | }
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253 | else if (tLC == t_lc::GIM) {
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254 | return -1.0;
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255 | }
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256 | }
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257 | if (tLC == t_lc::GIM && _prn == refPrn) {
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258 | return 1.0;
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259 | }
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260 | break;
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261 | case cBiasG1:
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262 | if ((obs->prn().system() == 'G') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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263 | break;
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264 | case cBiasR1:
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265 | if ((obs->prn().system() == 'R') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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266 | break;
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267 | case cBiasE1:
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268 | if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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269 | break;
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270 | case cBiasC1:
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271 | if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
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272 | break;
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273 | case cBiasG2:
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274 | if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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275 | break;
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276 | case cBiasR2:
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277 | if ((obs->prn().system() == 'R') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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278 | break;
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279 | case cBiasE2:
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280 | if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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281 | break;
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282 | case cBiasC2:
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283 | if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
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284 | break;
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285 | case pBiasG1:
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286 | if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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287 | break;
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288 | case pBiasR1:
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289 | if ((obs->prn().system() == 'R') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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290 | break;
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291 | case pBiasE1:
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292 | if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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293 | break;
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294 | case pBiasC1:
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295 | if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
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296 | break;
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297 | case pBiasG2:
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298 | if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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299 | break;
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300 | case pBiasR2:
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301 | if ((obs->prn().system() == 'R') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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302 | break;
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303 | case pBiasE2:
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304 | if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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305 | break;
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306 | case pBiasC2:
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307 | if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
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308 | break;
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309 |
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310 | }
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311 | return 0.0;
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312 | }
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313 |
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314 | //
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315 | ////////////////////////////////////////////////////////////////////////////
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316 | string t_pppParam::toString() const {
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317 | stringstream ss;
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318 | switch (_type) {
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319 | case crdX:
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320 | ss << "CRD_X";
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321 | break;
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322 | case crdY:
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323 | ss << "CRD_Y";
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324 | break;
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325 | case crdZ:
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326 | ss << "CRD_Z";
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327 | break;
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328 | case clkR:
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329 | ss << "REC_CLK ";
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330 | break;
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331 | case offGR:
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332 | ss << "OGR ";
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333 | break;
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334 | case offGE:
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335 | ss << "OGE ";
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336 | break;
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337 | case offGC:
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338 | ss << "OGC ";
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339 | break;
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340 | case trp:
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341 | ss << "TRP ";
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342 | break;
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343 | case amb:
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344 | ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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345 | break;
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346 | case ion:
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347 | ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
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348 | break;
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349 | case cBiasG1: case pBiasG1:
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350 | case cBiasG2: case pBiasG2:
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351 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
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352 | break;
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353 | case cBiasR1: case pBiasR1:
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354 | case cBiasR2: case pBiasR2:
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355 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " R ";
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356 | break;
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357 | case cBiasE1: case pBiasE1:
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358 | case cBiasE2: case pBiasE2:
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359 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
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360 | break;
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361 | case cBiasC1: case pBiasC1:
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362 | case cBiasC2: case pBiasC2:
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363 | ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
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364 | break;
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365 | }
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366 | return ss.str();
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367 | }
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368 |
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369 | // Constructor
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370 | ////////////////////////////////////////////////////////////////////////////
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371 | t_pppParlist::t_pppParlist() {
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372 | }
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373 |
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374 | // Destructor
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375 | ////////////////////////////////////////////////////////////////////////////
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376 | t_pppParlist::~t_pppParlist() {
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377 | _usedSystems.clear();
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378 |
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379 | vector<t_pppParam*>::iterator it = _params.begin();
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380 | while (it != _params.end()) {
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381 | t_pppParam* par = *it;
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382 | delete par;
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383 | it = _params.erase(it);
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384 | }
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385 | }
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386 |
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387 | //
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388 | ////////////////////////////////////////////////////////////////////////////
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389 | t_pppParlist::t_pppParlist(const t_pppParlist& old) {
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390 |
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391 | _usedSystems = old._usedSystems;
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392 |
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393 | vector<t_pppParam*>::const_iterator it = old.params().begin();
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394 | while (it != old.params().end()) {
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395 | const t_pppParam* oldParam = *it;
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396 | _params.push_back(new t_pppParam(oldParam));
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397 | }
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398 | }
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399 |
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400 | //
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401 | ////////////////////////////////////////////////////////////////////////////
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402 | const t_pppParlist& t_pppParlist::operator= (const t_pppParlist& p) {
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403 |
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404 | _usedSystems.clear();
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405 |
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406 | _usedSystems = p._usedSystems;
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407 |
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408 | vector<t_pppParam*>::iterator it = _params.begin();
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409 | while (it != _params.end()) {
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410 | t_pppParam* par = *it;
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411 | delete par;
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412 | it = _params.erase(it);
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413 | }
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414 |
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415 | for (unsigned jj = 0; jj < p.params().size(); jj++) {
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416 | t_pppParam* parFrom = p.params()[jj];
|
---|
417 | _params.push_back(new t_pppParam(parFrom));
|
---|
418 | }
|
---|
419 | return *this;
|
---|
420 | }
|
---|
421 |
|
---|
422 | //
|
---|
423 | ////////////////////////////////////////////////////////////////////////////
|
---|
424 | t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector,
|
---|
425 | const QMap<char, t_pppRefSat*>& refSatMap) {
|
---|
426 |
|
---|
427 | // Remove some Parameters
|
---|
428 | // ----------------------
|
---|
429 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
430 | while (it != _params.end()) {
|
---|
431 | t_pppParam* par = *it;
|
---|
432 |
|
---|
433 | bool remove = false;
|
---|
434 |
|
---|
435 | if (par->epoSpec()) {
|
---|
436 | remove = true;
|
---|
437 | }
|
---|
438 |
|
---|
439 | else if (par->type() == t_pppParam::crdX ||
|
---|
440 | par->type() == t_pppParam::crdY ||
|
---|
441 | par->type() == t_pppParam::crdZ) {
|
---|
442 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
443 | remove = true;
|
---|
444 | }
|
---|
445 | }
|
---|
446 |
|
---|
447 | else if (par->type() == t_pppParam::amb) {
|
---|
448 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
449 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
450 | t_prn refPrn = (refSatMap[par->prn().system()])->prn();
|
---|
451 | if (par->lastObsTime().valid() &&
|
---|
452 | ((epoTime - par->lastObsTime() > 1.0) || (par->prn() == refPrn))) {
|
---|
453 | remove = true;
|
---|
454 | }
|
---|
455 | }
|
---|
456 | else {
|
---|
457 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
458 | remove = true;
|
---|
459 | }
|
---|
460 | }
|
---|
461 | }
|
---|
462 |
|
---|
463 | else if (par->type() == t_pppParam::ion) {
|
---|
464 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
465 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
466 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 1.0)) {
|
---|
467 | remove = true;
|
---|
468 | }
|
---|
469 | }
|
---|
470 | else {
|
---|
471 | if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
|
---|
472 | remove = true;
|
---|
473 | }
|
---|
474 | }
|
---|
475 | }
|
---|
476 | if (remove) {
|
---|
477 | delete par;
|
---|
478 | it = _params.erase(it);
|
---|
479 | }
|
---|
480 | else {
|
---|
481 | ++it;
|
---|
482 | }
|
---|
483 | }
|
---|
484 |
|
---|
485 | // Check whether parameters have observations
|
---|
486 | // ------------------------------------------
|
---|
487 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
488 | t_pppParam* par = _params[ii];
|
---|
489 | if (par->prn() == 0) {
|
---|
490 | par->setLastObsTime(epoTime);
|
---|
491 | if (par->firstObsTime().undef()) {
|
---|
492 | par->setFirstObsTime(epoTime);
|
---|
493 | }
|
---|
494 | }
|
---|
495 | else {
|
---|
496 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
497 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
498 | if (satObs->prn() == par->prn()) {
|
---|
499 | par->setLastObsTime(epoTime);
|
---|
500 | if (par->firstObsTime().undef()) {
|
---|
501 | par->setFirstObsTime(epoTime);
|
---|
502 | }
|
---|
503 | break;
|
---|
504 | }
|
---|
505 | }
|
---|
506 | }
|
---|
507 | }
|
---|
508 |
|
---|
509 | // Check if ambiguity parameters have observations
|
---|
510 | // -----------------------------------------------
|
---|
511 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
512 | OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
513 | vector<t_pppParam*>::iterator it = _params.begin();
|
---|
514 | while (it != _params.end()) {
|
---|
515 | t_pppParam* par = *it;
|
---|
516 | bool remove = false;
|
---|
517 | if (par->type() == t_pppParam::amb && !par->lastObsTime().valid()) {
|
---|
518 | remove = true;
|
---|
519 | }
|
---|
520 | if (remove) {
|
---|
521 | delete par;
|
---|
522 | it = _params.erase(it);
|
---|
523 | }
|
---|
524 | else {
|
---|
525 | ++it;
|
---|
526 | }
|
---|
527 | }
|
---|
528 | }
|
---|
529 |
|
---|
530 | // check which systems have observations
|
---|
531 | // -------------------------------------
|
---|
532 | _usedSystems.clear();
|
---|
533 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
534 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
535 | char sys = satObs->prn().system();
|
---|
536 | if (!_usedSystems.contains(sys)) {
|
---|
537 | _usedSystems.append(sys);
|
---|
538 | }
|
---|
539 | }
|
---|
540 |
|
---|
541 | if (_usedSystems.size() > 1 &&
|
---|
542 | !_usedSystems.contains('G')) { // required to setup ISB w. r. t. GPS
|
---|
543 | return failure;
|
---|
544 | }
|
---|
545 |
|
---|
546 | // Required Set of Parameters
|
---|
547 | // --------------------------
|
---|
548 | vector<t_pppParam*> required;
|
---|
549 |
|
---|
550 | // Coordinates
|
---|
551 | // -----------
|
---|
552 | required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
|
---|
553 | required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
|
---|
554 | required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
|
---|
555 |
|
---|
556 | // Receiver Code Biases
|
---|
557 | // --------------------
|
---|
558 | if (OPT->_obsModelType == OPT->DCMcodeBias) {
|
---|
559 | std::vector<t_lc::type> lc;
|
---|
560 | if (_usedSystems.contains('G')) {
|
---|
561 | lc = OPT->LCs('G');
|
---|
562 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
563 | required.push_back(new t_pppParam(t_pppParam::cBiasG1, t_prn(), t_lc::c1));
|
---|
564 | }
|
---|
565 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
566 | required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
|
---|
567 | }
|
---|
568 | }
|
---|
569 | if (_usedSystems.contains('R')) {
|
---|
570 | lc = OPT->LCs('R');
|
---|
571 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
572 | required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
|
---|
573 | }
|
---|
574 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
575 | required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
|
---|
576 | }
|
---|
577 | }
|
---|
578 | if (_usedSystems.contains('E')) {
|
---|
579 | lc = OPT->LCs('E');
|
---|
580 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
581 | required.push_back(new t_pppParam(t_pppParam::cBiasE1, t_prn(), t_lc::c1));
|
---|
582 | }
|
---|
583 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
584 | required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
|
---|
585 | }
|
---|
586 | }
|
---|
587 | if (_usedSystems.contains('C')) {
|
---|
588 | lc = OPT->LCs('C');
|
---|
589 | if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
|
---|
590 | required.push_back(new t_pppParam(t_pppParam::cBiasC1, t_prn(), t_lc::c1));
|
---|
591 | }
|
---|
592 | if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
|
---|
593 | required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
|
---|
594 | }
|
---|
595 | }
|
---|
596 | }
|
---|
597 |
|
---|
598 | // Receiver Phase Biases
|
---|
599 | // ---------------------
|
---|
600 | if ((OPT->_obsModelType == OPT->DCMphaseBias) ||
|
---|
601 | (OPT->_obsModelType == OPT->PPPRTK) ) {
|
---|
602 | std::vector<t_lc::type> lc;
|
---|
603 | if (_usedSystems.contains('G')) {
|
---|
604 | lc = OPT->LCs('G');
|
---|
605 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
606 | required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
|
---|
607 | }
|
---|
608 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
609 | required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
|
---|
610 | }
|
---|
611 | }
|
---|
612 | if (_usedSystems.contains('R')) {
|
---|
613 | lc = OPT->LCs('R');
|
---|
614 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
615 | required.push_back(new t_pppParam(t_pppParam::pBiasR1, t_prn(), t_lc::l1));
|
---|
616 | }
|
---|
617 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
618 | required.push_back(new t_pppParam(t_pppParam::pBiasR2, t_prn(), t_lc::l2));
|
---|
619 | }
|
---|
620 |
|
---|
621 | }
|
---|
622 | if (_usedSystems.contains('E')) {
|
---|
623 | lc = OPT->LCs('E');
|
---|
624 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
625 | required.push_back(new t_pppParam(t_pppParam::pBiasE1, t_prn(), t_lc::l1));
|
---|
626 | }
|
---|
627 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
628 | required.push_back(new t_pppParam(t_pppParam::pBiasE2, t_prn(), t_lc::l2));
|
---|
629 | }
|
---|
630 | }
|
---|
631 | if (_usedSystems.contains('C')) {
|
---|
632 | lc = OPT->LCs('C');
|
---|
633 | if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
|
---|
634 | required.push_back(new t_pppParam(t_pppParam::pBiasC1, t_prn(), t_lc::l1));
|
---|
635 | }
|
---|
636 | if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
|
---|
637 | required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2));
|
---|
638 | }
|
---|
639 | }
|
---|
640 | }
|
---|
641 |
|
---|
642 | // Receiver Clock
|
---|
643 | // --------------
|
---|
644 | required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
|
---|
645 |
|
---|
646 | // GPS-GLONASS Clock Offset
|
---|
647 | // ------------------------
|
---|
648 | if (_usedSystems.contains('G') && _usedSystems.contains('R')) {
|
---|
649 | required.push_back(new t_pppParam(t_pppParam::offGR, t_prn(), t_lc::dummy));
|
---|
650 | }
|
---|
651 |
|
---|
652 | //GPS-Galileo Clock Offset
|
---|
653 | // ------------------------
|
---|
654 | if (_usedSystems.contains('G') && _usedSystems.contains('E')) {
|
---|
655 | required.push_back(new t_pppParam(t_pppParam::offGE, t_prn(), t_lc::dummy));
|
---|
656 | }
|
---|
657 |
|
---|
658 | // GPS-BDS Clock Offset
|
---|
659 | // ------------------------
|
---|
660 | if (_usedSystems.contains('G') && _usedSystems.contains('C')) {
|
---|
661 | required.push_back(new t_pppParam(t_pppParam::offGC, t_prn(), t_lc::dummy));
|
---|
662 | }
|
---|
663 |
|
---|
664 | // Troposphere
|
---|
665 | // -----------
|
---|
666 | if (OPT->estTrp()) {
|
---|
667 | required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
|
---|
668 | }
|
---|
669 |
|
---|
670 | // Ionosphere
|
---|
671 | // ----------
|
---|
672 | if (OPT->_obsModelType == OPT->UncombPPP ||
|
---|
673 | OPT->_obsModelType == OPT->DCMcodeBias ||
|
---|
674 | OPT->_obsModelType == OPT->DCMphaseBias ) {
|
---|
675 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
676 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
677 | required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
|
---|
678 | }
|
---|
679 | }
|
---|
680 | // Ambiguities
|
---|
681 | // -----------
|
---|
682 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
683 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
684 | if ((OPT->_obsModelType == OPT->IF) ||
|
---|
685 | (OPT->_obsModelType == OPT->PPPRTK) ||
|
---|
686 | (OPT->_obsModelType == OPT->UncombPPP) ||
|
---|
687 | (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
|
---|
688 | (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
|
---|
689 | const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
|
---|
690 | for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
|
---|
691 | required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
|
---|
692 | }
|
---|
693 | }
|
---|
694 | }
|
---|
695 |
|
---|
696 | // Check if all required parameters are present
|
---|
697 | // --------------------------------------------
|
---|
698 | for (unsigned ii = 0; ii < required.size(); ii++) {
|
---|
699 | t_pppParam* parReq = required[ii];
|
---|
700 |
|
---|
701 | bool found = false;
|
---|
702 | for (unsigned jj = 0; jj < _params.size(); jj++) {
|
---|
703 | t_pppParam* parOld = _params[jj];
|
---|
704 | if (parOld->isEqual(parReq)) {
|
---|
705 | found = true;
|
---|
706 | break;
|
---|
707 | }
|
---|
708 | }
|
---|
709 | if (found) {
|
---|
710 | delete parReq;
|
---|
711 | }
|
---|
712 | else {
|
---|
713 | _params.push_back(parReq);
|
---|
714 | }
|
---|
715 | }
|
---|
716 |
|
---|
717 | // Set Parameter Indices
|
---|
718 | // ---------------------
|
---|
719 | sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
|
---|
720 |
|
---|
721 | for (unsigned ii = 0; ii < _params.size(); ii++) {
|
---|
722 | t_pppParam* par = _params[ii];
|
---|
723 | par->setIndex(ii);
|
---|
724 | for (unsigned jj = 0; jj < obsVector.size(); jj++) {
|
---|
725 | const t_pppSatObs* satObs = obsVector[jj];
|
---|
726 | if (satObs->prn() == par->prn()) {
|
---|
727 | par->setAmbEleSat(satObs->eleSat());
|
---|
728 | par->stepAmbNumEpo();
|
---|
729 | }
|
---|
730 | }
|
---|
731 | }
|
---|
732 |
|
---|
733 | return success;
|
---|
734 | }
|
---|
735 |
|
---|
736 | //
|
---|
737 | ////////////////////////////////////////////////////////////////////////////
|
---|
738 | void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
|
---|
739 | const ColumnVector& xx) const {
|
---|
740 |
|
---|
741 | string epoTimeStr = string(epoTime);
|
---|
742 | const t_pppStation* sta = PPP_CLIENT->staRover();
|
---|
743 |
|
---|
744 | LOG << endl;
|
---|
745 |
|
---|
746 | t_pppParam* parX = 0;
|
---|
747 | t_pppParam* parY = 0;
|
---|
748 | t_pppParam* parZ = 0;
|
---|
749 | vector<t_pppParam*>::const_iterator it = _params.begin();
|
---|
750 | while (it != _params.end()) {
|
---|
751 | t_pppParam* par = *it;
|
---|
752 | if (par->type() == t_pppParam::crdX) {
|
---|
753 | parX = par;
|
---|
754 | }
|
---|
755 | else if (par->type() == t_pppParam::crdY) {
|
---|
756 | parY = par;
|
---|
757 | }
|
---|
758 | else if (par->type() == t_pppParam::crdZ) {
|
---|
759 | parZ = par;
|
---|
760 | }
|
---|
761 | else {
|
---|
762 | int ind = par->indexNew();
|
---|
763 | double apr = (par->type() == t_pppParam::trp) ?
|
---|
764 | t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
|
---|
765 | LOG << epoTimeStr << ' ' << par->toString() << ' '
|
---|
766 | << setw(10) << setprecision(4) << apr << ' '
|
---|
767 | << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
|
---|
768 | << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
|
---|
769 | if (par->type() == t_pppParam::amb) {
|
---|
770 | LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
|
---|
771 | << " epo = " << setw(4) << par->ambNumEpo();
|
---|
772 | }
|
---|
773 | LOG << endl;
|
---|
774 | }
|
---|
775 | ++it;
|
---|
776 | }
|
---|
777 |
|
---|
778 | if (parX && parY && parZ) {
|
---|
779 |
|
---|
780 | ColumnVector xyz(3);
|
---|
781 | xyz[0] = xx[parX->indexNew()];
|
---|
782 | xyz[1] = xx[parY->indexNew()];
|
---|
783 | xyz[2] = xx[parZ->indexNew()];
|
---|
784 |
|
---|
785 | ColumnVector neu(3);
|
---|
786 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
|
---|
787 |
|
---|
788 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
|
---|
789 |
|
---|
790 | SymmetricMatrix QQneu(3);
|
---|
791 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
|
---|
792 |
|
---|
793 | LOG << epoTimeStr << ' ' << sta->name()
|
---|
794 | << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
|
---|
795 | << setprecision(4) << sqrt(QQxyz[0][0])
|
---|
796 |
|
---|
797 | << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
|
---|
798 | << setprecision(4) << sqrt(QQxyz[1][1])
|
---|
799 |
|
---|
800 | << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
|
---|
801 | << setprecision(4) << sqrt(QQxyz[2][2])
|
---|
802 |
|
---|
803 | << " dN = " << setprecision(4) << neu[0] << " +- "
|
---|
804 | << setprecision(4) << sqrt(QQneu[0][0])
|
---|
805 |
|
---|
806 | << " dE = " << setprecision(4) << neu[1] << " +- "
|
---|
807 | << setprecision(4) << sqrt(QQneu[1][1])
|
---|
808 |
|
---|
809 | << " dU = " << setprecision(4) << neu[2] << " +- "
|
---|
810 | << setprecision(4) << sqrt(QQneu[2][2])
|
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811 |
|
---|
812 | << endl;
|
---|
813 | }
|
---|
814 | }
|
---|
815 |
|
---|