source: ntrip/trunk/BNC/src/PPP/pppParlist.cpp@ 9532

Last change on this file since 9532 was 9532, checked in by stuerze, 4 years ago

some changes regarding PPP
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File size: 27.2 KB
Line 
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 = 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 pBiasE1: case pBiasR1: case pBiasC1:
126 case pBiasG2: case pBiasE2: case pBiasR2: case pBiasC2:
127 _epoSpec = false;
128 _sigma0 = OPT->_aprSigPhaseBias;
129 _noise = OPT->_noisePhaseBias;
130 break;
131 }
132}
133
134//
135////////////////////////////////////////////////////////////////////////////
136t_pppParam::t_pppParam(const t_pppParam* old) {
137 _type = old->type();
138 _prn = old->prn();
139 _tLC = old->tLC();
140 _indexOld = old->indexOld();
141 _indexNew = old->indexNew();
142 _noise = old->noise();
143 _sigma0 = old->sigma0();
144 _epoSpec = old->epoSpec();
145 _x0 = old->x0();
146 setFirstObsTime(old->firstObsTime());
147 setLastObsTime(old->lastObsTime());
148 _ambInfo = 0;
149 if (_type == t_pppParam::amb) {
150 _ambInfo = new t_ambInfo();
151 _ambInfo->_resetCandidate = old->_ambInfo->_resetCandidate;
152 _ambInfo->_eleSat = old->_ambInfo->_eleSat;
153 _ambInfo->_numEpo = old->_ambInfo->_numEpo;
154 }
155}
156
157// Destructor
158////////////////////////////////////////////////////////////////////////////
159t_pppParam::~t_pppParam() {
160 if (_ambInfo) {
161 delete _ambInfo;
162 }
163}
164//
165////////////////////////////////////////////////////////////////////////////
166double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
167 const t_lc::type& tLC, const t_prn refPrn) const {
168
169 // Special Case - Melbourne-Wuebbena
170 // ---------------------------------
171 if (tLC == t_lc::MW && _type != amb) {
172 return 0.0;
173 }
174
175 const t_pppStation* sta = PPP_CLIENT->staRover();
176 ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
177
178 map<t_frequency::type, double> codeCoeff;
179 map<t_frequency::type, double> phaseCoeff;
180 map<t_frequency::type, double> ionoCoeff;
181 obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
182
183 switch (_type) {
184 case crdX:
185 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
186 return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
187 case crdY:
188 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
189 return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
190 case crdZ:
191 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
192 return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
193 case clkR:
194 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
195 return 1.0;
196 case offGR:
197 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
198 return (obs->prn().system() == 'R') ? 1.0 : 0.0;
199 case offGE:
200 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
201 return (obs->prn().system() == 'E') ? 1.0 : 0.0;
202 case offGC:
203 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
204 return (obs->prn().system() == 'C') ? 1.0 : 0.0;
205 case amb:
206 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {return 0.0;}
207 else if ((OPT->_obsModelType == OPT->IF) ||
208 (OPT->_obsModelType == OPT->PPPRTK) ||
209 (OPT->_obsModelType == OPT->UncombPPP) ||
210 (OPT->_obsModelType == OPT->DCMcodeBias && !obs->isReference()) ||
211 (OPT->_obsModelType == OPT->DCMphaseBias && !obs->isReference()) ) {
212
213 if (obs->prn() == _prn) {
214 if (tLC == _tLC) {
215 return (obs->lambda(tLC));
216 }
217 else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
218 return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
219 }
220 else {
221 if (_tLC == t_lc::l1) {
222 return obs->lambda(t_lc::l1) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
223 }
224 else if (_tLC == t_lc::l2) {
225 return obs->lambda(t_lc::l2) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
226 }
227 }
228 }
229 }
230 break;
231 case trp:
232 if (tLC == t_lc::GIM) {
233 return 0.0;
234 }
235 else if (tLC == t_lc::Tz0) {
236 return 1.0;
237 }
238 else {
239 return 1.0 / sin(obs->eleSat());
240 }
241 case ion:
242 if (obs->prn() == _prn) {
243 if (tLC == t_lc::c1) {
244 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c1)];
245 }
246 else if (tLC == t_lc::c2) {
247 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c2)];
248 }
249 else if (tLC == t_lc::l1) {
250 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
251 }
252 else if (tLC == t_lc::l2) {
253 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
254 }
255 else if (tLC == t_lc::GIM) {
256 return -1.0;
257 }
258 }
259 if (tLC == t_lc::GIM && _prn == refPrn) {
260 return 1.0;
261 }
262 break;
263 case cBiasG1:
264 if ((obs->prn().system() == 'G') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
265 break;
266 case cBiasR1:
267 if ((obs->prn().system() == 'R') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
268 break;
269 case cBiasE1:
270 if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
271 break;
272 case cBiasC1:
273 if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
274 break;
275 case cBiasG2:
276 if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
277 break;
278 case cBiasR2:
279 if ((obs->prn().system() == 'R') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
280 break;
281 case cBiasE2:
282 if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
283 break;
284 case cBiasC2:
285 if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
286 break;
287 case pBiasG1:
288 if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
289 break;
290 case pBiasR1:
291 if ((obs->prn().system() == 'R') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
292 break;
293 case pBiasE1:
294 if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
295 break;
296 case pBiasC1:
297 if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
298 break;
299 case pBiasG2:
300 if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
301 break;
302 case pBiasR2:
303 if ((obs->prn().system() == 'R') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
304 break;
305 case pBiasE2:
306 if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
307 break;
308 case pBiasC2:
309 if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
310 break;
311
312 }
313 return 0.0;
314}
315
316//
317////////////////////////////////////////////////////////////////////////////
318string t_pppParam::toString() const {
319 stringstream ss;
320 switch (_type) {
321 case crdX:
322 ss << "CRD_X";
323 break;
324 case crdY:
325 ss << "CRD_Y";
326 break;
327 case crdZ:
328 ss << "CRD_Z";
329 break;
330 case clkR:
331 ss << "REC_CLK ";
332 break;
333 case offGR:
334 ss << "OGR ";
335 break;
336 case offGE:
337 ss << "OGE ";
338 break;
339 case offGC:
340 ss << "OGC ";
341 break;
342 case trp:
343 ss << "TRP ";
344 break;
345 case amb:
346 ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
347 break;
348 case ion:
349 ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
350 break;
351 case cBiasG1: case pBiasG1:
352 case cBiasG2: case pBiasG2:
353 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
354 break;
355 case cBiasR1: case pBiasR1:
356 case cBiasR2: case pBiasR2:
357 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " R ";
358 break;
359 case cBiasE1: case pBiasE1:
360 case cBiasE2: case pBiasE2:
361 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
362 break;
363 case cBiasC1: case pBiasC1:
364 case cBiasC2: case pBiasC2:
365 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
366 break;
367 }
368 return ss.str();
369}
370
371// Constructor
372////////////////////////////////////////////////////////////////////////////
373t_pppParlist::t_pppParlist() {
374}
375
376// Destructor
377////////////////////////////////////////////////////////////////////////////
378t_pppParlist::~t_pppParlist() {
379 _usedSystems.clear();
380
381 vector<t_pppParam*>::iterator it = _params.begin();
382 while (it != _params.end()) {
383 t_pppParam* par = *it;
384 delete par;
385 it = _params.erase(it);
386 }
387}
388
389//
390////////////////////////////////////////////////////////////////////////////
391t_pppParlist::t_pppParlist(const t_pppParlist& old) {
392
393 _usedSystems = old._usedSystems;
394
395 vector<t_pppParam*>::const_iterator it = old.params().begin();
396 while (it != old.params().end()) {
397 const t_pppParam* oldParam = *it;
398 _params.push_back(new t_pppParam(oldParam));
399 }
400}
401
402//
403////////////////////////////////////////////////////////////////////////////
404const t_pppParlist& t_pppParlist::operator= (const t_pppParlist& p) {
405
406 _usedSystems.clear();
407
408 _usedSystems = p._usedSystems;
409
410 vector<t_pppParam*>::iterator it = _params.begin();
411 while (it != _params.end()) {
412 t_pppParam* par = *it;
413 delete par;
414 it = _params.erase(it);
415 }
416
417 for (unsigned jj = 0; jj < p.params().size(); jj++) {
418 t_pppParam* parFrom = p.params()[jj];
419 _params.push_back(new t_pppParam(parFrom));
420 }
421 return *this;
422}
423
424//
425////////////////////////////////////////////////////////////////////////////
426t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector,
427 const QMap<char, t_pppRefSat*>& refSatMap) {
428
429 // Remove some Parameters
430 // ----------------------
431 vector<t_pppParam*>::iterator it = _params.begin();
432 while (it != _params.end()) {
433 t_pppParam* par = *it;
434
435 bool remove = false;
436
437 if (par->epoSpec()) {
438 remove = true;
439 }
440
441 else if (par->type() == t_pppParam::crdX ||
442 par->type() == t_pppParam::crdY ||
443 par->type() == t_pppParam::crdZ) {
444 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
445 remove = true;
446 }
447 }
448
449 else if (par->type() == t_pppParam::amb) {
450 if (OPT->_obsModelType == OPT->DCMcodeBias ||
451 OPT->_obsModelType == OPT->DCMphaseBias) {
452 char sys = par->prn().system();
453 t_prn refPrn = (refSatMap[sys])->prn();
454 if (par->lastObsTime().valid() && par->prn() == refPrn) {
455 remove = true;
456 }
457 }
458 else {
459 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
460 remove = true;
461 }
462 }
463 }
464
465 else if (par->type() == t_pppParam::ion) {
466 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
467 remove = true;
468 }
469 }
470 if (remove) {
471#ifdef BNC_DEBUG_PPP
472 LOG << "remove0 " << par->toString() << std::endl;
473#endif
474 delete par;
475 it = _params.erase(it);
476 }
477 else {
478 ++it;
479 }
480 }
481
482 // check which systems have observations
483 // -------------------------------------
484 _usedSystems.clear();
485 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
486 const t_pppSatObs* satObs = obsVector[jj];
487 char sys = satObs->prn().system();LOG << satObs->prn().toString() << endl;
488 if (!_usedSystems.contains(sys)) {
489 _usedSystems.append(sys);
490 }
491 }
492
493 if (_usedSystems.size() > 1 &&
494 !_usedSystems.contains('G')) { // required to setup ISB w. r. t. GPS
495 return failure;
496 }
497
498
499
500 // Check whether parameters have observations
501 // ------------------------------------------
502 for (unsigned ii = 0; ii < _params.size(); ii++) {
503 t_pppParam* par = _params[ii];
504 if (par->prn() == 0) {
505 par->setLastObsTime(epoTime);
506 if (par->firstObsTime().undef()) {
507 par->setFirstObsTime(epoTime);
508 }
509 }
510 else {
511 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
512 const t_pppSatObs* satObs = obsVector[jj];
513 if (satObs->prn() == par->prn()) {
514 par->setLastObsTime(epoTime);
515 if (par->firstObsTime().undef()) {
516 par->setFirstObsTime(epoTime);
517 }
518 break;
519 }
520 }
521 }
522 }
523
524
525 if (OPT->_obsModelType == OPT->DCMcodeBias ||
526 OPT->_obsModelType == OPT->DCMphaseBias) {
527 // Check if ambiguity parameters have observations
528 // -----------------------------------------------
529 vector<t_pppParam*>::iterator it = _params.begin();
530 QList<t_prn> lostSats;
531 while (it != _params.end()) {
532 t_pppParam* par = *it;
533 if ((par->type() == t_pppParam::amb) &&
534 (!par->lastObsTime().valid() || (epoTime - par->lastObsTime() > 0.0))) {
535 LOG << "remove1 " << par->toString() << std::endl;
536 lostSats.append(par->prn());
537 delete par;
538 it = _params.erase(it);
539 }
540 // Check if systems have to be presented per biases
541 else if ((par->type() == t_pppParam::cBiasG1 ||
542 par->type() == t_pppParam::cBiasG2 ||
543 par->type() == t_pppParam::pBiasG1 ||
544 par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('G')) {
545 delete par; LOG << "remove1 " << par->toString() << std::endl;
546 it = _params.erase(it);
547 }
548 else if ((par->type() == t_pppParam::cBiasR1 ||
549 par->type() == t_pppParam::cBiasR2 ||
550 par->type() == t_pppParam::pBiasR1 ||
551 par->type() == t_pppParam::pBiasR2) && !usedSystems().contains('R')) {
552 delete par; LOG << "remove1 " << par->toString() << std::endl;
553 it = _params.erase(it);
554 }
555 else if ((par->type() == t_pppParam::cBiasE1 ||
556 par->type() == t_pppParam::cBiasE2 ||
557 par->type() == t_pppParam::pBiasE1 ||
558 par->type() == t_pppParam::pBiasE2) && !usedSystems().contains('E')) {
559 delete par; LOG << "remove1 " << par->toString() << std::endl;
560 it = _params.erase(it);
561 }
562 else if ((par->type() == t_pppParam::cBiasC1 ||
563 par->type() == t_pppParam::cBiasC2 ||
564 par->type() == t_pppParam::pBiasC1 ||
565 par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('C')) {
566 delete par; LOG << "remove1 " << par->toString() << std::endl;
567 it = _params.erase(it);
568 }
569 else {
570 ++it;
571 }
572 }
573 // remove respective iono parameters
574 // ---------------------------------
575 it = _params.begin();
576 while (it != _params.end()) {
577 t_pppParam* par = *it;
578 if ((par->type() == t_pppParam::ion) &&
579 (lostSats.contains(par->prn()) || (epoTime - par->lastObsTime() > 0.0))) {
580 LOG << "remove1 " << par->toString() << std::endl;
581 delete par;
582 it = _params.erase(it);
583 }
584 else {
585 ++it;
586 }
587 }
588 }
589
590
591 // Required Set of Parameters
592 // --------------------------
593 vector<t_pppParam*> required;
594
595 // Coordinates
596 // -----------
597 required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
598 required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
599 required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
600
601 // Receiver Code Biases
602 // --------------------
603 if (OPT->_obsModelType == OPT->DCMcodeBias) {
604 std::vector<t_lc::type> lc;
605 if (_usedSystems.contains('G')) {
606 lc = OPT->LCs('G');
607 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
608 required.push_back(new t_pppParam(t_pppParam::cBiasG1, t_prn(), t_lc::c1));
609 }
610 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
611 required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
612 }
613 }
614 if (_usedSystems.contains('R')) {
615 lc = OPT->LCs('R');
616 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
617 required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
618 }
619 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
620 required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
621 }
622 }
623 if (_usedSystems.contains('E')) {
624 lc = OPT->LCs('E');
625 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
626 required.push_back(new t_pppParam(t_pppParam::cBiasE1, t_prn(), t_lc::c1));
627 }
628 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
629 required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
630 }
631 }
632 if (_usedSystems.contains('C')) {
633 lc = OPT->LCs('C');
634 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
635 required.push_back(new t_pppParam(t_pppParam::cBiasC1, t_prn(), t_lc::c1));
636 }
637 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
638 required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
639 }
640 }
641 }
642
643 // Receiver Phase Biases
644 // ---------------------
645 if ((OPT->_obsModelType == OPT->DCMphaseBias) ||
646 (OPT->_obsModelType == OPT->PPPRTK) ) {
647 std::vector<t_lc::type> lc;
648 if (_usedSystems.contains('G')) {
649 lc = OPT->LCs('G');
650 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
651 required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
652 }
653 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
654 required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
655 }
656 }
657 if (_usedSystems.contains('R')) {
658 lc = OPT->LCs('R');
659 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
660 required.push_back(new t_pppParam(t_pppParam::pBiasR1, t_prn(), t_lc::l1));
661 }
662 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
663 required.push_back(new t_pppParam(t_pppParam::pBiasR2, t_prn(), t_lc::l2));
664 }
665
666 }
667 if (_usedSystems.contains('E')) {
668 lc = OPT->LCs('E');
669 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
670 required.push_back(new t_pppParam(t_pppParam::pBiasE1, t_prn(), t_lc::l1));
671 }
672 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
673 required.push_back(new t_pppParam(t_pppParam::pBiasE2, t_prn(), t_lc::l2));
674 }
675 }
676 if (_usedSystems.contains('C')) {
677 lc = OPT->LCs('C');
678 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
679 required.push_back(new t_pppParam(t_pppParam::pBiasC1, t_prn(), t_lc::l1));
680 }
681 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
682 required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2));
683 }
684 }
685 }
686
687 // Receiver Clock
688 // --------------
689 required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
690
691 // GPS-GLONASS Clock Offset
692 // ------------------------
693 if (_usedSystems.contains('G') && _usedSystems.contains('R')) {
694 required.push_back(new t_pppParam(t_pppParam::offGR, t_prn(), t_lc::dummy));
695 }
696
697 //GPS-Galileo Clock Offset
698 // ------------------------
699 if (_usedSystems.contains('G') && _usedSystems.contains('E')) {
700 required.push_back(new t_pppParam(t_pppParam::offGE, t_prn(), t_lc::dummy));
701 }
702
703 // GPS-BDS Clock Offset
704 // ------------------------
705 if (_usedSystems.contains('G') && _usedSystems.contains('C')) {
706 required.push_back(new t_pppParam(t_pppParam::offGC, t_prn(), t_lc::dummy));
707 }
708
709 // Troposphere
710 // -----------
711 if (OPT->estTrp()) {
712 required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
713 }
714
715 // Ionosphere
716 // ----------
717 if (OPT->_obsModelType == OPT->UncombPPP ||
718 OPT->_obsModelType == OPT->DCMcodeBias ||
719 OPT->_obsModelType == OPT->DCMphaseBias ) {
720 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
721 const t_pppSatObs* satObs = obsVector[jj];
722 required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
723 }
724 }
725 // Ambiguities
726 // -----------
727 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
728 const t_pppSatObs* satObs = obsVector[jj];
729 if ((OPT->_obsModelType == OPT->IF) ||
730 (OPT->_obsModelType == OPT->PPPRTK) ||
731 (OPT->_obsModelType == OPT->UncombPPP) ||
732 (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
733 (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
734 const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
735 for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
736 required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
737 }
738 }
739 }
740
741 // Check if all required parameters are present
742 // --------------------------------------------
743 for (unsigned ii = 0; ii < required.size(); ii++) {
744 t_pppParam* parReq = required[ii];
745
746 bool found = false;
747 for (unsigned jj = 0; jj < _params.size(); jj++) {
748 t_pppParam* parOld = _params[jj];
749 if (parOld->isEqual(parReq)) {
750 found = true;
751 break;
752 }
753 }
754 if (found) {
755 delete parReq;
756 }
757 else {
758#ifdef BNC_DEBUG_PPP
759 LOG << "push_back parReq " << parReq->toString() << std::endl;
760#endif
761 _params.push_back(parReq);
762 }
763 }
764
765 // Set Parameter Indices
766 // ---------------------
767 sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
768
769 for (unsigned ii = 0; ii < _params.size(); ii++) {
770 t_pppParam* par = _params[ii];
771 par->setIndex(ii);
772 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
773 const t_pppSatObs* satObs = obsVector[jj];
774 if (satObs->prn() == par->prn()) {
775 par->setAmbEleSat(satObs->eleSat());
776 par->stepAmbNumEpo();
777 }
778 }
779 }
780
781 return success;
782}
783
784//
785////////////////////////////////////////////////////////////////////////////
786void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
787 const ColumnVector& xx) const {
788
789 string epoTimeStr = string(epoTime);
790 const t_pppStation* sta = PPP_CLIENT->staRover();
791
792 LOG << endl;
793
794 t_pppParam* parX = 0;
795 t_pppParam* parY = 0;
796 t_pppParam* parZ = 0;
797 vector<t_pppParam*>::const_iterator it = _params.begin();
798 while (it != _params.end()) {
799 t_pppParam* par = *it;
800 if (par->type() == t_pppParam::crdX) {
801 parX = par;
802 }
803 else if (par->type() == t_pppParam::crdY) {
804 parY = par;
805 }
806 else if (par->type() == t_pppParam::crdZ) {
807 parZ = par;
808 }
809 else {
810 int ind = par->indexNew();
811 double apr = (par->type() == t_pppParam::trp) ?
812 t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
813 LOG << epoTimeStr << ' ' << par->toString() << ' '
814 << setw(10) << setprecision(4) << apr << ' '
815 << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
816 << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
817 if (par->type() == t_pppParam::amb) {
818 LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
819 << " epo = " << setw(4) << par->ambNumEpo();
820 }
821 LOG << endl;
822 }
823 ++it;
824 }
825
826 if (parX && parY && parZ) {
827
828 ColumnVector xyz(3);
829 xyz[0] = xx[parX->indexNew()];
830 xyz[1] = xx[parY->indexNew()];
831 xyz[2] = xx[parZ->indexNew()];
832
833 ColumnVector neu(3);
834 xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
835
836 SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
837
838 SymmetricMatrix QQneu(3);
839 covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
840
841 LOG << epoTimeStr << ' ' << sta->name()
842 << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
843 << setprecision(4) << sqrt(QQxyz[0][0])
844
845 << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
846 << setprecision(4) << sqrt(QQxyz[1][1])
847
848 << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
849 << setprecision(4) << sqrt(QQxyz[2][2])
850
851 << " dN = " << setprecision(4) << neu[0] << " +- "
852 << setprecision(4) << sqrt(QQneu[0][0])
853
854 << " dE = " << setprecision(4) << neu[1] << " +- "
855 << setprecision(4) << sqrt(QQneu[1][1])
856
857 << " dU = " << setprecision(4) << neu[2] << " +- "
858 << setprecision(4) << sqrt(QQneu[2][2])
859
860 << endl;
861 }
862}
863
864//
865////////////////////////////////////////////////////////////////////////////
866void t_pppParlist::printParams(const bncTime& epoTime) {
867
868 for (unsigned iPar = 0; iPar < _params.size(); iPar++) {
869 LOG << _params[iPar]->toString()
870 << "\t lastObsTime().valid() \t" << _params[iPar]->lastObsTime().valid()
871 << "\t epoTime - par->lastObsTime() \t" << (epoTime - _params[iPar]->lastObsTime())
872 << endl;
873 }
874}
875
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