source: ntrip/trunk/BNC/src/PPP/pppParlist.cpp@ 9534

Last change on this file since 9534 was 9534, checked in by stuerze, 2 years ago

minor changes
  • Property svn:keywords set to Author Date Id Rev URL;svn:eol-style=native
  • Property svn:mime-type set to text/plain
File size: 27.3 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();
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#ifdef BNC_DEBUG_PPP
536 LOG << "remove1 " << par->toString() << std::endl;
537#endif
538 lostSats.append(par->prn());
539 delete par;
540 it = _params.erase(it);
541 }
542 // Check if systems have to be presented per biases
543 else if ((par->type() == t_pppParam::cBiasG1 ||
544 par->type() == t_pppParam::cBiasG2 ||
545 par->type() == t_pppParam::pBiasG1 ||
546 par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('G')) {
547 delete par;
548#ifdef BNC_DEBUG_PPP
549 LOG << "remove1 " << par->toString() << std::endl;
550#endif
551 it = _params.erase(it);
552 }
553 else if ((par->type() == t_pppParam::cBiasR1 ||
554 par->type() == t_pppParam::cBiasR2 ||
555 par->type() == t_pppParam::pBiasR1 ||
556 par->type() == t_pppParam::pBiasR2) && !usedSystems().contains('R')) {
557 delete par;
558#ifdef BNC_DEBUG_PPP
559 LOG << "remove1 " << par->toString() << std::endl;
560#endif
561 it = _params.erase(it);
562 }
563 else if ((par->type() == t_pppParam::cBiasE1 ||
564 par->type() == t_pppParam::cBiasE2 ||
565 par->type() == t_pppParam::pBiasE1 ||
566 par->type() == t_pppParam::pBiasE2) && !usedSystems().contains('E')) {
567 delete par;
568#ifdef BNC_DEBUG_PPP
569 LOG << "remove1 " << par->toString() << std::endl;
570#endif
571 it = _params.erase(it);
572 }
573 else if ((par->type() == t_pppParam::cBiasC1 ||
574 par->type() == t_pppParam::cBiasC2 ||
575 par->type() == t_pppParam::pBiasC1 ||
576 par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('C')) {
577 delete par;
578#ifdef BNC_DEBUG_PPP
579 LOG << "remove1 " << par->toString() << std::endl;
580#endif
581 it = _params.erase(it);
582 }
583 else {
584 ++it;
585 }
586 }
587 // remove respective iono parameters
588 // ---------------------------------
589 it = _params.begin();
590 while (it != _params.end()) {
591 t_pppParam* par = *it;
592 if ((par->type() == t_pppParam::ion) &&
593 (lostSats.contains(par->prn()) || (epoTime - par->lastObsTime() > 0.0))) {
594 LOG << "remove1 " << par->toString() << std::endl;
595 delete par;
596 it = _params.erase(it);
597 }
598 else {
599 ++it;
600 }
601 }
602 }
603
604
605 // Required Set of Parameters
606 // --------------------------
607 vector<t_pppParam*> required;
608
609 // Coordinates
610 // -----------
611 required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
612 required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
613 required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
614
615 // Receiver Code Biases
616 // --------------------
617 if (OPT->_obsModelType == OPT->DCMcodeBias) {
618 std::vector<t_lc::type> lc;
619 if (_usedSystems.contains('G')) {
620 lc = OPT->LCs('G');
621 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
622 required.push_back(new t_pppParam(t_pppParam::cBiasG1, t_prn(), t_lc::c1));
623 }
624 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
625 required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2));
626 }
627 }
628 if (_usedSystems.contains('R')) {
629 lc = OPT->LCs('R');
630 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
631 required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
632 }
633 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
634 required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
635 }
636 }
637 if (_usedSystems.contains('E')) {
638 lc = OPT->LCs('E');
639 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
640 required.push_back(new t_pppParam(t_pppParam::cBiasE1, t_prn(), t_lc::c1));
641 }
642 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
643 required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2));
644 }
645 }
646 if (_usedSystems.contains('C')) {
647 lc = OPT->LCs('C');
648 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
649 required.push_back(new t_pppParam(t_pppParam::cBiasC1, t_prn(), t_lc::c1));
650 }
651 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
652 required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2));
653 }
654 }
655 }
656
657 // Receiver Phase Biases
658 // ---------------------
659 if ((OPT->_obsModelType == OPT->DCMphaseBias) ||
660 (OPT->_obsModelType == OPT->PPPRTK) ) {
661 std::vector<t_lc::type> lc;
662 if (_usedSystems.contains('G')) {
663 lc = OPT->LCs('G');
664 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
665 required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
666 }
667 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
668 required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
669 }
670 }
671 if (_usedSystems.contains('R')) {
672 lc = OPT->LCs('R');
673 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
674 required.push_back(new t_pppParam(t_pppParam::pBiasR1, t_prn(), t_lc::l1));
675 }
676 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
677 required.push_back(new t_pppParam(t_pppParam::pBiasR2, t_prn(), t_lc::l2));
678 }
679
680 }
681 if (_usedSystems.contains('E')) {
682 lc = OPT->LCs('E');
683 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
684 required.push_back(new t_pppParam(t_pppParam::pBiasE1, t_prn(), t_lc::l1));
685 }
686 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
687 required.push_back(new t_pppParam(t_pppParam::pBiasE2, t_prn(), t_lc::l2));
688 }
689 }
690 if (_usedSystems.contains('C')) {
691 lc = OPT->LCs('C');
692 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
693 required.push_back(new t_pppParam(t_pppParam::pBiasC1, t_prn(), t_lc::l1));
694 }
695 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
696 required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2));
697 }
698 }
699 }
700
701 // Receiver Clock
702 // --------------
703 required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy));
704
705 // GPS-GLONASS Clock Offset
706 // ------------------------
707 if (_usedSystems.contains('G') && _usedSystems.contains('R')) {
708 required.push_back(new t_pppParam(t_pppParam::offGR, t_prn(), t_lc::dummy));
709 }
710
711 //GPS-Galileo Clock Offset
712 // ------------------------
713 if (_usedSystems.contains('G') && _usedSystems.contains('E')) {
714 required.push_back(new t_pppParam(t_pppParam::offGE, t_prn(), t_lc::dummy));
715 }
716
717 // GPS-BDS Clock Offset
718 // ------------------------
719 if (_usedSystems.contains('G') && _usedSystems.contains('C')) {
720 required.push_back(new t_pppParam(t_pppParam::offGC, t_prn(), t_lc::dummy));
721 }
722
723 // Troposphere
724 // -----------
725 if (OPT->estTrp()) {
726 required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
727 }
728
729 // Ionosphere
730 // ----------
731 if (OPT->_obsModelType == OPT->UncombPPP ||
732 OPT->_obsModelType == OPT->DCMcodeBias ||
733 OPT->_obsModelType == OPT->DCMphaseBias ) {
734 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
735 const t_pppSatObs* satObs = obsVector[jj];
736 required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
737 }
738 }
739 // Ambiguities
740 // -----------
741 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
742 const t_pppSatObs* satObs = obsVector[jj];
743 if ((OPT->_obsModelType == OPT->IF) ||
744 (OPT->_obsModelType == OPT->PPPRTK) ||
745 (OPT->_obsModelType == OPT->UncombPPP) ||
746 (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
747 (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
748 const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
749 for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
750 required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
751 }
752 }
753 }
754
755 // Check if all required parameters are present
756 // --------------------------------------------
757 for (unsigned ii = 0; ii < required.size(); ii++) {
758 t_pppParam* parReq = required[ii];
759
760 bool found = false;
761 for (unsigned jj = 0; jj < _params.size(); jj++) {
762 t_pppParam* parOld = _params[jj];
763 if (parOld->isEqual(parReq)) {
764 found = true;
765 break;
766 }
767 }
768 if (found) {
769 delete parReq;
770 }
771 else {
772#ifdef BNC_DEBUG_PPP
773 LOG << "push_back parReq " << parReq->toString() << std::endl;
774#endif
775 _params.push_back(parReq);
776 }
777 }
778
779 // Set Parameter Indices
780 // ---------------------
781 sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
782
783 for (unsigned ii = 0; ii < _params.size(); ii++) {
784 t_pppParam* par = _params[ii];
785 par->setIndex(ii);
786 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
787 const t_pppSatObs* satObs = obsVector[jj];
788 if (satObs->prn() == par->prn()) {
789 par->setAmbEleSat(satObs->eleSat());
790 par->stepAmbNumEpo();
791 }
792 }
793 }
794
795 return success;
796}
797
798//
799////////////////////////////////////////////////////////////////////////////
800void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
801 const ColumnVector& xx) const {
802
803 string epoTimeStr = string(epoTime);
804 const t_pppStation* sta = PPP_CLIENT->staRover();
805
806 LOG << endl;
807
808 t_pppParam* parX = 0;
809 t_pppParam* parY = 0;
810 t_pppParam* parZ = 0;
811 vector<t_pppParam*>::const_iterator it = _params.begin();
812 while (it != _params.end()) {
813 t_pppParam* par = *it;
814 if (par->type() == t_pppParam::crdX) {
815 parX = par;
816 }
817 else if (par->type() == t_pppParam::crdY) {
818 parY = par;
819 }
820 else if (par->type() == t_pppParam::crdZ) {
821 parZ = par;
822 }
823 else {
824 int ind = par->indexNew();
825 double apr = (par->type() == t_pppParam::trp) ?
826 t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
827 LOG << epoTimeStr << ' ' << par->toString() << ' '
828 << setw(10) << setprecision(4) << apr << ' '
829 << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
830 << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
831 if (par->type() == t_pppParam::amb) {
832 LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
833 << " epo = " << setw(4) << par->ambNumEpo();
834 }
835 LOG << endl;
836 }
837 ++it;
838 }
839
840 if (parX && parY && parZ) {
841
842 ColumnVector xyz(3);
843 xyz[0] = xx[parX->indexNew()];
844 xyz[1] = xx[parY->indexNew()];
845 xyz[2] = xx[parZ->indexNew()];
846
847 ColumnVector neu(3);
848 xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
849
850 SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
851
852 SymmetricMatrix QQneu(3);
853 covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
854
855 LOG << epoTimeStr << ' ' << sta->name()
856 << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
857 << setprecision(4) << sqrt(QQxyz[0][0])
858
859 << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
860 << setprecision(4) << sqrt(QQxyz[1][1])
861
862 << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
863 << setprecision(4) << sqrt(QQxyz[2][2])
864
865 << " dN = " << setprecision(4) << neu[0] << " +- "
866 << setprecision(4) << sqrt(QQneu[0][0])
867
868 << " dE = " << setprecision(4) << neu[1] << " +- "
869 << setprecision(4) << sqrt(QQneu[1][1])
870
871 << " dU = " << setprecision(4) << neu[2] << " +- "
872 << setprecision(4) << sqrt(QQneu[2][2])
873
874 << endl;
875 }
876}
877
878//
879////////////////////////////////////////////////////////////////////////////
880void t_pppParlist::printParams(const bncTime& epoTime) {
881
882 for (unsigned iPar = 0; iPar < _params.size(); iPar++) {
883 LOG << _params[iPar]->toString()
884 << "\t lastObsTime().valid() \t" << _params[iPar]->lastObsTime().valid()
885 << "\t epoTime - par->lastObsTime() \t" << (epoTime - _params[iPar]->lastObsTime())
886 << endl;
887 }
888}
889
Note: See TracBrowser for help on using the repository browser.