source: ntrip/trunk/BNC/src/PPP/pppParlist.cpp@ 9558

Last change on this file since 9558 was 9558, checked in by stuerze, 2 years ago

update regarding PPP: clock offsets removed, system clocks intruduced
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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppParlist
6 *
7 * Purpose: List of estimated parameters
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <cmath>
18#include <iostream>
19#include <sstream>
20#include <iomanip>
21#include <algorithm>
22#include <newmatio.h>
23
24#include "pppParlist.h"
25#include "pppSatObs.h"
26#include "pppStation.h"
27#include "bncutils.h"
28#include "bncconst.h"
29#include "pppClient.h"
30
31using namespace BNC_PPP;
32using namespace std;
33
34// Constructor
35////////////////////////////////////////////////////////////////////////////
36t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
37 const vector<t_pppSatObs*>* obsVector) {
38
39 _type = type;
40 _prn = prn;
41 _tLC = tLC;
42 _x0 = 0.0;
43 _indexOld = -1;
44 _indexNew = -1;
45 _noise = 0.0;
46 _ambInfo = 0;
47
48 switch (_type) {
49 case crdX:
50 _epoSpec = false;
51 _sigma0 = OPT->_aprSigCrd[0];
52 _noise = OPT->_noiseCrd[0];
53 break;
54 case crdY:
55 _epoSpec = false;
56 _sigma0 = OPT->_aprSigCrd[1];
57 _noise = OPT->_noiseCrd[1];
58 break;
59 case crdZ:
60 _epoSpec = false;
61 _sigma0 = OPT->_aprSigCrd[2];
62 _noise = OPT->_noiseCrd[2];
63 break;
64 case rClkG:
65 _epoSpec = true;
66 _sigma0 = OPT->_aprSigClk;
67 break;
68 case rClkR:
69 _epoSpec = true;
70 _sigma0 = OPT->_aprSigClk;
71 break;
72 case rClkE:
73 _epoSpec = true;
74 _sigma0 = OPT->_aprSigClk;
75 break;
76 case rClkC:
77 _epoSpec = true;
78 _sigma0 = OPT->_aprSigClk;
79 break;
80 case amb:
81 _epoSpec = false;
82 _sigma0 = OPT->_aprSigAmb;
83 _ambInfo = new t_ambInfo();
84 if (obsVector) {
85 for (unsigned ii = 0; ii < obsVector->size(); ii++) {
86 const t_pppSatObs* obs = obsVector->at(ii);
87 if (obs->prn() == _prn) {
88 _x0 = floor((obs->obsValue(tLC) - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5);
89 break;
90 }
91 }
92 }
93 break;
94 case trp:
95 _epoSpec = false;
96 _sigma0 = OPT->_aprSigTrp;
97 _noise = OPT->_noiseTrp;
98 break;
99 case ion:
100 _epoSpec = false;
101 _sigma0 = OPT->_aprSigIon;
102 _noise = OPT->_noiseIon;
103 break;
104 case cBiasG1: case cBiasR1: case cBiasE1: case cBiasC1:
105 case cBiasG2: case cBiasR2: case cBiasE2: case cBiasC2:
106 _epoSpec = false;
107 _sigma0 = OPT->_aprSigCodeBias;
108 _noise = OPT->_noiseCodeBias;
109 break;
110 case pBiasG1: case pBiasE1: case pBiasC1:
111 case pBiasG2: case pBiasE2: case pBiasC2:
112 _epoSpec = false;
113 _sigma0 = OPT->_aprSigPhaseBias;
114 _noise = OPT->_noisePhaseBias;
115 break;
116 }
117}
118
119//
120////////////////////////////////////////////////////////////////////////////
121t_pppParam::t_pppParam(const t_pppParam* old) {
122 _type = old->type();
123 _prn = old->prn();
124 _tLC = old->tLC();
125 _indexOld = old->indexOld();
126 _indexNew = old->indexNew();
127 _noise = old->noise();
128 _sigma0 = old->sigma0();
129 _epoSpec = old->epoSpec();
130 _x0 = old->x0();
131 setFirstObsTime(old->firstObsTime());
132 setLastObsTime(old->lastObsTime());
133 _ambInfo = 0;
134 if (_type == t_pppParam::amb) {
135 _ambInfo = new t_ambInfo();
136 _ambInfo->_resetCandidate = old->_ambInfo->_resetCandidate;
137 _ambInfo->_eleSat = old->_ambInfo->_eleSat;
138 _ambInfo->_numEpo = old->_ambInfo->_numEpo;
139 }
140}
141
142// Destructor
143////////////////////////////////////////////////////////////////////////////
144t_pppParam::~t_pppParam() {
145 if (_ambInfo) {
146 delete _ambInfo;
147 }
148}
149//
150////////////////////////////////////////////////////////////////////////////
151double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs,
152 const t_lc::type& tLC, const t_prn refPrn) const {
153
154 // Special Case - Melbourne-Wuebbena
155 // ---------------------------------
156 if (tLC == t_lc::MW && _type != amb) {
157 return 0.0;
158 }
159
160 const t_pppStation* sta = PPP_CLIENT->staRover();
161 ColumnVector rhoV = sta->xyzApr() - obs->xc().Rows(1,3);
162
163 map<t_frequency::type, double> codeCoeff;
164 map<t_frequency::type, double> phaseCoeff;
165 map<t_frequency::type, double> ionoCoeff;
166 obs->lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
167
168 switch (_type) {
169 case crdX:
170 if (tLC == t_lc::GIM) {return 0.0;}
171 return (sta->xyzApr()[0] - obs->xc()[0]) / rhoV.NormFrobenius();
172 case crdY:
173 if (tLC == t_lc::GIM) {return 0.0;}
174 return (sta->xyzApr()[1] - obs->xc()[1]) / rhoV.NormFrobenius();
175 case crdZ:
176 if (tLC == t_lc::GIM) {return 0.0;}
177 return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius();
178 case rClkG:
179 if (tLC == t_lc::GIM) {return 0.0;}
180 return (obs->prn().system() == 'G') ? 1.0 : 0.0;
181 case rClkR:
182 if (tLC == t_lc::GIM) {return 0.0;}
183 return (obs->prn().system() == 'R') ? 1.0 : 0.0;
184 case rClkE:
185 if (tLC == t_lc::GIM) {return 0.0;}
186 return (obs->prn().system() == 'E') ? 1.0 : 0.0;
187 case rClkC:
188 if (tLC == t_lc::GIM) {return 0.0;}
189 return (obs->prn().system() == 'C') ? 1.0 : 0.0;
190 case amb:
191 if (tLC == t_lc::GIM) {return 0.0;}
192 else if ((OPT->_obsModelType == OPT->IF) ||
193 (OPT->_obsModelType == OPT->PPPRTK) ||
194 (OPT->_obsModelType == OPT->UncombPPP) ||
195 (OPT->_obsModelType == OPT->DCMcodeBias && !obs->isReference()) ||
196 (OPT->_obsModelType == OPT->DCMphaseBias && !obs->isReference()) ) {
197
198 if (obs->prn() == _prn) {
199 if (tLC == _tLC) {
200 return (obs->lambda(tLC));
201 }
202 else if (tLC == t_lc::lIF && _tLC == t_lc::MW) {
203 return obs->lambda(t_lc::lIF) * obs->lambda(t_lc::MW) / obs->lambda(t_lc::l2);
204 }
205 else {
206 if (_tLC == t_lc::l1) {
207 return obs->lambda(t_lc::l1) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
208 }
209 else if (_tLC == t_lc::l2) {
210 return obs->lambda(t_lc::l2) * phaseCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
211 }
212 }
213 }
214 }
215 break;
216 case trp:
217 if (tLC == t_lc::GIM) {
218 return 0.0;
219 }
220 else {
221 return 1.0 / sin(obs->eleSat());
222 }
223 case ion:
224 if (obs->prn() == _prn) {
225 if (tLC == t_lc::c1) {
226 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c1)];
227 }
228 else if (tLC == t_lc::c2) {
229 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::c2)];
230 }
231 else if (tLC == t_lc::l1) {
232 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l1)];
233 }
234 else if (tLC == t_lc::l2) {
235 return ionoCoeff[t_lc::toFreq(obs->prn().system(),t_lc::l2)];
236 }
237 else if (tLC == t_lc::GIM) {
238 return -1.0;
239 }
240 }
241 if (tLC == t_lc::GIM && _prn == refPrn) {
242 return 1.0;
243 }
244 break;
245 case cBiasG1:
246 if ((obs->prn().system() == 'G') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
247 break;
248 case cBiasR1:
249 if ((obs->prn().system() == 'R') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
250 break;
251 case cBiasE1:
252 if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
253 break;
254 case cBiasC1:
255 if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
256 break;
257 case cBiasG2:
258 if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
259 break;
260 case cBiasR2:
261 if ((obs->prn().system() == 'R') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
262 break;
263 case cBiasE2:
264 if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
265 break;
266 case cBiasC2:
267 if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
268 break;
269 case pBiasG1:
270 if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
271 break;
272 case pBiasE1:
273 if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
274 break;
275 case pBiasC1:
276 if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
277 break;
278 case pBiasG2:
279 if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
280 break;
281 case pBiasE2:
282 if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
283 break;
284 case pBiasC2:
285 if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
286 break;
287
288 }
289 return 0.0;
290}
291
292//
293////////////////////////////////////////////////////////////////////////////
294string t_pppParam::toString() const {
295 stringstream ss;
296 switch (_type) {
297 case crdX:
298 ss << "CRD_X";
299 break;
300 case crdY:
301 ss << "CRD_Y";
302 break;
303 case crdZ:
304 ss << "CRD_Z";
305 break;
306 case rClkG:
307 ss << "REC_CLK G ";
308 break;
309 case rClkR:
310 ss << "REC_CLK R ";
311 break;
312 case rClkE:
313 ss << "REC_CLK E ";
314 break;
315 case rClkC:
316 ss << "REC_CLK C ";
317 break;
318 case trp:
319 ss << "TRP ";
320 break;
321 case amb:
322 ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
323 break;
324 case ion:
325 ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
326 break;
327 case cBiasG1: case pBiasG1:
328 case cBiasG2: case pBiasG2:
329 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
330 break;
331 case cBiasR1:
332 case cBiasR2:
333 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " R ";
334 break;
335 case cBiasE1: case pBiasE1:
336 case cBiasE2: case pBiasE2:
337 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
338 break;
339 case cBiasC1: case pBiasC1:
340 case cBiasC2: case pBiasC2:
341 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
342 break;
343 }
344 return ss.str();
345}
346
347// Constructor
348////////////////////////////////////////////////////////////////////////////
349t_pppParlist::t_pppParlist() {
350}
351
352// Destructor
353////////////////////////////////////////////////////////////////////////////
354t_pppParlist::~t_pppParlist() {
355 _usedSystems.clear();
356
357 vector<t_pppParam*>::iterator it = _params.begin();
358 while (it != _params.end()) {
359 t_pppParam* par = *it;
360 delete par;
361 it = _params.erase(it);
362 }
363}
364
365//
366////////////////////////////////////////////////////////////////////////////
367t_pppParlist::t_pppParlist(const t_pppParlist& old) {
368
369 _usedSystems = old._usedSystems;
370
371 vector<t_pppParam*>::const_iterator it = old.params().begin();
372 while (it != old.params().end()) {
373 const t_pppParam* oldParam = *it;
374 _params.push_back(new t_pppParam(oldParam));
375 }
376}
377
378//
379////////////////////////////////////////////////////////////////////////////
380const t_pppParlist& t_pppParlist::operator= (const t_pppParlist& p) {
381
382 _usedSystems.clear();
383
384 _usedSystems = p._usedSystems;
385
386 vector<t_pppParam*>::iterator it = _params.begin();
387 while (it != _params.end()) {
388 t_pppParam* par = *it;
389 delete par;
390 it = _params.erase(it);
391 }
392
393 for (unsigned jj = 0; jj < p.params().size(); jj++) {
394 t_pppParam* parFrom = p.params()[jj];
395 _params.push_back(new t_pppParam(parFrom));
396 }
397 return *this;
398}
399
400//
401////////////////////////////////////////////////////////////////////////////
402t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector,
403 const QMap<char, t_pppRefSat*>& refSatMap) {
404
405 // Remove some Parameters
406 // ----------------------
407 vector<t_pppParam*>::iterator it = _params.begin();
408 while (it != _params.end()) {
409 t_pppParam* par = *it;
410
411 bool remove = false;
412
413 if (par->epoSpec()) {
414 remove = true;
415 }
416
417 else if (par->type() == t_pppParam::crdX ||
418 par->type() == t_pppParam::crdY ||
419 par->type() == t_pppParam::crdZ) {
420 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
421 remove = true;
422 }
423 }
424
425 else if (par->type() == t_pppParam::amb) {
426 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
427 remove = true;
428 }
429 if (OPT->_obsModelType == OPT->DCMcodeBias ||
430 OPT->_obsModelType == OPT->DCMphaseBias) {
431 char sys = par->prn().system();
432 t_prn refPrn = (refSatMap[sys])->prn();
433 if (par->lastObsTime().valid() && par->prn() == refPrn) {
434 remove = true;
435 }
436 }
437 }
438
439 else if (par->type() == t_pppParam::ion) {
440 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
441 remove = true;
442 }
443 }
444 if (remove) {
445#ifdef BNC_DEBUG_PPP
446 LOG << "remove0 " << par->toString() << std::endl;
447#endif
448 delete par;
449 it = _params.erase(it);
450 }
451 else {
452 ++it;
453 }
454 }
455
456 // check which systems have observations
457 // -------------------------------------
458 _usedSystems.clear();
459 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
460 const t_pppSatObs* satObs = obsVector[jj];
461 char sys = satObs->prn().system();
462 if (!_usedSystems.contains(sys)) {
463 _usedSystems.append(sys);
464 }
465 }
466
467 // Check whether parameters have observations
468 // ------------------------------------------
469 for (unsigned ii = 0; ii < _params.size(); ii++) {
470 t_pppParam* par = _params[ii];
471 if (par->prn() == 0) {
472 par->setLastObsTime(epoTime);
473 if (par->firstObsTime().undef()) {
474 par->setFirstObsTime(epoTime);
475 }
476 }
477 else {
478 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
479 const t_pppSatObs* satObs = obsVector[jj];
480 if (satObs->prn() == par->prn()) {
481 par->setLastObsTime(epoTime);
482 if (par->firstObsTime().undef()) {
483 par->setFirstObsTime(epoTime);
484 }
485 break;
486 }
487 }
488 }
489 }
490
491
492 if (OPT->_obsModelType == OPT->DCMcodeBias ||
493 OPT->_obsModelType == OPT->DCMphaseBias) {
494 // Check if ambiguity parameters have observations
495 // -----------------------------------------------
496 vector<t_pppParam*>::iterator it = _params.begin();
497 QList<t_prn> lostSats;
498 while (it != _params.end()) {
499 t_pppParam* par = *it;
500 if ((par->type() == t_pppParam::amb) &&
501 (!par->lastObsTime().valid() || (epoTime - par->lastObsTime() > 0.0))) {
502#ifdef BNC_DEBUG_PPP
503 LOG << "remove1 " << par->toString() << std::endl;
504#endif
505 lostSats.append(par->prn());
506 delete par;
507 it = _params.erase(it);
508 }
509 // Check if systems have to be presented per biases
510 // ----------------------------------------------
511 else if ((par->type() == t_pppParam::cBiasG1 ||
512 par->type() == t_pppParam::cBiasG2 ||
513 par->type() == t_pppParam::pBiasG1 ||
514 par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('G')) {
515#ifdef BNC_DEBUG_PPP
516 LOG << "remove1 " << par->toString() << std::endl;
517#endif
518 delete par;
519 it = _params.erase(it);
520 }
521 else if ((par->type() == t_pppParam::cBiasR1 ||
522 par->type() == t_pppParam::cBiasR2) && !usedSystems().contains('R')) {
523#ifdef BNC_DEBUG_PPP
524 LOG << "remove1 " << par->toString() << std::endl;
525#endif
526 delete par;
527 it = _params.erase(it);
528 }
529 else if ((par->type() == t_pppParam::cBiasE1 ||
530 par->type() == t_pppParam::cBiasE2 ||
531 par->type() == t_pppParam::pBiasE1 ||
532 par->type() == t_pppParam::pBiasE2) && !usedSystems().contains('E')) {
533#ifdef BNC_DEBUG_PPP
534 LOG << "remove1 " << par->toString() << std::endl;
535#endif
536 delete par;
537 it = _params.erase(it);
538 }
539 else if ((par->type() == t_pppParam::cBiasC1 ||
540 par->type() == t_pppParam::cBiasC2 ||
541 par->type() == t_pppParam::pBiasC1 ||
542 par->type() == t_pppParam::pBiasC2) && !usedSystems().contains('C')) {
543#ifdef BNC_DEBUG_PPP
544 LOG << "remove1 " << par->toString() << std::endl;
545#endif
546 delete par;
547 it = _params.erase(it);
548 }
549 else {
550 ++it;
551 }
552 }
553 // remove respective iono parameters
554 // ---------------------------------
555 it = _params.begin();
556 while (it != _params.end()) {
557 t_pppParam* par = *it;
558 if ((par->type() == t_pppParam::ion) &&
559 (lostSats.contains(par->prn()) || (epoTime - par->lastObsTime() > 0.0))) {
560#ifdef BNC_DEBUG_PPP
561 LOG << "remove1 " << par->toString() << std::endl;
562#endif
563 delete par;
564 it = _params.erase(it);
565 }
566 else {
567 ++it;
568 }
569 }
570 }
571
572
573 // Required Set of Parameters
574 // --------------------------
575 vector<t_pppParam*> required;
576
577 // Coordinates
578 // -----------
579 required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
580 required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
581 required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
582
583 // Receiver Code Biases
584 // --------------------
585 if (OPT->_obsModelType == OPT->DCMcodeBias) {
586 std::vector<t_lc::type> lc;
587 if (_usedSystems.contains('G')) {
588 lc = OPT->LCs('G');
589 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
590 required.push_back(new t_pppParam(t_pppParam::cBiasG1, 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::cBiasG2, t_prn(), t_lc::c2));
594 }
595 }
596 if (_usedSystems.contains('R')) {
597 lc = OPT->LCs('R');
598 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
599 required.push_back(new t_pppParam(t_pppParam::cBiasR1, t_prn(), t_lc::c1));
600 }
601 if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) {
602 required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2));
603 }
604 }
605 if (_usedSystems.contains('E')) {
606 lc = OPT->LCs('E');
607 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
608 required.push_back(new t_pppParam(t_pppParam::cBiasE1, 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::cBiasE2, t_prn(), t_lc::c2));
612 }
613 }
614 if (_usedSystems.contains('C')) {
615 lc = OPT->LCs('C');
616 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
617 required.push_back(new t_pppParam(t_pppParam::cBiasC1, 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::cBiasC2, t_prn(), t_lc::c2));
621 }
622 }
623 }
624
625 // Receiver Phase Biases
626 // ---------------------
627 if ((OPT->_obsModelType == OPT->DCMphaseBias) ||
628 (OPT->_obsModelType == OPT->PPPRTK) ) {
629 std::vector<t_lc::type> lc;
630 if (_usedSystems.contains('G')) {
631 lc = OPT->LCs('G');
632 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
633 required.push_back(new t_pppParam(t_pppParam::pBiasG1, t_prn(), t_lc::l1));
634 }
635 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
636 required.push_back(new t_pppParam(t_pppParam::pBiasG2, t_prn(), t_lc::l2));
637 }
638 }
639 if (_usedSystems.contains('E')) {
640 lc = OPT->LCs('E');
641 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
642 required.push_back(new t_pppParam(t_pppParam::pBiasE1, t_prn(), t_lc::l1));
643 }
644 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
645 required.push_back(new t_pppParam(t_pppParam::pBiasE2, t_prn(), t_lc::l2));
646 }
647 }
648 if (_usedSystems.contains('C')) {
649 lc = OPT->LCs('C');
650 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
651 required.push_back(new t_pppParam(t_pppParam::pBiasC1, 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::pBiasC2, t_prn(), t_lc::l2));
655 }
656 }
657 }
658
659 // Receiver Clocks
660 // ---------------
661
662 // GPS-GLONASS Clock Offset
663 // ------------------------
664 if (_usedSystems.contains('G')) {
665 required.push_back(new t_pppParam(t_pppParam::rClkG, t_prn(), t_lc::dummy));
666 }
667
668 if (_usedSystems.contains('R')) {
669 required.push_back(new t_pppParam(t_pppParam::rClkR, t_prn(), t_lc::dummy));
670 }
671
672 if (_usedSystems.contains('E')) {
673 required.push_back(new t_pppParam(t_pppParam::rClkE, t_prn(), t_lc::dummy));
674 }
675
676 if (_usedSystems.contains('C')) {
677 required.push_back(new t_pppParam(t_pppParam::rClkC, t_prn(), t_lc::dummy));
678 }
679
680 // Troposphere
681 // -----------
682 if (OPT->estTrp()) {
683 required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
684 }
685
686 // Ionosphere
687 // ----------
688 if (OPT->_obsModelType == OPT->UncombPPP ||
689 OPT->_obsModelType == OPT->DCMcodeBias ||
690 OPT->_obsModelType == OPT->DCMphaseBias ) {
691 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
692 const t_pppSatObs* satObs = obsVector[jj];
693 required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
694 }
695 }
696 // Ambiguities
697 // -----------
698 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
699 const t_pppSatObs* satObs = obsVector[jj];
700 if ((OPT->_obsModelType == OPT->IF) ||
701 (OPT->_obsModelType == OPT->PPPRTK) ||
702 (OPT->_obsModelType == OPT->UncombPPP) ||
703 (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
704 (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
705 const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
706 for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
707 required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
708 }
709 }
710 }
711
712 // Check if all required parameters are present
713 // --------------------------------------------
714 for (unsigned ii = 0; ii < required.size(); ii++) {
715 t_pppParam* parReq = required[ii];
716
717 bool found = false;
718 for (unsigned jj = 0; jj < _params.size(); jj++) {
719 t_pppParam* parOld = _params[jj];
720 if (parOld->isEqual(parReq)) {
721 found = true;
722 break;
723 }
724 }
725 if (found) {
726 delete parReq;
727 }
728 else {
729#ifdef BNC_DEBUG_PPP
730 LOG << "push_back parReq " << parReq->toString() << std::endl;
731#endif
732 _params.push_back(parReq);
733 }
734 }
735
736 // Set Parameter Indices
737 // ---------------------
738 sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
739
740 for (unsigned ii = 0; ii < _params.size(); ii++) {
741 t_pppParam* par = _params[ii];
742 par->setIndex(ii);
743 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
744 const t_pppSatObs* satObs = obsVector[jj];
745 if (satObs->prn() == par->prn()) {
746 par->setAmbEleSat(satObs->eleSat());
747 par->stepAmbNumEpo();
748 }
749 }
750 }
751
752 return success;
753}
754
755//
756////////////////////////////////////////////////////////////////////////////
757void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
758 const ColumnVector& xx) const {
759
760 string epoTimeStr = string(epoTime);
761 const t_pppStation* sta = PPP_CLIENT->staRover();
762
763 LOG << endl;
764
765 t_pppParam* parX = 0;
766 t_pppParam* parY = 0;
767 t_pppParam* parZ = 0;
768 vector<t_pppParam*>::const_iterator it = _params.begin();
769 while (it != _params.end()) {
770 t_pppParam* par = *it;
771 if (par->type() == t_pppParam::crdX) {
772 parX = par;
773 }
774 else if (par->type() == t_pppParam::crdY) {
775 parY = par;
776 }
777 else if (par->type() == t_pppParam::crdZ) {
778 parZ = par;
779 }
780 else {
781 int ind = par->indexNew();
782 double apr = (par->type() == t_pppParam::trp) ?
783 t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
784 LOG << epoTimeStr << ' ' << par->toString() << ' '
785 << setw(10) << setprecision(4) << apr << ' '
786 << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
787 << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
788 if (par->type() == t_pppParam::amb) {
789 LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
790 << " epo = " << setw(4) << par->ambNumEpo();
791 }
792 LOG << endl;
793 }
794 ++it;
795 }
796
797 if (parX && parY && parZ) {
798
799 ColumnVector xyz(3);
800 xyz[0] = xx[parX->indexNew()];
801 xyz[1] = xx[parY->indexNew()];
802 xyz[2] = xx[parZ->indexNew()];
803
804 ColumnVector neu(3);
805 xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
806
807 SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
808
809 SymmetricMatrix QQneu(3);
810 covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
811
812 LOG << epoTimeStr << ' ' << sta->name()
813 << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
814 << setprecision(4) << sqrt(QQxyz[0][0])
815
816 << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
817 << setprecision(4) << sqrt(QQxyz[1][1])
818
819 << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
820 << setprecision(4) << sqrt(QQxyz[2][2])
821
822 << " dN = " << setprecision(4) << neu[0] << " +- "
823 << setprecision(4) << sqrt(QQneu[0][0])
824
825 << " dE = " << setprecision(4) << neu[1] << " +- "
826 << setprecision(4) << sqrt(QQneu[1][1])
827
828 << " dU = " << setprecision(4) << neu[2] << " +- "
829 << setprecision(4) << sqrt(QQneu[2][2])
830
831 << endl;
832 }
833 return;
834}
835
836//
837////////////////////////////////////////////////////////////////////////////
838void t_pppParlist::printParams(const bncTime& epoTime) {
839
840 for (unsigned iPar = 0; iPar < _params.size(); iPar++) {
841 LOG << _params[iPar]->toString()
842 << "\t lastObsTime().valid() \t" << _params[iPar]->lastObsTime().valid()
843 << "\t epoTime - par->lastObsTime() \t" << (epoTime - _params[iPar]->lastObsTime())
844 << endl;
845 }
846}
847
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