source: ntrip/trunk/BNC/src/PPP/pppParlist.cpp@ 9559

Last change on this file since 9559 was 9559, checked in by stuerze, 2 years ago

update regarding PPP
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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppParlist
6 *
7 * Purpose: List of estimated parameters
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <cmath>
18#include <iostream>
19#include <sstream>
20#include <iomanip>
21#include <algorithm>
22#include <newmatio.h>
23
24#include "pppParlist.h"
25#include "pppSatObs.h"
26#include "pppStation.h"
27#include "bncutils.h"
28#include "bncconst.h"
29#include "pppClient.h"
30
31using namespace BNC_PPP;
32using namespace std;
33
34// Constructor
35////////////////////////////////////////////////////////////////////////////
36t_pppParam::t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC,
37 const vector<t_pppSatObs*>* obsVector) {
38
39 _type = type;
40 _prn = prn;
41 _tLC = tLC;
42 _x0 = 0.0;
43 _indexOld = -1;
44 _indexNew = -1;
45 _noise = 0.0;
46 _ambInfo = 0;
47
48 switch (_type) {
49 case crdX:
50 _epoSpec = false;
51 _sigma0 = OPT->_aprSigCrd[0];
52 _noise = OPT->_noiseCrd[0];
53 break;
54 case crdY:
55 _epoSpec = false;
56 _sigma0 = OPT->_aprSigCrd[1];
57 _noise = OPT->_noiseCrd[1];
58 break;
59 case crdZ:
60 _epoSpec = false;
61 _sigma0 = OPT->_aprSigCrd[2];
62 _noise = OPT->_noiseCrd[2];
63 break;
64 case 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 cBiasE1: case cBiasC1:
105 case cBiasG2: 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 cBiasE1:
249 if ((obs->prn().system() == 'E') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
250 break;
251 case cBiasC1:
252 if ((obs->prn().system() == 'C') && (tLC == t_lc::c1)) {return 1.0;} else {return 0.0;}
253 break;
254 case cBiasG2:
255 if ((obs->prn().system() == 'G') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
256 break;
257 case cBiasE2:
258 if ((obs->prn().system() == 'E') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
259 break;
260 case cBiasC2:
261 if ((obs->prn().system() == 'C') && (tLC == t_lc::c2)) {return 1.0;} else {return 0.0;}
262 break;
263 case pBiasG1:
264 if ((obs->prn().system() == 'G') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
265 break;
266 case pBiasE1:
267 if ((obs->prn().system() == 'E') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
268 break;
269 case pBiasC1:
270 if ((obs->prn().system() == 'C') && (tLC == t_lc::l1)) {return 1.0;} else {return 0.0;}
271 break;
272 case pBiasG2:
273 if ((obs->prn().system() == 'G') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
274 break;
275 case pBiasE2:
276 if ((obs->prn().system() == 'E') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
277 break;
278 case pBiasC2:
279 if ((obs->prn().system() == 'C') && (tLC == t_lc::l2)) {return 1.0;} else {return 0.0;}
280 break;
281
282 }
283 return 0.0;
284}
285
286//
287////////////////////////////////////////////////////////////////////////////
288string t_pppParam::toString() const {
289 stringstream ss;
290 switch (_type) {
291 case crdX:
292 ss << "CRD_X";
293 break;
294 case crdY:
295 ss << "CRD_Y";
296 break;
297 case crdZ:
298 ss << "CRD_Z";
299 break;
300 case rClkG:
301 ss << "REC_CLK G ";
302 break;
303 case rClkR:
304 ss << "REC_CLK R ";
305 break;
306 case rClkE:
307 ss << "REC_CLK E ";
308 break;
309 case rClkC:
310 ss << "REC_CLK C ";
311 break;
312 case trp:
313 ss << "TRP ";
314 break;
315 case amb:
316 ss << "AMB " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
317 break;
318 case ion:
319 ss << "ION " << left << setw(3) << t_lc::toString(_tLC) << right << ' ' << _prn.toString();
320 break;
321 case cBiasG1: case pBiasG1:
322 case cBiasG2: case pBiasG2:
323 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " G ";
324 break;
325 case cBiasE1: case pBiasE1:
326 case cBiasE2: case pBiasE2:
327 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " E ";
328 break;
329 case cBiasC1: case pBiasC1:
330 case cBiasC2: case pBiasC2:
331 ss << "BIA " << left << setw(3) << t_lc::toString(_tLC) << right << " C ";
332 break;
333 }
334 return ss.str();
335}
336
337// Constructor
338////////////////////////////////////////////////////////////////////////////
339t_pppParlist::t_pppParlist() {
340}
341
342// Destructor
343////////////////////////////////////////////////////////////////////////////
344t_pppParlist::~t_pppParlist() {
345 _usedSystems.clear();
346
347 vector<t_pppParam*>::iterator it = _params.begin();
348 while (it != _params.end()) {
349 t_pppParam* par = *it;
350 delete par;
351 it = _params.erase(it);
352 }
353}
354
355//
356////////////////////////////////////////////////////////////////////////////
357t_pppParlist::t_pppParlist(const t_pppParlist& old) {
358
359 _usedSystems = old._usedSystems;
360
361 vector<t_pppParam*>::const_iterator it = old.params().begin();
362 while (it != old.params().end()) {
363 const t_pppParam* oldParam = *it;
364 _params.push_back(new t_pppParam(oldParam));
365 }
366}
367
368//
369////////////////////////////////////////////////////////////////////////////
370const t_pppParlist& t_pppParlist::operator= (const t_pppParlist& p) {
371
372 _usedSystems.clear();
373
374 _usedSystems = p._usedSystems;
375
376 vector<t_pppParam*>::iterator it = _params.begin();
377 while (it != _params.end()) {
378 t_pppParam* par = *it;
379 delete par;
380 it = _params.erase(it);
381 }
382
383 for (unsigned jj = 0; jj < p.params().size(); jj++) {
384 t_pppParam* parFrom = p.params()[jj];
385 _params.push_back(new t_pppParam(parFrom));
386 }
387 return *this;
388}
389
390//
391////////////////////////////////////////////////////////////////////////////
392t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector<t_pppSatObs*>& obsVector,
393 const QMap<char, t_pppRefSat*>& refSatMap) {
394
395 // Remove some Parameters
396 // ----------------------
397 vector<t_pppParam*>::iterator it = _params.begin();
398 while (it != _params.end()) {
399 t_pppParam* par = *it;
400
401 bool remove = false;
402
403 if (par->epoSpec()) {
404 remove = true;
405 }
406
407 else if (par->type() == t_pppParam::crdX ||
408 par->type() == t_pppParam::crdY ||
409 par->type() == t_pppParam::crdZ) {
410 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
411 remove = true;
412 }
413 }
414
415 else if (par->type() == t_pppParam::amb) {
416 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
417 remove = true;
418 }
419 if (OPT->_obsModelType == OPT->DCMcodeBias ||
420 OPT->_obsModelType == OPT->DCMphaseBias) {
421 char sys = par->prn().system();
422 t_prn refPrn = (refSatMap[sys])->prn();
423 if (par->lastObsTime().valid() && par->prn() == refPrn) {
424 remove = true;
425 }
426 }
427 }
428
429 else if (par->type() == t_pppParam::ion) {
430 if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) {
431 remove = true;
432 }
433 }
434 if (remove) {
435#ifdef BNC_DEBUG_PPP
436 LOG << "remove0 " << par->toString() << std::endl;
437#endif
438 delete par;
439 it = _params.erase(it);
440 }
441 else {
442 ++it;
443 }
444 }
445
446 // check which systems have observations
447 // -------------------------------------
448 _usedSystems.clear();
449 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
450 const t_pppSatObs* satObs = obsVector[jj];
451 char sys = satObs->prn().system();
452 if (!_usedSystems.contains(sys)) {
453 _usedSystems.append(sys);
454 }
455 }
456
457 // Check whether parameters have observations
458 // ------------------------------------------
459 for (unsigned ii = 0; ii < _params.size(); ii++) {
460 t_pppParam* par = _params[ii];
461 if (par->prn() == 0) {
462 par->setLastObsTime(epoTime);
463 if (par->firstObsTime().undef()) {
464 par->setFirstObsTime(epoTime);
465 }
466 }
467 else {
468 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
469 const t_pppSatObs* satObs = obsVector[jj];
470 if (satObs->prn() == par->prn()) {
471 par->setLastObsTime(epoTime);
472 if (par->firstObsTime().undef()) {
473 par->setFirstObsTime(epoTime);
474 }
475 break;
476 }
477 }
478 }
479 }
480
481
482 if (OPT->_obsModelType == OPT->DCMcodeBias ||
483 OPT->_obsModelType == OPT->DCMphaseBias) {
484 // Check if ambiguity parameters have observations
485 // -----------------------------------------------
486 vector<t_pppParam*>::iterator it = _params.begin();
487 QList<t_prn> lostSats;
488 while (it != _params.end()) {
489 t_pppParam* par = *it;
490 if ((par->type() == t_pppParam::amb) &&
491 (!par->lastObsTime().valid() || (epoTime - par->lastObsTime() > 0.0))) {
492#ifdef BNC_DEBUG_PPP
493 LOG << "remove1 " << par->toString() << std::endl;
494#endif
495 lostSats.append(par->prn());
496 delete par;
497 it = _params.erase(it);
498 }
499 // Check if systems have to be presented per biases
500 // ----------------------------------------------
501 else if ((par->type() == t_pppParam::cBiasG1 ||
502 par->type() == t_pppParam::cBiasG2 ||
503 par->type() == t_pppParam::pBiasG1 ||
504 par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('G')) {
505#ifdef BNC_DEBUG_PPP
506 LOG << "remove1 " << par->toString() << std::endl;
507#endif
508 delete par;
509 it = _params.erase(it);
510 }
511 else if ((par->type() == t_pppParam::cBiasE1 ||
512 par->type() == t_pppParam::cBiasE2 ||
513 par->type() == t_pppParam::pBiasE1 ||
514 par->type() == t_pppParam::pBiasE2) && !usedSystems().contains('E')) {
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::cBiasC1 ||
522 par->type() == t_pppParam::cBiasC2 ||
523 par->type() == t_pppParam::pBiasC1 ||
524 par->type() == t_pppParam::pBiasC2) && !usedSystems().contains('C')) {
525#ifdef BNC_DEBUG_PPP
526 LOG << "remove1 " << par->toString() << std::endl;
527#endif
528 delete par;
529 it = _params.erase(it);
530 }
531 else {
532 ++it;
533 }
534 }
535 // remove respective iono parameters
536 // ---------------------------------
537 it = _params.begin();
538 while (it != _params.end()) {
539 t_pppParam* par = *it;
540 if ((par->type() == t_pppParam::ion) &&
541 (lostSats.contains(par->prn()) || (epoTime - par->lastObsTime() > 0.0))) {
542#ifdef BNC_DEBUG_PPP
543 LOG << "remove1 " << par->toString() << std::endl;
544#endif
545 delete par;
546 it = _params.erase(it);
547 }
548 else {
549 ++it;
550 }
551 }
552 }
553
554
555 // Required Set of Parameters
556 // --------------------------
557 vector<t_pppParam*> required;
558
559 // Coordinates
560 // -----------
561 required.push_back(new t_pppParam(t_pppParam::crdX, t_prn(), t_lc::dummy));
562 required.push_back(new t_pppParam(t_pppParam::crdY, t_prn(), t_lc::dummy));
563 required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy));
564
565 // Receiver Code Biases
566 // --------------------
567 if (OPT->_obsModelType == OPT->DCMcodeBias) {
568 std::vector<t_lc::type> lc;
569 if (_usedSystems.contains('G')) {
570 lc = OPT->LCs('G');
571 if (std::find(lc.begin(), lc.end(), t_lc::c1) != lc.end()) {
572 required.push_back(new t_pppParam(t_pppParam::cBiasG1, 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::cBiasG2, 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('E')) {
613 lc = OPT->LCs('E');
614 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
615 required.push_back(new t_pppParam(t_pppParam::pBiasE1, 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::pBiasE2, t_prn(), t_lc::l2));
619 }
620 }
621 if (_usedSystems.contains('C')) {
622 lc = OPT->LCs('C');
623 if (std::find(lc.begin(), lc.end(), t_lc::l1) != lc.end()) {
624 required.push_back(new t_pppParam(t_pppParam::pBiasC1, t_prn(), t_lc::l1));
625 }
626 if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) {
627 required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2));
628 }
629 }
630 }
631
632 // Receiver Clocks
633 // ---------------
634
635 // GPS-GLONASS Clock Offset
636 // ------------------------
637 if (_usedSystems.contains('G')) {
638 required.push_back(new t_pppParam(t_pppParam::rClkG, t_prn(), t_lc::dummy));
639 }
640
641 if (_usedSystems.contains('R')) {
642 required.push_back(new t_pppParam(t_pppParam::rClkR, t_prn(), t_lc::dummy));
643 }
644
645 if (_usedSystems.contains('E')) {
646 required.push_back(new t_pppParam(t_pppParam::rClkE, t_prn(), t_lc::dummy));
647 }
648
649 if (_usedSystems.contains('C')) {
650 required.push_back(new t_pppParam(t_pppParam::rClkC, t_prn(), t_lc::dummy));
651 }
652
653 // Troposphere
654 // -----------
655 if (OPT->estTrp()) {
656 required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy));
657 }
658
659 // Ionosphere
660 // ----------
661 if (OPT->_obsModelType == OPT->UncombPPP ||
662 OPT->_obsModelType == OPT->DCMcodeBias ||
663 OPT->_obsModelType == OPT->DCMphaseBias ) {
664 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
665 const t_pppSatObs* satObs = obsVector[jj];
666 required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy));
667 }
668 }
669 // Ambiguities
670 // -----------
671 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
672 const t_pppSatObs* satObs = obsVector[jj];
673 if ((OPT->_obsModelType == OPT->IF) ||
674 (OPT->_obsModelType == OPT->PPPRTK) ||
675 (OPT->_obsModelType == OPT->UncombPPP) ||
676 (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) ||
677 (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) {
678 const vector<t_lc::type>& ambLCs = OPT->ambLCs(satObs->prn().system());
679 for (unsigned ii = 0; ii < ambLCs.size(); ii++) {
680 required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector));
681 }
682 }
683 }
684
685 // Check if all required parameters are present
686 // --------------------------------------------
687 for (unsigned ii = 0; ii < required.size(); ii++) {
688 t_pppParam* parReq = required[ii];
689
690 bool found = false;
691 for (unsigned jj = 0; jj < _params.size(); jj++) {
692 t_pppParam* parOld = _params[jj];
693 if (parOld->isEqual(parReq)) {
694 found = true;
695 break;
696 }
697 }
698 if (found) {
699 delete parReq;
700 }
701 else {
702#ifdef BNC_DEBUG_PPP
703 LOG << "push_back parReq " << parReq->toString() << std::endl;
704#endif
705 _params.push_back(parReq);
706 }
707 }
708
709 // Set Parameter Indices
710 // ---------------------
711 sort(_params.begin(), _params.end(), t_pppParam::sortFunction);
712
713 for (unsigned ii = 0; ii < _params.size(); ii++) {
714 t_pppParam* par = _params[ii];
715 par->setIndex(ii);
716 for (unsigned jj = 0; jj < obsVector.size(); jj++) {
717 const t_pppSatObs* satObs = obsVector[jj];
718 if (satObs->prn() == par->prn()) {
719 par->setAmbEleSat(satObs->eleSat());
720 par->stepAmbNumEpo();
721 }
722 }
723 }
724
725 return success;
726}
727
728//
729////////////////////////////////////////////////////////////////////////////
730void t_pppParlist::printResult(const bncTime& epoTime, const SymmetricMatrix& QQ,
731 const ColumnVector& xx) const {
732
733 string epoTimeStr = string(epoTime);
734 const t_pppStation* sta = PPP_CLIENT->staRover();
735
736 LOG << endl;
737
738 t_pppParam* parX = 0;
739 t_pppParam* parY = 0;
740 t_pppParam* parZ = 0;
741 vector<t_pppParam*>::const_iterator it = _params.begin();
742 while (it != _params.end()) {
743 t_pppParam* par = *it;
744 if (par->type() == t_pppParam::crdX) {
745 parX = par;
746 }
747 else if (par->type() == t_pppParam::crdY) {
748 parY = par;
749 }
750 else if (par->type() == t_pppParam::crdZ) {
751 parZ = par;
752 }
753 else {
754 int ind = par->indexNew();
755 double apr = (par->type() == t_pppParam::trp) ?
756 t_tropo::delay_saast(sta->xyzApr(), M_PI/2.0) : par->x0();
757 LOG << epoTimeStr << ' ' << par->toString() << ' '
758 << setw(10) << setprecision(4) << apr << ' '
759 << showpos << setw(10) << setprecision(4) << xx[ind] << noshowpos << " +- "
760 << setw(8) << setprecision(4) << sqrt(QQ[ind][ind]);
761 if (par->type() == t_pppParam::amb) {
762 LOG << " el = " << setw(6) << setprecision(2) << par->ambEleSat() * 180.0 / M_PI
763 << " epo = " << setw(4) << par->ambNumEpo();
764 }
765 LOG << endl;
766 }
767 ++it;
768 }
769
770 if (parX && parY && parZ) {
771
772 ColumnVector xyz(3);
773 xyz[0] = xx[parX->indexNew()];
774 xyz[1] = xx[parY->indexNew()];
775 xyz[2] = xx[parZ->indexNew()];
776
777 ColumnVector neu(3);
778 xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
779
780 SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
781
782 SymmetricMatrix QQneu(3);
783 covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
784
785 LOG << epoTimeStr << ' ' << sta->name()
786 << " X = " << setprecision(4) << sta->xyzApr()[0] + xyz[0] << " +- "
787 << setprecision(4) << sqrt(QQxyz[0][0])
788
789 << " Y = " << setprecision(4) << sta->xyzApr()[1] + xyz[1] << " +- "
790 << setprecision(4) << sqrt(QQxyz[1][1])
791
792 << " Z = " << setprecision(4) << sta->xyzApr()[2] + xyz[2] << " +- "
793 << setprecision(4) << sqrt(QQxyz[2][2])
794
795 << " dN = " << setprecision(4) << neu[0] << " +- "
796 << setprecision(4) << sqrt(QQneu[0][0])
797
798 << " dE = " << setprecision(4) << neu[1] << " +- "
799 << setprecision(4) << sqrt(QQneu[1][1])
800
801 << " dU = " << setprecision(4) << neu[2] << " +- "
802 << setprecision(4) << sqrt(QQneu[2][2])
803
804 << endl;
805 }
806 return;
807}
808
809//
810////////////////////////////////////////////////////////////////////////////
811void t_pppParlist::printParams(const bncTime& epoTime) {
812
813 for (unsigned iPar = 0; iPar < _params.size(); iPar++) {
814 LOG << _params[iPar]->toString()
815 << "\t lastObsTime().valid() \t" << _params[iPar]->lastObsTime().valid()
816 << "\t epoTime - par->lastObsTime() \t" << (epoTime - _params[iPar]->lastObsTime())
817 << endl;
818 }
819}
820
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