[7237] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: t_pppSatObs
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| 6 | *
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| 7 | * Purpose: Satellite observations
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Jul-2014
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| 12 | *
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[7288] | 13 | * Changes:
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[7237] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 |
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| 18 | #include <iostream>
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[9473] | 19 | #include <iomanip>
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[7237] | 20 | #include <cmath>
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| 21 | #include <newmatio.h>
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| 22 |
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| 23 | #include "pppSatObs.h"
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| 24 | #include "bncconst.h"
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| 25 | #include "pppEphPool.h"
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| 26 | #include "pppStation.h"
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| 27 | #include "bncutils.h"
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| 28 | #include "bncantex.h"
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| 29 | #include "pppObsPool.h"
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| 30 | #include "pppClient.h"
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| 31 |
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| 32 | using namespace BNC_PPP;
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| 33 | using namespace std;
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| 34 |
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| 35 | // Constructor
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| 36 | ////////////////////////////////////////////////////////////////////////////
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| 37 | t_pppSatObs::t_pppSatObs(const t_satObs& pppSatObs) {
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[8905] | 38 | _prn = pppSatObs._prn;
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| 39 | _time = pppSatObs._time;
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| 40 | _outlier = false;
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| 41 | _valid = true;
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| 42 | _reference = false;
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| 43 | _stecRefSat = 0.0;
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| 44 | _stecSat = 0.0;
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[7237] | 45 | for (unsigned ii = 0; ii < t_frequency::max; ii++) {
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| 46 | _obs[ii] = 0;
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| 47 | }
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| 48 | prepareObs(pppSatObs);
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| 49 | }
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| 50 |
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| 51 | // Destructor
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| 52 | ////////////////////////////////////////////////////////////////////////////
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| 53 | t_pppSatObs::~t_pppSatObs() {
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| 54 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
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| 55 | delete _obs[iFreq];
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| 56 | }
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| 57 | }
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| 58 |
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[7288] | 59 | //
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[7237] | 60 | ////////////////////////////////////////////////////////////////////////////
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| 61 | void t_pppSatObs::prepareObs(const t_satObs& pppSatObs) {
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| 62 |
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| 63 | _model.reset();
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| 64 |
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[9446] | 65 | // Select pseudo-ranges and phase observations
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[9386] | 66 | // -------------------------------------------
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[9446] | 67 | const string preferredAttrib = "G:12&PWCSLXYN R:12&PC E:1&BCX E:5&IQX C:IQX";
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[7237] | 68 |
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| 69 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
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| 70 | string frqNum = t_frequency::toString(t_frequency::type(iFreq)).substr(1);
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| 71 | for (unsigned iPref = 0; iPref < preferredAttrib.length(); iPref++) {
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| 72 | string obsType = (preferredAttrib[iPref] == '_') ? frqNum : frqNum + preferredAttrib[iPref];
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| 73 | if (_obs[iFreq] == 0) {
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| 74 | for (unsigned ii = 0; ii < pppSatObs._obs.size(); ii++) {
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| 75 | const t_frqObs* obs = pppSatObs._obs[ii];
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[8026] | 76 | if (obs->_rnxType2ch == obsType &&
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| 77 | obs->_codeValid && obs->_code &&
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| 78 | obs->_phaseValid && obs->_phase) {
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[7237] | 79 | _obs[iFreq] = new t_frqObs(*obs);
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| 80 | }
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| 81 | }
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| 82 | }
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| 83 | }
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| 84 | }
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| 85 |
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| 86 | // Used frequency types
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| 87 | // --------------------
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| 88 | _fType1 = t_lc::toFreq(_prn.system(),t_lc::l1);
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| 89 | _fType2 = t_lc::toFreq(_prn.system(),t_lc::l2);
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| 90 |
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| 91 | // Check whether all required frequencies available
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| 92 | // ------------------------------------------------
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| 93 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
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| 94 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
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[8961] | 95 | if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {continue;}
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[7237] | 96 | if (!isValid(tLC)) {
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| 97 | _valid = false;
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| 98 | return;
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| 99 | }
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| 100 | }
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| 101 |
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| 102 | // Find Glonass Channel Number
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| 103 | // ---------------------------
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| 104 | if (_prn.system() == 'R') {
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| 105 | _channel = PPP_CLIENT->ephPool()->getChannel(_prn);
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| 106 | }
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| 107 | else {
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| 108 | _channel = 0;
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| 109 | }
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| 110 |
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| 111 | // Compute Satellite Coordinates at Time of Transmission
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| 112 | // -----------------------------------------------------
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[8619] | 113 | _xcSat.ReSize(6); _xcSat = 0.0;
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[8495] | 114 | _vvSat.ReSize(3); _vvSat = 0.0;
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[7237] | 115 | bool totOK = false;
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[8619] | 116 | ColumnVector satPosOld(6); satPosOld = 0.0;
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[7237] | 117 | t_lc::type tLC = isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
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| 118 | double prange = obsValue(tLC);
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| 119 | for (int ii = 1; ii <= 10; ii++) {
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| 120 | bncTime ToT = _time - prange / t_CST::c - _xcSat[3];
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| 121 | if (PPP_CLIENT->ephPool()->getCrd(_prn, ToT, _xcSat, _vvSat) != success) {
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| 122 | _valid = false;
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| 123 | return;
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| 124 | }
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| 125 | ColumnVector dx = _xcSat - satPosOld;
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| 126 | dx[3] *= t_CST::c;
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[8905] | 127 | if (dx.NormFrobenius() < 1.e-4) {
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[7237] | 128 | totOK = true;
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| 129 | break;
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| 130 | }
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[7288] | 131 | satPosOld = _xcSat;
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[7237] | 132 | }
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| 133 | if (totOK) {
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[7250] | 134 | _signalPropagationTime = prange / t_CST::c - _xcSat[3];
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[7288] | 135 | _model._satClkM = _xcSat[3] * t_CST::c;
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[7237] | 136 | }
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| 137 | else {
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| 138 | _valid = false;
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| 139 | }
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| 140 | }
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| 141 |
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[7288] | 142 | //
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[7237] | 143 | ////////////////////////////////////////////////////////////////////////////
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[7288] | 144 | void t_pppSatObs::lcCoeff(t_lc::type tLC,
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[7237] | 145 | map<t_frequency::type, double>& codeCoeff,
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[8905] | 146 | map<t_frequency::type, double>& phaseCoeff,
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| 147 | map<t_frequency::type, double>& ionoCoeff) const {
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[7237] | 148 |
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| 149 | codeCoeff.clear();
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| 150 | phaseCoeff.clear();
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[8905] | 151 | ionoCoeff.clear();
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[7237] | 152 |
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| 153 | double f1 = t_CST::freq(_fType1, _channel);
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| 154 | double f2 = t_CST::freq(_fType2, _channel);
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[8905] | 155 | double f1GPS = t_CST::freq(t_frequency::G1, 0);
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[7237] | 156 |
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| 157 | switch (tLC) {
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| 158 | case t_lc::l1:
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[8905] | 159 | phaseCoeff[_fType1] = 1.0;
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| 160 | ionoCoeff [_fType1] = -1.0 * pow(f1GPS, 2) / pow(f1, 2);
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[7237] | 161 | return;
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[7288] | 162 | case t_lc::l2:
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[8905] | 163 | phaseCoeff[_fType2] = 1.0;
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| 164 | ionoCoeff [_fType2] = -1.0 * pow(f1GPS, 2) / pow(f2, 2);
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[7237] | 165 | return;
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[7288] | 166 | case t_lc::lIF:
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[7237] | 167 | phaseCoeff[_fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
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| 168 | phaseCoeff[_fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
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| 169 | return;
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[7288] | 170 | case t_lc::MW:
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[7237] | 171 | phaseCoeff[_fType1] = f1 / (f1 - f2);
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| 172 | phaseCoeff[_fType2] = -f2 / (f1 - f2);
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| 173 | codeCoeff[_fType1] = -f1 / (f1 + f2);
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| 174 | codeCoeff[_fType2] = -f2 / (f1 + f2);
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| 175 | return;
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[7288] | 176 | case t_lc::CL:
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[7237] | 177 | phaseCoeff[_fType1] = 0.5;
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[8905] | 178 | codeCoeff [_fType1] = 0.5;
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[7237] | 179 | return;
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[7288] | 180 | case t_lc::c1:
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| 181 | codeCoeff[_fType1] = 1.0;
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[8905] | 182 | ionoCoeff[_fType1] = pow(f1GPS, 2) / pow(f1, 2);
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[7237] | 183 | return;
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[7288] | 184 | case t_lc::c2:
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| 185 | codeCoeff[_fType2] = 1.0;
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[8905] | 186 | ionoCoeff[_fType2] = pow(f1GPS, 2) / pow(f2, 2);
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[7237] | 187 | return;
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[7288] | 188 | case t_lc::cIF:
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[7237] | 189 | codeCoeff[_fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
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| 190 | codeCoeff[_fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
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| 191 | return;
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[8905] | 192 | case t_lc::GIM:
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[8961] | 193 | case t_lc::Tz0:
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[7288] | 194 | case t_lc::dummy:
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| 195 | case t_lc::maxLc:
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[7237] | 196 | return;
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| 197 | }
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| 198 | }
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| 199 |
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[7288] | 200 | //
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[7237] | 201 | ////////////////////////////////////////////////////////////////////////////
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| 202 | bool t_pppSatObs::isValid(t_lc::type tLC) const {
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| 203 | bool valid = true;
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| 204 | obsValue(tLC, &valid);
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[8905] | 205 | //qDebug() << "tLC: " << tLC << " valid: " << valid;
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[7237] | 206 | return valid;
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| 207 | }
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[7288] | 208 | //
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[7237] | 209 | ////////////////////////////////////////////////////////////////////////////
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| 210 | double t_pppSatObs::obsValue(t_lc::type tLC, bool* valid) const {
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| 211 |
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[8905] | 212 | double retVal = 0.0;
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| 213 | if (valid) *valid = true;
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| 214 |
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| 215 | // Pseudo observations
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| 216 | if (tLC == t_lc::GIM) {
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| 217 | if (_stecRefSat == 0.0 || _stecSat == 0.0) {
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| 218 | if (valid) *valid = false;
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| 219 | return 0.0;
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| 220 | }
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| 221 | else {
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[8961] | 222 | return _stecRefSat;
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[8905] | 223 | }
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| 224 | }
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| 225 |
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[8961] | 226 | if (tLC == t_lc::Tz0) {
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| 227 | return _model._tropo0;
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| 228 | }
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| 229 |
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[7237] | 230 | map<t_frequency::type, double> codeCoeff;
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| 231 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 232 | map<t_frequency::type, double> ionoCoeff;
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| 233 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 234 |
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[8905] | 235 | map<t_frequency::type, double>::const_iterator it;
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[7237] | 236 |
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[8905] | 237 | // Code observations
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[7237] | 238 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
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| 239 | t_frequency::type tFreq = it->first;
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| 240 | if (_obs[tFreq] == 0) {
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| 241 | if (valid) *valid = false;
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| 242 | return 0.0;
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| 243 | }
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| 244 | else {
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| 245 | retVal += it->second * _obs[tFreq]->_code;
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| 246 | }
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| 247 | }
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[8905] | 248 | // Phase observations
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[7237] | 249 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
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| 250 | t_frequency::type tFreq = it->first;
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| 251 | if (_obs[tFreq] == 0) {
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| 252 | if (valid) *valid = false;
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| 253 | return 0.0;
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| 254 | }
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| 255 | else {
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| 256 | retVal += it->second * _obs[tFreq]->_phase * t_CST::lambda(tFreq, _channel);
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| 257 | }
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| 258 | }
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| 259 | return retVal;
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| 260 | }
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| 261 |
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[7288] | 262 | //
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[7237] | 263 | ////////////////////////////////////////////////////////////////////////////
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| 264 | double t_pppSatObs::lambda(t_lc::type tLC) const {
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| 265 |
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| 266 | double f1 = t_CST::freq(_fType1, _channel);
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| 267 | double f2 = t_CST::freq(_fType2, _channel);
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| 268 |
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| 269 | if (tLC == t_lc::l1) {
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| 270 | return t_CST::c / f1;
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| 271 | }
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| 272 | else if (tLC == t_lc::l2) {
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| 273 | return t_CST::c / f2;
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| 274 | }
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| 275 | else if (tLC == t_lc::lIF) {
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| 276 | return t_CST::c / (f1 + f2);
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| 277 | }
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| 278 | else if (tLC == t_lc::MW) {
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| 279 | return t_CST::c / (f1 - f2);
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| 280 | }
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| 281 | else if (tLC == t_lc::CL) {
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| 282 | return t_CST::c / f1 / 2.0;
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| 283 | }
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| 284 |
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| 285 | return 0.0;
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| 286 | }
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| 287 |
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[7288] | 288 | //
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[7237] | 289 | ////////////////////////////////////////////////////////////////////////////
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| 290 | double t_pppSatObs::sigma(t_lc::type tLC) const {
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| 291 |
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[8905] | 292 | double retVal = 0.0;
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[7237] | 293 | map<t_frequency::type, double> codeCoeff;
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| 294 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 295 | map<t_frequency::type, double> ionoCoeff;
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| 296 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 297 |
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[8905] | 298 | if (tLC == t_lc::GIM) {
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[9386] | 299 | retVal = OPT->_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM;
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[8905] | 300 | }
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[7237] | 301 |
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[8961] | 302 | if (tLC == t_lc::Tz0) {
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| 303 | retVal = OPT->_sigmaTz0 * OPT->_sigmaTz0;
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| 304 | }
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| 305 |
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[7237] | 306 | map<t_frequency::type, double>::const_iterator it;
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[9473] | 307 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
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[7237] | 308 | retVal += it->second * it->second * OPT->_sigmaC1 * OPT->_sigmaC1;
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| 309 | }
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[8905] | 310 |
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[9473] | 311 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
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[7237] | 312 | retVal += it->second * it->second * OPT->_sigmaL1 * OPT->_sigmaL1;
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| 313 | }
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| 314 |
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[7288] | 315 | retVal = sqrt(retVal);
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| 316 |
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[9473] | 317 | // De-Weight GLONASS
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| 318 | // -----------------
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| 319 | if (_prn.system() == 'R' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
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[7237] | 320 | retVal *= 5.0;
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| 321 | }
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| 322 |
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[9473] | 323 | // De-Weight BDS
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| 324 | // -------------
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| 325 | if (_prn.system() == 'C' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
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[9486] | 326 | retVal *= 5.0;
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[9473] | 327 | }
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| 328 |
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| 329 |
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[7237] | 330 | // Elevation-Dependent Weighting
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| 331 | // -----------------------------
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| 332 | double cEle = 1.0;
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| 333 | if ( (OPT->_eleWgtCode && t_lc::includesCode(tLC)) ||
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| 334 | (OPT->_eleWgtPhase && t_lc::includesPhase(tLC)) ) {
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| 335 | double eleD = eleSat()*180.0/M_PI;
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| 336 | double hlp = fabs(90.0 - eleD);
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| 337 | cEle = (1.0 + hlp*hlp*hlp*0.000004);
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| 338 | }
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| 339 |
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| 340 | return cEle * retVal;
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| 341 | }
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| 342 |
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[7288] | 343 | //
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[7237] | 344 | ////////////////////////////////////////////////////////////////////////////
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[9386] | 345 | double t_pppSatObs::maxRes(t_lc::type tLC) const {
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[8905] | 346 | double retVal = 0.0;
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[7237] | 347 |
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| 348 | map<t_frequency::type, double> codeCoeff;
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| 349 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 350 | map<t_frequency::type, double> ionoCoeff;
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| 351 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 352 |
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| 353 | map<t_frequency::type, double>::const_iterator it;
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[9473] | 354 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
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[7237] | 355 | retVal += it->second * it->second * OPT->_maxResC1 * OPT->_maxResC1;
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| 356 | }
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[9473] | 357 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
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[7237] | 358 | retVal += it->second * it->second * OPT->_maxResL1 * OPT->_maxResL1;
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| 359 | }
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[8905] | 360 | if (tLC == t_lc::GIM) {
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[9386] | 361 | retVal = 3.0 * (OPT->_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM);
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[8905] | 362 | }
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[9303] | 363 | if (tLC == t_lc::Tz0) {
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| 364 | retVal = 3.0 * OPT->_sigmaTz0 * OPT->_sigmaTz0;
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| 365 | }
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[9386] | 366 |
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| 367 | retVal = sqrt(retVal);
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| 368 |
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[9486] | 369 | // De-Weight GLONASS
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| 370 | // -----------------
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| 371 | if (_prn.system() == 'R' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
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| 372 | retVal *= 5.0;
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| 373 | }
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| 374 |
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| 375 | // De-Weight BDS
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| 376 | // -------------
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| 377 | if (_prn.system() == 'C' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
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| 378 | retVal *= 5.0;
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| 379 | }
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| 380 |
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| 381 |
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[9386] | 382 | return retVal;
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[7237] | 383 | }
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| 384 |
|
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| 385 |
|
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[7288] | 386 | //
|
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[7237] | 387 | ////////////////////////////////////////////////////////////////////////////
|
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| 388 | t_irc t_pppSatObs::cmpModel(const t_pppStation* station) {
|
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| 389 |
|
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| 390 | // Reset all model values
|
---|
| 391 | // ----------------------
|
---|
| 392 | _model.reset();
|
---|
| 393 |
|
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| 394 | // Topocentric Satellite Position
|
---|
| 395 | // ------------------------------
|
---|
| 396 | ColumnVector rSat = _xcSat.Rows(1,3);
|
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[8905] | 397 | ColumnVector rRec = station->xyzApr();
|
---|
| 398 | ColumnVector rhoV = rSat - rRec;
|
---|
| 399 | _model._rho = rhoV.NormFrobenius();
|
---|
[7237] | 400 |
|
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[8619] | 401 | ColumnVector vSat = _vvSat;
|
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| 402 |
|
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[7237] | 403 | ColumnVector neu(3);
|
---|
| 404 | xyz2neu(station->ellApr().data(), rhoV.data(), neu.data());
|
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| 405 |
|
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[8905] | 406 | _model._eleSat = acos(sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / _model._rho);
|
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[7237] | 407 | if (neu[2] < 0) {
|
---|
| 408 | _model._eleSat *= -1.0;
|
---|
| 409 | }
|
---|
| 410 | _model._azSat = atan2(neu[1], neu[0]);
|
---|
| 411 |
|
---|
[9485] | 412 | // Sun unit vector
|
---|
| 413 | ColumnVector xSun = t_astro::Sun(_time.mjddec());
|
---|
| 414 | xSun /= xSun.norm_Frobenius();
|
---|
| 415 |
|
---|
| 416 | // Satellite unit vectors sz, sy, sx
|
---|
| 417 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
|
---|
| 418 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
| 419 | ColumnVector sx = crossproduct(sy, sz);
|
---|
| 420 |
|
---|
| 421 | sx /= sx.norm_Frobenius();
|
---|
| 422 | sy /= sy.norm_Frobenius();
|
---|
| 423 |
|
---|
| 424 | // LOS unit vector satellite --> receiver
|
---|
| 425 | ColumnVector rho = rRec - rSat;
|
---|
| 426 | rho /= rho.norm_Frobenius();
|
---|
| 427 |
|
---|
| 428 | // LOS vector in satellite frame
|
---|
| 429 | ColumnVector u(3);
|
---|
| 430 | u(1) = dotproduct(sx, rho);
|
---|
| 431 | u(2) = dotproduct(sy, rho);
|
---|
| 432 | u(3) = dotproduct(sz, rho);
|
---|
| 433 |
|
---|
| 434 | // Azimuth and elevation in satellite antenna frame
|
---|
| 435 | _model._elTx = atan2(u(3),sqrt(pow(u(2),2)+pow(u(1),2)));
|
---|
| 436 | _model._azTx = atan2(u(2),u(1));
|
---|
| 437 |
|
---|
| 438 |
|
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[7237] | 439 | // Satellite Clocks
|
---|
| 440 | // ----------------
|
---|
| 441 | _model._satClkM = _xcSat[3] * t_CST::c;
|
---|
| 442 |
|
---|
| 443 | // Receiver Clocks
|
---|
| 444 | // ---------------
|
---|
| 445 | _model._recClkM = station->dClk() * t_CST::c;
|
---|
| 446 |
|
---|
| 447 | // Sagnac Effect (correction due to Earth rotation)
|
---|
| 448 | // ------------------------------------------------
|
---|
| 449 | ColumnVector Omega(3);
|
---|
| 450 | Omega[0] = 0.0;
|
---|
| 451 | Omega[1] = 0.0;
|
---|
| 452 | Omega[2] = t_CST::omega / t_CST::c;
|
---|
[8905] | 453 | _model._sagnac = DotProduct(Omega, crossproduct(rSat, rRec));
|
---|
[7237] | 454 |
|
---|
| 455 | // Antenna Eccentricity
|
---|
| 456 | // --------------------
|
---|
| 457 | _model._antEcc = -DotProduct(station->xyzEcc(), rhoV) / _model._rho;
|
---|
| 458 |
|
---|
| 459 | // Antenna Phase Center Offsets and Variations
|
---|
| 460 | // -------------------------------------------
|
---|
| 461 | if (PPP_CLIENT->antex()) {
|
---|
| 462 | for (unsigned ii = 0; ii < t_frequency::max; ii++) {
|
---|
| 463 | t_frequency::type frqType = static_cast<t_frequency::type>(ii);
|
---|
| 464 | bool found;
|
---|
[9485] | 465 | QString prn(_prn.toString().c_str());
|
---|
| 466 | _model._antPCO[ii] = PPP_CLIENT->antex()->rcvCorr(station->antName(), frqType, _model._eleSat, _model._azSat, found);
|
---|
| 467 | _model._antPCO[ii] += PPP_CLIENT->antex()->satCorr(prn, frqType, _model._elTx, _model._azTx, found);
|
---|
| 468 | if (OPT->_isAPC) {
|
---|
| 469 | // the PCOs as given in the satellite antenna correction for all frequencies
|
---|
| 470 | // have to be reduced by the PCO of the reference frequency
|
---|
| 471 | if (_prn.system() == 'G') {
|
---|
| 472 | _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::G1, _model._elTx, _model._azTx, found);
|
---|
| 473 | }
|
---|
| 474 | else if (_prn.system() == 'R') {
|
---|
| 475 | _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::R1, _model._elTx, _model._azTx, found);
|
---|
| 476 | }
|
---|
| 477 | else if (_prn.system() == 'E') {
|
---|
| 478 | _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::E1, _model._elTx, _model._azTx, found);
|
---|
| 479 | }
|
---|
| 480 | else if (_prn.system() == 'C') {
|
---|
| 481 | _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::C2, _model._elTx, _model._azTx, found);
|
---|
| 482 | }
|
---|
| 483 | }
|
---|
[7237] | 484 | }
|
---|
| 485 | }
|
---|
| 486 |
|
---|
| 487 | // Tropospheric Delay
|
---|
| 488 | // ------------------
|
---|
[8961] | 489 | _model._tropo = t_tropo::delay_saast(rRec, _model._eleSat);
|
---|
| 490 | _model._tropo0 = t_tropo::delay_saast(rRec, M_PI/2.0);
|
---|
[7237] | 491 |
|
---|
| 492 | // Code Biases
|
---|
| 493 | // -----------
|
---|
| 494 | const t_satCodeBias* satCodeBias = PPP_CLIENT->obsPool()->satCodeBias(_prn);
|
---|
[7288] | 495 | if (satCodeBias) {
|
---|
[7237] | 496 | for (unsigned ii = 0; ii < satCodeBias->_bias.size(); ii++) {
|
---|
| 497 | const t_frqCodeBias& bias = satCodeBias->_bias[ii];
|
---|
| 498 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
| 499 | const t_frqObs* obs = _obs[iFreq];
|
---|
| 500 | if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
|
---|
| 501 | _model._codeBias[iFreq] = bias._value;
|
---|
| 502 | }
|
---|
| 503 | }
|
---|
| 504 | }
|
---|
| 505 | }
|
---|
| 506 |
|
---|
[7288] | 507 | // Phase Biases
|
---|
| 508 | // -----------
|
---|
| 509 | const t_satPhaseBias* satPhaseBias = PPP_CLIENT->obsPool()->satPhaseBias(_prn);
|
---|
[8619] | 510 | double yaw = 0.0;
|
---|
| 511 | bool ssr = false;
|
---|
[7288] | 512 | if (satPhaseBias) {
|
---|
[8905] | 513 | double dt = station->epochTime() - satPhaseBias->_time;
|
---|
| 514 | if (satPhaseBias->_updateInt) {
|
---|
| 515 | dt -= (0.5 * ssrUpdateInt[satPhaseBias->_updateInt]);
|
---|
| 516 | }
|
---|
| 517 | yaw = satPhaseBias->_yaw + satPhaseBias->_yawRate * dt;
|
---|
[8619] | 518 | ssr = true;
|
---|
[7288] | 519 | for (unsigned ii = 0; ii < satPhaseBias->_bias.size(); ii++) {
|
---|
| 520 | const t_frqPhaseBias& bias = satPhaseBias->_bias[ii];
|
---|
| 521 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
| 522 | const t_frqObs* obs = _obs[iFreq];
|
---|
| 523 | if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
|
---|
| 524 | _model._phaseBias[iFreq] = bias._value;
|
---|
| 525 | }
|
---|
| 526 | }
|
---|
| 527 | }
|
---|
| 528 | }
|
---|
| 529 |
|
---|
[8619] | 530 | // Phase Wind-Up
|
---|
| 531 | // -------------
|
---|
| 532 | _model._windUp = station->windUp(_time, _prn, rSat, ssr, yaw, vSat) ;
|
---|
| 533 |
|
---|
[8905] | 534 | // Relativistic effect due to earth gravity
|
---|
| 535 | // ----------------------------------------
|
---|
| 536 | double a = rSat.NormFrobenius() + rRec.NormFrobenius();
|
---|
| 537 | double b = (rSat - rRec).NormFrobenius();
|
---|
| 538 | double gm = 3.986004418e14; // m3/s2
|
---|
| 539 | _model._rel = 2 * gm / t_CST::c / t_CST::c * log((a + b) / (a - b));
|
---|
[8619] | 540 |
|
---|
[7237] | 541 | // Tidal Correction
|
---|
| 542 | // ----------------
|
---|
[8905] | 543 | _model._tideEarth = -DotProduct(station->tideDsplEarth(), rhoV) / _model._rho;
|
---|
| 544 | _model._tideOcean = -DotProduct(station->tideDsplOcean(), rhoV) / _model._rho;
|
---|
[7237] | 545 |
|
---|
| 546 | // Ionospheric Delay
|
---|
| 547 | // -----------------
|
---|
[7250] | 548 | const t_vTec* vTec = PPP_CLIENT->obsPool()->vTec();
|
---|
[7253] | 549 | bool vTecUsage = true;
|
---|
| 550 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
|
---|
| 551 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
|
---|
| 552 | if (tLC == t_lc::cIF || tLC == t_lc::lIF) {
|
---|
| 553 | vTecUsage = false;
|
---|
[7237] | 554 | }
|
---|
| 555 | }
|
---|
[8905] | 556 |
|
---|
[7258] | 557 | if (vTecUsage && vTec) {
|
---|
[8905] | 558 | double stec = station->stec(vTec, _signalPropagationTime, rSat);
|
---|
| 559 | double f1GPS = t_CST::freq(t_frequency::G1, 0);
|
---|
[7258] | 560 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
[8905] | 561 | if (OPT->_pseudoObsIono) { // DCMcodeBias, DCMphaseBias
|
---|
| 562 | // For scaling the slant ionospheric delays the trick is to be consistent with units!
|
---|
| 563 | // The conversion of TECU into meters requires the frequency of the signal.
|
---|
| 564 | // Hence, GPS L1 frequency is used for all systems. The same is true for mu_i in lcCoeff().
|
---|
| 565 | _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(f1GPS, 2) * stec;
|
---|
| 566 | }
|
---|
| 567 | else { // PPP-RTK
|
---|
| 568 | t_frequency::type frqType = static_cast<t_frequency::type>(iFreq);
|
---|
| 569 | _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(t_CST::freq(frqType, _channel), 2) * stec;
|
---|
| 570 | }
|
---|
[7253] | 571 | }
|
---|
| 572 | }
|
---|
[7237] | 573 |
|
---|
| 574 | // Set Model Set Flag
|
---|
| 575 | // ------------------
|
---|
| 576 | _model._set = true;
|
---|
| 577 |
|
---|
[8956] | 578 | //printModel();
|
---|
[7252] | 579 |
|
---|
[7237] | 580 | return success;
|
---|
| 581 | }
|
---|
| 582 |
|
---|
[7288] | 583 | //
|
---|
[7237] | 584 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 585 | void t_pppSatObs::printModel() const {
|
---|
[8956] | 586 |
|
---|
| 587 | LOG.setf(ios::fixed);
|
---|
| 588 | LOG << "\nMODEL for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "")
|
---|
| 589 |
|
---|
| 590 | << "======================= " << endl
|
---|
| 591 | << "PPP STRATEGY : " << OPT->_obsmodelTypeStr.at((int)OPT->_obsModelType).toLocal8Bit().constData()
|
---|
| 592 | << ((OPT->_pseudoObsIono) ? " with pseudo-observations for STEC" : "") << endl
|
---|
[8905] | 593 | << "RHO : " << setw(12) << setprecision(3) << _model._rho << endl
|
---|
| 594 | << "ELE : " << setw(12) << setprecision(3) << _model._eleSat * RHO_DEG << endl
|
---|
| 595 | << "AZI : " << setw(12) << setprecision(3) << _model._azSat * RHO_DEG << endl
|
---|
| 596 | << "SATCLK : " << setw(12) << setprecision(3) << _model._satClkM << endl
|
---|
| 597 | << "RECCLK : " << setw(12) << setprecision(3) << _model._recClkM << endl
|
---|
| 598 | << "SAGNAC : " << setw(12) << setprecision(3) << _model._sagnac << endl
|
---|
| 599 | << "ANTECC : " << setw(12) << setprecision(3) << _model._antEcc << endl
|
---|
| 600 | << "TROPO : " << setw(12) << setprecision(3) << _model._tropo << endl
|
---|
| 601 | << "WINDUP : " << setw(12) << setprecision(3) << _model._windUp << endl
|
---|
| 602 | << "REL : " << setw(12) << setprecision(3) << _model._rel << endl
|
---|
| 603 | << "EARTH TIDES : " << setw(12) << setprecision(3) << _model._tideEarth << endl
|
---|
| 604 | << "OCEAN TIDES : " << setw(12) << setprecision(3) << _model._tideOcean << endl
|
---|
| 605 | << endl
|
---|
| 606 | << "FREQUENCY DEPENDENT CORRECTIONS:" << endl
|
---|
| 607 | << "-------------------------------" << endl;
|
---|
[7237] | 608 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
| 609 | if (_obs[iFreq]) {
|
---|
[7288] | 610 | string frqStr = t_frequency::toString(t_frequency::type(iFreq));
|
---|
| 611 | if (_prn.system() == frqStr[0]) {
|
---|
[8956] | 612 | LOG << "PCO : " << frqStr << setw(12) << setprecision(3) << _model._antPCO[iFreq] << endl
|
---|
[8905] | 613 | << "BIAS CODE : " << frqStr << setw(12) << setprecision(3) << _model._codeBias[iFreq] << endl
|
---|
| 614 | << "BIAS PHASE : " << frqStr << setw(12) << setprecision(3) << _model._phaseBias[iFreq] << endl
|
---|
| 615 | << "IONO CODEDELAY: " << frqStr << setw(12) << setprecision(3) << _model._ionoCodeDelay[iFreq]<< endl;
|
---|
[7288] | 616 | }
|
---|
[7237] | 617 | }
|
---|
| 618 | }
|
---|
[8905] | 619 | }
|
---|
| 620 |
|
---|
| 621 | //
|
---|
| 622 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 623 | void t_pppSatObs::printObsMinusComputed() const {
|
---|
| 624 | // TODO: cout should be LOG
|
---|
| 625 | cout.setf(ios::fixed);
|
---|
| 626 | cout << "\nOBS-COMP for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "") << endl
|
---|
| 627 | << "========================== " << endl;
|
---|
[7253] | 628 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
|
---|
| 629 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
|
---|
[8905] | 630 | cout << "OBS-CMP " << setw(4) << t_lc::toString(tLC) << ": " << _prn.toString() << " "
|
---|
[7253] | 631 | << setw(12) << setprecision(3) << obsValue(tLC) << " "
|
---|
| 632 | << setw(12) << setprecision(3) << cmpValue(tLC) << " "
|
---|
| 633 | << setw(12) << setprecision(3) << obsValue(tLC) - cmpValue(tLC) << endl;
|
---|
| 634 | }
|
---|
[7237] | 635 | }
|
---|
| 636 |
|
---|
[8905] | 637 |
|
---|
[7288] | 638 | //
|
---|
[7237] | 639 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 640 | double t_pppSatObs::cmpValueForBanc(t_lc::type tLC) const {
|
---|
| 641 | return cmpValue(tLC) - _model._rho - _model._sagnac - _model._recClkM;
|
---|
| 642 | }
|
---|
| 643 |
|
---|
[7288] | 644 | //
|
---|
[7237] | 645 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 646 | double t_pppSatObs::cmpValue(t_lc::type tLC) const {
|
---|
[8905] | 647 | double cmpValue;
|
---|
[7237] | 648 |
|
---|
[8905] | 649 | if (!isValid(tLC)) {
|
---|
| 650 | cmpValue = 0.0;
|
---|
[7237] | 651 | }
|
---|
[8905] | 652 | else if (tLC == t_lc::GIM) {
|
---|
[8961] | 653 | cmpValue = _stecSat;
|
---|
[8905] | 654 | }
|
---|
[8961] | 655 | else if (tLC == t_lc::Tz0) {
|
---|
| 656 | cmpValue = _model._tropo0;
|
---|
| 657 | }
|
---|
[8905] | 658 | else {
|
---|
| 659 | // Non-Dispersive Part
|
---|
| 660 | // -------------------
|
---|
| 661 | double nonDisp = _model._rho
|
---|
| 662 | + _model._recClkM - _model._satClkM
|
---|
| 663 | + _model._sagnac + _model._antEcc + _model._tropo
|
---|
| 664 | + _model._tideEarth + _model._tideOcean + _model._rel;
|
---|
[7237] | 665 |
|
---|
[8905] | 666 | // Add Dispersive Part
|
---|
| 667 | // -------------------
|
---|
| 668 | double dispPart = 0.0;
|
---|
| 669 | map<t_frequency::type, double> codeCoeff;
|
---|
| 670 | map<t_frequency::type, double> phaseCoeff;
|
---|
| 671 | map<t_frequency::type, double> ionoCoeff;
|
---|
| 672 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
|
---|
| 673 | map<t_frequency::type, double>::const_iterator it;
|
---|
| 674 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
|
---|
| 675 | t_frequency::type tFreq = it->first;
|
---|
| 676 | dispPart += it->second * (_model._antPCO[tFreq] - _model._codeBias[tFreq]);
|
---|
| 677 | if (OPT->PPPRTK) {
|
---|
| 678 | dispPart += it->second * (_model._ionoCodeDelay[tFreq]);
|
---|
| 679 | }
|
---|
| 680 | }
|
---|
| 681 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
|
---|
| 682 | t_frequency::type tFreq = it->first;
|
---|
| 683 | dispPart += it->second * (_model._antPCO[tFreq] - _model._phaseBias[tFreq] +
|
---|
| 684 | _model._windUp * t_CST::lambda(tFreq, _channel));
|
---|
| 685 | if (OPT->PPPRTK) {
|
---|
| 686 | dispPart += it->second * (- _model._ionoCodeDelay[tFreq]);
|
---|
| 687 | }
|
---|
| 688 | }
|
---|
| 689 | cmpValue = nonDisp + dispPart;
|
---|
[7237] | 690 | }
|
---|
| 691 |
|
---|
[8905] | 692 | return cmpValue;
|
---|
[7237] | 693 | }
|
---|
| 694 |
|
---|
[7288] | 695 | //
|
---|
[7237] | 696 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 697 | void t_pppSatObs::setRes(t_lc::type tLC, double res) {
|
---|
| 698 | _res[tLC] = res;
|
---|
| 699 | }
|
---|
| 700 |
|
---|
[7288] | 701 | //
|
---|
[7237] | 702 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 703 | double t_pppSatObs::getRes(t_lc::type tLC) const {
|
---|
| 704 | map<t_lc::type, double>::const_iterator it = _res.find(tLC);
|
---|
| 705 | if (it != _res.end()) {
|
---|
| 706 | return it->second;
|
---|
| 707 | }
|
---|
| 708 | else {
|
---|
| 709 | return 0.0;
|
---|
| 710 | }
|
---|
| 711 | }
|
---|
[8905] | 712 |
|
---|
| 713 | //
|
---|
| 714 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 715 | void t_pppSatObs::setPseudoObsIono(t_frequency::type freq, double stecRefSat) {
|
---|
| 716 | _stecSat = _model._ionoCodeDelay[freq];
|
---|
| 717 | _stecRefSat = stecRefSat;
|
---|
| 718 | }
|
---|
[8961] | 719 |
|
---|
| 720 |
|
---|
| 721 | //
|
---|
| 722 | ////////////////////////////////////////////////////////////////////////////
|
---|
[8965] | 723 | void t_pppSatObs::setPseudoObsTropo() {
|
---|
[8961] | 724 | _tropo0 = _model._tropo0;
|
---|
| 725 | }
|
---|