[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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[9590] | 33 | using namespace std;
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[7237] | 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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[9598] | 67 |
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| 68 | QString preferredAttribList = "G:12&CWPSLX R:12&CP E:1&CBX E:5&QIX C:26&IQX";
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[9560] | 69 | if (OPT->_obsModelType == OPT->DCMcodeBias ||
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| 70 | OPT->_obsModelType == OPT->DCMphaseBias) {
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[9598] | 71 | // at the moment only one code or phase bias per system (G,R,E,C)/modulation considered
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| 72 | preferredAttribList = "G:12&CW R:12&CP E:1&CX E:5&QX C:26&I";
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[9560] | 73 | }
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[9598] | 74 | QStringList priorList = preferredAttribList.split(" ", QString::SkipEmptyParts);
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| 75 | string preferredAttrib;
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| 76 | char obsSys = pppSatObs._prn.system(); //cout << "SATELLITE: " << pppSatObs._prn.toString() << endl;
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[7237] | 77 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
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[9598] | 78 | t_frequency::type frqType = static_cast<t_frequency::type>(iFreq);
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| 79 | char frqSys = t_frequency::toString(frqType)[0]; //cout << "frqSys: " << frqSys << endl;
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| 80 | char frqNum = t_frequency::toString(frqType)[1]; //cout << "frqNum: " << frqNum << endl;
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| 81 | if (obsSys != frqSys) {
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| 82 | continue;
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| 83 | }
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| 84 | QStringList hlp;
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| 85 | for (int ii = 0; ii < priorList.size(); ii++) {
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| 86 | if (priorList[ii].indexOf(":") != -1) {
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| 87 | hlp = priorList[ii].split(":", QString::SkipEmptyParts);
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| 88 | if (hlp.size() == 2 && hlp[0].length() == 1 && hlp[0][0] == frqSys) {
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| 89 | hlp = hlp[1].split("&", QString::SkipEmptyParts);
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| 90 | }
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| 91 | if (hlp.size() == 2 && hlp[0].indexOf(frqNum) != -1) {
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| 92 | preferredAttrib = hlp[1].toStdString(); //cout << "preferredAttrib: " << preferredAttrib << endl;
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| 93 | }
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| 94 | }
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| 95 | for (unsigned iPref = 0; iPref < preferredAttrib.length(); iPref++) {
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| 96 | QString obsType = QString("%1").arg(frqNum) + preferredAttrib[iPref]; //cout << "obstype: " << obsType.toStdString().c_str() << endl;
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| 97 | if (_obs[iFreq] == 0) {
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| 98 | for (unsigned ii = 0; ii < pppSatObs._obs.size(); ii++) {
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| 99 | const t_frqObs* obs = pppSatObs._obs[ii];
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| 100 | //cout << "observation2char: " << obs->_rnxType2ch << " vs. " << obsType.toStdString().c_str()<< endl;
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| 101 | if (obs->_rnxType2ch == obsType.toStdString() &&
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| 102 | obs->_codeValid && obs->_code &&
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| 103 | obs->_phaseValid && obs->_phase &&
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| 104 | obs->_lockTimeValid && obs->_lockTime > 5.0) {
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| 105 | _obs[iFreq] = new t_frqObs(*obs); //cout << "================> newObs: " << obs->_rnxType2ch <<endl;
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| 106 | }
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[7237] | 107 | }
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| 108 | }
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| 109 | }
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| 110 | }
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| 111 | }
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| 112 |
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| 113 | // Used frequency types
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| 114 | // --------------------
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| 115 | _fType1 = t_lc::toFreq(_prn.system(),t_lc::l1);
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| 116 | _fType2 = t_lc::toFreq(_prn.system(),t_lc::l2);
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| 117 |
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| 118 | // Check whether all required frequencies available
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| 119 | // ------------------------------------------------
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| 120 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
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| 121 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
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[9548] | 122 | if (tLC == t_lc::GIM) {continue;}
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[7237] | 123 | if (!isValid(tLC)) {
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| 124 | _valid = false;
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| 125 | return;
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| 126 | }
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| 127 | }
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| 128 |
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[9560] | 129 | // Find GLONASS Channel Number
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[7237] | 130 | // ---------------------------
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| 131 | if (_prn.system() == 'R') {
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| 132 | _channel = PPP_CLIENT->ephPool()->getChannel(_prn);
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| 133 | }
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| 134 | else {
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| 135 | _channel = 0;
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| 136 | }
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| 137 |
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| 138 | // Compute Satellite Coordinates at Time of Transmission
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| 139 | // -----------------------------------------------------
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[8619] | 140 | _xcSat.ReSize(6); _xcSat = 0.0;
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[8495] | 141 | _vvSat.ReSize(3); _vvSat = 0.0;
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[7237] | 142 | bool totOK = false;
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[8619] | 143 | ColumnVector satPosOld(6); satPosOld = 0.0;
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[9600] | 144 | t_lc::type tLC = t_lc::dummy;
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| 145 | if (isValid(t_lc::cIF)) {
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| 146 | tLC = t_lc::cIF;
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| 147 | }
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| 148 | if (tLC == t_lc::dummy && isValid(t_lc::c1)) {
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| 149 | tLC = t_lc::c1;
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| 150 | }
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| 151 | if (tLC == t_lc::dummy && isValid(t_lc::c2)) {
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| 152 | tLC = t_lc::c2;
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| 153 | }
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| 154 | if (tLC == t_lc::dummy) {
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| 155 | _valid = false;
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| 156 | return;
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| 157 | }
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[7237] | 158 | double prange = obsValue(tLC);
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| 159 | for (int ii = 1; ii <= 10; ii++) {
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| 160 | bncTime ToT = _time - prange / t_CST::c - _xcSat[3];
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| 161 | if (PPP_CLIENT->ephPool()->getCrd(_prn, ToT, _xcSat, _vvSat) != success) {
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| 162 | _valid = false;
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| 163 | return;
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| 164 | }
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| 165 | ColumnVector dx = _xcSat - satPosOld;
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| 166 | dx[3] *= t_CST::c;
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[8905] | 167 | if (dx.NormFrobenius() < 1.e-4) {
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[7237] | 168 | totOK = true;
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| 169 | break;
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| 170 | }
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[7288] | 171 | satPosOld = _xcSat;
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[7237] | 172 | }
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| 173 | if (totOK) {
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[7250] | 174 | _signalPropagationTime = prange / t_CST::c - _xcSat[3];
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[7288] | 175 | _model._satClkM = _xcSat[3] * t_CST::c;
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[7237] | 176 | }
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| 177 | else {
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| 178 | _valid = false;
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| 179 | }
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| 180 | }
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| 181 |
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[7288] | 182 | //
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[7237] | 183 | ////////////////////////////////////////////////////////////////////////////
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[7288] | 184 | void t_pppSatObs::lcCoeff(t_lc::type tLC,
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[7237] | 185 | map<t_frequency::type, double>& codeCoeff,
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[8905] | 186 | map<t_frequency::type, double>& phaseCoeff,
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| 187 | map<t_frequency::type, double>& ionoCoeff) const {
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[7237] | 188 |
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| 189 | codeCoeff.clear();
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| 190 | phaseCoeff.clear();
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[8905] | 191 | ionoCoeff.clear();
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[7237] | 192 |
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| 193 | double f1 = t_CST::freq(_fType1, _channel);
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| 194 | double f2 = t_CST::freq(_fType2, _channel);
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[8905] | 195 | double f1GPS = t_CST::freq(t_frequency::G1, 0);
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[7237] | 196 |
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| 197 | switch (tLC) {
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| 198 | case t_lc::l1:
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[8905] | 199 | phaseCoeff[_fType1] = 1.0;
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| 200 | ionoCoeff [_fType1] = -1.0 * pow(f1GPS, 2) / pow(f1, 2);
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[7237] | 201 | return;
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[7288] | 202 | case t_lc::l2:
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[8905] | 203 | phaseCoeff[_fType2] = 1.0;
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| 204 | ionoCoeff [_fType2] = -1.0 * pow(f1GPS, 2) / pow(f2, 2);
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[7237] | 205 | return;
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[7288] | 206 | case t_lc::lIF:
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[7237] | 207 | phaseCoeff[_fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
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| 208 | phaseCoeff[_fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
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| 209 | return;
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[7288] | 210 | case t_lc::MW:
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[7237] | 211 | phaseCoeff[_fType1] = f1 / (f1 - f2);
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| 212 | phaseCoeff[_fType2] = -f2 / (f1 - f2);
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| 213 | codeCoeff[_fType1] = -f1 / (f1 + f2);
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| 214 | codeCoeff[_fType2] = -f2 / (f1 + f2);
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| 215 | return;
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[7288] | 216 | case t_lc::CL:
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[7237] | 217 | phaseCoeff[_fType1] = 0.5;
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[8905] | 218 | codeCoeff [_fType1] = 0.5;
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[7237] | 219 | return;
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[7288] | 220 | case t_lc::c1:
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| 221 | codeCoeff[_fType1] = 1.0;
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[8905] | 222 | ionoCoeff[_fType1] = pow(f1GPS, 2) / pow(f1, 2);
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[7237] | 223 | return;
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[7288] | 224 | case t_lc::c2:
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| 225 | codeCoeff[_fType2] = 1.0;
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[8905] | 226 | ionoCoeff[_fType2] = pow(f1GPS, 2) / pow(f2, 2);
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[7237] | 227 | return;
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[7288] | 228 | case t_lc::cIF:
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[7237] | 229 | codeCoeff[_fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
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| 230 | codeCoeff[_fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
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| 231 | return;
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[8905] | 232 | case t_lc::GIM:
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[7288] | 233 | case t_lc::dummy:
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| 234 | case t_lc::maxLc:
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[7237] | 235 | return;
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| 236 | }
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| 237 | }
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| 238 |
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[7288] | 239 | //
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[7237] | 240 | ////////////////////////////////////////////////////////////////////////////
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| 241 | bool t_pppSatObs::isValid(t_lc::type tLC) const {
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| 242 | bool valid = true;
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| 243 | obsValue(tLC, &valid);
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[9497] | 244 |
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[7237] | 245 | return valid;
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| 246 | }
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[7288] | 247 | //
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[7237] | 248 | ////////////////////////////////////////////////////////////////////////////
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| 249 | double t_pppSatObs::obsValue(t_lc::type tLC, bool* valid) const {
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| 250 |
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[8905] | 251 | double retVal = 0.0;
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| 252 | if (valid) *valid = true;
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| 253 |
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| 254 | // Pseudo observations
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| 255 | if (tLC == t_lc::GIM) {
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| 256 | if (_stecRefSat == 0.0 || _stecSat == 0.0) {
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| 257 | if (valid) *valid = false;
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| 258 | return 0.0;
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| 259 | }
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| 260 | else {
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[8961] | 261 | return _stecRefSat;
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[8905] | 262 | }
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| 263 | }
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| 264 |
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[7237] | 265 | map<t_frequency::type, double> codeCoeff;
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| 266 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 267 | map<t_frequency::type, double> ionoCoeff;
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| 268 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 269 |
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[8905] | 270 | map<t_frequency::type, double>::const_iterator it;
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[7237] | 271 |
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[8905] | 272 | // Code observations
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[7237] | 273 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
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| 274 | t_frequency::type tFreq = it->first;
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| 275 | if (_obs[tFreq] == 0) {
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| 276 | if (valid) *valid = false;
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| 277 | return 0.0;
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| 278 | }
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| 279 | else {
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| 280 | retVal += it->second * _obs[tFreq]->_code;
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| 281 | }
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| 282 | }
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[8905] | 283 | // Phase observations
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[7237] | 284 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
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| 285 | t_frequency::type tFreq = it->first;
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| 286 | if (_obs[tFreq] == 0) {
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| 287 | if (valid) *valid = false;
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| 288 | return 0.0;
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| 289 | }
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| 290 | else {
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| 291 | retVal += it->second * _obs[tFreq]->_phase * t_CST::lambda(tFreq, _channel);
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| 292 | }
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| 293 | }
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| 294 | return retVal;
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| 295 | }
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| 296 |
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[7288] | 297 | //
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[7237] | 298 | ////////////////////////////////////////////////////////////////////////////
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| 299 | double t_pppSatObs::lambda(t_lc::type tLC) const {
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| 300 |
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| 301 | double f1 = t_CST::freq(_fType1, _channel);
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| 302 | double f2 = t_CST::freq(_fType2, _channel);
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| 303 |
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| 304 | if (tLC == t_lc::l1) {
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| 305 | return t_CST::c / f1;
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| 306 | }
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| 307 | else if (tLC == t_lc::l2) {
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| 308 | return t_CST::c / f2;
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| 309 | }
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| 310 | else if (tLC == t_lc::lIF) {
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| 311 | return t_CST::c / (f1 + f2);
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| 312 | }
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| 313 | else if (tLC == t_lc::MW) {
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| 314 | return t_CST::c / (f1 - f2);
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| 315 | }
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| 316 | else if (tLC == t_lc::CL) {
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| 317 | return t_CST::c / f1 / 2.0;
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| 318 | }
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| 319 |
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| 320 | return 0.0;
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| 321 | }
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| 322 |
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[7288] | 323 | //
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[7237] | 324 | ////////////////////////////////////////////////////////////////////////////
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| 325 | double t_pppSatObs::sigma(t_lc::type tLC) const {
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| 326 |
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[8905] | 327 | double retVal = 0.0;
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[7237] | 328 | map<t_frequency::type, double> codeCoeff;
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| 329 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 330 | map<t_frequency::type, double> ionoCoeff;
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| 331 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 332 |
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[8905] | 333 | if (tLC == t_lc::GIM) {
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[9386] | 334 | retVal = OPT->_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM;
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[8905] | 335 | }
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[7237] | 336 |
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| 337 | map<t_frequency::type, double>::const_iterator it;
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[9473] | 338 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
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[7237] | 339 | retVal += it->second * it->second * OPT->_sigmaC1 * OPT->_sigmaC1;
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| 340 | }
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[8905] | 341 |
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[9473] | 342 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
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[7237] | 343 | retVal += it->second * it->second * OPT->_sigmaL1 * OPT->_sigmaL1;
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| 344 | }
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| 345 |
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[7288] | 346 | retVal = sqrt(retVal);
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[9551] | 347 |
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[9588] | 348 | // De-Weight GLONASS
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[9596] | 349 | /* -----------------
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[9595] | 350 | if (_prn.system() == 'R' && t_lc::includesCode(tLC)) {
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[9594] | 351 | retVal *= 5.0;
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[9596] | 352 | }*/
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[9588] | 353 |
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[7237] | 354 | // Elevation-Dependent Weighting
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| 355 | // -----------------------------
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| 356 | double cEle = 1.0;
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| 357 | if ( (OPT->_eleWgtCode && t_lc::includesCode(tLC)) ||
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| 358 | (OPT->_eleWgtPhase && t_lc::includesPhase(tLC)) ) {
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| 359 | double eleD = eleSat()*180.0/M_PI;
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| 360 | double hlp = fabs(90.0 - eleD);
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| 361 | cEle = (1.0 + hlp*hlp*hlp*0.000004);
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| 362 | }
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| 363 |
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| 364 | return cEle * retVal;
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| 365 | }
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| 366 |
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[7288] | 367 | //
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[7237] | 368 | ////////////////////////////////////////////////////////////////////////////
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[9386] | 369 | double t_pppSatObs::maxRes(t_lc::type tLC) const {
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[8905] | 370 | double retVal = 0.0;
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[7237] | 371 |
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| 372 | map<t_frequency::type, double> codeCoeff;
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| 373 | map<t_frequency::type, double> phaseCoeff;
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[8905] | 374 | map<t_frequency::type, double> ionoCoeff;
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| 375 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
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[7237] | 376 |
|
---|
| 377 | map<t_frequency::type, double>::const_iterator it;
|
---|
[9473] | 378 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
|
---|
[7237] | 379 | retVal += it->second * it->second * OPT->_maxResC1 * OPT->_maxResC1;
|
---|
| 380 | }
|
---|
[9473] | 381 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
|
---|
[7237] | 382 | retVal += it->second * it->second * OPT->_maxResL1 * OPT->_maxResL1;
|
---|
| 383 | }
|
---|
[8905] | 384 | if (tLC == t_lc::GIM) {
|
---|
[9553] | 385 | retVal = OPT->_maxResGIM * OPT->_maxResGIM + OPT->_maxResGIM * OPT->_maxResGIM;
|
---|
[8905] | 386 | }
|
---|
[9386] | 387 |
|
---|
| 388 | retVal = sqrt(retVal);
|
---|
[9537] | 389 |
|
---|
[9603] | 390 | if (_prn.system() == 'R' && t_lc::includesCode(tLC)) {
|
---|
[9604] | 391 | if (OPT->_obsModelType == OPT->DCMphaseBias) {
|
---|
| 392 | retVal *= 5.0;
|
---|
| 393 | } else {
|
---|
| 394 | retVal *= 2.0;
|
---|
| 395 | }
|
---|
[9603] | 396 | }
|
---|
| 397 |
|
---|
[9561] | 398 | return retVal;
|
---|
[7237] | 399 | }
|
---|
| 400 |
|
---|
| 401 |
|
---|
[7288] | 402 | //
|
---|
[7237] | 403 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 404 | t_irc t_pppSatObs::cmpModel(const t_pppStation* station) {
|
---|
| 405 |
|
---|
| 406 | // Reset all model values
|
---|
| 407 | // ----------------------
|
---|
| 408 | _model.reset();
|
---|
| 409 |
|
---|
| 410 | // Topocentric Satellite Position
|
---|
| 411 | // ------------------------------
|
---|
| 412 | ColumnVector rSat = _xcSat.Rows(1,3);
|
---|
[8905] | 413 | ColumnVector rRec = station->xyzApr();
|
---|
| 414 | ColumnVector rhoV = rSat - rRec;
|
---|
| 415 | _model._rho = rhoV.NormFrobenius();
|
---|
[7237] | 416 |
|
---|
[8619] | 417 | ColumnVector vSat = _vvSat;
|
---|
| 418 |
|
---|
[7237] | 419 | ColumnVector neu(3);
|
---|
| 420 | xyz2neu(station->ellApr().data(), rhoV.data(), neu.data());
|
---|
| 421 |
|
---|
[8905] | 422 | _model._eleSat = acos(sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / _model._rho);
|
---|
[7237] | 423 | if (neu[2] < 0) {
|
---|
| 424 | _model._eleSat *= -1.0;
|
---|
| 425 | }
|
---|
| 426 | _model._azSat = atan2(neu[1], neu[0]);
|
---|
| 427 |
|
---|
[9485] | 428 | // Sun unit vector
|
---|
| 429 | ColumnVector xSun = t_astro::Sun(_time.mjddec());
|
---|
| 430 | xSun /= xSun.norm_Frobenius();
|
---|
| 431 |
|
---|
| 432 | // Satellite unit vectors sz, sy, sx
|
---|
| 433 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
|
---|
| 434 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
| 435 | ColumnVector sx = crossproduct(sy, sz);
|
---|
| 436 |
|
---|
| 437 | sx /= sx.norm_Frobenius();
|
---|
| 438 | sy /= sy.norm_Frobenius();
|
---|
| 439 |
|
---|
| 440 | // LOS unit vector satellite --> receiver
|
---|
| 441 | ColumnVector rho = rRec - rSat;
|
---|
| 442 | rho /= rho.norm_Frobenius();
|
---|
| 443 |
|
---|
| 444 | // LOS vector in satellite frame
|
---|
| 445 | ColumnVector u(3);
|
---|
| 446 | u(1) = dotproduct(sx, rho);
|
---|
| 447 | u(2) = dotproduct(sy, rho);
|
---|
| 448 | u(3) = dotproduct(sz, rho);
|
---|
| 449 |
|
---|
| 450 | // Azimuth and elevation in satellite antenna frame
|
---|
| 451 | _model._elTx = atan2(u(3),sqrt(pow(u(2),2)+pow(u(1),2)));
|
---|
| 452 | _model._azTx = atan2(u(2),u(1));
|
---|
| 453 |
|
---|
| 454 |
|
---|
[7237] | 455 | // Satellite Clocks
|
---|
| 456 | // ----------------
|
---|
| 457 | _model._satClkM = _xcSat[3] * t_CST::c;
|
---|
| 458 |
|
---|
| 459 | // Receiver Clocks
|
---|
| 460 | // ---------------
|
---|
| 461 | _model._recClkM = station->dClk() * t_CST::c;
|
---|
| 462 |
|
---|
| 463 | // Sagnac Effect (correction due to Earth rotation)
|
---|
| 464 | // ------------------------------------------------
|
---|
| 465 | ColumnVector Omega(3);
|
---|
| 466 | Omega[0] = 0.0;
|
---|
| 467 | Omega[1] = 0.0;
|
---|
| 468 | Omega[2] = t_CST::omega / t_CST::c;
|
---|
[8905] | 469 | _model._sagnac = DotProduct(Omega, crossproduct(rSat, rRec));
|
---|
[7237] | 470 |
|
---|
| 471 | // Antenna Eccentricity
|
---|
| 472 | // --------------------
|
---|
| 473 | _model._antEcc = -DotProduct(station->xyzEcc(), rhoV) / _model._rho;
|
---|
| 474 |
|
---|
| 475 | // Antenna Phase Center Offsets and Variations
|
---|
| 476 | // -------------------------------------------
|
---|
| 477 | if (PPP_CLIENT->antex()) {
|
---|
| 478 | for (unsigned ii = 0; ii < t_frequency::max; ii++) {
|
---|
| 479 | t_frequency::type frqType = static_cast<t_frequency::type>(ii);
|
---|
[9598] | 480 | string frqStr = t_frequency::toString(frqType);
|
---|
| 481 | if (frqStr[0] != _prn.system()) {continue;}
|
---|
[7237] | 482 | bool found;
|
---|
[9485] | 483 | QString prn(_prn.toString().c_str());
|
---|
| 484 | _model._antPCO[ii] = PPP_CLIENT->antex()->rcvCorr(station->antName(), frqType, _model._eleSat, _model._azSat, found);
|
---|
[9593] | 485 | _model._antPCO[ii] += PPP_CLIENT->antex()->satCorr(prn, frqType, _model._elTx, _model._azTx, found);
|
---|
[9560] | 486 | if (OPT->_isAPC && found) {
|
---|
[9485] | 487 | // the PCOs as given in the satellite antenna correction for all frequencies
|
---|
| 488 | // have to be reduced by the PCO of the reference frequency
|
---|
| 489 | if (_prn.system() == 'G') {
|
---|
| 490 | _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::G1, _model._elTx, _model._azTx, found);
|
---|
| 491 | }
|
---|
| 492 | else if (_prn.system() == 'R') {
|
---|
| 493 | _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::R1, _model._elTx, _model._azTx, found);
|
---|
| 494 | }
|
---|
| 495 | else if (_prn.system() == 'E') {
|
---|
| 496 | _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::E1, _model._elTx, _model._azTx, found);
|
---|
| 497 | }
|
---|
| 498 | else if (_prn.system() == 'C') {
|
---|
| 499 | _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::C2, _model._elTx, _model._azTx, found);
|
---|
| 500 | }
|
---|
| 501 | }
|
---|
[7237] | 502 | }
|
---|
| 503 | }
|
---|
| 504 |
|
---|
| 505 | // Tropospheric Delay
|
---|
| 506 | // ------------------
|
---|
[8961] | 507 | _model._tropo = t_tropo::delay_saast(rRec, _model._eleSat);
|
---|
[7237] | 508 |
|
---|
| 509 | // Code Biases
|
---|
| 510 | // -----------
|
---|
| 511 | const t_satCodeBias* satCodeBias = PPP_CLIENT->obsPool()->satCodeBias(_prn);
|
---|
[7288] | 512 | if (satCodeBias) {
|
---|
[7237] | 513 | for (unsigned ii = 0; ii < satCodeBias->_bias.size(); ii++) {
|
---|
| 514 | const t_frqCodeBias& bias = satCodeBias->_bias[ii];
|
---|
| 515 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
[9598] | 516 | string frqStr = t_frequency::toString(t_frequency::type(iFreq));
|
---|
| 517 | if (frqStr[0] != _prn.system()) {
|
---|
| 518 | continue;
|
---|
| 519 | }
|
---|
[7237] | 520 | const t_frqObs* obs = _obs[iFreq];
|
---|
| 521 | if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
|
---|
| 522 | _model._codeBias[iFreq] = bias._value;
|
---|
| 523 | }
|
---|
| 524 | }
|
---|
| 525 | }
|
---|
| 526 | }
|
---|
| 527 |
|
---|
[7288] | 528 | // Phase Biases
|
---|
| 529 | // -----------
|
---|
| 530 | const t_satPhaseBias* satPhaseBias = PPP_CLIENT->obsPool()->satPhaseBias(_prn);
|
---|
[8619] | 531 | double yaw = 0.0;
|
---|
| 532 | bool ssr = false;
|
---|
[7288] | 533 | if (satPhaseBias) {
|
---|
[8905] | 534 | double dt = station->epochTime() - satPhaseBias->_time;
|
---|
| 535 | if (satPhaseBias->_updateInt) {
|
---|
| 536 | dt -= (0.5 * ssrUpdateInt[satPhaseBias->_updateInt]);
|
---|
| 537 | }
|
---|
| 538 | yaw = satPhaseBias->_yaw + satPhaseBias->_yawRate * dt;
|
---|
[8619] | 539 | ssr = true;
|
---|
[7288] | 540 | for (unsigned ii = 0; ii < satPhaseBias->_bias.size(); ii++) {
|
---|
| 541 | const t_frqPhaseBias& bias = satPhaseBias->_bias[ii];
|
---|
| 542 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
[9598] | 543 | string frqStr = t_frequency::toString(t_frequency::type(iFreq));
|
---|
| 544 | if (frqStr[0] != _prn.system()) {
|
---|
| 545 | continue;
|
---|
| 546 | }
|
---|
[7288] | 547 | const t_frqObs* obs = _obs[iFreq];
|
---|
| 548 | if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
|
---|
| 549 | _model._phaseBias[iFreq] = bias._value;
|
---|
| 550 | }
|
---|
| 551 | }
|
---|
| 552 | }
|
---|
| 553 | }
|
---|
| 554 |
|
---|
[8619] | 555 | // Phase Wind-Up
|
---|
| 556 | // -------------
|
---|
| 557 | _model._windUp = station->windUp(_time, _prn, rSat, ssr, yaw, vSat) ;
|
---|
| 558 |
|
---|
[8905] | 559 | // Relativistic effect due to earth gravity
|
---|
| 560 | // ----------------------------------------
|
---|
| 561 | double a = rSat.NormFrobenius() + rRec.NormFrobenius();
|
---|
| 562 | double b = (rSat - rRec).NormFrobenius();
|
---|
| 563 | double gm = 3.986004418e14; // m3/s2
|
---|
| 564 | _model._rel = 2 * gm / t_CST::c / t_CST::c * log((a + b) / (a - b));
|
---|
[8619] | 565 |
|
---|
[7237] | 566 | // Tidal Correction
|
---|
| 567 | // ----------------
|
---|
[8905] | 568 | _model._tideEarth = -DotProduct(station->tideDsplEarth(), rhoV) / _model._rho;
|
---|
| 569 | _model._tideOcean = -DotProduct(station->tideDsplOcean(), rhoV) / _model._rho;
|
---|
[7237] | 570 |
|
---|
| 571 | // Ionospheric Delay
|
---|
| 572 | // -----------------
|
---|
[7250] | 573 | const t_vTec* vTec = PPP_CLIENT->obsPool()->vTec();
|
---|
[7253] | 574 | bool vTecUsage = true;
|
---|
| 575 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
|
---|
| 576 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
|
---|
| 577 | if (tLC == t_lc::cIF || tLC == t_lc::lIF) {
|
---|
| 578 | vTecUsage = false;
|
---|
[7237] | 579 | }
|
---|
| 580 | }
|
---|
[8905] | 581 |
|
---|
[7258] | 582 | if (vTecUsage && vTec) {
|
---|
[8905] | 583 | double stec = station->stec(vTec, _signalPropagationTime, rSat);
|
---|
| 584 | double f1GPS = t_CST::freq(t_frequency::G1, 0);
|
---|
[7258] | 585 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
[8905] | 586 | if (OPT->_pseudoObsIono) { // DCMcodeBias, DCMphaseBias
|
---|
| 587 | // For scaling the slant ionospheric delays the trick is to be consistent with units!
|
---|
| 588 | // The conversion of TECU into meters requires the frequency of the signal.
|
---|
| 589 | // Hence, GPS L1 frequency is used for all systems. The same is true for mu_i in lcCoeff().
|
---|
| 590 | _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(f1GPS, 2) * stec;
|
---|
| 591 | }
|
---|
| 592 | else { // PPP-RTK
|
---|
| 593 | t_frequency::type frqType = static_cast<t_frequency::type>(iFreq);
|
---|
| 594 | _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(t_CST::freq(frqType, _channel), 2) * stec;
|
---|
| 595 | }
|
---|
[7253] | 596 | }
|
---|
| 597 | }
|
---|
[7237] | 598 |
|
---|
| 599 | // Set Model Set Flag
|
---|
| 600 | // ------------------
|
---|
| 601 | _model._set = true;
|
---|
| 602 |
|
---|
[8956] | 603 | //printModel();
|
---|
[7252] | 604 |
|
---|
[7237] | 605 | return success;
|
---|
| 606 | }
|
---|
| 607 |
|
---|
[7288] | 608 | //
|
---|
[7237] | 609 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 610 | void t_pppSatObs::printModel() const {
|
---|
[8956] | 611 |
|
---|
| 612 | LOG.setf(ios::fixed);
|
---|
| 613 | LOG << "\nMODEL for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "")
|
---|
| 614 |
|
---|
[9598] | 615 | << "\n======================= " << endl
|
---|
[9588] | 616 | << "PPP STRATEGY : " << OPT->_obsmodelTypeStr.at((int)OPT->_obsModelType).toLocal8Bit().constData()
|
---|
| 617 | << ((OPT->_pseudoObsIono) ? " with pseudo-observations for STEC" : "") << endl
|
---|
[8905] | 618 | << "RHO : " << setw(12) << setprecision(3) << _model._rho << endl
|
---|
| 619 | << "ELE : " << setw(12) << setprecision(3) << _model._eleSat * RHO_DEG << endl
|
---|
| 620 | << "AZI : " << setw(12) << setprecision(3) << _model._azSat * RHO_DEG << endl
|
---|
| 621 | << "SATCLK : " << setw(12) << setprecision(3) << _model._satClkM << endl
|
---|
| 622 | << "RECCLK : " << setw(12) << setprecision(3) << _model._recClkM << endl
|
---|
| 623 | << "SAGNAC : " << setw(12) << setprecision(3) << _model._sagnac << endl
|
---|
| 624 | << "ANTECC : " << setw(12) << setprecision(3) << _model._antEcc << endl
|
---|
| 625 | << "TROPO : " << setw(12) << setprecision(3) << _model._tropo << endl
|
---|
| 626 | << "WINDUP : " << setw(12) << setprecision(3) << _model._windUp << endl
|
---|
| 627 | << "REL : " << setw(12) << setprecision(3) << _model._rel << endl
|
---|
| 628 | << "EARTH TIDES : " << setw(12) << setprecision(3) << _model._tideEarth << endl
|
---|
| 629 | << "OCEAN TIDES : " << setw(12) << setprecision(3) << _model._tideOcean << endl
|
---|
| 630 | << endl
|
---|
| 631 | << "FREQUENCY DEPENDENT CORRECTIONS:" << endl
|
---|
| 632 | << "-------------------------------" << endl;
|
---|
[7237] | 633 | for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
|
---|
| 634 | if (_obs[iFreq]) {
|
---|
[7288] | 635 | string frqStr = t_frequency::toString(t_frequency::type(iFreq));
|
---|
| 636 | if (_prn.system() == frqStr[0]) {
|
---|
[8956] | 637 | LOG << "PCO : " << frqStr << setw(12) << setprecision(3) << _model._antPCO[iFreq] << endl
|
---|
[9598] | 638 | << "BIAS CODE : " << frqStr << setw(12) << setprecision(3) << _model._codeBias[iFreq] << "\t(" << _obs[iFreq]->_rnxType2ch[1] << ") " << endl
|
---|
| 639 | << "BIAS PHASE : " << frqStr << setw(12) << setprecision(3) << _model._phaseBias[iFreq] << "\t(" << _obs[iFreq]->_rnxType2ch[1] << ") " << endl
|
---|
[9588] | 640 | << "IONO CODEDELAY: " << frqStr << setw(12) << setprecision(3) << _model._ionoCodeDelay[iFreq]<< endl;
|
---|
[7288] | 641 | }
|
---|
[7237] | 642 | }
|
---|
| 643 | }
|
---|
[8905] | 644 | }
|
---|
| 645 |
|
---|
| 646 | //
|
---|
| 647 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 648 | void t_pppSatObs::printObsMinusComputed() const {
|
---|
[9590] | 649 | // TODO: LOG should be LOG
|
---|
[8905] | 650 | cout.setf(ios::fixed);
|
---|
| 651 | cout << "\nOBS-COMP for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "") << endl
|
---|
| 652 | << "========================== " << endl;
|
---|
[7253] | 653 | for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
|
---|
| 654 | t_lc::type tLC = OPT->LCs(_prn.system())[ii];
|
---|
[8905] | 655 | cout << "OBS-CMP " << setw(4) << t_lc::toString(tLC) << ": " << _prn.toString() << " "
|
---|
[7253] | 656 | << setw(12) << setprecision(3) << obsValue(tLC) << " "
|
---|
| 657 | << setw(12) << setprecision(3) << cmpValue(tLC) << " "
|
---|
| 658 | << setw(12) << setprecision(3) << obsValue(tLC) - cmpValue(tLC) << endl;
|
---|
| 659 | }
|
---|
[7237] | 660 | }
|
---|
| 661 |
|
---|
[8905] | 662 |
|
---|
[7288] | 663 | //
|
---|
[7237] | 664 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 665 | double t_pppSatObs::cmpValueForBanc(t_lc::type tLC) const {
|
---|
| 666 | return cmpValue(tLC) - _model._rho - _model._sagnac - _model._recClkM;
|
---|
| 667 | }
|
---|
| 668 |
|
---|
[7288] | 669 | //
|
---|
[7237] | 670 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 671 | double t_pppSatObs::cmpValue(t_lc::type tLC) const {
|
---|
[8905] | 672 | double cmpValue;
|
---|
[7237] | 673 |
|
---|
[8905] | 674 | if (!isValid(tLC)) {
|
---|
| 675 | cmpValue = 0.0;
|
---|
[7237] | 676 | }
|
---|
[8905] | 677 | else if (tLC == t_lc::GIM) {
|
---|
[8961] | 678 | cmpValue = _stecSat;
|
---|
[8905] | 679 | }
|
---|
| 680 | else {
|
---|
| 681 | // Non-Dispersive Part
|
---|
| 682 | // -------------------
|
---|
| 683 | double nonDisp = _model._rho
|
---|
| 684 | + _model._recClkM - _model._satClkM
|
---|
| 685 | + _model._sagnac + _model._antEcc + _model._tropo
|
---|
| 686 | + _model._tideEarth + _model._tideOcean + _model._rel;
|
---|
[7237] | 687 |
|
---|
[8905] | 688 | // Add Dispersive Part
|
---|
| 689 | // -------------------
|
---|
| 690 | double dispPart = 0.0;
|
---|
| 691 | map<t_frequency::type, double> codeCoeff;
|
---|
| 692 | map<t_frequency::type, double> phaseCoeff;
|
---|
| 693 | map<t_frequency::type, double> ionoCoeff;
|
---|
| 694 | lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
|
---|
| 695 | map<t_frequency::type, double>::const_iterator it;
|
---|
| 696 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
|
---|
| 697 | t_frequency::type tFreq = it->first;
|
---|
| 698 | dispPart += it->second * (_model._antPCO[tFreq] - _model._codeBias[tFreq]);
|
---|
| 699 | if (OPT->PPPRTK) {
|
---|
| 700 | dispPart += it->second * (_model._ionoCodeDelay[tFreq]);
|
---|
| 701 | }
|
---|
| 702 | }
|
---|
| 703 | for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
|
---|
| 704 | t_frequency::type tFreq = it->first;
|
---|
| 705 | dispPart += it->second * (_model._antPCO[tFreq] - _model._phaseBias[tFreq] +
|
---|
| 706 | _model._windUp * t_CST::lambda(tFreq, _channel));
|
---|
| 707 | if (OPT->PPPRTK) {
|
---|
| 708 | dispPart += it->second * (- _model._ionoCodeDelay[tFreq]);
|
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| 709 | }
|
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| 710 | }
|
---|
| 711 | cmpValue = nonDisp + dispPart;
|
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[7237] | 712 | }
|
---|
| 713 |
|
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[8905] | 714 | return cmpValue;
|
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[7237] | 715 | }
|
---|
| 716 |
|
---|
[7288] | 717 | //
|
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[7237] | 718 | ////////////////////////////////////////////////////////////////////////////
|
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| 719 | void t_pppSatObs::setRes(t_lc::type tLC, double res) {
|
---|
| 720 | _res[tLC] = res;
|
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| 721 | }
|
---|
| 722 |
|
---|
[7288] | 723 | //
|
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[7237] | 724 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 725 | double t_pppSatObs::getRes(t_lc::type tLC) const {
|
---|
| 726 | map<t_lc::type, double>::const_iterator it = _res.find(tLC);
|
---|
| 727 | if (it != _res.end()) {
|
---|
| 728 | return it->second;
|
---|
| 729 | }
|
---|
| 730 | else {
|
---|
| 731 | return 0.0;
|
---|
| 732 | }
|
---|
| 733 | }
|
---|
[8905] | 734 |
|
---|
| 735 | //
|
---|
| 736 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 737 | void t_pppSatObs::setPseudoObsIono(t_frequency::type freq, double stecRefSat) {
|
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| 738 | _stecSat = _model._ionoCodeDelay[freq];
|
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| 739 | _stecRefSat = stecRefSat;
|
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| 740 | }
|
---|