source: ntrip/trunk/BNC/src/PPP/pppSatObs.cpp@ 9486

Last change on this file since 9486 was 9486, checked in by stuerze, 3 years ago

update regarding PPP
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1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: t_pppSatObs
6 *
7 * Purpose: Satellite observations
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Jul-2014
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17
18#include <iostream>
19#include <iomanip>
20#include <cmath>
21#include <newmatio.h>
22
23#include "pppSatObs.h"
24#include "bncconst.h"
25#include "pppEphPool.h"
26#include "pppStation.h"
27#include "bncutils.h"
28#include "bncantex.h"
29#include "pppObsPool.h"
30#include "pppClient.h"
31
32using namespace BNC_PPP;
33using namespace std;
34
35// Constructor
36////////////////////////////////////////////////////////////////////////////
37t_pppSatObs::t_pppSatObs(const t_satObs& pppSatObs) {
38 _prn = pppSatObs._prn;
39 _time = pppSatObs._time;
40 _outlier = false;
41 _valid = true;
42 _reference = false;
43 _stecRefSat = 0.0;
44 _stecSat = 0.0;
45 for (unsigned ii = 0; ii < t_frequency::max; ii++) {
46 _obs[ii] = 0;
47 }
48 prepareObs(pppSatObs);
49}
50
51// Destructor
52////////////////////////////////////////////////////////////////////////////
53t_pppSatObs::~t_pppSatObs() {
54 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
55 delete _obs[iFreq];
56 }
57}
58
59//
60////////////////////////////////////////////////////////////////////////////
61void t_pppSatObs::prepareObs(const t_satObs& pppSatObs) {
62
63 _model.reset();
64
65 // Select pseudo-ranges and phase observations
66 // -------------------------------------------
67 const string preferredAttrib = "G:12&PWCSLXYN R:12&PC E:1&BCX E:5&IQX C:IQX";
68
69 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
70 string frqNum = t_frequency::toString(t_frequency::type(iFreq)).substr(1);
71 for (unsigned iPref = 0; iPref < preferredAttrib.length(); iPref++) {
72 string obsType = (preferredAttrib[iPref] == '_') ? frqNum : frqNum + preferredAttrib[iPref];
73 if (_obs[iFreq] == 0) {
74 for (unsigned ii = 0; ii < pppSatObs._obs.size(); ii++) {
75 const t_frqObs* obs = pppSatObs._obs[ii];
76 if (obs->_rnxType2ch == obsType &&
77 obs->_codeValid && obs->_code &&
78 obs->_phaseValid && obs->_phase) {
79 _obs[iFreq] = new t_frqObs(*obs);
80 }
81 }
82 }
83 }
84 }
85
86 // Used frequency types
87 // --------------------
88 _fType1 = t_lc::toFreq(_prn.system(),t_lc::l1);
89 _fType2 = t_lc::toFreq(_prn.system(),t_lc::l2);
90
91 // Check whether all required frequencies available
92 // ------------------------------------------------
93 for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
94 t_lc::type tLC = OPT->LCs(_prn.system())[ii];
95 if (tLC == t_lc::GIM || tLC == t_lc::Tz0) {continue;}
96 if (!isValid(tLC)) {
97 _valid = false;
98 return;
99 }
100 }
101
102 // Find Glonass Channel Number
103 // ---------------------------
104 if (_prn.system() == 'R') {
105 _channel = PPP_CLIENT->ephPool()->getChannel(_prn);
106 }
107 else {
108 _channel = 0;
109 }
110
111 // Compute Satellite Coordinates at Time of Transmission
112 // -----------------------------------------------------
113 _xcSat.ReSize(6); _xcSat = 0.0;
114 _vvSat.ReSize(3); _vvSat = 0.0;
115 bool totOK = false;
116 ColumnVector satPosOld(6); satPosOld = 0.0;
117 t_lc::type tLC = isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1;
118 double prange = obsValue(tLC);
119 for (int ii = 1; ii <= 10; ii++) {
120 bncTime ToT = _time - prange / t_CST::c - _xcSat[3];
121 if (PPP_CLIENT->ephPool()->getCrd(_prn, ToT, _xcSat, _vvSat) != success) {
122 _valid = false;
123 return;
124 }
125 ColumnVector dx = _xcSat - satPosOld;
126 dx[3] *= t_CST::c;
127 if (dx.NormFrobenius() < 1.e-4) {
128 totOK = true;
129 break;
130 }
131 satPosOld = _xcSat;
132 }
133 if (totOK) {
134 _signalPropagationTime = prange / t_CST::c - _xcSat[3];
135 _model._satClkM = _xcSat[3] * t_CST::c;
136 }
137 else {
138 _valid = false;
139 }
140}
141
142//
143////////////////////////////////////////////////////////////////////////////
144void t_pppSatObs::lcCoeff(t_lc::type tLC,
145 map<t_frequency::type, double>& codeCoeff,
146 map<t_frequency::type, double>& phaseCoeff,
147 map<t_frequency::type, double>& ionoCoeff) const {
148
149 codeCoeff.clear();
150 phaseCoeff.clear();
151 ionoCoeff.clear();
152
153 double f1 = t_CST::freq(_fType1, _channel);
154 double f2 = t_CST::freq(_fType2, _channel);
155 double f1GPS = t_CST::freq(t_frequency::G1, 0);
156
157 switch (tLC) {
158 case t_lc::l1:
159 phaseCoeff[_fType1] = 1.0;
160 ionoCoeff [_fType1] = -1.0 * pow(f1GPS, 2) / pow(f1, 2);
161 return;
162 case t_lc::l2:
163 phaseCoeff[_fType2] = 1.0;
164 ionoCoeff [_fType2] = -1.0 * pow(f1GPS, 2) / pow(f2, 2);
165 return;
166 case t_lc::lIF:
167 phaseCoeff[_fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
168 phaseCoeff[_fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
169 return;
170 case t_lc::MW:
171 phaseCoeff[_fType1] = f1 / (f1 - f2);
172 phaseCoeff[_fType2] = -f2 / (f1 - f2);
173 codeCoeff[_fType1] = -f1 / (f1 + f2);
174 codeCoeff[_fType2] = -f2 / (f1 + f2);
175 return;
176 case t_lc::CL:
177 phaseCoeff[_fType1] = 0.5;
178 codeCoeff [_fType1] = 0.5;
179 return;
180 case t_lc::c1:
181 codeCoeff[_fType1] = 1.0;
182 ionoCoeff[_fType1] = pow(f1GPS, 2) / pow(f1, 2);
183 return;
184 case t_lc::c2:
185 codeCoeff[_fType2] = 1.0;
186 ionoCoeff[_fType2] = pow(f1GPS, 2) / pow(f2, 2);
187 return;
188 case t_lc::cIF:
189 codeCoeff[_fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
190 codeCoeff[_fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
191 return;
192 case t_lc::GIM:
193 case t_lc::Tz0:
194 case t_lc::dummy:
195 case t_lc::maxLc:
196 return;
197 }
198}
199
200//
201////////////////////////////////////////////////////////////////////////////
202bool t_pppSatObs::isValid(t_lc::type tLC) const {
203 bool valid = true;
204 obsValue(tLC, &valid);
205 //qDebug() << "tLC: " << tLC << " valid: " << valid;
206 return valid;
207}
208//
209////////////////////////////////////////////////////////////////////////////
210double t_pppSatObs::obsValue(t_lc::type tLC, bool* valid) const {
211
212 double retVal = 0.0;
213 if (valid) *valid = true;
214
215 // Pseudo observations
216 if (tLC == t_lc::GIM) {
217 if (_stecRefSat == 0.0 || _stecSat == 0.0) {
218 if (valid) *valid = false;
219 return 0.0;
220 }
221 else {
222 return _stecRefSat;
223 }
224 }
225
226 if (tLC == t_lc::Tz0) {
227 return _model._tropo0;
228 }
229
230 map<t_frequency::type, double> codeCoeff;
231 map<t_frequency::type, double> phaseCoeff;
232 map<t_frequency::type, double> ionoCoeff;
233 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
234
235 map<t_frequency::type, double>::const_iterator it;
236
237 // Code observations
238 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
239 t_frequency::type tFreq = it->first;
240 if (_obs[tFreq] == 0) {
241 if (valid) *valid = false;
242 return 0.0;
243 }
244 else {
245 retVal += it->second * _obs[tFreq]->_code;
246 }
247 }
248 // Phase observations
249 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
250 t_frequency::type tFreq = it->first;
251 if (_obs[tFreq] == 0) {
252 if (valid) *valid = false;
253 return 0.0;
254 }
255 else {
256 retVal += it->second * _obs[tFreq]->_phase * t_CST::lambda(tFreq, _channel);
257 }
258 }
259 return retVal;
260}
261
262//
263////////////////////////////////////////////////////////////////////////////
264double t_pppSatObs::lambda(t_lc::type tLC) const {
265
266 double f1 = t_CST::freq(_fType1, _channel);
267 double f2 = t_CST::freq(_fType2, _channel);
268
269 if (tLC == t_lc::l1) {
270 return t_CST::c / f1;
271 }
272 else if (tLC == t_lc::l2) {
273 return t_CST::c / f2;
274 }
275 else if (tLC == t_lc::lIF) {
276 return t_CST::c / (f1 + f2);
277 }
278 else if (tLC == t_lc::MW) {
279 return t_CST::c / (f1 - f2);
280 }
281 else if (tLC == t_lc::CL) {
282 return t_CST::c / f1 / 2.0;
283 }
284
285 return 0.0;
286}
287
288//
289////////////////////////////////////////////////////////////////////////////
290double t_pppSatObs::sigma(t_lc::type tLC) const {
291
292 double retVal = 0.0;
293 map<t_frequency::type, double> codeCoeff;
294 map<t_frequency::type, double> phaseCoeff;
295 map<t_frequency::type, double> ionoCoeff;
296 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
297
298 if (tLC == t_lc::GIM) {
299 retVal = OPT->_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM;
300 }
301
302 if (tLC == t_lc::Tz0) {
303 retVal = OPT->_sigmaTz0 * OPT->_sigmaTz0;
304 }
305
306 map<t_frequency::type, double>::const_iterator it;
307 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
308 retVal += it->second * it->second * OPT->_sigmaC1 * OPT->_sigmaC1;
309 }
310
311 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
312 retVal += it->second * it->second * OPT->_sigmaL1 * OPT->_sigmaL1;
313 }
314
315 retVal = sqrt(retVal);
316
317 // De-Weight GLONASS
318 // -----------------
319 if (_prn.system() == 'R' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
320 retVal *= 5.0;
321 }
322
323 // De-Weight BDS
324 // -------------
325 if (_prn.system() == 'C' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
326 retVal *= 5.0;
327 }
328
329
330 // Elevation-Dependent Weighting
331 // -----------------------------
332 double cEle = 1.0;
333 if ( (OPT->_eleWgtCode && t_lc::includesCode(tLC)) ||
334 (OPT->_eleWgtPhase && t_lc::includesPhase(tLC)) ) {
335 double eleD = eleSat()*180.0/M_PI;
336 double hlp = fabs(90.0 - eleD);
337 cEle = (1.0 + hlp*hlp*hlp*0.000004);
338 }
339
340 return cEle * retVal;
341}
342
343//
344////////////////////////////////////////////////////////////////////////////
345double t_pppSatObs::maxRes(t_lc::type tLC) const {
346 double retVal = 0.0;
347
348 map<t_frequency::type, double> codeCoeff;
349 map<t_frequency::type, double> phaseCoeff;
350 map<t_frequency::type, double> ionoCoeff;
351 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
352
353 map<t_frequency::type, double>::const_iterator it;
354 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
355 retVal += it->second * it->second * OPT->_maxResC1 * OPT->_maxResC1;
356 }
357 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
358 retVal += it->second * it->second * OPT->_maxResL1 * OPT->_maxResL1;
359 }
360 if (tLC == t_lc::GIM) {
361 retVal = 3.0 * (OPT->_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM);
362 }
363 if (tLC == t_lc::Tz0) {
364 retVal = 3.0 * OPT->_sigmaTz0 * OPT->_sigmaTz0;
365 }
366
367 retVal = sqrt(retVal);
368
369 // De-Weight GLONASS
370 // -----------------
371 if (_prn.system() == 'R' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
372 retVal *= 5.0;
373 }
374
375 // De-Weight BDS
376 // -------------
377 if (_prn.system() == 'C' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
378 retVal *= 5.0;
379 }
380
381
382 return retVal;
383}
384
385
386//
387////////////////////////////////////////////////////////////////////////////
388t_irc t_pppSatObs::cmpModel(const t_pppStation* station) {
389
390 // Reset all model values
391 // ----------------------
392 _model.reset();
393
394 // Topocentric Satellite Position
395 // ------------------------------
396 ColumnVector rSat = _xcSat.Rows(1,3);
397 ColumnVector rRec = station->xyzApr();
398 ColumnVector rhoV = rSat - rRec;
399 _model._rho = rhoV.NormFrobenius();
400
401 ColumnVector vSat = _vvSat;
402
403 ColumnVector neu(3);
404 xyz2neu(station->ellApr().data(), rhoV.data(), neu.data());
405
406 _model._eleSat = acos(sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / _model._rho);
407 if (neu[2] < 0) {
408 _model._eleSat *= -1.0;
409 }
410 _model._azSat = atan2(neu[1], neu[0]);
411
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
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;
453 _model._sagnac = DotProduct(Omega, crossproduct(rSat, rRec));
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;
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 }
484 }
485 }
486
487 // Tropospheric Delay
488 // ------------------
489 _model._tropo = t_tropo::delay_saast(rRec, _model._eleSat);
490 _model._tropo0 = t_tropo::delay_saast(rRec, M_PI/2.0);
491
492 // Code Biases
493 // -----------
494 const t_satCodeBias* satCodeBias = PPP_CLIENT->obsPool()->satCodeBias(_prn);
495 if (satCodeBias) {
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
507 // Phase Biases
508 // -----------
509 const t_satPhaseBias* satPhaseBias = PPP_CLIENT->obsPool()->satPhaseBias(_prn);
510 double yaw = 0.0;
511 bool ssr = false;
512 if (satPhaseBias) {
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;
518 ssr = true;
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
530 // Phase Wind-Up
531 // -------------
532 _model._windUp = station->windUp(_time, _prn, rSat, ssr, yaw, vSat) ;
533
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));
540
541 // Tidal Correction
542 // ----------------
543 _model._tideEarth = -DotProduct(station->tideDsplEarth(), rhoV) / _model._rho;
544 _model._tideOcean = -DotProduct(station->tideDsplOcean(), rhoV) / _model._rho;
545
546 // Ionospheric Delay
547 // -----------------
548 const t_vTec* vTec = PPP_CLIENT->obsPool()->vTec();
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;
554 }
555 }
556
557 if (vTecUsage && vTec) {
558 double stec = station->stec(vTec, _signalPropagationTime, rSat);
559 double f1GPS = t_CST::freq(t_frequency::G1, 0);
560 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
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 }
571 }
572 }
573
574 // Set Model Set Flag
575 // ------------------
576 _model._set = true;
577
578 //printModel();
579
580 return success;
581}
582
583//
584////////////////////////////////////////////////////////////////////////////
585void t_pppSatObs::printModel() const {
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
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;
608 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
609 if (_obs[iFreq]) {
610 string frqStr = t_frequency::toString(t_frequency::type(iFreq));
611 if (_prn.system() == frqStr[0]) {
612 LOG << "PCO : " << frqStr << setw(12) << setprecision(3) << _model._antPCO[iFreq] << endl
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;
616 }
617 }
618 }
619}
620
621//
622////////////////////////////////////////////////////////////////////////////
623void 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;
628 for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
629 t_lc::type tLC = OPT->LCs(_prn.system())[ii];
630 cout << "OBS-CMP " << setw(4) << t_lc::toString(tLC) << ": " << _prn.toString() << " "
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 }
635}
636
637
638//
639////////////////////////////////////////////////////////////////////////////
640double t_pppSatObs::cmpValueForBanc(t_lc::type tLC) const {
641 return cmpValue(tLC) - _model._rho - _model._sagnac - _model._recClkM;
642}
643
644//
645////////////////////////////////////////////////////////////////////////////
646double t_pppSatObs::cmpValue(t_lc::type tLC) const {
647 double cmpValue;
648
649 if (!isValid(tLC)) {
650 cmpValue = 0.0;
651 }
652 else if (tLC == t_lc::GIM) {
653 cmpValue = _stecSat;
654 }
655 else if (tLC == t_lc::Tz0) {
656 cmpValue = _model._tropo0;
657 }
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;
665
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;
690 }
691
692 return cmpValue;
693}
694
695//
696////////////////////////////////////////////////////////////////////////////
697void t_pppSatObs::setRes(t_lc::type tLC, double res) {
698 _res[tLC] = res;
699}
700
701//
702////////////////////////////////////////////////////////////////////////////
703double 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}
712
713//
714////////////////////////////////////////////////////////////////////////////
715void t_pppSatObs::setPseudoObsIono(t_frequency::type freq, double stecRefSat) {
716 _stecSat = _model._ionoCodeDelay[freq];
717 _stecRefSat = stecRefSat;
718}
719
720
721//
722////////////////////////////////////////////////////////////////////////////
723void t_pppSatObs::setPseudoObsTropo() {
724 _tropo0 = _model._tropo0;
725}
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