source: ntrip/trunk/BNC/src/PPP/pppSatObs.cpp@ 9539

Last change on this file since 9539 was 9539, checked in by stuerze, 9 months ago

update regarding PPP: pseudo obs tropo completely removed

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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
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 map<t_frequency::type, double>::const_iterator it;
303 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
304 retVal += it->second * it->second * OPT->_sigmaC1 * OPT->_sigmaC1;
305 }
306
307 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
308 retVal += it->second * it->second * OPT->_sigmaL1 * OPT->_sigmaL1;
309 }
310
311 retVal = sqrt(retVal);
312
313 // De-Weight GLONASS
314 // -----------------
315 if (_prn.system() == 'R' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
316 retVal *= 5.0;
317 }
318
319 // De-Weight BDS
320 // -------------
321 if (_prn.system() == 'C' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
322 retVal *= 2.0;
323 }
324
325 // Elevation-Dependent Weighting
326 // -----------------------------
327 double cEle = 1.0;
328 if ( (OPT->_eleWgtCode && t_lc::includesCode(tLC)) ||
329 (OPT->_eleWgtPhase && t_lc::includesPhase(tLC)) ) {
330 double eleD = eleSat()*180.0/M_PI;
331 double hlp = fabs(90.0 - eleD);
332 cEle = (1.0 + hlp*hlp*hlp*0.000004);
333 }
334
335 return cEle * retVal;
336}
337
338//
339////////////////////////////////////////////////////////////////////////////
340double t_pppSatObs::maxRes(t_lc::type tLC) const {
341 double retVal = 0.0;
342
343 map<t_frequency::type, double> codeCoeff;
344 map<t_frequency::type, double> phaseCoeff;
345 map<t_frequency::type, double> ionoCoeff;
346 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
347
348 map<t_frequency::type, double>::const_iterator it;
349 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
350 retVal += it->second * it->second * OPT->_maxResC1 * OPT->_maxResC1;
351 }
352 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
353 retVal += it->second * it->second * OPT->_maxResL1 * OPT->_maxResL1;
354 }
355 if (tLC == t_lc::GIM) {
356 retVal = 3.0 * (OPT->_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM);
357 }
358
359 retVal = sqrt(retVal);
360
361 // De-Weight GLONASS
362 // -----------------
363 if (_prn.system() == 'R' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
364 retVal *= 2.0;
365 }
366
367 // De-Weight BDS
368 // -------------
369 if (_prn.system() == 'C' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
370 retVal *= 2.0;
371 }
372
373
374 return retVal;
375}
376
377
378//
379////////////////////////////////////////////////////////////////////////////
380t_irc t_pppSatObs::cmpModel(const t_pppStation* station) {
381
382 // Reset all model values
383 // ----------------------
384 _model.reset();
385
386 // Topocentric Satellite Position
387 // ------------------------------
388 ColumnVector rSat = _xcSat.Rows(1,3);
389 ColumnVector rRec = station->xyzApr();
390 ColumnVector rhoV = rSat - rRec;
391 _model._rho = rhoV.NormFrobenius();
392
393 ColumnVector vSat = _vvSat;
394
395 ColumnVector neu(3);
396 xyz2neu(station->ellApr().data(), rhoV.data(), neu.data());
397
398 _model._eleSat = acos(sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / _model._rho);
399 if (neu[2] < 0) {
400 _model._eleSat *= -1.0;
401 }
402 _model._azSat = atan2(neu[1], neu[0]);
403
404 // Sun unit vector
405 ColumnVector xSun = t_astro::Sun(_time.mjddec());
406 xSun /= xSun.norm_Frobenius();
407
408 // Satellite unit vectors sz, sy, sx
409 ColumnVector sz = -rSat / rSat.norm_Frobenius();
410 ColumnVector sy = crossproduct(sz, xSun);
411 ColumnVector sx = crossproduct(sy, sz);
412
413 sx /= sx.norm_Frobenius();
414 sy /= sy.norm_Frobenius();
415
416 // LOS unit vector satellite --> receiver
417 ColumnVector rho = rRec - rSat;
418 rho /= rho.norm_Frobenius();
419
420 // LOS vector in satellite frame
421 ColumnVector u(3);
422 u(1) = dotproduct(sx, rho);
423 u(2) = dotproduct(sy, rho);
424 u(3) = dotproduct(sz, rho);
425
426 // Azimuth and elevation in satellite antenna frame
427 _model._elTx = atan2(u(3),sqrt(pow(u(2),2)+pow(u(1),2)));
428 _model._azTx = atan2(u(2),u(1));
429
430
431 // Satellite Clocks
432 // ----------------
433 _model._satClkM = _xcSat[3] * t_CST::c;
434
435 // Receiver Clocks
436 // ---------------
437 _model._recClkM = station->dClk() * t_CST::c;
438
439 // Sagnac Effect (correction due to Earth rotation)
440 // ------------------------------------------------
441 ColumnVector Omega(3);
442 Omega[0] = 0.0;
443 Omega[1] = 0.0;
444 Omega[2] = t_CST::omega / t_CST::c;
445 _model._sagnac = DotProduct(Omega, crossproduct(rSat, rRec));
446
447 // Antenna Eccentricity
448 // --------------------
449 _model._antEcc = -DotProduct(station->xyzEcc(), rhoV) / _model._rho;
450
451 // Antenna Phase Center Offsets and Variations
452 // -------------------------------------------
453 if (PPP_CLIENT->antex()) {
454 for (unsigned ii = 0; ii < t_frequency::max; ii++) {
455 t_frequency::type frqType = static_cast<t_frequency::type>(ii);
456 bool found;
457 QString prn(_prn.toString().c_str());
458 _model._antPCO[ii] = PPP_CLIENT->antex()->rcvCorr(station->antName(), frqType, _model._eleSat, _model._azSat, found);
459 _model._antPCO[ii] += PPP_CLIENT->antex()->satCorr(prn, frqType, _model._elTx, _model._azTx, found);
460 if (OPT->_isAPC) {
461 // the PCOs as given in the satellite antenna correction for all frequencies
462 // have to be reduced by the PCO of the reference frequency
463 if (_prn.system() == 'G') {
464 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::G1, _model._elTx, _model._azTx, found);
465 }
466 else if (_prn.system() == 'R') {
467 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::R1, _model._elTx, _model._azTx, found);
468 }
469 else if (_prn.system() == 'E') {
470 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::E1, _model._elTx, _model._azTx, found);
471 }
472 else if (_prn.system() == 'C') {
473 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::C2, _model._elTx, _model._azTx, found);
474 }
475 }
476 }
477 }
478
479 // Tropospheric Delay
480 // ------------------
481 _model._tropo = t_tropo::delay_saast(rRec, _model._eleSat);
482 _model._tropo0 = t_tropo::delay_saast(rRec, M_PI/2.0);
483
484 // Code Biases
485 // -----------
486 const t_satCodeBias* satCodeBias = PPP_CLIENT->obsPool()->satCodeBias(_prn);
487 if (satCodeBias) {
488 for (unsigned ii = 0; ii < satCodeBias->_bias.size(); ii++) {
489 const t_frqCodeBias& bias = satCodeBias->_bias[ii];
490 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
491 const t_frqObs* obs = _obs[iFreq];
492 if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
493 _model._codeBias[iFreq] = bias._value;
494 }
495 }
496 }
497 }
498
499 // Phase Biases
500 // -----------
501 const t_satPhaseBias* satPhaseBias = PPP_CLIENT->obsPool()->satPhaseBias(_prn);
502 double yaw = 0.0;
503 bool ssr = false;
504 if (satPhaseBias) {
505 double dt = station->epochTime() - satPhaseBias->_time;
506 if (satPhaseBias->_updateInt) {
507 dt -= (0.5 * ssrUpdateInt[satPhaseBias->_updateInt]);
508 }
509 yaw = satPhaseBias->_yaw + satPhaseBias->_yawRate * dt;
510 ssr = true;
511 for (unsigned ii = 0; ii < satPhaseBias->_bias.size(); ii++) {
512 const t_frqPhaseBias& bias = satPhaseBias->_bias[ii];
513 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
514 const t_frqObs* obs = _obs[iFreq];
515 if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
516 _model._phaseBias[iFreq] = bias._value;
517 }
518 }
519 }
520 }
521
522 // Phase Wind-Up
523 // -------------
524 _model._windUp = station->windUp(_time, _prn, rSat, ssr, yaw, vSat) ;
525
526 // Relativistic effect due to earth gravity
527 // ----------------------------------------
528 double a = rSat.NormFrobenius() + rRec.NormFrobenius();
529 double b = (rSat - rRec).NormFrobenius();
530 double gm = 3.986004418e14; // m3/s2
531 _model._rel = 2 * gm / t_CST::c / t_CST::c * log((a + b) / (a - b));
532
533 // Tidal Correction
534 // ----------------
535 _model._tideEarth = -DotProduct(station->tideDsplEarth(), rhoV) / _model._rho;
536 _model._tideOcean = -DotProduct(station->tideDsplOcean(), rhoV) / _model._rho;
537
538 // Ionospheric Delay
539 // -----------------
540 const t_vTec* vTec = PPP_CLIENT->obsPool()->vTec();
541 bool vTecUsage = true;
542 for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
543 t_lc::type tLC = OPT->LCs(_prn.system())[ii];
544 if (tLC == t_lc::cIF || tLC == t_lc::lIF) {
545 vTecUsage = false;
546 }
547 }
548
549 if (vTecUsage && vTec) {
550 double stec = station->stec(vTec, _signalPropagationTime, rSat);
551 double f1GPS = t_CST::freq(t_frequency::G1, 0);
552 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
553 if (OPT->_pseudoObsIono) { // DCMcodeBias, DCMphaseBias
554 // For scaling the slant ionospheric delays the trick is to be consistent with units!
555 // The conversion of TECU into meters requires the frequency of the signal.
556 // Hence, GPS L1 frequency is used for all systems. The same is true for mu_i in lcCoeff().
557 _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(f1GPS, 2) * stec;
558 }
559 else { // PPP-RTK
560 t_frequency::type frqType = static_cast<t_frequency::type>(iFreq);
561 _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(t_CST::freq(frqType, _channel), 2) * stec;
562 }
563 }
564 }
565
566 // Set Model Set Flag
567 // ------------------
568 _model._set = true;
569
570 //printModel();
571
572 return success;
573}
574
575//
576////////////////////////////////////////////////////////////////////////////
577void t_pppSatObs::printModel() const {
578
579 LOG.setf(ios::fixed);
580 LOG << "\nMODEL for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "")
581
582 << "======================= " << endl
583 << "PPP STRATEGY : " << OPT->_obsmodelTypeStr.at((int)OPT->_obsModelType).toLocal8Bit().constData()
584 << ((OPT->_pseudoObsIono) ? " with pseudo-observations for STEC" : "") << endl
585 << "RHO : " << setw(12) << setprecision(3) << _model._rho << endl
586 << "ELE : " << setw(12) << setprecision(3) << _model._eleSat * RHO_DEG << endl
587 << "AZI : " << setw(12) << setprecision(3) << _model._azSat * RHO_DEG << endl
588 << "SATCLK : " << setw(12) << setprecision(3) << _model._satClkM << endl
589 << "RECCLK : " << setw(12) << setprecision(3) << _model._recClkM << endl
590 << "SAGNAC : " << setw(12) << setprecision(3) << _model._sagnac << endl
591 << "ANTECC : " << setw(12) << setprecision(3) << _model._antEcc << endl
592 << "TROPO : " << setw(12) << setprecision(3) << _model._tropo << endl
593 << "WINDUP : " << setw(12) << setprecision(3) << _model._windUp << endl
594 << "REL : " << setw(12) << setprecision(3) << _model._rel << endl
595 << "EARTH TIDES : " << setw(12) << setprecision(3) << _model._tideEarth << endl
596 << "OCEAN TIDES : " << setw(12) << setprecision(3) << _model._tideOcean << endl
597 << endl
598 << "FREQUENCY DEPENDENT CORRECTIONS:" << endl
599 << "-------------------------------" << endl;
600 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
601 if (_obs[iFreq]) {
602 string frqStr = t_frequency::toString(t_frequency::type(iFreq));
603 if (_prn.system() == frqStr[0]) {
604 LOG << "PCO : " << frqStr << setw(12) << setprecision(3) << _model._antPCO[iFreq] << endl
605 << "BIAS CODE : " << frqStr << setw(12) << setprecision(3) << _model._codeBias[iFreq] << endl
606 << "BIAS PHASE : " << frqStr << setw(12) << setprecision(3) << _model._phaseBias[iFreq] << endl
607 << "IONO CODEDELAY: " << frqStr << setw(12) << setprecision(3) << _model._ionoCodeDelay[iFreq]<< endl;
608 }
609 }
610 }
611}
612
613//
614////////////////////////////////////////////////////////////////////////////
615void t_pppSatObs::printObsMinusComputed() const {
616// TODO: cout should be LOG
617 cout.setf(ios::fixed);
618 cout << "\nOBS-COMP for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "") << endl
619 << "========================== " << endl;
620 for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
621 t_lc::type tLC = OPT->LCs(_prn.system())[ii];
622 cout << "OBS-CMP " << setw(4) << t_lc::toString(tLC) << ": " << _prn.toString() << " "
623 << setw(12) << setprecision(3) << obsValue(tLC) << " "
624 << setw(12) << setprecision(3) << cmpValue(tLC) << " "
625 << setw(12) << setprecision(3) << obsValue(tLC) - cmpValue(tLC) << endl;
626 }
627}
628
629
630//
631////////////////////////////////////////////////////////////////////////////
632double t_pppSatObs::cmpValueForBanc(t_lc::type tLC) const {
633 return cmpValue(tLC) - _model._rho - _model._sagnac - _model._recClkM;
634}
635
636//
637////////////////////////////////////////////////////////////////////////////
638double t_pppSatObs::cmpValue(t_lc::type tLC) const {
639 double cmpValue;
640
641 if (!isValid(tLC)) {
642 cmpValue = 0.0;
643 }
644 else if (tLC == t_lc::GIM) {
645 cmpValue = _stecSat;
646 }
647 else if (tLC == t_lc::Tz0) {
648 cmpValue = _model._tropo0;
649 }
650 else {
651 // Non-Dispersive Part
652 // -------------------
653 double nonDisp = _model._rho
654 + _model._recClkM - _model._satClkM
655 + _model._sagnac + _model._antEcc + _model._tropo
656 + _model._tideEarth + _model._tideOcean + _model._rel;
657
658 // Add Dispersive Part
659 // -------------------
660 double dispPart = 0.0;
661 map<t_frequency::type, double> codeCoeff;
662 map<t_frequency::type, double> phaseCoeff;
663 map<t_frequency::type, double> ionoCoeff;
664 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
665 map<t_frequency::type, double>::const_iterator it;
666 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
667 t_frequency::type tFreq = it->first;
668 dispPart += it->second * (_model._antPCO[tFreq] - _model._codeBias[tFreq]);
669 if (OPT->PPPRTK) {
670 dispPart += it->second * (_model._ionoCodeDelay[tFreq]);
671 }
672 }
673 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
674 t_frequency::type tFreq = it->first;
675 dispPart += it->second * (_model._antPCO[tFreq] - _model._phaseBias[tFreq] +
676 _model._windUp * t_CST::lambda(tFreq, _channel));
677 if (OPT->PPPRTK) {
678 dispPart += it->second * (- _model._ionoCodeDelay[tFreq]);
679 }
680 }
681 cmpValue = nonDisp + dispPart;
682 }
683
684 return cmpValue;
685}
686
687//
688////////////////////////////////////////////////////////////////////////////
689void t_pppSatObs::setRes(t_lc::type tLC, double res) {
690 _res[tLC] = res;
691}
692
693//
694////////////////////////////////////////////////////////////////////////////
695double t_pppSatObs::getRes(t_lc::type tLC) const {
696 map<t_lc::type, double>::const_iterator it = _res.find(tLC);
697 if (it != _res.end()) {
698 return it->second;
699 }
700 else {
701 return 0.0;
702 }
703}
704
705//
706////////////////////////////////////////////////////////////////////////////
707void t_pppSatObs::setPseudoObsIono(t_frequency::type freq, double stecRefSat) {
708 _stecSat = _model._ionoCodeDelay[freq];
709 _stecRefSat = stecRefSat;
710}
711
712
713//
714////////////////////////////////////////////////////////////////////////////
715void t_pppSatObs::setPseudoObsTropo() {
716 _tropo0 = _model._tropo0;
717}
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