source: ntrip/trunk/BNC/src/PPP/pppSatObs.cpp@ 9548

Last change on this file since 9548 was 9548, checked in by stuerze, 9 months 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) {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::dummy:
194 case t_lc::maxLc:
195 return;
196 }
197}
198
199//
200////////////////////////////////////////////////////////////////////////////
201bool t_pppSatObs::isValid(t_lc::type tLC) const {
202 bool valid = true;
203 obsValue(tLC, &valid);
204
205 return valid;
206}
207//
208////////////////////////////////////////////////////////////////////////////
209double t_pppSatObs::obsValue(t_lc::type tLC, bool* valid) const {
210
211 double retVal = 0.0;
212 if (valid) *valid = true;
213
214 // Pseudo observations
215 if (tLC == t_lc::GIM) {
216 if (_stecRefSat == 0.0 || _stecSat == 0.0) {
217 if (valid) *valid = false;
218 return 0.0;
219 }
220 else {
221 return _stecRefSat;
222 }
223 }
224
225 map<t_frequency::type, double> codeCoeff;
226 map<t_frequency::type, double> phaseCoeff;
227 map<t_frequency::type, double> ionoCoeff;
228 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
229
230 map<t_frequency::type, double>::const_iterator it;
231
232 // Code observations
233 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
234 t_frequency::type tFreq = it->first;
235 if (_obs[tFreq] == 0) {
236 if (valid) *valid = false;
237 return 0.0;
238 }
239 else {
240 retVal += it->second * _obs[tFreq]->_code;
241 }
242 }
243 // Phase observations
244 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
245 t_frequency::type tFreq = it->first;
246 if (_obs[tFreq] == 0) {
247 if (valid) *valid = false;
248 return 0.0;
249 }
250 else {
251 retVal += it->second * _obs[tFreq]->_phase * t_CST::lambda(tFreq, _channel);
252 }
253 }
254 return retVal;
255}
256
257//
258////////////////////////////////////////////////////////////////////////////
259double t_pppSatObs::lambda(t_lc::type tLC) const {
260
261 double f1 = t_CST::freq(_fType1, _channel);
262 double f2 = t_CST::freq(_fType2, _channel);
263
264 if (tLC == t_lc::l1) {
265 return t_CST::c / f1;
266 }
267 else if (tLC == t_lc::l2) {
268 return t_CST::c / f2;
269 }
270 else if (tLC == t_lc::lIF) {
271 return t_CST::c / (f1 + f2);
272 }
273 else if (tLC == t_lc::MW) {
274 return t_CST::c / (f1 - f2);
275 }
276 else if (tLC == t_lc::CL) {
277 return t_CST::c / f1 / 2.0;
278 }
279
280 return 0.0;
281}
282
283//
284////////////////////////////////////////////////////////////////////////////
285double t_pppSatObs::sigma(t_lc::type tLC) const {
286
287 double retVal = 0.0;
288 map<t_frequency::type, double> codeCoeff;
289 map<t_frequency::type, double> phaseCoeff;
290 map<t_frequency::type, double> ionoCoeff;
291 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
292
293 if (tLC == t_lc::GIM) {
294 retVal = OPT->_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM;
295 }
296
297 map<t_frequency::type, double>::const_iterator it;
298 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
299 retVal += it->second * it->second * OPT->_sigmaC1 * OPT->_sigmaC1;
300 }
301
302 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
303 retVal += it->second * it->second * OPT->_sigmaL1 * OPT->_sigmaL1;
304 }
305
306 retVal = sqrt(retVal);
307/*
308 // De-Weight GLONASS
309 // -----------------
310 if (_prn.system() == 'R' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
311 retVal *= 5.0;
312 }
313
314 // De-Weight BDS
315 // -------------
316 if (_prn.system() == 'C' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
317 retVal *= 2.0;
318 }
319*/
320 // Elevation-Dependent Weighting
321 // -----------------------------
322 double cEle = 1.0;
323 if ( (OPT->_eleWgtCode && t_lc::includesCode(tLC)) ||
324 (OPT->_eleWgtPhase && t_lc::includesPhase(tLC)) ) {
325 double eleD = eleSat()*180.0/M_PI;
326 double hlp = fabs(90.0 - eleD);
327 cEle = (1.0 + hlp*hlp*hlp*0.000004);
328 }
329
330 return cEle * retVal;
331}
332
333//
334////////////////////////////////////////////////////////////////////////////
335double t_pppSatObs::maxRes(t_lc::type tLC) const {
336 double retVal = 0.0;
337
338 map<t_frequency::type, double> codeCoeff;
339 map<t_frequency::type, double> phaseCoeff;
340 map<t_frequency::type, double> ionoCoeff;
341 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
342
343 map<t_frequency::type, double>::const_iterator it;
344 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
345 retVal += it->second * it->second * OPT->_maxResC1 * OPT->_maxResC1;
346 }
347 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
348 retVal += it->second * it->second * OPT->_maxResL1 * OPT->_maxResL1;
349 }
350 if (tLC == t_lc::GIM) {
351 retVal = 3.0 * (OPT->_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM);
352 }
353
354 retVal = sqrt(retVal);
355/*
356 // De-Weight GLONASS
357 // -----------------
358 if (_prn.system() == 'R' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
359 retVal *= 5.0;
360 }
361
362 // De-Weight BDS
363 // -------------
364 if (_prn.system() == 'C' && (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC))) {
365 retVal *= 2.0;
366 }
367*/
368
369 return retVal;
370}
371
372
373//
374////////////////////////////////////////////////////////////////////////////
375t_irc t_pppSatObs::cmpModel(const t_pppStation* station) {
376
377 // Reset all model values
378 // ----------------------
379 _model.reset();
380
381 // Topocentric Satellite Position
382 // ------------------------------
383 ColumnVector rSat = _xcSat.Rows(1,3);
384 ColumnVector rRec = station->xyzApr();
385 ColumnVector rhoV = rSat - rRec;
386 _model._rho = rhoV.NormFrobenius();
387
388 ColumnVector vSat = _vvSat;
389
390 ColumnVector neu(3);
391 xyz2neu(station->ellApr().data(), rhoV.data(), neu.data());
392
393 _model._eleSat = acos(sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / _model._rho);
394 if (neu[2] < 0) {
395 _model._eleSat *= -1.0;
396 }
397 _model._azSat = atan2(neu[1], neu[0]);
398
399 // Sun unit vector
400 ColumnVector xSun = t_astro::Sun(_time.mjddec());
401 xSun /= xSun.norm_Frobenius();
402
403 // Satellite unit vectors sz, sy, sx
404 ColumnVector sz = -rSat / rSat.norm_Frobenius();
405 ColumnVector sy = crossproduct(sz, xSun);
406 ColumnVector sx = crossproduct(sy, sz);
407
408 sx /= sx.norm_Frobenius();
409 sy /= sy.norm_Frobenius();
410
411 // LOS unit vector satellite --> receiver
412 ColumnVector rho = rRec - rSat;
413 rho /= rho.norm_Frobenius();
414
415 // LOS vector in satellite frame
416 ColumnVector u(3);
417 u(1) = dotproduct(sx, rho);
418 u(2) = dotproduct(sy, rho);
419 u(3) = dotproduct(sz, rho);
420
421 // Azimuth and elevation in satellite antenna frame
422 _model._elTx = atan2(u(3),sqrt(pow(u(2),2)+pow(u(1),2)));
423 _model._azTx = atan2(u(2),u(1));
424
425
426 // Satellite Clocks
427 // ----------------
428 _model._satClkM = _xcSat[3] * t_CST::c;
429
430 // Receiver Clocks
431 // ---------------
432 _model._recClkM = station->dClk() * t_CST::c;
433
434 // Sagnac Effect (correction due to Earth rotation)
435 // ------------------------------------------------
436 ColumnVector Omega(3);
437 Omega[0] = 0.0;
438 Omega[1] = 0.0;
439 Omega[2] = t_CST::omega / t_CST::c;
440 _model._sagnac = DotProduct(Omega, crossproduct(rSat, rRec));
441
442 // Antenna Eccentricity
443 // --------------------
444 _model._antEcc = -DotProduct(station->xyzEcc(), rhoV) / _model._rho;
445
446 // Antenna Phase Center Offsets and Variations
447 // -------------------------------------------
448 if (PPP_CLIENT->antex()) {
449 for (unsigned ii = 0; ii < t_frequency::max; ii++) {
450 t_frequency::type frqType = static_cast<t_frequency::type>(ii);
451 bool found;
452 QString prn(_prn.toString().c_str());
453 _model._antPCO[ii] = PPP_CLIENT->antex()->rcvCorr(station->antName(), frqType, _model._eleSat, _model._azSat, found);
454 _model._antPCO[ii] += PPP_CLIENT->antex()->satCorr(prn, frqType, _model._elTx, _model._azTx, found);
455 if (OPT->_isAPC) {
456 // the PCOs as given in the satellite antenna correction for all frequencies
457 // have to be reduced by the PCO of the reference frequency
458 if (_prn.system() == 'G') {
459 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::G1, _model._elTx, _model._azTx, found);
460 }
461 else if (_prn.system() == 'R') {
462 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::R1, _model._elTx, _model._azTx, found);
463 }
464 else if (_prn.system() == 'E') {
465 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::E1, _model._elTx, _model._azTx, found);
466 }
467 else if (_prn.system() == 'C') {
468 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::C2, _model._elTx, _model._azTx, found);
469 }
470 }
471 }
472 }
473
474 // Tropospheric Delay
475 // ------------------
476 _model._tropo = t_tropo::delay_saast(rRec, _model._eleSat);
477 _model._tropo0 = t_tropo::delay_saast(rRec, M_PI/2.0);
478
479 // Code Biases
480 // -----------
481 const t_satCodeBias* satCodeBias = PPP_CLIENT->obsPool()->satCodeBias(_prn);
482 if (satCodeBias) {
483 for (unsigned ii = 0; ii < satCodeBias->_bias.size(); ii++) {
484 const t_frqCodeBias& bias = satCodeBias->_bias[ii];
485 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
486 const t_frqObs* obs = _obs[iFreq];
487 if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
488 _model._codeBias[iFreq] = bias._value;
489 }
490 }
491 }
492 }
493
494 // Phase Biases
495 // -----------
496 const t_satPhaseBias* satPhaseBias = PPP_CLIENT->obsPool()->satPhaseBias(_prn);
497 double yaw = 0.0;
498 bool ssr = false;
499 if (satPhaseBias) {
500 double dt = station->epochTime() - satPhaseBias->_time;
501 if (satPhaseBias->_updateInt) {
502 dt -= (0.5 * ssrUpdateInt[satPhaseBias->_updateInt]);
503 }
504 yaw = satPhaseBias->_yaw + satPhaseBias->_yawRate * dt;
505 ssr = true;
506 for (unsigned ii = 0; ii < satPhaseBias->_bias.size(); ii++) {
507 const t_frqPhaseBias& bias = satPhaseBias->_bias[ii];
508 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
509 const t_frqObs* obs = _obs[iFreq];
510 if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
511 _model._phaseBias[iFreq] = bias._value;
512 }
513 }
514 }
515 }
516
517 // Phase Wind-Up
518 // -------------
519 _model._windUp = station->windUp(_time, _prn, rSat, ssr, yaw, vSat) ;
520
521 // Relativistic effect due to earth gravity
522 // ----------------------------------------
523 double a = rSat.NormFrobenius() + rRec.NormFrobenius();
524 double b = (rSat - rRec).NormFrobenius();
525 double gm = 3.986004418e14; // m3/s2
526 _model._rel = 2 * gm / t_CST::c / t_CST::c * log((a + b) / (a - b));
527
528 // Tidal Correction
529 // ----------------
530 _model._tideEarth = -DotProduct(station->tideDsplEarth(), rhoV) / _model._rho;
531 _model._tideOcean = -DotProduct(station->tideDsplOcean(), rhoV) / _model._rho;
532
533 // Ionospheric Delay
534 // -----------------
535 const t_vTec* vTec = PPP_CLIENT->obsPool()->vTec();
536 bool vTecUsage = true;
537 for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
538 t_lc::type tLC = OPT->LCs(_prn.system())[ii];
539 if (tLC == t_lc::cIF || tLC == t_lc::lIF) {
540 vTecUsage = false;
541 }
542 }
543
544 if (vTecUsage && vTec) {
545 double stec = station->stec(vTec, _signalPropagationTime, rSat);
546 double f1GPS = t_CST::freq(t_frequency::G1, 0);
547 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
548 if (OPT->_pseudoObsIono) { // DCMcodeBias, DCMphaseBias
549 // For scaling the slant ionospheric delays the trick is to be consistent with units!
550 // The conversion of TECU into meters requires the frequency of the signal.
551 // Hence, GPS L1 frequency is used for all systems. The same is true for mu_i in lcCoeff().
552 _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(f1GPS, 2) * stec;
553 }
554 else { // PPP-RTK
555 t_frequency::type frqType = static_cast<t_frequency::type>(iFreq);
556 _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(t_CST::freq(frqType, _channel), 2) * stec;
557 }
558 }
559 }
560
561 // Set Model Set Flag
562 // ------------------
563 _model._set = true;
564
565 //printModel();
566
567 return success;
568}
569
570//
571////////////////////////////////////////////////////////////////////////////
572void t_pppSatObs::printModel() const {
573
574 LOG.setf(ios::fixed);
575 LOG << "\nMODEL for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "")
576
577 << "======================= " << endl
578 << "PPP STRATEGY : " << OPT->_obsmodelTypeStr.at((int)OPT->_obsModelType).toLocal8Bit().constData()
579 << ((OPT->_pseudoObsIono) ? " with pseudo-observations for STEC" : "") << endl
580 << "RHO : " << setw(12) << setprecision(3) << _model._rho << endl
581 << "ELE : " << setw(12) << setprecision(3) << _model._eleSat * RHO_DEG << endl
582 << "AZI : " << setw(12) << setprecision(3) << _model._azSat * RHO_DEG << endl
583 << "SATCLK : " << setw(12) << setprecision(3) << _model._satClkM << endl
584 << "RECCLK : " << setw(12) << setprecision(3) << _model._recClkM << endl
585 << "SAGNAC : " << setw(12) << setprecision(3) << _model._sagnac << endl
586 << "ANTECC : " << setw(12) << setprecision(3) << _model._antEcc << endl
587 << "TROPO : " << setw(12) << setprecision(3) << _model._tropo << endl
588 << "WINDUP : " << setw(12) << setprecision(3) << _model._windUp << endl
589 << "REL : " << setw(12) << setprecision(3) << _model._rel << endl
590 << "EARTH TIDES : " << setw(12) << setprecision(3) << _model._tideEarth << endl
591 << "OCEAN TIDES : " << setw(12) << setprecision(3) << _model._tideOcean << endl
592 << endl
593 << "FREQUENCY DEPENDENT CORRECTIONS:" << endl
594 << "-------------------------------" << endl;
595 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
596 if (_obs[iFreq]) {
597 string frqStr = t_frequency::toString(t_frequency::type(iFreq));
598 if (_prn.system() == frqStr[0]) {
599 LOG << "PCO : " << frqStr << setw(12) << setprecision(3) << _model._antPCO[iFreq] << endl
600 << "BIAS CODE : " << frqStr << setw(12) << setprecision(3) << _model._codeBias[iFreq] << endl
601 << "BIAS PHASE : " << frqStr << setw(12) << setprecision(3) << _model._phaseBias[iFreq] << endl
602 << "IONO CODEDELAY: " << frqStr << setw(12) << setprecision(3) << _model._ionoCodeDelay[iFreq]<< endl;
603 }
604 }
605 }
606}
607
608//
609////////////////////////////////////////////////////////////////////////////
610void t_pppSatObs::printObsMinusComputed() const {
611// TODO: cout should be LOG
612 cout.setf(ios::fixed);
613 cout << "\nOBS-COMP for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "") << endl
614 << "========================== " << endl;
615 for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
616 t_lc::type tLC = OPT->LCs(_prn.system())[ii];
617 cout << "OBS-CMP " << setw(4) << t_lc::toString(tLC) << ": " << _prn.toString() << " "
618 << setw(12) << setprecision(3) << obsValue(tLC) << " "
619 << setw(12) << setprecision(3) << cmpValue(tLC) << " "
620 << setw(12) << setprecision(3) << obsValue(tLC) - cmpValue(tLC) << endl;
621 }
622}
623
624
625//
626////////////////////////////////////////////////////////////////////////////
627double t_pppSatObs::cmpValueForBanc(t_lc::type tLC) const {
628 return cmpValue(tLC) - _model._rho - _model._sagnac - _model._recClkM;
629}
630
631//
632////////////////////////////////////////////////////////////////////////////
633double t_pppSatObs::cmpValue(t_lc::type tLC) const {
634 double cmpValue;
635
636 if (!isValid(tLC)) {
637 cmpValue = 0.0;
638 }
639 else if (tLC == t_lc::GIM) {
640 cmpValue = _stecSat;
641 }
642 else {
643 // Non-Dispersive Part
644 // -------------------
645 double nonDisp = _model._rho
646 + _model._recClkM - _model._satClkM
647 + _model._sagnac + _model._antEcc + _model._tropo
648 + _model._tideEarth + _model._tideOcean + _model._rel;
649
650 // Add Dispersive Part
651 // -------------------
652 double dispPart = 0.0;
653 map<t_frequency::type, double> codeCoeff;
654 map<t_frequency::type, double> phaseCoeff;
655 map<t_frequency::type, double> ionoCoeff;
656 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
657 map<t_frequency::type, double>::const_iterator it;
658 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
659 t_frequency::type tFreq = it->first;
660 dispPart += it->second * (_model._antPCO[tFreq] - _model._codeBias[tFreq]);
661 if (OPT->PPPRTK) {
662 dispPart += it->second * (_model._ionoCodeDelay[tFreq]);
663 }
664 }
665 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
666 t_frequency::type tFreq = it->first;
667 dispPart += it->second * (_model._antPCO[tFreq] - _model._phaseBias[tFreq] +
668 _model._windUp * t_CST::lambda(tFreq, _channel));
669 if (OPT->PPPRTK) {
670 dispPart += it->second * (- _model._ionoCodeDelay[tFreq]);
671 }
672 }
673 cmpValue = nonDisp + dispPart;
674 }
675
676 return cmpValue;
677}
678
679//
680////////////////////////////////////////////////////////////////////////////
681void t_pppSatObs::setRes(t_lc::type tLC, double res) {
682 _res[tLC] = res;
683}
684
685//
686////////////////////////////////////////////////////////////////////////////
687double t_pppSatObs::getRes(t_lc::type tLC) const {
688 map<t_lc::type, double>::const_iterator it = _res.find(tLC);
689 if (it != _res.end()) {
690 return it->second;
691 }
692 else {
693 return 0.0;
694 }
695}
696
697//
698////////////////////////////////////////////////////////////////////////////
699void t_pppSatObs::setPseudoObsIono(t_frequency::type freq, double stecRefSat) {
700 _stecSat = _model._ionoCodeDelay[freq];
701 _stecRefSat = stecRefSat;
702}
703
704
705//
706////////////////////////////////////////////////////////////////////////////
707void t_pppSatObs::setPseudoObsTropo() {
708 _tropo0 = _model._tropo0;
709}
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