source: ntrip/trunk/BNC/src/PPP/pppSatObs.cpp@ 9553

Last change on this file since 9553 was 9553, checked in by stuerze, 2 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) {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 ((OPT->_obsModelType == OPT->DCMphaseBias && _prn.system() == 'R' ) &&
311 (t_lc::includesCode(tLC) || t_lc::includesPhase(tLC)) ) {
312 retVal *= 2.0;
313 }
314*/
315 // Elevation-Dependent Weighting
316 // -----------------------------
317 double cEle = 1.0;
318 if ( (OPT->_eleWgtCode && t_lc::includesCode(tLC)) ||
319 (OPT->_eleWgtPhase && t_lc::includesPhase(tLC)) ) {
320 double eleD = eleSat()*180.0/M_PI;
321 double hlp = fabs(90.0 - eleD);
322 cEle = (1.0 + hlp*hlp*hlp*0.000004);
323 }
324
325 return cEle * retVal;
326}
327
328//
329////////////////////////////////////////////////////////////////////////////
330double t_pppSatObs::maxRes(t_lc::type tLC) const {
331 double retVal = 0.0;
332
333 map<t_frequency::type, double> codeCoeff;
334 map<t_frequency::type, double> phaseCoeff;
335 map<t_frequency::type, double> ionoCoeff;
336 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
337
338 map<t_frequency::type, double>::const_iterator it;
339 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
340 retVal += it->second * it->second * OPT->_maxResC1 * OPT->_maxResC1;
341 }
342 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
343 retVal += it->second * it->second * OPT->_maxResL1 * OPT->_maxResL1;
344 }
345 if (tLC == t_lc::GIM) {
346 retVal = OPT->_maxResGIM * OPT->_maxResGIM + OPT->_maxResGIM * OPT->_maxResGIM;
347 }
348
349 retVal = sqrt(retVal);
350
351 return retVal;
352}
353
354
355//
356////////////////////////////////////////////////////////////////////////////
357t_irc t_pppSatObs::cmpModel(const t_pppStation* station) {
358
359 // Reset all model values
360 // ----------------------
361 _model.reset();
362
363 // Topocentric Satellite Position
364 // ------------------------------
365 ColumnVector rSat = _xcSat.Rows(1,3);
366 ColumnVector rRec = station->xyzApr();
367 ColumnVector rhoV = rSat - rRec;
368 _model._rho = rhoV.NormFrobenius();
369
370 ColumnVector vSat = _vvSat;
371
372 ColumnVector neu(3);
373 xyz2neu(station->ellApr().data(), rhoV.data(), neu.data());
374
375 _model._eleSat = acos(sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / _model._rho);
376 if (neu[2] < 0) {
377 _model._eleSat *= -1.0;
378 }
379 _model._azSat = atan2(neu[1], neu[0]);
380
381 // Sun unit vector
382 ColumnVector xSun = t_astro::Sun(_time.mjddec());
383 xSun /= xSun.norm_Frobenius();
384
385 // Satellite unit vectors sz, sy, sx
386 ColumnVector sz = -rSat / rSat.norm_Frobenius();
387 ColumnVector sy = crossproduct(sz, xSun);
388 ColumnVector sx = crossproduct(sy, sz);
389
390 sx /= sx.norm_Frobenius();
391 sy /= sy.norm_Frobenius();
392
393 // LOS unit vector satellite --> receiver
394 ColumnVector rho = rRec - rSat;
395 rho /= rho.norm_Frobenius();
396
397 // LOS vector in satellite frame
398 ColumnVector u(3);
399 u(1) = dotproduct(sx, rho);
400 u(2) = dotproduct(sy, rho);
401 u(3) = dotproduct(sz, rho);
402
403 // Azimuth and elevation in satellite antenna frame
404 _model._elTx = atan2(u(3),sqrt(pow(u(2),2)+pow(u(1),2)));
405 _model._azTx = atan2(u(2),u(1));
406
407
408 // Satellite Clocks
409 // ----------------
410 _model._satClkM = _xcSat[3] * t_CST::c;
411
412 // Receiver Clocks
413 // ---------------
414 _model._recClkM = station->dClk() * t_CST::c;
415
416 // Sagnac Effect (correction due to Earth rotation)
417 // ------------------------------------------------
418 ColumnVector Omega(3);
419 Omega[0] = 0.0;
420 Omega[1] = 0.0;
421 Omega[2] = t_CST::omega / t_CST::c;
422 _model._sagnac = DotProduct(Omega, crossproduct(rSat, rRec));
423
424 // Antenna Eccentricity
425 // --------------------
426 _model._antEcc = -DotProduct(station->xyzEcc(), rhoV) / _model._rho;
427
428 // Antenna Phase Center Offsets and Variations
429 // -------------------------------------------
430 if (PPP_CLIENT->antex()) {
431 for (unsigned ii = 0; ii < t_frequency::max; ii++) {
432 t_frequency::type frqType = static_cast<t_frequency::type>(ii);
433 bool found;
434 QString prn(_prn.toString().c_str());
435 _model._antPCO[ii] = PPP_CLIENT->antex()->rcvCorr(station->antName(), frqType, _model._eleSat, _model._azSat, found);
436 _model._antPCO[ii] += PPP_CLIENT->antex()->satCorr(prn, frqType, _model._elTx, _model._azTx, found);
437 if (OPT->_isAPC) {
438 // the PCOs as given in the satellite antenna correction for all frequencies
439 // have to be reduced by the PCO of the reference frequency
440 if (_prn.system() == 'G') {
441 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::G1, _model._elTx, _model._azTx, found);
442 }
443 else if (_prn.system() == 'R') {
444 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::R1, _model._elTx, _model._azTx, found);
445 }
446 else if (_prn.system() == 'E') {
447 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::E1, _model._elTx, _model._azTx, found);
448 }
449 else if (_prn.system() == 'C') {
450 _model._antPCO[ii] -= PPP_CLIENT->antex()->satCorr(prn, t_frequency::C2, _model._elTx, _model._azTx, found);
451 }
452 }
453 }
454 }
455
456 // Tropospheric Delay
457 // ------------------
458 _model._tropo = t_tropo::delay_saast(rRec, _model._eleSat);
459 _model._tropo0 = t_tropo::delay_saast(rRec, M_PI/2.0);
460
461 // Code Biases
462 // -----------
463 const t_satCodeBias* satCodeBias = PPP_CLIENT->obsPool()->satCodeBias(_prn);
464 if (satCodeBias) {
465 for (unsigned ii = 0; ii < satCodeBias->_bias.size(); ii++) {
466 const t_frqCodeBias& bias = satCodeBias->_bias[ii];
467 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
468 const t_frqObs* obs = _obs[iFreq];
469 if (obs && obs->_rnxType2ch == bias._rnxType2ch) {
470 _model._codeBias[iFreq] = bias._value;
471 }
472 }
473 }
474 }
475
476 // Phase Biases
477 // -----------
478 const t_satPhaseBias* satPhaseBias = PPP_CLIENT->obsPool()->satPhaseBias(_prn);
479 double yaw = 0.0;
480 bool ssr = false;
481 if (satPhaseBias) {
482 double dt = station->epochTime() - satPhaseBias->_time;
483 if (satPhaseBias->_updateInt) {
484 dt -= (0.5 * ssrUpdateInt[satPhaseBias->_updateInt]);
485 }
486 yaw = satPhaseBias->_yaw + satPhaseBias->_yawRate * dt;
487 ssr = true;
488 for (unsigned ii = 0; ii < satPhaseBias->_bias.size(); ii++) {
489 const t_frqPhaseBias& bias = satPhaseBias->_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._phaseBias[iFreq] = bias._value;
494 }
495 }
496 }
497 }
498
499 // Phase Wind-Up
500 // -------------
501 _model._windUp = station->windUp(_time, _prn, rSat, ssr, yaw, vSat) ;
502
503 // Relativistic effect due to earth gravity
504 // ----------------------------------------
505 double a = rSat.NormFrobenius() + rRec.NormFrobenius();
506 double b = (rSat - rRec).NormFrobenius();
507 double gm = 3.986004418e14; // m3/s2
508 _model._rel = 2 * gm / t_CST::c / t_CST::c * log((a + b) / (a - b));
509
510 // Tidal Correction
511 // ----------------
512 _model._tideEarth = -DotProduct(station->tideDsplEarth(), rhoV) / _model._rho;
513 _model._tideOcean = -DotProduct(station->tideDsplOcean(), rhoV) / _model._rho;
514
515 // Ionospheric Delay
516 // -----------------
517 const t_vTec* vTec = PPP_CLIENT->obsPool()->vTec();
518 bool vTecUsage = true;
519 for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
520 t_lc::type tLC = OPT->LCs(_prn.system())[ii];
521 if (tLC == t_lc::cIF || tLC == t_lc::lIF) {
522 vTecUsage = false;
523 }
524 }
525
526 if (vTecUsage && vTec) {
527 double stec = station->stec(vTec, _signalPropagationTime, rSat);
528 double f1GPS = t_CST::freq(t_frequency::G1, 0);
529 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
530 if (OPT->_pseudoObsIono) { // DCMcodeBias, DCMphaseBias
531 // For scaling the slant ionospheric delays the trick is to be consistent with units!
532 // The conversion of TECU into meters requires the frequency of the signal.
533 // Hence, GPS L1 frequency is used for all systems. The same is true for mu_i in lcCoeff().
534 _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(f1GPS, 2) * stec;
535 }
536 else { // PPP-RTK
537 t_frequency::type frqType = static_cast<t_frequency::type>(iFreq);
538 _model._ionoCodeDelay[iFreq] = 40.3E16 / pow(t_CST::freq(frqType, _channel), 2) * stec;
539 }
540 }
541 }
542
543 // Set Model Set Flag
544 // ------------------
545 _model._set = true;
546
547 //printModel();
548
549 return success;
550}
551
552//
553////////////////////////////////////////////////////////////////////////////
554void t_pppSatObs::printModel() const {
555
556 LOG.setf(ios::fixed);
557 LOG << "\nMODEL for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "")
558
559 << "======================= " << endl
560 << "PPP STRATEGY : " << OPT->_obsmodelTypeStr.at((int)OPT->_obsModelType).toLocal8Bit().constData()
561 << ((OPT->_pseudoObsIono) ? " with pseudo-observations for STEC" : "") << endl
562 << "RHO : " << setw(12) << setprecision(3) << _model._rho << endl
563 << "ELE : " << setw(12) << setprecision(3) << _model._eleSat * RHO_DEG << endl
564 << "AZI : " << setw(12) << setprecision(3) << _model._azSat * RHO_DEG << endl
565 << "SATCLK : " << setw(12) << setprecision(3) << _model._satClkM << endl
566 << "RECCLK : " << setw(12) << setprecision(3) << _model._recClkM << endl
567 << "SAGNAC : " << setw(12) << setprecision(3) << _model._sagnac << endl
568 << "ANTECC : " << setw(12) << setprecision(3) << _model._antEcc << endl
569 << "TROPO : " << setw(12) << setprecision(3) << _model._tropo << endl
570 << "WINDUP : " << setw(12) << setprecision(3) << _model._windUp << endl
571 << "REL : " << setw(12) << setprecision(3) << _model._rel << endl
572 << "EARTH TIDES : " << setw(12) << setprecision(3) << _model._tideEarth << endl
573 << "OCEAN TIDES : " << setw(12) << setprecision(3) << _model._tideOcean << endl
574 << endl
575 << "FREQUENCY DEPENDENT CORRECTIONS:" << endl
576 << "-------------------------------" << endl;
577 for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) {
578 if (_obs[iFreq]) {
579 string frqStr = t_frequency::toString(t_frequency::type(iFreq));
580 if (_prn.system() == frqStr[0]) {
581 LOG << "PCO : " << frqStr << setw(12) << setprecision(3) << _model._antPCO[iFreq] << endl
582 << "BIAS CODE : " << frqStr << setw(12) << setprecision(3) << _model._codeBias[iFreq] << endl
583 << "BIAS PHASE : " << frqStr << setw(12) << setprecision(3) << _model._phaseBias[iFreq] << endl
584 << "IONO CODEDELAY: " << frqStr << setw(12) << setprecision(3) << _model._ionoCodeDelay[iFreq]<< endl;
585 }
586 }
587 }
588}
589
590//
591////////////////////////////////////////////////////////////////////////////
592void t_pppSatObs::printObsMinusComputed() const {
593// TODO: cout should be LOG
594 cout.setf(ios::fixed);
595 cout << "\nOBS-COMP for Satellite " << _prn.toString() << (isReference() ? " (Reference Satellite)" : "") << endl
596 << "========================== " << endl;
597 for (unsigned ii = 0; ii < OPT->LCs(_prn.system()).size(); ii++) {
598 t_lc::type tLC = OPT->LCs(_prn.system())[ii];
599 cout << "OBS-CMP " << setw(4) << t_lc::toString(tLC) << ": " << _prn.toString() << " "
600 << setw(12) << setprecision(3) << obsValue(tLC) << " "
601 << setw(12) << setprecision(3) << cmpValue(tLC) << " "
602 << setw(12) << setprecision(3) << obsValue(tLC) - cmpValue(tLC) << endl;
603 }
604}
605
606
607//
608////////////////////////////////////////////////////////////////////////////
609double t_pppSatObs::cmpValueForBanc(t_lc::type tLC) const {
610 return cmpValue(tLC) - _model._rho - _model._sagnac - _model._recClkM;
611}
612
613//
614////////////////////////////////////////////////////////////////////////////
615double t_pppSatObs::cmpValue(t_lc::type tLC) const {
616 double cmpValue;
617
618 if (!isValid(tLC)) {
619 cmpValue = 0.0;
620 }
621 else if (tLC == t_lc::GIM) {
622 cmpValue = _stecSat;
623 }
624 else {
625 // Non-Dispersive Part
626 // -------------------
627 double nonDisp = _model._rho
628 + _model._recClkM - _model._satClkM
629 + _model._sagnac + _model._antEcc + _model._tropo
630 + _model._tideEarth + _model._tideOcean + _model._rel;
631
632 // Add Dispersive Part
633 // -------------------
634 double dispPart = 0.0;
635 map<t_frequency::type, double> codeCoeff;
636 map<t_frequency::type, double> phaseCoeff;
637 map<t_frequency::type, double> ionoCoeff;
638 lcCoeff(tLC, codeCoeff, phaseCoeff, ionoCoeff);
639 map<t_frequency::type, double>::const_iterator it;
640 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
641 t_frequency::type tFreq = it->first;
642 dispPart += it->second * (_model._antPCO[tFreq] - _model._codeBias[tFreq]);
643 if (OPT->PPPRTK) {
644 dispPart += it->second * (_model._ionoCodeDelay[tFreq]);
645 }
646 }
647 for (it = phaseCoeff.begin(); it != phaseCoeff.end(); it++) {
648 t_frequency::type tFreq = it->first;
649 dispPart += it->second * (_model._antPCO[tFreq] - _model._phaseBias[tFreq] +
650 _model._windUp * t_CST::lambda(tFreq, _channel));
651 if (OPT->PPPRTK) {
652 dispPart += it->second * (- _model._ionoCodeDelay[tFreq]);
653 }
654 }
655 cmpValue = nonDisp + dispPart;
656 }
657
658 return cmpValue;
659}
660
661//
662////////////////////////////////////////////////////////////////////////////
663void t_pppSatObs::setRes(t_lc::type tLC, double res) {
664 _res[tLC] = res;
665}
666
667//
668////////////////////////////////////////////////////////////////////////////
669double t_pppSatObs::getRes(t_lc::type tLC) const {
670 map<t_lc::type, double>::const_iterator it = _res.find(tLC);
671 if (it != _res.end()) {
672 return it->second;
673 }
674 else {
675 return 0.0;
676 }
677}
678
679//
680////////////////////////////////////////////////////////////////////////////
681void t_pppSatObs::setPseudoObsIono(t_frequency::type freq, double stecRefSat) {
682 _stecSat = _model._ionoCodeDelay[freq];
683 _stecRefSat = stecRefSat;
684}
685
686
687//
688////////////////////////////////////////////////////////////////////////////
689void t_pppSatObs::setPseudoObsTropo() {
690 _tropo0 = _model._tropo0;
691}
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