[7235] | 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: t_pppParam, t_pppFilter
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| 30 | *
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| 31 | * Purpose: Model for PPP
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 01-Dec-2009
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| 36 | *
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[7287] | 37 | * Changes:
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[7235] | 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <iomanip>
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| 42 | #include <cmath>
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| 43 | #include <sstream>
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| 44 | #include <newmatio.h>
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| 45 | #include <newmatap.h>
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| 46 |
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| 47 | #include "pppFilter.h"
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| 48 | #include "pppClient.h"
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| 49 | #include "bncutils.h"
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| 50 | #include "bncantex.h"
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| 51 | #include "pppOptions.h"
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| 52 | #include "pppModel.h"
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| 53 |
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| 54 | using namespace BNC_PPP;
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| 55 | using namespace std;
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| 56 |
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[7952] | 57 | const double GLONASS_WEIGHT_FACTOR = 5.0;
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[9481] | 58 | const double BDS_WEIGHT_FACTOR = 2.0; // 5.0;
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[7235] | 59 |
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| 60 | #define LOG (_pppClient->log())
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| 61 | #define OPT (_pppClient->opt())
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| 62 |
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| 63 | // Constructor
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| 64 | ////////////////////////////////////////////////////////////////////////////
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[7287] | 65 | t_pppParam::t_pppParam(t_pppParam::parType typeIn, int indexIn,
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[7235] | 66 | const QString& prnIn) {
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| 67 | type = typeIn;
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| 68 | index = indexIn;
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| 69 | prn = prnIn;
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| 70 | index_old = 0;
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| 71 | xx = 0.0;
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| 72 | numEpo = 0;
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| 73 | }
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| 74 |
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| 75 | // Destructor
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| 76 | ////////////////////////////////////////////////////////////////////////////
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| 77 | t_pppParam::~t_pppParam() {
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| 78 | }
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| 79 |
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| 80 | // Partial
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| 81 | ////////////////////////////////////////////////////////////////////////////
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| 82 | double t_pppParam::partial(t_satData* satData, bool phase) {
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| 83 |
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| 84 | Tracer tracer("t_pppParam::partial");
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| 85 |
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| 86 | // Coordinates
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| 87 | // -----------
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| 88 | if (type == CRD_X) {
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[7287] | 89 | return (xx - satData->xx(1)) / satData->rho;
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[7235] | 90 | }
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| 91 | else if (type == CRD_Y) {
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[7287] | 92 | return (xx - satData->xx(2)) / satData->rho;
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[7235] | 93 | }
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| 94 | else if (type == CRD_Z) {
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[7287] | 95 | return (xx - satData->xx(3)) / satData->rho;
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[7235] | 96 | }
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| 97 |
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| 98 | // Receiver Clocks
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| 99 | // ---------------
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| 100 | else if (type == RECCLK) {
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| 101 | return 1.0;
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| 102 | }
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| 103 |
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| 104 | // Troposphere
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| 105 | // -----------
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| 106 | else if (type == TROPO) {
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[7287] | 107 | return 1.0 / sin(satData->eleSat);
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[7235] | 108 | }
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| 109 |
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| 110 | // Glonass Offset
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| 111 | // --------------
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| 112 | else if (type == GLONASS_OFFSET) {
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| 113 | if (satData->prn[0] == 'R') {
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| 114 | return 1.0;
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| 115 | }
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| 116 | else {
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| 117 | return 0.0;
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| 118 | }
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| 119 | }
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| 120 |
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| 121 | // Galileo Offset
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| 122 | // --------------
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| 123 | else if (type == GALILEO_OFFSET) {
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| 124 | if (satData->prn[0] == 'E') {
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| 125 | return 1.0;
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| 126 | }
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| 127 | else {
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| 128 | return 0.0;
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| 129 | }
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| 130 | }
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| 131 |
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| 132 | // BDS Offset
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| 133 | // ----------
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| 134 | else if (type == BDS_OFFSET) {
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| 135 | if (satData->prn[0] == 'C') {
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| 136 | return 1.0;
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| 137 | }
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| 138 | else {
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| 139 | return 0.0;
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| 140 | }
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| 141 | }
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| 142 |
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| 143 | // Ambiguities
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| 144 | // -----------
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| 145 | else if (type == AMB_L3) {
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| 146 | if (phase && satData->prn == prn) {
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| 147 | return 1.0;
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| 148 | }
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| 149 | else {
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| 150 | return 0.0;
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| 151 | }
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| 152 | }
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| 153 |
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| 154 | // Default return
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| 155 | // --------------
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| 156 | return 0.0;
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| 157 | }
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| 158 |
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| 159 | // Constructor
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| 160 | ////////////////////////////////////////////////////////////////////////////
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| 161 | t_pppFilter::t_pppFilter(t_pppClient* pppClient) {
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| 162 |
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| 163 | _pppClient = pppClient;
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| 164 | _tides = new t_tides();
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| 165 |
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| 166 | // Antenna Name, ANTEX File
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| 167 | // ------------------------
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| 168 | _antex = 0;
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| 169 | if (!OPT->_antexFileName.empty()) {
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| 170 | _antex = new bncAntex(OPT->_antexFileName.c_str());
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| 171 | }
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| 172 |
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| 173 | // Bancroft Coordinates
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| 174 | // --------------------
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| 175 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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| 176 | _ellBanc.ReSize(3); _ellBanc = 0.0;
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| 177 |
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| 178 | // Save copy of data (used in outlier detection)
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| 179 | // ---------------------------------------------
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| 180 | _epoData_sav = new t_epoData();
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| 181 |
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| 182 | // Some statistics
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| 183 | // ---------------
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| 184 | _neu.ReSize(3); _neu = 0.0;
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| 185 | _numSat = 0;
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[7929] | 186 | _hDop = 0.0;
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[7235] | 187 | }
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| 188 |
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| 189 | // Destructor
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| 190 | ////////////////////////////////////////////////////////////////////////////
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| 191 | t_pppFilter::~t_pppFilter() {
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| 192 | delete _tides;
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| 193 | delete _antex;
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| 194 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 195 | delete _params[iPar-1];
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| 196 | }
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| 197 | for (int iPar = 1; iPar <= _params_sav.size(); iPar++) {
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| 198 | delete _params_sav[iPar-1];
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| 199 | }
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| 200 | delete _epoData_sav;
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| 201 | }
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| 202 |
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| 203 | // Reset Parameters and Variance-Covariance Matrix
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| 204 | ////////////////////////////////////////////////////////////////////////////
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| 205 | void t_pppFilter::reset() {
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| 206 |
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| 207 | Tracer tracer("t_pppFilter::reset");
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| 208 |
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| 209 | double lastTrp = 0.0;
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| 210 | for (int ii = 0; ii < _params.size(); ii++) {
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| 211 | t_pppParam* pp = _params[ii];
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| 212 | if (pp->type == t_pppParam::TROPO) {
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| 213 | lastTrp = pp->xx;
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| 214 | }
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| 215 | delete pp;
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| 216 | }
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| 217 | _params.clear();
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| 218 |
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| 219 | int nextPar = 0;
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| 220 | _params.push_back(new t_pppParam(t_pppParam::CRD_X, ++nextPar, ""));
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| 221 | _params.push_back(new t_pppParam(t_pppParam::CRD_Y, ++nextPar, ""));
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| 222 | _params.push_back(new t_pppParam(t_pppParam::CRD_Z, ++nextPar, ""));
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| 223 | _params.push_back(new t_pppParam(t_pppParam::RECCLK, ++nextPar, ""));
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| 224 | if (OPT->estTrp()) {
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| 225 | _params.push_back(new t_pppParam(t_pppParam::TROPO, ++nextPar, ""));
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| 226 | }
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| 227 | if (OPT->useSystem('R')) {
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| 228 | _params.push_back(new t_pppParam(t_pppParam::GLONASS_OFFSET, ++nextPar, ""));
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| 229 | }
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| 230 | if (OPT->useSystem('E')) {
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| 231 | _params.push_back(new t_pppParam(t_pppParam::GALILEO_OFFSET, ++nextPar, ""));
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| 232 | }
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| 233 | if (OPT->useSystem('C')) {
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| 234 | _params.push_back(new t_pppParam(t_pppParam::BDS_OFFSET, ++nextPar, ""));
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| 235 | }
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| 236 |
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[7287] | 237 | _QQ.ReSize(_params.size());
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[7235] | 238 | _QQ = 0.0;
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| 239 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 240 | t_pppParam* pp = _params[iPar-1];
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| 241 | pp->xx = 0.0;
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| 242 | if (pp->isCrd()) {
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[7287] | 243 | _QQ(iPar,iPar) = OPT->_aprSigCrd(1) * OPT->_aprSigCrd(1);
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[7235] | 244 | }
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| 245 | else if (pp->type == t_pppParam::RECCLK) {
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[9305] | 246 | _QQ(iPar,iPar) = OPT->_aprSigClk * OPT->_aprSigClk;
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[7235] | 247 | }
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| 248 | else if (pp->type == t_pppParam::TROPO) {
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[7287] | 249 | _QQ(iPar,iPar) = OPT->_aprSigTrp * OPT->_aprSigTrp;
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[7235] | 250 | pp->xx = lastTrp;
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| 251 | }
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| 252 | else if (pp->type == t_pppParam::GLONASS_OFFSET) {
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| 253 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
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| 254 | }
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| 255 | else if (pp->type == t_pppParam::GALILEO_OFFSET) {
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| 256 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
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| 257 | }
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| 258 | else if (pp->type == t_pppParam::BDS_OFFSET) {
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| 259 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
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| 260 | }
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| 261 | }
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| 262 | }
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| 263 |
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| 264 | // Bancroft Solution
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| 265 | ////////////////////////////////////////////////////////////////////////////
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| 266 | t_irc t_pppFilter::cmpBancroft(t_epoData* epoData) {
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| 267 |
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| 268 | Tracer tracer("t_pppFilter::cmpBancroft");
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| 269 |
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| 270 | if (int(epoData->sizeSys('G')) < OPT->_minObs) {
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| 271 | LOG << "t_pppFilter::cmpBancroft: not enough data\n";
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| 272 | return failure;
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| 273 | }
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| 274 |
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| 275 | Matrix BB(epoData->sizeSys('G'), 4);
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| 276 |
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| 277 | QMapIterator<QString, t_satData*> it(epoData->satData);
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| 278 | int iObsBanc = 0;
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| 279 | while (it.hasNext()) {
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| 280 | it.next();
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| 281 | t_satData* satData = it.value();
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| 282 | if (satData->system() == 'G') {
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| 283 | ++iObsBanc;
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| 284 | QString prn = it.key();
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| 285 | BB(iObsBanc, 1) = satData->xx(1);
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| 286 | BB(iObsBanc, 2) = satData->xx(2);
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| 287 | BB(iObsBanc, 3) = satData->xx(3);
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| 288 | BB(iObsBanc, 4) = satData->P3 + satData->clk;
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| 289 | }
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| 290 | }
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| 291 |
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| 292 | bancroft(BB, _xcBanc);
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| 293 |
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[8253] | 294 | if (std::isnan(_xcBanc(1)) ||
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| 295 | std::isnan(_xcBanc(2)) ||
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| 296 | std::isnan(_xcBanc(3))) {
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[7852] | 297 | return failure;
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| 298 | }
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| 299 |
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[7235] | 300 | // Ellipsoidal Coordinates
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| 301 | // ------------------------
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| 302 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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| 303 |
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| 304 | // Compute Satellite Elevations
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| 305 | // ----------------------------
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| 306 | QMutableMapIterator<QString, t_satData*> im(epoData->satData);
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| 307 | while (im.hasNext()) {
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| 308 | im.next();
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| 309 | t_satData* satData = im.value();
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| 310 | cmpEle(satData);
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| 311 | if (satData->eleSat < OPT->_minEle) {
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| 312 | delete satData;
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| 313 | im.remove();
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| 314 | }
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| 315 | }
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| 316 |
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| 317 | return success;
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| 318 | }
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| 319 |
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| 320 | // Computed Value
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| 321 | ////////////////////////////////////////////////////////////////////////////
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| 322 | double t_pppFilter::cmpValue(t_satData* satData, bool phase) {
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| 323 |
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| 324 | Tracer tracer("t_pppFilter::cmpValue");
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| 325 |
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| 326 | ColumnVector xRec(3);
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| 327 | xRec(1) = x();
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| 328 | xRec(2) = y();
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| 329 | xRec(3) = z();
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| 330 |
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[8901] | 331 | double rho0 = (satData->xx - xRec).NormFrobenius();
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[7287] | 332 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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[7235] | 333 |
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[7287] | 334 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
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| 335 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
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[7235] | 336 | xRec(3) = z();
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| 337 |
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[9041] | 338 | xRec += _tides->earth(_time, xRec);
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[7235] | 339 |
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[8901] | 340 | satData->rho = (satData->xx - xRec).NormFrobenius();
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[7235] | 341 |
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[7287] | 342 | double tropDelay = delay_saast(satData->eleSat) +
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[7235] | 343 | trp() / sin(satData->eleSat);
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| 344 |
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| 345 | double wind = 0.0;
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| 346 | if (phase) {
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| 347 | wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
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| 348 | }
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| 349 |
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| 350 | double offset = 0.0;
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[9481] | 351 |
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| 352 | t_frequency::type frqA;
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| 353 | t_frequency::type frqB;
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| 354 |
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[7235] | 355 | if (satData->prn[0] == 'R') {
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| 356 | offset = Glonass_offset();
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| 357 | frqA = t_frequency::R1;
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| 358 | frqB = t_frequency::R2;
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| 359 | }
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| 360 | else if (satData->prn[0] == 'E') {
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| 361 | offset = Galileo_offset();
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[9042] | 362 | frqA = t_frequency::E1;
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| 363 | frqB = t_frequency::E5;
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[7235] | 364 | }
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| 365 | else if (satData->prn[0] == 'C') {
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| 366 | offset = Bds_offset();
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[9042] | 367 | frqA = t_frequency::C2;
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[9481] | 368 | frqB = t_frequency::C6;
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[7235] | 369 | }
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[9481] | 370 | else {
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| 371 | frqA = t_frequency::G1;
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| 372 | frqB = t_frequency::G2;
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| 373 | }
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| 374 |
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[7235] | 375 | double phaseCenter = 0.0;
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[9481] | 376 |
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[7287] | 377 | if (_antex) {
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[9481] | 378 |
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| 379 | // Satellite correction
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| 380 | // ---------------------
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| 381 | double elTx,azTx;
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| 382 |
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| 383 | // LOS unit vector satellite --> receiver
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| 384 | ColumnVector rho = xRec - satData->xx;
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| 385 | rho /= rho.norm_Frobenius();
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| 386 |
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| 387 | // Sun unit vector
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| 388 | ColumnVector xSun = t_astro::Sun(satData->tt.mjd());
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| 389 | xSun /= xSun.norm_Frobenius();
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| 390 |
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| 391 | // Satellite unit vectors sz, sy, sx
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| 392 | ColumnVector sz = -satData->xx / satData->xx.norm_Frobenius();
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| 393 | ColumnVector sy = crossproduct(sz, xSun);
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| 394 | ColumnVector sx = crossproduct(sy, sz);
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| 395 |
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| 396 | sx /= sx.norm_Frobenius();
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| 397 | sy /= sy.norm_Frobenius();
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| 398 |
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| 399 | // LOS vector in satellite frame
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| 400 | ColumnVector u(3);
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| 401 | u(1) = dotproduct(sx, rho);
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| 402 | u(2) = dotproduct(sy, rho);
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| 403 | u(3) = dotproduct(sz, rho);
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| 404 |
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| 405 | // Azimuth and elevation in satellite antenna frame
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| 406 | elTx = atan2(u(3),sqrt(pow(u(2),2)+pow(u(1),2)));
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| 407 | azTx = atan2(u(2),u(1));
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| 408 |
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[7235] | 409 | bool found;
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[9481] | 410 | if (OPT->_isAPC) {
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| 411 | phaseCenter += satData->lkB * _antex->satCorr(satData->prn, frqA, elTx, azTx, found);
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| 412 | }
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| 413 | else {
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| 414 | phaseCenter += satData->lkA * _antex->satCorr(satData->prn, frqA, elTx, azTx, found);
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| 415 | }
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[7235] | 416 | if (!found) {
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[9481] | 417 | LOG << "ANTEX: antenna >" << satData->prn.mid(0,3).toStdString() << " " << frqA << "< not found\n";
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[7235] | 418 | }
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[9481] | 419 |
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| 420 | phaseCenter += satData->lkB * _antex->satCorr(satData->prn, frqB, elTx, azTx, found);
|
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| 421 | if (!found) {
|
---|
| 422 | LOG << "ANTEX: antenna >" << satData->prn.mid(0,3).toStdString() << " " << frqB << "< not found\n";
|
---|
| 423 | }
|
---|
| 424 |
|
---|
| 425 | // Receiver correction
|
---|
| 426 | // -------------------
|
---|
| 427 |
|
---|
| 428 | phaseCenter += satData->lkA * _antex->rcvCorr(OPT->_antNameRover, frqA,
|
---|
| 429 | satData->eleSat, satData->azSat, found);
|
---|
| 430 | if (!found) {
|
---|
| 431 | phaseCenter += satData->lkA * _antex->rcvCorr(OPT->_antNameRover, t_frequency::G1,
|
---|
| 432 | satData->eleSat, satData->azSat, found);
|
---|
| 433 | }
|
---|
| 434 | if (!found) {
|
---|
| 435 | LOG << "ANTEX: antenna >" << OPT->_antNameRover << " " << frqA << "< not found\n";
|
---|
| 436 | }
|
---|
| 437 |
|
---|
| 438 | phaseCenter += satData->lkB * _antex->rcvCorr(OPT->_antNameRover, frqB,
|
---|
| 439 | satData->eleSat, satData->azSat, found);
|
---|
| 440 | if (!found) {
|
---|
| 441 | phaseCenter += satData->lkB * _antex->rcvCorr(OPT->_antNameRover, t_frequency::G2,
|
---|
| 442 | satData->eleSat, satData->azSat, found);
|
---|
| 443 | }
|
---|
| 444 | if (!found) {
|
---|
| 445 | LOG << "ANTEX: antenna >" << OPT->_antNameRover << " " << frqB << "< not found\n";
|
---|
| 446 | }
|
---|
[7235] | 447 | }
|
---|
| 448 |
|
---|
| 449 | double antennaOffset = 0.0;
|
---|
| 450 | double cosa = cos(satData->azSat);
|
---|
| 451 | double sina = sin(satData->azSat);
|
---|
| 452 | double cose = cos(satData->eleSat);
|
---|
| 453 | double sine = sin(satData->eleSat);
|
---|
[7287] | 454 | antennaOffset = -OPT->_neuEccRover(1) * cosa*cose
|
---|
| 455 | -OPT->_neuEccRover(2) * sina*cose
|
---|
[7235] | 456 | -OPT->_neuEccRover(3) * sine;
|
---|
| 457 |
|
---|
[7287] | 458 | return satData->rho + phaseCenter + antennaOffset + clk()
|
---|
[7235] | 459 | + offset - satData->clk + tropDelay + wind;
|
---|
| 460 | }
|
---|
| 461 |
|
---|
| 462 | // Tropospheric Model (Saastamoinen)
|
---|
| 463 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 464 | double t_pppFilter::delay_saast(double Ele) {
|
---|
| 465 |
|
---|
| 466 | Tracer tracer("t_pppFilter::delay_saast");
|
---|
| 467 |
|
---|
[7287] | 468 | double xyz[3];
|
---|
[7235] | 469 | xyz[0] = x();
|
---|
| 470 | xyz[1] = y();
|
---|
| 471 | xyz[2] = z();
|
---|
[7287] | 472 | double ell[3];
|
---|
[7235] | 473 | xyz2ell(xyz, ell);
|
---|
| 474 | double height = ell[2];
|
---|
[9280] | 475 | // Prevent pp from causing segmentation fault (Loukis)
|
---|
| 476 | if (height > 40000.0 ) {
|
---|
| 477 | return 0.000000001;
|
---|
| 478 | }
|
---|
[7235] | 479 |
|
---|
| 480 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
|
---|
| 481 | double TT = 18.0 - height * 0.0065 + 273.15;
|
---|
| 482 | double hh = 50.0 * exp(-6.396e-4 * height);
|
---|
| 483 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
|
---|
| 484 |
|
---|
| 485 | double h_km = height / 1000.0;
|
---|
[7287] | 486 |
|
---|
[7235] | 487 | if (h_km < 0.0) h_km = 0.0;
|
---|
| 488 | if (h_km > 5.0) h_km = 5.0;
|
---|
| 489 | int ii = int(h_km + 1);
|
---|
| 490 | double href = ii - 1;
|
---|
[7287] | 491 |
|
---|
| 492 | double bCor[6];
|
---|
[7235] | 493 | bCor[0] = 1.156;
|
---|
| 494 | bCor[1] = 1.006;
|
---|
| 495 | bCor[2] = 0.874;
|
---|
| 496 | bCor[3] = 0.757;
|
---|
| 497 | bCor[4] = 0.654;
|
---|
| 498 | bCor[5] = 0.563;
|
---|
[7287] | 499 |
|
---|
[7235] | 500 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
|
---|
[7287] | 501 |
|
---|
[7235] | 502 | double zen = M_PI/2.0 - Ele;
|
---|
| 503 |
|
---|
| 504 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
|
---|
| 505 | }
|
---|
| 506 |
|
---|
| 507 | // Prediction Step of the Filter
|
---|
| 508 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 509 | void t_pppFilter::predict(int iPhase, t_epoData* epoData) {
|
---|
| 510 |
|
---|
| 511 | Tracer tracer("t_pppFilter::predict");
|
---|
| 512 |
|
---|
| 513 | if (iPhase == 0) {
|
---|
| 514 |
|
---|
| 515 | const double maxSolGap = 60.0;
|
---|
| 516 |
|
---|
| 517 | bool firstCrd = false;
|
---|
| 518 | if (!_lastTimeOK.valid() || (maxSolGap > 0.0 && _time - _lastTimeOK > maxSolGap)) {
|
---|
| 519 | firstCrd = true;
|
---|
| 520 | _startTime = epoData->tt;
|
---|
| 521 | reset();
|
---|
| 522 | }
|
---|
[7287] | 523 |
|
---|
[7235] | 524 | // Use different white noise for Quick-Start mode
|
---|
| 525 | // ----------------------------------------------
|
---|
| 526 | double sigCrdP_used = OPT->_noiseCrd(1);
|
---|
| 527 | if ( OPT->_seedingTime > 0.0 && OPT->_seedingTime > (epoData->tt - _startTime) ) {
|
---|
| 528 | sigCrdP_used = 0.0;
|
---|
| 529 | }
|
---|
| 530 |
|
---|
| 531 | // Predict Parameter values, add white noise
|
---|
| 532 | // -----------------------------------------
|
---|
| 533 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 534 | t_pppParam* pp = _params[iPar-1];
|
---|
[7287] | 535 |
|
---|
[7235] | 536 | // Coordinates
|
---|
| 537 | // -----------
|
---|
| 538 | if (pp->type == t_pppParam::CRD_X) {
|
---|
| 539 | if (firstCrd) {
|
---|
| 540 | if (OPT->xyzAprRoverSet()) {
|
---|
| 541 | pp->xx = OPT->_xyzAprRover[0];
|
---|
| 542 | }
|
---|
| 543 | else {
|
---|
| 544 | pp->xx = _xcBanc(1);
|
---|
| 545 | }
|
---|
| 546 | }
|
---|
| 547 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
| 548 | }
|
---|
| 549 | else if (pp->type == t_pppParam::CRD_Y) {
|
---|
| 550 | if (firstCrd) {
|
---|
| 551 | if (OPT->xyzAprRoverSet()) {
|
---|
| 552 | pp->xx = OPT->_xyzAprRover[1];
|
---|
| 553 | }
|
---|
| 554 | else {
|
---|
| 555 | pp->xx = _xcBanc(2);
|
---|
| 556 | }
|
---|
| 557 | }
|
---|
| 558 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
| 559 | }
|
---|
| 560 | else if (pp->type == t_pppParam::CRD_Z) {
|
---|
| 561 | if (firstCrd) {
|
---|
| 562 | if (OPT->xyzAprRoverSet()) {
|
---|
| 563 | pp->xx = OPT->_xyzAprRover[2];
|
---|
| 564 | }
|
---|
| 565 | else {
|
---|
| 566 | pp->xx = _xcBanc(3);
|
---|
| 567 | }
|
---|
| 568 | }
|
---|
| 569 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[7287] | 570 | }
|
---|
| 571 |
|
---|
[7235] | 572 | // Receiver Clocks
|
---|
| 573 | // ---------------
|
---|
| 574 | else if (pp->type == t_pppParam::RECCLK) {
|
---|
| 575 | pp->xx = _xcBanc(4);
|
---|
| 576 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
| 577 | _QQ(iPar, jj) = 0.0;
|
---|
| 578 | }
|
---|
[9305] | 579 | _QQ(iPar,iPar) = OPT->_aprSigClk * OPT->_aprSigClk;
|
---|
[7235] | 580 | }
|
---|
[7287] | 581 |
|
---|
[7235] | 582 | // Tropospheric Delay
|
---|
| 583 | // ------------------
|
---|
| 584 | else if (pp->type == t_pppParam::TROPO) {
|
---|
| 585 | _QQ(iPar,iPar) += OPT->_noiseTrp * OPT->_noiseTrp;
|
---|
| 586 | }
|
---|
[7287] | 587 |
|
---|
[7235] | 588 | // Glonass Offset
|
---|
| 589 | // --------------
|
---|
| 590 | else if (pp->type == t_pppParam::GLONASS_OFFSET) {
|
---|
| 591 | pp->xx = 0.0;
|
---|
| 592 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
| 593 | _QQ(iPar, jj) = 0.0;
|
---|
| 594 | }
|
---|
| 595 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
| 596 | }
|
---|
| 597 |
|
---|
| 598 | // Galileo Offset
|
---|
| 599 | // --------------
|
---|
| 600 | else if (pp->type == t_pppParam::GALILEO_OFFSET) {
|
---|
[9481] | 601 | if (_QQ(iPar,iPar)>pow(1000.0,2))
|
---|
| 602 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
| 603 | else
|
---|
| 604 | _QQ(iPar,iPar) += 0.1 * 0.1;
|
---|
[7235] | 605 | }
|
---|
| 606 |
|
---|
| 607 | // BDS Offset
|
---|
| 608 | // ----------
|
---|
| 609 | else if (pp->type == t_pppParam::BDS_OFFSET) {
|
---|
[9481] | 610 | if (_QQ(iPar,iPar)>pow(1000.0,2))
|
---|
| 611 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
| 612 | else
|
---|
| 613 | _QQ(iPar,iPar) += 0.1 * 0.1;
|
---|
[7235] | 614 | }
|
---|
| 615 | }
|
---|
| 616 | }
|
---|
| 617 |
|
---|
| 618 | // Add New Ambiguities if necessary
|
---|
| 619 | // --------------------------------
|
---|
| 620 | if (OPT->ambLCs('G').size() || OPT->ambLCs('R').size() ||
|
---|
| 621 | OPT->ambLCs('E').size() || OPT->ambLCs('C').size()) {
|
---|
| 622 |
|
---|
| 623 | // Make a copy of QQ and xx, set parameter indices
|
---|
| 624 | // -----------------------------------------------
|
---|
| 625 | SymmetricMatrix QQ_old = _QQ;
|
---|
[7287] | 626 |
|
---|
[7235] | 627 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 628 | _params[iPar-1]->index_old = _params[iPar-1]->index;
|
---|
| 629 | _params[iPar-1]->index = 0;
|
---|
| 630 | }
|
---|
[7287] | 631 |
|
---|
[7235] | 632 | // Remove Ambiguity Parameters without observations
|
---|
| 633 | // ------------------------------------------------
|
---|
| 634 | int iPar = 0;
|
---|
| 635 | QMutableVectorIterator<t_pppParam*> im(_params);
|
---|
| 636 | while (im.hasNext()) {
|
---|
| 637 | t_pppParam* par = im.next();
|
---|
| 638 | bool removed = false;
|
---|
| 639 | if (par->type == t_pppParam::AMB_L3) {
|
---|
| 640 | if (epoData->satData.find(par->prn) == epoData->satData.end()) {
|
---|
| 641 | removed = true;
|
---|
| 642 | delete par;
|
---|
| 643 | im.remove();
|
---|
| 644 | }
|
---|
| 645 | }
|
---|
| 646 | if (! removed) {
|
---|
| 647 | ++iPar;
|
---|
| 648 | par->index = iPar;
|
---|
| 649 | }
|
---|
| 650 | }
|
---|
[7287] | 651 |
|
---|
[7235] | 652 | // Add new ambiguity parameters
|
---|
| 653 | // ----------------------------
|
---|
| 654 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
| 655 | while (it.hasNext()) {
|
---|
| 656 | it.next();
|
---|
| 657 | t_satData* satData = it.value();
|
---|
| 658 | addAmb(satData);
|
---|
| 659 | }
|
---|
[7287] | 660 |
|
---|
[7235] | 661 | int nPar = _params.size();
|
---|
| 662 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
| 663 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
| 664 | t_pppParam* p1 = _params[i1-1];
|
---|
| 665 | if (p1->index_old != 0) {
|
---|
| 666 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
| 667 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
| 668 | t_pppParam* p2 = _params[i2-1];
|
---|
| 669 | if (p2->index_old != 0) {
|
---|
| 670 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
| 671 | }
|
---|
| 672 | }
|
---|
| 673 | }
|
---|
| 674 | }
|
---|
[7287] | 675 |
|
---|
[7235] | 676 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
| 677 | t_pppParam* par = _params[ii-1];
|
---|
| 678 | if (par->index_old == 0) {
|
---|
| 679 | _QQ(par->index, par->index) = OPT->_aprSigAmb * OPT->_aprSigAmb;
|
---|
| 680 | }
|
---|
| 681 | par->index_old = par->index;
|
---|
| 682 | }
|
---|
| 683 | }
|
---|
| 684 | }
|
---|
| 685 |
|
---|
| 686 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
| 687 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 688 | t_irc t_pppFilter::update(t_epoData* epoData) {
|
---|
| 689 |
|
---|
| 690 | Tracer tracer("t_pppFilter::update");
|
---|
| 691 |
|
---|
| 692 | _time = epoData->tt; // current epoch time
|
---|
| 693 |
|
---|
| 694 | if (OPT->useOrbClkCorr()) {
|
---|
[7536] | 695 | LOG << "Precise Point Positioning of Epoch " << _time.datestr() << "_" << _time.timestr(3)
|
---|
[7235] | 696 | << "\n---------------------------------------------------------------\n";
|
---|
| 697 | }
|
---|
| 698 | else {
|
---|
[7536] | 699 | LOG << "Single Point Positioning of Epoch " << _time.datestr() << "_" << _time.timestr(3)
|
---|
| 700 | << "\n---------------------------------------------------------------\n";
|
---|
[7235] | 701 | }
|
---|
| 702 |
|
---|
| 703 | // Outlier Detection Loop
|
---|
| 704 | // ----------------------
|
---|
| 705 | if (update_p(epoData) != success) {
|
---|
| 706 | return failure;
|
---|
| 707 | }
|
---|
| 708 |
|
---|
| 709 | // Set Solution Vector
|
---|
| 710 | // -------------------
|
---|
| 711 | LOG.setf(ios::fixed);
|
---|
| 712 | QVectorIterator<t_pppParam*> itPar(_params);
|
---|
| 713 | while (itPar.hasNext()) {
|
---|
| 714 | t_pppParam* par = itPar.next();
|
---|
| 715 | if (par->type == t_pppParam::RECCLK) {
|
---|
[7536] | 716 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
| 717 | << " CLK " << setw(10) << setprecision(3) << par->xx
|
---|
[7287] | 718 | << " +- " << setw(6) << setprecision(3)
|
---|
[7235] | 719 | << sqrt(_QQ(par->index,par->index));
|
---|
| 720 | }
|
---|
| 721 | else if (par->type == t_pppParam::AMB_L3) {
|
---|
| 722 | ++par->numEpo;
|
---|
[7536] | 723 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
[8204] | 724 | << " AMB " << par->prn.mid(0,3).toLatin1().data() << " "
|
---|
[7287] | 725 | << setw(10) << setprecision(3) << par->xx
|
---|
| 726 | << " +- " << setw(6) << setprecision(3)
|
---|
[7235] | 727 | << sqrt(_QQ(par->index,par->index))
|
---|
[7544] | 728 | << " epo = " << par->numEpo;
|
---|
[7235] | 729 | }
|
---|
| 730 | else if (par->type == t_pppParam::TROPO) {
|
---|
| 731 | double aprTrp = delay_saast(M_PI/2.0);
|
---|
[7536] | 732 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
[8204] | 733 | << " TRP " << par->prn.mid(0,3).toLatin1().data()
|
---|
[7235] | 734 | << setw(7) << setprecision(3) << aprTrp << " "
|
---|
| 735 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
[7287] | 736 | << " +- " << setw(6) << setprecision(3)
|
---|
[7235] | 737 | << sqrt(_QQ(par->index,par->index));
|
---|
| 738 | }
|
---|
| 739 | else if (par->type == t_pppParam::GLONASS_OFFSET) {
|
---|
[7536] | 740 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
| 741 | << " OFFGLO " << setw(10) << setprecision(3) << par->xx
|
---|
[7287] | 742 | << " +- " << setw(6) << setprecision(3)
|
---|
[7235] | 743 | << sqrt(_QQ(par->index,par->index));
|
---|
| 744 | }
|
---|
| 745 | else if (par->type == t_pppParam::GALILEO_OFFSET) {
|
---|
[7536] | 746 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
| 747 | << " OFFGAL " << setw(10) << setprecision(3) << par->xx
|
---|
[7287] | 748 | << " +- " << setw(6) << setprecision(3)
|
---|
[7235] | 749 | << sqrt(_QQ(par->index,par->index));
|
---|
| 750 | }
|
---|
| 751 | else if (par->type == t_pppParam::BDS_OFFSET) {
|
---|
[7536] | 752 | LOG << "\n" << _time.datestr() << "_" << _time.timestr(3)
|
---|
| 753 | << " OFFBDS " << setw(10) << setprecision(3) << par->xx
|
---|
[7235] | 754 | << " +- " << setw(6) << setprecision(3)
|
---|
| 755 | << sqrt(_QQ(par->index,par->index));
|
---|
| 756 | }
|
---|
| 757 | }
|
---|
| 758 |
|
---|
| 759 | LOG << endl << endl;
|
---|
| 760 |
|
---|
| 761 | // Compute dilution of precision
|
---|
| 762 | // -----------------------------
|
---|
| 763 | cmpDOP(epoData);
|
---|
| 764 |
|
---|
| 765 | // Final Message (both log file and screen)
|
---|
| 766 | // ----------------------------------------
|
---|
[7544] | 767 | LOG << epoData->tt.datestr() << "_" << epoData->tt.timestr(3)
|
---|
| 768 | << " " << OPT->_roverName
|
---|
| 769 | << " X = "
|
---|
| 770 | << setprecision(4) << x() << " +- "
|
---|
| 771 | << setprecision(4) << sqrt(_QQ(1,1))
|
---|
[7235] | 772 |
|
---|
[7544] | 773 | << " Y = "
|
---|
| 774 | << setprecision(4) << y() << " +- "
|
---|
| 775 | << setprecision(4) << sqrt(_QQ(2,2))
|
---|
| 776 |
|
---|
| 777 | << " Z = "
|
---|
| 778 | << setprecision(4) << z() << " +- "
|
---|
| 779 | << setprecision(4) << sqrt(_QQ(3,3));
|
---|
| 780 |
|
---|
[7235] | 781 | // NEU Output
|
---|
| 782 | // ----------
|
---|
| 783 | if (OPT->xyzAprRoverSet()) {
|
---|
[7544] | 784 | SymmetricMatrix QQxyz = _QQ.SymSubMatrix(1,3);
|
---|
[7235] | 785 |
|
---|
[7544] | 786 | ColumnVector xyz(3);
|
---|
| 787 | xyz(1) = x() - OPT->_xyzAprRover[0];
|
---|
| 788 | xyz(2) = y() - OPT->_xyzAprRover[1];
|
---|
| 789 | xyz(3) = z() - OPT->_xyzAprRover[2];
|
---|
[7235] | 790 |
|
---|
[7544] | 791 | ColumnVector ellRef(3);
|
---|
| 792 | xyz2ell(OPT->_xyzAprRover.data(), ellRef.data());
|
---|
| 793 | xyz2neu(ellRef.data(), xyz.data(), _neu.data());
|
---|
| 794 |
|
---|
| 795 | SymmetricMatrix QQneu(3);
|
---|
| 796 | covariXYZ_NEU(QQxyz, ellRef.data(), QQneu);
|
---|
| 797 |
|
---|
| 798 | LOG << " dN = "
|
---|
| 799 | << setprecision(4) << _neu[0] << " +- "
|
---|
| 800 | << setprecision(4) << sqrt(QQneu[0][0])
|
---|
| 801 |
|
---|
| 802 | << " dE = "
|
---|
| 803 | << setprecision(4) << _neu[1] << " +- "
|
---|
| 804 | << setprecision(4) << sqrt(QQneu[1][1])
|
---|
| 805 |
|
---|
| 806 | << " dU = "
|
---|
| 807 | << setprecision(4) << _neu[2] << " +- "
|
---|
| 808 | << setprecision(4) << sqrt(QQneu[2][2]) << endl << endl;
|
---|
[7235] | 809 | }
|
---|
| 810 | else {
|
---|
| 811 | LOG << endl << endl;
|
---|
| 812 | }
|
---|
| 813 |
|
---|
| 814 | _lastTimeOK = _time; // remember time of last successful update
|
---|
| 815 | return success;
|
---|
| 816 | }
|
---|
| 817 |
|
---|
[9481] | 818 | // Iono combi noise factor
|
---|
| 819 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 820 | double ionFac(const QString prn, QMap<QString, t_satData*>& satData) {
|
---|
| 821 | if (satData.contains(prn))
|
---|
| 822 | return sqrt(pow(satData.value(prn)->lkA,2) +
|
---|
| 823 | pow(satData.value(prn)->lkB,2) );
|
---|
| 824 | else
|
---|
| 825 | return 0.0;
|
---|
| 826 | };
|
---|
| 827 |
|
---|
[7235] | 828 | // Outlier Detection
|
---|
| 829 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 830 | QString t_pppFilter::outlierDetection(int iPhase, const ColumnVector& vv,
|
---|
[9481] | 831 | QMap<QString, t_satData*>& satData) {
|
---|
[7235] | 832 |
|
---|
| 833 | Tracer tracer("t_pppFilter::outlierDetection");
|
---|
| 834 |
|
---|
| 835 | QString prnGPS;
|
---|
| 836 | QString prnGlo;
|
---|
[9481] | 837 |
|
---|
| 838 | double ionFacGPS;
|
---|
| 839 | double ionFacGLO;
|
---|
| 840 |
|
---|
[7287] | 841 | double maxResGPS = 0.0; // GPS + Galileo
|
---|
| 842 | double maxResGlo = 0.0; // GLONASS + BDS
|
---|
[9481] | 843 |
|
---|
[7235] | 844 | findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo);
|
---|
| 845 |
|
---|
[9481] | 846 | ionFacGLO = ionFac(prnGlo,satData);
|
---|
| 847 | if (iPhase == 0)
|
---|
| 848 | ionFacGLO *= (prnGlo[0]=='R'? GLONASS_WEIGHT_FACTOR : BDS_WEIGHT_FACTOR);
|
---|
| 849 | ionFacGPS = ionFac(prnGPS,satData);
|
---|
| 850 |
|
---|
[7235] | 851 | if (iPhase == 1) {
|
---|
[9481] | 852 | if (maxResGlo > ionFacGLO * OPT->_maxResL1) {
|
---|
[8204] | 853 | LOG << "Outlier Phase " << prnGlo.mid(0,3).toLatin1().data() << ' ' << maxResGlo << endl;
|
---|
[7235] | 854 | return prnGlo;
|
---|
| 855 | }
|
---|
[9481] | 856 | else if (maxResGPS > ionFacGPS * OPT->_maxResL1) {
|
---|
[8204] | 857 | LOG << "Outlier Phase " << prnGPS.mid(0,3).toLatin1().data() << ' ' << maxResGPS << endl;
|
---|
[7235] | 858 | return prnGPS;
|
---|
| 859 | }
|
---|
| 860 | }
|
---|
[9481] | 861 | else if (iPhase == 0) {
|
---|
| 862 | if (maxResGlo > ionFacGLO * OPT->_maxResC1) {
|
---|
| 863 | LOG << "Outlier Code " << prnGlo.mid(0,3).toLatin1().data() << ' ' << maxResGlo << endl;
|
---|
| 864 | return prnGlo;
|
---|
| 865 | }
|
---|
| 866 | else if (maxResGPS > ionFacGPS * OPT->_maxResC1) {
|
---|
| 867 | LOG << "Outlier Code " << prnGPS.mid(0,3).toLatin1().data() << ' ' << maxResGPS << endl;
|
---|
| 868 | return prnGPS;
|
---|
| 869 | }
|
---|
[7235] | 870 | }
|
---|
| 871 |
|
---|
| 872 | return QString();
|
---|
| 873 | }
|
---|
| 874 |
|
---|
| 875 | // Phase Wind-Up Correction
|
---|
| 876 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 877 | double t_pppFilter::windUp(const QString& prn, const ColumnVector& rSat,
|
---|
[9481] | 878 | const ColumnVector& rRec) {
|
---|
[7235] | 879 |
|
---|
| 880 | Tracer tracer("t_pppFilter::windUp");
|
---|
| 881 |
|
---|
| 882 | double Mjd = _time.mjd() + _time.daysec() / 86400.0;
|
---|
| 883 |
|
---|
| 884 | // First time - initialize to zero
|
---|
| 885 | // -------------------------------
|
---|
| 886 | if (!_windUpTime.contains(prn)) {
|
---|
| 887 | _windUpSum[prn] = 0.0;
|
---|
| 888 | }
|
---|
| 889 |
|
---|
| 890 | // Compute the correction for new time
|
---|
| 891 | // -----------------------------------
|
---|
| 892 | if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
|
---|
[7287] | 893 | _windUpTime[prn] = Mjd;
|
---|
[7235] | 894 |
|
---|
| 895 | // Unit Vector GPS Satellite --> Receiver
|
---|
| 896 | // --------------------------------------
|
---|
| 897 | ColumnVector rho = rRec - rSat;
|
---|
[8901] | 898 | rho /= rho.NormFrobenius();
|
---|
[7287] | 899 |
|
---|
[7235] | 900 | // GPS Satellite unit Vectors sz, sy, sx
|
---|
| 901 | // -------------------------------------
|
---|
[8901] | 902 | ColumnVector sz = -rSat / rSat.NormFrobenius();
|
---|
[7235] | 903 |
|
---|
| 904 | ColumnVector xSun = t_astro::Sun(Mjd);
|
---|
[8901] | 905 | xSun /= xSun.NormFrobenius();
|
---|
[7235] | 906 |
|
---|
| 907 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
| 908 | ColumnVector sx = crossproduct(sy, sz);
|
---|
| 909 |
|
---|
| 910 | // Effective Dipole of the GPS Satellite Antenna
|
---|
| 911 | // ---------------------------------------------
|
---|
[7287] | 912 | ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
|
---|
[7235] | 913 | - crossproduct(rho, sy);
|
---|
[7287] | 914 |
|
---|
[7235] | 915 | // Receiver unit Vectors rx, ry
|
---|
| 916 | // ----------------------------
|
---|
| 917 | ColumnVector rx(3);
|
---|
| 918 | ColumnVector ry(3);
|
---|
| 919 |
|
---|
| 920 | double recEll[3]; xyz2ell(rRec.data(), recEll) ;
|
---|
| 921 | double neu[3];
|
---|
[7287] | 922 |
|
---|
[7235] | 923 | neu[0] = 1.0;
|
---|
| 924 | neu[1] = 0.0;
|
---|
| 925 | neu[2] = 0.0;
|
---|
| 926 | neu2xyz(recEll, neu, rx.data());
|
---|
[7287] | 927 |
|
---|
[7235] | 928 | neu[0] = 0.0;
|
---|
| 929 | neu[1] = -1.0;
|
---|
| 930 | neu[2] = 0.0;
|
---|
| 931 | neu2xyz(recEll, neu, ry.data());
|
---|
[7287] | 932 |
|
---|
[7235] | 933 | // Effective Dipole of the Receiver Antenna
|
---|
| 934 | // ----------------------------------------
|
---|
[7287] | 935 | ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
|
---|
[7235] | 936 | + crossproduct(rho, ry);
|
---|
[7287] | 937 |
|
---|
[7235] | 938 | // Resulting Effect
|
---|
| 939 | // ----------------
|
---|
[7287] | 940 | double alpha = DotProduct(dipSat,dipRec) /
|
---|
[8901] | 941 | (dipSat.NormFrobenius() * dipRec.NormFrobenius());
|
---|
[7287] | 942 |
|
---|
[7235] | 943 | if (alpha > 1.0) alpha = 1.0;
|
---|
| 944 | if (alpha < -1.0) alpha = -1.0;
|
---|
[7287] | 945 |
|
---|
[7235] | 946 | double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
|
---|
[7287] | 947 |
|
---|
[7235] | 948 | if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
|
---|
| 949 | dphi = -dphi;
|
---|
| 950 | }
|
---|
| 951 |
|
---|
| 952 | _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
|
---|
| 953 | }
|
---|
| 954 |
|
---|
[7287] | 955 | return _windUpSum[prn];
|
---|
[7235] | 956 | }
|
---|
| 957 |
|
---|
[7287] | 958 | //
|
---|
[7235] | 959 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 960 | void t_pppFilter::cmpEle(t_satData* satData) {
|
---|
| 961 | Tracer tracer("t_pppFilter::cmpEle");
|
---|
| 962 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
|
---|
[8901] | 963 | double rho = rr.NormFrobenius();
|
---|
[7235] | 964 |
|
---|
| 965 | double neu[3];
|
---|
| 966 | xyz2neu(_ellBanc.data(), rr.data(), neu);
|
---|
| 967 |
|
---|
| 968 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
|
---|
| 969 | if (neu[2] < 0) {
|
---|
| 970 | satData->eleSat *= -1.0;
|
---|
| 971 | }
|
---|
| 972 | satData->azSat = atan2(neu[1], neu[0]);
|
---|
| 973 | }
|
---|
| 974 |
|
---|
[7287] | 975 | //
|
---|
[7235] | 976 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 977 | void t_pppFilter::addAmb(t_satData* satData) {
|
---|
| 978 | Tracer tracer("t_pppFilter::addAmb");
|
---|
| 979 | if (!OPT->ambLCs(satData->system()).size()){
|
---|
| 980 | return;
|
---|
| 981 | }
|
---|
| 982 | bool found = false;
|
---|
| 983 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
[7287] | 984 | if (_params[iPar-1]->type == t_pppParam::AMB_L3 &&
|
---|
[7235] | 985 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 986 | found = true;
|
---|
| 987 | break;
|
---|
| 988 | }
|
---|
| 989 | }
|
---|
| 990 | if (!found) {
|
---|
[7287] | 991 | t_pppParam* par = new t_pppParam(t_pppParam::AMB_L3,
|
---|
[7235] | 992 | _params.size()+1, satData->prn);
|
---|
| 993 | _params.push_back(par);
|
---|
| 994 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
| 995 | }
|
---|
| 996 | }
|
---|
| 997 |
|
---|
[7287] | 998 | //
|
---|
[7235] | 999 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1000 | void t_pppFilter::addObs(int iPhase, unsigned& iObs, t_satData* satData,
|
---|
| 1001 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
|
---|
| 1002 |
|
---|
| 1003 | Tracer tracer("t_pppFilter::addObs");
|
---|
| 1004 |
|
---|
| 1005 | const double ELEWGHT = 20.0;
|
---|
| 1006 | double ellWgtCoef = 1.0;
|
---|
[7287] | 1007 | double eleD = satData->eleSat * 180.0 / M_PI;
|
---|
[7235] | 1008 | if (eleD < ELEWGHT) {
|
---|
| 1009 | ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0);
|
---|
| 1010 | }
|
---|
| 1011 |
|
---|
| 1012 | // Remember Observation Index
|
---|
| 1013 | // --------------------------
|
---|
| 1014 | ++iObs;
|
---|
| 1015 | satData->obsIndex = iObs;
|
---|
| 1016 |
|
---|
[9481] | 1017 | // Iono-free combination noise factor
|
---|
| 1018 | // ----------------------------------
|
---|
| 1019 | double ionFac = sqrt(pow(satData->lkA,2) + pow(satData->lkB,2));
|
---|
| 1020 |
|
---|
[7235] | 1021 | // Phase Observations
|
---|
| 1022 | // ------------------
|
---|
| 1023 |
|
---|
| 1024 | if (iPhase == 1) {
|
---|
[9481] | 1025 | double sigL3 = ionFac * ellWgtCoef * OPT->_sigmaL1;
|
---|
[7235] | 1026 | if (satData->system() == 'R') {
|
---|
| 1027 | sigL3 *= GLONASS_WEIGHT_FACTOR;
|
---|
| 1028 | }
|
---|
| 1029 | if (satData->system() == 'C') {
|
---|
| 1030 | sigL3 *= BDS_WEIGHT_FACTOR;
|
---|
| 1031 | }
|
---|
[9481] | 1032 | satData->L3sig = sigL3;
|
---|
| 1033 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
| 1034 | PP(iObs,iObs) = 1.0 / (sigL3 * sigL3);
|
---|
[7235] | 1035 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1036 | if (_params[iPar-1]->type == t_pppParam::AMB_L3 &&
|
---|
| 1037 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 1038 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
[7287] | 1039 | }
|
---|
[7235] | 1040 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
| 1041 | }
|
---|
| 1042 | }
|
---|
| 1043 |
|
---|
| 1044 | // Code Observations
|
---|
| 1045 | // -----------------
|
---|
| 1046 | else {
|
---|
[9481] | 1047 | double sigP3 = ionFac * ellWgtCoef * OPT->_sigmaC1;
|
---|
| 1048 | if (satData->system() == 'R') {
|
---|
| 1049 | sigP3 *= GLONASS_WEIGHT_FACTOR;
|
---|
| 1050 | }
|
---|
| 1051 | if (satData->system() == 'C') {
|
---|
| 1052 | sigP3 *= BDS_WEIGHT_FACTOR;
|
---|
| 1053 | }
|
---|
| 1054 | satData->P3sig = sigP3;
|
---|
[7235] | 1055 | ll(iObs) = satData->P3 - cmpValue(satData, false);
|
---|
[9481] | 1056 | PP(iObs,iObs) = 1.0 / (sigP3 * sigP3);
|
---|
[7235] | 1057 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1058 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
| 1059 | }
|
---|
| 1060 | }
|
---|
| 1061 | }
|
---|
| 1062 |
|
---|
[7287] | 1063 | //
|
---|
[7235] | 1064 | ///////////////////////////////////////////////////////////////////////////
|
---|
[7287] | 1065 | QByteArray t_pppFilter::printRes(int iPhase, const ColumnVector& vv,
|
---|
[7235] | 1066 | const QMap<QString, t_satData*>& satDataMap) {
|
---|
| 1067 |
|
---|
| 1068 | Tracer tracer("t_pppFilter::printRes");
|
---|
| 1069 |
|
---|
| 1070 | ostringstream str;
|
---|
| 1071 | str.setf(ios::fixed);
|
---|
| 1072 | bool useObs;
|
---|
| 1073 | QMapIterator<QString, t_satData*> it(satDataMap);
|
---|
| 1074 | while (it.hasNext()) {
|
---|
| 1075 | it.next();
|
---|
| 1076 | t_satData* satData = it.value();
|
---|
| 1077 | (iPhase == 0) ? useObs = OPT->codeLCs(satData->system()).size() :
|
---|
| 1078 | useObs = OPT->ambLCs(satData->system()).size();
|
---|
| 1079 | if (satData->obsIndex != 0 && useObs) {
|
---|
[7536] | 1080 | str << _time.datestr() << "_" << _time.timestr(3)
|
---|
[8204] | 1081 | << " RES " << satData->prn.mid(0,3).toLatin1().data()
|
---|
[7235] | 1082 | << (iPhase ? " L3 " : " P3 ")
|
---|
[9481] | 1083 | << setw(9) << setprecision(4) << vv(satData->obsIndex) << " "
|
---|
| 1084 | << setprecision(3)
|
---|
| 1085 | << setw(7) << (iPhase? satData->L3sig : satData->P3sig) << " "
|
---|
| 1086 | << setprecision(1)
|
---|
| 1087 | << setw(5) <<satData->eleSat * 180 / M_PI
|
---|
| 1088 | << endl;
|
---|
[7235] | 1089 | }
|
---|
| 1090 | }
|
---|
| 1091 |
|
---|
| 1092 | return QByteArray(str.str().c_str());
|
---|
| 1093 | }
|
---|
| 1094 |
|
---|
[7287] | 1095 | //
|
---|
[7235] | 1096 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1097 | void t_pppFilter::findMaxRes(const ColumnVector& vv,
|
---|
| 1098 | const QMap<QString, t_satData*>& satData,
|
---|
[7287] | 1099 | QString& prnGPS, QString& prnGlo,
|
---|
| 1100 | double& maxResGPS, double& maxResGlo) {
|
---|
[7235] | 1101 |
|
---|
| 1102 | Tracer tracer("t_pppFilter::findMaxRes");
|
---|
| 1103 |
|
---|
| 1104 | maxResGPS = 0.0;
|
---|
| 1105 | maxResGlo = 0.0;
|
---|
| 1106 |
|
---|
| 1107 | QMapIterator<QString, t_satData*> it(satData);
|
---|
| 1108 | while (it.hasNext()) {
|
---|
| 1109 | it.next();
|
---|
| 1110 | t_satData* satData = it.value();
|
---|
| 1111 | if (satData->obsIndex != 0) {
|
---|
| 1112 | QString prn = satData->prn;
|
---|
[7287] | 1113 | if (prn[0] == 'R' || prn[0] == 'C') {
|
---|
[7235] | 1114 | if (fabs(vv(satData->obsIndex)) > maxResGlo) {
|
---|
| 1115 | maxResGlo = fabs(vv(satData->obsIndex));
|
---|
| 1116 | prnGlo = prn;
|
---|
| 1117 | }
|
---|
| 1118 | }
|
---|
| 1119 | else {
|
---|
| 1120 | if (fabs(vv(satData->obsIndex)) > maxResGPS) {
|
---|
| 1121 | maxResGPS = fabs(vv(satData->obsIndex));
|
---|
| 1122 | prnGPS = prn;
|
---|
| 1123 | }
|
---|
| 1124 | }
|
---|
| 1125 | }
|
---|
| 1126 | }
|
---|
| 1127 | }
|
---|
[7287] | 1128 |
|
---|
[7235] | 1129 | // Update Step (private - loop over outliers)
|
---|
| 1130 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1131 | t_irc t_pppFilter::update_p(t_epoData* epoData) {
|
---|
| 1132 |
|
---|
| 1133 | Tracer tracer("t_pppFilter::update_p");
|
---|
| 1134 |
|
---|
| 1135 | // Save Variance-Covariance Matrix, and Status Vector
|
---|
| 1136 | // --------------------------------------------------
|
---|
| 1137 | rememberState(epoData);
|
---|
| 1138 |
|
---|
| 1139 | QString lastOutlierPrn;
|
---|
| 1140 |
|
---|
| 1141 | // Try with all satellites, then with all minus one, etc.
|
---|
| 1142 | // ------------------------------------------------------
|
---|
| 1143 | while (selectSatellites(lastOutlierPrn, epoData->satData) == success) {
|
---|
| 1144 |
|
---|
| 1145 | QByteArray strResCode;
|
---|
| 1146 | QByteArray strResPhase;
|
---|
| 1147 |
|
---|
| 1148 | // Bancroft Solution
|
---|
| 1149 | // -----------------
|
---|
| 1150 | if (cmpBancroft(epoData) != success) {
|
---|
| 1151 | break;
|
---|
| 1152 | }
|
---|
| 1153 |
|
---|
| 1154 | // First update using code observations, then phase observations
|
---|
[7287] | 1155 | // -------------------------------------------------------------
|
---|
[7235] | 1156 | bool usePhase = OPT->ambLCs('G').size() || OPT->ambLCs('R').size() ||
|
---|
| 1157 | OPT->ambLCs('E').size() || OPT->ambLCs('C').size() ;
|
---|
| 1158 |
|
---|
[7545] | 1159 | char sys[] ={'G', 'R', 'E', 'C'};
|
---|
| 1160 |
|
---|
| 1161 | bool satnumPrinted[] = {false, false, false, false};
|
---|
| 1162 |
|
---|
[7235] | 1163 | for (int iPhase = 0; iPhase <= (usePhase ? 1 : 0); iPhase++) {
|
---|
| 1164 |
|
---|
| 1165 | // Status Prediction
|
---|
| 1166 | // -----------------
|
---|
| 1167 | predict(iPhase, epoData);
|
---|
[7287] | 1168 |
|
---|
[7235] | 1169 | // Create First-Design Matrix
|
---|
| 1170 | // --------------------------
|
---|
| 1171 | unsigned nPar = _params.size();
|
---|
| 1172 | unsigned nObs = 0;
|
---|
| 1173 | nObs = epoData->sizeAll();
|
---|
| 1174 | bool useObs = false;
|
---|
| 1175 | for (unsigned ii = 0; ii < sizeof(sys); ii++) {
|
---|
| 1176 | const char s = sys[ii];
|
---|
| 1177 | (iPhase == 0) ? useObs = OPT->codeLCs(s).size() : useObs = OPT->ambLCs(s).size();
|
---|
| 1178 | if (!useObs) {
|
---|
| 1179 | nObs -= epoData->sizeSys(s);
|
---|
| 1180 | }
|
---|
[7536] | 1181 | else {
|
---|
[7545] | 1182 | if (!satnumPrinted[ii]) {
|
---|
| 1183 | satnumPrinted[ii] = true;
|
---|
[7544] | 1184 | LOG << _time.datestr() << "_" << _time.timestr(3)
|
---|
| 1185 | << " SATNUM " << s << ' ' << right << setw(2)
|
---|
| 1186 | << epoData->sizeSys(s) << endl;
|
---|
| 1187 | }
|
---|
[7536] | 1188 | }
|
---|
[7235] | 1189 | }
|
---|
[7287] | 1190 |
|
---|
[7974] | 1191 | if (int(nObs) < OPT->_minObs) {
|
---|
[7852] | 1192 | restoreState(epoData);
|
---|
| 1193 | return failure;
|
---|
| 1194 | }
|
---|
| 1195 |
|
---|
[7235] | 1196 | // Prepare first-design Matrix, vector observed-computed
|
---|
| 1197 | // -----------------------------------------------------
|
---|
| 1198 | Matrix AA(nObs, nPar); // first design matrix
|
---|
[7287] | 1199 | ColumnVector ll(nObs); // terms observed-computed
|
---|
[7235] | 1200 | DiagonalMatrix PP(nObs); PP = 0.0;
|
---|
[7287] | 1201 |
|
---|
[7235] | 1202 | unsigned iObs = 0;
|
---|
| 1203 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
[7536] | 1204 |
|
---|
[7235] | 1205 | while (it.hasNext()) {
|
---|
| 1206 | it.next();
|
---|
| 1207 | t_satData* satData = it.value();
|
---|
| 1208 | QString prn = satData->prn;
|
---|
| 1209 | (iPhase == 0) ? useObs = OPT->codeLCs(satData->system()).size() :
|
---|
| 1210 | useObs = OPT->ambLCs(satData->system()).size();
|
---|
| 1211 | if (useObs) {
|
---|
| 1212 | addObs(iPhase, iObs, satData, AA, ll, PP);
|
---|
| 1213 | } else {
|
---|
| 1214 | satData->obsIndex = 0;
|
---|
| 1215 | }
|
---|
| 1216 | }
|
---|
| 1217 |
|
---|
| 1218 | // Compute Filter Update
|
---|
| 1219 | // ---------------------
|
---|
| 1220 | ColumnVector dx(nPar); dx = 0.0;
|
---|
| 1221 | kalman(AA, ll, PP, _QQ, dx);
|
---|
| 1222 | ColumnVector vv = ll - AA * dx;
|
---|
[7287] | 1223 |
|
---|
[7235] | 1224 | // Print Residuals
|
---|
| 1225 | // ---------------
|
---|
[7287] | 1226 | if (iPhase == 0) {
|
---|
[7235] | 1227 | strResCode = printRes(iPhase, vv, epoData->satData);
|
---|
| 1228 | }
|
---|
| 1229 | else {
|
---|
| 1230 | strResPhase = printRes(iPhase, vv, epoData->satData);
|
---|
| 1231 | }
|
---|
| 1232 |
|
---|
| 1233 | // Check the residuals
|
---|
| 1234 | // -------------------
|
---|
| 1235 | lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData);
|
---|
| 1236 |
|
---|
| 1237 | // No Outlier Detected
|
---|
| 1238 | // -------------------
|
---|
| 1239 | if (lastOutlierPrn.isEmpty()) {
|
---|
| 1240 |
|
---|
| 1241 | QVectorIterator<t_pppParam*> itPar(_params);
|
---|
| 1242 | while (itPar.hasNext()) {
|
---|
| 1243 | t_pppParam* par = itPar.next();
|
---|
| 1244 | par->xx += dx(par->index);
|
---|
| 1245 | }
|
---|
| 1246 |
|
---|
| 1247 | if (!usePhase || iPhase == 1) {
|
---|
| 1248 | if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) {
|
---|
| 1249 | LOG << "Neglected PRNs: ";
|
---|
| 1250 | if (!_outlierGPS.isEmpty()) {
|
---|
[8204] | 1251 | LOG << _outlierGPS.last().mid(0,3).toLatin1().data() << ' ';
|
---|
[7235] | 1252 | }
|
---|
| 1253 | QStringListIterator itGlo(_outlierGlo);
|
---|
| 1254 | while (itGlo.hasNext()) {
|
---|
| 1255 | QString prn = itGlo.next();
|
---|
[8204] | 1256 | LOG << prn.mid(0,3).toLatin1().data() << ' ';
|
---|
[7235] | 1257 | }
|
---|
[7573] | 1258 | LOG << endl;
|
---|
[7235] | 1259 | }
|
---|
| 1260 | LOG << strResCode.data() << strResPhase.data();
|
---|
| 1261 |
|
---|
| 1262 | return success;
|
---|
| 1263 | }
|
---|
| 1264 | }
|
---|
| 1265 |
|
---|
| 1266 | // Outlier Found
|
---|
| 1267 | // -------------
|
---|
| 1268 | else {
|
---|
| 1269 | restoreState(epoData);
|
---|
| 1270 | break;
|
---|
| 1271 | }
|
---|
| 1272 |
|
---|
| 1273 | } // for iPhase
|
---|
| 1274 |
|
---|
| 1275 | } // while selectSatellites
|
---|
| 1276 |
|
---|
| 1277 | restoreState(epoData);
|
---|
| 1278 | return failure;
|
---|
| 1279 | }
|
---|
| 1280 |
|
---|
[9481] | 1281 | // Remember Original State Vector and Variance-Covariance Matrix
|
---|
[7235] | 1282 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1283 | void t_pppFilter::rememberState(t_epoData* epoData) {
|
---|
| 1284 |
|
---|
| 1285 | _QQ_sav = _QQ;
|
---|
| 1286 |
|
---|
| 1287 | QVectorIterator<t_pppParam*> itSav(_params_sav);
|
---|
| 1288 | while (itSav.hasNext()) {
|
---|
| 1289 | t_pppParam* par = itSav.next();
|
---|
| 1290 | delete par;
|
---|
| 1291 | }
|
---|
| 1292 | _params_sav.clear();
|
---|
| 1293 |
|
---|
| 1294 | QVectorIterator<t_pppParam*> it(_params);
|
---|
| 1295 | while (it.hasNext()) {
|
---|
| 1296 | t_pppParam* par = it.next();
|
---|
| 1297 | _params_sav.push_back(new t_pppParam(*par));
|
---|
| 1298 | }
|
---|
| 1299 |
|
---|
| 1300 | _epoData_sav->deepCopy(epoData);
|
---|
| 1301 | }
|
---|
| 1302 |
|
---|
| 1303 | // Restore Original State Vector and Variance-Covariance Matrix
|
---|
| 1304 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1305 | void t_pppFilter::restoreState(t_epoData* epoData) {
|
---|
| 1306 |
|
---|
| 1307 | _QQ = _QQ_sav;
|
---|
| 1308 |
|
---|
| 1309 | QVectorIterator<t_pppParam*> it(_params);
|
---|
| 1310 | while (it.hasNext()) {
|
---|
| 1311 | t_pppParam* par = it.next();
|
---|
| 1312 | delete par;
|
---|
| 1313 | }
|
---|
| 1314 | _params.clear();
|
---|
| 1315 |
|
---|
| 1316 | QVectorIterator<t_pppParam*> itSav(_params_sav);
|
---|
| 1317 | while (itSav.hasNext()) {
|
---|
| 1318 | t_pppParam* par = itSav.next();
|
---|
| 1319 | _params.push_back(new t_pppParam(*par));
|
---|
| 1320 | }
|
---|
| 1321 |
|
---|
| 1322 | epoData->deepCopy(_epoData_sav);
|
---|
| 1323 | }
|
---|
| 1324 |
|
---|
[7287] | 1325 | //
|
---|
[7235] | 1326 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7287] | 1327 | t_irc t_pppFilter::selectSatellites(const QString& lastOutlierPrn,
|
---|
[7235] | 1328 | QMap<QString, t_satData*>& satData) {
|
---|
| 1329 |
|
---|
[7287] | 1330 | // First Call
|
---|
[7235] | 1331 | // ----------
|
---|
| 1332 | if (lastOutlierPrn.isEmpty()) {
|
---|
| 1333 | _outlierGPS.clear();
|
---|
| 1334 | _outlierGlo.clear();
|
---|
| 1335 | return success;
|
---|
| 1336 | }
|
---|
| 1337 |
|
---|
| 1338 | // Second and next trials
|
---|
| 1339 | // ----------------------
|
---|
| 1340 | else {
|
---|
| 1341 |
|
---|
[7287] | 1342 | if (lastOutlierPrn[0] == 'R' || lastOutlierPrn[0] == 'C') {
|
---|
[7235] | 1343 | _outlierGlo << lastOutlierPrn;
|
---|
| 1344 | }
|
---|
| 1345 |
|
---|
| 1346 | // Remove all Glonass Outliers
|
---|
| 1347 | // ---------------------------
|
---|
| 1348 | QStringListIterator it(_outlierGlo);
|
---|
| 1349 | while (it.hasNext()) {
|
---|
| 1350 | QString prn = it.next();
|
---|
| 1351 | if (satData.contains(prn)) {
|
---|
| 1352 | delete satData.take(prn);
|
---|
| 1353 | }
|
---|
| 1354 | }
|
---|
| 1355 |
|
---|
[7287] | 1356 | if (lastOutlierPrn[0] == 'R' || lastOutlierPrn[0] == 'C') {
|
---|
[7235] | 1357 | _outlierGPS.clear();
|
---|
| 1358 | return success;
|
---|
| 1359 | }
|
---|
| 1360 |
|
---|
| 1361 | // GPS Outlier appeared for the first time - try to delete it
|
---|
| 1362 | // ----------------------------------------------------------
|
---|
| 1363 | if (_outlierGPS.indexOf(lastOutlierPrn) == -1) {
|
---|
| 1364 | _outlierGPS << lastOutlierPrn;
|
---|
| 1365 | if (satData.contains(lastOutlierPrn)) {
|
---|
| 1366 | delete satData.take(lastOutlierPrn);
|
---|
| 1367 | }
|
---|
| 1368 | return success;
|
---|
| 1369 | }
|
---|
| 1370 |
|
---|
| 1371 | }
|
---|
| 1372 |
|
---|
| 1373 | return failure;
|
---|
| 1374 | }
|
---|
| 1375 |
|
---|
[7287] | 1376 | //
|
---|
[7235] | 1377 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1378 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
| 1379 | return aa(1)*bb(1) + aa(2)*bb(2) + aa(3)*bb(3) - aa(4)*bb(4);
|
---|
| 1380 | }
|
---|
| 1381 |
|
---|
[7287] | 1382 | //
|
---|
[7235] | 1383 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1384 | void t_pppFilter::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
| 1385 |
|
---|
| 1386 | if (pos.Nrows() != 4) {
|
---|
| 1387 | pos.ReSize(4);
|
---|
| 1388 | }
|
---|
| 1389 | pos = 0.0;
|
---|
| 1390 |
|
---|
| 1391 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 1392 | Matrix BB = BBpass;
|
---|
| 1393 | int mm = BB.Nrows();
|
---|
| 1394 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 1395 | double xx = BB(ii,1);
|
---|
| 1396 | double yy = BB(ii,2);
|
---|
| 1397 | double traveltime = 0.072;
|
---|
| 1398 | if (iter > 1) {
|
---|
| 1399 | double zz = BB(ii,3);
|
---|
[7287] | 1400 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
| 1401 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
[7235] | 1402 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
| 1403 | traveltime = rho / t_CST::c;
|
---|
| 1404 | }
|
---|
| 1405 | double angle = traveltime * t_CST::omega;
|
---|
| 1406 | double cosa = cos(angle);
|
---|
| 1407 | double sina = sin(angle);
|
---|
| 1408 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
| 1409 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
| 1410 | }
|
---|
[7287] | 1411 |
|
---|
[7235] | 1412 | Matrix BBB;
|
---|
| 1413 | if (mm > 4) {
|
---|
| 1414 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
| 1415 | BBB = hlp.i() * BB.t();
|
---|
| 1416 | }
|
---|
| 1417 | else {
|
---|
| 1418 | BBB = BB.i();
|
---|
| 1419 | }
|
---|
| 1420 | ColumnVector ee(mm); ee = 1.0;
|
---|
| 1421 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
| 1422 | for (int ii = 1; ii <= mm; ii++) {
|
---|
[7287] | 1423 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
[7235] | 1424 | }
|
---|
| 1425 | ColumnVector BBBe = BBB * ee;
|
---|
| 1426 | ColumnVector BBBalpha = BBB * alpha;
|
---|
| 1427 | double aa = lorentz(BBBe, BBBe);
|
---|
| 1428 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
| 1429 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
| 1430 | double root = sqrt(bb*bb-aa*cc);
|
---|
| 1431 |
|
---|
[7287] | 1432 | Matrix hlpPos(4,2);
|
---|
[7235] | 1433 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
| 1434 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
| 1435 |
|
---|
| 1436 | ColumnVector omc(2);
|
---|
| 1437 | for (int pp = 1; pp <= 2; pp++) {
|
---|
| 1438 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
[7287] | 1439 | omc(pp) = BB(1,4) -
|
---|
[7235] | 1440 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
| 1441 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
[7287] | 1442 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
[7235] | 1443 | hlpPos(4,pp);
|
---|
| 1444 | }
|
---|
| 1445 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
| 1446 | pos = hlpPos.Column(2);
|
---|
| 1447 | }
|
---|
| 1448 | else {
|
---|
| 1449 | pos = hlpPos.Column(1);
|
---|
| 1450 | }
|
---|
| 1451 | }
|
---|
| 1452 | }
|
---|
| 1453 |
|
---|
[7287] | 1454 | //
|
---|
[7235] | 1455 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1456 | void t_pppFilter::cmpDOP(t_epoData* epoData) {
|
---|
| 1457 |
|
---|
| 1458 | Tracer tracer("t_pppFilter::cmpDOP");
|
---|
| 1459 |
|
---|
| 1460 | _numSat = 0;
|
---|
[7929] | 1461 | _hDop = 0.0;
|
---|
[7235] | 1462 |
|
---|
| 1463 | if (_params.size() < 4) {
|
---|
| 1464 | return;
|
---|
| 1465 | }
|
---|
| 1466 |
|
---|
| 1467 | const unsigned numPar = 4;
|
---|
| 1468 | Matrix AA(epoData->sizeAll(), numPar);
|
---|
| 1469 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
| 1470 | while (it.hasNext()) {
|
---|
| 1471 | it.next();
|
---|
| 1472 | t_satData* satData = it.value();
|
---|
| 1473 | _numSat += 1;
|
---|
| 1474 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
---|
| 1475 | AA[_numSat-1][iPar] = _params[iPar]->partial(satData, false);
|
---|
| 1476 | }
|
---|
| 1477 | }
|
---|
| 1478 | if (_numSat < 4) {
|
---|
| 1479 | return;
|
---|
| 1480 | }
|
---|
| 1481 | AA = AA.Rows(1, _numSat);
|
---|
[7287] | 1482 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
[7235] | 1483 | SymmetricMatrix QQ = NN.i();
|
---|
[7287] | 1484 |
|
---|
[7929] | 1485 | _hDop = sqrt(QQ(1,1) + QQ(2,2));
|
---|
[7235] | 1486 | }
|
---|