1 | // Part of BNC, a utility for retrieving decoding and
|
---|
2 | // converting GNSS data streams from NTRIP broadcasters.
|
---|
3 | //
|
---|
4 | // Copyright (C) 2007
|
---|
5 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
6 | // http://www.bkg.bund.de
|
---|
7 | // Czech Technical University Prague, Department of Geodesy
|
---|
8 | // http://www.fsv.cvut.cz
|
---|
9 | //
|
---|
10 | // Email: euref-ip@bkg.bund.de
|
---|
11 | //
|
---|
12 | // This program is free software; you can redistribute it and/or
|
---|
13 | // modify it under the terms of the GNU General Public License
|
---|
14 | // as published by the Free Software Foundation, version 2.
|
---|
15 | //
|
---|
16 | // This program is distributed in the hope that it will be useful,
|
---|
17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
19 | // GNU General Public License for more details.
|
---|
20 | //
|
---|
21 | // You should have received a copy of the GNU General Public License
|
---|
22 | // along with this program; if not, write to the Free Software
|
---|
23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
24 |
|
---|
25 | /* -------------------------------------------------------------------------
|
---|
26 | * BKG NTRIP Client
|
---|
27 | * -------------------------------------------------------------------------
|
---|
28 | *
|
---|
29 | * Class: bncParam, bncModel
|
---|
30 | *
|
---|
31 | * Purpose: Model for PPP
|
---|
32 | *
|
---|
33 | * Author: L. Mervart
|
---|
34 | *
|
---|
35 | * Created: 01-Dec-2009
|
---|
36 | *
|
---|
37 | * Changes:
|
---|
38 | *
|
---|
39 | * -----------------------------------------------------------------------*/
|
---|
40 |
|
---|
41 | #include <iomanip>
|
---|
42 | #include <cmath>
|
---|
43 | #include <newmatio.h>
|
---|
44 | #include <sstream>
|
---|
45 |
|
---|
46 | #include "bncmodel.h"
|
---|
47 | #include "pppClient.h"
|
---|
48 | #include "bancroft.h"
|
---|
49 | #include "bncutils.h"
|
---|
50 | #include "bncantex.h"
|
---|
51 | #include "pppOptions.h"
|
---|
52 | #include "pppModel.h"
|
---|
53 |
|
---|
54 | using namespace BNC_PPP;
|
---|
55 | using namespace std;
|
---|
56 |
|
---|
57 | const unsigned MINOBS = 5;
|
---|
58 | const double MINELE = 10.0 * M_PI / 180.0;
|
---|
59 | const double MAXRES_CODE = 15.0;
|
---|
60 | const double MAXRES_PHASE_GPS = 0.04;
|
---|
61 | const double MAXRES_PHASE_GLONASS = 0.08;
|
---|
62 | const double GLONASS_WEIGHT_FACTOR = 5.0;
|
---|
63 |
|
---|
64 | // Constructor
|
---|
65 | ////////////////////////////////////////////////////////////////////////////
|
---|
66 | bncParam::bncParam(bncParam::parType typeIn, int indexIn,
|
---|
67 | const QString& prnIn) {
|
---|
68 | type = typeIn;
|
---|
69 | index = indexIn;
|
---|
70 | prn = prnIn;
|
---|
71 | index_old = 0;
|
---|
72 | xx = 0.0;
|
---|
73 | numEpo = 0;
|
---|
74 | }
|
---|
75 |
|
---|
76 | // Destructor
|
---|
77 | ////////////////////////////////////////////////////////////////////////////
|
---|
78 | bncParam::~bncParam() {
|
---|
79 | }
|
---|
80 |
|
---|
81 | // Partial
|
---|
82 | ////////////////////////////////////////////////////////////////////////////
|
---|
83 | double bncParam::partial(t_satData* satData, bool phase) {
|
---|
84 |
|
---|
85 | Tracer tracer("bncParam::partial");
|
---|
86 |
|
---|
87 | // Coordinates
|
---|
88 | // -----------
|
---|
89 | if (type == CRD_X) {
|
---|
90 | return (xx - satData->xx(1)) / satData->rho;
|
---|
91 | }
|
---|
92 | else if (type == CRD_Y) {
|
---|
93 | return (xx - satData->xx(2)) / satData->rho;
|
---|
94 | }
|
---|
95 | else if (type == CRD_Z) {
|
---|
96 | return (xx - satData->xx(3)) / satData->rho;
|
---|
97 | }
|
---|
98 |
|
---|
99 | // Receiver Clocks
|
---|
100 | // ---------------
|
---|
101 | else if (type == RECCLK) {
|
---|
102 | return 1.0;
|
---|
103 | }
|
---|
104 |
|
---|
105 | // Troposphere
|
---|
106 | // -----------
|
---|
107 | else if (type == TROPO) {
|
---|
108 | return 1.0 / sin(satData->eleSat);
|
---|
109 | }
|
---|
110 |
|
---|
111 | // Glonass Offset
|
---|
112 | // --------------
|
---|
113 | else if (type == GLONASS_OFFSET) {
|
---|
114 | if (satData->prn[0] == 'R') {
|
---|
115 | return 1.0;
|
---|
116 | }
|
---|
117 | else {
|
---|
118 | return 0.0;
|
---|
119 | }
|
---|
120 | }
|
---|
121 |
|
---|
122 | // Galileo Offset
|
---|
123 | // --------------
|
---|
124 | else if (type == GALILEO_OFFSET) {
|
---|
125 | if (satData->prn[0] == 'E') {
|
---|
126 | return 1.0;
|
---|
127 | }
|
---|
128 | else {
|
---|
129 | return 0.0;
|
---|
130 | }
|
---|
131 | }
|
---|
132 |
|
---|
133 | // Ambiguities
|
---|
134 | // -----------
|
---|
135 | else if (type == AMB_L3) {
|
---|
136 | if (phase && satData->prn == prn) {
|
---|
137 | return 1.0;
|
---|
138 | }
|
---|
139 | else {
|
---|
140 | return 0.0;
|
---|
141 | }
|
---|
142 | }
|
---|
143 |
|
---|
144 | // Default return
|
---|
145 | // --------------
|
---|
146 | return 0.0;
|
---|
147 | }
|
---|
148 |
|
---|
149 | // Constructor
|
---|
150 | ////////////////////////////////////////////////////////////////////////////
|
---|
151 | bncModel::bncModel(t_pppClient* pppClient) {
|
---|
152 |
|
---|
153 | _pppClient = pppClient;
|
---|
154 | _staID = pppClient->staID();
|
---|
155 | _opt = pppClient->opt();
|
---|
156 |
|
---|
157 | _tides = new t_tides();
|
---|
158 |
|
---|
159 | // Antenna Name, ANTEX File
|
---|
160 | // ------------------------
|
---|
161 | _antex = 0;
|
---|
162 | if (!_opt->_antexFileName.empty()) {
|
---|
163 | _antex = new bncAntex(_opt->_antexFileName.c_str());
|
---|
164 | }
|
---|
165 |
|
---|
166 | // Bancroft Coordinates
|
---|
167 | // --------------------
|
---|
168 | _xcBanc.ReSize(4); _xcBanc = 0.0;
|
---|
169 | _ellBanc.ReSize(3); _ellBanc = 0.0;
|
---|
170 |
|
---|
171 | // Save copy of data (used in outlier detection)
|
---|
172 | // ---------------------------------------------
|
---|
173 | _epoData_sav = new t_epoData();
|
---|
174 | }
|
---|
175 |
|
---|
176 | // Destructor
|
---|
177 | ////////////////////////////////////////////////////////////////////////////
|
---|
178 | bncModel::~bncModel() {
|
---|
179 | delete _tides;
|
---|
180 | for (int ii = 0; ii < _posAverage.size(); ++ii) {
|
---|
181 | delete _posAverage[ii];
|
---|
182 | }
|
---|
183 | delete _antex;
|
---|
184 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
185 | delete _params[iPar-1];
|
---|
186 | }
|
---|
187 | for (int iPar = 1; iPar <= _params_sav.size(); iPar++) {
|
---|
188 | delete _params_sav[iPar-1];
|
---|
189 | }
|
---|
190 | delete _epoData_sav;
|
---|
191 | }
|
---|
192 |
|
---|
193 | // Reset Parameters and Variance-Covariance Matrix
|
---|
194 | ////////////////////////////////////////////////////////////////////////////
|
---|
195 | void bncModel::reset() {
|
---|
196 |
|
---|
197 | Tracer tracer("bncModel::reset");
|
---|
198 |
|
---|
199 | double lastTrp = 0.0;
|
---|
200 | for (int ii = 0; ii < _params.size(); ii++) {
|
---|
201 | bncParam* pp = _params[ii];
|
---|
202 | if (pp->type == bncParam::TROPO) {
|
---|
203 | lastTrp = pp->xx;
|
---|
204 | }
|
---|
205 | delete pp;
|
---|
206 | }
|
---|
207 | _params.clear();
|
---|
208 |
|
---|
209 | int nextPar = 0;
|
---|
210 | _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
|
---|
211 | _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
|
---|
212 | _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
|
---|
213 | _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
|
---|
214 | if (_opt->estTrp()) {
|
---|
215 | _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
|
---|
216 | }
|
---|
217 | if (_opt->useSystem('R')) {
|
---|
218 | _params.push_back(new bncParam(bncParam::GLONASS_OFFSET, ++nextPar, ""));
|
---|
219 | }
|
---|
220 | if (_opt->useSystem('E')) {
|
---|
221 | _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, ""));
|
---|
222 | }
|
---|
223 |
|
---|
224 | _QQ.ReSize(_params.size());
|
---|
225 | _QQ = 0.0;
|
---|
226 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
227 | bncParam* pp = _params[iPar-1];
|
---|
228 | pp->xx = 0.0;
|
---|
229 | if (pp->isCrd()) {
|
---|
230 | _QQ(iPar,iPar) = _opt->_aprSigCrd(1) * _opt->_aprSigCrd(1);
|
---|
231 | }
|
---|
232 | else if (pp->type == bncParam::RECCLK) {
|
---|
233 | _QQ(iPar,iPar) = _opt->_noiseClk * _opt->_noiseClk;
|
---|
234 | }
|
---|
235 | else if (pp->type == bncParam::TROPO) {
|
---|
236 | _QQ(iPar,iPar) = _opt->_aprSigTrp * _opt->_aprSigTrp;
|
---|
237 | pp->xx = lastTrp;
|
---|
238 | }
|
---|
239 | else if (pp->type == bncParam::GLONASS_OFFSET) {
|
---|
240 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
241 | }
|
---|
242 | else if (pp->type == bncParam::GALILEO_OFFSET) {
|
---|
243 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
244 | }
|
---|
245 | }
|
---|
246 | }
|
---|
247 |
|
---|
248 | // Bancroft Solution
|
---|
249 | ////////////////////////////////////////////////////////////////////////////
|
---|
250 | t_irc bncModel::cmpBancroft(t_epoData* epoData) {
|
---|
251 |
|
---|
252 | Tracer tracer("bncModel::cmpBancroft");
|
---|
253 |
|
---|
254 | if (epoData->sizeSys('G') < MINOBS) {
|
---|
255 | _log += "bncModel::cmpBancroft: not enough data\n";
|
---|
256 | return failure;
|
---|
257 | }
|
---|
258 |
|
---|
259 | Matrix BB(epoData->sizeSys('G'), 4);
|
---|
260 |
|
---|
261 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
262 | int iObsBanc = 0;
|
---|
263 | while (it.hasNext()) {
|
---|
264 | it.next();
|
---|
265 | t_satData* satData = it.value();
|
---|
266 | if (satData->system() == 'G') {
|
---|
267 | ++iObsBanc;
|
---|
268 | QString prn = it.key();
|
---|
269 | BB(iObsBanc, 1) = satData->xx(1);
|
---|
270 | BB(iObsBanc, 2) = satData->xx(2);
|
---|
271 | BB(iObsBanc, 3) = satData->xx(3);
|
---|
272 | BB(iObsBanc, 4) = satData->P3 + satData->clk;
|
---|
273 | }
|
---|
274 | }
|
---|
275 |
|
---|
276 | bancroft(BB, _xcBanc);
|
---|
277 |
|
---|
278 | // Ellipsoidal Coordinates
|
---|
279 | // ------------------------
|
---|
280 | xyz2ell(_xcBanc.data(), _ellBanc.data());
|
---|
281 |
|
---|
282 | // Compute Satellite Elevations
|
---|
283 | // ----------------------------
|
---|
284 | QMutableMapIterator<QString, t_satData*> im(epoData->satData);
|
---|
285 | while (im.hasNext()) {
|
---|
286 | im.next();
|
---|
287 | t_satData* satData = im.value();
|
---|
288 | cmpEle(satData);
|
---|
289 | if (satData->eleSat < MINELE) {
|
---|
290 | delete satData;
|
---|
291 | im.remove();
|
---|
292 | }
|
---|
293 | }
|
---|
294 |
|
---|
295 | return success;
|
---|
296 | }
|
---|
297 |
|
---|
298 | // Computed Value
|
---|
299 | ////////////////////////////////////////////////////////////////////////////
|
---|
300 | double bncModel::cmpValue(t_satData* satData, bool phase) {
|
---|
301 |
|
---|
302 | Tracer tracer("bncModel::cmpValue");
|
---|
303 |
|
---|
304 | ColumnVector xRec(3);
|
---|
305 | xRec(1) = x();
|
---|
306 | xRec(2) = y();
|
---|
307 | xRec(3) = z();
|
---|
308 |
|
---|
309 | double rho0 = (satData->xx - xRec).norm_Frobenius();
|
---|
310 | double dPhi = t_CST::omega * rho0 / t_CST::c;
|
---|
311 |
|
---|
312 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
|
---|
313 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
|
---|
314 | xRec(3) = z();
|
---|
315 |
|
---|
316 | xRec += _tides->displacement(_time, xRec);
|
---|
317 |
|
---|
318 | satData->rho = (satData->xx - xRec).norm_Frobenius();
|
---|
319 |
|
---|
320 | double tropDelay = delay_saast(satData->eleSat) +
|
---|
321 | trp() / sin(satData->eleSat);
|
---|
322 |
|
---|
323 | double wind = 0.0;
|
---|
324 | if (phase) {
|
---|
325 | wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
|
---|
326 | }
|
---|
327 |
|
---|
328 | double offset = 0.0;
|
---|
329 | if (satData->prn[0] == 'R') {
|
---|
330 | offset = Glonass_offset();
|
---|
331 | }
|
---|
332 | else if (satData->prn[0] == 'E') {
|
---|
333 | offset = Galileo_offset();
|
---|
334 | }
|
---|
335 |
|
---|
336 | double phaseCenter = 0.0;
|
---|
337 | if (_antex) {
|
---|
338 | bool found;
|
---|
339 | phaseCenter = _antex->pco(QString(_opt->_antNameRover.c_str()), satData->eleSat, found);
|
---|
340 | if (!found) {
|
---|
341 | LOG << "ANTEX: antenna >" << _opt->_antNameRover << "< not found\n";
|
---|
342 | }
|
---|
343 | }
|
---|
344 |
|
---|
345 | double antennaOffset = 0.0;
|
---|
346 | double cosa = cos(satData->azSat);
|
---|
347 | double sina = sin(satData->azSat);
|
---|
348 | double cose = cos(satData->eleSat);
|
---|
349 | double sine = sin(satData->eleSat);
|
---|
350 | antennaOffset = -_opt->_neuEccRover(1) * cosa*cose
|
---|
351 | -_opt->_neuEccRover(2) * sina*cose
|
---|
352 | -_opt->_neuEccRover(3) * sine;
|
---|
353 |
|
---|
354 | return satData->rho + phaseCenter + antennaOffset + clk()
|
---|
355 | + offset - satData->clk + tropDelay + wind;
|
---|
356 | }
|
---|
357 |
|
---|
358 | // Tropospheric Model (Saastamoinen)
|
---|
359 | ////////////////////////////////////////////////////////////////////////////
|
---|
360 | double bncModel::delay_saast(double Ele) {
|
---|
361 |
|
---|
362 | Tracer tracer("bncModel::delay_saast");
|
---|
363 |
|
---|
364 | double xyz[3];
|
---|
365 | xyz[0] = x();
|
---|
366 | xyz[1] = y();
|
---|
367 | xyz[2] = z();
|
---|
368 | double ell[3];
|
---|
369 | xyz2ell(xyz, ell);
|
---|
370 | double height = ell[2];
|
---|
371 |
|
---|
372 | double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
|
---|
373 | double TT = 18.0 - height * 0.0065 + 273.15;
|
---|
374 | double hh = 50.0 * exp(-6.396e-4 * height);
|
---|
375 | double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
|
---|
376 |
|
---|
377 | double h_km = height / 1000.0;
|
---|
378 |
|
---|
379 | if (h_km < 0.0) h_km = 0.0;
|
---|
380 | if (h_km > 5.0) h_km = 5.0;
|
---|
381 | int ii = int(h_km + 1);
|
---|
382 | double href = ii - 1;
|
---|
383 |
|
---|
384 | double bCor[6];
|
---|
385 | bCor[0] = 1.156;
|
---|
386 | bCor[1] = 1.006;
|
---|
387 | bCor[2] = 0.874;
|
---|
388 | bCor[3] = 0.757;
|
---|
389 | bCor[4] = 0.654;
|
---|
390 | bCor[5] = 0.563;
|
---|
391 |
|
---|
392 | double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
|
---|
393 |
|
---|
394 | double zen = M_PI/2.0 - Ele;
|
---|
395 |
|
---|
396 | return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
|
---|
397 | }
|
---|
398 |
|
---|
399 | // Prediction Step of the Filter
|
---|
400 | ////////////////////////////////////////////////////////////////////////////
|
---|
401 | void bncModel::predict(int iPhase, t_epoData* epoData) {
|
---|
402 |
|
---|
403 | Tracer tracer("bncModel::predict");
|
---|
404 |
|
---|
405 | if (iPhase == 0) {
|
---|
406 |
|
---|
407 | const double maxSolGap = 0.0;
|
---|
408 |
|
---|
409 | bool firstCrd = false;
|
---|
410 | if (!_lastTimeOK.valid() || (maxSolGap > 0.0 && _time - _lastTimeOK > maxSolGap)) {
|
---|
411 | firstCrd = true;
|
---|
412 | _startTime = epoData->tt;
|
---|
413 | reset();
|
---|
414 | }
|
---|
415 |
|
---|
416 | // Use different white noise for Quick-Start mode
|
---|
417 | // ----------------------------------------------
|
---|
418 | double sigCrdP_used = _opt->_noiseCrd(1);
|
---|
419 | if ( _opt->_seedingTime > 0.0 && _opt->_seedingTime > (epoData->tt - _startTime) ) {
|
---|
420 | sigCrdP_used = 0.0;
|
---|
421 | }
|
---|
422 |
|
---|
423 | // Predict Parameter values, add white noise
|
---|
424 | // -----------------------------------------
|
---|
425 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
426 | bncParam* pp = _params[iPar-1];
|
---|
427 |
|
---|
428 | // Coordinates
|
---|
429 | // -----------
|
---|
430 | if (pp->type == bncParam::CRD_X) {
|
---|
431 | if (firstCrd) {
|
---|
432 | if (_opt->xyzAprRoverSet()) {
|
---|
433 | pp->xx = _opt->_xyzAprRover[0];
|
---|
434 | }
|
---|
435 | else {
|
---|
436 | pp->xx = _xcBanc(1);
|
---|
437 | }
|
---|
438 | }
|
---|
439 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
440 | }
|
---|
441 | else if (pp->type == bncParam::CRD_Y) {
|
---|
442 | if (firstCrd) {
|
---|
443 | if (_opt->xyzAprRoverSet()) {
|
---|
444 | pp->xx = _opt->_xyzAprRover[1];
|
---|
445 | }
|
---|
446 | else {
|
---|
447 | pp->xx = _xcBanc(2);
|
---|
448 | }
|
---|
449 | }
|
---|
450 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
451 | }
|
---|
452 | else if (pp->type == bncParam::CRD_Z) {
|
---|
453 | if (firstCrd) {
|
---|
454 | if (_opt->xyzAprRoverSet()) {
|
---|
455 | pp->xx = _opt->_xyzAprRover[2];
|
---|
456 | }
|
---|
457 | else {
|
---|
458 | pp->xx = _xcBanc(3);
|
---|
459 | }
|
---|
460 | }
|
---|
461 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
462 | }
|
---|
463 |
|
---|
464 | // Receiver Clocks
|
---|
465 | // ---------------
|
---|
466 | else if (pp->type == bncParam::RECCLK) {
|
---|
467 | pp->xx = _xcBanc(4);
|
---|
468 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
469 | _QQ(iPar, jj) = 0.0;
|
---|
470 | }
|
---|
471 | _QQ(iPar,iPar) = _opt->_noiseClk * _opt->_noiseClk;
|
---|
472 | }
|
---|
473 |
|
---|
474 | // Tropospheric Delay
|
---|
475 | // ------------------
|
---|
476 | else if (pp->type == bncParam::TROPO) {
|
---|
477 | _QQ(iPar,iPar) += _opt->_noiseTrp * _opt->_noiseTrp;
|
---|
478 | }
|
---|
479 |
|
---|
480 | // Glonass Offset
|
---|
481 | // --------------
|
---|
482 | else if (pp->type == bncParam::GLONASS_OFFSET) {
|
---|
483 | pp->xx = 0.0;
|
---|
484 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
485 | _QQ(iPar, jj) = 0.0;
|
---|
486 | }
|
---|
487 | _QQ(iPar,iPar) = 1000.0 * 1000.0;
|
---|
488 | }
|
---|
489 |
|
---|
490 | // Galileo Offset
|
---|
491 | // --------------
|
---|
492 | else if (pp->type == bncParam::GALILEO_OFFSET) {
|
---|
493 | _QQ(iPar,iPar) += 0.1 * 0.1;
|
---|
494 | }
|
---|
495 | }
|
---|
496 | }
|
---|
497 |
|
---|
498 | // Add New Ambiguities if necessary
|
---|
499 | // --------------------------------
|
---|
500 | if (_opt->ambLCs('G').size() || _opt->ambLCs('R').size() || _opt->ambLCs('E').size()) {
|
---|
501 |
|
---|
502 | // Make a copy of QQ and xx, set parameter indices
|
---|
503 | // -----------------------------------------------
|
---|
504 | SymmetricMatrix QQ_old = _QQ;
|
---|
505 |
|
---|
506 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
507 | _params[iPar-1]->index_old = _params[iPar-1]->index;
|
---|
508 | _params[iPar-1]->index = 0;
|
---|
509 | }
|
---|
510 |
|
---|
511 | // Remove Ambiguity Parameters without observations
|
---|
512 | // ------------------------------------------------
|
---|
513 | int iPar = 0;
|
---|
514 | QMutableVectorIterator<bncParam*> im(_params);
|
---|
515 | while (im.hasNext()) {
|
---|
516 | bncParam* par = im.next();
|
---|
517 | bool removed = false;
|
---|
518 | if (par->type == bncParam::AMB_L3) {
|
---|
519 | if (epoData->satData.find(par->prn) == epoData->satData.end()) {
|
---|
520 | removed = true;
|
---|
521 | delete par;
|
---|
522 | im.remove();
|
---|
523 | }
|
---|
524 | }
|
---|
525 | if (! removed) {
|
---|
526 | ++iPar;
|
---|
527 | par->index = iPar;
|
---|
528 | }
|
---|
529 | }
|
---|
530 |
|
---|
531 | // Add new ambiguity parameters
|
---|
532 | // ----------------------------
|
---|
533 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
534 | while (it.hasNext()) {
|
---|
535 | it.next();
|
---|
536 | t_satData* satData = it.value();
|
---|
537 | addAmb(satData);
|
---|
538 | }
|
---|
539 |
|
---|
540 | int nPar = _params.size();
|
---|
541 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
542 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
543 | bncParam* p1 = _params[i1-1];
|
---|
544 | if (p1->index_old != 0) {
|
---|
545 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
546 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
547 | bncParam* p2 = _params[i2-1];
|
---|
548 | if (p2->index_old != 0) {
|
---|
549 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
550 | }
|
---|
551 | }
|
---|
552 | }
|
---|
553 | }
|
---|
554 |
|
---|
555 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
556 | bncParam* par = _params[ii-1];
|
---|
557 | if (par->index_old == 0) {
|
---|
558 | _QQ(par->index, par->index) = _opt->_aprSigAmb * _opt->_aprSigAmb;
|
---|
559 | }
|
---|
560 | par->index_old = par->index;
|
---|
561 | }
|
---|
562 | }
|
---|
563 | }
|
---|
564 |
|
---|
565 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
566 | ////////////////////////////////////////////////////////////////////////////
|
---|
567 | t_irc bncModel::update(t_epoData* epoData) {
|
---|
568 |
|
---|
569 | Tracer tracer("bncModel::update");
|
---|
570 |
|
---|
571 | _log.clear();
|
---|
572 |
|
---|
573 | _time = epoData->tt; // current epoch time
|
---|
574 |
|
---|
575 | if (_opt->useOrbClkCorr()) {
|
---|
576 | _log += "Precise Point Positioning of Epoch "
|
---|
577 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
578 | "\n---------------------------------------------------------------\n";
|
---|
579 | }
|
---|
580 | else {
|
---|
581 | _log += "Single Point Positioning of Epoch "
|
---|
582 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
583 | "\n--------------------------------------------------------------\n";
|
---|
584 | }
|
---|
585 |
|
---|
586 | // Outlier Detection Loop
|
---|
587 | // ----------------------
|
---|
588 | if (update_p(epoData) != success) {
|
---|
589 | LOG << _log.data() << endl;
|
---|
590 | return failure;
|
---|
591 | }
|
---|
592 |
|
---|
593 | // Remember the Epoch-specific Results for the computation of means
|
---|
594 | // ----------------------------------------------------------------
|
---|
595 | pppPos* newPos = new pppPos;
|
---|
596 | newPos->time = epoData->tt;
|
---|
597 |
|
---|
598 | // Set Solution Vector
|
---|
599 | // -------------------
|
---|
600 | ostringstream strB;
|
---|
601 | strB.setf(ios::fixed);
|
---|
602 | QVectorIterator<bncParam*> itPar(_params);
|
---|
603 | while (itPar.hasNext()) {
|
---|
604 | bncParam* par = itPar.next();
|
---|
605 |
|
---|
606 | if (par->type == bncParam::RECCLK) {
|
---|
607 | strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
|
---|
608 | << " +- " << setw(6) << setprecision(3)
|
---|
609 | << sqrt(_QQ(par->index,par->index));
|
---|
610 | }
|
---|
611 | else if (par->type == bncParam::AMB_L3) {
|
---|
612 | ++par->numEpo;
|
---|
613 | strB << "\n amb " << par->prn.toAscii().data() << " = "
|
---|
614 | << setw(10) << setprecision(3) << par->xx
|
---|
615 | << " +- " << setw(6) << setprecision(3)
|
---|
616 | << sqrt(_QQ(par->index,par->index))
|
---|
617 | << " nEpo = " << par->numEpo;
|
---|
618 | }
|
---|
619 | else if (par->type == bncParam::TROPO) {
|
---|
620 | double aprTrp = delay_saast(M_PI/2.0);
|
---|
621 | strB << "\n trp = " << par->prn.toAscii().data()
|
---|
622 | << setw(7) << setprecision(3) << aprTrp << " "
|
---|
623 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
624 | << " +- " << setw(6) << setprecision(3)
|
---|
625 | << sqrt(_QQ(par->index,par->index));
|
---|
626 | newPos->xnt[6] = aprTrp + par->xx;
|
---|
627 | }
|
---|
628 | else if (par->type == bncParam::GLONASS_OFFSET) {
|
---|
629 | strB << "\n offGlo = " << setw(10) << setprecision(3) << par->xx
|
---|
630 | << " +- " << setw(6) << setprecision(3)
|
---|
631 | << sqrt(_QQ(par->index,par->index));
|
---|
632 | }
|
---|
633 | else if (par->type == bncParam::GALILEO_OFFSET) {
|
---|
634 | strB << "\n offGal = " << setw(10) << setprecision(3) << par->xx
|
---|
635 | << " +- " << setw(6) << setprecision(3)
|
---|
636 | << sqrt(_QQ(par->index,par->index));
|
---|
637 | }
|
---|
638 | }
|
---|
639 | strB << '\n';
|
---|
640 | _log += strB.str().c_str();
|
---|
641 | LOG << _log.data() << endl;
|
---|
642 |
|
---|
643 | // Final Message (both log file and screen)
|
---|
644 | // ----------------------------------------
|
---|
645 | ostringstream strC;
|
---|
646 | strC.setf(ios::fixed);
|
---|
647 | strC << _staID.data() << " PPP "
|
---|
648 | << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
|
---|
649 | << setw(14) << setprecision(3) << x() << " +- "
|
---|
650 | << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
|
---|
651 | << setw(14) << setprecision(3) << y() << " +- "
|
---|
652 | << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
|
---|
653 | << setw(14) << setprecision(3) << z() << " +- "
|
---|
654 | << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
|
---|
655 |
|
---|
656 | // NEU Output
|
---|
657 | // ----------
|
---|
658 | if (_opt->xyzAprRoverSet()) {
|
---|
659 | newPos->xnt[0] = x() - _opt->_xyzAprRover[0];
|
---|
660 | newPos->xnt[1] = y() - _opt->_xyzAprRover[1];
|
---|
661 | newPos->xnt[2] = z() - _opt->_xyzAprRover[2];
|
---|
662 |
|
---|
663 | double ellRef[3];
|
---|
664 | xyz2ell(_opt->_xyzAprRover.data(), ellRef);
|
---|
665 | xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
|
---|
666 |
|
---|
667 | strC << " NEU "
|
---|
668 | << setw(8) << setprecision(3) << newPos->xnt[3] << " "
|
---|
669 | << setw(8) << setprecision(3) << newPos->xnt[4] << " "
|
---|
670 | << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
|
---|
671 |
|
---|
672 | }
|
---|
673 |
|
---|
674 | LOG << strC.str() << endl;
|
---|
675 |
|
---|
676 | delete newPos;
|
---|
677 |
|
---|
678 | _lastTimeOK = _time; // remember time of last successful update
|
---|
679 | return success;
|
---|
680 | }
|
---|
681 |
|
---|
682 | // Outlier Detection
|
---|
683 | ////////////////////////////////////////////////////////////////////////////
|
---|
684 | QString bncModel::outlierDetection(int iPhase, const ColumnVector& vv,
|
---|
685 | QMap<QString, t_satData*>& satData) {
|
---|
686 |
|
---|
687 | Tracer tracer("bncModel::outlierDetection");
|
---|
688 |
|
---|
689 | QString prnGPS;
|
---|
690 | QString prnGlo;
|
---|
691 | double maxResGPS = 0.0;
|
---|
692 | double maxResGlo = 0.0;
|
---|
693 | findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo);
|
---|
694 |
|
---|
695 | if (iPhase == 1) {
|
---|
696 | if (maxResGlo > MAXRES_PHASE_GLONASS) {
|
---|
697 | _log += "Outlier Phase " + prnGlo + " "
|
---|
698 | + QByteArray::number(maxResGlo, 'f', 3) + "\n";
|
---|
699 | return prnGlo;
|
---|
700 | }
|
---|
701 | else if (maxResGPS > MAXRES_PHASE_GPS) {
|
---|
702 | _log += "Outlier Phase " + prnGPS + " "
|
---|
703 | + QByteArray::number(maxResGPS, 'f', 3) + "\n";
|
---|
704 | return prnGPS;
|
---|
705 | }
|
---|
706 | }
|
---|
707 | else if (iPhase == 0 && maxResGPS > MAXRES_CODE) {
|
---|
708 | _log += "Outlier Code " + prnGPS + " "
|
---|
709 | + QByteArray::number(maxResGPS, 'f', 3) + "\n";
|
---|
710 | return prnGPS;
|
---|
711 | }
|
---|
712 |
|
---|
713 | return QString();
|
---|
714 | }
|
---|
715 |
|
---|
716 | //
|
---|
717 | //////////////////////////////////////////////////////////////////////////////
|
---|
718 | void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
|
---|
719 | const DiagonalMatrix& PP,
|
---|
720 | SymmetricMatrix& QQ, ColumnVector& dx) {
|
---|
721 |
|
---|
722 | Tracer tracer("bncModel::kalman");
|
---|
723 |
|
---|
724 | int nPar = AA.Ncols();
|
---|
725 | int nObs = AA.Nrows();
|
---|
726 | UpperTriangularMatrix SS = Cholesky(QQ).t();
|
---|
727 |
|
---|
728 | Matrix SA = SS*AA.t();
|
---|
729 | Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
|
---|
730 | for (int ii = 1; ii <= nObs; ++ii) {
|
---|
731 | SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
|
---|
732 | }
|
---|
733 |
|
---|
734 | SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
|
---|
735 | SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
|
---|
736 |
|
---|
737 | UpperTriangularMatrix UU;
|
---|
738 | QRZ(SRF, UU);
|
---|
739 |
|
---|
740 | SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
|
---|
741 | UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
|
---|
742 | Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
|
---|
743 |
|
---|
744 | UpperTriangularMatrix SHi = SH_rt.i();
|
---|
745 |
|
---|
746 | Matrix KT = SHi * YY;
|
---|
747 | SymmetricMatrix Hi; Hi << SHi * SHi.t();
|
---|
748 |
|
---|
749 | dx = KT.t() * ll;
|
---|
750 | QQ << (SS.t() * SS);
|
---|
751 | }
|
---|
752 |
|
---|
753 | // Phase Wind-Up Correction
|
---|
754 | ///////////////////////////////////////////////////////////////////////////
|
---|
755 | double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
|
---|
756 | const ColumnVector& rRec) {
|
---|
757 |
|
---|
758 | Tracer tracer("bncModel::windUp");
|
---|
759 |
|
---|
760 | double Mjd = _time.mjd() + _time.daysec() / 86400.0;
|
---|
761 |
|
---|
762 | // First time - initialize to zero
|
---|
763 | // -------------------------------
|
---|
764 | if (!_windUpTime.contains(prn)) {
|
---|
765 | _windUpSum[prn] = 0.0;
|
---|
766 | }
|
---|
767 |
|
---|
768 | // Compute the correction for new time
|
---|
769 | // -----------------------------------
|
---|
770 | if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
|
---|
771 | _windUpTime[prn] = Mjd;
|
---|
772 |
|
---|
773 | // Unit Vector GPS Satellite --> Receiver
|
---|
774 | // --------------------------------------
|
---|
775 | ColumnVector rho = rRec - rSat;
|
---|
776 | rho /= rho.norm_Frobenius();
|
---|
777 |
|
---|
778 | // GPS Satellite unit Vectors sz, sy, sx
|
---|
779 | // -------------------------------------
|
---|
780 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
|
---|
781 |
|
---|
782 | ColumnVector xSun = t_astro::Sun(Mjd);
|
---|
783 | xSun /= xSun.norm_Frobenius();
|
---|
784 |
|
---|
785 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
786 | ColumnVector sx = crossproduct(sy, sz);
|
---|
787 |
|
---|
788 | // Effective Dipole of the GPS Satellite Antenna
|
---|
789 | // ---------------------------------------------
|
---|
790 | ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
|
---|
791 | - crossproduct(rho, sy);
|
---|
792 |
|
---|
793 | // Receiver unit Vectors rx, ry
|
---|
794 | // ----------------------------
|
---|
795 | ColumnVector rx(3);
|
---|
796 | ColumnVector ry(3);
|
---|
797 |
|
---|
798 | double recEll[3]; xyz2ell(rRec.data(), recEll) ;
|
---|
799 | double neu[3];
|
---|
800 |
|
---|
801 | neu[0] = 1.0;
|
---|
802 | neu[1] = 0.0;
|
---|
803 | neu[2] = 0.0;
|
---|
804 | neu2xyz(recEll, neu, rx.data());
|
---|
805 |
|
---|
806 | neu[0] = 0.0;
|
---|
807 | neu[1] = -1.0;
|
---|
808 | neu[2] = 0.0;
|
---|
809 | neu2xyz(recEll, neu, ry.data());
|
---|
810 |
|
---|
811 | // Effective Dipole of the Receiver Antenna
|
---|
812 | // ----------------------------------------
|
---|
813 | ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
|
---|
814 | + crossproduct(rho, ry);
|
---|
815 |
|
---|
816 | // Resulting Effect
|
---|
817 | // ----------------
|
---|
818 | double alpha = DotProduct(dipSat,dipRec) /
|
---|
819 | (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
|
---|
820 |
|
---|
821 | if (alpha > 1.0) alpha = 1.0;
|
---|
822 | if (alpha < -1.0) alpha = -1.0;
|
---|
823 |
|
---|
824 | double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
|
---|
825 |
|
---|
826 | if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
|
---|
827 | dphi = -dphi;
|
---|
828 | }
|
---|
829 |
|
---|
830 | _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
|
---|
831 | }
|
---|
832 |
|
---|
833 | return _windUpSum[prn];
|
---|
834 | }
|
---|
835 |
|
---|
836 | //
|
---|
837 | ///////////////////////////////////////////////////////////////////////////
|
---|
838 | void bncModel::cmpEle(t_satData* satData) {
|
---|
839 | Tracer tracer("bncModel::cmpEle");
|
---|
840 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
|
---|
841 | double rho = rr.norm_Frobenius();
|
---|
842 |
|
---|
843 | double neu[3];
|
---|
844 | xyz2neu(_ellBanc.data(), rr.data(), neu);
|
---|
845 |
|
---|
846 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
|
---|
847 | if (neu[2] < 0) {
|
---|
848 | satData->eleSat *= -1.0;
|
---|
849 | }
|
---|
850 | satData->azSat = atan2(neu[1], neu[0]);
|
---|
851 | }
|
---|
852 |
|
---|
853 | //
|
---|
854 | ///////////////////////////////////////////////////////////////////////////
|
---|
855 | void bncModel::addAmb(t_satData* satData) {
|
---|
856 | Tracer tracer("bncModel::addAmb");
|
---|
857 | bool found = false;
|
---|
858 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
859 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
860 | _params[iPar-1]->prn == satData->prn) {
|
---|
861 | found = true;
|
---|
862 | break;
|
---|
863 | }
|
---|
864 | }
|
---|
865 | if (!found) {
|
---|
866 | bncParam* par = new bncParam(bncParam::AMB_L3,
|
---|
867 | _params.size()+1, satData->prn);
|
---|
868 | _params.push_back(par);
|
---|
869 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
870 | }
|
---|
871 | }
|
---|
872 |
|
---|
873 | //
|
---|
874 | ///////////////////////////////////////////////////////////////////////////
|
---|
875 | void bncModel::addObs(int iPhase, unsigned& iObs, t_satData* satData,
|
---|
876 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
|
---|
877 |
|
---|
878 | Tracer tracer("bncModel::addObs");
|
---|
879 |
|
---|
880 | const double ELEWGHT = 20.0;
|
---|
881 | double ellWgtCoef = 1.0;
|
---|
882 | double eleD = satData->eleSat * 180.0 / M_PI;
|
---|
883 | if (eleD < ELEWGHT) {
|
---|
884 | ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0);
|
---|
885 | }
|
---|
886 |
|
---|
887 | // Remember Observation Index
|
---|
888 | // --------------------------
|
---|
889 | ++iObs;
|
---|
890 | satData->obsIndex = iObs;
|
---|
891 |
|
---|
892 | // Phase Observations
|
---|
893 | // ------------------
|
---|
894 | if (iPhase == 1) {
|
---|
895 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
896 | double sigL3 = 2.98 * _opt->_sigmaL1;
|
---|
897 | if (satData->system() == 'R') {
|
---|
898 | sigL3 *= GLONASS_WEIGHT_FACTOR;
|
---|
899 | }
|
---|
900 | PP(iObs,iObs) = 1.0 / (sigL3 * sigL3) / (ellWgtCoef * ellWgtCoef);
|
---|
901 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
902 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
903 | _params[iPar-1]->prn == satData->prn) {
|
---|
904 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
905 | }
|
---|
906 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
907 | }
|
---|
908 | }
|
---|
909 |
|
---|
910 | // Code Observations
|
---|
911 | // -----------------
|
---|
912 | else {
|
---|
913 | double sigP3 = 2.98 * _opt->_sigmaC1;
|
---|
914 | ll(iObs) = satData->P3 - cmpValue(satData, false);
|
---|
915 | PP(iObs,iObs) = 1.0 / (sigP3 * sigP3) / (ellWgtCoef * ellWgtCoef);
|
---|
916 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
917 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
918 | }
|
---|
919 | }
|
---|
920 | }
|
---|
921 |
|
---|
922 | //
|
---|
923 | ///////////////////////////////////////////////////////////////////////////
|
---|
924 | QByteArray bncModel::printRes(int iPhase, const ColumnVector& vv,
|
---|
925 | const QMap<QString, t_satData*>& satDataMap) {
|
---|
926 |
|
---|
927 | Tracer tracer("bncModel::printRes");
|
---|
928 |
|
---|
929 | ostringstream str;
|
---|
930 | str.setf(ios::fixed);
|
---|
931 |
|
---|
932 | QMapIterator<QString, t_satData*> it(satDataMap);
|
---|
933 | while (it.hasNext()) {
|
---|
934 | it.next();
|
---|
935 | t_satData* satData = it.value();
|
---|
936 | if (satData->obsIndex != 0) {
|
---|
937 | str << _time.timestr(1)
|
---|
938 | << " RES " << satData->prn.toAscii().data()
|
---|
939 | << (iPhase ? " L3 " : " P3 ")
|
---|
940 | << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl;
|
---|
941 | }
|
---|
942 | }
|
---|
943 |
|
---|
944 | return QByteArray(str.str().c_str());
|
---|
945 | }
|
---|
946 |
|
---|
947 | //
|
---|
948 | ///////////////////////////////////////////////////////////////////////////
|
---|
949 | void bncModel::findMaxRes(const ColumnVector& vv,
|
---|
950 | const QMap<QString, t_satData*>& satData,
|
---|
951 | QString& prnGPS, QString& prnGlo,
|
---|
952 | double& maxResGPS, double& maxResGlo) {
|
---|
953 |
|
---|
954 | Tracer tracer("bncModel::findMaxRes");
|
---|
955 |
|
---|
956 | maxResGPS = 0.0;
|
---|
957 | maxResGlo = 0.0;
|
---|
958 |
|
---|
959 | QMapIterator<QString, t_satData*> it(satData);
|
---|
960 | while (it.hasNext()) {
|
---|
961 | it.next();
|
---|
962 | t_satData* satData = it.value();
|
---|
963 | if (satData->obsIndex != 0) {
|
---|
964 | QString prn = satData->prn;
|
---|
965 | if (prn[0] == 'R') {
|
---|
966 | if (fabs(vv(satData->obsIndex)) > maxResGlo) {
|
---|
967 | maxResGlo = fabs(vv(satData->obsIndex));
|
---|
968 | prnGlo = prn;
|
---|
969 | }
|
---|
970 | }
|
---|
971 | else {
|
---|
972 | if (fabs(vv(satData->obsIndex)) > maxResGPS) {
|
---|
973 | maxResGPS = fabs(vv(satData->obsIndex));
|
---|
974 | prnGPS = prn;
|
---|
975 | }
|
---|
976 | }
|
---|
977 | }
|
---|
978 | }
|
---|
979 | }
|
---|
980 |
|
---|
981 | // Update Step (private - loop over outliers)
|
---|
982 | ////////////////////////////////////////////////////////////////////////////
|
---|
983 | t_irc bncModel::update_p(t_epoData* epoData) {
|
---|
984 |
|
---|
985 | Tracer tracer("bncModel::update_p");
|
---|
986 |
|
---|
987 | // Save Variance-Covariance Matrix, and Status Vector
|
---|
988 | // --------------------------------------------------
|
---|
989 | rememberState(epoData);
|
---|
990 |
|
---|
991 | QString lastOutlierPrn;
|
---|
992 |
|
---|
993 | // Try with all satellites, then with all minus one, etc.
|
---|
994 | // ------------------------------------------------------
|
---|
995 | while (selectSatellites(lastOutlierPrn, epoData->satData) == success) {
|
---|
996 |
|
---|
997 | QByteArray strResCode;
|
---|
998 | QByteArray strResPhase;
|
---|
999 |
|
---|
1000 | // Bancroft Solution
|
---|
1001 | // -----------------
|
---|
1002 | if (cmpBancroft(epoData) != success) {
|
---|
1003 | break;
|
---|
1004 | }
|
---|
1005 |
|
---|
1006 | // First update using code observations, then phase observations
|
---|
1007 | // -------------------------------------------------------------
|
---|
1008 | bool usePhase = _opt->ambLCs('G').size() || _opt->ambLCs('R').size() ||
|
---|
1009 | _opt->ambLCs('E').size();
|
---|
1010 |
|
---|
1011 | for (int iPhase = 0; iPhase <= (usePhase ? 1 : 0); iPhase++) {
|
---|
1012 |
|
---|
1013 | // Status Prediction
|
---|
1014 | // -----------------
|
---|
1015 | predict(iPhase, epoData);
|
---|
1016 |
|
---|
1017 | // Create First-Design Matrix
|
---|
1018 | // --------------------------
|
---|
1019 | unsigned nPar = _params.size();
|
---|
1020 | unsigned nObs = 0;
|
---|
1021 | if (iPhase == 0) {
|
---|
1022 | nObs = epoData->sizeAll() - epoData->sizeSys('R'); // Glonass code not used
|
---|
1023 | }
|
---|
1024 | else {
|
---|
1025 | nObs = epoData->sizeAll();
|
---|
1026 | }
|
---|
1027 |
|
---|
1028 | // Prepare first-design Matrix, vector observed-computed
|
---|
1029 | // -----------------------------------------------------
|
---|
1030 | Matrix AA(nObs, nPar); // first design matrix
|
---|
1031 | ColumnVector ll(nObs); // tems observed-computed
|
---|
1032 | DiagonalMatrix PP(nObs); PP = 0.0;
|
---|
1033 |
|
---|
1034 | unsigned iObs = 0;
|
---|
1035 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
1036 | while (it.hasNext()) {
|
---|
1037 | it.next();
|
---|
1038 | t_satData* satData = it.value();
|
---|
1039 | if (iPhase == 1 || satData->system() != 'R') {
|
---|
1040 | QString prn = satData->prn;
|
---|
1041 | addObs(iPhase, iObs, satData, AA, ll, PP);
|
---|
1042 | }
|
---|
1043 | }
|
---|
1044 |
|
---|
1045 | // Compute Filter Update
|
---|
1046 | // ---------------------
|
---|
1047 | ColumnVector dx;
|
---|
1048 | kalman(AA, ll, PP, _QQ, dx);
|
---|
1049 | ColumnVector vv = ll - AA * dx;
|
---|
1050 |
|
---|
1051 | // Print Residuals
|
---|
1052 | // ---------------
|
---|
1053 | if (iPhase == 0) {
|
---|
1054 | strResCode = printRes(iPhase, vv, epoData->satData);
|
---|
1055 | }
|
---|
1056 | else {
|
---|
1057 | strResPhase = printRes(iPhase, vv, epoData->satData);
|
---|
1058 | }
|
---|
1059 |
|
---|
1060 | // Check the residuals
|
---|
1061 | // -------------------
|
---|
1062 | lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData);
|
---|
1063 |
|
---|
1064 | // No Outlier Detected
|
---|
1065 | // -------------------
|
---|
1066 | if (lastOutlierPrn.isEmpty()) {
|
---|
1067 |
|
---|
1068 | QVectorIterator<bncParam*> itPar(_params);
|
---|
1069 | while (itPar.hasNext()) {
|
---|
1070 | bncParam* par = itPar.next();
|
---|
1071 | par->xx += dx(par->index);
|
---|
1072 | }
|
---|
1073 |
|
---|
1074 | if (!usePhase || iPhase == 1) {
|
---|
1075 | if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) {
|
---|
1076 | _log += "Neglected PRNs: ";
|
---|
1077 | if (!_outlierGPS.isEmpty()) {
|
---|
1078 | _log += _outlierGPS.last() + ' ';
|
---|
1079 | }
|
---|
1080 | QStringListIterator itGlo(_outlierGlo);
|
---|
1081 | while (itGlo.hasNext()) {
|
---|
1082 | QString prn = itGlo.next();
|
---|
1083 | _log += prn + ' ';
|
---|
1084 | }
|
---|
1085 | }
|
---|
1086 | _log += '\n';
|
---|
1087 |
|
---|
1088 | _log += strResCode + strResPhase;
|
---|
1089 |
|
---|
1090 | return success;
|
---|
1091 | }
|
---|
1092 | }
|
---|
1093 |
|
---|
1094 | // Outlier Found
|
---|
1095 | // -------------
|
---|
1096 | else {
|
---|
1097 | restoreState(epoData);
|
---|
1098 | break;
|
---|
1099 | }
|
---|
1100 |
|
---|
1101 | } // for iPhase
|
---|
1102 |
|
---|
1103 | } // while selectSatellites
|
---|
1104 |
|
---|
1105 | restoreState(epoData);
|
---|
1106 | return failure;
|
---|
1107 | }
|
---|
1108 |
|
---|
1109 | // Remeber Original State Vector and Variance-Covariance Matrix
|
---|
1110 | ////////////////////////////////////////////////////////////////////////////
|
---|
1111 | void bncModel::rememberState(t_epoData* epoData) {
|
---|
1112 |
|
---|
1113 | _QQ_sav = _QQ;
|
---|
1114 |
|
---|
1115 | QVectorIterator<bncParam*> itSav(_params_sav);
|
---|
1116 | while (itSav.hasNext()) {
|
---|
1117 | bncParam* par = itSav.next();
|
---|
1118 | delete par;
|
---|
1119 | }
|
---|
1120 | _params_sav.clear();
|
---|
1121 |
|
---|
1122 | QVectorIterator<bncParam*> it(_params);
|
---|
1123 | while (it.hasNext()) {
|
---|
1124 | bncParam* par = it.next();
|
---|
1125 | _params_sav.push_back(new bncParam(*par));
|
---|
1126 | }
|
---|
1127 |
|
---|
1128 | _epoData_sav->deepCopy(epoData);
|
---|
1129 | }
|
---|
1130 |
|
---|
1131 | // Restore Original State Vector and Variance-Covariance Matrix
|
---|
1132 | ////////////////////////////////////////////////////////////////////////////
|
---|
1133 | void bncModel::restoreState(t_epoData* epoData) {
|
---|
1134 |
|
---|
1135 | _QQ = _QQ_sav;
|
---|
1136 |
|
---|
1137 | QVectorIterator<bncParam*> it(_params);
|
---|
1138 | while (it.hasNext()) {
|
---|
1139 | bncParam* par = it.next();
|
---|
1140 | delete par;
|
---|
1141 | }
|
---|
1142 | _params.clear();
|
---|
1143 |
|
---|
1144 | QVectorIterator<bncParam*> itSav(_params_sav);
|
---|
1145 | while (itSav.hasNext()) {
|
---|
1146 | bncParam* par = itSav.next();
|
---|
1147 | _params.push_back(new bncParam(*par));
|
---|
1148 | }
|
---|
1149 |
|
---|
1150 | epoData->deepCopy(_epoData_sav);
|
---|
1151 | }
|
---|
1152 |
|
---|
1153 | //
|
---|
1154 | ////////////////////////////////////////////////////////////////////////////
|
---|
1155 | t_irc bncModel::selectSatellites(const QString& lastOutlierPrn,
|
---|
1156 | QMap<QString, t_satData*>& satData) {
|
---|
1157 |
|
---|
1158 | // First Call
|
---|
1159 | // ----------
|
---|
1160 | if (lastOutlierPrn.isEmpty()) {
|
---|
1161 | _outlierGPS.clear();
|
---|
1162 | _outlierGlo.clear();
|
---|
1163 | return success;
|
---|
1164 | }
|
---|
1165 |
|
---|
1166 | // Second and next trials
|
---|
1167 | // ----------------------
|
---|
1168 | else {
|
---|
1169 |
|
---|
1170 | if (lastOutlierPrn[0] == 'R') {
|
---|
1171 | _outlierGlo << lastOutlierPrn;
|
---|
1172 | }
|
---|
1173 |
|
---|
1174 | // Remove all Glonass Outliers
|
---|
1175 | // ---------------------------
|
---|
1176 | QStringListIterator it(_outlierGlo);
|
---|
1177 | while (it.hasNext()) {
|
---|
1178 | QString prn = it.next();
|
---|
1179 | if (satData.contains(prn)) {
|
---|
1180 | delete satData.take(prn);
|
---|
1181 | }
|
---|
1182 | }
|
---|
1183 |
|
---|
1184 | if (lastOutlierPrn[0] == 'R') {
|
---|
1185 | _outlierGPS.clear();
|
---|
1186 | return success;
|
---|
1187 | }
|
---|
1188 |
|
---|
1189 | // GPS Outlier appeared for the first time - try to delete it
|
---|
1190 | // ----------------------------------------------------------
|
---|
1191 | if (_outlierGPS.indexOf(lastOutlierPrn) == -1) {
|
---|
1192 | _outlierGPS << lastOutlierPrn;
|
---|
1193 | if (satData.contains(lastOutlierPrn)) {
|
---|
1194 | delete satData.take(lastOutlierPrn);
|
---|
1195 | }
|
---|
1196 | return success;
|
---|
1197 | }
|
---|
1198 |
|
---|
1199 | }
|
---|
1200 |
|
---|
1201 | return failure;
|
---|
1202 | }
|
---|
1203 |
|
---|
1204 | //
|
---|
1205 | ////////////////////////////////////////////////////////////////////////////
|
---|
1206 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
1207 | return aa(1)*bb(1) + aa(2)*bb(2) + aa(3)*bb(3) - aa(4)*bb(4);
|
---|
1208 | }
|
---|
1209 |
|
---|
1210 | //
|
---|
1211 | ////////////////////////////////////////////////////////////////////////////
|
---|
1212 | void bncModel::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
1213 |
|
---|
1214 | if (pos.Nrows() != 4) {
|
---|
1215 | pos.ReSize(4);
|
---|
1216 | }
|
---|
1217 | pos = 0.0;
|
---|
1218 |
|
---|
1219 | for (int iter = 1; iter <= 2; iter++) {
|
---|
1220 | Matrix BB = BBpass;
|
---|
1221 | int mm = BB.Nrows();
|
---|
1222 | for (int ii = 1; ii <= mm; ii++) {
|
---|
1223 | double xx = BB(ii,1);
|
---|
1224 | double yy = BB(ii,2);
|
---|
1225 | double traveltime = 0.072;
|
---|
1226 | if (iter > 1) {
|
---|
1227 | double zz = BB(ii,3);
|
---|
1228 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
1229 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
1230 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
1231 | traveltime = rho / t_CST::c;
|
---|
1232 | }
|
---|
1233 | double angle = traveltime * t_CST::omega;
|
---|
1234 | double cosa = cos(angle);
|
---|
1235 | double sina = sin(angle);
|
---|
1236 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
1237 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
1238 | }
|
---|
1239 |
|
---|
1240 | Matrix BBB;
|
---|
1241 | if (mm > 4) {
|
---|
1242 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
1243 | BBB = hlp.i() * BB.t();
|
---|
1244 | }
|
---|
1245 | else {
|
---|
1246 | BBB = BB.i();
|
---|
1247 | }
|
---|
1248 | ColumnVector ee(mm); ee = 1.0;
|
---|
1249 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
1250 | for (int ii = 1; ii <= mm; ii++) {
|
---|
1251 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
1252 | }
|
---|
1253 | ColumnVector BBBe = BBB * ee;
|
---|
1254 | ColumnVector BBBalpha = BBB * alpha;
|
---|
1255 | double aa = lorentz(BBBe, BBBe);
|
---|
1256 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
1257 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
1258 | double root = sqrt(bb*bb-aa*cc);
|
---|
1259 |
|
---|
1260 | Matrix hlpPos(4,2);
|
---|
1261 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
1262 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
1263 |
|
---|
1264 | ColumnVector omc(2);
|
---|
1265 | for (int pp = 1; pp <= 2; pp++) {
|
---|
1266 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
1267 | omc(pp) = BB(1,4) -
|
---|
1268 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
1269 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
1270 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
1271 | hlpPos(4,pp);
|
---|
1272 | }
|
---|
1273 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
1274 | pos = hlpPos.Column(2);
|
---|
1275 | }
|
---|
1276 | else {
|
---|
1277 | pos = hlpPos.Column(1);
|
---|
1278 | }
|
---|
1279 | }
|
---|
1280 | }
|
---|
1281 |
|
---|