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