source: ntrip/trunk/BNC/src/bncmodel.cpp@ 5799

Last change on this file since 5799 was 5794, checked in by mervart, 11 years ago
File size: 39.6 KB
RevLine 
[2057]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>
[2063]42#include <cmath>
[2060]43#include <newmatio.h>
[2113]44#include <sstream>
[2057]45
46#include "bncmodel.h"
[3638]47#include "bncpppclient.h"
[5070]48#include "bnccore.h"
[2058]49#include "bncpppclient.h"
50#include "bancroft.h"
[2063]51#include "bncutils.h"
[2580]52#include "bnctides.h"
[2881]53#include "bncantex.h"
[3636]54#include "pppopt.h"
[2057]55
56using namespace std;
57
[3420]58const unsigned MINOBS = 5;
[3408]59const double MINELE = 10.0 * M_PI / 180.0;
[4931]60const double MAXRES_CODE = 15.0;
61const double MAXRES_PHASE_GPS = 0.04;
62const double MAXRES_PHASE_GLONASS = 0.08;
[3408]63const double GLONASS_WEIGHT_FACTOR = 5.0;
[2070]64
[2057]65// Constructor
66////////////////////////////////////////////////////////////////////////////
[2080]67bncParam::bncParam(bncParam::parType typeIn, int indexIn,
68 const QString& prnIn) {
69 type = typeIn;
70 index = indexIn;
71 prn = prnIn;
72 index_old = 0;
73 xx = 0.0;
[3330]74 numEpo = 0;
[2057]75}
76
77// Destructor
78////////////////////////////////////////////////////////////////////////////
79bncParam::~bncParam() {
80}
81
[2060]82// Partial
83////////////////////////////////////////////////////////////////////////////
[2239]84double bncParam::partial(t_satData* satData, bool phase) {
85
[3312]86 Tracer tracer("bncParam::partial");
87
[2239]88 // Coordinates
89 // -----------
[2060]90 if (type == CRD_X) {
[2109]91 return (xx - satData->xx(1)) / satData->rho;
[2060]92 }
93 else if (type == CRD_Y) {
[2109]94 return (xx - satData->xx(2)) / satData->rho;
[2060]95 }
96 else if (type == CRD_Z) {
[2109]97 return (xx - satData->xx(3)) / satData->rho;
[2060]98 }
[2239]99
100 // Receiver Clocks
101 // ---------------
[2265]102 else if (type == RECCLK) {
103 return 1.0;
[2060]104 }
[2239]105
106 // Troposphere
107 // -----------
[2084]108 else if (type == TROPO) {
109 return 1.0 / sin(satData->eleSat);
110 }
[2239]111
[5157]112 // Glonass Offset
113 // --------------
114 else if (type == GLONASS_OFFSET) {
115 if (satData->prn[0] == 'R') {
116 return 1.0;
117 }
118 else {
119 return 0.0;
120 }
121 }
122
[2782]123 // Galileo Offset
124 // --------------
125 else if (type == GALILEO_OFFSET) {
126 if (satData->prn[0] == 'E') {
127 return 1.0;
128 }
129 else {
130 return 0.0;
131 }
132 }
133
[2239]134 // Ambiguities
135 // -----------
[2080]136 else if (type == AMB_L3) {
[2239]137 if (phase && satData->prn == prn) {
[2080]138 return 1.0;
139 }
140 else {
141 return 0.0;
142 }
143 }
[2239]144
145 // Default return
146 // --------------
[2060]147 return 0.0;
148}
149
[2058]150// Constructor
151////////////////////////////////////////////////////////////////////////////
[3638]152bncModel::bncModel(bncPPPclient* pppClient) {
[2084]153
[3638]154 _pppClient = pppClient;
155 _staID = pppClient->staID();
156 _opt = pppClient->opt();
[2113]157
[2125]158 // NMEA Output
159 // -----------
[3636]160 if (_opt->nmeaFile.isEmpty()) {
[2125]161 _nmeaFile = 0;
162 _nmeaStream = 0;
163 }
164 else {
[3636]165 QString hlpName = _opt->nmeaFile; expandEnvVar(hlpName);
166 _nmeaFile = new QFile(hlpName);
167 if (_opt->rnxAppend) {
[2125]168 _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
169 }
170 else {
171 _nmeaFile->open(QIODevice::WriteOnly);
172 }
173 _nmeaStream = new QTextStream();
174 _nmeaStream->setDevice(_nmeaFile);
175 }
[2881]176
[3107]177 // Antenna Name, ANTEX File
178 // ------------------------
[2896]179 _antex = 0;
[3636]180 if (!_opt->antexFile.isEmpty()) {
[2881]181 _antex = new bncAntex();
[3636]182 if (_antex->readFile(_opt->antexFile) != success) {
[3638]183 _pppClient->emitNewMessage("wrong ANTEX file", true);
[2887]184 delete _antex;
185 _antex = 0;
[2883]186 }
[2881]187 }
[3107]188
189 // Bancroft Coordinates
190 // --------------------
191 _xcBanc.ReSize(4); _xcBanc = 0.0;
192 _ellBanc.ReSize(3); _ellBanc = 0.0;
[3408]193
194 // Save copy of data (used in outlier detection)
195 // ---------------------------------------------
196 _epoData_sav = new t_epoData();
[2058]197}
198
[3108]199// Destructor
[3107]200////////////////////////////////////////////////////////////////////////////
[3108]201bncModel::~bncModel() {
202 delete _nmeaStream;
203 delete _nmeaFile;
204 for (int ii = 0; ii < _posAverage.size(); ++ii) {
205 delete _posAverage[ii];
206 }
207 delete _antex;
208 for (int iPar = 1; iPar <= _params.size(); iPar++) {
209 delete _params[iPar-1];
210 }
[3540]211 for (int iPar = 1; iPar <= _params_sav.size(); iPar++) {
212 delete _params_sav[iPar-1];
213 }
[3408]214 delete _epoData_sav;
[3108]215}
216
217// Reset Parameters and Variance-Covariance Matrix
218////////////////////////////////////////////////////////////////////////////
[3107]219void bncModel::reset() {
220
[3312]221 Tracer tracer("bncModel::reset");
222
[4801]223 double lastTrp = 0.0;
224 for (int ii = 0; ii < _params.size(); ii++) {
225 bncParam* pp = _params[ii];
226 if (pp->type == bncParam::TROPO) {
227 lastTrp = pp->xx;
228 }
229 delete pp;
[3107]230 }
231 _params.clear();
232
233 int nextPar = 0;
234 _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
235 _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
236 _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
237 _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
[3636]238 if (_opt->estTropo) {
[4802]239 _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
[3107]240 }
[5157]241 if (_opt->useGlonass) {
242 _params.push_back(new bncParam(bncParam::GLONASS_OFFSET, ++nextPar, ""));
243 }
[3636]244 if (_opt->useGalileo) {
[3107]245 _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, ""));
246 }
247
248 _QQ.ReSize(_params.size());
249 _QQ = 0.0;
250 for (int iPar = 1; iPar <= _params.size(); iPar++) {
251 bncParam* pp = _params[iPar-1];
252 pp->xx = 0.0;
253 if (pp->isCrd()) {
[3636]254 _QQ(iPar,iPar) = _opt->sigCrd0 * _opt->sigCrd0;
[3107]255 }
256 else if (pp->type == bncParam::RECCLK) {
[3636]257 _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
[3107]258 }
259 else if (pp->type == bncParam::TROPO) {
[3636]260 _QQ(iPar,iPar) = _opt->sigTrp0 * _opt->sigTrp0;
[4802]261 pp->xx = lastTrp;
[3107]262 }
[5157]263 else if (pp->type == bncParam::GLONASS_OFFSET) {
264 _QQ(iPar,iPar) = _opt->sigGlonassOffset0 * _opt->sigGlonassOffset0;
265 }
[3107]266 else if (pp->type == bncParam::GALILEO_OFFSET) {
[3636]267 _QQ(iPar,iPar) = _opt->sigGalileoOffset0 * _opt->sigGalileoOffset0;
[3107]268 }
269 }
270}
271
[2058]272// Bancroft Solution
273////////////////////////////////////////////////////////////////////////////
274t_irc bncModel::cmpBancroft(t_epoData* epoData) {
275
[3312]276 Tracer tracer("bncModel::cmpBancroft");
277
[3408]278 if (epoData->sizeSys('G') < MINOBS) {
[2547]279 _log += "bncModel::cmpBancroft: not enough data\n";
[2058]280 return failure;
281 }
282
[3408]283 Matrix BB(epoData->sizeSys('G'), 4);
[2058]284
[3408]285 QMapIterator<QString, t_satData*> it(epoData->satData);
[2791]286 int iObsBanc = 0;
[2058]287 while (it.hasNext()) {
288 it.next();
289 t_satData* satData = it.value();
[3408]290 if (satData->system() == 'G') {
291 ++iObsBanc;
292 QString prn = it.key();
293 BB(iObsBanc, 1) = satData->xx(1);
294 BB(iObsBanc, 2) = satData->xx(2);
295 BB(iObsBanc, 3) = satData->xx(3);
296 BB(iObsBanc, 4) = satData->P3 + satData->clk;
297 }
[2058]298 }
299
300 bancroft(BB, _xcBanc);
301
[2064]302 // Ellipsoidal Coordinates
303 // ------------------------
304 xyz2ell(_xcBanc.data(), _ellBanc.data());
[2063]305
[2064]306 // Compute Satellite Elevations
307 // ----------------------------
[3408]308 QMutableMapIterator<QString, t_satData*> im(epoData->satData);
309 while (im.hasNext()) {
310 im.next();
311 t_satData* satData = im.value();
[2789]312 cmpEle(satData);
[3408]313 if (satData->eleSat < MINELE) {
[2070]314 delete satData;
[3408]315 im.remove();
[2070]316 }
[2064]317 }
318
[2058]319 return success;
320}
[2060]321
322// Computed Value
323////////////////////////////////////////////////////////////////////////////
[2583]324double bncModel::cmpValue(t_satData* satData, bool phase) {
[2060]325
[3312]326 Tracer tracer("bncModel::cmpValue");
327
[2073]328 ColumnVector xRec(3);
329 xRec(1) = x();
330 xRec(2) = y();
331 xRec(3) = z();
[2060]332
[2073]333 double rho0 = (satData->xx - xRec).norm_Frobenius();
[2060]334 double dPhi = t_CST::omega * rho0 / t_CST::c;
335
[2073]336 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
337 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
338 xRec(3) = z();
339
[2580]340 tides(_time, xRec);
341
[2060]342 satData->rho = (satData->xx - xRec).norm_Frobenius();
343
[5750]344 double tropDelay = delay_saast(xRec, satData->eleSat) +
[2084]345 trp() / sin(satData->eleSat);
[2060]346
[2583]347 double wind = 0.0;
348 if (phase) {
349 wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
350 }
351
[2783]352 double offset = 0.0;
[5157]353 if (satData->prn[0] == 'R') {
354 offset = Glonass_offset();
355 }
356 else if (satData->prn[0] == 'E') {
[2783]357 offset = Galileo_offset();
358 }
359
[2894]360 double phaseCenter = 0.0;
[2938]361 if (_antex) {
362 bool found;
[3636]363 phaseCenter = _antex->pco(_opt->antennaName, satData->eleSat, found);
[2938]364 if (!found) {
[3638]365 _pppClient->emitNewMessage("ANTEX: antenna >"
[3636]366 + _opt->antennaName.toAscii() + "< not found", true);
[2938]367 }
[2894]368 }
369
[3286]370 double antennaOffset = 0.0;
[3636]371 if (_opt->antEccSet()) {
[3287]372 double cosa = cos(satData->azSat);
373 double sina = sin(satData->azSat);
374 double cose = cos(satData->eleSat);
375 double sine = sin(satData->eleSat);
[3636]376 antennaOffset = -_opt->antEccNEU[0] * cosa*cose
377 -_opt->antEccNEU[1] * sina*cose
378 -_opt->antEccNEU[2] * sine;
[3286]379 }
380
381 return satData->rho + phaseCenter + antennaOffset + clk()
[2894]382 + offset - satData->clk + tropDelay + wind;
[2060]383}
384
[2063]385// Tropospheric Model (Saastamoinen)
386////////////////////////////////////////////////////////////////////////////
[5750]387double bncModel::delay_saast(const ColumnVector& xyz, double Ele) {
[2063]388
[3312]389 Tracer tracer("bncModel::delay_saast");
390
[5794]391 if (xyz[0] == 0.0 && xyz[1] == 0.0 && xyz[2] == 0.0) {
392 return 0.0;
393 }
394
[2769]395 double ell[3];
[5750]396 xyz2ell(xyz.data(), ell);
[2769]397 double height = ell[2];
[2063]398
[2064]399 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
400 double TT = 18.0 - height * 0.0065 + 273.15;
401 double hh = 50.0 * exp(-6.396e-4 * height);
[2063]402 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
403
[2064]404 double h_km = height / 1000.0;
[2063]405
406 if (h_km < 0.0) h_km = 0.0;
407 if (h_km > 5.0) h_km = 5.0;
408 int ii = int(h_km + 1);
409 double href = ii - 1;
410
411 double bCor[6];
412 bCor[0] = 1.156;
413 bCor[1] = 1.006;
414 bCor[2] = 0.874;
415 bCor[3] = 0.757;
416 bCor[4] = 0.654;
417 bCor[5] = 0.563;
418
419 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
420
421 double zen = M_PI/2.0 - Ele;
422
423 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
424}
425
[2073]426// Prediction Step of the Filter
427////////////////////////////////////////////////////////////////////////////
[3309]428void bncModel::predict(int iPhase, t_epoData* epoData) {
[2073]429
[3312]430 Tracer tracer("bncModel::predict");
431
[3310]432 if (iPhase == 0) {
[2244]433
[3310]434 bool firstCrd = false;
[3636]435 if (!_lastTimeOK.valid() || (_opt->maxSolGap > 0 && _time - _lastTimeOK > _opt->maxSolGap)) {
[3310]436 firstCrd = true;
437 _startTime = epoData->tt;
438 reset();
439 }
440
441 // Use different white noise for Quick-Start mode
442 // ----------------------------------------------
[3636]443 double sigCrdP_used = _opt->sigCrdP;
444 if ( _opt->quickStart > 0.0 && _opt->quickStart > (epoData->tt - _startTime) ) {
[3310]445 sigCrdP_used = 0.0;
446 }
[3106]447
[3310]448 // Predict Parameter values, add white noise
449 // -----------------------------------------
450 for (int iPar = 1; iPar <= _params.size(); iPar++) {
451 bncParam* pp = _params[iPar-1];
452
453 // Coordinates
454 // -----------
455 if (pp->type == bncParam::CRD_X) {
456 if (firstCrd) {
[3636]457 if (_opt->refCrdSet()) {
458 pp->xx = _opt->refCrd[0];
[3310]459 }
460 else {
461 pp->xx = _xcBanc(1);
462 }
[2648]463 }
[3310]464 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
[2244]465 }
[3310]466 else if (pp->type == bncParam::CRD_Y) {
467 if (firstCrd) {
[3636]468 if (_opt->refCrdSet()) {
469 pp->xx = _opt->refCrd[1];
[3310]470 }
471 else {
472 pp->xx = _xcBanc(2);
473 }
[2648]474 }
[3310]475 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
[2244]476 }
[3310]477 else if (pp->type == bncParam::CRD_Z) {
478 if (firstCrd) {
[3636]479 if (_opt->refCrdSet()) {
480 pp->xx = _opt->refCrd[2];
[3310]481 }
482 else {
483 pp->xx = _xcBanc(3);
484 }
[2648]485 }
[3310]486 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
487 }
488
489 // Receiver Clocks
490 // ---------------
491 else if (pp->type == bncParam::RECCLK) {
492 pp->xx = _xcBanc(4);
493 for (int jj = 1; jj <= _params.size(); jj++) {
494 _QQ(iPar, jj) = 0.0;
[2648]495 }
[3636]496 _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
[2244]497 }
[3310]498
499 // Tropospheric Delay
500 // ------------------
501 else if (pp->type == bncParam::TROPO) {
[3636]502 _QQ(iPar,iPar) += _opt->sigTrpP * _opt->sigTrpP;
[2244]503 }
[3310]504
[5157]505 // Glonass Offset
506 // --------------
507 else if (pp->type == bncParam::GLONASS_OFFSET) {
[5158]508 bool epoSpec = true;
509 if (epoSpec) {
510 pp->xx = 0.0;
511 for (int jj = 1; jj <= _params.size(); jj++) {
512 _QQ(iPar, jj) = 0.0;
513 }
514 _QQ(iPar,iPar) = _opt->sigGlonassOffset0 * _opt->sigGlonassOffset0;
515 }
516 else {
517 _QQ(iPar,iPar) += _opt->sigGlonassOffsetP * _opt->sigGlonassOffsetP;
518 }
[5157]519 }
520
[3310]521 // Galileo Offset
522 // --------------
523 else if (pp->type == bncParam::GALILEO_OFFSET) {
[3636]524 _QQ(iPar,iPar) += _opt->sigGalileoOffsetP * _opt->sigGalileoOffsetP;
[3310]525 }
[2244]526 }
527 }
528
529 // Add New Ambiguities if necessary
530 // --------------------------------
[3636]531 if (_opt->usePhase) {
[2080]532
[2083]533 // Make a copy of QQ and xx, set parameter indices
534 // -----------------------------------------------
535 SymmetricMatrix QQ_old = _QQ;
536
537 for (int iPar = 1; iPar <= _params.size(); iPar++) {
538 _params[iPar-1]->index_old = _params[iPar-1]->index;
539 _params[iPar-1]->index = 0;
540 }
541
542 // Remove Ambiguity Parameters without observations
543 // ------------------------------------------------
544 int iPar = 0;
[3408]545 QMutableVectorIterator<bncParam*> im(_params);
546 while (im.hasNext()) {
547 bncParam* par = im.next();
[2083]548 bool removed = false;
549 if (par->type == bncParam::AMB_L3) {
[3408]550 if (epoData->satData.find(par->prn) == epoData->satData.end()) {
[2083]551 removed = true;
552 delete par;
[3408]553 im.remove();
[2083]554 }
[2080]555 }
[2083]556 if (! removed) {
557 ++iPar;
558 par->index = iPar;
559 }
[2080]560 }
[2083]561
562 // Add new ambiguity parameters
563 // ----------------------------
[3408]564 QMapIterator<QString, t_satData*> it(epoData->satData);
565 while (it.hasNext()) {
566 it.next();
567 t_satData* satData = it.value();
[2789]568 addAmb(satData);
[2080]569 }
[2083]570
571 int nPar = _params.size();
572 _QQ.ReSize(nPar); _QQ = 0.0;
573 for (int i1 = 1; i1 <= nPar; i1++) {
574 bncParam* p1 = _params[i1-1];
575 if (p1->index_old != 0) {
576 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
577 for (int i2 = 1; i2 <= nPar; i2++) {
578 bncParam* p2 = _params[i2-1];
579 if (p2->index_old != 0) {
580 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
581 }
[2080]582 }
583 }
584 }
[2083]585
586 for (int ii = 1; ii <= nPar; ii++) {
587 bncParam* par = _params[ii-1];
588 if (par->index_old == 0) {
[3636]589 _QQ(par->index, par->index) = _opt->sigAmb0 * _opt->sigAmb0;
[2083]590 }
591 par->index_old = par->index;
[2080]592 }
593 }
[2073]594}
595
[2060]596// Update Step of the Filter (currently just a single-epoch solution)
597////////////////////////////////////////////////////////////////////////////
598t_irc bncModel::update(t_epoData* epoData) {
599
[3312]600 Tracer tracer("bncModel::update");
601
[2248]602 _log.clear();
[2124]603
[3536]604 _time = epoData->tt; // current epoch time
605
[3636]606 if (_opt->pppMode) {
[2827]607 _log += "Precise Point Positioning of Epoch "
608 + QByteArray(_time.timestr(1).c_str()) +
609 "\n---------------------------------------------------------------\n";
610 }
611 else {
612 _log += "Single Point Positioning of Epoch "
613 + QByteArray(_time.timestr(1).c_str()) +
[2547]614 "\n--------------------------------------------------------------\n";
[2827]615 }
[2547]616
[3307]617 // Outlier Detection Loop
[2113]618 // ----------------------
[3321]619 if (update_p(epoData) != success) {
[3638]620 _pppClient->emitNewMessage(_log, false);
[3307]621 return failure;
622 }
[2080]623
[2670]624 // Remember the Epoch-specific Results for the computation of means
625 // ----------------------------------------------------------------
626 pppPos* newPos = new pppPos;
627 newPos->time = epoData->tt;
628
[2109]629 // Set Solution Vector
630 // -------------------
[2265]631 ostringstream strB;
632 strB.setf(ios::fixed);
[2073]633 QVectorIterator<bncParam*> itPar(_params);
[2060]634 while (itPar.hasNext()) {
635 bncParam* par = itPar.next();
[2265]636
637 if (par->type == bncParam::RECCLK) {
[2798]638 strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
[2124]639 << " +- " << setw(6) << setprecision(3)
640 << sqrt(_QQ(par->index,par->index));
641 }
642 else if (par->type == bncParam::AMB_L3) {
[3330]643 ++par->numEpo;
[2265]644 strB << "\n amb " << par->prn.toAscii().data() << " = "
[2798]645 << setw(10) << setprecision(3) << par->xx
[2124]646 << " +- " << setw(6) << setprecision(3)
[3330]647 << sqrt(_QQ(par->index,par->index))
648 << " nEpo = " << par->numEpo;
[2124]649 }
[2212]650 else if (par->type == bncParam::TROPO) {
[5750]651 ColumnVector xyz(3); xyz(1) = x(); xyz(2) = y(); xyz(3) = z();
652 double aprTrp = delay_saast(xyz, M_PI/2.0);
[2547]653 strB << "\n trp = " << par->prn.toAscii().data()
[2670]654 << setw(7) << setprecision(3) << aprTrp << " "
[2213]655 << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
[2212]656 << " +- " << setw(6) << setprecision(3)
657 << sqrt(_QQ(par->index,par->index));
[2670]658 newPos->xnt[6] = aprTrp + par->xx;
[2212]659 }
[5157]660 else if (par->type == bncParam::GLONASS_OFFSET) {
661 strB << "\n offGlo = " << setw(10) << setprecision(3) << par->xx
662 << " +- " << setw(6) << setprecision(3)
663 << sqrt(_QQ(par->index,par->index));
664 }
[2782]665 else if (par->type == bncParam::GALILEO_OFFSET) {
[5157]666 strB << "\n offGal = " << setw(10) << setprecision(3) << par->xx
[2782]667 << " +- " << setw(6) << setprecision(3)
668 << sqrt(_QQ(par->index,par->index));
669 }
[2060]670 }
[2265]671 strB << '\n';
[2547]672 _log += strB.str().c_str();
[3638]673 _pppClient->emitNewMessage(_log, false);
[2060]674
[2547]675 // Final Message (both log file and screen)
676 // ----------------------------------------
677 ostringstream strC;
678 strC.setf(ios::fixed);
679 strC << _staID.data() << " PPP "
[2599]680 << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
[2231]681 << setw(14) << setprecision(3) << x() << " +- "
682 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
683 << setw(14) << setprecision(3) << y() << " +- "
684 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
685 << setw(14) << setprecision(3) << z() << " +- "
[2124]686 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
[2113]687
[2370]688 // NEU Output
689 // ----------
[3636]690 if (_opt->refCrdSet()) {
691 newPos->xnt[0] = x() - _opt->refCrd[0];
692 newPos->xnt[1] = y() - _opt->refCrd[1];
693 newPos->xnt[2] = z() - _opt->refCrd[2];
[2862]694
[2649]695 double ellRef[3];
[3636]696 xyz2ell(_opt->refCrd, ellRef);
[2670]697 xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
[2649]698
[2547]699 strC << " NEU "
[2670]700 << setw(8) << setprecision(3) << newPos->xnt[3] << " "
701 << setw(8) << setprecision(3) << newPos->xnt[4] << " "
[2797]702 << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
[2649]703
[2370]704 }
705
[3638]706 _pppClient->emitNewMessage(QByteArray(strC.str().c_str()), true);
[2547]707
[3636]708 if (_opt->pppAverage == 0.0) {
[2671]709 delete newPos;
710 }
711 else {
712
713 _posAverage.push_back(newPos);
[2599]714
[2648]715 // Compute the Mean
716 // ----------------
[2670]717 ColumnVector mean(7); mean = 0.0;
[2648]718
[2599]719 QMutableVectorIterator<pppPos*> it(_posAverage);
720 while (it.hasNext()) {
721 pppPos* pp = it.next();
[3636]722 if ( (epoData->tt - pp->time) >= _opt->pppAverage ) {
[2599]723 delete pp;
724 it.remove();
725 }
[2648]726 else {
[2670]727 for (int ii = 0; ii < 7; ++ii) {
728 mean[ii] += pp->xnt[ii];
[2649]729 }
[2648]730 }
[2599]731 }
[2648]732
733 int nn = _posAverage.size();
734
[2649]735 if (nn > 0) {
[2648]736
[2649]737 mean /= nn;
738
739 // Compute the Deviation
740 // ---------------------
[2670]741 ColumnVector std(7); std = 0.0;
[2649]742 QVectorIterator<pppPos*> it2(_posAverage);
743 while (it2.hasNext()) {
744 pppPos* pp = it2.next();
[2670]745 for (int ii = 0; ii < 7; ++ii) {
746 std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
[2649]747 }
748 }
[2670]749 for (int ii = 0; ii < 7; ++ii) {
[2649]750 std[ii] = sqrt(std[ii] / nn);
751 }
[3169]752
[3636]753 if (_opt->refCrdSet()) {
[3169]754 ostringstream strD; strD.setf(ios::fixed);
755 strD << _staID.data() << " AVE-XYZ "
756 << epoData->tt.timestr(1) << " "
[3636]757 << setw(13) << setprecision(3) << mean[0] + _opt->refCrd[0] << " +- "
[3169]758 << setw(6) << setprecision(3) << std[0] << " "
[3636]759 << setw(14) << setprecision(3) << mean[1] + _opt->refCrd[1] << " +- "
[3169]760 << setw(6) << setprecision(3) << std[1] << " "
[3636]761 << setw(14) << setprecision(3) << mean[2] + _opt->refCrd[2] << " +- "
[3169]762 << setw(6) << setprecision(3) << std[2];
[3638]763 _pppClient->emitNewMessage(QByteArray(strD.str().c_str()), true);
[2649]764
[3169]765 ostringstream strE; strE.setf(ios::fixed);
766 strE << _staID.data() << " AVE-NEU "
767 << epoData->tt.timestr(1) << " "
768 << setw(13) << setprecision(3) << mean[3] << " +- "
769 << setw(6) << setprecision(3) << std[3] << " "
770 << setw(14) << setprecision(3) << mean[4] << " +- "
771 << setw(6) << setprecision(3) << std[4] << " "
772 << setw(14) << setprecision(3) << mean[5] << " +- "
773 << setw(6) << setprecision(3) << std[5];
[3638]774 _pppClient->emitNewMessage(QByteArray(strE.str().c_str()), true);
[2649]775
[3636]776 if (_opt->estTropo) {
[3169]777 ostringstream strF; strF.setf(ios::fixed);
778 strF << _staID.data() << " AVE-TRP "
779 << epoData->tt.timestr(1) << " "
780 << setw(13) << setprecision(3) << mean[6] << " +- "
781 << setw(6) << setprecision(3) << std[6] << endl;
[3638]782 _pppClient->emitNewMessage(QByteArray(strF.str().c_str()), true);
[3169]783 }
[2726]784 }
[2599]785 }
786 }
787
[2131]788 // NMEA Output
789 // -----------
[2181]790 double xyz[3];
791 xyz[0] = x();
792 xyz[1] = y();
793 xyz[2] = z();
794 double ell[3];
795 xyz2ell(xyz, ell);
796 double phiDeg = ell[0] * 180 / M_PI;
797 double lamDeg = ell[1] * 180 / M_PI;
[2132]798
[2181]799 char phiCh = 'N';
800 if (phiDeg < 0) {
801 phiDeg = -phiDeg;
802 phiCh = 'S';
803 }
804 char lamCh = 'E';
805 if (lamDeg < 0) {
[2563]806 lamDeg = -lamDeg;
807 lamCh = 'W';
[2181]808 }
[2132]809
[2566]810 string datestr = epoData->tt.datestr(0); // yyyymmdd
811 ostringstream strRMC;
812 strRMC.setf(ios::fixed);
813 strRMC << "GPRMC,"
814 << epoData->tt.timestr(0,0) << ",A,"
815 << setw(2) << setfill('0') << int(phiDeg)
816 << setw(6) << setprecision(3) << setfill('0')
817 << fmod(60*phiDeg,60) << ',' << phiCh << ','
818 << setw(3) << setfill('0') << int(lamDeg)
819 << setw(6) << setprecision(3) << setfill('0')
820 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
[2569]821 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
822 << datestr[2] << datestr[3] << ",,";
[2566]823
824 writeNMEAstr(QString(strRMC.str().c_str()));
825
[2181]826 double dop = 2.0; // TODO
[2133]827
[2566]828 ostringstream strGGA;
829 strGGA.setf(ios::fixed);
830 strGGA << "GPGGA,"
831 << epoData->tt.timestr(0,0) << ','
832 << setw(2) << setfill('0') << int(phiDeg)
833 << setw(10) << setprecision(7) << setfill('0')
834 << fmod(60*phiDeg,60) << ',' << phiCh << ','
835 << setw(3) << setfill('0') << int(lamDeg)
836 << setw(10) << setprecision(7) << setfill('0')
837 << fmod(60*lamDeg,60) << ',' << lamCh
838 << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
839 << setw(3) << setprecision(1) << dop << ','
[2569]840 << setprecision(3) << ell[2] << ",M,0.0,M,,";
[2181]841
[2566]842 writeNMEAstr(QString(strGGA.str().c_str()));
[2131]843
[3106]844 _lastTimeOK = _time; // remember time of last successful update
[2060]845 return success;
846}
[2112]847
848// Outlier Detection
849////////////////////////////////////////////////////////////////////////////
[3412]850QString bncModel::outlierDetection(int iPhase, const ColumnVector& vv,
851 QMap<QString, t_satData*>& satData) {
[2112]852
[3312]853 Tracer tracer("bncModel::outlierDetection");
854
[3414]855 QString prnGPS;
856 QString prnGlo;
857 double maxResGPS = 0.0;
858 double maxResGlo = 0.0;
859 findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo);
[2231]860
[3414]861 if (iPhase == 1) {
862 if (maxResGlo > MAXRES_PHASE_GLONASS) {
863 _log += "Outlier Phase " + prnGlo + " "
864 + QByteArray::number(maxResGlo, 'f', 3) + "\n";
865 return prnGlo;
866 }
867 else if (maxResGPS > MAXRES_PHASE_GPS) {
868 _log += "Outlier Phase " + prnGPS + " "
869 + QByteArray::number(maxResGPS, 'f', 3) + "\n";
870 return prnGPS;
871 }
[2792]872 }
[3414]873 else if (iPhase == 0 && maxResGPS > MAXRES_CODE) {
874 _log += "Outlier Code " + prnGPS + " "
875 + QByteArray::number(maxResGPS, 'f', 3) + "\n";
876 return prnGPS;
[3408]877 }
[3414]878
879 return QString();
[2112]880}
[2130]881
882//
883////////////////////////////////////////////////////////////////////////////
884void bncModel::writeNMEAstr(const QString& nmStr) {
885
[3312]886 Tracer tracer("bncModel::writeNMEAstr");
887
[2130]888 unsigned char XOR = 0;
889 for (int ii = 0; ii < nmStr.length(); ii++) {
890 XOR ^= (unsigned char) nmStr[ii].toAscii();
891 }
[2181]892
893 QString outStr = '$' + nmStr
894 + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
[2130]895
[2178]896 if (_nmeaStream) {
[2181]897 *_nmeaStream << outStr;
[2178]898 _nmeaStream->flush();
899 }
[2130]900
[3638]901 _pppClient->emitNewNMEAstr(outStr.toAscii());
[2130]902}
[2283]903
[3408]904//
[2283]905//////////////////////////////////////////////////////////////////////////////
906void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
907 const DiagonalMatrix& PP,
908 SymmetricMatrix& QQ, ColumnVector& dx) {
909
[3312]910 Tracer tracer("bncModel::kalman");
911
[5656]912 int nPar = AA.Ncols();
913#if 1
[2283]914 int nObs = AA.Nrows();
915 UpperTriangularMatrix SS = Cholesky(QQ).t();
916
917 Matrix SA = SS*AA.t();
918 Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
919 for (int ii = 1; ii <= nObs; ++ii) {
920 SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
921 }
922
923 SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
924 SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
925
926 UpperTriangularMatrix UU;
927 QRZ(SRF, UU);
928
929 SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
930 UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
931 Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
932
933 UpperTriangularMatrix SHi = SH_rt.i();
934
935 Matrix KT = SHi * YY;
936 SymmetricMatrix Hi; Hi << SHi * SHi.t();
937
938 dx = KT.t() * ll;
939 QQ << (SS.t() * SS);
[5656]940#else
941 DiagonalMatrix Ql = PP.i();
942 Matrix DD = QQ * AA.t();
943 SymmetricMatrix SM(nPar); SM << AA * DD + Ql;
944 UpperTriangularMatrix UU = Cholesky(SM).t();
945 UpperTriangularMatrix Ui = UU.i();
946 Matrix EE = DD * Ui;
947 Matrix KK = EE * Ui.t();
948 QQ << QQ - EE * EE.t();
949 dx = KK * ll;
950#endif
[2283]951}
[2582]952
953// Phase Wind-Up Correction
954///////////////////////////////////////////////////////////////////////////
955double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
956 const ColumnVector& rRec) {
957
[3312]958 Tracer tracer("bncModel::windUp");
959
[2582]960 double Mjd = _time.mjd() + _time.daysec() / 86400.0;
961
962 // First time - initialize to zero
963 // -------------------------------
964 if (!_windUpTime.contains(prn)) {
965 _windUpSum[prn] = 0.0;
966 }
967
968 // Compute the correction for new time
969 // -----------------------------------
[2942]970 if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
[2582]971 _windUpTime[prn] = Mjd;
972
973 // Unit Vector GPS Satellite --> Receiver
974 // --------------------------------------
975 ColumnVector rho = rRec - rSat;
976 rho /= rho.norm_Frobenius();
977
978 // GPS Satellite unit Vectors sz, sy, sx
979 // -------------------------------------
980 ColumnVector sz = -rSat / rSat.norm_Frobenius();
981
982 ColumnVector xSun = Sun(Mjd);
983 xSun /= xSun.norm_Frobenius();
984
985 ColumnVector sy = crossproduct(sz, xSun);
986 ColumnVector sx = crossproduct(sy, sz);
987
988 // Effective Dipole of the GPS Satellite Antenna
989 // ---------------------------------------------
990 ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
991 - crossproduct(rho, sy);
992
993 // Receiver unit Vectors rx, ry
994 // ----------------------------
995 ColumnVector rx(3);
996 ColumnVector ry(3);
997
998 double recEll[3]; xyz2ell(rRec.data(), recEll) ;
999 double neu[3];
1000
1001 neu[0] = 1.0;
1002 neu[1] = 0.0;
1003 neu[2] = 0.0;
1004 neu2xyz(recEll, neu, rx.data());
1005
1006 neu[0] = 0.0;
1007 neu[1] = -1.0;
1008 neu[2] = 0.0;
1009 neu2xyz(recEll, neu, ry.data());
1010
1011 // Effective Dipole of the Receiver Antenna
1012 // ----------------------------------------
1013 ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
1014 + crossproduct(rho, ry);
1015
1016 // Resulting Effect
1017 // ----------------
1018 double alpha = DotProduct(dipSat,dipRec) /
1019 (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
1020
1021 if (alpha > 1.0) alpha = 1.0;
1022 if (alpha < -1.0) alpha = -1.0;
1023
1024 double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
1025
1026 if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
1027 dphi = -dphi;
1028 }
1029
1030 _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
1031 }
1032
1033 return _windUpSum[prn];
1034}
[2789]1035
1036//
1037///////////////////////////////////////////////////////////////////////////
1038void bncModel::cmpEle(t_satData* satData) {
[3312]1039 Tracer tracer("bncModel::cmpEle");
[2789]1040 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
1041 double rho = rr.norm_Frobenius();
1042
1043 double neu[3];
1044 xyz2neu(_ellBanc.data(), rr.data(), neu);
1045
1046 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
1047 if (neu[2] < 0) {
1048 satData->eleSat *= -1.0;
1049 }
1050 satData->azSat = atan2(neu[1], neu[0]);
1051}
1052
1053//
1054///////////////////////////////////////////////////////////////////////////
1055void bncModel::addAmb(t_satData* satData) {
[3312]1056 Tracer tracer("bncModel::addAmb");
[2789]1057 bool found = false;
1058 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1059 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
1060 _params[iPar-1]->prn == satData->prn) {
1061 found = true;
1062 break;
1063 }
1064 }
1065 if (!found) {
1066 bncParam* par = new bncParam(bncParam::AMB_L3,
1067 _params.size()+1, satData->prn);
1068 _params.push_back(par);
1069 par->xx = satData->L3 - cmpValue(satData, true);
1070 }
1071}
[2790]1072
1073//
1074///////////////////////////////////////////////////////////////////////////
[3309]1075void bncModel::addObs(int iPhase, unsigned& iObs, t_satData* satData,
[2790]1076 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
1077
[3312]1078 Tracer tracer("bncModel::addObs");
1079
[3316]1080 const double ELEWGHT = 20.0;
[3314]1081 double ellWgtCoef = 1.0;
1082 double eleD = satData->eleSat * 180.0 / M_PI;
1083 if (eleD < ELEWGHT) {
[3317]1084 ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0);
[3314]1085 }
1086
[3408]1087 // Remember Observation Index
1088 // --------------------------
1089 ++iObs;
1090 satData->obsIndex = iObs;
1091
[2791]1092 // Phase Observations
1093 // ------------------
[3309]1094 if (iPhase == 1) {
[2790]1095 ll(iObs) = satData->L3 - cmpValue(satData, true);
[3636]1096 double sigL3 = _opt->sigL3;
[3319]1097 if (satData->system() == 'R') {
[3408]1098 sigL3 *= GLONASS_WEIGHT_FACTOR;
[3319]1099 }
[3408]1100 PP(iObs,iObs) = 1.0 / (sigL3 * sigL3) / (ellWgtCoef * ellWgtCoef);
[2790]1101 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1102 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
1103 _params[iPar-1]->prn == satData->prn) {
1104 ll(iObs) -= _params[iPar-1]->xx;
1105 }
1106 AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
1107 }
1108 }
[3307]1109
1110 // Code Observations
1111 // -----------------
1112 else {
1113 ll(iObs) = satData->P3 - cmpValue(satData, false);
[3636]1114 PP(iObs,iObs) = 1.0 / (_opt->sigP3 * _opt->sigP3) / (ellWgtCoef * ellWgtCoef);
[3307]1115 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1116 AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
1117 }
1118 }
[2790]1119}
[2791]1120
1121//
1122///////////////////////////////////////////////////////////////////////////
[3408]1123QByteArray bncModel::printRes(int iPhase, const ColumnVector& vv,
1124 const QMap<QString, t_satData*>& satDataMap) {
1125
[3312]1126 Tracer tracer("bncModel::printRes");
[3408]1127
1128 ostringstream str;
1129 str.setf(ios::fixed);
1130
1131 QMapIterator<QString, t_satData*> it(satDataMap);
1132 while (it.hasNext()) {
1133 it.next();
1134 t_satData* satData = it.value();
1135 if (satData->obsIndex != 0) {
1136 str << _time.timestr(1)
1137 << " RES " << satData->prn.toAscii().data()
1138 << (iPhase ? " L3 " : " P3 ")
1139 << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl;
1140 }
[2791]1141 }
[3408]1142
1143 return QByteArray(str.str().c_str());
[2791]1144}
[2792]1145
1146//
1147///////////////////////////////////////////////////////////////////////////
[3408]1148void bncModel::findMaxRes(const ColumnVector& vv,
[2792]1149 const QMap<QString, t_satData*>& satData,
[3414]1150 QString& prnGPS, QString& prnGlo,
1151 double& maxResGPS, double& maxResGlo) {
[3408]1152
[3312]1153 Tracer tracer("bncModel::findMaxRes");
[2792]1154
[3414]1155 maxResGPS = 0.0;
1156 maxResGlo = 0.0;
[3408]1157
[2792]1158 QMapIterator<QString, t_satData*> it(satData);
1159 while (it.hasNext()) {
1160 it.next();
1161 t_satData* satData = it.value();
[3414]1162 if (satData->obsIndex != 0) {
1163 QString prn = satData->prn;
1164 if (prn[0] == 'R') {
1165 if (fabs(vv(satData->obsIndex)) > maxResGlo) {
1166 maxResGlo = fabs(vv(satData->obsIndex));
1167 prnGlo = prn;
1168 }
1169 }
1170 else {
1171 if (fabs(vv(satData->obsIndex)) > maxResGPS) {
1172 maxResGPS = fabs(vv(satData->obsIndex));
1173 prnGPS = prn;
1174 }
1175 }
[2792]1176 }
1177 }
1178}
1179
[3307]1180// Update Step (private - loop over outliers)
1181////////////////////////////////////////////////////////////////////////////
[3321]1182t_irc bncModel::update_p(t_epoData* epoData) {
[3307]1183
[3312]1184 Tracer tracer("bncModel::update_p");
1185
[3408]1186 // Save Variance-Covariance Matrix, and Status Vector
1187 // --------------------------------------------------
1188 rememberState(epoData);
[3307]1189
[3412]1190 QString lastOutlierPrn;
[3375]1191
[3408]1192 // Try with all satellites, then with all minus one, etc.
1193 // ------------------------------------------------------
[3412]1194 while (selectSatellites(lastOutlierPrn, epoData->satData) == success) {
[3307]1195
[3412]1196 QByteArray strResCode;
1197 QByteArray strResPhase;
1198
1199 // Bancroft Solution
1200 // -----------------
1201 if (cmpBancroft(epoData) != success) {
1202 break;
[3408]1203 }
[3406]1204
[3412]1205 // First update using code observations, then phase observations
1206 // -------------------------------------------------------------
[3636]1207 for (int iPhase = 0; iPhase <= (_opt->usePhase ? 1 : 0); iPhase++) {
[3412]1208
1209 // Status Prediction
1210 // -----------------
1211 predict(iPhase, epoData);
1212
1213 // Create First-Design Matrix
1214 // --------------------------
1215 unsigned nPar = _params.size();
1216 unsigned nObs = 0;
1217 if (iPhase == 0) {
1218 nObs = epoData->sizeAll() - epoData->sizeSys('R'); // Glonass code not used
[3408]1219 }
[3412]1220 else {
1221 nObs = epoData->sizeAll();
[3409]1222 }
[3412]1223
1224 // Prepare first-design Matrix, vector observed-computed
1225 // -----------------------------------------------------
1226 Matrix AA(nObs, nPar); // first design matrix
1227 ColumnVector ll(nObs); // tems observed-computed
1228 DiagonalMatrix PP(nObs); PP = 0.0;
1229
1230 unsigned iObs = 0;
1231 QMapIterator<QString, t_satData*> it(epoData->satData);
1232 while (it.hasNext()) {
1233 it.next();
1234 t_satData* satData = it.value();
1235 if (iPhase == 1 || satData->system() != 'R') {
1236 QString prn = satData->prn;
1237 addObs(iPhase, iObs, satData, AA, ll, PP);
1238 }
[3408]1239 }
1240
[3412]1241 // Compute Filter Update
1242 // ---------------------
[3422]1243 ColumnVector dx;
[3412]1244 kalman(AA, ll, PP, _QQ, dx);
1245 ColumnVector vv = ll - AA * dx;
1246
1247 // Print Residuals
1248 // ---------------
1249 if (iPhase == 0) {
1250 strResCode = printRes(iPhase, vv, epoData->satData);
[3399]1251 }
[3412]1252 else {
1253 strResPhase = printRes(iPhase, vv, epoData->satData);
1254 }
[3408]1255
[3412]1256 // Check the residuals
1257 // -------------------
1258 lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData);
[3408]1259
[3412]1260 // No Outlier Detected
1261 // -------------------
1262 if (lastOutlierPrn.isEmpty()) {
[3413]1263
[3422]1264 QVectorIterator<bncParam*> itPar(_params);
1265 while (itPar.hasNext()) {
1266 bncParam* par = itPar.next();
1267 par->xx += dx(par->index);
1268 }
[3413]1269
[3636]1270 if (!_opt->usePhase || iPhase == 1) {
[3413]1271 if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) {
1272 _log += "Neglected PRNs: ";
[3415]1273 if (!_outlierGPS.isEmpty()) {
1274 _log += _outlierGPS.last() + ' ';
[3413]1275 }
1276 QStringListIterator itGlo(_outlierGlo);
1277 while (itGlo.hasNext()) {
1278 QString prn = itGlo.next();
1279 _log += prn + ' ';
1280 }
1281 }
1282 _log += '\n';
1283
[3408]1284 _log += strResCode + strResPhase;
[3413]1285
[3408]1286 return success;
[3393]1287 }
[3412]1288 }
[3393]1289
[3412]1290 // Outlier Found
1291 // -------------
1292 else {
1293 restoreState(epoData);
1294 break;
1295 }
[3406]1296
[3412]1297 } // for iPhase
[3406]1298
[3412]1299 } // while selectSatellites
[3375]1300
[3412]1301 restoreState(epoData);
[3408]1302 return failure;
[3323]1303}
1304
1305// Remeber Original State Vector and Variance-Covariance Matrix
1306////////////////////////////////////////////////////////////////////////////
[3408]1307void bncModel::rememberState(t_epoData* epoData) {
[3323]1308
1309 _QQ_sav = _QQ;
1310
1311 QVectorIterator<bncParam*> itSav(_params_sav);
1312 while (itSav.hasNext()) {
1313 bncParam* par = itSav.next();
[3322]1314 delete par;
1315 }
[3323]1316 _params_sav.clear();
1317
1318 QVectorIterator<bncParam*> it(_params);
1319 while (it.hasNext()) {
1320 bncParam* par = it.next();
1321 _params_sav.push_back(new bncParam(*par));
1322 }
[3408]1323
1324 _epoData_sav->deepCopy(epoData);
[3307]1325}
[3323]1326
1327// Restore Original State Vector and Variance-Covariance Matrix
1328////////////////////////////////////////////////////////////////////////////
[3408]1329void bncModel::restoreState(t_epoData* epoData) {
[3323]1330
1331 _QQ = _QQ_sav;
1332
1333 QVectorIterator<bncParam*> it(_params);
1334 while (it.hasNext()) {
1335 bncParam* par = it.next();
1336 delete par;
1337 }
1338 _params.clear();
1339
1340 QVectorIterator<bncParam*> itSav(_params_sav);
1341 while (itSav.hasNext()) {
1342 bncParam* par = itSav.next();
1343 _params.push_back(new bncParam(*par));
1344 }
[3408]1345
1346 epoData->deepCopy(_epoData_sav);
[3405]1347}
[3412]1348
1349//
1350////////////////////////////////////////////////////////////////////////////
1351t_irc bncModel::selectSatellites(const QString& lastOutlierPrn,
1352 QMap<QString, t_satData*>& satData) {
1353
1354 // First Call
1355 // ----------
1356 if (lastOutlierPrn.isEmpty()) {
1357 _outlierGPS.clear();
1358 _outlierGlo.clear();
1359 return success;
1360 }
1361
1362 // Second and next trials
1363 // ----------------------
1364 else {
1365
1366 if (lastOutlierPrn[0] == 'R') {
1367 _outlierGlo << lastOutlierPrn;
1368 }
1369
1370 // Remove all Glonass Outliers
1371 // ---------------------------
1372 QStringListIterator it(_outlierGlo);
1373 while (it.hasNext()) {
1374 QString prn = it.next();
1375 if (satData.contains(prn)) {
1376 delete satData.take(prn);
1377 }
1378 }
1379
1380 if (lastOutlierPrn[0] == 'R') {
1381 _outlierGPS.clear();
1382 return success;
1383 }
1384
1385 // GPS Outlier appeared for the first time - try to delete it
1386 // ----------------------------------------------------------
1387 if (_outlierGPS.indexOf(lastOutlierPrn) == -1) {
1388 _outlierGPS << lastOutlierPrn;
1389 if (satData.contains(lastOutlierPrn)) {
1390 delete satData.take(lastOutlierPrn);
1391 }
1392 return success;
1393 }
1394
1395 }
1396
1397 return failure;
1398}
Note: See TracBrowser for help on using the repository browser.