[2057] | 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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[2063] | 42 | #include <cmath>
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[2060] | 43 | #include <newmatio.h>
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[2113] | 44 | #include <sstream>
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[2057] | 45 |
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| 46 | #include "bncmodel.h"
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[3638] | 47 | #include "bncpppclient.h"
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[5070] | 48 | #include "bnccore.h"
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[2058] | 49 | #include "bncpppclient.h"
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| 50 | #include "bancroft.h"
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[2063] | 51 | #include "bncutils.h"
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[5802] | 52 | #include "PPP/pppModel.h"
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[2881] | 53 | #include "bncantex.h"
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[3636] | 54 | #include "pppopt.h"
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[2057] | 55 |
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[5805] | 56 | using namespace BNC;
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[2057] | 57 | using namespace std;
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| 58 |
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[3420] | 59 | const unsigned MINOBS = 5;
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[3408] | 60 | const double MINELE = 10.0 * M_PI / 180.0;
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[4931] | 61 | const double MAXRES_CODE = 15.0;
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| 62 | const double MAXRES_PHASE_GPS = 0.04;
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| 63 | const double MAXRES_PHASE_GLONASS = 0.08;
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[3408] | 64 | const double GLONASS_WEIGHT_FACTOR = 5.0;
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[2070] | 65 |
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[2057] | 66 | // Constructor
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| 67 | ////////////////////////////////////////////////////////////////////////////
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[2080] | 68 | bncParam::bncParam(bncParam::parType typeIn, int indexIn,
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| 69 | const QString& prnIn) {
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| 70 | type = typeIn;
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| 71 | index = indexIn;
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| 72 | prn = prnIn;
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| 73 | index_old = 0;
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| 74 | xx = 0.0;
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[3330] | 75 | numEpo = 0;
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[2057] | 76 | }
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| 77 |
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| 78 | // Destructor
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| 79 | ////////////////////////////////////////////////////////////////////////////
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| 80 | bncParam::~bncParam() {
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| 81 | }
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| 82 |
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[2060] | 83 | // Partial
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| 84 | ////////////////////////////////////////////////////////////////////////////
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[2239] | 85 | double bncParam::partial(t_satData* satData, bool phase) {
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| 86 |
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[3312] | 87 | Tracer tracer("bncParam::partial");
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| 88 |
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[2239] | 89 | // Coordinates
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| 90 | // -----------
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[2060] | 91 | if (type == CRD_X) {
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[2109] | 92 | return (xx - satData->xx(1)) / satData->rho;
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[2060] | 93 | }
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| 94 | else if (type == CRD_Y) {
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[2109] | 95 | return (xx - satData->xx(2)) / satData->rho;
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[2060] | 96 | }
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| 97 | else if (type == CRD_Z) {
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[2109] | 98 | return (xx - satData->xx(3)) / satData->rho;
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[2060] | 99 | }
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[2239] | 100 |
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| 101 | // Receiver Clocks
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| 102 | // ---------------
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[2265] | 103 | else if (type == RECCLK) {
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| 104 | return 1.0;
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[2060] | 105 | }
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[2239] | 106 |
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| 107 | // Troposphere
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| 108 | // -----------
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[2084] | 109 | else if (type == TROPO) {
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| 110 | return 1.0 / sin(satData->eleSat);
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| 111 | }
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[2239] | 112 |
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[5157] | 113 | // Glonass Offset
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| 114 | // --------------
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| 115 | else if (type == GLONASS_OFFSET) {
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| 116 | if (satData->prn[0] == 'R') {
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| 117 | return 1.0;
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| 118 | }
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| 119 | else {
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| 120 | return 0.0;
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| 121 | }
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| 122 | }
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| 123 |
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[2782] | 124 | // Galileo Offset
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| 125 | // --------------
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| 126 | else if (type == GALILEO_OFFSET) {
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| 127 | if (satData->prn[0] == 'E') {
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| 128 | return 1.0;
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| 129 | }
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| 130 | else {
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| 131 | return 0.0;
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| 132 | }
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| 133 | }
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| 134 |
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[2239] | 135 | // Ambiguities
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| 136 | // -----------
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[2080] | 137 | else if (type == AMB_L3) {
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[2239] | 138 | if (phase && satData->prn == prn) {
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[2080] | 139 | return 1.0;
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| 140 | }
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| 141 | else {
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| 142 | return 0.0;
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| 143 | }
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| 144 | }
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[2239] | 145 |
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| 146 | // Default return
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| 147 | // --------------
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[2060] | 148 | return 0.0;
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| 149 | }
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| 150 |
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[2058] | 151 | // Constructor
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| 152 | ////////////////////////////////////////////////////////////////////////////
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[3638] | 153 | bncModel::bncModel(bncPPPclient* pppClient) {
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[2084] | 154 |
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[3638] | 155 | _pppClient = pppClient;
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| 156 | _staID = pppClient->staID();
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| 157 | _opt = pppClient->opt();
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[2113] | 158 |
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[2125] | 159 | // NMEA Output
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| 160 | // -----------
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[3636] | 161 | if (_opt->nmeaFile.isEmpty()) {
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[2125] | 162 | _nmeaFile = 0;
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| 163 | _nmeaStream = 0;
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| 164 | }
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| 165 | else {
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[3636] | 166 | QString hlpName = _opt->nmeaFile; expandEnvVar(hlpName);
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| 167 | _nmeaFile = new QFile(hlpName);
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| 168 | if (_opt->rnxAppend) {
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[2125] | 169 | _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 170 | }
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| 171 | else {
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| 172 | _nmeaFile->open(QIODevice::WriteOnly);
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| 173 | }
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| 174 | _nmeaStream = new QTextStream();
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| 175 | _nmeaStream->setDevice(_nmeaFile);
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| 176 | }
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[2881] | 177 |
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[3107] | 178 | // Antenna Name, ANTEX File
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| 179 | // ------------------------
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[2896] | 180 | _antex = 0;
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[3636] | 181 | if (!_opt->antexFile.isEmpty()) {
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[2881] | 182 | _antex = new bncAntex();
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[3636] | 183 | if (_antex->readFile(_opt->antexFile) != success) {
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[3638] | 184 | _pppClient->emitNewMessage("wrong ANTEX file", true);
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[2887] | 185 | delete _antex;
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| 186 | _antex = 0;
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[2883] | 187 | }
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[2881] | 188 | }
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[3107] | 189 |
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[5802] | 190 | _tides = new t_tides;
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| 191 |
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[3107] | 192 | // Bancroft Coordinates
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| 193 | // --------------------
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| 194 | _xcBanc.ReSize(4); _xcBanc = 0.0;
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| 195 | _ellBanc.ReSize(3); _ellBanc = 0.0;
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[3408] | 196 |
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| 197 | // Save copy of data (used in outlier detection)
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| 198 | // ---------------------------------------------
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| 199 | _epoData_sav = new t_epoData();
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[2058] | 200 | }
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| 201 |
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[3108] | 202 | // Destructor
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[3107] | 203 | ////////////////////////////////////////////////////////////////////////////
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[3108] | 204 | bncModel::~bncModel() {
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| 205 | delete _nmeaStream;
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| 206 | delete _nmeaFile;
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| 207 | for (int ii = 0; ii < _posAverage.size(); ++ii) {
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| 208 | delete _posAverage[ii];
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| 209 | }
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| 210 | delete _antex;
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| 211 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 212 | delete _params[iPar-1];
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| 213 | }
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[3540] | 214 | for (int iPar = 1; iPar <= _params_sav.size(); iPar++) {
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| 215 | delete _params_sav[iPar-1];
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| 216 | }
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[3408] | 217 | delete _epoData_sav;
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[5802] | 218 | delete _tides;
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[3108] | 219 | }
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| 220 |
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| 221 | // Reset Parameters and Variance-Covariance Matrix
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| 222 | ////////////////////////////////////////////////////////////////////////////
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[3107] | 223 | void bncModel::reset() {
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| 224 |
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[3312] | 225 | Tracer tracer("bncModel::reset");
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| 226 |
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[4801] | 227 | double lastTrp = 0.0;
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| 228 | for (int ii = 0; ii < _params.size(); ii++) {
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| 229 | bncParam* pp = _params[ii];
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| 230 | if (pp->type == bncParam::TROPO) {
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| 231 | lastTrp = pp->xx;
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| 232 | }
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| 233 | delete pp;
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[3107] | 234 | }
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| 235 | _params.clear();
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| 236 |
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| 237 | int nextPar = 0;
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| 238 | _params.push_back(new bncParam(bncParam::CRD_X, ++nextPar, ""));
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| 239 | _params.push_back(new bncParam(bncParam::CRD_Y, ++nextPar, ""));
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| 240 | _params.push_back(new bncParam(bncParam::CRD_Z, ++nextPar, ""));
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| 241 | _params.push_back(new bncParam(bncParam::RECCLK, ++nextPar, ""));
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[3636] | 242 | if (_opt->estTropo) {
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[4802] | 243 | _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
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[3107] | 244 | }
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[5157] | 245 | if (_opt->useGlonass) {
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| 246 | _params.push_back(new bncParam(bncParam::GLONASS_OFFSET, ++nextPar, ""));
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| 247 | }
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[3636] | 248 | if (_opt->useGalileo) {
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[3107] | 249 | _params.push_back(new bncParam(bncParam::GALILEO_OFFSET, ++nextPar, ""));
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| 250 | }
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| 251 |
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| 252 | _QQ.ReSize(_params.size());
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| 253 | _QQ = 0.0;
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| 254 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 255 | bncParam* pp = _params[iPar-1];
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| 256 | pp->xx = 0.0;
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| 257 | if (pp->isCrd()) {
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[3636] | 258 | _QQ(iPar,iPar) = _opt->sigCrd0 * _opt->sigCrd0;
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[3107] | 259 | }
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| 260 | else if (pp->type == bncParam::RECCLK) {
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[3636] | 261 | _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
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[3107] | 262 | }
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| 263 | else if (pp->type == bncParam::TROPO) {
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[3636] | 264 | _QQ(iPar,iPar) = _opt->sigTrp0 * _opt->sigTrp0;
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[4802] | 265 | pp->xx = lastTrp;
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[3107] | 266 | }
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[5157] | 267 | else if (pp->type == bncParam::GLONASS_OFFSET) {
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| 268 | _QQ(iPar,iPar) = _opt->sigGlonassOffset0 * _opt->sigGlonassOffset0;
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| 269 | }
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[3107] | 270 | else if (pp->type == bncParam::GALILEO_OFFSET) {
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[3636] | 271 | _QQ(iPar,iPar) = _opt->sigGalileoOffset0 * _opt->sigGalileoOffset0;
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[3107] | 272 | }
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| 273 | }
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| 274 | }
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| 275 |
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[2058] | 276 | // Bancroft Solution
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| 277 | ////////////////////////////////////////////////////////////////////////////
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| 278 | t_irc bncModel::cmpBancroft(t_epoData* epoData) {
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| 279 |
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[3312] | 280 | Tracer tracer("bncModel::cmpBancroft");
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| 281 |
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[3408] | 282 | if (epoData->sizeSys('G') < MINOBS) {
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[2547] | 283 | _log += "bncModel::cmpBancroft: not enough data\n";
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[2058] | 284 | return failure;
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| 285 | }
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| 286 |
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[3408] | 287 | Matrix BB(epoData->sizeSys('G'), 4);
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[2058] | 288 |
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[3408] | 289 | QMapIterator<QString, t_satData*> it(epoData->satData);
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[2791] | 290 | int iObsBanc = 0;
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[2058] | 291 | while (it.hasNext()) {
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| 292 | it.next();
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| 293 | t_satData* satData = it.value();
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[3408] | 294 | if (satData->system() == 'G') {
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| 295 | ++iObsBanc;
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| 296 | QString prn = it.key();
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| 297 | BB(iObsBanc, 1) = satData->xx(1);
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| 298 | BB(iObsBanc, 2) = satData->xx(2);
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| 299 | BB(iObsBanc, 3) = satData->xx(3);
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| 300 | BB(iObsBanc, 4) = satData->P3 + satData->clk;
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| 301 | }
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[2058] | 302 | }
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| 303 |
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| 304 | bancroft(BB, _xcBanc);
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| 305 |
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[2064] | 306 | // Ellipsoidal Coordinates
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| 307 | // ------------------------
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| 308 | xyz2ell(_xcBanc.data(), _ellBanc.data());
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[2063] | 309 |
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[2064] | 310 | // Compute Satellite Elevations
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| 311 | // ----------------------------
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[3408] | 312 | QMutableMapIterator<QString, t_satData*> im(epoData->satData);
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| 313 | while (im.hasNext()) {
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| 314 | im.next();
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| 315 | t_satData* satData = im.value();
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[2789] | 316 | cmpEle(satData);
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[3408] | 317 | if (satData->eleSat < MINELE) {
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[2070] | 318 | delete satData;
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[3408] | 319 | im.remove();
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[2070] | 320 | }
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[2064] | 321 | }
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| 322 |
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[2058] | 323 | return success;
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| 324 | }
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[2060] | 325 |
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| 326 | // Computed Value
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| 327 | ////////////////////////////////////////////////////////////////////////////
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[2583] | 328 | double bncModel::cmpValue(t_satData* satData, bool phase) {
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[2060] | 329 |
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[3312] | 330 | Tracer tracer("bncModel::cmpValue");
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| 331 |
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[2073] | 332 | ColumnVector xRec(3);
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| 333 | xRec(1) = x();
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| 334 | xRec(2) = y();
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| 335 | xRec(3) = z();
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[2060] | 336 |
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[2073] | 337 | double rho0 = (satData->xx - xRec).norm_Frobenius();
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[2060] | 338 | double dPhi = t_CST::omega * rho0 / t_CST::c;
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| 339 |
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[2073] | 340 | xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
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| 341 | xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
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| 342 | xRec(3) = z();
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| 343 |
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[5802] | 344 | xRec += _tides->displacement(_time, xRec);
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[2580] | 345 |
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[2060] | 346 | satData->rho = (satData->xx - xRec).norm_Frobenius();
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| 347 |
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[5808] | 348 | double tropDelay = t_tropo::delay_saast(xRec, satData->eleSat) +
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[2084] | 349 | trp() / sin(satData->eleSat);
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[2060] | 350 |
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[2583] | 351 | double wind = 0.0;
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| 352 | if (phase) {
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| 353 | wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
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| 354 | }
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| 355 |
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[2783] | 356 | double offset = 0.0;
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[5157] | 357 | if (satData->prn[0] == 'R') {
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| 358 | offset = Glonass_offset();
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| 359 | }
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| 360 | else if (satData->prn[0] == 'E') {
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[2783] | 361 | offset = Galileo_offset();
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| 362 | }
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| 363 |
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[2894] | 364 | double phaseCenter = 0.0;
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[2938] | 365 | if (_antex) {
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| 366 | bool found;
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[3636] | 367 | phaseCenter = _antex->pco(_opt->antennaName, satData->eleSat, found);
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[2938] | 368 | if (!found) {
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[3638] | 369 | _pppClient->emitNewMessage("ANTEX: antenna >"
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[3636] | 370 | + _opt->antennaName.toAscii() + "< not found", true);
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[2938] | 371 | }
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[2894] | 372 | }
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| 373 |
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[3286] | 374 | double antennaOffset = 0.0;
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[3636] | 375 | if (_opt->antEccSet()) {
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[3287] | 376 | double cosa = cos(satData->azSat);
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| 377 | double sina = sin(satData->azSat);
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| 378 | double cose = cos(satData->eleSat);
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| 379 | double sine = sin(satData->eleSat);
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[3636] | 380 | antennaOffset = -_opt->antEccNEU[0] * cosa*cose
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| 381 | -_opt->antEccNEU[1] * sina*cose
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| 382 | -_opt->antEccNEU[2] * sine;
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[3286] | 383 | }
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| 384 |
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| 385 | return satData->rho + phaseCenter + antennaOffset + clk()
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[2894] | 386 | + offset - satData->clk + tropDelay + wind;
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[2060] | 387 | }
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| 388 |
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[2073] | 389 | // Prediction Step of the Filter
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| 390 | ////////////////////////////////////////////////////////////////////////////
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[3309] | 391 | void bncModel::predict(int iPhase, t_epoData* epoData) {
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[2073] | 392 |
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[3312] | 393 | Tracer tracer("bncModel::predict");
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| 394 |
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[3310] | 395 | if (iPhase == 0) {
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[2244] | 396 |
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[3310] | 397 | bool firstCrd = false;
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[3636] | 398 | if (!_lastTimeOK.valid() || (_opt->maxSolGap > 0 && _time - _lastTimeOK > _opt->maxSolGap)) {
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[3310] | 399 | firstCrd = true;
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| 400 | _startTime = epoData->tt;
|
---|
| 401 | reset();
|
---|
| 402 | }
|
---|
| 403 |
|
---|
| 404 | // Use different white noise for Quick-Start mode
|
---|
| 405 | // ----------------------------------------------
|
---|
[3636] | 406 | double sigCrdP_used = _opt->sigCrdP;
|
---|
| 407 | if ( _opt->quickStart > 0.0 && _opt->quickStart > (epoData->tt - _startTime) ) {
|
---|
[3310] | 408 | sigCrdP_used = 0.0;
|
---|
| 409 | }
|
---|
[3106] | 410 |
|
---|
[3310] | 411 | // Predict Parameter values, add white noise
|
---|
| 412 | // -----------------------------------------
|
---|
| 413 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 414 | bncParam* pp = _params[iPar-1];
|
---|
| 415 |
|
---|
| 416 | // Coordinates
|
---|
| 417 | // -----------
|
---|
| 418 | if (pp->type == bncParam::CRD_X) {
|
---|
| 419 | if (firstCrd) {
|
---|
[3636] | 420 | if (_opt->refCrdSet()) {
|
---|
| 421 | pp->xx = _opt->refCrd[0];
|
---|
[3310] | 422 | }
|
---|
| 423 | else {
|
---|
| 424 | pp->xx = _xcBanc(1);
|
---|
| 425 | }
|
---|
[2648] | 426 | }
|
---|
[3310] | 427 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 428 | }
|
---|
[3310] | 429 | else if (pp->type == bncParam::CRD_Y) {
|
---|
| 430 | if (firstCrd) {
|
---|
[3636] | 431 | if (_opt->refCrdSet()) {
|
---|
| 432 | pp->xx = _opt->refCrd[1];
|
---|
[3310] | 433 | }
|
---|
| 434 | else {
|
---|
| 435 | pp->xx = _xcBanc(2);
|
---|
| 436 | }
|
---|
[2648] | 437 | }
|
---|
[3310] | 438 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
[2244] | 439 | }
|
---|
[3310] | 440 | else if (pp->type == bncParam::CRD_Z) {
|
---|
| 441 | if (firstCrd) {
|
---|
[3636] | 442 | if (_opt->refCrdSet()) {
|
---|
| 443 | pp->xx = _opt->refCrd[2];
|
---|
[3310] | 444 | }
|
---|
| 445 | else {
|
---|
| 446 | pp->xx = _xcBanc(3);
|
---|
| 447 | }
|
---|
[2648] | 448 | }
|
---|
[3310] | 449 | _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
|
---|
| 450 | }
|
---|
| 451 |
|
---|
| 452 | // Receiver Clocks
|
---|
| 453 | // ---------------
|
---|
| 454 | else if (pp->type == bncParam::RECCLK) {
|
---|
| 455 | pp->xx = _xcBanc(4);
|
---|
| 456 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
| 457 | _QQ(iPar, jj) = 0.0;
|
---|
[2648] | 458 | }
|
---|
[3636] | 459 | _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
|
---|
[2244] | 460 | }
|
---|
[3310] | 461 |
|
---|
| 462 | // Tropospheric Delay
|
---|
| 463 | // ------------------
|
---|
| 464 | else if (pp->type == bncParam::TROPO) {
|
---|
[3636] | 465 | _QQ(iPar,iPar) += _opt->sigTrpP * _opt->sigTrpP;
|
---|
[2244] | 466 | }
|
---|
[3310] | 467 |
|
---|
[5157] | 468 | // Glonass Offset
|
---|
| 469 | // --------------
|
---|
| 470 | else if (pp->type == bncParam::GLONASS_OFFSET) {
|
---|
[5158] | 471 | bool epoSpec = true;
|
---|
| 472 | if (epoSpec) {
|
---|
| 473 | pp->xx = 0.0;
|
---|
| 474 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
| 475 | _QQ(iPar, jj) = 0.0;
|
---|
| 476 | }
|
---|
| 477 | _QQ(iPar,iPar) = _opt->sigGlonassOffset0 * _opt->sigGlonassOffset0;
|
---|
| 478 | }
|
---|
| 479 | else {
|
---|
| 480 | _QQ(iPar,iPar) += _opt->sigGlonassOffsetP * _opt->sigGlonassOffsetP;
|
---|
| 481 | }
|
---|
[5157] | 482 | }
|
---|
| 483 |
|
---|
[3310] | 484 | // Galileo Offset
|
---|
| 485 | // --------------
|
---|
| 486 | else if (pp->type == bncParam::GALILEO_OFFSET) {
|
---|
[3636] | 487 | _QQ(iPar,iPar) += _opt->sigGalileoOffsetP * _opt->sigGalileoOffsetP;
|
---|
[3310] | 488 | }
|
---|
[2244] | 489 | }
|
---|
| 490 | }
|
---|
| 491 |
|
---|
| 492 | // Add New Ambiguities if necessary
|
---|
| 493 | // --------------------------------
|
---|
[3636] | 494 | if (_opt->usePhase) {
|
---|
[2080] | 495 |
|
---|
[2083] | 496 | // Make a copy of QQ and xx, set parameter indices
|
---|
| 497 | // -----------------------------------------------
|
---|
| 498 | SymmetricMatrix QQ_old = _QQ;
|
---|
| 499 |
|
---|
| 500 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 501 | _params[iPar-1]->index_old = _params[iPar-1]->index;
|
---|
| 502 | _params[iPar-1]->index = 0;
|
---|
| 503 | }
|
---|
| 504 |
|
---|
| 505 | // Remove Ambiguity Parameters without observations
|
---|
| 506 | // ------------------------------------------------
|
---|
| 507 | int iPar = 0;
|
---|
[3408] | 508 | QMutableVectorIterator<bncParam*> im(_params);
|
---|
| 509 | while (im.hasNext()) {
|
---|
| 510 | bncParam* par = im.next();
|
---|
[2083] | 511 | bool removed = false;
|
---|
| 512 | if (par->type == bncParam::AMB_L3) {
|
---|
[3408] | 513 | if (epoData->satData.find(par->prn) == epoData->satData.end()) {
|
---|
[2083] | 514 | removed = true;
|
---|
| 515 | delete par;
|
---|
[3408] | 516 | im.remove();
|
---|
[2083] | 517 | }
|
---|
[2080] | 518 | }
|
---|
[2083] | 519 | if (! removed) {
|
---|
| 520 | ++iPar;
|
---|
| 521 | par->index = iPar;
|
---|
| 522 | }
|
---|
[2080] | 523 | }
|
---|
[2083] | 524 |
|
---|
| 525 | // Add new ambiguity parameters
|
---|
| 526 | // ----------------------------
|
---|
[3408] | 527 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
| 528 | while (it.hasNext()) {
|
---|
| 529 | it.next();
|
---|
| 530 | t_satData* satData = it.value();
|
---|
[2789] | 531 | addAmb(satData);
|
---|
[2080] | 532 | }
|
---|
[2083] | 533 |
|
---|
| 534 | int nPar = _params.size();
|
---|
| 535 | _QQ.ReSize(nPar); _QQ = 0.0;
|
---|
| 536 | for (int i1 = 1; i1 <= nPar; i1++) {
|
---|
| 537 | bncParam* p1 = _params[i1-1];
|
---|
| 538 | if (p1->index_old != 0) {
|
---|
| 539 | _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
|
---|
| 540 | for (int i2 = 1; i2 <= nPar; i2++) {
|
---|
| 541 | bncParam* p2 = _params[i2-1];
|
---|
| 542 | if (p2->index_old != 0) {
|
---|
| 543 | _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
|
---|
| 544 | }
|
---|
[2080] | 545 | }
|
---|
| 546 | }
|
---|
| 547 | }
|
---|
[2083] | 548 |
|
---|
| 549 | for (int ii = 1; ii <= nPar; ii++) {
|
---|
| 550 | bncParam* par = _params[ii-1];
|
---|
| 551 | if (par->index_old == 0) {
|
---|
[3636] | 552 | _QQ(par->index, par->index) = _opt->sigAmb0 * _opt->sigAmb0;
|
---|
[2083] | 553 | }
|
---|
| 554 | par->index_old = par->index;
|
---|
[2080] | 555 | }
|
---|
| 556 | }
|
---|
[2073] | 557 | }
|
---|
| 558 |
|
---|
[2060] | 559 | // Update Step of the Filter (currently just a single-epoch solution)
|
---|
| 560 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 561 | t_irc bncModel::update(t_epoData* epoData) {
|
---|
| 562 |
|
---|
[3312] | 563 | Tracer tracer("bncModel::update");
|
---|
| 564 |
|
---|
[2248] | 565 | _log.clear();
|
---|
[2124] | 566 |
|
---|
[3536] | 567 | _time = epoData->tt; // current epoch time
|
---|
| 568 |
|
---|
[3636] | 569 | if (_opt->pppMode) {
|
---|
[2827] | 570 | _log += "Precise Point Positioning of Epoch "
|
---|
| 571 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
| 572 | "\n---------------------------------------------------------------\n";
|
---|
| 573 | }
|
---|
| 574 | else {
|
---|
| 575 | _log += "Single Point Positioning of Epoch "
|
---|
| 576 | + QByteArray(_time.timestr(1).c_str()) +
|
---|
[2547] | 577 | "\n--------------------------------------------------------------\n";
|
---|
[2827] | 578 | }
|
---|
[2547] | 579 |
|
---|
[3307] | 580 | // Outlier Detection Loop
|
---|
[2113] | 581 | // ----------------------
|
---|
[3321] | 582 | if (update_p(epoData) != success) {
|
---|
[3638] | 583 | _pppClient->emitNewMessage(_log, false);
|
---|
[3307] | 584 | return failure;
|
---|
| 585 | }
|
---|
[2080] | 586 |
|
---|
[2670] | 587 | // Remember the Epoch-specific Results for the computation of means
|
---|
| 588 | // ----------------------------------------------------------------
|
---|
| 589 | pppPos* newPos = new pppPos;
|
---|
| 590 | newPos->time = epoData->tt;
|
---|
| 591 |
|
---|
[2109] | 592 | // Set Solution Vector
|
---|
| 593 | // -------------------
|
---|
[2265] | 594 | ostringstream strB;
|
---|
| 595 | strB.setf(ios::fixed);
|
---|
[2073] | 596 | QVectorIterator<bncParam*> itPar(_params);
|
---|
[2060] | 597 | while (itPar.hasNext()) {
|
---|
| 598 | bncParam* par = itPar.next();
|
---|
[2265] | 599 |
|
---|
| 600 | if (par->type == bncParam::RECCLK) {
|
---|
[2798] | 601 | strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
|
---|
[2124] | 602 | << " +- " << setw(6) << setprecision(3)
|
---|
| 603 | << sqrt(_QQ(par->index,par->index));
|
---|
| 604 | }
|
---|
| 605 | else if (par->type == bncParam::AMB_L3) {
|
---|
[3330] | 606 | ++par->numEpo;
|
---|
[2265] | 607 | strB << "\n amb " << par->prn.toAscii().data() << " = "
|
---|
[2798] | 608 | << setw(10) << setprecision(3) << par->xx
|
---|
[2124] | 609 | << " +- " << setw(6) << setprecision(3)
|
---|
[3330] | 610 | << sqrt(_QQ(par->index,par->index))
|
---|
| 611 | << " nEpo = " << par->numEpo;
|
---|
[2124] | 612 | }
|
---|
[2212] | 613 | else if (par->type == bncParam::TROPO) {
|
---|
[5750] | 614 | ColumnVector xyz(3); xyz(1) = x(); xyz(2) = y(); xyz(3) = z();
|
---|
[5808] | 615 | double aprTrp = t_tropo::delay_saast(xyz, M_PI/2.0);
|
---|
[2547] | 616 | strB << "\n trp = " << par->prn.toAscii().data()
|
---|
[2670] | 617 | << setw(7) << setprecision(3) << aprTrp << " "
|
---|
[2213] | 618 | << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
|
---|
[2212] | 619 | << " +- " << setw(6) << setprecision(3)
|
---|
| 620 | << sqrt(_QQ(par->index,par->index));
|
---|
[2670] | 621 | newPos->xnt[6] = aprTrp + par->xx;
|
---|
[2212] | 622 | }
|
---|
[5157] | 623 | else if (par->type == bncParam::GLONASS_OFFSET) {
|
---|
| 624 | strB << "\n offGlo = " << setw(10) << setprecision(3) << par->xx
|
---|
| 625 | << " +- " << setw(6) << setprecision(3)
|
---|
| 626 | << sqrt(_QQ(par->index,par->index));
|
---|
| 627 | }
|
---|
[2782] | 628 | else if (par->type == bncParam::GALILEO_OFFSET) {
|
---|
[5157] | 629 | strB << "\n offGal = " << setw(10) << setprecision(3) << par->xx
|
---|
[2782] | 630 | << " +- " << setw(6) << setprecision(3)
|
---|
| 631 | << sqrt(_QQ(par->index,par->index));
|
---|
| 632 | }
|
---|
[2060] | 633 | }
|
---|
[2265] | 634 | strB << '\n';
|
---|
[2547] | 635 | _log += strB.str().c_str();
|
---|
[3638] | 636 | _pppClient->emitNewMessage(_log, false);
|
---|
[2060] | 637 |
|
---|
[2547] | 638 | // Final Message (both log file and screen)
|
---|
| 639 | // ----------------------------------------
|
---|
| 640 | ostringstream strC;
|
---|
| 641 | strC.setf(ios::fixed);
|
---|
| 642 | strC << _staID.data() << " PPP "
|
---|
[2599] | 643 | << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
|
---|
[2231] | 644 | << setw(14) << setprecision(3) << x() << " +- "
|
---|
| 645 | << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
|
---|
| 646 | << setw(14) << setprecision(3) << y() << " +- "
|
---|
| 647 | << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
|
---|
| 648 | << setw(14) << setprecision(3) << z() << " +- "
|
---|
[2124] | 649 | << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
|
---|
[2113] | 650 |
|
---|
[2370] | 651 | // NEU Output
|
---|
| 652 | // ----------
|
---|
[3636] | 653 | if (_opt->refCrdSet()) {
|
---|
| 654 | newPos->xnt[0] = x() - _opt->refCrd[0];
|
---|
| 655 | newPos->xnt[1] = y() - _opt->refCrd[1];
|
---|
| 656 | newPos->xnt[2] = z() - _opt->refCrd[2];
|
---|
[2862] | 657 |
|
---|
[2649] | 658 | double ellRef[3];
|
---|
[3636] | 659 | xyz2ell(_opt->refCrd, ellRef);
|
---|
[2670] | 660 | xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
|
---|
[2649] | 661 |
|
---|
[2547] | 662 | strC << " NEU "
|
---|
[2670] | 663 | << setw(8) << setprecision(3) << newPos->xnt[3] << " "
|
---|
| 664 | << setw(8) << setprecision(3) << newPos->xnt[4] << " "
|
---|
[2797] | 665 | << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
|
---|
[2649] | 666 |
|
---|
[2370] | 667 | }
|
---|
| 668 |
|
---|
[3638] | 669 | _pppClient->emitNewMessage(QByteArray(strC.str().c_str()), true);
|
---|
[2547] | 670 |
|
---|
[3636] | 671 | if (_opt->pppAverage == 0.0) {
|
---|
[2671] | 672 | delete newPos;
|
---|
| 673 | }
|
---|
| 674 | else {
|
---|
| 675 |
|
---|
| 676 | _posAverage.push_back(newPos);
|
---|
[2599] | 677 |
|
---|
[2648] | 678 | // Compute the Mean
|
---|
| 679 | // ----------------
|
---|
[2670] | 680 | ColumnVector mean(7); mean = 0.0;
|
---|
[2648] | 681 |
|
---|
[2599] | 682 | QMutableVectorIterator<pppPos*> it(_posAverage);
|
---|
| 683 | while (it.hasNext()) {
|
---|
| 684 | pppPos* pp = it.next();
|
---|
[3636] | 685 | if ( (epoData->tt - pp->time) >= _opt->pppAverage ) {
|
---|
[2599] | 686 | delete pp;
|
---|
| 687 | it.remove();
|
---|
| 688 | }
|
---|
[2648] | 689 | else {
|
---|
[2670] | 690 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 691 | mean[ii] += pp->xnt[ii];
|
---|
[2649] | 692 | }
|
---|
[2648] | 693 | }
|
---|
[2599] | 694 | }
|
---|
[2648] | 695 |
|
---|
| 696 | int nn = _posAverage.size();
|
---|
| 697 |
|
---|
[2649] | 698 | if (nn > 0) {
|
---|
[2648] | 699 |
|
---|
[2649] | 700 | mean /= nn;
|
---|
| 701 |
|
---|
| 702 | // Compute the Deviation
|
---|
| 703 | // ---------------------
|
---|
[2670] | 704 | ColumnVector std(7); std = 0.0;
|
---|
[2649] | 705 | QVectorIterator<pppPos*> it2(_posAverage);
|
---|
| 706 | while (it2.hasNext()) {
|
---|
| 707 | pppPos* pp = it2.next();
|
---|
[2670] | 708 | for (int ii = 0; ii < 7; ++ii) {
|
---|
| 709 | std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
|
---|
[2649] | 710 | }
|
---|
| 711 | }
|
---|
[2670] | 712 | for (int ii = 0; ii < 7; ++ii) {
|
---|
[2649] | 713 | std[ii] = sqrt(std[ii] / nn);
|
---|
| 714 | }
|
---|
[3169] | 715 |
|
---|
[3636] | 716 | if (_opt->refCrdSet()) {
|
---|
[3169] | 717 | ostringstream strD; strD.setf(ios::fixed);
|
---|
| 718 | strD << _staID.data() << " AVE-XYZ "
|
---|
| 719 | << epoData->tt.timestr(1) << " "
|
---|
[3636] | 720 | << setw(13) << setprecision(3) << mean[0] + _opt->refCrd[0] << " +- "
|
---|
[3169] | 721 | << setw(6) << setprecision(3) << std[0] << " "
|
---|
[3636] | 722 | << setw(14) << setprecision(3) << mean[1] + _opt->refCrd[1] << " +- "
|
---|
[3169] | 723 | << setw(6) << setprecision(3) << std[1] << " "
|
---|
[3636] | 724 | << setw(14) << setprecision(3) << mean[2] + _opt->refCrd[2] << " +- "
|
---|
[3169] | 725 | << setw(6) << setprecision(3) << std[2];
|
---|
[3638] | 726 | _pppClient->emitNewMessage(QByteArray(strD.str().c_str()), true);
|
---|
[2649] | 727 |
|
---|
[3169] | 728 | ostringstream strE; strE.setf(ios::fixed);
|
---|
| 729 | strE << _staID.data() << " AVE-NEU "
|
---|
| 730 | << epoData->tt.timestr(1) << " "
|
---|
| 731 | << setw(13) << setprecision(3) << mean[3] << " +- "
|
---|
| 732 | << setw(6) << setprecision(3) << std[3] << " "
|
---|
| 733 | << setw(14) << setprecision(3) << mean[4] << " +- "
|
---|
| 734 | << setw(6) << setprecision(3) << std[4] << " "
|
---|
| 735 | << setw(14) << setprecision(3) << mean[5] << " +- "
|
---|
| 736 | << setw(6) << setprecision(3) << std[5];
|
---|
[3638] | 737 | _pppClient->emitNewMessage(QByteArray(strE.str().c_str()), true);
|
---|
[2649] | 738 |
|
---|
[3636] | 739 | if (_opt->estTropo) {
|
---|
[3169] | 740 | ostringstream strF; strF.setf(ios::fixed);
|
---|
| 741 | strF << _staID.data() << " AVE-TRP "
|
---|
| 742 | << epoData->tt.timestr(1) << " "
|
---|
| 743 | << setw(13) << setprecision(3) << mean[6] << " +- "
|
---|
| 744 | << setw(6) << setprecision(3) << std[6] << endl;
|
---|
[3638] | 745 | _pppClient->emitNewMessage(QByteArray(strF.str().c_str()), true);
|
---|
[3169] | 746 | }
|
---|
[2726] | 747 | }
|
---|
[2599] | 748 | }
|
---|
| 749 | }
|
---|
| 750 |
|
---|
[2131] | 751 | // NMEA Output
|
---|
| 752 | // -----------
|
---|
[2181] | 753 | double xyz[3];
|
---|
| 754 | xyz[0] = x();
|
---|
| 755 | xyz[1] = y();
|
---|
| 756 | xyz[2] = z();
|
---|
| 757 | double ell[3];
|
---|
| 758 | xyz2ell(xyz, ell);
|
---|
| 759 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
| 760 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
[2132] | 761 |
|
---|
[2181] | 762 | char phiCh = 'N';
|
---|
| 763 | if (phiDeg < 0) {
|
---|
| 764 | phiDeg = -phiDeg;
|
---|
| 765 | phiCh = 'S';
|
---|
| 766 | }
|
---|
| 767 | char lamCh = 'E';
|
---|
| 768 | if (lamDeg < 0) {
|
---|
[2563] | 769 | lamDeg = -lamDeg;
|
---|
| 770 | lamCh = 'W';
|
---|
[2181] | 771 | }
|
---|
[2132] | 772 |
|
---|
[2566] | 773 | string datestr = epoData->tt.datestr(0); // yyyymmdd
|
---|
| 774 | ostringstream strRMC;
|
---|
| 775 | strRMC.setf(ios::fixed);
|
---|
| 776 | strRMC << "GPRMC,"
|
---|
| 777 | << epoData->tt.timestr(0,0) << ",A,"
|
---|
| 778 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 779 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 780 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 781 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 782 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 783 | << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
|
---|
[2569] | 784 | << datestr[6] << datestr[7] << datestr[4] << datestr[5]
|
---|
| 785 | << datestr[2] << datestr[3] << ",,";
|
---|
[2566] | 786 |
|
---|
| 787 | writeNMEAstr(QString(strRMC.str().c_str()));
|
---|
| 788 |
|
---|
[2181] | 789 | double dop = 2.0; // TODO
|
---|
[2133] | 790 |
|
---|
[2566] | 791 | ostringstream strGGA;
|
---|
| 792 | strGGA.setf(ios::fixed);
|
---|
| 793 | strGGA << "GPGGA,"
|
---|
| 794 | << epoData->tt.timestr(0,0) << ','
|
---|
| 795 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 796 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 797 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 798 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 799 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 800 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
| 801 | << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
|
---|
| 802 | << setw(3) << setprecision(1) << dop << ','
|
---|
[2569] | 803 | << setprecision(3) << ell[2] << ",M,0.0,M,,";
|
---|
[2181] | 804 |
|
---|
[2566] | 805 | writeNMEAstr(QString(strGGA.str().c_str()));
|
---|
[2131] | 806 |
|
---|
[3106] | 807 | _lastTimeOK = _time; // remember time of last successful update
|
---|
[2060] | 808 | return success;
|
---|
| 809 | }
|
---|
[2112] | 810 |
|
---|
| 811 | // Outlier Detection
|
---|
| 812 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3412] | 813 | QString bncModel::outlierDetection(int iPhase, const ColumnVector& vv,
|
---|
| 814 | QMap<QString, t_satData*>& satData) {
|
---|
[2112] | 815 |
|
---|
[3312] | 816 | Tracer tracer("bncModel::outlierDetection");
|
---|
| 817 |
|
---|
[3414] | 818 | QString prnGPS;
|
---|
| 819 | QString prnGlo;
|
---|
| 820 | double maxResGPS = 0.0;
|
---|
| 821 | double maxResGlo = 0.0;
|
---|
| 822 | findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo);
|
---|
[2231] | 823 |
|
---|
[3414] | 824 | if (iPhase == 1) {
|
---|
| 825 | if (maxResGlo > MAXRES_PHASE_GLONASS) {
|
---|
| 826 | _log += "Outlier Phase " + prnGlo + " "
|
---|
| 827 | + QByteArray::number(maxResGlo, 'f', 3) + "\n";
|
---|
| 828 | return prnGlo;
|
---|
| 829 | }
|
---|
| 830 | else if (maxResGPS > MAXRES_PHASE_GPS) {
|
---|
| 831 | _log += "Outlier Phase " + prnGPS + " "
|
---|
| 832 | + QByteArray::number(maxResGPS, 'f', 3) + "\n";
|
---|
| 833 | return prnGPS;
|
---|
| 834 | }
|
---|
[2792] | 835 | }
|
---|
[3414] | 836 | else if (iPhase == 0 && maxResGPS > MAXRES_CODE) {
|
---|
| 837 | _log += "Outlier Code " + prnGPS + " "
|
---|
| 838 | + QByteArray::number(maxResGPS, 'f', 3) + "\n";
|
---|
| 839 | return prnGPS;
|
---|
[3408] | 840 | }
|
---|
[3414] | 841 |
|
---|
| 842 | return QString();
|
---|
[2112] | 843 | }
|
---|
[2130] | 844 |
|
---|
| 845 | //
|
---|
| 846 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 847 | void bncModel::writeNMEAstr(const QString& nmStr) {
|
---|
| 848 |
|
---|
[3312] | 849 | Tracer tracer("bncModel::writeNMEAstr");
|
---|
| 850 |
|
---|
[2130] | 851 | unsigned char XOR = 0;
|
---|
| 852 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
| 853 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
| 854 | }
|
---|
[2181] | 855 |
|
---|
| 856 | QString outStr = '$' + nmStr
|
---|
| 857 | + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
[2130] | 858 |
|
---|
[2178] | 859 | if (_nmeaStream) {
|
---|
[2181] | 860 | *_nmeaStream << outStr;
|
---|
[2178] | 861 | _nmeaStream->flush();
|
---|
| 862 | }
|
---|
[2130] | 863 |
|
---|
[3638] | 864 | _pppClient->emitNewNMEAstr(outStr.toAscii());
|
---|
[2130] | 865 | }
|
---|
[2283] | 866 |
|
---|
[2582] | 867 | // Phase Wind-Up Correction
|
---|
| 868 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 869 | double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
|
---|
| 870 | const ColumnVector& rRec) {
|
---|
| 871 |
|
---|
[3312] | 872 | Tracer tracer("bncModel::windUp");
|
---|
| 873 |
|
---|
[2582] | 874 | double Mjd = _time.mjd() + _time.daysec() / 86400.0;
|
---|
| 875 |
|
---|
| 876 | // First time - initialize to zero
|
---|
| 877 | // -------------------------------
|
---|
| 878 | if (!_windUpTime.contains(prn)) {
|
---|
| 879 | _windUpSum[prn] = 0.0;
|
---|
| 880 | }
|
---|
| 881 |
|
---|
| 882 | // Compute the correction for new time
|
---|
| 883 | // -----------------------------------
|
---|
[2942] | 884 | if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
|
---|
[2582] | 885 | _windUpTime[prn] = Mjd;
|
---|
| 886 |
|
---|
| 887 | // Unit Vector GPS Satellite --> Receiver
|
---|
| 888 | // --------------------------------------
|
---|
| 889 | ColumnVector rho = rRec - rSat;
|
---|
| 890 | rho /= rho.norm_Frobenius();
|
---|
| 891 |
|
---|
| 892 | // GPS Satellite unit Vectors sz, sy, sx
|
---|
| 893 | // -------------------------------------
|
---|
| 894 | ColumnVector sz = -rSat / rSat.norm_Frobenius();
|
---|
| 895 |
|
---|
[5802] | 896 | ColumnVector xSun = t_astro::Sun(Mjd);
|
---|
[2582] | 897 | xSun /= xSun.norm_Frobenius();
|
---|
| 898 |
|
---|
| 899 | ColumnVector sy = crossproduct(sz, xSun);
|
---|
| 900 | ColumnVector sx = crossproduct(sy, sz);
|
---|
| 901 |
|
---|
| 902 | // Effective Dipole of the GPS Satellite Antenna
|
---|
| 903 | // ---------------------------------------------
|
---|
| 904 | ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
|
---|
| 905 | - crossproduct(rho, sy);
|
---|
| 906 |
|
---|
| 907 | // Receiver unit Vectors rx, ry
|
---|
| 908 | // ----------------------------
|
---|
| 909 | ColumnVector rx(3);
|
---|
| 910 | ColumnVector ry(3);
|
---|
| 911 |
|
---|
| 912 | double recEll[3]; xyz2ell(rRec.data(), recEll) ;
|
---|
| 913 | double neu[3];
|
---|
| 914 |
|
---|
| 915 | neu[0] = 1.0;
|
---|
| 916 | neu[1] = 0.0;
|
---|
| 917 | neu[2] = 0.0;
|
---|
| 918 | neu2xyz(recEll, neu, rx.data());
|
---|
| 919 |
|
---|
| 920 | neu[0] = 0.0;
|
---|
| 921 | neu[1] = -1.0;
|
---|
| 922 | neu[2] = 0.0;
|
---|
| 923 | neu2xyz(recEll, neu, ry.data());
|
---|
| 924 |
|
---|
| 925 | // Effective Dipole of the Receiver Antenna
|
---|
| 926 | // ----------------------------------------
|
---|
| 927 | ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
|
---|
| 928 | + crossproduct(rho, ry);
|
---|
| 929 |
|
---|
| 930 | // Resulting Effect
|
---|
| 931 | // ----------------
|
---|
| 932 | double alpha = DotProduct(dipSat,dipRec) /
|
---|
| 933 | (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
|
---|
| 934 |
|
---|
| 935 | if (alpha > 1.0) alpha = 1.0;
|
---|
| 936 | if (alpha < -1.0) alpha = -1.0;
|
---|
| 937 |
|
---|
| 938 | double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
|
---|
| 939 |
|
---|
| 940 | if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
|
---|
| 941 | dphi = -dphi;
|
---|
| 942 | }
|
---|
| 943 |
|
---|
| 944 | _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
|
---|
| 945 | }
|
---|
| 946 |
|
---|
| 947 | return _windUpSum[prn];
|
---|
| 948 | }
|
---|
[2789] | 949 |
|
---|
| 950 | //
|
---|
| 951 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 952 | void bncModel::cmpEle(t_satData* satData) {
|
---|
[3312] | 953 | Tracer tracer("bncModel::cmpEle");
|
---|
[2789] | 954 | ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
|
---|
| 955 | double rho = rr.norm_Frobenius();
|
---|
| 956 |
|
---|
| 957 | double neu[3];
|
---|
| 958 | xyz2neu(_ellBanc.data(), rr.data(), neu);
|
---|
| 959 |
|
---|
| 960 | satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
|
---|
| 961 | if (neu[2] < 0) {
|
---|
| 962 | satData->eleSat *= -1.0;
|
---|
| 963 | }
|
---|
| 964 | satData->azSat = atan2(neu[1], neu[0]);
|
---|
| 965 | }
|
---|
| 966 |
|
---|
| 967 | //
|
---|
| 968 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 969 | void bncModel::addAmb(t_satData* satData) {
|
---|
[3312] | 970 | Tracer tracer("bncModel::addAmb");
|
---|
[2789] | 971 | bool found = false;
|
---|
| 972 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 973 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 974 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 975 | found = true;
|
---|
| 976 | break;
|
---|
| 977 | }
|
---|
| 978 | }
|
---|
| 979 | if (!found) {
|
---|
| 980 | bncParam* par = new bncParam(bncParam::AMB_L3,
|
---|
| 981 | _params.size()+1, satData->prn);
|
---|
| 982 | _params.push_back(par);
|
---|
| 983 | par->xx = satData->L3 - cmpValue(satData, true);
|
---|
| 984 | }
|
---|
| 985 | }
|
---|
[2790] | 986 |
|
---|
| 987 | //
|
---|
| 988 | ///////////////////////////////////////////////////////////////////////////
|
---|
[3309] | 989 | void bncModel::addObs(int iPhase, unsigned& iObs, t_satData* satData,
|
---|
[2790] | 990 | Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
|
---|
| 991 |
|
---|
[3312] | 992 | Tracer tracer("bncModel::addObs");
|
---|
| 993 |
|
---|
[3316] | 994 | const double ELEWGHT = 20.0;
|
---|
[3314] | 995 | double ellWgtCoef = 1.0;
|
---|
| 996 | double eleD = satData->eleSat * 180.0 / M_PI;
|
---|
| 997 | if (eleD < ELEWGHT) {
|
---|
[3317] | 998 | ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0);
|
---|
[3314] | 999 | }
|
---|
| 1000 |
|
---|
[3408] | 1001 | // Remember Observation Index
|
---|
| 1002 | // --------------------------
|
---|
| 1003 | ++iObs;
|
---|
| 1004 | satData->obsIndex = iObs;
|
---|
| 1005 |
|
---|
[2791] | 1006 | // Phase Observations
|
---|
| 1007 | // ------------------
|
---|
[3309] | 1008 | if (iPhase == 1) {
|
---|
[2790] | 1009 | ll(iObs) = satData->L3 - cmpValue(satData, true);
|
---|
[3636] | 1010 | double sigL3 = _opt->sigL3;
|
---|
[3319] | 1011 | if (satData->system() == 'R') {
|
---|
[3408] | 1012 | sigL3 *= GLONASS_WEIGHT_FACTOR;
|
---|
[3319] | 1013 | }
|
---|
[3408] | 1014 | PP(iObs,iObs) = 1.0 / (sigL3 * sigL3) / (ellWgtCoef * ellWgtCoef);
|
---|
[2790] | 1015 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1016 | if (_params[iPar-1]->type == bncParam::AMB_L3 &&
|
---|
| 1017 | _params[iPar-1]->prn == satData->prn) {
|
---|
| 1018 | ll(iObs) -= _params[iPar-1]->xx;
|
---|
| 1019 | }
|
---|
| 1020 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
|
---|
| 1021 | }
|
---|
| 1022 | }
|
---|
[3307] | 1023 |
|
---|
| 1024 | // Code Observations
|
---|
| 1025 | // -----------------
|
---|
| 1026 | else {
|
---|
| 1027 | ll(iObs) = satData->P3 - cmpValue(satData, false);
|
---|
[3636] | 1028 | PP(iObs,iObs) = 1.0 / (_opt->sigP3 * _opt->sigP3) / (ellWgtCoef * ellWgtCoef);
|
---|
[3307] | 1029 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 1030 | AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
|
---|
| 1031 | }
|
---|
| 1032 | }
|
---|
[2790] | 1033 | }
|
---|
[2791] | 1034 |
|
---|
| 1035 | //
|
---|
| 1036 | ///////////////////////////////////////////////////////////////////////////
|
---|
[3408] | 1037 | QByteArray bncModel::printRes(int iPhase, const ColumnVector& vv,
|
---|
| 1038 | const QMap<QString, t_satData*>& satDataMap) {
|
---|
| 1039 |
|
---|
[3312] | 1040 | Tracer tracer("bncModel::printRes");
|
---|
[3408] | 1041 |
|
---|
| 1042 | ostringstream str;
|
---|
| 1043 | str.setf(ios::fixed);
|
---|
| 1044 |
|
---|
| 1045 | QMapIterator<QString, t_satData*> it(satDataMap);
|
---|
| 1046 | while (it.hasNext()) {
|
---|
| 1047 | it.next();
|
---|
| 1048 | t_satData* satData = it.value();
|
---|
| 1049 | if (satData->obsIndex != 0) {
|
---|
| 1050 | str << _time.timestr(1)
|
---|
| 1051 | << " RES " << satData->prn.toAscii().data()
|
---|
| 1052 | << (iPhase ? " L3 " : " P3 ")
|
---|
| 1053 | << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl;
|
---|
| 1054 | }
|
---|
[2791] | 1055 | }
|
---|
[3408] | 1056 |
|
---|
| 1057 | return QByteArray(str.str().c_str());
|
---|
[2791] | 1058 | }
|
---|
[2792] | 1059 |
|
---|
| 1060 | //
|
---|
| 1061 | ///////////////////////////////////////////////////////////////////////////
|
---|
[3408] | 1062 | void bncModel::findMaxRes(const ColumnVector& vv,
|
---|
[2792] | 1063 | const QMap<QString, t_satData*>& satData,
|
---|
[3414] | 1064 | QString& prnGPS, QString& prnGlo,
|
---|
| 1065 | double& maxResGPS, double& maxResGlo) {
|
---|
[3408] | 1066 |
|
---|
[3312] | 1067 | Tracer tracer("bncModel::findMaxRes");
|
---|
[2792] | 1068 |
|
---|
[3414] | 1069 | maxResGPS = 0.0;
|
---|
| 1070 | maxResGlo = 0.0;
|
---|
[3408] | 1071 |
|
---|
[2792] | 1072 | QMapIterator<QString, t_satData*> it(satData);
|
---|
| 1073 | while (it.hasNext()) {
|
---|
| 1074 | it.next();
|
---|
| 1075 | t_satData* satData = it.value();
|
---|
[3414] | 1076 | if (satData->obsIndex != 0) {
|
---|
| 1077 | QString prn = satData->prn;
|
---|
| 1078 | if (prn[0] == 'R') {
|
---|
| 1079 | if (fabs(vv(satData->obsIndex)) > maxResGlo) {
|
---|
| 1080 | maxResGlo = fabs(vv(satData->obsIndex));
|
---|
| 1081 | prnGlo = prn;
|
---|
| 1082 | }
|
---|
| 1083 | }
|
---|
| 1084 | else {
|
---|
| 1085 | if (fabs(vv(satData->obsIndex)) > maxResGPS) {
|
---|
| 1086 | maxResGPS = fabs(vv(satData->obsIndex));
|
---|
| 1087 | prnGPS = prn;
|
---|
| 1088 | }
|
---|
| 1089 | }
|
---|
[2792] | 1090 | }
|
---|
| 1091 | }
|
---|
| 1092 | }
|
---|
| 1093 |
|
---|
[3307] | 1094 | // Update Step (private - loop over outliers)
|
---|
| 1095 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3321] | 1096 | t_irc bncModel::update_p(t_epoData* epoData) {
|
---|
[3307] | 1097 |
|
---|
[3312] | 1098 | Tracer tracer("bncModel::update_p");
|
---|
| 1099 |
|
---|
[3408] | 1100 | // Save Variance-Covariance Matrix, and Status Vector
|
---|
| 1101 | // --------------------------------------------------
|
---|
| 1102 | rememberState(epoData);
|
---|
[3307] | 1103 |
|
---|
[3412] | 1104 | QString lastOutlierPrn;
|
---|
[3375] | 1105 |
|
---|
[3408] | 1106 | // Try with all satellites, then with all minus one, etc.
|
---|
| 1107 | // ------------------------------------------------------
|
---|
[3412] | 1108 | while (selectSatellites(lastOutlierPrn, epoData->satData) == success) {
|
---|
[3307] | 1109 |
|
---|
[3412] | 1110 | QByteArray strResCode;
|
---|
| 1111 | QByteArray strResPhase;
|
---|
| 1112 |
|
---|
| 1113 | // Bancroft Solution
|
---|
| 1114 | // -----------------
|
---|
| 1115 | if (cmpBancroft(epoData) != success) {
|
---|
| 1116 | break;
|
---|
[3408] | 1117 | }
|
---|
[3406] | 1118 |
|
---|
[3412] | 1119 | // First update using code observations, then phase observations
|
---|
| 1120 | // -------------------------------------------------------------
|
---|
[3636] | 1121 | for (int iPhase = 0; iPhase <= (_opt->usePhase ? 1 : 0); iPhase++) {
|
---|
[3412] | 1122 |
|
---|
| 1123 | // Status Prediction
|
---|
| 1124 | // -----------------
|
---|
| 1125 | predict(iPhase, epoData);
|
---|
| 1126 |
|
---|
| 1127 | // Create First-Design Matrix
|
---|
| 1128 | // --------------------------
|
---|
| 1129 | unsigned nPar = _params.size();
|
---|
| 1130 | unsigned nObs = 0;
|
---|
| 1131 | if (iPhase == 0) {
|
---|
| 1132 | nObs = epoData->sizeAll() - epoData->sizeSys('R'); // Glonass code not used
|
---|
[3408] | 1133 | }
|
---|
[3412] | 1134 | else {
|
---|
| 1135 | nObs = epoData->sizeAll();
|
---|
[3409] | 1136 | }
|
---|
[3412] | 1137 |
|
---|
| 1138 | // Prepare first-design Matrix, vector observed-computed
|
---|
| 1139 | // -----------------------------------------------------
|
---|
| 1140 | Matrix AA(nObs, nPar); // first design matrix
|
---|
| 1141 | ColumnVector ll(nObs); // tems observed-computed
|
---|
| 1142 | DiagonalMatrix PP(nObs); PP = 0.0;
|
---|
| 1143 |
|
---|
| 1144 | unsigned iObs = 0;
|
---|
| 1145 | QMapIterator<QString, t_satData*> it(epoData->satData);
|
---|
| 1146 | while (it.hasNext()) {
|
---|
| 1147 | it.next();
|
---|
| 1148 | t_satData* satData = it.value();
|
---|
| 1149 | if (iPhase == 1 || satData->system() != 'R') {
|
---|
| 1150 | QString prn = satData->prn;
|
---|
| 1151 | addObs(iPhase, iObs, satData, AA, ll, PP);
|
---|
| 1152 | }
|
---|
[3408] | 1153 | }
|
---|
| 1154 |
|
---|
[3412] | 1155 | // Compute Filter Update
|
---|
| 1156 | // ---------------------
|
---|
[3422] | 1157 | ColumnVector dx;
|
---|
[3412] | 1158 | kalman(AA, ll, PP, _QQ, dx);
|
---|
| 1159 | ColumnVector vv = ll - AA * dx;
|
---|
| 1160 |
|
---|
| 1161 | // Print Residuals
|
---|
| 1162 | // ---------------
|
---|
| 1163 | if (iPhase == 0) {
|
---|
| 1164 | strResCode = printRes(iPhase, vv, epoData->satData);
|
---|
[3399] | 1165 | }
|
---|
[3412] | 1166 | else {
|
---|
| 1167 | strResPhase = printRes(iPhase, vv, epoData->satData);
|
---|
| 1168 | }
|
---|
[3408] | 1169 |
|
---|
[3412] | 1170 | // Check the residuals
|
---|
| 1171 | // -------------------
|
---|
| 1172 | lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData);
|
---|
[3408] | 1173 |
|
---|
[3412] | 1174 | // No Outlier Detected
|
---|
| 1175 | // -------------------
|
---|
| 1176 | if (lastOutlierPrn.isEmpty()) {
|
---|
[3413] | 1177 |
|
---|
[3422] | 1178 | QVectorIterator<bncParam*> itPar(_params);
|
---|
| 1179 | while (itPar.hasNext()) {
|
---|
| 1180 | bncParam* par = itPar.next();
|
---|
| 1181 | par->xx += dx(par->index);
|
---|
| 1182 | }
|
---|
[3413] | 1183 |
|
---|
[3636] | 1184 | if (!_opt->usePhase || iPhase == 1) {
|
---|
[3413] | 1185 | if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) {
|
---|
| 1186 | _log += "Neglected PRNs: ";
|
---|
[3415] | 1187 | if (!_outlierGPS.isEmpty()) {
|
---|
| 1188 | _log += _outlierGPS.last() + ' ';
|
---|
[3413] | 1189 | }
|
---|
| 1190 | QStringListIterator itGlo(_outlierGlo);
|
---|
| 1191 | while (itGlo.hasNext()) {
|
---|
| 1192 | QString prn = itGlo.next();
|
---|
| 1193 | _log += prn + ' ';
|
---|
| 1194 | }
|
---|
| 1195 | }
|
---|
| 1196 | _log += '\n';
|
---|
| 1197 |
|
---|
[3408] | 1198 | _log += strResCode + strResPhase;
|
---|
[3413] | 1199 |
|
---|
[3408] | 1200 | return success;
|
---|
[3393] | 1201 | }
|
---|
[3412] | 1202 | }
|
---|
[3393] | 1203 |
|
---|
[3412] | 1204 | // Outlier Found
|
---|
| 1205 | // -------------
|
---|
| 1206 | else {
|
---|
| 1207 | restoreState(epoData);
|
---|
| 1208 | break;
|
---|
| 1209 | }
|
---|
[3406] | 1210 |
|
---|
[3412] | 1211 | } // for iPhase
|
---|
[3406] | 1212 |
|
---|
[3412] | 1213 | } // while selectSatellites
|
---|
[3375] | 1214 |
|
---|
[3412] | 1215 | restoreState(epoData);
|
---|
[3408] | 1216 | return failure;
|
---|
[3323] | 1217 | }
|
---|
| 1218 |
|
---|
| 1219 | // Remeber Original State Vector and Variance-Covariance Matrix
|
---|
| 1220 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3408] | 1221 | void bncModel::rememberState(t_epoData* epoData) {
|
---|
[3323] | 1222 |
|
---|
| 1223 | _QQ_sav = _QQ;
|
---|
| 1224 |
|
---|
| 1225 | QVectorIterator<bncParam*> itSav(_params_sav);
|
---|
| 1226 | while (itSav.hasNext()) {
|
---|
| 1227 | bncParam* par = itSav.next();
|
---|
[3322] | 1228 | delete par;
|
---|
| 1229 | }
|
---|
[3323] | 1230 | _params_sav.clear();
|
---|
| 1231 |
|
---|
| 1232 | QVectorIterator<bncParam*> it(_params);
|
---|
| 1233 | while (it.hasNext()) {
|
---|
| 1234 | bncParam* par = it.next();
|
---|
| 1235 | _params_sav.push_back(new bncParam(*par));
|
---|
| 1236 | }
|
---|
[3408] | 1237 |
|
---|
| 1238 | _epoData_sav->deepCopy(epoData);
|
---|
[3307] | 1239 | }
|
---|
[3323] | 1240 |
|
---|
| 1241 | // Restore Original State Vector and Variance-Covariance Matrix
|
---|
| 1242 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3408] | 1243 | void bncModel::restoreState(t_epoData* epoData) {
|
---|
[3323] | 1244 |
|
---|
| 1245 | _QQ = _QQ_sav;
|
---|
| 1246 |
|
---|
| 1247 | QVectorIterator<bncParam*> it(_params);
|
---|
| 1248 | while (it.hasNext()) {
|
---|
| 1249 | bncParam* par = it.next();
|
---|
| 1250 | delete par;
|
---|
| 1251 | }
|
---|
| 1252 | _params.clear();
|
---|
| 1253 |
|
---|
| 1254 | QVectorIterator<bncParam*> itSav(_params_sav);
|
---|
| 1255 | while (itSav.hasNext()) {
|
---|
| 1256 | bncParam* par = itSav.next();
|
---|
| 1257 | _params.push_back(new bncParam(*par));
|
---|
| 1258 | }
|
---|
[3408] | 1259 |
|
---|
| 1260 | epoData->deepCopy(_epoData_sav);
|
---|
[3405] | 1261 | }
|
---|
[3412] | 1262 |
|
---|
| 1263 | //
|
---|
| 1264 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1265 | t_irc bncModel::selectSatellites(const QString& lastOutlierPrn,
|
---|
| 1266 | QMap<QString, t_satData*>& satData) {
|
---|
| 1267 |
|
---|
| 1268 | // First Call
|
---|
| 1269 | // ----------
|
---|
| 1270 | if (lastOutlierPrn.isEmpty()) {
|
---|
| 1271 | _outlierGPS.clear();
|
---|
| 1272 | _outlierGlo.clear();
|
---|
| 1273 | return success;
|
---|
| 1274 | }
|
---|
| 1275 |
|
---|
| 1276 | // Second and next trials
|
---|
| 1277 | // ----------------------
|
---|
| 1278 | else {
|
---|
| 1279 |
|
---|
| 1280 | if (lastOutlierPrn[0] == 'R') {
|
---|
| 1281 | _outlierGlo << lastOutlierPrn;
|
---|
| 1282 | }
|
---|
| 1283 |
|
---|
| 1284 | // Remove all Glonass Outliers
|
---|
| 1285 | // ---------------------------
|
---|
| 1286 | QStringListIterator it(_outlierGlo);
|
---|
| 1287 | while (it.hasNext()) {
|
---|
| 1288 | QString prn = it.next();
|
---|
| 1289 | if (satData.contains(prn)) {
|
---|
| 1290 | delete satData.take(prn);
|
---|
| 1291 | }
|
---|
| 1292 | }
|
---|
| 1293 |
|
---|
| 1294 | if (lastOutlierPrn[0] == 'R') {
|
---|
| 1295 | _outlierGPS.clear();
|
---|
| 1296 | return success;
|
---|
| 1297 | }
|
---|
| 1298 |
|
---|
| 1299 | // GPS Outlier appeared for the first time - try to delete it
|
---|
| 1300 | // ----------------------------------------------------------
|
---|
| 1301 | if (_outlierGPS.indexOf(lastOutlierPrn) == -1) {
|
---|
| 1302 | _outlierGPS << lastOutlierPrn;
|
---|
| 1303 | if (satData.contains(lastOutlierPrn)) {
|
---|
| 1304 | delete satData.take(lastOutlierPrn);
|
---|
| 1305 | }
|
---|
| 1306 | return success;
|
---|
| 1307 | }
|
---|
| 1308 |
|
---|
| 1309 | }
|
---|
| 1310 |
|
---|
| 1311 | return failure;
|
---|
| 1312 | }
|
---|