source: ntrip/trunk/BNC/src/bncmodel.cpp@ 5750

Last change on this file since 5750 was 5750, checked in by mervart, 8 years ago
File size: 39.5 KB
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1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncParam, bncModel
30 *
31 * Purpose: Model for PPP
32 *
33 * Author: L. Mervart
34 *
35 * Created: 01-Dec-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iomanip>
42#include <cmath>
43#include <newmatio.h>
44#include <sstream>
45
46#include "bncmodel.h"
47#include "bncpppclient.h"
48#include "bnccore.h"
49#include "bncpppclient.h"
50#include "bancroft.h"
51#include "bncutils.h"
52#include "bnctides.h"
53#include "bncantex.h"
54#include "pppopt.h"
55
56using namespace std;
57
58const unsigned MINOBS = 5;
59const double MINELE = 10.0 * M_PI / 180.0;
60const double MAXRES_CODE = 15.0;
61const double MAXRES_PHASE_GPS = 0.04;
62const double MAXRES_PHASE_GLONASS = 0.08;
63const double GLONASS_WEIGHT_FACTOR = 5.0;
64
65// Constructor
66////////////////////////////////////////////////////////////////////////////
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;
74 numEpo = 0;
75}
76
77// Destructor
78////////////////////////////////////////////////////////////////////////////
79bncParam::~bncParam() {
80}
81
82// Partial
83////////////////////////////////////////////////////////////////////////////
84double bncParam::partial(t_satData* satData, bool phase) {
85
86 Tracer tracer("bncParam::partial");
87
88 // Coordinates
89 // -----------
90 if (type == CRD_X) {
91 return (xx - satData->xx(1)) / satData->rho;
92 }
93 else if (type == CRD_Y) {
94 return (xx - satData->xx(2)) / satData->rho;
95 }
96 else if (type == CRD_Z) {
97 return (xx - satData->xx(3)) / satData->rho;
98 }
99
100 // Receiver Clocks
101 // ---------------
102 else if (type == RECCLK) {
103 return 1.0;
104 }
105
106 // Troposphere
107 // -----------
108 else if (type == TROPO) {
109 return 1.0 / sin(satData->eleSat);
110 }
111
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
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
134 // Ambiguities
135 // -----------
136 else if (type == AMB_L3) {
137 if (phase && satData->prn == prn) {
138 return 1.0;
139 }
140 else {
141 return 0.0;
142 }
143 }
144
145 // Default return
146 // --------------
147 return 0.0;
148}
149
150// Constructor
151////////////////////////////////////////////////////////////////////////////
152bncModel::bncModel(bncPPPclient* pppClient) {
153
154 _pppClient = pppClient;
155 _staID = pppClient->staID();
156 _opt = pppClient->opt();
157
158 // NMEA Output
159 // -----------
160 if (_opt->nmeaFile.isEmpty()) {
161 _nmeaFile = 0;
162 _nmeaStream = 0;
163 }
164 else {
165 QString hlpName = _opt->nmeaFile; expandEnvVar(hlpName);
166 _nmeaFile = new QFile(hlpName);
167 if (_opt->rnxAppend) {
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 }
176
177 // Antenna Name, ANTEX File
178 // ------------------------
179 _antex = 0;
180 if (!_opt->antexFile.isEmpty()) {
181 _antex = new bncAntex();
182 if (_antex->readFile(_opt->antexFile) != success) {
183 _pppClient->emitNewMessage("wrong ANTEX file", true);
184 delete _antex;
185 _antex = 0;
186 }
187 }
188
189 // Bancroft Coordinates
190 // --------------------
191 _xcBanc.ReSize(4); _xcBanc = 0.0;
192 _ellBanc.ReSize(3); _ellBanc = 0.0;
193
194 // Save copy of data (used in outlier detection)
195 // ---------------------------------------------
196 _epoData_sav = new t_epoData();
197}
198
199// Destructor
200////////////////////////////////////////////////////////////////////////////
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 }
211 for (int iPar = 1; iPar <= _params_sav.size(); iPar++) {
212 delete _params_sav[iPar-1];
213 }
214 delete _epoData_sav;
215}
216
217// Reset Parameters and Variance-Covariance Matrix
218////////////////////////////////////////////////////////////////////////////
219void bncModel::reset() {
220
221 Tracer tracer("bncModel::reset");
222
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;
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, ""));
238 if (_opt->estTropo) {
239 _params.push_back(new bncParam(bncParam::TROPO, ++nextPar, ""));
240 }
241 if (_opt->useGlonass) {
242 _params.push_back(new bncParam(bncParam::GLONASS_OFFSET, ++nextPar, ""));
243 }
244 if (_opt->useGalileo) {
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()) {
254 _QQ(iPar,iPar) = _opt->sigCrd0 * _opt->sigCrd0;
255 }
256 else if (pp->type == bncParam::RECCLK) {
257 _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
258 }
259 else if (pp->type == bncParam::TROPO) {
260 _QQ(iPar,iPar) = _opt->sigTrp0 * _opt->sigTrp0;
261 pp->xx = lastTrp;
262 }
263 else if (pp->type == bncParam::GLONASS_OFFSET) {
264 _QQ(iPar,iPar) = _opt->sigGlonassOffset0 * _opt->sigGlonassOffset0;
265 }
266 else if (pp->type == bncParam::GALILEO_OFFSET) {
267 _QQ(iPar,iPar) = _opt->sigGalileoOffset0 * _opt->sigGalileoOffset0;
268 }
269 }
270}
271
272// Bancroft Solution
273////////////////////////////////////////////////////////////////////////////
274t_irc bncModel::cmpBancroft(t_epoData* epoData) {
275
276 Tracer tracer("bncModel::cmpBancroft");
277
278 if (epoData->sizeSys('G') < MINOBS) {
279 _log += "bncModel::cmpBancroft: not enough data\n";
280 return failure;
281 }
282
283 Matrix BB(epoData->sizeSys('G'), 4);
284
285 QMapIterator<QString, t_satData*> it(epoData->satData);
286 int iObsBanc = 0;
287 while (it.hasNext()) {
288 it.next();
289 t_satData* satData = it.value();
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 }
298 }
299
300 bancroft(BB, _xcBanc);
301
302 // Ellipsoidal Coordinates
303 // ------------------------
304 xyz2ell(_xcBanc.data(), _ellBanc.data());
305
306 // Compute Satellite Elevations
307 // ----------------------------
308 QMutableMapIterator<QString, t_satData*> im(epoData->satData);
309 while (im.hasNext()) {
310 im.next();
311 t_satData* satData = im.value();
312 cmpEle(satData);
313 if (satData->eleSat < MINELE) {
314 delete satData;
315 im.remove();
316 }
317 }
318
319 return success;
320}
321
322// Computed Value
323////////////////////////////////////////////////////////////////////////////
324double bncModel::cmpValue(t_satData* satData, bool phase) {
325
326 Tracer tracer("bncModel::cmpValue");
327
328 ColumnVector xRec(3);
329 xRec(1) = x();
330 xRec(2) = y();
331 xRec(3) = z();
332
333 double rho0 = (satData->xx - xRec).norm_Frobenius();
334 double dPhi = t_CST::omega * rho0 / t_CST::c;
335
336 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
337 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
338 xRec(3) = z();
339
340 tides(_time, xRec);
341
342 satData->rho = (satData->xx - xRec).norm_Frobenius();
343
344 double tropDelay = delay_saast(xRec, satData->eleSat) +
345 trp() / sin(satData->eleSat);
346
347 double wind = 0.0;
348 if (phase) {
349 wind = windUp(satData->prn, satData->xx, xRec) * satData->lambda3;
350 }
351
352 double offset = 0.0;
353 if (satData->prn[0] == 'R') {
354 offset = Glonass_offset();
355 }
356 else if (satData->prn[0] == 'E') {
357 offset = Galileo_offset();
358 }
359
360 double phaseCenter = 0.0;
361 if (_antex) {
362 bool found;
363 phaseCenter = _antex->pco(_opt->antennaName, satData->eleSat, found);
364 if (!found) {
365 _pppClient->emitNewMessage("ANTEX: antenna >"
366 + _opt->antennaName.toAscii() + "< not found", true);
367 }
368 }
369
370 double antennaOffset = 0.0;
371 if (_opt->antEccSet()) {
372 double cosa = cos(satData->azSat);
373 double sina = sin(satData->azSat);
374 double cose = cos(satData->eleSat);
375 double sine = sin(satData->eleSat);
376 antennaOffset = -_opt->antEccNEU[0] * cosa*cose
377 -_opt->antEccNEU[1] * sina*cose
378 -_opt->antEccNEU[2] * sine;
379 }
380
381 return satData->rho + phaseCenter + antennaOffset + clk()
382 + offset - satData->clk + tropDelay + wind;
383}
384
385// Tropospheric Model (Saastamoinen)
386////////////////////////////////////////////////////////////////////////////
387double bncModel::delay_saast(const ColumnVector& xyz, double Ele) {
388
389 Tracer tracer("bncModel::delay_saast");
390
391 double ell[3];
392 xyz2ell(xyz.data(), ell);
393 double height = ell[2];
394
395 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
396 double TT = 18.0 - height * 0.0065 + 273.15;
397 double hh = 50.0 * exp(-6.396e-4 * height);
398 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
399
400 double h_km = height / 1000.0;
401
402 if (h_km < 0.0) h_km = 0.0;
403 if (h_km > 5.0) h_km = 5.0;
404 int ii = int(h_km + 1);
405 double href = ii - 1;
406
407 double bCor[6];
408 bCor[0] = 1.156;
409 bCor[1] = 1.006;
410 bCor[2] = 0.874;
411 bCor[3] = 0.757;
412 bCor[4] = 0.654;
413 bCor[5] = 0.563;
414
415 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
416
417 double zen = M_PI/2.0 - Ele;
418
419 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
420}
421
422// Prediction Step of the Filter
423////////////////////////////////////////////////////////////////////////////
424void bncModel::predict(int iPhase, t_epoData* epoData) {
425
426 Tracer tracer("bncModel::predict");
427
428 if (iPhase == 0) {
429
430 bool firstCrd = false;
431 if (!_lastTimeOK.valid() || (_opt->maxSolGap > 0 && _time - _lastTimeOK > _opt->maxSolGap)) {
432 firstCrd = true;
433 _startTime = epoData->tt;
434 reset();
435 }
436
437 // Use different white noise for Quick-Start mode
438 // ----------------------------------------------
439 double sigCrdP_used = _opt->sigCrdP;
440 if ( _opt->quickStart > 0.0 && _opt->quickStart > (epoData->tt - _startTime) ) {
441 sigCrdP_used = 0.0;
442 }
443
444 // Predict Parameter values, add white noise
445 // -----------------------------------------
446 for (int iPar = 1; iPar <= _params.size(); iPar++) {
447 bncParam* pp = _params[iPar-1];
448
449 // Coordinates
450 // -----------
451 if (pp->type == bncParam::CRD_X) {
452 if (firstCrd) {
453 if (_opt->refCrdSet()) {
454 pp->xx = _opt->refCrd[0];
455 }
456 else {
457 pp->xx = _xcBanc(1);
458 }
459 }
460 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
461 }
462 else if (pp->type == bncParam::CRD_Y) {
463 if (firstCrd) {
464 if (_opt->refCrdSet()) {
465 pp->xx = _opt->refCrd[1];
466 }
467 else {
468 pp->xx = _xcBanc(2);
469 }
470 }
471 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
472 }
473 else if (pp->type == bncParam::CRD_Z) {
474 if (firstCrd) {
475 if (_opt->refCrdSet()) {
476 pp->xx = _opt->refCrd[2];
477 }
478 else {
479 pp->xx = _xcBanc(3);
480 }
481 }
482 _QQ(iPar,iPar) += sigCrdP_used * sigCrdP_used;
483 }
484
485 // Receiver Clocks
486 // ---------------
487 else if (pp->type == bncParam::RECCLK) {
488 pp->xx = _xcBanc(4);
489 for (int jj = 1; jj <= _params.size(); jj++) {
490 _QQ(iPar, jj) = 0.0;
491 }
492 _QQ(iPar,iPar) = _opt->sigClk0 * _opt->sigClk0;
493 }
494
495 // Tropospheric Delay
496 // ------------------
497 else if (pp->type == bncParam::TROPO) {
498 _QQ(iPar,iPar) += _opt->sigTrpP * _opt->sigTrpP;
499 }
500
501 // Glonass Offset
502 // --------------
503 else if (pp->type == bncParam::GLONASS_OFFSET) {
504 bool epoSpec = true;
505 if (epoSpec) {
506 pp->xx = 0.0;
507 for (int jj = 1; jj <= _params.size(); jj++) {
508 _QQ(iPar, jj) = 0.0;
509 }
510 _QQ(iPar,iPar) = _opt->sigGlonassOffset0 * _opt->sigGlonassOffset0;
511 }
512 else {
513 _QQ(iPar,iPar) += _opt->sigGlonassOffsetP * _opt->sigGlonassOffsetP;
514 }
515 }
516
517 // Galileo Offset
518 // --------------
519 else if (pp->type == bncParam::GALILEO_OFFSET) {
520 _QQ(iPar,iPar) += _opt->sigGalileoOffsetP * _opt->sigGalileoOffsetP;
521 }
522 }
523 }
524
525 // Add New Ambiguities if necessary
526 // --------------------------------
527 if (_opt->usePhase) {
528
529 // Make a copy of QQ and xx, set parameter indices
530 // -----------------------------------------------
531 SymmetricMatrix QQ_old = _QQ;
532
533 for (int iPar = 1; iPar <= _params.size(); iPar++) {
534 _params[iPar-1]->index_old = _params[iPar-1]->index;
535 _params[iPar-1]->index = 0;
536 }
537
538 // Remove Ambiguity Parameters without observations
539 // ------------------------------------------------
540 int iPar = 0;
541 QMutableVectorIterator<bncParam*> im(_params);
542 while (im.hasNext()) {
543 bncParam* par = im.next();
544 bool removed = false;
545 if (par->type == bncParam::AMB_L3) {
546 if (epoData->satData.find(par->prn) == epoData->satData.end()) {
547 removed = true;
548 delete par;
549 im.remove();
550 }
551 }
552 if (! removed) {
553 ++iPar;
554 par->index = iPar;
555 }
556 }
557
558 // Add new ambiguity parameters
559 // ----------------------------
560 QMapIterator<QString, t_satData*> it(epoData->satData);
561 while (it.hasNext()) {
562 it.next();
563 t_satData* satData = it.value();
564 addAmb(satData);
565 }
566
567 int nPar = _params.size();
568 _QQ.ReSize(nPar); _QQ = 0.0;
569 for (int i1 = 1; i1 <= nPar; i1++) {
570 bncParam* p1 = _params[i1-1];
571 if (p1->index_old != 0) {
572 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
573 for (int i2 = 1; i2 <= nPar; i2++) {
574 bncParam* p2 = _params[i2-1];
575 if (p2->index_old != 0) {
576 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
577 }
578 }
579 }
580 }
581
582 for (int ii = 1; ii <= nPar; ii++) {
583 bncParam* par = _params[ii-1];
584 if (par->index_old == 0) {
585 _QQ(par->index, par->index) = _opt->sigAmb0 * _opt->sigAmb0;
586 }
587 par->index_old = par->index;
588 }
589 }
590}
591
592// Update Step of the Filter (currently just a single-epoch solution)
593////////////////////////////////////////////////////////////////////////////
594t_irc bncModel::update(t_epoData* epoData) {
595
596 Tracer tracer("bncModel::update");
597
598 _log.clear();
599
600 _time = epoData->tt; // current epoch time
601
602 if (_opt->pppMode) {
603 _log += "Precise Point Positioning of Epoch "
604 + QByteArray(_time.timestr(1).c_str()) +
605 "\n---------------------------------------------------------------\n";
606 }
607 else {
608 _log += "Single Point Positioning of Epoch "
609 + QByteArray(_time.timestr(1).c_str()) +
610 "\n--------------------------------------------------------------\n";
611 }
612
613 // Outlier Detection Loop
614 // ----------------------
615 if (update_p(epoData) != success) {
616 _pppClient->emitNewMessage(_log, false);
617 return failure;
618 }
619
620 // Remember the Epoch-specific Results for the computation of means
621 // ----------------------------------------------------------------
622 pppPos* newPos = new pppPos;
623 newPos->time = epoData->tt;
624
625 // Set Solution Vector
626 // -------------------
627 ostringstream strB;
628 strB.setf(ios::fixed);
629 QVectorIterator<bncParam*> itPar(_params);
630 while (itPar.hasNext()) {
631 bncParam* par = itPar.next();
632
633 if (par->type == bncParam::RECCLK) {
634 strB << "\n clk = " << setw(10) << setprecision(3) << par->xx
635 << " +- " << setw(6) << setprecision(3)
636 << sqrt(_QQ(par->index,par->index));
637 }
638 else if (par->type == bncParam::AMB_L3) {
639 ++par->numEpo;
640 strB << "\n amb " << par->prn.toAscii().data() << " = "
641 << setw(10) << setprecision(3) << par->xx
642 << " +- " << setw(6) << setprecision(3)
643 << sqrt(_QQ(par->index,par->index))
644 << " nEpo = " << par->numEpo;
645 }
646 else if (par->type == bncParam::TROPO) {
647 ColumnVector xyz(3); xyz(1) = x(); xyz(2) = y(); xyz(3) = z();
648 double aprTrp = delay_saast(xyz, M_PI/2.0);
649 strB << "\n trp = " << par->prn.toAscii().data()
650 << setw(7) << setprecision(3) << aprTrp << " "
651 << setw(6) << setprecision(3) << showpos << par->xx << noshowpos
652 << " +- " << setw(6) << setprecision(3)
653 << sqrt(_QQ(par->index,par->index));
654 newPos->xnt[6] = aprTrp + par->xx;
655 }
656 else if (par->type == bncParam::GLONASS_OFFSET) {
657 strB << "\n offGlo = " << setw(10) << setprecision(3) << par->xx
658 << " +- " << setw(6) << setprecision(3)
659 << sqrt(_QQ(par->index,par->index));
660 }
661 else if (par->type == bncParam::GALILEO_OFFSET) {
662 strB << "\n offGal = " << setw(10) << setprecision(3) << par->xx
663 << " +- " << setw(6) << setprecision(3)
664 << sqrt(_QQ(par->index,par->index));
665 }
666 }
667 strB << '\n';
668 _log += strB.str().c_str();
669 _pppClient->emitNewMessage(_log, false);
670
671 // Final Message (both log file and screen)
672 // ----------------------------------------
673 ostringstream strC;
674 strC.setf(ios::fixed);
675 strC << _staID.data() << " PPP "
676 << epoData->tt.timestr(1) << " " << epoData->sizeAll() << " "
677 << setw(14) << setprecision(3) << x() << " +- "
678 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
679 << setw(14) << setprecision(3) << y() << " +- "
680 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
681 << setw(14) << setprecision(3) << z() << " +- "
682 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
683
684 // NEU Output
685 // ----------
686 if (_opt->refCrdSet()) {
687 newPos->xnt[0] = x() - _opt->refCrd[0];
688 newPos->xnt[1] = y() - _opt->refCrd[1];
689 newPos->xnt[2] = z() - _opt->refCrd[2];
690
691 double ellRef[3];
692 xyz2ell(_opt->refCrd, ellRef);
693 xyz2neu(ellRef, newPos->xnt, &newPos->xnt[3]);
694
695 strC << " NEU "
696 << setw(8) << setprecision(3) << newPos->xnt[3] << " "
697 << setw(8) << setprecision(3) << newPos->xnt[4] << " "
698 << setw(8) << setprecision(3) << newPos->xnt[5] << endl;
699
700 }
701
702 _pppClient->emitNewMessage(QByteArray(strC.str().c_str()), true);
703
704 if (_opt->pppAverage == 0.0) {
705 delete newPos;
706 }
707 else {
708
709 _posAverage.push_back(newPos);
710
711 // Compute the Mean
712 // ----------------
713 ColumnVector mean(7); mean = 0.0;
714
715 QMutableVectorIterator<pppPos*> it(_posAverage);
716 while (it.hasNext()) {
717 pppPos* pp = it.next();
718 if ( (epoData->tt - pp->time) >= _opt->pppAverage ) {
719 delete pp;
720 it.remove();
721 }
722 else {
723 for (int ii = 0; ii < 7; ++ii) {
724 mean[ii] += pp->xnt[ii];
725 }
726 }
727 }
728
729 int nn = _posAverage.size();
730
731 if (nn > 0) {
732
733 mean /= nn;
734
735 // Compute the Deviation
736 // ---------------------
737 ColumnVector std(7); std = 0.0;
738 QVectorIterator<pppPos*> it2(_posAverage);
739 while (it2.hasNext()) {
740 pppPos* pp = it2.next();
741 for (int ii = 0; ii < 7; ++ii) {
742 std[ii] += (pp->xnt[ii] - mean[ii]) * (pp->xnt[ii] - mean[ii]);
743 }
744 }
745 for (int ii = 0; ii < 7; ++ii) {
746 std[ii] = sqrt(std[ii] / nn);
747 }
748
749 if (_opt->refCrdSet()) {
750 ostringstream strD; strD.setf(ios::fixed);
751 strD << _staID.data() << " AVE-XYZ "
752 << epoData->tt.timestr(1) << " "
753 << setw(13) << setprecision(3) << mean[0] + _opt->refCrd[0] << " +- "
754 << setw(6) << setprecision(3) << std[0] << " "
755 << setw(14) << setprecision(3) << mean[1] + _opt->refCrd[1] << " +- "
756 << setw(6) << setprecision(3) << std[1] << " "
757 << setw(14) << setprecision(3) << mean[2] + _opt->refCrd[2] << " +- "
758 << setw(6) << setprecision(3) << std[2];
759 _pppClient->emitNewMessage(QByteArray(strD.str().c_str()), true);
760
761 ostringstream strE; strE.setf(ios::fixed);
762 strE << _staID.data() << " AVE-NEU "
763 << epoData->tt.timestr(1) << " "
764 << setw(13) << setprecision(3) << mean[3] << " +- "
765 << setw(6) << setprecision(3) << std[3] << " "
766 << setw(14) << setprecision(3) << mean[4] << " +- "
767 << setw(6) << setprecision(3) << std[4] << " "
768 << setw(14) << setprecision(3) << mean[5] << " +- "
769 << setw(6) << setprecision(3) << std[5];
770 _pppClient->emitNewMessage(QByteArray(strE.str().c_str()), true);
771
772 if (_opt->estTropo) {
773 ostringstream strF; strF.setf(ios::fixed);
774 strF << _staID.data() << " AVE-TRP "
775 << epoData->tt.timestr(1) << " "
776 << setw(13) << setprecision(3) << mean[6] << " +- "
777 << setw(6) << setprecision(3) << std[6] << endl;
778 _pppClient->emitNewMessage(QByteArray(strF.str().c_str()), true);
779 }
780 }
781 }
782 }
783
784 // NMEA Output
785 // -----------
786 double xyz[3];
787 xyz[0] = x();
788 xyz[1] = y();
789 xyz[2] = z();
790 double ell[3];
791 xyz2ell(xyz, ell);
792 double phiDeg = ell[0] * 180 / M_PI;
793 double lamDeg = ell[1] * 180 / M_PI;
794
795 char phiCh = 'N';
796 if (phiDeg < 0) {
797 phiDeg = -phiDeg;
798 phiCh = 'S';
799 }
800 char lamCh = 'E';
801 if (lamDeg < 0) {
802 lamDeg = -lamDeg;
803 lamCh = 'W';
804 }
805
806 string datestr = epoData->tt.datestr(0); // yyyymmdd
807 ostringstream strRMC;
808 strRMC.setf(ios::fixed);
809 strRMC << "GPRMC,"
810 << epoData->tt.timestr(0,0) << ",A,"
811 << setw(2) << setfill('0') << int(phiDeg)
812 << setw(6) << setprecision(3) << setfill('0')
813 << fmod(60*phiDeg,60) << ',' << phiCh << ','
814 << setw(3) << setfill('0') << int(lamDeg)
815 << setw(6) << setprecision(3) << setfill('0')
816 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
817 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
818 << datestr[2] << datestr[3] << ",,";
819
820 writeNMEAstr(QString(strRMC.str().c_str()));
821
822 double dop = 2.0; // TODO
823
824 ostringstream strGGA;
825 strGGA.setf(ios::fixed);
826 strGGA << "GPGGA,"
827 << epoData->tt.timestr(0,0) << ','
828 << setw(2) << setfill('0') << int(phiDeg)
829 << setw(10) << setprecision(7) << setfill('0')
830 << fmod(60*phiDeg,60) << ',' << phiCh << ','
831 << setw(3) << setfill('0') << int(lamDeg)
832 << setw(10) << setprecision(7) << setfill('0')
833 << fmod(60*lamDeg,60) << ',' << lamCh
834 << ",1," << setw(2) << setfill('0') << epoData->sizeAll() << ','
835 << setw(3) << setprecision(1) << dop << ','
836 << setprecision(3) << ell[2] << ",M,0.0,M,,";
837
838 writeNMEAstr(QString(strGGA.str().c_str()));
839
840 _lastTimeOK = _time; // remember time of last successful update
841 return success;
842}
843
844// Outlier Detection
845////////////////////////////////////////////////////////////////////////////
846QString bncModel::outlierDetection(int iPhase, const ColumnVector& vv,
847 QMap<QString, t_satData*>& satData) {
848
849 Tracer tracer("bncModel::outlierDetection");
850
851 QString prnGPS;
852 QString prnGlo;
853 double maxResGPS = 0.0;
854 double maxResGlo = 0.0;
855 findMaxRes(vv, satData, prnGPS, prnGlo, maxResGPS, maxResGlo);
856
857 if (iPhase == 1) {
858 if (maxResGlo > MAXRES_PHASE_GLONASS) {
859 _log += "Outlier Phase " + prnGlo + " "
860 + QByteArray::number(maxResGlo, 'f', 3) + "\n";
861 return prnGlo;
862 }
863 else if (maxResGPS > MAXRES_PHASE_GPS) {
864 _log += "Outlier Phase " + prnGPS + " "
865 + QByteArray::number(maxResGPS, 'f', 3) + "\n";
866 return prnGPS;
867 }
868 }
869 else if (iPhase == 0 && maxResGPS > MAXRES_CODE) {
870 _log += "Outlier Code " + prnGPS + " "
871 + QByteArray::number(maxResGPS, 'f', 3) + "\n";
872 return prnGPS;
873 }
874
875 return QString();
876}
877
878//
879////////////////////////////////////////////////////////////////////////////
880void bncModel::writeNMEAstr(const QString& nmStr) {
881
882 Tracer tracer("bncModel::writeNMEAstr");
883
884 unsigned char XOR = 0;
885 for (int ii = 0; ii < nmStr.length(); ii++) {
886 XOR ^= (unsigned char) nmStr[ii].toAscii();
887 }
888
889 QString outStr = '$' + nmStr
890 + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
891
892 if (_nmeaStream) {
893 *_nmeaStream << outStr;
894 _nmeaStream->flush();
895 }
896
897 _pppClient->emitNewNMEAstr(outStr.toAscii());
898}
899
900//
901//////////////////////////////////////////////////////////////////////////////
902void bncModel::kalman(const Matrix& AA, const ColumnVector& ll,
903 const DiagonalMatrix& PP,
904 SymmetricMatrix& QQ, ColumnVector& dx) {
905
906 Tracer tracer("bncModel::kalman");
907
908 int nPar = AA.Ncols();
909#if 1
910 int nObs = AA.Nrows();
911 UpperTriangularMatrix SS = Cholesky(QQ).t();
912
913 Matrix SA = SS*AA.t();
914 Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
915 for (int ii = 1; ii <= nObs; ++ii) {
916 SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
917 }
918
919 SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
920 SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
921
922 UpperTriangularMatrix UU;
923 QRZ(SRF, UU);
924
925 SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
926 UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
927 Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
928
929 UpperTriangularMatrix SHi = SH_rt.i();
930
931 Matrix KT = SHi * YY;
932 SymmetricMatrix Hi; Hi << SHi * SHi.t();
933
934 dx = KT.t() * ll;
935 QQ << (SS.t() * SS);
936#else
937 DiagonalMatrix Ql = PP.i();
938 Matrix DD = QQ * AA.t();
939 SymmetricMatrix SM(nPar); SM << AA * DD + Ql;
940 UpperTriangularMatrix UU = Cholesky(SM).t();
941 UpperTriangularMatrix Ui = UU.i();
942 Matrix EE = DD * Ui;
943 Matrix KK = EE * Ui.t();
944 QQ << QQ - EE * EE.t();
945 dx = KK * ll;
946#endif
947}
948
949// Phase Wind-Up Correction
950///////////////////////////////////////////////////////////////////////////
951double bncModel::windUp(const QString& prn, const ColumnVector& rSat,
952 const ColumnVector& rRec) {
953
954 Tracer tracer("bncModel::windUp");
955
956 double Mjd = _time.mjd() + _time.daysec() / 86400.0;
957
958 // First time - initialize to zero
959 // -------------------------------
960 if (!_windUpTime.contains(prn)) {
961 _windUpSum[prn] = 0.0;
962 }
963
964 // Compute the correction for new time
965 // -----------------------------------
966 if (!_windUpTime.contains(prn) || _windUpTime[prn] != Mjd) {
967 _windUpTime[prn] = Mjd;
968
969 // Unit Vector GPS Satellite --> Receiver
970 // --------------------------------------
971 ColumnVector rho = rRec - rSat;
972 rho /= rho.norm_Frobenius();
973
974 // GPS Satellite unit Vectors sz, sy, sx
975 // -------------------------------------
976 ColumnVector sz = -rSat / rSat.norm_Frobenius();
977
978 ColumnVector xSun = Sun(Mjd);
979 xSun /= xSun.norm_Frobenius();
980
981 ColumnVector sy = crossproduct(sz, xSun);
982 ColumnVector sx = crossproduct(sy, sz);
983
984 // Effective Dipole of the GPS Satellite Antenna
985 // ---------------------------------------------
986 ColumnVector dipSat = sx - rho * DotProduct(rho,sx)
987 - crossproduct(rho, sy);
988
989 // Receiver unit Vectors rx, ry
990 // ----------------------------
991 ColumnVector rx(3);
992 ColumnVector ry(3);
993
994 double recEll[3]; xyz2ell(rRec.data(), recEll) ;
995 double neu[3];
996
997 neu[0] = 1.0;
998 neu[1] = 0.0;
999 neu[2] = 0.0;
1000 neu2xyz(recEll, neu, rx.data());
1001
1002 neu[0] = 0.0;
1003 neu[1] = -1.0;
1004 neu[2] = 0.0;
1005 neu2xyz(recEll, neu, ry.data());
1006
1007 // Effective Dipole of the Receiver Antenna
1008 // ----------------------------------------
1009 ColumnVector dipRec = rx - rho * DotProduct(rho,rx)
1010 + crossproduct(rho, ry);
1011
1012 // Resulting Effect
1013 // ----------------
1014 double alpha = DotProduct(dipSat,dipRec) /
1015 (dipSat.norm_Frobenius() * dipRec.norm_Frobenius());
1016
1017 if (alpha > 1.0) alpha = 1.0;
1018 if (alpha < -1.0) alpha = -1.0;
1019
1020 double dphi = acos(alpha) / 2.0 / M_PI; // in cycles
1021
1022 if ( DotProduct(rho, crossproduct(dipSat, dipRec)) < 0.0 ) {
1023 dphi = -dphi;
1024 }
1025
1026 _windUpSum[prn] = floor(_windUpSum[prn] - dphi + 0.5) + dphi;
1027 }
1028
1029 return _windUpSum[prn];
1030}
1031
1032//
1033///////////////////////////////////////////////////////////////////////////
1034void bncModel::cmpEle(t_satData* satData) {
1035 Tracer tracer("bncModel::cmpEle");
1036 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
1037 double rho = rr.norm_Frobenius();
1038
1039 double neu[3];
1040 xyz2neu(_ellBanc.data(), rr.data(), neu);
1041
1042 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
1043 if (neu[2] < 0) {
1044 satData->eleSat *= -1.0;
1045 }
1046 satData->azSat = atan2(neu[1], neu[0]);
1047}
1048
1049//
1050///////////////////////////////////////////////////////////////////////////
1051void bncModel::addAmb(t_satData* satData) {
1052 Tracer tracer("bncModel::addAmb");
1053 bool found = false;
1054 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1055 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
1056 _params[iPar-1]->prn == satData->prn) {
1057 found = true;
1058 break;
1059 }
1060 }
1061 if (!found) {
1062 bncParam* par = new bncParam(bncParam::AMB_L3,
1063 _params.size()+1, satData->prn);
1064 _params.push_back(par);
1065 par->xx = satData->L3 - cmpValue(satData, true);
1066 }
1067}
1068
1069//
1070///////////////////////////////////////////////////////////////////////////
1071void bncModel::addObs(int iPhase, unsigned& iObs, t_satData* satData,
1072 Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP) {
1073
1074 Tracer tracer("bncModel::addObs");
1075
1076 const double ELEWGHT = 20.0;
1077 double ellWgtCoef = 1.0;
1078 double eleD = satData->eleSat * 180.0 / M_PI;
1079 if (eleD < ELEWGHT) {
1080 ellWgtCoef = 1.5 - 0.5 / (ELEWGHT - 10.0) * (eleD - 10.0);
1081 }
1082
1083 // Remember Observation Index
1084 // --------------------------
1085 ++iObs;
1086 satData->obsIndex = iObs;
1087
1088 // Phase Observations
1089 // ------------------
1090 if (iPhase == 1) {
1091 ll(iObs) = satData->L3 - cmpValue(satData, true);
1092 double sigL3 = _opt->sigL3;
1093 if (satData->system() == 'R') {
1094 sigL3 *= GLONASS_WEIGHT_FACTOR;
1095 }
1096 PP(iObs,iObs) = 1.0 / (sigL3 * sigL3) / (ellWgtCoef * ellWgtCoef);
1097 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1098 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
1099 _params[iPar-1]->prn == satData->prn) {
1100 ll(iObs) -= _params[iPar-1]->xx;
1101 }
1102 AA(iObs, iPar) = _params[iPar-1]->partial(satData, true);
1103 }
1104 }
1105
1106 // Code Observations
1107 // -----------------
1108 else {
1109 ll(iObs) = satData->P3 - cmpValue(satData, false);
1110 PP(iObs,iObs) = 1.0 / (_opt->sigP3 * _opt->sigP3) / (ellWgtCoef * ellWgtCoef);
1111 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1112 AA(iObs, iPar) = _params[iPar-1]->partial(satData, false);
1113 }
1114 }
1115}
1116
1117//
1118///////////////////////////////////////////////////////////////////////////
1119QByteArray bncModel::printRes(int iPhase, const ColumnVector& vv,
1120 const QMap<QString, t_satData*>& satDataMap) {
1121
1122 Tracer tracer("bncModel::printRes");
1123
1124 ostringstream str;
1125 str.setf(ios::fixed);
1126
1127 QMapIterator<QString, t_satData*> it(satDataMap);
1128 while (it.hasNext()) {
1129 it.next();
1130 t_satData* satData = it.value();
1131 if (satData->obsIndex != 0) {
1132 str << _time.timestr(1)
1133 << " RES " << satData->prn.toAscii().data()
1134 << (iPhase ? " L3 " : " P3 ")
1135 << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl;
1136 }
1137 }
1138
1139 return QByteArray(str.str().c_str());
1140}
1141
1142//
1143///////////////////////////////////////////////////////////////////////////
1144void bncModel::findMaxRes(const ColumnVector& vv,
1145 const QMap<QString, t_satData*>& satData,
1146 QString& prnGPS, QString& prnGlo,
1147 double& maxResGPS, double& maxResGlo) {
1148
1149 Tracer tracer("bncModel::findMaxRes");
1150
1151 maxResGPS = 0.0;
1152 maxResGlo = 0.0;
1153
1154 QMapIterator<QString, t_satData*> it(satData);
1155 while (it.hasNext()) {
1156 it.next();
1157 t_satData* satData = it.value();
1158 if (satData->obsIndex != 0) {
1159 QString prn = satData->prn;
1160 if (prn[0] == 'R') {
1161 if (fabs(vv(satData->obsIndex)) > maxResGlo) {
1162 maxResGlo = fabs(vv(satData->obsIndex));
1163 prnGlo = prn;
1164 }
1165 }
1166 else {
1167 if (fabs(vv(satData->obsIndex)) > maxResGPS) {
1168 maxResGPS = fabs(vv(satData->obsIndex));
1169 prnGPS = prn;
1170 }
1171 }
1172 }
1173 }
1174}
1175
1176// Update Step (private - loop over outliers)
1177////////////////////////////////////////////////////////////////////////////
1178t_irc bncModel::update_p(t_epoData* epoData) {
1179
1180 Tracer tracer("bncModel::update_p");
1181
1182 // Save Variance-Covariance Matrix, and Status Vector
1183 // --------------------------------------------------
1184 rememberState(epoData);
1185
1186 QString lastOutlierPrn;
1187
1188 // Try with all satellites, then with all minus one, etc.
1189 // ------------------------------------------------------
1190 while (selectSatellites(lastOutlierPrn, epoData->satData) == success) {
1191
1192 QByteArray strResCode;
1193 QByteArray strResPhase;
1194
1195 // Bancroft Solution
1196 // -----------------
1197 if (cmpBancroft(epoData) != success) {
1198 break;
1199 }
1200
1201 // First update using code observations, then phase observations
1202 // -------------------------------------------------------------
1203 for (int iPhase = 0; iPhase <= (_opt->usePhase ? 1 : 0); iPhase++) {
1204
1205 // Status Prediction
1206 // -----------------
1207 predict(iPhase, epoData);
1208
1209 // Create First-Design Matrix
1210 // --------------------------
1211 unsigned nPar = _params.size();
1212 unsigned nObs = 0;
1213 if (iPhase == 0) {
1214 nObs = epoData->sizeAll() - epoData->sizeSys('R'); // Glonass code not used
1215 }
1216 else {
1217 nObs = epoData->sizeAll();
1218 }
1219
1220 // Prepare first-design Matrix, vector observed-computed
1221 // -----------------------------------------------------
1222 Matrix AA(nObs, nPar); // first design matrix
1223 ColumnVector ll(nObs); // tems observed-computed
1224 DiagonalMatrix PP(nObs); PP = 0.0;
1225
1226 unsigned iObs = 0;
1227 QMapIterator<QString, t_satData*> it(epoData->satData);
1228 while (it.hasNext()) {
1229 it.next();
1230 t_satData* satData = it.value();
1231 if (iPhase == 1 || satData->system() != 'R') {
1232 QString prn = satData->prn;
1233 addObs(iPhase, iObs, satData, AA, ll, PP);
1234 }
1235 }
1236
1237 // Compute Filter Update
1238 // ---------------------
1239 ColumnVector dx;
1240 kalman(AA, ll, PP, _QQ, dx);
1241 ColumnVector vv = ll - AA * dx;
1242
1243 // Print Residuals
1244 // ---------------
1245 if (iPhase == 0) {
1246 strResCode = printRes(iPhase, vv, epoData->satData);
1247 }
1248 else {
1249 strResPhase = printRes(iPhase, vv, epoData->satData);
1250 }
1251
1252 // Check the residuals
1253 // -------------------
1254 lastOutlierPrn = outlierDetection(iPhase, vv, epoData->satData);
1255
1256 // No Outlier Detected
1257 // -------------------
1258 if (lastOutlierPrn.isEmpty()) {
1259
1260 QVectorIterator<bncParam*> itPar(_params);
1261 while (itPar.hasNext()) {
1262 bncParam* par = itPar.next();
1263 par->xx += dx(par->index);
1264 }
1265
1266 if (!_opt->usePhase || iPhase == 1) {
1267 if (_outlierGPS.size() > 0 || _outlierGlo.size() > 0) {
1268 _log += "Neglected PRNs: ";
1269 if (!_outlierGPS.isEmpty()) {
1270 _log += _outlierGPS.last() + ' ';
1271 }
1272 QStringListIterator itGlo(_outlierGlo);
1273 while (itGlo.hasNext()) {
1274 QString prn = itGlo.next();
1275 _log += prn + ' ';
1276 }
1277 }
1278 _log += '\n';
1279
1280 _log += strResCode + strResPhase;
1281
1282 return success;
1283 }
1284 }
1285
1286 // Outlier Found
1287 // -------------
1288 else {
1289 restoreState(epoData);
1290 break;
1291 }
1292
1293 } // for iPhase
1294
1295 } // while selectSatellites
1296
1297 restoreState(epoData);
1298 return failure;
1299}
1300
1301// Remeber Original State Vector and Variance-Covariance Matrix
1302////////////////////////////////////////////////////////////////////////////
1303void bncModel::rememberState(t_epoData* epoData) {
1304
1305 _QQ_sav = _QQ;
1306
1307 QVectorIterator<bncParam*> itSav(_params_sav);
1308 while (itSav.hasNext()) {
1309 bncParam* par = itSav.next();
1310 delete par;
1311 }
1312 _params_sav.clear();
1313
1314 QVectorIterator<bncParam*> it(_params);
1315 while (it.hasNext()) {
1316 bncParam* par = it.next();
1317 _params_sav.push_back(new bncParam(*par));
1318 }
1319
1320 _epoData_sav->deepCopy(epoData);
1321}
1322
1323// Restore Original State Vector and Variance-Covariance Matrix
1324////////////////////////////////////////////////////////////////////////////
1325void bncModel::restoreState(t_epoData* epoData) {
1326
1327 _QQ = _QQ_sav;
1328
1329 QVectorIterator<bncParam*> it(_params);
1330 while (it.hasNext()) {
1331 bncParam* par = it.next();
1332 delete par;
1333 }
1334 _params.clear();
1335
1336 QVectorIterator<bncParam*> itSav(_params_sav);
1337 while (itSav.hasNext()) {
1338 bncParam* par = itSav.next();
1339 _params.push_back(new bncParam(*par));
1340 }
1341
1342 epoData->deepCopy(_epoData_sav);
1343}
1344
1345//
1346////////////////////////////////////////////////////////////////////////////
1347t_irc bncModel::selectSatellites(const QString& lastOutlierPrn,
1348 QMap<QString, t_satData*>& satData) {
1349
1350 // First Call
1351 // ----------
1352 if (lastOutlierPrn.isEmpty()) {
1353 _outlierGPS.clear();
1354 _outlierGlo.clear();
1355 return success;
1356 }
1357
1358 // Second and next trials
1359 // ----------------------
1360 else {
1361
1362 if (lastOutlierPrn[0] == 'R') {
1363 _outlierGlo << lastOutlierPrn;
1364 }
1365
1366 // Remove all Glonass Outliers
1367 // ---------------------------
1368 QStringListIterator it(_outlierGlo);
1369 while (it.hasNext()) {
1370 QString prn = it.next();
1371 if (satData.contains(prn)) {
1372 delete satData.take(prn);
1373 }
1374 }
1375
1376 if (lastOutlierPrn[0] == 'R') {
1377 _outlierGPS.clear();
1378 return success;
1379 }
1380
1381 // GPS Outlier appeared for the first time - try to delete it
1382 // ----------------------------------------------------------
1383 if (_outlierGPS.indexOf(lastOutlierPrn) == -1) {
1384 _outlierGPS << lastOutlierPrn;
1385 if (satData.contains(lastOutlierPrn)) {
1386 delete satData.take(lastOutlierPrn);
1387 }
1388 return success;
1389 }
1390
1391 }
1392
1393 return failure;
1394}
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