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

Last change on this file since 5750 was 5750, checked in by mervart, 11 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
56	using namespace std;
57
58	const unsigned MINOBS = 5;
59	const double MINELE = 10.0 * M_PI / 180.0;
60	const double MAXRES_CODE = 15.0;
61	const double MAXRES_PHASE_GPS = 0.04;
62	const double MAXRES_PHASE_GLONASS = 0.08;
63	const double GLONASS_WEIGHT_FACTOR = 5.0;
64
65	// Constructor
66	////////////////////////////////////////////////////////////////////////////
67	bncParam::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	////////////////////////////////////////////////////////////////////////////
79	bncParam::~bncParam() {
80	}
81
82	// Partial
83	////////////////////////////////////////////////////////////////////////////
84	double 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	////////////////////////////////////////////////////////////////////////////
152	bncModel::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	////////////////////////////////////////////////////////////////////////////
201	bncModel::~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	////////////////////////////////////////////////////////////////////////////
219	void 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	////////////////////////////////////////////////////////////////////////////
274	t_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	////////////////////////////////////////////////////////////////////////////
324	double 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	////////////////////////////////////////////////////////////////////////////
387	double 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 + 0.213166TT - 0.000256908TT*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	////////////////////////////////////////////////////////////////////////////
424	void 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	////////////////////////////////////////////////////////////////////////////
594	t_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	////////////////////////////////////////////////////////////////////////////
846	QString 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	////////////////////////////////////////////////////////////////////////////
880	void 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	//////////////////////////////////////////////////////////////////////////////
902	void 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	///////////////////////////////////////////////////////////////////////////
951	double 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	///////////////////////////////////////////////////////////////////////////
1034	void 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	///////////////////////////////////////////////////////////////////////////
1051	void 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	///////////////////////////////////////////////////////////////////////////
1071	void 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	///////////////////////////////////////////////////////////////////////////
1119	QByteArray 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	///////////////////////////////////////////////////////////////////////////
1144	void 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	////////////////////////////////////////////////////////////////////////////
1178	t_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	////////////////////////////////////////////////////////////////////////////
1303	void 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	////////////////////////////////////////////////////////////////////////////
1325	void 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	////////////////////////////////////////////////////////////////////////////
1347	t_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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