[2898] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: bncComb
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| 6 | *
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| 7 | * Purpose: Combinations of Orbit/Clock Corrections
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 22-Jan-2011
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| 12 | *
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[7297] | 13 | * Changes:
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[2898] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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[2933] | 17 | #include <newmatio.h>
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[2921] | 18 | #include <iomanip>
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[3214] | 19 | #include <sstream>
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[9635] | 20 | #include <map>
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[2898] | 21 |
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| 22 | #include "bnccomb.h"
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[9676] | 23 | #include <combination/bncbiassnx.h>
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[5070] | 24 | #include "bnccore.h"
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[3201] | 25 | #include "upload/bncrtnetdecoder.h"
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[2910] | 26 | #include "bncsettings.h"
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[2988] | 27 | #include "bncutils.h"
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[3052] | 28 | #include "bncantex.h"
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[5742] | 29 | #include "t_prn.h"
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[2898] | 30 |
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[3455] | 31 | const double sig0_offAC = 1000.0;
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| 32 | const double sig0_offACSat = 100.0;
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[3468] | 33 | const double sigP_offACSat = 0.01;
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[3455] | 34 | const double sig0_clkSat = 100.0;
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| 35 |
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| 36 | const double sigObs = 0.05;
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| 37 |
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| 38 | using namespace std;
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| 39 |
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[2898] | 40 | // Constructor
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| 41 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 42 | bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
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[3032] | 43 |
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[3433] | 44 | type = type_;
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| 45 | index = index_;
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| 46 | AC = ac_;
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| 47 | prn = prn_;
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| 48 | xx = 0.0;
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[3455] | 49 | eph = 0;
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[3429] | 50 |
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[9258] | 51 | if (type == offACgnss) {
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[3455] | 52 | epoSpec = true;
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| 53 | sig0 = sig0_offAC;
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| 54 | sigP = sig0;
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[3429] | 55 | }
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| 56 | else if (type == offACSat) {
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[3455] | 57 | epoSpec = false;
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| 58 | sig0 = sig0_offACSat;
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| 59 | sigP = sigP_offACSat;
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[3429] | 60 | }
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| 61 | else if (type == clkSat) {
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[3455] | 62 | epoSpec = true;
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| 63 | sig0 = sig0_clkSat;
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| 64 | sigP = sig0;
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[3429] | 65 | }
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[2933] | 66 | }
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| 67 |
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| 68 | // Destructor
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| 69 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 70 | bncComb::cmbParam::~cmbParam() {
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[2933] | 71 | }
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| 72 |
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| 73 | // Partial
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| 74 | ////////////////////////////////////////////////////////////////////////////
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[9258] | 75 | double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) {
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[7297] | 76 |
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[9258] | 77 | if (type == offACgnss) {
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| 78 | if (AC == AC_ && prn_[0].toLatin1() == sys) {
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[2934] | 79 | return 1.0;
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| 80 | }
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| 81 | }
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[3429] | 82 | else if (type == offACSat) {
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| 83 | if (AC == AC_ && prn == prn_) {
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[2933] | 84 | return 1.0;
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| 85 | }
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| 86 | }
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[3429] | 87 | else if (type == clkSat) {
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| 88 | if (prn == prn_) {
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[2933] | 89 | return 1.0;
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| 90 | }
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| 91 | }
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| 92 |
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| 93 | return 0.0;
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| 94 | }
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| 95 |
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[7297] | 96 | //
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[2990] | 97 | ////////////////////////////////////////////////////////////////////////////
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[9258] | 98 | QString bncComb::cmbParam::toString(char sys) const {
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[2933] | 99 |
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[2990] | 100 | QString outStr;
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[7297] | 101 |
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[9258] | 102 | if (type == offACgnss) {
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[9262] | 103 | outStr = "AC Offset " + AC + " " + sys + " ";
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[2990] | 104 | }
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[3429] | 105 | else if (type == offACSat) {
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[7008] | 106 | outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
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[2990] | 107 | }
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[3429] | 108 | else if (type == clkSat) {
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[7008] | 109 | outStr = "Clk Corr " + prn.mid(0,3);
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[2990] | 110 | }
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[2933] | 111 |
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[2990] | 112 | return outStr;
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| 113 | }
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| 114 |
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[10040] | 115 | // Singleton: definition class variable
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[7299] | 116 | ////////////////////////////////////////////////////////////////////////////
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[10042] | 117 | bncComb* bncComb::instance = nullptr;
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[7299] | 118 |
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[10040] | 119 |
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[2933] | 120 | // Constructor
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| 121 | ////////////////////////////////////////////////////////////////////////////
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[10040] | 122 | bncComb::bncComb() : _ephUser(true) {
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[2910] | 123 |
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| 124 | bncSettings settings;
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| 125 |
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[10227] | 126 | _running = true;
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| 127 |
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[7297] | 128 | QStringList cmbStreams = settings.value("cmbStreams").toStringList();
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[2918] | 129 |
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[4183] | 130 | _cmbSampl = settings.value("cmbSampl").toInt();
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| 131 | if (_cmbSampl <= 0) {
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[9676] | 132 | _cmbSampl = 5;
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[4183] | 133 | }
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[9292] | 134 | _useGps = (Qt::CheckState(settings.value("cmbGps").toInt()) == Qt::Checked) ? true : false;
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| 135 | if (_useGps) {
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| 136 | _cmbSysPrn['G'] = t_prn::MAXPRN_GPS;
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| 137 | _masterMissingEpochs['G'] = 0;
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| 138 | }
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| 139 | _useGlo = (Qt::CheckState(settings.value("cmbGlo").toInt()) == Qt::Checked) ? true : false;
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| 140 | if (_useGlo) {
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| 141 | _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS;
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| 142 | _masterMissingEpochs['R'] = 0;
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| 143 | }
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| 144 | _useGal = (Qt::CheckState(settings.value("cmbGal").toInt()) == Qt::Checked) ? true : false;
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| 145 | if (_useGal) {
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| 146 | _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO;
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| 147 | _masterMissingEpochs['E'] = 0;
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| 148 | }
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| 149 | _useBds = (Qt::CheckState(settings.value("cmbBds").toInt()) == Qt::Checked) ? true : false;
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| 150 | if (_useBds) {
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| 151 | _cmbSysPrn['C'] = t_prn::MAXPRN_BDS;
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| 152 | _masterMissingEpochs['C'] = 0;
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| 153 | }
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| 154 | _useQzss = (Qt::CheckState(settings.value("cmbQzss").toInt()) == Qt::Checked) ? true : false;
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| 155 | if (_useQzss) {
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| 156 | _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS;
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| 157 | _masterMissingEpochs['J'] = 0;
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| 158 | }
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| 159 | _useSbas = (Qt::CheckState(settings.value("cmbSbas").toInt()) == Qt::Checked) ? true : false;
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| 160 | if (_useSbas) {
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| 161 | _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS;
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| 162 | _masterMissingEpochs['S'] = 0;
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| 163 | }
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| 164 | _useIrnss = (Qt::CheckState(settings.value("cmbIrnss").toInt()) == Qt::Checked) ? true : false;
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| 165 | if (_useIrnss) {
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| 166 | _cmbSysPrn['I'] = t_prn::MAXPRN_IRNSS;
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| 167 | _masterMissingEpochs['I'] = 0;
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| 168 | }
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[4183] | 169 |
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[7297] | 170 | if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
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| 171 | QListIterator<QString> it(cmbStreams);
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[2910] | 172 | while (it.hasNext()) {
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| 173 | QStringList hlp = it.next().split(" ");
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[2918] | 174 | cmbAC* newAC = new cmbAC();
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[9821] | 175 | newAC->mountPoint = hlp[0];
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| 176 | newAC->name = hlp[1];
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| 177 | newAC->weightFactor = hlp[2].toDouble();
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[10221] | 178 | newAC->isAPC = bool(newAC->mountPoint.mid(0,4) == "SSRA");
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[9258] | 179 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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| 180 | // init
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| 181 | while (itSys.hasNext()) {
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| 182 | itSys.next();
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| 183 | char sys = itSys.key();
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[10116] | 184 | if (!_masterOrbitAC.contains(sys)) {
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[9258] | 185 | _masterOrbitAC[sys] = newAC->name;
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[10116] | 186 | _masterIsAPC[sys] = newAC->isAPC;
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[9258] | 187 | }
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[3453] | 188 | }
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[3429] | 189 | _ACs.append(newAC);
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[2910] | 190 | }
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| 191 | }
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[2927] | 192 |
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[9025] | 193 | QString ssrFormat;
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[9258] | 194 | _ssrCorr = 0;
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[9025] | 195 | QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
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| 196 | while (it.hasNext()) {
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| 197 | QStringList hlp = it.next().split(",");
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| 198 | if (hlp.size() > 7) {
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| 199 | ssrFormat = hlp[7];
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| 200 | }
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| 201 | }
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| 202 | if (ssrFormat == "IGS-SSR") {
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| 203 | _ssrCorr = new SsrCorrIgs();
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| 204 | }
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| 205 | else if (ssrFormat == "RTCM-SSR") {
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| 206 | _ssrCorr = new SsrCorrRtcm();
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| 207 | }
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[9258] | 208 | else { // default
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| 209 | _ssrCorr = new SsrCorrIgs();
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| 210 | }
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[9025] | 211 |
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[10311] | 212 | _rtnetDecoder = new bncRtnetDecoder();
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[3201] | 213 |
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[9819] | 214 | connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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| 215 | connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), this, SLOT(slotProviderIDChanged(QString)));
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| 216 | connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
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| 217 | connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
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| 218 | connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
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[2933] | 219 |
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[3470] | 220 | // Combination Method
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| 221 | // ------------------
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[3481] | 222 | if (settings.value("cmbMethod").toString() == "Single-Epoch") {
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| 223 | _method = singleEpoch;
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[3470] | 224 | }
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| 225 | else {
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[3481] | 226 | _method = filter;
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[3470] | 227 | }
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[3032] | 228 |
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| 229 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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| 230 | // ----------------------------------------------------------------------
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[3470] | 231 | if (_method == filter) {
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[9258] | 232 | // SYSTEM
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| 233 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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| 234 | while (itSys.hasNext()) {
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| 235 | itSys.next();
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| 236 | int nextPar = 0;
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| 237 | char sys = itSys.key();
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| 238 | unsigned maxPrn = itSys.value();
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| 239 | unsigned flag = 0;
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| 240 | if (sys == 'E') {
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| 241 | flag = 1;
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[3470] | 242 | }
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[9258] | 243 | // AC
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| 244 | QListIterator<cmbAC*> itAc(_ACs);
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| 245 | while (itAc.hasNext()) {
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| 246 | cmbAC* AC = itAc.next();
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| 247 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
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| 248 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
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| 249 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
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| 250 | _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
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[3483] | 251 | }
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| 252 | }
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[9258] | 253 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
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| 254 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
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| 255 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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[3483] | 256 | }
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[9258] | 257 | // Initialize Variance-Covariance Matrix
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| 258 | // -------------------------------------
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| 259 | _QQ[sys].ReSize(_params[sys].size());
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| 260 | _QQ[sys] = 0.0;
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| 261 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
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| 262 | cmbParam* pp = _params[sys][iPar-1];
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| 263 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
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| 264 | }
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[3483] | 265 | }
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[2991] | 266 | }
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[2933] | 267 |
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[3052] | 268 | // ANTEX File
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| 269 | // ----------
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| 270 | _antex = 0;
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[6667] | 271 | QString antexFileName = settings.value("uploadAntexFile").toString();
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[3052] | 272 | if (!antexFileName.isEmpty()) {
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| 273 | _antex = new bncAntex();
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| 274 | if (_antex->readFile(antexFileName) != success) {
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[9695] | 275 | emit newMessage("bncCmb: wrong ANTEX file", true);
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[3052] | 276 | delete _antex;
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| 277 | _antex = 0;
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| 278 | }
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| 279 | }
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[3138] | 280 |
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[9676] | 281 |
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| 282 | // Bias SINEX File
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| 283 | // ---------------
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| 284 | _bsx = 0;
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| 285 | QString bsxFileName = settings.value("cmbBsxFile").toString();
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| 286 | if (!bsxFileName.isEmpty()) {
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| 287 | _bsx = new bncBiasSnx();
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| 288 | if (_bsx->readFile(bsxFileName) != success) {
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[9695] | 289 | emit newMessage("bncComb: wrong Bias SINEX file", true);
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[9676] | 290 | delete _bsx;
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| 291 | _bsx = 0;
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| 292 | }
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| 293 | }
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| 294 | if (_bsx) {
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[10227] | 295 | _ms = 3.0 * 3600 * 1000.0;
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[9695] | 296 | QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
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[9676] | 297 | }
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| 298 |
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[3329] | 299 | // Maximal Residuum
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| 300 | // ----------------
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| 301 | _MAXRES = settings.value("cmbMaxres").toDouble();
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| 302 | if (_MAXRES <= 0.0) {
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| 303 | _MAXRES = 999.0;
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| 304 | }
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[10227] | 305 | _newCorr = 0;
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[2898] | 306 | }
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| 307 |
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| 308 | // Destructor
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| 309 | ////////////////////////////////////////////////////////////////////////////
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| 310 | bncComb::~bncComb() {
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[10221] | 311 |
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[10227] | 312 | _running = false;
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[10275] | 313 | #ifndef WIN32
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[10227] | 314 | sleep(2);
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[10275] | 315 | #else
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| 316 | Sleep(2000);
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| 317 | #endif
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[10227] | 318 |
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[3429] | 319 | QListIterator<cmbAC*> icAC(_ACs);
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| 320 | while (icAC.hasNext()) {
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| 321 | delete icAC.next();
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[2918] | 322 | }
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[10235] | 323 | _ACs.clear();
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[10216] | 324 |
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[3201] | 325 | delete _rtnetDecoder;
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[10216] | 326 |
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[9025] | 327 | if (_ssrCorr) {
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| 328 | delete _ssrCorr;
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[10221] | 329 | }
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[10216] | 330 |
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[10227] | 331 | if (_newCorr) {
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| 332 | delete _newCorr;
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| 333 | }
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| 334 |
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[3052] | 335 | delete _antex;
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[9676] | 336 | delete _bsx;
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[10038] | 337 |
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[9258] | 338 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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| 339 | while (itSys.hasNext()) {
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| 340 | itSys.next();
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| 341 | char sys = itSys.key();
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| 342 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
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| 343 | delete _params[sys][iPar-1];
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| 344 | }
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[10038] | 345 | _buffer.remove(sys);
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[3296] | 346 | }
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[10229] | 347 | _params.clear();
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| 348 | _buffer.clear();
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[10227] | 349 | _cmbSysPrn.clear();
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[10216] | 350 |
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[10038] | 351 | while (!_epoClkData.empty()) {
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| 352 | delete _epoClkData.front();
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| 353 | _epoClkData.pop_front();
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| 354 | }
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[2898] | 355 | }
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| 356 |
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[9676] | 357 | void bncComb::slotReadBiasSnxFile() {
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| 358 | bncSettings settings;
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| 359 | QString bsxFileName = settings.value("cmbBsxFile").toString();
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[9695] | 360 |
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| 361 | if (bsxFileName.isEmpty()) {
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| 362 | emit newMessage("bncComb: no Bias SINEX file specified", true);
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| 363 | return;
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| 364 | }
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| 365 | if (!_bsx) {
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[9676] | 366 | _bsx = new bncBiasSnx();
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| 367 | }
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| 368 | if (_bsx->readFile(bsxFileName) != success) {
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[9695] | 369 | emit newMessage("bncComb: wrong Bias SINEX file", true);
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[9676] | 370 | delete _bsx;
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| 371 | _bsx = 0;
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| 372 | }
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| 373 | else {
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[9695] | 374 | emit newMessage("bncComb: successfully read Bias SINEX file", true);
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[9676] | 375 | }
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[9710] | 376 |
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[9695] | 377 | QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
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[9676] | 378 | }
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| 379 |
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| 380 |
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[6155] | 381 | // Remember orbit corrections
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[2898] | 382 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 383 | void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
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[2906] | 384 | QMutexLocker locker(&_mutex);
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[6155] | 385 | for (int ii = 0; ii < orbCorrections.size(); ii++) {
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| 386 | t_orbCorr& orbCorr = orbCorrections[ii];
|
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| 387 | QString staID(orbCorr._staID.c_str());
|
---|
[9296] | 388 | char sys = orbCorr._prn.system();
|
---|
[6155] | 389 |
|
---|
[9296] | 390 | if (!_cmbSysPrn.contains(sys)){
|
---|
| 391 | continue;
|
---|
| 392 | }
|
---|
| 393 |
|
---|
[6155] | 394 | // Find/Check the AC Name
|
---|
| 395 | // ----------------------
|
---|
| 396 | QString acName;
|
---|
| 397 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 398 | while (icAC.hasNext()) {
|
---|
| 399 | cmbAC* AC = icAC.next();
|
---|
| 400 | if (AC->mountPoint == staID) {
|
---|
| 401 | acName = AC->name;
|
---|
| 402 | break;
|
---|
| 403 | }
|
---|
[3431] | 404 | }
|
---|
[6155] | 405 | if (acName.isEmpty()) {
|
---|
| 406 | continue;
|
---|
| 407 | }
|
---|
[3431] | 408 |
|
---|
[6155] | 409 | // Store the correction
|
---|
| 410 | // --------------------
|
---|
[10216] | 411 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
|
---|
| 412 | storage[orbCorr._prn] = orbCorr;
|
---|
[2913] | 413 | }
|
---|
[6155] | 414 | }
|
---|
[2913] | 415 |
|
---|
[9676] | 416 | // Remember Satellite Code Biases
|
---|
[9529] | 417 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9530] | 418 | void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
|
---|
[9529] | 419 | QMutexLocker locker(&_mutex);
|
---|
| 420 |
|
---|
[9530] | 421 | for (int ii = 0; ii < satCodeBiases.size(); ii++) {
|
---|
| 422 | t_satCodeBias& satCodeBias = satCodeBiases[ii];
|
---|
| 423 | QString staID(satCodeBias._staID.c_str());
|
---|
| 424 | char sys = satCodeBias._prn.system();
|
---|
[9529] | 425 |
|
---|
| 426 | if (!_cmbSysPrn.contains(sys)){
|
---|
| 427 | continue;
|
---|
| 428 | }
|
---|
| 429 |
|
---|
| 430 | // Find/Check the AC Name
|
---|
| 431 | // ----------------------
|
---|
| 432 | QString acName;
|
---|
| 433 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 434 | while (icAC.hasNext()) {
|
---|
| 435 | cmbAC* AC = icAC.next();
|
---|
| 436 | if (AC->mountPoint == staID) {
|
---|
| 437 | acName = AC->name;
|
---|
| 438 | break;
|
---|
| 439 | }
|
---|
| 440 | }
|
---|
| 441 | if (acName.isEmpty()) {
|
---|
| 442 | continue;
|
---|
| 443 | }
|
---|
| 444 |
|
---|
| 445 | // Store the correction
|
---|
| 446 | // --------------------
|
---|
[10216] | 447 | QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
|
---|
| 448 | storage[satCodeBias._prn] = satCodeBias;
|
---|
[9529] | 449 | }
|
---|
[10229] | 450 |
|
---|
[9529] | 451 | }
|
---|
| 452 |
|
---|
[6155] | 453 | // Process clock corrections
|
---|
| 454 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 455 | void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
|
---|
| 456 | QMutexLocker locker(&_mutex);
|
---|
[10243] | 457 | const double outWait = 1.0 * _cmbSampl;
|
---|
[10081] | 458 | int currentWeek = 0;
|
---|
| 459 | double currentSec = 0.0;
|
---|
| 460 | currentGPSWeeks(currentWeek, currentSec);
|
---|
| 461 | bncTime currentTime(currentWeek, currentSec);
|
---|
[6155] | 462 |
|
---|
[10038] | 463 | // Loop over all observations (possible different epochs)
|
---|
| 464 | // -----------------------------------------------------
|
---|
[6155] | 465 | for (int ii = 0; ii < clkCorrections.size(); ii++) {
|
---|
[10225] | 466 | t_clkCorr& newClk = clkCorrections[ii];
|
---|
| 467 | char sys = newClk._prn.system();
|
---|
[9296] | 468 | if (!_cmbSysPrn.contains(sys)){
|
---|
| 469 | continue;
|
---|
| 470 | }
|
---|
| 471 |
|
---|
[10038] | 472 | // Check Modulo Time
|
---|
[6155] | 473 | // -----------------
|
---|
[10225] | 474 | int sec = int(nint(newClk._time.gpssec()*10));
|
---|
[10038] | 475 | if (sec % (_cmbSampl*10) != 0.0) {
|
---|
| 476 | continue;
|
---|
[3483] | 477 | }
|
---|
| 478 |
|
---|
[6155] | 479 | // Find/Check the AC Name
|
---|
| 480 | // ----------------------
|
---|
| 481 | QString acName;
|
---|
[10116] | 482 | bool isAPC;
|
---|
[10225] | 483 | QString staID(newClk._staID.c_str());
|
---|
[6155] | 484 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 485 | while (icAC.hasNext()) {
|
---|
| 486 | cmbAC* AC = icAC.next();
|
---|
| 487 | if (AC->mountPoint == staID) {
|
---|
| 488 | acName = AC->name;
|
---|
[10116] | 489 | isAPC = AC->isAPC;
|
---|
[6155] | 490 | break;
|
---|
| 491 | }
|
---|
[3588] | 492 | }
|
---|
[10116] | 493 | if (acName.isEmpty() || isAPC != _masterIsAPC[sys]) {
|
---|
[6155] | 494 | continue;
|
---|
| 495 | }
|
---|
[3588] | 496 |
|
---|
[10098] | 497 | // Check regarding current time
|
---|
| 498 | // ----------------------------
|
---|
[10192] | 499 | if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
|
---|
[10225] | 500 | if ((newClk._time >= currentTime) || // future time stamp
|
---|
[10245] | 501 | (currentTime - newClk._time) > 60.0) { // very old data sets
|
---|
[10192] | 502 | #ifdef BNC_DEBUG_CMB
|
---|
[10225] | 503 | emit newMessage("bncComb: future or very old data sets: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
|
---|
| 504 | QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. current time" +
|
---|
[10192] | 505 | QString(" %1 ").arg(currentTime.timestr().c_str()).toLatin1(), true);
|
---|
| 506 | #endif
|
---|
| 507 | continue;
|
---|
| 508 | }
|
---|
[10098] | 509 | }
|
---|
| 510 |
|
---|
[6155] | 511 | // Check Correction Age
|
---|
| 512 | // --------------------
|
---|
[10225] | 513 | if (_resTime.valid() && newClk._time <= _resTime) {
|
---|
[10077] | 514 | #ifdef BNC_DEBUG_CMB
|
---|
[10225] | 515 | emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
|
---|
| 516 | QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. last processing Epoch" +
|
---|
[10042] | 517 | QString(" %1 ").arg(_resTime.timestr().c_str()).toLatin1(), true);
|
---|
[10077] | 518 | #endif
|
---|
[6155] | 519 | continue;
|
---|
| 520 | }
|
---|
[7297] | 521 |
|
---|
[10153] | 522 | // Set the last time
|
---|
| 523 | // -----------------
|
---|
[10225] | 524 | if (_lastClkCorrTime.undef() || newClk._time > _lastClkCorrTime) {
|
---|
| 525 | _lastClkCorrTime = newClk._time;
|
---|
[10153] | 526 | }
|
---|
| 527 |
|
---|
[10038] | 528 | // Find the corresponding data epoch or create a new one
|
---|
| 529 | // -----------------------------------------------------
|
---|
| 530 | epoClkData* epoch = 0;
|
---|
| 531 | deque<epoClkData*>::const_iterator it;
|
---|
| 532 | for (it = _epoClkData.begin(); it != _epoClkData.end(); it++) {
|
---|
[10225] | 533 | if (newClk._time == (*it)->_time) {
|
---|
[10038] | 534 | epoch = *it;
|
---|
| 535 | break;
|
---|
| 536 | }
|
---|
| 537 | }
|
---|
| 538 | if (epoch == 0) {
|
---|
[10225] | 539 | if (_epoClkData.empty() || newClk._time > _epoClkData.back()->_time) {
|
---|
[10038] | 540 | epoch = new epoClkData;
|
---|
[10225] | 541 | epoch->_time = newClk._time;
|
---|
[10038] | 542 | _epoClkData.push_back(epoch);
|
---|
| 543 | }
|
---|
| 544 | }
|
---|
| 545 |
|
---|
| 546 | // Put data into the epoch
|
---|
| 547 | // -----------------------
|
---|
| 548 | if (epoch != 0) {
|
---|
| 549 | epoch->_clkCorr.push_back(newClk);
|
---|
| 550 | }
|
---|
| 551 | }
|
---|
| 552 |
|
---|
| 553 | // Make sure the buffer does not grow beyond any limit
|
---|
| 554 | // ---------------------------------------------------
|
---|
[10200] | 555 | const unsigned MAX_EPODATA_SIZE = 60.0 / _cmbSampl;
|
---|
[10038] | 556 | if (_epoClkData.size() > MAX_EPODATA_SIZE) {
|
---|
| 557 | delete _epoClkData.front();
|
---|
| 558 | _epoClkData.pop_front();
|
---|
| 559 | }
|
---|
| 560 |
|
---|
| 561 | // Process the oldest epochs
|
---|
| 562 | // ------------------------
|
---|
| 563 | while (_epoClkData.size()) {
|
---|
| 564 |
|
---|
[10042] | 565 | if (!_lastClkCorrTime.valid()) {
|
---|
[10038] | 566 | return;
|
---|
| 567 | }
|
---|
| 568 |
|
---|
[10225] | 569 | const vector<t_clkCorr>& clkCorrVec = _epoClkData.front()->_clkCorr;
|
---|
[10038] | 570 |
|
---|
| 571 | bncTime epoTime = _epoClkData.front()->_time;
|
---|
| 572 |
|
---|
[10200] | 573 | if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
|
---|
[10245] | 574 | if ((currentTime - epoTime) > 60.0) {
|
---|
[10200] | 575 | delete _epoClkData.front();
|
---|
| 576 | _epoClkData.pop_front();
|
---|
| 577 | continue;
|
---|
| 578 | }
|
---|
[10043] | 579 | }
|
---|
[10038] | 580 | // Process the front epoch
|
---|
| 581 | // -----------------------
|
---|
[10243] | 582 | if (epoTime < (_lastClkCorrTime - outWait)) {
|
---|
[10042] | 583 | _resTime = epoTime;
|
---|
| 584 | processEpoch(_resTime, clkCorrVec);
|
---|
[10038] | 585 | delete _epoClkData.front();
|
---|
| 586 | _epoClkData.pop_front();
|
---|
| 587 | }
|
---|
| 588 | else {
|
---|
| 589 | return;
|
---|
| 590 | }
|
---|
| 591 | }
|
---|
| 592 | }
|
---|
| 593 |
|
---|
| 594 | // Change the correction so that it refers to last received ephemeris
|
---|
| 595 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 596 | void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
|
---|
| 597 |
|
---|
| 598 | if (corr->_eph == lastEph) {
|
---|
| 599 | return;
|
---|
| 600 | }
|
---|
| 601 |
|
---|
| 602 | ColumnVector oldXC(6);
|
---|
| 603 | ColumnVector oldVV(3);
|
---|
| 604 | if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
|
---|
| 605 | return;
|
---|
| 606 | }
|
---|
| 607 |
|
---|
| 608 | ColumnVector newXC(6);
|
---|
| 609 | ColumnVector newVV(3);
|
---|
| 610 | if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
|
---|
| 611 | return;
|
---|
| 612 | }
|
---|
| 613 |
|
---|
| 614 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
|
---|
| 615 | ColumnVector dV = newVV - oldVV;
|
---|
| 616 | double dC = newXC(4) - oldXC(4);
|
---|
| 617 |
|
---|
| 618 | ColumnVector dRAO(3);
|
---|
| 619 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
|
---|
| 620 |
|
---|
| 621 | ColumnVector dDotRAO(3);
|
---|
| 622 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
|
---|
| 623 |
|
---|
| 624 | QString msg = "switch corr " + corr->_prn.mid(0,3)
|
---|
| 625 | + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
| 626 |
|
---|
| 627 | emit newMessage(msg.toLatin1(), false);
|
---|
| 628 |
|
---|
| 629 | corr->_iod = lastEph->IOD();
|
---|
| 630 | corr->_eph = lastEph;
|
---|
| 631 |
|
---|
[10216] | 632 | corr->_orbCorr._xr += dRAO;
|
---|
| 633 | corr->_orbCorr._dotXr += dDotRAO;
|
---|
[10225] | 634 | corr->_clkCorr._dClk -= dC;
|
---|
[10038] | 635 | }
|
---|
| 636 |
|
---|
| 637 | // Process Epoch
|
---|
| 638 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10225] | 639 | void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr>& clkCorrVec) {
|
---|
[10330] | 640 | QDateTime now = currentDateAndTimeGPS();
|
---|
| 641 | bncTime currentTime(now.toString(Qt::ISODate).toStdString());
|
---|
[10038] | 642 | for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
|
---|
[10225] | 643 | const t_clkCorr& clkCorr = clkCorrVec[ii];
|
---|
| 644 | QString staID(clkCorr._staID.c_str());
|
---|
| 645 | QString prn(clkCorr._prn.toInternalString().c_str());
|
---|
| 646 | char sys = clkCorr._prn.system();
|
---|
[10038] | 647 |
|
---|
| 648 | // Find/Check the AC Name
|
---|
| 649 | // ----------------------
|
---|
| 650 | QString acName;
|
---|
| 651 | double weigthFactor;
|
---|
| 652 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 653 | while (icAC.hasNext()) {
|
---|
| 654 | cmbAC* AC = icAC.next();
|
---|
| 655 | if (AC->mountPoint == staID) {
|
---|
| 656 | acName = AC->name;
|
---|
| 657 | weigthFactor = AC->weightFactor;
|
---|
| 658 | break;
|
---|
| 659 | }
|
---|
| 660 | }
|
---|
| 661 |
|
---|
[6155] | 662 | // Create new correction
|
---|
| 663 | // ---------------------
|
---|
[10229] | 664 | _newCorr = new cmbCorr();
|
---|
[10227] | 665 | _newCorr->_prn = prn;
|
---|
| 666 | _newCorr->_time = clkCorr._time;
|
---|
| 667 | _newCorr->_iod = clkCorr._iod;
|
---|
| 668 | _newCorr->_acName = acName;
|
---|
| 669 | _newCorr->_weightFactor = weigthFactor;
|
---|
| 670 | _newCorr->_clkCorr = clkCorr;
|
---|
[6155] | 671 |
|
---|
[6156] | 672 | // Check orbit correction
|
---|
| 673 | // ----------------------
|
---|
| 674 | if (!_orbCorrections.contains(acName)) {
|
---|
[10227] | 675 | delete _newCorr; _newCorr = 0;
|
---|
[6156] | 676 | continue;
|
---|
| 677 | }
|
---|
| 678 | else {
|
---|
[10216] | 679 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
|
---|
[10225] | 680 | if (!storage.contains(clkCorr._prn) ||
|
---|
[10227] | 681 | storage[clkCorr._prn]._iod != _newCorr->_iod) {
|
---|
| 682 | delete _newCorr; _newCorr = 0;
|
---|
[6156] | 683 | continue;
|
---|
| 684 | }
|
---|
| 685 | else {
|
---|
[10227] | 686 | _newCorr->_orbCorr = storage[clkCorr._prn];
|
---|
[6156] | 687 | }
|
---|
| 688 | }
|
---|
| 689 |
|
---|
[6155] | 690 | // Check the Ephemeris
|
---|
| 691 | //--------------------
|
---|
[7012] | 692 | t_eph* ephLast = _ephUser.ephLast(prn);
|
---|
| 693 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
---|
[6443] | 694 | if (ephLast == 0) {
|
---|
[9676] | 695 | #ifdef BNC_DEBUG_CMB
|
---|
[10225] | 696 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
|
---|
[9676] | 697 | #endif
|
---|
[10227] | 698 | delete _newCorr; _newCorr = 0;
|
---|
[6155] | 699 | continue;
|
---|
[2986] | 700 | }
|
---|
[10330] | 701 | else if (outDatedBcep(ephLast, currentTime) ||
|
---|
| 702 | ephLast->checkState() == t_eph::bad ||
|
---|
[9268] | 703 | ephLast->checkState() == t_eph::outdated ||
|
---|
| 704 | ephLast->checkState() == t_eph::unhealthy) {
|
---|
[9676] | 705 | #ifdef BNC_DEBUG_CMB
|
---|
[10225] | 706 | emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prn.mid(0,3).toLatin1(), true);
|
---|
[9676] | 707 | #endif
|
---|
[10227] | 708 | delete _newCorr; _newCorr = 0;
|
---|
[9266] | 709 | continue;
|
---|
| 710 | }
|
---|
[3029] | 711 | else {
|
---|
[10227] | 712 | if (ephLast->IOD() == _newCorr->_iod) {
|
---|
| 713 | _newCorr->_eph = ephLast;
|
---|
[6155] | 714 | }
|
---|
[10330] | 715 | else if (ephPrev &&
|
---|
| 716 | !outDatedBcep(ephPrev, currentTime) && // if not updated in storage
|
---|
| 717 | ephPrev->checkState() == t_eph::ok && // received
|
---|
[10227] | 718 | ephPrev->IOD() == _newCorr->_iod) {
|
---|
| 719 | _newCorr->_eph = ephPrev;
|
---|
| 720 | switchToLastEph(ephLast, _newCorr);
|
---|
[6155] | 721 | }
|
---|
| 722 | else {
|
---|
[9676] | 723 | #ifdef BNC_DEBUG_CMB
|
---|
[10225] | 724 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
|
---|
[10227] | 725 | QString(" with IOD %1").arg(_newCorr->_iod).toLatin1(), true);
|
---|
[9676] | 726 | #endif
|
---|
[10227] | 727 | delete _newCorr; _newCorr = 0;
|
---|
[6155] | 728 | continue;
|
---|
| 729 | }
|
---|
[2986] | 730 | }
|
---|
[6155] | 731 |
|
---|
[9635] | 732 | // Check satellite code biases
|
---|
| 733 | // ----------------------------
|
---|
[9819] | 734 | if (_satCodeBiases.contains(acName)) {
|
---|
[10216] | 735 | QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
|
---|
[10225] | 736 | if (storage.contains(clkCorr._prn)) {
|
---|
[10227] | 737 | _newCorr->_satCodeBias = storage[clkCorr._prn];
|
---|
[9676] | 738 | QMap<t_frequency::type, double> codeBiasesRefSig;
|
---|
| 739 | for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
|
---|
[10038] | 740 | t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
|
---|
[9635] | 741 | char frqNum = t_frequency::toString(frqType)[1];
|
---|
[10038] | 742 | char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
|
---|
[9676] | 743 | QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
|
---|
[10227] | 744 | for (unsigned ii = 0; ii < _newCorr->_satCodeBias._bias.size(); ii++) {
|
---|
| 745 | const t_frqCodeBias& bias = _newCorr->_satCodeBias._bias[ii];
|
---|
[9676] | 746 | if (rnxType2ch.toStdString() == bias._rnxType2ch) {
|
---|
| 747 | codeBiasesRefSig[frqType] = bias._value;
|
---|
[9635] | 748 | }
|
---|
| 749 | }
|
---|
| 750 | }
|
---|
[9819] | 751 | if (codeBiasesRefSig.size() == 2) {
|
---|
| 752 | map<t_frequency::type, double> codeCoeff;
|
---|
[10227] | 753 | double channel = double(_newCorr->_eph->slotNum());
|
---|
[9819] | 754 | cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
|
---|
| 755 | map<t_frequency::type, double>::const_iterator it;
|
---|
| 756 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
|
---|
| 757 | t_frequency::type frqType = it->first;
|
---|
[10227] | 758 | _newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
|
---|
[9819] | 759 | }
|
---|
[9676] | 760 | }
|
---|
[10227] | 761 | _newCorr->_satCodeBias._bias.clear();
|
---|
[9635] | 762 | }
|
---|
| 763 | }
|
---|
| 764 |
|
---|
[6155] | 765 | // Store correction into the buffer
|
---|
| 766 | // --------------------------------
|
---|
[10038] | 767 | QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
|
---|
| 768 | QVectorIterator<cmbCorr*> itCorr(corrs);
|
---|
| 769 | bool available = false;
|
---|
| 770 | while (itCorr.hasNext()) {
|
---|
| 771 | cmbCorr* corr = itCorr.next();
|
---|
| 772 | QString prn = corr->_prn;
|
---|
| 773 | QString acName = corr->_acName;
|
---|
[10229] | 774 | if (_newCorr->_acName == acName &&
|
---|
| 775 | _newCorr->_prn == prn) {
|
---|
[10038] | 776 | available = true;
|
---|
| 777 | }
|
---|
| 778 | }
|
---|
[10227] | 779 |
|
---|
[10038] | 780 | if (!available) {
|
---|
[10227] | 781 | corrs.push_back(_newCorr); _newCorr = 0;
|
---|
[10038] | 782 | }
|
---|
| 783 | else {
|
---|
[10227] | 784 | delete _newCorr; _newCorr = 0;
|
---|
[10038] | 785 | continue;
|
---|
| 786 | }
|
---|
[2986] | 787 | }
|
---|
| 788 |
|
---|
[10038] | 789 | // Process Systems of this Epoch
|
---|
| 790 | // ------------------------------
|
---|
[9258] | 791 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
---|
| 792 | while (itSys.hasNext()) {
|
---|
| 793 | itSys.next();
|
---|
| 794 | char sys = itSys.key();
|
---|
[10038] | 795 | _log.clear();
|
---|
| 796 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 797 | processSystem(epoTime, sys, out);
|
---|
[10224] | 798 | _buffer.remove(sys);
|
---|
[10038] | 799 | emit newMessage(_log, false);
|
---|
[2927] | 800 | }
|
---|
[2898] | 801 | }
|
---|
| 802 |
|
---|
[10038] | 803 | void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
|
---|
[3028] | 804 |
|
---|
[9635] | 805 | out << "\n" << "Combination: " << sys << "\n"
|
---|
| 806 | << "--------------------------------" << "\n";
|
---|
[2990] | 807 |
|
---|
[3433] | 808 | // Observation Statistics
|
---|
| 809 | // ----------------------
|
---|
[3455] | 810 | bool masterPresent = false;
|
---|
[3433] | 811 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 812 | while (icAC.hasNext()) {
|
---|
| 813 | cmbAC* AC = icAC.next();
|
---|
[9258] | 814 | AC->numObs[sys] = 0;
|
---|
| 815 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3433] | 816 | while (itCorr.hasNext()) {
|
---|
| 817 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 818 | if (corr->_acName == AC->name) {
|
---|
[9258] | 819 | AC->numObs[sys] += 1;
|
---|
| 820 | if (AC->name == _masterOrbitAC[sys]) {
|
---|
[3453] | 821 | masterPresent = true;
|
---|
| 822 | }
|
---|
[3433] | 823 | }
|
---|
| 824 | }
|
---|
[9635] | 825 | out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
|
---|
[3433] | 826 | }
|
---|
| 827 |
|
---|
[3453] | 828 | // If Master not present, switch to another one
|
---|
| 829 | // --------------------------------------------
|
---|
[4889] | 830 | const unsigned switchMasterAfterGap = 1;
|
---|
[3456] | 831 | if (masterPresent) {
|
---|
[9258] | 832 | _masterMissingEpochs[sys] = 0;
|
---|
[3456] | 833 | }
|
---|
| 834 | else {
|
---|
[9258] | 835 | ++_masterMissingEpochs[sys];
|
---|
| 836 | if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
|
---|
[9635] | 837 | out << "Missing Master, Epoch skipped" << "\n";
|
---|
[10038] | 838 | _buffer.remove(sys);
|
---|
[3455] | 839 | emit newMessage(_log, false);
|
---|
| 840 | return;
|
---|
[3453] | 841 | }
|
---|
[3455] | 842 | else {
|
---|
[9258] | 843 | _masterMissingEpochs[sys] = 0;
|
---|
[3455] | 844 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 845 | while (icAC.hasNext()) {
|
---|
| 846 | cmbAC* AC = icAC.next();
|
---|
[9258] | 847 | if (AC->numObs[sys] > 0) {
|
---|
[3455] | 848 | out << "Switching Master AC "
|
---|
[9258] | 849 | << _masterOrbitAC[sys].toLatin1().data() << " --> "
|
---|
[8204] | 850 | << AC->name.toLatin1().data() << " "
|
---|
[10038] | 851 | << epoTime.datestr().c_str() << " "
|
---|
| 852 | << epoTime.timestr().c_str() << "\n";
|
---|
[9258] | 853 | _masterOrbitAC[sys] = AC->name;
|
---|
[10116] | 854 | _masterIsAPC[sys] = AC->isAPC;
|
---|
[3455] | 855 | break;
|
---|
| 856 | }
|
---|
[3452] | 857 | }
|
---|
| 858 | }
|
---|
| 859 | }
|
---|
| 860 |
|
---|
[6157] | 861 | QMap<QString, cmbCorr*> resCorr;
|
---|
[3472] | 862 |
|
---|
| 863 | // Perform the actual Combination using selected Method
|
---|
| 864 | // ----------------------------------------------------
|
---|
| 865 | t_irc irc;
|
---|
[3475] | 866 | ColumnVector dx;
|
---|
[3472] | 867 | if (_method == filter) {
|
---|
[10038] | 868 | irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
|
---|
[3472] | 869 | }
|
---|
| 870 | else {
|
---|
[10038] | 871 | irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
|
---|
[3472] | 872 | }
|
---|
[10230] | 873 |
|
---|
[3475] | 874 | // Update Parameter Values, Print Results
|
---|
| 875 | // --------------------------------------
|
---|
[3472] | 876 | if (irc == success) {
|
---|
[9258] | 877 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 878 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3475] | 879 | pp->xx += dx(iPar);
|
---|
| 880 | if (pp->type == cmbParam::clkSat) {
|
---|
| 881 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
[9676] | 882 | // set clock result
|
---|
[6160] | 883 | resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
|
---|
[9676] | 884 | // Add Code Biases from SINEX File
|
---|
| 885 | if (_bsx) {
|
---|
| 886 | map<t_frequency::type, double> codeCoeff;
|
---|
| 887 | double channel = double(resCorr[pp->prn]->_eph->slotNum());
|
---|
| 888 | cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
|
---|
| 889 | t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
|
---|
| 890 | t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
|
---|
| 891 | _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
|
---|
| 892 | }
|
---|
[3475] | 893 | }
|
---|
| 894 | }
|
---|
[10038] | 895 | out << epoTime.datestr().c_str() << " "
|
---|
| 896 | << epoTime.timestr().c_str() << " ";
|
---|
[3475] | 897 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 898 | out.setFieldWidth(8);
|
---|
| 899 | out.setRealNumberPrecision(4);
|
---|
[9258] | 900 | out << pp->toString(sys) << " "
|
---|
[9635] | 901 | << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
|
---|
[3475] | 902 | out.setFieldWidth(0);
|
---|
| 903 | }
|
---|
[10038] | 904 | printResults(epoTime, out, resCorr);
|
---|
| 905 | dumpResults(epoTime, resCorr);
|
---|
[3472] | 906 | }
|
---|
| 907 | }
|
---|
| 908 |
|
---|
| 909 | // Process Epoch - Filter Method
|
---|
| 910 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10038] | 911 | t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
|
---|
[6157] | 912 | QMap<QString, cmbCorr*>& resCorr,
|
---|
[3475] | 913 | ColumnVector& dx) {
|
---|
[3472] | 914 |
|
---|
[3429] | 915 | // Prediction Step
|
---|
| 916 | // ---------------
|
---|
[9258] | 917 | int nPar = _params[sys].size();
|
---|
[2933] | 918 | ColumnVector x0(nPar);
|
---|
[9258] | 919 | for (int iPar = 1; iPar <= nPar; iPar++) {
|
---|
| 920 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3455] | 921 | if (pp->epoSpec) {
|
---|
[3451] | 922 | pp->xx = 0.0;
|
---|
[9258] | 923 | _QQ[sys].Row(iPar) = 0.0;
|
---|
| 924 | _QQ[sys].Column(iPar) = 0.0;
|
---|
| 925 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3451] | 926 | }
|
---|
[3455] | 927 | else {
|
---|
[9258] | 928 | _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
|
---|
[3455] | 929 | }
|
---|
[2933] | 930 | x0(iPar) = pp->xx;
|
---|
| 931 | }
|
---|
| 932 |
|
---|
[3487] | 933 | // Check Satellite Positions for Outliers
|
---|
| 934 | // --------------------------------------
|
---|
[10038] | 935 | if (checkOrbits(epoTime, sys, out) != success) {
|
---|
[3487] | 936 | return failure;
|
---|
| 937 | }
|
---|
[3441] | 938 |
|
---|
[3455] | 939 | // Update and outlier detection loop
|
---|
| 940 | // ---------------------------------
|
---|
[9258] | 941 | SymmetricMatrix QQ_sav = _QQ[sys];
|
---|
[10227] | 942 | while (_running) {
|
---|
[3135] | 943 |
|
---|
[3455] | 944 | Matrix AA;
|
---|
| 945 | ColumnVector ll;
|
---|
| 946 | DiagonalMatrix PP;
|
---|
[3429] | 947 |
|
---|
[9258] | 948 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
---|
[3472] | 949 | return failure;
|
---|
[3441] | 950 | }
|
---|
[2933] | 951 |
|
---|
[6169] | 952 | dx.ReSize(nPar); dx = 0.0;
|
---|
[9258] | 953 | kalman(AA, ll, PP, _QQ[sys], dx);
|
---|
[6164] | 954 |
|
---|
[3429] | 955 | ColumnVector vv = ll - AA * dx;
|
---|
[3080] | 956 |
|
---|
[3429] | 957 | int maxResIndex;
|
---|
[7297] | 958 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
[3429] | 959 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 960 | out.setRealNumberPrecision(3);
|
---|
[10038] | 961 | out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
|
---|
[3432] | 962 | << " Maximum Residuum " << maxRes << ' '
|
---|
[9258] | 963 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
---|
[3432] | 964 | if (maxRes > _MAXRES) {
|
---|
[9258] | 965 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 966 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[7297] | 967 | if (pp->type == cmbParam::offACSat &&
|
---|
[9258] | 968 | pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
|
---|
| 969 | pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
|
---|
[3432] | 970 | QQ_sav.Row(iPar) = 0.0;
|
---|
| 971 | QQ_sav.Column(iPar) = 0.0;
|
---|
[3455] | 972 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3432] | 973 | }
|
---|
| 974 | }
|
---|
| 975 |
|
---|
[9635] | 976 | out << " Outlier" << "\n";
|
---|
[9258] | 977 | _QQ[sys] = QQ_sav;
|
---|
[10230] | 978 | delete corrs(sys)[maxResIndex-1];
|
---|
[9258] | 979 | corrs(sys).remove(maxResIndex-1);
|
---|
[3432] | 980 | }
|
---|
| 981 | else {
|
---|
[9635] | 982 | out << " OK" << "\n";
|
---|
[6330] | 983 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 984 | out.setRealNumberPrecision(4);
|
---|
[9258] | 985 | for (int ii = 0; ii < corrs(sys).size(); ii++) {
|
---|
| 986 | const cmbCorr* corr = corrs(sys)[ii];
|
---|
[10038] | 987 | out << epoTime.datestr().c_str() << ' '
|
---|
| 988 | << epoTime.timestr().c_str() << " "
|
---|
[6962] | 989 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
---|
[6330] | 990 | out.setFieldWidth(10);
|
---|
[9635] | 991 | out << " res = " << vv[ii] << "\n";
|
---|
[6330] | 992 | out.setFieldWidth(0);
|
---|
| 993 | }
|
---|
[3432] | 994 | break;
|
---|
| 995 | }
|
---|
| 996 | }
|
---|
| 997 |
|
---|
[3472] | 998 | return success;
|
---|
[2918] | 999 | }
|
---|
[3011] | 1000 |
|
---|
[3201] | 1001 | // Print results
|
---|
[3011] | 1002 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10038] | 1003 | void bncComb::printResults(bncTime epoTime, QTextStream& out,
|
---|
[6157] | 1004 | const QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3011] | 1005 |
|
---|
[6157] | 1006 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
---|
[3011] | 1007 | while (it.hasNext()) {
|
---|
| 1008 | it.next();
|
---|
[6157] | 1009 | cmbCorr* corr = it.value();
|
---|
| 1010 | const t_eph* eph = corr->_eph;
|
---|
[3015] | 1011 | if (eph) {
|
---|
[8542] | 1012 | ColumnVector xc(6);
|
---|
[6109] | 1013 | ColumnVector vv(3);
|
---|
[10038] | 1014 | if (eph->getCrd(epoTime, xc, vv, false) != success) {
|
---|
[9268] | 1015 | continue;
|
---|
| 1016 | }
|
---|
[10038] | 1017 | out << epoTime.datestr().c_str() << " "
|
---|
| 1018 | << epoTime.timestr().c_str() << " ";
|
---|
[3015] | 1019 | out.setFieldWidth(3);
|
---|
[6962] | 1020 | out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
|
---|
[3015] | 1021 | out.setFieldWidth(14);
|
---|
[9635] | 1022 | out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
|
---|
[3370] | 1023 | out.setFieldWidth(0);
|
---|
[3015] | 1024 | }
|
---|
| 1025 | else {
|
---|
[9691] | 1026 | out << "bncComb::printResults bug" << "\n";
|
---|
[3015] | 1027 | }
|
---|
[9676] | 1028 | out.flush();
|
---|
[3011] | 1029 | }
|
---|
| 1030 | }
|
---|
[3202] | 1031 |
|
---|
| 1032 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
| 1033 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10229] | 1034 | void bncComb::dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3202] | 1035 |
|
---|
[6161] | 1036 | QList<t_orbCorr> orbCorrections;
|
---|
| 1037 | QList<t_clkCorr> clkCorrections;
|
---|
[9676] | 1038 | QList<t_satCodeBias> satCodeBiasList;
|
---|
[6161] | 1039 |
|
---|
[3214] | 1040 | unsigned year, month, day, hour, minute;
|
---|
| 1041 | double sec;
|
---|
[10038] | 1042 | epoTime.civil_date(year, month, day);
|
---|
| 1043 | epoTime.civil_time(hour, minute, sec);
|
---|
[3214] | 1044 |
|
---|
[9676] | 1045 | QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
|
---|
| 1046 | year, month, day, hour, minute, sec);
|
---|
[3214] | 1047 |
|
---|
[10229] | 1048 | QMutableMapIterator<QString, cmbCorr*> it(resCorr);
|
---|
[3202] | 1049 | while (it.hasNext()) {
|
---|
| 1050 | it.next();
|
---|
[6157] | 1051 | cmbCorr* corr = it.value();
|
---|
[10038] | 1052 |
|
---|
[9676] | 1053 | // ORBIT
|
---|
[10216] | 1054 | t_orbCorr orbCorr(corr->_orbCorr);
|
---|
[7013] | 1055 | orbCorr._staID = "INTERNAL";
|
---|
| 1056 | orbCorrections.push_back(orbCorr);
|
---|
[10038] | 1057 |
|
---|
[9676] | 1058 | // CLOCK
|
---|
[10225] | 1059 | t_clkCorr clkCorr(corr->_clkCorr);
|
---|
[7013] | 1060 | clkCorr._staID = "INTERNAL";
|
---|
| 1061 | clkCorr._dClk = corr->_dClkResult;
|
---|
| 1062 | clkCorr._dotDClk = 0.0;
|
---|
| 1063 | clkCorr._dotDotDClk = 0.0;
|
---|
| 1064 | clkCorrections.push_back(clkCorr);
|
---|
[10038] | 1065 |
|
---|
[8542] | 1066 | ColumnVector xc(6);
|
---|
[4978] | 1067 | ColumnVector vv(3);
|
---|
[7013] | 1068 | corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
|
---|
| 1069 | corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
|
---|
[10038] | 1070 | if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
|
---|
[9268] | 1071 | delete corr;
|
---|
[10229] | 1072 | it.remove();
|
---|
[9268] | 1073 | continue;
|
---|
| 1074 | }
|
---|
[7012] | 1075 |
|
---|
[4978] | 1076 | // Correction Phase Center --> CoM
|
---|
| 1077 | // -------------------------------
|
---|
[10153] | 1078 | ColumnVector dx(3); dx = 0.0;
|
---|
[10116] | 1079 | ColumnVector apc(3); apc = 0.0;
|
---|
| 1080 | ColumnVector com(3); com = 0.0;
|
---|
| 1081 | bool masterIsAPC = true;
|
---|
[4978] | 1082 | if (_antex) {
|
---|
[10038] | 1083 | double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
|
---|
[10116] | 1084 | char sys = corr->_eph->prn().system();
|
---|
| 1085 | masterIsAPC = _masterIsAPC[sys];
|
---|
[6157] | 1086 | if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
|
---|
[4992] | 1087 | dx = 0;
|
---|
[8204] | 1088 | _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
|
---|
[3214] | 1089 | }
|
---|
| 1090 | }
|
---|
[10116] | 1091 | if (masterIsAPC) {
|
---|
| 1092 | apc(1) = xc(1);
|
---|
| 1093 | apc(2) = xc(2);
|
---|
| 1094 | apc(3) = xc(3);
|
---|
| 1095 | com(1) = xc(1)-dx(1);
|
---|
| 1096 | com(2) = xc(2)-dx(2);
|
---|
| 1097 | com(3) = xc(3)-dx(3);
|
---|
| 1098 | }
|
---|
| 1099 | else {
|
---|
| 1100 | com(1) = xc(1);
|
---|
| 1101 | com(2) = xc(2);
|
---|
| 1102 | com(3) = xc(3);
|
---|
| 1103 | apc(1) = xc(1)+dx(1);
|
---|
| 1104 | apc(2) = xc(2)+dx(2);
|
---|
| 1105 | apc(3) = xc(3)+dx(3);
|
---|
| 1106 | }
|
---|
[7012] | 1107 |
|
---|
| 1108 | outLines += corr->_prn.mid(0,3);
|
---|
[10109] | 1109 | QString hlp = QString().asprintf(
|
---|
| 1110 | " APC 3 %15.4f %15.4f %15.4f"
|
---|
[9676] | 1111 | " Clk 1 %15.4f"
|
---|
| 1112 | " Vel 3 %15.4f %15.4f %15.4f"
|
---|
| 1113 | " CoM 3 %15.4f %15.4f %15.4f",
|
---|
[10116] | 1114 | apc(1), apc(2), apc(3),
|
---|
[9676] | 1115 | xc(4) * t_CST::c,
|
---|
| 1116 | vv(1), vv(2), vv(3),
|
---|
[10116] | 1117 | com(1), com(2), com(3));
|
---|
[5337] | 1118 | outLines += hlp;
|
---|
[9676] | 1119 | hlp.clear();
|
---|
[5337] | 1120 |
|
---|
[10101] | 1121 | // CODE BIASES
|
---|
[10216] | 1122 | if (corr->_satCodeBias._bias.size()) {
|
---|
| 1123 | t_satCodeBias satCodeBias(corr->_satCodeBias);
|
---|
[10101] | 1124 | satCodeBias._staID = "INTERNAL";
|
---|
| 1125 | satCodeBiasList.push_back(satCodeBias);
|
---|
[9676] | 1126 | hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
|
---|
| 1127 | outLines += hlp;
|
---|
| 1128 | hlp.clear();
|
---|
| 1129 | for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
|
---|
| 1130 | const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
|
---|
| 1131 | if (!frqCodeBias._rnxType2ch.empty()) {
|
---|
| 1132 | hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
|
---|
| 1133 | outLines += hlp;
|
---|
| 1134 | hlp.clear();
|
---|
| 1135 | }
|
---|
| 1136 | }
|
---|
| 1137 | }
|
---|
| 1138 | outLines += "\n";
|
---|
[3214] | 1139 | delete corr;
|
---|
[10229] | 1140 | it.remove();
|
---|
[3214] | 1141 | }
|
---|
| 1142 |
|
---|
[5337] | 1143 | outLines += "EOE\n"; // End Of Epoch flag
|
---|
[9710] | 1144 | //cout << outLines.toStdString();
|
---|
[5337] | 1145 |
|
---|
[3215] | 1146 | vector<string> errmsg;
|
---|
[8204] | 1147 | _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
|
---|
[3215] | 1148 |
|
---|
[5861] | 1149 | // Send new Corrections to PPP etc.
|
---|
| 1150 | // --------------------------------
|
---|
[6161] | 1151 | if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
|
---|
| 1152 | emit newOrbCorrections(orbCorrections);
|
---|
| 1153 | emit newClkCorrections(clkCorrections);
|
---|
| 1154 | }
|
---|
[9676] | 1155 | if (satCodeBiasList.size()) {
|
---|
| 1156 | emit newCodeBiases(satCodeBiasList);
|
---|
| 1157 | }
|
---|
[3202] | 1158 | }
|
---|
[3455] | 1159 |
|
---|
| 1160 | // Create First Design Matrix and Vector of Measurements
|
---|
| 1161 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 1162 | t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
| 1163 | const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3455] | 1164 |
|
---|
[9258] | 1165 | unsigned nPar = _params[sys].size();
|
---|
| 1166 | unsigned nObs = corrs(sys).size();
|
---|
[3455] | 1167 |
|
---|
| 1168 | if (nObs == 0) {
|
---|
| 1169 | return failure;
|
---|
| 1170 | }
|
---|
| 1171 |
|
---|
[9258] | 1172 | int maxSat = _cmbSysPrn[sys];
|
---|
[3455] | 1173 |
|
---|
[9259] | 1174 | const int nCon = (_method == filter) ? 1 + maxSat : 0;
|
---|
[3483] | 1175 |
|
---|
[3455] | 1176 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
| 1177 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
| 1178 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
| 1179 |
|
---|
| 1180 | int iObs = 0;
|
---|
[9258] | 1181 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3455] | 1182 | while (itCorr.hasNext()) {
|
---|
| 1183 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 1184 | QString prn = corr->_prn;
|
---|
[3487] | 1185 |
|
---|
[3455] | 1186 | ++iObs;
|
---|
| 1187 |
|
---|
[9258] | 1188 | if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
|
---|
[6157] | 1189 | resCorr[prn] = new cmbCorr(*corr);
|
---|
[3455] | 1190 | }
|
---|
| 1191 |
|
---|
[9258] | 1192 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 1193 | cmbParam* pp = _params[sys][iPar-1];
|
---|
| 1194 | AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
|
---|
[3455] | 1195 | }
|
---|
| 1196 |
|
---|
[10225] | 1197 | ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
|
---|
[9819] | 1198 |
|
---|
[9821] | 1199 | PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
|
---|
[3455] | 1200 | }
|
---|
| 1201 |
|
---|
| 1202 | // Regularization
|
---|
| 1203 | // --------------
|
---|
[3474] | 1204 | if (_method == filter) {
|
---|
| 1205 | const double Ph = 1.e6;
|
---|
| 1206 | PP(nObs+1) = Ph;
|
---|
[9258] | 1207 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 1208 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3465] | 1209 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[3474] | 1210 | pp->type == cmbParam::clkSat ) {
|
---|
| 1211 | AA(nObs+1, iPar) = 1.0;
|
---|
[3455] | 1212 | }
|
---|
| 1213 | }
|
---|
[9258] | 1214 | unsigned flag = 0;
|
---|
| 1215 | if (sys == 'E') {
|
---|
| 1216 | flag = 1;
|
---|
| 1217 | }
|
---|
[10398] | 1218 | if (sys == 'R') {
|
---|
| 1219 | return success;
|
---|
| 1220 | }
|
---|
[9259] | 1221 | int iCond = 1;
|
---|
| 1222 | // GNSS
|
---|
[9258] | 1223 | for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
|
---|
| 1224 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
|
---|
[3474] | 1225 | ++iCond;
|
---|
| 1226 | PP(nObs+iCond) = Ph;
|
---|
[9258] | 1227 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 1228 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[7299] | 1229 | if ( pp &&
|
---|
| 1230 | AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[7297] | 1231 | pp->type == cmbParam::offACSat &&
|
---|
[3474] | 1232 | pp->prn == prn) {
|
---|
| 1233 | AA(nObs+iCond, iPar) = 1.0;
|
---|
| 1234 | }
|
---|
| 1235 | }
|
---|
| 1236 | }
|
---|
[3455] | 1237 | }
|
---|
| 1238 |
|
---|
| 1239 | return success;
|
---|
| 1240 | }
|
---|
[3470] | 1241 |
|
---|
| 1242 | // Process Epoch - Single-Epoch Method
|
---|
| 1243 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10038] | 1244 | t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
|
---|
[6157] | 1245 | QMap<QString, cmbCorr*>& resCorr,
|
---|
[3475] | 1246 | ColumnVector& dx) {
|
---|
[3470] | 1247 |
|
---|
[3487] | 1248 | // Check Satellite Positions for Outliers
|
---|
| 1249 | // --------------------------------------
|
---|
[10038] | 1250 | if (checkOrbits(epoTime, sys, out) != success) {
|
---|
[3487] | 1251 | return failure;
|
---|
| 1252 | }
|
---|
| 1253 |
|
---|
[3482] | 1254 | // Outlier Detection Loop
|
---|
| 1255 | // ----------------------
|
---|
[10227] | 1256 | while (_running) {
|
---|
[7297] | 1257 |
|
---|
[3482] | 1258 | // Remove Satellites that are not in Master
|
---|
| 1259 | // ----------------------------------------
|
---|
[9258] | 1260 | QMutableVectorIterator<cmbCorr*> it(corrs(sys));
|
---|
[3482] | 1261 | while (it.hasNext()) {
|
---|
| 1262 | cmbCorr* corr = it.next();
|
---|
[6157] | 1263 | QString prn = corr->_prn;
|
---|
[3482] | 1264 | bool foundMaster = false;
|
---|
[9258] | 1265 | QVectorIterator<cmbCorr*> itHlp(corrs(sys));
|
---|
[3482] | 1266 | while (itHlp.hasNext()) {
|
---|
| 1267 | cmbCorr* corrHlp = itHlp.next();
|
---|
[6157] | 1268 | QString prnHlp = corrHlp->_prn;
|
---|
| 1269 | QString ACHlp = corrHlp->_acName;
|
---|
[9258] | 1270 | if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
|
---|
[3482] | 1271 | foundMaster = true;
|
---|
| 1272 | break;
|
---|
| 1273 | }
|
---|
[3476] | 1274 | }
|
---|
[3482] | 1275 | if (!foundMaster) {
|
---|
[3556] | 1276 | delete corr;
|
---|
[3482] | 1277 | it.remove();
|
---|
| 1278 | }
|
---|
[3473] | 1279 | }
|
---|
[7297] | 1280 |
|
---|
[3482] | 1281 | // Count Number of Observations per Satellite and per AC
|
---|
| 1282 | // -----------------------------------------------------
|
---|
| 1283 | QMap<QString, int> numObsPrn;
|
---|
| 1284 | QMap<QString, int> numObsAC;
|
---|
[9258] | 1285 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3482] | 1286 | while (itCorr.hasNext()) {
|
---|
| 1287 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 1288 | QString prn = corr->_prn;
|
---|
| 1289 | QString AC = corr->_acName;
|
---|
[3482] | 1290 | if (numObsPrn.find(prn) == numObsPrn.end()) {
|
---|
| 1291 | numObsPrn[prn] = 1;
|
---|
| 1292 | }
|
---|
| 1293 | else {
|
---|
| 1294 | numObsPrn[prn] += 1;
|
---|
| 1295 | }
|
---|
| 1296 | if (numObsAC.find(AC) == numObsAC.end()) {
|
---|
| 1297 | numObsAC[AC] = 1;
|
---|
| 1298 | }
|
---|
| 1299 | else {
|
---|
| 1300 | numObsAC[AC] += 1;
|
---|
| 1301 | }
|
---|
[3476] | 1302 | }
|
---|
[7297] | 1303 |
|
---|
[9258] | 1304 | // Clean-Up the Parameters
|
---|
| 1305 | // -----------------------
|
---|
| 1306 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 1307 | delete _params[sys][iPar-1];
|
---|
[3474] | 1308 | }
|
---|
[9258] | 1309 | _params[sys].clear();
|
---|
[7297] | 1310 |
|
---|
[3482] | 1311 | // Set new Parameters
|
---|
| 1312 | // ------------------
|
---|
| 1313 | int nextPar = 0;
|
---|
[7297] | 1314 |
|
---|
[3482] | 1315 | QMapIterator<QString, int> itAC(numObsAC);
|
---|
| 1316 | while (itAC.hasNext()) {
|
---|
| 1317 | itAC.next();
|
---|
| 1318 | const QString& AC = itAC.key();
|
---|
| 1319 | int numObs = itAC.value();
|
---|
[9258] | 1320 | if (AC != _masterOrbitAC[sys] && numObs > 0) {
|
---|
| 1321 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
|
---|
[3482] | 1322 | }
|
---|
[7297] | 1323 | }
|
---|
| 1324 |
|
---|
[3482] | 1325 | QMapIterator<QString, int> itPrn(numObsPrn);
|
---|
| 1326 | while (itPrn.hasNext()) {
|
---|
| 1327 | itPrn.next();
|
---|
| 1328 | const QString& prn = itPrn.key();
|
---|
| 1329 | int numObs = itPrn.value();
|
---|
| 1330 | if (numObs > 0) {
|
---|
[9258] | 1331 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
---|
[3482] | 1332 | }
|
---|
[7297] | 1333 | }
|
---|
| 1334 |
|
---|
[9258] | 1335 | int nPar = _params[sys].size();
|
---|
[7297] | 1336 | ColumnVector x0(nPar);
|
---|
[3482] | 1337 | x0 = 0.0;
|
---|
[7297] | 1338 |
|
---|
[3482] | 1339 | // Create First-Design Matrix
|
---|
| 1340 | // --------------------------
|
---|
| 1341 | Matrix AA;
|
---|
| 1342 | ColumnVector ll;
|
---|
| 1343 | DiagonalMatrix PP;
|
---|
[9258] | 1344 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
---|
[3482] | 1345 | return failure;
|
---|
[3476] | 1346 | }
|
---|
[7297] | 1347 |
|
---|
[3482] | 1348 | ColumnVector vv;
|
---|
| 1349 | try {
|
---|
| 1350 | Matrix ATP = AA.t() * PP;
|
---|
| 1351 | SymmetricMatrix NN; NN << ATP * AA;
|
---|
| 1352 | ColumnVector bb = ATP * ll;
|
---|
[9258] | 1353 | _QQ[sys] = NN.i();
|
---|
| 1354 | dx = _QQ[sys] * bb;
|
---|
[3482] | 1355 | vv = ll - AA * dx;
|
---|
[3476] | 1356 | }
|
---|
[3482] | 1357 | catch (Exception& exc) {
|
---|
[9635] | 1358 | out << exc.what() << "\n";
|
---|
[3482] | 1359 | return failure;
|
---|
[3476] | 1360 | }
|
---|
[3474] | 1361 |
|
---|
[3482] | 1362 | int maxResIndex;
|
---|
[7297] | 1363 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
[3482] | 1364 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 1365 | out.setRealNumberPrecision(3);
|
---|
[10038] | 1366 | out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
|
---|
[3482] | 1367 | << " Maximum Residuum " << maxRes << ' '
|
---|
[9258] | 1368 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
---|
[3474] | 1369 |
|
---|
[3482] | 1370 | if (maxRes > _MAXRES) {
|
---|
[9635] | 1371 | out << " Outlier" << "\n";
|
---|
[9258] | 1372 | delete corrs(sys)[maxResIndex-1];
|
---|
| 1373 | corrs(sys).remove(maxResIndex-1);
|
---|
[3474] | 1374 | }
|
---|
[3482] | 1375 | else {
|
---|
[9635] | 1376 | out << " OK" << "\n";
|
---|
[3482] | 1377 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 1378 | out.setRealNumberPrecision(3);
|
---|
[3482] | 1379 | for (int ii = 0; ii < vv.Nrows(); ii++) {
|
---|
[9258] | 1380 | const cmbCorr* corr = corrs(sys)[ii];
|
---|
[10038] | 1381 | out << epoTime.datestr().c_str() << ' '
|
---|
| 1382 | << epoTime.timestr().c_str() << " "
|
---|
[6962] | 1383 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
---|
[3482] | 1384 | out.setFieldWidth(6);
|
---|
[9635] | 1385 | out << " res = " << vv[ii] << "\n";
|
---|
[3482] | 1386 | out.setFieldWidth(0);
|
---|
| 1387 | }
|
---|
| 1388 | return success;
|
---|
[3474] | 1389 | }
|
---|
| 1390 |
|
---|
[3473] | 1391 | }
|
---|
[3474] | 1392 |
|
---|
[3482] | 1393 | return failure;
|
---|
[3470] | 1394 | }
|
---|
[3487] | 1395 |
|
---|
| 1396 | // Check Satellite Positions for Outliers
|
---|
| 1397 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10038] | 1398 | t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out) {
|
---|
[3487] | 1399 |
|
---|
[10401] | 1400 | const double MAX_DISPLACEMENT_INIT = 0.20;
|
---|
[3488] | 1401 |
|
---|
[10153] | 1402 | double MAX_DISPLACEMENT = MAX_DISPLACEMENT_INIT;
|
---|
| 1403 | if (sys == 'C') {
|
---|
[10403] | 1404 | MAX_DISPLACEMENT *= 10.0;
|
---|
[10153] | 1405 | }
|
---|
[10402] | 1406 | if (sys == 'R') {
|
---|
| 1407 | MAX_DISPLACEMENT *= 3.0;
|
---|
| 1408 | }
|
---|
[10153] | 1409 |
|
---|
[3502] | 1410 | // Switch to last ephemeris (if possible)
|
---|
| 1411 | // --------------------------------------
|
---|
[9258] | 1412 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
---|
[3501] | 1413 | while (im.hasNext()) {
|
---|
| 1414 | cmbCorr* corr = im.next();
|
---|
[6157] | 1415 | QString prn = corr->_prn;
|
---|
[6443] | 1416 |
|
---|
[7012] | 1417 | t_eph* ephLast = _ephUser.ephLast(prn);
|
---|
| 1418 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
---|
[6443] | 1419 |
|
---|
| 1420 | if (ephLast == 0) {
|
---|
[9635] | 1421 | out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
|
---|
[3556] | 1422 | delete corr;
|
---|
[3501] | 1423 | im.remove();
|
---|
| 1424 | }
|
---|
[6157] | 1425 | else if (corr->_eph == 0) {
|
---|
[9635] | 1426 | out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
|
---|
[3556] | 1427 | delete corr;
|
---|
[3503] | 1428 | im.remove();
|
---|
| 1429 | }
|
---|
[3502] | 1430 | else {
|
---|
[6443] | 1431 | if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
|
---|
| 1432 | switchToLastEph(ephLast, corr);
|
---|
[3502] | 1433 | }
|
---|
| 1434 | else {
|
---|
[9635] | 1435 | out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
|
---|
[3556] | 1436 | delete corr;
|
---|
[3502] | 1437 | im.remove();
|
---|
| 1438 | }
|
---|
| 1439 | }
|
---|
[3501] | 1440 | }
|
---|
| 1441 |
|
---|
[10227] | 1442 | while (_running) {
|
---|
[3488] | 1443 |
|
---|
| 1444 | // Compute Mean Corrections for all Satellites
|
---|
| 1445 | // -------------------------------------------
|
---|
[3489] | 1446 | QMap<QString, int> numCorr;
|
---|
[3488] | 1447 | QMap<QString, ColumnVector> meanRao;
|
---|
[9258] | 1448 | QVectorIterator<cmbCorr*> it(corrs(sys));
|
---|
[3488] | 1449 | while (it.hasNext()) {
|
---|
| 1450 | cmbCorr* corr = it.next();
|
---|
[6157] | 1451 | QString prn = corr->_prn;
|
---|
[3488] | 1452 | if (meanRao.find(prn) == meanRao.end()) {
|
---|
| 1453 | meanRao[prn].ReSize(4);
|
---|
[10216] | 1454 | meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
|
---|
[7297] | 1455 | meanRao[prn](4) = 1;
|
---|
[3488] | 1456 | }
|
---|
| 1457 | else {
|
---|
[10216] | 1458 | meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
|
---|
[7297] | 1459 | meanRao[prn](4) += 1;
|
---|
[3488] | 1460 | }
|
---|
[3489] | 1461 | if (numCorr.find(prn) == numCorr.end()) {
|
---|
| 1462 | numCorr[prn] = 1;
|
---|
| 1463 | }
|
---|
| 1464 | else {
|
---|
| 1465 | numCorr[prn] += 1;
|
---|
| 1466 | }
|
---|
[3487] | 1467 | }
|
---|
[7297] | 1468 |
|
---|
[9258] | 1469 | // Compute Differences wrt. Mean, find Maximum
|
---|
| 1470 | // -------------------------------------------
|
---|
[3488] | 1471 | QMap<QString, cmbCorr*> maxDiff;
|
---|
| 1472 | it.toFront();
|
---|
| 1473 | while (it.hasNext()) {
|
---|
| 1474 | cmbCorr* corr = it.next();
|
---|
[6157] | 1475 | QString prn = corr->_prn;
|
---|
[3488] | 1476 | if (meanRao[prn](4) != 0) {
|
---|
| 1477 | meanRao[prn] /= meanRao[prn](4);
|
---|
| 1478 | meanRao[prn](4) = 0;
|
---|
| 1479 | }
|
---|
[10216] | 1480 | corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
|
---|
[3488] | 1481 | if (maxDiff.find(prn) == maxDiff.end()) {
|
---|
| 1482 | maxDiff[prn] = corr;
|
---|
| 1483 | }
|
---|
| 1484 | else {
|
---|
[8901] | 1485 | double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
|
---|
| 1486 | double norm = corr->_diffRao.NormFrobenius();
|
---|
[3488] | 1487 | if (norm > normMax) {
|
---|
| 1488 | maxDiff[prn] = corr;
|
---|
| 1489 | }
|
---|
[7297] | 1490 | }
|
---|
[3487] | 1491 | }
|
---|
[7297] | 1492 |
|
---|
[3655] | 1493 | if (_ACs.size() == 1) {
|
---|
| 1494 | break;
|
---|
| 1495 | }
|
---|
| 1496 |
|
---|
[3488] | 1497 | // Remove Outliers
|
---|
| 1498 | // ---------------
|
---|
| 1499 | bool removed = false;
|
---|
[9258] | 1500 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
---|
[3488] | 1501 | while (im.hasNext()) {
|
---|
| 1502 | cmbCorr* corr = im.next();
|
---|
[6157] | 1503 | QString prn = corr->_prn;
|
---|
[3489] | 1504 | if (numCorr[prn] < 2) {
|
---|
[3556] | 1505 | delete corr;
|
---|
[3489] | 1506 | im.remove();
|
---|
| 1507 | }
|
---|
| 1508 | else if (corr == maxDiff[prn]) {
|
---|
[8901] | 1509 | double norm = corr->_diffRao.NormFrobenius();
|
---|
[3488] | 1510 | if (norm > MAX_DISPLACEMENT) {
|
---|
[10038] | 1511 | out << epoTime.datestr().c_str() << " "
|
---|
| 1512 | << epoTime.timestr().c_str() << " "
|
---|
[7297] | 1513 | << "Orbit Outlier: "
|
---|
[8204] | 1514 | << corr->_acName.toLatin1().data() << " "
|
---|
| 1515 | << prn.mid(0,3).toLatin1().data() << " "
|
---|
[7297] | 1516 | << corr->_iod << " "
|
---|
[9635] | 1517 | << norm << "\n";
|
---|
[3556] | 1518 | delete corr;
|
---|
[3488] | 1519 | im.remove();
|
---|
| 1520 | removed = true;
|
---|
| 1521 | }
|
---|
| 1522 | }
|
---|
[3487] | 1523 | }
|
---|
[7297] | 1524 |
|
---|
[3488] | 1525 | if (!removed) {
|
---|
| 1526 | break;
|
---|
| 1527 | }
|
---|
[3487] | 1528 | }
|
---|
| 1529 |
|
---|
| 1530 | return success;
|
---|
| 1531 | }
|
---|
[3588] | 1532 |
|
---|
[7297] | 1533 | //
|
---|
[3588] | 1534 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5583] | 1535 | void bncComb::slotProviderIDChanged(QString mountPoint) {
|
---|
| 1536 | QMutexLocker locker(&_mutex);
|
---|
| 1537 |
|
---|
[8065] | 1538 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 1539 |
|
---|
[5583] | 1540 | // Find the AC Name
|
---|
| 1541 | // ----------------
|
---|
| 1542 | QString acName;
|
---|
| 1543 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 1544 | while (icAC.hasNext()) {
|
---|
[10038] | 1545 | cmbAC *AC = icAC.next();
|
---|
[5583] | 1546 | if (AC->mountPoint == mountPoint) {
|
---|
| 1547 | acName = AC->name;
|
---|
[10038] | 1548 | out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
|
---|
[10081] | 1549 | << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
[10038] | 1550 | << "\n";
|
---|
[5583] | 1551 | break;
|
---|
| 1552 | }
|
---|
| 1553 | }
|
---|
| 1554 | if (acName.isEmpty()) {
|
---|
| 1555 | return;
|
---|
| 1556 | }
|
---|
[9258] | 1557 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
---|
| 1558 | while (itSys.hasNext()) {
|
---|
| 1559 | itSys.next();
|
---|
| 1560 | char sys = itSys.key();
|
---|
| 1561 | // Remove all corrections of the corresponding AC
|
---|
| 1562 | // ----------------------------------------------
|
---|
[10038] | 1563 | QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
|
---|
| 1564 | QMutableVectorIterator<cmbCorr*> it(corrVec);
|
---|
| 1565 | while (it.hasNext()) {
|
---|
| 1566 | cmbCorr *corr = it.next();
|
---|
| 1567 | if (acName == corr->_acName) {
|
---|
| 1568 | delete corr;
|
---|
| 1569 | it.remove();
|
---|
[5583] | 1570 | }
|
---|
| 1571 | }
|
---|
[9258] | 1572 | // Reset Satellite Offsets
|
---|
| 1573 | // -----------------------
|
---|
| 1574 | if (_method == filter) {
|
---|
| 1575 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
[10038] | 1576 | cmbParam *pp = _params[sys][iPar - 1];
|
---|
[9258] | 1577 | if (pp->AC == acName && pp->type == cmbParam::offACSat) {
|
---|
| 1578 | pp->xx = 0.0;
|
---|
[10038] | 1579 | _QQ[sys].Row(iPar) = 0.0;
|
---|
[9258] | 1580 | _QQ[sys].Column(iPar) = 0.0;
|
---|
[10038] | 1581 | _QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
|
---|
[9258] | 1582 | }
|
---|
[5585] | 1583 | }
|
---|
| 1584 | }
|
---|
| 1585 | }
|
---|
[5583] | 1586 | }
|
---|