[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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| 13 | * Changes:
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| 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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[2898] | 20 |
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| 21 | #include "bnccomb.h"
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[5070] | 22 | #include "bnccore.h"
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[3201] | 23 | #include "upload/bncrtnetdecoder.h"
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[2910] | 24 | #include "bncsettings.h"
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[2933] | 25 | #include "bncmodel.h"
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[2988] | 26 | #include "bncutils.h"
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[3027] | 27 | #include "bncpppclient.h"
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[3181] | 28 | #include "bncsp3.h"
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[3052] | 29 | #include "bncantex.h"
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[3055] | 30 | #include "bnctides.h"
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[2898] | 31 |
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[3455] | 32 | const double sig0_offAC = 1000.0;
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| 33 | const double sig0_offACSat = 100.0;
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[3468] | 34 | const double sigP_offACSat = 0.01;
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[3455] | 35 | const double sig0_clkSat = 100.0;
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| 36 |
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| 37 | const double sigObs = 0.05;
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| 38 |
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[3483] | 39 | const int MAXPRN_GLONASS = 24;
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[3134] | 40 |
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[3455] | 41 | using namespace std;
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| 42 |
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[2898] | 43 | // Constructor
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| 44 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 45 | cmbParam::cmbParam(parType type_, int index_,
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| 46 | const QString& ac_, const QString& prn_) {
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[3032] | 47 |
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[3433] | 48 | type = type_;
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| 49 | index = index_;
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| 50 | AC = ac_;
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| 51 | prn = prn_;
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| 52 | xx = 0.0;
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[3455] | 53 | eph = 0;
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[3429] | 54 |
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[3485] | 55 | if (type == offACgps) {
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[3455] | 56 | epoSpec = true;
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| 57 | sig0 = sig0_offAC;
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| 58 | sigP = sig0;
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[3429] | 59 | }
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[3485] | 60 | else if (type == offACglo) {
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| 61 | epoSpec = true;
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| 62 | sig0 = sig0_offAC;
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| 63 | sigP = sig0;
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| 64 | }
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[3429] | 65 | else if (type == offACSat) {
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[3455] | 66 | epoSpec = false;
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| 67 | sig0 = sig0_offACSat;
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| 68 | sigP = sigP_offACSat;
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[3429] | 69 | }
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| 70 | else if (type == clkSat) {
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[3455] | 71 | epoSpec = true;
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| 72 | sig0 = sig0_clkSat;
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| 73 | sigP = sig0;
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[3429] | 74 | }
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[2933] | 75 | }
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| 76 |
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| 77 | // Destructor
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| 78 | ////////////////////////////////////////////////////////////////////////////
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| 79 | cmbParam::~cmbParam() {
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| 80 | }
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| 81 |
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| 82 | // Partial
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| 83 | ////////////////////////////////////////////////////////////////////////////
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[3429] | 84 | double cmbParam::partial(const QString& AC_, const QString& prn_) {
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[2933] | 85 |
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[3485] | 86 | if (type == offACgps) {
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| 87 | if (AC == AC_ && prn_[0] == 'G') {
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[2934] | 88 | return 1.0;
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| 89 | }
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| 90 | }
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[3485] | 91 | else if (type == offACglo) {
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| 92 | if (AC == AC_ && prn_[0] == 'R') {
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| 93 | return 1.0;
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| 94 | }
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| 95 | }
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[3429] | 96 | else if (type == offACSat) {
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| 97 | if (AC == AC_ && prn == prn_) {
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[2933] | 98 | return 1.0;
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| 99 | }
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| 100 | }
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[3429] | 101 | else if (type == clkSat) {
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| 102 | if (prn == prn_) {
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[2933] | 103 | return 1.0;
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| 104 | }
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| 105 | }
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| 106 |
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| 107 | return 0.0;
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| 108 | }
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| 109 |
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[2990] | 110 | //
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| 111 | ////////////////////////////////////////////////////////////////////////////
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| 112 | QString cmbParam::toString() const {
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[2933] | 113 |
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[2990] | 114 | QString outStr;
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| 115 |
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[3485] | 116 | if (type == offACgps) {
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| 117 | outStr = "AC offset GPS " + AC;
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[2990] | 118 | }
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[3485] | 119 | else if (type == offACglo) {
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| 120 | outStr = "AC offset GLO " + AC;
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| 121 | }
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[3429] | 122 | else if (type == offACSat) {
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[2992] | 123 | outStr = "Sat Offset " + AC + " " + prn;
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[2990] | 124 | }
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[3429] | 125 | else if (type == clkSat) {
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[2992] | 126 | outStr = "Clk Corr " + prn;
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[2990] | 127 | }
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[2933] | 128 |
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[2990] | 129 | return outStr;
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| 130 | }
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| 131 |
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[2933] | 132 | // Constructor
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| 133 | ////////////////////////////////////////////////////////////////////////////
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[2898] | 134 | bncComb::bncComb() {
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[2910] | 135 |
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| 136 | bncSettings settings;
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| 137 |
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| 138 | QStringList combineStreams = settings.value("combineStreams").toStringList();
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[2918] | 139 |
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[4183] | 140 | _cmbSampl = settings.value("cmbSampl").toInt();
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| 141 | if (_cmbSampl <= 0) {
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| 142 | _cmbSampl = 10;
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| 143 | }
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| 144 |
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[3455] | 145 | _masterMissingEpochs = 0;
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| 146 |
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[3143] | 147 | if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
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[2910] | 148 | QListIterator<QString> it(combineStreams);
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| 149 | while (it.hasNext()) {
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| 150 | QStringList hlp = it.next().split(" ");
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[2918] | 151 | cmbAC* newAC = new cmbAC();
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| 152 | newAC->mountPoint = hlp[0];
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| 153 | newAC->name = hlp[1];
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| 154 | newAC->weight = hlp[2].toDouble();
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[3453] | 155 | if (_masterOrbitAC.isEmpty()) {
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| 156 | _masterOrbitAC = newAC->name;
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| 157 | }
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[3429] | 158 | _ACs.append(newAC);
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[2910] | 159 | }
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| 160 | }
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[2927] | 161 |
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[3211] | 162 | _rtnetDecoder = 0;
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[3201] | 163 |
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[2990] | 164 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[5068] | 165 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[2933] | 166 |
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[3470] | 167 | // Combination Method
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| 168 | // ------------------
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[3481] | 169 | if (settings.value("cmbMethod").toString() == "Single-Epoch") {
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| 170 | _method = singleEpoch;
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[3470] | 171 | }
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| 172 | else {
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[3481] | 173 | _method = filter;
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[3470] | 174 | }
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[3032] | 175 |
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[3484] | 176 | // Use Glonass
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| 177 | // -----------
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| 178 | if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
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| 179 | _useGlonass = true;
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| 180 | }
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| 181 | else {
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| 182 | _useGlonass = false;
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| 183 | }
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| 184 |
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[3032] | 185 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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| 186 | // ----------------------------------------------------------------------
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[3470] | 187 | if (_method == filter) {
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| 188 | int nextPar = 0;
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| 189 | QListIterator<cmbAC*> it(_ACs);
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| 190 | while (it.hasNext()) {
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| 191 | cmbAC* AC = it.next();
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[3485] | 192 | _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC->name, ""));
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[3470] | 193 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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| 194 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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| 195 | _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
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| 196 | AC->name, prn));
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| 197 | }
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[3483] | 198 | if (_useGlonass) {
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[3485] | 199 | _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC->name, ""));
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[3483] | 200 | for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
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| 201 | QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
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| 202 | _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
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| 203 | AC->name, prn));
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| 204 | }
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| 205 | }
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[3470] | 206 | }
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[3134] | 207 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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| 208 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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[3470] | 209 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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[2991] | 210 | }
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[3483] | 211 | if (_useGlonass) {
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| 212 | for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
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| 213 | QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
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| 214 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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| 215 | }
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| 216 | }
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[3470] | 217 |
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| 218 | // Initialize Variance-Covariance Matrix
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| 219 | // -------------------------------------
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| 220 | _QQ.ReSize(_params.size());
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| 221 | _QQ = 0.0;
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| 222 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 223 | cmbParam* pp = _params[iPar-1];
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| 224 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
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| 225 | }
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[2991] | 226 | }
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[2933] | 227 |
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[3052] | 228 | // ANTEX File
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| 229 | // ----------
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| 230 | _antex = 0;
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| 231 | QString antexFileName = settings.value("pppAntex").toString();
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| 232 | if (!antexFileName.isEmpty()) {
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| 233 | _antex = new bncAntex();
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| 234 | if (_antex->readFile(antexFileName) != success) {
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| 235 | emit newMessage("wrong ANTEX file", true);
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| 236 | delete _antex;
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| 237 | _antex = 0;
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| 238 | }
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| 239 | }
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[3138] | 240 |
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[3329] | 241 | // Maximal Residuum
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| 242 | // ----------------
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| 243 | _MAXRES = settings.value("cmbMaxres").toDouble();
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| 244 | if (_MAXRES <= 0.0) {
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| 245 | _MAXRES = 999.0;
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| 246 | }
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[2898] | 247 | }
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| 248 |
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| 249 | // Destructor
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| 250 | ////////////////////////////////////////////////////////////////////////////
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| 251 | bncComb::~bncComb() {
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[3429] | 252 | QListIterator<cmbAC*> icAC(_ACs);
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| 253 | while (icAC.hasNext()) {
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| 254 | delete icAC.next();
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[2918] | 255 | }
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[3201] | 256 | delete _rtnetDecoder;
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[3052] | 257 | delete _antex;
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[3296] | 258 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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| 259 | delete _params[iPar-1];
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| 260 | }
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[3556] | 261 | QListIterator<bncTime> itTime(_buffer.keys());
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[3551] | 262 | while (itTime.hasNext()) {
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[3556] | 263 | bncTime epoTime = itTime.next();
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| 264 | _buffer.remove(epoTime);
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[3429] | 265 | }
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[3588] | 266 | QMapIterator<QString, cmbCorr*> itOrbCorr(_orbitCorrs);
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| 267 | while (itOrbCorr.hasNext()) {
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| 268 | itOrbCorr.next();
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| 269 | delete itOrbCorr.value();
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| 270 | }
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[2898] | 271 | }
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| 272 |
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[2928] | 273 | // Read and store one correction line
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[2898] | 274 | ////////////////////////////////////////////////////////////////////////////
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| 275 | void bncComb::processCorrLine(const QString& staID, const QString& line) {
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[2906] | 276 | QMutexLocker locker(&_mutex);
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[2913] | 277 |
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[3431] | 278 | // Find the AC Name
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| 279 | // ----------------
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| 280 | QString acName;
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| 281 | QListIterator<cmbAC*> icAC(_ACs);
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| 282 | while (icAC.hasNext()) {
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| 283 | cmbAC* AC = icAC.next();
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| 284 | if (AC->mountPoint == staID) {
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| 285 | acName = AC->name;
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| 286 | break;
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| 287 | }
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| 288 | }
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| 289 | if (acName.isEmpty()) {
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| 290 | return;
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| 291 | }
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| 292 |
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[2918] | 293 | // Read the Correction
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| 294 | // -------------------
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[3429] | 295 | cmbCorr* newCorr = new cmbCorr();
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[3431] | 296 | newCorr->acName = acName;
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[2913] | 297 | if (!newCorr->readLine(line) == success) {
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| 298 | delete newCorr;
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| 299 | return;
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| 300 | }
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| 301 |
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[3483] | 302 | // Check Glonass
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| 303 | // -------------
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| 304 | if (!_useGlonass) {
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| 305 | if (newCorr->prn[0] == 'R') {
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| 306 | delete newCorr;
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| 307 | return;
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| 308 | }
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| 309 | }
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| 310 |
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[3588] | 311 | // Save Orbit-Only Corrections
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| 312 | // ---------------------------
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[3751] | 313 | if (newCorr->tRao.valid() && !newCorr->tClk.valid()) {
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[3588] | 314 | QString corrID = newCorr->ID();
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| 315 | if (_orbitCorrs.find(corrID) != _orbitCorrs.end()) {
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| 316 | delete _orbitCorrs[corrID];
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| 317 | }
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[3590] | 318 | _orbitCorrs[corrID] = newCorr;
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| 319 | return;
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[3588] | 320 | }
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| 321 |
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[3590] | 322 | // Merge with saved orbit correction
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| 323 | // ---------------------------------
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[3751] | 324 | else if (newCorr->tClk.valid() && !newCorr->tRao.valid()) {
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[3590] | 325 | QString corrID = newCorr->ID();
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| 326 | if (_orbitCorrs.find(corrID) != _orbitCorrs.end()) {
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| 327 | mergeOrbitCorr(_orbitCorrs[corrID], newCorr);
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| 328 | }
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| 329 | }
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| 330 |
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[3274] | 331 | // Check Modulo Time
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| 332 | // -----------------
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[4183] | 333 | if (int(newCorr->tClk.gpssec()) % _cmbSampl != 0.0) {
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[3274] | 334 | delete newCorr;
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| 335 | return;
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| 336 | }
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| 337 |
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[3299] | 338 | // Delete old corrections
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| 339 | // ----------------------
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[3751] | 340 | if (_resTime.valid() && newCorr->tClk <= _resTime) {
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[5127] | 341 | emit newMessage("bncComb: old correction: " + staID.toAscii() + " " + line.toAscii(), true);
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[2924] | 342 | delete newCorr;
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| 343 | return;
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| 344 | }
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| 345 |
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[3029] | 346 | // Check the Ephemeris
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| 347 | //--------------------
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[2986] | 348 | if (_eph.find(newCorr->prn) == _eph.end()) {
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[5129] | 349 | emit newMessage("bncComb: eph not found " + newCorr->prn.toAscii(), true);
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[2986] | 350 | delete newCorr;
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| 351 | return;
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| 352 | }
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| 353 | else {
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| 354 | t_eph* lastEph = _eph[newCorr->prn]->last;
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| 355 | t_eph* prevEph = _eph[newCorr->prn]->prev;
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[3029] | 356 | if (lastEph && lastEph->IOD() == newCorr->iod) {
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| 357 | newCorr->eph = lastEph;
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[2986] | 358 | }
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[3501] | 359 | else if (lastEph && prevEph && prevEph->IOD() == newCorr->iod) {
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[3029] | 360 | newCorr->eph = prevEph;
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[3429] | 361 | switchToLastEph(lastEph, newCorr);
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[3029] | 362 | }
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| 363 | else {
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[5129] | 364 | emit newMessage("bncComb: eph not found " + newCorr->prn.toAscii() +
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| 365 | QString(" %1").arg(newCorr->iod).toAscii(), true);
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[2986] | 366 | delete newCorr;
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| 367 | return;
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| 368 | }
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| 369 | }
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| 370 |
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[3435] | 371 | // Process previous Epoch(s)
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| 372 | // -------------------------
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[5129] | 373 | const double waitTime = 1.5 * _cmbSampl;
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[3556] | 374 | QListIterator<bncTime> itTime(_buffer.keys());
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[3435] | 375 | while (itTime.hasNext()) {
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[3556] | 376 | bncTime epoTime = itTime.next();
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[5129] | 377 | if (epoTime < newCorr->tClk - waitTime) {
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[3556] | 378 | _resTime = epoTime;
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[3435] | 379 | processEpoch();
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| 380 | }
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[2927] | 381 | }
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| 382 |
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[3429] | 383 | // Merge or add the correction
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| 384 | // ---------------------------
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[3751] | 385 | QVector<cmbCorr*>& corrs = _buffer[newCorr->tClk].corrs;
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[3429] | 386 | cmbCorr* existingCorr = 0;
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[3435] | 387 | QVectorIterator<cmbCorr*> itCorr(corrs);
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[3429] | 388 | while (itCorr.hasNext()) {
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| 389 | cmbCorr* hlp = itCorr.next();
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[3554] | 390 | if (hlp->prn == newCorr->prn && hlp->acName == newCorr->acName) {
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[3429] | 391 | existingCorr = hlp;
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[2918] | 392 | break;
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| 393 | }
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| 394 | }
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[3429] | 395 | if (existingCorr) {
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[3588] | 396 | delete newCorr; newCorr = 0;
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[3429] | 397 | existingCorr->readLine(line); // merge (multiple messages)
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[3588] | 398 |
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[2918] | 399 | }
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[2919] | 400 | else {
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[3435] | 401 | corrs.append(newCorr);
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[2919] | 402 | }
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[2898] | 403 | }
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| 404 |
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[2986] | 405 | // Change the correction so that it refers to last received ephemeris
|
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| 406 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3029] | 407 | void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
|
---|
[3028] | 408 |
|
---|
[3429] | 409 | if (corr->eph == lastEph) {
|
---|
| 410 | return;
|
---|
| 411 | }
|
---|
| 412 |
|
---|
[2987] | 413 | ColumnVector oldXC(4);
|
---|
| 414 | ColumnVector oldVV(3);
|
---|
[3751] | 415 | corr->eph->position(corr->tRao.gpsw(), corr->tRao.gpssec(),
|
---|
[3029] | 416 | oldXC.data(), oldVV.data());
|
---|
[2988] | 417 |
|
---|
[2987] | 418 | ColumnVector newXC(4);
|
---|
| 419 | ColumnVector newVV(3);
|
---|
[3751] | 420 | lastEph->position(corr->tRao.gpsw(), corr->tRao.gpssec(),
|
---|
[2987] | 421 | newXC.data(), newVV.data());
|
---|
[2988] | 422 |
|
---|
| 423 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
|
---|
[2989] | 424 | ColumnVector dV = newVV - oldVV;
|
---|
| 425 | double dC = newXC(4) - oldXC(4);
|
---|
| 426 |
|
---|
[2988] | 427 | ColumnVector dRAO(3);
|
---|
| 428 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
|
---|
[2989] | 429 |
|
---|
| 430 | ColumnVector dDotRAO(3);
|
---|
| 431 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
|
---|
| 432 |
|
---|
[3455] | 433 | QString msg = "switch corr " + corr->prn
|
---|
[3029] | 434 | + QString(" %1 -> %2 %3").arg(corr->iod,3)
|
---|
[3013] | 435 | .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
| 436 |
|
---|
[3029] | 437 | emit newMessage(msg.toAscii(), false);
|
---|
[3028] | 438 |
|
---|
[3029] | 439 | corr->iod = lastEph->IOD();
|
---|
| 440 | corr->eph = lastEph;
|
---|
[3031] | 441 | corr->rao += dRAO;
|
---|
| 442 | corr->dotRao += dDotRAO;
|
---|
[3029] | 443 | corr->dClk -= dC;
|
---|
[2986] | 444 | }
|
---|
| 445 |
|
---|
[3429] | 446 | // Process Epoch
|
---|
[2928] | 447 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 448 | void bncComb::processEpoch() {
|
---|
[2918] | 449 |
|
---|
[2990] | 450 | _log.clear();
|
---|
| 451 |
|
---|
| 452 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 453 |
|
---|
[3472] | 454 | out << endl << "Combination:" << endl
|
---|
| 455 | << "------------------------------" << endl;
|
---|
[2990] | 456 |
|
---|
[3433] | 457 | // Observation Statistics
|
---|
| 458 | // ----------------------
|
---|
[3455] | 459 | bool masterPresent = false;
|
---|
[3433] | 460 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 461 | while (icAC.hasNext()) {
|
---|
| 462 | cmbAC* AC = icAC.next();
|
---|
| 463 | AC->numObs = 0;
|
---|
[3434] | 464 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
[3433] | 465 | while (itCorr.hasNext()) {
|
---|
| 466 | cmbCorr* corr = itCorr.next();
|
---|
| 467 | if (corr->acName == AC->name) {
|
---|
| 468 | AC->numObs += 1;
|
---|
[3453] | 469 | if (AC->name == _masterOrbitAC) {
|
---|
| 470 | masterPresent = true;
|
---|
| 471 | }
|
---|
[3433] | 472 | }
|
---|
| 473 | }
|
---|
| 474 | out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
|
---|
| 475 | }
|
---|
| 476 |
|
---|
[3453] | 477 | // If Master not present, switch to another one
|
---|
| 478 | // --------------------------------------------
|
---|
[4889] | 479 | const unsigned switchMasterAfterGap = 1;
|
---|
[3456] | 480 | if (masterPresent) {
|
---|
| 481 | _masterMissingEpochs = 0;
|
---|
| 482 | }
|
---|
| 483 | else {
|
---|
[3455] | 484 | ++_masterMissingEpochs;
|
---|
[4889] | 485 | if (_masterMissingEpochs < switchMasterAfterGap) {
|
---|
[3457] | 486 | out << "Missing Master, Epoch skipped" << endl;
|
---|
[3556] | 487 | _buffer.remove(_resTime);
|
---|
[3455] | 488 | emit newMessage(_log, false);
|
---|
| 489 | return;
|
---|
[3453] | 490 | }
|
---|
[3455] | 491 | else {
|
---|
| 492 | _masterMissingEpochs = 0;
|
---|
| 493 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 494 | while (icAC.hasNext()) {
|
---|
| 495 | cmbAC* AC = icAC.next();
|
---|
| 496 | if (AC->numObs > 0) {
|
---|
| 497 | out << "Switching Master AC "
|
---|
| 498 | << _masterOrbitAC.toAscii().data() << " --> "
|
---|
| 499 | << AC->name.toAscii().data() << " "
|
---|
| 500 | << _resTime.datestr().c_str() << " "
|
---|
| 501 | << _resTime.timestr().c_str() << endl;
|
---|
| 502 | _masterOrbitAC = AC->name;
|
---|
| 503 | break;
|
---|
| 504 | }
|
---|
[3452] | 505 | }
|
---|
| 506 | }
|
---|
| 507 | }
|
---|
| 508 |
|
---|
[3472] | 509 | QMap<QString, t_corr*> resCorr;
|
---|
| 510 |
|
---|
| 511 | // Perform the actual Combination using selected Method
|
---|
| 512 | // ----------------------------------------------------
|
---|
| 513 | t_irc irc;
|
---|
[3475] | 514 | ColumnVector dx;
|
---|
[3472] | 515 | if (_method == filter) {
|
---|
[3475] | 516 | irc = processEpoch_filter(out, resCorr, dx);
|
---|
[3472] | 517 | }
|
---|
| 518 | else {
|
---|
[3475] | 519 | irc = processEpoch_singleEpoch(out, resCorr, dx);
|
---|
[3472] | 520 | }
|
---|
| 521 |
|
---|
[3475] | 522 | // Update Parameter Values, Print Results
|
---|
| 523 | // --------------------------------------
|
---|
[3472] | 524 | if (irc == success) {
|
---|
[3475] | 525 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 526 | cmbParam* pp = _params[iPar-1];
|
---|
| 527 | pp->xx += dx(iPar);
|
---|
| 528 | if (pp->type == cmbParam::clkSat) {
|
---|
| 529 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
| 530 | resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
|
---|
| 531 | }
|
---|
| 532 | }
|
---|
| 533 | out << _resTime.datestr().c_str() << " "
|
---|
| 534 | << _resTime.timestr().c_str() << " ";
|
---|
| 535 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 536 | out.setFieldWidth(8);
|
---|
| 537 | out.setRealNumberPrecision(4);
|
---|
| 538 | out << pp->toString() << " "
|
---|
| 539 | << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
|
---|
| 540 | out.setFieldWidth(0);
|
---|
| 541 | }
|
---|
[3472] | 542 | printResults(out, resCorr);
|
---|
| 543 | dumpResults(resCorr);
|
---|
| 544 | }
|
---|
| 545 |
|
---|
| 546 | // Delete Data, emit Message
|
---|
| 547 | // -------------------------
|
---|
[3556] | 548 | _buffer.remove(_resTime);
|
---|
[3472] | 549 | emit newMessage(_log, false);
|
---|
| 550 | }
|
---|
| 551 |
|
---|
| 552 | // Process Epoch - Filter Method
|
---|
| 553 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 554 | t_irc bncComb::processEpoch_filter(QTextStream& out,
|
---|
[3475] | 555 | QMap<QString, t_corr*>& resCorr,
|
---|
| 556 | ColumnVector& dx) {
|
---|
[3472] | 557 |
|
---|
[3429] | 558 | // Prediction Step
|
---|
| 559 | // ---------------
|
---|
[3472] | 560 | int nPar = _params.size();
|
---|
[2933] | 561 | ColumnVector x0(nPar);
|
---|
| 562 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
[3455] | 563 | cmbParam* pp = _params[iPar-1];
|
---|
| 564 | if (pp->epoSpec) {
|
---|
[3451] | 565 | pp->xx = 0.0;
|
---|
[3455] | 566 | _QQ.Row(iPar) = 0.0;
|
---|
| 567 | _QQ.Column(iPar) = 0.0;
|
---|
| 568 | _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3451] | 569 | }
|
---|
[3455] | 570 | else {
|
---|
| 571 | _QQ(iPar,iPar) += pp->sigP * pp->sigP;
|
---|
| 572 | }
|
---|
[2933] | 573 | x0(iPar) = pp->xx;
|
---|
| 574 | }
|
---|
| 575 |
|
---|
[3487] | 576 | // Check Satellite Positions for Outliers
|
---|
| 577 | // --------------------------------------
|
---|
[3497] | 578 | if (checkOrbits(out) != success) {
|
---|
[3487] | 579 | return failure;
|
---|
| 580 | }
|
---|
[3441] | 581 |
|
---|
[3455] | 582 | // Update and outlier detection loop
|
---|
| 583 | // ---------------------------------
|
---|
[3487] | 584 | SymmetricMatrix QQ_sav = _QQ;
|
---|
[3455] | 585 | while (true) {
|
---|
[3135] | 586 |
|
---|
[3455] | 587 | Matrix AA;
|
---|
| 588 | ColumnVector ll;
|
---|
| 589 | DiagonalMatrix PP;
|
---|
[3429] | 590 |
|
---|
[3455] | 591 | if (createAmat(AA, ll, PP, x0, resCorr) != success) {
|
---|
[3472] | 592 | return failure;
|
---|
[3441] | 593 | }
|
---|
[2933] | 594 |
|
---|
[3429] | 595 | bncModel::kalman(AA, ll, PP, _QQ, dx);
|
---|
| 596 | ColumnVector vv = ll - AA * dx;
|
---|
[3080] | 597 |
|
---|
[3429] | 598 | int maxResIndex;
|
---|
| 599 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
| 600 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 601 | out.setRealNumberPrecision(3);
|
---|
| 602 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
[3432] | 603 | << " Maximum Residuum " << maxRes << ' '
|
---|
[3434] | 604 | << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
|
---|
[3080] | 605 |
|
---|
[3432] | 606 | if (maxRes > _MAXRES) {
|
---|
| 607 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 608 | cmbParam* pp = _params[iPar-1];
|
---|
| 609 | if (pp->type == cmbParam::offACSat &&
|
---|
[3434] | 610 | pp->AC == corrs()[maxResIndex-1]->acName &&
|
---|
| 611 | pp->prn == corrs()[maxResIndex-1]->prn) {
|
---|
[3432] | 612 | QQ_sav.Row(iPar) = 0.0;
|
---|
| 613 | QQ_sav.Column(iPar) = 0.0;
|
---|
[3455] | 614 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3432] | 615 | }
|
---|
| 616 | }
|
---|
| 617 |
|
---|
| 618 | out << " Outlier" << endl;
|
---|
| 619 | _QQ = QQ_sav;
|
---|
[3455] | 620 | corrs().remove(maxResIndex-1);
|
---|
[3432] | 621 | }
|
---|
| 622 | else {
|
---|
| 623 | out << " OK" << endl;
|
---|
| 624 | break;
|
---|
| 625 | }
|
---|
| 626 | }
|
---|
| 627 |
|
---|
[3472] | 628 | return success;
|
---|
[2918] | 629 | }
|
---|
[3011] | 630 |
|
---|
[3201] | 631 | // Print results
|
---|
[3011] | 632 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 633 | void bncComb::printResults(QTextStream& out,
|
---|
[3011] | 634 | const QMap<QString, t_corr*>& resCorr) {
|
---|
| 635 |
|
---|
| 636 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 637 | while (it.hasNext()) {
|
---|
| 638 | it.next();
|
---|
| 639 | t_corr* corr = it.value();
|
---|
[3029] | 640 | const t_eph* eph = corr->eph;
|
---|
[3015] | 641 | if (eph) {
|
---|
| 642 | double xx, yy, zz, cc;
|
---|
[3429] | 643 | eph->position(_resTime.gpsw(), _resTime.gpssec(), xx, yy, zz, cc);
|
---|
[3015] | 644 |
|
---|
[3429] | 645 | out << _resTime.datestr().c_str() << " "
|
---|
| 646 | << _resTime.timestr().c_str() << " ";
|
---|
[3015] | 647 | out.setFieldWidth(3);
|
---|
| 648 | out << "Full Clock " << corr->prn << " " << corr->iod << " ";
|
---|
| 649 | out.setFieldWidth(14);
|
---|
| 650 | out << (cc + corr->dClk) * t_CST::c << endl;
|
---|
[3370] | 651 | out.setFieldWidth(0);
|
---|
[3015] | 652 | }
|
---|
| 653 | else {
|
---|
| 654 | out << "bncComb::printResuls bug" << endl;
|
---|
| 655 | }
|
---|
[3011] | 656 | }
|
---|
| 657 | }
|
---|
[3202] | 658 |
|
---|
| 659 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
| 660 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 661 | void bncComb::dumpResults(const QMap<QString, t_corr*>& resCorr) {
|
---|
[3202] | 662 |
|
---|
[3214] | 663 | ostringstream out; out.setf(std::ios::fixed);
|
---|
[3216] | 664 | QStringList corrLines;
|
---|
[3214] | 665 |
|
---|
| 666 | unsigned year, month, day, hour, minute;
|
---|
| 667 | double sec;
|
---|
[3429] | 668 | _resTime.civil_date(year, month, day);
|
---|
| 669 | _resTime.civil_time(hour, minute, sec);
|
---|
[3214] | 670 |
|
---|
| 671 | out << "* "
|
---|
| 672 | << setw(4) << year << " "
|
---|
| 673 | << setw(2) << month << " "
|
---|
| 674 | << setw(2) << day << " "
|
---|
| 675 | << setw(2) << hour << " "
|
---|
| 676 | << setw(2) << minute << " "
|
---|
| 677 | << setw(12) << setprecision(8) << sec << " "
|
---|
| 678 | << endl;
|
---|
| 679 |
|
---|
[3202] | 680 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
| 681 | while (it.hasNext()) {
|
---|
| 682 | it.next();
|
---|
| 683 | t_corr* corr = it.value();
|
---|
| 684 |
|
---|
[4978] | 685 | ColumnVector xc(4);
|
---|
| 686 | ColumnVector vv(3);
|
---|
| 687 | corr->eph->position(_resTime.gpsw(), _resTime.gpssec(),
|
---|
| 688 | xc.data(), vv.data());
|
---|
| 689 | bncPPPclient::applyCorr(_resTime, corr, xc, vv);
|
---|
| 690 |
|
---|
| 691 | // Correction Phase Center --> CoM
|
---|
| 692 | // -------------------------------
|
---|
| 693 | ColumnVector dx(3); dx = 0.0;
|
---|
| 694 | if (_antex) {
|
---|
| 695 | double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
|
---|
[4992] | 696 | if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) != success) {
|
---|
| 697 | dx = 0;
|
---|
[5119] | 698 | cout << "antenna not found " << corr->prn.toAscii().data() << endl;
|
---|
[3214] | 699 | }
|
---|
| 700 | }
|
---|
[4978] | 701 |
|
---|
[4992] | 702 | out << corr->prn.toAscii().data()
|
---|
| 703 | << " APC 3 "
|
---|
| 704 | << setw(15) << setprecision(4) << xc(1)
|
---|
| 705 | << setw(15) << setprecision(4) << xc(2)
|
---|
| 706 | << setw(15) << setprecision(4) << xc(3)
|
---|
| 707 | << " Clk 1 "
|
---|
| 708 | << setw(15) << setprecision(4) << xc(4) * t_CST::c
|
---|
| 709 | << " Vel 3 "
|
---|
| 710 | << setw(15) << setprecision(4) << vv(1)
|
---|
| 711 | << setw(15) << setprecision(4) << vv(2)
|
---|
| 712 | << setw(15) << setprecision(4) << vv(3)
|
---|
| 713 | << " CoM 3 "
|
---|
| 714 | << setw(15) << setprecision(4) << xc(1) - dx(1)
|
---|
| 715 | << setw(15) << setprecision(4) << xc(2) - dx(2)
|
---|
| 716 | << setw(15) << setprecision(4) << xc(3) - dx(2)
|
---|
| 717 | << endl;
|
---|
| 718 |
|
---|
[4978] | 719 | QString line;
|
---|
| 720 | int messageType = COTYPE_GPSCOMBINED;
|
---|
| 721 | int updateInt = 0;
|
---|
| 722 | line.sprintf("%d %d %d %.1f %s"
|
---|
| 723 | " %3d"
|
---|
| 724 | " %8.3f %8.3f %8.3f %8.3f"
|
---|
| 725 | " %10.5f %10.5f %10.5f %10.5f"
|
---|
| 726 | " %10.5f %10.5f %10.5f %10.5f INTERNAL",
|
---|
| 727 | messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
|
---|
| 728 | corr->prn.toAscii().data(),
|
---|
| 729 | corr->iod,
|
---|
| 730 | corr->dClk * t_CST::c,
|
---|
| 731 | corr->rao[0],
|
---|
| 732 | corr->rao[1],
|
---|
| 733 | corr->rao[2],
|
---|
| 734 | corr->dotDClk * t_CST::c,
|
---|
| 735 | corr->dotRao[0],
|
---|
| 736 | corr->dotRao[1],
|
---|
| 737 | corr->dotRao[2],
|
---|
| 738 | corr->dotDotDClk * t_CST::c,
|
---|
| 739 | corr->dotDotRao[0],
|
---|
| 740 | corr->dotDotRao[1],
|
---|
| 741 | corr->dotDotRao[2]);
|
---|
| 742 | corrLines << line;
|
---|
| 743 |
|
---|
[3214] | 744 | delete corr;
|
---|
| 745 | }
|
---|
[3228] | 746 | out << "EOE" << endl; // End Of Epoch flag
|
---|
[3214] | 747 |
|
---|
[3215] | 748 | if (!_rtnetDecoder) {
|
---|
| 749 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
| 750 | }
|
---|
[3221] | 751 |
|
---|
[3215] | 752 | vector<string> errmsg;
|
---|
[3221] | 753 | _rtnetDecoder->Decode((char*) out.str().data(), out.str().size(), errmsg);
|
---|
[3215] | 754 |
|
---|
[3216] | 755 | // Optionally send new Corrections to PPP
|
---|
| 756 | // --------------------------------------
|
---|
[5068] | 757 | if (BNC_CORE->_bncPPPclient) {
|
---|
| 758 | BNC_CORE->_bncPPPclient->slotNewCorrections(corrLines);
|
---|
[3216] | 759 | }
|
---|
[3202] | 760 | }
|
---|
[3455] | 761 |
|
---|
| 762 | // Create First Design Matrix and Vector of Measurements
|
---|
| 763 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 764 | t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
| 765 | const ColumnVector& x0,
|
---|
| 766 | QMap<QString, t_corr*>& resCorr) {
|
---|
| 767 |
|
---|
| 768 | unsigned nPar = _params.size();
|
---|
| 769 | unsigned nObs = corrs().size();
|
---|
| 770 |
|
---|
| 771 | if (nObs == 0) {
|
---|
| 772 | return failure;
|
---|
| 773 | }
|
---|
| 774 |
|
---|
[3483] | 775 | int MAXPRN = MAXPRN_GPS;
|
---|
[3486] | 776 | // if (_useGlonass) {
|
---|
| 777 | // MAXPRN = MAXPRN_GPS + MAXPRN_GLONASS;
|
---|
| 778 | // }
|
---|
[3455] | 779 |
|
---|
[3483] | 780 | const int nCon = (_method == filter) ? 1 + MAXPRN : 0;
|
---|
| 781 |
|
---|
[3455] | 782 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
| 783 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
| 784 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
| 785 |
|
---|
| 786 | int iObs = 0;
|
---|
| 787 |
|
---|
| 788 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 789 | while (itCorr.hasNext()) {
|
---|
| 790 | cmbCorr* corr = itCorr.next();
|
---|
| 791 | QString prn = corr->prn;
|
---|
[3487] | 792 |
|
---|
[3455] | 793 | ++iObs;
|
---|
| 794 |
|
---|
[3476] | 795 | if (corr->acName == _masterOrbitAC && resCorr.find(prn) == resCorr.end()) {
|
---|
| 796 | resCorr[prn] = new t_corr(*corr);
|
---|
[3455] | 797 | }
|
---|
| 798 |
|
---|
| 799 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 800 | cmbParam* pp = _params[iPar-1];
|
---|
| 801 | AA(iObs, iPar) = pp->partial(corr->acName, prn);
|
---|
| 802 | }
|
---|
| 803 |
|
---|
| 804 | ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
|
---|
| 805 | }
|
---|
| 806 |
|
---|
| 807 | // Regularization
|
---|
| 808 | // --------------
|
---|
[3474] | 809 | if (_method == filter) {
|
---|
| 810 | const double Ph = 1.e6;
|
---|
| 811 | PP(nObs+1) = Ph;
|
---|
[3461] | 812 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 813 | cmbParam* pp = _params[iPar-1];
|
---|
[3465] | 814 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[3474] | 815 | pp->type == cmbParam::clkSat ) {
|
---|
| 816 | AA(nObs+1, iPar) = 1.0;
|
---|
[3455] | 817 | }
|
---|
| 818 | }
|
---|
[3474] | 819 | int iCond = 1;
|
---|
| 820 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
|
---|
| 821 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
|
---|
| 822 | ++iCond;
|
---|
| 823 | PP(nObs+iCond) = Ph;
|
---|
| 824 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 825 | cmbParam* pp = _params[iPar-1];
|
---|
| 826 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
| 827 | pp->type == cmbParam::offACSat &&
|
---|
| 828 | pp->prn == prn) {
|
---|
| 829 | AA(nObs+iCond, iPar) = 1.0;
|
---|
| 830 | }
|
---|
| 831 | }
|
---|
| 832 | }
|
---|
[3486] | 833 | // if (_useGlonass) {
|
---|
| 834 | // for (int iGlo = 1; iGlo <= MAXPRN_GLONASS; iGlo++) {
|
---|
| 835 | // QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
|
---|
| 836 | // ++iCond;
|
---|
| 837 | // PP(nObs+iCond) = Ph;
|
---|
| 838 | // for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 839 | // cmbParam* pp = _params[iPar-1];
|
---|
| 840 | // if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
| 841 | // pp->type == cmbParam::offACSat &&
|
---|
| 842 | // pp->prn == prn) {
|
---|
| 843 | // AA(nObs+iCond, iPar) = 1.0;
|
---|
| 844 | // }
|
---|
| 845 | // }
|
---|
| 846 | // }
|
---|
| 847 | // }
|
---|
[3455] | 848 | }
|
---|
| 849 |
|
---|
| 850 | return success;
|
---|
| 851 | }
|
---|
[3470] | 852 |
|
---|
| 853 | // Process Epoch - Single-Epoch Method
|
---|
| 854 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3472] | 855 | t_irc bncComb::processEpoch_singleEpoch(QTextStream& out,
|
---|
[3475] | 856 | QMap<QString, t_corr*>& resCorr,
|
---|
| 857 | ColumnVector& dx) {
|
---|
[3470] | 858 |
|
---|
[3487] | 859 | // Check Satellite Positions for Outliers
|
---|
| 860 | // --------------------------------------
|
---|
[3497] | 861 | if (checkOrbits(out) != success) {
|
---|
[3487] | 862 | return failure;
|
---|
| 863 | }
|
---|
| 864 |
|
---|
[3482] | 865 | // Outlier Detection Loop
|
---|
| 866 | // ----------------------
|
---|
| 867 | while (true) {
|
---|
| 868 |
|
---|
| 869 | // Remove Satellites that are not in Master
|
---|
| 870 | // ----------------------------------------
|
---|
| 871 | QMutableVectorIterator<cmbCorr*> it(corrs());
|
---|
| 872 | while (it.hasNext()) {
|
---|
| 873 | cmbCorr* corr = it.next();
|
---|
| 874 | QString prn = corr->prn;
|
---|
| 875 | bool foundMaster = false;
|
---|
| 876 | QVectorIterator<cmbCorr*> itHlp(corrs());
|
---|
| 877 | while (itHlp.hasNext()) {
|
---|
| 878 | cmbCorr* corrHlp = itHlp.next();
|
---|
| 879 | QString prnHlp = corrHlp->prn;
|
---|
| 880 | QString ACHlp = corrHlp->acName;
|
---|
| 881 | if (ACHlp == _masterOrbitAC && prn == prnHlp) {
|
---|
| 882 | foundMaster = true;
|
---|
| 883 | break;
|
---|
| 884 | }
|
---|
[3476] | 885 | }
|
---|
[3482] | 886 | if (!foundMaster) {
|
---|
[3556] | 887 | delete corr;
|
---|
[3482] | 888 | it.remove();
|
---|
| 889 | }
|
---|
[3473] | 890 | }
|
---|
[3482] | 891 |
|
---|
| 892 | // Count Number of Observations per Satellite and per AC
|
---|
| 893 | // -----------------------------------------------------
|
---|
| 894 | QMap<QString, int> numObsPrn;
|
---|
| 895 | QMap<QString, int> numObsAC;
|
---|
| 896 | QVectorIterator<cmbCorr*> itCorr(corrs());
|
---|
| 897 | while (itCorr.hasNext()) {
|
---|
| 898 | cmbCorr* corr = itCorr.next();
|
---|
| 899 | QString prn = corr->prn;
|
---|
| 900 | QString AC = corr->acName;
|
---|
| 901 | if (numObsPrn.find(prn) == numObsPrn.end()) {
|
---|
| 902 | numObsPrn[prn] = 1;
|
---|
| 903 | }
|
---|
| 904 | else {
|
---|
| 905 | numObsPrn[prn] += 1;
|
---|
| 906 | }
|
---|
| 907 | if (numObsAC.find(AC) == numObsAC.end()) {
|
---|
| 908 | numObsAC[AC] = 1;
|
---|
| 909 | }
|
---|
| 910 | else {
|
---|
| 911 | numObsAC[AC] += 1;
|
---|
| 912 | }
|
---|
[3476] | 913 | }
|
---|
[3482] | 914 |
|
---|
| 915 | // Clean-Up the Paramters
|
---|
| 916 | // ----------------------
|
---|
| 917 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
| 918 | delete _params[iPar-1];
|
---|
[3474] | 919 | }
|
---|
[3482] | 920 | _params.clear();
|
---|
| 921 |
|
---|
| 922 | // Set new Parameters
|
---|
| 923 | // ------------------
|
---|
| 924 | int nextPar = 0;
|
---|
| 925 |
|
---|
| 926 | QMapIterator<QString, int> itAC(numObsAC);
|
---|
| 927 | while (itAC.hasNext()) {
|
---|
| 928 | itAC.next();
|
---|
| 929 | const QString& AC = itAC.key();
|
---|
| 930 | int numObs = itAC.value();
|
---|
| 931 | if (AC != _masterOrbitAC && numObs > 0) {
|
---|
[3485] | 932 | _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC, ""));
|
---|
| 933 | if (_useGlonass) {
|
---|
| 934 | _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC, ""));
|
---|
| 935 | }
|
---|
[3482] | 936 | }
|
---|
| 937 | }
|
---|
| 938 |
|
---|
| 939 | QMapIterator<QString, int> itPrn(numObsPrn);
|
---|
| 940 | while (itPrn.hasNext()) {
|
---|
| 941 | itPrn.next();
|
---|
| 942 | const QString& prn = itPrn.key();
|
---|
| 943 | int numObs = itPrn.value();
|
---|
| 944 | if (numObs > 0) {
|
---|
| 945 | _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
---|
| 946 | }
|
---|
| 947 | }
|
---|
| 948 |
|
---|
| 949 | int nPar = _params.size();
|
---|
| 950 | ColumnVector x0(nPar);
|
---|
| 951 | x0 = 0.0;
|
---|
| 952 |
|
---|
| 953 | // Create First-Design Matrix
|
---|
| 954 | // --------------------------
|
---|
| 955 | Matrix AA;
|
---|
| 956 | ColumnVector ll;
|
---|
| 957 | DiagonalMatrix PP;
|
---|
| 958 | if (createAmat(AA, ll, PP, x0, resCorr) != success) {
|
---|
| 959 | return failure;
|
---|
[3476] | 960 | }
|
---|
[3482] | 961 |
|
---|
| 962 | ColumnVector vv;
|
---|
| 963 | try {
|
---|
| 964 | Matrix ATP = AA.t() * PP;
|
---|
| 965 | SymmetricMatrix NN; NN << ATP * AA;
|
---|
| 966 | ColumnVector bb = ATP * ll;
|
---|
| 967 | _QQ = NN.i();
|
---|
| 968 | dx = _QQ * bb;
|
---|
| 969 | vv = ll - AA * dx;
|
---|
[3476] | 970 | }
|
---|
[3482] | 971 | catch (Exception& exc) {
|
---|
| 972 | out << exc.what() << endl;
|
---|
| 973 | return failure;
|
---|
[3476] | 974 | }
|
---|
[3474] | 975 |
|
---|
[3482] | 976 | int maxResIndex;
|
---|
| 977 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
| 978 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 979 | out.setRealNumberPrecision(3);
|
---|
| 980 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
| 981 | << " Maximum Residuum " << maxRes << ' '
|
---|
| 982 | << corrs()[maxResIndex-1]->acName << ' ' << corrs()[maxResIndex-1]->prn;
|
---|
[3474] | 983 |
|
---|
[3482] | 984 | if (maxRes > _MAXRES) {
|
---|
| 985 | out << " Outlier" << endl;
|
---|
[3556] | 986 | delete corrs()[maxResIndex-1];
|
---|
[3482] | 987 | corrs().remove(maxResIndex-1);
|
---|
[3474] | 988 | }
|
---|
[3482] | 989 | else {
|
---|
| 990 | out << " OK" << endl;
|
---|
| 991 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 992 | out.setRealNumberPrecision(3);
|
---|
| 993 | for (int ii = 0; ii < vv.Nrows(); ii++) {
|
---|
| 994 | const cmbCorr* corr = corrs()[ii];
|
---|
| 995 | out << _resTime.datestr().c_str() << ' '
|
---|
| 996 | << _resTime.timestr().c_str() << " "
|
---|
| 997 | << corr->acName << ' ' << corr->prn;
|
---|
| 998 | out.setFieldWidth(6);
|
---|
| 999 | out << " dClk = " << corr->dClk * t_CST::c << " res = " << vv[ii] << endl;
|
---|
| 1000 | out.setFieldWidth(0);
|
---|
| 1001 | }
|
---|
| 1002 | return success;
|
---|
[3474] | 1003 | }
|
---|
| 1004 |
|
---|
[3473] | 1005 | }
|
---|
[3474] | 1006 |
|
---|
[3482] | 1007 | return failure;
|
---|
[3470] | 1008 | }
|
---|
[3487] | 1009 |
|
---|
| 1010 | // Check Satellite Positions for Outliers
|
---|
| 1011 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3497] | 1012 | t_irc bncComb::checkOrbits(QTextStream& out) {
|
---|
[3487] | 1013 |
|
---|
[3489] | 1014 | const double MAX_DISPLACEMENT = 0.20;
|
---|
[3488] | 1015 |
|
---|
[3502] | 1016 | // Switch to last ephemeris (if possible)
|
---|
| 1017 | // --------------------------------------
|
---|
[3501] | 1018 | QMutableVectorIterator<cmbCorr*> im(corrs());
|
---|
| 1019 | while (im.hasNext()) {
|
---|
| 1020 | cmbCorr* corr = im.next();
|
---|
[3502] | 1021 | QString prn = corr->prn;
|
---|
[3503] | 1022 | if (_eph.find(prn) == _eph.end()) {
|
---|
[3502] | 1023 | out << "checkOrbit: missing eph (not found) " << corr->prn << endl;
|
---|
[3556] | 1024 | delete corr;
|
---|
[3501] | 1025 | im.remove();
|
---|
| 1026 | }
|
---|
[3503] | 1027 | else if (corr->eph == 0) {
|
---|
| 1028 | out << "checkOrbit: missing eph (zero) " << corr->prn << endl;
|
---|
[3556] | 1029 | delete corr;
|
---|
[3503] | 1030 | im.remove();
|
---|
| 1031 | }
|
---|
[3502] | 1032 | else {
|
---|
| 1033 | if ( corr->eph == _eph[prn]->last || corr->eph == _eph[prn]->prev ) {
|
---|
| 1034 | switchToLastEph(_eph[prn]->last, corr);
|
---|
| 1035 | }
|
---|
| 1036 | else {
|
---|
| 1037 | out << "checkOrbit: missing eph (deleted) " << corr->prn << endl;
|
---|
[3556] | 1038 | delete corr;
|
---|
[3502] | 1039 | im.remove();
|
---|
| 1040 | }
|
---|
| 1041 | }
|
---|
[3501] | 1042 | }
|
---|
| 1043 |
|
---|
[3488] | 1044 | while (true) {
|
---|
| 1045 |
|
---|
| 1046 | // Compute Mean Corrections for all Satellites
|
---|
| 1047 | // -------------------------------------------
|
---|
[3489] | 1048 | QMap<QString, int> numCorr;
|
---|
[3488] | 1049 | QMap<QString, ColumnVector> meanRao;
|
---|
| 1050 | QVectorIterator<cmbCorr*> it(corrs());
|
---|
| 1051 | while (it.hasNext()) {
|
---|
| 1052 | cmbCorr* corr = it.next();
|
---|
| 1053 | QString prn = corr->prn;
|
---|
| 1054 | if (meanRao.find(prn) == meanRao.end()) {
|
---|
| 1055 | meanRao[prn].ReSize(4);
|
---|
| 1056 | meanRao[prn].Rows(1,3) = corr->rao;
|
---|
| 1057 | meanRao[prn](4) = 1;
|
---|
| 1058 | }
|
---|
| 1059 | else {
|
---|
| 1060 | meanRao[prn].Rows(1,3) += corr->rao;
|
---|
| 1061 | meanRao[prn](4) += 1;
|
---|
| 1062 | }
|
---|
[3489] | 1063 | if (numCorr.find(prn) == numCorr.end()) {
|
---|
| 1064 | numCorr[prn] = 1;
|
---|
| 1065 | }
|
---|
| 1066 | else {
|
---|
| 1067 | numCorr[prn] += 1;
|
---|
| 1068 | }
|
---|
[3487] | 1069 | }
|
---|
[3488] | 1070 |
|
---|
| 1071 | // Compute Differences wrt Mean, find Maximum
|
---|
| 1072 | // ------------------------------------------
|
---|
| 1073 | QMap<QString, cmbCorr*> maxDiff;
|
---|
| 1074 | it.toFront();
|
---|
| 1075 | while (it.hasNext()) {
|
---|
| 1076 | cmbCorr* corr = it.next();
|
---|
| 1077 | QString prn = corr->prn;
|
---|
| 1078 | if (meanRao[prn](4) != 0) {
|
---|
| 1079 | meanRao[prn] /= meanRao[prn](4);
|
---|
| 1080 | meanRao[prn](4) = 0;
|
---|
| 1081 | }
|
---|
| 1082 | corr->diffRao = corr->rao - meanRao[prn].Rows(1,3);
|
---|
| 1083 | if (maxDiff.find(prn) == maxDiff.end()) {
|
---|
| 1084 | maxDiff[prn] = corr;
|
---|
| 1085 | }
|
---|
| 1086 | else {
|
---|
| 1087 | double normMax = maxDiff[prn]->diffRao.norm_Frobenius();
|
---|
| 1088 | double norm = corr->diffRao.norm_Frobenius();
|
---|
| 1089 | if (norm > normMax) {
|
---|
| 1090 | maxDiff[prn] = corr;
|
---|
| 1091 | }
|
---|
| 1092 | }
|
---|
[3487] | 1093 | }
|
---|
[3488] | 1094 |
|
---|
[3655] | 1095 | if (_ACs.size() == 1) {
|
---|
| 1096 | break;
|
---|
| 1097 | }
|
---|
| 1098 |
|
---|
[3488] | 1099 | // Remove Outliers
|
---|
| 1100 | // ---------------
|
---|
| 1101 | bool removed = false;
|
---|
| 1102 | QMutableVectorIterator<cmbCorr*> im(corrs());
|
---|
| 1103 | while (im.hasNext()) {
|
---|
| 1104 | cmbCorr* corr = im.next();
|
---|
| 1105 | QString prn = corr->prn;
|
---|
[3489] | 1106 | if (numCorr[prn] < 2) {
|
---|
[3556] | 1107 | delete corr;
|
---|
[3489] | 1108 | im.remove();
|
---|
| 1109 | }
|
---|
| 1110 | else if (corr == maxDiff[prn]) {
|
---|
[3488] | 1111 | double norm = corr->diffRao.norm_Frobenius();
|
---|
| 1112 | if (norm > MAX_DISPLACEMENT) {
|
---|
[3497] | 1113 | out << _resTime.datestr().c_str() << " "
|
---|
| 1114 | << _resTime.timestr().c_str() << " "
|
---|
| 1115 | << "Orbit Outlier: "
|
---|
| 1116 | << corr->acName.toAscii().data() << " "
|
---|
| 1117 | << prn.toAscii().data() << " "
|
---|
| 1118 | << corr->iod << " "
|
---|
| 1119 | << norm << endl;
|
---|
[3556] | 1120 | delete corr;
|
---|
[3488] | 1121 | im.remove();
|
---|
| 1122 | removed = true;
|
---|
| 1123 | }
|
---|
| 1124 | }
|
---|
[3487] | 1125 | }
|
---|
[3488] | 1126 |
|
---|
| 1127 | if (!removed) {
|
---|
| 1128 | break;
|
---|
| 1129 | }
|
---|
[3487] | 1130 | }
|
---|
| 1131 |
|
---|
| 1132 | return success;
|
---|
| 1133 | }
|
---|
[3588] | 1134 |
|
---|
| 1135 | //
|
---|
| 1136 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1137 | t_irc bncComb::mergeOrbitCorr(const cmbCorr* orbitCorr, cmbCorr* clkCorr) {
|
---|
| 1138 |
|
---|
[3751] | 1139 | clkCorr->iod = orbitCorr->iod; // is it always correct?
|
---|
| 1140 | clkCorr->eph = orbitCorr->eph;
|
---|
| 1141 | clkCorr->tRao = orbitCorr->tRao;
|
---|
| 1142 | clkCorr->rao = orbitCorr->rao;
|
---|
| 1143 | clkCorr->dotRao = orbitCorr->dotRao;
|
---|
[3589] | 1144 | clkCorr->dotDotRao = orbitCorr->dotDotRao;
|
---|
| 1145 |
|
---|
[3588] | 1146 | return success;
|
---|
| 1147 | }
|
---|