[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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[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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[2988] | 25 | #include "bncutils.h"
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[3181] | 26 | #include "bncsp3.h"
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[3052] | 27 | #include "bncantex.h"
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[5742] | 28 | #include "t_prn.h"
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[2898] | 29 |
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[3455] | 30 | const double sig0_offAC = 1000.0;
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| 31 | const double sig0_offACSat = 100.0;
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[3468] | 32 | const double sigP_offACSat = 0.01;
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[3455] | 33 | const double sig0_clkSat = 100.0;
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| 34 |
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| 35 | const double sigObs = 0.05;
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| 36 |
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| 37 | using namespace std;
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| 38 |
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[2898] | 39 | // Constructor
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| 40 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 41 | bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
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[3032] | 42 |
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[3433] | 43 | type = type_;
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| 44 | index = index_;
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| 45 | AC = ac_;
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| 46 | prn = prn_;
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| 47 | xx = 0.0;
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[3455] | 48 | eph = 0;
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[3429] | 49 |
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[9258] | 50 | if (type == offACgnss) {
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[3455] | 51 | epoSpec = true;
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| 52 | sig0 = sig0_offAC;
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| 53 | sigP = sig0;
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[3429] | 54 | }
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| 55 | else if (type == offACSat) {
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[3455] | 56 | epoSpec = false;
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| 57 | sig0 = sig0_offACSat;
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| 58 | sigP = sigP_offACSat;
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[3429] | 59 | }
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| 60 | else if (type == clkSat) {
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[3455] | 61 | epoSpec = true;
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| 62 | sig0 = sig0_clkSat;
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| 63 | sigP = sig0;
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[3429] | 64 | }
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[2933] | 65 | }
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| 66 |
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| 67 | // Destructor
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| 68 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 69 | bncComb::cmbParam::~cmbParam() {
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[2933] | 70 | }
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| 71 |
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| 72 | // Partial
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| 73 | ////////////////////////////////////////////////////////////////////////////
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[9258] | 74 | double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) {
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[7297] | 75 |
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[9258] | 76 | if (type == offACgnss) {
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| 77 | if (AC == AC_ && prn_[0].toLatin1() == sys) {
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[2934] | 78 | return 1.0;
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| 79 | }
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| 80 | }
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[3429] | 81 | else if (type == offACSat) {
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| 82 | if (AC == AC_ && prn == prn_) {
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[2933] | 83 | return 1.0;
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| 84 | }
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| 85 | }
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[3429] | 86 | else if (type == clkSat) {
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| 87 | if (prn == prn_) {
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[2933] | 88 | return 1.0;
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| 89 | }
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| 90 | }
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| 91 |
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| 92 | return 0.0;
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| 93 | }
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| 94 |
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[7297] | 95 | //
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[2990] | 96 | ////////////////////////////////////////////////////////////////////////////
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[9258] | 97 | QString bncComb::cmbParam::toString(char sys) const {
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[2933] | 98 |
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[2990] | 99 | QString outStr;
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[7297] | 100 |
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[9258] | 101 | if (type == offACgnss) {
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[9262] | 102 | outStr = "AC Offset " + AC + " " + sys + " ";
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[2990] | 103 | }
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[3429] | 104 | else if (type == offACSat) {
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[7008] | 105 | outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
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[2990] | 106 | }
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[3429] | 107 | else if (type == clkSat) {
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[7008] | 108 | outStr = "Clk Corr " + prn.mid(0,3);
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[2990] | 109 | }
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[2933] | 110 |
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[2990] | 111 | return outStr;
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| 112 | }
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| 113 |
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[7299] | 114 | // Singleton
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| 115 | ////////////////////////////////////////////////////////////////////////////
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| 116 | bncComb* bncComb::instance() {
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| 117 | static bncComb _bncComb;
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| 118 | return &_bncComb;
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| 119 | }
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| 120 |
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[2933] | 121 | // Constructor
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| 122 | ////////////////////////////////////////////////////////////////////////////
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[6443] | 123 | bncComb::bncComb() : _ephUser(true) {
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[2910] | 124 |
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| 125 | bncSettings settings;
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| 126 |
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[7297] | 127 | QStringList cmbStreams = settings.value("cmbStreams").toStringList();
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[2918] | 128 |
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[4183] | 129 | _cmbSampl = settings.value("cmbSampl").toInt();
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| 130 | if (_cmbSampl <= 0) {
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| 131 | _cmbSampl = 10;
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| 132 | }
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[9292] | 133 | _useGps = (Qt::CheckState(settings.value("cmbGps").toInt()) == Qt::Checked) ? true : false;
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| 134 | if (_useGps) {
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| 135 | _cmbSysPrn['G'] = t_prn::MAXPRN_GPS;
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| 136 | _masterMissingEpochs['G'] = 0;
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| 137 | }
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| 138 | _useGlo = (Qt::CheckState(settings.value("cmbGlo").toInt()) == Qt::Checked) ? true : false;
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| 139 | if (_useGlo) {
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| 140 | _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS;
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| 141 | _masterMissingEpochs['R'] = 0;
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| 142 | }
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| 143 | _useGal = (Qt::CheckState(settings.value("cmbGal").toInt()) == Qt::Checked) ? true : false;
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| 144 | if (_useGal) {
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| 145 | _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO;
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| 146 | _masterMissingEpochs['E'] = 0;
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| 147 | }
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| 148 | _useBds = (Qt::CheckState(settings.value("cmbBds").toInt()) == Qt::Checked) ? true : false;
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| 149 | if (_useBds) {
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| 150 | _cmbSysPrn['C'] = t_prn::MAXPRN_BDS;
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| 151 | _masterMissingEpochs['C'] = 0;
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| 152 | }
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| 153 | _useQzss = (Qt::CheckState(settings.value("cmbQzss").toInt()) == Qt::Checked) ? true : false;
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| 154 | if (_useQzss) {
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| 155 | _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS;
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| 156 | _masterMissingEpochs['J'] = 0;
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| 157 | }
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| 158 | _useSbas = (Qt::CheckState(settings.value("cmbSbas").toInt()) == Qt::Checked) ? true : false;
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| 159 | if (_useSbas) {
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| 160 | _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS;
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| 161 | _masterMissingEpochs['S'] = 0;
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| 162 | }
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| 163 | _useIrnss = (Qt::CheckState(settings.value("cmbIrnss").toInt()) == Qt::Checked) ? true : false;
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| 164 | if (_useIrnss) {
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| 165 | _cmbSysPrn['I'] = t_prn::MAXPRN_IRNSS;
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| 166 | _masterMissingEpochs['I'] = 0;
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| 167 | }
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[4183] | 168 |
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[7297] | 169 | if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
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| 170 | QListIterator<QString> it(cmbStreams);
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[2910] | 171 | while (it.hasNext()) {
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| 172 | QStringList hlp = it.next().split(" ");
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[2918] | 173 | cmbAC* newAC = new cmbAC();
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| 174 | newAC->mountPoint = hlp[0];
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| 175 | newAC->name = hlp[1];
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| 176 | newAC->weight = hlp[2].toDouble();
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[9258] | 177 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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| 178 | // init
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| 179 | while (itSys.hasNext()) {
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| 180 | itSys.next();
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| 181 | char sys = itSys.key();
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| 182 | if (_masterOrbitAC.isEmpty()) {
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| 183 | _masterOrbitAC[sys] = newAC->name;
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| 184 | }
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[3453] | 185 | }
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[3429] | 186 | _ACs.append(newAC);
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[2910] | 187 | }
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| 188 | }
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[2927] | 189 |
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[9025] | 190 | QString ssrFormat;
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[9258] | 191 | _ssrCorr = 0;
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[9025] | 192 | QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
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| 193 | while (it.hasNext()) {
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| 194 | QStringList hlp = it.next().split(",");
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| 195 | if (hlp.size() > 7) {
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| 196 | ssrFormat = hlp[7];
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| 197 | }
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| 198 | }
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| 199 | if (ssrFormat == "IGS-SSR") {
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| 200 | _ssrCorr = new SsrCorrIgs();
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| 201 | }
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| 202 | else if (ssrFormat == "RTCM-SSR") {
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| 203 | _ssrCorr = new SsrCorrRtcm();
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| 204 | }
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[9258] | 205 | else { // default
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| 206 | _ssrCorr = new SsrCorrIgs();
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| 207 | }
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[9025] | 208 |
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[3211] | 209 | _rtnetDecoder = 0;
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[3201] | 210 |
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[7297] | 211 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[5068] | 212 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[2933] | 213 |
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[5583] | 214 | connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
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[6155] | 215 | this, SLOT(slotProviderIDChanged(QString)));
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[5583] | 216 |
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[6155] | 217 | connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
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| 218 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
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| 219 |
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| 220 | connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
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| 221 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
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| 222 |
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[3470] | 223 | // Combination Method
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| 224 | // ------------------
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[3481] | 225 | if (settings.value("cmbMethod").toString() == "Single-Epoch") {
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| 226 | _method = singleEpoch;
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[3470] | 227 | }
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| 228 | else {
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[3481] | 229 | _method = filter;
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[3470] | 230 | }
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[3032] | 231 |
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| 232 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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| 233 | // ----------------------------------------------------------------------
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[3470] | 234 | if (_method == filter) {
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[9258] | 235 | // SYSTEM
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| 236 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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| 237 | while (itSys.hasNext()) {
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| 238 | itSys.next();
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| 239 | int nextPar = 0;
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| 240 | char sys = itSys.key();
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| 241 | unsigned maxPrn = itSys.value();
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| 242 | unsigned flag = 0;
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| 243 | if (sys == 'E') {
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| 244 | flag = 1;
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[3470] | 245 | }
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[9258] | 246 | // AC
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| 247 | QListIterator<cmbAC*> itAc(_ACs);
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| 248 | while (itAc.hasNext()) {
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| 249 | cmbAC* AC = itAc.next();
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| 250 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
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| 251 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
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| 252 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
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| 253 | _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
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[3483] | 254 | }
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| 255 | }
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[9258] | 256 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
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| 257 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
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| 258 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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[3483] | 259 | }
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[9258] | 260 | // Initialize Variance-Covariance Matrix
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| 261 | // -------------------------------------
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| 262 | _QQ[sys].ReSize(_params[sys].size());
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| 263 | _QQ[sys] = 0.0;
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| 264 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
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| 265 | cmbParam* pp = _params[sys][iPar-1];
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| 266 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
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| 267 | }
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[3483] | 268 | }
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[2991] | 269 | }
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[2933] | 270 |
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[3052] | 271 | // ANTEX File
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| 272 | // ----------
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| 273 | _antex = 0;
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[6667] | 274 | QString antexFileName = settings.value("uploadAntexFile").toString();
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[3052] | 275 | if (!antexFileName.isEmpty()) {
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| 276 | _antex = new bncAntex();
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| 277 | if (_antex->readFile(antexFileName) != success) {
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| 278 | emit newMessage("wrong ANTEX file", true);
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| 279 | delete _antex;
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| 280 | _antex = 0;
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| 281 | }
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| 282 | }
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[3138] | 283 |
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[3329] | 284 | // Maximal Residuum
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| 285 | // ----------------
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| 286 | _MAXRES = settings.value("cmbMaxres").toDouble();
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| 287 | if (_MAXRES <= 0.0) {
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| 288 | _MAXRES = 999.0;
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| 289 | }
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[2898] | 290 | }
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| 291 |
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| 292 | // Destructor
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| 293 | ////////////////////////////////////////////////////////////////////////////
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| 294 | bncComb::~bncComb() {
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[3429] | 295 | QListIterator<cmbAC*> icAC(_ACs);
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| 296 | while (icAC.hasNext()) {
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| 297 | delete icAC.next();
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[2918] | 298 | }
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[3201] | 299 | delete _rtnetDecoder;
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[9025] | 300 | if (_ssrCorr) {
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| 301 | delete _ssrCorr;
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| 302 | }
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[3052] | 303 | delete _antex;
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[9258] | 304 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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| 305 | while (itSys.hasNext()) {
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| 306 | itSys.next();
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| 307 | char sys = itSys.key();
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| 308 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
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| 309 | delete _params[sys][iPar-1];
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| 310 | }
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| 311 | QListIterator<bncTime> itTime(_buffer[sys].keys());
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| 312 | while (itTime.hasNext()) {
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| 313 | bncTime epoTime = itTime.next();
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| 314 | _buffer[sys].remove(epoTime);
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| 315 | }
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[3296] | 316 | }
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[9258] | 317 |
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[2898] | 318 | }
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| 319 |
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[6155] | 320 | // Remember orbit corrections
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[2898] | 321 | ////////////////////////////////////////////////////////////////////////////
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[6155] | 322 | void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
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[2906] | 323 | QMutexLocker locker(&_mutex);
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[2913] | 324 |
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[6155] | 325 | for (int ii = 0; ii < orbCorrections.size(); ii++) {
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| 326 | t_orbCorr& orbCorr = orbCorrections[ii];
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| 327 | QString staID(orbCorr._staID.c_str());
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[7008] | 328 | QString prn(orbCorr._prn.toInternalString().c_str());
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[6155] | 329 |
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| 330 | // Find/Check the AC Name
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| 331 | // ----------------------
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| 332 | QString acName;
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| 333 | QListIterator<cmbAC*> icAC(_ACs);
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| 334 | while (icAC.hasNext()) {
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| 335 | cmbAC* AC = icAC.next();
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| 336 | if (AC->mountPoint == staID) {
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| 337 | acName = AC->name;
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| 338 | break;
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| 339 | }
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[3431] | 340 | }
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[6155] | 341 | if (acName.isEmpty()) {
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| 342 | continue;
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| 343 | }
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[3431] | 344 |
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[6155] | 345 | // Store the correction
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| 346 | // --------------------
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| 347 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
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| 348 | storage[orbCorr._prn] = orbCorr;
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[2913] | 349 | }
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[6155] | 350 | }
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[2913] | 351 |
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[6155] | 352 | // Process clock corrections
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| 353 | ////////////////////////////////////////////////////////////////////////////
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| 354 | void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
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| 355 | QMutexLocker locker(&_mutex);
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| 356 |
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| 357 | bncTime lastTime;
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| 358 |
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| 359 | for (int ii = 0; ii < clkCorrections.size(); ii++) {
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| 360 | t_clkCorr& clkCorr = clkCorrections[ii];
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| 361 | QString staID(clkCorr._staID.c_str());
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[6961] | 362 | QString prn(clkCorr._prn.toInternalString().c_str());
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[9258] | 363 | char sys = clkCorr._prn.system();
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[6155] | 364 |
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| 365 | // Set the last time
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| 366 | // -----------------
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| 367 | if (lastTime.undef() || clkCorr._time > lastTime) {
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| 368 | lastTime = clkCorr._time;
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[3483] | 369 | }
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| 370 |
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[6155] | 371 | // Find/Check the AC Name
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| 372 | // ----------------------
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| 373 | QString acName;
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| 374 | QListIterator<cmbAC*> icAC(_ACs);
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| 375 | while (icAC.hasNext()) {
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| 376 | cmbAC* AC = icAC.next();
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| 377 | if (AC->mountPoint == staID) {
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| 378 | acName = AC->name;
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| 379 | break;
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| 380 | }
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[3588] | 381 | }
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[6155] | 382 | if (acName.isEmpty()) {
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| 383 | continue;
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| 384 | }
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[3588] | 385 |
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[6155] | 386 | // Check Modulo Time
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| 387 | // -----------------
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[8447] | 388 | int sec = int(nint(clkCorr._time.gpssec()*10));
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| 389 | if (sec % (_cmbSampl*10) != 0.0) {
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[6155] | 390 | continue;
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| 391 | }
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[3274] | 392 |
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[6155] | 393 | // Check Correction Age
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| 394 | // --------------------
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| 395 | if (_resTime.valid() && clkCorr._time <= _resTime) {
|
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[8204] | 396 | emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + prn.mid(0,3).toLatin1(), true);
|
---|
[6155] | 397 | continue;
|
---|
| 398 | }
|
---|
[7297] | 399 |
|
---|
[6155] | 400 | // Create new correction
|
---|
| 401 | // ---------------------
|
---|
| 402 | cmbCorr* newCorr = new cmbCorr();
|
---|
[6157] | 403 | newCorr->_prn = prn;
|
---|
[6155] | 404 | newCorr->_time = clkCorr._time;
|
---|
| 405 | newCorr->_iod = clkCorr._iod;
|
---|
| 406 | newCorr->_acName = acName;
|
---|
[6159] | 407 | newCorr->_clkCorr = clkCorr;
|
---|
[6155] | 408 |
|
---|
[6156] | 409 | // Check orbit correction
|
---|
| 410 | // ----------------------
|
---|
| 411 | if (!_orbCorrections.contains(acName)) {
|
---|
| 412 | delete newCorr;
|
---|
| 413 | continue;
|
---|
| 414 | }
|
---|
| 415 | else {
|
---|
| 416 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
|
---|
[9258] | 417 | if (!storage.contains(clkCorr._prn) ||
|
---|
| 418 | storage[clkCorr._prn]._iod != newCorr->_iod) {
|
---|
[6156] | 419 | delete newCorr;
|
---|
| 420 | continue;
|
---|
| 421 | }
|
---|
| 422 | else {
|
---|
[6159] | 423 | newCorr->_orbCorr = storage[clkCorr._prn];
|
---|
[6156] | 424 | }
|
---|
| 425 | }
|
---|
| 426 |
|
---|
[6155] | 427 | // Check the Ephemeris
|
---|
| 428 | //--------------------
|
---|
[7012] | 429 | t_eph* ephLast = _ephUser.ephLast(prn);
|
---|
| 430 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
---|
[6443] | 431 | if (ephLast == 0) {
|
---|
[9265] | 432 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
|
---|
[6155] | 433 | delete newCorr;
|
---|
| 434 | continue;
|
---|
[2986] | 435 | }
|
---|
[9268] | 436 | else if (ephLast->checkState() == t_eph::bad ||
|
---|
| 437 | ephLast->checkState() == t_eph::outdated ||
|
---|
| 438 | ephLast->checkState() == t_eph::unhealthy) {
|
---|
| 439 | emit newMessage("bncComb: ephLast not ok for " + prn.mid(0,3).toLatin1(), true);
|
---|
[9266] | 440 | delete newCorr;
|
---|
| 441 | continue;
|
---|
| 442 | }
|
---|
[3029] | 443 | else {
|
---|
[6443] | 444 | if (ephLast->IOD() == newCorr->_iod) {
|
---|
| 445 | newCorr->_eph = ephLast;
|
---|
[6155] | 446 | }
|
---|
[9268] | 447 | else if (ephPrev && ephPrev->checkState() == t_eph::ok &&
|
---|
| 448 | ephPrev->IOD() == newCorr->_iod) {
|
---|
[6443] | 449 | newCorr->_eph = ephPrev;
|
---|
| 450 | switchToLastEph(ephLast, newCorr);
|
---|
[6155] | 451 | }
|
---|
| 452 | else {
|
---|
[9265] | 453 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
|
---|
| 454 | QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true);
|
---|
[6155] | 455 | delete newCorr;
|
---|
| 456 | continue;
|
---|
| 457 | }
|
---|
[2986] | 458 | }
|
---|
[6155] | 459 |
|
---|
| 460 | // Store correction into the buffer
|
---|
| 461 | // --------------------------------
|
---|
[9258] | 462 | QVector<cmbCorr*>& corrs = _buffer[sys][newCorr->_time].corrs;
|
---|
[6155] | 463 | corrs.push_back(newCorr);
|
---|
[2986] | 464 | }
|
---|
| 465 |
|
---|
[3435] | 466 | // Process previous Epoch(s)
|
---|
| 467 | // -------------------------
|
---|
[7392] | 468 | const double outWait = 1.0 * _cmbSampl;
|
---|
[9258] | 469 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
---|
| 470 | while (itSys.hasNext()) {
|
---|
| 471 | itSys.next();
|
---|
| 472 | char sys = itSys.key();
|
---|
| 473 | QListIterator<bncTime> itTime(_buffer[sys].keys());
|
---|
| 474 | while (itTime.hasNext()) {
|
---|
| 475 | bncTime epoTime = itTime.next();
|
---|
| 476 | if (epoTime < lastTime - outWait) {
|
---|
| 477 | _resTime = epoTime;
|
---|
| 478 | processEpoch(sys);
|
---|
| 479 | }
|
---|
[3435] | 480 | }
|
---|
[2927] | 481 | }
|
---|
[2898] | 482 | }
|
---|
| 483 |
|
---|
[7297] | 484 | // Change the correction so that it refers to last received ephemeris
|
---|
[2986] | 485 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7012] | 486 | void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
|
---|
[3028] | 487 |
|
---|
[6155] | 488 | if (corr->_eph == lastEph) {
|
---|
[3429] | 489 | return;
|
---|
| 490 | }
|
---|
[9266] | 491 |
|
---|
[8542] | 492 | ColumnVector oldXC(6);
|
---|
[2987] | 493 | ColumnVector oldVV(3);
|
---|
[9266] | 494 | if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
|
---|
| 495 | return;
|
---|
| 496 | }
|
---|
[2988] | 497 |
|
---|
[8542] | 498 | ColumnVector newXC(6);
|
---|
[2987] | 499 | ColumnVector newVV(3);
|
---|
[9266] | 500 | if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
|
---|
| 501 | return;
|
---|
| 502 | }
|
---|
[2988] | 503 |
|
---|
| 504 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
|
---|
[2989] | 505 | ColumnVector dV = newVV - oldVV;
|
---|
| 506 | double dC = newXC(4) - oldXC(4);
|
---|
[9266] | 507 |
|
---|
[2988] | 508 | ColumnVector dRAO(3);
|
---|
| 509 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
|
---|
[2989] | 510 |
|
---|
| 511 | ColumnVector dDotRAO(3);
|
---|
| 512 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
|
---|
| 513 |
|
---|
[6963] | 514 | QString msg = "switch corr " + corr->_prn.mid(0,3)
|
---|
[6155] | 515 | + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
[3013] | 516 |
|
---|
[8204] | 517 | emit newMessage(msg.toLatin1(), false);
|
---|
[3028] | 518 |
|
---|
[6155] | 519 | corr->_iod = lastEph->IOD();
|
---|
| 520 | corr->_eph = lastEph;
|
---|
| 521 |
|
---|
[6159] | 522 | corr->_orbCorr._xr += dRAO;
|
---|
| 523 | corr->_orbCorr._dotXr += dDotRAO;
|
---|
| 524 | corr->_clkCorr._dClk -= dC;
|
---|
[2986] | 525 | }
|
---|
| 526 |
|
---|
[3429] | 527 | // Process Epoch
|
---|
[2928] | 528 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 529 | void bncComb::processEpoch(char sys) {
|
---|
[2918] | 530 |
|
---|
[2990] | 531 | _log.clear();
|
---|
| 532 |
|
---|
| 533 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 534 |
|
---|
[9258] | 535 | out << endl << "Combination: " << sys << endl
|
---|
| 536 | << "--------------------------------" << endl;
|
---|
[2990] | 537 |
|
---|
[3433] | 538 | // Observation Statistics
|
---|
| 539 | // ----------------------
|
---|
[3455] | 540 | bool masterPresent = false;
|
---|
[3433] | 541 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 542 | while (icAC.hasNext()) {
|
---|
| 543 | cmbAC* AC = icAC.next();
|
---|
[9258] | 544 | AC->numObs[sys] = 0;
|
---|
| 545 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3433] | 546 | while (itCorr.hasNext()) {
|
---|
| 547 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 548 | if (corr->_acName == AC->name) {
|
---|
[9258] | 549 | AC->numObs[sys] += 1;
|
---|
| 550 | if (AC->name == _masterOrbitAC[sys]) {
|
---|
[3453] | 551 | masterPresent = true;
|
---|
| 552 | }
|
---|
[3433] | 553 | }
|
---|
| 554 | }
|
---|
[9258] | 555 | out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << endl;
|
---|
[3433] | 556 | }
|
---|
| 557 |
|
---|
[3453] | 558 | // If Master not present, switch to another one
|
---|
| 559 | // --------------------------------------------
|
---|
[4889] | 560 | const unsigned switchMasterAfterGap = 1;
|
---|
[3456] | 561 | if (masterPresent) {
|
---|
[9258] | 562 | _masterMissingEpochs[sys] = 0;
|
---|
[3456] | 563 | }
|
---|
| 564 | else {
|
---|
[9258] | 565 | ++_masterMissingEpochs[sys];
|
---|
| 566 | if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
|
---|
[3457] | 567 | out << "Missing Master, Epoch skipped" << endl;
|
---|
[9258] | 568 | _buffer[sys].remove(_resTime);
|
---|
[3455] | 569 | emit newMessage(_log, false);
|
---|
| 570 | return;
|
---|
[3453] | 571 | }
|
---|
[3455] | 572 | else {
|
---|
[9258] | 573 | _masterMissingEpochs[sys] = 0;
|
---|
[3455] | 574 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 575 | while (icAC.hasNext()) {
|
---|
| 576 | cmbAC* AC = icAC.next();
|
---|
[9258] | 577 | if (AC->numObs[sys] > 0) {
|
---|
[3455] | 578 | out << "Switching Master AC "
|
---|
[9258] | 579 | << _masterOrbitAC[sys].toLatin1().data() << " --> "
|
---|
[8204] | 580 | << AC->name.toLatin1().data() << " "
|
---|
[7297] | 581 | << _resTime.datestr().c_str() << " "
|
---|
[3455] | 582 | << _resTime.timestr().c_str() << endl;
|
---|
[9258] | 583 | _masterOrbitAC[sys] = AC->name;
|
---|
[3455] | 584 | break;
|
---|
| 585 | }
|
---|
[3452] | 586 | }
|
---|
| 587 | }
|
---|
| 588 | }
|
---|
| 589 |
|
---|
[6157] | 590 | QMap<QString, cmbCorr*> resCorr;
|
---|
[3472] | 591 |
|
---|
| 592 | // Perform the actual Combination using selected Method
|
---|
| 593 | // ----------------------------------------------------
|
---|
| 594 | t_irc irc;
|
---|
[3475] | 595 | ColumnVector dx;
|
---|
[3472] | 596 | if (_method == filter) {
|
---|
[9258] | 597 | irc = processEpoch_filter(sys, out, resCorr, dx);
|
---|
[3472] | 598 | }
|
---|
| 599 | else {
|
---|
[9258] | 600 | irc = processEpoch_singleEpoch(sys, out, resCorr, dx);
|
---|
[3472] | 601 | }
|
---|
| 602 |
|
---|
[3475] | 603 | // Update Parameter Values, Print Results
|
---|
| 604 | // --------------------------------------
|
---|
[3472] | 605 | if (irc == success) {
|
---|
[9258] | 606 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 607 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3475] | 608 | pp->xx += dx(iPar);
|
---|
| 609 | if (pp->type == cmbParam::clkSat) {
|
---|
| 610 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
[6160] | 611 | resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
|
---|
[3475] | 612 | }
|
---|
| 613 | }
|
---|
[7297] | 614 | out << _resTime.datestr().c_str() << " "
|
---|
[3475] | 615 | << _resTime.timestr().c_str() << " ";
|
---|
| 616 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 617 | out.setFieldWidth(8);
|
---|
| 618 | out.setRealNumberPrecision(4);
|
---|
[9258] | 619 | out << pp->toString(sys) << " "
|
---|
| 620 | << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << endl;
|
---|
[3475] | 621 | out.setFieldWidth(0);
|
---|
| 622 | }
|
---|
[3472] | 623 | printResults(out, resCorr);
|
---|
| 624 | dumpResults(resCorr);
|
---|
| 625 | }
|
---|
| 626 |
|
---|
| 627 | // Delete Data, emit Message
|
---|
| 628 | // -------------------------
|
---|
[9258] | 629 | _buffer[sys].remove(_resTime);
|
---|
[3472] | 630 | emit newMessage(_log, false);
|
---|
| 631 | }
|
---|
| 632 |
|
---|
| 633 | // Process Epoch - Filter Method
|
---|
| 634 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 635 | t_irc bncComb::processEpoch_filter(char sys, QTextStream& out,
|
---|
[6157] | 636 | QMap<QString, cmbCorr*>& resCorr,
|
---|
[3475] | 637 | ColumnVector& dx) {
|
---|
[3472] | 638 |
|
---|
[3429] | 639 | // Prediction Step
|
---|
| 640 | // ---------------
|
---|
[9258] | 641 | int nPar = _params[sys].size();
|
---|
[2933] | 642 | ColumnVector x0(nPar);
|
---|
[9258] | 643 | for (int iPar = 1; iPar <= nPar; iPar++) {
|
---|
| 644 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3455] | 645 | if (pp->epoSpec) {
|
---|
[3451] | 646 | pp->xx = 0.0;
|
---|
[9258] | 647 | _QQ[sys].Row(iPar) = 0.0;
|
---|
| 648 | _QQ[sys].Column(iPar) = 0.0;
|
---|
| 649 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3451] | 650 | }
|
---|
[3455] | 651 | else {
|
---|
[9258] | 652 | _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
|
---|
[3455] | 653 | }
|
---|
[2933] | 654 | x0(iPar) = pp->xx;
|
---|
| 655 | }
|
---|
| 656 |
|
---|
[3487] | 657 | // Check Satellite Positions for Outliers
|
---|
| 658 | // --------------------------------------
|
---|
[9258] | 659 | if (checkOrbits(sys, out) != success) {
|
---|
[3487] | 660 | return failure;
|
---|
| 661 | }
|
---|
[3441] | 662 |
|
---|
[3455] | 663 | // Update and outlier detection loop
|
---|
| 664 | // ---------------------------------
|
---|
[9258] | 665 | SymmetricMatrix QQ_sav = _QQ[sys];
|
---|
[3455] | 666 | while (true) {
|
---|
[3135] | 667 |
|
---|
[3455] | 668 | Matrix AA;
|
---|
| 669 | ColumnVector ll;
|
---|
| 670 | DiagonalMatrix PP;
|
---|
[3429] | 671 |
|
---|
[9258] | 672 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
---|
[3472] | 673 | return failure;
|
---|
[3441] | 674 | }
|
---|
[2933] | 675 |
|
---|
[6169] | 676 | dx.ReSize(nPar); dx = 0.0;
|
---|
[9258] | 677 | kalman(AA, ll, PP, _QQ[sys], dx);
|
---|
[6164] | 678 |
|
---|
[3429] | 679 | ColumnVector vv = ll - AA * dx;
|
---|
[3080] | 680 |
|
---|
[3429] | 681 | int maxResIndex;
|
---|
[7297] | 682 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
[3429] | 683 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 684 | out.setRealNumberPrecision(3);
|
---|
[3429] | 685 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
[3432] | 686 | << " Maximum Residuum " << maxRes << ' '
|
---|
[9258] | 687 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
---|
[3432] | 688 | if (maxRes > _MAXRES) {
|
---|
[9258] | 689 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 690 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[7297] | 691 | if (pp->type == cmbParam::offACSat &&
|
---|
[9258] | 692 | pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
|
---|
| 693 | pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
|
---|
[3432] | 694 | QQ_sav.Row(iPar) = 0.0;
|
---|
| 695 | QQ_sav.Column(iPar) = 0.0;
|
---|
[3455] | 696 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3432] | 697 | }
|
---|
| 698 | }
|
---|
| 699 |
|
---|
| 700 | out << " Outlier" << endl;
|
---|
[9258] | 701 | _QQ[sys] = QQ_sav;
|
---|
| 702 | corrs(sys).remove(maxResIndex-1);
|
---|
[3432] | 703 | }
|
---|
| 704 | else {
|
---|
| 705 | out << " OK" << endl;
|
---|
[6330] | 706 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 707 | out.setRealNumberPrecision(4);
|
---|
[9258] | 708 | for (int ii = 0; ii < corrs(sys).size(); ii++) {
|
---|
| 709 | const cmbCorr* corr = corrs(sys)[ii];
|
---|
[6330] | 710 | out << _resTime.datestr().c_str() << ' '
|
---|
| 711 | << _resTime.timestr().c_str() << " "
|
---|
[6962] | 712 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
---|
[6330] | 713 | out.setFieldWidth(10);
|
---|
| 714 | out << " res = " << vv[ii] << endl;
|
---|
| 715 | out.setFieldWidth(0);
|
---|
| 716 | }
|
---|
[3432] | 717 | break;
|
---|
| 718 | }
|
---|
| 719 | }
|
---|
| 720 |
|
---|
[3472] | 721 | return success;
|
---|
[2918] | 722 | }
|
---|
[3011] | 723 |
|
---|
[3201] | 724 | // Print results
|
---|
[3011] | 725 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 726 | void bncComb::printResults(QTextStream& out,
|
---|
[6157] | 727 | const QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3011] | 728 |
|
---|
[6157] | 729 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
---|
[3011] | 730 | while (it.hasNext()) {
|
---|
| 731 | it.next();
|
---|
[6157] | 732 | cmbCorr* corr = it.value();
|
---|
| 733 | const t_eph* eph = corr->_eph;
|
---|
[3015] | 734 | if (eph) {
|
---|
[8542] | 735 | ColumnVector xc(6);
|
---|
[6109] | 736 | ColumnVector vv(3);
|
---|
[9268] | 737 | if (eph->getCrd(_resTime, xc, vv, false) != success) {
|
---|
| 738 | continue;
|
---|
| 739 | }
|
---|
[7297] | 740 | out << _resTime.datestr().c_str() << " "
|
---|
[3429] | 741 | << _resTime.timestr().c_str() << " ";
|
---|
[3015] | 742 | out.setFieldWidth(3);
|
---|
[6962] | 743 | out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
|
---|
[3015] | 744 | out.setFieldWidth(14);
|
---|
[6160] | 745 | out << (xc(4) + corr->_dClkResult) * t_CST::c << endl;
|
---|
[3370] | 746 | out.setFieldWidth(0);
|
---|
[3015] | 747 | }
|
---|
| 748 | else {
|
---|
| 749 | out << "bncComb::printResuls bug" << endl;
|
---|
| 750 | }
|
---|
[3011] | 751 | }
|
---|
| 752 | }
|
---|
[3202] | 753 |
|
---|
| 754 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
| 755 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6157] | 756 | void bncComb::dumpResults(const QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3202] | 757 |
|
---|
[6161] | 758 | QList<t_orbCorr> orbCorrections;
|
---|
| 759 | QList<t_clkCorr> clkCorrections;
|
---|
| 760 |
|
---|
[5337] | 761 | QString outLines;
|
---|
[3214] | 762 | unsigned year, month, day, hour, minute;
|
---|
| 763 | double sec;
|
---|
[3429] | 764 | _resTime.civil_date(year, month, day);
|
---|
| 765 | _resTime.civil_time(hour, minute, sec);
|
---|
[3214] | 766 |
|
---|
[7297] | 767 | outLines.sprintf("* %4d %2d %2d %d %d %12.8f\n",
|
---|
[5337] | 768 | year, month, day, hour, minute, sec);
|
---|
[3214] | 769 |
|
---|
[6157] | 770 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
---|
[3202] | 771 | while (it.hasNext()) {
|
---|
| 772 | it.next();
|
---|
[6157] | 773 | cmbCorr* corr = it.value();
|
---|
[3202] | 774 |
|
---|
[7013] | 775 | t_orbCorr orbCorr(corr->_orbCorr);
|
---|
| 776 | orbCorr._staID = "INTERNAL";
|
---|
| 777 | orbCorrections.push_back(orbCorr);
|
---|
| 778 |
|
---|
| 779 | t_clkCorr clkCorr(corr->_clkCorr);
|
---|
| 780 | clkCorr._staID = "INTERNAL";
|
---|
| 781 | clkCorr._dClk = corr->_dClkResult;
|
---|
| 782 | clkCorr._dotDClk = 0.0;
|
---|
| 783 | clkCorr._dotDotDClk = 0.0;
|
---|
| 784 | clkCorrections.push_back(clkCorr);
|
---|
| 785 |
|
---|
[8542] | 786 | ColumnVector xc(6);
|
---|
[4978] | 787 | ColumnVector vv(3);
|
---|
[7013] | 788 | corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
|
---|
| 789 | corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
|
---|
[9268] | 790 | if (corr->_eph->getCrd(_resTime, xc, vv, true) != success) {
|
---|
| 791 | delete corr;
|
---|
| 792 | continue;
|
---|
| 793 | }
|
---|
[7012] | 794 |
|
---|
[4978] | 795 | // Correction Phase Center --> CoM
|
---|
| 796 | // -------------------------------
|
---|
| 797 | ColumnVector dx(3); dx = 0.0;
|
---|
| 798 | if (_antex) {
|
---|
| 799 | double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
|
---|
[6157] | 800 | if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
|
---|
[4992] | 801 | dx = 0;
|
---|
[8204] | 802 | _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
|
---|
[3214] | 803 | }
|
---|
| 804 | }
|
---|
[7012] | 805 |
|
---|
| 806 | outLines += corr->_prn.mid(0,3);
|
---|
[5337] | 807 | QString hlp;
|
---|
| 808 | hlp.sprintf(" APC 3 %15.4f %15.4f %15.4f"
|
---|
| 809 | " Clk 1 %15.4f"
|
---|
| 810 | " Vel 3 %15.4f %15.4f %15.4f"
|
---|
| 811 | " CoM 3 %15.4f %15.4f %15.4f\n",
|
---|
[7012] | 812 | xc(1), xc(2), xc(3),
|
---|
| 813 | xc(4) * t_CST::c,
|
---|
[5337] | 814 | vv(1), vv(2), vv(3),
|
---|
| 815 | xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
|
---|
| 816 | outLines += hlp;
|
---|
| 817 |
|
---|
[4978] | 818 | QString line;
|
---|
[9025] | 819 | int messageType = _ssrCorr->COTYPE_GPSCOMBINED;
|
---|
[5564] | 820 | int updateInt = 0;
|
---|
[4978] | 821 | line.sprintf("%d %d %d %.1f %s"
|
---|
[7055] | 822 | " %lu"
|
---|
[4978] | 823 | " %8.3f %8.3f %8.3f %8.3f"
|
---|
| 824 | " %10.5f %10.5f %10.5f %10.5f"
|
---|
[5576] | 825 | " %10.5f INTERNAL",
|
---|
[4978] | 826 | messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
|
---|
[8204] | 827 | corr->_prn.mid(0,3).toLatin1().data(),
|
---|
[6157] | 828 | corr->_iod,
|
---|
[6160] | 829 | corr->_dClkResult * t_CST::c,
|
---|
[6159] | 830 | corr->_orbCorr._xr[0],
|
---|
| 831 | corr->_orbCorr._xr[1],
|
---|
| 832 | corr->_orbCorr._xr[2],
|
---|
[6157] | 833 | 0.0,
|
---|
[6159] | 834 | corr->_orbCorr._dotXr[0],
|
---|
| 835 | corr->_orbCorr._dotXr[1],
|
---|
| 836 | corr->_orbCorr._dotXr[2],
|
---|
[6157] | 837 | 0.0);
|
---|
[4978] | 838 |
|
---|
[3214] | 839 | delete corr;
|
---|
| 840 | }
|
---|
| 841 |
|
---|
[5337] | 842 | outLines += "EOE\n"; // End Of Epoch flag
|
---|
| 843 |
|
---|
[3215] | 844 | if (!_rtnetDecoder) {
|
---|
| 845 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
| 846 | }
|
---|
[3221] | 847 |
|
---|
[3215] | 848 | vector<string> errmsg;
|
---|
[8204] | 849 | _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
|
---|
[3215] | 850 |
|
---|
[5861] | 851 | // Send new Corrections to PPP etc.
|
---|
| 852 | // --------------------------------
|
---|
[6161] | 853 | if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
|
---|
| 854 | emit newOrbCorrections(orbCorrections);
|
---|
| 855 | emit newClkCorrections(clkCorrections);
|
---|
| 856 | }
|
---|
[3202] | 857 | }
|
---|
[3455] | 858 |
|
---|
| 859 | // Create First Design Matrix and Vector of Measurements
|
---|
| 860 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 861 | t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
| 862 | const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3455] | 863 |
|
---|
[9258] | 864 | unsigned nPar = _params[sys].size();
|
---|
| 865 | unsigned nObs = corrs(sys).size();
|
---|
[3455] | 866 |
|
---|
| 867 | if (nObs == 0) {
|
---|
| 868 | return failure;
|
---|
| 869 | }
|
---|
| 870 |
|
---|
[9258] | 871 | int maxSat = _cmbSysPrn[sys];
|
---|
[3455] | 872 |
|
---|
[9259] | 873 | const int nCon = (_method == filter) ? 1 + maxSat : 0;
|
---|
[3483] | 874 |
|
---|
[3455] | 875 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
| 876 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
| 877 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
| 878 |
|
---|
| 879 | int iObs = 0;
|
---|
[9258] | 880 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3455] | 881 | while (itCorr.hasNext()) {
|
---|
| 882 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 883 | QString prn = corr->_prn;
|
---|
[3487] | 884 |
|
---|
[3455] | 885 | ++iObs;
|
---|
| 886 |
|
---|
[9258] | 887 | if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
|
---|
[6157] | 888 | resCorr[prn] = new cmbCorr(*corr);
|
---|
[3455] | 889 | }
|
---|
| 890 |
|
---|
[9258] | 891 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 892 | cmbParam* pp = _params[sys][iPar-1];
|
---|
| 893 | AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
|
---|
[3455] | 894 | }
|
---|
| 895 |
|
---|
[6160] | 896 | ll(iObs) = corr->_clkCorr._dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
|
---|
[3455] | 897 | }
|
---|
| 898 |
|
---|
| 899 | // Regularization
|
---|
| 900 | // --------------
|
---|
[3474] | 901 | if (_method == filter) {
|
---|
| 902 | const double Ph = 1.e6;
|
---|
| 903 | PP(nObs+1) = Ph;
|
---|
[9258] | 904 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 905 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3465] | 906 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[3474] | 907 | pp->type == cmbParam::clkSat ) {
|
---|
| 908 | AA(nObs+1, iPar) = 1.0;
|
---|
[3455] | 909 | }
|
---|
| 910 | }
|
---|
[9258] | 911 | unsigned flag = 0;
|
---|
| 912 | if (sys == 'E') {
|
---|
| 913 | flag = 1;
|
---|
| 914 | }
|
---|
[9259] | 915 | if (sys == 'R') {
|
---|
| 916 | return success;
|
---|
| 917 | }
|
---|
| 918 | int iCond = 1;
|
---|
| 919 | // GNSS
|
---|
[9258] | 920 | for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
|
---|
| 921 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
|
---|
[3474] | 922 | ++iCond;
|
---|
| 923 | PP(nObs+iCond) = Ph;
|
---|
[9258] | 924 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 925 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[7299] | 926 | if ( pp &&
|
---|
| 927 | AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[7297] | 928 | pp->type == cmbParam::offACSat &&
|
---|
[3474] | 929 | pp->prn == prn) {
|
---|
| 930 | AA(nObs+iCond, iPar) = 1.0;
|
---|
| 931 | }
|
---|
| 932 | }
|
---|
| 933 | }
|
---|
[3455] | 934 | }
|
---|
| 935 |
|
---|
| 936 | return success;
|
---|
| 937 | }
|
---|
[3470] | 938 |
|
---|
| 939 | // Process Epoch - Single-Epoch Method
|
---|
| 940 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 941 | t_irc bncComb::processEpoch_singleEpoch(char sys, QTextStream& out,
|
---|
[6157] | 942 | QMap<QString, cmbCorr*>& resCorr,
|
---|
[3475] | 943 | ColumnVector& dx) {
|
---|
[3470] | 944 |
|
---|
[3487] | 945 | // Check Satellite Positions for Outliers
|
---|
| 946 | // --------------------------------------
|
---|
[9258] | 947 | if (checkOrbits(sys, out) != success) {
|
---|
[3487] | 948 | return failure;
|
---|
| 949 | }
|
---|
| 950 |
|
---|
[3482] | 951 | // Outlier Detection Loop
|
---|
| 952 | // ----------------------
|
---|
| 953 | while (true) {
|
---|
[7297] | 954 |
|
---|
[3482] | 955 | // Remove Satellites that are not in Master
|
---|
| 956 | // ----------------------------------------
|
---|
[9258] | 957 | QMutableVectorIterator<cmbCorr*> it(corrs(sys));
|
---|
[3482] | 958 | while (it.hasNext()) {
|
---|
| 959 | cmbCorr* corr = it.next();
|
---|
[6157] | 960 | QString prn = corr->_prn;
|
---|
[3482] | 961 | bool foundMaster = false;
|
---|
[9258] | 962 | QVectorIterator<cmbCorr*> itHlp(corrs(sys));
|
---|
[3482] | 963 | while (itHlp.hasNext()) {
|
---|
| 964 | cmbCorr* corrHlp = itHlp.next();
|
---|
[6157] | 965 | QString prnHlp = corrHlp->_prn;
|
---|
| 966 | QString ACHlp = corrHlp->_acName;
|
---|
[9258] | 967 | if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
|
---|
[3482] | 968 | foundMaster = true;
|
---|
| 969 | break;
|
---|
| 970 | }
|
---|
[3476] | 971 | }
|
---|
[3482] | 972 | if (!foundMaster) {
|
---|
[3556] | 973 | delete corr;
|
---|
[3482] | 974 | it.remove();
|
---|
| 975 | }
|
---|
[3473] | 976 | }
|
---|
[7297] | 977 |
|
---|
[3482] | 978 | // Count Number of Observations per Satellite and per AC
|
---|
| 979 | // -----------------------------------------------------
|
---|
| 980 | QMap<QString, int> numObsPrn;
|
---|
| 981 | QMap<QString, int> numObsAC;
|
---|
[9258] | 982 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3482] | 983 | while (itCorr.hasNext()) {
|
---|
| 984 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 985 | QString prn = corr->_prn;
|
---|
| 986 | QString AC = corr->_acName;
|
---|
[3482] | 987 | if (numObsPrn.find(prn) == numObsPrn.end()) {
|
---|
| 988 | numObsPrn[prn] = 1;
|
---|
| 989 | }
|
---|
| 990 | else {
|
---|
| 991 | numObsPrn[prn] += 1;
|
---|
| 992 | }
|
---|
| 993 | if (numObsAC.find(AC) == numObsAC.end()) {
|
---|
| 994 | numObsAC[AC] = 1;
|
---|
| 995 | }
|
---|
| 996 | else {
|
---|
| 997 | numObsAC[AC] += 1;
|
---|
| 998 | }
|
---|
[3476] | 999 | }
|
---|
[7297] | 1000 |
|
---|
[9258] | 1001 | // Clean-Up the Parameters
|
---|
| 1002 | // -----------------------
|
---|
| 1003 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 1004 | delete _params[sys][iPar-1];
|
---|
[3474] | 1005 | }
|
---|
[9258] | 1006 | _params[sys].clear();
|
---|
[7297] | 1007 |
|
---|
[3482] | 1008 | // Set new Parameters
|
---|
| 1009 | // ------------------
|
---|
| 1010 | int nextPar = 0;
|
---|
[7297] | 1011 |
|
---|
[3482] | 1012 | QMapIterator<QString, int> itAC(numObsAC);
|
---|
| 1013 | while (itAC.hasNext()) {
|
---|
| 1014 | itAC.next();
|
---|
| 1015 | const QString& AC = itAC.key();
|
---|
| 1016 | int numObs = itAC.value();
|
---|
[9258] | 1017 | if (AC != _masterOrbitAC[sys] && numObs > 0) {
|
---|
| 1018 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
|
---|
[3482] | 1019 | }
|
---|
[7297] | 1020 | }
|
---|
| 1021 |
|
---|
[3482] | 1022 | QMapIterator<QString, int> itPrn(numObsPrn);
|
---|
| 1023 | while (itPrn.hasNext()) {
|
---|
| 1024 | itPrn.next();
|
---|
| 1025 | const QString& prn = itPrn.key();
|
---|
| 1026 | int numObs = itPrn.value();
|
---|
| 1027 | if (numObs > 0) {
|
---|
[9258] | 1028 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
---|
[3482] | 1029 | }
|
---|
[7297] | 1030 | }
|
---|
| 1031 |
|
---|
[9258] | 1032 | int nPar = _params[sys].size();
|
---|
[7297] | 1033 | ColumnVector x0(nPar);
|
---|
[3482] | 1034 | x0 = 0.0;
|
---|
[7297] | 1035 |
|
---|
[3482] | 1036 | // Create First-Design Matrix
|
---|
| 1037 | // --------------------------
|
---|
| 1038 | Matrix AA;
|
---|
| 1039 | ColumnVector ll;
|
---|
| 1040 | DiagonalMatrix PP;
|
---|
[9258] | 1041 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
---|
[3482] | 1042 | return failure;
|
---|
[3476] | 1043 | }
|
---|
[7297] | 1044 |
|
---|
[3482] | 1045 | ColumnVector vv;
|
---|
| 1046 | try {
|
---|
| 1047 | Matrix ATP = AA.t() * PP;
|
---|
| 1048 | SymmetricMatrix NN; NN << ATP * AA;
|
---|
| 1049 | ColumnVector bb = ATP * ll;
|
---|
[9258] | 1050 | _QQ[sys] = NN.i();
|
---|
| 1051 | dx = _QQ[sys] * bb;
|
---|
[3482] | 1052 | vv = ll - AA * dx;
|
---|
[3476] | 1053 | }
|
---|
[3482] | 1054 | catch (Exception& exc) {
|
---|
| 1055 | out << exc.what() << endl;
|
---|
| 1056 | return failure;
|
---|
[3476] | 1057 | }
|
---|
[3474] | 1058 |
|
---|
[3482] | 1059 | int maxResIndex;
|
---|
[7297] | 1060 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
[3482] | 1061 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 1062 | out.setRealNumberPrecision(3);
|
---|
[3482] | 1063 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
| 1064 | << " Maximum Residuum " << maxRes << ' '
|
---|
[9258] | 1065 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
---|
[3474] | 1066 |
|
---|
[3482] | 1067 | if (maxRes > _MAXRES) {
|
---|
| 1068 | out << " Outlier" << endl;
|
---|
[9258] | 1069 | delete corrs(sys)[maxResIndex-1];
|
---|
| 1070 | corrs(sys).remove(maxResIndex-1);
|
---|
[3474] | 1071 | }
|
---|
[3482] | 1072 | else {
|
---|
| 1073 | out << " OK" << endl;
|
---|
| 1074 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 1075 | out.setRealNumberPrecision(3);
|
---|
[3482] | 1076 | for (int ii = 0; ii < vv.Nrows(); ii++) {
|
---|
[9258] | 1077 | const cmbCorr* corr = corrs(sys)[ii];
|
---|
[7297] | 1078 | out << _resTime.datestr().c_str() << ' '
|
---|
[3482] | 1079 | << _resTime.timestr().c_str() << " "
|
---|
[6962] | 1080 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
---|
[3482] | 1081 | out.setFieldWidth(6);
|
---|
[6330] | 1082 | out << " res = " << vv[ii] << endl;
|
---|
[3482] | 1083 | out.setFieldWidth(0);
|
---|
| 1084 | }
|
---|
| 1085 | return success;
|
---|
[3474] | 1086 | }
|
---|
| 1087 |
|
---|
[3473] | 1088 | }
|
---|
[3474] | 1089 |
|
---|
[3482] | 1090 | return failure;
|
---|
[3470] | 1091 | }
|
---|
[3487] | 1092 |
|
---|
| 1093 | // Check Satellite Positions for Outliers
|
---|
| 1094 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 1095 | t_irc bncComb::checkOrbits(char sys, QTextStream& out) {
|
---|
[3487] | 1096 |
|
---|
[3489] | 1097 | const double MAX_DISPLACEMENT = 0.20;
|
---|
[3488] | 1098 |
|
---|
[3502] | 1099 | // Switch to last ephemeris (if possible)
|
---|
| 1100 | // --------------------------------------
|
---|
[9258] | 1101 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
---|
[3501] | 1102 | while (im.hasNext()) {
|
---|
| 1103 | cmbCorr* corr = im.next();
|
---|
[6157] | 1104 | QString prn = corr->_prn;
|
---|
[6443] | 1105 |
|
---|
[7012] | 1106 | t_eph* ephLast = _ephUser.ephLast(prn);
|
---|
| 1107 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
---|
[6443] | 1108 |
|
---|
| 1109 | if (ephLast == 0) {
|
---|
[6962] | 1110 | out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << endl;
|
---|
[3556] | 1111 | delete corr;
|
---|
[3501] | 1112 | im.remove();
|
---|
| 1113 | }
|
---|
[6157] | 1114 | else if (corr->_eph == 0) {
|
---|
[6962] | 1115 | out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << endl;
|
---|
[3556] | 1116 | delete corr;
|
---|
[3503] | 1117 | im.remove();
|
---|
| 1118 | }
|
---|
[3502] | 1119 | else {
|
---|
[6443] | 1120 | if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
|
---|
| 1121 | switchToLastEph(ephLast, corr);
|
---|
[3502] | 1122 | }
|
---|
| 1123 | else {
|
---|
[6962] | 1124 | out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << endl;
|
---|
[3556] | 1125 | delete corr;
|
---|
[3502] | 1126 | im.remove();
|
---|
| 1127 | }
|
---|
| 1128 | }
|
---|
[3501] | 1129 | }
|
---|
| 1130 |
|
---|
[3488] | 1131 | while (true) {
|
---|
| 1132 |
|
---|
| 1133 | // Compute Mean Corrections for all Satellites
|
---|
| 1134 | // -------------------------------------------
|
---|
[3489] | 1135 | QMap<QString, int> numCorr;
|
---|
[3488] | 1136 | QMap<QString, ColumnVector> meanRao;
|
---|
[9258] | 1137 | QVectorIterator<cmbCorr*> it(corrs(sys));
|
---|
[3488] | 1138 | while (it.hasNext()) {
|
---|
| 1139 | cmbCorr* corr = it.next();
|
---|
[6157] | 1140 | QString prn = corr->_prn;
|
---|
[3488] | 1141 | if (meanRao.find(prn) == meanRao.end()) {
|
---|
| 1142 | meanRao[prn].ReSize(4);
|
---|
[6159] | 1143 | meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
|
---|
[7297] | 1144 | meanRao[prn](4) = 1;
|
---|
[3488] | 1145 | }
|
---|
| 1146 | else {
|
---|
[6159] | 1147 | meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
|
---|
[7297] | 1148 | meanRao[prn](4) += 1;
|
---|
[3488] | 1149 | }
|
---|
[3489] | 1150 | if (numCorr.find(prn) == numCorr.end()) {
|
---|
| 1151 | numCorr[prn] = 1;
|
---|
| 1152 | }
|
---|
| 1153 | else {
|
---|
| 1154 | numCorr[prn] += 1;
|
---|
| 1155 | }
|
---|
[3487] | 1156 | }
|
---|
[7297] | 1157 |
|
---|
[9258] | 1158 | // Compute Differences wrt. Mean, find Maximum
|
---|
| 1159 | // -------------------------------------------
|
---|
[3488] | 1160 | QMap<QString, cmbCorr*> maxDiff;
|
---|
| 1161 | it.toFront();
|
---|
| 1162 | while (it.hasNext()) {
|
---|
| 1163 | cmbCorr* corr = it.next();
|
---|
[6157] | 1164 | QString prn = corr->_prn;
|
---|
[3488] | 1165 | if (meanRao[prn](4) != 0) {
|
---|
| 1166 | meanRao[prn] /= meanRao[prn](4);
|
---|
| 1167 | meanRao[prn](4) = 0;
|
---|
| 1168 | }
|
---|
[6159] | 1169 | corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
|
---|
[3488] | 1170 | if (maxDiff.find(prn) == maxDiff.end()) {
|
---|
| 1171 | maxDiff[prn] = corr;
|
---|
| 1172 | }
|
---|
| 1173 | else {
|
---|
[8901] | 1174 | double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
|
---|
| 1175 | double norm = corr->_diffRao.NormFrobenius();
|
---|
[3488] | 1176 | if (norm > normMax) {
|
---|
| 1177 | maxDiff[prn] = corr;
|
---|
| 1178 | }
|
---|
[7297] | 1179 | }
|
---|
[3487] | 1180 | }
|
---|
[7297] | 1181 |
|
---|
[3655] | 1182 | if (_ACs.size() == 1) {
|
---|
| 1183 | break;
|
---|
| 1184 | }
|
---|
| 1185 |
|
---|
[3488] | 1186 | // Remove Outliers
|
---|
| 1187 | // ---------------
|
---|
| 1188 | bool removed = false;
|
---|
[9258] | 1189 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
---|
[3488] | 1190 | while (im.hasNext()) {
|
---|
| 1191 | cmbCorr* corr = im.next();
|
---|
[6157] | 1192 | QString prn = corr->_prn;
|
---|
[3489] | 1193 | if (numCorr[prn] < 2) {
|
---|
[3556] | 1194 | delete corr;
|
---|
[3489] | 1195 | im.remove();
|
---|
| 1196 | }
|
---|
| 1197 | else if (corr == maxDiff[prn]) {
|
---|
[8901] | 1198 | double norm = corr->_diffRao.NormFrobenius();
|
---|
[3488] | 1199 | if (norm > MAX_DISPLACEMENT) {
|
---|
[3497] | 1200 | out << _resTime.datestr().c_str() << " "
|
---|
| 1201 | << _resTime.timestr().c_str() << " "
|
---|
[7297] | 1202 | << "Orbit Outlier: "
|
---|
[8204] | 1203 | << corr->_acName.toLatin1().data() << " "
|
---|
| 1204 | << prn.mid(0,3).toLatin1().data() << " "
|
---|
[7297] | 1205 | << corr->_iod << " "
|
---|
[6157] | 1206 | << norm << endl;
|
---|
[3556] | 1207 | delete corr;
|
---|
[3488] | 1208 | im.remove();
|
---|
| 1209 | removed = true;
|
---|
| 1210 | }
|
---|
| 1211 | }
|
---|
[3487] | 1212 | }
|
---|
[7297] | 1213 |
|
---|
[3488] | 1214 | if (!removed) {
|
---|
| 1215 | break;
|
---|
| 1216 | }
|
---|
[3487] | 1217 | }
|
---|
| 1218 |
|
---|
| 1219 | return success;
|
---|
| 1220 | }
|
---|
[3588] | 1221 |
|
---|
[7297] | 1222 | //
|
---|
[3588] | 1223 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5583] | 1224 | void bncComb::slotProviderIDChanged(QString mountPoint) {
|
---|
| 1225 | QMutexLocker locker(&_mutex);
|
---|
| 1226 |
|
---|
[8065] | 1227 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 1228 |
|
---|
[5583] | 1229 | // Find the AC Name
|
---|
| 1230 | // ----------------
|
---|
| 1231 | QString acName;
|
---|
| 1232 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 1233 | while (icAC.hasNext()) {
|
---|
| 1234 | cmbAC* AC = icAC.next();
|
---|
| 1235 | if (AC->mountPoint == mountPoint) {
|
---|
| 1236 | acName = AC->name;
|
---|
[8204] | 1237 | out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
|
---|
[8065] | 1238 | << _resTime.datestr().c_str() << " "
|
---|
| 1239 | << _resTime.timestr().c_str() << endl;
|
---|
[5583] | 1240 | break;
|
---|
| 1241 | }
|
---|
| 1242 | }
|
---|
| 1243 | if (acName.isEmpty()) {
|
---|
| 1244 | return;
|
---|
| 1245 | }
|
---|
[9258] | 1246 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
---|
| 1247 | while (itSys.hasNext()) {
|
---|
| 1248 | itSys.next();
|
---|
| 1249 | char sys = itSys.key();
|
---|
| 1250 | // Remove all corrections of the corresponding AC
|
---|
| 1251 | // ----------------------------------------------
|
---|
| 1252 | QListIterator<bncTime> itTime(_buffer[sys].keys());
|
---|
| 1253 | while (itTime.hasNext()) {
|
---|
| 1254 | bncTime epoTime = itTime.next();
|
---|
| 1255 | QVector<cmbCorr*>& corrVec = _buffer[sys][epoTime].corrs;
|
---|
| 1256 | QMutableVectorIterator<cmbCorr*> it(corrVec);
|
---|
| 1257 | while (it.hasNext()) {
|
---|
| 1258 | cmbCorr* corr = it.next();
|
---|
| 1259 | if (acName == corr->_acName) {
|
---|
| 1260 | delete corr;
|
---|
| 1261 | it.remove();
|
---|
| 1262 | }
|
---|
[5583] | 1263 | }
|
---|
| 1264 | }
|
---|
[5585] | 1265 |
|
---|
[9258] | 1266 | // Reset Satellite Offsets
|
---|
| 1267 | // -----------------------
|
---|
| 1268 | if (_method == filter) {
|
---|
| 1269 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 1270 | cmbParam* pp = _params[sys][iPar-1];
|
---|
| 1271 | if (pp->AC == acName && pp->type == cmbParam::offACSat) {
|
---|
| 1272 | pp->xx = 0.0;
|
---|
| 1273 | _QQ[sys].Row(iPar) = 0.0;
|
---|
| 1274 | _QQ[sys].Column(iPar) = 0.0;
|
---|
| 1275 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
| 1276 | }
|
---|
[5585] | 1277 | }
|
---|
| 1278 | }
|
---|
| 1279 | }
|
---|
[5583] | 1280 | }
|
---|