[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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[9296] | 329 | char sys = orbCorr._prn.system();
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[6155] | 330 |
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[9296] | 331 | if (!_cmbSysPrn.contains(sys)){
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| 332 | continue;
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| 333 | }
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| 334 |
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[6155] | 335 | // Find/Check the AC Name
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| 336 | // ----------------------
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| 337 | QString acName;
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| 338 | QListIterator<cmbAC*> icAC(_ACs);
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| 339 | while (icAC.hasNext()) {
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| 340 | cmbAC* AC = icAC.next();
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| 341 | if (AC->mountPoint == staID) {
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| 342 | acName = AC->name;
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| 343 | break;
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| 344 | }
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[3431] | 345 | }
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[6155] | 346 | if (acName.isEmpty()) {
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| 347 | continue;
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| 348 | }
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[3431] | 349 |
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[6155] | 350 | // Store the correction
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| 351 | // --------------------
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| 352 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
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| 353 | storage[orbCorr._prn] = orbCorr;
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[2913] | 354 | }
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[6155] | 355 | }
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[2913] | 356 |
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[9529] | 357 | // Remember satllite code biases
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| 358 | ////////////////////////////////////////////////////////////////////////////
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[9530] | 359 | void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
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[9529] | 360 | QMutexLocker locker(&_mutex);
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| 361 |
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[9530] | 362 | for (int ii = 0; ii < satCodeBiases.size(); ii++) {
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| 363 | t_satCodeBias& satCodeBias = satCodeBiases[ii];
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| 364 | QString staID(satCodeBias._staID.c_str());
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| 365 | QString prn(satCodeBias._prn.toInternalString().c_str());
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| 366 | char sys = satCodeBias._prn.system();
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[9529] | 367 |
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| 368 | if (!_cmbSysPrn.contains(sys)){
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| 369 | continue;
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| 370 | }
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| 371 |
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| 372 | // Find/Check the AC Name
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| 373 | // ----------------------
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| 374 | QString acName;
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| 375 | QListIterator<cmbAC*> icAC(_ACs);
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| 376 | while (icAC.hasNext()) {
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| 377 | cmbAC* AC = icAC.next();
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| 378 | if (AC->mountPoint == staID) {
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| 379 | acName = AC->name;
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| 380 | break;
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| 381 | }
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| 382 | }
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| 383 | if (acName.isEmpty()) {
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| 384 | continue;
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| 385 | }
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| 386 |
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| 387 | // Store the correction
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| 388 | // --------------------
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| 389 | QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
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[9530] | 390 | storage[satCodeBias._prn] = satCodeBias;
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[9529] | 391 | }
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| 392 | }
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| 393 |
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[6155] | 394 | // Process clock corrections
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| 395 | ////////////////////////////////////////////////////////////////////////////
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| 396 | void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
|
---|
| 397 | QMutexLocker locker(&_mutex);
|
---|
| 398 |
|
---|
| 399 | bncTime lastTime;
|
---|
| 400 |
|
---|
| 401 | for (int ii = 0; ii < clkCorrections.size(); ii++) {
|
---|
| 402 | t_clkCorr& clkCorr = clkCorrections[ii];
|
---|
| 403 | QString staID(clkCorr._staID.c_str());
|
---|
[6961] | 404 | QString prn(clkCorr._prn.toInternalString().c_str());
|
---|
[9258] | 405 | char sys = clkCorr._prn.system();
|
---|
[6155] | 406 |
|
---|
[9296] | 407 | if (!_cmbSysPrn.contains(sys)){
|
---|
| 408 | continue;
|
---|
| 409 | }
|
---|
| 410 |
|
---|
[6155] | 411 | // Set the last time
|
---|
| 412 | // -----------------
|
---|
| 413 | if (lastTime.undef() || clkCorr._time > lastTime) {
|
---|
| 414 | lastTime = clkCorr._time;
|
---|
[3483] | 415 | }
|
---|
| 416 |
|
---|
[6155] | 417 | // Find/Check the AC Name
|
---|
| 418 | // ----------------------
|
---|
| 419 | QString acName;
|
---|
| 420 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 421 | while (icAC.hasNext()) {
|
---|
| 422 | cmbAC* AC = icAC.next();
|
---|
| 423 | if (AC->mountPoint == staID) {
|
---|
| 424 | acName = AC->name;
|
---|
| 425 | break;
|
---|
| 426 | }
|
---|
[3588] | 427 | }
|
---|
[6155] | 428 | if (acName.isEmpty()) {
|
---|
| 429 | continue;
|
---|
| 430 | }
|
---|
[3588] | 431 |
|
---|
[6155] | 432 | // Check Modulo Time
|
---|
| 433 | // -----------------
|
---|
[8447] | 434 | int sec = int(nint(clkCorr._time.gpssec()*10));
|
---|
| 435 | if (sec % (_cmbSampl*10) != 0.0) {
|
---|
[6155] | 436 | continue;
|
---|
| 437 | }
|
---|
[3274] | 438 |
|
---|
[6155] | 439 | // Check Correction Age
|
---|
| 440 | // --------------------
|
---|
| 441 | if (_resTime.valid() && clkCorr._time <= _resTime) {
|
---|
[8204] | 442 | emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + prn.mid(0,3).toLatin1(), true);
|
---|
[6155] | 443 | continue;
|
---|
| 444 | }
|
---|
[7297] | 445 |
|
---|
[6155] | 446 | // Create new correction
|
---|
| 447 | // ---------------------
|
---|
| 448 | cmbCorr* newCorr = new cmbCorr();
|
---|
[6157] | 449 | newCorr->_prn = prn;
|
---|
[6155] | 450 | newCorr->_time = clkCorr._time;
|
---|
| 451 | newCorr->_iod = clkCorr._iod;
|
---|
| 452 | newCorr->_acName = acName;
|
---|
[6159] | 453 | newCorr->_clkCorr = clkCorr;
|
---|
[6155] | 454 |
|
---|
[6156] | 455 | // Check orbit correction
|
---|
| 456 | // ----------------------
|
---|
| 457 | if (!_orbCorrections.contains(acName)) {
|
---|
| 458 | delete newCorr;
|
---|
| 459 | continue;
|
---|
| 460 | }
|
---|
| 461 | else {
|
---|
| 462 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
|
---|
[9258] | 463 | if (!storage.contains(clkCorr._prn) ||
|
---|
| 464 | storage[clkCorr._prn]._iod != newCorr->_iod) {
|
---|
[6156] | 465 | delete newCorr;
|
---|
| 466 | continue;
|
---|
| 467 | }
|
---|
| 468 | else {
|
---|
[6159] | 469 | newCorr->_orbCorr = storage[clkCorr._prn];
|
---|
[6156] | 470 | }
|
---|
| 471 | }
|
---|
| 472 |
|
---|
[9529] | 473 | // Check satellite code biases
|
---|
| 474 | // ----------------------------
|
---|
| 475 | if (!_satCodeBiases.contains(acName)) {
|
---|
| 476 | delete newCorr;
|
---|
| 477 | continue;
|
---|
| 478 | }
|
---|
| 479 | else {
|
---|
| 480 | QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
|
---|
| 481 | if (!storage.contains(clkCorr._prn)) {
|
---|
| 482 | delete newCorr;
|
---|
| 483 | continue;
|
---|
| 484 | }
|
---|
| 485 | else {
|
---|
| 486 | newCorr->_satCodeBias = storage[clkCorr._prn];
|
---|
| 487 | }
|
---|
| 488 | }
|
---|
| 489 |
|
---|
[6155] | 490 | // Check the Ephemeris
|
---|
| 491 | //--------------------
|
---|
[7012] | 492 | t_eph* ephLast = _ephUser.ephLast(prn);
|
---|
| 493 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
---|
[6443] | 494 | if (ephLast == 0) {
|
---|
[9265] | 495 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
|
---|
[6155] | 496 | delete newCorr;
|
---|
| 497 | continue;
|
---|
[2986] | 498 | }
|
---|
[9268] | 499 | else if (ephLast->checkState() == t_eph::bad ||
|
---|
| 500 | ephLast->checkState() == t_eph::outdated ||
|
---|
| 501 | ephLast->checkState() == t_eph::unhealthy) {
|
---|
| 502 | emit newMessage("bncComb: ephLast not ok for " + prn.mid(0,3).toLatin1(), true);
|
---|
[9266] | 503 | delete newCorr;
|
---|
| 504 | continue;
|
---|
| 505 | }
|
---|
[3029] | 506 | else {
|
---|
[6443] | 507 | if (ephLast->IOD() == newCorr->_iod) {
|
---|
| 508 | newCorr->_eph = ephLast;
|
---|
[6155] | 509 | }
|
---|
[9268] | 510 | else if (ephPrev && ephPrev->checkState() == t_eph::ok &&
|
---|
| 511 | ephPrev->IOD() == newCorr->_iod) {
|
---|
[6443] | 512 | newCorr->_eph = ephPrev;
|
---|
| 513 | switchToLastEph(ephLast, newCorr);
|
---|
[6155] | 514 | }
|
---|
| 515 | else {
|
---|
[9265] | 516 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
|
---|
| 517 | QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true);
|
---|
[6155] | 518 | delete newCorr;
|
---|
| 519 | continue;
|
---|
| 520 | }
|
---|
[2986] | 521 | }
|
---|
[6155] | 522 |
|
---|
| 523 | // Store correction into the buffer
|
---|
| 524 | // --------------------------------
|
---|
[9258] | 525 | QVector<cmbCorr*>& corrs = _buffer[sys][newCorr->_time].corrs;
|
---|
[6155] | 526 | corrs.push_back(newCorr);
|
---|
[2986] | 527 | }
|
---|
| 528 |
|
---|
[3435] | 529 | // Process previous Epoch(s)
|
---|
| 530 | // -------------------------
|
---|
[7392] | 531 | const double outWait = 1.0 * _cmbSampl;
|
---|
[9258] | 532 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
---|
| 533 | while (itSys.hasNext()) {
|
---|
| 534 | itSys.next();
|
---|
| 535 | char sys = itSys.key();
|
---|
| 536 | QListIterator<bncTime> itTime(_buffer[sys].keys());
|
---|
| 537 | while (itTime.hasNext()) {
|
---|
| 538 | bncTime epoTime = itTime.next();
|
---|
| 539 | if (epoTime < lastTime - outWait) {
|
---|
| 540 | _resTime = epoTime;
|
---|
| 541 | processEpoch(sys);
|
---|
| 542 | }
|
---|
[3435] | 543 | }
|
---|
[2927] | 544 | }
|
---|
[2898] | 545 | }
|
---|
| 546 |
|
---|
[7297] | 547 | // Change the correction so that it refers to last received ephemeris
|
---|
[2986] | 548 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7012] | 549 | void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
|
---|
[3028] | 550 |
|
---|
[6155] | 551 | if (corr->_eph == lastEph) {
|
---|
[3429] | 552 | return;
|
---|
| 553 | }
|
---|
[9266] | 554 |
|
---|
[8542] | 555 | ColumnVector oldXC(6);
|
---|
[2987] | 556 | ColumnVector oldVV(3);
|
---|
[9266] | 557 | if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
|
---|
| 558 | return;
|
---|
| 559 | }
|
---|
[2988] | 560 |
|
---|
[8542] | 561 | ColumnVector newXC(6);
|
---|
[2987] | 562 | ColumnVector newVV(3);
|
---|
[9266] | 563 | if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
|
---|
| 564 | return;
|
---|
| 565 | }
|
---|
[2988] | 566 |
|
---|
| 567 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
|
---|
[2989] | 568 | ColumnVector dV = newVV - oldVV;
|
---|
| 569 | double dC = newXC(4) - oldXC(4);
|
---|
[9266] | 570 |
|
---|
[2988] | 571 | ColumnVector dRAO(3);
|
---|
| 572 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
|
---|
[2989] | 573 |
|
---|
| 574 | ColumnVector dDotRAO(3);
|
---|
| 575 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
|
---|
| 576 |
|
---|
[6963] | 577 | QString msg = "switch corr " + corr->_prn.mid(0,3)
|
---|
[6155] | 578 | + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
[3013] | 579 |
|
---|
[8204] | 580 | emit newMessage(msg.toLatin1(), false);
|
---|
[3028] | 581 |
|
---|
[6155] | 582 | corr->_iod = lastEph->IOD();
|
---|
| 583 | corr->_eph = lastEph;
|
---|
| 584 |
|
---|
[6159] | 585 | corr->_orbCorr._xr += dRAO;
|
---|
| 586 | corr->_orbCorr._dotXr += dDotRAO;
|
---|
| 587 | corr->_clkCorr._dClk -= dC;
|
---|
[2986] | 588 | }
|
---|
| 589 |
|
---|
[3429] | 590 | // Process Epoch
|
---|
[2928] | 591 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 592 | void bncComb::processEpoch(char sys) {
|
---|
[2918] | 593 |
|
---|
[2990] | 594 | _log.clear();
|
---|
| 595 |
|
---|
| 596 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 597 |
|
---|
[9258] | 598 | out << endl << "Combination: " << sys << endl
|
---|
| 599 | << "--------------------------------" << endl;
|
---|
[2990] | 600 |
|
---|
[3433] | 601 | // Observation Statistics
|
---|
| 602 | // ----------------------
|
---|
[3455] | 603 | bool masterPresent = false;
|
---|
[3433] | 604 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 605 | while (icAC.hasNext()) {
|
---|
| 606 | cmbAC* AC = icAC.next();
|
---|
[9258] | 607 | AC->numObs[sys] = 0;
|
---|
| 608 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3433] | 609 | while (itCorr.hasNext()) {
|
---|
| 610 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 611 | if (corr->_acName == AC->name) {
|
---|
[9258] | 612 | AC->numObs[sys] += 1;
|
---|
| 613 | if (AC->name == _masterOrbitAC[sys]) {
|
---|
[3453] | 614 | masterPresent = true;
|
---|
| 615 | }
|
---|
[3433] | 616 | }
|
---|
| 617 | }
|
---|
[9258] | 618 | out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << endl;
|
---|
[3433] | 619 | }
|
---|
| 620 |
|
---|
[3453] | 621 | // If Master not present, switch to another one
|
---|
| 622 | // --------------------------------------------
|
---|
[4889] | 623 | const unsigned switchMasterAfterGap = 1;
|
---|
[3456] | 624 | if (masterPresent) {
|
---|
[9258] | 625 | _masterMissingEpochs[sys] = 0;
|
---|
[3456] | 626 | }
|
---|
| 627 | else {
|
---|
[9258] | 628 | ++_masterMissingEpochs[sys];
|
---|
| 629 | if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
|
---|
[3457] | 630 | out << "Missing Master, Epoch skipped" << endl;
|
---|
[9258] | 631 | _buffer[sys].remove(_resTime);
|
---|
[3455] | 632 | emit newMessage(_log, false);
|
---|
| 633 | return;
|
---|
[3453] | 634 | }
|
---|
[3455] | 635 | else {
|
---|
[9258] | 636 | _masterMissingEpochs[sys] = 0;
|
---|
[3455] | 637 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 638 | while (icAC.hasNext()) {
|
---|
| 639 | cmbAC* AC = icAC.next();
|
---|
[9258] | 640 | if (AC->numObs[sys] > 0) {
|
---|
[3455] | 641 | out << "Switching Master AC "
|
---|
[9258] | 642 | << _masterOrbitAC[sys].toLatin1().data() << " --> "
|
---|
[8204] | 643 | << AC->name.toLatin1().data() << " "
|
---|
[7297] | 644 | << _resTime.datestr().c_str() << " "
|
---|
[3455] | 645 | << _resTime.timestr().c_str() << endl;
|
---|
[9258] | 646 | _masterOrbitAC[sys] = AC->name;
|
---|
[3455] | 647 | break;
|
---|
| 648 | }
|
---|
[3452] | 649 | }
|
---|
| 650 | }
|
---|
| 651 | }
|
---|
| 652 |
|
---|
[6157] | 653 | QMap<QString, cmbCorr*> resCorr;
|
---|
[3472] | 654 |
|
---|
| 655 | // Perform the actual Combination using selected Method
|
---|
| 656 | // ----------------------------------------------------
|
---|
| 657 | t_irc irc;
|
---|
[3475] | 658 | ColumnVector dx;
|
---|
[3472] | 659 | if (_method == filter) {
|
---|
[9258] | 660 | irc = processEpoch_filter(sys, out, resCorr, dx);
|
---|
[3472] | 661 | }
|
---|
| 662 | else {
|
---|
[9258] | 663 | irc = processEpoch_singleEpoch(sys, out, resCorr, dx);
|
---|
[3472] | 664 | }
|
---|
| 665 |
|
---|
[3475] | 666 | // Update Parameter Values, Print Results
|
---|
| 667 | // --------------------------------------
|
---|
[3472] | 668 | if (irc == success) {
|
---|
[9258] | 669 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 670 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3475] | 671 | pp->xx += dx(iPar);
|
---|
| 672 | if (pp->type == cmbParam::clkSat) {
|
---|
| 673 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
[6160] | 674 | resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
|
---|
[3475] | 675 | }
|
---|
| 676 | }
|
---|
[7297] | 677 | out << _resTime.datestr().c_str() << " "
|
---|
[3475] | 678 | << _resTime.timestr().c_str() << " ";
|
---|
| 679 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 680 | out.setFieldWidth(8);
|
---|
| 681 | out.setRealNumberPrecision(4);
|
---|
[9258] | 682 | out << pp->toString(sys) << " "
|
---|
| 683 | << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << endl;
|
---|
[3475] | 684 | out.setFieldWidth(0);
|
---|
| 685 | }
|
---|
[3472] | 686 | printResults(out, resCorr);
|
---|
| 687 | dumpResults(resCorr);
|
---|
| 688 | }
|
---|
| 689 |
|
---|
| 690 | // Delete Data, emit Message
|
---|
| 691 | // -------------------------
|
---|
[9258] | 692 | _buffer[sys].remove(_resTime);
|
---|
[3472] | 693 | emit newMessage(_log, false);
|
---|
| 694 | }
|
---|
| 695 |
|
---|
| 696 | // Process Epoch - Filter Method
|
---|
| 697 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 698 | t_irc bncComb::processEpoch_filter(char sys, QTextStream& out,
|
---|
[6157] | 699 | QMap<QString, cmbCorr*>& resCorr,
|
---|
[3475] | 700 | ColumnVector& dx) {
|
---|
[3472] | 701 |
|
---|
[3429] | 702 | // Prediction Step
|
---|
| 703 | // ---------------
|
---|
[9258] | 704 | int nPar = _params[sys].size();
|
---|
[2933] | 705 | ColumnVector x0(nPar);
|
---|
[9258] | 706 | for (int iPar = 1; iPar <= nPar; iPar++) {
|
---|
| 707 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3455] | 708 | if (pp->epoSpec) {
|
---|
[3451] | 709 | pp->xx = 0.0;
|
---|
[9258] | 710 | _QQ[sys].Row(iPar) = 0.0;
|
---|
| 711 | _QQ[sys].Column(iPar) = 0.0;
|
---|
| 712 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3451] | 713 | }
|
---|
[3455] | 714 | else {
|
---|
[9258] | 715 | _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
|
---|
[3455] | 716 | }
|
---|
[2933] | 717 | x0(iPar) = pp->xx;
|
---|
| 718 | }
|
---|
| 719 |
|
---|
[3487] | 720 | // Check Satellite Positions for Outliers
|
---|
| 721 | // --------------------------------------
|
---|
[9258] | 722 | if (checkOrbits(sys, out) != success) {
|
---|
[3487] | 723 | return failure;
|
---|
| 724 | }
|
---|
[3441] | 725 |
|
---|
[3455] | 726 | // Update and outlier detection loop
|
---|
| 727 | // ---------------------------------
|
---|
[9258] | 728 | SymmetricMatrix QQ_sav = _QQ[sys];
|
---|
[3455] | 729 | while (true) {
|
---|
[3135] | 730 |
|
---|
[3455] | 731 | Matrix AA;
|
---|
| 732 | ColumnVector ll;
|
---|
| 733 | DiagonalMatrix PP;
|
---|
[3429] | 734 |
|
---|
[9258] | 735 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
---|
[3472] | 736 | return failure;
|
---|
[3441] | 737 | }
|
---|
[2933] | 738 |
|
---|
[6169] | 739 | dx.ReSize(nPar); dx = 0.0;
|
---|
[9258] | 740 | kalman(AA, ll, PP, _QQ[sys], dx);
|
---|
[6164] | 741 |
|
---|
[3429] | 742 | ColumnVector vv = ll - AA * dx;
|
---|
[3080] | 743 |
|
---|
[3429] | 744 | int maxResIndex;
|
---|
[7297] | 745 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
[3429] | 746 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 747 | out.setRealNumberPrecision(3);
|
---|
[3429] | 748 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
[3432] | 749 | << " Maximum Residuum " << maxRes << ' '
|
---|
[9258] | 750 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
---|
[3432] | 751 | if (maxRes > _MAXRES) {
|
---|
[9258] | 752 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 753 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[7297] | 754 | if (pp->type == cmbParam::offACSat &&
|
---|
[9258] | 755 | pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
|
---|
| 756 | pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
|
---|
[3432] | 757 | QQ_sav.Row(iPar) = 0.0;
|
---|
| 758 | QQ_sav.Column(iPar) = 0.0;
|
---|
[3455] | 759 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
[3432] | 760 | }
|
---|
| 761 | }
|
---|
| 762 |
|
---|
| 763 | out << " Outlier" << endl;
|
---|
[9258] | 764 | _QQ[sys] = QQ_sav;
|
---|
| 765 | corrs(sys).remove(maxResIndex-1);
|
---|
[3432] | 766 | }
|
---|
| 767 | else {
|
---|
| 768 | out << " OK" << endl;
|
---|
[6330] | 769 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
| 770 | out.setRealNumberPrecision(4);
|
---|
[9258] | 771 | for (int ii = 0; ii < corrs(sys).size(); ii++) {
|
---|
| 772 | const cmbCorr* corr = corrs(sys)[ii];
|
---|
[6330] | 773 | out << _resTime.datestr().c_str() << ' '
|
---|
| 774 | << _resTime.timestr().c_str() << " "
|
---|
[6962] | 775 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
---|
[6330] | 776 | out.setFieldWidth(10);
|
---|
| 777 | out << " res = " << vv[ii] << endl;
|
---|
| 778 | out.setFieldWidth(0);
|
---|
| 779 | }
|
---|
[3432] | 780 | break;
|
---|
| 781 | }
|
---|
| 782 | }
|
---|
| 783 |
|
---|
[3472] | 784 | return success;
|
---|
[2918] | 785 | }
|
---|
[3011] | 786 |
|
---|
[3201] | 787 | // Print results
|
---|
[3011] | 788 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3429] | 789 | void bncComb::printResults(QTextStream& out,
|
---|
[6157] | 790 | const QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3011] | 791 |
|
---|
[6157] | 792 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
---|
[3011] | 793 | while (it.hasNext()) {
|
---|
| 794 | it.next();
|
---|
[6157] | 795 | cmbCorr* corr = it.value();
|
---|
| 796 | const t_eph* eph = corr->_eph;
|
---|
[3015] | 797 | if (eph) {
|
---|
[8542] | 798 | ColumnVector xc(6);
|
---|
[6109] | 799 | ColumnVector vv(3);
|
---|
[9268] | 800 | if (eph->getCrd(_resTime, xc, vv, false) != success) {
|
---|
| 801 | continue;
|
---|
| 802 | }
|
---|
[7297] | 803 | out << _resTime.datestr().c_str() << " "
|
---|
[3429] | 804 | << _resTime.timestr().c_str() << " ";
|
---|
[3015] | 805 | out.setFieldWidth(3);
|
---|
[6962] | 806 | out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
|
---|
[3015] | 807 | out.setFieldWidth(14);
|
---|
[6160] | 808 | out << (xc(4) + corr->_dClkResult) * t_CST::c << endl;
|
---|
[3370] | 809 | out.setFieldWidth(0);
|
---|
[3015] | 810 | }
|
---|
| 811 | else {
|
---|
| 812 | out << "bncComb::printResuls bug" << endl;
|
---|
| 813 | }
|
---|
[3011] | 814 | }
|
---|
| 815 | }
|
---|
[3202] | 816 |
|
---|
| 817 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
| 818 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6157] | 819 | void bncComb::dumpResults(const QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3202] | 820 |
|
---|
[6161] | 821 | QList<t_orbCorr> orbCorrections;
|
---|
| 822 | QList<t_clkCorr> clkCorrections;
|
---|
| 823 |
|
---|
[5337] | 824 | QString outLines;
|
---|
[3214] | 825 | unsigned year, month, day, hour, minute;
|
---|
| 826 | double sec;
|
---|
[3429] | 827 | _resTime.civil_date(year, month, day);
|
---|
| 828 | _resTime.civil_time(hour, minute, sec);
|
---|
[3214] | 829 |
|
---|
[7297] | 830 | outLines.sprintf("* %4d %2d %2d %d %d %12.8f\n",
|
---|
[5337] | 831 | year, month, day, hour, minute, sec);
|
---|
[3214] | 832 |
|
---|
[6157] | 833 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
---|
[3202] | 834 | while (it.hasNext()) {
|
---|
| 835 | it.next();
|
---|
[6157] | 836 | cmbCorr* corr = it.value();
|
---|
[3202] | 837 |
|
---|
[7013] | 838 | t_orbCorr orbCorr(corr->_orbCorr);
|
---|
| 839 | orbCorr._staID = "INTERNAL";
|
---|
| 840 | orbCorrections.push_back(orbCorr);
|
---|
| 841 |
|
---|
| 842 | t_clkCorr clkCorr(corr->_clkCorr);
|
---|
| 843 | clkCorr._staID = "INTERNAL";
|
---|
| 844 | clkCorr._dClk = corr->_dClkResult;
|
---|
| 845 | clkCorr._dotDClk = 0.0;
|
---|
| 846 | clkCorr._dotDotDClk = 0.0;
|
---|
| 847 | clkCorrections.push_back(clkCorr);
|
---|
| 848 |
|
---|
[8542] | 849 | ColumnVector xc(6);
|
---|
[4978] | 850 | ColumnVector vv(3);
|
---|
[7013] | 851 | corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
|
---|
| 852 | corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
|
---|
[9268] | 853 | if (corr->_eph->getCrd(_resTime, xc, vv, true) != success) {
|
---|
| 854 | delete corr;
|
---|
| 855 | continue;
|
---|
| 856 | }
|
---|
[7012] | 857 |
|
---|
[4978] | 858 | // Correction Phase Center --> CoM
|
---|
| 859 | // -------------------------------
|
---|
| 860 | ColumnVector dx(3); dx = 0.0;
|
---|
| 861 | if (_antex) {
|
---|
| 862 | double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
|
---|
[6157] | 863 | if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
|
---|
[4992] | 864 | dx = 0;
|
---|
[8204] | 865 | _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
|
---|
[3214] | 866 | }
|
---|
| 867 | }
|
---|
[7012] | 868 |
|
---|
| 869 | outLines += corr->_prn.mid(0,3);
|
---|
[5337] | 870 | QString hlp;
|
---|
| 871 | hlp.sprintf(" APC 3 %15.4f %15.4f %15.4f"
|
---|
| 872 | " Clk 1 %15.4f"
|
---|
| 873 | " Vel 3 %15.4f %15.4f %15.4f"
|
---|
| 874 | " CoM 3 %15.4f %15.4f %15.4f\n",
|
---|
[7012] | 875 | xc(1), xc(2), xc(3),
|
---|
| 876 | xc(4) * t_CST::c,
|
---|
[5337] | 877 | vv(1), vv(2), vv(3),
|
---|
| 878 | xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
|
---|
| 879 | outLines += hlp;
|
---|
| 880 |
|
---|
[4978] | 881 | QString line;
|
---|
[9025] | 882 | int messageType = _ssrCorr->COTYPE_GPSCOMBINED;
|
---|
[5564] | 883 | int updateInt = 0;
|
---|
[4978] | 884 | line.sprintf("%d %d %d %.1f %s"
|
---|
[7055] | 885 | " %lu"
|
---|
[4978] | 886 | " %8.3f %8.3f %8.3f %8.3f"
|
---|
| 887 | " %10.5f %10.5f %10.5f %10.5f"
|
---|
[5576] | 888 | " %10.5f INTERNAL",
|
---|
[4978] | 889 | messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
|
---|
[8204] | 890 | corr->_prn.mid(0,3).toLatin1().data(),
|
---|
[6157] | 891 | corr->_iod,
|
---|
[6160] | 892 | corr->_dClkResult * t_CST::c,
|
---|
[6159] | 893 | corr->_orbCorr._xr[0],
|
---|
| 894 | corr->_orbCorr._xr[1],
|
---|
| 895 | corr->_orbCorr._xr[2],
|
---|
[6157] | 896 | 0.0,
|
---|
[6159] | 897 | corr->_orbCorr._dotXr[0],
|
---|
| 898 | corr->_orbCorr._dotXr[1],
|
---|
| 899 | corr->_orbCorr._dotXr[2],
|
---|
[6157] | 900 | 0.0);
|
---|
[4978] | 901 |
|
---|
[3214] | 902 | delete corr;
|
---|
| 903 | }
|
---|
| 904 |
|
---|
[5337] | 905 | outLines += "EOE\n"; // End Of Epoch flag
|
---|
| 906 |
|
---|
[3215] | 907 | if (!_rtnetDecoder) {
|
---|
| 908 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
| 909 | }
|
---|
[3221] | 910 |
|
---|
[3215] | 911 | vector<string> errmsg;
|
---|
[8204] | 912 | _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
|
---|
[3215] | 913 |
|
---|
[5861] | 914 | // Send new Corrections to PPP etc.
|
---|
| 915 | // --------------------------------
|
---|
[6161] | 916 | if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
|
---|
| 917 | emit newOrbCorrections(orbCorrections);
|
---|
| 918 | emit newClkCorrections(clkCorrections);
|
---|
| 919 | }
|
---|
[3202] | 920 | }
|
---|
[3455] | 921 |
|
---|
| 922 | // Create First Design Matrix and Vector of Measurements
|
---|
| 923 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 924 | t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
| 925 | const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
|
---|
[3455] | 926 |
|
---|
[9258] | 927 | unsigned nPar = _params[sys].size();
|
---|
| 928 | unsigned nObs = corrs(sys).size();
|
---|
[3455] | 929 |
|
---|
| 930 | if (nObs == 0) {
|
---|
| 931 | return failure;
|
---|
| 932 | }
|
---|
| 933 |
|
---|
[9258] | 934 | int maxSat = _cmbSysPrn[sys];
|
---|
[3455] | 935 |
|
---|
[9259] | 936 | const int nCon = (_method == filter) ? 1 + maxSat : 0;
|
---|
[3483] | 937 |
|
---|
[3455] | 938 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
| 939 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
| 940 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
| 941 |
|
---|
| 942 | int iObs = 0;
|
---|
[9258] | 943 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3455] | 944 | while (itCorr.hasNext()) {
|
---|
| 945 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 946 | QString prn = corr->_prn;
|
---|
[3487] | 947 |
|
---|
[3455] | 948 | ++iObs;
|
---|
| 949 |
|
---|
[9258] | 950 | if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
|
---|
[6157] | 951 | resCorr[prn] = new cmbCorr(*corr);
|
---|
[3455] | 952 | }
|
---|
| 953 |
|
---|
[9258] | 954 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 955 | cmbParam* pp = _params[sys][iPar-1];
|
---|
| 956 | AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
|
---|
[3455] | 957 | }
|
---|
| 958 |
|
---|
[6160] | 959 | ll(iObs) = corr->_clkCorr._dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
|
---|
[3455] | 960 | }
|
---|
| 961 |
|
---|
| 962 | // Regularization
|
---|
| 963 | // --------------
|
---|
[3474] | 964 | if (_method == filter) {
|
---|
| 965 | const double Ph = 1.e6;
|
---|
| 966 | PP(nObs+1) = Ph;
|
---|
[9258] | 967 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 968 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[3465] | 969 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[3474] | 970 | pp->type == cmbParam::clkSat ) {
|
---|
| 971 | AA(nObs+1, iPar) = 1.0;
|
---|
[3455] | 972 | }
|
---|
| 973 | }
|
---|
[9258] | 974 | unsigned flag = 0;
|
---|
| 975 | if (sys == 'E') {
|
---|
| 976 | flag = 1;
|
---|
| 977 | }
|
---|
[9259] | 978 | if (sys == 'R') {
|
---|
| 979 | return success;
|
---|
| 980 | }
|
---|
| 981 | int iCond = 1;
|
---|
| 982 | // GNSS
|
---|
[9258] | 983 | for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
|
---|
| 984 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
|
---|
[3474] | 985 | ++iCond;
|
---|
| 986 | PP(nObs+iCond) = Ph;
|
---|
[9258] | 987 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 988 | cmbParam* pp = _params[sys][iPar-1];
|
---|
[7299] | 989 | if ( pp &&
|
---|
| 990 | AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
[7297] | 991 | pp->type == cmbParam::offACSat &&
|
---|
[3474] | 992 | pp->prn == prn) {
|
---|
| 993 | AA(nObs+iCond, iPar) = 1.0;
|
---|
| 994 | }
|
---|
| 995 | }
|
---|
| 996 | }
|
---|
[3455] | 997 | }
|
---|
| 998 |
|
---|
| 999 | return success;
|
---|
| 1000 | }
|
---|
[3470] | 1001 |
|
---|
| 1002 | // Process Epoch - Single-Epoch Method
|
---|
| 1003 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 1004 | t_irc bncComb::processEpoch_singleEpoch(char sys, QTextStream& out,
|
---|
[6157] | 1005 | QMap<QString, cmbCorr*>& resCorr,
|
---|
[3475] | 1006 | ColumnVector& dx) {
|
---|
[3470] | 1007 |
|
---|
[3487] | 1008 | // Check Satellite Positions for Outliers
|
---|
| 1009 | // --------------------------------------
|
---|
[9258] | 1010 | if (checkOrbits(sys, out) != success) {
|
---|
[3487] | 1011 | return failure;
|
---|
| 1012 | }
|
---|
| 1013 |
|
---|
[3482] | 1014 | // Outlier Detection Loop
|
---|
| 1015 | // ----------------------
|
---|
| 1016 | while (true) {
|
---|
[7297] | 1017 |
|
---|
[3482] | 1018 | // Remove Satellites that are not in Master
|
---|
| 1019 | // ----------------------------------------
|
---|
[9258] | 1020 | QMutableVectorIterator<cmbCorr*> it(corrs(sys));
|
---|
[3482] | 1021 | while (it.hasNext()) {
|
---|
| 1022 | cmbCorr* corr = it.next();
|
---|
[6157] | 1023 | QString prn = corr->_prn;
|
---|
[3482] | 1024 | bool foundMaster = false;
|
---|
[9258] | 1025 | QVectorIterator<cmbCorr*> itHlp(corrs(sys));
|
---|
[3482] | 1026 | while (itHlp.hasNext()) {
|
---|
| 1027 | cmbCorr* corrHlp = itHlp.next();
|
---|
[6157] | 1028 | QString prnHlp = corrHlp->_prn;
|
---|
| 1029 | QString ACHlp = corrHlp->_acName;
|
---|
[9258] | 1030 | if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
|
---|
[3482] | 1031 | foundMaster = true;
|
---|
| 1032 | break;
|
---|
| 1033 | }
|
---|
[3476] | 1034 | }
|
---|
[3482] | 1035 | if (!foundMaster) {
|
---|
[3556] | 1036 | delete corr;
|
---|
[3482] | 1037 | it.remove();
|
---|
| 1038 | }
|
---|
[3473] | 1039 | }
|
---|
[7297] | 1040 |
|
---|
[3482] | 1041 | // Count Number of Observations per Satellite and per AC
|
---|
| 1042 | // -----------------------------------------------------
|
---|
| 1043 | QMap<QString, int> numObsPrn;
|
---|
| 1044 | QMap<QString, int> numObsAC;
|
---|
[9258] | 1045 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
[3482] | 1046 | while (itCorr.hasNext()) {
|
---|
| 1047 | cmbCorr* corr = itCorr.next();
|
---|
[6157] | 1048 | QString prn = corr->_prn;
|
---|
| 1049 | QString AC = corr->_acName;
|
---|
[3482] | 1050 | if (numObsPrn.find(prn) == numObsPrn.end()) {
|
---|
| 1051 | numObsPrn[prn] = 1;
|
---|
| 1052 | }
|
---|
| 1053 | else {
|
---|
| 1054 | numObsPrn[prn] += 1;
|
---|
| 1055 | }
|
---|
| 1056 | if (numObsAC.find(AC) == numObsAC.end()) {
|
---|
| 1057 | numObsAC[AC] = 1;
|
---|
| 1058 | }
|
---|
| 1059 | else {
|
---|
| 1060 | numObsAC[AC] += 1;
|
---|
| 1061 | }
|
---|
[3476] | 1062 | }
|
---|
[7297] | 1063 |
|
---|
[9258] | 1064 | // Clean-Up the Parameters
|
---|
| 1065 | // -----------------------
|
---|
| 1066 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 1067 | delete _params[sys][iPar-1];
|
---|
[3474] | 1068 | }
|
---|
[9258] | 1069 | _params[sys].clear();
|
---|
[7297] | 1070 |
|
---|
[3482] | 1071 | // Set new Parameters
|
---|
| 1072 | // ------------------
|
---|
| 1073 | int nextPar = 0;
|
---|
[7297] | 1074 |
|
---|
[3482] | 1075 | QMapIterator<QString, int> itAC(numObsAC);
|
---|
| 1076 | while (itAC.hasNext()) {
|
---|
| 1077 | itAC.next();
|
---|
| 1078 | const QString& AC = itAC.key();
|
---|
| 1079 | int numObs = itAC.value();
|
---|
[9258] | 1080 | if (AC != _masterOrbitAC[sys] && numObs > 0) {
|
---|
| 1081 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
|
---|
[3482] | 1082 | }
|
---|
[7297] | 1083 | }
|
---|
| 1084 |
|
---|
[3482] | 1085 | QMapIterator<QString, int> itPrn(numObsPrn);
|
---|
| 1086 | while (itPrn.hasNext()) {
|
---|
| 1087 | itPrn.next();
|
---|
| 1088 | const QString& prn = itPrn.key();
|
---|
| 1089 | int numObs = itPrn.value();
|
---|
| 1090 | if (numObs > 0) {
|
---|
[9258] | 1091 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
---|
[3482] | 1092 | }
|
---|
[7297] | 1093 | }
|
---|
| 1094 |
|
---|
[9258] | 1095 | int nPar = _params[sys].size();
|
---|
[7297] | 1096 | ColumnVector x0(nPar);
|
---|
[3482] | 1097 | x0 = 0.0;
|
---|
[7297] | 1098 |
|
---|
[3482] | 1099 | // Create First-Design Matrix
|
---|
| 1100 | // --------------------------
|
---|
| 1101 | Matrix AA;
|
---|
| 1102 | ColumnVector ll;
|
---|
| 1103 | DiagonalMatrix PP;
|
---|
[9258] | 1104 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
---|
[3482] | 1105 | return failure;
|
---|
[3476] | 1106 | }
|
---|
[7297] | 1107 |
|
---|
[3482] | 1108 | ColumnVector vv;
|
---|
| 1109 | try {
|
---|
| 1110 | Matrix ATP = AA.t() * PP;
|
---|
| 1111 | SymmetricMatrix NN; NN << ATP * AA;
|
---|
| 1112 | ColumnVector bb = ATP * ll;
|
---|
[9258] | 1113 | _QQ[sys] = NN.i();
|
---|
| 1114 | dx = _QQ[sys] * bb;
|
---|
[3482] | 1115 | vv = ll - AA * dx;
|
---|
[3476] | 1116 | }
|
---|
[3482] | 1117 | catch (Exception& exc) {
|
---|
| 1118 | out << exc.what() << endl;
|
---|
| 1119 | return failure;
|
---|
[3476] | 1120 | }
|
---|
[3474] | 1121 |
|
---|
[3482] | 1122 | int maxResIndex;
|
---|
[7297] | 1123 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
[3482] | 1124 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 1125 | out.setRealNumberPrecision(3);
|
---|
[3482] | 1126 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
| 1127 | << " Maximum Residuum " << maxRes << ' '
|
---|
[9258] | 1128 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
---|
[3474] | 1129 |
|
---|
[3482] | 1130 | if (maxRes > _MAXRES) {
|
---|
| 1131 | out << " Outlier" << endl;
|
---|
[9258] | 1132 | delete corrs(sys)[maxResIndex-1];
|
---|
| 1133 | corrs(sys).remove(maxResIndex-1);
|
---|
[3474] | 1134 | }
|
---|
[3482] | 1135 | else {
|
---|
| 1136 | out << " OK" << endl;
|
---|
| 1137 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
[7297] | 1138 | out.setRealNumberPrecision(3);
|
---|
[3482] | 1139 | for (int ii = 0; ii < vv.Nrows(); ii++) {
|
---|
[9258] | 1140 | const cmbCorr* corr = corrs(sys)[ii];
|
---|
[7297] | 1141 | out << _resTime.datestr().c_str() << ' '
|
---|
[3482] | 1142 | << _resTime.timestr().c_str() << " "
|
---|
[6962] | 1143 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
---|
[3482] | 1144 | out.setFieldWidth(6);
|
---|
[6330] | 1145 | out << " res = " << vv[ii] << endl;
|
---|
[3482] | 1146 | out.setFieldWidth(0);
|
---|
| 1147 | }
|
---|
| 1148 | return success;
|
---|
[3474] | 1149 | }
|
---|
| 1150 |
|
---|
[3473] | 1151 | }
|
---|
[3474] | 1152 |
|
---|
[3482] | 1153 | return failure;
|
---|
[3470] | 1154 | }
|
---|
[3487] | 1155 |
|
---|
| 1156 | // Check Satellite Positions for Outliers
|
---|
| 1157 | ////////////////////////////////////////////////////////////////////////////
|
---|
[9258] | 1158 | t_irc bncComb::checkOrbits(char sys, QTextStream& out) {
|
---|
[3487] | 1159 |
|
---|
[3489] | 1160 | const double MAX_DISPLACEMENT = 0.20;
|
---|
[3488] | 1161 |
|
---|
[3502] | 1162 | // Switch to last ephemeris (if possible)
|
---|
| 1163 | // --------------------------------------
|
---|
[9258] | 1164 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
---|
[3501] | 1165 | while (im.hasNext()) {
|
---|
| 1166 | cmbCorr* corr = im.next();
|
---|
[6157] | 1167 | QString prn = corr->_prn;
|
---|
[6443] | 1168 |
|
---|
[7012] | 1169 | t_eph* ephLast = _ephUser.ephLast(prn);
|
---|
| 1170 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
---|
[6443] | 1171 |
|
---|
| 1172 | if (ephLast == 0) {
|
---|
[6962] | 1173 | out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << endl;
|
---|
[3556] | 1174 | delete corr;
|
---|
[3501] | 1175 | im.remove();
|
---|
| 1176 | }
|
---|
[6157] | 1177 | else if (corr->_eph == 0) {
|
---|
[6962] | 1178 | out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << endl;
|
---|
[3556] | 1179 | delete corr;
|
---|
[3503] | 1180 | im.remove();
|
---|
| 1181 | }
|
---|
[3502] | 1182 | else {
|
---|
[6443] | 1183 | if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
|
---|
| 1184 | switchToLastEph(ephLast, corr);
|
---|
[3502] | 1185 | }
|
---|
| 1186 | else {
|
---|
[6962] | 1187 | out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << endl;
|
---|
[3556] | 1188 | delete corr;
|
---|
[3502] | 1189 | im.remove();
|
---|
| 1190 | }
|
---|
| 1191 | }
|
---|
[3501] | 1192 | }
|
---|
| 1193 |
|
---|
[3488] | 1194 | while (true) {
|
---|
| 1195 |
|
---|
| 1196 | // Compute Mean Corrections for all Satellites
|
---|
| 1197 | // -------------------------------------------
|
---|
[3489] | 1198 | QMap<QString, int> numCorr;
|
---|
[3488] | 1199 | QMap<QString, ColumnVector> meanRao;
|
---|
[9258] | 1200 | QVectorIterator<cmbCorr*> it(corrs(sys));
|
---|
[3488] | 1201 | while (it.hasNext()) {
|
---|
| 1202 | cmbCorr* corr = it.next();
|
---|
[6157] | 1203 | QString prn = corr->_prn;
|
---|
[3488] | 1204 | if (meanRao.find(prn) == meanRao.end()) {
|
---|
| 1205 | meanRao[prn].ReSize(4);
|
---|
[6159] | 1206 | meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
|
---|
[7297] | 1207 | meanRao[prn](4) = 1;
|
---|
[3488] | 1208 | }
|
---|
| 1209 | else {
|
---|
[6159] | 1210 | meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
|
---|
[7297] | 1211 | meanRao[prn](4) += 1;
|
---|
[3488] | 1212 | }
|
---|
[3489] | 1213 | if (numCorr.find(prn) == numCorr.end()) {
|
---|
| 1214 | numCorr[prn] = 1;
|
---|
| 1215 | }
|
---|
| 1216 | else {
|
---|
| 1217 | numCorr[prn] += 1;
|
---|
| 1218 | }
|
---|
[3487] | 1219 | }
|
---|
[7297] | 1220 |
|
---|
[9258] | 1221 | // Compute Differences wrt. Mean, find Maximum
|
---|
| 1222 | // -------------------------------------------
|
---|
[3488] | 1223 | QMap<QString, cmbCorr*> maxDiff;
|
---|
| 1224 | it.toFront();
|
---|
| 1225 | while (it.hasNext()) {
|
---|
| 1226 | cmbCorr* corr = it.next();
|
---|
[6157] | 1227 | QString prn = corr->_prn;
|
---|
[3488] | 1228 | if (meanRao[prn](4) != 0) {
|
---|
| 1229 | meanRao[prn] /= meanRao[prn](4);
|
---|
| 1230 | meanRao[prn](4) = 0;
|
---|
| 1231 | }
|
---|
[6159] | 1232 | corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
|
---|
[3488] | 1233 | if (maxDiff.find(prn) == maxDiff.end()) {
|
---|
| 1234 | maxDiff[prn] = corr;
|
---|
| 1235 | }
|
---|
| 1236 | else {
|
---|
[8901] | 1237 | double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
|
---|
| 1238 | double norm = corr->_diffRao.NormFrobenius();
|
---|
[3488] | 1239 | if (norm > normMax) {
|
---|
| 1240 | maxDiff[prn] = corr;
|
---|
| 1241 | }
|
---|
[7297] | 1242 | }
|
---|
[3487] | 1243 | }
|
---|
[7297] | 1244 |
|
---|
[3655] | 1245 | if (_ACs.size() == 1) {
|
---|
| 1246 | break;
|
---|
| 1247 | }
|
---|
| 1248 |
|
---|
[3488] | 1249 | // Remove Outliers
|
---|
| 1250 | // ---------------
|
---|
| 1251 | bool removed = false;
|
---|
[9258] | 1252 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
---|
[3488] | 1253 | while (im.hasNext()) {
|
---|
| 1254 | cmbCorr* corr = im.next();
|
---|
[6157] | 1255 | QString prn = corr->_prn;
|
---|
[3489] | 1256 | if (numCorr[prn] < 2) {
|
---|
[3556] | 1257 | delete corr;
|
---|
[3489] | 1258 | im.remove();
|
---|
| 1259 | }
|
---|
| 1260 | else if (corr == maxDiff[prn]) {
|
---|
[8901] | 1261 | double norm = corr->_diffRao.NormFrobenius();
|
---|
[3488] | 1262 | if (norm > MAX_DISPLACEMENT) {
|
---|
[3497] | 1263 | out << _resTime.datestr().c_str() << " "
|
---|
| 1264 | << _resTime.timestr().c_str() << " "
|
---|
[7297] | 1265 | << "Orbit Outlier: "
|
---|
[8204] | 1266 | << corr->_acName.toLatin1().data() << " "
|
---|
| 1267 | << prn.mid(0,3).toLatin1().data() << " "
|
---|
[7297] | 1268 | << corr->_iod << " "
|
---|
[6157] | 1269 | << norm << endl;
|
---|
[3556] | 1270 | delete corr;
|
---|
[3488] | 1271 | im.remove();
|
---|
| 1272 | removed = true;
|
---|
| 1273 | }
|
---|
| 1274 | }
|
---|
[3487] | 1275 | }
|
---|
[7297] | 1276 |
|
---|
[3488] | 1277 | if (!removed) {
|
---|
| 1278 | break;
|
---|
| 1279 | }
|
---|
[3487] | 1280 | }
|
---|
| 1281 |
|
---|
| 1282 | return success;
|
---|
| 1283 | }
|
---|
[3588] | 1284 |
|
---|
[7297] | 1285 | //
|
---|
[3588] | 1286 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5583] | 1287 | void bncComb::slotProviderIDChanged(QString mountPoint) {
|
---|
| 1288 | QMutexLocker locker(&_mutex);
|
---|
| 1289 |
|
---|
[8065] | 1290 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
| 1291 |
|
---|
[5583] | 1292 | // Find the AC Name
|
---|
| 1293 | // ----------------
|
---|
| 1294 | QString acName;
|
---|
| 1295 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
| 1296 | while (icAC.hasNext()) {
|
---|
| 1297 | cmbAC* AC = icAC.next();
|
---|
| 1298 | if (AC->mountPoint == mountPoint) {
|
---|
| 1299 | acName = AC->name;
|
---|
[8204] | 1300 | out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
|
---|
[8065] | 1301 | << _resTime.datestr().c_str() << " "
|
---|
| 1302 | << _resTime.timestr().c_str() << endl;
|
---|
[5583] | 1303 | break;
|
---|
| 1304 | }
|
---|
| 1305 | }
|
---|
| 1306 | if (acName.isEmpty()) {
|
---|
| 1307 | return;
|
---|
| 1308 | }
|
---|
[9258] | 1309 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
---|
| 1310 | while (itSys.hasNext()) {
|
---|
| 1311 | itSys.next();
|
---|
| 1312 | char sys = itSys.key();
|
---|
| 1313 | // Remove all corrections of the corresponding AC
|
---|
| 1314 | // ----------------------------------------------
|
---|
| 1315 | QListIterator<bncTime> itTime(_buffer[sys].keys());
|
---|
| 1316 | while (itTime.hasNext()) {
|
---|
| 1317 | bncTime epoTime = itTime.next();
|
---|
| 1318 | QVector<cmbCorr*>& corrVec = _buffer[sys][epoTime].corrs;
|
---|
| 1319 | QMutableVectorIterator<cmbCorr*> it(corrVec);
|
---|
| 1320 | while (it.hasNext()) {
|
---|
| 1321 | cmbCorr* corr = it.next();
|
---|
| 1322 | if (acName == corr->_acName) {
|
---|
| 1323 | delete corr;
|
---|
| 1324 | it.remove();
|
---|
| 1325 | }
|
---|
[5583] | 1326 | }
|
---|
| 1327 | }
|
---|
[5585] | 1328 |
|
---|
[9258] | 1329 | // Reset Satellite Offsets
|
---|
| 1330 | // -----------------------
|
---|
| 1331 | if (_method == filter) {
|
---|
| 1332 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
| 1333 | cmbParam* pp = _params[sys][iPar-1];
|
---|
| 1334 | if (pp->AC == acName && pp->type == cmbParam::offACSat) {
|
---|
| 1335 | pp->xx = 0.0;
|
---|
| 1336 | _QQ[sys].Row(iPar) = 0.0;
|
---|
| 1337 | _QQ[sys].Column(iPar) = 0.0;
|
---|
| 1338 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
| 1339 | }
|
---|
[5585] | 1340 | }
|
---|
| 1341 | }
|
---|
| 1342 | }
|
---|
[5583] | 1343 | }
|
---|