| 1 | /* -------------------------------------------------------------------------
|
|---|
| 2 | * BKG NTRIP Client
|
|---|
| 3 | * -------------------------------------------------------------------------
|
|---|
| 4 | *
|
|---|
| 5 | * Class: bncComb
|
|---|
| 6 | *
|
|---|
| 7 | * Purpose: Combinations of Orbit/Clock Corrections
|
|---|
| 8 | *
|
|---|
| 9 | * Author: L. Mervart
|
|---|
| 10 | *
|
|---|
| 11 | * Created: 22-Jan-2011
|
|---|
| 12 | *
|
|---|
| 13 | * Changes:
|
|---|
| 14 | *
|
|---|
| 15 | * -----------------------------------------------------------------------*/
|
|---|
| 16 |
|
|---|
| 17 | #include <newmatio.h>
|
|---|
| 18 | #include <iomanip>
|
|---|
| 19 | #include <sstream>
|
|---|
| 20 | #include <map>
|
|---|
| 21 |
|
|---|
| 22 | #include "bnccomb.h"
|
|---|
| 23 | #include <combination/bncbiassnx.h>
|
|---|
| 24 | #include "bnccore.h"
|
|---|
| 25 | #include "upload/bncrtnetdecoder.h"
|
|---|
| 26 | #include "bncsettings.h"
|
|---|
| 27 | #include "bncutils.h"
|
|---|
| 28 | #include "bncsp3.h"
|
|---|
| 29 | #include "bncantex.h"
|
|---|
| 30 | #include "t_prn.h"
|
|---|
| 31 |
|
|---|
| 32 | const double sig0_offAC = 1000.0;
|
|---|
| 33 | const double sig0_offACSat = 100.0;
|
|---|
| 34 | const double sigP_offACSat = 0.01;
|
|---|
| 35 | const double sig0_clkSat = 100.0;
|
|---|
| 36 |
|
|---|
| 37 | const double sigObs = 0.05;
|
|---|
| 38 |
|
|---|
| 39 | using namespace std;
|
|---|
| 40 |
|
|---|
| 41 | // Constructor
|
|---|
| 42 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 43 | bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
|
|---|
| 44 |
|
|---|
| 45 | type = type_;
|
|---|
| 46 | index = index_;
|
|---|
| 47 | AC = ac_;
|
|---|
| 48 | prn = prn_;
|
|---|
| 49 | xx = 0.0;
|
|---|
| 50 | eph = 0;
|
|---|
| 51 |
|
|---|
| 52 | if (type == offACgnss) {
|
|---|
| 53 | epoSpec = true;
|
|---|
| 54 | sig0 = sig0_offAC;
|
|---|
| 55 | sigP = sig0;
|
|---|
| 56 | }
|
|---|
| 57 | else if (type == offACSat) {
|
|---|
| 58 | epoSpec = false;
|
|---|
| 59 | sig0 = sig0_offACSat;
|
|---|
| 60 | sigP = sigP_offACSat;
|
|---|
| 61 | }
|
|---|
| 62 | else if (type == clkSat) {
|
|---|
| 63 | epoSpec = true;
|
|---|
| 64 | sig0 = sig0_clkSat;
|
|---|
| 65 | sigP = sig0;
|
|---|
| 66 | }
|
|---|
| 67 | }
|
|---|
| 68 |
|
|---|
| 69 | // Destructor
|
|---|
| 70 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 71 | bncComb::cmbParam::~cmbParam() {
|
|---|
| 72 | }
|
|---|
| 73 |
|
|---|
| 74 | // Partial
|
|---|
| 75 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 76 | double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) {
|
|---|
| 77 |
|
|---|
| 78 | if (type == offACgnss) {
|
|---|
| 79 | if (AC == AC_ && prn_[0].toLatin1() == sys) {
|
|---|
| 80 | return 1.0;
|
|---|
| 81 | }
|
|---|
| 82 | }
|
|---|
| 83 | else if (type == offACSat) {
|
|---|
| 84 | if (AC == AC_ && prn == prn_) {
|
|---|
| 85 | return 1.0;
|
|---|
| 86 | }
|
|---|
| 87 | }
|
|---|
| 88 | else if (type == clkSat) {
|
|---|
| 89 | if (prn == prn_) {
|
|---|
| 90 | return 1.0;
|
|---|
| 91 | }
|
|---|
| 92 | }
|
|---|
| 93 |
|
|---|
| 94 | return 0.0;
|
|---|
| 95 | }
|
|---|
| 96 |
|
|---|
| 97 | //
|
|---|
| 98 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 99 | QString bncComb::cmbParam::toString(char sys) const {
|
|---|
| 100 |
|
|---|
| 101 | QString outStr;
|
|---|
| 102 |
|
|---|
| 103 | if (type == offACgnss) {
|
|---|
| 104 | outStr = "AC Offset " + AC + " " + sys + " ";
|
|---|
| 105 | }
|
|---|
| 106 | else if (type == offACSat) {
|
|---|
| 107 | outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
|
|---|
| 108 | }
|
|---|
| 109 | else if (type == clkSat) {
|
|---|
| 110 | outStr = "Clk Corr " + prn.mid(0,3);
|
|---|
| 111 | }
|
|---|
| 112 |
|
|---|
| 113 | return outStr;
|
|---|
| 114 | }
|
|---|
| 115 |
|
|---|
| 116 | // Singleton
|
|---|
| 117 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 118 | bncComb* bncComb::instance() {
|
|---|
| 119 | static bncComb _bncComb;
|
|---|
| 120 | return &_bncComb;
|
|---|
| 121 | }
|
|---|
| 122 |
|
|---|
| 123 | // Constructor
|
|---|
| 124 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 125 | bncComb::bncComb() : _ephUser(true) {
|
|---|
| 126 |
|
|---|
| 127 | bncSettings settings;
|
|---|
| 128 |
|
|---|
| 129 | QStringList cmbStreams = settings.value("cmbStreams").toStringList();
|
|---|
| 130 |
|
|---|
| 131 | _cmbSampl = settings.value("cmbSampl").toInt();
|
|---|
| 132 | if (_cmbSampl <= 0) {
|
|---|
| 133 | _cmbSampl = 5;
|
|---|
| 134 | }
|
|---|
| 135 | _useGps = (Qt::CheckState(settings.value("cmbGps").toInt()) == Qt::Checked) ? true : false;
|
|---|
| 136 | if (_useGps) {
|
|---|
| 137 | _cmbSysPrn['G'] = t_prn::MAXPRN_GPS;
|
|---|
| 138 | _masterMissingEpochs['G'] = 0;
|
|---|
| 139 | }
|
|---|
| 140 | _useGlo = (Qt::CheckState(settings.value("cmbGlo").toInt()) == Qt::Checked) ? true : false;
|
|---|
| 141 | if (_useGlo) {
|
|---|
| 142 | _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS;
|
|---|
| 143 | _masterMissingEpochs['R'] = 0;
|
|---|
| 144 | }
|
|---|
| 145 | _useGal = (Qt::CheckState(settings.value("cmbGal").toInt()) == Qt::Checked) ? true : false;
|
|---|
| 146 | if (_useGal) {
|
|---|
| 147 | _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO;
|
|---|
| 148 | _masterMissingEpochs['E'] = 0;
|
|---|
| 149 | }
|
|---|
| 150 | _useBds = (Qt::CheckState(settings.value("cmbBds").toInt()) == Qt::Checked) ? true : false;
|
|---|
| 151 | if (_useBds) {
|
|---|
| 152 | _cmbSysPrn['C'] = t_prn::MAXPRN_BDS;
|
|---|
| 153 | _masterMissingEpochs['C'] = 0;
|
|---|
| 154 | }
|
|---|
| 155 | _useQzss = (Qt::CheckState(settings.value("cmbQzss").toInt()) == Qt::Checked) ? true : false;
|
|---|
| 156 | if (_useQzss) {
|
|---|
| 157 | _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS;
|
|---|
| 158 | _masterMissingEpochs['J'] = 0;
|
|---|
| 159 | }
|
|---|
| 160 | _useSbas = (Qt::CheckState(settings.value("cmbSbas").toInt()) == Qt::Checked) ? true : false;
|
|---|
| 161 | if (_useSbas) {
|
|---|
| 162 | _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS;
|
|---|
| 163 | _masterMissingEpochs['S'] = 0;
|
|---|
| 164 | }
|
|---|
| 165 | _useIrnss = (Qt::CheckState(settings.value("cmbIrnss").toInt()) == Qt::Checked) ? true : false;
|
|---|
| 166 | if (_useIrnss) {
|
|---|
| 167 | _cmbSysPrn['I'] = t_prn::MAXPRN_IRNSS;
|
|---|
| 168 | _masterMissingEpochs['I'] = 0;
|
|---|
| 169 | }
|
|---|
| 170 |
|
|---|
| 171 | if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
|
|---|
| 172 | QListIterator<QString> it(cmbStreams);
|
|---|
| 173 | while (it.hasNext()) {
|
|---|
| 174 | QStringList hlp = it.next().split(" ");
|
|---|
| 175 | cmbAC* newAC = new cmbAC();
|
|---|
| 176 | newAC->mountPoint = hlp[0];
|
|---|
| 177 | newAC->name = hlp[1];
|
|---|
| 178 | newAC->weight = hlp[2].toDouble();
|
|---|
| 179 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
|---|
| 180 | // init
|
|---|
| 181 | while (itSys.hasNext()) {
|
|---|
| 182 | itSys.next();
|
|---|
| 183 | char sys = itSys.key();
|
|---|
| 184 | if (_masterOrbitAC.isEmpty()) {
|
|---|
| 185 | _masterOrbitAC[sys] = newAC->name;
|
|---|
| 186 | }
|
|---|
| 187 | }
|
|---|
| 188 | _ACs.append(newAC);
|
|---|
| 189 | }
|
|---|
| 190 | }
|
|---|
| 191 |
|
|---|
| 192 | QString ssrFormat;
|
|---|
| 193 | _ssrCorr = 0;
|
|---|
| 194 | QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
|
|---|
| 195 | while (it.hasNext()) {
|
|---|
| 196 | QStringList hlp = it.next().split(",");
|
|---|
| 197 | if (hlp.size() > 7) {
|
|---|
| 198 | ssrFormat = hlp[7];
|
|---|
| 199 | }
|
|---|
| 200 | }
|
|---|
| 201 | if (ssrFormat == "IGS-SSR") {
|
|---|
| 202 | _ssrCorr = new SsrCorrIgs();
|
|---|
| 203 | }
|
|---|
| 204 | else if (ssrFormat == "RTCM-SSR") {
|
|---|
| 205 | _ssrCorr = new SsrCorrRtcm();
|
|---|
| 206 | }
|
|---|
| 207 | else { // default
|
|---|
| 208 | _ssrCorr = new SsrCorrIgs();
|
|---|
| 209 | }
|
|---|
| 210 |
|
|---|
| 211 | _rtnetDecoder = 0;
|
|---|
| 212 |
|
|---|
| 213 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
|
|---|
| 214 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
|
|---|
| 215 |
|
|---|
| 216 | connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
|
|---|
| 217 | this, SLOT(slotProviderIDChanged(QString)));
|
|---|
| 218 |
|
|---|
| 219 | connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
|
|---|
| 220 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
|
|---|
| 221 |
|
|---|
| 222 | connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
|
|---|
| 223 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
|
|---|
| 224 |
|
|---|
| 225 | connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
|
|---|
| 226 | this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
|
|---|
| 227 |
|
|---|
| 228 | // Combination Method
|
|---|
| 229 | // ------------------
|
|---|
| 230 | if (settings.value("cmbMethod").toString() == "Single-Epoch") {
|
|---|
| 231 | _method = singleEpoch;
|
|---|
| 232 | }
|
|---|
| 233 | else {
|
|---|
| 234 | _method = filter;
|
|---|
| 235 | }
|
|---|
| 236 |
|
|---|
| 237 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
|
|---|
| 238 | // ----------------------------------------------------------------------
|
|---|
| 239 | if (_method == filter) {
|
|---|
| 240 | // SYSTEM
|
|---|
| 241 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
|---|
| 242 | while (itSys.hasNext()) {
|
|---|
| 243 | itSys.next();
|
|---|
| 244 | int nextPar = 0;
|
|---|
| 245 | char sys = itSys.key();
|
|---|
| 246 | unsigned maxPrn = itSys.value();
|
|---|
| 247 | unsigned flag = 0;
|
|---|
| 248 | if (sys == 'E') {
|
|---|
| 249 | flag = 1;
|
|---|
| 250 | }
|
|---|
| 251 | // AC
|
|---|
| 252 | QListIterator<cmbAC*> itAc(_ACs);
|
|---|
| 253 | while (itAc.hasNext()) {
|
|---|
| 254 | cmbAC* AC = itAc.next();
|
|---|
| 255 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
|
|---|
| 256 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
|
|---|
| 257 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
|
|---|
| 258 | _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
|
|---|
| 259 | }
|
|---|
| 260 | }
|
|---|
| 261 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
|
|---|
| 262 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
|
|---|
| 263 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
|---|
| 264 | }
|
|---|
| 265 | // Initialize Variance-Covariance Matrix
|
|---|
| 266 | // -------------------------------------
|
|---|
| 267 | _QQ[sys].ReSize(_params[sys].size());
|
|---|
| 268 | _QQ[sys] = 0.0;
|
|---|
| 269 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 270 | cmbParam* pp = _params[sys][iPar-1];
|
|---|
| 271 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
|---|
| 272 | }
|
|---|
| 273 | }
|
|---|
| 274 | }
|
|---|
| 275 |
|
|---|
| 276 | // ANTEX File
|
|---|
| 277 | // ----------
|
|---|
| 278 | _antex = 0;
|
|---|
| 279 | QString antexFileName = settings.value("uploadAntexFile").toString();
|
|---|
| 280 | if (!antexFileName.isEmpty()) {
|
|---|
| 281 | _antex = new bncAntex();
|
|---|
| 282 | if (_antex->readFile(antexFileName) != success) {
|
|---|
| 283 | emit newMessage("bncCmb: wrong ANTEX file", true);
|
|---|
| 284 | delete _antex;
|
|---|
| 285 | _antex = 0;
|
|---|
| 286 | }
|
|---|
| 287 | }
|
|---|
| 288 |
|
|---|
| 289 |
|
|---|
| 290 | // Bias SINEX File
|
|---|
| 291 | // ---------------
|
|---|
| 292 | _bsx = 0;
|
|---|
| 293 | QString bsxFileName = settings.value("cmbBsxFile").toString();
|
|---|
| 294 | if (!bsxFileName.isEmpty()) {
|
|---|
| 295 | _bsx = new bncBiasSnx();
|
|---|
| 296 | if (_bsx->readFile(bsxFileName) != success) {
|
|---|
| 297 | emit newMessage("bncComb: wrong Bias SINEX file", true);
|
|---|
| 298 | delete _bsx;
|
|---|
| 299 | _bsx = 0;
|
|---|
| 300 | }
|
|---|
| 301 | }
|
|---|
| 302 | if (_bsx) {
|
|---|
| 303 | _ms = 6.0 * 3600 * 1000.0;
|
|---|
| 304 | QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
|
|---|
| 305 | }
|
|---|
| 306 |
|
|---|
| 307 |
|
|---|
| 308 | // Maximal Residuum
|
|---|
| 309 | // ----------------
|
|---|
| 310 | _MAXRES = settings.value("cmbMaxres").toDouble();
|
|---|
| 311 | if (_MAXRES <= 0.0) {
|
|---|
| 312 | _MAXRES = 999.0;
|
|---|
| 313 | }
|
|---|
| 314 | }
|
|---|
| 315 |
|
|---|
| 316 | // Destructor
|
|---|
| 317 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 318 | bncComb::~bncComb() {
|
|---|
| 319 | QListIterator<cmbAC*> icAC(_ACs);
|
|---|
| 320 | while (icAC.hasNext()) {
|
|---|
| 321 | delete icAC.next();
|
|---|
| 322 | }
|
|---|
| 323 | delete _rtnetDecoder;
|
|---|
| 324 | if (_ssrCorr) {
|
|---|
| 325 | delete _ssrCorr;
|
|---|
| 326 | }
|
|---|
| 327 | delete _antex;
|
|---|
| 328 | delete _bsx;
|
|---|
| 329 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
|---|
| 330 | while (itSys.hasNext()) {
|
|---|
| 331 | itSys.next();
|
|---|
| 332 | char sys = itSys.key();
|
|---|
| 333 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 334 | delete _params[sys][iPar-1];
|
|---|
| 335 | }
|
|---|
| 336 | QListIterator<bncTime> itTime(_buffer[sys].keys());
|
|---|
| 337 | while (itTime.hasNext()) {
|
|---|
| 338 | bncTime epoTime = itTime.next();
|
|---|
| 339 | _buffer[sys].remove(epoTime);
|
|---|
| 340 | }
|
|---|
| 341 | }
|
|---|
| 342 |
|
|---|
| 343 | }
|
|---|
| 344 |
|
|---|
| 345 | void bncComb::slotReadBiasSnxFile() {
|
|---|
| 346 | bncSettings settings;
|
|---|
| 347 | QString bsxFileName = settings.value("cmbBsxFile").toString();
|
|---|
| 348 |
|
|---|
| 349 | if (bsxFileName.isEmpty()) {
|
|---|
| 350 | emit newMessage("bncComb: no Bias SINEX file specified", true);
|
|---|
| 351 | return;
|
|---|
| 352 | }
|
|---|
| 353 | if (!_bsx) {
|
|---|
| 354 | _bsx = new bncBiasSnx();
|
|---|
| 355 | }
|
|---|
| 356 | if (_bsx->readFile(bsxFileName) != success) {
|
|---|
| 357 | emit newMessage("bncComb: wrong Bias SINEX file", true);
|
|---|
| 358 | delete _bsx;
|
|---|
| 359 | _bsx = 0;
|
|---|
| 360 | }
|
|---|
| 361 | else {
|
|---|
| 362 | emit newMessage("bncComb: successfully read Bias SINEX file", true);
|
|---|
| 363 | }
|
|---|
| 364 |
|
|---|
| 365 | QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
|
|---|
| 366 | }
|
|---|
| 367 |
|
|---|
| 368 |
|
|---|
| 369 | // Remember orbit corrections
|
|---|
| 370 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 371 | void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
|
|---|
| 372 | QMutexLocker locker(&_mutex);
|
|---|
| 373 |
|
|---|
| 374 | for (int ii = 0; ii < orbCorrections.size(); ii++) {
|
|---|
| 375 | t_orbCorr& orbCorr = orbCorrections[ii];
|
|---|
| 376 | QString staID(orbCorr._staID.c_str());
|
|---|
| 377 | char sys = orbCorr._prn.system();
|
|---|
| 378 |
|
|---|
| 379 | if (!_cmbSysPrn.contains(sys)){
|
|---|
| 380 | continue;
|
|---|
| 381 | }
|
|---|
| 382 |
|
|---|
| 383 | // Find/Check the AC Name
|
|---|
| 384 | // ----------------------
|
|---|
| 385 | QString acName;
|
|---|
| 386 | QListIterator<cmbAC*> icAC(_ACs);
|
|---|
| 387 | while (icAC.hasNext()) {
|
|---|
| 388 | cmbAC* AC = icAC.next();
|
|---|
| 389 | if (AC->mountPoint == staID) {
|
|---|
| 390 | acName = AC->name;
|
|---|
| 391 | break;
|
|---|
| 392 | }
|
|---|
| 393 | }
|
|---|
| 394 | if (acName.isEmpty()) {
|
|---|
| 395 | continue;
|
|---|
| 396 | }
|
|---|
| 397 |
|
|---|
| 398 | // Store the correction
|
|---|
| 399 | // --------------------
|
|---|
| 400 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
|
|---|
| 401 | storage[orbCorr._prn] = orbCorr;
|
|---|
| 402 | }
|
|---|
| 403 | }
|
|---|
| 404 |
|
|---|
| 405 | // Remember Satellite Code Biases
|
|---|
| 406 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 407 | void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
|
|---|
| 408 | QMutexLocker locker(&_mutex);
|
|---|
| 409 |
|
|---|
| 410 | for (int ii = 0; ii < satCodeBiases.size(); ii++) {
|
|---|
| 411 | t_satCodeBias& satCodeBias = satCodeBiases[ii];
|
|---|
| 412 | QString staID(satCodeBias._staID.c_str());
|
|---|
| 413 | char sys = satCodeBias._prn.system();
|
|---|
| 414 |
|
|---|
| 415 | if (!_cmbSysPrn.contains(sys)){
|
|---|
| 416 | continue;
|
|---|
| 417 | }
|
|---|
| 418 |
|
|---|
| 419 | // Find/Check the AC Name
|
|---|
| 420 | // ----------------------
|
|---|
| 421 | QString acName;
|
|---|
| 422 | QListIterator<cmbAC*> icAC(_ACs);
|
|---|
| 423 | while (icAC.hasNext()) {
|
|---|
| 424 | cmbAC* AC = icAC.next();
|
|---|
| 425 | if (AC->mountPoint == staID) {
|
|---|
| 426 | acName = AC->name;
|
|---|
| 427 | break;
|
|---|
| 428 | }
|
|---|
| 429 | }
|
|---|
| 430 | if (acName.isEmpty()) {
|
|---|
| 431 | continue;
|
|---|
| 432 | }
|
|---|
| 433 |
|
|---|
| 434 | // Store the correction
|
|---|
| 435 | // --------------------
|
|---|
| 436 | QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
|
|---|
| 437 | storage[satCodeBias._prn] = satCodeBias;
|
|---|
| 438 | }
|
|---|
| 439 | }
|
|---|
| 440 |
|
|---|
| 441 | // Process clock corrections
|
|---|
| 442 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 443 | void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
|
|---|
| 444 | QMutexLocker locker(&_mutex);
|
|---|
| 445 |
|
|---|
| 446 | bncTime lastTime;
|
|---|
| 447 |
|
|---|
| 448 | for (int ii = 0; ii < clkCorrections.size(); ii++) {
|
|---|
| 449 | t_clkCorr& clkCorr = clkCorrections[ii];
|
|---|
| 450 | QString staID(clkCorr._staID.c_str());
|
|---|
| 451 | QString prn(clkCorr._prn.toInternalString().c_str());
|
|---|
| 452 | char sys = clkCorr._prn.system();
|
|---|
| 453 |
|
|---|
| 454 | if (!_cmbSysPrn.contains(sys)){
|
|---|
| 455 | continue;
|
|---|
| 456 | }
|
|---|
| 457 |
|
|---|
| 458 | // Set the last time
|
|---|
| 459 | // -----------------
|
|---|
| 460 | if (lastTime.undef() || clkCorr._time > lastTime) {
|
|---|
| 461 | lastTime = clkCorr._time;
|
|---|
| 462 | }
|
|---|
| 463 |
|
|---|
| 464 | // Find/Check the AC Name
|
|---|
| 465 | // ----------------------
|
|---|
| 466 | QString acName;
|
|---|
| 467 | QListIterator<cmbAC*> icAC(_ACs);
|
|---|
| 468 | while (icAC.hasNext()) {
|
|---|
| 469 | cmbAC* AC = icAC.next();
|
|---|
| 470 | if (AC->mountPoint == staID) {
|
|---|
| 471 | acName = AC->name;
|
|---|
| 472 | break;
|
|---|
| 473 | }
|
|---|
| 474 | }
|
|---|
| 475 | if (acName.isEmpty()) {
|
|---|
| 476 | continue;
|
|---|
| 477 | }
|
|---|
| 478 |
|
|---|
| 479 | // Check Modulo Time
|
|---|
| 480 | // -----------------
|
|---|
| 481 | int sec = int(nint(clkCorr._time.gpssec()*10));
|
|---|
| 482 | if (sec % (_cmbSampl*10) != 0.0) {
|
|---|
| 483 | continue;
|
|---|
| 484 | }
|
|---|
| 485 |
|
|---|
| 486 | // Check Correction Age
|
|---|
| 487 | // --------------------
|
|---|
| 488 | if (_resTime.valid() && clkCorr._time <= _resTime) {
|
|---|
| 489 | #ifdef BNC_DEBUG_CMB
|
|---|
| 490 | emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + prn.mid(0,3).toLatin1(), true);
|
|---|
| 491 | #endif
|
|---|
| 492 | continue;
|
|---|
| 493 | }
|
|---|
| 494 |
|
|---|
| 495 | // Create new correction
|
|---|
| 496 | // ---------------------
|
|---|
| 497 | cmbCorr* newCorr = new cmbCorr();
|
|---|
| 498 | newCorr->_prn = prn;
|
|---|
| 499 | newCorr->_time = clkCorr._time;
|
|---|
| 500 | newCorr->_iod = clkCorr._iod;
|
|---|
| 501 | newCorr->_acName = acName;
|
|---|
| 502 | newCorr->_clkCorr = clkCorr;
|
|---|
| 503 |
|
|---|
| 504 | // Check orbit correction
|
|---|
| 505 | // ----------------------
|
|---|
| 506 | if (!_orbCorrections.contains(acName)) {
|
|---|
| 507 | delete newCorr;
|
|---|
| 508 | continue;
|
|---|
| 509 | }
|
|---|
| 510 | else {
|
|---|
| 511 | QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
|
|---|
| 512 | if (!storage.contains(clkCorr._prn) ||
|
|---|
| 513 | storage[clkCorr._prn]._iod != newCorr->_iod) {
|
|---|
| 514 | delete newCorr;
|
|---|
| 515 | continue;
|
|---|
| 516 | }
|
|---|
| 517 | else {
|
|---|
| 518 | newCorr->_orbCorr = storage[clkCorr._prn];
|
|---|
| 519 | }
|
|---|
| 520 | }
|
|---|
| 521 |
|
|---|
| 522 | // Check the Ephemeris
|
|---|
| 523 | //--------------------
|
|---|
| 524 | t_eph* ephLast = _ephUser.ephLast(prn);
|
|---|
| 525 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
|---|
| 526 | if (ephLast == 0) {
|
|---|
| 527 | #ifdef BNC_DEBUG_CMB
|
|---|
| 528 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
|
|---|
| 529 | #endif
|
|---|
| 530 | delete newCorr;
|
|---|
| 531 | continue;
|
|---|
| 532 | }
|
|---|
| 533 | else if (ephLast->checkState() == t_eph::bad ||
|
|---|
| 534 | ephLast->checkState() == t_eph::outdated ||
|
|---|
| 535 | ephLast->checkState() == t_eph::unhealthy) {
|
|---|
| 536 | #ifdef BNC_DEBUG_CMB
|
|---|
| 537 | emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prn.mid(0,3).toLatin1(), true);
|
|---|
| 538 | #endif
|
|---|
| 539 | delete newCorr;
|
|---|
| 540 | continue;
|
|---|
| 541 | }
|
|---|
| 542 | else {
|
|---|
| 543 | if (ephLast->IOD() == newCorr->_iod) {
|
|---|
| 544 | newCorr->_eph = ephLast;
|
|---|
| 545 | }
|
|---|
| 546 | else if (ephPrev && ephPrev->checkState() == t_eph::ok &&
|
|---|
| 547 | ephPrev->IOD() == newCorr->_iod) {
|
|---|
| 548 | newCorr->_eph = ephPrev;
|
|---|
| 549 | switchToLastEph(ephLast, newCorr);
|
|---|
| 550 | }
|
|---|
| 551 | else {
|
|---|
| 552 | #ifdef BNC_DEBUG_CMB
|
|---|
| 553 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
|
|---|
| 554 | QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true);
|
|---|
| 555 | #endif
|
|---|
| 556 | delete newCorr;
|
|---|
| 557 | continue;
|
|---|
| 558 | }
|
|---|
| 559 | }
|
|---|
| 560 |
|
|---|
| 561 | // Check satellite code biases
|
|---|
| 562 | // ----------------------------
|
|---|
| 563 | if (!_satCodeBiases.contains(acName)) {
|
|---|
| 564 | delete newCorr;
|
|---|
| 565 | continue;
|
|---|
| 566 | }
|
|---|
| 567 | else {
|
|---|
| 568 | QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
|
|---|
| 569 | if (!storage.contains(clkCorr._prn)) {
|
|---|
| 570 | delete newCorr;
|
|---|
| 571 | continue;
|
|---|
| 572 | }
|
|---|
| 573 | else {
|
|---|
| 574 | newCorr->_satCodeBias = storage[clkCorr._prn];
|
|---|
| 575 | QMap<t_frequency::type, double> codeBiasesRefSig;
|
|---|
| 576 | for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
|
|---|
| 577 | t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
|
|---|
| 578 | char frqNum = t_frequency::toString(frqType)[1];
|
|---|
| 579 | char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
|
|---|
| 580 | QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
|
|---|
| 581 | for (unsigned ii = 0; ii < newCorr->_satCodeBias._bias.size(); ii++) {
|
|---|
| 582 | const t_frqCodeBias& bias = newCorr->_satCodeBias._bias[ii];
|
|---|
| 583 | if (rnxType2ch.toStdString() == bias._rnxType2ch) {
|
|---|
| 584 | codeBiasesRefSig[frqType] = bias._value;
|
|---|
| 585 | }
|
|---|
| 586 | }
|
|---|
| 587 | }
|
|---|
| 588 | if (codeBiasesRefSig.size() < 2) {
|
|---|
| 589 | delete newCorr;
|
|---|
| 590 | continue;
|
|---|
| 591 | }
|
|---|
| 592 | map<t_frequency::type, double> codeCoeff;
|
|---|
| 593 | double channel = double(newCorr->_eph->slotNum());
|
|---|
| 594 | cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
|
|---|
| 595 | map<t_frequency::type, double>::const_iterator it;
|
|---|
| 596 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
|
|---|
| 597 | t_frequency::type frqType = it->first;
|
|---|
| 598 | newCorr->_codeBiasIF += it->second * codeBiasesRefSig[frqType];
|
|---|
| 599 | }
|
|---|
| 600 | newCorr->_satCodeBias._bias.clear();
|
|---|
| 601 | }
|
|---|
| 602 | }
|
|---|
| 603 |
|
|---|
| 604 | // Store correction into the buffer
|
|---|
| 605 | // --------------------------------
|
|---|
| 606 | QVector<cmbCorr*>& corrs = _buffer[sys][newCorr->_time].corrs;
|
|---|
| 607 | corrs.push_back(newCorr);
|
|---|
| 608 | }
|
|---|
| 609 |
|
|---|
| 610 | // Process previous Epoch(s)
|
|---|
| 611 | // -------------------------
|
|---|
| 612 | const double outWait = 1.0 * _cmbSampl;
|
|---|
| 613 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
|---|
| 614 | while (itSys.hasNext()) {
|
|---|
| 615 | itSys.next();
|
|---|
| 616 | char sys = itSys.key();
|
|---|
| 617 | QListIterator<bncTime> itTime(_buffer[sys].keys());
|
|---|
| 618 | while (itTime.hasNext()) {
|
|---|
| 619 | bncTime epoTime = itTime.next();
|
|---|
| 620 | if (epoTime < lastTime - outWait) {
|
|---|
| 621 | _resTime = epoTime;
|
|---|
| 622 | processEpoch(sys);
|
|---|
| 623 | }
|
|---|
| 624 | }
|
|---|
| 625 | }
|
|---|
| 626 | }
|
|---|
| 627 |
|
|---|
| 628 | // Change the correction so that it refers to last received ephemeris
|
|---|
| 629 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 630 | void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
|
|---|
| 631 |
|
|---|
| 632 | if (corr->_eph == lastEph) {
|
|---|
| 633 | return;
|
|---|
| 634 | }
|
|---|
| 635 |
|
|---|
| 636 | ColumnVector oldXC(6);
|
|---|
| 637 | ColumnVector oldVV(3);
|
|---|
| 638 | if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
|
|---|
| 639 | return;
|
|---|
| 640 | }
|
|---|
| 641 |
|
|---|
| 642 | ColumnVector newXC(6);
|
|---|
| 643 | ColumnVector newVV(3);
|
|---|
| 644 | if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
|
|---|
| 645 | return;
|
|---|
| 646 | }
|
|---|
| 647 |
|
|---|
| 648 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
|
|---|
| 649 | ColumnVector dV = newVV - oldVV;
|
|---|
| 650 | double dC = newXC(4) - oldXC(4);
|
|---|
| 651 |
|
|---|
| 652 | ColumnVector dRAO(3);
|
|---|
| 653 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
|
|---|
| 654 |
|
|---|
| 655 | ColumnVector dDotRAO(3);
|
|---|
| 656 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
|
|---|
| 657 |
|
|---|
| 658 | QString msg = "switch corr " + corr->_prn.mid(0,3)
|
|---|
| 659 | + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
|---|
| 660 |
|
|---|
| 661 | emit newMessage(msg.toLatin1(), false);
|
|---|
| 662 |
|
|---|
| 663 | corr->_iod = lastEph->IOD();
|
|---|
| 664 | corr->_eph = lastEph;
|
|---|
| 665 |
|
|---|
| 666 | corr->_orbCorr._xr += dRAO;
|
|---|
| 667 | corr->_orbCorr._dotXr += dDotRAO;
|
|---|
| 668 | corr->_clkCorr._dClk -= dC;
|
|---|
| 669 | }
|
|---|
| 670 |
|
|---|
| 671 | // Process Epoch
|
|---|
| 672 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 673 | void bncComb::processEpoch(char sys) {
|
|---|
| 674 |
|
|---|
| 675 | _log.clear();
|
|---|
| 676 |
|
|---|
| 677 | QTextStream out(&_log, QIODevice::WriteOnly);
|
|---|
| 678 |
|
|---|
| 679 | out << "\n" << "Combination: " << sys << "\n"
|
|---|
| 680 | << "--------------------------------" << "\n";
|
|---|
| 681 |
|
|---|
| 682 | // Observation Statistics
|
|---|
| 683 | // ----------------------
|
|---|
| 684 | bool masterPresent = false;
|
|---|
| 685 | QListIterator<cmbAC*> icAC(_ACs);
|
|---|
| 686 | while (icAC.hasNext()) {
|
|---|
| 687 | cmbAC* AC = icAC.next();
|
|---|
| 688 | AC->numObs[sys] = 0;
|
|---|
| 689 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
|---|
| 690 | while (itCorr.hasNext()) {
|
|---|
| 691 | cmbCorr* corr = itCorr.next();
|
|---|
| 692 | if (corr->_acName == AC->name) {
|
|---|
| 693 | AC->numObs[sys] += 1;
|
|---|
| 694 | if (AC->name == _masterOrbitAC[sys]) {
|
|---|
| 695 | masterPresent = true;
|
|---|
| 696 | }
|
|---|
| 697 | }
|
|---|
| 698 | }
|
|---|
| 699 | out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
|
|---|
| 700 | }
|
|---|
| 701 |
|
|---|
| 702 | // If Master not present, switch to another one
|
|---|
| 703 | // --------------------------------------------
|
|---|
| 704 | const unsigned switchMasterAfterGap = 1;
|
|---|
| 705 | if (masterPresent) {
|
|---|
| 706 | _masterMissingEpochs[sys] = 0;
|
|---|
| 707 | }
|
|---|
| 708 | else {
|
|---|
| 709 | ++_masterMissingEpochs[sys];
|
|---|
| 710 | if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
|
|---|
| 711 | out << "Missing Master, Epoch skipped" << "\n";
|
|---|
| 712 | _buffer[sys].remove(_resTime);
|
|---|
| 713 | emit newMessage(_log, false);
|
|---|
| 714 | return;
|
|---|
| 715 | }
|
|---|
| 716 | else {
|
|---|
| 717 | _masterMissingEpochs[sys] = 0;
|
|---|
| 718 | QListIterator<cmbAC*> icAC(_ACs);
|
|---|
| 719 | while (icAC.hasNext()) {
|
|---|
| 720 | cmbAC* AC = icAC.next();
|
|---|
| 721 | if (AC->numObs[sys] > 0) {
|
|---|
| 722 | out << "Switching Master AC "
|
|---|
| 723 | << _masterOrbitAC[sys].toLatin1().data() << " --> "
|
|---|
| 724 | << AC->name.toLatin1().data() << " "
|
|---|
| 725 | << _resTime.datestr().c_str() << " "
|
|---|
| 726 | << _resTime.timestr().c_str() << "\n";
|
|---|
| 727 | _masterOrbitAC[sys] = AC->name;
|
|---|
| 728 | break;
|
|---|
| 729 | }
|
|---|
| 730 | }
|
|---|
| 731 | }
|
|---|
| 732 | }
|
|---|
| 733 |
|
|---|
| 734 | QMap<QString, cmbCorr*> resCorr;
|
|---|
| 735 |
|
|---|
| 736 | // Perform the actual Combination using selected Method
|
|---|
| 737 | // ----------------------------------------------------
|
|---|
| 738 | t_irc irc;
|
|---|
| 739 | ColumnVector dx;
|
|---|
| 740 | if (_method == filter) {
|
|---|
| 741 | irc = processEpoch_filter(sys, out, resCorr, dx);
|
|---|
| 742 | }
|
|---|
| 743 | else {
|
|---|
| 744 | irc = processEpoch_singleEpoch(sys, out, resCorr, dx);
|
|---|
| 745 | }
|
|---|
| 746 |
|
|---|
| 747 | // Update Parameter Values, Print Results
|
|---|
| 748 | // --------------------------------------
|
|---|
| 749 | if (irc == success) {
|
|---|
| 750 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 751 | cmbParam* pp = _params[sys][iPar-1];
|
|---|
| 752 | pp->xx += dx(iPar);
|
|---|
| 753 | if (pp->type == cmbParam::clkSat) {
|
|---|
| 754 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
|---|
| 755 | // set clock result
|
|---|
| 756 | resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
|
|---|
| 757 | // Add Code Biases from SINEX File
|
|---|
| 758 | if (_bsx) {
|
|---|
| 759 | map<t_frequency::type, double> codeCoeff;
|
|---|
| 760 | double channel = double(resCorr[pp->prn]->_eph->slotNum());
|
|---|
| 761 | cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
|
|---|
| 762 | t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
|
|---|
| 763 | t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
|
|---|
| 764 | _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
|
|---|
| 765 | }
|
|---|
| 766 | }
|
|---|
| 767 | }
|
|---|
| 768 | out << _resTime.datestr().c_str() << " "
|
|---|
| 769 | << _resTime.timestr().c_str() << " ";
|
|---|
| 770 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
|---|
| 771 | out.setFieldWidth(8);
|
|---|
| 772 | out.setRealNumberPrecision(4);
|
|---|
| 773 | out << pp->toString(sys) << " "
|
|---|
| 774 | << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
|
|---|
| 775 | out.setFieldWidth(0);
|
|---|
| 776 | }
|
|---|
| 777 | printResults(out, resCorr);
|
|---|
| 778 | dumpResults(resCorr);
|
|---|
| 779 | }
|
|---|
| 780 |
|
|---|
| 781 | // Delete Data, emit Message
|
|---|
| 782 | // -------------------------
|
|---|
| 783 | _buffer[sys].remove(_resTime);
|
|---|
| 784 | emit newMessage(_log, false);
|
|---|
| 785 | }
|
|---|
| 786 |
|
|---|
| 787 | // Process Epoch - Filter Method
|
|---|
| 788 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 789 | t_irc bncComb::processEpoch_filter(char sys, QTextStream& out,
|
|---|
| 790 | QMap<QString, cmbCorr*>& resCorr,
|
|---|
| 791 | ColumnVector& dx) {
|
|---|
| 792 |
|
|---|
| 793 | // Prediction Step
|
|---|
| 794 | // ---------------
|
|---|
| 795 | int nPar = _params[sys].size();
|
|---|
| 796 | ColumnVector x0(nPar);
|
|---|
| 797 | for (int iPar = 1; iPar <= nPar; iPar++) {
|
|---|
| 798 | cmbParam* pp = _params[sys][iPar-1];
|
|---|
| 799 | if (pp->epoSpec) {
|
|---|
| 800 | pp->xx = 0.0;
|
|---|
| 801 | _QQ[sys].Row(iPar) = 0.0;
|
|---|
| 802 | _QQ[sys].Column(iPar) = 0.0;
|
|---|
| 803 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
|---|
| 804 | }
|
|---|
| 805 | else {
|
|---|
| 806 | _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
|
|---|
| 807 | }
|
|---|
| 808 | x0(iPar) = pp->xx;
|
|---|
| 809 | }
|
|---|
| 810 |
|
|---|
| 811 | // Check Satellite Positions for Outliers
|
|---|
| 812 | // --------------------------------------
|
|---|
| 813 | if (checkOrbits(sys, out) != success) {
|
|---|
| 814 | return failure;
|
|---|
| 815 | }
|
|---|
| 816 |
|
|---|
| 817 | // Update and outlier detection loop
|
|---|
| 818 | // ---------------------------------
|
|---|
| 819 | SymmetricMatrix QQ_sav = _QQ[sys];
|
|---|
| 820 | while (true) {
|
|---|
| 821 |
|
|---|
| 822 | Matrix AA;
|
|---|
| 823 | ColumnVector ll;
|
|---|
| 824 | DiagonalMatrix PP;
|
|---|
| 825 |
|
|---|
| 826 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
|---|
| 827 | return failure;
|
|---|
| 828 | }
|
|---|
| 829 |
|
|---|
| 830 | dx.ReSize(nPar); dx = 0.0;
|
|---|
| 831 | kalman(AA, ll, PP, _QQ[sys], dx);
|
|---|
| 832 |
|
|---|
| 833 | ColumnVector vv = ll - AA * dx;
|
|---|
| 834 |
|
|---|
| 835 | int maxResIndex;
|
|---|
| 836 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
|---|
| 837 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
|---|
| 838 | out.setRealNumberPrecision(3);
|
|---|
| 839 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
|---|
| 840 | << " Maximum Residuum " << maxRes << ' '
|
|---|
| 841 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
|---|
| 842 | if (maxRes > _MAXRES) {
|
|---|
| 843 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 844 | cmbParam* pp = _params[sys][iPar-1];
|
|---|
| 845 | if (pp->type == cmbParam::offACSat &&
|
|---|
| 846 | pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
|
|---|
| 847 | pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
|
|---|
| 848 | QQ_sav.Row(iPar) = 0.0;
|
|---|
| 849 | QQ_sav.Column(iPar) = 0.0;
|
|---|
| 850 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
|---|
| 851 | }
|
|---|
| 852 | }
|
|---|
| 853 |
|
|---|
| 854 | out << " Outlier" << "\n";
|
|---|
| 855 | _QQ[sys] = QQ_sav;
|
|---|
| 856 | corrs(sys).remove(maxResIndex-1);
|
|---|
| 857 | }
|
|---|
| 858 | else {
|
|---|
| 859 | out << " OK" << "\n";
|
|---|
| 860 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
|---|
| 861 | out.setRealNumberPrecision(4);
|
|---|
| 862 | for (int ii = 0; ii < corrs(sys).size(); ii++) {
|
|---|
| 863 | const cmbCorr* corr = corrs(sys)[ii];
|
|---|
| 864 | out << _resTime.datestr().c_str() << ' '
|
|---|
| 865 | << _resTime.timestr().c_str() << " "
|
|---|
| 866 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
|---|
| 867 | out.setFieldWidth(10);
|
|---|
| 868 | out << " res = " << vv[ii] << "\n";
|
|---|
| 869 | out.setFieldWidth(0);
|
|---|
| 870 | }
|
|---|
| 871 | break;
|
|---|
| 872 | }
|
|---|
| 873 | }
|
|---|
| 874 |
|
|---|
| 875 | return success;
|
|---|
| 876 | }
|
|---|
| 877 |
|
|---|
| 878 | // Print results
|
|---|
| 879 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 880 | void bncComb::printResults(QTextStream& out,
|
|---|
| 881 | const QMap<QString, cmbCorr*>& resCorr) {
|
|---|
| 882 |
|
|---|
| 883 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
|---|
| 884 | while (it.hasNext()) {
|
|---|
| 885 | it.next();
|
|---|
| 886 | cmbCorr* corr = it.value();
|
|---|
| 887 | const t_eph* eph = corr->_eph;
|
|---|
| 888 | if (eph) {
|
|---|
| 889 | ColumnVector xc(6);
|
|---|
| 890 | ColumnVector vv(3);
|
|---|
| 891 | if (eph->getCrd(_resTime, xc, vv, false) != success) {
|
|---|
| 892 | continue;
|
|---|
| 893 | }
|
|---|
| 894 | out << _resTime.datestr().c_str() << " "
|
|---|
| 895 | << _resTime.timestr().c_str() << " ";
|
|---|
| 896 | out.setFieldWidth(3);
|
|---|
| 897 | out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
|
|---|
| 898 | out.setFieldWidth(14);
|
|---|
| 899 | out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
|
|---|
| 900 | out.setFieldWidth(0);
|
|---|
| 901 | }
|
|---|
| 902 | else {
|
|---|
| 903 | out << "bncComb::printResults bug" << "\n";
|
|---|
| 904 | }
|
|---|
| 905 | out.flush();
|
|---|
| 906 | }
|
|---|
| 907 | }
|
|---|
| 908 |
|
|---|
| 909 | // Send results to RTNet Decoder and directly to PPP Client
|
|---|
| 910 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 911 | void bncComb::dumpResults(const QMap<QString, cmbCorr*>& resCorr) {
|
|---|
| 912 |
|
|---|
| 913 | QList<t_orbCorr> orbCorrections;
|
|---|
| 914 | QList<t_clkCorr> clkCorrections;
|
|---|
| 915 | QList<t_satCodeBias> satCodeBiasList;
|
|---|
| 916 |
|
|---|
| 917 | unsigned year, month, day, hour, minute;
|
|---|
| 918 | double sec;
|
|---|
| 919 | _resTime.civil_date(year, month, day);
|
|---|
| 920 | _resTime.civil_time(hour, minute, sec);
|
|---|
| 921 |
|
|---|
| 922 | QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
|
|---|
| 923 | year, month, day, hour, minute, sec);
|
|---|
| 924 |
|
|---|
| 925 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
|---|
| 926 | while (it.hasNext()) {
|
|---|
| 927 | it.next();
|
|---|
| 928 | cmbCorr* corr = it.value();
|
|---|
| 929 | // ORBIT
|
|---|
| 930 | t_orbCorr orbCorr(corr->_orbCorr);
|
|---|
| 931 | orbCorr._staID = "INTERNAL";
|
|---|
| 932 | orbCorrections.push_back(orbCorr);
|
|---|
| 933 | // CLOCK
|
|---|
| 934 | t_clkCorr clkCorr(corr->_clkCorr);
|
|---|
| 935 | clkCorr._staID = "INTERNAL";
|
|---|
| 936 | clkCorr._dClk = corr->_dClkResult;
|
|---|
| 937 | clkCorr._dotDClk = 0.0;
|
|---|
| 938 | clkCorr._dotDotDClk = 0.0;
|
|---|
| 939 | clkCorrections.push_back(clkCorr);
|
|---|
| 940 | // CODE BIASES
|
|---|
| 941 | t_satCodeBias satCodeBias(corr->_satCodeBias);
|
|---|
| 942 | satCodeBias._staID = "INTERNAL";
|
|---|
| 943 | satCodeBiasList.push_back(satCodeBias);
|
|---|
| 944 |
|
|---|
| 945 | ColumnVector xc(6);
|
|---|
| 946 | ColumnVector vv(3);
|
|---|
| 947 | corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
|
|---|
| 948 | corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
|
|---|
| 949 | if (corr->_eph->getCrd(_resTime, xc, vv, true) != success) {
|
|---|
| 950 | delete corr;
|
|---|
| 951 | continue;
|
|---|
| 952 | }
|
|---|
| 953 |
|
|---|
| 954 | // Correction Phase Center --> CoM
|
|---|
| 955 | // -------------------------------
|
|---|
| 956 | ColumnVector dx(3); dx = 0.0;
|
|---|
| 957 | if (_antex) {
|
|---|
| 958 | double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
|
|---|
| 959 | if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
|
|---|
| 960 | dx = 0;
|
|---|
| 961 | _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
|
|---|
| 962 | }
|
|---|
| 963 | }
|
|---|
| 964 |
|
|---|
| 965 | outLines += corr->_prn.mid(0,3);
|
|---|
| 966 | QString hlp = QString().asprintf(" APC 3 %15.4f %15.4f %15.4f"
|
|---|
| 967 | " Clk 1 %15.4f"
|
|---|
| 968 | " Vel 3 %15.4f %15.4f %15.4f"
|
|---|
| 969 | " CoM 3 %15.4f %15.4f %15.4f",
|
|---|
| 970 | xc(1), xc(2), xc(3),
|
|---|
| 971 | xc(4) * t_CST::c,
|
|---|
| 972 | vv(1), vv(2), vv(3),
|
|---|
| 973 | xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
|
|---|
| 974 | outLines += hlp;
|
|---|
| 975 | hlp.clear();
|
|---|
| 976 |
|
|---|
| 977 | if (satCodeBias._bias.size()) {
|
|---|
| 978 | hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
|
|---|
| 979 | outLines += hlp;
|
|---|
| 980 | hlp.clear();
|
|---|
| 981 | for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
|
|---|
| 982 | const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
|
|---|
| 983 | if (!frqCodeBias._rnxType2ch.empty()) {
|
|---|
| 984 | hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
|
|---|
| 985 | outLines += hlp;
|
|---|
| 986 | hlp.clear();
|
|---|
| 987 | }
|
|---|
| 988 | }
|
|---|
| 989 | }
|
|---|
| 990 | outLines += "\n";
|
|---|
| 991 | delete corr;
|
|---|
| 992 | }
|
|---|
| 993 |
|
|---|
| 994 | outLines += "EOE\n"; // End Of Epoch flag
|
|---|
| 995 | //cout << outLines.toStdString();
|
|---|
| 996 |
|
|---|
| 997 | if (!_rtnetDecoder) {
|
|---|
| 998 | _rtnetDecoder = new bncRtnetDecoder();
|
|---|
| 999 | }
|
|---|
| 1000 |
|
|---|
| 1001 | vector<string> errmsg;
|
|---|
| 1002 | _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
|
|---|
| 1003 |
|
|---|
| 1004 | // Send new Corrections to PPP etc.
|
|---|
| 1005 | // --------------------------------
|
|---|
| 1006 | if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
|
|---|
| 1007 | emit newOrbCorrections(orbCorrections);
|
|---|
| 1008 | emit newClkCorrections(clkCorrections);
|
|---|
| 1009 | }
|
|---|
| 1010 | if (satCodeBiasList.size()) {
|
|---|
| 1011 | emit newCodeBiases(satCodeBiasList);
|
|---|
| 1012 | }
|
|---|
| 1013 | }
|
|---|
| 1014 |
|
|---|
| 1015 | // Create First Design Matrix and Vector of Measurements
|
|---|
| 1016 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1017 | t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
|---|
| 1018 | const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
|
|---|
| 1019 |
|
|---|
| 1020 | unsigned nPar = _params[sys].size();
|
|---|
| 1021 | unsigned nObs = corrs(sys).size();
|
|---|
| 1022 |
|
|---|
| 1023 | if (nObs == 0) {
|
|---|
| 1024 | return failure;
|
|---|
| 1025 | }
|
|---|
| 1026 |
|
|---|
| 1027 | int maxSat = _cmbSysPrn[sys];
|
|---|
| 1028 |
|
|---|
| 1029 | const int nCon = (_method == filter) ? 1 + maxSat : 0;
|
|---|
| 1030 |
|
|---|
| 1031 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
|---|
| 1032 | ll.ReSize(nObs+nCon); ll = 0.0;
|
|---|
| 1033 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
|---|
| 1034 |
|
|---|
| 1035 | int iObs = 0;
|
|---|
| 1036 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
|---|
| 1037 | while (itCorr.hasNext()) {
|
|---|
| 1038 | cmbCorr* corr = itCorr.next();
|
|---|
| 1039 | QString prn = corr->_prn;
|
|---|
| 1040 |
|
|---|
| 1041 | ++iObs;
|
|---|
| 1042 |
|
|---|
| 1043 | if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
|
|---|
| 1044 | resCorr[prn] = new cmbCorr(*corr);
|
|---|
| 1045 | }
|
|---|
| 1046 |
|
|---|
| 1047 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 1048 | cmbParam* pp = _params[sys][iPar-1];
|
|---|
| 1049 | AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
|
|---|
| 1050 | }
|
|---|
| 1051 |
|
|---|
| 1052 | ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_codeBiasIF) - DotProduct(AA.Row(iObs), x0);
|
|---|
| 1053 | }
|
|---|
| 1054 |
|
|---|
| 1055 | // Regularization
|
|---|
| 1056 | // --------------
|
|---|
| 1057 | if (_method == filter) {
|
|---|
| 1058 | const double Ph = 1.e6;
|
|---|
| 1059 | PP(nObs+1) = Ph;
|
|---|
| 1060 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 1061 | cmbParam* pp = _params[sys][iPar-1];
|
|---|
| 1062 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
|---|
| 1063 | pp->type == cmbParam::clkSat ) {
|
|---|
| 1064 | AA(nObs+1, iPar) = 1.0;
|
|---|
| 1065 | }
|
|---|
| 1066 | }
|
|---|
| 1067 | unsigned flag = 0;
|
|---|
| 1068 | if (sys == 'E') {
|
|---|
| 1069 | flag = 1;
|
|---|
| 1070 | }
|
|---|
| 1071 | if (sys == 'R') {
|
|---|
| 1072 | return success;
|
|---|
| 1073 | }
|
|---|
| 1074 | int iCond = 1;
|
|---|
| 1075 | // GNSS
|
|---|
| 1076 | for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
|
|---|
| 1077 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
|
|---|
| 1078 | ++iCond;
|
|---|
| 1079 | PP(nObs+iCond) = Ph;
|
|---|
| 1080 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 1081 | cmbParam* pp = _params[sys][iPar-1];
|
|---|
| 1082 | if ( pp &&
|
|---|
| 1083 | AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
|---|
| 1084 | pp->type == cmbParam::offACSat &&
|
|---|
| 1085 | pp->prn == prn) {
|
|---|
| 1086 | AA(nObs+iCond, iPar) = 1.0;
|
|---|
| 1087 | }
|
|---|
| 1088 | }
|
|---|
| 1089 | }
|
|---|
| 1090 | }
|
|---|
| 1091 |
|
|---|
| 1092 | return success;
|
|---|
| 1093 | }
|
|---|
| 1094 |
|
|---|
| 1095 | // Process Epoch - Single-Epoch Method
|
|---|
| 1096 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1097 | t_irc bncComb::processEpoch_singleEpoch(char sys, QTextStream& out,
|
|---|
| 1098 | QMap<QString, cmbCorr*>& resCorr,
|
|---|
| 1099 | ColumnVector& dx) {
|
|---|
| 1100 |
|
|---|
| 1101 | // Check Satellite Positions for Outliers
|
|---|
| 1102 | // --------------------------------------
|
|---|
| 1103 | if (checkOrbits(sys, out) != success) {
|
|---|
| 1104 | return failure;
|
|---|
| 1105 | }
|
|---|
| 1106 |
|
|---|
| 1107 | // Outlier Detection Loop
|
|---|
| 1108 | // ----------------------
|
|---|
| 1109 | while (true) {
|
|---|
| 1110 |
|
|---|
| 1111 | // Remove Satellites that are not in Master
|
|---|
| 1112 | // ----------------------------------------
|
|---|
| 1113 | QMutableVectorIterator<cmbCorr*> it(corrs(sys));
|
|---|
| 1114 | while (it.hasNext()) {
|
|---|
| 1115 | cmbCorr* corr = it.next();
|
|---|
| 1116 | QString prn = corr->_prn;
|
|---|
| 1117 | bool foundMaster = false;
|
|---|
| 1118 | QVectorIterator<cmbCorr*> itHlp(corrs(sys));
|
|---|
| 1119 | while (itHlp.hasNext()) {
|
|---|
| 1120 | cmbCorr* corrHlp = itHlp.next();
|
|---|
| 1121 | QString prnHlp = corrHlp->_prn;
|
|---|
| 1122 | QString ACHlp = corrHlp->_acName;
|
|---|
| 1123 | if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
|
|---|
| 1124 | foundMaster = true;
|
|---|
| 1125 | break;
|
|---|
| 1126 | }
|
|---|
| 1127 | }
|
|---|
| 1128 | if (!foundMaster) {
|
|---|
| 1129 | delete corr;
|
|---|
| 1130 | it.remove();
|
|---|
| 1131 | }
|
|---|
| 1132 | }
|
|---|
| 1133 |
|
|---|
| 1134 | // Count Number of Observations per Satellite and per AC
|
|---|
| 1135 | // -----------------------------------------------------
|
|---|
| 1136 | QMap<QString, int> numObsPrn;
|
|---|
| 1137 | QMap<QString, int> numObsAC;
|
|---|
| 1138 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
|---|
| 1139 | while (itCorr.hasNext()) {
|
|---|
| 1140 | cmbCorr* corr = itCorr.next();
|
|---|
| 1141 | QString prn = corr->_prn;
|
|---|
| 1142 | QString AC = corr->_acName;
|
|---|
| 1143 | if (numObsPrn.find(prn) == numObsPrn.end()) {
|
|---|
| 1144 | numObsPrn[prn] = 1;
|
|---|
| 1145 | }
|
|---|
| 1146 | else {
|
|---|
| 1147 | numObsPrn[prn] += 1;
|
|---|
| 1148 | }
|
|---|
| 1149 | if (numObsAC.find(AC) == numObsAC.end()) {
|
|---|
| 1150 | numObsAC[AC] = 1;
|
|---|
| 1151 | }
|
|---|
| 1152 | else {
|
|---|
| 1153 | numObsAC[AC] += 1;
|
|---|
| 1154 | }
|
|---|
| 1155 | }
|
|---|
| 1156 |
|
|---|
| 1157 | // Clean-Up the Parameters
|
|---|
| 1158 | // -----------------------
|
|---|
| 1159 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 1160 | delete _params[sys][iPar-1];
|
|---|
| 1161 | }
|
|---|
| 1162 | _params[sys].clear();
|
|---|
| 1163 |
|
|---|
| 1164 | // Set new Parameters
|
|---|
| 1165 | // ------------------
|
|---|
| 1166 | int nextPar = 0;
|
|---|
| 1167 |
|
|---|
| 1168 | QMapIterator<QString, int> itAC(numObsAC);
|
|---|
| 1169 | while (itAC.hasNext()) {
|
|---|
| 1170 | itAC.next();
|
|---|
| 1171 | const QString& AC = itAC.key();
|
|---|
| 1172 | int numObs = itAC.value();
|
|---|
| 1173 | if (AC != _masterOrbitAC[sys] && numObs > 0) {
|
|---|
| 1174 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
|
|---|
| 1175 | }
|
|---|
| 1176 | }
|
|---|
| 1177 |
|
|---|
| 1178 | QMapIterator<QString, int> itPrn(numObsPrn);
|
|---|
| 1179 | while (itPrn.hasNext()) {
|
|---|
| 1180 | itPrn.next();
|
|---|
| 1181 | const QString& prn = itPrn.key();
|
|---|
| 1182 | int numObs = itPrn.value();
|
|---|
| 1183 | if (numObs > 0) {
|
|---|
| 1184 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
|---|
| 1185 | }
|
|---|
| 1186 | }
|
|---|
| 1187 |
|
|---|
| 1188 | int nPar = _params[sys].size();
|
|---|
| 1189 | ColumnVector x0(nPar);
|
|---|
| 1190 | x0 = 0.0;
|
|---|
| 1191 |
|
|---|
| 1192 | // Create First-Design Matrix
|
|---|
| 1193 | // --------------------------
|
|---|
| 1194 | Matrix AA;
|
|---|
| 1195 | ColumnVector ll;
|
|---|
| 1196 | DiagonalMatrix PP;
|
|---|
| 1197 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
|---|
| 1198 | return failure;
|
|---|
| 1199 | }
|
|---|
| 1200 |
|
|---|
| 1201 | ColumnVector vv;
|
|---|
| 1202 | try {
|
|---|
| 1203 | Matrix ATP = AA.t() * PP;
|
|---|
| 1204 | SymmetricMatrix NN; NN << ATP * AA;
|
|---|
| 1205 | ColumnVector bb = ATP * ll;
|
|---|
| 1206 | _QQ[sys] = NN.i();
|
|---|
| 1207 | dx = _QQ[sys] * bb;
|
|---|
| 1208 | vv = ll - AA * dx;
|
|---|
| 1209 | }
|
|---|
| 1210 | catch (Exception& exc) {
|
|---|
| 1211 | out << exc.what() << "\n";
|
|---|
| 1212 | return failure;
|
|---|
| 1213 | }
|
|---|
| 1214 |
|
|---|
| 1215 | int maxResIndex;
|
|---|
| 1216 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
|---|
| 1217 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
|---|
| 1218 | out.setRealNumberPrecision(3);
|
|---|
| 1219 | out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
|---|
| 1220 | << " Maximum Residuum " << maxRes << ' '
|
|---|
| 1221 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
|---|
| 1222 |
|
|---|
| 1223 | if (maxRes > _MAXRES) {
|
|---|
| 1224 | out << " Outlier" << "\n";
|
|---|
| 1225 | delete corrs(sys)[maxResIndex-1];
|
|---|
| 1226 | corrs(sys).remove(maxResIndex-1);
|
|---|
| 1227 | }
|
|---|
| 1228 | else {
|
|---|
| 1229 | out << " OK" << "\n";
|
|---|
| 1230 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
|---|
| 1231 | out.setRealNumberPrecision(3);
|
|---|
| 1232 | for (int ii = 0; ii < vv.Nrows(); ii++) {
|
|---|
| 1233 | const cmbCorr* corr = corrs(sys)[ii];
|
|---|
| 1234 | out << _resTime.datestr().c_str() << ' '
|
|---|
| 1235 | << _resTime.timestr().c_str() << " "
|
|---|
| 1236 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
|---|
| 1237 | out.setFieldWidth(6);
|
|---|
| 1238 | out << " res = " << vv[ii] << "\n";
|
|---|
| 1239 | out.setFieldWidth(0);
|
|---|
| 1240 | }
|
|---|
| 1241 | return success;
|
|---|
| 1242 | }
|
|---|
| 1243 |
|
|---|
| 1244 | }
|
|---|
| 1245 |
|
|---|
| 1246 | return failure;
|
|---|
| 1247 | }
|
|---|
| 1248 |
|
|---|
| 1249 | // Check Satellite Positions for Outliers
|
|---|
| 1250 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1251 | t_irc bncComb::checkOrbits(char sys, QTextStream& out) {
|
|---|
| 1252 |
|
|---|
| 1253 | const double MAX_DISPLACEMENT = 0.20;
|
|---|
| 1254 |
|
|---|
| 1255 | // Switch to last ephemeris (if possible)
|
|---|
| 1256 | // --------------------------------------
|
|---|
| 1257 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
|---|
| 1258 | while (im.hasNext()) {
|
|---|
| 1259 | cmbCorr* corr = im.next();
|
|---|
| 1260 | QString prn = corr->_prn;
|
|---|
| 1261 |
|
|---|
| 1262 | t_eph* ephLast = _ephUser.ephLast(prn);
|
|---|
| 1263 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
|---|
| 1264 |
|
|---|
| 1265 | if (ephLast == 0) {
|
|---|
| 1266 | out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
|
|---|
| 1267 | delete corr;
|
|---|
| 1268 | im.remove();
|
|---|
| 1269 | }
|
|---|
| 1270 | else if (corr->_eph == 0) {
|
|---|
| 1271 | out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
|
|---|
| 1272 | delete corr;
|
|---|
| 1273 | im.remove();
|
|---|
| 1274 | }
|
|---|
| 1275 | else {
|
|---|
| 1276 | if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
|
|---|
| 1277 | switchToLastEph(ephLast, corr);
|
|---|
| 1278 | }
|
|---|
| 1279 | else {
|
|---|
| 1280 | out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
|
|---|
| 1281 | delete corr;
|
|---|
| 1282 | im.remove();
|
|---|
| 1283 | }
|
|---|
| 1284 | }
|
|---|
| 1285 | }
|
|---|
| 1286 |
|
|---|
| 1287 | while (true) {
|
|---|
| 1288 |
|
|---|
| 1289 | // Compute Mean Corrections for all Satellites
|
|---|
| 1290 | // -------------------------------------------
|
|---|
| 1291 | QMap<QString, int> numCorr;
|
|---|
| 1292 | QMap<QString, ColumnVector> meanRao;
|
|---|
| 1293 | QVectorIterator<cmbCorr*> it(corrs(sys));
|
|---|
| 1294 | while (it.hasNext()) {
|
|---|
| 1295 | cmbCorr* corr = it.next();
|
|---|
| 1296 | QString prn = corr->_prn;
|
|---|
| 1297 | if (meanRao.find(prn) == meanRao.end()) {
|
|---|
| 1298 | meanRao[prn].ReSize(4);
|
|---|
| 1299 | meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
|
|---|
| 1300 | meanRao[prn](4) = 1;
|
|---|
| 1301 | }
|
|---|
| 1302 | else {
|
|---|
| 1303 | meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
|
|---|
| 1304 | meanRao[prn](4) += 1;
|
|---|
| 1305 | }
|
|---|
| 1306 | if (numCorr.find(prn) == numCorr.end()) {
|
|---|
| 1307 | numCorr[prn] = 1;
|
|---|
| 1308 | }
|
|---|
| 1309 | else {
|
|---|
| 1310 | numCorr[prn] += 1;
|
|---|
| 1311 | }
|
|---|
| 1312 | }
|
|---|
| 1313 |
|
|---|
| 1314 | // Compute Differences wrt. Mean, find Maximum
|
|---|
| 1315 | // -------------------------------------------
|
|---|
| 1316 | QMap<QString, cmbCorr*> maxDiff;
|
|---|
| 1317 | it.toFront();
|
|---|
| 1318 | while (it.hasNext()) {
|
|---|
| 1319 | cmbCorr* corr = it.next();
|
|---|
| 1320 | QString prn = corr->_prn;
|
|---|
| 1321 | if (meanRao[prn](4) != 0) {
|
|---|
| 1322 | meanRao[prn] /= meanRao[prn](4);
|
|---|
| 1323 | meanRao[prn](4) = 0;
|
|---|
| 1324 | }
|
|---|
| 1325 | corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
|
|---|
| 1326 | if (maxDiff.find(prn) == maxDiff.end()) {
|
|---|
| 1327 | maxDiff[prn] = corr;
|
|---|
| 1328 | }
|
|---|
| 1329 | else {
|
|---|
| 1330 | double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
|
|---|
| 1331 | double norm = corr->_diffRao.NormFrobenius();
|
|---|
| 1332 | if (norm > normMax) {
|
|---|
| 1333 | maxDiff[prn] = corr;
|
|---|
| 1334 | }
|
|---|
| 1335 | }
|
|---|
| 1336 | }
|
|---|
| 1337 |
|
|---|
| 1338 | if (_ACs.size() == 1) {
|
|---|
| 1339 | break;
|
|---|
| 1340 | }
|
|---|
| 1341 |
|
|---|
| 1342 | // Remove Outliers
|
|---|
| 1343 | // ---------------
|
|---|
| 1344 | bool removed = false;
|
|---|
| 1345 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
|---|
| 1346 | while (im.hasNext()) {
|
|---|
| 1347 | cmbCorr* corr = im.next();
|
|---|
| 1348 | QString prn = corr->_prn;
|
|---|
| 1349 | if (numCorr[prn] < 2) {
|
|---|
| 1350 | delete corr;
|
|---|
| 1351 | im.remove();
|
|---|
| 1352 | }
|
|---|
| 1353 | else if (corr == maxDiff[prn]) {
|
|---|
| 1354 | double norm = corr->_diffRao.NormFrobenius();
|
|---|
| 1355 | if (norm > MAX_DISPLACEMENT) {
|
|---|
| 1356 | out << _resTime.datestr().c_str() << " "
|
|---|
| 1357 | << _resTime.timestr().c_str() << " "
|
|---|
| 1358 | << "Orbit Outlier: "
|
|---|
| 1359 | << corr->_acName.toLatin1().data() << " "
|
|---|
| 1360 | << prn.mid(0,3).toLatin1().data() << " "
|
|---|
| 1361 | << corr->_iod << " "
|
|---|
| 1362 | << norm << "\n";
|
|---|
| 1363 | delete corr;
|
|---|
| 1364 | im.remove();
|
|---|
| 1365 | removed = true;
|
|---|
| 1366 | }
|
|---|
| 1367 | }
|
|---|
| 1368 | }
|
|---|
| 1369 |
|
|---|
| 1370 | if (!removed) {
|
|---|
| 1371 | break;
|
|---|
| 1372 | }
|
|---|
| 1373 | }
|
|---|
| 1374 |
|
|---|
| 1375 | return success;
|
|---|
| 1376 | }
|
|---|
| 1377 |
|
|---|
| 1378 | //
|
|---|
| 1379 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1380 | void bncComb::slotProviderIDChanged(QString mountPoint) {
|
|---|
| 1381 | QMutexLocker locker(&_mutex);
|
|---|
| 1382 |
|
|---|
| 1383 | QTextStream out(&_log, QIODevice::WriteOnly);
|
|---|
| 1384 |
|
|---|
| 1385 | // Find the AC Name
|
|---|
| 1386 | // ----------------
|
|---|
| 1387 | QString acName;
|
|---|
| 1388 | QListIterator<cmbAC*> icAC(_ACs);
|
|---|
| 1389 | while (icAC.hasNext()) {
|
|---|
| 1390 | cmbAC* AC = icAC.next();
|
|---|
| 1391 | if (AC->mountPoint == mountPoint) {
|
|---|
| 1392 | acName = AC->name;
|
|---|
| 1393 | out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
|
|---|
| 1394 | << _resTime.datestr().c_str() << " "
|
|---|
| 1395 | << _resTime.timestr().c_str() << "\n";
|
|---|
| 1396 | break;
|
|---|
| 1397 | }
|
|---|
| 1398 | }
|
|---|
| 1399 | if (acName.isEmpty()) {
|
|---|
| 1400 | return;
|
|---|
| 1401 | }
|
|---|
| 1402 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
|---|
| 1403 | while (itSys.hasNext()) {
|
|---|
| 1404 | itSys.next();
|
|---|
| 1405 | char sys = itSys.key();
|
|---|
| 1406 | // Remove all corrections of the corresponding AC
|
|---|
| 1407 | // ----------------------------------------------
|
|---|
| 1408 | QListIterator<bncTime> itTime(_buffer[sys].keys());
|
|---|
| 1409 | while (itTime.hasNext()) {
|
|---|
| 1410 | bncTime epoTime = itTime.next();
|
|---|
| 1411 | QVector<cmbCorr*>& corrVec = _buffer[sys][epoTime].corrs;
|
|---|
| 1412 | QMutableVectorIterator<cmbCorr*> it(corrVec);
|
|---|
| 1413 | while (it.hasNext()) {
|
|---|
| 1414 | cmbCorr* corr = it.next();
|
|---|
| 1415 | if (acName == corr->_acName) {
|
|---|
| 1416 | delete corr;
|
|---|
| 1417 | it.remove();
|
|---|
| 1418 | }
|
|---|
| 1419 | }
|
|---|
| 1420 | }
|
|---|
| 1421 |
|
|---|
| 1422 | // Reset Satellite Offsets
|
|---|
| 1423 | // -----------------------
|
|---|
| 1424 | if (_method == filter) {
|
|---|
| 1425 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
|---|
| 1426 | cmbParam* pp = _params[sys][iPar-1];
|
|---|
| 1427 | if (pp->AC == acName && pp->type == cmbParam::offACSat) {
|
|---|
| 1428 | pp->xx = 0.0;
|
|---|
| 1429 | _QQ[sys].Row(iPar) = 0.0;
|
|---|
| 1430 | _QQ[sys].Column(iPar) = 0.0;
|
|---|
| 1431 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
|---|
| 1432 | }
|
|---|
| 1433 | }
|
|---|
| 1434 | }
|
|---|
| 1435 | }
|
|---|
| 1436 | }
|
|---|
