/* -------------------------------------------------------------------------
* BKG NTRIP Client
* -------------------------------------------------------------------------
*
* Class: bncComb
*
* Purpose: Combinations of Orbit/Clock Corrections
*
* Author: L. Mervart
*
* Created: 22-Jan-2011
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <newmatio.h>
#include <iomanip>
#include <sstream>
#include <map>
#include "bnccomb.h"
#include <combination/bncbiassnx.h>
#include "bnccore.h"
#include "upload/bncrtnetdecoder.h"
#include "bncsettings.h"
#include "bncutils.h"
#include "bncantex.h"
#include "t_prn.h"
const double sig0_offAC = 1000.0;
const double sig0_offACSat = 100.0;
const double sigP_offACSat = 0.01;
const double sig0_clkSat = 100.0;
const double sigObs = 0.05;
using namespace std;
// Constructor
////////////////////////////////////////////////////////////////////////////
bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
type = type_;
index = index_;
AC = ac_;
prn = prn_;
xx = 0.0;
eph = 0;
if (type == offACgnss) {
epoSpec = true;
sig0 = sig0_offAC;
sigP = sig0;
}
else if (type == offACSat) {
epoSpec = false;
sig0 = sig0_offACSat;
sigP = sigP_offACSat;
}
else if (type == clkSat) {
epoSpec = true;
sig0 = sig0_clkSat;
sigP = sig0;
}
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncComb::cmbParam::~cmbParam() {
}
// Partial
////////////////////////////////////////////////////////////////////////////
double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) {
if (type == offACgnss) {
if (AC == AC_ && prn_[0].toLatin1() == sys) {
return 1.0;
}
}
else if (type == offACSat) {
if (AC == AC_ && prn == prn_) {
return 1.0;
}
}
else if (type == clkSat) {
if (prn == prn_) {
return 1.0;
}
}
return 0.0;
}
//
////////////////////////////////////////////////////////////////////////////
QString bncComb::cmbParam::toString(char sys) const {
QString outStr;
if (type == offACgnss) {
outStr = "AC Offset " + AC + " " + sys + " ";
}
else if (type == offACSat) {
outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
}
else if (type == clkSat) {
outStr = "Clk Corr " + prn.mid(0,3);
}
return outStr;
}
// Singleton: definition class variable
////////////////////////////////////////////////////////////////////////////
bncComb* bncComb::instance = nullptr;
// Constructor
////////////////////////////////////////////////////////////////////////////
bncComb::bncComb() : _ephUser(true) {
bncSettings settings;
_running = true;
QStringList cmbStreams = settings.value("cmbStreams").toStringList();
_cmbSampl = settings.value("cmbSampl").toInt();
if (_cmbSampl <= 0) {
_cmbSampl = 5;
}
_useGps = (Qt::CheckState(settings.value("cmbGps").toInt()) == Qt::Checked) ? true : false;
if (_useGps) {
_cmbSysPrn['G'] = t_prn::MAXPRN_GPS;
_masterMissingEpochs['G'] = 0;
}
_useGlo = (Qt::CheckState(settings.value("cmbGlo").toInt()) == Qt::Checked) ? true : false;
if (_useGlo) {
_cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS;
_masterMissingEpochs['R'] = 0;
}
_useGal = (Qt::CheckState(settings.value("cmbGal").toInt()) == Qt::Checked) ? true : false;
if (_useGal) {
_cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO;
_masterMissingEpochs['E'] = 0;
}
_useBds = (Qt::CheckState(settings.value("cmbBds").toInt()) == Qt::Checked) ? true : false;
if (_useBds) {
_cmbSysPrn['C'] = t_prn::MAXPRN_BDS;
_masterMissingEpochs['C'] = 0;
}
_useQzss = (Qt::CheckState(settings.value("cmbQzss").toInt()) == Qt::Checked) ? true : false;
if (_useQzss) {
_cmbSysPrn['J'] = t_prn::MAXPRN_QZSS;
_masterMissingEpochs['J'] = 0;
}
_useSbas = (Qt::CheckState(settings.value("cmbSbas").toInt()) == Qt::Checked) ? true : false;
if (_useSbas) {
_cmbSysPrn['S'] = t_prn::MAXPRN_SBAS;
_masterMissingEpochs['S'] = 0;
}
_useNavic = (Qt::CheckState(settings.value("cmbNavic").toInt()) == Qt::Checked) ? true : false;
if (_useNavic) {
_cmbSysPrn['I'] = t_prn::MAXPRN_NavIC;
_masterMissingEpochs['I'] = 0;
}
if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
QListIterator<QString> it(cmbStreams);
while (it.hasNext()) {
QStringList hlp = it.next().split(" ");
cmbAC* newAC = new cmbAC();
newAC->mountPoint = hlp[0];
newAC->name = hlp[1];
newAC->weightFactor = hlp[2].toDouble();
newAC->excludeSats = hlp[3].split(QRegExp("[ ,]"), Qt::SkipEmptyParts);
newAC->isAPC = bool(newAC->mountPoint.mid(0,4) == "SSRA");
QMapIterator<char, unsigned> itSys(_cmbSysPrn);
// init
while (itSys.hasNext()) {
itSys.next();
char sys = itSys.key();
if (!_masterOrbitAC.contains(sys) &&
!newAC->excludeSats.contains(QString(sys), Qt::CaseSensitive)) {
_masterOrbitAC[sys] = newAC->name;
_masterIsAPC[sys] = newAC->isAPC;
}
}
_ACs.append(newAC);
}
}
QString ssrFormat;
_ssrCorr = 0;
QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
while (it.hasNext()) {
QStringList hlp = it.next().split(",");
if (hlp.size() > 7) {
ssrFormat = hlp[7];
}
}
if (ssrFormat == "IGS-SSR") {
_ssrCorr = new SsrCorrIgs();
}
else if (ssrFormat == "RTCM-SSR") {
_ssrCorr = new SsrCorrRtcm();
}
else { // default
_ssrCorr = new SsrCorrIgs();
}
_rtnetDecoder = new bncRtnetDecoder();
connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), this, SLOT(slotProviderIDChanged(QString)));
connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
// Combination Method
// ------------------
if (settings.value("cmbMethod").toString() == "Single-Epoch") {
_method = singleEpoch;
}
else {
_method = filter;
}
// Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
// ----------------------------------------------------------------------
if (_method == filter) {
// SYSTEM
QMapIterator<char, unsigned> itSys(_cmbSysPrn);
while (itSys.hasNext()) {
itSys.next();
int nextPar = 0;
char sys = itSys.key();
int maxPrn = itSys.value();
// AC
QListIterator<cmbAC*> itAc(_ACs);
while (itAc.hasNext()) {
cmbAC* AC = itAc.next();
_params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
for (int iGnss = 1; iGnss <= maxPrn; iGnss++) {
int flag = t_corrSSR::getSsrNavTypeFlag(sys, iGnss);
QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
_params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
}
}
for (int iGnss = 1; iGnss <= maxPrn; iGnss++) {
int flag = t_corrSSR::getSsrNavTypeFlag(sys, iGnss);
QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
_params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
}
// Initialize Variance-Covariance Matrix
// -------------------------------------
_QQ[sys].ReSize(_params[sys].size());
_QQ[sys] = 0.0;
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
cmbParam* pp = _params[sys][iPar-1];
_QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
}
}
}
// ANTEX File
// ----------
_antex = 0;
QString antexFileName = settings.value("uploadAntexFile").toString();
if (!antexFileName.isEmpty()) {
_antex = new bncAntex();
if (_antex->readFile(antexFileName) != success) {
emit newMessage("bncComb: wrong ANTEX file", true);
delete _antex;
_antex = 0;
}
}
// Bias SINEX File
// ---------------
_bsx = 0;
QString bsxFileName = settings.value("cmbBsxFile").toString();
if (!bsxFileName.isEmpty()) {
_bsx = new bncBiasSnx();
if (_bsx->readFile(bsxFileName) != success) {
emit newMessage("bncComb: wrong Bias SINEX file", true);
delete _bsx;
_bsx = 0;
}
}
if (_bsx) {
_ms = 3.0 * 3600 * 1000.0;
QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
}
// Maximal Residuum
// ----------------
_MAX_RES = settings.value("cmbMaxres").toDouble();
if (_MAX_RES <= 0.0) {
_MAX_RES = 999.0;
}
// Maximal Displacement
// --------------------
_MAX_DISPLACEMENT = settings.value("cmbMaxdisplacement").toDouble();
if (_MAX_DISPLACEMENT <= 0.0) {
_MAX_DISPLACEMENT = 2.0;
}
// Logfile
// -------
QString intr = "1 day";
QString logFileCmb = settings.value("cmbLogpath").toString();
int l = logFileCmb.length();
if (logFileCmb.isEmpty()) {
_logFile = 0;
}
else {
if (l && logFileCmb[l-1] != QDir::separator() ) {
logFileCmb += QDir::separator();
}
logFileCmb = logFileCmb + "COMB00BNC" + "${V3PROD}" + ".CMB";
_logFile = new bncoutf(logFileCmb, intr, _cmbSampl);
}
_newCorr = 0;
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncComb::~bncComb() {
_running = false;
#ifndef WIN32
sleep(2);
#else
Sleep(2000);
#endif
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
delete icAC.next();
}
_ACs.clear();
delete _rtnetDecoder;
if (_ssrCorr) {
delete _ssrCorr;
}
if (_newCorr) {
delete _newCorr;
}
delete _antex;
delete _bsx;
delete _logFile;
QMapIterator<char, unsigned> itSys(_cmbSysPrn);
while (itSys.hasNext()) {
itSys.next();
char sys = itSys.key();
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
delete _params[sys][iPar-1];
}
_buffer.remove(sys);
}
_params.clear();
_buffer.clear();
_cmbSysPrn.clear();
while (!_epoClkData.empty()) {
delete _epoClkData.front();
_epoClkData.pop_front();
}
}
void bncComb::slotReadBiasSnxFile() {
bncSettings settings;
QString bsxFileName = settings.value("cmbBsxFile").toString();
if (bsxFileName.isEmpty()) {
emit newMessage("bncComb: no Bias SINEX file specified", true);
return;
}
if (!_bsx) {
_bsx = new bncBiasSnx();
}
if (_bsx->readFile(bsxFileName) != success) {
emit newMessage("bncComb: wrong Bias SINEX file", true);
delete _bsx;
_bsx = 0;
}
else {
emit newMessage("bncComb: successfully read Bias SINEX file", true);
}
QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
}
// Remember orbit corrections
////////////////////////////////////////////////////////////////////////////
void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
QMutexLocker locker(&_mutex);
for (int ii = 0; ii < orbCorrections.size(); ii++) {
t_orbCorr& orbCorr = orbCorrections[ii];
QString staID(orbCorr._staID.c_str());
char sys = orbCorr._prn.system();
if (!_cmbSysPrn.contains(sys)){
continue;
}
// Find/Check the AC Name
// ----------------------
QString acName;
QStringList excludeSats;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->mountPoint == staID) {
acName = AC->name;
excludeSats = AC->excludeSats;
break;
}
}
if (acName.isEmpty() || excludeSat(orbCorr._prn, excludeSats)) {
continue;
}
// Store the correction
// --------------------
QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
storage[orbCorr._prn] = orbCorr;
}
}
// Remember Satellite Code Biases
////////////////////////////////////////////////////////////////////////////
void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
QMutexLocker locker(&_mutex);
for (int ii = 0; ii < satCodeBiases.size(); ii++) {
t_satCodeBias& satCodeBias = satCodeBiases[ii];
QString staID(satCodeBias._staID.c_str());
char sys = satCodeBias._prn.system();
if (!_cmbSysPrn.contains(sys)){
continue;
}
// Find/Check the AC Name
// ----------------------
QString acName;
QStringList excludeSats;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->mountPoint == staID) {
acName = AC->name;
excludeSats = AC->excludeSats;
break;
}
}
if (acName.isEmpty() || excludeSat(satCodeBias._prn, excludeSats)) {
continue;
}
// Store the correction
// --------------------
QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
storage[satCodeBias._prn] = satCodeBias;
}
}
// Process clock corrections
////////////////////////////////////////////////////////////////////////////
void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
QMutexLocker locker(&_mutex);
const double outWait = 1.0 * _cmbSampl;
int currentWeek = 0;
double currentSec = 0.0;
currentGPSWeeks(currentWeek, currentSec);
bncTime currentTime(currentWeek, currentSec);
// Loop over all observations (possible different epochs)
// -----------------------------------------------------
for (int ii = 0; ii < clkCorrections.size(); ii++) {
t_clkCorr& newClk = clkCorrections[ii];
char sys = newClk._prn.system();
if (!_cmbSysPrn.contains(sys)){
continue;
}
// Check Modulo Time
// -----------------
int sec = int(nint(newClk._time.gpssec()*10));
if (sec % (_cmbSampl*10) != 0.0) {
continue;
}
// Find/Check the AC Name
// ----------------------
QString acName;
QStringList excludeSats;
bool isAPC;
QString staID(newClk._staID.c_str());
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->mountPoint == staID) {
acName = AC->name;
excludeSats = AC->excludeSats;
isAPC = AC->isAPC;
break;
}
}
if (acName.isEmpty() ||
isAPC != _masterIsAPC[sys] ||
excludeSat(newClk._prn, excludeSats)) {
continue;
}
// Check regarding current time
// ----------------------------
if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
if (fabs(currentTime - newClk._time) > 60.0) { // future or very old data sets
#ifdef BNC_DEBUG_CMB
emit newMessage("bncComb: future or very old data sets: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. current time" +
QString(" %1 ").arg(currentTime.timestr().c_str()).toLatin1(), true);
#endif
continue;
}
}
// Check Correction Age
// --------------------
if (_resTime.valid() && newClk._time <= _resTime) {
#ifdef BNC_DEBUG_CMB
emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. last processing Epoch" +
QString(" %1 ").arg(_resTime.timestr().c_str()).toLatin1(), true);
#endif
continue;
}
// Set the last time
// -----------------
if (_lastClkCorrTime.undef() || newClk._time > _lastClkCorrTime) {
_lastClkCorrTime = newClk._time;
}
// Find the corresponding data epoch or create a new one
// -----------------------------------------------------
epoClkData* epoch = 0;
deque<epoClkData*>::const_iterator it;
for (it = _epoClkData.begin(); it != _epoClkData.end(); it++) {
if (newClk._time == (*it)->_time) {
epoch = *it;
break;
}
}
if (epoch == 0) {
if (_epoClkData.empty() || newClk._time > _epoClkData.back()->_time) {
epoch = new epoClkData;
epoch->_time = newClk._time;
_epoClkData.push_back(epoch);
}
}
// Put data into the epoch
// -----------------------
if (epoch != 0) {
epoch->_clkCorr.push_back(newClk);
}
}
// Make sure the buffer does not grow beyond any limit
// ---------------------------------------------------
const unsigned MAX_EPODATA_SIZE = 60.0 / _cmbSampl;
if (_epoClkData.size() > MAX_EPODATA_SIZE) {
delete _epoClkData.front();
_epoClkData.pop_front();
}
// Process the oldest epochs
// ------------------------
while (_epoClkData.size()) {
if (!_lastClkCorrTime.valid()) {
return;
}
const vector<t_clkCorr>& clkCorrVec = _epoClkData.front()->_clkCorr;
bncTime epoTime = _epoClkData.front()->_time;
if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
if ((currentTime - epoTime) > 60.0) {
delete _epoClkData.front();
_epoClkData.pop_front();
continue;
}
}
// Process the front epoch
// -----------------------
if (epoTime < (_lastClkCorrTime - outWait)) {
_resTime = epoTime;
processEpoch(_resTime, clkCorrVec);
delete _epoClkData.front();
_epoClkData.pop_front();
}
else {
return;
}
}
}
// Change the correction so that it refers to last received ephemeris
////////////////////////////////////////////////////////////////////////////
void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
if (corr->_eph == lastEph) {
return;
}
ColumnVector oldXC(6);
ColumnVector oldVV(3);
if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
return;
}
ColumnVector newXC(6);
ColumnVector newVV(3);
if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
return;
}
ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
ColumnVector dV = newVV - oldVV;
double dC = newXC(4) - oldXC(4);
ColumnVector dRAO(3);
XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
ColumnVector dDotRAO(3);
XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
QString msg = "bncComb: switch corr " + corr->_prn.mid(0,3)
+ QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
emit newMessage(msg.toLatin1(), false);
corr->_iod = lastEph->IOD();
corr->_eph = lastEph;
corr->_orbCorr._xr += dRAO;
corr->_orbCorr._dotXr += dDotRAO;
corr->_clkCorr._dClk -= dC;
}
// Process Epoch
////////////////////////////////////////////////////////////////////////////
void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr>& clkCorrVec) {
QDateTime now = currentDateAndTimeGPS();
bncTime currentTime(now.toString(Qt::ISODate).toStdString());
for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
const t_clkCorr& clkCorr = clkCorrVec[ii];
QString staID(clkCorr._staID.c_str());
QString prnStr(clkCorr._prn.toInternalString().c_str());
char sys = clkCorr._prn.system();
// Find/Check the AC Name
// ----------------------
QString acName;
double weigthFactor;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->mountPoint == staID) {
acName = AC->name;
weigthFactor = AC->weightFactor;
break;
}
}
// Create new correction
// ---------------------
_newCorr = new cmbCorr();
_newCorr->_prn = prnStr;
_newCorr->_time = clkCorr._time;
_newCorr->_iod = clkCorr._iod;
_newCorr->_acName = acName;
_newCorr->_weightFactor = weigthFactor;
_newCorr->_clkCorr = clkCorr;
// Check orbit correction
// ----------------------
if (!_orbCorrections.contains(acName)) {
delete _newCorr; _newCorr = 0;
continue;
}
else {
QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
if (!storage.contains(clkCorr._prn) ||
storage[clkCorr._prn]._iod != _newCorr->_iod) {
delete _newCorr; _newCorr = 0;
continue;
}
else {
_newCorr->_orbCorr = storage[clkCorr._prn];
}
}
// Check the Ephemeris
//--------------------
t_eph* ephLast = _ephUser.ephLast(prnStr);
t_eph* ephPrev = _ephUser.ephPrev(prnStr);
if (ephLast == 0) {
#ifdef BNC_DEBUG_CMB
emit newMessage("bncComb: eph not found for " + prnStr.mid(0,3).toLatin1(), true);
#endif
delete _newCorr; _newCorr = 0;
continue;
}
else if (outDatedBcep(ephLast, currentTime) ||
ephLast->checkState() == t_eph::bad ||
ephLast->checkState() == t_eph::outdated ||
ephLast->checkState() == t_eph::unhealthy) {
#ifdef BNC_DEBUG_CMB
emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prnStr.mid(0,3).toLatin1(), true);
#endif
delete _newCorr; _newCorr = 0;
continue;
}
else {
if (ephLast->IOD() == _newCorr->_iod) {
_newCorr->_eph = ephLast;
}
else if (ephPrev &&
!outDatedBcep(ephPrev, currentTime) && // if not updated in storage
ephPrev->checkState() == t_eph::ok && // received
ephPrev->IOD() == _newCorr->_iod) {
_newCorr->_eph = ephPrev;
switchToLastEph(ephLast, _newCorr);
}
else {
#ifdef BNC_DEBUG_CMB
emit newMessage("bncComb: eph not found for " + prnStr.mid(0,3).toLatin1() +
QString(" with IOD %1").arg(_newCorr->_iod).toLatin1(), true);
#endif
delete _newCorr; _newCorr = 0;
continue;
}
}
// Check satellite code biases
// ----------------------------
if (_satCodeBiases.contains(acName)) {
QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
if (storage.contains(clkCorr._prn)) {
_newCorr->_satCodeBias = storage[clkCorr._prn];
QMap<t_frequency::type, double> codeBiasesRefSig;
for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
char frqNum = t_frequency::toString(frqType)[1];
char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
for (unsigned ii = 0; ii < _newCorr->_satCodeBias._bias.size(); ii++) {
const t_frqCodeBias& bias = _newCorr->_satCodeBias._bias[ii];
if (rnxType2ch.toStdString() == bias._rnxType2ch) {
codeBiasesRefSig[frqType] = bias._value;
}
}
}
if (codeBiasesRefSig.size() == 2) {
map<t_frequency::type, double> codeCoeff;
double channel = double(_newCorr->_eph->slotNum());
cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
map<t_frequency::type, double>::const_iterator it;
for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
t_frequency::type frqType = it->first;
_newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
}
}
_newCorr->_satCodeBias._bias.clear();
}
}
// Store correction into the buffer
// --------------------------------
QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
QVectorIterator<cmbCorr*> itCorr(corrs);
bool available = false;
while (itCorr.hasNext()) {
cmbCorr* corr = itCorr.next();
QString prnStr = corr->_prn;
QString acName = corr->_acName;
if (_newCorr->_acName == acName &&
_newCorr->_prn == prnStr) {
available = true;
}
}
if (!available) {
corrs.push_back(_newCorr); _newCorr = 0;
}
else {
delete _newCorr; _newCorr = 0;
continue;
}
}
// Process Systems of this Epoch
// ------------------------------
QMapIterator<char, unsigned> itSys(_cmbSysPrn);
while (itSys.hasNext()) {
itSys.next();
char sys = itSys.key();
_log.clear();
QTextStream out(&_log, QIODevice::WriteOnly);
processSystem(epoTime, sys, out);
_buffer.remove(sys);
if (_logFile) {
_logFile->write(epoTime.gpsw(),epoTime.gpssec(), QString(_log));
}
}
}
void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
out << "\n"
<< epoTime.datestr().c_str() << " "
<< epoTime.timestr().c_str() << " "
<< "Combination: " << sys << "\n"
<< "--------------------------------------" << "\n";
// Observation Statistics
// ----------------------
bool masterPresent = false;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
AC->numObs[sys] = 0;
QVectorIterator<cmbCorr*> itCorr(corrs(sys));
while (itCorr.hasNext()) {
cmbCorr* corr = itCorr.next();
if (corr->_acName == AC->name) {
AC->numObs[sys] += 1;
if (AC->name == _masterOrbitAC[sys]) {
masterPresent = true;
}
}
}
out << epoTime.datestr().c_str() << " "
<< epoTime.timestr().c_str() << " "
<< "Sat Num " << sys << " "
<< AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
}
// If Master not present, switch to another one
// --------------------------------------------
const unsigned switchMasterAfterGap = 1;
if (masterPresent) {
_masterMissingEpochs[sys] = 0;
}
else {
++_masterMissingEpochs[sys];
if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
out << "Missing Master, Epoch skipped" << "\n";
_buffer.remove(sys);
emit newMessage(_log, false);
return;
}
else {
_masterMissingEpochs[sys] = 0;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC* AC = icAC.next();
if (AC->numObs[sys] > 0) {
out << epoTime.datestr().c_str() << " "
<< epoTime.timestr().c_str() << " "
<< "Switching Master " << sys << " "
<< _masterOrbitAC[sys].toLatin1().data() << " --> "
<< AC->name.toLatin1().data() << "\n";
_masterOrbitAC[sys] = AC->name;
_masterIsAPC[sys] = AC->isAPC;
break;
}
}
}
}
QMap<QString, cmbCorr*> resCorr;
// Perform the actual Combination using selected Method
// ----------------------------------------------------
t_irc irc;
ColumnVector dx;
if (_method == filter) {
irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
}
else {
irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
}
// Update Parameter Values, Print Results
// --------------------------------------
if (irc == success) {
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
cmbParam* pp = _params[sys][iPar-1];
pp->xx += dx(iPar);
if (pp->type == cmbParam::clkSat) {
if (resCorr.find(pp->prn) != resCorr.end()) {
// set clock result
resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
// Add Code Biases from SINEX File
if (_bsx) {
map<t_frequency::type, double> codeCoeff;
double channel = double(resCorr[pp->prn]->_eph->slotNum());
cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
_bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
}
}
}
out << epoTime.datestr().c_str() << " "
<< epoTime.timestr().c_str() << " ";
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setFieldWidth(8);
out.setRealNumberPrecision(4);
out << pp->toString(sys) << " "
<< pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
out.setFieldWidth(0);
out.flush();
}
printResults(epoTime, out, resCorr);
dumpResults(epoTime, resCorr);
}
}
// Process Epoch - Filter Method
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
QMap<QString, cmbCorr*>& resCorr,
ColumnVector& dx) {
// Prediction Step
// ---------------
int nPar = _params[sys].size();
ColumnVector x0(nPar);
for (int iPar = 1; iPar <= nPar; iPar++) {
cmbParam* pp = _params[sys][iPar-1];
if (pp->epoSpec) {
pp->xx = 0.0;
_QQ[sys].Row(iPar) = 0.0;
_QQ[sys].Column(iPar) = 0.0;
_QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
}
else {
_QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
}
x0(iPar) = pp->xx;
}
// Check Satellite Positions for Outliers
// --------------------------------------
if (checkOrbits(epoTime, sys, out) != success) {
return failure;
}
// Update and outlier detection loop
// ---------------------------------
SymmetricMatrix QQ_sav = _QQ[sys];
while (_running) {
Matrix AA;
ColumnVector ll;
DiagonalMatrix PP;
if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
return failure;
}
dx.ReSize(nPar); dx = 0.0;
kalman(AA, ll, PP, _QQ[sys], dx);
ColumnVector vv = ll - AA * dx;
int maxResIndex;
double maxRes = vv.maximum_absolute_value1(maxResIndex);
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(3);
out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
<< " Maximum Residuum " << maxRes << ' '
<< corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
if (maxRes > _MAX_RES) {
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
cmbParam* pp = _params[sys][iPar-1];
if (pp->type == cmbParam::offACSat &&
pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
QQ_sav.Row(iPar) = 0.0;
QQ_sav.Column(iPar) = 0.0;
QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
}
}
out << " Outlier" << "\n";
_QQ[sys] = QQ_sav;
delete corrs(sys)[maxResIndex-1];
corrs(sys).remove(maxResIndex-1);
}
else {
out << " OK" << "\n";
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(4);
for (int ii = 0; ii < corrs(sys).size(); ii++) {
const cmbCorr* corr = corrs(sys)[ii];
out << epoTime.datestr().c_str() << ' '
<< epoTime.timestr().c_str() << " "
<< corr->_acName << ' ' << corr->_prn.mid(0,3);
out.setFieldWidth(10);
out << " res = " << vv[ii] << "\n";
out.setFieldWidth(0);
}
break;
}
}
return success;
}
// Print results
////////////////////////////////////////////////////////////////////////////
void bncComb::printResults(bncTime epoTime, QTextStream& out,
const QMap<QString, cmbCorr*>& resCorr) {
QMapIterator<QString, cmbCorr*> it(resCorr);
while (it.hasNext()) {
it.next();
cmbCorr* corr = it.value();
const t_eph* eph = corr->_eph;
if (eph) {
ColumnVector xc(6);
ColumnVector vv(3);
if (eph->getCrd(epoTime, xc, vv, false) != success) {
continue;
}
out << epoTime.datestr().c_str() << " "
<< epoTime.timestr().c_str() << " ";
out.setFieldWidth(3);
out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
out.setFieldWidth(14);
out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
out.setFieldWidth(0);
out.flush();
}
else {
out << "bncComb::printResults bug" << "\n";
}
}
}
// Send results to RTNet Decoder and directly to PPP Client
////////////////////////////////////////////////////////////////////////////
void bncComb::dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& resCorr) {
QList<t_orbCorr> orbCorrections;
QList<t_clkCorr> clkCorrections;
QList<t_satCodeBias> satCodeBiasList;
unsigned year, month, day, hour, minute;
double sec;
epoTime.civil_date(year, month, day);
epoTime.civil_time(hour, minute, sec);
QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
year, month, day, hour, minute, sec);
QMutableMapIterator<QString, cmbCorr*> it(resCorr);
while (it.hasNext()) {
it.next();
cmbCorr* corr = it.value();
// ORBIT
t_orbCorr orbCorr(corr->_orbCorr);
orbCorr._staID = "INTERNAL";
orbCorrections.push_back(orbCorr);
// CLOCK
t_clkCorr clkCorr(corr->_clkCorr);
clkCorr._staID = "INTERNAL";
clkCorr._dClk = corr->_dClkResult;
clkCorr._dotDClk = 0.0;
clkCorr._dotDotDClk = 0.0;
clkCorrections.push_back(clkCorr);
ColumnVector xc(6);
ColumnVector vv(3);
corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
delete corr;
it.remove();
continue;
}
// Correction Phase Center --> CoM
// -------------------------------
ColumnVector dx(3); dx = 0.0;
ColumnVector apc(3); apc = 0.0;
ColumnVector com(3); com = 0.0;
bool masterIsAPC = true;
if (_antex) {
double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
char sys = corr->_eph->prn().system();
masterIsAPC = _masterIsAPC[sys];
if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
dx = 0;
_log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
}
}
if (masterIsAPC) {
apc(1) = xc(1);
apc(2) = xc(2);
apc(3) = xc(3);
com(1) = xc(1)-dx(1);
com(2) = xc(2)-dx(2);
com(3) = xc(3)-dx(3);
}
else {
com(1) = xc(1);
com(2) = xc(2);
com(3) = xc(3);
apc(1) = xc(1)+dx(1);
apc(2) = xc(2)+dx(2);
apc(3) = xc(3)+dx(3);
}
outLines += corr->_prn.mid(0,3);
QString hlp = QString().asprintf(
" APC 3 %15.4f %15.4f %15.4f"
" Clk 1 %15.4f"
" Vel 3 %15.4f %15.4f %15.4f"
" CoM 3 %15.4f %15.4f %15.4f",
apc(1), apc(2), apc(3),
xc(4) * t_CST::c,
vv(1), vv(2), vv(3),
com(1), com(2), com(3));
outLines += hlp;
hlp.clear();
// CODE BIASES
if (corr->_satCodeBias._bias.size()) {
t_satCodeBias satCodeBias(corr->_satCodeBias);
satCodeBias._staID = "INTERNAL";
satCodeBiasList.push_back(satCodeBias);
hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
outLines += hlp;
hlp.clear();
for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
if (!frqCodeBias._rnxType2ch.empty()) {
hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
outLines += hlp;
hlp.clear();
}
}
}
outLines += "\n";
delete corr;
it.remove();
}
outLines += "EOE\n"; // End Of Epoch flag
//cout << outLines.toStdString();
vector<string> errmsg;
_rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
// Send new Corrections to PPP etc.
// --------------------------------
if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
emit newOrbCorrections(orbCorrections);
emit newClkCorrections(clkCorrections);
}
if (satCodeBiasList.size()) {
emit newCodeBiases(satCodeBiasList);
}
}
// Create First Design Matrix and Vector of Measurements
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
unsigned nPar = _params[sys].size();
unsigned nObs = corrs(sys).size();
if (nObs == 0) {
return failure;
}
int maxSat = _cmbSysPrn[sys];
const int nCon = (_method == filter) ? 1 + maxSat : 0;
AA.ReSize(nObs+nCon, nPar); AA = 0.0;
ll.ReSize(nObs+nCon); ll = 0.0;
PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
int iObs = 0;
QVectorIterator<cmbCorr*> itCorr(corrs(sys));
while (itCorr.hasNext()) {
cmbCorr* corr = itCorr.next();
QString prn = corr->_prn;
++iObs;
if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
resCorr[prn] = new cmbCorr(*corr);
}
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
cmbParam* pp = _params[sys][iPar-1];
AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
}
ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
}
// Regularization
// --------------
if (_method == filter) {
const double Ph = 1.e6;
PP(nObs+1) = Ph;
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
cmbParam* pp = _params[sys][iPar-1];
if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
pp->type == cmbParam::clkSat ) {
AA(nObs+1, iPar) = 1.0;
}
}
// if (sys == 'R') {
// return success;
// }
int iCond = 1;
// GNSS
for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
int flag = t_corrSSR::getSsrNavTypeFlag(sys, iGnss);
QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
++iCond;
PP(nObs+iCond) = Ph;
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
cmbParam* pp = _params[sys][iPar-1];
if ( pp &&
AA.Column(iPar).maximum_absolute_value() > 0.0 &&
pp->type == cmbParam::offACSat &&
pp->prn == prn) {
AA(nObs+iCond, iPar) = 1.0;
}
}
}
}
return success;
}
// Process Epoch - Single-Epoch Method
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
QMap<QString, cmbCorr*>& resCorr,
ColumnVector& dx) {
// Check Satellite Positions for Outliers
// --------------------------------------
if (checkOrbits(epoTime, sys, out) != success) {
return failure;
}
// Outlier Detection Loop
// ----------------------
while (_running) {
// Remove Satellites that are not in Master
// ----------------------------------------
QMutableVectorIterator<cmbCorr*> it(corrs(sys));
while (it.hasNext()) {
cmbCorr* corr = it.next();
QString prnStr = corr->_prn;
bool foundMaster = false;
QVectorIterator<cmbCorr*> itHlp(corrs(sys));
while (itHlp.hasNext()) {
cmbCorr* corrHlp = itHlp.next();
QString prnHlp = corrHlp->_prn;
QString ACHlp = corrHlp->_acName;
if (ACHlp == _masterOrbitAC[sys] && prnStr == prnHlp) {
foundMaster = true;
break;
}
}
if (!foundMaster) {
delete corr;
it.remove();
}
}
// Count Number of Observations per Satellite and per AC
// -----------------------------------------------------
QMap<QString, int> numObsPrn;
QMap<QString, int> numObsAC;
QVectorIterator<cmbCorr*> itCorr(corrs(sys));
while (itCorr.hasNext()) {
cmbCorr* corr = itCorr.next();
QString prn = corr->_prn;
QString AC = corr->_acName;
if (numObsPrn.find(prn) == numObsPrn.end()) {
numObsPrn[prn] = 1;
}
else {
numObsPrn[prn] += 1;
}
if (numObsAC.find(AC) == numObsAC.end()) {
numObsAC[AC] = 1;
}
else {
numObsAC[AC] += 1;
}
}
// Clean-Up the Parameters
// -----------------------
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
delete _params[sys][iPar-1];
}
_params[sys].clear();
// Set new Parameters
// ------------------
int nextPar = 0;
QMapIterator<QString, int> itAC(numObsAC);
while (itAC.hasNext()) {
itAC.next();
const QString& AC = itAC.key();
int numObs = itAC.value();
if (AC != _masterOrbitAC[sys] && numObs > 0) {
_params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
}
}
QMapIterator<QString, int> itPrn(numObsPrn);
while (itPrn.hasNext()) {
itPrn.next();
const QString& prn = itPrn.key();
int numObs = itPrn.value();
if (numObs > 0) {
_params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
}
}
int nPar = _params[sys].size();
ColumnVector x0(nPar);
x0 = 0.0;
// Create First-Design Matrix
// --------------------------
Matrix AA;
ColumnVector ll;
DiagonalMatrix PP;
if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
return failure;
}
ColumnVector vv;
try {
Matrix ATP = AA.t() * PP;
SymmetricMatrix NN; NN << ATP * AA;
ColumnVector bb = ATP * ll;
_QQ[sys] = NN.i();
dx = _QQ[sys] * bb;
vv = ll - AA * dx;
}
catch (Exception& exc) {
out << exc.what() << "\n";
return failure;
}
int maxResIndex;
double maxRes = vv.maximum_absolute_value1(maxResIndex);
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(3);
out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
<< " Maximum Residuum " << maxRes << ' '
<< corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
if (maxRes > _MAX_RES) {
out << " Outlier" << "\n";
delete corrs(sys)[maxResIndex-1];
corrs(sys).remove(maxResIndex-1);
}
else {
out << " OK" << "\n";
out.setRealNumberNotation(QTextStream::FixedNotation);
out.setRealNumberPrecision(3);
for (int ii = 0; ii < vv.Nrows(); ii++) {
const cmbCorr* corr = corrs(sys)[ii];
out << epoTime.datestr().c_str() << ' '
<< epoTime.timestr().c_str() << " "
<< corr->_acName << ' ' << corr->_prn.mid(0,3);
out.setFieldWidth(6);
out << " res = " << vv[ii] << "\n";
out.setFieldWidth(0);
}
return success;
}
}
return failure;
}
// Check Satellite Positions for Outliers
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out) {
// Switch to last ephemeris (if possible)
// --------------------------------------
QMutableVectorIterator<cmbCorr*> im(corrs(sys));
while (im.hasNext()) {
cmbCorr* corr = im.next();
QString prn = corr->_prn;
t_eph* ephLast = _ephUser.ephLast(prn);
t_eph* ephPrev = _ephUser.ephPrev(prn);
if (ephLast == 0) {
out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
delete corr;
im.remove();
}
else if (corr->_eph == 0) {
out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
delete corr;
im.remove();
}
else {
if ( corr->_eph == ephLast ||
corr->_eph == ephPrev ) {
switchToLastEph(ephLast, corr);
}
else {
out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
delete corr;
im.remove();
}
}
}
while (_running) {
// Compute Mean Corrections for all Satellites
// -------------------------------------------
QMap<QString, int> numCorr;
QMap<QString, ColumnVector> meanRao;
QVectorIterator<cmbCorr*> it(corrs(sys));
while (it.hasNext()) {
cmbCorr* corr = it.next();
QString prn = corr->_prn;
if (meanRao.find(prn) == meanRao.end()) {
meanRao[prn].ReSize(4);
meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
meanRao[prn](4) = 1;
}
else {
meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
meanRao[prn](4) += 1;
}
if (numCorr.find(prn) == numCorr.end()) {
numCorr[prn] = 1;
}
else {
numCorr[prn] += 1;
}
}
// Compute Differences wrt. Mean, find Maximum
// -------------------------------------------
QMap<QString, cmbCorr*> maxDiff;
it.toFront();
while (it.hasNext()) {
cmbCorr* corr = it.next();
QString prn = corr->_prn;
if (meanRao[prn](4) != 0) {
meanRao[prn] /= meanRao[prn](4);
meanRao[prn](4) = 0;
}
corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
if (maxDiff.find(prn) == maxDiff.end()) {
maxDiff[prn] = corr;
}
else {
double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
double norm = corr->_diffRao.NormFrobenius();
if (norm > normMax) {
maxDiff[prn] = corr;
}
}
}
if (_ACs.size() == 1) {
break;
}
// Remove Outliers
// ---------------
bool removed = false;
QMutableVectorIterator<cmbCorr*> im(corrs(sys));
while (im.hasNext()) {
cmbCorr* corr = im.next();
QString prn = corr->_prn;
if (numCorr[prn] < 2) {
delete corr;
im.remove();
}
else if (corr == maxDiff[prn]) {
double norm = corr->_diffRao.NormFrobenius();
if (norm > (_MAX_DISPLACEMENT)) {
out << epoTime.datestr().c_str() << " "
<< epoTime.timestr().c_str() << " "
<< "Orbit Outlier: "
<< corr->_acName.toLatin1().data() << " "
<< prn.mid(0,3).toLatin1().data() << " "
<< corr->_iod << " "
<< norm << "\n";
delete corr;
im.remove();
removed = true;
}
}
}
if (!removed) {
break;
}
}
return success;
}
//
////////////////////////////////////////////////////////////////////////////
void bncComb::slotProviderIDChanged(QString mountPoint) {
QMutexLocker locker(&_mutex);
QTextStream out(&_log, QIODevice::WriteOnly);
// Find the AC Name
// ----------------
QString acName;
QListIterator<cmbAC*> icAC(_ACs);
while (icAC.hasNext()) {
cmbAC *AC = icAC.next();
if (AC->mountPoint == mountPoint) {
acName = AC->name;
out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
<< _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
<< "\n";
break;
}
}
if (acName.isEmpty()) {
return;
}
QMapIterator<char, unsigned> itSys(_cmbSysPrn);
while (itSys.hasNext()) {
itSys.next();
char sys = itSys.key();
// Remove all corrections of the corresponding AC
// ----------------------------------------------
QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
QMutableVectorIterator<cmbCorr*> it(corrVec);
while (it.hasNext()) {
cmbCorr *corr = it.next();
if (acName == corr->_acName) {
delete corr;
it.remove();
}
}
// Reset Satellite Offsets
// -----------------------
if (_method == filter) {
for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
cmbParam *pp = _params[sys][iPar - 1];
if (pp->AC == acName && pp->type == cmbParam::offACSat) {
pp->xx = 0.0;
_QQ[sys].Row(iPar) = 0.0;
_QQ[sys].Column(iPar) = 0.0;
_QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
}
}
}
}
}
//
////////////////////////////////////////////////////////////////////////////
bool bncComb::excludeSat(const t_prn& prn, const QStringList excludeSats) const {
QStringListIterator it(excludeSats);
while (it.hasNext()) {
string prnStr = it.next().toLatin1().data();
if (prnStr == prn.toString() || // prn
prnStr == prn.toString().substr(0,1)) { // sys
return true;
}
}
return false;
}