1 | /* -------------------------------------------------------------------------
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2 | * BKG NTRIP Client
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3 | * -------------------------------------------------------------------------
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4 | *
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5 | * Class: bncComb
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6 | *
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7 | * Purpose: Combinations of Orbit/Clock Corrections
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8 | *
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9 | * Author: L. Mervart
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10 | *
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11 | * Created: 22-Jan-2011
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12 | *
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13 | * Changes:
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14 | *
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15 | * -----------------------------------------------------------------------*/
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16 |
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17 | #include <newmatio.h>
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18 | #include <iomanip>
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19 | #include <sstream>
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20 | #include <map>
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21 |
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22 | #include "bnccomb.h"
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23 | #include <combination/bncbiassnx.h>
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24 | #include "bnccore.h"
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25 | #include "upload/bncrtnetdecoder.h"
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26 | #include "bncsettings.h"
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27 | #include "bncutils.h"
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28 | #include "bncantex.h"
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29 | #include "t_prn.h"
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30 |
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31 | const double sig0_offAC = 1000.0;
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32 | const double sig0_offACSat = 100.0;
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33 | const double sigP_offACSat = 0.01;
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34 | const double sig0_clkSat = 100.0;
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35 |
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36 | const double sigObs = 0.05;
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37 |
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38 | using namespace std;
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39 |
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40 | // Constructor
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41 | ////////////////////////////////////////////////////////////////////////////
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42 | bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
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43 |
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44 | type = type_;
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45 | index = index_;
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46 | AC = ac_;
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47 | prn = prn_;
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48 | xx = 0.0;
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49 | eph = 0;
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50 |
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51 | if (type == offACgnss) {
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52 | epoSpec = true;
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53 | sig0 = sig0_offAC;
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54 | sigP = sig0;
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55 | }
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56 | else if (type == offACSat) {
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57 | epoSpec = false;
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58 | sig0 = sig0_offACSat;
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59 | sigP = sigP_offACSat;
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60 | }
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61 | else if (type == clkSat) {
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62 | epoSpec = true;
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63 | sig0 = sig0_clkSat;
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64 | sigP = sig0;
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65 | }
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66 | }
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67 |
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68 | // Destructor
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69 | ////////////////////////////////////////////////////////////////////////////
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70 | bncComb::cmbParam::~cmbParam() {
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71 | }
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72 |
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73 | // Partial
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74 | ////////////////////////////////////////////////////////////////////////////
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75 | double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) {
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76 |
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77 | if (type == offACgnss) {
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78 | if (AC == AC_ && prn_[0].toLatin1() == sys) {
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79 | return 1.0;
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80 | }
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81 | }
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82 | else if (type == offACSat) {
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83 | if (AC == AC_ && prn == prn_) {
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84 | return 1.0;
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85 | }
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86 | }
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87 | else if (type == clkSat) {
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88 | if (prn == prn_) {
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89 | return 1.0;
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90 | }
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91 | }
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92 |
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93 | return 0.0;
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94 | }
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95 |
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96 | //
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97 | ////////////////////////////////////////////////////////////////////////////
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98 | QString bncComb::cmbParam::toString(char sys) const {
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99 |
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100 | QString outStr;
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101 |
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102 | if (type == offACgnss) {
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103 | outStr = "AC Offset " + AC + " " + sys + " ";
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104 | }
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105 | else if (type == offACSat) {
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106 | outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
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107 | }
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108 | else if (type == clkSat) {
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109 | outStr = "Clk Corr " + prn.mid(0,3);
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110 | }
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111 |
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112 | return outStr;
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113 | }
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114 |
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115 | // Singleton: definition class variable
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116 | ////////////////////////////////////////////////////////////////////////////
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117 | bncComb* bncComb::instance = nullptr;
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118 |
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119 |
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120 | // Constructor
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121 | ////////////////////////////////////////////////////////////////////////////
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122 | bncComb::bncComb() : _ephUser(true) {
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123 |
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124 | bncSettings settings;
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125 |
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126 | QStringList cmbStreams = settings.value("cmbStreams").toStringList();
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127 |
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128 | _cmbSampl = settings.value("cmbSampl").toInt();
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129 | if (_cmbSampl <= 0) {
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130 | _cmbSampl = 5;
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131 | }
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132 | _useGps = (Qt::CheckState(settings.value("cmbGps").toInt()) == Qt::Checked) ? true : false;
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133 | if (_useGps) {
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134 | _cmbSysPrn['G'] = t_prn::MAXPRN_GPS;
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135 | _masterMissingEpochs['G'] = 0;
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136 | }
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137 | _useGlo = (Qt::CheckState(settings.value("cmbGlo").toInt()) == Qt::Checked) ? true : false;
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138 | if (_useGlo) {
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139 | _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS;
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140 | _masterMissingEpochs['R'] = 0;
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141 | }
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142 | _useGal = (Qt::CheckState(settings.value("cmbGal").toInt()) == Qt::Checked) ? true : false;
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143 | if (_useGal) {
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144 | _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO;
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145 | _masterMissingEpochs['E'] = 0;
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146 | }
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147 | _useBds = (Qt::CheckState(settings.value("cmbBds").toInt()) == Qt::Checked) ? true : false;
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148 | if (_useBds) {
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149 | _cmbSysPrn['C'] = t_prn::MAXPRN_BDS;
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150 | _masterMissingEpochs['C'] = 0;
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151 | }
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152 | _useQzss = (Qt::CheckState(settings.value("cmbQzss").toInt()) == Qt::Checked) ? true : false;
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153 | if (_useQzss) {
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154 | _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS;
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155 | _masterMissingEpochs['J'] = 0;
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156 | }
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157 | _useSbas = (Qt::CheckState(settings.value("cmbSbas").toInt()) == Qt::Checked) ? true : false;
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158 | if (_useSbas) {
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159 | _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS;
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160 | _masterMissingEpochs['S'] = 0;
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161 | }
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162 | _useIrnss = (Qt::CheckState(settings.value("cmbIrnss").toInt()) == Qt::Checked) ? true : false;
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163 | if (_useIrnss) {
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164 | _cmbSysPrn['I'] = t_prn::MAXPRN_IRNSS;
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165 | _masterMissingEpochs['I'] = 0;
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166 | }
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167 |
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168 | if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
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169 | QListIterator<QString> it(cmbStreams);
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170 | while (it.hasNext()) {
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171 | QStringList hlp = it.next().split(" ");
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172 | cmbAC* newAC = new cmbAC();
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173 | newAC->mountPoint = hlp[0];
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174 | newAC->name = hlp[1];
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175 | newAC->weightFactor = hlp[2].toDouble();
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176 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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177 | // init
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178 | while (itSys.hasNext()) {
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179 | itSys.next();
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180 | char sys = itSys.key();
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181 | if (_masterOrbitAC.isEmpty()) {
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182 | _masterOrbitAC[sys] = newAC->name;
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183 | }
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184 | }
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185 | _ACs.append(newAC);
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186 | }
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187 | }
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188 |
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189 | QString ssrFormat;
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190 | _ssrCorr = 0;
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191 | QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
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192 | while (it.hasNext()) {
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193 | QStringList hlp = it.next().split(",");
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194 | if (hlp.size() > 7) {
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195 | ssrFormat = hlp[7];
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196 | }
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197 | }
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198 | if (ssrFormat == "IGS-SSR") {
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199 | _ssrCorr = new SsrCorrIgs();
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200 | }
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201 | else if (ssrFormat == "RTCM-SSR") {
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202 | _ssrCorr = new SsrCorrRtcm();
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203 | }
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204 | else { // default
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205 | _ssrCorr = new SsrCorrIgs();
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206 | }
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207 |
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208 | _rtnetDecoder = 0;
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209 |
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210 | connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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211 | connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), this, SLOT(slotProviderIDChanged(QString)));
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212 | connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
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213 | connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
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214 | connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
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215 |
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216 | // Combination Method
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217 | // ------------------
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218 | if (settings.value("cmbMethod").toString() == "Single-Epoch") {
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219 | _method = singleEpoch;
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220 | }
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221 | else {
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222 | _method = filter;
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223 | }
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224 |
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225 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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226 | // ----------------------------------------------------------------------
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227 | if (_method == filter) {
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228 | // SYSTEM
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229 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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230 | while (itSys.hasNext()) {
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231 | itSys.next();
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232 | int nextPar = 0;
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233 | char sys = itSys.key();
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234 | unsigned maxPrn = itSys.value();
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235 | unsigned flag = 0;
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236 | if (sys == 'E') {
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237 | flag = 1;
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238 | }
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239 | // AC
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240 | QListIterator<cmbAC*> itAc(_ACs);
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241 | while (itAc.hasNext()) {
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242 | cmbAC* AC = itAc.next();
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243 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
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244 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
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245 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
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246 | _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
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247 | }
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248 | }
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249 | for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
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250 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
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251 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
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252 | }
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253 | // Initialize Variance-Covariance Matrix
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254 | // -------------------------------------
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255 | _QQ[sys].ReSize(_params[sys].size());
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256 | _QQ[sys] = 0.0;
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257 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
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258 | cmbParam* pp = _params[sys][iPar-1];
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259 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
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260 | }
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261 | }
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262 | }
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263 |
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264 | // ANTEX File
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265 | // ----------
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266 | _antex = 0;
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267 | QString antexFileName = settings.value("uploadAntexFile").toString();
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268 | if (!antexFileName.isEmpty()) {
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269 | _antex = new bncAntex();
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270 | if (_antex->readFile(antexFileName) != success) {
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271 | emit newMessage("bncCmb: wrong ANTEX file", true);
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272 | delete _antex;
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273 | _antex = 0;
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274 | }
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275 | }
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276 |
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277 |
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278 | // Bias SINEX File
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279 | // ---------------
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280 | _bsx = 0;
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281 | QString bsxFileName = settings.value("cmbBsxFile").toString();
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282 | if (!bsxFileName.isEmpty()) {
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283 | _bsx = new bncBiasSnx();
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284 | if (_bsx->readFile(bsxFileName) != success) {
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285 | emit newMessage("bncComb: wrong Bias SINEX file", true);
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286 | delete _bsx;
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287 | _bsx = 0;
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288 | }
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289 | }
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290 | if (_bsx) {
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291 | _ms = 6.0 * 3600 * 1000.0;
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292 | QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
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293 | }
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294 |
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295 |
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296 | // Maximal Residuum
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297 | // ----------------
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298 | _MAXRES = settings.value("cmbMaxres").toDouble();
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299 | if (_MAXRES <= 0.0) {
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300 | _MAXRES = 999.0;
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301 | }
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302 | }
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303 |
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304 | // Destructor
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305 | ////////////////////////////////////////////////////////////////////////////
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306 | bncComb::~bncComb() {
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307 | QListIterator<cmbAC*> icAC(_ACs);
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308 | while (icAC.hasNext()) {
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309 | delete icAC.next();
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310 | }
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311 | delete _rtnetDecoder;
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312 | if (_ssrCorr) {
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313 | delete _ssrCorr;
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314 | }
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315 | delete _antex;
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316 | delete _bsx;
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317 |
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318 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
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319 | while (itSys.hasNext()) {
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320 | itSys.next();
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321 | char sys = itSys.key();
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322 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
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323 | delete _params[sys][iPar-1];
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324 | }
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325 | _buffer.remove(sys);
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326 | }
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327 | while (!_epoClkData.empty()) {
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328 | delete _epoClkData.front();
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329 | _epoClkData.pop_front();
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330 | }
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331 | }
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332 |
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333 | void bncComb::slotReadBiasSnxFile() {
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334 | bncSettings settings;
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335 | QString bsxFileName = settings.value("cmbBsxFile").toString();
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336 |
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337 | if (bsxFileName.isEmpty()) {
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338 | emit newMessage("bncComb: no Bias SINEX file specified", true);
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339 | return;
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340 | }
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341 | if (!_bsx) {
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342 | _bsx = new bncBiasSnx();
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343 | }
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344 | if (_bsx->readFile(bsxFileName) != success) {
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345 | emit newMessage("bncComb: wrong Bias SINEX file", true);
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346 | delete _bsx;
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347 | _bsx = 0;
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348 | }
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349 | else {
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350 | emit newMessage("bncComb: successfully read Bias SINEX file", true);
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351 | }
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352 |
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353 | QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
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354 | }
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355 |
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356 |
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357 | // Remember orbit corrections
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358 | ////////////////////////////////////////////////////////////////////////////
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359 | void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
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360 | QMutexLocker locker(&_mutex);
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361 |
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362 | for (int ii = 0; ii < orbCorrections.size(); ii++) {
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363 | t_orbCorr& orbCorr = orbCorrections[ii];
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364 | QString staID(orbCorr._staID.c_str());
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365 | char sys = orbCorr._prn.system();
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366 |
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367 | if (!_cmbSysPrn.contains(sys)){
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368 | continue;
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369 | }
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370 |
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371 | // Find/Check the AC Name
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372 | // ----------------------
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373 | QString acName;
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374 | QListIterator<cmbAC*> icAC(_ACs);
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375 | while (icAC.hasNext()) {
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376 | cmbAC* AC = icAC.next();
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377 | if (AC->mountPoint == staID) {
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378 | acName = AC->name;
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379 | break;
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380 | }
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381 | }
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382 | if (acName.isEmpty()) {
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383 | continue;
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384 | }
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385 |
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386 | // Store the correction
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387 | // --------------------
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388 | QMap<t_prn, t_orbCorr*>& storage = _orbCorrections[acName];
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389 | if (storage[orbCorr._prn]) {
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390 | delete storage[orbCorr._prn];
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391 | }
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392 | storage[orbCorr._prn] = new t_orbCorr(orbCorr);
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393 | }
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394 | }
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395 |
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396 | // Remember Satellite Code Biases
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397 | ////////////////////////////////////////////////////////////////////////////
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398 | void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
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399 | QMutexLocker locker(&_mutex);
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400 |
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401 | for (int ii = 0; ii < satCodeBiases.size(); ii++) {
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402 | t_satCodeBias& satCodeBias = satCodeBiases[ii];
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403 | QString staID(satCodeBias._staID.c_str());
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404 | char sys = satCodeBias._prn.system();
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405 |
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406 | if (!_cmbSysPrn.contains(sys)){
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407 | continue;
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408 | }
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409 |
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410 | // Find/Check the AC Name
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411 | // ----------------------
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412 | QString acName;
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413 | QListIterator<cmbAC*> icAC(_ACs);
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414 | while (icAC.hasNext()) {
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415 | cmbAC* AC = icAC.next();
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416 | if (AC->mountPoint == staID) {
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417 | acName = AC->name;
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418 | break;
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419 | }
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420 | }
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421 | if (acName.isEmpty()) {
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422 | continue;
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423 | }
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424 |
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425 | // Store the correction
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426 | // --------------------
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427 | QMap<t_prn, t_satCodeBias*>& storage = _satCodeBiases[acName];
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428 | if (storage[satCodeBias._prn]) {
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429 | delete storage[satCodeBias._prn];
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430 | }
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431 | storage[satCodeBias._prn] = new t_satCodeBias(satCodeBias);
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432 | }
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433 | }
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434 |
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435 | // Process clock corrections
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436 | ////////////////////////////////////////////////////////////////////////////
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437 | void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
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438 | QMutexLocker locker(&_mutex);
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439 | const double outWait = 1.0 * _cmbSampl;
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440 | int currentWeek = 0;
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441 | double currentSec = 0.0;
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442 | currentGPSWeeks(currentWeek, currentSec);
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443 | bncTime currentTime(currentWeek, currentSec);
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444 |
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445 | // Loop over all observations (possible different epochs)
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446 | // -----------------------------------------------------
|
---|
447 | for (int ii = 0; ii < clkCorrections.size(); ii++) {
|
---|
448 | t_clkCorr* newClk = new t_clkCorr(clkCorrections[ii]);
|
---|
449 |
|
---|
450 | char sys = newClk->_prn.system();
|
---|
451 | if (!_cmbSysPrn.contains(sys)){
|
---|
452 | delete newClk;
|
---|
453 | continue;
|
---|
454 | }
|
---|
455 |
|
---|
456 | // Check regarding current time
|
---|
457 | // ----------------------------
|
---|
458 | if ((newClk->_time >= currentTime) || // future time stamp
|
---|
459 | (currentTime - newClk->_time) > 60.0) { // very old data sets
|
---|
460 | delete newClk;
|
---|
461 | continue;
|
---|
462 | }
|
---|
463 |
|
---|
464 | // Check Modulo Time
|
---|
465 | // -----------------
|
---|
466 | int sec = int(nint(newClk->_time.gpssec()*10));
|
---|
467 | if (sec % (_cmbSampl*10) != 0.0) {
|
---|
468 | delete newClk;
|
---|
469 | continue;
|
---|
470 | }
|
---|
471 |
|
---|
472 | // Find/Check the AC Name
|
---|
473 | // ----------------------
|
---|
474 | QString acName;
|
---|
475 | QString staID(newClk->_staID.c_str());
|
---|
476 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
477 | while (icAC.hasNext()) {
|
---|
478 | cmbAC* AC = icAC.next();
|
---|
479 | if (AC->mountPoint == staID) {
|
---|
480 | acName = AC->name;
|
---|
481 | break;
|
---|
482 | }
|
---|
483 | }
|
---|
484 | if (acName.isEmpty()) {
|
---|
485 | delete newClk;
|
---|
486 | continue;
|
---|
487 | }
|
---|
488 |
|
---|
489 | // Set the last time
|
---|
490 | // -----------------
|
---|
491 | if (_lastClkCorrTime.undef() || newClk->_time > _lastClkCorrTime) {
|
---|
492 | _lastClkCorrTime = newClk->_time;
|
---|
493 | }
|
---|
494 |
|
---|
495 | // Check Correction Age
|
---|
496 | // --------------------
|
---|
497 | if (_resTime.valid() && newClk->_time <= _resTime) {
|
---|
498 | #ifdef BNC_DEBUG_CMB
|
---|
499 | emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + newClk->_prn.toString().c_str() +
|
---|
500 | QString(" %1 ").arg(newClk->_time.timestr().c_str()).toLatin1() + "vs. last processing Epoch" +
|
---|
501 | QString(" %1 ").arg(_resTime.timestr().c_str()).toLatin1(), true);
|
---|
502 | #endif
|
---|
503 | delete newClk;
|
---|
504 | continue;
|
---|
505 | }
|
---|
506 |
|
---|
507 | // Find the corresponding data epoch or create a new one
|
---|
508 | // -----------------------------------------------------
|
---|
509 | epoClkData* epoch = 0;
|
---|
510 | deque<epoClkData*>::const_iterator it;
|
---|
511 | for (it = _epoClkData.begin(); it != _epoClkData.end(); it++) {
|
---|
512 | if (newClk->_time == (*it)->_time) {
|
---|
513 | epoch = *it;
|
---|
514 | break;
|
---|
515 | }
|
---|
516 | }
|
---|
517 | if (epoch == 0) {
|
---|
518 | if (_epoClkData.empty() || newClk->_time > _epoClkData.back()->_time) {
|
---|
519 | epoch = new epoClkData;
|
---|
520 | epoch->_time = newClk->_time;
|
---|
521 | _epoClkData.push_back(epoch);
|
---|
522 | }
|
---|
523 | }
|
---|
524 |
|
---|
525 | // Put data into the epoch
|
---|
526 | // -----------------------
|
---|
527 | if (epoch != 0) {
|
---|
528 | epoch->_clkCorr.push_back(newClk);
|
---|
529 | }
|
---|
530 | else {
|
---|
531 | delete newClk;
|
---|
532 | }
|
---|
533 | }
|
---|
534 |
|
---|
535 | // Make sure the buffer does not grow beyond any limit
|
---|
536 | // ---------------------------------------------------
|
---|
537 | const unsigned MAX_EPODATA_SIZE = 10;
|
---|
538 | if (_epoClkData.size() > MAX_EPODATA_SIZE) {
|
---|
539 | delete _epoClkData.front();
|
---|
540 | _epoClkData.pop_front();
|
---|
541 | }
|
---|
542 |
|
---|
543 | // Process the oldest epochs
|
---|
544 | // ------------------------
|
---|
545 | while (_epoClkData.size()) {
|
---|
546 |
|
---|
547 | if (!_lastClkCorrTime.valid()) {
|
---|
548 | return;
|
---|
549 | }
|
---|
550 |
|
---|
551 | const vector<t_clkCorr*>& clkCorrVec = _epoClkData.front()->_clkCorr;
|
---|
552 |
|
---|
553 | bncTime epoTime = _epoClkData.front()->_time;
|
---|
554 |
|
---|
555 | if ((currentTime - epoTime) > 60.0) {
|
---|
556 | delete _epoClkData.front();
|
---|
557 | _epoClkData.pop_front();
|
---|
558 | continue;
|
---|
559 | }
|
---|
560 |
|
---|
561 | // Process the front epoch
|
---|
562 | // -----------------------
|
---|
563 | if (epoTime < (_lastClkCorrTime - outWait)) {
|
---|
564 | _resTime = epoTime;
|
---|
565 | processEpoch(_resTime, clkCorrVec);
|
---|
566 | delete _epoClkData.front();
|
---|
567 | _epoClkData.pop_front();
|
---|
568 | }
|
---|
569 | else {
|
---|
570 | return;
|
---|
571 | }
|
---|
572 | }
|
---|
573 | }
|
---|
574 |
|
---|
575 | // Change the correction so that it refers to last received ephemeris
|
---|
576 | ////////////////////////////////////////////////////////////////////////////
|
---|
577 | void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
|
---|
578 |
|
---|
579 | if (corr->_eph == lastEph) {
|
---|
580 | return;
|
---|
581 | }
|
---|
582 |
|
---|
583 | ColumnVector oldXC(6);
|
---|
584 | ColumnVector oldVV(3);
|
---|
585 | if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
|
---|
586 | return;
|
---|
587 | }
|
---|
588 |
|
---|
589 | ColumnVector newXC(6);
|
---|
590 | ColumnVector newVV(3);
|
---|
591 | if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
|
---|
592 | return;
|
---|
593 | }
|
---|
594 |
|
---|
595 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
|
---|
596 | ColumnVector dV = newVV - oldVV;
|
---|
597 | double dC = newXC(4) - oldXC(4);
|
---|
598 |
|
---|
599 | ColumnVector dRAO(3);
|
---|
600 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
|
---|
601 |
|
---|
602 | ColumnVector dDotRAO(3);
|
---|
603 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
|
---|
604 |
|
---|
605 | QString msg = "switch corr " + corr->_prn.mid(0,3)
|
---|
606 | + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
607 |
|
---|
608 | emit newMessage(msg.toLatin1(), false);
|
---|
609 |
|
---|
610 | corr->_iod = lastEph->IOD();
|
---|
611 | corr->_eph = lastEph;
|
---|
612 |
|
---|
613 | corr->_orbCorr->_xr += dRAO;
|
---|
614 | corr->_orbCorr->_dotXr += dDotRAO;
|
---|
615 | corr->_clkCorr->_dClk -= dC;
|
---|
616 | }
|
---|
617 |
|
---|
618 | // Process Epoch
|
---|
619 | ////////////////////////////////////////////////////////////////////////////
|
---|
620 | void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr*>& clkCorrVec) {
|
---|
621 |
|
---|
622 | for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
|
---|
623 | const t_clkCorr* clkCorr = clkCorrVec.at(ii);
|
---|
624 | QString staID(clkCorr->_staID.c_str());
|
---|
625 | QString prn(clkCorr->_prn.toInternalString().c_str());
|
---|
626 | char sys = clkCorr->_prn.system();
|
---|
627 |
|
---|
628 | // Find/Check the AC Name
|
---|
629 | // ----------------------
|
---|
630 | QString acName;
|
---|
631 | double weigthFactor;
|
---|
632 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
633 | while (icAC.hasNext()) {
|
---|
634 | cmbAC* AC = icAC.next();
|
---|
635 | if (AC->mountPoint == staID) {
|
---|
636 | acName = AC->name;
|
---|
637 | weigthFactor = AC->weightFactor;
|
---|
638 | break;
|
---|
639 | }
|
---|
640 | }
|
---|
641 |
|
---|
642 | // Create new correction
|
---|
643 | // ---------------------
|
---|
644 | cmbCorr* newCorr = new cmbCorr();
|
---|
645 | newCorr->_prn = prn;
|
---|
646 | newCorr->_time = clkCorr->_time;
|
---|
647 | newCorr->_iod = clkCorr->_iod;
|
---|
648 | newCorr->_acName = acName;
|
---|
649 | newCorr->_weightFactor = weigthFactor;
|
---|
650 | newCorr->_clkCorr = new t_clkCorr(*clkCorrVec[ii]);
|
---|
651 |
|
---|
652 | // Check orbit correction
|
---|
653 | // ----------------------
|
---|
654 | if (!_orbCorrections.contains(acName)) {
|
---|
655 | delete newCorr;
|
---|
656 | continue;
|
---|
657 | }
|
---|
658 | else {
|
---|
659 | QMap<t_prn, t_orbCorr*>& storage = _orbCorrections[acName];
|
---|
660 | if (!storage.contains(clkCorr->_prn) ||
|
---|
661 | storage[clkCorr->_prn]->_iod != newCorr->_iod) {
|
---|
662 | delete newCorr;
|
---|
663 | continue;
|
---|
664 | }
|
---|
665 | else {
|
---|
666 | newCorr->_orbCorr = storage[clkCorr->_prn];
|
---|
667 | }
|
---|
668 | }
|
---|
669 |
|
---|
670 | // Check the Ephemeris
|
---|
671 | //--------------------
|
---|
672 | t_eph* ephLast = _ephUser.ephLast(prn);
|
---|
673 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
---|
674 | if (ephLast == 0) {
|
---|
675 | #ifdef BNC_DEBUG_CMB
|
---|
676 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
|
---|
677 | #endif
|
---|
678 | delete newCorr;
|
---|
679 | continue;
|
---|
680 | }
|
---|
681 | else if (ephLast->checkState() == t_eph::bad ||
|
---|
682 | ephLast->checkState() == t_eph::outdated ||
|
---|
683 | ephLast->checkState() == t_eph::unhealthy) {
|
---|
684 | #ifdef BNC_DEBUG_CMB
|
---|
685 | emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prn.mid(0,3).toLatin1(), true);
|
---|
686 | #endif
|
---|
687 | delete newCorr;
|
---|
688 | continue;
|
---|
689 | }
|
---|
690 | else {
|
---|
691 | if (ephLast->IOD() == newCorr->_iod) {
|
---|
692 | newCorr->_eph = ephLast;
|
---|
693 | }
|
---|
694 | else if (ephPrev && ephPrev->checkState() == t_eph::ok &&
|
---|
695 | ephPrev->IOD() == newCorr->_iod) {
|
---|
696 | newCorr->_eph = ephPrev;
|
---|
697 | switchToLastEph(ephLast, newCorr);
|
---|
698 | }
|
---|
699 | else {
|
---|
700 | #ifdef BNC_DEBUG_CMB
|
---|
701 | emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
|
---|
702 | QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true);
|
---|
703 | #endif
|
---|
704 | delete newCorr;
|
---|
705 | continue;
|
---|
706 | }
|
---|
707 | }
|
---|
708 |
|
---|
709 | // Check satellite code biases
|
---|
710 | // ----------------------------
|
---|
711 | if (_satCodeBiases.contains(acName)) {
|
---|
712 | QMap<t_prn, t_satCodeBias*>& storage = _satCodeBiases[acName];
|
---|
713 | if (storage.contains(clkCorr->_prn)) {
|
---|
714 | newCorr->_satCodeBias = storage[clkCorr->_prn];
|
---|
715 | QMap<t_frequency::type, double> codeBiasesRefSig;
|
---|
716 | for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
|
---|
717 | t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
|
---|
718 | char frqNum = t_frequency::toString(frqType)[1];
|
---|
719 | char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
|
---|
720 | QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
|
---|
721 | for (unsigned ii = 0; ii < newCorr->_satCodeBias->_bias.size(); ii++) {
|
---|
722 | const t_frqCodeBias& bias = newCorr->_satCodeBias->_bias[ii];
|
---|
723 | if (rnxType2ch.toStdString() == bias._rnxType2ch) {
|
---|
724 | codeBiasesRefSig[frqType] = bias._value;
|
---|
725 | }
|
---|
726 | }
|
---|
727 | }
|
---|
728 | if (codeBiasesRefSig.size() == 2) {
|
---|
729 | map<t_frequency::type, double> codeCoeff;
|
---|
730 | double channel = double(newCorr->_eph->slotNum());
|
---|
731 | cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
|
---|
732 | map<t_frequency::type, double>::const_iterator it;
|
---|
733 | for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
|
---|
734 | t_frequency::type frqType = it->first;
|
---|
735 | newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
|
---|
736 | }
|
---|
737 | }
|
---|
738 | newCorr->_satCodeBias->_bias.clear();
|
---|
739 | }
|
---|
740 | }
|
---|
741 |
|
---|
742 | // Store correction into the buffer
|
---|
743 | // --------------------------------
|
---|
744 | QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
|
---|
745 |
|
---|
746 | QVectorIterator<cmbCorr*> itCorr(corrs);
|
---|
747 | bool available = false;
|
---|
748 | while (itCorr.hasNext()) {
|
---|
749 | cmbCorr* corr = itCorr.next();
|
---|
750 | QString prn = corr->_prn;
|
---|
751 | QString acName = corr->_acName;
|
---|
752 | if (newCorr->_acName == acName && newCorr->_prn == prn) {
|
---|
753 | available = true;
|
---|
754 | }
|
---|
755 | }
|
---|
756 | if (!available) {
|
---|
757 | corrs.push_back(newCorr);
|
---|
758 | }
|
---|
759 | else {
|
---|
760 | delete newCorr;
|
---|
761 | continue;
|
---|
762 | }
|
---|
763 | }
|
---|
764 |
|
---|
765 | // Process Systems of this Epoch
|
---|
766 | // ------------------------------
|
---|
767 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
---|
768 | while (itSys.hasNext()) {
|
---|
769 | itSys.next();
|
---|
770 | char sys = itSys.key();
|
---|
771 | _log.clear();
|
---|
772 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
773 | processSystem(epoTime, sys, out);
|
---|
774 | emit newMessage(_log, false);
|
---|
775 | }
|
---|
776 | }
|
---|
777 |
|
---|
778 | void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
|
---|
779 |
|
---|
780 | out << "\n" << "Combination: " << sys << "\n"
|
---|
781 | << "--------------------------------" << "\n";
|
---|
782 |
|
---|
783 | // Observation Statistics
|
---|
784 | // ----------------------
|
---|
785 | bool masterPresent = false;
|
---|
786 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
787 | while (icAC.hasNext()) {
|
---|
788 | cmbAC* AC = icAC.next();
|
---|
789 | AC->numObs[sys] = 0;
|
---|
790 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
791 | while (itCorr.hasNext()) {
|
---|
792 | cmbCorr* corr = itCorr.next();
|
---|
793 | if (corr->_acName == AC->name) {
|
---|
794 | AC->numObs[sys] += 1;
|
---|
795 | if (AC->name == _masterOrbitAC[sys]) {
|
---|
796 | masterPresent = true;
|
---|
797 | }
|
---|
798 | }
|
---|
799 | }
|
---|
800 | out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
|
---|
801 | }
|
---|
802 |
|
---|
803 | // If Master not present, switch to another one
|
---|
804 | // --------------------------------------------
|
---|
805 | const unsigned switchMasterAfterGap = 1;
|
---|
806 | if (masterPresent) {
|
---|
807 | _masterMissingEpochs[sys] = 0;
|
---|
808 | }
|
---|
809 | else {
|
---|
810 | ++_masterMissingEpochs[sys];
|
---|
811 | if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
|
---|
812 | out << "Missing Master, Epoch skipped" << "\n";
|
---|
813 | _buffer.remove(sys);
|
---|
814 | emit newMessage(_log, false);
|
---|
815 | return;
|
---|
816 | }
|
---|
817 | else {
|
---|
818 | _masterMissingEpochs[sys] = 0;
|
---|
819 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
820 | while (icAC.hasNext()) {
|
---|
821 | cmbAC* AC = icAC.next();
|
---|
822 | if (AC->numObs[sys] > 0) {
|
---|
823 | out << "Switching Master AC "
|
---|
824 | << _masterOrbitAC[sys].toLatin1().data() << " --> "
|
---|
825 | << AC->name.toLatin1().data() << " "
|
---|
826 | << epoTime.datestr().c_str() << " "
|
---|
827 | << epoTime.timestr().c_str() << "\n";
|
---|
828 | _masterOrbitAC[sys] = AC->name;
|
---|
829 | break;
|
---|
830 | }
|
---|
831 | }
|
---|
832 | }
|
---|
833 | }
|
---|
834 |
|
---|
835 | QMap<QString, cmbCorr*> resCorr;
|
---|
836 |
|
---|
837 | // Perform the actual Combination using selected Method
|
---|
838 | // ----------------------------------------------------
|
---|
839 | t_irc irc;
|
---|
840 | ColumnVector dx;
|
---|
841 | if (_method == filter) {
|
---|
842 | irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
|
---|
843 | }
|
---|
844 | else {
|
---|
845 | irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
|
---|
846 | }
|
---|
847 |
|
---|
848 | // Update Parameter Values, Print Results
|
---|
849 | // --------------------------------------
|
---|
850 | if (irc == success) {
|
---|
851 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
852 | cmbParam* pp = _params[sys][iPar-1];
|
---|
853 | pp->xx += dx(iPar);
|
---|
854 | if (pp->type == cmbParam::clkSat) {
|
---|
855 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
856 | // set clock result
|
---|
857 | resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
|
---|
858 | // Add Code Biases from SINEX File
|
---|
859 | if (_bsx) {
|
---|
860 | map<t_frequency::type, double> codeCoeff;
|
---|
861 | double channel = double(resCorr[pp->prn]->_eph->slotNum());
|
---|
862 | cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
|
---|
863 | t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
|
---|
864 | t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
|
---|
865 | if (resCorr[pp->prn]->_satCodeBias == 0) {
|
---|
866 | resCorr[pp->prn]->_satCodeBias = new t_satCodeBias();
|
---|
867 | }
|
---|
868 | _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
|
---|
869 | }
|
---|
870 | }
|
---|
871 | }
|
---|
872 | out << epoTime.datestr().c_str() << " "
|
---|
873 | << epoTime.timestr().c_str() << " ";
|
---|
874 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
875 | out.setFieldWidth(8);
|
---|
876 | out.setRealNumberPrecision(4);
|
---|
877 | out << pp->toString(sys) << " "
|
---|
878 | << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
|
---|
879 | out.setFieldWidth(0);
|
---|
880 | }
|
---|
881 | printResults(epoTime, out, resCorr);
|
---|
882 | dumpResults(epoTime, resCorr);
|
---|
883 | }
|
---|
884 | // Delete Data
|
---|
885 | // -----------
|
---|
886 | _buffer.remove(sys);
|
---|
887 | }
|
---|
888 |
|
---|
889 | // Process Epoch - Filter Method
|
---|
890 | ////////////////////////////////////////////////////////////////////////////
|
---|
891 | t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
|
---|
892 | QMap<QString, cmbCorr*>& resCorr,
|
---|
893 | ColumnVector& dx) {
|
---|
894 |
|
---|
895 | // Prediction Step
|
---|
896 | // ---------------
|
---|
897 | int nPar = _params[sys].size();
|
---|
898 | ColumnVector x0(nPar);
|
---|
899 | for (int iPar = 1; iPar <= nPar; iPar++) {
|
---|
900 | cmbParam* pp = _params[sys][iPar-1];
|
---|
901 | if (pp->epoSpec) {
|
---|
902 | pp->xx = 0.0;
|
---|
903 | _QQ[sys].Row(iPar) = 0.0;
|
---|
904 | _QQ[sys].Column(iPar) = 0.0;
|
---|
905 | _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
906 | }
|
---|
907 | else {
|
---|
908 | _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
|
---|
909 | }
|
---|
910 | x0(iPar) = pp->xx;
|
---|
911 | }
|
---|
912 |
|
---|
913 | // Check Satellite Positions for Outliers
|
---|
914 | // --------------------------------------
|
---|
915 | if (checkOrbits(epoTime, sys, out) != success) {
|
---|
916 | return failure;
|
---|
917 | }
|
---|
918 |
|
---|
919 | // Update and outlier detection loop
|
---|
920 | // ---------------------------------
|
---|
921 | SymmetricMatrix QQ_sav = _QQ[sys];
|
---|
922 | while (true) {
|
---|
923 |
|
---|
924 | Matrix AA;
|
---|
925 | ColumnVector ll;
|
---|
926 | DiagonalMatrix PP;
|
---|
927 |
|
---|
928 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
---|
929 | return failure;
|
---|
930 | }
|
---|
931 |
|
---|
932 | dx.ReSize(nPar); dx = 0.0;
|
---|
933 | kalman(AA, ll, PP, _QQ[sys], dx);
|
---|
934 |
|
---|
935 | ColumnVector vv = ll - AA * dx;
|
---|
936 |
|
---|
937 | int maxResIndex;
|
---|
938 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
939 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
940 | out.setRealNumberPrecision(3);
|
---|
941 | out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
|
---|
942 | << " Maximum Residuum " << maxRes << ' '
|
---|
943 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
---|
944 | if (maxRes > _MAXRES) {
|
---|
945 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
946 | cmbParam* pp = _params[sys][iPar-1];
|
---|
947 | if (pp->type == cmbParam::offACSat &&
|
---|
948 | pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
|
---|
949 | pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
|
---|
950 | QQ_sav.Row(iPar) = 0.0;
|
---|
951 | QQ_sav.Column(iPar) = 0.0;
|
---|
952 | QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
|
---|
953 | }
|
---|
954 | }
|
---|
955 |
|
---|
956 | out << " Outlier" << "\n";
|
---|
957 | _QQ[sys] = QQ_sav;
|
---|
958 | corrs(sys).remove(maxResIndex-1);
|
---|
959 | }
|
---|
960 | else {
|
---|
961 | out << " OK" << "\n";
|
---|
962 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
963 | out.setRealNumberPrecision(4);
|
---|
964 | for (int ii = 0; ii < corrs(sys).size(); ii++) {
|
---|
965 | const cmbCorr* corr = corrs(sys)[ii];
|
---|
966 | out << epoTime.datestr().c_str() << ' '
|
---|
967 | << epoTime.timestr().c_str() << " "
|
---|
968 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
---|
969 | out.setFieldWidth(10);
|
---|
970 | out << " res = " << vv[ii] << "\n";
|
---|
971 | out.setFieldWidth(0);
|
---|
972 | }
|
---|
973 | break;
|
---|
974 | }
|
---|
975 | }
|
---|
976 |
|
---|
977 | return success;
|
---|
978 | }
|
---|
979 |
|
---|
980 | // Print results
|
---|
981 | ////////////////////////////////////////////////////////////////////////////
|
---|
982 | void bncComb::printResults(bncTime epoTime, QTextStream& out,
|
---|
983 | const QMap<QString, cmbCorr*>& resCorr) {
|
---|
984 |
|
---|
985 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
---|
986 | while (it.hasNext()) {
|
---|
987 | it.next();
|
---|
988 | cmbCorr* corr = it.value();
|
---|
989 | const t_eph* eph = corr->_eph;
|
---|
990 | if (eph) {
|
---|
991 | ColumnVector xc(6);
|
---|
992 | ColumnVector vv(3);
|
---|
993 | if (eph->getCrd(epoTime, xc, vv, false) != success) {
|
---|
994 | continue;
|
---|
995 | }
|
---|
996 | out << epoTime.datestr().c_str() << " "
|
---|
997 | << epoTime.timestr().c_str() << " ";
|
---|
998 | out.setFieldWidth(3);
|
---|
999 | out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
|
---|
1000 | out.setFieldWidth(14);
|
---|
1001 | out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
|
---|
1002 | out.setFieldWidth(0);
|
---|
1003 | }
|
---|
1004 | else {
|
---|
1005 | out << "bncComb::printResults bug" << "\n";
|
---|
1006 | }
|
---|
1007 | out.flush();
|
---|
1008 | }
|
---|
1009 | }
|
---|
1010 |
|
---|
1011 | // Send results to RTNet Decoder and directly to PPP Client
|
---|
1012 | ////////////////////////////////////////////////////////////////////////////
|
---|
1013 | void bncComb::dumpResults(bncTime epoTime, const QMap<QString, cmbCorr*>& resCorr) {
|
---|
1014 |
|
---|
1015 | QList<t_orbCorr> orbCorrections;
|
---|
1016 | QList<t_clkCorr> clkCorrections;
|
---|
1017 | QList<t_satCodeBias> satCodeBiasList;
|
---|
1018 |
|
---|
1019 | unsigned year, month, day, hour, minute;
|
---|
1020 | double sec;
|
---|
1021 | epoTime.civil_date(year, month, day);
|
---|
1022 | epoTime.civil_time(hour, minute, sec);
|
---|
1023 |
|
---|
1024 | QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
|
---|
1025 | year, month, day, hour, minute, sec);
|
---|
1026 |
|
---|
1027 | QMapIterator<QString, cmbCorr*> it(resCorr);
|
---|
1028 | while (it.hasNext()) {
|
---|
1029 | it.next();
|
---|
1030 | cmbCorr* corr = it.value();
|
---|
1031 |
|
---|
1032 | // ORBIT
|
---|
1033 | t_orbCorr orbCorr(static_cast<t_orbCorr>(*corr->_orbCorr));
|
---|
1034 | orbCorr._staID = "INTERNAL";
|
---|
1035 | orbCorrections.push_back(orbCorr);
|
---|
1036 |
|
---|
1037 | // CLOCK
|
---|
1038 | t_clkCorr clkCorr(static_cast<t_clkCorr>(*corr->_clkCorr));
|
---|
1039 | clkCorr._staID = "INTERNAL";
|
---|
1040 | clkCorr._dClk = corr->_dClkResult;
|
---|
1041 | clkCorr._dotDClk = 0.0;
|
---|
1042 | clkCorr._dotDotDClk = 0.0;
|
---|
1043 | clkCorrections.push_back(clkCorr);
|
---|
1044 |
|
---|
1045 | // CODE BIASES
|
---|
1046 | t_satCodeBias satCodeBias(static_cast<t_satCodeBias>(*corr->_satCodeBias));
|
---|
1047 | satCodeBias._staID = "INTERNAL";
|
---|
1048 | satCodeBiasList.push_back(satCodeBias);
|
---|
1049 |
|
---|
1050 | ColumnVector xc(6);
|
---|
1051 | ColumnVector vv(3);
|
---|
1052 | corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
|
---|
1053 | corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
|
---|
1054 | if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
|
---|
1055 | delete corr;
|
---|
1056 | continue;
|
---|
1057 | }
|
---|
1058 |
|
---|
1059 | // Correction Phase Center --> CoM
|
---|
1060 | // -------------------------------
|
---|
1061 | ColumnVector dx(3); dx = 0.0;
|
---|
1062 | if (_antex) {
|
---|
1063 | double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
|
---|
1064 | if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
|
---|
1065 | dx = 0;
|
---|
1066 | _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
|
---|
1067 | }
|
---|
1068 | }
|
---|
1069 |
|
---|
1070 | outLines += corr->_prn.mid(0,3);
|
---|
1071 | QString hlp = QString().asprintf(" APC 3 %15.4f %15.4f %15.4f"
|
---|
1072 | " Clk 1 %15.4f"
|
---|
1073 | " Vel 3 %15.4f %15.4f %15.4f"
|
---|
1074 | " CoM 3 %15.4f %15.4f %15.4f",
|
---|
1075 | xc(1), xc(2), xc(3),
|
---|
1076 | xc(4) * t_CST::c,
|
---|
1077 | vv(1), vv(2), vv(3),
|
---|
1078 | xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
|
---|
1079 | outLines += hlp;
|
---|
1080 | hlp.clear();
|
---|
1081 |
|
---|
1082 | if (satCodeBias._bias.size()) {
|
---|
1083 | hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
|
---|
1084 | outLines += hlp;
|
---|
1085 | hlp.clear();
|
---|
1086 | for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
|
---|
1087 | const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
|
---|
1088 | if (!frqCodeBias._rnxType2ch.empty()) {
|
---|
1089 | hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
|
---|
1090 | outLines += hlp;
|
---|
1091 | hlp.clear();
|
---|
1092 | }
|
---|
1093 | }
|
---|
1094 | }
|
---|
1095 | outLines += "\n";
|
---|
1096 | delete corr;
|
---|
1097 | }
|
---|
1098 |
|
---|
1099 | outLines += "EOE\n"; // End Of Epoch flag
|
---|
1100 | //cout << outLines.toStdString();
|
---|
1101 |
|
---|
1102 | if (!_rtnetDecoder) {
|
---|
1103 | _rtnetDecoder = new bncRtnetDecoder();
|
---|
1104 | }
|
---|
1105 |
|
---|
1106 | vector<string> errmsg;
|
---|
1107 | _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
|
---|
1108 |
|
---|
1109 | // Send new Corrections to PPP etc.
|
---|
1110 | // --------------------------------
|
---|
1111 | if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
|
---|
1112 | emit newOrbCorrections(orbCorrections);
|
---|
1113 | emit newClkCorrections(clkCorrections);
|
---|
1114 | }
|
---|
1115 | if (satCodeBiasList.size()) {
|
---|
1116 | emit newCodeBiases(satCodeBiasList);
|
---|
1117 | }
|
---|
1118 | }
|
---|
1119 |
|
---|
1120 | // Create First Design Matrix and Vector of Measurements
|
---|
1121 | ////////////////////////////////////////////////////////////////////////////
|
---|
1122 | t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
|
---|
1123 | const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
|
---|
1124 |
|
---|
1125 | unsigned nPar = _params[sys].size();
|
---|
1126 | unsigned nObs = corrs(sys).size();
|
---|
1127 |
|
---|
1128 | if (nObs == 0) {
|
---|
1129 | return failure;
|
---|
1130 | }
|
---|
1131 |
|
---|
1132 | int maxSat = _cmbSysPrn[sys];
|
---|
1133 |
|
---|
1134 | const int nCon = (_method == filter) ? 1 + maxSat : 0;
|
---|
1135 |
|
---|
1136 | AA.ReSize(nObs+nCon, nPar); AA = 0.0;
|
---|
1137 | ll.ReSize(nObs+nCon); ll = 0.0;
|
---|
1138 | PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
|
---|
1139 |
|
---|
1140 | int iObs = 0;
|
---|
1141 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
1142 | while (itCorr.hasNext()) {
|
---|
1143 | cmbCorr* corr = itCorr.next();
|
---|
1144 | QString prn = corr->_prn;
|
---|
1145 |
|
---|
1146 | ++iObs;
|
---|
1147 |
|
---|
1148 | if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
|
---|
1149 | resCorr[prn] = new cmbCorr(*corr);
|
---|
1150 | }
|
---|
1151 |
|
---|
1152 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
1153 | cmbParam* pp = _params[sys][iPar-1];
|
---|
1154 | AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
|
---|
1155 | }
|
---|
1156 |
|
---|
1157 | ll(iObs) = (corr->_clkCorr->_dClk * t_CST::c - corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
|
---|
1158 |
|
---|
1159 | PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
|
---|
1160 | }
|
---|
1161 |
|
---|
1162 | // Regularization
|
---|
1163 | // --------------
|
---|
1164 | if (_method == filter) {
|
---|
1165 | const double Ph = 1.e6;
|
---|
1166 | PP(nObs+1) = Ph;
|
---|
1167 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
1168 | cmbParam* pp = _params[sys][iPar-1];
|
---|
1169 | if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
1170 | pp->type == cmbParam::clkSat ) {
|
---|
1171 | AA(nObs+1, iPar) = 1.0;
|
---|
1172 | }
|
---|
1173 | }
|
---|
1174 | unsigned flag = 0;
|
---|
1175 | if (sys == 'E') {
|
---|
1176 | flag = 1;
|
---|
1177 | }
|
---|
1178 | // if (sys == 'R') {
|
---|
1179 | // return success;
|
---|
1180 | // }
|
---|
1181 | int iCond = 1;
|
---|
1182 | // GNSS
|
---|
1183 | for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
|
---|
1184 | QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
|
---|
1185 | ++iCond;
|
---|
1186 | PP(nObs+iCond) = Ph;
|
---|
1187 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
1188 | cmbParam* pp = _params[sys][iPar-1];
|
---|
1189 | if ( pp &&
|
---|
1190 | AA.Column(iPar).maximum_absolute_value() > 0.0 &&
|
---|
1191 | pp->type == cmbParam::offACSat &&
|
---|
1192 | pp->prn == prn) {
|
---|
1193 | AA(nObs+iCond, iPar) = 1.0;
|
---|
1194 | }
|
---|
1195 | }
|
---|
1196 | }
|
---|
1197 | }
|
---|
1198 |
|
---|
1199 | return success;
|
---|
1200 | }
|
---|
1201 |
|
---|
1202 | // Process Epoch - Single-Epoch Method
|
---|
1203 | ////////////////////////////////////////////////////////////////////////////
|
---|
1204 | t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
|
---|
1205 | QMap<QString, cmbCorr*>& resCorr,
|
---|
1206 | ColumnVector& dx) {
|
---|
1207 |
|
---|
1208 | // Check Satellite Positions for Outliers
|
---|
1209 | // --------------------------------------
|
---|
1210 | if (checkOrbits(epoTime, sys, out) != success) {
|
---|
1211 | return failure;
|
---|
1212 | }
|
---|
1213 |
|
---|
1214 | // Outlier Detection Loop
|
---|
1215 | // ----------------------
|
---|
1216 | while (true) {
|
---|
1217 |
|
---|
1218 | // Remove Satellites that are not in Master
|
---|
1219 | // ----------------------------------------
|
---|
1220 | QMutableVectorIterator<cmbCorr*> it(corrs(sys));
|
---|
1221 | while (it.hasNext()) {
|
---|
1222 | cmbCorr* corr = it.next();
|
---|
1223 | QString prn = corr->_prn;
|
---|
1224 | bool foundMaster = false;
|
---|
1225 | QVectorIterator<cmbCorr*> itHlp(corrs(sys));
|
---|
1226 | while (itHlp.hasNext()) {
|
---|
1227 | cmbCorr* corrHlp = itHlp.next();
|
---|
1228 | QString prnHlp = corrHlp->_prn;
|
---|
1229 | QString ACHlp = corrHlp->_acName;
|
---|
1230 | if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
|
---|
1231 | foundMaster = true;
|
---|
1232 | break;
|
---|
1233 | }
|
---|
1234 | }
|
---|
1235 | if (!foundMaster) {
|
---|
1236 | delete corr;
|
---|
1237 | it.remove();
|
---|
1238 | }
|
---|
1239 | }
|
---|
1240 |
|
---|
1241 | // Count Number of Observations per Satellite and per AC
|
---|
1242 | // -----------------------------------------------------
|
---|
1243 | QMap<QString, int> numObsPrn;
|
---|
1244 | QMap<QString, int> numObsAC;
|
---|
1245 | QVectorIterator<cmbCorr*> itCorr(corrs(sys));
|
---|
1246 | while (itCorr.hasNext()) {
|
---|
1247 | cmbCorr* corr = itCorr.next();
|
---|
1248 | QString prn = corr->_prn;
|
---|
1249 | QString AC = corr->_acName;
|
---|
1250 | if (numObsPrn.find(prn) == numObsPrn.end()) {
|
---|
1251 | numObsPrn[prn] = 1;
|
---|
1252 | }
|
---|
1253 | else {
|
---|
1254 | numObsPrn[prn] += 1;
|
---|
1255 | }
|
---|
1256 | if (numObsAC.find(AC) == numObsAC.end()) {
|
---|
1257 | numObsAC[AC] = 1;
|
---|
1258 | }
|
---|
1259 | else {
|
---|
1260 | numObsAC[AC] += 1;
|
---|
1261 | }
|
---|
1262 | }
|
---|
1263 |
|
---|
1264 | // Clean-Up the Parameters
|
---|
1265 | // -----------------------
|
---|
1266 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
1267 | delete _params[sys][iPar-1];
|
---|
1268 | }
|
---|
1269 | _params[sys].clear();
|
---|
1270 |
|
---|
1271 | // Set new Parameters
|
---|
1272 | // ------------------
|
---|
1273 | int nextPar = 0;
|
---|
1274 |
|
---|
1275 | QMapIterator<QString, int> itAC(numObsAC);
|
---|
1276 | while (itAC.hasNext()) {
|
---|
1277 | itAC.next();
|
---|
1278 | const QString& AC = itAC.key();
|
---|
1279 | int numObs = itAC.value();
|
---|
1280 | if (AC != _masterOrbitAC[sys] && numObs > 0) {
|
---|
1281 | _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
|
---|
1282 | }
|
---|
1283 | }
|
---|
1284 |
|
---|
1285 | QMapIterator<QString, int> itPrn(numObsPrn);
|
---|
1286 | while (itPrn.hasNext()) {
|
---|
1287 | itPrn.next();
|
---|
1288 | const QString& prn = itPrn.key();
|
---|
1289 | int numObs = itPrn.value();
|
---|
1290 | if (numObs > 0) {
|
---|
1291 | _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
|
---|
1292 | }
|
---|
1293 | }
|
---|
1294 |
|
---|
1295 | int nPar = _params[sys].size();
|
---|
1296 | ColumnVector x0(nPar);
|
---|
1297 | x0 = 0.0;
|
---|
1298 |
|
---|
1299 | // Create First-Design Matrix
|
---|
1300 | // --------------------------
|
---|
1301 | Matrix AA;
|
---|
1302 | ColumnVector ll;
|
---|
1303 | DiagonalMatrix PP;
|
---|
1304 | if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
|
---|
1305 | return failure;
|
---|
1306 | }
|
---|
1307 |
|
---|
1308 | ColumnVector vv;
|
---|
1309 | try {
|
---|
1310 | Matrix ATP = AA.t() * PP;
|
---|
1311 | SymmetricMatrix NN; NN << ATP * AA;
|
---|
1312 | ColumnVector bb = ATP * ll;
|
---|
1313 | _QQ[sys] = NN.i();
|
---|
1314 | dx = _QQ[sys] * bb;
|
---|
1315 | vv = ll - AA * dx;
|
---|
1316 | }
|
---|
1317 | catch (Exception& exc) {
|
---|
1318 | out << exc.what() << "\n";
|
---|
1319 | return failure;
|
---|
1320 | }
|
---|
1321 |
|
---|
1322 | int maxResIndex;
|
---|
1323 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
1324 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
1325 | out.setRealNumberPrecision(3);
|
---|
1326 | out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
|
---|
1327 | << " Maximum Residuum " << maxRes << ' '
|
---|
1328 | << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
|
---|
1329 |
|
---|
1330 | if (maxRes > _MAXRES) {
|
---|
1331 | out << " Outlier" << "\n";
|
---|
1332 | delete corrs(sys)[maxResIndex-1];
|
---|
1333 | corrs(sys).remove(maxResIndex-1);
|
---|
1334 | }
|
---|
1335 | else {
|
---|
1336 | out << " OK" << "\n";
|
---|
1337 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
1338 | out.setRealNumberPrecision(3);
|
---|
1339 | for (int ii = 0; ii < vv.Nrows(); ii++) {
|
---|
1340 | const cmbCorr* corr = corrs(sys)[ii];
|
---|
1341 | out << epoTime.datestr().c_str() << ' '
|
---|
1342 | << epoTime.timestr().c_str() << " "
|
---|
1343 | << corr->_acName << ' ' << corr->_prn.mid(0,3);
|
---|
1344 | out.setFieldWidth(6);
|
---|
1345 | out << " res = " << vv[ii] << "\n";
|
---|
1346 | out.setFieldWidth(0);
|
---|
1347 | }
|
---|
1348 | return success;
|
---|
1349 | }
|
---|
1350 |
|
---|
1351 | }
|
---|
1352 |
|
---|
1353 | return failure;
|
---|
1354 | }
|
---|
1355 |
|
---|
1356 | // Check Satellite Positions for Outliers
|
---|
1357 | ////////////////////////////////////////////////////////////////////////////
|
---|
1358 | t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out) {
|
---|
1359 |
|
---|
1360 | const double MAX_DISPLACEMENT = 0.20;
|
---|
1361 |
|
---|
1362 | // Switch to last ephemeris (if possible)
|
---|
1363 | // --------------------------------------
|
---|
1364 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
---|
1365 | while (im.hasNext()) {
|
---|
1366 | cmbCorr* corr = im.next();
|
---|
1367 | QString prn = corr->_prn;
|
---|
1368 |
|
---|
1369 | t_eph* ephLast = _ephUser.ephLast(prn);
|
---|
1370 | t_eph* ephPrev = _ephUser.ephPrev(prn);
|
---|
1371 |
|
---|
1372 | if (ephLast == 0) {
|
---|
1373 | out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
|
---|
1374 | delete corr;
|
---|
1375 | im.remove();
|
---|
1376 | }
|
---|
1377 | else if (corr->_eph == 0) {
|
---|
1378 | out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
|
---|
1379 | delete corr;
|
---|
1380 | im.remove();
|
---|
1381 | }
|
---|
1382 | else {
|
---|
1383 | if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
|
---|
1384 | switchToLastEph(ephLast, corr);
|
---|
1385 | }
|
---|
1386 | else {
|
---|
1387 | out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
|
---|
1388 | delete corr;
|
---|
1389 | im.remove();
|
---|
1390 | }
|
---|
1391 | }
|
---|
1392 | }
|
---|
1393 |
|
---|
1394 | while (true) {
|
---|
1395 |
|
---|
1396 | // Compute Mean Corrections for all Satellites
|
---|
1397 | // -------------------------------------------
|
---|
1398 | QMap<QString, int> numCorr;
|
---|
1399 | QMap<QString, ColumnVector> meanRao;
|
---|
1400 | QVectorIterator<cmbCorr*> it(corrs(sys));
|
---|
1401 | while (it.hasNext()) {
|
---|
1402 | cmbCorr* corr = it.next();
|
---|
1403 | QString prn = corr->_prn;
|
---|
1404 | if (meanRao.find(prn) == meanRao.end()) {
|
---|
1405 | meanRao[prn].ReSize(4);
|
---|
1406 | meanRao[prn].Rows(1,3) = corr->_orbCorr->_xr;
|
---|
1407 | meanRao[prn](4) = 1;
|
---|
1408 | }
|
---|
1409 | else {
|
---|
1410 | meanRao[prn].Rows(1,3) += corr->_orbCorr->_xr;
|
---|
1411 | meanRao[prn](4) += 1;
|
---|
1412 | }
|
---|
1413 | if (numCorr.find(prn) == numCorr.end()) {
|
---|
1414 | numCorr[prn] = 1;
|
---|
1415 | }
|
---|
1416 | else {
|
---|
1417 | numCorr[prn] += 1;
|
---|
1418 | }
|
---|
1419 | }
|
---|
1420 |
|
---|
1421 | // Compute Differences wrt. Mean, find Maximum
|
---|
1422 | // -------------------------------------------
|
---|
1423 | QMap<QString, cmbCorr*> maxDiff;
|
---|
1424 | it.toFront();
|
---|
1425 | while (it.hasNext()) {
|
---|
1426 | cmbCorr* corr = it.next();
|
---|
1427 | QString prn = corr->_prn;
|
---|
1428 | if (meanRao[prn](4) != 0) {
|
---|
1429 | meanRao[prn] /= meanRao[prn](4);
|
---|
1430 | meanRao[prn](4) = 0;
|
---|
1431 | }
|
---|
1432 | corr->_diffRao = corr->_orbCorr->_xr - meanRao[prn].Rows(1,3);
|
---|
1433 | if (maxDiff.find(prn) == maxDiff.end()) {
|
---|
1434 | maxDiff[prn] = corr;
|
---|
1435 | }
|
---|
1436 | else {
|
---|
1437 | double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
|
---|
1438 | double norm = corr->_diffRao.NormFrobenius();
|
---|
1439 | if (norm > normMax) {
|
---|
1440 | maxDiff[prn] = corr;
|
---|
1441 | }
|
---|
1442 | }
|
---|
1443 | }
|
---|
1444 |
|
---|
1445 | if (_ACs.size() == 1) {
|
---|
1446 | break;
|
---|
1447 | }
|
---|
1448 |
|
---|
1449 | // Remove Outliers
|
---|
1450 | // ---------------
|
---|
1451 | bool removed = false;
|
---|
1452 | QMutableVectorIterator<cmbCorr*> im(corrs(sys));
|
---|
1453 | while (im.hasNext()) {
|
---|
1454 | cmbCorr* corr = im.next();
|
---|
1455 | QString prn = corr->_prn;
|
---|
1456 | if (numCorr[prn] < 2) {
|
---|
1457 | delete corr;
|
---|
1458 | im.remove();
|
---|
1459 | }
|
---|
1460 | else if (corr == maxDiff[prn]) {
|
---|
1461 | double norm = corr->_diffRao.NormFrobenius();
|
---|
1462 | if (norm > MAX_DISPLACEMENT) {
|
---|
1463 | out << epoTime.datestr().c_str() << " "
|
---|
1464 | << epoTime.timestr().c_str() << " "
|
---|
1465 | << "Orbit Outlier: "
|
---|
1466 | << corr->_acName.toLatin1().data() << " "
|
---|
1467 | << prn.mid(0,3).toLatin1().data() << " "
|
---|
1468 | << corr->_iod << " "
|
---|
1469 | << norm << "\n";
|
---|
1470 | delete corr;
|
---|
1471 | im.remove();
|
---|
1472 | removed = true;
|
---|
1473 | }
|
---|
1474 | }
|
---|
1475 | }
|
---|
1476 |
|
---|
1477 | if (!removed) {
|
---|
1478 | break;
|
---|
1479 | }
|
---|
1480 | }
|
---|
1481 |
|
---|
1482 | return success;
|
---|
1483 | }
|
---|
1484 |
|
---|
1485 | //
|
---|
1486 | ////////////////////////////////////////////////////////////////////////////
|
---|
1487 | void bncComb::slotProviderIDChanged(QString mountPoint) {
|
---|
1488 | QMutexLocker locker(&_mutex);
|
---|
1489 |
|
---|
1490 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
1491 |
|
---|
1492 | // Find the AC Name
|
---|
1493 | // ----------------
|
---|
1494 | QString acName;
|
---|
1495 | QListIterator<cmbAC*> icAC(_ACs);
|
---|
1496 | while (icAC.hasNext()) {
|
---|
1497 | cmbAC *AC = icAC.next();
|
---|
1498 | if (AC->mountPoint == mountPoint) {
|
---|
1499 | acName = AC->name;
|
---|
1500 | out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
|
---|
1501 | << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
|
---|
1502 | << "\n";
|
---|
1503 | break;
|
---|
1504 | }
|
---|
1505 | }
|
---|
1506 | if (acName.isEmpty()) {
|
---|
1507 | return;
|
---|
1508 | }
|
---|
1509 | QMapIterator<char, unsigned> itSys(_cmbSysPrn);
|
---|
1510 | while (itSys.hasNext()) {
|
---|
1511 | itSys.next();
|
---|
1512 | char sys = itSys.key();
|
---|
1513 | // Remove all corrections of the corresponding AC
|
---|
1514 | // ----------------------------------------------
|
---|
1515 | QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
|
---|
1516 | QMutableVectorIterator<cmbCorr*> it(corrVec);
|
---|
1517 | while (it.hasNext()) {
|
---|
1518 | cmbCorr *corr = it.next();
|
---|
1519 | if (acName == corr->_acName) {
|
---|
1520 | delete corr;
|
---|
1521 | it.remove();
|
---|
1522 | }
|
---|
1523 | }
|
---|
1524 | // Reset Satellite Offsets
|
---|
1525 | // -----------------------
|
---|
1526 | if (_method == filter) {
|
---|
1527 | for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
|
---|
1528 | cmbParam *pp = _params[sys][iPar - 1];
|
---|
1529 | if (pp->AC == acName && pp->type == cmbParam::offACSat) {
|
---|
1530 | pp->xx = 0.0;
|
---|
1531 | _QQ[sys].Row(iPar) = 0.0;
|
---|
1532 | _QQ[sys].Column(iPar) = 0.0;
|
---|
1533 | _QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
|
---|
1534 | }
|
---|
1535 | }
|
---|
1536 | }
|
---|
1537 | }
|
---|
1538 | }
|
---|