source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 10153

Last change on this file since 10153 was 10153, checked in by stuerze, 11 months ago

some changes regarding the combination

File size: 46.2 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncComb
6 *
7 * Purpose: Combinations of Orbit/Clock Corrections
8 *
9 * Author: L. Mervart
10 *
11 * Created: 22-Jan-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <newmatio.h>
18#include <iomanip>
19#include <sstream>
20#include <map>
21
22#include "bnccomb.h"
23#include <combination/bncbiassnx.h>
24#include "bnccore.h"
25#include "upload/bncrtnetdecoder.h"
26#include "bncsettings.h"
27#include "bncutils.h"
28#include "bncantex.h"
29#include "t_prn.h"
30
31const double sig0_offAC = 1000.0;
32const double sig0_offACSat = 100.0;
33const double sigP_offACSat = 0.01;
34const double sig0_clkSat = 100.0;
35
36const double sigObs = 0.05;
37
38using namespace std;
39
40// Constructor
41////////////////////////////////////////////////////////////////////////////
42bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
43
44 type = type_;
45 index = index_;
46 AC = ac_;
47 prn = prn_;
48 xx = 0.0;
49 eph = 0;
50
51 if (type == offACgnss) {
52 epoSpec = true;
53 sig0 = sig0_offAC;
54 sigP = sig0;
55 }
56 else if (type == offACSat) {
57 epoSpec = false;
58 sig0 = sig0_offACSat;
59 sigP = sigP_offACSat;
60 }
61 else if (type == clkSat) {
62 epoSpec = true;
63 sig0 = sig0_clkSat;
64 sigP = sig0;
65 }
66}
67
68// Destructor
69////////////////////////////////////////////////////////////////////////////
70bncComb::cmbParam::~cmbParam() {
71}
72
73// Partial
74////////////////////////////////////////////////////////////////////////////
75double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) {
76
77 if (type == offACgnss) {
78 if (AC == AC_ && prn_[0].toLatin1() == sys) {
79 return 1.0;
80 }
81 }
82 else if (type == offACSat) {
83 if (AC == AC_ && prn == prn_) {
84 return 1.0;
85 }
86 }
87 else if (type == clkSat) {
88 if (prn == prn_) {
89 return 1.0;
90 }
91 }
92
93 return 0.0;
94}
95
96//
97////////////////////////////////////////////////////////////////////////////
98QString bncComb::cmbParam::toString(char sys) const {
99
100 QString outStr;
101
102 if (type == offACgnss) {
103 outStr = "AC Offset " + AC + " " + sys + " ";
104 }
105 else if (type == offACSat) {
106 outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
107 }
108 else if (type == clkSat) {
109 outStr = "Clk Corr " + prn.mid(0,3);
110 }
111
112 return outStr;
113}
114
115// Singleton: definition class variable
116////////////////////////////////////////////////////////////////////////////
117bncComb* bncComb::instance = nullptr;
118
119
120// Constructor
121////////////////////////////////////////////////////////////////////////////
122bncComb::bncComb() : _ephUser(true) {
123
124 bncSettings settings;
125
126 QStringList cmbStreams = settings.value("cmbStreams").toStringList();
127
128 _cmbSampl = settings.value("cmbSampl").toInt();
129 if (_cmbSampl <= 0) {
130 _cmbSampl = 5;
131 }
132 _useGps = (Qt::CheckState(settings.value("cmbGps").toInt()) == Qt::Checked) ? true : false;
133 if (_useGps) {
134 _cmbSysPrn['G'] = t_prn::MAXPRN_GPS;
135 _masterMissingEpochs['G'] = 0;
136 }
137 _useGlo = (Qt::CheckState(settings.value("cmbGlo").toInt()) == Qt::Checked) ? true : false;
138 if (_useGlo) {
139 _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS;
140 _masterMissingEpochs['R'] = 0;
141 }
142 _useGal = (Qt::CheckState(settings.value("cmbGal").toInt()) == Qt::Checked) ? true : false;
143 if (_useGal) {
144 _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO;
145 _masterMissingEpochs['E'] = 0;
146 }
147 _useBds = (Qt::CheckState(settings.value("cmbBds").toInt()) == Qt::Checked) ? true : false;
148 if (_useBds) {
149 _cmbSysPrn['C'] = t_prn::MAXPRN_BDS;
150 _masterMissingEpochs['C'] = 0;
151 }
152 _useQzss = (Qt::CheckState(settings.value("cmbQzss").toInt()) == Qt::Checked) ? true : false;
153 if (_useQzss) {
154 _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS;
155 _masterMissingEpochs['J'] = 0;
156 }
157 _useSbas = (Qt::CheckState(settings.value("cmbSbas").toInt()) == Qt::Checked) ? true : false;
158 if (_useSbas) {
159 _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS;
160 _masterMissingEpochs['S'] = 0;
161 }
162 _useIrnss = (Qt::CheckState(settings.value("cmbIrnss").toInt()) == Qt::Checked) ? true : false;
163 if (_useIrnss) {
164 _cmbSysPrn['I'] = t_prn::MAXPRN_IRNSS;
165 _masterMissingEpochs['I'] = 0;
166 }
167
168 if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
169 QListIterator<QString> it(cmbStreams);
170 while (it.hasNext()) {
171 QStringList hlp = it.next().split(" ");
172 cmbAC* newAC = new cmbAC();
173 newAC->mountPoint = hlp[0];
174 newAC->name = hlp[1];
175 newAC->weightFactor = hlp[2].toDouble();
176 newAC->isAPC = (newAC->mountPoint.mid(0,4) =="SSRA");
177 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
178 // init
179 while (itSys.hasNext()) {
180 itSys.next();
181 char sys = itSys.key();
182 if (!_masterOrbitAC.contains(sys)) {
183 _masterOrbitAC[sys] = newAC->name;
184 _masterIsAPC[sys] = newAC->isAPC;
185 }
186 }
187 _ACs.append(newAC);
188 }
189 }
190
191 QString ssrFormat;
192 _ssrCorr = 0;
193 QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
194 while (it.hasNext()) {
195 QStringList hlp = it.next().split(",");
196 if (hlp.size() > 7) {
197 ssrFormat = hlp[7];
198 }
199 }
200 if (ssrFormat == "IGS-SSR") {
201 _ssrCorr = new SsrCorrIgs();
202 }
203 else if (ssrFormat == "RTCM-SSR") {
204 _ssrCorr = new SsrCorrRtcm();
205 }
206 else { // default
207 _ssrCorr = new SsrCorrIgs();
208 }
209
210 _rtnetDecoder = 0;
211
212 connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
213 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), this, SLOT(slotProviderIDChanged(QString)));
214 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
215 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
216 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
217
218 // Combination Method
219 // ------------------
220 if (settings.value("cmbMethod").toString() == "Single-Epoch") {
221 _method = singleEpoch;
222 }
223 else {
224 _method = filter;
225 }
226
227 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
228 // ----------------------------------------------------------------------
229 if (_method == filter) {
230 // SYSTEM
231 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
232 while (itSys.hasNext()) {
233 itSys.next();
234 int nextPar = 0;
235 char sys = itSys.key();
236 unsigned maxPrn = itSys.value();
237 unsigned flag = 0;
238 if (sys == 'E') {
239 flag = 1;
240 }
241 // AC
242 QListIterator<cmbAC*> itAc(_ACs);
243 while (itAc.hasNext()) {
244 cmbAC* AC = itAc.next();
245 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
246 for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
247 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
248 _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
249 }
250 }
251 for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
252 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
253 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
254 }
255 // Initialize Variance-Covariance Matrix
256 // -------------------------------------
257 _QQ[sys].ReSize(_params[sys].size());
258 _QQ[sys] = 0.0;
259 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
260 cmbParam* pp = _params[sys][iPar-1];
261 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
262 }
263 }
264 }
265
266 // ANTEX File
267 // ----------
268 _antex = 0;
269 QString antexFileName = settings.value("uploadAntexFile").toString();
270 if (!antexFileName.isEmpty()) {
271 _antex = new bncAntex();
272 if (_antex->readFile(antexFileName) != success) {
273 emit newMessage("bncCmb: wrong ANTEX file", true);
274 delete _antex;
275 _antex = 0;
276 }
277 }
278
279
280 // Bias SINEX File
281 // ---------------
282 _bsx = 0;
283 QString bsxFileName = settings.value("cmbBsxFile").toString();
284 if (!bsxFileName.isEmpty()) {
285 _bsx = new bncBiasSnx();
286 if (_bsx->readFile(bsxFileName) != success) {
287 emit newMessage("bncComb: wrong Bias SINEX file", true);
288 delete _bsx;
289 _bsx = 0;
290 }
291 }
292 if (_bsx) {
293 _ms = 6.0 * 3600 * 1000.0;
294 QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
295 }
296
297
298 // Maximal Residuum
299 // ----------------
300 _MAXRES = settings.value("cmbMaxres").toDouble();
301 if (_MAXRES <= 0.0) {
302 _MAXRES = 999.0;
303 }
304}
305
306// Destructor
307////////////////////////////////////////////////////////////////////////////
308bncComb::~bncComb() {
309 QListIterator<cmbAC*> icAC(_ACs);
310 while (icAC.hasNext()) {
311 delete icAC.next();
312 }
313 delete _rtnetDecoder;
314 if (_ssrCorr) {
315 delete _ssrCorr;
316 }
317 delete _antex;
318 delete _bsx;
319
320 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
321 while (itSys.hasNext()) {
322 itSys.next();
323 char sys = itSys.key();
324 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
325 delete _params[sys][iPar-1];
326 }
327 _buffer.remove(sys);
328 }
329 while (!_epoClkData.empty()) {
330 delete _epoClkData.front();
331 _epoClkData.pop_front();
332 }
333}
334
335void bncComb::slotReadBiasSnxFile() {
336 bncSettings settings;
337 QString bsxFileName = settings.value("cmbBsxFile").toString();
338
339 if (bsxFileName.isEmpty()) {
340 emit newMessage("bncComb: no Bias SINEX file specified", true);
341 return;
342 }
343 if (!_bsx) {
344 _bsx = new bncBiasSnx();
345 }
346 if (_bsx->readFile(bsxFileName) != success) {
347 emit newMessage("bncComb: wrong Bias SINEX file", true);
348 delete _bsx;
349 _bsx = 0;
350 }
351 else {
352 emit newMessage("bncComb: successfully read Bias SINEX file", true);
353 }
354
355 QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
356}
357
358
359// Remember orbit corrections
360////////////////////////////////////////////////////////////////////////////
361void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
362 QMutexLocker locker(&_mutex);
363
364 for (int ii = 0; ii < orbCorrections.size(); ii++) {
365 t_orbCorr& orbCorr = orbCorrections[ii];
366 QString staID(orbCorr._staID.c_str());
367 char sys = orbCorr._prn.system();
368
369 if (!_cmbSysPrn.contains(sys)){
370 continue;
371 }
372
373 // Find/Check the AC Name
374 // ----------------------
375 QString acName;
376 QListIterator<cmbAC*> icAC(_ACs);
377 while (icAC.hasNext()) {
378 cmbAC* AC = icAC.next();
379 if (AC->mountPoint == staID) {
380 acName = AC->name;
381 break;
382 }
383 }
384 if (acName.isEmpty()) {
385 continue;
386 }
387
388 // Store the correction
389 // --------------------
390 QMap<t_prn, t_orbCorr*>& storage = _orbCorrections[acName];
391 if (storage[orbCorr._prn]) {
392 delete storage[orbCorr._prn];
393 }
394 storage[orbCorr._prn] = new t_orbCorr(orbCorr);
395 }
396}
397
398// Remember Satellite Code Biases
399////////////////////////////////////////////////////////////////////////////
400void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
401 QMutexLocker locker(&_mutex);
402
403 for (int ii = 0; ii < satCodeBiases.size(); ii++) {
404 t_satCodeBias& satCodeBias = satCodeBiases[ii];
405 QString staID(satCodeBias._staID.c_str());
406 char sys = satCodeBias._prn.system();
407
408 if (!_cmbSysPrn.contains(sys)){
409 continue;
410 }
411
412 // Find/Check the AC Name
413 // ----------------------
414 QString acName;
415 QListIterator<cmbAC*> icAC(_ACs);
416 while (icAC.hasNext()) {
417 cmbAC* AC = icAC.next();
418 if (AC->mountPoint == staID) {
419 acName = AC->name;
420 break;
421 }
422 }
423 if (acName.isEmpty()) {
424 continue;
425 }
426
427 // Store the correction
428 // --------------------
429 QMap<t_prn, t_satCodeBias*>& storage = _satCodeBiases[acName];
430 if (storage[satCodeBias._prn]) {
431 delete storage[satCodeBias._prn];
432 }
433 storage[satCodeBias._prn] = new t_satCodeBias(satCodeBias);
434 }
435}
436
437// Process clock corrections
438////////////////////////////////////////////////////////////////////////////
439void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
440 QMutexLocker locker(&_mutex);
441 const double outWait = 1.0 * _cmbSampl;
442 int currentWeek = 0;
443 double currentSec = 0.0;
444 currentGPSWeeks(currentWeek, currentSec);
445 bncTime currentTime(currentWeek, currentSec);
446
447 // Loop over all observations (possible different epochs)
448 // -----------------------------------------------------
449 for (int ii = 0; ii < clkCorrections.size(); ii++) {
450 t_clkCorr* newClk = new t_clkCorr(clkCorrections[ii]);
451
452 char sys = newClk->_prn.system();
453 if (!_cmbSysPrn.contains(sys)){
454 delete newClk;
455 continue;
456 }
457
458 // Check Modulo Time
459 // -----------------
460 int sec = int(nint(newClk->_time.gpssec()*10));
461 if (sec % (_cmbSampl*10) != 0.0) {
462 delete newClk;
463 continue;
464 }
465
466 // Find/Check the AC Name
467 // ----------------------
468 QString acName;
469 bool isAPC;
470 QString staID(newClk->_staID.c_str());
471 QListIterator<cmbAC*> icAC(_ACs);
472 while (icAC.hasNext()) {
473 cmbAC* AC = icAC.next();
474 if (AC->mountPoint == staID) {
475 acName = AC->name;
476 isAPC = AC->isAPC;
477 break;
478 }
479 }
480 if (acName.isEmpty() || isAPC != _masterIsAPC[sys]) {
481 delete newClk;
482 continue;
483 }
484
485 // Check regarding current time
486 // ----------------------------
487 if ((newClk->_time >= currentTime) || // future time stamp
488 (currentTime - newClk->_time) > 60.0) { // very old data sets
489#ifdef BNC_DEBUG_CMB
490 emit newMessage("bncComb: very old data sets: " + acName.toLatin1() + " " + newClk->_prn.toString().c_str() +
491 QString(" %1 ").arg(newClk->_time.timestr().c_str()).toLatin1() + "vs. current time" +
492 QString(" %1 ").arg(currentTime.timestr().c_str()).toLatin1(), true);
493#endif
494 delete newClk;
495 continue;
496 }
497
498 // Check Correction Age
499 // --------------------
500 if (_resTime.valid() && newClk->_time <= _resTime) {
501#ifdef BNC_DEBUG_CMB
502 emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + newClk->_prn.toString().c_str() +
503 QString(" %1 ").arg(newClk->_time.timestr().c_str()).toLatin1() + "vs. last processing Epoch" +
504 QString(" %1 ").arg(_resTime.timestr().c_str()).toLatin1(), true);
505#endif
506 delete newClk;
507 continue;
508 }
509
510 // Set the last time
511 // -----------------
512 if (_lastClkCorrTime.undef() || newClk->_time > _lastClkCorrTime) {
513 _lastClkCorrTime = newClk->_time;
514 }
515
516 // Find the corresponding data epoch or create a new one
517 // -----------------------------------------------------
518 epoClkData* epoch = 0;
519 deque<epoClkData*>::const_iterator it;
520 for (it = _epoClkData.begin(); it != _epoClkData.end(); it++) {
521 if (newClk->_time == (*it)->_time) {
522 epoch = *it;
523 break;
524 }
525 }
526 if (epoch == 0) {
527 if (_epoClkData.empty() || newClk->_time > _epoClkData.back()->_time) {
528 epoch = new epoClkData;
529 epoch->_time = newClk->_time;
530 _epoClkData.push_back(epoch);
531 }
532 }
533
534 // Put data into the epoch
535 // -----------------------
536 if (epoch != 0) {
537 epoch->_clkCorr.push_back(newClk);
538 }
539 else {
540 delete newClk;
541 }
542 }
543
544 // Make sure the buffer does not grow beyond any limit
545 // ---------------------------------------------------
546 const unsigned MAX_EPODATA_SIZE = 12;
547 if (_epoClkData.size() > MAX_EPODATA_SIZE) {
548 delete _epoClkData.front();
549 _epoClkData.pop_front();
550 }
551
552 // Process the oldest epochs
553 // ------------------------
554 while (_epoClkData.size()) {
555
556 if (!_lastClkCorrTime.valid()) {
557 return;
558 }
559
560 const vector<t_clkCorr*>& clkCorrVec = _epoClkData.front()->_clkCorr;
561
562 bncTime epoTime = _epoClkData.front()->_time;
563
564 if ((currentTime - epoTime) > 60.0) {
565 delete _epoClkData.front();
566 _epoClkData.pop_front();
567 continue;
568 }
569
570 // Process the front epoch
571 // -----------------------
572 if (epoTime < (_lastClkCorrTime - outWait)) {
573 _resTime = epoTime;
574 processEpoch(_resTime, clkCorrVec);
575 delete _epoClkData.front();
576 _epoClkData.pop_front();
577 }
578 else {
579 return;
580 }
581 }
582}
583
584// Change the correction so that it refers to last received ephemeris
585////////////////////////////////////////////////////////////////////////////
586void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
587
588 if (corr->_eph == lastEph) {
589 return;
590 }
591
592 ColumnVector oldXC(6);
593 ColumnVector oldVV(3);
594 if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
595 return;
596 }
597
598 ColumnVector newXC(6);
599 ColumnVector newVV(3);
600 if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
601 return;
602 }
603
604 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
605 ColumnVector dV = newVV - oldVV;
606 double dC = newXC(4) - oldXC(4);
607
608 ColumnVector dRAO(3);
609 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
610
611 ColumnVector dDotRAO(3);
612 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
613
614 QString msg = "switch corr " + corr->_prn.mid(0,3)
615 + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
616
617 emit newMessage(msg.toLatin1(), false);
618
619 corr->_iod = lastEph->IOD();
620 corr->_eph = lastEph;
621
622 corr->_orbCorr->_xr += dRAO;
623 corr->_orbCorr->_dotXr += dDotRAO;
624 corr->_clkCorr->_dClk -= dC;
625}
626
627// Process Epoch
628////////////////////////////////////////////////////////////////////////////
629void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr*>& clkCorrVec) {
630
631 for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
632 const t_clkCorr* clkCorr = clkCorrVec.at(ii);
633 QString staID(clkCorr->_staID.c_str());
634 QString prn(clkCorr->_prn.toInternalString().c_str());
635 char sys = clkCorr->_prn.system();
636
637 // Find/Check the AC Name
638 // ----------------------
639 QString acName;
640 double weigthFactor;
641 QListIterator<cmbAC*> icAC(_ACs);
642 while (icAC.hasNext()) {
643 cmbAC* AC = icAC.next();
644 if (AC->mountPoint == staID) {
645 acName = AC->name;
646 weigthFactor = AC->weightFactor;
647 break;
648 }
649 }
650
651 // Create new correction
652 // ---------------------
653 cmbCorr* newCorr = new cmbCorr();
654 newCorr->_prn = prn;
655 newCorr->_time = clkCorr->_time;
656 newCorr->_iod = clkCorr->_iod;
657 newCorr->_acName = acName;
658 newCorr->_weightFactor = weigthFactor;
659 newCorr->_clkCorr = new t_clkCorr(*clkCorrVec[ii]);
660
661 // Check orbit correction
662 // ----------------------
663 if (!_orbCorrections.contains(acName)) {
664 delete newCorr;
665 continue;
666 }
667 else {
668 QMap<t_prn, t_orbCorr*>& storage = _orbCorrections[acName];
669 if (!storage.contains(clkCorr->_prn) ||
670 storage[clkCorr->_prn]->_iod != newCorr->_iod) {
671 delete newCorr;
672 continue;
673 }
674 else {
675 newCorr->_orbCorr = storage[clkCorr->_prn];
676 }
677 }
678
679 // Check the Ephemeris
680 //--------------------
681 t_eph* ephLast = _ephUser.ephLast(prn);
682 t_eph* ephPrev = _ephUser.ephPrev(prn);
683 if (ephLast == 0) {
684#ifdef BNC_DEBUG_CMB
685 emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
686#endif
687 delete newCorr;
688 continue;
689 }
690 else if (ephLast->checkState() == t_eph::bad ||
691 ephLast->checkState() == t_eph::outdated ||
692 ephLast->checkState() == t_eph::unhealthy) {
693#ifdef BNC_DEBUG_CMB
694 emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prn.mid(0,3).toLatin1(), true);
695#endif
696 delete newCorr;
697 continue;
698 }
699 else {
700 if (ephLast->IOD() == newCorr->_iod) {
701 newCorr->_eph = ephLast;
702 }
703 else if (ephPrev && ephPrev->checkState() == t_eph::ok &&
704 ephPrev->IOD() == newCorr->_iod) {
705 newCorr->_eph = ephPrev;
706 switchToLastEph(ephLast, newCorr);
707 }
708 else {
709#ifdef BNC_DEBUG_CMB
710 emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
711 QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true);
712#endif
713 delete newCorr;
714 continue;
715 }
716 }
717
718 // Check satellite code biases
719 // ----------------------------
720 if (_satCodeBiases.contains(acName)) {
721 QMap<t_prn, t_satCodeBias*>& storage = _satCodeBiases[acName];
722 if (storage.contains(clkCorr->_prn)) {
723 newCorr->_satCodeBias = storage[clkCorr->_prn];
724 QMap<t_frequency::type, double> codeBiasesRefSig;
725 for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
726 t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
727 char frqNum = t_frequency::toString(frqType)[1];
728 char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
729 QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
730 for (unsigned ii = 0; ii < newCorr->_satCodeBias->_bias.size(); ii++) {
731 const t_frqCodeBias& bias = newCorr->_satCodeBias->_bias[ii];
732 if (rnxType2ch.toStdString() == bias._rnxType2ch) {
733 codeBiasesRefSig[frqType] = bias._value;
734 }
735 }
736 }
737 if (codeBiasesRefSig.size() == 2) {
738 map<t_frequency::type, double> codeCoeff;
739 double channel = double(newCorr->_eph->slotNum());
740 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
741 map<t_frequency::type, double>::const_iterator it;
742 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
743 t_frequency::type frqType = it->first;
744 newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
745 }
746 }
747 newCorr->_satCodeBias->_bias.clear();
748 }
749 }
750
751 // Store correction into the buffer
752 // --------------------------------
753 QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
754
755 QVectorIterator<cmbCorr*> itCorr(corrs);
756 bool available = false;
757 while (itCorr.hasNext()) {
758 cmbCorr* corr = itCorr.next();
759 QString prn = corr->_prn;
760 QString acName = corr->_acName;
761 if (newCorr->_acName == acName && newCorr->_prn == prn) {
762 available = true;
763 }
764 }
765 if (!available) {
766 corrs.push_back(newCorr);
767 }
768 else {
769 delete newCorr;
770 continue;
771 }
772 }
773
774 // Process Systems of this Epoch
775 // ------------------------------
776 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
777 while (itSys.hasNext()) {
778 itSys.next();
779 char sys = itSys.key();
780 _log.clear();
781 QTextStream out(&_log, QIODevice::WriteOnly);
782 processSystem(epoTime, sys, out);
783 emit newMessage(_log, false);
784 }
785}
786
787void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
788
789 out << "\n" << "Combination: " << sys << "\n"
790 << "--------------------------------" << "\n";
791
792 // Observation Statistics
793 // ----------------------
794 bool masterPresent = false;
795 QListIterator<cmbAC*> icAC(_ACs);
796 while (icAC.hasNext()) {
797 cmbAC* AC = icAC.next();
798 AC->numObs[sys] = 0;
799 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
800 while (itCorr.hasNext()) {
801 cmbCorr* corr = itCorr.next();
802 if (corr->_acName == AC->name) {
803 AC->numObs[sys] += 1;
804 if (AC->name == _masterOrbitAC[sys]) {
805 masterPresent = true;
806 }
807 }
808 }
809 out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
810 }
811
812 // If Master not present, switch to another one
813 // --------------------------------------------
814 const unsigned switchMasterAfterGap = 1;
815 if (masterPresent) {
816 _masterMissingEpochs[sys] = 0;
817 }
818 else {
819 ++_masterMissingEpochs[sys];
820 if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
821 out << "Missing Master, Epoch skipped" << "\n";
822 _buffer.remove(sys);
823 emit newMessage(_log, false);
824 return;
825 }
826 else {
827 _masterMissingEpochs[sys] = 0;
828 QListIterator<cmbAC*> icAC(_ACs);
829 while (icAC.hasNext()) {
830 cmbAC* AC = icAC.next();
831 if (AC->numObs[sys] > 0) {
832 out << "Switching Master AC "
833 << _masterOrbitAC[sys].toLatin1().data() << " --> "
834 << AC->name.toLatin1().data() << " "
835 << epoTime.datestr().c_str() << " "
836 << epoTime.timestr().c_str() << "\n";
837 _masterOrbitAC[sys] = AC->name;
838 _masterIsAPC[sys] = AC->isAPC;
839 break;
840 }
841 }
842 }
843 }
844
845 QMap<QString, cmbCorr*> resCorr;
846
847 // Perform the actual Combination using selected Method
848 // ----------------------------------------------------
849 t_irc irc;
850 ColumnVector dx;
851 if (_method == filter) {
852 irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
853 }
854 else {
855 irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
856 }
857
858 // Update Parameter Values, Print Results
859 // --------------------------------------
860 if (irc == success) {
861 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
862 cmbParam* pp = _params[sys][iPar-1];
863 pp->xx += dx(iPar);
864 if (pp->type == cmbParam::clkSat) {
865 if (resCorr.find(pp->prn) != resCorr.end()) {
866 // set clock result
867 resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
868 // Add Code Biases from SINEX File
869 if (_bsx) {
870 map<t_frequency::type, double> codeCoeff;
871 double channel = double(resCorr[pp->prn]->_eph->slotNum());
872 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
873 t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
874 t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
875 if (resCorr[pp->prn]->_satCodeBias == 0) {
876 resCorr[pp->prn]->_satCodeBias = new t_satCodeBias();
877 }
878 _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
879 }
880 }
881 }
882 out << epoTime.datestr().c_str() << " "
883 << epoTime.timestr().c_str() << " ";
884 out.setRealNumberNotation(QTextStream::FixedNotation);
885 out.setFieldWidth(8);
886 out.setRealNumberPrecision(4);
887 out << pp->toString(sys) << " "
888 << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
889 out.setFieldWidth(0);
890 }
891 printResults(epoTime, out, resCorr);
892 dumpResults(epoTime, resCorr);
893 }
894 // Delete Data
895 // -----------
896 _buffer.remove(sys);
897}
898
899// Process Epoch - Filter Method
900////////////////////////////////////////////////////////////////////////////
901t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
902 QMap<QString, cmbCorr*>& resCorr,
903 ColumnVector& dx) {
904
905 // Prediction Step
906 // ---------------
907 int nPar = _params[sys].size();
908 ColumnVector x0(nPar);
909 for (int iPar = 1; iPar <= nPar; iPar++) {
910 cmbParam* pp = _params[sys][iPar-1];
911 if (pp->epoSpec) {
912 pp->xx = 0.0;
913 _QQ[sys].Row(iPar) = 0.0;
914 _QQ[sys].Column(iPar) = 0.0;
915 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
916 }
917 else {
918 _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
919 }
920 x0(iPar) = pp->xx;
921 }
922
923 // Check Satellite Positions for Outliers
924 // --------------------------------------
925 if (checkOrbits(epoTime, sys, out) != success) {
926 return failure;
927 }
928
929 // Update and outlier detection loop
930 // ---------------------------------
931 SymmetricMatrix QQ_sav = _QQ[sys];
932 while (true) {
933
934 Matrix AA;
935 ColumnVector ll;
936 DiagonalMatrix PP;
937
938 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
939 return failure;
940 }
941
942 dx.ReSize(nPar); dx = 0.0;
943 kalman(AA, ll, PP, _QQ[sys], dx);
944
945 ColumnVector vv = ll - AA * dx;
946
947 int maxResIndex;
948 double maxRes = vv.maximum_absolute_value1(maxResIndex);
949 out.setRealNumberNotation(QTextStream::FixedNotation);
950 out.setRealNumberPrecision(3);
951 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
952 << " Maximum Residuum " << maxRes << ' '
953 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
954 if (maxRes > _MAXRES) {
955 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
956 cmbParam* pp = _params[sys][iPar-1];
957 if (pp->type == cmbParam::offACSat &&
958 pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
959 pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
960 QQ_sav.Row(iPar) = 0.0;
961 QQ_sav.Column(iPar) = 0.0;
962 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
963 }
964 }
965
966 out << " Outlier" << "\n";
967 _QQ[sys] = QQ_sav;
968 corrs(sys).remove(maxResIndex-1);
969 }
970 else {
971 out << " OK" << "\n";
972 out.setRealNumberNotation(QTextStream::FixedNotation);
973 out.setRealNumberPrecision(4);
974 for (int ii = 0; ii < corrs(sys).size(); ii++) {
975 const cmbCorr* corr = corrs(sys)[ii];
976 out << epoTime.datestr().c_str() << ' '
977 << epoTime.timestr().c_str() << " "
978 << corr->_acName << ' ' << corr->_prn.mid(0,3);
979 out.setFieldWidth(10);
980 out << " res = " << vv[ii] << "\n";
981 out.setFieldWidth(0);
982 }
983 break;
984 }
985 }
986
987 return success;
988}
989
990// Print results
991////////////////////////////////////////////////////////////////////////////
992void bncComb::printResults(bncTime epoTime, QTextStream& out,
993 const QMap<QString, cmbCorr*>& resCorr) {
994
995 QMapIterator<QString, cmbCorr*> it(resCorr);
996 while (it.hasNext()) {
997 it.next();
998 cmbCorr* corr = it.value();
999 const t_eph* eph = corr->_eph;
1000 if (eph) {
1001 ColumnVector xc(6);
1002 ColumnVector vv(3);
1003 if (eph->getCrd(epoTime, xc, vv, false) != success) {
1004 continue;
1005 }
1006 out << epoTime.datestr().c_str() << " "
1007 << epoTime.timestr().c_str() << " ";
1008 out.setFieldWidth(3);
1009 out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
1010 out.setFieldWidth(14);
1011 out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
1012 out.setFieldWidth(0);
1013 }
1014 else {
1015 out << "bncComb::printResults bug" << "\n";
1016 }
1017 out.flush();
1018 }
1019}
1020
1021// Send results to RTNet Decoder and directly to PPP Client
1022////////////////////////////////////////////////////////////////////////////
1023void bncComb::dumpResults(bncTime epoTime, const QMap<QString, cmbCorr*>& resCorr) {
1024
1025 QList<t_orbCorr> orbCorrections;
1026 QList<t_clkCorr> clkCorrections;
1027 QList<t_satCodeBias> satCodeBiasList;
1028
1029 unsigned year, month, day, hour, minute;
1030 double sec;
1031 epoTime.civil_date(year, month, day);
1032 epoTime.civil_time(hour, minute, sec);
1033
1034 QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
1035 year, month, day, hour, minute, sec);
1036
1037 QMapIterator<QString, cmbCorr*> it(resCorr);
1038 while (it.hasNext()) {
1039 it.next();
1040 cmbCorr* corr = it.value();
1041
1042 // ORBIT
1043 t_orbCorr orbCorr(static_cast<t_orbCorr>(*corr->_orbCorr));
1044 orbCorr._staID = "INTERNAL";
1045 orbCorrections.push_back(orbCorr);
1046
1047 // CLOCK
1048 t_clkCorr clkCorr(static_cast<t_clkCorr>(*corr->_clkCorr));
1049 clkCorr._staID = "INTERNAL";
1050 clkCorr._dClk = corr->_dClkResult;
1051 clkCorr._dotDClk = 0.0;
1052 clkCorr._dotDotDClk = 0.0;
1053 clkCorrections.push_back(clkCorr);
1054
1055
1056 ColumnVector xc(6);
1057 ColumnVector vv(3);
1058 corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
1059 corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
1060 if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
1061 delete corr;
1062 continue;
1063 }
1064
1065 // Correction Phase Center --> CoM
1066 // -------------------------------
1067
1068 ColumnVector dx(3); dx = 0.0;
1069 ColumnVector apc(3); apc = 0.0;
1070 ColumnVector com(3); com = 0.0;
1071 bool masterIsAPC = true;
1072 if (_antex) {
1073 double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
1074 char sys = corr->_eph->prn().system();
1075 masterIsAPC = _masterIsAPC[sys];
1076 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
1077 dx = 0;
1078 _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
1079 }
1080 }
1081 if (masterIsAPC) {
1082 apc(1) = xc(1);
1083 apc(2) = xc(2);
1084 apc(3) = xc(3);
1085 com(1) = xc(1)-dx(1);
1086 com(2) = xc(2)-dx(2);
1087 com(3) = xc(3)-dx(3);
1088 }
1089 else {
1090 com(1) = xc(1);
1091 com(2) = xc(2);
1092 com(3) = xc(3);
1093 apc(1) = xc(1)+dx(1);
1094 apc(2) = xc(2)+dx(2);
1095 apc(3) = xc(3)+dx(3);
1096 }
1097
1098 outLines += corr->_prn.mid(0,3);
1099 QString hlp = QString().asprintf(
1100 " APC 3 %15.4f %15.4f %15.4f"
1101 " Clk 1 %15.4f"
1102 " Vel 3 %15.4f %15.4f %15.4f"
1103 " CoM 3 %15.4f %15.4f %15.4f",
1104 apc(1), apc(2), apc(3),
1105 xc(4) * t_CST::c,
1106 vv(1), vv(2), vv(3),
1107 com(1), com(2), com(3));
1108 outLines += hlp;
1109 hlp.clear();
1110
1111 // CODE BIASES
1112 if (corr->_satCodeBias) {
1113 t_satCodeBias satCodeBias(static_cast<t_satCodeBias>(*corr->_satCodeBias));
1114 satCodeBias._staID = "INTERNAL";
1115 satCodeBiasList.push_back(satCodeBias);
1116 hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
1117 outLines += hlp;
1118 hlp.clear();
1119 for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
1120 const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
1121 if (!frqCodeBias._rnxType2ch.empty()) {
1122 hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
1123 outLines += hlp;
1124 hlp.clear();
1125 }
1126 }
1127 }
1128 outLines += "\n";
1129 delete corr;
1130 }
1131
1132 outLines += "EOE\n"; // End Of Epoch flag
1133 //cout << outLines.toStdString();
1134
1135 if (!_rtnetDecoder) {
1136 _rtnetDecoder = new bncRtnetDecoder();
1137 }
1138
1139 vector<string> errmsg;
1140 _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
1141
1142 // Send new Corrections to PPP etc.
1143 // --------------------------------
1144 if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
1145 emit newOrbCorrections(orbCorrections);
1146 emit newClkCorrections(clkCorrections);
1147 }
1148 if (satCodeBiasList.size()) {
1149 emit newCodeBiases(satCodeBiasList);
1150 }
1151}
1152
1153// Create First Design Matrix and Vector of Measurements
1154////////////////////////////////////////////////////////////////////////////
1155t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
1156 const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
1157
1158 unsigned nPar = _params[sys].size();
1159 unsigned nObs = corrs(sys).size();
1160
1161 if (nObs == 0) {
1162 return failure;
1163 }
1164
1165 int maxSat = _cmbSysPrn[sys];
1166
1167 const int nCon = (_method == filter) ? 1 + maxSat : 0;
1168
1169 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
1170 ll.ReSize(nObs+nCon); ll = 0.0;
1171 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
1172
1173 int iObs = 0;
1174 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1175 while (itCorr.hasNext()) {
1176 cmbCorr* corr = itCorr.next();
1177 QString prn = corr->_prn;
1178
1179 ++iObs;
1180
1181 if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
1182 resCorr[prn] = new cmbCorr(*corr);
1183 }
1184
1185 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1186 cmbParam* pp = _params[sys][iPar-1];
1187 AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
1188 }
1189
1190 ll(iObs) = (corr->_clkCorr->_dClk * t_CST::c - corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
1191
1192 PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
1193 }
1194
1195 // Regularization
1196 // --------------
1197 if (_method == filter) {
1198 const double Ph = 1.e6;
1199 PP(nObs+1) = Ph;
1200 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1201 cmbParam* pp = _params[sys][iPar-1];
1202 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1203 pp->type == cmbParam::clkSat ) {
1204 AA(nObs+1, iPar) = 1.0;
1205 }
1206 }
1207 unsigned flag = 0;
1208 if (sys == 'E') {
1209 flag = 1;
1210 }
1211// if (sys == 'R') {
1212// return success;
1213// }
1214 int iCond = 1;
1215 // GNSS
1216 for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
1217 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
1218 ++iCond;
1219 PP(nObs+iCond) = Ph;
1220 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1221 cmbParam* pp = _params[sys][iPar-1];
1222 if ( pp &&
1223 AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1224 pp->type == cmbParam::offACSat &&
1225 pp->prn == prn) {
1226 AA(nObs+iCond, iPar) = 1.0;
1227 }
1228 }
1229 }
1230 }
1231
1232 return success;
1233}
1234
1235// Process Epoch - Single-Epoch Method
1236////////////////////////////////////////////////////////////////////////////
1237t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
1238 QMap<QString, cmbCorr*>& resCorr,
1239 ColumnVector& dx) {
1240
1241 // Check Satellite Positions for Outliers
1242 // --------------------------------------
1243 if (checkOrbits(epoTime, sys, out) != success) {
1244 return failure;
1245 }
1246
1247 // Outlier Detection Loop
1248 // ----------------------
1249 while (true) {
1250
1251 // Remove Satellites that are not in Master
1252 // ----------------------------------------
1253 QMutableVectorIterator<cmbCorr*> it(corrs(sys));
1254 while (it.hasNext()) {
1255 cmbCorr* corr = it.next();
1256 QString prn = corr->_prn;
1257 bool foundMaster = false;
1258 QVectorIterator<cmbCorr*> itHlp(corrs(sys));
1259 while (itHlp.hasNext()) {
1260 cmbCorr* corrHlp = itHlp.next();
1261 QString prnHlp = corrHlp->_prn;
1262 QString ACHlp = corrHlp->_acName;
1263 if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
1264 foundMaster = true;
1265 break;
1266 }
1267 }
1268 if (!foundMaster) {
1269 delete corr;
1270 it.remove();
1271 }
1272 }
1273
1274 // Count Number of Observations per Satellite and per AC
1275 // -----------------------------------------------------
1276 QMap<QString, int> numObsPrn;
1277 QMap<QString, int> numObsAC;
1278 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1279 while (itCorr.hasNext()) {
1280 cmbCorr* corr = itCorr.next();
1281 QString prn = corr->_prn;
1282 QString AC = corr->_acName;
1283 if (numObsPrn.find(prn) == numObsPrn.end()) {
1284 numObsPrn[prn] = 1;
1285 }
1286 else {
1287 numObsPrn[prn] += 1;
1288 }
1289 if (numObsAC.find(AC) == numObsAC.end()) {
1290 numObsAC[AC] = 1;
1291 }
1292 else {
1293 numObsAC[AC] += 1;
1294 }
1295 }
1296
1297 // Clean-Up the Parameters
1298 // -----------------------
1299 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1300 delete _params[sys][iPar-1];
1301 }
1302 _params[sys].clear();
1303
1304 // Set new Parameters
1305 // ------------------
1306 int nextPar = 0;
1307
1308 QMapIterator<QString, int> itAC(numObsAC);
1309 while (itAC.hasNext()) {
1310 itAC.next();
1311 const QString& AC = itAC.key();
1312 int numObs = itAC.value();
1313 if (AC != _masterOrbitAC[sys] && numObs > 0) {
1314 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
1315 }
1316 }
1317
1318 QMapIterator<QString, int> itPrn(numObsPrn);
1319 while (itPrn.hasNext()) {
1320 itPrn.next();
1321 const QString& prn = itPrn.key();
1322 int numObs = itPrn.value();
1323 if (numObs > 0) {
1324 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
1325 }
1326 }
1327
1328 int nPar = _params[sys].size();
1329 ColumnVector x0(nPar);
1330 x0 = 0.0;
1331
1332 // Create First-Design Matrix
1333 // --------------------------
1334 Matrix AA;
1335 ColumnVector ll;
1336 DiagonalMatrix PP;
1337 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
1338 return failure;
1339 }
1340
1341 ColumnVector vv;
1342 try {
1343 Matrix ATP = AA.t() * PP;
1344 SymmetricMatrix NN; NN << ATP * AA;
1345 ColumnVector bb = ATP * ll;
1346 _QQ[sys] = NN.i();
1347 dx = _QQ[sys] * bb;
1348 vv = ll - AA * dx;
1349 }
1350 catch (Exception& exc) {
1351 out << exc.what() << "\n";
1352 return failure;
1353 }
1354
1355 int maxResIndex;
1356 double maxRes = vv.maximum_absolute_value1(maxResIndex);
1357 out.setRealNumberNotation(QTextStream::FixedNotation);
1358 out.setRealNumberPrecision(3);
1359 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1360 << " Maximum Residuum " << maxRes << ' '
1361 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
1362
1363 if (maxRes > _MAXRES) {
1364 out << " Outlier" << "\n";
1365 delete corrs(sys)[maxResIndex-1];
1366 corrs(sys).remove(maxResIndex-1);
1367 }
1368 else {
1369 out << " OK" << "\n";
1370 out.setRealNumberNotation(QTextStream::FixedNotation);
1371 out.setRealNumberPrecision(3);
1372 for (int ii = 0; ii < vv.Nrows(); ii++) {
1373 const cmbCorr* corr = corrs(sys)[ii];
1374 out << epoTime.datestr().c_str() << ' '
1375 << epoTime.timestr().c_str() << " "
1376 << corr->_acName << ' ' << corr->_prn.mid(0,3);
1377 out.setFieldWidth(6);
1378 out << " res = " << vv[ii] << "\n";
1379 out.setFieldWidth(0);
1380 }
1381 return success;
1382 }
1383
1384 }
1385
1386 return failure;
1387}
1388
1389// Check Satellite Positions for Outliers
1390////////////////////////////////////////////////////////////////////////////
1391t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out) {
1392
1393 const double MAX_DISPLACEMENT_INIT = 0.50;
1394
1395 double MAX_DISPLACEMENT = MAX_DISPLACEMENT_INIT;
1396 if (sys == 'C') {
1397 MAX_DISPLACEMENT *= 10.0;
1398 }
1399 if (sys == 'R') {
1400 MAX_DISPLACEMENT *= 2.0;
1401 }
1402
1403 // Switch to last ephemeris (if possible)
1404 // --------------------------------------
1405 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1406 while (im.hasNext()) {
1407 cmbCorr* corr = im.next();
1408 QString prn = corr->_prn;
1409
1410 t_eph* ephLast = _ephUser.ephLast(prn);
1411 t_eph* ephPrev = _ephUser.ephPrev(prn);
1412
1413 if (ephLast == 0) {
1414 out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
1415 delete corr;
1416 im.remove();
1417 }
1418 else if (corr->_eph == 0) {
1419 out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
1420 delete corr;
1421 im.remove();
1422 }
1423 else {
1424 if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
1425 switchToLastEph(ephLast, corr);
1426 }
1427 else {
1428 out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
1429 delete corr;
1430 im.remove();
1431 }
1432 }
1433 }
1434
1435 while (true) {
1436
1437 // Compute Mean Corrections for all Satellites
1438 // -------------------------------------------
1439 QMap<QString, int> numCorr;
1440 QMap<QString, ColumnVector> meanRao;
1441 QVectorIterator<cmbCorr*> it(corrs(sys));
1442 while (it.hasNext()) {
1443 cmbCorr* corr = it.next();
1444 QString prn = corr->_prn;
1445 if (meanRao.find(prn) == meanRao.end()) {
1446 meanRao[prn].ReSize(4);
1447 meanRao[prn].Rows(1,3) = corr->_orbCorr->_xr;
1448 meanRao[prn](4) = 1;
1449 }
1450 else {
1451 meanRao[prn].Rows(1,3) += corr->_orbCorr->_xr;
1452 meanRao[prn](4) += 1;
1453 }
1454 if (numCorr.find(prn) == numCorr.end()) {
1455 numCorr[prn] = 1;
1456 }
1457 else {
1458 numCorr[prn] += 1;
1459 }
1460 }
1461
1462 // Compute Differences wrt. Mean, find Maximum
1463 // -------------------------------------------
1464 QMap<QString, cmbCorr*> maxDiff;
1465 it.toFront();
1466 while (it.hasNext()) {
1467 cmbCorr* corr = it.next();
1468 QString prn = corr->_prn;
1469 if (meanRao[prn](4) != 0) {
1470 meanRao[prn] /= meanRao[prn](4);
1471 meanRao[prn](4) = 0;
1472 }
1473 corr->_diffRao = corr->_orbCorr->_xr - meanRao[prn].Rows(1,3);
1474 if (maxDiff.find(prn) == maxDiff.end()) {
1475 maxDiff[prn] = corr;
1476 }
1477 else {
1478 double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
1479 double norm = corr->_diffRao.NormFrobenius();
1480 if (norm > normMax) {
1481 maxDiff[prn] = corr;
1482 }
1483 }
1484 }
1485
1486 if (_ACs.size() == 1) {
1487 break;
1488 }
1489
1490 // Remove Outliers
1491 // ---------------
1492 bool removed = false;
1493 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1494 while (im.hasNext()) {
1495 cmbCorr* corr = im.next();
1496 QString prn = corr->_prn;
1497 if (numCorr[prn] < 2) {
1498 delete corr;
1499 im.remove();
1500 }
1501 else if (corr == maxDiff[prn]) {
1502 double norm = corr->_diffRao.NormFrobenius();
1503 if (norm > MAX_DISPLACEMENT) {
1504 out << epoTime.datestr().c_str() << " "
1505 << epoTime.timestr().c_str() << " "
1506 << "Orbit Outlier: "
1507 << corr->_acName.toLatin1().data() << " "
1508 << prn.mid(0,3).toLatin1().data() << " "
1509 << corr->_iod << " "
1510 << norm << "\n";
1511 delete corr;
1512 im.remove();
1513 removed = true;
1514 }
1515 }
1516 }
1517
1518 if (!removed) {
1519 break;
1520 }
1521 }
1522
1523 return success;
1524}
1525
1526//
1527////////////////////////////////////////////////////////////////////////////
1528void bncComb::slotProviderIDChanged(QString mountPoint) {
1529 QMutexLocker locker(&_mutex);
1530
1531 QTextStream out(&_log, QIODevice::WriteOnly);
1532
1533 // Find the AC Name
1534 // ----------------
1535 QString acName;
1536 QListIterator<cmbAC*> icAC(_ACs);
1537 while (icAC.hasNext()) {
1538 cmbAC *AC = icAC.next();
1539 if (AC->mountPoint == mountPoint) {
1540 acName = AC->name;
1541 out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
1542 << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
1543 << "\n";
1544 break;
1545 }
1546 }
1547 if (acName.isEmpty()) {
1548 return;
1549 }
1550 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
1551 while (itSys.hasNext()) {
1552 itSys.next();
1553 char sys = itSys.key();
1554 // Remove all corrections of the corresponding AC
1555 // ----------------------------------------------
1556 QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
1557 QMutableVectorIterator<cmbCorr*> it(corrVec);
1558 while (it.hasNext()) {
1559 cmbCorr *corr = it.next();
1560 if (acName == corr->_acName) {
1561 delete corr;
1562 it.remove();
1563 }
1564 }
1565 // Reset Satellite Offsets
1566 // -----------------------
1567 if (_method == filter) {
1568 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1569 cmbParam *pp = _params[sys][iPar - 1];
1570 if (pp->AC == acName && pp->type == cmbParam::offACSat) {
1571 pp->xx = 0.0;
1572 _QQ[sys].Row(iPar) = 0.0;
1573 _QQ[sys].Column(iPar) = 0.0;
1574 _QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
1575 }
1576 }
1577 }
1578 }
1579}
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