source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 10192

Last change on this file since 10192 was 10192, checked in by stuerze, 10 months ago

bug fixed

File size: 46.3 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 (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
488 if ((newClk->_time >= currentTime) || // future time stamp
489 (currentTime - newClk->_time) > 60.0) { // very old data sets
490 #ifdef BNC_DEBUG_CMB
491 emit newMessage("bncComb: very old data sets: " + acName.toLatin1() + " " + newClk->_prn.toString().c_str() +
492 QString(" %1 ").arg(newClk->_time.timestr().c_str()).toLatin1() + "vs. current time" +
493 QString(" %1 ").arg(currentTime.timestr().c_str()).toLatin1(), true);
494 #endif
495 delete newClk;
496 continue;
497 }
498 }
499
500 // Check Correction Age
501 // --------------------
502 if (_resTime.valid() && newClk->_time <= _resTime) {
503#ifdef BNC_DEBUG_CMB
504 emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + newClk->_prn.toString().c_str() +
505 QString(" %1 ").arg(newClk->_time.timestr().c_str()).toLatin1() + "vs. last processing Epoch" +
506 QString(" %1 ").arg(_resTime.timestr().c_str()).toLatin1(), true);
507#endif
508 delete newClk;
509 continue;
510 }
511
512 // Set the last time
513 // -----------------
514 if (_lastClkCorrTime.undef() || newClk->_time > _lastClkCorrTime) {
515 _lastClkCorrTime = newClk->_time;
516 }
517
518 // Find the corresponding data epoch or create a new one
519 // -----------------------------------------------------
520 epoClkData* epoch = 0;
521 deque<epoClkData*>::const_iterator it;
522 for (it = _epoClkData.begin(); it != _epoClkData.end(); it++) {
523 if (newClk->_time == (*it)->_time) {
524 epoch = *it;
525 break;
526 }
527 }
528 if (epoch == 0) {
529 if (_epoClkData.empty() || newClk->_time > _epoClkData.back()->_time) {
530 epoch = new epoClkData;
531 epoch->_time = newClk->_time;
532 _epoClkData.push_back(epoch);
533 }
534 }
535
536 // Put data into the epoch
537 // -----------------------
538 if (epoch != 0) {
539 epoch->_clkCorr.push_back(newClk);
540 }
541 else {
542 delete newClk;
543 }
544 }
545
546 // Make sure the buffer does not grow beyond any limit
547 // ---------------------------------------------------
548 const unsigned MAX_EPODATA_SIZE = 12;
549 if (_epoClkData.size() > MAX_EPODATA_SIZE) {
550 delete _epoClkData.front();
551 _epoClkData.pop_front();
552 }
553
554 // Process the oldest epochs
555 // ------------------------
556 while (_epoClkData.size()) {
557
558 if (!_lastClkCorrTime.valid()) {
559 return;
560 }
561
562 const vector<t_clkCorr*>& clkCorrVec = _epoClkData.front()->_clkCorr;
563
564 bncTime epoTime = _epoClkData.front()->_time;
565
566 if ((currentTime - epoTime) > 60.0) {
567 delete _epoClkData.front();
568 _epoClkData.pop_front();
569 continue;
570 }
571
572 // Process the front epoch
573 // -----------------------
574 if (epoTime < (_lastClkCorrTime - outWait)) {
575 _resTime = epoTime;
576 processEpoch(_resTime, clkCorrVec);
577 delete _epoClkData.front();
578 _epoClkData.pop_front();
579 }
580 else {
581 return;
582 }
583 }
584}
585
586// Change the correction so that it refers to last received ephemeris
587////////////////////////////////////////////////////////////////////////////
588void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
589
590 if (corr->_eph == lastEph) {
591 return;
592 }
593
594 ColumnVector oldXC(6);
595 ColumnVector oldVV(3);
596 if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
597 return;
598 }
599
600 ColumnVector newXC(6);
601 ColumnVector newVV(3);
602 if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
603 return;
604 }
605
606 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
607 ColumnVector dV = newVV - oldVV;
608 double dC = newXC(4) - oldXC(4);
609
610 ColumnVector dRAO(3);
611 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
612
613 ColumnVector dDotRAO(3);
614 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
615
616 QString msg = "switch corr " + corr->_prn.mid(0,3)
617 + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
618
619 emit newMessage(msg.toLatin1(), false);
620
621 corr->_iod = lastEph->IOD();
622 corr->_eph = lastEph;
623
624 corr->_orbCorr->_xr += dRAO;
625 corr->_orbCorr->_dotXr += dDotRAO;
626 corr->_clkCorr->_dClk -= dC;
627}
628
629// Process Epoch
630////////////////////////////////////////////////////////////////////////////
631void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr*>& clkCorrVec) {
632
633 for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
634 const t_clkCorr* clkCorr = clkCorrVec.at(ii);
635 QString staID(clkCorr->_staID.c_str());
636 QString prn(clkCorr->_prn.toInternalString().c_str());
637 char sys = clkCorr->_prn.system();
638
639 // Find/Check the AC Name
640 // ----------------------
641 QString acName;
642 double weigthFactor;
643 QListIterator<cmbAC*> icAC(_ACs);
644 while (icAC.hasNext()) {
645 cmbAC* AC = icAC.next();
646 if (AC->mountPoint == staID) {
647 acName = AC->name;
648 weigthFactor = AC->weightFactor;
649 break;
650 }
651 }
652
653 // Create new correction
654 // ---------------------
655 cmbCorr* newCorr = new cmbCorr();
656 newCorr->_prn = prn;
657 newCorr->_time = clkCorr->_time;
658 newCorr->_iod = clkCorr->_iod;
659 newCorr->_acName = acName;
660 newCorr->_weightFactor = weigthFactor;
661 newCorr->_clkCorr = new t_clkCorr(*clkCorrVec[ii]);
662
663 // Check orbit correction
664 // ----------------------
665 if (!_orbCorrections.contains(acName)) {
666 delete newCorr;
667 continue;
668 }
669 else {
670 QMap<t_prn, t_orbCorr*>& storage = _orbCorrections[acName];
671 if (!storage.contains(clkCorr->_prn) ||
672 storage[clkCorr->_prn]->_iod != newCorr->_iod) {
673 delete newCorr;
674 continue;
675 }
676 else {
677 newCorr->_orbCorr = storage[clkCorr->_prn];
678 }
679 }
680
681 // Check the Ephemeris
682 //--------------------
683 t_eph* ephLast = _ephUser.ephLast(prn);
684 t_eph* ephPrev = _ephUser.ephPrev(prn);
685 if (ephLast == 0) {
686#ifdef BNC_DEBUG_CMB
687 emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
688#endif
689 delete newCorr;
690 continue;
691 }
692 else if (ephLast->checkState() == t_eph::bad ||
693 ephLast->checkState() == t_eph::outdated ||
694 ephLast->checkState() == t_eph::unhealthy) {
695#ifdef BNC_DEBUG_CMB
696 emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prn.mid(0,3).toLatin1(), true);
697#endif
698 delete newCorr;
699 continue;
700 }
701 else {
702 if (ephLast->IOD() == newCorr->_iod) {
703 newCorr->_eph = ephLast;
704 }
705 else if (ephPrev && ephPrev->checkState() == t_eph::ok &&
706 ephPrev->IOD() == newCorr->_iod) {
707 newCorr->_eph = ephPrev;
708 switchToLastEph(ephLast, newCorr);
709 }
710 else {
711#ifdef BNC_DEBUG_CMB
712 emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
713 QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true);
714#endif
715 delete newCorr;
716 continue;
717 }
718 }
719
720 // Check satellite code biases
721 // ----------------------------
722 if (_satCodeBiases.contains(acName)) {
723 QMap<t_prn, t_satCodeBias*>& storage = _satCodeBiases[acName];
724 if (storage.contains(clkCorr->_prn)) {
725 newCorr->_satCodeBias = storage[clkCorr->_prn];
726 QMap<t_frequency::type, double> codeBiasesRefSig;
727 for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
728 t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
729 char frqNum = t_frequency::toString(frqType)[1];
730 char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
731 QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
732 for (unsigned ii = 0; ii < newCorr->_satCodeBias->_bias.size(); ii++) {
733 const t_frqCodeBias& bias = newCorr->_satCodeBias->_bias[ii];
734 if (rnxType2ch.toStdString() == bias._rnxType2ch) {
735 codeBiasesRefSig[frqType] = bias._value;
736 }
737 }
738 }
739 if (codeBiasesRefSig.size() == 2) {
740 map<t_frequency::type, double> codeCoeff;
741 double channel = double(newCorr->_eph->slotNum());
742 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
743 map<t_frequency::type, double>::const_iterator it;
744 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
745 t_frequency::type frqType = it->first;
746 newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
747 }
748 }
749 newCorr->_satCodeBias->_bias.clear();
750 }
751 }
752
753 // Store correction into the buffer
754 // --------------------------------
755 QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
756
757 QVectorIterator<cmbCorr*> itCorr(corrs);
758 bool available = false;
759 while (itCorr.hasNext()) {
760 cmbCorr* corr = itCorr.next();
761 QString prn = corr->_prn;
762 QString acName = corr->_acName;
763 if (newCorr->_acName == acName && newCorr->_prn == prn) {
764 available = true;
765 }
766 }
767 if (!available) {
768 corrs.push_back(newCorr);
769 }
770 else {
771 delete newCorr;
772 continue;
773 }
774 }
775
776 // Process Systems of this Epoch
777 // ------------------------------
778 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
779 while (itSys.hasNext()) {
780 itSys.next();
781 char sys = itSys.key();
782 _log.clear();
783 QTextStream out(&_log, QIODevice::WriteOnly);
784 processSystem(epoTime, sys, out);
785 emit newMessage(_log, false);
786 }
787}
788
789void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
790
791 out << "\n" << "Combination: " << sys << "\n"
792 << "--------------------------------" << "\n";
793
794 // Observation Statistics
795 // ----------------------
796 bool masterPresent = false;
797 QListIterator<cmbAC*> icAC(_ACs);
798 while (icAC.hasNext()) {
799 cmbAC* AC = icAC.next();
800 AC->numObs[sys] = 0;
801 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
802 while (itCorr.hasNext()) {
803 cmbCorr* corr = itCorr.next();
804 if (corr->_acName == AC->name) {
805 AC->numObs[sys] += 1;
806 if (AC->name == _masterOrbitAC[sys]) {
807 masterPresent = true;
808 }
809 }
810 }
811 out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
812 }
813
814 // If Master not present, switch to another one
815 // --------------------------------------------
816 const unsigned switchMasterAfterGap = 1;
817 if (masterPresent) {
818 _masterMissingEpochs[sys] = 0;
819 }
820 else {
821 ++_masterMissingEpochs[sys];
822 if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
823 out << "Missing Master, Epoch skipped" << "\n";
824 _buffer.remove(sys);
825 emit newMessage(_log, false);
826 return;
827 }
828 else {
829 _masterMissingEpochs[sys] = 0;
830 QListIterator<cmbAC*> icAC(_ACs);
831 while (icAC.hasNext()) {
832 cmbAC* AC = icAC.next();
833 if (AC->numObs[sys] > 0) {
834 out << "Switching Master AC "
835 << _masterOrbitAC[sys].toLatin1().data() << " --> "
836 << AC->name.toLatin1().data() << " "
837 << epoTime.datestr().c_str() << " "
838 << epoTime.timestr().c_str() << "\n";
839 _masterOrbitAC[sys] = AC->name;
840 _masterIsAPC[sys] = AC->isAPC;
841 break;
842 }
843 }
844 }
845 }
846
847 QMap<QString, cmbCorr*> resCorr;
848
849 // Perform the actual Combination using selected Method
850 // ----------------------------------------------------
851 t_irc irc;
852 ColumnVector dx;
853 if (_method == filter) {
854 irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
855 }
856 else {
857 irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
858 }
859
860 // Update Parameter Values, Print Results
861 // --------------------------------------
862 if (irc == success) {
863 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
864 cmbParam* pp = _params[sys][iPar-1];
865 pp->xx += dx(iPar);
866 if (pp->type == cmbParam::clkSat) {
867 if (resCorr.find(pp->prn) != resCorr.end()) {
868 // set clock result
869 resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
870 // Add Code Biases from SINEX File
871 if (_bsx) {
872 map<t_frequency::type, double> codeCoeff;
873 double channel = double(resCorr[pp->prn]->_eph->slotNum());
874 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
875 t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
876 t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
877 if (resCorr[pp->prn]->_satCodeBias == 0) {
878 resCorr[pp->prn]->_satCodeBias = new t_satCodeBias();
879 }
880 _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
881 }
882 }
883 }
884 out << epoTime.datestr().c_str() << " "
885 << epoTime.timestr().c_str() << " ";
886 out.setRealNumberNotation(QTextStream::FixedNotation);
887 out.setFieldWidth(8);
888 out.setRealNumberPrecision(4);
889 out << pp->toString(sys) << " "
890 << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
891 out.setFieldWidth(0);
892 }
893 printResults(epoTime, out, resCorr);
894 dumpResults(epoTime, resCorr);
895 }
896 // Delete Data
897 // -----------
898 _buffer.remove(sys);
899}
900
901// Process Epoch - Filter Method
902////////////////////////////////////////////////////////////////////////////
903t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
904 QMap<QString, cmbCorr*>& resCorr,
905 ColumnVector& dx) {
906
907 // Prediction Step
908 // ---------------
909 int nPar = _params[sys].size();
910 ColumnVector x0(nPar);
911 for (int iPar = 1; iPar <= nPar; iPar++) {
912 cmbParam* pp = _params[sys][iPar-1];
913 if (pp->epoSpec) {
914 pp->xx = 0.0;
915 _QQ[sys].Row(iPar) = 0.0;
916 _QQ[sys].Column(iPar) = 0.0;
917 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
918 }
919 else {
920 _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
921 }
922 x0(iPar) = pp->xx;
923 }
924
925 // Check Satellite Positions for Outliers
926 // --------------------------------------
927 if (checkOrbits(epoTime, sys, out) != success) {
928 return failure;
929 }
930
931 // Update and outlier detection loop
932 // ---------------------------------
933 SymmetricMatrix QQ_sav = _QQ[sys];
934 while (true) {
935
936 Matrix AA;
937 ColumnVector ll;
938 DiagonalMatrix PP;
939
940 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
941 return failure;
942 }
943
944 dx.ReSize(nPar); dx = 0.0;
945 kalman(AA, ll, PP, _QQ[sys], dx);
946
947 ColumnVector vv = ll - AA * dx;
948
949 int maxResIndex;
950 double maxRes = vv.maximum_absolute_value1(maxResIndex);
951 out.setRealNumberNotation(QTextStream::FixedNotation);
952 out.setRealNumberPrecision(3);
953 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
954 << " Maximum Residuum " << maxRes << ' '
955 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
956 if (maxRes > _MAXRES) {
957 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
958 cmbParam* pp = _params[sys][iPar-1];
959 if (pp->type == cmbParam::offACSat &&
960 pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
961 pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
962 QQ_sav.Row(iPar) = 0.0;
963 QQ_sav.Column(iPar) = 0.0;
964 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
965 }
966 }
967
968 out << " Outlier" << "\n";
969 _QQ[sys] = QQ_sav;
970 corrs(sys).remove(maxResIndex-1);
971 }
972 else {
973 out << " OK" << "\n";
974 out.setRealNumberNotation(QTextStream::FixedNotation);
975 out.setRealNumberPrecision(4);
976 for (int ii = 0; ii < corrs(sys).size(); ii++) {
977 const cmbCorr* corr = corrs(sys)[ii];
978 out << epoTime.datestr().c_str() << ' '
979 << epoTime.timestr().c_str() << " "
980 << corr->_acName << ' ' << corr->_prn.mid(0,3);
981 out.setFieldWidth(10);
982 out << " res = " << vv[ii] << "\n";
983 out.setFieldWidth(0);
984 }
985 break;
986 }
987 }
988
989 return success;
990}
991
992// Print results
993////////////////////////////////////////////////////////////////////////////
994void bncComb::printResults(bncTime epoTime, QTextStream& out,
995 const QMap<QString, cmbCorr*>& resCorr) {
996
997 QMapIterator<QString, cmbCorr*> it(resCorr);
998 while (it.hasNext()) {
999 it.next();
1000 cmbCorr* corr = it.value();
1001 const t_eph* eph = corr->_eph;
1002 if (eph) {
1003 ColumnVector xc(6);
1004 ColumnVector vv(3);
1005 if (eph->getCrd(epoTime, xc, vv, false) != success) {
1006 continue;
1007 }
1008 out << epoTime.datestr().c_str() << " "
1009 << epoTime.timestr().c_str() << " ";
1010 out.setFieldWidth(3);
1011 out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
1012 out.setFieldWidth(14);
1013 out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
1014 out.setFieldWidth(0);
1015 }
1016 else {
1017 out << "bncComb::printResults bug" << "\n";
1018 }
1019 out.flush();
1020 }
1021}
1022
1023// Send results to RTNet Decoder and directly to PPP Client
1024////////////////////////////////////////////////////////////////////////////
1025void bncComb::dumpResults(bncTime epoTime, const QMap<QString, cmbCorr*>& resCorr) {
1026
1027 QList<t_orbCorr> orbCorrections;
1028 QList<t_clkCorr> clkCorrections;
1029 QList<t_satCodeBias> satCodeBiasList;
1030
1031 unsigned year, month, day, hour, minute;
1032 double sec;
1033 epoTime.civil_date(year, month, day);
1034 epoTime.civil_time(hour, minute, sec);
1035
1036 QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
1037 year, month, day, hour, minute, sec);
1038
1039 QMapIterator<QString, cmbCorr*> it(resCorr);
1040 while (it.hasNext()) {
1041 it.next();
1042 cmbCorr* corr = it.value();
1043
1044 // ORBIT
1045 t_orbCorr orbCorr(static_cast<t_orbCorr>(*corr->_orbCorr));
1046 orbCorr._staID = "INTERNAL";
1047 orbCorrections.push_back(orbCorr);
1048
1049 // CLOCK
1050 t_clkCorr clkCorr(static_cast<t_clkCorr>(*corr->_clkCorr));
1051 clkCorr._staID = "INTERNAL";
1052 clkCorr._dClk = corr->_dClkResult;
1053 clkCorr._dotDClk = 0.0;
1054 clkCorr._dotDotDClk = 0.0;
1055 clkCorrections.push_back(clkCorr);
1056
1057
1058 ColumnVector xc(6);
1059 ColumnVector vv(3);
1060 corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
1061 corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
1062 if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
1063 delete corr;
1064 continue;
1065 }
1066
1067 // Correction Phase Center --> CoM
1068 // -------------------------------
1069
1070 ColumnVector dx(3); dx = 0.0;
1071 ColumnVector apc(3); apc = 0.0;
1072 ColumnVector com(3); com = 0.0;
1073 bool masterIsAPC = true;
1074 if (_antex) {
1075 double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
1076 char sys = corr->_eph->prn().system();
1077 masterIsAPC = _masterIsAPC[sys];
1078 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
1079 dx = 0;
1080 _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
1081 }
1082 }
1083 if (masterIsAPC) {
1084 apc(1) = xc(1);
1085 apc(2) = xc(2);
1086 apc(3) = xc(3);
1087 com(1) = xc(1)-dx(1);
1088 com(2) = xc(2)-dx(2);
1089 com(3) = xc(3)-dx(3);
1090 }
1091 else {
1092 com(1) = xc(1);
1093 com(2) = xc(2);
1094 com(3) = xc(3);
1095 apc(1) = xc(1)+dx(1);
1096 apc(2) = xc(2)+dx(2);
1097 apc(3) = xc(3)+dx(3);
1098 }
1099
1100 outLines += corr->_prn.mid(0,3);
1101 QString hlp = QString().asprintf(
1102 " APC 3 %15.4f %15.4f %15.4f"
1103 " Clk 1 %15.4f"
1104 " Vel 3 %15.4f %15.4f %15.4f"
1105 " CoM 3 %15.4f %15.4f %15.4f",
1106 apc(1), apc(2), apc(3),
1107 xc(4) * t_CST::c,
1108 vv(1), vv(2), vv(3),
1109 com(1), com(2), com(3));
1110 outLines += hlp;
1111 hlp.clear();
1112
1113 // CODE BIASES
1114 if (corr->_satCodeBias) {
1115 t_satCodeBias satCodeBias(static_cast<t_satCodeBias>(*corr->_satCodeBias));
1116 satCodeBias._staID = "INTERNAL";
1117 satCodeBiasList.push_back(satCodeBias);
1118 hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
1119 outLines += hlp;
1120 hlp.clear();
1121 for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
1122 const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
1123 if (!frqCodeBias._rnxType2ch.empty()) {
1124 hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
1125 outLines += hlp;
1126 hlp.clear();
1127 }
1128 }
1129 }
1130 outLines += "\n";
1131 delete corr;
1132 }
1133
1134 outLines += "EOE\n"; // End Of Epoch flag
1135 //cout << outLines.toStdString();
1136
1137 if (!_rtnetDecoder) {
1138 _rtnetDecoder = new bncRtnetDecoder();
1139 }
1140
1141 vector<string> errmsg;
1142 _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
1143
1144 // Send new Corrections to PPP etc.
1145 // --------------------------------
1146 if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
1147 emit newOrbCorrections(orbCorrections);
1148 emit newClkCorrections(clkCorrections);
1149 }
1150 if (satCodeBiasList.size()) {
1151 emit newCodeBiases(satCodeBiasList);
1152 }
1153}
1154
1155// Create First Design Matrix and Vector of Measurements
1156////////////////////////////////////////////////////////////////////////////
1157t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
1158 const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
1159
1160 unsigned nPar = _params[sys].size();
1161 unsigned nObs = corrs(sys).size();
1162
1163 if (nObs == 0) {
1164 return failure;
1165 }
1166
1167 int maxSat = _cmbSysPrn[sys];
1168
1169 const int nCon = (_method == filter) ? 1 + maxSat : 0;
1170
1171 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
1172 ll.ReSize(nObs+nCon); ll = 0.0;
1173 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
1174
1175 int iObs = 0;
1176 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1177 while (itCorr.hasNext()) {
1178 cmbCorr* corr = itCorr.next();
1179 QString prn = corr->_prn;
1180
1181 ++iObs;
1182
1183 if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
1184 resCorr[prn] = new cmbCorr(*corr);
1185 }
1186
1187 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1188 cmbParam* pp = _params[sys][iPar-1];
1189 AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
1190 }
1191
1192 ll(iObs) = (corr->_clkCorr->_dClk * t_CST::c - corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
1193
1194 PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
1195 }
1196
1197 // Regularization
1198 // --------------
1199 if (_method == filter) {
1200 const double Ph = 1.e6;
1201 PP(nObs+1) = Ph;
1202 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1203 cmbParam* pp = _params[sys][iPar-1];
1204 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1205 pp->type == cmbParam::clkSat ) {
1206 AA(nObs+1, iPar) = 1.0;
1207 }
1208 }
1209 unsigned flag = 0;
1210 if (sys == 'E') {
1211 flag = 1;
1212 }
1213// if (sys == 'R') {
1214// return success;
1215// }
1216 int iCond = 1;
1217 // GNSS
1218 for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
1219 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
1220 ++iCond;
1221 PP(nObs+iCond) = Ph;
1222 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1223 cmbParam* pp = _params[sys][iPar-1];
1224 if ( pp &&
1225 AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1226 pp->type == cmbParam::offACSat &&
1227 pp->prn == prn) {
1228 AA(nObs+iCond, iPar) = 1.0;
1229 }
1230 }
1231 }
1232 }
1233
1234 return success;
1235}
1236
1237// Process Epoch - Single-Epoch Method
1238////////////////////////////////////////////////////////////////////////////
1239t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
1240 QMap<QString, cmbCorr*>& resCorr,
1241 ColumnVector& dx) {
1242
1243 // Check Satellite Positions for Outliers
1244 // --------------------------------------
1245 if (checkOrbits(epoTime, sys, out) != success) {
1246 return failure;
1247 }
1248
1249 // Outlier Detection Loop
1250 // ----------------------
1251 while (true) {
1252
1253 // Remove Satellites that are not in Master
1254 // ----------------------------------------
1255 QMutableVectorIterator<cmbCorr*> it(corrs(sys));
1256 while (it.hasNext()) {
1257 cmbCorr* corr = it.next();
1258 QString prn = corr->_prn;
1259 bool foundMaster = false;
1260 QVectorIterator<cmbCorr*> itHlp(corrs(sys));
1261 while (itHlp.hasNext()) {
1262 cmbCorr* corrHlp = itHlp.next();
1263 QString prnHlp = corrHlp->_prn;
1264 QString ACHlp = corrHlp->_acName;
1265 if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
1266 foundMaster = true;
1267 break;
1268 }
1269 }
1270 if (!foundMaster) {
1271 delete corr;
1272 it.remove();
1273 }
1274 }
1275
1276 // Count Number of Observations per Satellite and per AC
1277 // -----------------------------------------------------
1278 QMap<QString, int> numObsPrn;
1279 QMap<QString, int> numObsAC;
1280 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1281 while (itCorr.hasNext()) {
1282 cmbCorr* corr = itCorr.next();
1283 QString prn = corr->_prn;
1284 QString AC = corr->_acName;
1285 if (numObsPrn.find(prn) == numObsPrn.end()) {
1286 numObsPrn[prn] = 1;
1287 }
1288 else {
1289 numObsPrn[prn] += 1;
1290 }
1291 if (numObsAC.find(AC) == numObsAC.end()) {
1292 numObsAC[AC] = 1;
1293 }
1294 else {
1295 numObsAC[AC] += 1;
1296 }
1297 }
1298
1299 // Clean-Up the Parameters
1300 // -----------------------
1301 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1302 delete _params[sys][iPar-1];
1303 }
1304 _params[sys].clear();
1305
1306 // Set new Parameters
1307 // ------------------
1308 int nextPar = 0;
1309
1310 QMapIterator<QString, int> itAC(numObsAC);
1311 while (itAC.hasNext()) {
1312 itAC.next();
1313 const QString& AC = itAC.key();
1314 int numObs = itAC.value();
1315 if (AC != _masterOrbitAC[sys] && numObs > 0) {
1316 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
1317 }
1318 }
1319
1320 QMapIterator<QString, int> itPrn(numObsPrn);
1321 while (itPrn.hasNext()) {
1322 itPrn.next();
1323 const QString& prn = itPrn.key();
1324 int numObs = itPrn.value();
1325 if (numObs > 0) {
1326 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
1327 }
1328 }
1329
1330 int nPar = _params[sys].size();
1331 ColumnVector x0(nPar);
1332 x0 = 0.0;
1333
1334 // Create First-Design Matrix
1335 // --------------------------
1336 Matrix AA;
1337 ColumnVector ll;
1338 DiagonalMatrix PP;
1339 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
1340 return failure;
1341 }
1342
1343 ColumnVector vv;
1344 try {
1345 Matrix ATP = AA.t() * PP;
1346 SymmetricMatrix NN; NN << ATP * AA;
1347 ColumnVector bb = ATP * ll;
1348 _QQ[sys] = NN.i();
1349 dx = _QQ[sys] * bb;
1350 vv = ll - AA * dx;
1351 }
1352 catch (Exception& exc) {
1353 out << exc.what() << "\n";
1354 return failure;
1355 }
1356
1357 int maxResIndex;
1358 double maxRes = vv.maximum_absolute_value1(maxResIndex);
1359 out.setRealNumberNotation(QTextStream::FixedNotation);
1360 out.setRealNumberPrecision(3);
1361 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1362 << " Maximum Residuum " << maxRes << ' '
1363 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
1364
1365 if (maxRes > _MAXRES) {
1366 out << " Outlier" << "\n";
1367 delete corrs(sys)[maxResIndex-1];
1368 corrs(sys).remove(maxResIndex-1);
1369 }
1370 else {
1371 out << " OK" << "\n";
1372 out.setRealNumberNotation(QTextStream::FixedNotation);
1373 out.setRealNumberPrecision(3);
1374 for (int ii = 0; ii < vv.Nrows(); ii++) {
1375 const cmbCorr* corr = corrs(sys)[ii];
1376 out << epoTime.datestr().c_str() << ' '
1377 << epoTime.timestr().c_str() << " "
1378 << corr->_acName << ' ' << corr->_prn.mid(0,3);
1379 out.setFieldWidth(6);
1380 out << " res = " << vv[ii] << "\n";
1381 out.setFieldWidth(0);
1382 }
1383 return success;
1384 }
1385
1386 }
1387
1388 return failure;
1389}
1390
1391// Check Satellite Positions for Outliers
1392////////////////////////////////////////////////////////////////////////////
1393t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out) {
1394
1395 const double MAX_DISPLACEMENT_INIT = 0.50;
1396
1397 double MAX_DISPLACEMENT = MAX_DISPLACEMENT_INIT;
1398 if (sys == 'C') {
1399 MAX_DISPLACEMENT *= 10.0;
1400 }
1401 if (sys == 'R') {
1402 MAX_DISPLACEMENT *= 2.0;
1403 }
1404
1405 // Switch to last ephemeris (if possible)
1406 // --------------------------------------
1407 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1408 while (im.hasNext()) {
1409 cmbCorr* corr = im.next();
1410 QString prn = corr->_prn;
1411
1412 t_eph* ephLast = _ephUser.ephLast(prn);
1413 t_eph* ephPrev = _ephUser.ephPrev(prn);
1414
1415 if (ephLast == 0) {
1416 out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
1417 delete corr;
1418 im.remove();
1419 }
1420 else if (corr->_eph == 0) {
1421 out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
1422 delete corr;
1423 im.remove();
1424 }
1425 else {
1426 if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
1427 switchToLastEph(ephLast, corr);
1428 }
1429 else {
1430 out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
1431 delete corr;
1432 im.remove();
1433 }
1434 }
1435 }
1436
1437 while (true) {
1438
1439 // Compute Mean Corrections for all Satellites
1440 // -------------------------------------------
1441 QMap<QString, int> numCorr;
1442 QMap<QString, ColumnVector> meanRao;
1443 QVectorIterator<cmbCorr*> it(corrs(sys));
1444 while (it.hasNext()) {
1445 cmbCorr* corr = it.next();
1446 QString prn = corr->_prn;
1447 if (meanRao.find(prn) == meanRao.end()) {
1448 meanRao[prn].ReSize(4);
1449 meanRao[prn].Rows(1,3) = corr->_orbCorr->_xr;
1450 meanRao[prn](4) = 1;
1451 }
1452 else {
1453 meanRao[prn].Rows(1,3) += corr->_orbCorr->_xr;
1454 meanRao[prn](4) += 1;
1455 }
1456 if (numCorr.find(prn) == numCorr.end()) {
1457 numCorr[prn] = 1;
1458 }
1459 else {
1460 numCorr[prn] += 1;
1461 }
1462 }
1463
1464 // Compute Differences wrt. Mean, find Maximum
1465 // -------------------------------------------
1466 QMap<QString, cmbCorr*> maxDiff;
1467 it.toFront();
1468 while (it.hasNext()) {
1469 cmbCorr* corr = it.next();
1470 QString prn = corr->_prn;
1471 if (meanRao[prn](4) != 0) {
1472 meanRao[prn] /= meanRao[prn](4);
1473 meanRao[prn](4) = 0;
1474 }
1475 corr->_diffRao = corr->_orbCorr->_xr - meanRao[prn].Rows(1,3);
1476 if (maxDiff.find(prn) == maxDiff.end()) {
1477 maxDiff[prn] = corr;
1478 }
1479 else {
1480 double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
1481 double norm = corr->_diffRao.NormFrobenius();
1482 if (norm > normMax) {
1483 maxDiff[prn] = corr;
1484 }
1485 }
1486 }
1487
1488 if (_ACs.size() == 1) {
1489 break;
1490 }
1491
1492 // Remove Outliers
1493 // ---------------
1494 bool removed = false;
1495 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1496 while (im.hasNext()) {
1497 cmbCorr* corr = im.next();
1498 QString prn = corr->_prn;
1499 if (numCorr[prn] < 2) {
1500 delete corr;
1501 im.remove();
1502 }
1503 else if (corr == maxDiff[prn]) {
1504 double norm = corr->_diffRao.NormFrobenius();
1505 if (norm > MAX_DISPLACEMENT) {
1506 out << epoTime.datestr().c_str() << " "
1507 << epoTime.timestr().c_str() << " "
1508 << "Orbit Outlier: "
1509 << corr->_acName.toLatin1().data() << " "
1510 << prn.mid(0,3).toLatin1().data() << " "
1511 << corr->_iod << " "
1512 << norm << "\n";
1513 delete corr;
1514 im.remove();
1515 removed = true;
1516 }
1517 }
1518 }
1519
1520 if (!removed) {
1521 break;
1522 }
1523 }
1524
1525 return success;
1526}
1527
1528//
1529////////////////////////////////////////////////////////////////////////////
1530void bncComb::slotProviderIDChanged(QString mountPoint) {
1531 QMutexLocker locker(&_mutex);
1532
1533 QTextStream out(&_log, QIODevice::WriteOnly);
1534
1535 // Find the AC Name
1536 // ----------------
1537 QString acName;
1538 QListIterator<cmbAC*> icAC(_ACs);
1539 while (icAC.hasNext()) {
1540 cmbAC *AC = icAC.next();
1541 if (AC->mountPoint == mountPoint) {
1542 acName = AC->name;
1543 out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
1544 << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
1545 << "\n";
1546 break;
1547 }
1548 }
1549 if (acName.isEmpty()) {
1550 return;
1551 }
1552 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
1553 while (itSys.hasNext()) {
1554 itSys.next();
1555 char sys = itSys.key();
1556 // Remove all corrections of the corresponding AC
1557 // ----------------------------------------------
1558 QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
1559 QMutableVectorIterator<cmbCorr*> it(corrVec);
1560 while (it.hasNext()) {
1561 cmbCorr *corr = it.next();
1562 if (acName == corr->_acName) {
1563 delete corr;
1564 it.remove();
1565 }
1566 }
1567 // Reset Satellite Offsets
1568 // -----------------------
1569 if (_method == filter) {
1570 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1571 cmbParam *pp = _params[sys][iPar - 1];
1572 if (pp->AC == acName && pp->type == cmbParam::offACSat) {
1573 pp->xx = 0.0;
1574 _QQ[sys].Row(iPar) = 0.0;
1575 _QQ[sys].Column(iPar) = 0.0;
1576 _QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
1577 }
1578 }
1579 }
1580 }
1581}
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