source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 10200

Last change on this file since 10200 was 10200, checked in by stuerze, 10 months ago

changes regarding clock combination

File size: 46.4 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: future or 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 = 60.0 / _cmbSampl;
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 (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
567 if ((currentTime - epoTime) > 60.0) {
568 delete _epoClkData.front();
569 _epoClkData.pop_front();
570 continue;
571 }
572 }
573 // Process the front epoch
574 // -----------------------
575 if (epoTime < (_lastClkCorrTime - outWait)) {
576 _resTime = epoTime;
577 processEpoch(_resTime, clkCorrVec);
578 delete _epoClkData.front();
579 _epoClkData.pop_front();
580 }
581 else {
582 return;
583 }
584 }
585}
586
587// Change the correction so that it refers to last received ephemeris
588////////////////////////////////////////////////////////////////////////////
589void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
590
591 if (corr->_eph == lastEph) {
592 return;
593 }
594
595 ColumnVector oldXC(6);
596 ColumnVector oldVV(3);
597 if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
598 return;
599 }
600
601 ColumnVector newXC(6);
602 ColumnVector newVV(3);
603 if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
604 return;
605 }
606
607 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
608 ColumnVector dV = newVV - oldVV;
609 double dC = newXC(4) - oldXC(4);
610
611 ColumnVector dRAO(3);
612 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
613
614 ColumnVector dDotRAO(3);
615 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
616
617 QString msg = "switch corr " + corr->_prn.mid(0,3)
618 + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
619
620 emit newMessage(msg.toLatin1(), false);
621
622 corr->_iod = lastEph->IOD();
623 corr->_eph = lastEph;
624
625 corr->_orbCorr->_xr += dRAO;
626 corr->_orbCorr->_dotXr += dDotRAO;
627 corr->_clkCorr->_dClk -= dC;
628}
629
630// Process Epoch
631////////////////////////////////////////////////////////////////////////////
632void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr*>& clkCorrVec) {
633
634 for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
635 const t_clkCorr* clkCorr = clkCorrVec.at(ii);
636 QString staID(clkCorr->_staID.c_str());
637 QString prn(clkCorr->_prn.toInternalString().c_str());
638 char sys = clkCorr->_prn.system();
639
640 // Find/Check the AC Name
641 // ----------------------
642 QString acName;
643 double weigthFactor;
644 QListIterator<cmbAC*> icAC(_ACs);
645 while (icAC.hasNext()) {
646 cmbAC* AC = icAC.next();
647 if (AC->mountPoint == staID) {
648 acName = AC->name;
649 weigthFactor = AC->weightFactor;
650 break;
651 }
652 }
653
654 // Create new correction
655 // ---------------------
656 cmbCorr* newCorr = new cmbCorr();
657 newCorr->_prn = prn;
658 newCorr->_time = clkCorr->_time;
659 newCorr->_iod = clkCorr->_iod;
660 newCorr->_acName = acName;
661 newCorr->_weightFactor = weigthFactor;
662 newCorr->_clkCorr = new t_clkCorr(*clkCorrVec[ii]);
663
664 // Check orbit correction
665 // ----------------------
666 if (!_orbCorrections.contains(acName)) {
667 delete newCorr;
668 continue;
669 }
670 else {
671 QMap<t_prn, t_orbCorr*>& storage = _orbCorrections[acName];
672 if (!storage.contains(clkCorr->_prn) ||
673 storage[clkCorr->_prn]->_iod != newCorr->_iod) {
674 delete newCorr;
675 continue;
676 }
677 else {
678 newCorr->_orbCorr = storage[clkCorr->_prn];
679 }
680 }
681
682 // Check the Ephemeris
683 //--------------------
684 t_eph* ephLast = _ephUser.ephLast(prn);
685 t_eph* ephPrev = _ephUser.ephPrev(prn);
686 if (ephLast == 0) {
687#ifdef BNC_DEBUG_CMB
688 emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
689#endif
690 delete newCorr;
691 continue;
692 }
693 else if (ephLast->checkState() == t_eph::bad ||
694 ephLast->checkState() == t_eph::outdated ||
695 ephLast->checkState() == t_eph::unhealthy) {
696#ifdef BNC_DEBUG_CMB
697 emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prn.mid(0,3).toLatin1(), true);
698#endif
699 delete newCorr;
700 continue;
701 }
702 else {
703 if (ephLast->IOD() == newCorr->_iod) {
704 newCorr->_eph = ephLast;
705 }
706 else if (ephPrev && ephPrev->checkState() == t_eph::ok &&
707 ephPrev->IOD() == newCorr->_iod) {
708 newCorr->_eph = ephPrev;
709 switchToLastEph(ephLast, newCorr);
710 }
711 else {
712#ifdef BNC_DEBUG_CMB
713 emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
714 QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true);
715#endif
716 delete newCorr;
717 continue;
718 }
719 }
720
721 // Check satellite code biases
722 // ----------------------------
723 if (_satCodeBiases.contains(acName)) {
724 QMap<t_prn, t_satCodeBias*>& storage = _satCodeBiases[acName];
725 if (storage.contains(clkCorr->_prn)) {
726 newCorr->_satCodeBias = storage[clkCorr->_prn];
727 QMap<t_frequency::type, double> codeBiasesRefSig;
728 for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
729 t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
730 char frqNum = t_frequency::toString(frqType)[1];
731 char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
732 QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
733 for (unsigned ii = 0; ii < newCorr->_satCodeBias->_bias.size(); ii++) {
734 const t_frqCodeBias& bias = newCorr->_satCodeBias->_bias[ii];
735 if (rnxType2ch.toStdString() == bias._rnxType2ch) {
736 codeBiasesRefSig[frqType] = bias._value;
737 }
738 }
739 }
740 if (codeBiasesRefSig.size() == 2) {
741 map<t_frequency::type, double> codeCoeff;
742 double channel = double(newCorr->_eph->slotNum());
743 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
744 map<t_frequency::type, double>::const_iterator it;
745 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
746 t_frequency::type frqType = it->first;
747 newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
748 }
749 }
750 newCorr->_satCodeBias->_bias.clear();
751 }
752 }
753
754 // Store correction into the buffer
755 // --------------------------------
756 QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
757
758 QVectorIterator<cmbCorr*> itCorr(corrs);
759 bool available = false;
760 while (itCorr.hasNext()) {
761 cmbCorr* corr = itCorr.next();
762 QString prn = corr->_prn;
763 QString acName = corr->_acName;
764 if (newCorr->_acName == acName && newCorr->_prn == prn) {
765 available = true;
766 }
767 }
768 if (!available) {
769 corrs.push_back(newCorr);
770 }
771 else {
772 delete newCorr;
773 continue;
774 }
775 }
776
777 // Process Systems of this Epoch
778 // ------------------------------
779 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
780 while (itSys.hasNext()) {
781 itSys.next();
782 char sys = itSys.key();
783 _log.clear();
784 QTextStream out(&_log, QIODevice::WriteOnly);
785 processSystem(epoTime, sys, out);
786 emit newMessage(_log, false);
787 }
788}
789
790void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
791
792 out << "\n" << "Combination: " << sys << "\n"
793 << "--------------------------------" << "\n";
794
795 // Observation Statistics
796 // ----------------------
797 bool masterPresent = false;
798 QListIterator<cmbAC*> icAC(_ACs);
799 while (icAC.hasNext()) {
800 cmbAC* AC = icAC.next();
801 AC->numObs[sys] = 0;
802 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
803 while (itCorr.hasNext()) {
804 cmbCorr* corr = itCorr.next();
805 if (corr->_acName == AC->name) {
806 AC->numObs[sys] += 1;
807 if (AC->name == _masterOrbitAC[sys]) {
808 masterPresent = true;
809 }
810 }
811 }
812 out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
813 }
814
815 // If Master not present, switch to another one
816 // --------------------------------------------
817 const unsigned switchMasterAfterGap = 1;
818 if (masterPresent) {
819 _masterMissingEpochs[sys] = 0;
820 }
821 else {
822 ++_masterMissingEpochs[sys];
823 if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
824 out << "Missing Master, Epoch skipped" << "\n";
825 _buffer.remove(sys);
826 emit newMessage(_log, false);
827 return;
828 }
829 else {
830 _masterMissingEpochs[sys] = 0;
831 QListIterator<cmbAC*> icAC(_ACs);
832 while (icAC.hasNext()) {
833 cmbAC* AC = icAC.next();
834 if (AC->numObs[sys] > 0) {
835 out << "Switching Master AC "
836 << _masterOrbitAC[sys].toLatin1().data() << " --> "
837 << AC->name.toLatin1().data() << " "
838 << epoTime.datestr().c_str() << " "
839 << epoTime.timestr().c_str() << "\n";
840 _masterOrbitAC[sys] = AC->name;
841 _masterIsAPC[sys] = AC->isAPC;
842 break;
843 }
844 }
845 }
846 }
847
848 QMap<QString, cmbCorr*> resCorr;
849
850 // Perform the actual Combination using selected Method
851 // ----------------------------------------------------
852 t_irc irc;
853 ColumnVector dx;
854 if (_method == filter) {
855 irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
856 }
857 else {
858 irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
859 }
860
861 // Update Parameter Values, Print Results
862 // --------------------------------------
863 if (irc == success) {
864 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
865 cmbParam* pp = _params[sys][iPar-1];
866 pp->xx += dx(iPar);
867 if (pp->type == cmbParam::clkSat) {
868 if (resCorr.find(pp->prn) != resCorr.end()) {
869 // set clock result
870 resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
871 // Add Code Biases from SINEX File
872 if (_bsx) {
873 map<t_frequency::type, double> codeCoeff;
874 double channel = double(resCorr[pp->prn]->_eph->slotNum());
875 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
876 t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
877 t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
878 if (resCorr[pp->prn]->_satCodeBias == 0) {
879 resCorr[pp->prn]->_satCodeBias = new t_satCodeBias();
880 }
881 _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
882 }
883 }
884 }
885 out << epoTime.datestr().c_str() << " "
886 << epoTime.timestr().c_str() << " ";
887 out.setRealNumberNotation(QTextStream::FixedNotation);
888 out.setFieldWidth(8);
889 out.setRealNumberPrecision(4);
890 out << pp->toString(sys) << " "
891 << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
892 out.setFieldWidth(0);
893 }
894 printResults(epoTime, out, resCorr);
895 dumpResults(epoTime, resCorr);
896 }
897 // Delete Data
898 // -----------
899 _buffer.remove(sys);
900}
901
902// Process Epoch - Filter Method
903////////////////////////////////////////////////////////////////////////////
904t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
905 QMap<QString, cmbCorr*>& resCorr,
906 ColumnVector& dx) {
907
908 // Prediction Step
909 // ---------------
910 int nPar = _params[sys].size();
911 ColumnVector x0(nPar);
912 for (int iPar = 1; iPar <= nPar; iPar++) {
913 cmbParam* pp = _params[sys][iPar-1];
914 if (pp->epoSpec) {
915 pp->xx = 0.0;
916 _QQ[sys].Row(iPar) = 0.0;
917 _QQ[sys].Column(iPar) = 0.0;
918 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
919 }
920 else {
921 _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
922 }
923 x0(iPar) = pp->xx;
924 }
925
926 // Check Satellite Positions for Outliers
927 // --------------------------------------
928 if (checkOrbits(epoTime, sys, out) != success) {
929 return failure;
930 }
931
932 // Update and outlier detection loop
933 // ---------------------------------
934 SymmetricMatrix QQ_sav = _QQ[sys];
935 while (true) {
936
937 Matrix AA;
938 ColumnVector ll;
939 DiagonalMatrix PP;
940
941 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
942 return failure;
943 }
944
945 dx.ReSize(nPar); dx = 0.0;
946 kalman(AA, ll, PP, _QQ[sys], dx);
947
948 ColumnVector vv = ll - AA * dx;
949
950 int maxResIndex;
951 double maxRes = vv.maximum_absolute_value1(maxResIndex);
952 out.setRealNumberNotation(QTextStream::FixedNotation);
953 out.setRealNumberPrecision(3);
954 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
955 << " Maximum Residuum " << maxRes << ' '
956 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
957 if (maxRes > _MAXRES) {
958 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
959 cmbParam* pp = _params[sys][iPar-1];
960 if (pp->type == cmbParam::offACSat &&
961 pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
962 pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
963 QQ_sav.Row(iPar) = 0.0;
964 QQ_sav.Column(iPar) = 0.0;
965 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
966 }
967 }
968
969 out << " Outlier" << "\n";
970 _QQ[sys] = QQ_sav;
971 corrs(sys).remove(maxResIndex-1);
972 }
973 else {
974 out << " OK" << "\n";
975 out.setRealNumberNotation(QTextStream::FixedNotation);
976 out.setRealNumberPrecision(4);
977 for (int ii = 0; ii < corrs(sys).size(); ii++) {
978 const cmbCorr* corr = corrs(sys)[ii];
979 out << epoTime.datestr().c_str() << ' '
980 << epoTime.timestr().c_str() << " "
981 << corr->_acName << ' ' << corr->_prn.mid(0,3);
982 out.setFieldWidth(10);
983 out << " res = " << vv[ii] << "\n";
984 out.setFieldWidth(0);
985 }
986 break;
987 }
988 }
989
990 return success;
991}
992
993// Print results
994////////////////////////////////////////////////////////////////////////////
995void bncComb::printResults(bncTime epoTime, QTextStream& out,
996 const QMap<QString, cmbCorr*>& resCorr) {
997
998 QMapIterator<QString, cmbCorr*> it(resCorr);
999 while (it.hasNext()) {
1000 it.next();
1001 cmbCorr* corr = it.value();
1002 const t_eph* eph = corr->_eph;
1003 if (eph) {
1004 ColumnVector xc(6);
1005 ColumnVector vv(3);
1006 if (eph->getCrd(epoTime, xc, vv, false) != success) {
1007 continue;
1008 }
1009 out << epoTime.datestr().c_str() << " "
1010 << epoTime.timestr().c_str() << " ";
1011 out.setFieldWidth(3);
1012 out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
1013 out.setFieldWidth(14);
1014 out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
1015 out.setFieldWidth(0);
1016 }
1017 else {
1018 out << "bncComb::printResults bug" << "\n";
1019 }
1020 out.flush();
1021 }
1022}
1023
1024// Send results to RTNet Decoder and directly to PPP Client
1025////////////////////////////////////////////////////////////////////////////
1026void bncComb::dumpResults(bncTime epoTime, const QMap<QString, cmbCorr*>& resCorr) {
1027
1028 QList<t_orbCorr> orbCorrections;
1029 QList<t_clkCorr> clkCorrections;
1030 QList<t_satCodeBias> satCodeBiasList;
1031
1032 unsigned year, month, day, hour, minute;
1033 double sec;
1034 epoTime.civil_date(year, month, day);
1035 epoTime.civil_time(hour, minute, sec);
1036
1037 QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
1038 year, month, day, hour, minute, sec);
1039
1040 QMapIterator<QString, cmbCorr*> it(resCorr);
1041 while (it.hasNext()) {
1042 it.next();
1043 cmbCorr* corr = it.value();
1044
1045 // ORBIT
1046 t_orbCorr orbCorr(static_cast<t_orbCorr>(*corr->_orbCorr));
1047 orbCorr._staID = "INTERNAL";
1048 orbCorrections.push_back(orbCorr);
1049
1050 // CLOCK
1051 t_clkCorr clkCorr(static_cast<t_clkCorr>(*corr->_clkCorr));
1052 clkCorr._staID = "INTERNAL";
1053 clkCorr._dClk = corr->_dClkResult;
1054 clkCorr._dotDClk = 0.0;
1055 clkCorr._dotDotDClk = 0.0;
1056 clkCorrections.push_back(clkCorr);
1057
1058
1059 ColumnVector xc(6);
1060 ColumnVector vv(3);
1061 corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
1062 corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
1063 if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
1064 delete corr;
1065 continue;
1066 }
1067
1068 // Correction Phase Center --> CoM
1069 // -------------------------------
1070
1071 ColumnVector dx(3); dx = 0.0;
1072 ColumnVector apc(3); apc = 0.0;
1073 ColumnVector com(3); com = 0.0;
1074 bool masterIsAPC = true;
1075 if (_antex) {
1076 double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
1077 char sys = corr->_eph->prn().system();
1078 masterIsAPC = _masterIsAPC[sys];
1079 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
1080 dx = 0;
1081 _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
1082 }
1083 }
1084 if (masterIsAPC) {
1085 apc(1) = xc(1);
1086 apc(2) = xc(2);
1087 apc(3) = xc(3);
1088 com(1) = xc(1)-dx(1);
1089 com(2) = xc(2)-dx(2);
1090 com(3) = xc(3)-dx(3);
1091 }
1092 else {
1093 com(1) = xc(1);
1094 com(2) = xc(2);
1095 com(3) = xc(3);
1096 apc(1) = xc(1)+dx(1);
1097 apc(2) = xc(2)+dx(2);
1098 apc(3) = xc(3)+dx(3);
1099 }
1100
1101 outLines += corr->_prn.mid(0,3);
1102 QString hlp = QString().asprintf(
1103 " APC 3 %15.4f %15.4f %15.4f"
1104 " Clk 1 %15.4f"
1105 " Vel 3 %15.4f %15.4f %15.4f"
1106 " CoM 3 %15.4f %15.4f %15.4f",
1107 apc(1), apc(2), apc(3),
1108 xc(4) * t_CST::c,
1109 vv(1), vv(2), vv(3),
1110 com(1), com(2), com(3));
1111 outLines += hlp;
1112 hlp.clear();
1113
1114 // CODE BIASES
1115 if (corr->_satCodeBias) {
1116 t_satCodeBias satCodeBias(static_cast<t_satCodeBias>(*corr->_satCodeBias));
1117 satCodeBias._staID = "INTERNAL";
1118 satCodeBiasList.push_back(satCodeBias);
1119 hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
1120 outLines += hlp;
1121 hlp.clear();
1122 for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
1123 const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
1124 if (!frqCodeBias._rnxType2ch.empty()) {
1125 hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
1126 outLines += hlp;
1127 hlp.clear();
1128 }
1129 }
1130 }
1131 outLines += "\n";
1132 delete corr;
1133 }
1134
1135 outLines += "EOE\n"; // End Of Epoch flag
1136 //cout << outLines.toStdString();
1137
1138 if (!_rtnetDecoder) {
1139 _rtnetDecoder = new bncRtnetDecoder();
1140 }
1141
1142 vector<string> errmsg;
1143 _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
1144
1145 // Send new Corrections to PPP etc.
1146 // --------------------------------
1147 if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
1148 emit newOrbCorrections(orbCorrections);
1149 emit newClkCorrections(clkCorrections);
1150 }
1151 if (satCodeBiasList.size()) {
1152 emit newCodeBiases(satCodeBiasList);
1153 }
1154}
1155
1156// Create First Design Matrix and Vector of Measurements
1157////////////////////////////////////////////////////////////////////////////
1158t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
1159 const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
1160
1161 unsigned nPar = _params[sys].size();
1162 unsigned nObs = corrs(sys).size();
1163
1164 if (nObs == 0) {
1165 return failure;
1166 }
1167
1168 int maxSat = _cmbSysPrn[sys];
1169
1170 const int nCon = (_method == filter) ? 1 + maxSat : 0;
1171
1172 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
1173 ll.ReSize(nObs+nCon); ll = 0.0;
1174 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
1175
1176 int iObs = 0;
1177 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1178 while (itCorr.hasNext()) {
1179 cmbCorr* corr = itCorr.next();
1180 QString prn = corr->_prn;
1181
1182 ++iObs;
1183
1184 if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
1185 resCorr[prn] = new cmbCorr(*corr);
1186 }
1187
1188 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1189 cmbParam* pp = _params[sys][iPar-1];
1190 AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
1191 }
1192
1193 ll(iObs) = (corr->_clkCorr->_dClk * t_CST::c - corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
1194
1195 PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
1196 }
1197
1198 // Regularization
1199 // --------------
1200 if (_method == filter) {
1201 const double Ph = 1.e6;
1202 PP(nObs+1) = Ph;
1203 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1204 cmbParam* pp = _params[sys][iPar-1];
1205 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1206 pp->type == cmbParam::clkSat ) {
1207 AA(nObs+1, iPar) = 1.0;
1208 }
1209 }
1210 unsigned flag = 0;
1211 if (sys == 'E') {
1212 flag = 1;
1213 }
1214// if (sys == 'R') {
1215// return success;
1216// }
1217 int iCond = 1;
1218 // GNSS
1219 for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
1220 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
1221 ++iCond;
1222 PP(nObs+iCond) = Ph;
1223 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1224 cmbParam* pp = _params[sys][iPar-1];
1225 if ( pp &&
1226 AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1227 pp->type == cmbParam::offACSat &&
1228 pp->prn == prn) {
1229 AA(nObs+iCond, iPar) = 1.0;
1230 }
1231 }
1232 }
1233 }
1234
1235 return success;
1236}
1237
1238// Process Epoch - Single-Epoch Method
1239////////////////////////////////////////////////////////////////////////////
1240t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
1241 QMap<QString, cmbCorr*>& resCorr,
1242 ColumnVector& dx) {
1243
1244 // Check Satellite Positions for Outliers
1245 // --------------------------------------
1246 if (checkOrbits(epoTime, sys, out) != success) {
1247 return failure;
1248 }
1249
1250 // Outlier Detection Loop
1251 // ----------------------
1252 while (true) {
1253
1254 // Remove Satellites that are not in Master
1255 // ----------------------------------------
1256 QMutableVectorIterator<cmbCorr*> it(corrs(sys));
1257 while (it.hasNext()) {
1258 cmbCorr* corr = it.next();
1259 QString prn = corr->_prn;
1260 bool foundMaster = false;
1261 QVectorIterator<cmbCorr*> itHlp(corrs(sys));
1262 while (itHlp.hasNext()) {
1263 cmbCorr* corrHlp = itHlp.next();
1264 QString prnHlp = corrHlp->_prn;
1265 QString ACHlp = corrHlp->_acName;
1266 if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
1267 foundMaster = true;
1268 break;
1269 }
1270 }
1271 if (!foundMaster) {
1272 delete corr;
1273 it.remove();
1274 }
1275 }
1276
1277 // Count Number of Observations per Satellite and per AC
1278 // -----------------------------------------------------
1279 QMap<QString, int> numObsPrn;
1280 QMap<QString, int> numObsAC;
1281 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1282 while (itCorr.hasNext()) {
1283 cmbCorr* corr = itCorr.next();
1284 QString prn = corr->_prn;
1285 QString AC = corr->_acName;
1286 if (numObsPrn.find(prn) == numObsPrn.end()) {
1287 numObsPrn[prn] = 1;
1288 }
1289 else {
1290 numObsPrn[prn] += 1;
1291 }
1292 if (numObsAC.find(AC) == numObsAC.end()) {
1293 numObsAC[AC] = 1;
1294 }
1295 else {
1296 numObsAC[AC] += 1;
1297 }
1298 }
1299
1300 // Clean-Up the Parameters
1301 // -----------------------
1302 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1303 delete _params[sys][iPar-1];
1304 }
1305 _params[sys].clear();
1306
1307 // Set new Parameters
1308 // ------------------
1309 int nextPar = 0;
1310
1311 QMapIterator<QString, int> itAC(numObsAC);
1312 while (itAC.hasNext()) {
1313 itAC.next();
1314 const QString& AC = itAC.key();
1315 int numObs = itAC.value();
1316 if (AC != _masterOrbitAC[sys] && numObs > 0) {
1317 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
1318 }
1319 }
1320
1321 QMapIterator<QString, int> itPrn(numObsPrn);
1322 while (itPrn.hasNext()) {
1323 itPrn.next();
1324 const QString& prn = itPrn.key();
1325 int numObs = itPrn.value();
1326 if (numObs > 0) {
1327 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
1328 }
1329 }
1330
1331 int nPar = _params[sys].size();
1332 ColumnVector x0(nPar);
1333 x0 = 0.0;
1334
1335 // Create First-Design Matrix
1336 // --------------------------
1337 Matrix AA;
1338 ColumnVector ll;
1339 DiagonalMatrix PP;
1340 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
1341 return failure;
1342 }
1343
1344 ColumnVector vv;
1345 try {
1346 Matrix ATP = AA.t() * PP;
1347 SymmetricMatrix NN; NN << ATP * AA;
1348 ColumnVector bb = ATP * ll;
1349 _QQ[sys] = NN.i();
1350 dx = _QQ[sys] * bb;
1351 vv = ll - AA * dx;
1352 }
1353 catch (Exception& exc) {
1354 out << exc.what() << "\n";
1355 return failure;
1356 }
1357
1358 int maxResIndex;
1359 double maxRes = vv.maximum_absolute_value1(maxResIndex);
1360 out.setRealNumberNotation(QTextStream::FixedNotation);
1361 out.setRealNumberPrecision(3);
1362 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1363 << " Maximum Residuum " << maxRes << ' '
1364 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
1365
1366 if (maxRes > _MAXRES) {
1367 out << " Outlier" << "\n";
1368 delete corrs(sys)[maxResIndex-1];
1369 corrs(sys).remove(maxResIndex-1);
1370 }
1371 else {
1372 out << " OK" << "\n";
1373 out.setRealNumberNotation(QTextStream::FixedNotation);
1374 out.setRealNumberPrecision(3);
1375 for (int ii = 0; ii < vv.Nrows(); ii++) {
1376 const cmbCorr* corr = corrs(sys)[ii];
1377 out << epoTime.datestr().c_str() << ' '
1378 << epoTime.timestr().c_str() << " "
1379 << corr->_acName << ' ' << corr->_prn.mid(0,3);
1380 out.setFieldWidth(6);
1381 out << " res = " << vv[ii] << "\n";
1382 out.setFieldWidth(0);
1383 }
1384 return success;
1385 }
1386
1387 }
1388
1389 return failure;
1390}
1391
1392// Check Satellite Positions for Outliers
1393////////////////////////////////////////////////////////////////////////////
1394t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out) {
1395
1396 const double MAX_DISPLACEMENT_INIT = 0.50;
1397
1398 double MAX_DISPLACEMENT = MAX_DISPLACEMENT_INIT;
1399 if (sys == 'C') {
1400 MAX_DISPLACEMENT *= 10.0;
1401 }
1402 if (sys == 'R') {
1403 MAX_DISPLACEMENT *= 2.0;
1404 }
1405
1406 // Switch to last ephemeris (if possible)
1407 // --------------------------------------
1408 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1409 while (im.hasNext()) {
1410 cmbCorr* corr = im.next();
1411 QString prn = corr->_prn;
1412
1413 t_eph* ephLast = _ephUser.ephLast(prn);
1414 t_eph* ephPrev = _ephUser.ephPrev(prn);
1415
1416 if (ephLast == 0) {
1417 out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
1418 delete corr;
1419 im.remove();
1420 }
1421 else if (corr->_eph == 0) {
1422 out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
1423 delete corr;
1424 im.remove();
1425 }
1426 else {
1427 if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
1428 switchToLastEph(ephLast, corr);
1429 }
1430 else {
1431 out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
1432 delete corr;
1433 im.remove();
1434 }
1435 }
1436 }
1437
1438 while (true) {
1439
1440 // Compute Mean Corrections for all Satellites
1441 // -------------------------------------------
1442 QMap<QString, int> numCorr;
1443 QMap<QString, ColumnVector> meanRao;
1444 QVectorIterator<cmbCorr*> it(corrs(sys));
1445 while (it.hasNext()) {
1446 cmbCorr* corr = it.next();
1447 QString prn = corr->_prn;
1448 if (meanRao.find(prn) == meanRao.end()) {
1449 meanRao[prn].ReSize(4);
1450 meanRao[prn].Rows(1,3) = corr->_orbCorr->_xr;
1451 meanRao[prn](4) = 1;
1452 }
1453 else {
1454 meanRao[prn].Rows(1,3) += corr->_orbCorr->_xr;
1455 meanRao[prn](4) += 1;
1456 }
1457 if (numCorr.find(prn) == numCorr.end()) {
1458 numCorr[prn] = 1;
1459 }
1460 else {
1461 numCorr[prn] += 1;
1462 }
1463 }
1464
1465 // Compute Differences wrt. Mean, find Maximum
1466 // -------------------------------------------
1467 QMap<QString, cmbCorr*> maxDiff;
1468 it.toFront();
1469 while (it.hasNext()) {
1470 cmbCorr* corr = it.next();
1471 QString prn = corr->_prn;
1472 if (meanRao[prn](4) != 0) {
1473 meanRao[prn] /= meanRao[prn](4);
1474 meanRao[prn](4) = 0;
1475 }
1476 corr->_diffRao = corr->_orbCorr->_xr - meanRao[prn].Rows(1,3);
1477 if (maxDiff.find(prn) == maxDiff.end()) {
1478 maxDiff[prn] = corr;
1479 }
1480 else {
1481 double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
1482 double norm = corr->_diffRao.NormFrobenius();
1483 if (norm > normMax) {
1484 maxDiff[prn] = corr;
1485 }
1486 }
1487 }
1488
1489 if (_ACs.size() == 1) {
1490 break;
1491 }
1492
1493 // Remove Outliers
1494 // ---------------
1495 bool removed = false;
1496 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1497 while (im.hasNext()) {
1498 cmbCorr* corr = im.next();
1499 QString prn = corr->_prn;
1500 if (numCorr[prn] < 2) {
1501 delete corr;
1502 im.remove();
1503 }
1504 else if (corr == maxDiff[prn]) {
1505 double norm = corr->_diffRao.NormFrobenius();
1506 if (norm > MAX_DISPLACEMENT) {
1507 out << epoTime.datestr().c_str() << " "
1508 << epoTime.timestr().c_str() << " "
1509 << "Orbit Outlier: "
1510 << corr->_acName.toLatin1().data() << " "
1511 << prn.mid(0,3).toLatin1().data() << " "
1512 << corr->_iod << " "
1513 << norm << "\n";
1514 delete corr;
1515 im.remove();
1516 removed = true;
1517 }
1518 }
1519 }
1520
1521 if (!removed) {
1522 break;
1523 }
1524 }
1525
1526 return success;
1527}
1528
1529//
1530////////////////////////////////////////////////////////////////////////////
1531void bncComb::slotProviderIDChanged(QString mountPoint) {
1532 QMutexLocker locker(&_mutex);
1533
1534 QTextStream out(&_log, QIODevice::WriteOnly);
1535
1536 // Find the AC Name
1537 // ----------------
1538 QString acName;
1539 QListIterator<cmbAC*> icAC(_ACs);
1540 while (icAC.hasNext()) {
1541 cmbAC *AC = icAC.next();
1542 if (AC->mountPoint == mountPoint) {
1543 acName = AC->name;
1544 out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
1545 << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
1546 << "\n";
1547 break;
1548 }
1549 }
1550 if (acName.isEmpty()) {
1551 return;
1552 }
1553 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
1554 while (itSys.hasNext()) {
1555 itSys.next();
1556 char sys = itSys.key();
1557 // Remove all corrections of the corresponding AC
1558 // ----------------------------------------------
1559 QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
1560 QMutableVectorIterator<cmbCorr*> it(corrVec);
1561 while (it.hasNext()) {
1562 cmbCorr *corr = it.next();
1563 if (acName == corr->_acName) {
1564 delete corr;
1565 it.remove();
1566 }
1567 }
1568 // Reset Satellite Offsets
1569 // -----------------------
1570 if (_method == filter) {
1571 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1572 cmbParam *pp = _params[sys][iPar - 1];
1573 if (pp->AC == acName && pp->type == cmbParam::offACSat) {
1574 pp->xx = 0.0;
1575 _QQ[sys].Row(iPar) = 0.0;
1576 _QQ[sys].Column(iPar) = 0.0;
1577 _QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
1578 }
1579 }
1580 }
1581 }
1582}
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