source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 10441

Last change on this file since 10441 was 10441, checked in by stuerze, 7 months ago

try to improve GLONASS combination results
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 _running = true;
127
128 QStringList cmbStreams = settings.value("cmbStreams").toStringList();
129
130 _cmbSampl = settings.value("cmbSampl").toInt();
131 if (_cmbSampl <= 0) {
132 _cmbSampl = 5;
133 }
134 _useGps = (Qt::CheckState(settings.value("cmbGps").toInt()) == Qt::Checked) ? true : false;
135 if (_useGps) {
136 _cmbSysPrn['G'] = t_prn::MAXPRN_GPS;
137 _masterMissingEpochs['G'] = 0;
138 }
139 _useGlo = (Qt::CheckState(settings.value("cmbGlo").toInt()) == Qt::Checked) ? true : false;
140 if (_useGlo) {
141 _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS;
142 _masterMissingEpochs['R'] = 0;
143 }
144 _useGal = (Qt::CheckState(settings.value("cmbGal").toInt()) == Qt::Checked) ? true : false;
145 if (_useGal) {
146 _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO;
147 _masterMissingEpochs['E'] = 0;
148 }
149 _useBds = (Qt::CheckState(settings.value("cmbBds").toInt()) == Qt::Checked) ? true : false;
150 if (_useBds) {
151 _cmbSysPrn['C'] = t_prn::MAXPRN_BDS;
152 _masterMissingEpochs['C'] = 0;
153 }
154 _useQzss = (Qt::CheckState(settings.value("cmbQzss").toInt()) == Qt::Checked) ? true : false;
155 if (_useQzss) {
156 _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS;
157 _masterMissingEpochs['J'] = 0;
158 }
159 _useSbas = (Qt::CheckState(settings.value("cmbSbas").toInt()) == Qt::Checked) ? true : false;
160 if (_useSbas) {
161 _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS;
162 _masterMissingEpochs['S'] = 0;
163 }
164 _useIrnss = (Qt::CheckState(settings.value("cmbIrnss").toInt()) == Qt::Checked) ? true : false;
165 if (_useIrnss) {
166 _cmbSysPrn['I'] = t_prn::MAXPRN_IRNSS;
167 _masterMissingEpochs['I'] = 0;
168 }
169
170 if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
171 QListIterator<QString> it(cmbStreams);
172 while (it.hasNext()) {
173 QStringList hlp = it.next().split(" ");
174 cmbAC* newAC = new cmbAC();
175 newAC->mountPoint = hlp[0];
176 newAC->name = hlp[1];
177 newAC->weightFactor = hlp[2].toDouble();
178 newAC->isAPC = bool(newAC->mountPoint.mid(0,4) == "SSRA");
179 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
180 // init
181 while (itSys.hasNext()) {
182 itSys.next();
183 char sys = itSys.key();
184 if (!_masterOrbitAC.contains(sys)) {
185 _masterOrbitAC[sys] = newAC->name;
186 _masterIsAPC[sys] = newAC->isAPC;
187 }
188 }
189 _ACs.append(newAC);
190 }
191 }
192
193 QString ssrFormat;
194 _ssrCorr = 0;
195 QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
196 while (it.hasNext()) {
197 QStringList hlp = it.next().split(",");
198 if (hlp.size() > 7) {
199 ssrFormat = hlp[7];
200 }
201 }
202 if (ssrFormat == "IGS-SSR") {
203 _ssrCorr = new SsrCorrIgs();
204 }
205 else if (ssrFormat == "RTCM-SSR") {
206 _ssrCorr = new SsrCorrRtcm();
207 }
208 else { // default
209 _ssrCorr = new SsrCorrIgs();
210 }
211
212 _rtnetDecoder = new bncRtnetDecoder();
213
214 connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
215 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), this, SLOT(slotProviderIDChanged(QString)));
216 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
217 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
218 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
219
220 // Combination Method
221 // ------------------
222 if (settings.value("cmbMethod").toString() == "Single-Epoch") {
223 _method = singleEpoch;
224 }
225 else {
226 _method = filter;
227 }
228
229 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
230 // ----------------------------------------------------------------------
231 if (_method == filter) {
232 // SYSTEM
233 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
234 while (itSys.hasNext()) {
235 itSys.next();
236 int nextPar = 0;
237 char sys = itSys.key();
238 unsigned maxPrn = itSys.value();
239 unsigned flag = 0;
240 if (sys == 'E') {
241 flag = 1;
242 }
243 // AC
244 QListIterator<cmbAC*> itAc(_ACs);
245 while (itAc.hasNext()) {
246 cmbAC* AC = itAc.next();
247 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
248 for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
249 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
250 _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
251 }
252 }
253 for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
254 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
255 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
256 }
257 // Initialize Variance-Covariance Matrix
258 // -------------------------------------
259 _QQ[sys].ReSize(_params[sys].size());
260 _QQ[sys] = 0.0;
261 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
262 cmbParam* pp = _params[sys][iPar-1];
263 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
264 }
265 }
266 }
267
268 // ANTEX File
269 // ----------
270 _antex = 0;
271 QString antexFileName = settings.value("uploadAntexFile").toString();
272 if (!antexFileName.isEmpty()) {
273 _antex = new bncAntex();
274 if (_antex->readFile(antexFileName) != success) {
275 emit newMessage("bncCmb: wrong ANTEX file", true);
276 delete _antex;
277 _antex = 0;
278 }
279 }
280
281
282 // Bias SINEX File
283 // ---------------
284 _bsx = 0;
285 QString bsxFileName = settings.value("cmbBsxFile").toString();
286 if (!bsxFileName.isEmpty()) {
287 _bsx = new bncBiasSnx();
288 if (_bsx->readFile(bsxFileName) != success) {
289 emit newMessage("bncComb: wrong Bias SINEX file", true);
290 delete _bsx;
291 _bsx = 0;
292 }
293 }
294 if (_bsx) {
295 _ms = 3.0 * 3600 * 1000.0;
296 QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
297 }
298
299 // Maximal Residuum
300 // ----------------
301 _MAXRES = settings.value("cmbMaxres").toDouble();
302 if (_MAXRES <= 0.0) {
303 _MAXRES = 999.0;
304 }
305 _newCorr = 0;
306}
307
308// Destructor
309////////////////////////////////////////////////////////////////////////////
310bncComb::~bncComb() {
311
312 _running = false;
313#ifndef WIN32
314 sleep(2);
315#else
316 Sleep(2000);
317#endif
318
319 QListIterator<cmbAC*> icAC(_ACs);
320 while (icAC.hasNext()) {
321 delete icAC.next();
322 }
323 _ACs.clear();
324
325 delete _rtnetDecoder;
326
327 if (_ssrCorr) {
328 delete _ssrCorr;
329 }
330
331 if (_newCorr) {
332 delete _newCorr;
333 }
334
335 delete _antex;
336 delete _bsx;
337
338 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
339 while (itSys.hasNext()) {
340 itSys.next();
341 char sys = itSys.key();
342 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
343 delete _params[sys][iPar-1];
344 }
345 _buffer.remove(sys);
346 }
347 _params.clear();
348 _buffer.clear();
349 _cmbSysPrn.clear();
350
351 while (!_epoClkData.empty()) {
352 delete _epoClkData.front();
353 _epoClkData.pop_front();
354 }
355}
356
357void bncComb::slotReadBiasSnxFile() {
358 bncSettings settings;
359 QString bsxFileName = settings.value("cmbBsxFile").toString();
360
361 if (bsxFileName.isEmpty()) {
362 emit newMessage("bncComb: no Bias SINEX file specified", true);
363 return;
364 }
365 if (!_bsx) {
366 _bsx = new bncBiasSnx();
367 }
368 if (_bsx->readFile(bsxFileName) != success) {
369 emit newMessage("bncComb: wrong Bias SINEX file", true);
370 delete _bsx;
371 _bsx = 0;
372 }
373 else {
374 emit newMessage("bncComb: successfully read Bias SINEX file", true);
375 }
376
377 QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
378}
379
380
381// Remember orbit corrections
382////////////////////////////////////////////////////////////////////////////
383void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
384 QMutexLocker locker(&_mutex);
385 for (int ii = 0; ii < orbCorrections.size(); ii++) {
386 t_orbCorr& orbCorr = orbCorrections[ii];
387 QString staID(orbCorr._staID.c_str());
388 char sys = orbCorr._prn.system();
389
390 if (!_cmbSysPrn.contains(sys)){
391 continue;
392 }
393
394 // Find/Check the AC Name
395 // ----------------------
396 QString acName;
397 QListIterator<cmbAC*> icAC(_ACs);
398 while (icAC.hasNext()) {
399 cmbAC* AC = icAC.next();
400 if (AC->mountPoint == staID) {
401 acName = AC->name;
402 break;
403 }
404 }
405 if (acName.isEmpty()) {
406 continue;
407 }
408
409 // Store the correction
410 // --------------------
411 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
412 storage[orbCorr._prn] = orbCorr;
413 }
414}
415
416// Remember Satellite Code Biases
417////////////////////////////////////////////////////////////////////////////
418void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
419 QMutexLocker locker(&_mutex);
420
421 for (int ii = 0; ii < satCodeBiases.size(); ii++) {
422 t_satCodeBias& satCodeBias = satCodeBiases[ii];
423 QString staID(satCodeBias._staID.c_str());
424 char sys = satCodeBias._prn.system();
425
426 if (!_cmbSysPrn.contains(sys)){
427 continue;
428 }
429
430 // Find/Check the AC Name
431 // ----------------------
432 QString acName;
433 QListIterator<cmbAC*> icAC(_ACs);
434 while (icAC.hasNext()) {
435 cmbAC* AC = icAC.next();
436 if (AC->mountPoint == staID) {
437 acName = AC->name;
438 break;
439 }
440 }
441 if (acName.isEmpty()) {
442 continue;
443 }
444
445 // Store the correction
446 // --------------------
447 QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
448 storage[satCodeBias._prn] = satCodeBias;
449 }
450
451}
452
453// Process clock corrections
454////////////////////////////////////////////////////////////////////////////
455void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
456 QMutexLocker locker(&_mutex);
457 const double outWait = 1.0 * _cmbSampl;
458 int currentWeek = 0;
459 double currentSec = 0.0;
460 currentGPSWeeks(currentWeek, currentSec);
461 bncTime currentTime(currentWeek, currentSec);
462
463 // Loop over all observations (possible different epochs)
464 // -----------------------------------------------------
465 for (int ii = 0; ii < clkCorrections.size(); ii++) {
466 t_clkCorr& newClk = clkCorrections[ii];
467 char sys = newClk._prn.system();
468 if (!_cmbSysPrn.contains(sys)){
469 continue;
470 }
471
472 // Check Modulo Time
473 // -----------------
474 int sec = int(nint(newClk._time.gpssec()*10));
475 if (sec % (_cmbSampl*10) != 0.0) {
476 continue;
477 }
478
479 // Find/Check the AC Name
480 // ----------------------
481 QString acName;
482 bool isAPC;
483 QString staID(newClk._staID.c_str());
484 QListIterator<cmbAC*> icAC(_ACs);
485 while (icAC.hasNext()) {
486 cmbAC* AC = icAC.next();
487 if (AC->mountPoint == staID) {
488 acName = AC->name;
489 isAPC = AC->isAPC;
490 break;
491 }
492 }
493 if (acName.isEmpty() || isAPC != _masterIsAPC[sys]) {
494 continue;
495 }
496
497 // Check regarding current time
498 // ----------------------------
499 if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
500 if ((newClk._time >= currentTime) || // future time stamp
501 (currentTime - newClk._time) > 60.0) { // very old data sets
502 #ifdef BNC_DEBUG_CMB
503 emit newMessage("bncComb: future or very old data sets: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
504 QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. current time" +
505 QString(" %1 ").arg(currentTime.timestr().c_str()).toLatin1(), true);
506 #endif
507 continue;
508 }
509 }
510
511 // Check Correction Age
512 // --------------------
513 if (_resTime.valid() && newClk._time <= _resTime) {
514#ifdef BNC_DEBUG_CMB
515 emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
516 QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. last processing Epoch" +
517 QString(" %1 ").arg(_resTime.timestr().c_str()).toLatin1(), true);
518#endif
519 continue;
520 }
521
522 // Set the last time
523 // -----------------
524 if (_lastClkCorrTime.undef() || newClk._time > _lastClkCorrTime) {
525 _lastClkCorrTime = newClk._time;
526 }
527
528 // Find the corresponding data epoch or create a new one
529 // -----------------------------------------------------
530 epoClkData* epoch = 0;
531 deque<epoClkData*>::const_iterator it;
532 for (it = _epoClkData.begin(); it != _epoClkData.end(); it++) {
533 if (newClk._time == (*it)->_time) {
534 epoch = *it;
535 break;
536 }
537 }
538 if (epoch == 0) {
539 if (_epoClkData.empty() || newClk._time > _epoClkData.back()->_time) {
540 epoch = new epoClkData;
541 epoch->_time = newClk._time;
542 _epoClkData.push_back(epoch);
543 }
544 }
545
546 // Put data into the epoch
547 // -----------------------
548 if (epoch != 0) {
549 epoch->_clkCorr.push_back(newClk);
550 }
551 }
552
553 // Make sure the buffer does not grow beyond any limit
554 // ---------------------------------------------------
555 const unsigned MAX_EPODATA_SIZE = 60.0 / _cmbSampl;
556 if (_epoClkData.size() > MAX_EPODATA_SIZE) {
557 delete _epoClkData.front();
558 _epoClkData.pop_front();
559 }
560
561 // Process the oldest epochs
562 // ------------------------
563 while (_epoClkData.size()) {
564
565 if (!_lastClkCorrTime.valid()) {
566 return;
567 }
568
569 const vector<t_clkCorr>& clkCorrVec = _epoClkData.front()->_clkCorr;
570
571 bncTime epoTime = _epoClkData.front()->_time;
572
573 if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
574 if ((currentTime - epoTime) > 60.0) {
575 delete _epoClkData.front();
576 _epoClkData.pop_front();
577 continue;
578 }
579 }
580 // Process the front epoch
581 // -----------------------
582 if (epoTime < (_lastClkCorrTime - outWait)) {
583 _resTime = epoTime;
584 processEpoch(_resTime, clkCorrVec);
585 delete _epoClkData.front();
586 _epoClkData.pop_front();
587 }
588 else {
589 return;
590 }
591 }
592}
593
594// Change the correction so that it refers to last received ephemeris
595////////////////////////////////////////////////////////////////////////////
596void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
597
598 if (corr->_eph == lastEph) {
599 return;
600 }
601
602 ColumnVector oldXC(6);
603 ColumnVector oldVV(3);
604 if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
605 return;
606 }
607
608 ColumnVector newXC(6);
609 ColumnVector newVV(3);
610 if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
611 return;
612 }
613
614 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
615 ColumnVector dV = newVV - oldVV;
616 double dC = newXC(4) - oldXC(4);
617
618 ColumnVector dRAO(3);
619 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
620
621 ColumnVector dDotRAO(3);
622 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
623
624 QString msg = "switch corr " + corr->_prn.mid(0,3)
625 + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
626
627 emit newMessage(msg.toLatin1(), false);
628
629 corr->_iod = lastEph->IOD();
630 corr->_eph = lastEph;
631
632 corr->_orbCorr._xr += dRAO;
633 corr->_orbCorr._dotXr += dDotRAO;
634 corr->_clkCorr._dClk -= dC;
635}
636
637// Process Epoch
638////////////////////////////////////////////////////////////////////////////
639void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr>& clkCorrVec) {
640 QDateTime now = currentDateAndTimeGPS();
641 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
642 for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
643 const t_clkCorr& clkCorr = clkCorrVec[ii];
644 QString staID(clkCorr._staID.c_str());
645 QString prn(clkCorr._prn.toInternalString().c_str());
646 char sys = clkCorr._prn.system();
647
648 // Find/Check the AC Name
649 // ----------------------
650 QString acName;
651 double weigthFactor;
652 QListIterator<cmbAC*> icAC(_ACs);
653 while (icAC.hasNext()) {
654 cmbAC* AC = icAC.next();
655 if (AC->mountPoint == staID) {
656 acName = AC->name;
657 weigthFactor = AC->weightFactor;
658 break;
659 }
660 }
661
662 // Create new correction
663 // ---------------------
664 _newCorr = new cmbCorr();
665 _newCorr->_prn = prn;
666 _newCorr->_time = clkCorr._time;
667 _newCorr->_iod = clkCorr._iod;
668 _newCorr->_acName = acName;
669 _newCorr->_weightFactor = weigthFactor;
670 _newCorr->_clkCorr = clkCorr;
671
672 // Check orbit correction
673 // ----------------------
674 if (!_orbCorrections.contains(acName)) {
675 delete _newCorr; _newCorr = 0;
676 continue;
677 }
678 else {
679 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
680 if (!storage.contains(clkCorr._prn) ||
681 storage[clkCorr._prn]._iod != _newCorr->_iod) {
682 delete _newCorr; _newCorr = 0;
683 continue;
684 }
685 else {
686 _newCorr->_orbCorr = storage[clkCorr._prn];
687 }
688 }
689
690 // Check the Ephemeris
691 //--------------------
692 t_eph* ephLast = _ephUser.ephLast(prn);
693 t_eph* ephPrev = _ephUser.ephPrev(prn);
694 if (ephLast == 0) {
695#ifdef BNC_DEBUG_CMB
696 emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
697#endif
698 delete _newCorr; _newCorr = 0;
699 continue;
700 }
701 else if (outDatedBcep(ephLast, currentTime) ||
702 ephLast->checkState() == t_eph::bad ||
703 ephLast->checkState() == t_eph::outdated ||
704 ephLast->checkState() == t_eph::unhealthy) {
705#ifdef BNC_DEBUG_CMB
706 emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prn.mid(0,3).toLatin1(), true);
707#endif
708 delete _newCorr; _newCorr = 0;
709 continue;
710 }
711 else {
712 if (ephLast->IOD() == _newCorr->_iod) {
713 _newCorr->_eph = ephLast;
714 }
715 else if (ephPrev &&
716 !outDatedBcep(ephPrev, currentTime) && // if not updated in storage
717 ephPrev->checkState() == t_eph::ok && // received
718 ephPrev->IOD() == _newCorr->_iod) {
719 _newCorr->_eph = ephPrev;
720 switchToLastEph(ephLast, _newCorr);
721 }
722 else {
723#ifdef BNC_DEBUG_CMB
724 emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
725 QString(" with IOD %1").arg(_newCorr->_iod).toLatin1(), true);
726#endif
727 delete _newCorr; _newCorr = 0;
728 continue;
729 }
730 }
731
732 // Check satellite code biases
733 // ----------------------------
734 if (_satCodeBiases.contains(acName)) {
735 QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
736 if (storage.contains(clkCorr._prn)) {
737 _newCorr->_satCodeBias = storage[clkCorr._prn];
738 QMap<t_frequency::type, double> codeBiasesRefSig;
739 for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
740 t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
741 char frqNum = t_frequency::toString(frqType)[1];
742 char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
743 QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
744 for (unsigned ii = 0; ii < _newCorr->_satCodeBias._bias.size(); ii++) {
745 const t_frqCodeBias& bias = _newCorr->_satCodeBias._bias[ii];
746 if (rnxType2ch.toStdString() == bias._rnxType2ch) {
747 codeBiasesRefSig[frqType] = bias._value;
748 }
749 }
750 }
751 if (codeBiasesRefSig.size() == 2) {
752 map<t_frequency::type, double> codeCoeff;
753 double channel = double(_newCorr->_eph->slotNum());
754 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
755 map<t_frequency::type, double>::const_iterator it;
756 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
757 t_frequency::type frqType = it->first;
758 _newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
759 }
760 }
761 _newCorr->_satCodeBias._bias.clear();
762 }
763 }
764
765 // Store correction into the buffer
766 // --------------------------------
767 QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
768 QVectorIterator<cmbCorr*> itCorr(corrs);
769 bool available = false;
770 while (itCorr.hasNext()) {
771 cmbCorr* corr = itCorr.next();
772 QString prn = corr->_prn;
773 QString acName = corr->_acName;
774 if (_newCorr->_acName == acName &&
775 _newCorr->_prn == prn) {
776 available = true;
777 }
778 }
779
780 if (!available) {
781 corrs.push_back(_newCorr); _newCorr = 0;
782 }
783 else {
784 delete _newCorr; _newCorr = 0;
785 continue;
786 }
787 }
788
789 // Process Systems of this Epoch
790 // ------------------------------
791 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
792 while (itSys.hasNext()) {
793 itSys.next();
794 char sys = itSys.key();
795 _log.clear();
796 QTextStream out(&_log, QIODevice::WriteOnly);
797 processSystem(epoTime, sys, out);
798 _buffer.remove(sys);
799 emit newMessage(_log, false);
800 }
801}
802
803void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
804
805 out << "\n" << "Combination: " << sys << "\n"
806 << "--------------------------------" << "\n";
807
808 // Observation Statistics
809 // ----------------------
810 bool masterPresent = false;
811 QListIterator<cmbAC*> icAC(_ACs);
812 while (icAC.hasNext()) {
813 cmbAC* AC = icAC.next();
814 AC->numObs[sys] = 0;
815 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
816 while (itCorr.hasNext()) {
817 cmbCorr* corr = itCorr.next();
818 if (corr->_acName == AC->name) {
819 AC->numObs[sys] += 1;
820 if (AC->name == _masterOrbitAC[sys]) {
821 masterPresent = true;
822 }
823 }
824 }
825 out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
826 }
827
828 // If Master not present, switch to another one
829 // --------------------------------------------
830 const unsigned switchMasterAfterGap = 1;
831 if (masterPresent) {
832 _masterMissingEpochs[sys] = 0;
833 }
834 else {
835 ++_masterMissingEpochs[sys];
836 if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
837 out << "Missing Master, Epoch skipped" << "\n";
838 _buffer.remove(sys);
839 emit newMessage(_log, false);
840 return;
841 }
842 else {
843 _masterMissingEpochs[sys] = 0;
844 QListIterator<cmbAC*> icAC(_ACs);
845 while (icAC.hasNext()) {
846 cmbAC* AC = icAC.next();
847 if (AC->numObs[sys] > 0) {
848 out << "Switching Master AC "
849 << _masterOrbitAC[sys].toLatin1().data() << " --> "
850 << AC->name.toLatin1().data() << " "
851 << epoTime.datestr().c_str() << " "
852 << epoTime.timestr().c_str() << "\n";
853 _masterOrbitAC[sys] = AC->name;
854 _masterIsAPC[sys] = AC->isAPC;
855 break;
856 }
857 }
858 }
859 }
860
861 QMap<QString, cmbCorr*> resCorr;
862
863 // Perform the actual Combination using selected Method
864 // ----------------------------------------------------
865 t_irc irc;
866 ColumnVector dx;
867 if (_method == filter) {
868 irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
869 }
870 else {
871 irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
872 }
873
874 // Update Parameter Values, Print Results
875 // --------------------------------------
876 if (irc == success) {
877 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
878 cmbParam* pp = _params[sys][iPar-1];
879 pp->xx += dx(iPar);
880 if (pp->type == cmbParam::clkSat) {
881 if (resCorr.find(pp->prn) != resCorr.end()) {
882 // set clock result
883 resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
884 // Add Code Biases from SINEX File
885 if (_bsx) {
886 map<t_frequency::type, double> codeCoeff;
887 double channel = double(resCorr[pp->prn]->_eph->slotNum());
888 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
889 t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
890 t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
891 _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
892 }
893 }
894 }
895 out << epoTime.datestr().c_str() << " "
896 << epoTime.timestr().c_str() << " ";
897 out.setRealNumberNotation(QTextStream::FixedNotation);
898 out.setFieldWidth(8);
899 out.setRealNumberPrecision(4);
900 out << pp->toString(sys) << " "
901 << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
902 out.setFieldWidth(0);
903 }
904 printResults(epoTime, out, resCorr);
905 dumpResults(epoTime, resCorr);
906 }
907}
908
909// Process Epoch - Filter Method
910////////////////////////////////////////////////////////////////////////////
911t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
912 QMap<QString, cmbCorr*>& resCorr,
913 ColumnVector& dx) {
914
915 // Prediction Step
916 // ---------------
917 int nPar = _params[sys].size();
918 ColumnVector x0(nPar);
919 for (int iPar = 1; iPar <= nPar; iPar++) {
920 cmbParam* pp = _params[sys][iPar-1];
921 if (pp->epoSpec) {
922 pp->xx = 0.0;
923 _QQ[sys].Row(iPar) = 0.0;
924 _QQ[sys].Column(iPar) = 0.0;
925 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
926 }
927 else {
928 _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
929 }
930 x0(iPar) = pp->xx;
931 }
932
933 // Check Satellite Positions for Outliers
934 // --------------------------------------
935 if (checkOrbits(epoTime, sys, out) != success) {
936 return failure;
937 }
938
939 // Update and outlier detection loop
940 // ---------------------------------
941 SymmetricMatrix QQ_sav = _QQ[sys];
942 while (_running) {
943
944 Matrix AA;
945 ColumnVector ll;
946 DiagonalMatrix PP;
947
948 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
949 return failure;
950 }
951
952 dx.ReSize(nPar); dx = 0.0;
953 kalman(AA, ll, PP, _QQ[sys], dx);
954
955 ColumnVector vv = ll - AA * dx;
956
957 int maxResIndex;
958 double maxRes = vv.maximum_absolute_value1(maxResIndex);
959 out.setRealNumberNotation(QTextStream::FixedNotation);
960 out.setRealNumberPrecision(3);
961 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
962 << " Maximum Residuum " << maxRes << ' '
963 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
964 if (maxRes > _MAXRES) {
965 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
966 cmbParam* pp = _params[sys][iPar-1];
967 if (pp->type == cmbParam::offACSat &&
968 pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
969 pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
970 QQ_sav.Row(iPar) = 0.0;
971 QQ_sav.Column(iPar) = 0.0;
972 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
973 }
974 }
975
976 out << " Outlier" << "\n";
977 _QQ[sys] = QQ_sav;
978 delete corrs(sys)[maxResIndex-1];
979 corrs(sys).remove(maxResIndex-1);
980 }
981 else {
982 out << " OK" << "\n";
983 out.setRealNumberNotation(QTextStream::FixedNotation);
984 out.setRealNumberPrecision(4);
985 for (int ii = 0; ii < corrs(sys).size(); ii++) {
986 const cmbCorr* corr = corrs(sys)[ii];
987 out << epoTime.datestr().c_str() << ' '
988 << epoTime.timestr().c_str() << " "
989 << corr->_acName << ' ' << corr->_prn.mid(0,3);
990 out.setFieldWidth(10);
991 out << " res = " << vv[ii] << "\n";
992 out.setFieldWidth(0);
993 }
994 break;
995 }
996 }
997
998 return success;
999}
1000
1001// Print results
1002////////////////////////////////////////////////////////////////////////////
1003void bncComb::printResults(bncTime epoTime, QTextStream& out,
1004 const QMap<QString, cmbCorr*>& resCorr) {
1005
1006 QMapIterator<QString, cmbCorr*> it(resCorr);
1007 while (it.hasNext()) {
1008 it.next();
1009 cmbCorr* corr = it.value();
1010 const t_eph* eph = corr->_eph;
1011 if (eph) {
1012 ColumnVector xc(6);
1013 ColumnVector vv(3);
1014 if (eph->getCrd(epoTime, xc, vv, false) != success) {
1015 continue;
1016 }
1017 out << epoTime.datestr().c_str() << " "
1018 << epoTime.timestr().c_str() << " ";
1019 out.setFieldWidth(3);
1020 out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
1021 out.setFieldWidth(14);
1022 out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
1023 out.setFieldWidth(0);
1024 }
1025 else {
1026 out << "bncComb::printResults bug" << "\n";
1027 }
1028 out.flush();
1029 }
1030}
1031
1032// Send results to RTNet Decoder and directly to PPP Client
1033////////////////////////////////////////////////////////////////////////////
1034void bncComb::dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& resCorr) {
1035
1036 QList<t_orbCorr> orbCorrections;
1037 QList<t_clkCorr> clkCorrections;
1038 QList<t_satCodeBias> satCodeBiasList;
1039
1040 unsigned year, month, day, hour, minute;
1041 double sec;
1042 epoTime.civil_date(year, month, day);
1043 epoTime.civil_time(hour, minute, sec);
1044
1045 QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
1046 year, month, day, hour, minute, sec);
1047
1048 QMutableMapIterator<QString, cmbCorr*> it(resCorr);
1049 while (it.hasNext()) {
1050 it.next();
1051 cmbCorr* corr = it.value();
1052
1053 // ORBIT
1054 t_orbCorr orbCorr(corr->_orbCorr);
1055 orbCorr._staID = "INTERNAL";
1056 orbCorrections.push_back(orbCorr);
1057
1058 // CLOCK
1059 t_clkCorr clkCorr(corr->_clkCorr);
1060 clkCorr._staID = "INTERNAL";
1061 clkCorr._dClk = corr->_dClkResult;
1062 clkCorr._dotDClk = 0.0;
1063 clkCorr._dotDotDClk = 0.0;
1064 clkCorrections.push_back(clkCorr);
1065
1066 ColumnVector xc(6);
1067 ColumnVector vv(3);
1068 corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
1069 corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
1070 if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
1071 delete corr;
1072 it.remove();
1073 continue;
1074 }
1075
1076 // Correction Phase Center --> CoM
1077 // -------------------------------
1078 ColumnVector dx(3); dx = 0.0;
1079 ColumnVector apc(3); apc = 0.0;
1080 ColumnVector com(3); com = 0.0;
1081 bool masterIsAPC = true;
1082 if (_antex) {
1083 double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
1084 char sys = corr->_eph->prn().system();
1085 masterIsAPC = _masterIsAPC[sys];
1086 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
1087 dx = 0;
1088 _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
1089 }
1090 }
1091 if (masterIsAPC) {
1092 apc(1) = xc(1);
1093 apc(2) = xc(2);
1094 apc(3) = xc(3);
1095 com(1) = xc(1)-dx(1);
1096 com(2) = xc(2)-dx(2);
1097 com(3) = xc(3)-dx(3);
1098 }
1099 else {
1100 com(1) = xc(1);
1101 com(2) = xc(2);
1102 com(3) = xc(3);
1103 apc(1) = xc(1)+dx(1);
1104 apc(2) = xc(2)+dx(2);
1105 apc(3) = xc(3)+dx(3);
1106 }
1107
1108 outLines += corr->_prn.mid(0,3);
1109 QString hlp = QString().asprintf(
1110 " APC 3 %15.4f %15.4f %15.4f"
1111 " Clk 1 %15.4f"
1112 " Vel 3 %15.4f %15.4f %15.4f"
1113 " CoM 3 %15.4f %15.4f %15.4f",
1114 apc(1), apc(2), apc(3),
1115 xc(4) * t_CST::c,
1116 vv(1), vv(2), vv(3),
1117 com(1), com(2), com(3));
1118 outLines += hlp;
1119 hlp.clear();
1120
1121 // CODE BIASES
1122 if (corr->_satCodeBias._bias.size()) {
1123 t_satCodeBias satCodeBias(corr->_satCodeBias);
1124 satCodeBias._staID = "INTERNAL";
1125 satCodeBiasList.push_back(satCodeBias);
1126 hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
1127 outLines += hlp;
1128 hlp.clear();
1129 for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
1130 const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
1131 if (!frqCodeBias._rnxType2ch.empty()) {
1132 hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
1133 outLines += hlp;
1134 hlp.clear();
1135 }
1136 }
1137 }
1138 outLines += "\n";
1139 delete corr;
1140 it.remove();
1141 }
1142
1143 outLines += "EOE\n"; // End Of Epoch flag
1144 //cout << outLines.toStdString();
1145
1146 vector<string> errmsg;
1147 _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
1148
1149 // Send new Corrections to PPP etc.
1150 // --------------------------------
1151 if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
1152 emit newOrbCorrections(orbCorrections);
1153 emit newClkCorrections(clkCorrections);
1154 }
1155 if (satCodeBiasList.size()) {
1156 emit newCodeBiases(satCodeBiasList);
1157 }
1158}
1159
1160// Create First Design Matrix and Vector of Measurements
1161////////////////////////////////////////////////////////////////////////////
1162t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
1163 const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
1164
1165 unsigned nPar = _params[sys].size();
1166 unsigned nObs = corrs(sys).size();
1167
1168 if (nObs == 0) {
1169 return failure;
1170 }
1171
1172 int maxSat = _cmbSysPrn[sys];
1173
1174 const int nCon = (_method == filter) ? 1 + maxSat : 0;
1175
1176 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
1177 ll.ReSize(nObs+nCon); ll = 0.0;
1178 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
1179
1180 int iObs = 0;
1181 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1182 while (itCorr.hasNext()) {
1183 cmbCorr* corr = itCorr.next();
1184 QString prn = corr->_prn;
1185
1186 ++iObs;
1187
1188 if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
1189 resCorr[prn] = new cmbCorr(*corr);
1190 }
1191
1192 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1193 cmbParam* pp = _params[sys][iPar-1];
1194 AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
1195 }
1196
1197 ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
1198
1199 PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
1200 }
1201
1202 // Regularization
1203 // --------------
1204 if (_method == filter) {
1205 const double Ph = 1.e6;
1206 PP(nObs+1) = Ph;
1207 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1208 cmbParam* pp = _params[sys][iPar-1];
1209 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1210 pp->type == cmbParam::clkSat ) {
1211 AA(nObs+1, iPar) = 1.0;
1212 }
1213 }
1214 unsigned flag = 0;
1215 if (sys == 'E') {
1216 flag = 1;
1217 }
1218// if (sys == 'R') {
1219// return success;
1220// }
1221 int iCond = 1;
1222 // GNSS
1223 for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
1224 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
1225 ++iCond;
1226 PP(nObs+iCond) = Ph;
1227 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1228 cmbParam* pp = _params[sys][iPar-1];
1229 if ( pp &&
1230 AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1231 pp->type == cmbParam::offACSat &&
1232 pp->prn == prn) {
1233 AA(nObs+iCond, iPar) = 1.0;
1234 }
1235 }
1236 }
1237 }
1238
1239 return success;
1240}
1241
1242// Process Epoch - Single-Epoch Method
1243////////////////////////////////////////////////////////////////////////////
1244t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
1245 QMap<QString, cmbCorr*>& resCorr,
1246 ColumnVector& dx) {
1247
1248 // Check Satellite Positions for Outliers
1249 // --------------------------------------
1250 if (checkOrbits(epoTime, sys, out) != success) {
1251 return failure;
1252 }
1253
1254 // Outlier Detection Loop
1255 // ----------------------
1256 while (_running) {
1257
1258 // Remove Satellites that are not in Master
1259 // ----------------------------------------
1260 QMutableVectorIterator<cmbCorr*> it(corrs(sys));
1261 while (it.hasNext()) {
1262 cmbCorr* corr = it.next();
1263 QString prn = corr->_prn;
1264 bool foundMaster = false;
1265 QVectorIterator<cmbCorr*> itHlp(corrs(sys));
1266 while (itHlp.hasNext()) {
1267 cmbCorr* corrHlp = itHlp.next();
1268 QString prnHlp = corrHlp->_prn;
1269 QString ACHlp = corrHlp->_acName;
1270 if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
1271 foundMaster = true;
1272 break;
1273 }
1274 }
1275 if (!foundMaster) {
1276 delete corr;
1277 it.remove();
1278 }
1279 }
1280
1281 // Count Number of Observations per Satellite and per AC
1282 // -----------------------------------------------------
1283 QMap<QString, int> numObsPrn;
1284 QMap<QString, int> numObsAC;
1285 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1286 while (itCorr.hasNext()) {
1287 cmbCorr* corr = itCorr.next();
1288 QString prn = corr->_prn;
1289 QString AC = corr->_acName;
1290 if (numObsPrn.find(prn) == numObsPrn.end()) {
1291 numObsPrn[prn] = 1;
1292 }
1293 else {
1294 numObsPrn[prn] += 1;
1295 }
1296 if (numObsAC.find(AC) == numObsAC.end()) {
1297 numObsAC[AC] = 1;
1298 }
1299 else {
1300 numObsAC[AC] += 1;
1301 }
1302 }
1303
1304 // Clean-Up the Parameters
1305 // -----------------------
1306 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1307 delete _params[sys][iPar-1];
1308 }
1309 _params[sys].clear();
1310
1311 // Set new Parameters
1312 // ------------------
1313 int nextPar = 0;
1314
1315 QMapIterator<QString, int> itAC(numObsAC);
1316 while (itAC.hasNext()) {
1317 itAC.next();
1318 const QString& AC = itAC.key();
1319 int numObs = itAC.value();
1320 if (AC != _masterOrbitAC[sys] && numObs > 0) {
1321 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
1322 }
1323 }
1324
1325 QMapIterator<QString, int> itPrn(numObsPrn);
1326 while (itPrn.hasNext()) {
1327 itPrn.next();
1328 const QString& prn = itPrn.key();
1329 int numObs = itPrn.value();
1330 if (numObs > 0) {
1331 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
1332 }
1333 }
1334
1335 int nPar = _params[sys].size();
1336 ColumnVector x0(nPar);
1337 x0 = 0.0;
1338
1339 // Create First-Design Matrix
1340 // --------------------------
1341 Matrix AA;
1342 ColumnVector ll;
1343 DiagonalMatrix PP;
1344 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
1345 return failure;
1346 }
1347
1348 ColumnVector vv;
1349 try {
1350 Matrix ATP = AA.t() * PP;
1351 SymmetricMatrix NN; NN << ATP * AA;
1352 ColumnVector bb = ATP * ll;
1353 _QQ[sys] = NN.i();
1354 dx = _QQ[sys] * bb;
1355 vv = ll - AA * dx;
1356 }
1357 catch (Exception& exc) {
1358 out << exc.what() << "\n";
1359 return failure;
1360 }
1361
1362 int maxResIndex;
1363 double maxRes = vv.maximum_absolute_value1(maxResIndex);
1364 out.setRealNumberNotation(QTextStream::FixedNotation);
1365 out.setRealNumberPrecision(3);
1366 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1367 << " Maximum Residuum " << maxRes << ' '
1368 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
1369
1370 if (maxRes > _MAXRES) {
1371 out << " Outlier" << "\n";
1372 delete corrs(sys)[maxResIndex-1];
1373 corrs(sys).remove(maxResIndex-1);
1374 }
1375 else {
1376 out << " OK" << "\n";
1377 out.setRealNumberNotation(QTextStream::FixedNotation);
1378 out.setRealNumberPrecision(3);
1379 for (int ii = 0; ii < vv.Nrows(); ii++) {
1380 const cmbCorr* corr = corrs(sys)[ii];
1381 out << epoTime.datestr().c_str() << ' '
1382 << epoTime.timestr().c_str() << " "
1383 << corr->_acName << ' ' << corr->_prn.mid(0,3);
1384 out.setFieldWidth(6);
1385 out << " res = " << vv[ii] << "\n";
1386 out.setFieldWidth(0);
1387 }
1388 return success;
1389 }
1390
1391 }
1392
1393 return failure;
1394}
1395
1396// Check Satellite Positions for Outliers
1397////////////////////////////////////////////////////////////////////////////
1398t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out) {
1399
1400 const double MAX_DISPLACEMENT_INIT = 0.20;
1401
1402 double MAX_DISPLACEMENT = MAX_DISPLACEMENT_INIT;
1403 if (sys == 'C') {
1404 MAX_DISPLACEMENT *= 4.0;
1405 }
1406 if (sys == 'R') {
1407 MAX_DISPLACEMENT *= 4.0;
1408 }
1409
1410 // Switch to last ephemeris (if possible)
1411 // --------------------------------------
1412 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1413 while (im.hasNext()) {
1414 cmbCorr* corr = im.next();
1415 QString prn = corr->_prn;
1416
1417 t_eph* ephLast = _ephUser.ephLast(prn);
1418 t_eph* ephPrev = _ephUser.ephPrev(prn);
1419
1420 if (ephLast == 0) {
1421 out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
1422 delete corr;
1423 im.remove();
1424 }
1425 else if (corr->_eph == 0) {
1426 out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
1427 delete corr;
1428 im.remove();
1429 }
1430 else {
1431 if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
1432 switchToLastEph(ephLast, corr);
1433 }
1434 else {
1435 out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
1436 delete corr;
1437 im.remove();
1438 }
1439 }
1440 }
1441
1442 while (_running) {
1443
1444 // Compute Mean Corrections for all Satellites
1445 // -------------------------------------------
1446 QMap<QString, int> numCorr;
1447 QMap<QString, ColumnVector> meanRao;
1448 QVectorIterator<cmbCorr*> it(corrs(sys));
1449 while (it.hasNext()) {
1450 cmbCorr* corr = it.next();
1451 QString prn = corr->_prn;
1452 if (meanRao.find(prn) == meanRao.end()) {
1453 meanRao[prn].ReSize(4);
1454 meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
1455 meanRao[prn](4) = 1;
1456 }
1457 else {
1458 meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
1459 meanRao[prn](4) += 1;
1460 }
1461 if (numCorr.find(prn) == numCorr.end()) {
1462 numCorr[prn] = 1;
1463 }
1464 else {
1465 numCorr[prn] += 1;
1466 }
1467 }
1468
1469 // Compute Differences wrt. Mean, find Maximum
1470 // -------------------------------------------
1471 QMap<QString, cmbCorr*> maxDiff;
1472 it.toFront();
1473 while (it.hasNext()) {
1474 cmbCorr* corr = it.next();
1475 QString prn = corr->_prn;
1476 if (meanRao[prn](4) != 0) {
1477 meanRao[prn] /= meanRao[prn](4);
1478 meanRao[prn](4) = 0;
1479 }
1480 corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
1481 if (maxDiff.find(prn) == maxDiff.end()) {
1482 maxDiff[prn] = corr;
1483 }
1484 else {
1485 double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
1486 double norm = corr->_diffRao.NormFrobenius();
1487 if (norm > normMax) {
1488 maxDiff[prn] = corr;
1489 }
1490 }
1491 }
1492
1493 if (_ACs.size() == 1) {
1494 break;
1495 }
1496
1497 // Remove Outliers
1498 // ---------------
1499 bool removed = false;
1500 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1501 while (im.hasNext()) {
1502 cmbCorr* corr = im.next();
1503 QString prn = corr->_prn;
1504 if (numCorr[prn] < 2) {
1505 delete corr;
1506 im.remove();
1507 }
1508 else if (corr == maxDiff[prn]) {
1509 double norm = corr->_diffRao.NormFrobenius();
1510 if (norm > MAX_DISPLACEMENT) {
1511 out << epoTime.datestr().c_str() << " "
1512 << epoTime.timestr().c_str() << " "
1513 << "Orbit Outlier: "
1514 << corr->_acName.toLatin1().data() << " "
1515 << prn.mid(0,3).toLatin1().data() << " "
1516 << corr->_iod << " "
1517 << norm << "\n";
1518 delete corr;
1519 im.remove();
1520 removed = true;
1521 }
1522 }
1523 }
1524
1525 if (!removed) {
1526 break;
1527 }
1528 }
1529
1530 return success;
1531}
1532
1533//
1534////////////////////////////////////////////////////////////////////////////
1535void bncComb::slotProviderIDChanged(QString mountPoint) {
1536 QMutexLocker locker(&_mutex);
1537
1538 QTextStream out(&_log, QIODevice::WriteOnly);
1539
1540 // Find the AC Name
1541 // ----------------
1542 QString acName;
1543 QListIterator<cmbAC*> icAC(_ACs);
1544 while (icAC.hasNext()) {
1545 cmbAC *AC = icAC.next();
1546 if (AC->mountPoint == mountPoint) {
1547 acName = AC->name;
1548 out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
1549 << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
1550 << "\n";
1551 break;
1552 }
1553 }
1554 if (acName.isEmpty()) {
1555 return;
1556 }
1557 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
1558 while (itSys.hasNext()) {
1559 itSys.next();
1560 char sys = itSys.key();
1561 // Remove all corrections of the corresponding AC
1562 // ----------------------------------------------
1563 QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
1564 QMutableVectorIterator<cmbCorr*> it(corrVec);
1565 while (it.hasNext()) {
1566 cmbCorr *corr = it.next();
1567 if (acName == corr->_acName) {
1568 delete corr;
1569 it.remove();
1570 }
1571 }
1572 // Reset Satellite Offsets
1573 // -----------------------
1574 if (_method == filter) {
1575 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1576 cmbParam *pp = _params[sys][iPar - 1];
1577 if (pp->AC == acName && pp->type == cmbParam::offACSat) {
1578 pp->xx = 0.0;
1579 _QQ[sys].Row(iPar) = 0.0;
1580 _QQ[sys].Column(iPar) = 0.0;
1581 _QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
1582 }
1583 }
1584 }
1585 }
1586}
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