source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 10612

Last change on this file since 10612 was 10612, checked in by stuerze, 6 days ago

minor changes combination
File size: 48.1 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->excludeSats = hlp[3].split(QRegExp("[ ,]"), Qt::SkipEmptyParts);
179 newAC->isAPC = bool(newAC->mountPoint.mid(0,4) == "SSRA");
180 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
181 // init
182 while (itSys.hasNext()) {
183 itSys.next();
184 char sys = itSys.key();
185 if (!_masterOrbitAC.contains(sys) &&
186 !newAC->excludeSats.contains(QString(sys), Qt::CaseSensitive)) {
187 _masterOrbitAC[sys] = newAC->name;
188 _masterIsAPC[sys] = newAC->isAPC;
189 }
190 }
191 _ACs.append(newAC);
192 }
193 }
194
195 QString ssrFormat;
196 _ssrCorr = 0;
197 QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
198 while (it.hasNext()) {
199 QStringList hlp = it.next().split(",");
200 if (hlp.size() > 7) {
201 ssrFormat = hlp[7];
202 }
203 }
204 if (ssrFormat == "IGS-SSR") {
205 _ssrCorr = new SsrCorrIgs();
206 }
207 else if (ssrFormat == "RTCM-SSR") {
208 _ssrCorr = new SsrCorrRtcm();
209 }
210 else { // default
211 _ssrCorr = new SsrCorrIgs();
212 }
213
214 _rtnetDecoder = new bncRtnetDecoder();
215
216 connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
217 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), this, SLOT(slotProviderIDChanged(QString)));
218 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
219 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
220 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
221
222 // Combination Method
223 // ------------------
224 if (settings.value("cmbMethod").toString() == "Single-Epoch") {
225 _method = singleEpoch;
226 }
227 else {
228 _method = filter;
229 }
230
231 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
232 // ----------------------------------------------------------------------
233 if (_method == filter) {
234 // SYSTEM
235 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
236 while (itSys.hasNext()) {
237 itSys.next();
238 int nextPar = 0;
239 char sys = itSys.key();
240 int maxPrn = itSys.value();
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 (int iGnss = 1; iGnss <= maxPrn; iGnss++) {
247 int flag = t_corrSSR::getSsrNavTypeFlag(sys, iGnss);
248 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
249 _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
250 }
251 }
252 for (int iGnss = 1; iGnss <= maxPrn; iGnss++) {
253 int flag = t_corrSSR::getSsrNavTypeFlag(sys, 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("bncComb: 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 _MAX_RES = settings.value("cmbMaxres").toDouble();
302 if (_MAX_RES <= 0.0) {
303 _MAX_RES = 999.0;
304 }
305
306 // Maximal Displacement
307 // --------------------
308 _MAX_DISPLACEMENT = settings.value("cmbMaxdisplacement").toDouble();
309 if (_MAX_DISPLACEMENT <= 0.0) {
310 _MAX_DISPLACEMENT = 2.0;
311 }
312
313 // Logfile
314 // -------
315 QString intr = "1 day";
316 QString logFileCmb = settings.value("cmbLogpath").toString();
317 int l = logFileCmb.length();
318 if (logFileCmb.isEmpty()) {
319 _logFile = 0;
320 }
321 else {
322 if (l && logFileCmb[l-1] != QDir::separator() ) {
323 logFileCmb += QDir::separator();
324 }
325
326 logFileCmb = logFileCmb + "COMB00BNC" + "${V3PROD}" + ".CMB";
327
328 _logFile = new bncoutf(logFileCmb, intr, _cmbSampl);
329 }
330
331 _newCorr = 0;
332}
333
334// Destructor
335////////////////////////////////////////////////////////////////////////////
336bncComb::~bncComb() {
337
338 _running = false;
339#ifndef WIN32
340 sleep(2);
341#else
342 Sleep(2000);
343#endif
344
345 QListIterator<cmbAC*> icAC(_ACs);
346 while (icAC.hasNext()) {
347 delete icAC.next();
348 }
349 _ACs.clear();
350
351 delete _rtnetDecoder;
352
353 if (_ssrCorr) {
354 delete _ssrCorr;
355 }
356
357 if (_newCorr) {
358 delete _newCorr;
359 }
360
361 delete _antex;
362 delete _bsx;
363 delete _logFile;
364
365 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
366 while (itSys.hasNext()) {
367 itSys.next();
368 char sys = itSys.key();
369 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
370 delete _params[sys][iPar-1];
371 }
372 _buffer.remove(sys);
373 }
374 _params.clear();
375 _buffer.clear();
376 _cmbSysPrn.clear();
377
378 while (!_epoClkData.empty()) {
379 delete _epoClkData.front();
380 _epoClkData.pop_front();
381 }
382}
383
384void bncComb::slotReadBiasSnxFile() {
385 bncSettings settings;
386 QString bsxFileName = settings.value("cmbBsxFile").toString();
387
388 if (bsxFileName.isEmpty()) {
389 emit newMessage("bncComb: no Bias SINEX file specified", true);
390 return;
391 }
392 if (!_bsx) {
393 _bsx = new bncBiasSnx();
394 }
395 if (_bsx->readFile(bsxFileName) != success) {
396 emit newMessage("bncComb: wrong Bias SINEX file", true);
397 delete _bsx;
398 _bsx = 0;
399 }
400 else {
401 emit newMessage("bncComb: successfully read Bias SINEX file", true);
402 }
403
404 QTimer::singleShot(_ms, this, SLOT(slotReadBiasSnxFile()));
405}
406
407
408// Remember orbit corrections
409////////////////////////////////////////////////////////////////////////////
410void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
411 QMutexLocker locker(&_mutex);
412 for (int ii = 0; ii < orbCorrections.size(); ii++) {
413 t_orbCorr& orbCorr = orbCorrections[ii];
414 QString staID(orbCorr._staID.c_str());
415 char sys = orbCorr._prn.system();
416
417 if (!_cmbSysPrn.contains(sys)){
418 continue;
419 }
420
421 // Find/Check the AC Name
422 // ----------------------
423 QString acName;
424 QStringList excludeSats;
425 QListIterator<cmbAC*> icAC(_ACs);
426 while (icAC.hasNext()) {
427 cmbAC* AC = icAC.next();
428 if (AC->mountPoint == staID) {
429 acName = AC->name;
430 excludeSats = AC->excludeSats;
431 break;
432 }
433 }
434 if (acName.isEmpty() || excludeSat(orbCorr._prn, excludeSats)) {
435 continue;
436 }
437
438 // Store the correction
439 // --------------------
440 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
441 storage[orbCorr._prn] = orbCorr;
442 }
443}
444
445// Remember Satellite Code Biases
446////////////////////////////////////////////////////////////////////////////
447void bncComb::slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases) {
448 QMutexLocker locker(&_mutex);
449
450 for (int ii = 0; ii < satCodeBiases.size(); ii++) {
451 t_satCodeBias& satCodeBias = satCodeBiases[ii];
452 QString staID(satCodeBias._staID.c_str());
453 char sys = satCodeBias._prn.system();
454
455 if (!_cmbSysPrn.contains(sys)){
456 continue;
457 }
458
459 // Find/Check the AC Name
460 // ----------------------
461 QString acName;
462 QStringList excludeSats;
463 QListIterator<cmbAC*> icAC(_ACs);
464 while (icAC.hasNext()) {
465 cmbAC* AC = icAC.next();
466 if (AC->mountPoint == staID) {
467 acName = AC->name;
468 excludeSats = AC->excludeSats;
469 break;
470 }
471 }
472 if (acName.isEmpty() || excludeSat(satCodeBias._prn, excludeSats)) {
473 continue;
474 }
475
476 // Store the correction
477 // --------------------
478 QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
479 storage[satCodeBias._prn] = satCodeBias;
480 }
481
482}
483
484// Process clock corrections
485////////////////////////////////////////////////////////////////////////////
486void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
487 QMutexLocker locker(&_mutex);
488 const double outWait = 1.0 * _cmbSampl;
489 int currentWeek = 0;
490 double currentSec = 0.0;
491 currentGPSWeeks(currentWeek, currentSec);
492 bncTime currentTime(currentWeek, currentSec);
493
494 // Loop over all observations (possible different epochs)
495 // -----------------------------------------------------
496 for (int ii = 0; ii < clkCorrections.size(); ii++) {
497 t_clkCorr& newClk = clkCorrections[ii];
498 char sys = newClk._prn.system();
499 if (!_cmbSysPrn.contains(sys)){
500 continue;
501 }
502
503 // Check Modulo Time
504 // -----------------
505 int sec = int(nint(newClk._time.gpssec()*10));
506 if (sec % (_cmbSampl*10) != 0.0) {
507 continue;
508 }
509
510 // Find/Check the AC Name
511 // ----------------------
512 QString acName;
513 QStringList excludeSats;
514 bool isAPC;
515 QString staID(newClk._staID.c_str());
516 QListIterator<cmbAC*> icAC(_ACs);
517 while (icAC.hasNext()) {
518 cmbAC* AC = icAC.next();
519 if (AC->mountPoint == staID) {
520 acName = AC->name;
521 excludeSats = AC->excludeSats;
522 isAPC = AC->isAPC;
523 break;
524 }
525 }
526 if (acName.isEmpty() ||
527 isAPC != _masterIsAPC[sys] ||
528 excludeSat(newClk._prn, excludeSats)) {
529 continue;
530 }
531
532 // Check regarding current time
533 // ----------------------------
534 if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
535 if (fabs(currentTime - newClk._time) > 60.0) { // future or very old data sets
536 #ifdef BNC_DEBUG_CMB
537 emit newMessage("bncComb: future or very old data sets: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
538 QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. current time" +
539 QString(" %1 ").arg(currentTime.timestr().c_str()).toLatin1(), true);
540 #endif
541 continue;
542 }
543 }
544
545 // Check Correction Age
546 // --------------------
547 if (_resTime.valid() && newClk._time <= _resTime) {
548#ifdef BNC_DEBUG_CMB
549 emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + newClk._prn.toString().c_str() +
550 QString(" %1 ").arg(newClk._time.timestr().c_str()).toLatin1() + "vs. last processing Epoch" +
551 QString(" %1 ").arg(_resTime.timestr().c_str()).toLatin1(), true);
552#endif
553 continue;
554 }
555
556 // Set the last time
557 // -----------------
558 if (_lastClkCorrTime.undef() || newClk._time > _lastClkCorrTime) {
559 _lastClkCorrTime = newClk._time;
560 }
561
562 // Find the corresponding data epoch or create a new one
563 // -----------------------------------------------------
564 epoClkData* epoch = 0;
565 deque<epoClkData*>::const_iterator it;
566 for (it = _epoClkData.begin(); it != _epoClkData.end(); it++) {
567 if (newClk._time == (*it)->_time) {
568 epoch = *it;
569 break;
570 }
571 }
572 if (epoch == 0) {
573 if (_epoClkData.empty() || newClk._time > _epoClkData.back()->_time) {
574 epoch = new epoClkData;
575 epoch->_time = newClk._time;
576 _epoClkData.push_back(epoch);
577 }
578 }
579
580 // Put data into the epoch
581 // -----------------------
582 if (epoch != 0) {
583 epoch->_clkCorr.push_back(newClk);
584 }
585 }
586
587 // Make sure the buffer does not grow beyond any limit
588 // ---------------------------------------------------
589 const unsigned MAX_EPODATA_SIZE = 60.0 / _cmbSampl;
590 if (_epoClkData.size() > MAX_EPODATA_SIZE) {
591 delete _epoClkData.front();
592 _epoClkData.pop_front();
593 }
594
595 // Process the oldest epochs
596 // ------------------------
597 while (_epoClkData.size()) {
598
599 if (!_lastClkCorrTime.valid()) {
600 return;
601 }
602
603 const vector<t_clkCorr>& clkCorrVec = _epoClkData.front()->_clkCorr;
604
605 bncTime epoTime = _epoClkData.front()->_time;
606
607 if (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
608 if ((currentTime - epoTime) > 60.0) {
609 delete _epoClkData.front();
610 _epoClkData.pop_front();
611 continue;
612 }
613 }
614 // Process the front epoch
615 // -----------------------
616 if (epoTime < (_lastClkCorrTime - outWait)) {
617 _resTime = epoTime;
618 processEpoch(_resTime, clkCorrVec);
619 delete _epoClkData.front();
620 _epoClkData.pop_front();
621 }
622 else {
623 return;
624 }
625 }
626}
627
628// Change the correction so that it refers to last received ephemeris
629////////////////////////////////////////////////////////////////////////////
630void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
631
632 if (corr->_eph == lastEph) {
633 return;
634 }
635
636 ColumnVector oldXC(6);
637 ColumnVector oldVV(3);
638 if (corr->_eph->getCrd(corr->_time, oldXC, oldVV, false) != success) {
639 return;
640 }
641
642 ColumnVector newXC(6);
643 ColumnVector newVV(3);
644 if (lastEph->getCrd(corr->_time, newXC, newVV, false) != success) {
645 return;
646 }
647
648 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
649 ColumnVector dV = newVV - oldVV;
650 double dC = newXC(4) - oldXC(4);
651
652 ColumnVector dRAO(3);
653 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
654
655 ColumnVector dDotRAO(3);
656 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
657
658 QString msg = "bncComb: switch corr " + corr->_prn.mid(0,3)
659 + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
660
661 emit newMessage(msg.toLatin1(), false);
662
663 corr->_iod = lastEph->IOD();
664 corr->_eph = lastEph;
665
666 corr->_orbCorr._xr += dRAO;
667 corr->_orbCorr._dotXr += dDotRAO;
668 corr->_clkCorr._dClk -= dC;
669}
670
671// Process Epoch
672////////////////////////////////////////////////////////////////////////////
673void bncComb::processEpoch(bncTime epoTime, const vector<t_clkCorr>& clkCorrVec) {
674 QDateTime now = currentDateAndTimeGPS();
675 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
676 for (unsigned ii = 0; ii < clkCorrVec.size(); ii++) {
677 const t_clkCorr& clkCorr = clkCorrVec[ii];
678 QString staID(clkCorr._staID.c_str());
679 QString prnStr(clkCorr._prn.toInternalString().c_str());
680 char sys = clkCorr._prn.system();
681
682 // Find/Check the AC Name
683 // ----------------------
684 QString acName;
685 double weigthFactor;
686 QListIterator<cmbAC*> icAC(_ACs);
687 while (icAC.hasNext()) {
688 cmbAC* AC = icAC.next();
689 if (AC->mountPoint == staID) {
690 acName = AC->name;
691 weigthFactor = AC->weightFactor;
692 break;
693 }
694 }
695
696 // Create new correction
697 // ---------------------
698 _newCorr = new cmbCorr();
699 _newCorr->_prn = prnStr;
700 _newCorr->_time = clkCorr._time;
701 _newCorr->_iod = clkCorr._iod;
702 _newCorr->_acName = acName;
703 _newCorr->_weightFactor = weigthFactor;
704 _newCorr->_clkCorr = clkCorr;
705
706 // Check orbit correction
707 // ----------------------
708 if (!_orbCorrections.contains(acName)) {
709 delete _newCorr; _newCorr = 0;
710 continue;
711 }
712 else {
713 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
714 if (!storage.contains(clkCorr._prn) ||
715 storage[clkCorr._prn]._iod != _newCorr->_iod) {
716 delete _newCorr; _newCorr = 0;
717 continue;
718 }
719 else {
720 _newCorr->_orbCorr = storage[clkCorr._prn];
721 }
722 }
723
724 // Check the Ephemeris
725 //--------------------
726 t_eph* ephLast = _ephUser.ephLast(prnStr);
727 t_eph* ephPrev = _ephUser.ephPrev(prnStr);
728 if (ephLast == 0) {
729#ifdef BNC_DEBUG_CMB
730 emit newMessage("bncComb: eph not found for " + prnStr.mid(0,3).toLatin1(), true);
731#endif
732 delete _newCorr; _newCorr = 0;
733 continue;
734 }
735 else if (outDatedBcep(ephLast, currentTime) ||
736 ephLast->checkState() == t_eph::bad ||
737 ephLast->checkState() == t_eph::outdated ||
738 ephLast->checkState() == t_eph::unhealthy) {
739#ifdef BNC_DEBUG_CMB
740 emit newMessage("bncComb: ephLast not ok (checkState: " + ephLast->checkStateToString().toLatin1() + ") for " + prnStr.mid(0,3).toLatin1(), true);
741#endif
742 delete _newCorr; _newCorr = 0;
743 continue;
744 }
745 else {
746 if (ephLast->IOD() == _newCorr->_iod) {
747 _newCorr->_eph = ephLast;
748 }
749 else if (ephPrev &&
750 !outDatedBcep(ephPrev, currentTime) && // if not updated in storage
751 ephPrev->checkState() == t_eph::ok && // received
752 ephPrev->IOD() == _newCorr->_iod) {
753 _newCorr->_eph = ephPrev;
754 switchToLastEph(ephLast, _newCorr);
755 }
756 else {
757#ifdef BNC_DEBUG_CMB
758 emit newMessage("bncComb: eph not found for " + prnStr.mid(0,3).toLatin1() +
759 QString(" with IOD %1").arg(_newCorr->_iod).toLatin1(), true);
760#endif
761 delete _newCorr; _newCorr = 0;
762 continue;
763 }
764 }
765
766 // Check satellite code biases
767 // ----------------------------
768 if (_satCodeBiases.contains(acName)) {
769 QMap<t_prn, t_satCodeBias>& storage = _satCodeBiases[acName];
770 if (storage.contains(clkCorr._prn)) {
771 _newCorr->_satCodeBias = storage[clkCorr._prn];
772 QMap<t_frequency::type, double> codeBiasesRefSig;
773 for (unsigned ii = 1; ii < cmbRefSig::cIF; ii++) {
774 t_frequency::type frqType = cmbRefSig::toFreq(sys, static_cast<cmbRefSig::type>(ii));
775 char frqNum = t_frequency::toString(frqType)[1];
776 char attrib = cmbRefSig::toAttrib(sys, static_cast<cmbRefSig::type>(ii));
777 QString rnxType2ch = QString("%1%2").arg(frqNum).arg(attrib);
778 for (unsigned ii = 0; ii < _newCorr->_satCodeBias._bias.size(); ii++) {
779 const t_frqCodeBias& bias = _newCorr->_satCodeBias._bias[ii];
780 if (rnxType2ch.toStdString() == bias._rnxType2ch) {
781 codeBiasesRefSig[frqType] = bias._value;
782 }
783 }
784 }
785 if (codeBiasesRefSig.size() == 2) {
786 map<t_frequency::type, double> codeCoeff;
787 double channel = double(_newCorr->_eph->slotNum());
788 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
789 map<t_frequency::type, double>::const_iterator it;
790 for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
791 t_frequency::type frqType = it->first;
792 _newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
793 }
794 }
795 _newCorr->_satCodeBias._bias.clear();
796 }
797 }
798
799 // Store correction into the buffer
800 // --------------------------------
801 QVector<cmbCorr*>& corrs = _buffer[sys].corrs;
802 QVectorIterator<cmbCorr*> itCorr(corrs);
803 bool available = false;
804 while (itCorr.hasNext()) {
805 cmbCorr* corr = itCorr.next();
806 QString prnStr = corr->_prn;
807 QString acName = corr->_acName;
808 if (_newCorr->_acName == acName &&
809 _newCorr->_prn == prnStr) {
810 available = true;
811 }
812 }
813
814 if (!available) {
815 corrs.push_back(_newCorr); _newCorr = 0;
816 }
817 else {
818 delete _newCorr; _newCorr = 0;
819 continue;
820 }
821 }
822
823 // Process Systems of this Epoch
824 // ------------------------------
825 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
826 while (itSys.hasNext()) {
827 itSys.next();
828 char sys = itSys.key();
829 _log.clear();
830 QTextStream out(&_log, QIODevice::WriteOnly);
831 processSystem(epoTime, sys, out);
832 _buffer.remove(sys);
833 if (_logFile) {
834 _logFile->write(epoTime.gpsw(),epoTime.gpssec(), QString(_log));
835 }
836 }
837}
838
839void bncComb::processSystem(bncTime epoTime, char sys, QTextStream& out) {
840
841 out << "\n"
842 << epoTime.datestr().c_str() << " "
843 << epoTime.timestr().c_str() << " "
844 << "Combination: " << sys << "\n"
845 << "--------------------------------------" << "\n";
846
847 // Observation Statistics
848 // ----------------------
849 bool masterPresent = false;
850 QListIterator<cmbAC*> icAC(_ACs);
851 while (icAC.hasNext()) {
852 cmbAC* AC = icAC.next();
853 AC->numObs[sys] = 0;
854 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
855 while (itCorr.hasNext()) {
856 cmbCorr* corr = itCorr.next();
857 if (corr->_acName == AC->name) {
858 AC->numObs[sys] += 1;
859 if (AC->name == _masterOrbitAC[sys]) {
860 masterPresent = true;
861 }
862 }
863 }
864 out << epoTime.datestr().c_str() << " "
865 << epoTime.timestr().c_str() << " "
866 << "Sat Num " << sys << " "
867 << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << "\n";
868 }
869
870 // If Master not present, switch to another one
871 // --------------------------------------------
872 const unsigned switchMasterAfterGap = 1;
873 if (masterPresent) {
874 _masterMissingEpochs[sys] = 0;
875 }
876 else {
877 ++_masterMissingEpochs[sys];
878 if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
879 out << "Missing Master, Epoch skipped" << "\n";
880 _buffer.remove(sys);
881 emit newMessage(_log, false);
882 return;
883 }
884 else {
885 _masterMissingEpochs[sys] = 0;
886 QListIterator<cmbAC*> icAC(_ACs);
887 while (icAC.hasNext()) {
888 cmbAC* AC = icAC.next();
889 if (AC->numObs[sys] > 0) {
890 out << epoTime.datestr().c_str() << " "
891 << epoTime.timestr().c_str() << " "
892 << "Switching Master " << sys << " "
893 << _masterOrbitAC[sys].toLatin1().data() << " --> "
894 << AC->name.toLatin1().data() << "\n";
895 _masterOrbitAC[sys] = AC->name;
896 _masterIsAPC[sys] = AC->isAPC;
897 break;
898 }
899 }
900 }
901 }
902
903 QMap<QString, cmbCorr*> resCorr;
904
905 // Perform the actual Combination using selected Method
906 // ----------------------------------------------------
907 t_irc irc;
908 ColumnVector dx;
909 if (_method == filter) {
910 irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
911 }
912 else {
913 irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
914 }
915
916 // Update Parameter Values, Print Results
917 // --------------------------------------
918 if (irc == success) {
919 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
920 cmbParam* pp = _params[sys][iPar-1];
921 pp->xx += dx(iPar);
922 if (pp->type == cmbParam::clkSat) {
923 if (resCorr.find(pp->prn) != resCorr.end()) {
924 // set clock result
925 resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
926 // Add Code Biases from SINEX File
927 if (_bsx) {
928 map<t_frequency::type, double> codeCoeff;
929 double channel = double(resCorr[pp->prn]->_eph->slotNum());
930 cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
931 t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
932 t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
933 _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
934 }
935 }
936 }
937 out << epoTime.datestr().c_str() << " "
938 << epoTime.timestr().c_str() << " ";
939 out.setRealNumberNotation(QTextStream::FixedNotation);
940 out.setFieldWidth(8);
941 out.setRealNumberPrecision(4);
942 out << pp->toString(sys) << " "
943 << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << "\n";
944 out.setFieldWidth(0);
945 out.flush();
946 }
947 printResults(epoTime, out, resCorr);
948 dumpResults(epoTime, resCorr);
949 }
950}
951
952// Process Epoch - Filter Method
953////////////////////////////////////////////////////////////////////////////
954t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
955 QMap<QString, cmbCorr*>& resCorr,
956 ColumnVector& dx) {
957
958 // Prediction Step
959 // ---------------
960 int nPar = _params[sys].size();
961 ColumnVector x0(nPar);
962 for (int iPar = 1; iPar <= nPar; iPar++) {
963 cmbParam* pp = _params[sys][iPar-1];
964 if (pp->epoSpec) {
965 pp->xx = 0.0;
966 _QQ[sys].Row(iPar) = 0.0;
967 _QQ[sys].Column(iPar) = 0.0;
968 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
969 }
970 else {
971 _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
972 }
973 x0(iPar) = pp->xx;
974 }
975
976 // Check Satellite Positions for Outliers
977 // --------------------------------------
978 if (checkOrbits(epoTime, sys, out) != success) {
979 return failure;
980 }
981
982 // Update and outlier detection loop
983 // ---------------------------------
984 SymmetricMatrix QQ_sav = _QQ[sys];
985 while (_running) {
986
987 Matrix AA;
988 ColumnVector ll;
989 DiagonalMatrix PP;
990
991 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
992 return failure;
993 }
994
995 dx.ReSize(nPar); dx = 0.0;
996 kalman(AA, ll, PP, _QQ[sys], dx);
997
998 ColumnVector vv = ll - AA * dx;
999
1000 int maxResIndex;
1001 double maxRes = vv.maximum_absolute_value1(maxResIndex);
1002 out.setRealNumberNotation(QTextStream::FixedNotation);
1003 out.setRealNumberPrecision(3);
1004 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1005 << " Maximum Residuum " << maxRes << ' '
1006 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
1007 if (maxRes > _MAX_RES) {
1008 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1009 cmbParam* pp = _params[sys][iPar-1];
1010 if (pp->type == cmbParam::offACSat &&
1011 pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
1012 pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
1013 QQ_sav.Row(iPar) = 0.0;
1014 QQ_sav.Column(iPar) = 0.0;
1015 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
1016 }
1017 }
1018
1019 out << " Outlier" << "\n";
1020 _QQ[sys] = QQ_sav;
1021 delete corrs(sys)[maxResIndex-1];
1022 corrs(sys).remove(maxResIndex-1);
1023 }
1024 else {
1025 out << " OK" << "\n";
1026 out.setRealNumberNotation(QTextStream::FixedNotation);
1027 out.setRealNumberPrecision(4);
1028 for (int ii = 0; ii < corrs(sys).size(); ii++) {
1029 const cmbCorr* corr = corrs(sys)[ii];
1030 out << epoTime.datestr().c_str() << ' '
1031 << epoTime.timestr().c_str() << " "
1032 << corr->_acName << ' ' << corr->_prn.mid(0,3);
1033 out.setFieldWidth(10);
1034 out << " res = " << vv[ii] << "\n";
1035 out.setFieldWidth(0);
1036 }
1037 break;
1038 }
1039 }
1040
1041 return success;
1042}
1043
1044// Print results
1045////////////////////////////////////////////////////////////////////////////
1046void bncComb::printResults(bncTime epoTime, QTextStream& out,
1047 const QMap<QString, cmbCorr*>& resCorr) {
1048
1049 QMapIterator<QString, cmbCorr*> it(resCorr);
1050 while (it.hasNext()) {
1051 it.next();
1052 cmbCorr* corr = it.value();
1053 const t_eph* eph = corr->_eph;
1054 if (eph) {
1055 ColumnVector xc(6);
1056 ColumnVector vv(3);
1057 if (eph->getCrd(epoTime, xc, vv, false) != success) {
1058 continue;
1059 }
1060 out << epoTime.datestr().c_str() << " "
1061 << epoTime.timestr().c_str() << " ";
1062 out.setFieldWidth(3);
1063 out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
1064 out.setFieldWidth(14);
1065 out << (xc(4) + corr->_dClkResult) * t_CST::c << "\n";
1066 out.setFieldWidth(0);
1067 out.flush();
1068 }
1069 else {
1070 out << "bncComb::printResults bug" << "\n";
1071 }
1072 }
1073}
1074
1075// Send results to RTNet Decoder and directly to PPP Client
1076////////////////////////////////////////////////////////////////////////////
1077void bncComb::dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& resCorr) {
1078
1079 QList<t_orbCorr> orbCorrections;
1080 QList<t_clkCorr> clkCorrections;
1081 QList<t_satCodeBias> satCodeBiasList;
1082
1083 unsigned year, month, day, hour, minute;
1084 double sec;
1085 epoTime.civil_date(year, month, day);
1086 epoTime.civil_time(hour, minute, sec);
1087
1088 QString outLines = QString().asprintf("* %4d %2d %2d %d %d %12.8f\n",
1089 year, month, day, hour, minute, sec);
1090
1091 QMutableMapIterator<QString, cmbCorr*> it(resCorr);
1092 while (it.hasNext()) {
1093 it.next();
1094 cmbCorr* corr = it.value();
1095
1096 // ORBIT
1097 t_orbCorr orbCorr(corr->_orbCorr);
1098 orbCorr._staID = "INTERNAL";
1099 orbCorrections.push_back(orbCorr);
1100
1101 // CLOCK
1102 t_clkCorr clkCorr(corr->_clkCorr);
1103 clkCorr._staID = "INTERNAL";
1104 clkCorr._dClk = corr->_dClkResult;
1105 clkCorr._dotDClk = 0.0;
1106 clkCorr._dotDotDClk = 0.0;
1107 clkCorrections.push_back(clkCorr);
1108
1109 ColumnVector xc(6);
1110 ColumnVector vv(3);
1111 corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
1112 corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
1113 if (corr->_eph->getCrd(epoTime, xc, vv, true) != success) {
1114 delete corr;
1115 it.remove();
1116 continue;
1117 }
1118
1119 // Correction Phase Center --> CoM
1120 // -------------------------------
1121 ColumnVector dx(3); dx = 0.0;
1122 ColumnVector apc(3); apc = 0.0;
1123 ColumnVector com(3); com = 0.0;
1124 bool masterIsAPC = true;
1125 if (_antex) {
1126 double Mjd = epoTime.mjd() + epoTime.daysec()/86400.0;
1127 char sys = corr->_eph->prn().system();
1128 masterIsAPC = _masterIsAPC[sys];
1129 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
1130 dx = 0;
1131 _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
1132 }
1133 }
1134 if (masterIsAPC) {
1135 apc(1) = xc(1);
1136 apc(2) = xc(2);
1137 apc(3) = xc(3);
1138 com(1) = xc(1)-dx(1);
1139 com(2) = xc(2)-dx(2);
1140 com(3) = xc(3)-dx(3);
1141 }
1142 else {
1143 com(1) = xc(1);
1144 com(2) = xc(2);
1145 com(3) = xc(3);
1146 apc(1) = xc(1)+dx(1);
1147 apc(2) = xc(2)+dx(2);
1148 apc(3) = xc(3)+dx(3);
1149 }
1150
1151 outLines += corr->_prn.mid(0,3);
1152 QString hlp = QString().asprintf(
1153 " APC 3 %15.4f %15.4f %15.4f"
1154 " Clk 1 %15.4f"
1155 " Vel 3 %15.4f %15.4f %15.4f"
1156 " CoM 3 %15.4f %15.4f %15.4f",
1157 apc(1), apc(2), apc(3),
1158 xc(4) * t_CST::c,
1159 vv(1), vv(2), vv(3),
1160 com(1), com(2), com(3));
1161 outLines += hlp;
1162 hlp.clear();
1163
1164 // CODE BIASES
1165 if (corr->_satCodeBias._bias.size()) {
1166 t_satCodeBias satCodeBias(corr->_satCodeBias);
1167 satCodeBias._staID = "INTERNAL";
1168 satCodeBiasList.push_back(satCodeBias);
1169 hlp = QString().asprintf(" CodeBias %2lu", satCodeBias._bias.size());
1170 outLines += hlp;
1171 hlp.clear();
1172 for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
1173 const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
1174 if (!frqCodeBias._rnxType2ch.empty()) {
1175 hlp = QString().asprintf(" %s%10.6f", frqCodeBias._rnxType2ch.c_str(), frqCodeBias._value);
1176 outLines += hlp;
1177 hlp.clear();
1178 }
1179 }
1180 }
1181 outLines += "\n";
1182 delete corr;
1183 it.remove();
1184 }
1185
1186 outLines += "EOE\n"; // End Of Epoch flag
1187 //cout << outLines.toStdString();
1188
1189 vector<string> errmsg;
1190 _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
1191
1192 // Send new Corrections to PPP etc.
1193 // --------------------------------
1194 if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
1195 emit newOrbCorrections(orbCorrections);
1196 emit newClkCorrections(clkCorrections);
1197 }
1198 if (satCodeBiasList.size()) {
1199 emit newCodeBiases(satCodeBiasList);
1200 }
1201}
1202
1203// Create First Design Matrix and Vector of Measurements
1204////////////////////////////////////////////////////////////////////////////
1205t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
1206 const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
1207
1208 unsigned nPar = _params[sys].size();
1209 unsigned nObs = corrs(sys).size();
1210
1211 if (nObs == 0) {
1212 return failure;
1213 }
1214
1215 int maxSat = _cmbSysPrn[sys];
1216
1217 const int nCon = (_method == filter) ? 1 + maxSat : 0;
1218
1219 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
1220 ll.ReSize(nObs+nCon); ll = 0.0;
1221 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
1222
1223 int iObs = 0;
1224 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1225 while (itCorr.hasNext()) {
1226 cmbCorr* corr = itCorr.next();
1227 QString prn = corr->_prn;
1228
1229 ++iObs;
1230
1231 if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
1232 resCorr[prn] = new cmbCorr(*corr);
1233 }
1234
1235 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1236 cmbParam* pp = _params[sys][iPar-1];
1237 AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
1238 }
1239
1240 ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_satCodeBiasIF) - DotProduct(AA.Row(iObs), x0);
1241
1242 PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
1243 }
1244
1245 // Regularization
1246 // --------------
1247 if (_method == filter) {
1248 const double Ph = 1.e6;
1249 PP(nObs+1) = Ph;
1250 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1251 cmbParam* pp = _params[sys][iPar-1];
1252 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1253 pp->type == cmbParam::clkSat ) {
1254 AA(nObs+1, iPar) = 1.0;
1255 }
1256 }
1257// if (sys == 'R') {
1258// return success;
1259// }
1260 int iCond = 1;
1261 // GNSS
1262 for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
1263 int flag = t_corrSSR::getSsrNavTypeFlag(sys, iGnss);
1264 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
1265 ++iCond;
1266 PP(nObs+iCond) = Ph;
1267 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1268 cmbParam* pp = _params[sys][iPar-1];
1269 if ( pp &&
1270 AA.Column(iPar).maximum_absolute_value() > 0.0 &&
1271 pp->type == cmbParam::offACSat &&
1272 pp->prn == prn) {
1273 AA(nObs+iCond, iPar) = 1.0;
1274 }
1275 }
1276 }
1277 }
1278
1279 return success;
1280}
1281
1282// Process Epoch - Single-Epoch Method
1283////////////////////////////////////////////////////////////////////////////
1284t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
1285 QMap<QString, cmbCorr*>& resCorr,
1286 ColumnVector& dx) {
1287
1288 // Check Satellite Positions for Outliers
1289 // --------------------------------------
1290 if (checkOrbits(epoTime, sys, out) != success) {
1291 return failure;
1292 }
1293
1294 // Outlier Detection Loop
1295 // ----------------------
1296 while (_running) {
1297
1298 // Remove Satellites that are not in Master
1299 // ----------------------------------------
1300 QMutableVectorIterator<cmbCorr*> it(corrs(sys));
1301 while (it.hasNext()) {
1302 cmbCorr* corr = it.next();
1303 QString prnStr = corr->_prn;
1304 bool foundMaster = false;
1305 QVectorIterator<cmbCorr*> itHlp(corrs(sys));
1306 while (itHlp.hasNext()) {
1307 cmbCorr* corrHlp = itHlp.next();
1308 QString prnHlp = corrHlp->_prn;
1309 QString ACHlp = corrHlp->_acName;
1310 if (ACHlp == _masterOrbitAC[sys] && prnStr == prnHlp) {
1311 foundMaster = true;
1312 break;
1313 }
1314 }
1315 if (!foundMaster) {
1316 delete corr;
1317 it.remove();
1318 }
1319 }
1320
1321 // Count Number of Observations per Satellite and per AC
1322 // -----------------------------------------------------
1323 QMap<QString, int> numObsPrn;
1324 QMap<QString, int> numObsAC;
1325 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
1326 while (itCorr.hasNext()) {
1327 cmbCorr* corr = itCorr.next();
1328 QString prn = corr->_prn;
1329 QString AC = corr->_acName;
1330 if (numObsPrn.find(prn) == numObsPrn.end()) {
1331 numObsPrn[prn] = 1;
1332 }
1333 else {
1334 numObsPrn[prn] += 1;
1335 }
1336 if (numObsAC.find(AC) == numObsAC.end()) {
1337 numObsAC[AC] = 1;
1338 }
1339 else {
1340 numObsAC[AC] += 1;
1341 }
1342 }
1343
1344 // Clean-Up the Parameters
1345 // -----------------------
1346 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1347 delete _params[sys][iPar-1];
1348 }
1349 _params[sys].clear();
1350
1351 // Set new Parameters
1352 // ------------------
1353 int nextPar = 0;
1354
1355 QMapIterator<QString, int> itAC(numObsAC);
1356 while (itAC.hasNext()) {
1357 itAC.next();
1358 const QString& AC = itAC.key();
1359 int numObs = itAC.value();
1360 if (AC != _masterOrbitAC[sys] && numObs > 0) {
1361 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
1362 }
1363 }
1364
1365 QMapIterator<QString, int> itPrn(numObsPrn);
1366 while (itPrn.hasNext()) {
1367 itPrn.next();
1368 const QString& prn = itPrn.key();
1369 int numObs = itPrn.value();
1370 if (numObs > 0) {
1371 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
1372 }
1373 }
1374
1375 int nPar = _params[sys].size();
1376 ColumnVector x0(nPar);
1377 x0 = 0.0;
1378
1379 // Create First-Design Matrix
1380 // --------------------------
1381 Matrix AA;
1382 ColumnVector ll;
1383 DiagonalMatrix PP;
1384 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
1385 return failure;
1386 }
1387
1388 ColumnVector vv;
1389 try {
1390 Matrix ATP = AA.t() * PP;
1391 SymmetricMatrix NN; NN << ATP * AA;
1392 ColumnVector bb = ATP * ll;
1393 _QQ[sys] = NN.i();
1394 dx = _QQ[sys] * bb;
1395 vv = ll - AA * dx;
1396 }
1397 catch (Exception& exc) {
1398 out << exc.what() << "\n";
1399 return failure;
1400 }
1401
1402 int maxResIndex;
1403 double maxRes = vv.maximum_absolute_value1(maxResIndex);
1404 out.setRealNumberNotation(QTextStream::FixedNotation);
1405 out.setRealNumberPrecision(3);
1406 out << epoTime.datestr().c_str() << " " << epoTime.timestr().c_str()
1407 << " Maximum Residuum " << maxRes << ' '
1408 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
1409
1410 if (maxRes > _MAX_RES) {
1411 out << " Outlier" << "\n";
1412 delete corrs(sys)[maxResIndex-1];
1413 corrs(sys).remove(maxResIndex-1);
1414 }
1415 else {
1416 out << " OK" << "\n";
1417 out.setRealNumberNotation(QTextStream::FixedNotation);
1418 out.setRealNumberPrecision(3);
1419 for (int ii = 0; ii < vv.Nrows(); ii++) {
1420 const cmbCorr* corr = corrs(sys)[ii];
1421 out << epoTime.datestr().c_str() << ' '
1422 << epoTime.timestr().c_str() << " "
1423 << corr->_acName << ' ' << corr->_prn.mid(0,3);
1424 out.setFieldWidth(6);
1425 out << " res = " << vv[ii] << "\n";
1426 out.setFieldWidth(0);
1427 }
1428 return success;
1429 }
1430
1431 }
1432
1433 return failure;
1434}
1435
1436// Check Satellite Positions for Outliers
1437////////////////////////////////////////////////////////////////////////////
1438t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out) {
1439
1440 // Switch to last ephemeris (if possible)
1441 // --------------------------------------
1442 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1443 while (im.hasNext()) {
1444 cmbCorr* corr = im.next();
1445 QString prn = corr->_prn;
1446
1447 t_eph* ephLast = _ephUser.ephLast(prn);
1448 t_eph* ephPrev = _ephUser.ephPrev(prn);
1449
1450 if (ephLast == 0) {
1451 out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << "\n";
1452 delete corr;
1453 im.remove();
1454 }
1455 else if (corr->_eph == 0) {
1456 out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << "\n";
1457 delete corr;
1458 im.remove();
1459 }
1460 else {
1461 if ( corr->_eph == ephLast ||
1462 corr->_eph == ephPrev ) {
1463 switchToLastEph(ephLast, corr);
1464 }
1465 else {
1466 out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << "\n";
1467 delete corr;
1468 im.remove();
1469 }
1470 }
1471 }
1472
1473 while (_running) {
1474
1475 // Compute Mean Corrections for all Satellites
1476 // -------------------------------------------
1477 QMap<QString, int> numCorr;
1478 QMap<QString, ColumnVector> meanRao;
1479 QVectorIterator<cmbCorr*> it(corrs(sys));
1480 while (it.hasNext()) {
1481 cmbCorr* corr = it.next();
1482 QString prn = corr->_prn;
1483 if (meanRao.find(prn) == meanRao.end()) {
1484 meanRao[prn].ReSize(4);
1485 meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
1486 meanRao[prn](4) = 1;
1487 }
1488 else {
1489 meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
1490 meanRao[prn](4) += 1;
1491 }
1492 if (numCorr.find(prn) == numCorr.end()) {
1493 numCorr[prn] = 1;
1494 }
1495 else {
1496 numCorr[prn] += 1;
1497 }
1498 }
1499
1500 // Compute Differences wrt. Mean, find Maximum
1501 // -------------------------------------------
1502 QMap<QString, cmbCorr*> maxDiff;
1503 it.toFront();
1504 while (it.hasNext()) {
1505 cmbCorr* corr = it.next();
1506 QString prn = corr->_prn;
1507 if (meanRao[prn](4) != 0) {
1508 meanRao[prn] /= meanRao[prn](4);
1509 meanRao[prn](4) = 0;
1510 }
1511 corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
1512 if (maxDiff.find(prn) == maxDiff.end()) {
1513 maxDiff[prn] = corr;
1514 }
1515 else {
1516 double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
1517 double norm = corr->_diffRao.NormFrobenius();
1518 if (norm > normMax) {
1519 maxDiff[prn] = corr;
1520 }
1521 }
1522 }
1523
1524 if (_ACs.size() == 1) {
1525 break;
1526 }
1527
1528 // Remove Outliers
1529 // ---------------
1530 bool removed = false;
1531 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1532 while (im.hasNext()) {
1533 cmbCorr* corr = im.next();
1534 QString prn = corr->_prn;
1535 if (numCorr[prn] < 2) {
1536 delete corr;
1537 im.remove();
1538 }
1539 else if (corr == maxDiff[prn]) {
1540 double norm = corr->_diffRao.NormFrobenius();
1541 if (norm > (_MAX_DISPLACEMENT)) {
1542 out << epoTime.datestr().c_str() << " "
1543 << epoTime.timestr().c_str() << " "
1544 << "Orbit Outlier: "
1545 << corr->_acName.toLatin1().data() << " "
1546 << prn.mid(0,3).toLatin1().data() << " "
1547 << corr->_iod << " "
1548 << norm << "\n";
1549 delete corr;
1550 im.remove();
1551 removed = true;
1552 }
1553 }
1554 }
1555
1556 if (!removed) {
1557 break;
1558 }
1559 }
1560
1561 return success;
1562}
1563
1564//
1565////////////////////////////////////////////////////////////////////////////
1566void bncComb::slotProviderIDChanged(QString mountPoint) {
1567 QMutexLocker locker(&_mutex);
1568
1569 QTextStream out(&_log, QIODevice::WriteOnly);
1570
1571 // Find the AC Name
1572 // ----------------
1573 QString acName;
1574 QListIterator<cmbAC*> icAC(_ACs);
1575 while (icAC.hasNext()) {
1576 cmbAC *AC = icAC.next();
1577 if (AC->mountPoint == mountPoint) {
1578 acName = AC->name;
1579 out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
1580 << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
1581 << "\n";
1582 break;
1583 }
1584 }
1585 if (acName.isEmpty()) {
1586 return;
1587 }
1588 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
1589 while (itSys.hasNext()) {
1590 itSys.next();
1591 char sys = itSys.key();
1592 // Remove all corrections of the corresponding AC
1593 // ----------------------------------------------
1594 QVector<cmbCorr*> &corrVec = _buffer[sys].corrs;
1595 QMutableVectorIterator<cmbCorr*> it(corrVec);
1596 while (it.hasNext()) {
1597 cmbCorr *corr = it.next();
1598 if (acName == corr->_acName) {
1599 delete corr;
1600 it.remove();
1601 }
1602 }
1603 // Reset Satellite Offsets
1604 // -----------------------
1605 if (_method == filter) {
1606 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1607 cmbParam *pp = _params[sys][iPar - 1];
1608 if (pp->AC == acName && pp->type == cmbParam::offACSat) {
1609 pp->xx = 0.0;
1610 _QQ[sys].Row(iPar) = 0.0;
1611 _QQ[sys].Column(iPar) = 0.0;
1612 _QQ[sys](iPar, iPar) = pp->sig0 * pp->sig0;
1613 }
1614 }
1615 }
1616 }
1617}
1618
1619//
1620////////////////////////////////////////////////////////////////////////////
1621bool bncComb::excludeSat(const t_prn& prn, const QStringList excludeSats) const {
1622 QStringListIterator it(excludeSats);
1623 while (it.hasNext()) {
1624 string prnStr = it.next().toLatin1().data();
1625 if (prnStr == prn.toString() || // prn
1626 prnStr == prn.toString().substr(0,1)) { // sys
1627 return true;
1628 }
1629 }
1630 return false;
1631}
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