source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 6161

Last change on this file since 6161 was 6161, checked in by mervart, 8 years ago
File size: 33.6 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
21#include "bnccomb.h"
22#include "bnccore.h"
23#include "upload/bncrtnetdecoder.h"
24#include "bncsettings.h"
25#include "bncutils.h"
26#include "bncsp3.h"
27#include "bncantex.h"
28#include "t_prn.h"
29
30const double sig0_offAC = 1000.0;
31const double sig0_offACSat = 100.0;
32const double sigP_offACSat = 0.01;
33const double sig0_clkSat = 100.0;
34
35const double sigObs = 0.05;
36
37using namespace std;
38
39// Constructor
40////////////////////////////////////////////////////////////////////////////
41bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) {
42
43 type = type_;
44 index = index_;
45 AC = ac_;
46 prn = prn_;
47 xx = 0.0;
48 eph = 0;
49
50 if (type == offACgps) {
51 epoSpec = true;
52 sig0 = sig0_offAC;
53 sigP = sig0;
54 }
55 else if (type == offACglo) {
56 epoSpec = true;
57 sig0 = sig0_offAC;
58 sigP = sig0;
59 }
60 else if (type == offACSat) {
61 epoSpec = false;
62 sig0 = sig0_offACSat;
63 sigP = sigP_offACSat;
64 }
65 else if (type == clkSat) {
66 epoSpec = true;
67 sig0 = sig0_clkSat;
68 sigP = sig0;
69 }
70}
71
72// Destructor
73////////////////////////////////////////////////////////////////////////////
74bncComb::cmbParam::~cmbParam() {
75}
76
77// Partial
78////////////////////////////////////////////////////////////////////////////
79double bncComb::cmbParam::partial(const QString& AC_, const QString& prn_) {
80
81 if (type == offACgps) {
82 if (AC == AC_ && prn_[0] == 'G') {
83 return 1.0;
84 }
85 }
86 else if (type == offACglo) {
87 if (AC == AC_ && prn_[0] == 'R') {
88 return 1.0;
89 }
90 }
91 else if (type == offACSat) {
92 if (AC == AC_ && prn == prn_) {
93 return 1.0;
94 }
95 }
96 else if (type == clkSat) {
97 if (prn == prn_) {
98 return 1.0;
99 }
100 }
101
102 return 0.0;
103}
104
105//
106////////////////////////////////////////////////////////////////////////////
107QString bncComb::cmbParam::toString() const {
108
109 QString outStr;
110
111 if (type == offACgps) {
112 outStr = "AC offset GPS " + AC;
113 }
114 else if (type == offACglo) {
115 outStr = "AC offset GLO " + AC;
116 }
117 else if (type == offACSat) {
118 outStr = "Sat Offset " + AC + " " + prn;
119 }
120 else if (type == clkSat) {
121 outStr = "Clk Corr " + prn;
122 }
123
124 return outStr;
125}
126
127// Constructor
128////////////////////////////////////////////////////////////////////////////
129bncComb::bncComb() : bncEphUser(true) {
130
131 bncSettings settings;
132
133 QStringList combineStreams = settings.value("combineStreams").toStringList();
134
135 _cmbSampl = settings.value("cmbSampl").toInt();
136 if (_cmbSampl <= 0) {
137 _cmbSampl = 10;
138 }
139
140 _masterMissingEpochs = 0;
141
142 if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
143 QListIterator<QString> it(combineStreams);
144 while (it.hasNext()) {
145 QStringList hlp = it.next().split(" ");
146 cmbAC* newAC = new cmbAC();
147 newAC->mountPoint = hlp[0];
148 newAC->name = hlp[1];
149 newAC->weight = hlp[2].toDouble();
150 if (_masterOrbitAC.isEmpty()) {
151 _masterOrbitAC = newAC->name;
152 }
153 _ACs.append(newAC);
154 }
155 }
156
157 _rtnetDecoder = 0;
158
159 connect(this, SIGNAL(newMessage(QByteArray,bool)),
160 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
161
162 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
163 this, SLOT(slotProviderIDChanged(QString)));
164
165 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
166 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
167
168 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
169 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
170
171 // Combination Method
172 // ------------------
173 if (settings.value("cmbMethod").toString() == "Single-Epoch") {
174 _method = singleEpoch;
175 }
176 else {
177 _method = filter;
178 }
179
180 // Use Glonass
181 // -----------
182 if ( Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) {
183 _useGlonass = true;
184 }
185 else {
186 _useGlonass = false;
187 }
188
189 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
190 // ----------------------------------------------------------------------
191 if (_method == filter) {
192 int nextPar = 0;
193 QListIterator<cmbAC*> it(_ACs);
194 while (it.hasNext()) {
195 cmbAC* AC = it.next();
196 _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC->name, ""));
197 for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
198 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
199 _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
200 AC->name, prn));
201 }
202 if (_useGlonass) {
203 _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC->name, ""));
204 for (unsigned iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
205 QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
206 _params.push_back(new cmbParam(cmbParam::offACSat, ++nextPar,
207 AC->name, prn));
208 }
209 }
210 }
211 for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
212 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
213 _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
214 }
215 if (_useGlonass) {
216 for (unsigned iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
217 QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
218 _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
219 }
220 }
221
222 // Initialize Variance-Covariance Matrix
223 // -------------------------------------
224 _QQ.ReSize(_params.size());
225 _QQ = 0.0;
226 for (int iPar = 1; iPar <= _params.size(); iPar++) {
227 cmbParam* pp = _params[iPar-1];
228 _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
229 }
230 }
231
232 // ANTEX File
233 // ----------
234 _antex = 0;
235 QString antexFileName = settings.value("pppAntex").toString();
236 if (!antexFileName.isEmpty()) {
237 _antex = new bncAntex();
238 if (_antex->readFile(antexFileName) != success) {
239 emit newMessage("wrong ANTEX file", true);
240 delete _antex;
241 _antex = 0;
242 }
243 }
244
245 // Maximal Residuum
246 // ----------------
247 _MAXRES = settings.value("cmbMaxres").toDouble();
248 if (_MAXRES <= 0.0) {
249 _MAXRES = 999.0;
250 }
251}
252
253// Destructor
254////////////////////////////////////////////////////////////////////////////
255bncComb::~bncComb() {
256 QListIterator<cmbAC*> icAC(_ACs);
257 while (icAC.hasNext()) {
258 delete icAC.next();
259 }
260 delete _rtnetDecoder;
261 delete _antex;
262 for (int iPar = 1; iPar <= _params.size(); iPar++) {
263 delete _params[iPar-1];
264 }
265 QListIterator<bncTime> itTime(_buffer.keys());
266 while (itTime.hasNext()) {
267 bncTime epoTime = itTime.next();
268 _buffer.remove(epoTime);
269 }
270}
271
272// Remember orbit corrections
273////////////////////////////////////////////////////////////////////////////
274void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
275 QMutexLocker locker(&_mutex);
276
277 for (int ii = 0; ii < orbCorrections.size(); ii++) {
278 t_orbCorr& orbCorr = orbCorrections[ii];
279 QString staID(orbCorr._staID.c_str());
280 QString prn(orbCorr._prn.toString().c_str());
281
282 // Find/Check the AC Name
283 // ----------------------
284 QString acName;
285 QListIterator<cmbAC*> icAC(_ACs);
286 while (icAC.hasNext()) {
287 cmbAC* AC = icAC.next();
288 if (AC->mountPoint == staID) {
289 acName = AC->name;
290 break;
291 }
292 }
293 if (acName.isEmpty()) {
294 continue;
295 }
296
297 // Store the correction
298 // --------------------
299 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
300 storage[orbCorr._prn] = orbCorr;
301 }
302}
303
304// Process clock corrections
305////////////////////////////////////////////////////////////////////////////
306void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
307 QMutexLocker locker(&_mutex);
308
309 bncTime lastTime;
310
311 for (int ii = 0; ii < clkCorrections.size(); ii++) {
312 t_clkCorr& clkCorr = clkCorrections[ii];
313 QString staID(clkCorr._staID.c_str());
314 QString prn(clkCorr._prn.toString().c_str());
315
316 // Set the last time
317 // -----------------
318 if (lastTime.undef() || clkCorr._time > lastTime) {
319 lastTime = clkCorr._time;
320 }
321
322 // Find/Check the AC Name
323 // ----------------------
324 QString acName;
325 QListIterator<cmbAC*> icAC(_ACs);
326 while (icAC.hasNext()) {
327 cmbAC* AC = icAC.next();
328 if (AC->mountPoint == staID) {
329 acName = AC->name;
330 break;
331 }
332 }
333 if (acName.isEmpty()) {
334 continue;
335 }
336
337 // Check GLONASS
338 // -------------
339 if (!_useGlonass && clkCorr._prn.system() == 'R') {
340 continue;
341 }
342
343 // Check Modulo Time
344 // -----------------
345 if (int(clkCorr._time.gpssec()) % _cmbSampl != 0.0) {
346 continue;
347 }
348
349 // Check Correction Age
350 // --------------------
351 if (_resTime.valid() && clkCorr._time <= _resTime) {
352 emit newMessage("bncComb: old correction: " + acName.toAscii() + " " + prn.toAscii(), true);
353 continue;
354 }
355
356 // Create new correction
357 // ---------------------
358 cmbCorr* newCorr = new cmbCorr();
359 newCorr->_prn = prn;
360 newCorr->_time = clkCorr._time;
361 newCorr->_iod = clkCorr._iod;
362 newCorr->_acName = acName;
363 newCorr->_clkCorr = clkCorr;
364
365 // Check orbit correction
366 // ----------------------
367 if (!_orbCorrections.contains(acName)) {
368 delete newCorr;
369 continue;
370 }
371 else {
372 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
373 if (!storage.contains(clkCorr._prn) || storage[clkCorr._prn]._iod != newCorr->_iod) {
374 delete newCorr;
375 continue;
376 }
377 else {
378 newCorr->_orbCorr = storage[clkCorr._prn];
379 }
380 }
381
382 // Check the Ephemeris
383 //--------------------
384 if (_eph.find(prn) == _eph.end()) {
385 emit newMessage("bncComb: eph not found " + prn.toAscii(), true);
386 delete newCorr;
387 continue;
388 }
389 else {
390 t_eph* lastEph = _eph[prn]->last;
391 t_eph* prevEph = _eph[prn]->prev;
392 if (lastEph && lastEph->IOD() == newCorr->_iod) {
393 newCorr->_eph = lastEph;
394 }
395 else if (lastEph && prevEph && prevEph->IOD() == newCorr->_iod) {
396 newCorr->_eph = prevEph;
397 switchToLastEph(lastEph, newCorr);
398 }
399 else {
400 emit newMessage("bncComb: eph not found " + prn.toAscii() +
401 QString(" %1").arg(newCorr->_iod).toAscii(), true);
402 delete newCorr;
403 continue;
404 }
405 }
406
407 // Store correction into the buffer
408 // --------------------------------
409 QVector<cmbCorr*>& corrs = _buffer[newCorr->_time].corrs;
410 corrs.push_back(newCorr);
411 }
412
413 // Process previous Epoch(s)
414 // -------------------------
415 const double waitTime = 1.0 * _cmbSampl;
416 QListIterator<bncTime> itTime(_buffer.keys());
417 while (itTime.hasNext()) {
418 bncTime epoTime = itTime.next();
419 if (epoTime < lastTime - waitTime) {
420 _resTime = epoTime;
421 processEpoch();
422 }
423 }
424}
425
426// Change the correction so that it refers to last received ephemeris
427////////////////////////////////////////////////////////////////////////////
428void bncComb::switchToLastEph(const t_eph* lastEph, cmbCorr* corr) {
429
430 if (corr->_eph == lastEph) {
431 return;
432 }
433
434 ColumnVector oldXC(4);
435 ColumnVector oldVV(3);
436 corr->_eph->getCrd(corr->_time, oldXC, oldVV, false);
437
438 ColumnVector newXC(4);
439 ColumnVector newVV(3);
440 lastEph->getCrd(corr->_time, newXC, newVV, false);
441
442 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
443 ColumnVector dV = newVV - oldVV;
444 double dC = newXC(4) - oldXC(4);
445
446 ColumnVector dRAO(3);
447 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
448
449 ColumnVector dDotRAO(3);
450 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
451
452 QString msg = "switch corr " + corr->_prn
453 + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
454
455 emit newMessage(msg.toAscii(), false);
456
457 corr->_iod = lastEph->IOD();
458 corr->_eph = lastEph;
459
460 corr->_orbCorr._xr += dRAO;
461 corr->_orbCorr._dotXr += dDotRAO;
462 corr->_clkCorr._dClk -= dC;
463}
464
465// Process Epoch
466////////////////////////////////////////////////////////////////////////////
467void bncComb::processEpoch() {
468
469 _log.clear();
470
471 QTextStream out(&_log, QIODevice::WriteOnly);
472
473 out << endl << "Combination:" << endl
474 << "------------------------------" << endl;
475
476 // Observation Statistics
477 // ----------------------
478 bool masterPresent = false;
479 QListIterator<cmbAC*> icAC(_ACs);
480 while (icAC.hasNext()) {
481 cmbAC* AC = icAC.next();
482 AC->numObs = 0;
483 QVectorIterator<cmbCorr*> itCorr(corrs());
484 while (itCorr.hasNext()) {
485 cmbCorr* corr = itCorr.next();
486 if (corr->_acName == AC->name) {
487 AC->numObs += 1;
488 if (AC->name == _masterOrbitAC) {
489 masterPresent = true;
490 }
491 }
492 }
493 out << AC->name.toAscii().data() << ": " << AC->numObs << endl;
494 }
495
496 // If Master not present, switch to another one
497 // --------------------------------------------
498 const unsigned switchMasterAfterGap = 1;
499 if (masterPresent) {
500 _masterMissingEpochs = 0;
501 }
502 else {
503 ++_masterMissingEpochs;
504 if (_masterMissingEpochs < switchMasterAfterGap) {
505 out << "Missing Master, Epoch skipped" << endl;
506 _buffer.remove(_resTime);
507 emit newMessage(_log, false);
508 return;
509 }
510 else {
511 _masterMissingEpochs = 0;
512 QListIterator<cmbAC*> icAC(_ACs);
513 while (icAC.hasNext()) {
514 cmbAC* AC = icAC.next();
515 if (AC->numObs > 0) {
516 out << "Switching Master AC "
517 << _masterOrbitAC.toAscii().data() << " --> "
518 << AC->name.toAscii().data() << " "
519 << _resTime.datestr().c_str() << " "
520 << _resTime.timestr().c_str() << endl;
521 _masterOrbitAC = AC->name;
522 break;
523 }
524 }
525 }
526 }
527
528 QMap<QString, cmbCorr*> resCorr;
529
530 // Perform the actual Combination using selected Method
531 // ----------------------------------------------------
532 t_irc irc;
533 ColumnVector dx;
534 if (_method == filter) {
535 irc = processEpoch_filter(out, resCorr, dx);
536 }
537 else {
538 irc = processEpoch_singleEpoch(out, resCorr, dx);
539 }
540
541 // Update Parameter Values, Print Results
542 // --------------------------------------
543 if (irc == success) {
544 for (int iPar = 1; iPar <= _params.size(); iPar++) {
545 cmbParam* pp = _params[iPar-1];
546 pp->xx += dx(iPar);
547 if (pp->type == cmbParam::clkSat) {
548 if (resCorr.find(pp->prn) != resCorr.end()) {
549 resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
550 }
551 }
552 out << _resTime.datestr().c_str() << " "
553 << _resTime.timestr().c_str() << " ";
554 out.setRealNumberNotation(QTextStream::FixedNotation);
555 out.setFieldWidth(8);
556 out.setRealNumberPrecision(4);
557 out << pp->toString() << " "
558 << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
559 out.setFieldWidth(0);
560 }
561 printResults(out, resCorr);
562 dumpResults(resCorr);
563 }
564
565 // Delete Data, emit Message
566 // -------------------------
567 _buffer.remove(_resTime);
568 emit newMessage(_log, false);
569}
570
571// Process Epoch - Filter Method
572////////////////////////////////////////////////////////////////////////////
573t_irc bncComb::processEpoch_filter(QTextStream& out,
574 QMap<QString, cmbCorr*>& resCorr,
575 ColumnVector& dx) {
576
577 // Prediction Step
578 // ---------------
579 int nPar = _params.size();
580 ColumnVector x0(nPar);
581 for (int iPar = 1; iPar <= _params.size(); iPar++) {
582 cmbParam* pp = _params[iPar-1];
583 if (pp->epoSpec) {
584 pp->xx = 0.0;
585 _QQ.Row(iPar) = 0.0;
586 _QQ.Column(iPar) = 0.0;
587 _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
588 }
589 else {
590 _QQ(iPar,iPar) += pp->sigP * pp->sigP;
591 }
592 x0(iPar) = pp->xx;
593 }
594
595 // Check Satellite Positions for Outliers
596 // --------------------------------------
597 if (checkOrbits(out) != success) {
598 return failure;
599 }
600
601 // Update and outlier detection loop
602 // ---------------------------------
603 SymmetricMatrix QQ_sav = _QQ;
604 while (true) {
605
606 Matrix AA;
607 ColumnVector ll;
608 DiagonalMatrix PP;
609
610 if (createAmat(AA, ll, PP, x0, resCorr) != success) {
611 return failure;
612 }
613
614 dx = 0.0;
615 kalman(AA, ll, PP, _QQ, dx);
616 ColumnVector vv = ll - AA * dx;
617
618 int maxResIndex;
619 double maxRes = vv.maximum_absolute_value1(maxResIndex);
620 out.setRealNumberNotation(QTextStream::FixedNotation);
621 out.setRealNumberPrecision(3);
622 out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
623 << " Maximum Residuum " << maxRes << ' '
624 << corrs()[maxResIndex-1]->_acName << ' ' << corrs()[maxResIndex-1]->_prn;
625
626 if (maxRes > _MAXRES) {
627 for (int iPar = 1; iPar <= _params.size(); iPar++) {
628 cmbParam* pp = _params[iPar-1];
629 if (pp->type == cmbParam::offACSat &&
630 pp->AC == corrs()[maxResIndex-1]->_acName &&
631 pp->prn == corrs()[maxResIndex-1]->_prn) {
632 QQ_sav.Row(iPar) = 0.0;
633 QQ_sav.Column(iPar) = 0.0;
634 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
635 }
636 }
637
638 out << " Outlier" << endl;
639 _QQ = QQ_sav;
640 corrs().remove(maxResIndex-1);
641 }
642 else {
643 out << " OK" << endl;
644 break;
645 }
646 }
647
648 return success;
649}
650
651// Print results
652////////////////////////////////////////////////////////////////////////////
653void bncComb::printResults(QTextStream& out,
654 const QMap<QString, cmbCorr*>& resCorr) {
655
656 QMapIterator<QString, cmbCorr*> it(resCorr);
657 while (it.hasNext()) {
658 it.next();
659 cmbCorr* corr = it.value();
660 const t_eph* eph = corr->_eph;
661 if (eph) {
662 ColumnVector xc(4);
663 ColumnVector vv(3);
664 eph->getCrd(_resTime, xc, vv, false);
665
666 out << _resTime.datestr().c_str() << " "
667 << _resTime.timestr().c_str() << " ";
668 out.setFieldWidth(3);
669 out << "Full Clock " << corr->_prn << " " << corr->_iod << " ";
670 out.setFieldWidth(14);
671 out << (xc(4) + corr->_dClkResult) * t_CST::c << endl;
672 out.setFieldWidth(0);
673 }
674 else {
675 out << "bncComb::printResuls bug" << endl;
676 }
677 }
678}
679
680// Send results to RTNet Decoder and directly to PPP Client
681////////////////////////////////////////////////////////////////////////////
682void bncComb::dumpResults(const QMap<QString, cmbCorr*>& resCorr) {
683
684 QList<t_orbCorr> orbCorrections;
685 QList<t_clkCorr> clkCorrections;
686
687 QString outLines;
688 QStringList corrLines;
689
690 unsigned year, month, day, hour, minute;
691 double sec;
692 _resTime.civil_date(year, month, day);
693 _resTime.civil_time(hour, minute, sec);
694
695 outLines.sprintf("* %4d %2d %2d %d %d %12.8f\n",
696 year, month, day, hour, minute, sec);
697
698 QMapIterator<QString, cmbCorr*> it(resCorr);
699 while (it.hasNext()) {
700 it.next();
701 cmbCorr* corr = it.value();
702
703 ColumnVector xc(4);
704 ColumnVector vv(3);
705 corr->_eph->getCrd(_resTime, xc, vv, false);
706
707 // Correction Phase Center --> CoM
708 // -------------------------------
709 ColumnVector dx(3); dx = 0.0;
710 if (_antex) {
711 double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
712 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
713 dx = 0;
714 cout << "antenna not found " << corr->_prn.toAscii().data() << endl;
715 }
716 }
717
718 outLines += corr->_prn;
719 QString hlp;
720 hlp.sprintf(" APC 3 %15.4f %15.4f %15.4f"
721 " Clk 1 %15.4f"
722 " Vel 3 %15.4f %15.4f %15.4f"
723 " CoM 3 %15.4f %15.4f %15.4f\n",
724 xc(1), xc(2), xc(3),
725 xc(4)*t_CST::c,
726 vv(1), vv(2), vv(3),
727 xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
728 outLines += hlp;
729
730 QString line;
731 int messageType = COTYPE_GPSCOMBINED;
732 int updateInt = 0;
733 line.sprintf("%d %d %d %.1f %s"
734 " %3d"
735 " %8.3f %8.3f %8.3f %8.3f"
736 " %10.5f %10.5f %10.5f %10.5f"
737 " %10.5f INTERNAL",
738 messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
739 corr->_prn.toAscii().data(),
740 corr->_iod,
741 corr->_dClkResult * t_CST::c,
742 corr->_orbCorr._xr[0],
743 corr->_orbCorr._xr[1],
744 corr->_orbCorr._xr[2],
745 0.0,
746 corr->_orbCorr._dotXr[0],
747 corr->_orbCorr._dotXr[1],
748 corr->_orbCorr._dotXr[2],
749 0.0);
750 corrLines << line;
751
752 t_orbCorr orbCorr(corr->_orbCorr);
753 orbCorr._staID = "INTERNAL";
754 orbCorrections.push_back(orbCorr);
755
756 t_clkCorr clkCorr(corr->_clkCorr);
757 clkCorr._staID = "INTERNAL";
758 clkCorr._dClk = corr->_dClkResult;
759 clkCorr._dotDClk = 0.0;
760 clkCorr._dotDotDClk = 0.0;
761 clkCorrections.push_back(clkCorr);
762
763 delete corr;
764 }
765
766 outLines += "EOE\n"; // End Of Epoch flag
767
768 if (!_rtnetDecoder) {
769 _rtnetDecoder = new bncRtnetDecoder();
770 }
771
772 vector<string> errmsg;
773 _rtnetDecoder->Decode(outLines.toAscii().data(), outLines.length(), errmsg);
774
775 // Send new Corrections to PPP etc.
776 // --------------------------------
777 if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
778 emit newOrbCorrections(orbCorrections);
779 emit newClkCorrections(clkCorrections);
780 }
781}
782
783// Create First Design Matrix and Vector of Measurements
784////////////////////////////////////////////////////////////////////////////
785t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
786 const ColumnVector& x0,
787 QMap<QString, cmbCorr*>& resCorr) {
788
789 unsigned nPar = _params.size();
790 unsigned nObs = corrs().size();
791
792 if (nObs == 0) {
793 return failure;
794 }
795
796 int maxSat = t_prn::MAXPRN_GPS;
797// if (_useGlonass) {
798// maxSat = t_prn::MAXPRN_GPS + t_prn::MAXPRN_GLONASS;
799// }
800
801 const int nCon = (_method == filter) ? 1 + maxSat : 0;
802
803 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
804 ll.ReSize(nObs+nCon); ll = 0.0;
805 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
806
807 int iObs = 0;
808
809 QVectorIterator<cmbCorr*> itCorr(corrs());
810 while (itCorr.hasNext()) {
811 cmbCorr* corr = itCorr.next();
812 QString prn = corr->_prn;
813
814 ++iObs;
815
816 if (corr->_acName == _masterOrbitAC && resCorr.find(prn) == resCorr.end()) {
817 resCorr[prn] = new cmbCorr(*corr);
818 }
819
820 for (int iPar = 1; iPar <= _params.size(); iPar++) {
821 cmbParam* pp = _params[iPar-1];
822 AA(iObs, iPar) = pp->partial(corr->_acName, prn);
823 }
824
825 ll(iObs) = corr->_clkCorr._dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
826 }
827
828 // Regularization
829 // --------------
830 if (_method == filter) {
831 const double Ph = 1.e6;
832 PP(nObs+1) = Ph;
833 for (int iPar = 1; iPar <= _params.size(); iPar++) {
834 cmbParam* pp = _params[iPar-1];
835 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
836 pp->type == cmbParam::clkSat ) {
837 AA(nObs+1, iPar) = 1.0;
838 }
839 }
840 int iCond = 1;
841 for (unsigned iGps = 1; iGps <= t_prn::MAXPRN_GPS; iGps++) {
842 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
843 ++iCond;
844 PP(nObs+iCond) = Ph;
845 for (int iPar = 1; iPar <= _params.size(); iPar++) {
846 cmbParam* pp = _params[iPar-1];
847 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
848 pp->type == cmbParam::offACSat &&
849 pp->prn == prn) {
850 AA(nObs+iCond, iPar) = 1.0;
851 }
852 }
853 }
854// if (_useGlonass) {
855// for (int iGlo = 1; iGlo <= t_prn::MAXPRN_GLONASS; iGlo++) {
856// QString prn = QString("R%1").arg(iGlo, 2, 10, QChar('0'));
857// ++iCond;
858// PP(nObs+iCond) = Ph;
859// for (int iPar = 1; iPar <= _params.size(); iPar++) {
860// cmbParam* pp = _params[iPar-1];
861// if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
862// pp->type == cmbParam::offACSat &&
863// pp->prn == prn) {
864// AA(nObs+iCond, iPar) = 1.0;
865// }
866// }
867// }
868// }
869 }
870
871 return success;
872}
873
874// Process Epoch - Single-Epoch Method
875////////////////////////////////////////////////////////////////////////////
876t_irc bncComb::processEpoch_singleEpoch(QTextStream& out,
877 QMap<QString, cmbCorr*>& resCorr,
878 ColumnVector& dx) {
879
880 // Check Satellite Positions for Outliers
881 // --------------------------------------
882 if (checkOrbits(out) != success) {
883 return failure;
884 }
885
886 // Outlier Detection Loop
887 // ----------------------
888 while (true) {
889
890 // Remove Satellites that are not in Master
891 // ----------------------------------------
892 QMutableVectorIterator<cmbCorr*> it(corrs());
893 while (it.hasNext()) {
894 cmbCorr* corr = it.next();
895 QString prn = corr->_prn;
896 bool foundMaster = false;
897 QVectorIterator<cmbCorr*> itHlp(corrs());
898 while (itHlp.hasNext()) {
899 cmbCorr* corrHlp = itHlp.next();
900 QString prnHlp = corrHlp->_prn;
901 QString ACHlp = corrHlp->_acName;
902 if (ACHlp == _masterOrbitAC && prn == prnHlp) {
903 foundMaster = true;
904 break;
905 }
906 }
907 if (!foundMaster) {
908 delete corr;
909 it.remove();
910 }
911 }
912
913 // Count Number of Observations per Satellite and per AC
914 // -----------------------------------------------------
915 QMap<QString, int> numObsPrn;
916 QMap<QString, int> numObsAC;
917 QVectorIterator<cmbCorr*> itCorr(corrs());
918 while (itCorr.hasNext()) {
919 cmbCorr* corr = itCorr.next();
920 QString prn = corr->_prn;
921 QString AC = corr->_acName;
922 if (numObsPrn.find(prn) == numObsPrn.end()) {
923 numObsPrn[prn] = 1;
924 }
925 else {
926 numObsPrn[prn] += 1;
927 }
928 if (numObsAC.find(AC) == numObsAC.end()) {
929 numObsAC[AC] = 1;
930 }
931 else {
932 numObsAC[AC] += 1;
933 }
934 }
935
936 // Clean-Up the Paramters
937 // ----------------------
938 for (int iPar = 1; iPar <= _params.size(); iPar++) {
939 delete _params[iPar-1];
940 }
941 _params.clear();
942
943 // Set new Parameters
944 // ------------------
945 int nextPar = 0;
946
947 QMapIterator<QString, int> itAC(numObsAC);
948 while (itAC.hasNext()) {
949 itAC.next();
950 const QString& AC = itAC.key();
951 int numObs = itAC.value();
952 if (AC != _masterOrbitAC && numObs > 0) {
953 _params.push_back(new cmbParam(cmbParam::offACgps, ++nextPar, AC, ""));
954 if (_useGlonass) {
955 _params.push_back(new cmbParam(cmbParam::offACglo, ++nextPar, AC, ""));
956 }
957 }
958 }
959
960 QMapIterator<QString, int> itPrn(numObsPrn);
961 while (itPrn.hasNext()) {
962 itPrn.next();
963 const QString& prn = itPrn.key();
964 int numObs = itPrn.value();
965 if (numObs > 0) {
966 _params.push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
967 }
968 }
969
970 int nPar = _params.size();
971 ColumnVector x0(nPar);
972 x0 = 0.0;
973
974 // Create First-Design Matrix
975 // --------------------------
976 Matrix AA;
977 ColumnVector ll;
978 DiagonalMatrix PP;
979 if (createAmat(AA, ll, PP, x0, resCorr) != success) {
980 return failure;
981 }
982
983 ColumnVector vv;
984 try {
985 Matrix ATP = AA.t() * PP;
986 SymmetricMatrix NN; NN << ATP * AA;
987 ColumnVector bb = ATP * ll;
988 _QQ = NN.i();
989 dx = _QQ * bb;
990 vv = ll - AA * dx;
991 }
992 catch (Exception& exc) {
993 out << exc.what() << endl;
994 return failure;
995 }
996
997 int maxResIndex;
998 double maxRes = vv.maximum_absolute_value1(maxResIndex);
999 out.setRealNumberNotation(QTextStream::FixedNotation);
1000 out.setRealNumberPrecision(3);
1001 out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
1002 << " Maximum Residuum " << maxRes << ' '
1003 << corrs()[maxResIndex-1]->_acName << ' ' << corrs()[maxResIndex-1]->_prn;
1004
1005 if (maxRes > _MAXRES) {
1006 out << " Outlier" << endl;
1007 delete corrs()[maxResIndex-1];
1008 corrs().remove(maxResIndex-1);
1009 }
1010 else {
1011 out << " OK" << endl;
1012 out.setRealNumberNotation(QTextStream::FixedNotation);
1013 out.setRealNumberPrecision(3);
1014 for (int ii = 0; ii < vv.Nrows(); ii++) {
1015 const cmbCorr* corr = corrs()[ii];
1016 out << _resTime.datestr().c_str() << ' '
1017 << _resTime.timestr().c_str() << " "
1018 << corr->_acName << ' ' << corr->_prn;
1019 out.setFieldWidth(6);
1020 out << " dClk = " << corr->_dClkResult * t_CST::c << " res = " << vv[ii] << endl;
1021 out.setFieldWidth(0);
1022 }
1023 return success;
1024 }
1025
1026 }
1027
1028 return failure;
1029}
1030
1031// Check Satellite Positions for Outliers
1032////////////////////////////////////////////////////////////////////////////
1033t_irc bncComb::checkOrbits(QTextStream& out) {
1034
1035 const double MAX_DISPLACEMENT = 0.20;
1036
1037 // Switch to last ephemeris (if possible)
1038 // --------------------------------------
1039 QMutableVectorIterator<cmbCorr*> im(corrs());
1040 while (im.hasNext()) {
1041 cmbCorr* corr = im.next();
1042 QString prn = corr->_prn;
1043 if (_eph.find(prn) == _eph.end()) {
1044 out << "checkOrbit: missing eph (not found) " << corr->_prn << endl;
1045 delete corr;
1046 im.remove();
1047 }
1048 else if (corr->_eph == 0) {
1049 out << "checkOrbit: missing eph (zero) " << corr->_prn << endl;
1050 delete corr;
1051 im.remove();
1052 }
1053 else {
1054 if ( corr->_eph == _eph[prn]->last || corr->_eph == _eph[prn]->prev ) {
1055 switchToLastEph(_eph[prn]->last, corr);
1056 }
1057 else {
1058 out << "checkOrbit: missing eph (deleted) " << corr->_prn << endl;
1059 delete corr;
1060 im.remove();
1061 }
1062 }
1063 }
1064
1065 while (true) {
1066
1067 // Compute Mean Corrections for all Satellites
1068 // -------------------------------------------
1069 QMap<QString, int> numCorr;
1070 QMap<QString, ColumnVector> meanRao;
1071 QVectorIterator<cmbCorr*> it(corrs());
1072 while (it.hasNext()) {
1073 cmbCorr* corr = it.next();
1074 QString prn = corr->_prn;
1075 if (meanRao.find(prn) == meanRao.end()) {
1076 meanRao[prn].ReSize(4);
1077 meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
1078 meanRao[prn](4) = 1;
1079 }
1080 else {
1081 meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
1082 meanRao[prn](4) += 1;
1083 }
1084 if (numCorr.find(prn) == numCorr.end()) {
1085 numCorr[prn] = 1;
1086 }
1087 else {
1088 numCorr[prn] += 1;
1089 }
1090 }
1091
1092 // Compute Differences wrt Mean, find Maximum
1093 // ------------------------------------------
1094 QMap<QString, cmbCorr*> maxDiff;
1095 it.toFront();
1096 while (it.hasNext()) {
1097 cmbCorr* corr = it.next();
1098 QString prn = corr->_prn;
1099 if (meanRao[prn](4) != 0) {
1100 meanRao[prn] /= meanRao[prn](4);
1101 meanRao[prn](4) = 0;
1102 }
1103 corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
1104 if (maxDiff.find(prn) == maxDiff.end()) {
1105 maxDiff[prn] = corr;
1106 }
1107 else {
1108 double normMax = maxDiff[prn]->_diffRao.norm_Frobenius();
1109 double norm = corr->_diffRao.norm_Frobenius();
1110 if (norm > normMax) {
1111 maxDiff[prn] = corr;
1112 }
1113 }
1114 }
1115
1116 if (_ACs.size() == 1) {
1117 break;
1118 }
1119
1120 // Remove Outliers
1121 // ---------------
1122 bool removed = false;
1123 QMutableVectorIterator<cmbCorr*> im(corrs());
1124 while (im.hasNext()) {
1125 cmbCorr* corr = im.next();
1126 QString prn = corr->_prn;
1127 if (numCorr[prn] < 2) {
1128 delete corr;
1129 im.remove();
1130 }
1131 else if (corr == maxDiff[prn]) {
1132 double norm = corr->_diffRao.norm_Frobenius();
1133 if (norm > MAX_DISPLACEMENT) {
1134 out << _resTime.datestr().c_str() << " "
1135 << _resTime.timestr().c_str() << " "
1136 << "Orbit Outlier: "
1137 << corr->_acName.toAscii().data() << " "
1138 << prn.toAscii().data() << " "
1139 << corr->_iod << " "
1140 << norm << endl;
1141 delete corr;
1142 im.remove();
1143 removed = true;
1144 }
1145 }
1146 }
1147
1148 if (!removed) {
1149 break;
1150 }
1151 }
1152
1153 return success;
1154}
1155
1156//
1157////////////////////////////////////////////////////////////////////////////
1158void bncComb::slotProviderIDChanged(QString mountPoint) {
1159 QMutexLocker locker(&_mutex);
1160
1161 // Find the AC Name
1162 // ----------------
1163 QString acName;
1164 QListIterator<cmbAC*> icAC(_ACs);
1165 while (icAC.hasNext()) {
1166 cmbAC* AC = icAC.next();
1167 if (AC->mountPoint == mountPoint) {
1168 acName = AC->name;
1169 break;
1170 }
1171 }
1172 if (acName.isEmpty()) {
1173 return;
1174 }
1175
1176 // Remove all corrections of the corresponding AC
1177 // ----------------------------------------------
1178 QListIterator<bncTime> itTime(_buffer.keys());
1179 while (itTime.hasNext()) {
1180 bncTime epoTime = itTime.next();
1181 QVector<cmbCorr*>& corrVec = _buffer[epoTime].corrs;
1182 QMutableVectorIterator<cmbCorr*> it(corrVec);
1183 while (it.hasNext()) {
1184 cmbCorr* corr = it.next();
1185 if (acName == corr->_acName) {
1186 delete corr;
1187 it.remove();
1188 }
1189 }
1190 }
1191
1192 // Reset Satellite Offsets
1193 // -----------------------
1194 if (_method == filter) {
1195 for (int iPar = 1; iPar <= _params.size(); iPar++) {
1196 cmbParam* pp = _params[iPar-1];
1197 if (pp->AC == acName && pp->type == cmbParam::offACSat) {
1198 pp->xx = 0.0;
1199 _QQ.Row(iPar) = 0.0;
1200 _QQ.Column(iPar) = 0.0;
1201 _QQ(iPar,iPar) = pp->sig0 * pp->sig0;
1202 }
1203 }
1204 }
1205}
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