source: ntrip/trunk/BNC/src/combination/bnccomb.cpp@ 9262

Last change on this file since 9262 was 9262, checked in by stuerze, 20 months ago

minor changes

File size: 35.4 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
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 == offACgnss) {
51 epoSpec = true;
52 sig0 = sig0_offAC;
53 sigP = sig0;
54 }
55 else if (type == offACSat) {
56 epoSpec = false;
57 sig0 = sig0_offACSat;
58 sigP = sigP_offACSat;
59 }
60 else if (type == clkSat) {
61 epoSpec = true;
62 sig0 = sig0_clkSat;
63 sigP = sig0;
64 }
65}
66
67// Destructor
68////////////////////////////////////////////////////////////////////////////
69bncComb::cmbParam::~cmbParam() {
70}
71
72// Partial
73////////////////////////////////////////////////////////////////////////////
74double bncComb::cmbParam::partial(char sys, const QString& AC_, const QString& prn_) {
75
76 if (type == offACgnss) {
77 if (AC == AC_ && prn_[0].toLatin1() == sys) {
78 return 1.0;
79 }
80 }
81 else if (type == offACSat) {
82 if (AC == AC_ && prn == prn_) {
83 return 1.0;
84 }
85 }
86 else if (type == clkSat) {
87 if (prn == prn_) {
88 return 1.0;
89 }
90 }
91
92 return 0.0;
93}
94
95//
96////////////////////////////////////////////////////////////////////////////
97QString bncComb::cmbParam::toString(char sys) const {
98
99 QString outStr;
100
101 if (type == offACgnss) {
102 outStr = "AC Offset " + AC + " " + sys + " ";
103 }
104 else if (type == offACSat) {
105 outStr = "Sat Offset " + AC + " " + prn.mid(0,3);
106 }
107 else if (type == clkSat) {
108 outStr = "Clk Corr " + prn.mid(0,3);
109 }
110
111 return outStr;
112}
113
114// Singleton
115////////////////////////////////////////////////////////////////////////////
116bncComb* bncComb::instance() {
117 static bncComb _bncComb;
118 return &_bncComb;
119}
120
121// Constructor
122////////////////////////////////////////////////////////////////////////////
123bncComb::bncComb() : _ephUser(true) {
124
125 bncSettings settings;
126
127 QStringList cmbStreams = settings.value("cmbStreams").toStringList();
128
129 _cmbSampl = settings.value("cmbSampl").toInt();
130 if (_cmbSampl <= 0) {
131 _cmbSampl = 10;
132 }
133
134 _cmbSysPrn['G'] = t_prn::MAXPRN_GPS; _masterMissingEpochs['G'] = 0;
135 _cmbSysPrn['R'] = t_prn::MAXPRN_GLONASS; _masterMissingEpochs['R'] = 0;
136 _cmbSysPrn['E'] = t_prn::MAXPRN_GALILEO; _masterMissingEpochs['E'] = 0;
137 _cmbSysPrn['C'] = t_prn::MAXPRN_BDS; _masterMissingEpochs['C'] = 0;/*
138 _cmbSysPrn['J'] = t_prn::MAXPRN_QZSS; _masterMissingEpochs['J'] = 0;
139 _cmbSysPrn['S'] = t_prn::MAXPRN_SBAS; _masterMissingEpochs['S'] = 0;
140 */
141
142 if (cmbStreams.size() >= 1 && !cmbStreams[0].isEmpty()) {
143 QListIterator<QString> it(cmbStreams);
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 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
151 // init
152 while (itSys.hasNext()) {
153 itSys.next();
154 char sys = itSys.key();
155 if (_masterOrbitAC.isEmpty()) {
156 _masterOrbitAC[sys] = newAC->name;
157 }
158 }
159 _ACs.append(newAC);
160 }
161 }
162
163 QString ssrFormat;
164 _ssrCorr = 0;
165 QListIterator<QString> it(settings.value("uploadMountpointsOut").toStringList());
166 while (it.hasNext()) {
167 QStringList hlp = it.next().split(",");
168 if (hlp.size() > 7) {
169 ssrFormat = hlp[7];
170 }
171 }
172 if (ssrFormat == "IGS-SSR") {
173 _ssrCorr = new SsrCorrIgs();
174 }
175 else if (ssrFormat == "RTCM-SSR") {
176 _ssrCorr = new SsrCorrRtcm();
177 }
178 else { // default
179 _ssrCorr = new SsrCorrIgs();
180 }
181
182 _rtnetDecoder = 0;
183
184 connect(this, SIGNAL(newMessage(QByteArray,bool)),
185 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
186
187 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
188 this, SLOT(slotProviderIDChanged(QString)));
189
190 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
191 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
192
193 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
194 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
195
196
197
198 // Combination Method
199 // ------------------
200 if (settings.value("cmbMethod").toString() == "Single-Epoch") {
201 _method = singleEpoch;
202 }
203 else {
204 _method = filter;
205 }
206
207 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
208 // ----------------------------------------------------------------------
209 if (_method == filter) {
210 // SYSTEM
211 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
212 while (itSys.hasNext()) {
213 itSys.next();
214 int nextPar = 0;
215 char sys = itSys.key();
216 unsigned maxPrn = itSys.value();
217 unsigned flag = 0;
218 if (sys == 'E') {
219 flag = 1;
220 }
221 // AC
222 QListIterator<cmbAC*> itAc(_ACs);
223 while (itAc.hasNext()) {
224 cmbAC* AC = itAc.next();
225 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC->name, ""));
226 for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
227 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
228 _params[sys].push_back(new cmbParam(cmbParam::offACSat, ++nextPar, AC->name, prn));
229 }
230 }
231 for (unsigned iGnss = 1; iGnss <= maxPrn; iGnss++) {
232 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
233 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
234 }
235 // Initialize Variance-Covariance Matrix
236 // -------------------------------------
237 _QQ[sys].ReSize(_params[sys].size());
238 _QQ[sys] = 0.0;
239 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
240 cmbParam* pp = _params[sys][iPar-1];
241 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
242 }
243 }
244 }
245
246 // ANTEX File
247 // ----------
248 _antex = 0;
249 QString antexFileName = settings.value("uploadAntexFile").toString();
250 if (!antexFileName.isEmpty()) {
251 _antex = new bncAntex();
252 if (_antex->readFile(antexFileName) != success) {
253 emit newMessage("wrong ANTEX file", true);
254 delete _antex;
255 _antex = 0;
256 }
257 }
258
259 // Maximal Residuum
260 // ----------------
261 _MAXRES = settings.value("cmbMaxres").toDouble();
262 if (_MAXRES <= 0.0) {
263 _MAXRES = 999.0;
264 }
265}
266
267// Destructor
268////////////////////////////////////////////////////////////////////////////
269bncComb::~bncComb() {
270 QListIterator<cmbAC*> icAC(_ACs);
271 while (icAC.hasNext()) {
272 delete icAC.next();
273 }
274 delete _rtnetDecoder;
275 if (_ssrCorr) {
276 delete _ssrCorr;
277 }
278 delete _antex;
279 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
280 while (itSys.hasNext()) {
281 itSys.next();
282 char sys = itSys.key();
283 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
284 delete _params[sys][iPar-1];
285 }
286 QListIterator<bncTime> itTime(_buffer[sys].keys());
287 while (itTime.hasNext()) {
288 bncTime epoTime = itTime.next();
289 _buffer[sys].remove(epoTime);
290 }
291 }
292
293}
294
295// Remember orbit corrections
296////////////////////////////////////////////////////////////////////////////
297void bncComb::slotNewOrbCorrections(QList<t_orbCorr> orbCorrections) {
298 QMutexLocker locker(&_mutex);
299
300 for (int ii = 0; ii < orbCorrections.size(); ii++) {
301 t_orbCorr& orbCorr = orbCorrections[ii];
302 QString staID(orbCorr._staID.c_str());
303 QString prn(orbCorr._prn.toInternalString().c_str());
304
305 // Find/Check the AC Name
306 // ----------------------
307 QString acName;
308 QListIterator<cmbAC*> icAC(_ACs);
309 while (icAC.hasNext()) {
310 cmbAC* AC = icAC.next();
311 if (AC->mountPoint == staID) {
312 acName = AC->name;
313 break;
314 }
315 }
316 if (acName.isEmpty()) {
317 continue;
318 }
319
320 // Store the correction
321 // --------------------
322 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
323 storage[orbCorr._prn] = orbCorr;
324 }
325}
326
327// Process clock corrections
328////////////////////////////////////////////////////////////////////////////
329void bncComb::slotNewClkCorrections(QList<t_clkCorr> clkCorrections) {
330 QMutexLocker locker(&_mutex);
331
332 bncTime lastTime;
333
334 for (int ii = 0; ii < clkCorrections.size(); ii++) {
335 t_clkCorr& clkCorr = clkCorrections[ii];
336 QString staID(clkCorr._staID.c_str());
337 QString prn(clkCorr._prn.toInternalString().c_str());
338 char sys = clkCorr._prn.system();
339
340 // Set the last time
341 // -----------------
342 if (lastTime.undef() || clkCorr._time > lastTime) {
343 lastTime = clkCorr._time;
344 }
345
346 // Find/Check the AC Name
347 // ----------------------
348 QString acName;
349 QListIterator<cmbAC*> icAC(_ACs);
350 while (icAC.hasNext()) {
351 cmbAC* AC = icAC.next();
352 if (AC->mountPoint == staID) {
353 acName = AC->name;
354 break;
355 }
356 }
357 if (acName.isEmpty()) {
358 continue;
359 }
360
361 // Check Modulo Time
362 // -----------------
363 int sec = int(nint(clkCorr._time.gpssec()*10));
364 if (sec % (_cmbSampl*10) != 0.0) {
365 continue;
366 }
367
368 // Check Correction Age
369 // --------------------
370 if (_resTime.valid() && clkCorr._time <= _resTime) {
371 emit newMessage("bncComb: old correction: " + acName.toLatin1() + " " + prn.mid(0,3).toLatin1(), true);
372 continue;
373 }
374
375 // Create new correction
376 // ---------------------
377 cmbCorr* newCorr = new cmbCorr();
378 newCorr->_prn = prn;
379 newCorr->_time = clkCorr._time;
380 newCorr->_iod = clkCorr._iod;
381 newCorr->_acName = acName;
382 newCorr->_clkCorr = clkCorr;
383
384 // Check orbit correction
385 // ----------------------
386 if (!_orbCorrections.contains(acName)) {
387 delete newCorr;
388 continue;
389 }
390 else {
391 QMap<t_prn, t_orbCorr>& storage = _orbCorrections[acName];
392 if (!storage.contains(clkCorr._prn) ||
393 storage[clkCorr._prn]._iod != newCorr->_iod) {
394 delete newCorr;
395 continue;
396 }
397 else {
398 newCorr->_orbCorr = storage[clkCorr._prn];
399 }
400 }
401
402 // Check the Ephemeris
403 //--------------------
404 t_eph* ephLast = _ephUser.ephLast(prn);
405 t_eph* ephPrev = _ephUser.ephPrev(prn);
406 if (ephLast == 0) {
407 //emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1(), true);
408 delete newCorr;
409 continue;
410 }
411 else {
412 if (ephLast->IOD() == newCorr->_iod) {
413 newCorr->_eph = ephLast;
414 }
415 else if (ephPrev && ephPrev->IOD() == newCorr->_iod) {
416 newCorr->_eph = ephPrev;
417 switchToLastEph(ephLast, newCorr);
418 }
419 else {
420 //emit newMessage("bncComb: eph not found for " + prn.mid(0,3).toLatin1() +
421 //QString(" with IOD %1").arg(newCorr->_iod).toLatin1(), true);
422 delete newCorr;
423 continue;
424 }
425 }
426
427 // Store correction into the buffer
428 // --------------------------------
429 QVector<cmbCorr*>& corrs = _buffer[sys][newCorr->_time].corrs;
430 corrs.push_back(newCorr);
431
432
433 }
434
435 // Process previous Epoch(s)
436 // -------------------------
437 const double outWait = 1.0 * _cmbSampl;
438 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
439 while (itSys.hasNext()) {
440 itSys.next();
441 char sys = itSys.key();
442 QListIterator<bncTime> itTime(_buffer[sys].keys());
443 while (itTime.hasNext()) {
444 bncTime epoTime = itTime.next();
445 if (epoTime < lastTime - outWait) {
446 _resTime = epoTime;
447 processEpoch(sys);
448 }
449 }
450 }
451}
452
453// Change the correction so that it refers to last received ephemeris
454////////////////////////////////////////////////////////////////////////////
455void bncComb::switchToLastEph(t_eph* lastEph, cmbCorr* corr) {
456
457 if (corr->_eph == lastEph) {
458 return;
459 }
460
461 ColumnVector oldXC(6);
462 ColumnVector oldVV(3);
463 corr->_eph->getCrd(corr->_time, oldXC, oldVV, false);
464
465 ColumnVector newXC(6);
466 ColumnVector newVV(3);
467 lastEph->getCrd(corr->_time, newXC, newVV, false);
468
469 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
470 ColumnVector dV = newVV - oldVV;
471 double dC = newXC(4) - oldXC(4);
472
473 // small check
474 // -----------
475 const double MAXDIFF = 1000.0;
476 double diff = dX.NormFrobenius();
477 double diffC = dC * t_CST::c ;
478 if (diff > MAXDIFF ||
479 diffC > MAXDIFF) {
480 return;
481 }
482
483 ColumnVector dRAO(3);
484 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
485
486 ColumnVector dDotRAO(3);
487 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
488
489 QString msg = "switch corr " + corr->_prn.mid(0,3)
490 + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
491
492 emit newMessage(msg.toLatin1(), false);
493
494 corr->_iod = lastEph->IOD();
495 corr->_eph = lastEph;
496
497 corr->_orbCorr._xr += dRAO;
498 corr->_orbCorr._dotXr += dDotRAO;
499 corr->_clkCorr._dClk -= dC;
500}
501
502// Process Epoch
503////////////////////////////////////////////////////////////////////////////
504void bncComb::processEpoch(char sys) {
505
506 _log.clear();
507
508 QTextStream out(&_log, QIODevice::WriteOnly);
509
510 out << endl << "Combination: " << sys << endl
511 << "--------------------------------" << endl;
512
513 // Observation Statistics
514 // ----------------------
515 bool masterPresent = false;
516 QListIterator<cmbAC*> icAC(_ACs);
517 while (icAC.hasNext()) {
518 cmbAC* AC = icAC.next();
519 AC->numObs[sys] = 0;
520 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
521 while (itCorr.hasNext()) {
522 cmbCorr* corr = itCorr.next();
523 if (corr->_acName == AC->name) {
524 AC->numObs[sys] += 1;
525 if (AC->name == _masterOrbitAC[sys]) {
526 masterPresent = true;
527 }
528 }
529 }
530 out << AC->name.toLatin1().data() << ": " << AC->numObs[sys] << endl;
531 }
532
533 // If Master not present, switch to another one
534 // --------------------------------------------
535 const unsigned switchMasterAfterGap = 1;
536 if (masterPresent) {
537 _masterMissingEpochs[sys] = 0;
538 }
539 else {
540 ++_masterMissingEpochs[sys];
541 if (_masterMissingEpochs[sys] < switchMasterAfterGap) {
542 out << "Missing Master, Epoch skipped" << endl;
543 _buffer[sys].remove(_resTime);
544 emit newMessage(_log, false);
545 return;
546 }
547 else {
548 _masterMissingEpochs[sys] = 0;
549 QListIterator<cmbAC*> icAC(_ACs);
550 while (icAC.hasNext()) {
551 cmbAC* AC = icAC.next();
552 if (AC->numObs[sys] > 0) {
553 out << "Switching Master AC "
554 << _masterOrbitAC[sys].toLatin1().data() << " --> "
555 << AC->name.toLatin1().data() << " "
556 << _resTime.datestr().c_str() << " "
557 << _resTime.timestr().c_str() << endl;
558 _masterOrbitAC[sys] = AC->name;
559 break;
560 }
561 }
562 }
563 }
564
565 QMap<QString, cmbCorr*> resCorr;
566
567 // Perform the actual Combination using selected Method
568 // ----------------------------------------------------
569 t_irc irc;
570 ColumnVector dx;
571 if (_method == filter) {
572 irc = processEpoch_filter(sys, out, resCorr, dx);
573 }
574 else {
575 irc = processEpoch_singleEpoch(sys, out, resCorr, dx);
576 }
577
578 // Update Parameter Values, Print Results
579 // --------------------------------------
580 if (irc == success) {
581 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
582 cmbParam* pp = _params[sys][iPar-1];
583 pp->xx += dx(iPar);
584 if (pp->type == cmbParam::clkSat) {
585 if (resCorr.find(pp->prn) != resCorr.end()) {
586 resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
587 }
588 }
589 out << _resTime.datestr().c_str() << " "
590 << _resTime.timestr().c_str() << " ";
591 out.setRealNumberNotation(QTextStream::FixedNotation);
592 out.setFieldWidth(8);
593 out.setRealNumberPrecision(4);
594 out << pp->toString(sys) << " "
595 << pp->xx << " +- " << sqrt(_QQ[sys](pp->index,pp->index)) << endl;
596 out.setFieldWidth(0);
597 }
598 printResults(out, resCorr);
599 dumpResults(resCorr);
600 }
601
602 // Delete Data, emit Message
603 // -------------------------
604 _buffer[sys].remove(_resTime);
605 emit newMessage(_log, false);
606}
607
608// Process Epoch - Filter Method
609////////////////////////////////////////////////////////////////////////////
610t_irc bncComb::processEpoch_filter(char sys, QTextStream& out,
611 QMap<QString, cmbCorr*>& resCorr,
612 ColumnVector& dx) {
613
614 // Prediction Step
615 // ---------------
616 int nPar = _params[sys].size();
617 ColumnVector x0(nPar);
618 for (int iPar = 1; iPar <= nPar; iPar++) {
619 cmbParam* pp = _params[sys][iPar-1];
620 if (pp->epoSpec) {
621 pp->xx = 0.0;
622 _QQ[sys].Row(iPar) = 0.0;
623 _QQ[sys].Column(iPar) = 0.0;
624 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
625 }
626 else {
627 _QQ[sys](iPar,iPar) += pp->sigP * pp->sigP;
628 }
629 x0(iPar) = pp->xx;
630 }
631
632 // Check Satellite Positions for Outliers
633 // --------------------------------------
634 if (checkOrbits(sys, out) != success) {
635 return failure;
636 }
637
638 // Update and outlier detection loop
639 // ---------------------------------
640 SymmetricMatrix QQ_sav = _QQ[sys];
641 while (true) {
642
643 Matrix AA;
644 ColumnVector ll;
645 DiagonalMatrix PP;
646
647 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
648 return failure;
649 }
650
651 dx.ReSize(nPar); dx = 0.0;
652 kalman(AA, ll, PP, _QQ[sys], dx);
653
654 ColumnVector vv = ll - AA * dx;
655
656 int maxResIndex;
657 double maxRes = vv.maximum_absolute_value1(maxResIndex);
658 out.setRealNumberNotation(QTextStream::FixedNotation);
659 out.setRealNumberPrecision(3);
660 out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
661 << " Maximum Residuum " << maxRes << ' '
662 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
663 if (maxRes > _MAXRES) {
664 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
665 cmbParam* pp = _params[sys][iPar-1];
666 if (pp->type == cmbParam::offACSat &&
667 pp->AC == corrs(sys)[maxResIndex-1]->_acName &&
668 pp->prn == corrs(sys)[maxResIndex-1]->_prn.mid(0,3)) {
669 QQ_sav.Row(iPar) = 0.0;
670 QQ_sav.Column(iPar) = 0.0;
671 QQ_sav(iPar,iPar) = pp->sig0 * pp->sig0;
672 }
673 }
674
675 out << " Outlier" << endl;
676 _QQ[sys] = QQ_sav;
677 corrs(sys).remove(maxResIndex-1);
678 }
679 else {
680 out << " OK" << endl;
681 out.setRealNumberNotation(QTextStream::FixedNotation);
682 out.setRealNumberPrecision(4);
683 for (int ii = 0; ii < corrs(sys).size(); ii++) {
684 const cmbCorr* corr = corrs(sys)[ii];
685 out << _resTime.datestr().c_str() << ' '
686 << _resTime.timestr().c_str() << " "
687 << corr->_acName << ' ' << corr->_prn.mid(0,3);
688 out.setFieldWidth(10);
689 out << " res = " << vv[ii] << endl;
690 out.setFieldWidth(0);
691 }
692 break;
693 }
694 }
695
696 return success;
697}
698
699// Print results
700////////////////////////////////////////////////////////////////////////////
701void bncComb::printResults(QTextStream& out,
702 const QMap<QString, cmbCorr*>& resCorr) {
703
704 QMapIterator<QString, cmbCorr*> it(resCorr);
705 while (it.hasNext()) {
706 it.next();
707 cmbCorr* corr = it.value();
708 const t_eph* eph = corr->_eph;
709 if (eph) {
710 ColumnVector xc(6);
711 ColumnVector vv(3);
712 eph->getCrd(_resTime, xc, vv, false);
713
714 out << _resTime.datestr().c_str() << " "
715 << _resTime.timestr().c_str() << " ";
716 out.setFieldWidth(3);
717 out << "Full Clock " << corr->_prn.mid(0,3) << " " << corr->_iod << " ";
718 out.setFieldWidth(14);
719 out << (xc(4) + corr->_dClkResult) * t_CST::c << endl;
720 out.setFieldWidth(0);
721 }
722 else {
723 out << "bncComb::printResuls bug" << endl;
724 }
725 }
726}
727
728// Send results to RTNet Decoder and directly to PPP Client
729////////////////////////////////////////////////////////////////////////////
730void bncComb::dumpResults(const QMap<QString, cmbCorr*>& resCorr) {
731
732 QList<t_orbCorr> orbCorrections;
733 QList<t_clkCorr> clkCorrections;
734
735 QString outLines;
736
737 unsigned year, month, day, hour, minute;
738 double sec;
739 _resTime.civil_date(year, month, day);
740 _resTime.civil_time(hour, minute, sec);
741
742 outLines.sprintf("* %4d %2d %2d %d %d %12.8f\n",
743 year, month, day, hour, minute, sec);
744
745 QMapIterator<QString, cmbCorr*> it(resCorr);
746 while (it.hasNext()) {
747 it.next();
748 cmbCorr* corr = it.value();
749
750 t_orbCorr orbCorr(corr->_orbCorr);
751 orbCorr._staID = "INTERNAL";
752 orbCorrections.push_back(orbCorr);
753
754 t_clkCorr clkCorr(corr->_clkCorr);
755 clkCorr._staID = "INTERNAL";
756 clkCorr._dClk = corr->_dClkResult;
757 clkCorr._dotDClk = 0.0;
758 clkCorr._dotDotDClk = 0.0;
759 clkCorrections.push_back(clkCorr);
760
761 ColumnVector xc(6);
762 ColumnVector vv(3);
763 corr->_eph->setClkCorr(dynamic_cast<const t_clkCorr*>(&clkCorr));
764 corr->_eph->setOrbCorr(dynamic_cast<const t_orbCorr*>(&orbCorr));
765 corr->_eph->getCrd(_resTime, xc, vv, true);
766
767 // Correction Phase Center --> CoM
768 // -------------------------------
769 ColumnVector dx(3); dx = 0.0;
770 if (_antex) {
771 double Mjd = _resTime.mjd() + _resTime.daysec()/86400.0;
772 if (_antex->satCoMcorrection(corr->_prn, Mjd, xc.Rows(1,3), dx) != success) {
773 dx = 0;
774 _log += "antenna not found " + corr->_prn.mid(0,3).toLatin1() + '\n';
775 }
776 }
777
778 outLines += corr->_prn.mid(0,3);
779 QString hlp;
780 hlp.sprintf(" APC 3 %15.4f %15.4f %15.4f"
781 " Clk 1 %15.4f"
782 " Vel 3 %15.4f %15.4f %15.4f"
783 " CoM 3 %15.4f %15.4f %15.4f\n",
784 xc(1), xc(2), xc(3),
785 xc(4) * t_CST::c,
786 vv(1), vv(2), vv(3),
787 xc(1)-dx(1), xc(2)-dx(2), xc(3)-dx(3));
788 outLines += hlp;
789
790 QString line;
791 int messageType = _ssrCorr->COTYPE_GPSCOMBINED;
792 int updateInt = 0;
793 line.sprintf("%d %d %d %.1f %s"
794 " %lu"
795 " %8.3f %8.3f %8.3f %8.3f"
796 " %10.5f %10.5f %10.5f %10.5f"
797 " %10.5f INTERNAL",
798 messageType, updateInt, _resTime.gpsw(), _resTime.gpssec(),
799 corr->_prn.mid(0,3).toLatin1().data(),
800 corr->_iod,
801 corr->_dClkResult * t_CST::c,
802 corr->_orbCorr._xr[0],
803 corr->_orbCorr._xr[1],
804 corr->_orbCorr._xr[2],
805 0.0,
806 corr->_orbCorr._dotXr[0],
807 corr->_orbCorr._dotXr[1],
808 corr->_orbCorr._dotXr[2],
809 0.0);
810
811 delete corr;
812 }
813
814 outLines += "EOE\n"; // End Of Epoch flag
815
816 if (!_rtnetDecoder) {
817 _rtnetDecoder = new bncRtnetDecoder();
818 }
819
820 vector<string> errmsg;
821 _rtnetDecoder->Decode(outLines.toLatin1().data(), outLines.length(), errmsg);
822
823 // Send new Corrections to PPP etc.
824 // --------------------------------
825 if (orbCorrections.size() > 0 && clkCorrections.size() > 0) {
826 emit newOrbCorrections(orbCorrections);
827 emit newClkCorrections(clkCorrections);
828 }
829}
830
831// Create First Design Matrix and Vector of Measurements
832////////////////////////////////////////////////////////////////////////////
833t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
834 const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
835
836 unsigned nPar = _params[sys].size();
837 unsigned nObs = corrs(sys).size();
838
839 if (nObs == 0) {
840 return failure;
841 }
842
843 int maxSat = _cmbSysPrn[sys];
844
845 const int nCon = (_method == filter) ? 1 + maxSat : 0;
846
847 AA.ReSize(nObs+nCon, nPar); AA = 0.0;
848 ll.ReSize(nObs+nCon); ll = 0.0;
849 PP.ReSize(nObs+nCon); PP = 1.0 / (sigObs * sigObs);
850
851 int iObs = 0;
852 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
853 while (itCorr.hasNext()) {
854 cmbCorr* corr = itCorr.next();
855 QString prn = corr->_prn;
856
857 ++iObs;
858
859 if (corr->_acName == _masterOrbitAC[sys] && resCorr.find(prn) == resCorr.end()) {
860 resCorr[prn] = new cmbCorr(*corr);
861 }
862
863 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
864 cmbParam* pp = _params[sys][iPar-1];
865 AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
866 }
867
868 ll(iObs) = corr->_clkCorr._dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
869 }
870
871 // Regularization
872 // --------------
873 if (_method == filter) {
874 const double Ph = 1.e6;
875 PP(nObs+1) = Ph;
876 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
877 cmbParam* pp = _params[sys][iPar-1];
878 if ( AA.Column(iPar).maximum_absolute_value() > 0.0 &&
879 pp->type == cmbParam::clkSat ) {
880 AA(nObs+1, iPar) = 1.0;
881 }
882 }
883 unsigned flag = 0;
884 if (sys == 'E') {
885 flag = 1;
886 }
887 if (sys == 'R') {
888 return success;
889 }
890 int iCond = 1;
891 // GNSS
892 for (unsigned iGnss = 1; iGnss <= _cmbSysPrn[sys]; iGnss++) {
893 QString prn = QString("%1%2_%3").arg(sys).arg(iGnss, 2, 10, QChar('0')).arg(flag);
894 ++iCond;
895 PP(nObs+iCond) = Ph;
896 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
897 cmbParam* pp = _params[sys][iPar-1];
898 if ( pp &&
899 AA.Column(iPar).maximum_absolute_value() > 0.0 &&
900 pp->type == cmbParam::offACSat &&
901 pp->prn == prn) {
902 AA(nObs+iCond, iPar) = 1.0;
903 }
904 }
905 }
906 }
907
908 return success;
909}
910
911// Process Epoch - Single-Epoch Method
912////////////////////////////////////////////////////////////////////////////
913t_irc bncComb::processEpoch_singleEpoch(char sys, QTextStream& out,
914 QMap<QString, cmbCorr*>& resCorr,
915 ColumnVector& dx) {
916
917 // Check Satellite Positions for Outliers
918 // --------------------------------------
919 if (checkOrbits(sys, out) != success) {
920 return failure;
921 }
922
923 // Outlier Detection Loop
924 // ----------------------
925 while (true) {
926
927 // Remove Satellites that are not in Master
928 // ----------------------------------------
929 QMutableVectorIterator<cmbCorr*> it(corrs(sys));
930 while (it.hasNext()) {
931 cmbCorr* corr = it.next();
932 QString prn = corr->_prn;
933 bool foundMaster = false;
934 QVectorIterator<cmbCorr*> itHlp(corrs(sys));
935 while (itHlp.hasNext()) {
936 cmbCorr* corrHlp = itHlp.next();
937 QString prnHlp = corrHlp->_prn;
938 QString ACHlp = corrHlp->_acName;
939 if (ACHlp == _masterOrbitAC[sys] && prn == prnHlp) {
940 foundMaster = true;
941 break;
942 }
943 }
944 if (!foundMaster) {
945 delete corr;
946 it.remove();
947 }
948 }
949
950 // Count Number of Observations per Satellite and per AC
951 // -----------------------------------------------------
952 QMap<QString, int> numObsPrn;
953 QMap<QString, int> numObsAC;
954 QVectorIterator<cmbCorr*> itCorr(corrs(sys));
955 while (itCorr.hasNext()) {
956 cmbCorr* corr = itCorr.next();
957 QString prn = corr->_prn;
958 QString AC = corr->_acName;
959 if (numObsPrn.find(prn) == numObsPrn.end()) {
960 numObsPrn[prn] = 1;
961 }
962 else {
963 numObsPrn[prn] += 1;
964 }
965 if (numObsAC.find(AC) == numObsAC.end()) {
966 numObsAC[AC] = 1;
967 }
968 else {
969 numObsAC[AC] += 1;
970 }
971 }
972
973 // Clean-Up the Parameters
974 // -----------------------
975 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
976 delete _params[sys][iPar-1];
977 }
978 _params[sys].clear();
979
980 // Set new Parameters
981 // ------------------
982 int nextPar = 0;
983
984 QMapIterator<QString, int> itAC(numObsAC);
985 while (itAC.hasNext()) {
986 itAC.next();
987 const QString& AC = itAC.key();
988 int numObs = itAC.value();
989 if (AC != _masterOrbitAC[sys] && numObs > 0) {
990 _params[sys].push_back(new cmbParam(cmbParam::offACgnss, ++nextPar, AC, ""));
991 }
992 }
993
994 QMapIterator<QString, int> itPrn(numObsPrn);
995 while (itPrn.hasNext()) {
996 itPrn.next();
997 const QString& prn = itPrn.key();
998 int numObs = itPrn.value();
999 if (numObs > 0) {
1000 _params[sys].push_back(new cmbParam(cmbParam::clkSat, ++nextPar, "", prn));
1001 }
1002 }
1003
1004 int nPar = _params[sys].size();
1005 ColumnVector x0(nPar);
1006 x0 = 0.0;
1007
1008 // Create First-Design Matrix
1009 // --------------------------
1010 Matrix AA;
1011 ColumnVector ll;
1012 DiagonalMatrix PP;
1013 if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
1014 return failure;
1015 }
1016
1017 ColumnVector vv;
1018 try {
1019 Matrix ATP = AA.t() * PP;
1020 SymmetricMatrix NN; NN << ATP * AA;
1021 ColumnVector bb = ATP * ll;
1022 _QQ[sys] = NN.i();
1023 dx = _QQ[sys] * bb;
1024 vv = ll - AA * dx;
1025 }
1026 catch (Exception& exc) {
1027 out << exc.what() << endl;
1028 return failure;
1029 }
1030
1031 int maxResIndex;
1032 double maxRes = vv.maximum_absolute_value1(maxResIndex);
1033 out.setRealNumberNotation(QTextStream::FixedNotation);
1034 out.setRealNumberPrecision(3);
1035 out << _resTime.datestr().c_str() << " " << _resTime.timestr().c_str()
1036 << " Maximum Residuum " << maxRes << ' '
1037 << corrs(sys)[maxResIndex-1]->_acName << ' ' << corrs(sys)[maxResIndex-1]->_prn.mid(0,3);
1038
1039 if (maxRes > _MAXRES) {
1040 out << " Outlier" << endl;
1041 delete corrs(sys)[maxResIndex-1];
1042 corrs(sys).remove(maxResIndex-1);
1043 }
1044 else {
1045 out << " OK" << endl;
1046 out.setRealNumberNotation(QTextStream::FixedNotation);
1047 out.setRealNumberPrecision(3);
1048 for (int ii = 0; ii < vv.Nrows(); ii++) {
1049 const cmbCorr* corr = corrs(sys)[ii];
1050 out << _resTime.datestr().c_str() << ' '
1051 << _resTime.timestr().c_str() << " "
1052 << corr->_acName << ' ' << corr->_prn.mid(0,3);
1053 out.setFieldWidth(6);
1054 out << " res = " << vv[ii] << endl;
1055 out.setFieldWidth(0);
1056 }
1057 return success;
1058 }
1059
1060 }
1061
1062 return failure;
1063}
1064
1065// Check Satellite Positions for Outliers
1066////////////////////////////////////////////////////////////////////////////
1067t_irc bncComb::checkOrbits(char sys, QTextStream& out) {
1068
1069 const double MAX_DISPLACEMENT = 0.20;
1070
1071 // Switch to last ephemeris (if possible)
1072 // --------------------------------------
1073 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1074 while (im.hasNext()) {
1075 cmbCorr* corr = im.next();
1076 QString prn = corr->_prn;
1077
1078 t_eph* ephLast = _ephUser.ephLast(prn);
1079 t_eph* ephPrev = _ephUser.ephPrev(prn);
1080
1081 if (ephLast == 0) {
1082 out << "checkOrbit: missing eph (not found) " << corr->_prn.mid(0,3) << endl;
1083 delete corr;
1084 im.remove();
1085 }
1086 else if (corr->_eph == 0) {
1087 out << "checkOrbit: missing eph (zero) " << corr->_prn.mid(0,3) << endl;
1088 delete corr;
1089 im.remove();
1090 }
1091 else {
1092 if ( corr->_eph == ephLast || corr->_eph == ephPrev ) {
1093 switchToLastEph(ephLast, corr);
1094 }
1095 else {
1096 out << "checkOrbit: missing eph (deleted) " << corr->_prn.mid(0,3) << endl;
1097 delete corr;
1098 im.remove();
1099 }
1100 }
1101 }
1102
1103 while (true) {
1104
1105 // Compute Mean Corrections for all Satellites
1106 // -------------------------------------------
1107 QMap<QString, int> numCorr;
1108 QMap<QString, ColumnVector> meanRao;
1109 QVectorIterator<cmbCorr*> it(corrs(sys));
1110 while (it.hasNext()) {
1111 cmbCorr* corr = it.next();
1112 QString prn = corr->_prn;
1113 if (meanRao.find(prn) == meanRao.end()) {
1114 meanRao[prn].ReSize(4);
1115 meanRao[prn].Rows(1,3) = corr->_orbCorr._xr;
1116 meanRao[prn](4) = 1;
1117 }
1118 else {
1119 meanRao[prn].Rows(1,3) += corr->_orbCorr._xr;
1120 meanRao[prn](4) += 1;
1121 }
1122 if (numCorr.find(prn) == numCorr.end()) {
1123 numCorr[prn] = 1;
1124 }
1125 else {
1126 numCorr[prn] += 1;
1127 }
1128 }
1129
1130 // Compute Differences wrt. Mean, find Maximum
1131 // -------------------------------------------
1132 QMap<QString, cmbCorr*> maxDiff;
1133 it.toFront();
1134 while (it.hasNext()) {
1135 cmbCorr* corr = it.next();
1136 QString prn = corr->_prn;
1137 if (meanRao[prn](4) != 0) {
1138 meanRao[prn] /= meanRao[prn](4);
1139 meanRao[prn](4) = 0;
1140 }
1141 corr->_diffRao = corr->_orbCorr._xr - meanRao[prn].Rows(1,3);
1142 if (maxDiff.find(prn) == maxDiff.end()) {
1143 maxDiff[prn] = corr;
1144 }
1145 else {
1146 double normMax = maxDiff[prn]->_diffRao.NormFrobenius();
1147 double norm = corr->_diffRao.NormFrobenius();
1148 if (norm > normMax) {
1149 maxDiff[prn] = corr;
1150 }
1151 }
1152 }
1153
1154 if (_ACs.size() == 1) {
1155 break;
1156 }
1157
1158 // Remove Outliers
1159 // ---------------
1160 bool removed = false;
1161 QMutableVectorIterator<cmbCorr*> im(corrs(sys));
1162 while (im.hasNext()) {
1163 cmbCorr* corr = im.next();
1164 QString prn = corr->_prn;
1165 if (numCorr[prn] < 2) {
1166 delete corr;
1167 im.remove();
1168 }
1169 else if (corr == maxDiff[prn]) {
1170 double norm = corr->_diffRao.NormFrobenius();
1171 if (norm > MAX_DISPLACEMENT) {
1172 out << _resTime.datestr().c_str() << " "
1173 << _resTime.timestr().c_str() << " "
1174 << "Orbit Outlier: "
1175 << corr->_acName.toLatin1().data() << " "
1176 << prn.mid(0,3).toLatin1().data() << " "
1177 << corr->_iod << " "
1178 << norm << endl;
1179 delete corr;
1180 im.remove();
1181 removed = true;
1182 }
1183 }
1184 }
1185
1186 if (!removed) {
1187 break;
1188 }
1189 }
1190
1191 return success;
1192}
1193
1194//
1195////////////////////////////////////////////////////////////////////////////
1196void bncComb::slotProviderIDChanged(QString mountPoint) {
1197 QMutexLocker locker(&_mutex);
1198
1199 QTextStream out(&_log, QIODevice::WriteOnly);
1200
1201 // Find the AC Name
1202 // ----------------
1203 QString acName;
1204 QListIterator<cmbAC*> icAC(_ACs);
1205 while (icAC.hasNext()) {
1206 cmbAC* AC = icAC.next();
1207 if (AC->mountPoint == mountPoint) {
1208 acName = AC->name;
1209 out << "Provider ID changed: AC " << AC->name.toLatin1().data() << " "
1210 << _resTime.datestr().c_str() << " "
1211 << _resTime.timestr().c_str() << endl;
1212 break;
1213 }
1214 }
1215 if (acName.isEmpty()) {
1216 return;
1217 }
1218 QMapIterator<char, unsigned> itSys(_cmbSysPrn);
1219 while (itSys.hasNext()) {
1220 itSys.next();
1221 char sys = itSys.key();
1222 // Remove all corrections of the corresponding AC
1223 // ----------------------------------------------
1224 QListIterator<bncTime> itTime(_buffer[sys].keys());
1225 while (itTime.hasNext()) {
1226 bncTime epoTime = itTime.next();
1227 QVector<cmbCorr*>& corrVec = _buffer[sys][epoTime].corrs;
1228 QMutableVectorIterator<cmbCorr*> it(corrVec);
1229 while (it.hasNext()) {
1230 cmbCorr* corr = it.next();
1231 if (acName == corr->_acName) {
1232 delete corr;
1233 it.remove();
1234 }
1235 }
1236 }
1237
1238 // Reset Satellite Offsets
1239 // -----------------------
1240 if (_method == filter) {
1241 for (int iPar = 1; iPar <= _params[sys].size(); iPar++) {
1242 cmbParam* pp = _params[sys][iPar-1];
1243 if (pp->AC == acName && pp->type == cmbParam::offACSat) {
1244 pp->xx = 0.0;
1245 _QQ[sys].Row(iPar) = 0.0;
1246 _QQ[sys].Column(iPar) = 0.0;
1247 _QQ[sys](iPar,iPar) = pp->sig0 * pp->sig0;
1248 }
1249 }
1250 }
1251 }
1252}
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