Index: trunk/BNC/src/PPP/pppClient.cpp =================================================================== --- trunk/BNC/src/PPP/pppClient.cpp (revision 10033) +++ trunk/BNC/src/PPP/pppClient.cpp (revision 10034) @@ -20,4 +20,5 @@ #include #include +#include #include #include @@ -54,5 +55,5 @@ _obsPool = new t_pppObsPool(); _staRover = new t_pppStation(); - _filter = new t_pppFilter(_obsPool); + _filter = new t_pppFilter(); _tides = new t_tides(); _antex = 0; @@ -65,12 +66,7 @@ } } - - if (_opt->_refSatRequired) { - for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) { - char sys = _opt->systems()[iSys]; - _refSatMap[sys] = new t_pppRefSat(); - } - } - + _offGlo = 0.0; + _offGal = 0.0; + _offBds = 0.0; CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this" } @@ -81,5 +77,4 @@ delete _log; delete _opt; - delete _filter; delete _ephPool; delete _obsPool; @@ -88,12 +83,7 @@ delete _antex; } + delete _filter; delete _tides; clearObs(); - QMapIterator it(_refSatMap); - while (it.hasNext()) { - it.next(); - delete it.value(); - } - _refSatMap.clear(); } @@ -165,5 +155,5 @@ // ------- epoTime.reset(); - clearObs(); + //clearObs(); // Create vector of valid observations @@ -218,23 +208,15 @@ while (it != obsVector.end()) { t_pppSatObs* satObs = *it; - char sys = satObs->prn().system(); - t_pppRefSat* refSat = _refSatMap[sys]; - double stecRef = refSat->stecValue(); - if (stecRef && !satObs->isReference()) { - pseudoObsIono = true; - satObs->setPseudoObsIono(t_frequency::G1, stecRef); - } + pseudoObsIono = satObs->setPseudoObsIono(t_frequency::G1); it++; } } - -/* - vector::iterator it = obsVector.begin(); + /*vector::iterator it = obsVector.begin(); while (it != obsVector.end()) { t_pppSatObs* satObs = *it; satObs->printObsMinusComputed(); it++; - } -*/ + }*/ + return pseudoObsIono; } @@ -330,5 +312,5 @@ } if (maxRes < BLUNDER) { - if (print && _numEpoProcessing == 1) { + if (print) { LOG.setf(ios::fixed); LOG << "\nPPP of Epoch "; @@ -354,5 +336,165 @@ return success; } - +// Compute A Priori Glonass Receiver Clock Offset +////////////////////////////////////////////////////////////////////////////// +double t_pppClient::cmpOffGlo(vector& obsVector) { + + t_lc::type tLC = t_lc::dummy; + double offGlo = 0.0; + + if (OPT->useSystem('R')) { + + while (obsVector.size() > 0) { + offGlo = 0.0; + double maxRes = 0.0; + int maxResIndex = -1; + t_prn maxResPrn; + unsigned nObs = 0; + for (unsigned ii = 0; ii < obsVector.size(); ii++) { + t_pppSatObs* satObs = obsVector.at(ii); + if (satObs->prn().system() == 'R') { + if (tLC == t_lc::dummy) { + tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1; + } + if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) { + double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC); + ++nObs; + offGlo += ll; + if (fabs(ll) > fabs(maxRes)) { + maxRes = ll; + maxResIndex = ii; + maxResPrn = satObs->prn(); + } + } + } + } + + if (nObs > 0) { + offGlo = offGlo / nObs; + } + else { + offGlo = 0.0; + } + + if (fabs(maxRes) > 1000.0) { + LOG << "t_pppClient::cmpOffGlo outlier " << maxResPrn.toString() << " " << maxRes << endl; + obsVector.erase(obsVector.begin() + maxResIndex); + } + else { + break; + } + } + } + + return offGlo; +} + +// Compute A Priori Galileo Receiver Clock Offset +////////////////////////////////////////////////////////////////////////////// +double t_pppClient::cmpOffGal(vector& obsVector) { + + t_lc::type tLC = t_lc::dummy; + double offGal = 0.0; + + if (OPT->useSystem('E')) { + + while (obsVector.size() > 0) { + offGal = 0.0; + double maxRes = 0.0; + int maxResIndex = -1; + t_prn maxResPrn; + unsigned nObs = 0; + for (unsigned ii = 0; ii < obsVector.size(); ii++) { + t_pppSatObs* satObs = obsVector.at(ii); + if (satObs->prn().system() == 'E') { + if (tLC == t_lc::dummy) { + tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1; + } + if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle)) { + double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC); + ++nObs; + offGal += ll; + if (fabs(ll) > fabs(maxRes)) { + maxRes = ll; + maxResIndex = ii; + maxResPrn = satObs->prn(); + } + } + } + } + + if (nObs > 0) { + offGal = offGal / nObs; + } + else { + offGal = 0.0; + } + + if (fabs(maxRes) > 1000.0) { + LOG << "t_pppClient::cmpOffGal outlier " << maxResPrn.toString() << " " << maxRes << endl; + obsVector.erase(obsVector.begin() + maxResIndex); + } + else { + break; + } + } + } + + return offGal; +} + + +// Compute A Priori BDS Receiver Clock Offset +////////////////////////////////////////////////////////////////////////////// +double t_pppClient::cmpOffBds(vector& obsVector) { + + t_lc::type tLC = t_lc::dummy; + double offBds = 0.0; + + if (_opt->useSystem('C')) { + while (obsVector.size() > 0) { + offBds = 0.0; + double maxRes = 0.0; + int maxResIndex = -1; + t_prn maxResPrn; + unsigned nObs = 0; + for (unsigned ii = 0; ii < obsVector.size(); ii++) { + const t_pppSatObs* satObs = obsVector.at(ii); + if (satObs->prn().system() == 'C') { + if (tLC == t_lc::dummy) { + tLC = satObs->isValid(t_lc::cIF) ? t_lc::cIF : t_lc::c1; + } + if (satObs->isValid(tLC) && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle)) { + double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC); + ++nObs; + offBds += ll; + if (fabs(ll) > fabs(maxRes)) { + maxRes = ll; + maxResIndex = ii; + maxResPrn = satObs->prn(); + } + } + } + } + + if (nObs > 0) { + offBds = offBds / nObs; + } + else { + offBds = 0.0; + } + + if (fabs(maxRes) > 1000.0) { + LOG << "t_pppClient::cmpOffBds outlier " << maxResPrn.toString() << " " << maxRes << endl; + delete obsVector.at(maxResIndex); + obsVector.erase(obsVector.begin() + maxResIndex); + } + else { + break; + } + } + } + return offBds; +} // ////////////////////////////////////////////////////////////////////////////// @@ -403,12 +545,6 @@ else { _output->_error = true; - if (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { - if (ind == 1 || ind == 6 || ind > 7) { - reset(); - } - //else {_filter->restoreState(ind);} - } - } + } + _output->_log = _log->str(); delete _log; _log = new ostringstream(); @@ -426,4 +562,5 @@ station->setAntName(_opt->_antNameRover); station->setEpochTime(time); + if (_opt->xyzAprRoverSet()) { station->setXyzApr(_opt->_xyzAprRover); @@ -472,125 +609,68 @@ try { initOutput(output); - bool epochReProcessing = false; - _numEpoProcessing = 0; - if (!_historicalRefSats.isEmpty()) { - _historicalRefSats.clear(); - } - - do { - if ((_numEpoProcessing++) > 30) { - LOG << "t_pppClient::processEpoch: _numEpoProcessing > 30" << endl; - return finish(failure,12); - } - - if (_obsPool->refSatChanged()) { - if(_filter->datumTransformation(_refSatMap) != success) { - LOG << "t_pppFilter::datumTransformation() != success" << endl; - return finish(failure,1); - } - else { - LOG << "t_pppFilter::datumTransformation() == success" << endl; - _filter->rememberState(1); - } - } - - // Prepare Observations of the Rover - // --------------------------------- - if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) { - return finish(failure,2); - } - - for (int iter = 1; iter <= 2; iter++) { - ColumnVector xyzc(4); xyzc = 0.0; - bool print = (iter == 2); - if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) { - return finish(failure,3); - } - - if (cmpModel(_staRover, xyzc, _obsRover) != success) { - return finish(failure,4); - } - } - // use observations only if satellite code biases are available - // ------------------------------------------------------------ - if (!_opt->_corrMount.empty() && - (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias)) { + + // Prepare Observations of the Rover + // --------------------------------- + if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) { + return finish(failure, 1); + } + + for (int iter = 1; iter <= 2; iter++) { + ColumnVector xyzc(4); xyzc = 0.0; + bool print = (iter == 2); + if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) { + return finish(failure, 2); + } + if (cmpModel(_staRover, xyzc, _obsRover) != success) { + return finish(failure, 3); + } + } + // use observations only if satellite code biases are available + /* ------------------------------------------------------------ + if (!_opt->_corrMount.empty() { useObsWithCodeBiasesOnly(_obsRover); - } - - if (int(_obsRover.size()) < _opt->_minObs) { - LOG << "t_pppClient::processEpoch not enough observations" << endl; - return finish(failure,5); - } - - if (_opt->_refSatRequired) { - if (handleRefSatellites(_obsRover) != success) { - return finish(failure,6); - } - if (_obsPool->refSatChanged()) { - epochReProcessing = true; - continue; - } - } - - // Prepare Pseudo Observations of the Rover - // ---------------------------------------- - _pseudoObsIono = preparePseudoObs(_obsRover); - - // Store last epoch of data - // ------------------------ - _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono, _refSatMap); -#ifdef BNC_DEBUG_PPP - LOG << "PUT EPOCH t_pppClient::processEpoch " << _epoTimeRover.timestr().c_str() << endl; -#endif - - // Process Epoch in Filter - // ----------------------- - if (_filter->processEpoch(_numEpoProcessing) != success) { - LOG << "filter->processEpoch() != success" << endl; - return finish(failure,7); - } - - // Epoch re-processing required? - // ----------------------------- - if (_obsPool->refSatChangeRequired() && //SLIP - _opt->_obsModelType != t_pppOptions::UncombPPP) { - LOG << "pppClient: _obsPool->refSatChangeRequired() " << endl; - epochReProcessing = true; -#ifdef BNC_DEBUG_PPP - LOG << "DELETE EPOCH" << endl; -#endif - _obsPool->deleteLastEpoch(); - _filter->restoreState(0); - setHistoricalRefSats(); - } - else { - epochReProcessing = false; - if (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { - _filter->rememberState(0); - } - } - } while (epochReProcessing); - + }*/ + + if (int(_obsRover.size()) < _opt->_minObs) { + LOG << "t_pppClient::processEpoch not enough observations" << endl; + return finish(failure, 4); + } + + _offGlo = cmpOffGlo(_obsRover); + _offGal = cmpOffGal(_obsRover); + _offBds = cmpOffBds(_obsRover); + + // Prepare Pseudo Observations of the Rover + // ---------------------------------------- + _pseudoObsIono = preparePseudoObs(_obsRover); + + // Store last epoch of data + // ------------------------ + _obsPool->putEpoch(_epoTimeRover, _obsRover, _pseudoObsIono); + + // Process Epoch in Filter + // ----------------------- + if (_filter->processEpoch(_obsPool) != success) { + LOG << "filter->processEpoch() != success" << endl; + return finish(failure, 5); + } } catch (Exception& exc) { LOG << exc.what() << endl; - return finish(failure,8); + return finish(failure, 6); } catch (t_except msg) { LOG << msg.what() << endl; - return finish(failure,9); + return finish(failure, 7); } catch (const char* msg) { LOG << msg << endl; - return finish(failure,10); + return finish(failure, 8); } catch (...) { LOG << "unknown exception" << endl; - return finish(failure,11); - } - return finish(success,0); + return finish(failure, 9); + } + return finish(success, 0); } @@ -684,139 +764,5 @@ // ////////////////////////////////////////////////////////////////////////////// -void t_pppClient::setRefSatellites(std::vector& obsVector) { - // reference satellite definition per system - for (unsigned iSys = 0; iSys < _opt->systems().size(); iSys++) { - t_irc refSatReDefinition = success; - char sys = _opt->systems()[iSys]; - bool refSatDefined = false; - t_pppRefSat* refSat = _refSatMap[sys]; - for (unsigned ii = 0; ii < obsVector.size(); ii++) { - t_pppSatObs* satObs = obsVector.at(ii); - if (satObs->eleSat() < _opt->_minEle) { - continue; - } - // reference satellite is unchanged - // ================================ - if ( !_obsPool->refSatChangeRequired(sys) && refSat->prn() == satObs->prn()) { - refSatDefined = true; - obsVector[ii]->setAsReference(); - } - // reference satellite has changed - // =============================== - else if ( _obsPool->refSatChangeRequired(sys) && refSat->prn() != satObs->prn()) { - if (satObs->prn().system() == sys) { - if (!_historicalRefSats[sys].contains(satObs->prn())) { - refSatDefined = true; - obsVector[ii]->setAsReference(); - refSat->setPrn(satObs->prn()); - } - else if ( _historicalRefSats[sys].contains(satObs->prn())) { - refSatReDefinition = failure; - } - } - } - if (refSatDefined) { - if (OPT->_pseudoObsIono) { - refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1)); - } - break; - } - } - - // all available satellites were already tried to use - if ((!refSatDefined) && (refSatReDefinition == failure)) { - refSat->setPrn(t_prn(sys, 99)); - _obsPool->setRefSatChangeRequired(sys, false); - return; - } - - // reference satellite has to be initialized - // ========================================= - if (!refSatDefined) { - for (unsigned ii = 0; ii < obsVector.size(); ii++) { - t_pppSatObs* satObs = obsVector.at(ii); - if (satObs->eleSat() < _opt->_minEle) { - continue; - } - if (satObs->prn().system() == sys && - !_historicalRefSats[sys].contains(satObs->prn())) { - obsVector[ii]->setAsReference(); - refSat->setPrn(satObs->prn()); - if (OPT->_pseudoObsIono) { - refSat->setStecValue(satObs->getIonoCodeDelay(t_frequency::G1)); - } - refSatDefined = true; - break; - } - } - } - - // no observations for that system - // =============================== - if (!refSatDefined) { - refSat->setPrn(t_prn()); - } - _obsPool->setRefSatChangeRequired(sys, false); // done or impossible - } - - return; -} - -// -////////////////////////////////////////////////////////////////////////////// -t_irc t_pppClient::handleRefSatellites(std::vector& obsVector) { - - // set refSats in current epoch - // ============================ - setRefSatellites(obsVector); // current epoch - LOG.setf(ios::fixed); - t_pppObsPool::t_epoch* epoch = _obsPool->lastEpoch(); - const QMap& refSatMapLastEpoch = epoch->refSatMap(); - - QMapIterator it(_refSatMap); - while (it.hasNext()) { - it.next(); - char sys = it.key(); - t_prn prn = it.value()->prn(); - t_prn refSatLastEpochPrn = t_prn(); - if (epoch) { - refSatLastEpochPrn = refSatMapLastEpoch[sys]->prn(); - } - if (prn.number() == 0) { // no obs for that system available - continue; - } - else if (prn.number() == 99) { // refSat re-definition not possible - LOG << " => refSat re-definition impossible: " << sys << endl; - return failure; - } - QString str; - if (prn == refSatLastEpochPrn || refSatLastEpochPrn == t_prn() ) { - _obsPool->setRefSatChanged(sys, false); - str = " SET "; - } - else { - _obsPool->setRefSatChanged(sys, true); - str = " RESET "; - } - LOG << string(_epoTimeRover) << str.toStdString() << " REFSAT " << sys << ": " << prn.toString() << endl; - } - return success; -} - -void t_pppClient::setHistoricalRefSats() { - QMapIterator it(_refSatMap); - while (it.hasNext()) { - it.next(); - t_prn prn = it.value()->prn(); - char sys = prn.system(); - if (_obsPool->refSatChangeRequired(sys)) { - _historicalRefSats[sys].append(prn); - } - } -} - -// -////////////////////////////////////////////////////////////////////////////// -void t_pppClient::reset() {LOG << "t_pppClient::reset()" << endl; +void t_pppClient::reset() {cout << "t_pppClient::reset()" << endl; // to delete old orbit and clock corrections @@ -830,5 +776,5 @@ // to delete all parameters delete _filter; - _filter = new t_pppFilter(_obsPool); - -} + _filter = new t_pppFilter(); + +} Index: trunk/BNC/src/PPP/pppClient.h =================================================================== --- trunk/BNC/src/PPP/pppClient.h (revision 10033) +++ trunk/BNC/src/PPP/pppClient.h (revision 10034) @@ -4,10 +4,8 @@ #include #include -#include #include "pppInclude.h" #include "ephemeris.h" #include "pppOptions.h" #include "pppModel.h" -#include "pppRefSat.h" class bncAntex; @@ -38,4 +36,7 @@ const bncAntex* antex() const {return _antex;} const t_pppStation* staRover() const {return _staRover;} + double offGlo() const {return _offGlo;} + double offGal() const {return _offGal;} + double offBds() const {return _offBds;} std::ostringstream& log() {return *_log;} @@ -63,8 +64,5 @@ double cmpOffGal(std::vector& obsVector); double cmpOffBds(std::vector& obsVector); - t_irc handleRefSatellites(std::vector& obsVector); - void setRefSatellites(std::vector& obsVector); - void setHistoricalRefSats(); - + t_output* _output; t_pppEphPool* _ephPool; @@ -74,12 +72,12 @@ bncAntex* _antex; t_pppFilter* _filter; + double _offGlo; + double _offGal; + double _offBds; std::vector _obsRover; - QMap _refSatMap; std::ostringstream* _log; t_pppOptions* _opt; t_tides* _tides; bool _pseudoObsIono; - int _numEpoProcessing; - QMap> _historicalRefSats; }; Index: trunk/BNC/src/PPP/pppFilter.cpp =================================================================== --- trunk/BNC/src/PPP/pppFilter.cpp (revision 10033) +++ trunk/BNC/src/PPP/pppFilter.cpp (revision 10034) @@ -27,4 +27,5 @@ #include "pppObsPool.h" #include "pppStation.h" +#include "pppClient.h" using namespace BNC_PPP; @@ -33,9 +34,6 @@ // Constructor //////////////////////////////////////////////////////////////////////////// -t_pppFilter::t_pppFilter(t_pppObsPool *obsPool) { - _numSat = 0; - _obsPool = obsPool; - _refPrn = t_prn(); - _datumTrafo = new t_datumTrafo(); +t_pppFilter::t_pppFilter() { + _parlist = 0; } @@ -43,21 +41,22 @@ //////////////////////////////////////////////////////////////////////////// t_pppFilter::~t_pppFilter() { - delete _datumTrafo; + delete _parlist; } // Process Single Epoch //////////////////////////////////////////////////////////////////////////// -t_irc t_pppFilter::processEpoch(int num) { +t_irc t_pppFilter::processEpoch(t_pppObsPool* obsPool) { + _numSat = 0; const double maxSolGap = 60.0; bool setNeuNoiseToZero = false; - if (num > 1) { - setNeuNoiseToZero = true; + if (!_parlist) { + _parlist = new t_pppParlist(); } // Vector of all Observations // -------------------------- - t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch(); + t_pppObsPool::t_epoch *epoch = obsPool->lastEpoch(); if (!epoch) { return failure; @@ -77,19 +76,11 @@ string epoTimeStr = string(_epoTime); - const QMap &refSatMap = epoch->refSatMap(); - - const QList &usedSystems = _parlist.usedSystems(); - //-- + const QList &usedSystems = _parlist->usedSystems(); + // Set Parameters - if (_parlist.set(_epoTime, allObs, refSatMap) != success) { + // -------------- + if (_parlist->set(_epoTime, allObs) != success) { return failure; } - -#ifdef BNC_DEBUG_PPP - if (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { -// _parlist.printParams(_epoTime); - } -#endif // Status Vector, Variance-Covariance Matrix @@ -99,54 +90,8 @@ setStateVectorAndVarCovMatrix(xFltOld, QFltOld, setNeuNoiseToZero); - // Pre-Process Satellite Systems separately - // ---------------------------------------- - bool preProcessing = false; - if (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { - preProcessing = true; - for (int iSys = 0; iSys < usedSystems.size(); iSys++) { - char sys = usedSystems[iSys]; - _refPrn.set(sys, 0); - if (OPT->_refSatRequired) { - _refPrn = refSatMap[sys]->prn(); - } - vector obsVector; - for (unsigned jj = 0; jj < allObs.size(); jj++) { - if (allObs[jj]->prn().system() == sys) { - obsVector.push_back(allObs[jj]); - } - } - if (iSys == 0) { - _datumTrafo->setFirstSystem(sys); - } - if (processSystem(OPT->LCs(sys), obsVector, _refPrn, - epoch->pseudoObsIono(), preProcessing) != success) { - LOG << sys << ": processSystem != success (pre-processing)" << endl; - _xFlt = xFltOld; - _QFlt = QFltOld; - restoreState(1); - return failure; - } - } - // refSat change required? - // ----------------------- - if (_obsPool->refSatChangeRequired()) { - _xFlt = xFltOld; - _QFlt = QFltOld; - return success; - } else if (!_obsPool->refSatChangeRequired()) { - initDatumTransformation(allObs, epoch->pseudoObsIono()); - } - } - // Process Satellite Systems separately // ------------------------------------ - preProcessing = false; for (int iSys = 0; iSys < usedSystems.size(); iSys++) { char sys = usedSystems[iSys]; - _refPrn.set(sys, 0); - if (OPT->_refSatRequired) { - _refPrn = refSatMap[sys]->prn(); - } unsigned int num = 0; vector obsVector; @@ -154,21 +99,10 @@ if (allObs[jj]->prn().system() == sys) { obsVector.push_back(allObs[jj]); - ++num; - } - } - if (iSys == 0 && OPT->_obsModelType == OPT->UncombPPP) { - _datumTrafo->setFirstSystem(sys); - } - LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num - << endl; - if (processSystem(OPT->LCs(sys), obsVector, _refPrn, - epoch->pseudoObsIono(), preProcessing) != success) { - LOG << "processSystem != success (fin-processing)" << endl; - if (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { - _xFlt = xFltOld; - _QFlt = QFltOld; - restoreState(2); - } + num++; + } + } + LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num << endl; + if (processSystem(OPT->LCs(sys), obsVector, epoch->pseudoObsIono()) != success) { + LOG << "processSystem != success: " << sys << endl; return failure; } @@ -177,6 +111,6 @@ // close epoch processing // ---------------------- - cmpDOP(allObs, refSatMap); - _parlist.printResult(_epoTime, _QFlt, _xFlt); + cmpDOP(allObs); + _parlist->printResult(_epoTime, _QFlt, _xFlt); _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing return success; @@ -186,23 +120,19 @@ //////////////////////////////////////////////////////////////////////////// t_irc t_pppFilter::processSystem(const vector &LCs, - const vector &obsVector, const t_prn &refPrn, - bool pseudoObsIonoAvailable, bool preProcessing) { + const vector &obsVector, + bool pseudoObsIonoAvailable) { LOG.setf(ios::fixed); - char sys = refPrn.system(); // Detect Cycle Slips // ------------------ - if (detectCycleSlips(LCs, obsVector, refPrn, preProcessing) != success) { + if (detectCycleSlips(LCs, obsVector) != success) { return failure; } - if (preProcessing && _obsPool->refSatChangeRequired(sys)) { - return success; - } - - ColumnVector xSav = _xFlt; + + ColumnVector xSav = _xFlt; SymmetricMatrix QSav = _QFlt; - string epoTimeStr = string(_epoTime); - const vector ¶ms = _parlist.params(); - unsigned nPar = _parlist.nPar(); + string epoTimeStr = string(_epoTime); + const vector ¶ms = _parlist->params(); + unsigned nPar = _parlist->nPar(); unsigned usedLCs = LCs.size(); @@ -213,8 +143,4 @@ unsigned maxObs = obsVector.size() * usedLCs; - if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) { - maxObs -= 1; // pseudo obs iono with respect to refSat - } - // Outlier Detection Loop // ---------------------- @@ -229,7 +155,6 @@ // ----------------------------------------------------------- Matrix AA(maxObs, nPar); - ColumnVector ll(maxObs); - DiagonalMatrix PP(maxObs); - PP = 0.0; + ColumnVector ll(maxObs); ll = 0.0; + DiagonalMatrix PP(maxObs); PP = 0.0; int iObs = -1; @@ -242,5 +167,5 @@ for (unsigned ii = 0; ii < obsVector.size(); ii++) { t_pppSatObs *obs = obsVector[ii]; - if (iOutlier == 0 && !preProcessing) { + if (iOutlier == 0) { obs->resetOutlier(); } @@ -257,8 +182,7 @@ for (unsigned iPar = 0; iPar < nPar; iPar++) { const t_pppParam *par = params[iPar]; - AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn); + AA[iObs][iPar] = par->partial(_epoTime, obs, tLC); } - ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - - DotProduct(_x0, AA.Row(iObs + 1)); + ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1)); PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC)); } @@ -269,13 +193,6 @@ // ---------------------------- if ((iObs +1) < OPT->_minObs) { - LOG << "t_pppFilter::processSystem not enough observations " << sys << ": " << iObs + 1 << "\n"; + LOG << "t_pppFilter::processSystem not enough observations " << iObs + 1 << "\n"; return failure; - } - - if ((!iOutlier) && - (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) && (!preProcessing)) { - _datumTrafo->updateIndices(sys, iObs + 1); - _datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, _parlist.nPar()), 1); } @@ -288,5 +205,5 @@ for (unsigned jj = 0; jj < usedLCs; jj++) { const t_lc::type tLC = LCs[jj]; - if (tLC == t_lc::GIM && !obs->isReference()) { + if (tLC == t_lc::GIM) { ++iObs; } else { @@ -297,8 +214,7 @@ for (unsigned iPar = 0; iPar < nPar; iPar++) { const t_pppParam *par = params[iPar]; - AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn); + AA[iObs][iPar] = par->partial(_epoTime, obs, tLC); } - ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - - DotProduct(_x0, AA.Row(iObs + 1)); + ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1)); PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC)); } @@ -340,43 +256,26 @@ t_pppSatObs *obs = usedObs[maxOutlierIndex]; t_pppParam *par = 0; + LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' ' + << obs->prn().toString() << ' ' << setw(8) << setprecision(4) + << maxOutlier << endl; for (unsigned iPar = 0; iPar < nPar; iPar++) { t_pppParam *hlp = params[iPar]; if (hlp->type() == t_pppParam::amb && - hlp->prn() == obs->prn() && - hlp->tLC() == usedTypes[maxOutlierIndex]) { + hlp->prn() == obs->prn() && + hlp->tLC() == usedTypes[maxOutlierIndex]) { par = hlp; } } - if (preProcessing) { - if (obs->prn() == refPrn) { - LOG << epoTimeStr << " Outlier (" - << ((preProcessing) ? "pre-processing) " : "fin-processing) ") - << t_lc::toString(maxOutlierLC) << ' ' << obs->prn().toString() - << ' ' << setw(8) << setprecision(4) << maxOutlier << endl; - _obsPool->setRefSatChangeRequired(sys, true); - break; + if (par) { + if (par->ambResetCandidate()) { + resetAmb(par->prn(), obsVector, maxOutlierLC, &QSav, &xSav); } else { + par->setAmbResetCandidate(); obs->setOutlier(); } } - else { // fin-processing - LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' ' - << obs->prn().toString() << ' ' << setw(8) << setprecision(4) - << maxOutlier << endl; - if (par) { - if (par->ambResetCandidate() || - OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { - resetAmb(par->prn(), obsVector, maxOutlierLC, &QSav, &xSav); - } - else { - par->setAmbResetCandidate(); - obs->setOutlier(); - } - } - else { - obs->setOutlier(); - } + else { + obs->setOutlier(); } } @@ -384,5 +283,4 @@ // --------------- else { - if (!preProcessing) { for (unsigned jj = 0; jj < LCs.size(); jj++) { for (unsigned ii = 0; ii < usedObs.size(); ii++) { @@ -393,7 +291,6 @@ LOG << epoTimeStr << " RES " << left << setw(3) << t_lc::toString(tLC) << right << ' ' - << obs->prn().toString(); - LOG << setw(9) << setprecision(4) << vv[ii] << endl; - } + << obs->prn().toString() << ' ' + << setw(8) << setprecision(4) << vv[ii] << endl; } } @@ -408,11 +305,9 @@ //////////////////////////////////////////////////////////////////////////// t_irc t_pppFilter::detectCycleSlips(const vector &LCs, - const vector &obsVector, const t_prn &refPrn, - bool preProcessing) { - const double SLIP = 50.0; - char sys = refPrn.system(); + const vector &obsVector) { + + const double SLIP = 20.0; string epoTimeStr = string(_epoTime); - const vector ¶ms = _parlist.params(); - unsigned nPar = _parlist.nPar(); + const vector ¶ms = _parlist->params(); for (unsigned ii = 0; ii < LCs.size(); ii++) { @@ -426,65 +321,51 @@ bool slip = false; - // in pre-processing only the reference satellite has to be checked - if (preProcessing && obs->prn() != refPrn) { - continue; - } - if (obs->slip()) { - LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() - << endl; + LOG << epoTimeStr << "cycle slip set (obs) " << obs->prn().toString() << endl; slip = true; } - if (_slips[obs->prn()]._obsSlipCounter != -1 - && _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) { - LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " - << obs->prn().toString() << endl; + if (_slips[obs->prn()]._obsSlipCounter != -1 && + _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) { + LOG << epoTimeStr << "cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl; slip = true; } - if (!preProcessing) { - _slips[obs->prn()]._obsSlipCounter = obs->slipCounter(); - } - if (_slips[obs->prn()]._biasJumpCounter != -1 - && _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) { - LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " - << obs->prn().toString() << endl; + _slips[obs->prn()]._obsSlipCounter = obs->slipCounter(); + + if (_slips[obs->prn()]._biasJumpCounter != -1 && + _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) { + LOG << epoTimeStr << "cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl; slip = true; } - if (!preProcessing) { - _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter(); - } + _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter(); + // Slip Set // -------- if (slip) { - if (preProcessing) { - _obsPool->setRefSatChangeRequired(sys, true); - } else { + resetAmb(obs->prn(), obsVector, tLC); + } + + // Check Pre-Fit Residuals + // ----------------------- + else { + ColumnVector AA(params.size()); + for (unsigned iPar = 0; iPar < params.size(); iPar++) { + const t_pppParam* par = params[iPar]; + AA[iPar] = par->partial(_epoTime, obs, tLC); + } + + double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA); + double vv = DotProduct(AA, _xFlt) - ll; + + if (fabs(vv) > SLIP) { + LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' ' + << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl; resetAmb(obs->prn(), obsVector, tLC); } } - // Check Pre-Fit Residuals - /* ----------------------- - else { - if (!preProcessing) { - ColumnVector AA(nPar); - for (unsigned iPar = 0; iPar < nPar; iPar++) { - const t_pppParam *par = params[iPar]; - AA[iPar] = par->partial(_epoTime, obs, tLC, refPrn); - } - double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - - DotProduct(_x0, AA); - double vv = DotProduct(AA, _xFlt) - ll; - if (fabs(vv) > SLIP) { - LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) - << ' ' << obs->prn().toString() << ' ' << setw(8) - << setprecision(4) << vv << endl; - resetAmb(obs->prn(), obsVector, tLC); - } - } - }*/ - } - } - } + } + } + } + return success; } @@ -496,5 +377,5 @@ t_irc irc = failure; - vector ¶ms = _parlist.params(); + vector& params = _parlist->params(); for (unsigned iPar = 0; iPar < params.size(); iPar++) { t_pppParam *par = params[iPar]; @@ -506,6 +387,5 @@ } LOG << string(_epoTime) << " RESET " << par->toString() << endl; - delete par; - par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector); + delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector); par->setIndex(ind); params[iPar] = par; @@ -532,27 +412,7 @@ } -// Add infinite noise to iono -//////////////////////////////////////////////////////////////////////////// -t_irc t_pppFilter::addNoiseToPar(t_pppParam::e_type parType, char sys) { - t_irc irc = failure; - vector ¶ms = _parlist.params(); - for (unsigned iPar = 0; iPar < params.size(); iPar++) { - t_pppParam *par = params[iPar]; - if (par->type() == parType && par->prn().system() == sys) { - int ind = par->indexNew(); - LOG << string(_epoTime) << " ADD NOISE TO " << par->toString() << endl; - par->setIndex(ind); - _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0(); - irc = success; - } - } - - return irc; -} - // Compute various DOP Values //////////////////////////////////////////////////////////////////////////// -void t_pppFilter::cmpDOP(const vector &obsVector, - const QMap &refSatMap) { +void t_pppFilter::cmpDOP(const vector &obsVector) { _dop.reset(); @@ -564,14 +424,9 @@ for (unsigned ii = 0; ii < obsVector.size(); ii++) { t_pppSatObs *obs = obsVector[ii]; - char sys = obs->prn().system(); - t_prn refPrn = t_prn(); - if (OPT->_refSatRequired) { - refPrn = refSatMap[sys]->prn(); - } if (obs->isValid() && !obs->outlier()) { ++_numSat; for (unsigned iPar = 0; iPar < numPar; iPar++) { - const t_pppParam *par = _parlist.params()[iPar]; - AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1, refPrn); + const t_pppParam* par = _parlist->params()[iPar]; + AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1); } } @@ -581,6 +436,5 @@ } AA = AA.Rows(1, _numSat); - SymmetricMatrix NN; - NN << AA.t() * AA; + SymmetricMatrix NN; NN << AA.t() * AA; SymmetricMatrix QQ = NN.i(); @@ -590,5 +444,6 @@ _dop.T = sqrt(QQ(4, 4)); _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4)); - } catch (...) { + } + catch (...) { } } @@ -598,5 +453,6 @@ void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) { - const vector ¶ms = _parlist.params(); + const vector& params = _parlist->params(); + if (params.size() < 3) { return; @@ -605,11 +461,11 @@ bool first = (params[0]->indexOld() < 0); - SymmetricMatrix Qneu(3); - Qneu = 0.0; + SymmetricMatrix Qneu(3); Qneu = 0.0; for (unsigned ii = 0; ii < 3; ii++) { const t_pppParam *par = params[ii]; if (first) { Qneu[ii][ii] = par->sigma0() * par->sigma0(); - } else { + } + else { Qneu[ii][ii] = par->noise() * par->noise(); } @@ -622,9 +478,11 @@ if (first) { _QFlt.SymSubMatrix(1, 3) = Qxyz; - } else { + } + else { double dt = _epoTime - _firstEpoTime; if (dt < OPT->_seedingTime || setNeuNoiseToZero) { _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3); - } else { + } + else { _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz; } @@ -637,13 +495,10 @@ const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) { - const vector ¶ms = _parlist.params(); + const vector& params = _parlist->params(); unsigned nPar = params.size(); - _QFlt.ReSize(nPar); - _QFlt = 0.0; - _xFlt.ReSize(nPar); - _xFlt = 0.0; - _x0.ReSize(nPar); - _x0 = 0.0; + _QFlt.ReSize(nPar); _QFlt = 0.0; + _xFlt.ReSize(nPar); _xFlt = 0.0; + _x0.ReSize(nPar); _x0 = 0.0; for (unsigned ii = 0; ii < nPar; ii++) { @@ -671,228 +526,2 @@ } -// Compute datum transformation -//////////////////////////////////////////////////////////////////////////// -t_irc t_pppFilter::datumTransformation( - const QMap &refSatMap) { - - // get last epoch - t_pppObsPool::t_epoch *epoch = _obsPool->lastEpoch(); -#ifdef BNC_DEBUG_PPP - LOG << "GET LAST EPOCH" << endl; -#endif - if (!epoch) { - LOG << "t_pppFilter::datumTransformation: !lastEpoch" << endl; - return failure; - } - _epoTime = epoch->epoTime(); - - LOG.setf(ios::fixed); - LOG << "DATUM TRANSFORMATION in Epoch "<< string(_epoTime) << endl; - - vector &allObs = epoch->obsVector(); - - const QMap &refSatMapLastEpoch = epoch->refSatMap(); - - bool pseudoObsIono = epoch->pseudoObsIono(); - - // reset old and set new refSats in last epoch (ambiguities/GIM) - // ============================================================= - if (resetRefSatellitesLastEpoch(allObs, refSatMap, refSatMapLastEpoch) != true) { - LOG << "datumTransformation: resetRefSatellitesLastEpoch != success" << endl; - return failure; - } - - if (OPT->_obsModelType == OPT->UncombPPP) { - _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap); - return success; - } - - // set AA2 - // ======= - if (_parlist.set(_epoTime, allObs, refSatMap) != success) { - return failure; - } -#ifdef BNC_DEBUG_PPP - //_parlist.printParams(_epoTime); -#endif - - const QList &usedSystems = _parlist.usedSystems(); - for (int iSys = 0; iSys < usedSystems.size(); iSys++) { - char sys = usedSystems[iSys]; - t_prn refPrn = refSatMap[sys]->prn(); - vector obsVector; - for (unsigned jj = 0; jj < allObs.size(); jj++) { - if (allObs[jj]->prn().system() == sys) { - allObs[jj]->resetOutlier(); - obsVector.push_back(allObs[jj]); - } - } - if (iSys == 0) { - _datumTrafo->setFirstSystem(sys); - } - vector LCs = OPT->LCs(sys); - unsigned usedLCs = LCs.size(); - if (OPT->_pseudoObsIono && !pseudoObsIono) { - usedLCs -= 1; // GIM not used - } - // max Obs - unsigned maxObs = obsVector.size() * usedLCs; - - if (OPT->_pseudoObsIono && pseudoObsIono) { - maxObs -= 1; // pseudo obs iono with respect to refSat - } - - const vector ¶ms = _parlist.params(); - unsigned nPar = _parlist.nPar(); - - Matrix AA(maxObs, nPar); AA = 0.0; - - // Real Observations - // ----------------- - int iObs = -1; - for (unsigned ii = 0; ii < obsVector.size(); ii++) { - t_pppSatObs *obs = obsVector[ii]; - for (unsigned jj = 0; jj < usedLCs; jj++) { - const t_lc::type tLC = LCs[jj]; - if (tLC == t_lc::GIM) { - continue; - } - ++iObs; - for (unsigned iPar = 0; iPar < nPar; iPar++) { - const t_pppParam *par = params[iPar]; - AA[iObs][iPar] = par->partial(_epoTime, obs, tLC, refPrn); - } - } - } - - if (!(iObs+1)) { - continue; - } - _datumTrafo->updateIndices(sys, iObs + 1); - - if (_datumTrafo->prepareAA(AA.SubMatrix(1, iObs + 1, 1, nPar), 2) != success) { - return failure; - } - } - _datumTrafo->updateNumObs(); - - // Datum Transformation - // ==================== - if (_datumTrafo->computeTrafoMatrix() != success) { - return failure; - } - - ColumnVector xFltOld = _xFlt; - SymmetricMatrix QFltOld = _QFlt; - - _QFlt << _datumTrafo->D21() * QFltOld * _datumTrafo->D21().t(); - _xFlt = _datumTrafo->D21() * xFltOld; - -#ifdef BNC_DEBUG_PPP -// LOG << "xFltOld:\n" << xFltOld << endl; -// LOG << "xFlt :\n" << _xFlt << endl; -#endif - - // Reset Ambiguities after Datum Transformation - // ============================================ - for (int iSys = 0; iSys < usedSystems.size(); iSys++) { - char sys = usedSystems[iSys]; - vector LCs = OPT->LCs(sys); - unsigned usedLCs = LCs.size(); - if (OPT->_pseudoObsIono && !pseudoObsIono) { - usedLCs -= 1; // GIM not used - } - t_prn refPrnOld = refSatMapLastEpoch[sys]->prn(); - t_prn refPrnNew = refSatMap[sys]->prn(); - if (refPrnNew != refPrnOld) { - for (unsigned jj = 0; jj < usedLCs; jj++) { - const t_lc::type tLC = LCs[jj]; - if (tLC == t_lc::GIM) { - continue; - } - resetAmb(refPrnOld, allObs, tLC); - } - } - } - - // switch AA2 to AA1 - // ================= - _datumTrafo->switchAA(); - - _obsPool->putEpoch(_epoTime, allObs, pseudoObsIono, refSatMap); -#ifdef BNC_DEBUG_PPP - LOG << "PUT EPOCH t_pppFilter::datumTransformation " << _epoTime.timestr().c_str() << endl; -#endif - - return success; -} - -// Init datum transformation -//////////////////////////////////////////////////////////////////////////// -void t_pppFilter::initDatumTransformation( - const std::vector &allObs, bool pseudoObsIono) { - unsigned trafoObs = 0; - const QList &usedSystems = _parlist.usedSystems(); - for (int iSys = 0; iSys < usedSystems.size(); iSys++) { - char sys = usedSystems[iSys]; - int satNum = 0; - for (unsigned jj = 0; jj < allObs.size(); jj++) { - if (allObs[jj]->prn().system() == sys) { - satNum++; - } - } - // all LCs - unsigned realUsedLCs = OPT->LCs(sys).size(); - // exclude pseudo obs GIM - if (OPT->_pseudoObsIono && !pseudoObsIono) { - realUsedLCs -= 1; - } - - trafoObs += satNum * realUsedLCs; - - if (OPT->_pseudoObsIono && pseudoObsIono) { - trafoObs -= 1; // pseudo obs iono with respect to refSat - } - } - _datumTrafo->setNumObs(trafoObs); - _datumTrafo->setNumPar(_parlist.nPar()); - _datumTrafo->initAA(); -} - -// -////////////////////////////////////////////////////////////////////////////// -bool t_pppFilter::resetRefSatellitesLastEpoch( - std::vector &obsVector, - const QMap &refSatMap, - const QMap &refSatMapLastEpoch) { - bool resetRefSat; - // reference satellite definition per system - const QList &usedSystems = _parlist.usedSystems(); - for (int iSys = 0; iSys < usedSystems.size(); iSys++) { - resetRefSat = false; - char sys = usedSystems[iSys]; - t_prn newPrn = refSatMap[sys]->prn(); - t_prn oldPrn = refSatMapLastEpoch[sys]->prn(); -#ifdef BNC_DEBUG_PPP - if (oldPrn != newPrn) { - LOG << "oldRef: " << oldPrn.toString() << " => newRef " << newPrn.toString() << endl; - } -#endif - vector::iterator it = obsVector.begin(); - while (it != obsVector.end()) { - t_pppSatObs *satObs = *it; - if (satObs->prn() == newPrn) { - resetRefSat = true; - satObs->setAsReference(); - } else if (satObs->prn() == oldPrn) { - satObs->resetReference(); - } - it++; - } - if (!resetRefSat) { - _obsPool->setRefSatChangeRequired(sys, true); - return resetRefSat; - } - } - return resetRefSat; -} Index: trunk/BNC/src/PPP/pppFilter.h =================================================================== --- trunk/BNC/src/PPP/pppFilter.h (revision 10033) +++ trunk/BNC/src/PPP/pppFilter.h (revision 10034) @@ -8,5 +8,4 @@ #include "bnctime.h" #include "t_prn.h" -#include "pppClient.h" namespace BNC_PPP { @@ -18,29 +17,11 @@ class t_pppFilter { public: - t_pppFilter(t_pppObsPool* obsPool); + t_pppFilter(); ~t_pppFilter(); - t_irc processEpoch(int num); + t_irc processEpoch(t_pppObsPool* obsPool); const ColumnVector& x() const {return _xFlt;} const SymmetricMatrix& Q() const {return _QFlt;} - - t_irc datumTransformation(const QMap& refSatMap); - void initDatumTransformation(const std::vector& allObs, bool pseudoObsIono); - unsigned setTrafoObs(); - void restoreState(int num) { -#ifdef BNC_DEBUG_PPP - LOG << "Restore parameter from last successful epoch: _parlist = _parlist_sav ("<< num << ")\n"; -#endif - _QFlt = _QFlt_sav; - _parlist = _parlist_sav; - } - void rememberState(int num) { -#ifdef BNC_DEBUG_PPP - LOG << "Remember parameters from successful epoch : _parlist_sav = _parlist ("<< num << ")\n"; -#endif - _QFlt_sav = _QFlt; - _parlist_sav = _parlist; - } int numSat() const {return _numSat;} @@ -50,5 +31,5 @@ double GDOP() const {return _dop.G;} double trp() const { - const std::vector& par = _parlist.params(); + const std::vector& par = _parlist->params(); for (unsigned ii = 0; ii < par.size(); ++ii) { if (par[ii]->type() == t_pppParam::trp) { @@ -59,5 +40,5 @@ }; double trpStdev() const { - const std::vector& par = _parlist.params(); + const std::vector& par = _parlist->params(); for (unsigned ii = 0; ii < par.size(); ++ii) { if (par[ii]->type() == t_pppParam::trp) { @@ -92,109 +73,15 @@ }; - class t_datumTrafo { - public: - t_datumTrafo () {initIndices();} - ~t_datumTrafo (){} - - void initIndices() {_firstRow = 1; _lastRow = 0;} - void updateIndices(char sys, int maxObsSys) { - if (firstSystem(sys)) { - initIndices(); - } - else { - _firstRow = _lastRow + 1; - } - _lastRow += maxObsSys; - - }; - - void setFirstSystem(char firstSys) { _firstSys = firstSys;} - bool firstSystem(char sys) { - if (_firstSys == sys) { - return true; - } - return false; - } - void setNumObs(int maxObs) {_maxObs = maxObs;} - void setNumPar(int numPar) {_numPar = numPar;} - int numPar() {return _numPar;} - int numObs() {return _maxObs;} - void updateNumObs() { - _maxObs = _lastRow; - _AA1 = _AA1.SubMatrix(1, _lastRow, 1, _numPar); - _AA2 = _AA2.SubMatrix(1, _lastRow, 1, _numPar); - } - - const Matrix& AA1() {return _AA1;} - const Matrix& AA2() {return _AA2;} - const Matrix& D21() {return _D21;} - - void initAA() { - _AA1.ReSize(_maxObs, _numPar); _AA1 = 0.0; - _AA2.ReSize(_maxObs, _numPar); _AA2 = 0.0; - _D21.ReSize(_numPar, _numPar); _D21 = 0.0; - } - t_irc prepareAA(const Matrix& AA, int ind) { - - Matrix* Prep = &_AA2; - if (ind == 1) { - Prep = &_AA1; - } - if (AA.Ncols() != _numPar) { - LOG << "t_pppFilter::prepareAA: AA.Ncols() != _numPar: " << AA.Ncols() << " != " << _numPar << "\n RETURN FAILURE" << std::endl; - return failure; - } - Prep->SubMatrix(_firstRow, _lastRow, 1, _numPar) = AA; - return success; - } - void switchAA() { - _AA1 = _AA2; - } - t_irc computeTrafoMatrix() { - if (((_AA2.t() * _AA2)).Determinant() == 0.0) { - LOG << "t_pppFilter::computeTrafoMatrix: (_AA2.t() * _AA2).inv() is singular" << std::endl; - return failure; - } - _D21 = ((_AA2.t() * _AA2).i()) * _AA2.t() * _AA1; - return success; - } - - void printMatrix(const Matrix& X, int nRow, int nCol) { - for (int rr = 0; rr < nRow; rr++) { - for (int cc = 0; cc < nCol; cc++) { - LOG << std::setw(6) << std::setprecision(3) << X[rr][cc] << " ;"; - } - LOG << std::endl; - } - LOG << std::endl; - } - private: - int _firstRow; - int _lastRow; - Matrix _AA1; - Matrix _AA2; - Matrix _D21; - char _firstSys; - int _maxObs; - int _numPar; - QMap _refSatMapPseudoObs; - }; - t_irc processSystem(const std::vector& LCs, const std::vector& obsVector, - const t_prn& refPrn, - bool pseudoObsIonoAvailable, - bool preProcessing); + bool pseudoObsIonoAvailable); t_irc detectCycleSlips(const std::vector& LCs, - const std::vector& obsVector, - const t_prn& refPrn, - bool preProcessing); + const std::vector& obsVector); t_irc resetAmb(t_prn prn, const std::vector& obsVector, t_lc::type lc, SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0); - void cmpDOP(const std::vector& obsVector, - const QMap& refSatMap); + void cmpDOP(const std::vector& obsVector); void setStateVectorAndVarCovMatrix(const ColumnVector& xFltOld, const SymmetricMatrix& QFltOld, @@ -203,17 +90,7 @@ void predictCovCrdPart(const SymmetricMatrix& QFltOld, bool setNeuNoiseToZero); - t_irc addNoiseToPar(t_pppParam::e_type parType, char sys); - - bool resetRefSatellitesLastEpoch(std::vector& obsVector, - const QMap& refSatMap, - const QMap& refSatMapLastEpoch); - bncTime _epoTime; - t_pppParlist _parlist; - t_pppParlist _parlist_sav; - t_pppObsPool* _obsPool; - t_datumTrafo* _datumTrafo; + t_pppParlist* _parlist; SymmetricMatrix _QFlt; - SymmetricMatrix _QFlt_sav; ColumnVector _xFlt; ColumnVector _x0; @@ -223,5 +100,4 @@ bncTime _firstEpoTime; bncTime _lastEpoTimeOK; - t_prn _refPrn; }; Index: trunk/BNC/src/PPP/pppObsPool.cpp =================================================================== --- trunk/BNC/src/PPP/pppObsPool.cpp (revision 10033) +++ trunk/BNC/src/PPP/pppObsPool.cpp (revision 10034) @@ -23,5 +23,5 @@ ///////////////////////////////////////////////////////////////////////////// t_pppObsPool::t_epoch::t_epoch(const bncTime& epoTime, vector& obsVector, - bool pseudoObsIono, const QMap& refSatMap) { + bool pseudoObsIono) { _epoTime = epoTime; _pseudoObsIono = pseudoObsIono; @@ -30,13 +30,4 @@ } obsVector.clear(); - - QMapIterator it(refSatMap); - while (it.hasNext()) { - it.next(); - char sys = it.key(); - t_pppRefSat* refSat = it.value(); - _refSatMap[sys] = new t_pppRefSat(refSat->prn(), refSat->stecValue()); - } - //refSatMap.clear(); } @@ -47,11 +38,4 @@ delete _obsVector[ii]; } - - QMapIterator it(_refSatMap); - while (it.hasNext()) { - it.next(); - delete it.value(); - } - _refSatMap.clear(); } @@ -66,9 +50,4 @@ } _vTec = 0; - _refSatChangeRequiredMap['G'] = false; - _refSatChangeRequiredMap['R'] = false; - _refSatChangeRequiredMap['E'] = false; - _refSatChangeRequiredMap['C'] = false; - } @@ -116,7 +95,7 @@ ///////////////////////////////////////////////////////////////////////////// void t_pppObsPool::putEpoch(const bncTime& epoTime, vector& obsVector, - bool pseudoObsIono, const QMap& refSatMap) { + bool pseudoObsIono) { const unsigned MAXSIZE = 2; - _epochs.push_back(new t_epoch(epoTime, obsVector, pseudoObsIono, refSatMap)); + _epochs.push_back(new t_epoch(epoTime, obsVector, pseudoObsIono)); if (_epochs.size() > MAXSIZE) { @@ -125,13 +104,2 @@ } } - -// -///////////////////////////////////////////////////////////////////////////// -void t_pppObsPool::deleteLastEpoch() { - - if (!_epochs.empty()) { - //LOG << " " << _epochs.back()->epoTime().timestr().c_str() << endl; - delete _epochs.back(); - _epochs.pop_back(); - } -} Index: trunk/BNC/src/PPP/pppObsPool.h =================================================================== --- trunk/BNC/src/PPP/pppObsPool.h (revision 10033) +++ trunk/BNC/src/PPP/pppObsPool.h (revision 10034) @@ -4,9 +4,7 @@ #include #include -#include #include #include "pppSatObs.h" #include "bnctime.h" -#include "pppRefSat.h" namespace BNC_PPP { @@ -18,9 +16,8 @@ public: t_epoch(const bncTime& epoTime, std::vector& obsVector, - bool pseudoObsIono, const QMap& refSatMap); + bool pseudoObsIono); ~t_epoch(); std::vector& obsVector() {return _obsVector;} const std::vector& obsVector() const {return _obsVector;} - const QMap& refSatMap() const {return _refSatMap;} const bncTime& epoTime() const {return _epoTime;} bool pseudoObsIono() const {return _pseudoObsIono;} @@ -29,5 +26,4 @@ bool _pseudoObsIono; std::vector _obsVector; - QMap _refSatMap; }; @@ -39,7 +35,5 @@ void putEpoch(const bncTime& epoTime, std::vector& obsVector, - bool pseudoObsIono, const QMap& refSatMap); - - void deleteLastEpoch(); + bool pseudoObsIono); const t_satCodeBias* satCodeBias(const t_prn& prn) const { @@ -60,42 +54,4 @@ } - // RefSat change required in current epoch - // ======================================= - void setRefSatChangeRequired(char sys, bool refSatChangeRequired) { - _refSatChangeRequiredMap[sys] = refSatChangeRequired; - } - bool refSatChangeRequired() { - QMapIterator it(_refSatChangeRequiredMap); - while (it.hasNext()) { - it.next(); - if (it.value() == true) { - return true; - } - } - return false; - } - bool refSatChangeRequired(char sys) { - return _refSatChangeRequiredMap[sys]; - } - - // RefSat changed in current epoch (different from last epoch) - // =========================================================== - void setRefSatChanged(char sys, bool refSatChanged) { - _refSatChangedMap[sys] = refSatChanged; - } - bool refSatChanged() { - QMapIterator it(_refSatChangedMap); - while (it.hasNext()) { - it.next(); - if (it.value() == true) { - return true; - } - } - return false; - } - bool refSatChanged(char sys) { - return _refSatChangedMap[sys]; - } - private: t_satCodeBias* _satCodeBiases[t_prn::MAXPRN+1]; @@ -103,6 +59,4 @@ t_vTec* _vTec; std::deque _epochs; - QMap _refSatChangeRequiredMap; - QMap _refSatChangedMap; }; Index: trunk/BNC/src/PPP/pppParlist.cpp =================================================================== --- trunk/BNC/src/PPP/pppParlist.cpp (revision 10033) +++ trunk/BNC/src/PPP/pppParlist.cpp (revision 10034) @@ -62,17 +62,5 @@ _noise = OPT->_noiseCrd[2]; break; - case rClkG: - _epoSpec = true; - _sigma0 = OPT->_aprSigClk; - break; - case rClkR: - _epoSpec = true; - _sigma0 = OPT->_aprSigClk; - break; - case rClkE: - _epoSpec = true; - _sigma0 = OPT->_aprSigClk; - break; - case rClkC: + case clkR: _epoSpec = true; _sigma0 = OPT->_aprSigClk; @@ -86,9 +74,36 @@ const t_pppSatObs* obs = obsVector->at(ii); if (obs->prn() == _prn) { - _x0 = floor((obs->obsValue(tLC) - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5); + double offGlo = 0; + if (_prn.system() == 'R' && tLC != t_lc::MW) { + offGlo = PPP_CLIENT->offGlo(); + } + double offGal = 0; + if (_prn.system() == 'E' && tLC != t_lc::MW) { + offGal = PPP_CLIENT->offGal(); + } + double offBds = 0; + if (_prn.system() == 'C' && tLC != t_lc::MW) { + offBds = PPP_CLIENT->offBds(); + } + _x0 = floor((obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5); break; } } } + break; + case offGlo: + _epoSpec = true; + _sigma0 = OPT->_aprSigClk; + _x0 = PPP_CLIENT->offGlo(); + break; + case offGal: + _epoSpec = true; + _sigma0 = OPT->_aprSigClk; + _x0 = PPP_CLIENT->offGal(); + break; + case offBds: + _epoSpec = true; + _sigma0 = OPT->_aprSigClk; + _x0 = PPP_CLIENT->offBds(); break; case trp: @@ -117,27 +132,4 @@ } -// -//////////////////////////////////////////////////////////////////////////// -t_pppParam::t_pppParam(const t_pppParam* old) { - _type = old->type(); - _prn = old->prn(); - _tLC = old->tLC(); - _indexOld = old->indexOld(); - _indexNew = old->indexNew(); - _noise = old->noise(); - _sigma0 = old->sigma0(); - _epoSpec = old->epoSpec(); - _x0 = old->x0(); - setFirstObsTime(old->firstObsTime()); - setLastObsTime(old->lastObsTime()); - _ambInfo = 0; - if (_type == t_pppParam::amb) { - _ambInfo = new t_ambInfo(); - _ambInfo->_resetCandidate = old->_ambInfo->_resetCandidate; - _ambInfo->_eleSat = old->_ambInfo->_eleSat; - _ambInfo->_numEpo = old->_ambInfo->_numEpo; - } -} - // Destructor //////////////////////////////////////////////////////////////////////////// @@ -150,5 +142,5 @@ //////////////////////////////////////////////////////////////////////////// double t_pppParam::partial(const bncTime& /* epoTime */, const t_pppSatObs* obs, - const t_lc::type& tLC, const t_prn refPrn) const { + const t_lc::type& tLC) const { // Special Case - Melbourne-Wuebbena @@ -176,24 +168,21 @@ if (tLC == t_lc::GIM) {return 0.0;} return (sta->xyzApr()[2] - obs->xc()[2]) / rhoV.NormFrobenius(); - case rClkG: + case clkR: if (tLC == t_lc::GIM) {return 0.0;} - return (obs->prn().system() == 'G') ? 1.0 : 0.0; - case rClkR: + return 1.0; + case offGlo: if (tLC == t_lc::GIM) {return 0.0;} return (obs->prn().system() == 'R') ? 1.0 : 0.0; - case rClkE: + case offGal: if (tLC == t_lc::GIM) {return 0.0;} return (obs->prn().system() == 'E') ? 1.0 : 0.0; - case rClkC: + case offBds: if (tLC == t_lc::GIM) {return 0.0;} return (obs->prn().system() == 'C') ? 1.0 : 0.0; case amb: - if (tLC == t_lc::GIM) {return 0.0;} - else if ((OPT->_obsModelType == OPT->IF) || - (OPT->_obsModelType == OPT->PPPRTK) || - (OPT->_obsModelType == OPT->UncombPPP) || - (OPT->_obsModelType == OPT->DCMcodeBias && !obs->isReference()) || - (OPT->_obsModelType == OPT->DCMphaseBias && !obs->isReference()) ) { - + if (tLC == t_lc::GIM) { + return 0.0; + } + else { if (obs->prn() == _prn) { if (tLC == _tLC) { @@ -236,9 +225,6 @@ } else if (tLC == t_lc::GIM) { - return -1.0; - } - } - if (tLC == t_lc::GIM && _prn == refPrn) { - return 1.0; + return 1.0; + } } break; @@ -310,15 +296,15 @@ ss << "CRD_Z"; break; - case rClkG: - ss << "REC_CLK G "; - break; - case rClkR: - ss << "REC_CLK R "; - break; - case rClkE: - ss << "REC_CLK E "; - break; - case rClkC: - ss << "REC_CLK C "; + case clkR: + ss << "REC_CLK "; + break; + case offGlo: + ss << "OFF_GLO "; + break; + case offGal: + ss << "OFF_GAL "; + break; + case offBds: + ss << "OFF_BDS "; break; case trp: @@ -361,9 +347,6 @@ _usedSystems.clear(); - vector::iterator it = _params.begin(); - while (it != _params.end()) { - t_pppParam* par = *it; - delete par; - it = _params.erase(it); + for (unsigned ii = 0; ii < _params.size(); ii++) { + delete _params[ii]; } } @@ -371,41 +354,5 @@ // //////////////////////////////////////////////////////////////////////////// -t_pppParlist::t_pppParlist(const t_pppParlist& old) { - - _usedSystems = old._usedSystems; - - vector::const_iterator it = old.params().begin(); - while (it != old.params().end()) { - const t_pppParam* oldParam = *it; - _params.push_back(new t_pppParam(oldParam)); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -const t_pppParlist& t_pppParlist::operator= (const t_pppParlist& p) { - - _usedSystems.clear(); - - _usedSystems = p._usedSystems; - - vector::iterator it = _params.begin(); - while (it != _params.end()) { - t_pppParam* par = *it; - delete par; - it = _params.erase(it); - } - - for (unsigned jj = 0; jj < p.params().size(); jj++) { - t_pppParam* parFrom = p.params()[jj]; - _params.push_back(new t_pppParam(parFrom)); - } - return *this; -} - -// -//////////////////////////////////////////////////////////////////////////// -t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector& obsVector, - const QMap& refSatMap) { +t_irc t_pppParlist::set(const bncTime& epoTime, const std::vector& obsVector) { // Remove some Parameters @@ -421,5 +368,7 @@ } - else if (par->type() == t_pppParam::crdX || + else if (par->type() == t_pppParam::amb || + par->type() == t_pppParam::ion || + par->type() == t_pppParam::crdX || par->type() == t_pppParam::crdY || par->type() == t_pppParam::crdZ) { @@ -429,23 +378,4 @@ } - else if (par->type() == t_pppParam::amb) { - if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) { - remove = true; - } - if (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { - char sys = par->prn().system(); - t_prn refPrn = (refSatMap[sys])->prn(); - if (par->lastObsTime().valid() && par->prn() == refPrn) { - remove = true; - } - } - } - - else if (par->type() == t_pppParam::ion) { - if (par->lastObsTime().valid() && (epoTime - par->lastObsTime() > 60.0)) { - remove = true; - } - } if (remove) { #ifdef BNC_DEBUG_PPP @@ -495,24 +425,11 @@ } - if (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { - // Check if ambiguity parameters have observations - // ----------------------------------------------- + if (OPT->_obsModelType == OPT->PPPRTK || OPT->_pseudoObsIono) { vector::iterator it = _params.begin(); - QList lostSats; while (it != _params.end()) { t_pppParam* par = *it; - if ((par->type() == t_pppParam::amb) && - (!par->lastObsTime().valid() || (epoTime - par->lastObsTime() > 0.0))) { -#ifdef BNC_DEBUG_PPP - //LOG << "remove1 " << par->toString() << std::endl; -#endif - lostSats.append(par->prn()); - delete par; - it = _params.erase(it); - } // Check if systems have to be presented per biases // ---------------------------------------------- - else if ((par->type() == t_pppParam::cBiasG1 || + if (( par->type() == t_pppParam::cBiasG1 || par->type() == t_pppParam::cBiasG2 || par->type() == t_pppParam::pBiasG1 || @@ -558,23 +475,5 @@ } } - // remove respective iono parameters - // --------------------------------- - it = _params.begin(); - while (it != _params.end()) { - t_pppParam* par = *it; - if ((par->type() == t_pppParam::ion) && - (lostSats.contains(par->prn()) || (epoTime - par->lastObsTime() > 0.0))) { -#ifdef BNC_DEBUG_PPP - //LOG << "remove1 " << par->toString() << std::endl; -#endif - delete par; - it = _params.erase(it); - } - else { - ++it; - } - } - } - + } // Required Set of Parameters @@ -588,7 +487,54 @@ required.push_back(new t_pppParam(t_pppParam::crdZ, t_prn(), t_lc::dummy)); + // Receiver Clock + // -------------- + required.push_back(new t_pppParam(t_pppParam::clkR, t_prn(), t_lc::dummy)); + + // GLONASS Clock Offset + // -------------------- + if ( _usedSystems.contains('R') && + (_usedSystems.contains('G') || _usedSystems.contains('E') || _usedSystems.contains('C'))) { + required.push_back(new t_pppParam(t_pppParam::offGlo, t_prn(), t_lc::dummy)); + } + + // Galileo Clock Offset + // -------------------- + if (_usedSystems.contains('E') && _usedSystems.contains('G')) { + required.push_back(new t_pppParam(t_pppParam::offGal, t_prn(), t_lc::dummy)); + } + + // BDS Clock Offset + // ---------------- + if (_usedSystems.contains('C') && (_usedSystems.contains('G') || _usedSystems.contains('E'))) { + required.push_back(new t_pppParam(t_pppParam::offBds, t_prn(), t_lc::dummy)); + } + + // Troposphere + // ----------- + if (OPT->estTrp()) { + required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy)); + } + + // Ionosphere + // ---------- + if (OPT->_obsModelType == OPT->UncombPPP) { + for (unsigned jj = 0; jj < obsVector.size(); jj++) { + const t_pppSatObs* satObs = obsVector[jj]; + required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy)); + } + } + // Ambiguities + // ----------- + for (unsigned jj = 0; jj < obsVector.size(); jj++) { + const t_pppSatObs* satObs = obsVector[jj]; + const vector& ambLCs = OPT->ambLCs(satObs->prn().system()); + for (unsigned ii = 0; ii < ambLCs.size(); ii++) { + required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector)); + } + } + // Receiver Code Biases // -------------------- - if (OPT->_obsModelType == OPT->DCMcodeBias) { + if (OPT->_obsModelType == OPT->PPPRTK) { std::vector lc; if (_usedSystems.contains('G')) { @@ -629,9 +575,35 @@ } } + if (OPT->_pseudoObsIono) { + std::vector lc; + if (_usedSystems.contains('G')) { + lc = OPT->LCs('G'); + if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) { + required.push_back(new t_pppParam(t_pppParam::cBiasG2, t_prn(), t_lc::c2)); + } + } + if (_usedSystems.contains('R')) { + lc = OPT->LCs('R'); + if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) { + required.push_back(new t_pppParam(t_pppParam::cBiasR2, t_prn(), t_lc::c2)); + } + } + if (_usedSystems.contains('E')) { + lc = OPT->LCs('E'); + if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) { + required.push_back(new t_pppParam(t_pppParam::cBiasE2, t_prn(), t_lc::c2)); + } + } + if (_usedSystems.contains('C')) { + lc = OPT->LCs('C'); + if (std::find(lc.begin(), lc.end(), t_lc::c2) != lc.end()) { + required.push_back(new t_pppParam(t_pppParam::cBiasC2, t_prn(), t_lc::c2)); + } + } + } // Receiver Phase Biases // --------------------- - if ((OPT->_obsModelType == OPT->DCMphaseBias) || - (OPT->_obsModelType == OPT->PPPRTK) ) { + if (OPT->_obsModelType == OPT->PPPRTK) { std::vector lc; if (_usedSystems.contains('G')) { @@ -669,54 +641,4 @@ if (std::find(lc.begin(), lc.end(), t_lc::l2) != lc.end()) { required.push_back(new t_pppParam(t_pppParam::pBiasC2, t_prn(), t_lc::l2)); - } - } - } - - // Receiver Clocks - // --------------- - if (_usedSystems.contains('G')) { - required.push_back(new t_pppParam(t_pppParam::rClkG, t_prn(), t_lc::dummy)); - } - - if (_usedSystems.contains('R')) { - required.push_back(new t_pppParam(t_pppParam::rClkR, t_prn(), t_lc::dummy)); - } - - if (_usedSystems.contains('E')) { - required.push_back(new t_pppParam(t_pppParam::rClkE, t_prn(), t_lc::dummy)); - } - - if (_usedSystems.contains('C')) { - required.push_back(new t_pppParam(t_pppParam::rClkC, t_prn(), t_lc::dummy)); - } - - // Troposphere - // ----------- - if (OPT->estTrp()) { - required.push_back(new t_pppParam(t_pppParam::trp, t_prn(), t_lc::dummy)); - } - - // Ionosphere - // ---------- - if (OPT->_obsModelType == OPT->UncombPPP || - OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias ) { - for (unsigned jj = 0; jj < obsVector.size(); jj++) { - const t_pppSatObs* satObs = obsVector[jj]; - required.push_back(new t_pppParam(t_pppParam::ion, satObs->prn(), t_lc::dummy)); - } - } - // Ambiguities - // ----------- - for (unsigned jj = 0; jj < obsVector.size(); jj++) { - const t_pppSatObs* satObs = obsVector[jj]; - if ((OPT->_obsModelType == OPT->IF) || - (OPT->_obsModelType == OPT->PPPRTK) || - (OPT->_obsModelType == OPT->UncombPPP) || - (OPT->_obsModelType == OPT->DCMcodeBias && !satObs->isReference()) || - (OPT->_obsModelType == OPT->DCMphaseBias && !satObs->isReference()) ) { - const vector& ambLCs = OPT->ambLCs(satObs->prn().system()); - for (unsigned ii = 0; ii < ambLCs.size(); ii++) { - required.push_back(new t_pppParam(t_pppParam::amb, satObs->prn(), ambLCs[ii], &obsVector)); } } @@ -779,7 +701,6 @@ t_pppParam* parY = 0; t_pppParam* parZ = 0; - vector::const_iterator it = _params.begin(); - while (it != _params.end()) { - t_pppParam* par = *it; + for (unsigned ii = 0; ii < _params.size(); ii++) { + t_pppParam* par = _params[ii]; if (par->type() == t_pppParam::crdX) { parX = par; @@ -805,5 +726,4 @@ LOG << endl; } - ++it; } Index: trunk/BNC/src/PPP/pppParlist.h =================================================================== --- trunk/BNC/src/PPP/pppParlist.h (revision 10033) +++ trunk/BNC/src/PPP/pppParlist.h (revision 10034) @@ -7,5 +7,4 @@ #include "t_prn.h" #include "bnctime.h" -#include "pppRefSat.h" namespace BNC_PPP { @@ -15,16 +14,15 @@ class t_pppParam { public: - enum e_type {crdX, crdY, crdZ, rClkG, rClkR, rClkE, rClkC, trp, ion, amb, + enum e_type {crdX, crdY, crdZ, clkR, offGlo, offGal, offBds, trp, ion, amb, cBiasG1, cBiasR1, cBiasE1, cBiasC1, pBiasG1, pBiasR1, pBiasE1, pBiasC1, cBiasG2, cBiasR2, cBiasE2, cBiasC2, pBiasG2, pBiasR2, pBiasE2, pBiasC2}; t_pppParam(e_type type, const t_prn& prn, t_lc::type tLC, const std::vector* obsVector = 0); - t_pppParam(const t_pppParam* old); ~t_pppParam(); e_type type() const {return _type;} double x0() const {return _x0;} - double partial(const bncTime& epoTime, const t_pppSatObs* obs, - const t_lc::type& tLC, const t_prn refPrn) const; + double partial(const bncTime& epoTime, const t_pppSatObs* obs, + const t_lc::type& tLC) const; bool epoSpec() const {return _epoSpec;} bool isEqual(const t_pppParam* par2) const { @@ -103,11 +101,8 @@ t_pppParlist(); ~t_pppParlist(); - t_pppParlist(const t_pppParlist& old); - const t_pppParlist&operator= (const t_pppParlist& p); - t_irc set(const bncTime& epoTime, const std::vector& obsVector, - const QMap& refSatMap); + t_irc set(const bncTime& epoTime, const std::vector& obsVector); unsigned nPar() const {return _params.size();} const std::vector& params() const {return _params;} - std::vector& params() {return _params;} + std::vector& params() {return _params;} const QList& usedSystems() const {return _usedSystems;} void printResult(const bncTime& epoTime, const SymmetricMatrix& QQ, Index: trunk/BNC/src/PPP/pppRefSat.h =================================================================== --- trunk/BNC/src/PPP/pppRefSat.h (revision 10033) +++ trunk/BNC/src/PPP/pppRefSat.h (revision 10034) @@ -9,4 +9,5 @@ #define PPPREFSAT_H_ +#include #include "t_prn.h" @@ -32,4 +33,29 @@ double _stecValue; }; + +class t_refSatellites { + public: + t_refSatellites(std::vector systems) { + for (unsigned iSys = 0; iSys < systems.size(); iSys++) { + char sys = systems[iSys]; + _refSatMap[sys] = new t_pppRefSat(); + } + } + ~t_refSatellites() { + QMapIterator it(_refSatMap); + while (it.hasNext()) { + it.next(); + delete it.value(); + } + _refSatMap.clear(); + } + const QMap& refSatMap() const {return _refSatMap;} + + private: + QMap _refSatMap; + +}; + + } Index: trunk/BNC/src/PPP/pppSatObs.cpp =================================================================== --- trunk/BNC/src/PPP/pppSatObs.cpp (revision 10033) +++ trunk/BNC/src/PPP/pppSatObs.cpp (revision 10034) @@ -44,16 +44,8 @@ _valid = true; _reference = false; - _stecRefSat = 0.0; _stecSat = 0.0; _signalPriorities = QString::fromStdString(OPT->_signalPriorities); if (!_signalPriorities.size()) { - if (OPT->_obsModelType == OPT->DCMcodeBias || - OPT->_obsModelType == OPT->DCMphaseBias) { - // at the moment only one code or phase bias per system (G,R,E,C)/modulation considered - _signalPriorities = "G:12&CW R:12&CP E:1&CX E:5&QX C:26&I"; - } - else { - _signalPriorities = "G:12&CWPSLX R:12&CP E:1&CBX E:5&QIX C:26&IQX"; - } + _signalPriorities = "G:12&CWPSLX R:12&CP E:1&CBX E:5&QIX C:26&IQX"; } @@ -109,5 +101,6 @@ if (obs->_rnxType2ch == obsType.toStdString() && obs->_codeValid && obs->_code && - obs->_phaseValid && obs->_phase) { + obs->_phaseValid && obs->_phase && + obs->_lockTimeValid && obs->_lockTime > 5.0) { _obs[iFreq] = new t_frqObs(*obs); //cout << "================> newObs: " << obs->_rnxType2ch <_sigmaGIM * OPT->_sigmaGIM + OPT->_sigmaGIM * OPT->_sigmaGIM; + retVal = OPT->_sigmaGIM * OPT->_sigmaGIM; } @@ -587,5 +580,5 @@ double f1GPS = t_CST::freq(t_frequency::G1, 0); for (unsigned iFreq = 1; iFreq < t_frequency::max; iFreq++) { - if (OPT->_pseudoObsIono) { // DCMcodeBias, DCMphaseBias + if (OPT->_pseudoObsIono) { // For scaling the slant ionospheric delays the trick is to be consistent with units! // The conversion of TECU into meters requires the frequency of the signal. @@ -737,6 +730,10 @@ // //////////////////////////////////////////////////////////////////////////// -void t_pppSatObs::setPseudoObsIono(t_frequency::type freq, double stecRefSat) { +bool t_pppSatObs::setPseudoObsIono(t_frequency::type freq) { + bool pseudoObsIono = false; _stecSat = _model._ionoCodeDelay[freq]; - _stecRefSat = stecRefSat; -} + if (_stecSat) { + pseudoObsIono = true; + } + return pseudoObsIono; +} Index: trunk/BNC/src/PPP/pppSatObs.h =================================================================== --- trunk/BNC/src/PPP/pppSatObs.h (revision 10033) +++ trunk/BNC/src/PPP/pppSatObs.h (revision 10034) @@ -47,5 +47,5 @@ void setRes(t_lc::type tLC, double res); double getRes(t_lc::type tLC) const; - void setPseudoObsIono(t_frequency::type freq, double stecRefSat); + bool setPseudoObsIono(t_frequency::type freq); double getIonoCodeDelay(t_frequency::type freq) {return _model._ionoCodeDelay[freq];} double getCodeBias(t_frequency::type freq) {return _model._codeBias[freq];} @@ -149,5 +149,4 @@ std::map _res; double _signalPropagationTime; - double _stecRefSat; double _stecSat; double _tropo0; Index: trunk/BNC/src/bncmain.cpp =================================================================== --- trunk/BNC/src/bncmain.cpp (revision 10033) +++ trunk/BNC/src/bncmain.cpp (revision 10034) @@ -249,5 +249,5 @@ " PPP/lcGalileo {Select observations from Galileo code and/or phase data [character string: Pi&Li|Pi|Li|no]}\n" " PPP/lcBDS {Select observations from BDS code and/or phase data [character string: Pi&Li|Pi|Li|no]}\n" - " PPP/modelObs {select observation model [character string: Uncombined PPP|Ionosphere-free PPP|DCM with Code Biases|DCM with Phase Biases]}\n" + " PPP/modelObs {select observation model [character string: Uncombined PPP|Ionosphere-free PPP]}\n" " PPP/sigmaC1 {Sigma for code observations in meters [floating-point number]}\n" " PPP/sigmaL1 {Sigma for phase observations in meters [floating-point number]}\n" Index: trunk/BNC/src/bncwindow.cpp =================================================================== --- trunk/BNC/src/bncwindow.cpp (revision 10033) +++ trunk/BNC/src/bncwindow.cpp (revision 10034) @@ -1489,5 +1489,5 @@ _pppWidgets._lcGalileo->setWhatsThis(tr("

Specify which kind of Galileo observations you want to use

  • Specifying 'Pi' means that you request BNC to use code data of two frequencies.
  • Specifying'Li' means that you request BNC to use phase data of two frequencies.
  • Specifying'Pi&Li' means that you request BNC to use both, code and phase data of two frequencies.

Specifying 'no' means that you don't want BNC to use Galileo data. [key: PPP/lcGalileo]

")); _pppWidgets._lcBDS->setWhatsThis(tr("

Specify which kind of BDS observations you want to use

  • Specifying 'Pi' means that you request BNC to use code data from two frequencies.
  • Specifying'Li' means that you request BNC to use phase data of two frequencies.
  • Specifying'Pi&Li' means that you request BNC to use both, code and phase data of two frequencies.

Specifying 'no' means that you don't want BNC to use BDS data. [key: PPP/lcBDS]

")); - _pppWidgets._modelObs->setWhatsThis(tr("

Specify which kind of PPP model you want to use:

  • Uncombined PPP
  • Iopnosphere-free PPP
  • PPP-RTK (currently not activated because of an incomplete standardized SSR model)
  • DCM with Code or Phase Biases

  • [key: PPP/modelObs]

    ")); + _pppWidgets._modelObs->setWhatsThis(tr("

    Specify which kind of PPP model you want to use:

    • Uncombined PPP
    • Iopnosphere-free PPP
    • PPP-RTK (currently not activated because of an incomplete standardized SSR model)

    • [key: PPP/modelObs]

      ")); _pppWidgets._pseudoObs->setWhatsThis(tr("

      Specify whether pseudo observations regarding the Ionosphere shall be used. Please note, this is useful, as soon as the ionospheric information is more accurate than the code data accuracy. [key: PPP/pseudoObs]

      ")); _pppWidgets._sigmaC1->setWhatsThis(tr("

      Enter a Sigma for GPS C1 code observations in meters.

      The higher the sigma you enter, the less the contribution of GPS C1 code observations to a PPP solution from combined code and phase data. 2.0 is likely to be an appropriate choice.

      Default is an empty option field, meaning
      'Sigma C1 = 2.0' [key: PPP/sigmaC1]

      ")); Index: trunk/BNC/src/pppMain.cpp =================================================================== --- trunk/BNC/src/pppMain.cpp (revision 10033) +++ trunk/BNC/src/pppMain.cpp (revision 10034) @@ -215,12 +215,4 @@ } } - else if (settings.value("PPP/modelObs").toString() == "DCM with Code Biases") { - opt->_obsModelType = t_pppOptions::DCMcodeBias; - opt->_refSatRequired = true; - } - else if (settings.value("PPP/modelObs").toString() == "DCM with Phase Biases") { - opt->_obsModelType = t_pppOptions::DCMphaseBias; - opt->_refSatRequired = true; - } #endif // GPS Index: trunk/BNC/src/pppOptions.h =================================================================== --- trunk/BNC/src/pppOptions.h (revision 10033) +++ trunk/BNC/src/pppOptions.h (revision 10034) @@ -11,5 +11,5 @@ class t_pppOptions { public: - enum e_type {IF, UncombPPP, PPPRTK, DCMcodeBias, DCMphaseBias}; + enum e_type {IF, UncombPPP, PPPRTK}; t_pppOptions(); ~t_pppOptions(); @@ -30,7 +30,5 @@ QStringList _obsmodelTypeStr = QStringList() << "IF PPP" - << "Uncombined PPP" - << "DCM with Code Biases" - << "DCM with Phase Biases"; + << "Uncombined PPP"; bool _realTime; std::string _crdFile; Index: trunk/BNC/src/pppWidgets.cpp =================================================================== --- trunk/BNC/src/pppWidgets.cpp (revision 10033) +++ trunk/BNC/src/pppWidgets.cpp (revision 10034) @@ -156,5 +156,5 @@ _pseudoObs->addItems(QString("no").split(",")); #else - _modelObs->addItems(QString("Uncombined PPP,Ionosphere-free PPP,DCM with Code Biases,DCM with Phase Biases").split(",")); + _modelObs->addItems(QString("Uncombined PPP,Ionosphere-free PPP").split(",")); _pseudoObs->addItems(QString("no,Ionosphere").split(",")); #endif @@ -588,8 +588,5 @@ int iRow = _staTable->rowCount(); _staTable->insertRow(iRow); - QString preferredAttributes = "G:12&CWPSLX R:12&CP E:1&CBX E:5&QIX C:26&IQX"; - if (_modelObs->currentText().contains("DCM")) { - preferredAttributes = "G:12&CW R:12&CP E:1&CX E:5&QX C:26&I"; - } + QString preferredAttributes = "G:12&W R:12&P E:1&C E:5&Q C:26&I"; for (int iCol = 0; iCol < _staTable->columnCount(); iCol++) { Index: trunk/BNC/src/run_valgrind =================================================================== --- trunk/BNC/src/run_valgrind (revision 10033) +++ (revision ) @@ -1,10 +1,0 @@ -#/bin/bash -if [ "$1" == "start" ] -then - valgrind --num-callers=50 --leak-check=full ./bnc --file bnc_cmb.raw_110221 --staID "FFMJ1" --conf POST.conf --format RTCM_3 2> valgrind.txt & -elif [ "$1" == "stop" ] -then - kill -SIGINT `ps | grep memcheck | cut -b 1-6` -else - echo "usage: run_valgrind start|stop" -fi Index: trunk/BNC/src/test_tcpip_client.pl =================================================================== --- trunk/BNC/src/test_tcpip_client.pl (revision 10033) +++ (revision ) @@ -1,33 +1,0 @@ -#!/usr/bin/perl -w - -use strict; -use IO::Socket; - -# List of Parameters -# ------------------ -my($port) = @ARGV; - -if (!defined($port)) { - die "Usage: test_tcpip_client.pl portNumber\n"; -} - -# Local Variables -# --------------- -my($serverHostName) = "localhost"; -my $server; - -my $retries = 10; -while ($retries--) { - $server = IO::Socket::INET->new( Proto => "tcp", - PeerAddr => $serverHostName, - PeerPort => $port); - last if ($server); -} -die "Cannot connect to $serverHostName on $port: $!" unless ($server); - -my $buffer; -while (defined ($buffer = <$server>)) { - print $buffer; -} - - Index: trunk/BNC/src/tstClock.pl =================================================================== --- trunk/BNC/src/tstClock.pl (revision 10033) +++ (revision ) @@ -1,34 +1,0 @@ -#!/usr/bin/perl -w - -use strict; - -# List of Parameters -# ------------------ -my($fileName) = @ARGV; - -if (!defined($fileName)) { - die "Usage: tstClock.pl fileName\n"; -} - -open(inFile, "<$fileName") || die "Cannot open file $fileName"; - -my %firstClk; - -while ( defined(my $line=) ) { - if ($line =~ /Full Clock/) { - my @p = split(/\s+/, $line); - my $dateStr = $p[0]; - my $timeStr = $p[1]; - my $prn = $p[4]; - my $iod = $p[5]; - my $clk = $p[6]; - if (!defined($firstClk{$prn})) { - $firstClk{$prn} = $clk; - } - printf("%s %s %s %14.4f\n", - $dateStr, $timeStr, $prn, $clk - $firstClk{$prn}); - } -} - -close(inFile); -