Changeset 10256 in ntrip for trunk/BNC/src/PPP/pppFilter.cpp

Timestamp:

Nov 25, 2023, 10:44:51 PM (10 months ago)

Author:

stuerze

Message:

changes regarding PPP

File:

• trunk/BNC/src/PPP/pppFilter.cpp (modified) (18 diffs)

trunk/BNC/src/PPP/pppFilter.cpp

@@ -86 +86 @@
   // Status Vector, Variance-Covariance Matrix
   // -----------------------------------------
-  _xFltOld = _xFlt;
-  _QFltOld = _QFlt;
-  setStateVectorAndVarCovMatrix(setNeuNoiseToZero);
+  ColumnVector    xFltOld = _xFlt;
+  SymmetricMatrix QFltOld = _QFlt;
+  setStateVectorAndVarCovMatrix(xFltOld, QFltOld, setNeuNoiseToZero);
 
   // Process Satellite Systems separately
@@ -167 +167 @@
     for (unsigned ii = 0; ii < obsVector.size(); ii++) {
       t_pppSatObs *obs = obsVector[ii];
+      char sys = obs->prn().system();
       if (iOutlier == 0) {
         obs->resetOutlier();
@@ -184 +185 @@
             AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
           }
-          ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
+          double offGlo = 0;
+          if (sys == 'R' && tLC != t_lc::MW) {
+            offGlo = PPP_CLIENT->offGlo();
+          }
+          double offGal = 0;
+          if (sys == 'E' && tLC != t_lc::MW) {
+            offGal = PPP_CLIENT->offGal();
+          }
+          double offBds = 0;
+          if (sys == 'C' && tLC != t_lc::MW) {
+            offBds = PPP_CLIENT->offBds();
+          }
+          ll[iObs] = obs->obsValue(tLC) - offGlo - offGal - offBds  - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
           PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
         }
@@ -192 +205 @@
     // Check number of observations
     // ----------------------------
-    if (!nSat) {
+    if (nSat < 2) {
       return failure;
     }
@@ -201 +214 @@
       for (unsigned ii = 0; ii < obsVector.size(); ii++) {
         t_pppSatObs *obs = obsVector[ii];
+        char sys = obs->prn().system();
         if (!obs->outlier()) {
           for (unsigned jj = 0; jj < usedLCs; jj++) {
@@ -215 +229 @@
               AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
             }
-            ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
+            double offGlo = 0;
+            if (sys == 'R' && tLC != t_lc::MW) {
+              offGlo = PPP_CLIENT->offGlo();
+            }
+            double offGal = 0;
+            if (sys == 'E' && tLC != t_lc::MW) {
+              offGal = PPP_CLIENT->offGal();
+            }
+            double offBds = 0;
+            if (sys == 'C' && tLC != t_lc::MW) {
+              offBds = PPP_CLIENT->offBds();
+            }
+            ll[iObs] = obs->obsValue(tLC) - offGlo - offGal - offBds  - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
             PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
           }
@@ -269 +295 @@
 //        if (par->ambResetCandidate()) {
           resetAmb(obs->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
-          adjustNoise(t_pppParam::ion, obs->prn(), 0.1, &QSav);
 //        }
 //        else {
@@ -307 +332 @@
                                     const vector<t_pppSatObs*> &obsVector) {
 
-  const double SLIP = 1000.0;
+  const double SLIP = 20.0;
   string epoTimeStr = string(_epoTime);
   const vector<t_pppParam*> &params = _parlist->params();
@@ -316 +341 @@
       for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
         const t_pppSatObs *obs = obsVector[iObs];
+        char sys = obs->prn().system();
 
         // Check set Slips and Jump Counters
@@ -344 +370 @@
         if (slip) {
           resetAmb(obs->prn(), obsVector, tLC);
-          adjustNoise(t_pppParam::ion, obs->prn(), 0.1);
-        }
-
-        // Check Pre-Fit Residuals
-        // -----------------------
+        }
+
+        // Check Pre-Fit Residuals => switched off, because after a millisecond receiver clock jump, a cycle slip is detected for all satellites
+        /* -----------------------
+
         else {
           ColumnVector AA(params.size());
@@ -355 +381 @@
             AA[iPar] = par->partial(_epoTime, obs, tLC);
           }
-
-          double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
+          double offGlo = 0;
+          if (sys == 'R' && tLC != t_lc::MW) {
+            offGlo = PPP_CLIENT->offGlo();
+          }
+          double offGal = 0;
+          if (sys == 'E' && tLC != t_lc::MW) {
+            offGal = PPP_CLIENT->offGal();
+          }
+          double offBds = 0;
+          if (sys == 'C' && tLC != t_lc::MW) {
+            offBds = PPP_CLIENT->offBds();
+          }
+          double ll = obs->obsValue(tLC) - offGlo - offGal - offBds  - obs->cmpValue(tLC) - DotProduct(_x0, AA);
           double vv = DotProduct(AA, _xFlt) - ll;
 
@@ -363 +400 @@
                 << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
             resetAmb(obs->prn(), obsVector, tLC);
-            adjustNoise(t_pppParam::ion, obs->prn(), 0.1);
-          }
-        }
+          }
+        }*/
       }
     }
@@ -413 +449 @@
       }
       _x0[ind] = par->x0();
-      return success;
-    }
-  }
-
-  return irc;
-}
-
-// Adjust process noise of individual parameters
-////////////////////////////////////////////////////////////////////////////
-t_irc t_pppFilter::adjustNoise(t_pppParam::e_type parType, t_prn prn, double noise,
-                               SymmetricMatrix *QSav) {
-
-  t_irc irc = failure;
-  vector<t_pppParam*>& params = _parlist->params();
-  for (unsigned iPar = 0; iPar < params.size(); iPar++) {
-    t_pppParam *par = params[iPar];
-    if (par->type() == parType && par->prn() == prn) {
-      int iOld = par->indexOld();
-      int iNew = par->indexNew();
-      LOG << string(_epoTime) << " ADJUSTNOISE " << prn.toString() << endl;
-      _QFlt[iNew][iNew] = _QFltOld[iOld][iOld] + noise * noise;
-      if (QSav) {
-        (*QSav)(iNew + 1, iNew + 1) = _QFlt(iNew + 1, iNew + 1);
-      }
-      return success;
-    }
-  }
+      irc = success;
+    }
+  }
+
   return irc;
 }
@@ -482 +495 @@
 //
 ////////////////////////////////////////////////////////////////////////////
-void t_pppFilter::predictCovCrdPart(bool setNeuNoiseToZero) {
+void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
 
   const vector<t_pppParam*>& params = _parlist->params();
@@ -513 +526 @@
     double dt = _epoTime - _firstEpoTime;
     if (dt < OPT->_seedingTime || setNeuNoiseToZero) {
-      _QFlt.SymSubMatrix(1, 3) = _QFltOld.SymSubMatrix(1, 3);
+      _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
     }
     else {
-      _QFlt.SymSubMatrix(1, 3) = _QFltOld.SymSubMatrix(1, 3) + Qxyz;
+      _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
     }
   }
@@ -523 +536 @@
 //
 ////////////////////////////////////////////////////////////////////////////
-void t_pppFilter::setStateVectorAndVarCovMatrix(bool setNeuNoiseToZero) {
+void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
+                                                const SymmetricMatrix &QFltOld,
+                                                bool setNeuNoiseToZero) {
 
   const vector<t_pppParam*>& params = _parlist->params();
@@ -534 +549 @@
   for (unsigned ii = 0; ii < nPar; ii++) {
     t_pppParam *par1 = params[ii];
-    if (_QFltOld.size() == 0) {
+    if (QFltOld.size() == 0) {
       par1->resetIndex();
     }
@@ -542 +557 @@
       _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
     } else {
-      _QFlt[ii][ii] = _QFltOld[iOld][iOld] + par1->noise() * par1->noise();
-      _xFlt[ii]     = _xFltOld[iOld];
+      _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
+      _xFlt[ii]     = xFltOld[iOld];
       for (unsigned jj = 0; jj < ii; jj++) {
         t_pppParam *par2 = params[jj];
         int jOld = par2->indexOld();
         if (jOld >= 0) {
-          _QFlt[ii][jj] = _QFltOld(iOld + 1, jOld + 1);
-        }
-      }
-    }
-  }
-  predictCovCrdPart(setNeuNoiseToZero);
-}
-
+          _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
+        }
+      }
+    }
+  }
+  predictCovCrdPart(QFltOld, setNeuNoiseToZero);
+}
+