Index: trunk/BNC/src/PPP/pppClient.cpp =================================================================== --- trunk/BNC/src/PPP/pppClient.cpp (revision 10369) +++ trunk/BNC/src/PPP/pppClient.cpp (revision 10373) @@ -67,4 +67,5 @@ } } + _offGps = 0.0; _offGlo = 0.0; _offGal = 0.0; @@ -255,5 +256,30 @@ ColumnVector& xyzc, bool print) { t_lc::type tLC = t_lc::dummy; + char sysBancroft = 'G'; int numBancroft = obsVector.size(); + + _usedSystems['G'] = _usedSystems['R'] = _usedSystems['E'] = _usedSystems['C'] = 0; + for (unsigned jj = 0; jj < obsVector.size(); jj++) { + const t_pppSatObs* satObs = obsVector[jj]; + char sys = satObs->prn().system(); + _usedSystems[sys]++; + } + + if ((numBancroft = _usedSystems.value('G')) >= _opt->_minObs) { + sysBancroft = 'G'; + } + else if ((numBancroft = _usedSystems.value('E')) >= _opt->_minObs) { + sysBancroft = 'E'; + } + else if ((numBancroft = _usedSystems.value('C')) >= _opt->_minObs) { + sysBancroft = 'C'; + } + else if ((numBancroft = _usedSystems.value('R')) >= _opt->_minObs) { + sysBancroft = 'R'; + } + else { + LOG << "t_pppClient::cmpBancroft not enough observations: " << endl; + return failure; + } while (_running) { @@ -262,4 +288,5 @@ for (unsigned ii = 0; ii < obsVector.size(); ii++) { const t_pppSatObs* satObs = obsVector.at(ii); + if (satObs->prn().system() == sysBancroft) { if (tLC == t_lc::dummy) { if (satObs->isValid(t_lc::cIF)) { @@ -282,4 +309,5 @@ } } + } if (iObs + 1 < _opt->_minObs) { LOG << "t_pppClient::cmpBancroft not enough observations: " << iObs + 1 << endl; @@ -300,5 +328,7 @@ for (unsigned ii = 0; ii < obsVector.size(); ii++) { const t_pppSatObs* satObs = obsVector.at(ii); - if (satObs->isValid() && (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) { + char sys = satObs->prn().system(); + if (satObs->isValid() && sys == sysBancroft && + (!satObs->modelSet() || satObs->eleSat() >= _opt->_minEle) ) { ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3); double res = rr.NormFrobenius() - satObs->obsValue(tLC) @@ -316,5 +346,5 @@ if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover); LOG << "\n---------------------------------------------------------------\n"; - LOG << string(epoTime) << " BANCROFT " << ": " + LOG << string(epoTime) << " BANCROFT " << sysBancroft << ": " << setw(14) << setprecision(3) << xyzc[0] << ' ' << setw(14) << setprecision(3) << xyzc[1] << ' ' @@ -334,4 +364,56 @@ return success; +} +// Compute A Priori Gps Clock Offset +////////////////////////////////////////////////////////////////////////////// +double t_pppClient::cmpOffGps(vector& obsVector) { + + t_lc::type tLC = t_lc::dummy; + double offGps = 0.0; + + if (_opt->useSystem('G')) { + while (obsVector.size() > 0) { + offGps = 0.0; + double maxRes = 0.0; + int maxResIndex = -1; + unsigned nObs = 0; + t_prn maxResPrn; + for (unsigned ii = 0; ii < obsVector.size(); ii++) { + const t_pppSatObs* satObs = obsVector.at(ii); + if (satObs->prn().system() == 'G') { + 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; + offGps += ll; + if (fabs(ll) > fabs(maxRes)) { + maxRes = ll; + maxResIndex = ii; + maxResPrn = satObs->prn(); + } + } + } + } + + if (nObs > 0) { + offGps = offGps / nObs; + } + else { + offGps = 0.0; + } + + if (fabs(maxRes) > 100.0) { + LOG << "t_pppClient::cmpOffGps outlier " << maxResPrn.toString() << " " << maxRes << endl; + delete obsVector.at(maxResIndex); + obsVector.erase(obsVector.begin() + maxResIndex); + } + else { + break; + } + } + } + return offGps; } @@ -636,4 +718,5 @@ } + _offGps = cmpOffGps(_obsRover); _offGlo = cmpOffGlo(_obsRover); _offGal = cmpOffGal(_obsRover); Index: trunk/BNC/src/PPP/pppClient.h =================================================================== --- trunk/BNC/src/PPP/pppClient.h (revision 10369) +++ trunk/BNC/src/PPP/pppClient.h (revision 10373) @@ -36,10 +36,13 @@ const bncAntex* antex() const {return _antex;} const t_pppStation* staRover() const {return _staRover;} + double offGps() const {return _offGps;} double offGlo() const {return _offGlo;} double offGal() const {return _offGal;} double offBds() const {return _offBds;} + void resetOffGps() {_offGps = 0.0;} void resetOffGlo() {_offGlo = 0.0;} void resetOffGal() {_offGal = 0.0;} void resetOffBds() {_offBds = 0.0;} + std::ostringstream& log() {return *_log;} @@ -63,4 +66,5 @@ t_irc cmpBancroft(const bncTime& epoTime, std::vector& obsVector, ColumnVector& xyzc, bool print); + double cmpOffGps(std::vector& obsVector); double cmpOffGlo(std::vector& obsVector); double cmpOffGal(std::vector& obsVector); @@ -75,4 +79,5 @@ bncAntex* _antex; t_pppFilter* _filter; + double _offGps; double _offGlo; double _offGal; Index: trunk/BNC/src/PPP/pppFilter.cpp =================================================================== --- trunk/BNC/src/PPP/pppFilter.cpp (revision 10369) +++ trunk/BNC/src/PPP/pppFilter.cpp (revision 10373) @@ -76,5 +76,5 @@ string epoTimeStr = string(_epoTime); - const QList &usedSystems = _parlist->usedSystems(); + const QMap &usedSystems = _parlist->usedSystems(); // Set Parameters @@ -92,7 +92,7 @@ // Process Satellite Systems separately // ------------------------------------ - for (int iSys = 0; iSys < usedSystems.size(); iSys++) { - char sys = usedSystems[iSys]; - unsigned int num = 0; + for (auto it = usedSystems.begin(); it != usedSystems.end(); ++it) { + char sys = it.key(); + unsigned num = 0; vector obsVector; for (unsigned jj = 0; jj < allObs.size(); jj++) { @@ -185,4 +185,8 @@ AA[iObs][iPar] = par->partial(_epoTime, obs, tLC); } + double offGps = 0.0; + if (sys == 'G' && tLC != t_lc::MW) { + offGps = PPP_CLIENT->offGps(); + } double offGlo = 0.0; if (sys == 'R' && tLC != t_lc::MW) { @@ -197,5 +201,5 @@ offBds = PPP_CLIENT->offBds(); } - ll[iObs] = obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1)); + ll[iObs] = obs->obsValue(tLC) -offGps - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1)); PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC)); } @@ -229,4 +233,8 @@ AA[iObs][iPar] = par->partial(_epoTime, obs, tLC); } + double offGps = 0.0; + if (sys == 'G' && tLC != t_lc::MW) { + offGps = PPP_CLIENT->offGps(); + } double offGlo = 0.0; if (sys == 'R' && tLC != t_lc::MW) { @@ -241,5 +249,5 @@ offBds = PPP_CLIENT->offBds(); } - ll[iObs] = obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1)); + ll[iObs] = obs->obsValue(tLC) -offGps - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1)); PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC)); } @@ -375,5 +383,5 @@ // Check Pre-Fit Residuals - /* ----------------------- + // ----------------------- else { ColumnVector AA(params.size()); @@ -382,4 +390,8 @@ AA[iPar] = par->partial(_epoTime, obs, tLC); } + double offGps = 0.0; + if (sys == 'G' && tLC != t_lc::MW) { + offGps = PPP_CLIENT->offGps(); + } double offGlo = 0.0; if (sys == 'R' && tLC != t_lc::MW) { @@ -394,5 +406,5 @@ offBds = PPP_CLIENT->offBds(); } - double ll = obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA); + double ll = obs->obsValue(tLC) -offGps - offGlo - offGal - offBds - obs->cmpValue(tLC) - DotProduct(_x0, AA); double vv = DotProduct(AA, _xFlt) - ll; @@ -402,5 +414,5 @@ resetAmb(obs->prn(), obsVector, tLC); } - }*/ + } } } Index: trunk/BNC/src/PPP/pppParlist.cpp =================================================================== --- trunk/BNC/src/PPP/pppParlist.cpp (revision 10369) +++ trunk/BNC/src/PPP/pppParlist.cpp (revision 10373) @@ -74,4 +74,8 @@ const t_pppSatObs* obs = obsVector->at(ii); if (obs->prn() == _prn) { + double offGps = 0.0; + if (_prn.system() == 'G' && tLC != t_lc::MW) { + offGps = PPP_CLIENT->offGps(); + } double offGlo = 0.0; if (_prn.system() == 'R' && tLC != t_lc::MW) { @@ -86,9 +90,14 @@ offBds = PPP_CLIENT->offBds(); } - _x0 = floor((obs->obsValue(tLC) - offGlo - offGal - offBds - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5); + _x0 = floor((obs->obsValue(tLC) - offGps - offGlo - offGal - offBds - obs->cmpValue(tLC)) / obs->lambda(tLC) + 0.5); break; } } } + break; + case offGps: + _epoSpec = true; + _sigma0 = OPT->_aprSigClkOff; + _x0 = PPP_CLIENT->offGps(); break; case offGlo: @@ -171,4 +180,7 @@ if (tLC == t_lc::GIM) {return 0.0;} return 1.0; + case offGps: + if (tLC == t_lc::GIM) {return 0.0;} + return (obs->prn().system() == 'G') ? 1.0 : 0.0; case offGlo: if (tLC == t_lc::GIM) {return 0.0;} @@ -299,4 +311,7 @@ ss << "REC_CLK "; break; + case offGps: + ss << "OFF_GPS "; + break; case offGlo: ss << "OFF_GLO "; @@ -345,5 +360,4 @@ //////////////////////////////////////////////////////////////////////////// t_pppParlist::~t_pppParlist() { - _usedSystems.clear(); for (unsigned ii = 0; ii < _params.size(); ii++) { @@ -396,11 +410,9 @@ // check which systems have observations // ------------------------------------- - _usedSystems.clear(); + _usedSystems['G'] = _usedSystems['R'] = _usedSystems['E'] = _usedSystems['C'] = 0; for (unsigned jj = 0; jj < obsVector.size(); jj++) { const t_pppSatObs* satObs = obsVector[jj]; char sys = satObs->prn().system(); - if (!_usedSystems.contains(sys)) { - _usedSystems.append(sys); - } + _usedSystems[sys]++; } @@ -438,5 +450,5 @@ par->type() == t_pppParam::cBiasG2 || par->type() == t_pppParam::pBiasG1 || - par->type() == t_pppParam::pBiasG2) && !usedSystems().contains('G')) { + par->type() == t_pppParam::pBiasG2) && !_usedSystems.value('G')) { #ifdef BNC_DEBUG_PPP //LOG << "remove1 " << par->toString() << std::endl; @@ -448,5 +460,5 @@ par->type() == t_pppParam::cBiasR2 || par->type() == t_pppParam::pBiasR1 || - par->type() == t_pppParam::pBiasR2) && !usedSystems().contains('R')) { + par->type() == t_pppParam::pBiasR2) && !_usedSystems.value('R')){ #ifdef BNC_DEBUG_PPP //LOG << "remove1 " << par->toString() << std::endl; @@ -458,5 +470,5 @@ par->type() == t_pppParam::cBiasE2 || par->type() == t_pppParam::pBiasE1 || - par->type() == t_pppParam::pBiasE2) && !usedSystems().contains('E')) { + par->type() == t_pppParam::pBiasE2) && !_usedSystems.value('E')) { #ifdef BNC_DEBUG_PPP //LOG << "remove1 " << par->toString() << std::endl; @@ -468,5 +480,5 @@ par->type() == t_pppParam::cBiasC2 || par->type() == t_pppParam::pBiasC1 || - par->type() == t_pppParam::pBiasC2) && !usedSystems().contains('C')) { + par->type() == t_pppParam::pBiasC2) && !_usedSystems.value('C')) { #ifdef BNC_DEBUG_PPP //LOG << "remove1 " << par->toString() << std::endl; @@ -497,18 +509,38 @@ // GLONASS Clock Offset // -------------------- - if (OPT->useSystem('R')) { + if ( _usedSystems.value('R') && + (_usedSystems.value('G') || _usedSystems.value('E') || _usedSystems.value('C'))) { required.push_back(new t_pppParam(t_pppParam::offGlo, t_prn(), t_lc::dummy)); + } + else { + PPP_CLIENT->resetOffGlo(); } // Galileo Clock Offset // -------------------- - if (OPT->useSystem('E')) { + if (_usedSystems.value('E') && _usedSystems.value('G') && _usedSystems.value('G') >= OPT->_minObs) { required.push_back(new t_pppParam(t_pppParam::offGal, t_prn(), t_lc::dummy)); + } + else { + PPP_CLIENT->resetOffGal(); + } + + // GPS Clock Offset + // -------------------- + if (_usedSystems.value('E') && _usedSystems.value('G') && _usedSystems.value('G') < OPT->_minObs) { + required.push_back(new t_pppParam(t_pppParam::offGps, t_prn(), t_lc::dummy)); + } + else { + PPP_CLIENT->resetOffGps(); } // BDS Clock Offset // ---------------- - if (OPT->useSystem('C')) { + if (_usedSystems.contains('C') && + (_usedSystems.contains('G') || _usedSystems.contains('E'))) { required.push_back(new t_pppParam(t_pppParam::offBds, t_prn(), t_lc::dummy)); + } + else { + PPP_CLIENT->resetOffBds(); } Index: trunk/BNC/src/PPP/pppParlist.h =================================================================== --- trunk/BNC/src/PPP/pppParlist.h (revision 10369) +++ trunk/BNC/src/PPP/pppParlist.h (revision 10373) @@ -14,5 +14,5 @@ class t_pppParam { public: - enum e_type {crdX, crdY, crdZ, rClk, offGlo, offGal, offBds, trp, ion, amb, + enum e_type {crdX, crdY, crdZ, rClk, offGps, offGlo, offGal, offBds, trp, ion, amb, cBiasG1, cBiasR1, cBiasE1, cBiasC1, pBiasG1, pBiasR1, pBiasE1, pBiasC1, cBiasG2, cBiasR2, cBiasE2, cBiasC2, pBiasG2, pBiasR2, pBiasE2, pBiasC2}; @@ -104,5 +104,5 @@ const std::vector& params() const {return _params;} std::vector& params() {return _params;} - const QList& usedSystems() const {return _usedSystems;} + const QMap& usedSystems() const {return _usedSystems;} void printResult(const bncTime& epoTime, const SymmetricMatrix& QQ, const ColumnVector& xx) const; @@ -111,5 +111,5 @@ private: std::vector _params; - QList _usedSystems; + QMap _usedSystems; }; Index: trunk/BNC/src/PPP/pppSatObs.cpp =================================================================== --- trunk/BNC/src/PPP/pppSatObs.cpp (revision 10369) +++ trunk/BNC/src/PPP/pppSatObs.cpp (revision 10373) @@ -660,4 +660,8 @@ for (unsigned ii = 0; ii < OPT->LCs(sys).size(); ii++) { t_lc::type tLC = OPT->LCs(sys)[ii]; + double offGps = 0.0; + if (_prn.system() == 'G' && tLC != t_lc::MW) { + offGps = PPP_CLIENT->offGps(); + } double offGlo = 0; if (sys == 'R' && tLC != t_lc::MW) { @@ -675,5 +679,5 @@ << setw(12) << setprecision(3) << obsValue(tLC) << " " << setw(12) << setprecision(3) << cmpValue(tLC) << " " - << setw(12) << setprecision(3) << obsValue(tLC) - offGlo - offGal - offBds - cmpValue(tLC) << endl; + << setw(12) << setprecision(3) << obsValue(tLC) - offGps - offGlo - offGal - offBds - cmpValue(tLC) << endl; } }