Changeset 10694 in ntrip


Ignore:
Timestamp:
Jul 15, 2025, 4:38:52 PM (6 weeks ago)
Author:
stuerze
Message:

some corrections are added for consistency before clock combination

Location:
trunk/BNC/src
Files:
4 edited

Legend:

Unmodified
Added
Removed

  • trunk/BNC/src/RTCM3/RTCM3Decoder.cpp

    r10692 r10694  
    20852085    _gloBiasInfo.set(gloBiasInfo);
    20862086  }
    2087 
    20882087  return true;
    20892088}

  • trunk/BNC/src/bnchelp.html

    r10693 r10694  
    46044604satellite Antenna Phase Centers (APC). It is so far only the satellite clock corrections, which are combined by BNC
    46054605while orbit corrections in the combination product are just taken over from one of the incoming
    4606 Broadcast Correction streams. Combining only clock corrections using a fixed orbit reference imposes the potential
    4607 to introduce some analysis inconsistencies. We will therefore consider improvements on this approach.
    4608 </p>
     4606Broadcast Correction streams. Combining only clock corrections using a fixed orbit reference (which means the individual orbit of
     4607an incoming AC = Master orbit) imposes the potential to introduce analysis inconsistencies. Hence, some a priori corrections dC
     4608are applied before clock combination, to compensate for the inconsistency between MasterAC and other orbits.
     4609This should include corrections for inconsistent frames, attitude mode and phase center offset:
     4610</p>
     4611<pre>
     4612 dC = dC_frame + dC_att + dC_pco [m]
     4613</pre>
     4614 But because at present, no PCO information is available via SSR, we consider only
     4615<pre>
     4616 dC_frame = Orb_AC * (Orb_AC - Orb_MasterAC) / Range_sat
     4617</pre>
     4618<pre>
     4619 dC_att = (yawAngle_AC - yawAngle_MasterAC) / (2*PI) * wavelength(IF)
     4620</pre>
     4621
    46094622<p>
    46104623The 'Combine Corrections' functionality may be of interrest because:

  • trunk/BNC/src/combination/bnccomb.cpp

    r10669 r10694  
    219219  connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
    220220  connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
     221  connect(BNC_CORE, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)), this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
    221222
    222223  // Combination Method
    … …  
    479480    storage[satCodeBias._prn] = satCodeBias;
    480481  }
    481 
    482 }
     482  return;
     483}
     484
     485// Remember Satellite Phase Biases
     486////////////////////////////////////////////////////////////////////////////
     487void bncComb::slotNewPhaseBiases(QList<t_satPhaseBias> satPhaseBiases) {
     488  QMutexLocker locker(&_mutex);
     489
     490  for (int ii = 0; ii < satPhaseBiases.size(); ii++) {
     491    t_satPhaseBias& satPhaseBias = satPhaseBiases[ii];
     492    QString    staID(satPhaseBias._staID.c_str());
     493    char       sys = satPhaseBias._prn.system();
     494
     495    if (!_cmbSysPrn.contains(sys)){
     496      continue;
     497    }
     498
     499    // Find/Check the AC Name
     500    // ----------------------
     501    QString acName;
     502    QStringList excludeSats;
     503    QListIterator<cmbAC*> icAC(_ACs);
     504    while (icAC.hasNext()) {
     505      cmbAC* AC = icAC.next();
     506      if (AC->mountPoint == staID) {
     507        acName      = AC->name;
     508        excludeSats = AC->excludeSats;
     509        break;
     510      }
     511    }
     512    if (acName.isEmpty() || excludeSat(satPhaseBias._prn, excludeSats)) {
     513      continue;
     514    }
     515
     516    // Store the correction
     517    // --------------------
     518    QMap<t_prn, t_satPhaseBias>& storage = _satPhaseBiases[acName];
     519    storage[satPhaseBias._prn] = satPhaseBias;
     520  }
     521  return;
     522}
     523
    483524
    484525// Process clock corrections
    … …  
    783824          }
    784825        }
    785         if (codeBiasesRefSig.size() == 2) {
    786           map<t_frequency::type, double> codeCoeff;
    787           double channel = double(_newCorr->_eph->slotNum());
    788           cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
    789           map<t_frequency::type, double>::const_iterator it;
    790           for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
    791             t_frequency::type frqType = it->first;
    792             _newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
    793           }
     826        map<t_frequency::type, double> codeCoeff;
     827        double channel = double(_newCorr->_eph->slotNum());
     828        cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
     829        map<t_frequency::type, double>::const_iterator it;
     830        for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
     831          t_frequency::type frqType = it->first;
     832          double codeCoeff          = it->second;
     833          _newCorr->_satCodeBiasIF += codeCoeff * codeBiasesRefSig[frqType];
    794834        }
    795835        _newCorr->_satCodeBias._bias.clear();
     836      }
     837    }
     838
     839    // Check satellite phase biases
     840    // ----------------------------
     841    if (_satPhaseBiases.contains(acName)) {
     842      QMap<t_prn, t_satPhaseBias>& storage = _satPhaseBiases[acName];
     843      if (storage.contains(clkCorr._prn)) {
     844        // Yaw angle
     845        t_satPhaseBias& pb = storage[clkCorr._prn];
     846        double dt = _newCorr->_time - pb._time;
     847        if (pb._updateInt) {
     848          dt -= (0.5 * ssrUpdateInt[pb._updateInt]);
     849        }
     850        _newCorr->_satYawAngle = pb._yaw + pb._yawRate * dt;
     851
     852        // _lambdaIF
     853        map<t_frequency::type, double> codeCoeff;
     854        double channel = double(_newCorr->_eph->slotNum());
     855        cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
     856        map<t_frequency::type, double>::const_iterator it;
     857        for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
     858          t_frequency::type frqType = it->first;
     859          double codeCoeff = it->second;
     860          _newCorr->_lambdaIF += codeCoeff * t_CST::c / t_CST::freq(frqType, channel);
     861        }
    796862      }
    797863    }
    … …  
    901967  }
    902968
    903   QMap<QString, cmbCorr*> resCorr;
     969  QMap<QString, cmbCorr*> masterCorr;
    904970
    905971  // Perform the actual Combination using selected Method
    … …  
    908974  ColumnVector dx;
    909975  if (_method == filter) {
    910     irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
     976    irc = processEpoch_filter(epoTime, sys, out, masterCorr, dx);
    911977  }
    912978  else {
    913     irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
     979    irc = processEpoch_singleEpoch(epoTime, sys, out, masterCorr, dx);
    914980  }
    915981
    … …  
    921987      pp->xx += dx(iPar);
    922988      if (pp->type == cmbParam::clkSat) {
    923         if (resCorr.find(pp->prn) != resCorr.end()) {
     989        if (masterCorr.find(pp->prn) != masterCorr.end()) {
    924990          // set clock result
    925           resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
     991          masterCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
    926992          // Add Code Biases from SINEX File
    927993          if (_bsx) {
    928994            map<t_frequency::type, double> codeCoeff;
    929             double channel = double(resCorr[pp->prn]->_eph->slotNum());
     995            double channel = double(masterCorr[pp->prn]->_eph->slotNum());
    930996            cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
    931997            t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
    932998            t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
    933             _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
     999            _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], masterCorr[pp->prn]->_satCodeBias);
    9341000          }
    9351001        }
    … …  
    9451011      out.flush();
    9461012    }
    947     printResults(epoTime, out, resCorr);
    948     dumpResults(epoTime, resCorr);
     1013    printResults(epoTime, out, masterCorr);
     1014    dumpResults(epoTime, masterCorr);
    9491015  }
    9501016}
    … …  
    9531019////////////////////////////////////////////////////////////////////////////
    9541020t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
    955                                    QMap<QString, cmbCorr*>& resCorr,
     1021                                   QMap<QString, cmbCorr*>& masterCorr,
    9561022                                   ColumnVector& dx) {
    9571023
    … …  
    9761042  // Check Satellite Positions for Outliers
    9771043  // --------------------------------------
    978   if (checkOrbits(epoTime, sys, out, resCorr) != success) {
     1044  if (checkOrbits(epoTime, sys, out, masterCorr) != success) {
    9791045    return failure;
    9801046  }
    … …  
    9891055    DiagonalMatrix PP;
    9901056
    991     if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
     1057    if (createAmat(sys, AA, ll, PP, x0) != success) {
    9921058      return failure;
    9931059    }
    … …  
    10451111////////////////////////////////////////////////////////////////////////////
    10461112void bncComb::printResults(bncTime epoTime, QTextStream& out,
    1047                            const QMap<QString, cmbCorr*>& resCorr) {
    1048 
    1049   QMapIterator<QString, cmbCorr*> it(resCorr);
     1113                           const QMap<QString, cmbCorr*>& masterCorr) {
     1114
     1115  QMapIterator<QString, cmbCorr*> it(masterCorr);
    10501116  while (it.hasNext()) {
    10511117    it.next();
    … …  
    10751141// Send results to RTNet Decoder and directly to PPP Client
    10761142////////////////////////////////////////////////////////////////////////////
    1077 void bncComb::dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& resCorr) {
     1143void bncComb::dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& masterCorr) {
    10781144
    10791145  QList<t_orbCorr> orbCorrections;
    10801146  QList<t_clkCorr> clkCorrections;
    10811147  QList<t_satCodeBias> satCodeBiasList;
     1148  QList<t_satPhaseBias> satPhaseBiasList;
    10821149
    10831150  unsigned year, month, day, hour, minute;
    … …  
    10891156                                        year, month, day, hour, minute, sec);
    10901157
    1091   QMutableMapIterator<QString, cmbCorr*> it(resCorr);
     1158  QMutableMapIterator<QString, cmbCorr*> it(masterCorr);
    10921159  while (it.hasNext()) {
    10931160    it.next();
    … …  
    11541221                  " Clk 1 %15.4f"
    11551222                  " Vel 3 %15.4f %15.4f %15.4f"
    1156                   " CoM 3 %15.4f %15.4f %15.4f",
     1223                  " CoM 3 %15.4f %15.4f %15.4f"
     1224                  " YawAngle  %1.4f",
    11571225                  apc(1), apc(2), apc(3),
    11581226                  xc(4) *  t_CST::c,
    11591227                  vv(1), vv(2), vv(3),
    1160                   com(1), com(2), com(3));
     1228                  com(1), com(2), com(3),
     1229                  corr->_satYawAngle);
    11611230    outLines += hlp;
    11621231    hlp.clear();
    … …  
    11791248      }
    11801249    }
     1250
    11811251    outLines += "\n";
    11821252    delete corr;
    … …  
    12031273// Create First Design Matrix and Vector of Measurements
    12041274////////////////////////////////////////////////////////////////////////////
    1205 t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
    1206                           const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr) {
     1275t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP, const ColumnVector& x0) {
    12071276
    12081277  unsigned nPar = _params[sys].size();
    … …  
    12331302      AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
    12341303    }
    1235     // Consistency correction to keep the combined clock consistent to MeanOrb
    1236     // -----------------------------------------------------------------------
    1237     double dC_radial = (corr->_diffRao.t() * resCorr[prn]->_orbCorr._xr).AsScalar()
    1238                      / (resCorr[prn]->_orbCorr._xr).norm_Frobenius();
    1239 
    1240     ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_satCodeBiasIF + dC_radial) - DotProduct(AA.Row(iObs), x0);
     1304    // Consistency corrections to keep the combined clock consistent to masterOrbit
     1305    // ----------------------------------------------------------------------------
     1306    double dC_orb = dotproduct(corr->_orbCorr._xr, corr->_diffRao) / corr->_orbCorr._xr.NormFrobenius();
     1307    double dC_att = corr->_diffYaw / (2 * M_PI);
     1308    dC_att *= corr->_lambdaIF;
     1309
     1310    ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_satCodeBiasIF + dC_orb + dC_att) - DotProduct(AA.Row(iObs), x0);
    12411311
    12421312    PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
    … …  
    12831353////////////////////////////////////////////////////////////////////////////
    12841354t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
    1285                                         QMap<QString, cmbCorr*>& resCorr,
     1355                                        QMap<QString, cmbCorr*>& masterCorr,
    12861356                                        ColumnVector& dx) {
    12871357
    12881358  // Check Satellite Positions for Outliers
    12891359  // --------------------------------------
    1290   if (checkOrbits(epoTime, sys, out, resCorr) != success) {
     1360  if (checkOrbits(epoTime, sys, out, masterCorr) != success) {
    12911361    return failure;
    12921362  }
    … …  
    13581428    ColumnVector   ll;
    13591429    DiagonalMatrix PP;
    1360     if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
     1430    if (createAmat(sys, AA, ll, PP, x0) != success) {
    13611431      return failure;
    13621432    }
    … …  
    14121482// Check Satellite Positions for Outliers
    14131483////////////////////////////////////////////////////////////////////////////
    1414 t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& resCorr) {
     1484t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& masterCorr) {
    14151485
    14161486  // Switch to last ephemeris (if possible)
    … …  
    15051575        QString  prn  = corr->_prn;
    15061576        if (corr->_acName == _masterOrbitAC[sys] &&
    1507             resCorr.find(prn) == resCorr.end()) {
    1508           resCorr[prn] = new cmbCorr(*corr);
    1509         }
    1510       }
    1511       // Remove satellites that are not in masterOrbit
    1512       // and compute differences wrt. masterOrbit
    1513       // ----------------------------------------------
    1514       QMutableVectorIterator<cmbCorr*> im(corrs(sys));
    1515       while (im.hasNext()) {
    1516         cmbCorr* corr = im.next();
    1517         QString  prn  = corr->_prn;
    1518         if (resCorr.find(prn) == resCorr.end()) {
    1519           delete corr;
    1520           im.remove();
    1521         }
    1522         else {
    1523           corr->_diffRao = resCorr[prn]->_orbCorr._xr - corr->_orbCorr._xr;
     1577            masterCorr.find(prn) == masterCorr.end()) {
     1578          masterCorr[prn] = new cmbCorr(*corr);
     1579          masterCorr[prn]->_diffRao = 0.0;
     1580          masterCorr[prn]->_diffYaw = 0.0;
    15241581        }
    15251582      }
    … …  
    15661623        QString  prn  = corr->_prn;
    15671624        if (corr->_acName == _masterOrbitAC[sys] &&
    1568             resCorr.find(prn) == resCorr.end()) {
    1569           resCorr[prn] = new cmbCorr(*corr);
     1625            masterCorr.find(prn) == masterCorr.end()) {
     1626          masterCorr[prn] = new cmbCorr(*corr);
    15701627        }
    15711628      }
    … …  
    15771634        cmbCorr* corr = im.next();
    15781635        QString  prn  = corr->_prn;
    1579         if (resCorr.find(prn) == resCorr.end()) {
     1636        if (masterCorr.find(prn) == masterCorr.end()) {
    15801637          delete corr;
    15811638          im.remove();
    15821639        }
    15831640        else {
    1584           corr->_diffRao = resCorr[prn]->_orbCorr._xr - corr->_orbCorr._xr;
     1641          corr->_diffRao = corr->_orbCorr._xr - masterCorr[prn]->_orbCorr._xr;
     1642          corr->_diffYaw = corr->_satYawAngle - masterCorr[prn]->_satYawAngle;
    15851643        }
    15861644      }

  • trunk/BNC/src/combination/bnccomb.h

    r10665 r10694  
    1212#include <map>
    1313#include <newmat.h>
     14#include <newmatio.h>
    1415#include <deque>
    1516#include "bncephuser.h"
    … …  
    4647  void slotNewClkCorrections(QList<t_clkCorr> clkCorrections);
    4748  void slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases);
     49  void slotNewPhaseBiases(QList<t_satPhaseBias> satPhaseBiases);
    4850
    4951 private slots:
    … …  
    5557  void newClkCorrections(QList<t_clkCorr>);
    5658  void newCodeBiases(QList<t_satCodeBias>);
     59  void newPhaseBiases(QList<t_satPhaseBias>);
    5760
    5861 private:
    … …  
    111114      _dClkResult                 = 0.0;
    112115      _satCodeBiasIF              = 0.0;
     116      _lambdaIF                   = 0.0;
     117      _satYawAngle                = 0.0;
    113118      _weightFactor               = 1.0;
     119      _diffRao.ReSize(3); _diffRao = 0.0;
     120      _diffYaw                    = 0.0;
    114121    }
    115122    ~cmbCorr() {
    … …  
    122129    t_clkCorr      _clkCorr;
    123130    t_satCodeBias  _satCodeBias;
     131    //t_satPhaseBias _satPhaseBias;
    124132    QString        _acName;
    125133    double         _satCodeBiasIF;
     134    double         _lambdaIF;
     135    double         _satYawAngle;
    126136    double         _dClkResult;
    127137    ColumnVector   _diffRao;
     138    double         _diffYaw;
    128139    double         _weightFactor;
    129140    QString ID() {return _acName + "_" + _prn;}
    … …  
    237248  void  processEpoch(bncTime epoTime, const std::vector<t_clkCorr>& clkCorrVec);
    238249  void  processSystem(bncTime epoTime, char sys, QTextStream& out);
    239   t_irc processEpoch_filter(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& resCorr, ColumnVector& dx);
    240   t_irc processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& resCorr, ColumnVector& dx);
    241   t_irc createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
    242                    const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr);
    243   void  dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& resCorr);
    244   void  printResults(bncTime epoTime, QTextStream& out, const QMap<QString, cmbCorr*>& resCorr);
     250  t_irc processEpoch_filter(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& masterCorr, ColumnVector& dx);
     251  t_irc processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& masterCorr, ColumnVector& dx);
     252  t_irc createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP, const ColumnVector& x0);
     253  void  dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& masterCorr);
     254  void  printResults(bncTime epoTime, QTextStream& out, const QMap<QString, cmbCorr*>& masterCorr);
    245255  void  switchToLastEph(t_eph* lastEph, cmbCorr* corr);
    246   t_irc checkOrbits(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& resCorr);
     256  t_irc checkOrbits(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& masterCorr);
    247257  bool excludeSat(const t_prn& prn, const QStringList excludeSats) const;
    248258  QVector<cmbCorr*>& corrs(char sys) {return _buffer[sys].corrs;}
    … …  
    271281  QMap<char, QVector<cmbParam*>>              _params;
    272282  QMap<QString, QMap<t_prn, t_orbCorr> >     _orbCorrections;
    273   QMap<QString, QMap<t_prn, t_satCodeBias> > _satCodeBiases;
     283  QMap<QString, QMap<t_prn, t_satCodeBias>>  _satCodeBiases;
     284  QMap<QString, QMap<t_prn, t_satPhaseBias>> _satPhaseBiases;
    274285  QMap<char, unsigned>                       _cmbSysPrn;
    275286  bncEphUser                                 _ephUser;
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