Index: trunk/BNC/src/RTCM3/RTCM3Decoder.cpp
===================================================================
--- trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 10693)
+++ trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 10694)
@@ -2085,5 +2085,4 @@
_gloBiasInfo.set(gloBiasInfo);
}
-
return true;
}
Index: trunk/BNC/src/bnchelp.html
===================================================================
--- trunk/BNC/src/bnchelp.html (revision 10693)
+++ trunk/BNC/src/bnchelp.html (revision 10694)
@@ -4604,7 +4604,20 @@
satellite Antenna Phase Centers (APC). It is so far only the satellite clock corrections, which are combined by BNC
while orbit corrections in the combination product are just taken over from one of the incoming
-Broadcast Correction streams. Combining only clock corrections using a fixed orbit reference imposes the potential
-to introduce some analysis inconsistencies. We will therefore consider improvements on this approach.
-
+Broadcast Correction streams. Combining only clock corrections using a fixed orbit reference (which means the individual orbit of
+an incoming AC = Master orbit) imposes the potential to introduce analysis inconsistencies. Hence, some a priori corrections dC
+are applied before clock combination, to compensate for the inconsistency between MasterAC and other orbits.
+This should include corrections for inconsistent frames, attitude mode and phase center offset:
+
+
+ dC = dC_frame + dC_att + dC_pco [m]
+
+ But because at present, no PCO information is available via SSR, we consider only
+
+ dC_frame = Orb_AC * (Orb_AC - Orb_MasterAC) / Range_sat
+
+
+ dC_att = (yawAngle_AC - yawAngle_MasterAC) / (2*PI) * wavelength(IF)
+
+
The 'Combine Corrections' functionality may be of interrest because:
Index: trunk/BNC/src/combination/bnccomb.cpp
===================================================================
--- trunk/BNC/src/combination/bnccomb.cpp (revision 10693)
+++ trunk/BNC/src/combination/bnccomb.cpp (revision 10694)
@@ -219,4 +219,5 @@
connect(BNC_CORE, SIGNAL(newClkCorrections(QList)), this, SLOT(slotNewClkCorrections(QList)));
connect(BNC_CORE, SIGNAL(newCodeBiases(QList)), this, SLOT(slotNewCodeBiases(QList)));
+ connect(BNC_CORE, SIGNAL(newPhaseBiases(QList)), this, SLOT(slotNewPhaseBiases(QList)));
// Combination Method
@@ -479,6 +480,46 @@
storage[satCodeBias._prn] = satCodeBias;
}
-
-}
+ return;
+}
+
+// Remember Satellite Phase Biases
+////////////////////////////////////////////////////////////////////////////
+void bncComb::slotNewPhaseBiases(QList satPhaseBiases) {
+ QMutexLocker locker(&_mutex);
+
+ for (int ii = 0; ii < satPhaseBiases.size(); ii++) {
+ t_satPhaseBias& satPhaseBias = satPhaseBiases[ii];
+ QString staID(satPhaseBias._staID.c_str());
+ char sys = satPhaseBias._prn.system();
+
+ if (!_cmbSysPrn.contains(sys)){
+ continue;
+ }
+
+ // Find/Check the AC Name
+ // ----------------------
+ QString acName;
+ QStringList excludeSats;
+ QListIterator icAC(_ACs);
+ while (icAC.hasNext()) {
+ cmbAC* AC = icAC.next();
+ if (AC->mountPoint == staID) {
+ acName = AC->name;
+ excludeSats = AC->excludeSats;
+ break;
+ }
+ }
+ if (acName.isEmpty() || excludeSat(satPhaseBias._prn, excludeSats)) {
+ continue;
+ }
+
+ // Store the correction
+ // --------------------
+ QMap& storage = _satPhaseBiases[acName];
+ storage[satPhaseBias._prn] = satPhaseBias;
+ }
+ return;
+}
+
// Process clock corrections
@@ -783,15 +824,40 @@
}
}
- if (codeBiasesRefSig.size() == 2) {
- map codeCoeff;
- double channel = double(_newCorr->_eph->slotNum());
- cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
- map::const_iterator it;
- for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
- t_frequency::type frqType = it->first;
- _newCorr->_satCodeBiasIF += it->second * codeBiasesRefSig[frqType];
- }
+ map codeCoeff;
+ double channel = double(_newCorr->_eph->slotNum());
+ cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
+ map::const_iterator it;
+ for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
+ t_frequency::type frqType = it->first;
+ double codeCoeff = it->second;
+ _newCorr->_satCodeBiasIF += codeCoeff * codeBiasesRefSig[frqType];
}
_newCorr->_satCodeBias._bias.clear();
+ }
+ }
+
+ // Check satellite phase biases
+ // ----------------------------
+ if (_satPhaseBiases.contains(acName)) {
+ QMap& storage = _satPhaseBiases[acName];
+ if (storage.contains(clkCorr._prn)) {
+ // Yaw angle
+ t_satPhaseBias& pb = storage[clkCorr._prn];
+ double dt = _newCorr->_time - pb._time;
+ if (pb._updateInt) {
+ dt -= (0.5 * ssrUpdateInt[pb._updateInt]);
+ }
+ _newCorr->_satYawAngle = pb._yaw + pb._yawRate * dt;
+
+ // _lambdaIF
+ map codeCoeff;
+ double channel = double(_newCorr->_eph->slotNum());
+ cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
+ map::const_iterator it;
+ for (it = codeCoeff.begin(); it != codeCoeff.end(); it++) {
+ t_frequency::type frqType = it->first;
+ double codeCoeff = it->second;
+ _newCorr->_lambdaIF += codeCoeff * t_CST::c / t_CST::freq(frqType, channel);
+ }
}
}
@@ -901,5 +967,5 @@
}
- QMap resCorr;
+ QMap masterCorr;
// Perform the actual Combination using selected Method
@@ -908,8 +974,8 @@
ColumnVector dx;
if (_method == filter) {
- irc = processEpoch_filter(epoTime, sys, out, resCorr, dx);
+ irc = processEpoch_filter(epoTime, sys, out, masterCorr, dx);
}
else {
- irc = processEpoch_singleEpoch(epoTime, sys, out, resCorr, dx);
+ irc = processEpoch_singleEpoch(epoTime, sys, out, masterCorr, dx);
}
@@ -921,15 +987,15 @@
pp->xx += dx(iPar);
if (pp->type == cmbParam::clkSat) {
- if (resCorr.find(pp->prn) != resCorr.end()) {
+ if (masterCorr.find(pp->prn) != masterCorr.end()) {
// set clock result
- resCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
+ masterCorr[pp->prn]->_dClkResult = pp->xx / t_CST::c;
// Add Code Biases from SINEX File
if (_bsx) {
map codeCoeff;
- double channel = double(resCorr[pp->prn]->_eph->slotNum());
+ double channel = double(masterCorr[pp->prn]->_eph->slotNum());
cmbRefSig::coeff(sys, cmbRefSig::cIF, channel, codeCoeff);
t_frequency::type fType1 = cmbRefSig::toFreq(sys, cmbRefSig::c1);
t_frequency::type fType2 = cmbRefSig::toFreq(sys, cmbRefSig::c2);
- _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], resCorr[pp->prn]->_satCodeBias);
+ _bsx->determineSsrSatCodeBiases(pp->prn.mid(0,3), codeCoeff[fType1], codeCoeff[fType2], masterCorr[pp->prn]->_satCodeBias);
}
}
@@ -945,6 +1011,6 @@
out.flush();
}
- printResults(epoTime, out, resCorr);
- dumpResults(epoTime, resCorr);
+ printResults(epoTime, out, masterCorr);
+ dumpResults(epoTime, masterCorr);
}
}
@@ -953,5 +1019,5 @@
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::processEpoch_filter(bncTime epoTime, char sys, QTextStream& out,
- QMap& resCorr,
+ QMap& masterCorr,
ColumnVector& dx) {
@@ -976,5 +1042,5 @@
// Check Satellite Positions for Outliers
// --------------------------------------
- if (checkOrbits(epoTime, sys, out, resCorr) != success) {
+ if (checkOrbits(epoTime, sys, out, masterCorr) != success) {
return failure;
}
@@ -989,5 +1055,5 @@
DiagonalMatrix PP;
- if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
+ if (createAmat(sys, AA, ll, PP, x0) != success) {
return failure;
}
@@ -1045,7 +1111,7 @@
////////////////////////////////////////////////////////////////////////////
void bncComb::printResults(bncTime epoTime, QTextStream& out,
- const QMap& resCorr) {
-
- QMapIterator it(resCorr);
+ const QMap& masterCorr) {
+
+ QMapIterator it(masterCorr);
while (it.hasNext()) {
it.next();
@@ -1075,9 +1141,10 @@
// Send results to RTNet Decoder and directly to PPP Client
////////////////////////////////////////////////////////////////////////////
-void bncComb::dumpResults(bncTime epoTime, QMap& resCorr) {
+void bncComb::dumpResults(bncTime epoTime, QMap& masterCorr) {
QList orbCorrections;
QList clkCorrections;
QList satCodeBiasList;
+ QList satPhaseBiasList;
unsigned year, month, day, hour, minute;
@@ -1089,5 +1156,5 @@
year, month, day, hour, minute, sec);
- QMutableMapIterator it(resCorr);
+ QMutableMapIterator it(masterCorr);
while (it.hasNext()) {
it.next();
@@ -1154,9 +1221,11 @@
" Clk 1 %15.4f"
" Vel 3 %15.4f %15.4f %15.4f"
- " CoM 3 %15.4f %15.4f %15.4f",
+ " CoM 3 %15.4f %15.4f %15.4f"
+ " YawAngle %1.4f",
apc(1), apc(2), apc(3),
xc(4) * t_CST::c,
vv(1), vv(2), vv(3),
- com(1), com(2), com(3));
+ com(1), com(2), com(3),
+ corr->_satYawAngle);
outLines += hlp;
hlp.clear();
@@ -1179,4 +1248,5 @@
}
}
+
outLines += "\n";
delete corr;
@@ -1203,6 +1273,5 @@
// Create First Design Matrix and Vector of Measurements
////////////////////////////////////////////////////////////////////////////
-t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
- const ColumnVector& x0, QMap& resCorr) {
+t_irc bncComb::createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP, const ColumnVector& x0) {
unsigned nPar = _params[sys].size();
@@ -1233,10 +1302,11 @@
AA(iObs, iPar) = pp->partial(sys, corr->_acName, prn);
}
- // Consistency correction to keep the combined clock consistent to MeanOrb
- // -----------------------------------------------------------------------
- double dC_radial = (corr->_diffRao.t() * resCorr[prn]->_orbCorr._xr).AsScalar()
- / (resCorr[prn]->_orbCorr._xr).norm_Frobenius();
-
- ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_satCodeBiasIF + dC_radial) - DotProduct(AA.Row(iObs), x0);
+ // Consistency corrections to keep the combined clock consistent to masterOrbit
+ // ----------------------------------------------------------------------------
+ double dC_orb = dotproduct(corr->_orbCorr._xr, corr->_diffRao) / corr->_orbCorr._xr.NormFrobenius();
+ double dC_att = corr->_diffYaw / (2 * M_PI);
+ dC_att *= corr->_lambdaIF;
+
+ ll(iObs) = (corr->_clkCorr._dClk * t_CST::c - corr->_satCodeBiasIF + dC_orb + dC_att) - DotProduct(AA.Row(iObs), x0);
PP(iObs, iObs) *= 1.0 / (corr->_weightFactor * corr->_weightFactor);
@@ -1283,10 +1353,10 @@
////////////////////////////////////////////////////////////////////////////
t_irc bncComb::processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out,
- QMap& resCorr,
+ QMap& masterCorr,
ColumnVector& dx) {
// Check Satellite Positions for Outliers
// --------------------------------------
- if (checkOrbits(epoTime, sys, out, resCorr) != success) {
+ if (checkOrbits(epoTime, sys, out, masterCorr) != success) {
return failure;
}
@@ -1358,5 +1428,5 @@
ColumnVector ll;
DiagonalMatrix PP;
- if (createAmat(sys, AA, ll, PP, x0, resCorr) != success) {
+ if (createAmat(sys, AA, ll, PP, x0) != success) {
return failure;
}
@@ -1412,5 +1482,5 @@
// Check Satellite Positions for Outliers
////////////////////////////////////////////////////////////////////////////
-t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out, QMap& resCorr) {
+t_irc bncComb::checkOrbits(bncTime epoTime, char sys, QTextStream& out, QMap& masterCorr) {
// Switch to last ephemeris (if possible)
@@ -1505,21 +1575,8 @@
QString prn = corr->_prn;
if (corr->_acName == _masterOrbitAC[sys] &&
- resCorr.find(prn) == resCorr.end()) {
- resCorr[prn] = new cmbCorr(*corr);
- }
- }
- // Remove satellites that are not in masterOrbit
- // and compute differences wrt. masterOrbit
- // ----------------------------------------------
- QMutableVectorIterator im(corrs(sys));
- while (im.hasNext()) {
- cmbCorr* corr = im.next();
- QString prn = corr->_prn;
- if (resCorr.find(prn) == resCorr.end()) {
- delete corr;
- im.remove();
- }
- else {
- corr->_diffRao = resCorr[prn]->_orbCorr._xr - corr->_orbCorr._xr;
+ masterCorr.find(prn) == masterCorr.end()) {
+ masterCorr[prn] = new cmbCorr(*corr);
+ masterCorr[prn]->_diffRao = 0.0;
+ masterCorr[prn]->_diffYaw = 0.0;
}
}
@@ -1566,6 +1623,6 @@
QString prn = corr->_prn;
if (corr->_acName == _masterOrbitAC[sys] &&
- resCorr.find(prn) == resCorr.end()) {
- resCorr[prn] = new cmbCorr(*corr);
+ masterCorr.find(prn) == masterCorr.end()) {
+ masterCorr[prn] = new cmbCorr(*corr);
}
}
@@ -1577,10 +1634,11 @@
cmbCorr* corr = im.next();
QString prn = corr->_prn;
- if (resCorr.find(prn) == resCorr.end()) {
+ if (masterCorr.find(prn) == masterCorr.end()) {
delete corr;
im.remove();
}
else {
- corr->_diffRao = resCorr[prn]->_orbCorr._xr - corr->_orbCorr._xr;
+ corr->_diffRao = corr->_orbCorr._xr - masterCorr[prn]->_orbCorr._xr;
+ corr->_diffYaw = corr->_satYawAngle - masterCorr[prn]->_satYawAngle;
}
}
Index: trunk/BNC/src/combination/bnccomb.h
===================================================================
--- trunk/BNC/src/combination/bnccomb.h (revision 10693)
+++ trunk/BNC/src/combination/bnccomb.h (revision 10694)
@@ -12,4 +12,5 @@
#include