Index: /trunk/BNC/bncmapview.cpp =================================================================== --- /trunk/BNC/bncmapview.cpp (revision 3404) +++ /trunk/BNC/bncmapview.cpp (revision 3405) @@ -91,5 +91,5 @@ // ------------- -void BncMapView::mouseReleaseEvent(QMouseEvent* /* event */) +void BncMapView::mouseReleaseEvent(QMouseEvent* event) { setCursor(Qt::OpenHandCursor); Index: /trunk/BNC/bncmodel.cpp =================================================================== --- /trunk/BNC/bncmodel.cpp (revision 3404) +++ /trunk/BNC/bncmodel.cpp (revision 3405) @@ -52,13 +52,16 @@ #include "bnctides.h" #include "bncantex.h" -#include "bnccomb.h" using namespace std; -const unsigned MINOBS = 5; -const double MINELE = 10.0 * M_PI / 180.0; -const double MAXRES_CODE = 10.0; -const double MAXRES_PHASE = 0.02; -const double GLONASS_WEIGHT_FACTOR = 5.0; +const unsigned MINOBS = 5; +const double MINELE_GPS = 10.0 * M_PI / 180.0; +const double MINELE_GLO = 10.0 * M_PI / 180.0; +const double MINELE_GAL = 10.0 * M_PI / 180.0; +const double MAXRES_CODE_GPS = 10.0; +const double MAXRES_PHASE_GPS = 0.05; +const double MAXRES_PHASE_GLO = 0.05; +const double MAXRES_CODE_GAL = 10.0; +const double MAXRES_PHASE_GAL = 0.05; // Constructor @@ -254,8 +257,4 @@ _xcBanc.ReSize(4); _xcBanc = 0.0; _ellBanc.ReSize(3); _ellBanc = 0.0; - - // Save copy of data (used in outlier detection) - // --------------------------------------------- - _epoData_sav = new t_epoData(); } @@ -272,5 +271,4 @@ delete _params[iPar-1]; } - delete _epoData_sav; } @@ -324,24 +322,22 @@ Tracer tracer("bncModel::cmpBancroft"); - if (epoData->sizeSys('G') < MINOBS) { + if (epoData->sizeGPS() < MINOBS) { _log += "bncModel::cmpBancroft: not enough data\n"; return failure; } - Matrix BB(epoData->sizeSys('G'), 4); - - QMapIterator it(epoData->satData); + Matrix BB(epoData->sizeGPS(), 4); + + QMapIterator it(epoData->satDataGPS); int iObsBanc = 0; while (it.hasNext()) { + ++iObsBanc; it.next(); + QString prn = it.key(); t_satData* satData = it.value(); - if (satData->system() == 'G') { - ++iObsBanc; - QString prn = it.key(); - BB(iObsBanc, 1) = satData->xx(1); - BB(iObsBanc, 2) = satData->xx(2); - BB(iObsBanc, 3) = satData->xx(3); - BB(iObsBanc, 4) = satData->P3 + satData->clk; - } + BB(iObsBanc, 1) = satData->xx(1); + BB(iObsBanc, 2) = satData->xx(2); + BB(iObsBanc, 3) = satData->xx(3); + BB(iObsBanc, 4) = satData->P3 + satData->clk; } @@ -354,12 +350,34 @@ // Compute Satellite Elevations // ---------------------------- - QMutableMapIterator im(epoData->satData); - while (im.hasNext()) { - im.next(); - t_satData* satData = im.value(); + QMutableMapIterator iGPS(epoData->satDataGPS); + while (iGPS.hasNext()) { + iGPS.next(); + t_satData* satData = iGPS.value(); cmpEle(satData); - if (satData->eleSat < MINELE) { + if (satData->eleSat < MINELE_GPS) { delete satData; - im.remove(); + iGPS.remove(); + } + } + + QMutableMapIterator iGlo(epoData->satDataGlo); + while (iGlo.hasNext()) { + iGlo.next(); + t_satData* satData = iGlo.value(); + cmpEle(satData); + if (satData->eleSat < MINELE_GLO) { + delete satData; + iGlo.remove(); + } + } + + QMutableMapIterator iGal(epoData->satDataGal); + while (iGal.hasNext()) { + iGal.next(); + t_satData* satData = iGal.value(); + cmpEle(satData); + if (satData->eleSat < MINELE_GAL) { + delete satData; + iGal.remove(); } } @@ -582,13 +600,15 @@ // ------------------------------------------------ int iPar = 0; - QMutableVectorIterator im(_params); - while (im.hasNext()) { - bncParam* par = im.next(); + QMutableVectorIterator it(_params); + while (it.hasNext()) { + bncParam* par = it.next(); bool removed = false; if (par->type == bncParam::AMB_L3) { - if (epoData->satData.find(par->prn) == epoData->satData.end()) { + if (epoData->satDataGPS.find(par->prn) == epoData->satDataGPS.end() && + epoData->satDataGlo.find(par->prn) == epoData->satDataGlo.end() && + epoData->satDataGal.find(par->prn) == epoData->satDataGal.end() ) { removed = true; delete par; - im.remove(); + it.remove(); } } @@ -601,8 +621,22 @@ // Add new ambiguity parameters // ---------------------------- - QMapIterator it(epoData->satData); - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); + QMapIterator iGPS(epoData->satDataGPS); + while (iGPS.hasNext()) { + iGPS.next(); + t_satData* satData = iGPS.value(); + addAmb(satData); + } + + QMapIterator iGlo(epoData->satDataGlo); + while (iGlo.hasNext()) { + iGlo.next(); + t_satData* satData = iGlo.value(); + addAmb(satData); + } + + QMapIterator iGal(epoData->satDataGal); + while (iGal.hasNext()) { + iGal.next(); + t_satData* satData = iGal.value(); addAmb(satData); } @@ -657,5 +691,4 @@ // ---------------------- if (update_p(epoData) != success) { - emit newMessage(_log, false); return failure; } @@ -903,26 +936,102 @@ // Outlier Detection //////////////////////////////////////////////////////////////////////////// -bool bncModel::outlierDetection(int iPhase, const ColumnVector& vv, - QMap& satData) { +int bncModel::outlierDetection(int iPhase, const SymmetricMatrix& QQsav, + const ColumnVector& vv, + QMap& satDataGPS, + QMap& satDataGlo, + QMap& satDataGal) { Tracer tracer("bncModel::outlierDetection"); - QString prn; - double maxRes = 0.0; - findMaxRes(vv, satData, prn, maxRes); - - if (iPhase == 1 && maxRes > MAXRES_PHASE) { - _log += "Outlier Phase " + prn + " " + QString prnCode; + QString prnPhase; + double maxResCode = 0.0; + double maxResPhase = 0.0; + + QString prnRemoved; + double maxRes; + + int irc = 0; + + if (iPhase == 0) { + + // Check GPS Code + // -------------- + if (irc == 0) { + findMaxRes(iPhase, vv,satDataGPS, prnCode, maxResCode, prnPhase, maxResPhase); + if (maxResCode > MAXRES_CODE_GPS) { + satDataGPS.remove(prnCode); + prnRemoved = prnCode; + maxRes = maxResCode; + irc = 1; + } + } + + // Check Galileo Code + // ------------------ + if (irc == 0) { + findMaxRes(iPhase, vv,satDataGal, prnCode, maxResCode, prnPhase, maxResPhase); + if (maxResCode > MAXRES_CODE_GAL) { + satDataGal.remove(prnCode); + prnRemoved = prnCode; + maxRes = maxResCode; + irc = 1; + } + } + } + + else { + + // Check Glonass Phase + // ------------------- + if (irc == 0) { + findMaxRes(iPhase, vv,satDataGlo, prnCode, maxResCode, prnPhase, maxResPhase); + if (maxResPhase > MAXRES_PHASE_GLO) { + satDataGlo.remove(prnPhase); + prnRemoved = prnPhase; + maxRes = maxResPhase; + irc = 1; + } + } + + // Check Galileo Phase + // ------------------- + if (irc == 0) { + findMaxRes(iPhase, vv,satDataGal, prnCode, maxResCode, prnPhase, maxResPhase); + if (maxResPhase > MAXRES_PHASE_GAL) { + satDataGal.remove(prnPhase); + prnRemoved = prnPhase; + maxRes = maxResPhase; + irc = 1; + } + } + + // Check GPS Phase + // --------------- + if (irc == 0) { + findMaxRes(iPhase, vv,satDataGPS, prnCode, maxResCode, prnPhase, maxResPhase); + if (maxResPhase > MAXRES_PHASE_GPS) { + satDataGPS.remove(prnPhase); + prnRemoved = prnPhase; + maxRes = maxResPhase; + irc = 1; + } + } + } + + if (irc != 0) { + _log += "Outlier " + prnRemoved.toAscii() + " " + QByteArray::number(maxRes, 'f', 3) + "\n"; - return true; - } - else if (iPhase == 0 && maxRes > MAXRES_CODE) { - _log += "Outlier Code " + prn + " " - + QByteArray::number(maxRes, 'f', 3) + "\n"; - return true; - } - else { - return false; - } + _QQ = QQsav; + QVectorIterator itPar(_params); + while (itPar.hasNext()) { + bncParam* par = itPar.next(); + if (par->type == bncParam::AMB_L3 && par->prn == prnRemoved) { + par->numEpo = 0; + } + } + } + + return irc; } @@ -949,5 +1058,5 @@ } -// +//// ////////////////////////////////////////////////////////////////////////////// void bncModel::kalman(const Matrix& AA, const ColumnVector& ll, @@ -1121,18 +1230,13 @@ } - // Remember Observation Index - // -------------------------- - ++iObs; - satData->obsIndex = iObs; - // Phase Observations // ------------------ if (iPhase == 1) { + ++iObs; ll(iObs) = satData->L3 - cmpValue(satData, true); - double sigL3 = _sigL3; + PP(iObs,iObs) = 1.0 / (_sigL3 * _sigL3) / (ellWgtCoef * ellWgtCoef); if (satData->system() == 'R') { - sigL3 *= GLONASS_WEIGHT_FACTOR; - } - PP(iObs,iObs) = 1.0 / (sigL3 * sigL3) / (ellWgtCoef * ellWgtCoef); + PP(iObs,iObs) /= 25.0; + } for (int iPar = 1; iPar <= _params.size(); iPar++) { if (_params[iPar-1]->type == bncParam::AMB_L3 && @@ -1142,4 +1246,5 @@ AA(iObs, iPar) = _params[iPar-1]->partial(satData, true); } + satData->indexPhase = iObs; } @@ -1147,4 +1252,5 @@ // ----------------- else { + ++iObs; ll(iObs) = satData->P3 - cmpValue(satData, false); PP(iObs,iObs) = 1.0 / (_sigP3 * _sigP3) / (ellWgtCoef * ellWgtCoef); @@ -1152,4 +1258,5 @@ AA(iObs, iPar) = _params[iPar-1]->partial(satData, false); } + satData->indexCode = iObs; } } @@ -1157,36 +1264,28 @@ // /////////////////////////////////////////////////////////////////////////// -QByteArray bncModel::printRes(int iPhase, const ColumnVector& vv, - const QMap& satDataMap) { - +void bncModel::printRes(int iPhase, const ColumnVector& vv, + ostringstream& str, t_satData* satData) { Tracer tracer("bncModel::printRes"); - - ostringstream str; - str.setf(ios::fixed); - - QMapIterator it(satDataMap); - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); - if (satData->obsIndex != 0) { - str << _time.timestr(1) - << " RES " << satData->prn.toAscii().data() - << (iPhase ? " L3 " : " P3 ") - << setw(9) << setprecision(4) << vv(satData->obsIndex) << endl; - } - } - - return QByteArray(str.str().c_str()); + if (iPhase == 1) { + str << _time.timestr(1) + << " RES " << satData->prn.toAscii().data() << " L3 " + << setw(9) << setprecision(4) << vv(satData->indexPhase) << endl; + } + else { + str << _time.timestr(1) + << " RES " << satData->prn.toAscii().data() << " P3 " + << setw(9) << setprecision(4) << vv(satData->indexCode) << endl; + } } // /////////////////////////////////////////////////////////////////////////// -void bncModel::findMaxRes(const ColumnVector& vv, +void bncModel::findMaxRes(int iPhase, const ColumnVector& vv, const QMap& satData, - QString& prn, double& maxRes) { - + QString& prnCode, double& maxResCode, + QString& prnPhase, double& maxResPhase) { Tracer tracer("bncModel::findMaxRes"); - - maxRes = 0.0; + maxResCode = 0.0; + maxResPhase = 0.0; QMapIterator it(satData); @@ -1194,7 +1293,19 @@ it.next(); t_satData* satData = it.value(); - if (satData->obsIndex != 0 && fabs(vv(satData->obsIndex)) > maxRes) { - maxRes = fabs(vv(satData->obsIndex)); - prn = satData->prn; + if (iPhase == 0) { + if (satData->indexCode) { + if (fabs(vv(satData->indexCode)) > maxResCode) { + maxResCode = fabs(vv(satData->indexCode)); + prnCode = satData->prn; + } + } + } + else { + if (satData->indexPhase) { + if (fabs(vv(satData->indexPhase)) > maxResPhase) { + maxResPhase = fabs(vv(satData->indexPhase)); + prnPhase = satData->prn; + } + } } } @@ -1207,147 +1318,153 @@ Tracer tracer("bncModel::update_p"); - // Save Variance-Covariance Matrix, and Status Vector - // -------------------------------------------------- - rememberState(epoData); - - ColumnVector dx; - - std::vector allPrns; - QMapIterator it(epoData->satData); - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); - allPrns.push_back(satData->prn); - } - std::vector usedPrns; - - // Try with all satellites, then with all minus one, etc. - // ------------------------------------------------------ - const unsigned MAX_NEGLECT = 1; - for (unsigned nNeglected = 0; nNeglected <= MAX_NEGLECT; nNeglected++) { - usedPrns = allPrns; - - for (unsigned ii = 0; ii < nNeglected && usedPrns.size() > 0; ii++) { - usedPrns.pop_back(); - } - - // Loop over all Combinations of used Satellites - // --------------------------------------------- + rememberState(); + + for (int iPhase = 0; iPhase <= (_usePhase ? 1 : 0); iPhase++) { + + SymmetricMatrix QQsav; + ColumnVector vv; + ColumnVector dx; + do { - - QByteArray strResCode; - QByteArray strResPhase; - QString strNeglected; - - // Remove Neglected Satellites from epoData - // ---------------------------------------- - for (unsigned ip = 0; ip < allPrns.size(); ip++) { - QString prn = allPrns[ip]; - if ( !findInVector(usedPrns, prn) ) { - epoData->satData.remove(prn); - strNeglected += prn + " "; - } - } - if (epoData->sizeSys('G') < MINOBS) { - continue; - } // Bancroft Solution // ----------------- - if (cmpBancroft(epoData) != success) { - continue; - } - - // First update using code observations, then phase observations - // ------------------------------------------------------------- - for (int iPhase = 0; iPhase <= (_usePhase ? 1 : 0); iPhase++) { + if (iPhase == 0) { + if (cmpBancroft(epoData) != success) { + restoreState(); + emit newMessage(_log, false); + return failure; + } + } + else { + if (epoData->sizeGPS() < MINOBS) { + restoreState(); + _log += "bncModel::update_p: not enough data\n"; + emit newMessage(_log, false); + return failure; + } + unsigned numSatNoSlip = 0; + QVectorIterator itPar(_params); + while (itPar.hasNext()) { + bncParam* par = itPar.next(); + if (par->type == bncParam::AMB_L3 && par->prn[0] == 'G') { + if (par->numEpo >= 1) { + ++numSatNoSlip; + } + } + } + if (numSatNoSlip > 0 && numSatNoSlip < MINOBS) { + restoreState(); + _log += "bncModel::update_p: not enough GPS satellites without cycle-slips\n"; + emit newMessage(_log, false); + return failure; + } + } - // Status Prediction - // ----------------- - predict(iPhase, epoData); - - // Create First-Design Matrix - // -------------------------- - unsigned nPar = _params.size(); - unsigned nObs = 0; - if (iPhase == 0) { - nObs = epoData->sizeAll() - epoData->sizeSys('R'); // Glonass code not used - } - else { - nObs = epoData->sizeAll(); - } - - // Prepare first-design Matrix, vector observed-computed - // ----------------------------------------------------- - Matrix AA(nObs, nPar); // first design matrix - ColumnVector ll(nObs); // tems observed-computed - DiagonalMatrix PP(nObs); PP = 0.0; - - unsigned iObs = 0; - QMapIterator it(epoData->satData); - while (it.hasNext()) { - it.next(); - t_satData* satData = it.value(); - if (iPhase == 1 || satData->system() != 'R') { - QString prn = satData->prn; - addObs(iPhase, iObs, satData, AA, ll, PP); + // Status Prediction + // ----------------- + predict(iPhase, epoData); + + // Create First-Design Matrix + // -------------------------- + unsigned nPar = _params.size(); + unsigned nObs = 0; + if (iPhase == 0) { + nObs = epoData->sizeGPS() + epoData->sizeGal(); // Glonass code not used + } + else { + nObs = epoData->sizeGPS() + epoData->sizeGal() + epoData->sizeGlo(); + } + + Matrix AA(nObs, nPar); // first design matrix + ColumnVector ll(nObs); // tems observed-computed + DiagonalMatrix PP(nObs); PP = 0.0; + + unsigned iObs = 0; + + // GPS + // --- + QMapIterator itGPS(epoData->satDataGPS); + while (itGPS.hasNext()) { + itGPS.next(); + t_satData* satData = itGPS.value(); + addObs(iPhase, iObs, satData, AA, ll, PP); + } + + // Glonass + // ------- + if (iPhase == 1) { + QMapIterator itGlo(epoData->satDataGlo); + while (itGlo.hasNext()) { + itGlo.next(); + t_satData* satData = itGlo.value(); + addObs(iPhase, iObs, satData, AA, ll, PP); + } + } + + // Galileo + // ------- + QMapIterator itGal(epoData->satDataGal); + while (itGal.hasNext()) { + itGal.next(); + t_satData* satData = itGal.value(); + addObs(iPhase, iObs, satData, AA, ll, PP); + } + + // Compute Filter Update + // --------------------- + QQsav = _QQ; + + kalman(AA, ll, PP, _QQ, dx); + + vv = ll - AA * dx; + + // Print Residuals + // --------------- + if (true) { + ostringstream str; + str.setf(ios::fixed); + + QMapIterator itGPS(epoData->satDataGPS); + while (itGPS.hasNext()) { + itGPS.next(); + t_satData* satData = itGPS.value(); + printRes(iPhase, vv, str, satData); + } + if (iPhase == 1) { + QMapIterator itGlo(epoData->satDataGlo); + while (itGlo.hasNext()) { + itGlo.next(); + t_satData* satData = itGlo.value(); + printRes(iPhase, vv, str, satData); } } - - // Compute Filter Update - // --------------------- - kalman(AA, ll, PP, _QQ, dx); - - ColumnVector vv = ll - AA * dx; - - // Print Residuals - // --------------- - if (iPhase == 0) { - strResCode = printRes(iPhase, vv, epoData->satData); - } - else { - strResPhase = printRes(iPhase, vv, epoData->satData); - } - - // Check the residuals - // ------------------- - if ( outlierDetection(iPhase, vv, epoData->satData) ) { - restoreState(epoData); - break; - } - - // Set estimated values - // -------------------- - else if (!_usePhase || iPhase == 1) { - QVectorIterator itPar(_params); - while (itPar.hasNext()) { - bncParam* par = itPar.next(); - par->xx += dx(par->index); - } - - // Print Neglected PRNs - // -------------------- - if (nNeglected > 0) { - _log += "Neglected PRNs: " + strNeglected + '\n'; - } - - _log += strResCode + strResPhase; - - return success; - } - - } // for (int iPhase = 0; iPhase <= (_usePhase ? 1 : 0); iPhase++) - - } while ( next_combination(allPrns.begin(), allPrns.end(), - usedPrns.begin(), usedPrns.end()) ); - - } // for (unsigned nNeglected - - return failure; + QMapIterator itGal(epoData->satDataGal); + while (itGal.hasNext()) { + itGal.next(); + t_satData* satData = itGal.value(); + printRes(iPhase, vv, str, satData); + } + _log += str.str().c_str(); + } + + } while (outlierDetection(iPhase, QQsav, vv, epoData->satDataGPS, + epoData->satDataGlo, epoData->satDataGal) != 0); + + // Update Parameters + // ----------------- + QVectorIterator itPar(_params); + while (itPar.hasNext()) { + bncParam* par = itPar.next(); + par->xx += dx(par->index); + } + } + + return success; } // Remeber Original State Vector and Variance-Covariance Matrix //////////////////////////////////////////////////////////////////////////// -void bncModel::rememberState(t_epoData* epoData) { +void bncModel::rememberState() { _QQ_sav = _QQ; @@ -1365,11 +1482,9 @@ _params_sav.push_back(new bncParam(*par)); } - - _epoData_sav->deepCopy(epoData); } // Restore Original State Vector and Variance-Covariance Matrix //////////////////////////////////////////////////////////////////////////// -void bncModel::restoreState(t_epoData* epoData) { +void bncModel::restoreState() { _QQ = _QQ_sav; @@ -1387,5 +1502,4 @@ _params.push_back(new bncParam(*par)); } - - epoData->deepCopy(_epoData_sav); -} +} + Index: /trunk/BNC/bncmodel.h =================================================================== --- /trunk/BNC/bncmodel.h (revision 3404) +++ /trunk/BNC/bncmodel.h (revision 3405) @@ -29,5 +29,4 @@ #include #include -#include #include "bncconst.h" @@ -60,4 +59,5 @@ bncModel(QByteArray staID); ~bncModel(); + t_irc cmpBancroft(t_epoData* epoData); t_irc update(t_epoData* epoData); bncTime time() const {return _time;} @@ -94,5 +94,4 @@ private: - t_irc cmpBancroft(t_epoData* epoData); void reset(); void cmpEle(t_satData* satData); @@ -100,15 +99,19 @@ void addObs(int iPhase, unsigned& iObs, t_satData* satData, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP); - QByteArray printRes(int iPhase, const ColumnVector& vv, - const QMap& satDataMap); - void findMaxRes(const ColumnVector& vv, + void printRes(int iPhase, const ColumnVector& vv, + std::ostringstream& str, t_satData* satData); + void findMaxRes(int iPhase, const ColumnVector& vv, const QMap& satData, - QString& prn, double& maxRes); + QString& prnCode, double& maxResCode, + QString& prnPhase, double& maxResPhase); double cmpValue(t_satData* satData, bool phase); double delay_saast(double Ele); void predict(int iPhase, t_epoData* epoData); t_irc update_p(t_epoData* epoData); - bool outlierDetection(int iPhase, const ColumnVector& vv, - QMap& satData); + int outlierDetection(int iPhase, const SymmetricMatrix& QQsav, + const ColumnVector& vv, + QMap& satDataGPS, + QMap& satDataGlo, + QMap& satDataGal); void writeNMEAstr(const QString& nmStr); @@ -118,6 +121,6 @@ bncTime _startTime; - void rememberState(t_epoData* epoData); - void restoreState(t_epoData* epoData); + void rememberState(); + void restoreState(); class pppPos { @@ -139,5 +142,4 @@ QVector _params_sav; SymmetricMatrix _QQ_sav; - t_epoData* _epoData_sav; ColumnVector _xcBanc; ColumnVector _ellBanc; Index: /trunk/BNC/bncpppclient.cpp =================================================================== --- /trunk/BNC/bncpppclient.cpp (revision 3404) +++ /trunk/BNC/bncpppclient.cpp (revision 3405) @@ -194,5 +194,5 @@ satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2; - _epoData.back()->satData[satData->prn] = satData; + _epoData.back()->satDataGPS[satData->prn] = satData; } else { @@ -227,5 +227,5 @@ satData->lambda3 = c1 * t_CST::c / f1 + c2 * t_CST::c / f2; - _epoData.back()->satData[satData->prn] = satData; + _epoData.back()->satDataGlo[satData->prn] = satData; } else { @@ -250,5 +250,5 @@ satData->L3 = c1 * satData->L1 + c5 * satData->L5; satData->lambda3 = c1 * t_CST::c / f1 + c5 * t_CST::c / f5; - _epoData.back()->satData[satData->prn] = satData; + _epoData.back()->satDataGal[satData->prn] = satData; } else { @@ -459,13 +459,39 @@ // Data Pre-Processing // ------------------- - QMutableMapIterator it(_epoData.front()->satData); - while (it.hasNext()) { - it.next(); - QString prn = it.key(); - t_satData* satData = it.value(); + QMutableMapIterator iGPS(_epoData.front()->satDataGPS); + while (iGPS.hasNext()) { + iGPS.next(); + QString prn = iGPS.key(); + t_satData* satData = iGPS.value(); if (cmpToT(satData) != success) { delete satData; - it.remove(); + iGPS.remove(); + continue; + } + } + + QMutableMapIterator iGlo(_epoData.front()->satDataGlo); + while (iGlo.hasNext()) { + iGlo.next(); + QString prn = iGlo.key(); + t_satData* satData = iGlo.value(); + + if (cmpToT(satData) != success) { + delete satData; + iGlo.remove(); + continue; + } + } + + QMutableMapIterator iGal(_epoData.front()->satDataGal); + while (iGal.hasNext()) { + iGal.next(); + QString prn = iGal.key(); + t_satData* satData = iGal.value(); + + if (cmpToT(satData) != success) { + delete satData; + iGal.remove(); continue; } Index: /trunk/BNC/bncpppclient.h =================================================================== --- /trunk/BNC/bncpppclient.h (revision 3404) +++ /trunk/BNC/bncpppclient.h (revision 3405) @@ -35,5 +35,6 @@ public: t_satData() { - obsIndex = 0; + indexCode = 0; + indexPhase = 0; } ~t_satData() {} @@ -56,5 +57,6 @@ bool slipFlag; double lambda3; - unsigned obsIndex; + unsigned indexCode; + unsigned indexPhase; char system() const {return prn.toAscii()[0];} }; @@ -63,43 +65,30 @@ public: t_epoData() {} - ~t_epoData() { - clear(); - } - - void clear() { - QMapIterator it(satData); - while (it.hasNext()) { - it.next(); - delete it.value(); + QMapIterator itGPS(satDataGPS); + while (itGPS.hasNext()) { + itGPS.next(); + delete itGPS.value(); } - satData.clear(); - } - - void deepCopy(const t_epoData* from) { - clear(); - tt = from->tt; - QMapIterator it(from->satData); - while (it.hasNext()) { - it.next(); - satData[it.key()] = new t_satData(*it.value()); + QMapIterator itGlo(satDataGlo); + while (itGlo.hasNext()) { + itGlo.next(); + delete itGlo.value(); + } + QMapIterator itGal(satDataGal); + while (itGal.hasNext()) { + itGal.next(); + delete itGal.value(); } } - - unsigned sizeSys(char system) const { - unsigned ans = 0; - QMapIterator it(satData); - while (it.hasNext()) { - it.next(); - if (it.value()->system() == system) { - ++ans; - } - } - return ans; - } - unsigned sizeAll() const {return satData.size();} - - bncTime tt; - QMap satData; + unsigned sizeGPS() const {return satDataGPS.size();} + unsigned sizeGlo() const {return satDataGlo.size();} + unsigned sizeGal() const {return satDataGal.size();} + unsigned sizeAll() const {return satDataGPS.size() + satDataGlo.size() + + satDataGal.size();} + bncTime tt; + QMap satDataGPS; + QMap satDataGlo; + QMap satDataGal; }; Index: /trunk/BNC/bncutils.cpp =================================================================== --- /trunk/BNC/bncutils.cpp (revision 3404) +++ /trunk/BNC/bncutils.cpp (revision 3405) @@ -374,15 +374,2 @@ dateTime.time().msec() / 1000.0) / 60.0) / 60.0) / 24.0; } - -// -//////////////////////////////////////////////////////////////////////////// -bool findInVector(const vector& vv, const QString& str) { - std::vector::const_iterator it; - for (it = vv.begin(); it != vv.end(); ++it) { - if ( (*it) == str) { - return true; - } - } - return false; -} - Index: /trunk/BNC/bncutils.h =================================================================== --- /trunk/BNC/bncutils.h (revision 3404) +++ /trunk/BNC/bncutils.h (revision 3405) @@ -25,6 +25,4 @@ #ifndef BNCUTILS_H #define BNCUTILS_H - -#include #include @@ -70,5 +68,3 @@ void mjdFromDateAndTime(const QDateTime& dateTime, int& mjd, double& dayfrac); -bool findInVector(const std::vector& vv, const QString& str); - #endif