Changeset 3448 in ntrip for trunk

Timestamp:

Sep 22, 2011, 4:58:48 PM (13 years ago)

Author:

mervart

Message:

 

Location:

trunk/BNC/combination

Files:

• bnccomb.cpp (modified) (9 diffs)
• bnccomb.h (modified) (3 diffs)

trunk/BNC/combination/bnccomb.cpp

@@ -35 +35 @@
 const double sig0_offACSat =  100.0;
 const double sigP_offACSat =    0.0;
-const double sig0_clkSat   =   10.0;
-const double sigP_clkSat   =    0.1;
-
-const double sigObs        =   0.05;
+const double sig0_clkSat   =  100.0;
+const double sigP_clkSat   =  100.0;
 
 const int MAXPRN_GPS = 32;
@@ -54 +52 @@
   prn    = prn_;
   xx     = 0.0;
-  eph    = 0;
 
   if      (type == offAC) {
@@ -186 +183 @@
   }
 
+  // Not yet regularized
+  // -------------------
+  _firstReg = false;
+
   // Maximal Residuum
   // ----------------
@@ -337 +338 @@
   XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
 
-  QString msg = "switch corr " + corr->prn 
+  QString msg = "switch " + corr->prn 
     + QString(" %1 -> %2 %3").arg(corr->iod,3)
     .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
@@ -355 +356 @@
 
   int nPar = _params.size();
+  int nObs = corrs().size(); 
+
+  if (nObs == 0) {
+    return;
+  }
 
   _log.clear();
@@ -383 +389 @@
   ColumnVector x0(nPar);
   for (int iPar = 1; iPar <= _params.size(); iPar++) {
-    cmbParam* pp  = _params[iPar-1];
-    QString   prn = pp->prn;
-    if (!prn.isEmpty() && _eph.find(prn) != _eph.end()) {
-      switchToLastEph(_eph[prn]->last, pp);
-    }
+    cmbParam* pp = _params[iPar-1];
     if (pp->epoSpec) {
       pp->xx = 0.0;
@@ -400 +402 @@
   }
 
+  // Create First Design Matrix and Vector of Measurements
+  // -----------------------------------------------------
+  const double Pl = 1.0 / (0.05 * 0.05);
+
+  const int nCon = (_firstReg == false) ? 1 + MAXPRN_GPS : 1;
+  Matrix         AA(nObs+nCon, nPar);  AA = 0.0;
+  ColumnVector   ll(nObs+nCon);        ll = 0.0;
+  DiagonalMatrix PP(nObs+nCon);        PP = Pl;
+
+  int iObs = 0;
+
+  QMap<QString, t_corr*> resCorr;
+
+  QVectorIterator<cmbCorr*> itCorr(corrs());
+  while (itCorr.hasNext()) {
+    cmbCorr* corr = itCorr.next();
+    QString  prn  = corr->prn;
+    switchToLastEph(_eph[prn]->last, corr);
+    ++iObs;
+
+    if (resCorr.find(prn) == resCorr.end()) {
+      resCorr[prn] = new t_corr(*corr);
+    }
+
+    for (int iPar = 1; iPar <= _params.size(); iPar++) {
+      cmbParam* pp = _params[iPar-1];
+      AA(iObs, iPar) = pp->partial(corr->acName, prn);
+    }
+
+    ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
+  }
+
+  // Regularization
+  // --------------
+  const double Ph = 1.e6;
+  int iCond = 1;
+  PP(nObs+iCond)          = Ph;
+  for (int iPar = 1; iPar <= _params.size(); iPar++) {
+    cmbParam* pp = _params[iPar-1];
+    if (pp->type == cmbParam::clkSat &&
+        AA.Column(iPar).maximum_absolute_value() > 0.0) {
+      AA(nObs+iCond, iPar) = 1.0;
+    }
+  }
+
+  if (!_firstReg) {
+    _firstReg = true;
+    for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
+      ++iCond;
+      QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
+      PP(nObs+1+iGps)       = Ph;
+      for (int iPar = 1; iPar <= _params.size(); iPar++) {
+        cmbParam* pp = _params[iPar-1];
+        if (pp->type == cmbParam::offACSat && pp->prn == prn) {
+          AA(nObs+iCond, iPar) = 1.0;
+        }
+      }
+    }
+  }
+
+  ColumnVector dx;
   SymmetricMatrix QQ_sav = _QQ;
 
-  ColumnVector dx;
-  QMap<QString, t_corr*> resCorr;
-    
   // Update and outlier detection loop
   // ---------------------------------
-  while (true) {
-
-    Matrix         AA;
-    ColumnVector   ll;
-    DiagonalMatrix PP;
-
-    if (createAmat(AA, ll, PP, x0, resCorr) != success) {
-      return;
-    }
-
+  for (int ii = 1; ii < 10; ii++) {
     bncModel::kalman(AA, ll, PP, _QQ, dx);
     ColumnVector vv = ll - AA * dx;
@@ -442 +493 @@
       out << "  Outlier" << endl;
       _QQ = QQ_sav;
-      corrs().remove(maxResIndex-1);
+      AA.Row(maxResIndex) = 0.0;
+      ll.Row(maxResIndex) = 0.0;
     }
     else {
@@ -637 +689 @@
   }
 }
-
-// Create First Design Matrix and Vector of Measurements
-////////////////////////////////////////////////////////////////////////////
-t_irc bncComb::createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
-                          const ColumnVector& x0, 
-                          QMap<QString, t_corr*>& resCorr) {
-
-  unsigned nPar = _params.size();
-  unsigned nObs = corrs().size(); 
-
-  if (nObs == 0) {
-    return failure;
-  }
-
-  const int nCon = 2;
-
-  AA.ReSize(nObs+nCon, nPar);  AA = 0.0;
-  ll.ReSize(nObs+nCon);        ll = 0.0;
-  PP.ReSize(nObs+nCon);        PP = 1.0 / (sigObs * sigObs);
-
-  int iObs = 0;
-
-  QVectorIterator<cmbCorr*> itCorr(corrs());
-  while (itCorr.hasNext()) {
-    cmbCorr* corr = itCorr.next();
-    QString  prn  = corr->prn;
-    switchToLastEph(_eph[prn]->last, corr);
-    ++iObs;
-
-    if (resCorr.find(prn) == resCorr.end()) {
-      resCorr[prn] = new t_corr(*corr);
-    }
-
-    for (int iPar = 1; iPar <= _params.size(); iPar++) {
-      cmbParam* pp = _params[iPar-1];
-      AA(iObs, iPar) = pp->partial(corr->acName, prn);
-    }
-
-    ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
-  }
-
-  // Regularization
-  // --------------
-  const double Ph = 1.e6;
-  PP(nObs+1) = Ph;
-  PP(nObs+2) = Ph;
-  for (int iPar = 1; iPar <= _params.size(); iPar++) {
-    cmbParam* pp = _params[iPar-1];
-    if      (pp->type == cmbParam::clkSat) {
-      AA(nObs+1, iPar) = 1.0;
-    }
-    else if (pp->type == cmbParam::offAC) {
-      AA(nObs+2, iPar) = 1.0;
-    }
-  }
-
-  return success;
-}
-
-// Change the parameter so that it refers to last received ephemeris 
-////////////////////////////////////////////////////////////////////////////
-void bncComb::switchToLastEph(const t_eph* lastEph, cmbParam* pp) {
-
-  if (pp->type != cmbParam::clkSat) {
-    return;
-  }
-
-  if (pp->eph == 0) {
-    pp->eph = lastEph;
-    return;
-  }
-
-  if (pp->eph == lastEph) {
-    return;
-  }
-
-  ColumnVector oldXC(4);
-  ColumnVector oldVV(3);
-  pp->eph->position(_resTime.gpsw(), _resTime.gpssec(), 
-                      oldXC.data(), oldVV.data());
-
-  ColumnVector newXC(4);
-  ColumnVector newVV(3);
-  lastEph->position(_resTime.gpsw(), _resTime.gpssec(), 
-                    newXC.data(), newVV.data());
-
-  double dC = newXC(4) - oldXC(4);
-
-  QString msg = "switch param " + pp->prn 
-    + QString(" %1 -> %2 %3").arg(pp->eph->IOD(),3)
-    .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
-
-  emit newMessage(msg.toAscii(), false);
-
-  pp->eph = lastEph;
-  pp->xx  -= dC * t_CST::c;
-}
-

trunk/BNC/combination/bnccomb.h

@@ -26 +26 @@
   double  sigP;
   bool    epoSpec;
-  const t_eph* eph;
 };
 
@@ -74 +73 @@
 
   void processEpoch();
-  t_irc createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
-                   const ColumnVector& x0, QMap<QString, t_corr*>& resCorr);
   void dumpResults(const QMap<QString, t_corr*>& resCorr);
   void printResults(QTextStream& out, const QMap<QString, t_corr*>& resCorr);
   void switchToLastEph(const t_eph* lastEph, t_corr* corr);
-  void switchToLastEph(const t_eph* lastEph, cmbParam* pp);
 
   QVector<cmbCorr*>& corrs() {return _buffer[_resTime].corrs;}
@@ -89 +85 @@
   bncRtnetDecoder*        _rtnetDecoder;
   SymmetricMatrix         _QQ;
+  bool                    _firstReg;
   QByteArray              _log;
   bncAntex*               _antex;