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QPPPModel.cpp
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#include "QPPPModel.h"
QStringList QPPPModel::searchFilterFile(QString floder_path, QStringList filers)
{
QDir floder_Dir(floder_path);
QStringList all_file_path;
floder_Dir.setFilter(QDir::Files | QDir::NoSymLinks);
floder_Dir.setNameFilters(filers);
QFileInfoList file_infos = floder_Dir.entryInfoList();
for(int i = 0;i < file_infos.length();i++)
{
QFileInfo file_info = file_infos.at(i);
if(file_info.fileName() != "." || file_info.fileName() != "..")
all_file_path.append(file_info.absoluteFilePath());
}
return all_file_path;
}
//Run the specified directory file
QPPPModel::QPPPModel(QString files_path, QTextEdit *pQTextEdit, QString Method, QString Satsystem,
QString TropDelay, double CutAngle, bool isKinematic, QString Smooth_Str, QString products,
QString pppmodel_t, QString deleteSats, QVector<QStringList> ObsTypeSet, QVector<QStringList> Qw_Pk_LPacc)
{
//Initialize variables
initVar();
// Display for GUI
mp_QTextEditforDisplay = pQTextEdit;
m_run_floder = files_path + PATHSEG;
m_App_floder = QCoreApplication::applicationDirPath() + PATHSEG;
// find files
QStringList tempFilters,
OFileNamesList, Sp3FileNamesList, ClkFileNamesList, ErpFileNamesList,
AtxFileNamesList, BlqFileNamesList, GrdFileNamesList;
// find obs files
tempFilters.clear();
tempFilters.append("*.*o");
OFileNamesList = searchFilterFile(m_run_floder, tempFilters);
// find sp3 files
tempFilters.clear();
tempFilters.append("*.sp3");
tempFilters.append("*.eph");
Sp3FileNamesList = searchFilterFile(m_run_floder, tempFilters);
// find clk files
tempFilters.clear();
tempFilters.append("*.clk");
ClkFileNamesList = searchFilterFile(m_run_floder, tempFilters);
// if not find clk try clk_*
if(ClkFileNamesList.isEmpty())
{
tempFilters.clear();
tempFilters.append("*.clk_*");
ClkFileNamesList = searchFilterFile(m_run_floder, tempFilters);
}
// find erp files
tempFilters.clear();
tempFilters.append("*.erp");
ErpFileNamesList = searchFilterFile(m_run_floder, tempFilters);
// find Atx files
tempFilters.clear();
tempFilters.append("*.atx");
QStringList run_floder, app_floder;
run_floder = searchFilterFile(m_run_floder, tempFilters);
app_floder = searchFilterFile(m_App_floder, tempFilters);
AtxFileNamesList.append(run_floder);
AtxFileNamesList.append(app_floder);
run_floder.clear();
app_floder.clear();
// find blq files
tempFilters.clear();
tempFilters.append("*.blq");
run_floder = searchFilterFile(m_run_floder, tempFilters);
app_floder = searchFilterFile(m_App_floder, tempFilters);
BlqFileNamesList.append(run_floder);
BlqFileNamesList.append(app_floder);
run_floder.clear();
app_floder.clear();
// find grd files
tempFilters.clear();
tempFilters.append("*.grd");
run_floder = searchFilterFile(m_run_floder, tempFilters);
app_floder = searchFilterFile(m_App_floder, tempFilters);
GrdFileNamesList.append(run_floder);
GrdFileNamesList.append(app_floder);
run_floder.clear();
app_floder.clear();
// get want file
// o file
QString OfileName = "", erpFile = "", blqFile = "", atxFile = "", grdFile = "";
if (!OFileNamesList.isEmpty())
{
OfileName = OFileNamesList.at(0);
m_haveObsFile = true;
}
else
{
ErroTrace("QPPPModel::QPPPModel: Cant not find Obsvertion file.");
m_haveObsFile = false;
}
if(!ErpFileNamesList.isEmpty()) erpFile = ErpFileNamesList.at(0);
if(!AtxFileNamesList.isEmpty()) atxFile = AtxFileNamesList.at(0);
if(!BlqFileNamesList.isEmpty()) blqFile = BlqFileNamesList.at(0);
if(!GrdFileNamesList.isEmpty()) grdFile = GrdFileNamesList.at(0);
// get OBS file size for real-time write file
QFileInfo obs_info(OfileName);
double obsMB = (double)(obs_info.size())/(1024.0*1024.0);
if(obsMB > 80) m_IS_MAX_OBS = true;
// use defualt config
setConfigure(Method, Satsystem, TropDelay, CutAngle, isKinematic, Smooth_Str, products, pppmodel_t, deleteSats,
ObsTypeSet, Qw_Pk_LPacc);
// save data to QPPPModel
initQPPPModel(OfileName, Sp3FileNamesList, ClkFileNamesList, erpFile, blqFile, atxFile, grdFile);
}
void QPPPModel::setConfigure(QString Method, QString Satsystem, QString TropDelay, double CutAngle,
bool isKinematic, QString Smooth_Str, QString products, QString pppmodel_t,
QString deleteSats, QVector<QStringList> ObsTypeSet, QVector<QStringList> Qw_Pk_LPacc)
{
// Configure
m_Solver_Method = Method;// m_Solver_Method value can be "SRIF" or "Kalman"
m_CutAngle = CutAngle;// (degree)
m_SatSystem = Satsystem;// GPS, GLONASS, BDS, and Galieo are used respectively: the letters G, R, C, E
m_TropDelay = TropDelay;// The tropospheric model m_TropDelay can choose Sass, Hopfiled, UNB3m
m_Product = products;
m_PPPModel_Str = pppmodel_t;
m_isKinematic = isKinematic;
m_deleteSats = deleteSats;
m_ObsTypeSet = ObsTypeSet;
m_Qw_Pk_LPacc = Qw_Pk_LPacc;
//Setting up the file system SystemStr:"G"(Turn on the GPS system);"GR":(Turn on the GPS+GLONASS system);"GRCE" (Open all), etc.
//GPS, GLONASS, BDS, and Galieo are used respectively: the letters G, R, C, E
setSatlitSys(Satsystem);
m_sys_str = Satsystem;
m_sys_num = getSystemnum();
m_ReadOFileClass.setWangObsType(ObsTypeSet);
// set filter Model
if(isKinematic)
{
m_KalmanClass.setModel(QKalmanFilter::KALMAN_MODEL::PPP_KINEMATIC);// set Kinematic model
m_SRIFAlgorithm.setModel(SRIFAlgorithm::SRIF_MODEL::PPP_KINEMATIC);
m_minSatFlag = 5;// Dynamic Settings 4 or 1???, Static Settings 1
}
else
{
m_KalmanClass.setModel(QKalmanFilter::KALMAN_MODEL::PPP_STATIC);// set static model
m_SRIFAlgorithm.setModel(SRIFAlgorithm::SRIF_MODEL::PPP_STATIC);
m_minSatFlag = 1;// Dynamic Settings 1, Static Settings 1
}
m_KalmanClass.setFilterParams(Qw_Pk_LPacc);// set Qw and Pk for Kalman
m_SRIFAlgorithm.setFilterParams(Qw_Pk_LPacc);// set Qw and Pk for SRIF
if("Smooth" == Smooth_Str)
{
m_KalmanClass.setSmoothRange(QKalmanFilter::KALMAN_SMOOTH_RANGE::SMOOTH);
m_SRIFAlgorithm.setSmoothRange(SRIFAlgorithm::SRIF_SMOOTH_RANGE::SMOOTH);
m_isSmoothRange = true;
}
else if("NoSmooth" == Smooth_Str)
{
m_KalmanClass.setSmoothRange(QKalmanFilter::KALMAN_SMOOTH_RANGE::NO_SMOOTH);
m_SRIFAlgorithm.setSmoothRange(SRIFAlgorithm::SRIF_SMOOTH_RANGE::NO_SMOOTH);
m_isSmoothRange = false;
}
if(Method == "KalmanOu")
{
m_KalmanClass.setFilterMode(QKalmanFilter::KALMAN_FILLTER::KALMAN_MrOu);
}
if(m_PPPModel_Str.contains("Ion", Qt::CaseInsensitive))
{
setPPPModel(PPP_MODEL::PPP_Combination);
m_KalmanClass.setPPPModel(PPP_MODEL::PPP_Combination);
m_SRIFAlgorithm.setPPPModel(PPP_MODEL::PPP_Combination);
m_writeFileClass.setPPPModel(PPP_MODEL::PPP_Combination);
if(m_IS_MAX_OBS) m_QRTWrite2File.setPPPModel(PPP_MODEL::PPP_Combination);
m_qualityCtrl.setPPPModel(PPP_MODEL::PPP_Combination);
}
else if(m_PPPModel_Str.contains("Uncomb", Qt::CaseInsensitive))
{
setPPPModel(PPP_MODEL::PPP_NOCombination);
m_KalmanClass.setPPPModel(PPP_MODEL::PPP_NOCombination);
m_SRIFAlgorithm.setPPPModel(PPP_MODEL::PPP_NOCombination);
m_writeFileClass.setPPPModel(PPP_MODEL::PPP_NOCombination);
if(m_IS_MAX_OBS) m_QRTWrite2File.setPPPModel(PPP_MODEL::PPP_NOCombination);
m_qualityCtrl.setPPPModel(PPP_MODEL::PPP_NOCombination);
}
else
m_haveObsFile = false;
}
//Initialization operation
void QPPPModel::initVar()
{
for (int i = 0;i < 3;i++)
m_ApproxRecPos[0] = 0;
m_OFileName = "";
multReadOFile = 1000;
m_leapSeconds = 0;
m_isConnect = false;
m_isConnectCNT = false;
m_run_floder = "";
m_haveObsFile = false;
m_isRuned = false;
m_save_images_path = "";
m_iswritre_file = false;
m_minSatFlag = 5;// Dynamic Settings 5 or 1, Static Settings 1 in setConfigure()
m_isSmoothRange = false;
m_clock_jump_type = 0;
m_interval = -1;
mp_QTextEditforDisplay = NULL;
m_IS_MAX_OBS = false;
m_deleteSats = "";
}
//Constructor
void QPPPModel::initQPPPModel(QString OFileName,QStringList Sp3FileNames,QStringList ClkFileNames,QString ErpFileName,QString BlqFileName,QString AtxFileName,QString GrdFileName)
{
if(!m_haveObsFile) return ;// if not have observation file.
//Set up multi-system data
//Initial various classes
m_ReadSP3Class.setSP3FileNames(Sp3FileNames);
m_ReadClkClass.setClkFileNames(ClkFileNames);
m_ReadOFileClass.setObsFileName(OFileName);
m_ReadTropClass.setTropFileNames(GrdFileName,"GMF", m_TropDelay);// Default tropospheric model projection function GMF
m_ReadAntClass.setAntFileName(AtxFileName);
m_TideEffectClass.setTideFileName(BlqFileName,ErpFileName);// for OCEAN and Erp tide
m_ReadAntClass.m_CmpClass.readRepFile(ErpFileName);// for compute sun and moon position
qCmpGpsT.readRepFile(ErpFileName);// safe operation
//Save file name
m_OFileName = OFileName;
m_Sp3FileNames = Sp3FileNames;
m_ClkFileNames = ClkFileNames;
m_ErpFileName = ErpFileName;
//Various class settings
int obsTime[5] = {0};
double Seconds = 0,ObsJD = 0;
m_ReadOFileClass.getApproXYZ(m_ApproxRecPos);//Obtain the approximate coordinates of the O file
m_ReadOFileClass.getFistObsTime(obsTime,Seconds);//Get the initial observation time
ObsJD = qCmpGpsT.computeJD(obsTime[0],obsTime[1],obsTime[2],obsTime[3],obsTime[4],Seconds);
m_ReadAntClass.setObsJD(m_ReadOFileClass.getAntType(),ObsJD);//Set the antenna effective time
m_TideEffectClass.setStationName(m_ReadOFileClass.getMakerName());//Setting the tide requires a station name
//Search products and download
int GPS_Week = 0, GPS_Day = 0;
qCmpGpsT.YMD2GPSTime(obsTime[0],obsTime[1],obsTime[2],obsTime[3],obsTime[4],Seconds, &GPS_Week, &GPS_Day);
//If there is no product, it is necessary to make up such final products.
if(Sp3FileNames.isEmpty() || ClkFileNames.isEmpty() || ErpFileName.isEmpty()) connectHost();
if(m_Product.contains("igs", Qt::CaseInsensitive))
{
if(Sp3FileNames.isEmpty()) m_Sp3FileNames = downProducts(m_run_floder, GPS_Week, GPS_Day, "sp3");
if(ClkFileNames.isEmpty()) m_ClkFileNames = downProducts(m_run_floder, GPS_Week, GPS_Day, "clk");
}
// download erp
if(ErpFileName.isEmpty())
{
m_ErpFileName = downErpFile(m_run_floder, GPS_Week, GPS_Day, "erp");
m_TideEffectClass.setTideFileName(BlqFileName,m_ErpFileName);
m_ReadAntClass.m_CmpClass.readRepFile(ErpFileName);// for compute sun and moon position
qCmpGpsT.readRepFile(m_ErpFileName);
}
// if download final products bad, it will download real-time cnt products
if(m_Product.contains("cnt", Qt::CaseInsensitive))
{
if(m_Sp3FileNames.isEmpty() || m_ClkFileNames.isEmpty()) connectCNTHost();
if(m_Sp3FileNames.isEmpty()) m_Sp3FileNames = downCNTProducts(m_run_floder, GPS_Week, GPS_Day, "sp3");
if(m_ClkFileNames.isEmpty()) m_ClkFileNames = downCNTProducts(m_run_floder, GPS_Week, GPS_Day, "clk");
}
// set download file name
if(!m_Sp3FileNames.isEmpty()) m_ReadSP3Class.setSP3FileNames(m_Sp3FileNames);
if(!m_ClkFileNames.isEmpty()) m_ReadClkClass.setClkFileNames(m_ClkFileNames);
// end this PPP
if(m_Sp3FileNames.isEmpty() || m_ClkFileNames.isEmpty()) m_haveObsFile = false;
//Get skip seconds
m_leapSeconds = qCmpGpsT.getLeapSecond(obsTime[0],obsTime[1],obsTime[2],obsTime[3],obsTime[4],Seconds);
m_interval = m_ReadOFileClass.getInterval();
//Read the required calculation file module (time consuming)
if(m_haveObsFile)
{
m_ReadAntClass.getAllData();//Read all data from satellites and receivers
m_TideEffectClass.getAllData();//Read tide data
m_ReadTropClass.getAllData();//Read grd files for later tropospheric calculations
m_ReadSP3Class.getAllData();//Read the entire SP3 file
m_ReadClkClass.getAllData();//Read the clock error file for later calculation
}
// init QRTWrite2File class
if(m_IS_MAX_OBS)
{
QDir tempDir(m_run_floder);
// product name
QString Product_name = "IGS";
if(m_Sp3FileNames.length() > 0)
{
QString sp3name_path = m_Sp3FileNames.at(0);
int index_p = sp3name_path.lastIndexOf("/");// get sp3 name
QString sp3name = sp3name_path.mid(index_p+1);
Product_name = sp3name.mid(0,3).toUpper();
}
QString floder_name = Product_name + "Products_" + m_Solver_Method + "_" + m_PPPModel_Str + "_Static_" + m_sys_str + PATHSEG; //+ "_1e8" + "_1e8_new"
if(m_isKinematic)
floder_name = Product_name + "Products_" + m_Solver_Method + "_" + m_PPPModel_Str + "_Kinematic_" + m_sys_str +PATHSEG;
QString RTwriteFloder = tempDir.absoluteFilePath(floder_name);
m_QRTWrite2File.setSaveFloder(RTwriteFloder);
}
}
// get matrix B and observer L
void QPPPModel::Obtaining_equation(QVector< SatlitData > &currEpoch, double *ApproxRecPos, MatrixXd &mat_B, VectorXd &Vct_L, MatrixXd &mat_P, bool isSmoothRange)
{
int epochLenLB = currEpoch.length();
MatrixXd B, P;
VectorXd L, sys_len;
sys_len.resize(m_sys_str.length());
B.resize(epochLenLB,3 + m_sys_num);
P.resize(epochLenLB,epochLenLB);
L.resize(epochLenLB);
sys_len.setZero();
B.setZero();
L.setZero();
P.setIdentity();
bool is_find_base_sat = false;
for (int i = 0; i < epochLenLB;i++)
{
SatlitData oneSatlit = currEpoch.at(i);
double li = 0,mi = 0,ni = 0,p0 = 0,dltaX = 0,dltaY = 0,dltaZ = 0;
dltaX = oneSatlit.X - ApproxRecPos[0];
dltaY = oneSatlit.Y - ApproxRecPos[1];
dltaZ = oneSatlit.Z - ApproxRecPos[2];
p0 = qSqrt(dltaX*dltaX+dltaY*dltaY+dltaZ*dltaZ);
li = dltaX/p0;mi = dltaY/p0;ni = dltaZ/p0;
//Computational B matrix
//P3 pseudorange code matrix
B(i, 0) = li;B(i, 1) = mi;B(i, 2) = ni; B(i, 3) = -1;// base system satlite clk must exist
// debug by xiaogongwei 2019.04.03 for ISB
for(int k = 1; k < m_sys_str.length();k++)
{
if(m_sys_str[k] == oneSatlit.SatType)
{
B(i,3+k) = -1;
sys_len[k] = 1;//good no zeros cloumn in B,sys_lenmybe 0 1 1 0
}
}
// debug by xiaogongwei 2019.04.10 is exist base system satlite clk
if(m_sys_str[0] == oneSatlit.SatType)
is_find_base_sat = true;
//Calculating the L matrix
double dlta = 0;//Correction of each
dlta = - oneSatlit.StaClock + oneSatlit.SatTrop - oneSatlit.Relativty -
oneSatlit.Sagnac - oneSatlit.TideEffect - oneSatlit.AntHeight;
//Pseudorange code PP3
if(isSmoothRange)
{// add by xiaogongwei 2018.11.20
L(i) = p0 - oneSatlit.PP3_Smooth + dlta;
// Computing weight matrix P
// if(oneSatlit.UTCTime.epochNum > 30 && oneSatlit.PP3_Smooth_NUM < 30 )//
// P(i, i) = 0.0001;
// else
P(i, i) = 1 / oneSatlit.PP3_Smooth_Q;//Smooth pseudorange????
}
else
{
L(i) = p0 - oneSatlit.PP3 + dlta;
// Computing weight matrix P
P(i, i) = oneSatlit.SatWight;//Pseudo-range right
}
}//B, L is calculated
// save data to mat_B
mat_B = B;
Vct_L = L;
mat_P = P;
// debug by xiaogongwei 2019.04.04
int no_zero = sys_len.size() - 1 - sys_len.sum();
if(no_zero > 0 || !is_find_base_sat)
{
int new_hang = B.rows() + no_zero, new_lie = B.cols(), flag = 0;
if(!is_find_base_sat) new_hang++; // debug by xiaogongwei 2019.04.10 is exist base system satlite clk
mat_B.resize(new_hang,new_lie);
mat_P.resize(new_hang,new_hang);
Vct_L.resize(new_hang);
mat_B.setZero();
Vct_L.setZero();
mat_P.setIdentity();
// debug by xiaogongwei 2019.04.10 is exist base system satlite clk
if(!is_find_base_sat)
{
for(int i = 0;i < B.rows();i++)
B(i, 3) = 0;
mat_B(mat_B.rows() - 1, 3) = 1;// 3 is conntain [dx,dy,dz]
}
mat_B.block(0,0,B.rows(),B.cols()) = B;
mat_P.block(0,0,P.rows(),P.cols()) = P;
Vct_L.head(L.rows()) = L;
for(int i = 1; i < sys_len.size();i++)
{
if(0 == sys_len[i])
{
mat_B(epochLenLB+flag, 3+i) = 1;// 3 is conntain [dx,dy,dz]
flag++;
}
}
}//if(no_zero > 0)
}
void QPPPModel::SimpleSPP(QVector < SatlitData > &prevEpochSatlitData, QVector < SatlitData > &epochSatlitData, double *spp_pos)
{
double p_HEN[3] = {0};
m_ReadOFileClass.getAntHEN(p_HEN);//Get the antenna high
GPSPosTime epochTime;//Obtaining observation time
if(epochSatlitData.length() > 0)
epochTime = epochSatlitData.at(0).UTCTime;//Obtaining observation time
else
return ;
Vector3d tempPos3d, diff_3d;
tempPos3d[0] = spp_pos[0]; tempPos3d[1] = spp_pos[1]; tempPos3d[2] = spp_pos[2];
QVector< SatlitData > store_currEpoch;
int max_iter = 20;
for(int iterj = 0; iterj < max_iter; iterj++)
{
QVector< SatlitData > currEpoch;
// get every satilite data
for (int i = 0;i < epochSatlitData.length();i++)
{
SatlitData tempSatlitData = epochSatlitData.at(i);//Store calculated corrected satellite data
if(!isInSystem(tempSatlitData.SatType))
continue;
//Test whether the carrier and pseudorange are abnormal and terminate in time.
if(!(tempSatlitData.L1&&tempSatlitData.L2&&tempSatlitData.C1&&tempSatlitData.C2))
{
QString errorline;
ErrorMsg(errorline);
tempSatlitData.badMsg.append("Lack of observations"+errorline);
m_writeFileClass.allBadSatlitData.append(tempSatlitData);
continue;
}
//When seeking GPS
double m_PrnGpst = qCmpGpsT.YMD2GPSTime(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds);
// Read satellite clock error from CLK file
double stalitClock = 0;//Unit m
// Note: Time is the signal transmission time(m_PrnGpst - tempSatlitData.C2/M_C)
getCLKData(tempSatlitData.PRN,tempSatlitData.SatType,m_PrnGpst - tempSatlitData.C2/M_C,&stalitClock);
tempSatlitData.StaClock = stalitClock;
//Obtain the coordinates of the epoch satellite from the SP3 data data
double pXYZ[3] = {0},pdXYZ[3] = {0}, sp3Clk = 0.0;//Unit m
// Note: Time is the signal transmission time(m_PrnGpst - tempSatlitData.C2/M_C - tempSatlitData.StaClock/M_C)
getSP3Pos(m_PrnGpst - tempSatlitData.C2/M_C - tempSatlitData.StaClock/M_C,tempSatlitData.PRN,
tempSatlitData.SatType,pXYZ,pdXYZ, &sp3Clk);//Obtain the precise ephemeris coordinates of the satellite launch time(Obtain the precise ephemeris coordinates of the satellite launch time tempSatlitData.StaClock/M_C Otherwise it will cause a convergence gap of 20cm)
tempSatlitData.X = pXYZ[0];tempSatlitData.Y = pXYZ[1];tempSatlitData.Z = pXYZ[2];
// tempSatlitData.StaClock = sp3Clk;// Use igu to do real-time PPP need to use sp3 clock difference replacement, the directory must have the same day clk file, but the clk file data is not used
//Calculate the satellite's high sitting angle (as the receiver approximates the target)
double EA[2]={0};
getSatEA(tempSatlitData.X,tempSatlitData.Y,tempSatlitData.Z,spp_pos,EA);
tempSatlitData.EA[0] = EA[0];tempSatlitData.EA[1] = EA[1];
EA[0] = EA[0]*MM_PI/180;EA[1] = EA[1]*MM_PI/180;//Go to the arc to facilitate the calculation below
tempSatlitData.SatWight = 0.01;// debug xiaogongwei 2018.11.16
getWight(tempSatlitData);
//Test the state of the precise ephemeris and the clock difference and whether the carrier and pseudorange are abnormal, and terminate the XYZ or the satellite with the clock difference of 0 in time.
if (!(tempSatlitData.X&&tempSatlitData.Y&&tempSatlitData.Z&&tempSatlitData.StaClock))
{
QString errorline;
ErrorMsg(errorline);
tempSatlitData.badMsg.append("Can't calculate the orbit and clock offset"+errorline);
m_writeFileClass.allBadSatlitData.append(tempSatlitData);
continue;
}
//Quality control (height angle pseudorange difference)
if (qAbs(tempSatlitData.C1 - tempSatlitData.C2) > 50)
{
QString errorline;
ErrorMsg(errorline);
tempSatlitData.badMsg.append("C1-C2>50"+errorline);
m_writeFileClass.allBadSatlitData.append(tempSatlitData);
continue;
}
if(spp_pos[0] !=0 && tempSatlitData.EA[0] < m_CutAngle)
{
QString errorline;
ErrorMsg(errorline);
tempSatlitData.badMsg.append("elevation angle is " + QString::number(tempSatlitData.EA[0],'f',2)
+ " less " + QString::number(m_CutAngle,'f',2) +errorline);
m_writeFileClass.allBadSatlitData.append(tempSatlitData);
continue;
}
//At the time of SPP, the five satellites with poor GEO orbit in front of Beidou are not removed.
// if(tempSatlitData.SatType == 'C' && tempSatlitData.PRN <=5 )
// continue;
//Calculate the wavelength (mainly for multiple systems)
double F1 = tempSatlitData.Frq[0],F2 = tempSatlitData.Frq[1];
if(F1 == 0 || F2 == 0) continue;//Frequency cannot be 0
//Computational relativity correction
double relative = 0;
if(spp_pos[0] !=0 ) relative = getRelativty(tempSatlitData.SatType, pXYZ,spp_pos,pdXYZ);
tempSatlitData.Relativty = relative;
//Calculate the autobiographic correction of the earth
double earthW = 0;
earthW = getSagnac(tempSatlitData.X,tempSatlitData.Y,tempSatlitData.Z,spp_pos);
tempSatlitData.Sagnac = 0;
if(spp_pos[0] !=0 ) tempSatlitData.Sagnac = earthW;
//Calculate tropospheric dry delay!!!
double MJD = qCmpGpsT.computeJD(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds) - 2400000.5;//Simplified Julian Day
//Calculate and save the annual accumulation date
double TDay = qCmpGpsT.YearAccDay(epochTime.Year,epochTime.Month,epochTime.Day);
double p_BLH[3] = {0},mf = 0, TropZPD = 0;;
qCmpGpsT.XYZ2BLH(spp_pos[0], spp_pos[1], spp_pos[2], p_BLH);
if(spp_pos[0] !=0 ) getTropDelay(MJD,TDay,EA[0],p_BLH,&mf, NULL, &TropZPD);
tempSatlitData.SatTrop = TropZPD;
tempSatlitData.StaTropMap = mf;
if(spp_pos[0] !=0 ) tempSatlitData.StaTropMap = mf;
//Calculate antenna high offset correction Antenna Height
tempSatlitData.AntHeight = 0;
if( spp_pos[0] !=0 )
tempSatlitData.AntHeight = p_HEN[0]*qSin(EA[0]) + p_HEN[1]*qCos(EA[0])*qSin(EA[1]) + p_HEN[2]*qCos(EA[0])*qCos(EA[1]);
//Receiver L1 L2 offset correction
double Lamta1 = M_C/F1,Lamta2 = M_C/F2;
double L1Offset = 0,L2Offset = 0;
if( spp_pos[0] !=0 ) getRecvOffset(EA,tempSatlitData.SatType,L1Offset,L2Offset, tempSatlitData.wantObserType);
tempSatlitData.L1Offset = L1Offset/Lamta1;
tempSatlitData.L2Offset = L2Offset/Lamta2;
//Satellite antenna phase center correction
double SatL12Offset[2] = {0};
if( spp_pos[0] !=0 )
getSatlitOffset(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds - tempSatlitData.C2/M_C,
tempSatlitData.PRN,tempSatlitData.SatType,pXYZ,spp_pos, SatL12Offset, tempSatlitData.wantObserType);//pXYZ saves satellite coordinates
tempSatlitData.SatL1Offset = SatL12Offset[0]/Lamta1;
tempSatlitData.SatL2Offset = SatL12Offset[1]/Lamta2;
//Calculate tide correction
tempSatlitData.TideEffect = 0;
//Calculate antenna phase winding
double AntWindup = 0,preAntWindup = 0;
//Find the previous epoch. Is there a satellite present? The deposit is stored in preAntWindup or preAntWindup=0.
if( spp_pos[0] !=0 )
{
preAntWindup = getPreEpochWindUp(prevEpochSatlitData,tempSatlitData.PRN,tempSatlitData.SatType);//Get the previous epoch of WindUp
AntWindup = getWindup(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds - tempSatlitData.C2/M_C,
pXYZ,spp_pos,preAntWindup,m_ReadAntClass.m_sunpos);
}
tempSatlitData.AntWindup = AntWindup;
//Computation to eliminate ionospheric pseudorange and carrier combinations (here absorbed receiver carrier deflection and WindUp) add SatL1Offset and SatL1Offset by xiaogongwei 2019.04.12
double alpha1 = (F1*F1)/(F1*F1 - F2*F2),alpha2 = (F2*F2)/(F1*F1 - F2*F2);
tempSatlitData.LL1 = Lamta1*(tempSatlitData.L1 + tempSatlitData.L1Offset + tempSatlitData.SatL1Offset - tempSatlitData.AntWindup);
tempSatlitData.LL2 = Lamta2*(tempSatlitData.L2 + tempSatlitData.L2Offset + tempSatlitData.SatL2Offset - tempSatlitData.AntWindup);
tempSatlitData.CC1 = tempSatlitData.C1 + Lamta1*tempSatlitData.L1Offset + Lamta1*tempSatlitData.SatL1Offset;
tempSatlitData.CC2 = tempSatlitData.C2 + Lamta2 *tempSatlitData.L2Offset + Lamta2*tempSatlitData.SatL2Offset;
tempSatlitData.LL3 = alpha1*tempSatlitData.LL1 - alpha2*tempSatlitData.LL2;//Eliminate ionospheric carrier LL3
tempSatlitData.PP3 = alpha1*tempSatlitData.CC1 - alpha2*tempSatlitData.CC2;//Eliminate ionospheric carrier PP3
// save data to currEpoch
currEpoch.append(tempSatlitData);
}
// judge satilite number large 4
if(currEpoch.length() < 5)
{
memset(spp_pos, 0, 3*sizeof(double));// debug by xiaogongwei 2019.09.25
epochSatlitData = currEpoch;// debug by xiaogongwei 2019.04.10
return ;
}
// get equation
MatrixXd mat_B, mat_P;
VectorXd Vct_L, Xk;
Vector3d XYZ_Pos;
Obtaining_equation( currEpoch, spp_pos, mat_B, Vct_L, mat_P);// debug xiaogongwei 2018.11.16
// slover by least square
Xk = (mat_B.transpose()*mat_P*mat_B).inverse()*mat_B.transpose()*mat_P*Vct_L;
XYZ_Pos[0] = tempPos3d[0] + Xk[0];
XYZ_Pos[1] = tempPos3d[1] + Xk[1];
XYZ_Pos[2] = tempPos3d[2] + Xk[2];
diff_3d = XYZ_Pos - tempPos3d;
tempPos3d = XYZ_Pos;// save slover pos
// update spp_pos
spp_pos[0] = XYZ_Pos[0]; spp_pos[1] = XYZ_Pos[1]; spp_pos[2] = XYZ_Pos[2];
// debug by xiaogongwei 2018.11.17
if(diff_3d.cwiseAbs().maxCoeff() < 1)
{
spp_pos[3] = Xk[3];// save base clk
store_currEpoch = currEpoch;
break;
}
if(diff_3d.cwiseAbs().maxCoeff() > 2e7 || !isnormal(diff_3d[0]) || iterj == max_iter - 1)
{
memset(spp_pos, 0, 4*sizeof(double));
epochSatlitData = currEpoch;// debug by xiaogongwei 2019.09.25
return ;
}
}// for(int iterj = 0; iterj < 20; iterj++)
// add Pesudorange smoothed by xiaogongwei 2018.11.20
MatrixXd mat_B, mat_P;
VectorXd Vct_L, Xk_smooth;
//Monitor satellite quality and cycle slip
// getGoodSatlite(prevEpochSatlitData,store_currEpoch, m_CutAngle);
if(store_currEpoch.length() < m_minSatFlag)
{
memset(spp_pos, 0, 4*sizeof(double));// debug by xiaogongwei 2019.09.25
epochSatlitData = store_currEpoch;// debug by xiaogongwei 2019.04.10
return ;
}
if(m_isSmoothRange)
{
m_QPseudoSmooth.SmoothPesudoRange(prevEpochSatlitData, store_currEpoch);
Obtaining_equation( store_currEpoch, spp_pos, mat_B, Vct_L, mat_P, true);// debug xiaogongwei 2018.11.16
// slover by least square
Xk_smooth = (mat_B.transpose()*mat_P*mat_B).inverse()*mat_B.transpose()*mat_P*Vct_L;
// update spp_pos
spp_pos[0] += Xk_smooth[0]; spp_pos[1] += Xk_smooth[1]; spp_pos[2] += Xk_smooth[2];
// use spp_pos update mat_B Vct_L
Obtaining_equation( store_currEpoch, spp_pos, mat_B, Vct_L, mat_P, true);// debug xiaogongwei 2019.03.28
}
else
{// Safe operation
for(int i = 0; i < store_currEpoch.length(); i++)
{
store_currEpoch[i].PP3_Smooth = store_currEpoch[i].PP3;
store_currEpoch[i].PP3_Smooth_NUM = 1;
store_currEpoch[i].PP3_Smooth_Q = 1 / store_currEpoch[i].SatWight;
}
Obtaining_equation( store_currEpoch, spp_pos, mat_B, Vct_L, mat_P, false);
}
// Qulity control. add by xiaogongwei 2019.05.06
VectorXd delate_flag;
// int max_iter1 = 10;
// Assuming that SPP has only one gross error, use if is not while, filtering uses while loop to eliminate Debug by xiaogongwei 2019.05.06
while(m_qualityCtrl.VtPVCtrl_C(mat_B, Vct_L, mat_P, delate_flag, store_currEpoch.length()))
{
QVector<int> del_val;
int sat_len = store_currEpoch.length();
for(int i = sat_len - 1; i >= 0;i--)
{
if(0 != delate_flag[i])
del_val.append(i);
}
// max_iter1--;
// if(max_iter1 <= 0) break;
// delete gross Errors
int del_len = del_val.length();
if(sat_len - del_len >= 5)
{
for(int i = 0; i < del_len;i++)
store_currEpoch.remove(del_val[i]);
sat_len = store_currEpoch.length();// update epochLenLB
//update spp_pos
Obtaining_equation( store_currEpoch, spp_pos, mat_B, Vct_L, mat_P, m_isSmoothRange);
MatrixXd mat_Q = (mat_B.transpose()*mat_P*mat_B).inverse();
VectorXd x_solver = mat_Q*mat_B.transpose()*mat_P*Vct_L;
spp_pos[0] += x_solver[0]; spp_pos[1] += x_solver[1]; spp_pos[2] += x_solver[2];
}
else
{
memset(spp_pos, 0, 4*sizeof(double));// debug by xiaogongwei 2019.09.25
break;
}
}
// change epochSatlitData !!!!!!
epochSatlitData = store_currEpoch;
}
//Read O files, sp3 files, clk files, and various error calculations, Kalman filtering ......................
//isDisplayEveryEpoch represent is disply every epoch information?(ENU or XYZ)
void QPPPModel::Run(bool isDisplayEveryEpoch)
{
if(!m_haveObsFile) return ;// if not have observation file.
QTime myTime; // set timer
myTime.start();// start timer
//Externally initialize fixed variables to speed up calculations
double p_HEN[3] = {0};//Get the antenna high
m_ReadOFileClass.getAntHEN(p_HEN);
//Traversing data one by one epoch, reading O file data
QString disPlayQTextEdit = "";// display for QTextEdit
QVector < SatlitData > prevEpochSatlitData;//Store satellite data of an epoch, use cycle slip detection（Put it on top, otherwise read multReadOFile epochs, the life cycle will expire when reading）
double spp_pos[4] = {0};// store SPP pos and clk
memcpy(spp_pos, m_ApproxRecPos, 3*sizeof(double));
int epoch_num = 0, continue_bad_epoch = 0;//Record the first epoch
bool isInitSpp = false;
if(spp_pos[0] !=0 ) isInitSpp = true;
while (!m_ReadOFileClass.isEnd())
{
QVector< QVector < SatlitData > > multepochSatlitData;//Store multiple epochs
m_ReadOFileClass.getMultEpochData(multepochSatlitData,multReadOFile);//Read multReadOFile epochs
//Multiple epoch cycles
for (int epoch = 0; epoch < multepochSatlitData.length();epoch++)
{
QVector< SatlitData > epochSatlitData;//Temporary storage of uncalculated data for each epoch satellite
QVector< SatlitData > epochResultSatlitData;// Store each epoch satellite to calculate the correction data
epochSatlitData = multepochSatlitData.at(epoch);
if(epochSatlitData.length() == 0) continue;
GPSPosTime epochTime;
if(epochSatlitData.length() > 0)
{
epochTime= epochSatlitData.at(0).UTCTime;//Obtain the observation time (the epoch stores the observation time for each satellite)
epochTime.epochNum = epoch_num;
}
//Set the epoch of the satellite
for(int i = 0;i < epochSatlitData.length();i++)
epochSatlitData[i].UTCTime.epochNum = epoch_num;
if(epoch_num == 2271)
{// Debug for epoch
//2018-12- 8 13: 4: 0.0000000
int a = 0;
}
// use spp compute postion and smooth pesudorange get clk at spp_pos[3]
// !isInitSpp || m_isKinematic
SimpleSPP(prevEpochSatlitData, epochSatlitData, spp_pos);
if(!isInitSpp && spp_pos[0] != 0)
memcpy(m_ApproxRecPos, spp_pos, 3*sizeof(double));
if(!m_isKinematic)
memcpy(spp_pos, m_ApproxRecPos, 3*sizeof(double));
if(!isnormal(spp_pos[0]))
memset(spp_pos, 0, 4*sizeof(double));
// The number of skipping satellites is less than m_minSatFlag
// update at 2018.10.17 for less m_minSatFlag satellites at the begin observtion
if(epochSatlitData.length() < m_minSatFlag || spp_pos[0] == 0)
{
if(m_isKinematic&&continue_bad_epoch++ > 8)
{
prevEpochSatlitData.clear();// Exception reinitialization
continue_bad_epoch = 0;
}
for(int i = 0;i < epochSatlitData.length();i++)
{
epochSatlitData[i].EpochFlag = 888;// add bad flag 888 for SPP
// set residual as zeros
epochSatlitData[i].VC1 = 0; epochSatlitData[i].VC2 = 0;
epochSatlitData[i].VL1 = 0; epochSatlitData[i].VL2 = 0;
epochSatlitData[i].VLL3 = 0; epochSatlitData[i].VPP3 = 0;
}
disPlayQTextEdit = "GPST: " + QString::number(epochTime.Hours) + ":" + QString::number(epochTime.Minutes)
+ ":" + QString::number(epochTime.Seconds) ;
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
disPlayQTextEdit = "Satellite number: " + QString::number(epochSatlitData.length())
+ " jump satellites number is less than 5.";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
// translation to ENU
VectorXd ENU_Vct;
double spp_vct[3] = {0};
int param_len = 3*epochSatlitData.length() + 32;
ENU_Vct.resize(param_len);
ENU_Vct.fill(0);
// debug by xiaogongwei 2020.04.24
saveResult2Class(ENU_Vct, spp_vct, epochTime, epochSatlitData, epoch_num);
epoch_num++;
continue;
}
//An epoch cycle begins
for (int i = 0;i < epochSatlitData.length();i++)
{
SatlitData tempSatlitData = epochSatlitData.at(i);//Store calculated corrected satellite data
if(!isInSystem(tempSatlitData.SatType))
continue;
//Test whether the carrier and pseudorange are abnormal and terminate in time.
if(!(tempSatlitData.L1&&tempSatlitData.L2&&tempSatlitData.C1&&tempSatlitData.C2))
{
QString errorline;
ErrorMsg(errorline);
tempSatlitData.badMsg.append("Lack of observations"+errorline);
m_writeFileClass.allBadSatlitData.append(tempSatlitData);
continue;
}
//When seeking GPS
double m_PrnGpst = qCmpGpsT.YMD2GPSTime(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds);
// Read satellite clock error from CLK file
double stalitClock = 0.0;
// Note: Time is the signal transmission time(m_PrnGpst - tempSatlitData.C2/M_C)
getCLKData(tempSatlitData.PRN,tempSatlitData.SatType,m_PrnGpst - tempSatlitData.C2/M_C,&stalitClock);
tempSatlitData.StaClock = stalitClock;
tempSatlitData.StaClockRate = 0;
//Obtain the coordinates of the epoch satellite from the SP3 data data
double pXYZ[3] = {0},pdXYZ[3] = {0}, sp3Clk = 0.0;//Unit m
// Note: Time is the signal transmission time(m_PrnGpst - tempSatlitData.C2/M_C - tempSatlitData.StaClock/M_C)
getSP3Pos(m_PrnGpst - tempSatlitData.C2/M_C - tempSatlitData.StaClock/M_C,tempSatlitData.PRN,
tempSatlitData.SatType,pXYZ,pdXYZ, &sp3Clk);//Obtain the precise ephemeris coordinates of the satellite launch time(Here we need to subtract the satellite clock error. tempSatlitData.StaClock/M_C Otherwise it will cause a convergence gap of 20cm)
tempSatlitData.X = pXYZ[0];tempSatlitData.Y = pXYZ[1];tempSatlitData.Z = pXYZ[2];
// tempSatlitData.StaClock = sp3Clk;// Use igu to do real-time PPP need to use sp3 clock difference replacement, the directory must have the same day clk file, but the clk file data is not used
//Test the state of the precise ephemeris and the clock difference and whether the carrier and pseudorange are abnormal, and terminate the XYZ or the satellite with the clock difference of 0 in time.
if (!(tempSatlitData.X&&tempSatlitData.Y&&tempSatlitData.Z&&tempSatlitData.StaClock))
{
QString errorline;
ErrorMsg(errorline);
tempSatlitData.badMsg.append("Can't calculate the orbit and clock offset"+errorline);
m_writeFileClass.allBadSatlitData.append(tempSatlitData);
continue;
}
//PPP removes satellites
QString removeSat = QString(tempSatlitData.SatType);
if(tempSatlitData.PRN < 10)
removeSat += "0" + QString::number(tempSatlitData.PRN);
else
removeSat += QString::number(tempSatlitData.PRN);
if(m_deleteSats.contains(removeSat, Qt::CaseInsensitive))
{
QString errorline;
ErrorMsg(errorline);
tempSatlitData.badMsg.append("remove " + removeSat +errorline);
m_writeFileClass.allBadSatlitData.append(tempSatlitData);
continue;
}
//Calculate the wavelength (mainly for multiple systems)
double F1 = tempSatlitData.Frq[0],F2 = tempSatlitData.Frq[1];
if(F1 == 0 || F2 == 0) continue;//Frequency cannot be 0
//Computational relativity correction
double relative = 0;
relative = getRelativty(tempSatlitData.SatType, pXYZ,spp_pos,pdXYZ);
tempSatlitData.Relativty = relative;
//Calculate the satellite's high sitting angle (as the receiver approximates the target)
double EA[2]={0};
getSatEA(tempSatlitData.X,tempSatlitData.Y,tempSatlitData.Z,spp_pos,EA);
tempSatlitData.EA[0] = EA[0];tempSatlitData.EA[1] = EA[1];
EA[0] = EA[0]*MM_PI/180;EA[1] = EA[1]*MM_PI/180;//Go to the arc to facilitate the calculation below
getWight(tempSatlitData);
//Calculate the autobiographic correction of the earth
double earthW = 0;
earthW = getSagnac(tempSatlitData.X,tempSatlitData.Y,tempSatlitData.Z,spp_pos);
tempSatlitData.Sagnac = earthW;
//Calculate tropospheric dry delay
double MJD = qCmpGpsT.computeJD(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds) - 2400000.5;//Simplified Julian Day
//Calculate and save the annual accumulation date
double TDay = qCmpGpsT.YearAccDay(epochTime.Year,epochTime.Month,epochTime.Day);
double p_BLH[3] = {0},mf = 0, TropZHD_s = 0, store_epoch_ZHD;
qCmpGpsT.XYZ2BLH(spp_pos[0], spp_pos[1], spp_pos[2], p_BLH);
getTropDelay(MJD,TDay,EA[0],p_BLH,&mf, &TropZHD_s, NULL, &store_epoch_ZHD);
tempSatlitData.SatTrop = TropZHD_s;
tempSatlitData.StaTropMap = mf;
tempSatlitData.UTCTime.TropZHD = store_epoch_ZHD;
//Calculate antenna high offset correction Antenna Height
tempSatlitData.AntHeight = p_HEN[0]*qSin(EA[0]) + p_HEN[1]*qCos(EA[0])*qSin(EA[1]) + p_HEN[2]*qCos(EA[0])*qCos(EA[1]);
//Receiver L1 L2 offset correction
double Lamta1 = M_C/F1,Lamta2 = M_C/F2;
double L1Offset = 0,L2Offset = 0;
getRecvOffset(EA,tempSatlitData.SatType,L1Offset,L2Offset, tempSatlitData.wantObserType);
tempSatlitData.L1Offset = L1Offset/Lamta1;
tempSatlitData.L2Offset = L2Offset/Lamta2;
//Satellite antenna phase center correction store data to (m_ReadAntClass.m_sunpos,m_ReadAntClass.m_moonpos,m_ReadAntClass.m_gmst)
// and update sunpos and moonpos
double SatL12Offset[2] = {0};
getSatlitOffset(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds - tempSatlitData.C2/M_C,
tempSatlitData.PRN,tempSatlitData.SatType,pXYZ,spp_pos, SatL12Offset, tempSatlitData.wantObserType);//pXYZ saves satellite coordinates
tempSatlitData.SatL1Offset = SatL12Offset[0] / Lamta1;
tempSatlitData.SatL2Offset = SatL12Offset[1] / Lamta2;
//Calculate tide correction
double effctDistance = 0;
effctDistance = getTideEffect(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds,spp_pos,EA,
m_ReadAntClass.m_sunpos,m_ReadAntClass.m_moonpos,m_ReadAntClass.m_gmst);
tempSatlitData.TideEffect = effctDistance;
//Calculate antenna phase winding
double AntWindup = 0,preAntWindup = 0;
//Find the previous epoch. Is there a satellite present? The deposit is stored in preAntWindup or preAntWindup=0.
preAntWindup = getPreEpochWindUp(prevEpochSatlitData,tempSatlitData.PRN,tempSatlitData.SatType);//Get the previous epoch of WindUp
AntWindup = getWindup(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds - tempSatlitData.C2/M_C,
pXYZ,spp_pos,preAntWindup,m_ReadAntClass.m_sunpos);
tempSatlitData.AntWindup = AntWindup;
//Computation to eliminate ionospheric pseudorange and carrier combinations (here absorbed receiver carrier deflection and WindUp) add SatL1Offset and SatL1Offset by xiaogongwei 2019.04.12
double alpha1 = (F1*F1)/(F1*F1 - F2*F2),alpha2 = (F2*F2)/(F1*F1 - F2*F2);
tempSatlitData.LL1 = Lamta1*(tempSatlitData.L1 + tempSatlitData.L1Offset + tempSatlitData.SatL1Offset - tempSatlitData.AntWindup);
tempSatlitData.LL2 = Lamta2*(tempSatlitData.L2 + tempSatlitData.L2Offset + tempSatlitData.SatL2Offset - tempSatlitData.AntWindup);
tempSatlitData.CC1 = tempSatlitData.C1 + Lamta1*tempSatlitData.L1Offset + Lamta1*tempSatlitData.SatL1Offset;
tempSatlitData.CC2 = tempSatlitData.C2 + Lamta2 *tempSatlitData.L2Offset + Lamta2*tempSatlitData.SatL2Offset;
tempSatlitData.LL3 = alpha1*tempSatlitData.LL1 - alpha2*tempSatlitData.LL2;//Eliminate ionospheric carrier LL3
tempSatlitData.PP3 = alpha1*tempSatlitData.CC1 - alpha2*tempSatlitData.CC2;//Eliminate ionospheric carrier PP3
//Save an epoch satellite data
epochResultSatlitData.append(tempSatlitData);
}//End of an epoch. for (int i = 0;i < epochSatlitData.length();i++)
// if((epoch_num+1)%200 == 0)
// {// Debug for epoch
// //2018-12- 8 13: 4: 0.0000000
// for(int i = 0;i < epochResultSatlitData.length()-1;i++)
// {
// epochResultSatlitData[i].StaClock += 100;
// }
// int a = 0;
// }
//Monitor satellite quality and cycle slip
getGoodSatlite(prevEpochSatlitData,epochResultSatlitData, m_CutAngle);
//Satellite number not sufficient
if(epochResultSatlitData.length() < m_minSatFlag)
{
if(m_isKinematic&&continue_bad_epoch++ > 8)
{
prevEpochSatlitData.clear();// Exception reinitialization
continue_bad_epoch = 0;
}
for(int i = 0;i < epochResultSatlitData.length();i++)
{
epochResultSatlitData[i].EpochFlag = 777;// add bad flag 777 for getGoodSatlite
// set residual as zeros
epochResultSatlitData[i].VC1 = 0; epochResultSatlitData[i].VC2 = 0;
epochResultSatlitData[i].VL1 = 0; epochResultSatlitData[i].VL2 = 0;
epochResultSatlitData[i].VLL3 = 0; epochResultSatlitData[i].VPP3 = 0;
}
// display clock jump
disPlayQTextEdit = "Valid Satellite Number: " + QString::number(epochResultSatlitData.length()) + ENDLINE +
"Waring: ***************Satellite number not sufficient*****************";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
// translation to ENU
VectorXd ENU_Vct;
double spp_vct[3] = {0};
int param_len = 3*epochResultSatlitData.length() + 32;
ENU_Vct.resize(param_len);
ENU_Vct.fill(0);
// debug by xiaogongwei 2020.04.24
saveResult2Class(ENU_Vct, spp_vct, epochTime, epochResultSatlitData, epoch_num);
epoch_num++;
continue;
}
// Choose solve method Kalman or SRIF
MatrixXd P;
VectorXd X;//Respectively dX, dY, dZ, dT (zenith tropospheric residual), dVt (receiver clock error), N1, N2...Nm (fuzzy)[dx,dy,dz,dTrop,dClock,N1,N2,...Nn]
double spp_vct[3] = {0};// save spp pos
bool is_filter_good = false;
X.resize(5+epochResultSatlitData.length());
X.setZero();
// store spp position
spp_vct[0] = spp_pos[0]; spp_vct[1] = spp_pos[1]; spp_vct[2] = spp_pos[2];
if (!m_Solver_Method.compare("SRIF", Qt::CaseInsensitive))
is_filter_good = m_SRIFAlgorithm.SRIFforStatic(prevEpochSatlitData,epochResultSatlitData,spp_pos,X,P);
else
is_filter_good = m_KalmanClass.KalmanforStatic(prevEpochSatlitData,epochResultSatlitData,spp_pos,X,P);
//Save the last epoch satellite data
if(is_filter_good)
{
m_qualityCtrl.CmpSatClkRate(prevEpochSatlitData, epochResultSatlitData);// CmpSatClkRate add by 2020.01.03
prevEpochSatlitData = epochResultSatlitData;
continue_bad_epoch = 0;
}
else
{
continue_bad_epoch++;
memset(spp_pos, 0, 4*sizeof(double));
memset(spp_vct, 0, 3*sizeof(double));
X.setZero();
}
if(m_isKinematic && continue_bad_epoch++ > 8)
{
prevEpochSatlitData.clear();// Exception reinitialization
continue_bad_epoch = 0;
}
//Output calculation result(print result)
// display every epoch results
if(isDisplayEveryEpoch)
{
int Valid_SatNumber = epochResultSatlitData.length();
// display epoch number
disPlayQTextEdit = "Epoch Number: " + QString::number(epoch_num);
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
//
disPlayQTextEdit = "GPST: " + QString::number(epochTime.Hours) + ":" + QString::number(epochTime.Minutes)
+ ":" + QString::number(epochTime.Seconds) + ENDLINE + "Satellite number: " + QString::number(epochSatlitData.length());
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
// display ENU or XYZ
disPlayQTextEdit = "Valid Satellite Number: " + QString::number(Valid_SatNumber) + ENDLINE
+ "Estimated coordinates: [ " + QString::number(spp_pos[0], 'f', 4) + "," + QString::number(spp_pos[1], 'f', 4) + ","
+ QString::number(spp_pos[2], 'f', 4) + " ]" + ENDLINE;
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
}
//Save each epoch X data to prepare for writing a file
// translation to ENU
VectorXd ENU_Vct;
ENU_Vct = X;// [dx,dy,dz,dTrop,dClock,N1,N2,...Nn]
//ENU_Vct[0] = P(1,1); ENU_Vct[1] = P(2,2); ENU_Vct[2] = P(3,3);
ENU_Vct[0] = spp_pos[0]; ENU_Vct[1] = spp_pos[1]; ENU_Vct[2] = spp_pos[2];
saveResult2Class(ENU_Vct, spp_vct, epochTime, epochResultSatlitData, epoch_num, &P);
epoch_num++;//Increase in epoch
}//End of multiple epochs. (int n = 0; n < multepochSatlitData.length();n++)
// clear multepochSatlitData
multepochSatlitData.clear();
}//Arrive at the end of the file. while (!m_ReadOFileClass.isEnd())
// time end
float m_diffTime = myTime.elapsed() / 1000.0;