/* initizlize ionosphere parameter --------------------------------------------*/ static void init_iono(const obsd_t *obs, const double *azel, double *x, double *P, int nx) { double map,iono; if (obs->P[0]==0||obs->P[1]==0) return; map=ionmapf(pos,azel); iono=(obs->P[0]-obs->P[1])/map; initx(x,P,nx,II(obs->sat),iono,VAR_IONO); }
/* ionosphere residuals ------------------------------------------------------*/ static int res_iono(const obsd_t *obs, int n, const double *azel, const double *x, int nx, double *v, double *H, double *R) { double *sig,L1,L2,P1,P2,map; int i,j,nv=0,sat; sig=mat(1,2*n); for (i=0;i<n;i++) { sat=obs[i].sat; L1=obs->L[0]*lam[0]; L2=obs->L[1]*lam[1]; P1=obs->P[0]; P2=obs->P[1]; if (L1==0||L2==0||P1==0||P2==0) continue; /* ionosphere mapping function */ map=ionmapf(pos,azel+i*2); /* residuals of ionosphere (geometriy-free) LC */ v[nv ]=(L1-L2)+map*x[II(sat)]-x[IB(sat)]; v[nv+1]=(P1-P2)-map*x[II(sat)]; /* partial derivatives */ for (j=0;j<nx;j++) H[nx*nv+j]=0.0; H[nx*nv +II(sat)]=-map; H[nx*nv +IB(sat)]=1.0; H[nx*(nv+1)+IB(sat)]=map; /* standard deviation of error */ sig[nv ]=std_err(azel); sig[nv+1]=sig[nv]*RATIO_ERR; nv+=2; } for (i=0;i<nv;i++) for (j=0;j<nv;j++) { R[i+j*nv]=i==j?SQR(sig[i]):0.0; } free(sig); return nv; }
/* generate simulated observation data ---------------------------------------*/ static int simobs(gtime_t ts, gtime_t te, double tint, const double *rr, nav_t *nav, obs_t *obs, int opt) { gtime_t time; obsd_t data[MAXSAT]={{{0}}}; double pos[3],rs[3*MAXSAT],dts[MAXSAT],r,e[3],azel[2]; double ecp[MAXSAT][NFREQ]={{0}},epr[MAXSAT][NFREQ]={{0}}; double snr[MAXSAT][NFREQ]={{0}},ers[MAXSAT][3]={{0}}; double iono,trop,fact,cp,pr,dtr=0.0,rref[3],bl; int i,j,k,n,ns,amb[MAXSAT][NFREQ]={{0}},sys,prn; char s[64]; double pref[]={36.106114294,140.087190410,70.3010}; /* ref station */ trace(3,"simobs:nnav=%d ngnav=%d\n",nav->n,nav->ng); for (i=0;i<2;i++) pref[i]*=D2R; pos2ecef(pref,rref); for (i=0;i<3;i++) rref[i]-=rr[i]; bl=norm(rref,3)/1E4; /* baseline (10km) */ srand(0); /* ephemeris error */ for (i=0;i<MAXSAT;i++) { data[i].sat=i+1; data[i].P[0]=2E7; for (j=0;j<3;j++) ers[i][j]=randn(0.0,erreph); } srand(tickget()); ecef2pos(rr,pos); n=(int)(timediff(te,ts)/tint+1.0); for (i=0;i<n;i++) { time=timeadd(ts,tint*i); time2str(time,s,0); for (j=0;j<MAXSAT;j++) data[j].time=time; for (j=0;j<3;j++) { /* iteration for pseudorange */ satpos(time,data,MAXSAT,nav,rs,dts); for (k=0;k<MAXSAT;k++) { if ((r=geodist(rs+k*3,rr,e))<=0.0) continue; data[k].P[0]=r+CLIGHT*(dtr-dts[k]); } } satpos(time,data,MAXSAT,nav,rs,dts); for (j=ns=0;j<MAXSAT;j++) { /* add ephemeris error */ for (k=0;k<3;k++) rs[k+j*3]+=ers[j][k]; if ((r=geodist(rs+j*3,rr,e))<=0.0) continue; satazel(pos,e,azel); if (azel[1]<minel*D2R) continue; iono=ionmodel(time,nav->ion,pos,azel); trop=tropmodel(pos,azel,0.3); /* add ionospheric error */ iono+=errion*bl*ionmapf(pos,azel); snrmodel(azel,snr[j]); errmodel(azel,snr[j],ecp[j],epr[j]); sys=satsys(data[j].sat,&prn); for (k=0;k<NFREQ;k++) { data[j].L[k]=data[j].P[k]=0.0; data[j].SNR[k]=0; data[j].LLI[k]=0; if (sys==SYS_GPS) { if (k>=3) continue; /* no L5a/L5b in gps */ if (k>=2&&!gpsblock[prn-1]) continue; /* no L5 in block II */ } else if (sys==SYS_GLO) { if (k>=3) continue; } else if (sys==SYS_GAL) { if (k==1) continue; /* no L2 in galileo */ } else continue; /* generate observation data */ fact=lam[k]*lam[k]/lam[0]/lam[0]; cp=r+CLIGHT*(dtr-dts[j])-fact*iono+trop+ecp[j][k]; pr=r+CLIGHT*(dtr-dts[j])+fact*iono+trop+epr[j][k]; if (amb[j][k]==0) amb[j][k]=(int)(-cp/lam[k]); data[j].L[k]=cp/lam[k]+amb[j][k]; data[j].P[k]=pr; data[j].SNR[k]=(unsigned char)snr[j][k]; data[j].LLI[k]=data[j].SNR[k]<slipthres?1:0; } if (obs->nmax<=obs->n) { if (obs->nmax==0) obs->nmax=65532; else obs->nmax+=65532; if (!(obs->data=(obsd_t *)realloc(obs->data,sizeof(obsd_t)*obs->nmax))) { fprintf(stderr,"malloc error\n"); return 0; } } obs->data[obs->n++]=data[j]; ns++; } fprintf(stderr,"time=%s nsat=%2d\r",s,ns); } fprintf(stderr,"\n"); return 1; }