void SingleSys(Position spp,DdData& dddataPre,DdData& dddataCurr,SdData& lastSdData,ObsEpochData& roverData1,ObsEpochData& baseData1,
SppCtrl sppctrl,DdCtrl ddctrl, DdAmbInfo& ambinfo,DdAmbInfo& preambinfo,SppInfo sppinfo,SppInfo baseInfo,DdObsInfo ddobsinfo1,
BroadEphHeader brdephheader,BroadEphData* broadephdata,BroadEphDataGlo* gloeph,int nSate,int nSateGlo,
ObsHeader obsHeader1,ObsEpochData epochData1,ObsHeader obsHeader2,ObsEpochData epochData2,
double* baseCrd,double* roverCrd,int& nEpoch, int sysidUse,math::matrix<double>* NormEqu)
{
lastSdData.ZeroElem();roverData1.ZeroElem(); baseData1.ZeroElem(); sppinfo.ZeroElem(); baseInfo.ZeroElem();
if (sysidUse==1 || sysidUse==3 ||sysidUse==5)
{
spp.StandPosition(brdephheader,broadephdata,epochData1,nSate,sppctrl,sppinfo,roverData1);
spp.baseStn(baseInfo,broadephdata,epochData2,baseData1,nSate,sppctrl);
}
else if(sysidUse==2)
{
//spp.StandPosition(brdephheader,gloeph,epochData1,nSateGlo,sppctrl,sppinfoGlo,roverData);//Glo
//spp.baseStn(baseInfoGlo,gloeph,epochData2,baseData,nSateGlo,sppctrl);//glo
}
if(Norm(roverCrd,3)>0.0) PtrEqual(roverCrd,sppinfo.recPos,3);
int refPrn=0;
ddobsinfo1.ZeroEle();
int tprn=0;
refPrn=spp.SelectRefSate(baseInfo,sppinfo,5.0,baseData1,roverData1,lastSdData,ddobsinfo1,0,tprn);
int refpos;
refpos=GetPos(lastSdData.prn,refPrn,lastSdData.satnum);
dddataCurr.ZeroElem(); ambinfo.ZeroElem();
spp.DoubleDiff(refPrn,refpos,lastSdData,dddataCurr);
if(dddataCurr.pairNum<4) exit(1);
//DdData ts=dddataCurr;
/* -----------------------------------------end data preparation part ---------------------------------------*/
dddataCurr=spp.ComObsPhsCod(ddctrl,ddobsinfo1,ambinfo,dddataCurr);
//if(nEpoch>1) spp.PassPreAmb(preambinfo,ambinfo,ddctrl.PhsTypeNo());
/* -----------------------------------------end cycle slip---------------------------------------- */
int obsNum =ddobsinfo1.SumCod()+ddobsinfo1.SumPhs();//the number of all obs in one system at current epoch
int phsNum =ddobsinfo1.SumPhs();
int ionoNum=dddataCurr.pairNum;
int ambNum=ambinfo.SumUnfix();
//if(nEpoch>1)ambNum=preambinfo.SumUnfix();
if(ambNum==0) ambNum=1;
/* equation part */
math::matrix<double> DesMatPos(obsNum,3);
math::matrix<double> DesMatAmb(obsNum,ambNum);
math::matrix<double> Weight(obsNum,obsNum);
math::matrix<double> L(obsNum,1);
math::matrix<double> DesMatTrop(obsNum,1);
math::matrix<double> DesMatIono(obsNum,obsNum);
spp.FormDdErrEq(DesMatPos,DesMatTrop,DesMatIono,DesMatAmb,L,dddataCurr,ddctrl,ambinfo,ddobsinfo1);
Weight=spp.FormWeightVc(ddctrl,dddataCurr,ddobsinfo1);
NormEqu[0]=~DesMatPos*Weight*(DesMatPos); NormEqu[1]=~DesMatPos*Weight*(DesMatAmb);
NormEqu[2]=~DesMatAmb*Weight*(DesMatAmb); NormEqu[3]=~DesMatPos*Weight*L;
NormEqu[4]=~DesMatAmb*Weight*L;
}
/*for QXWZ, 2015.12*/
void ProcessSingleFixPos(int sysidUse)
{
ProcessRinex readdata;
CString CommadFile =_T("CommandFile.txt");
//control block
DdData dddataPre;
DdData dddataCurr;
SdData lastSdData;
ObsEpochData roverData,baseData; //single system
DdObsInfo ddobsinfo,preddobsinfo;
DdAmbInfo ambinfo,preambinfo;
int numCod=0,numPhs=0;
math::matrix<double> prenorm[5];
double dt;
SppCtrl sppctrl;
Position spp;
SppInfo sppinfo,baseInfo;
SppInfoGlo sppinfoGlo,baseInfoGlo;
DdCtrl ddctrl;
InPutFileSet inputfile;
double baseCrd[3],roverCrd[3];
DdCtrl ddCtrlPtr[MAXSYS];
ReadCommFile(ddCtrlPtr,inputfile,_T("CommandFile.txt"),baseCrd,roverCrd);
inputfile.CheckPath();
ddctrl=ddCtrlPtr[sysidUse-1];
sppctrl.sysid=ddctrl.sysid;
//read broadcast eph
CString NFileName=inputfile.fileEph[0];
BroadEphHeader brdephheader;
BroadEphData* broadephdata=new BroadEphData[MAXEPHNUM];
BroadEphDataGlo* gloeph=new BroadEphDataGlo[MAXEPHNUM_GLO];
int nSate =0;
int nSateGlo =0;
readdata.ReadBroadEph(NFileName, brdephheader,broadephdata,gloeph, nSate,nSateGlo);
//Rover station
ObsHeader obsHeader1;
ObsEpochData epochData1;
CString OFileName1 =inputfile.fileRover[0];
CStdioFile Ofile1;
Ofile1.Open(OFileName1,CFile::modeRead);
CString line1;
readdata.ReadObsHeader(Ofile1,line1,obsHeader1);
//Base station
for (int i=0;i<3;i++) baseInfo.recPos[i]=baseCrd[i];
ObsHeader obsHeader2;
ObsEpochData epochData2;
CString OFileName2 =inputfile.fileBase[0];
CStdioFile Ofile2;
Ofile2.Open(OFileName2,CFile::modeRead);
CString line2;
readdata.ReadObsHeader(Ofile2,line2,obsHeader2);
int nEpoch1=0,nEpoch2=0;
int eventFlag1=0,eventFlag2=0;
int nEpoch=0;
//output to file
fstream fout;
fout.open("QXWZ.txt",ios::out);
math::matrix<double>Npre_amb,Upre_amb;
int cycleslip_index_L1[MAXNUMSATE];
int cycleslip_index_L2[MAXNUMSATE];
double ptrMapPre[MAXNUMSATE];
double ptrMapCur[MAXNUMSATE];
int tprn=0;
math::matrix<double> PreVcmAmb;
math::matrix<double> PreSoluAmb;
math::matrix<double>* CurVcm=new math::matrix<double>[3];
math::matrix<double>* CurSolu=new math::matrix<double>[2];
math::matrix<double>Nneq;
math::matrix<double>Uneq;
while (eventFlag1!=10 && eventFlag2!=10)
{
epochData1.ZeroElem(); epochData2.ZeroElem();
epochData1=readdata.GetEpochData(Ofile1,line1,obsHeader1,nEpoch1,eventFlag1);
epochData1.Sort();
epochData2=readdata.GetEpochData(Ofile2,line2,obsHeader2,nEpoch2,eventFlag2);
epochData2.Sort();
dt=(epochData1.week-epochData2.week)*7*86400.0+(epochData1.sec-epochData2.sec);
if (epochData1.sec<260112.0)
{
//continue;
}
if (fabs(dt)<0.5)
{
clock_t start,finish;
double dura=0.0;
nEpoch++;
start=clock();
lastSdData.ZeroElem();
roverData.ZeroElem(); baseData.ZeroElem(); sppinfo.ZeroElem(); baseInfo.ZeroElem();
if (sysidUse==1 || sysidUse==3 ||sysidUse==5)
{
spp.StandPosition(brdephheader,broadephdata,epochData1,nSate,sppctrl,sppinfo,roverData);
spp.baseStn(baseInfo,broadephdata,epochData2,baseData,nSate,sppctrl);
}
else if(sysidUse==2)
{
spp.StandPosition(brdephheader,gloeph,epochData1,nSateGlo,sppctrl,sppinfoGlo,roverData);//Glo
spp.baseStn(baseInfoGlo,gloeph,epochData2,baseData,nSateGlo,sppctrl);//glo
}
if(Norm(roverCrd,3)>0.0) PtrEqual(roverCrd,sppinfo.recPos,3);
int refPrn=0;
ddobsinfo.ZeroEle();
refPrn=spp.SelectRefSate(baseInfo,sppinfo,5.0,baseData,roverData,lastSdData,ddobsinfo,1,tprn);
int refpos;
refpos=GetPos(lastSdData.prn,refPrn,lastSdData.satnum);
dddataCurr.ZeroElem(); ambinfo.ZeroElem();
spp.DoubleDiff(refPrn,refpos,lastSdData,dddataCurr);
if(dddataCurr.pairNum<4) continue;//exit(1)
DdData ts=dddataCurr;
/* -----------------------------------------end data preparation part ---------------------------------------*/
dddataCurr=spp.ComObsPhsCod(ddctrl,ddobsinfo,ambinfo,dddataCurr);
//if(nEpoch>1) spp.PassPreAmb(preambinfo,ambinfo,ddctrl.PhsTypeNo());
/* -----------------------------------------end cycle slip---------------------------------------- */
for (int s=0;s<dddataCurr.pairNum;s++) dddataCurr.tropCor[s]=ts.tropCor[s];
int obsNum =ddobsinfo.SumCod()+ddobsinfo.SumPhs();//the number of all obs in one system at current epoch
int phsNum =ddobsinfo.SumPhs();
int ionoNum=dddataCurr.pairNum;
int ambNum=ambinfo.SumUnfix();
//if(nEpoch>1)ambNum=preambinfo.SumUnfix();
if(ambNum==0) ambNum=1;
/* equation part */
math::matrix<double> DesMatPos(obsNum,3);
math::matrix<double> DesMatAmb(obsNum,ambNum);
math::matrix<double> Weight(obsNum,obsNum);
math::matrix<double> L(obsNum,1);
math::matrix<double> DesMatTrop(obsNum,1);
math::matrix<double> DesMatIono(obsNum,dddataCurr.pairNum);
spp.FormDdErrEq(DesMatPos,DesMatTrop,DesMatIono,DesMatAmb,L,dddataCurr,ddctrl,ambinfo,ddobsinfo);
math::matrix<double> DesMatTrop_Hour(obsNum,1);
double firstTime=0.0,curTime=0.0;
spp.FormDesMatTrop_ReNew(ddctrl, nEpoch, firstTime, curTime, roverData,dddataCurr, dddataPre,ptrMapCur, ptrMapPre,DesMatTrop, DesMatTrop_Hour,3600.0);
Weight=spp.FormWeightVc(ddctrl,dddataCurr,ddobsinfo);
math::matrix<double>DesAtmos=DesMatIono;
DesMatAmb=ConvergeMat(DesMatTrop_Hour.RowNo(),DesMatTrop_Hour,DesMatAmb);
math::matrix<double>Natmos=~DesMatIono*Weight*DesMatIono;
math::matrix<double>Namb=~DesMatAmb*Weight*DesMatAmb;
math::matrix<double>Natsam=~DesMatIono*Weight*DesMatAmb;
math::matrix<double>Uatmos=~DesMatIono*Weight*L;
math::matrix<double>Ua=~DesMatAmb*Weight*L;
math::matrix<double> Uaaa,Uatat,Qaaa;
math::matrix<double>Qamb,Qbb,Qb_amb;
if (nEpoch==1)
{
Nneq=Namb;
Uneq=Ua;
Uaaa=Ua;
Uatat=Uatmos;
SolveNEQCholesky2(Natmos,Natsam,Nneq,Qamb,Qb_amb,Qbb,Uatat,Uaaa,Nneq.RowNo(),Natmos.RowNo());
/*reduction of atmos parameters*/
Nneq=Namb-~Natsam*CholeskyInv(Natmos)*Natsam;
Uneq=Ua-~Natsam*CholeskyInv(Natmos)*Uatmos;
}
/****************************method 1**********************************Ё§*/
/*the LSE of current epoch*/
math::matrix<double>invNatmos=CholeskyInv(Natmos);
math::matrix<double>Qaa=CholeskyInv( Namb-~Natsam*invNatmos*Natsam );
math::matrix<double>Qatsam=-invNatmos*Natsam*Qaa;
math::matrix<double>Qats=CholeskyInv(Natmos-Natsam*CholeskyInv(Namb)*~Natsam);
CurSolu[0]=Qats*Uatmos+Qatsam*Ua; CurSolu[1]=~Qatsam*Uatmos+Qaa*Ua;
CurVcm[0]=Qats; CurVcm[1]=Qatsam; CurVcm[2]=Qaa;
/****************************method 1******************* ***************Ёќ*/
if (nEpoch>1)
{
/*method 1: update the LSE solution with the previous ambiguity constraint*/
SuperPosLonBWithFixedCrd(ddctrl,PreVcmAmb,PreSoluAmb,CurVcm,CurSolu,preambinfo,ambinfo,dddataCurr,dddataPre);
/*method 2: Normal equ*/
SuperPosLonBWithFixedCrdNEQ(ddctrl,Nneq,Uneq,Namb,Ua,preambinfo,ambinfo,dddataCurr,dddataPre);
Uaaa= Uneq;
Uatat=Uatmos;
SolveNEQCholesky2(Natmos,Natsam,Nneq,Qamb,Qb_amb,Qbb,Uatat,Uaaa,Nneq.RowNo(),Natmos.RowNo());
/*now, Uatat is the solu of ionosphere, Uaaa is the solu of trop and amb*/
/*reduction of atmos parameters*/
Nneq-=~Natsam*CholeskyInv(Natmos)*Natsam;
Uneq-=~Natsam*CholeskyInv(Natmos)*Uatmos;
}
/***************** try to fix the ambiguity******************/
math::matrix<double>a_hat=Uaaa,b_hat=Uatat;
double ratio=0.0;
//editVcm(Qamb,Qb_amb,Qbb,a_hat,b_hat);
math::matrix<double>a_check;
//a_check=FixAmbQXWZ(Qamb,Qb_amb,Qbb,a_hat,b_hat,2.0,ratio);/*fix all*/
math::matrix<double>a_hat_update,b_hat_update;
double ratiothrs=1.5;
double elemaskPar=35.0;
DdAmbInfo ambinfo_temp=ambinfo;
QXWZPartialARwithUpdate(Qamb,Qb_amb,Qbb,a_hat,b_hat,a_hat_update,a_check,b_hat_update,
dddataCurr,ratio,elemaskPar,ratiothrs,ambinfo_temp);
if (ratio>ratiothrs)
{
checkAR(ambinfo_temp,dddataCurr,ddctrl,ddobsinfo);
//cout<<b_hat-GetBlockMat(b_hat_update,1,b_hat.RowNo(),1,1,2);
ratio=ratio;
}
/*pass VCM and Solu*/
PreSoluAmb=CurSolu[1];
PreVcmAmb=CurVcm[2];
/*output the solu*/
finish=clock();
int t0,t1,t2,t3;
t0=((int)roverData.sec%86400);
t1=t0/3600; //hour
t2=(t0-t1*3600)/60; //min
t3=(t0-t1*3600-t2*60)%60;//sec
cout<<t1<<" "<<t2<<" "<<t3<<" "<<(double)(finish-start)<<" ms "<<ratio<<endl;
if (ratio<ratiothrs)
{
FileOutTropsIonoFloat(fout,Uatat,Uaaa,dddataCurr,ptrMapPre,1);//CurSolu[0],CurSolu[1]
}
else
{
FileOutTropsIonoFix(fout,b_hat_update,dddataCurr,ptrMapPre,1);
}
/*--------------------- end processing method------------------- */
/*pass the AmbInfo*/
preambinfo=ambinfo;
dddataPre=dddataCurr;
}
else
{
if (dt>0.0) epochData2=readdata.GetEpochData(Ofile2,line2,obsHeader2,nEpoch2,eventFlag2);
else epochData1=readdata.GetEpochData(Ofile1,line1,obsHeader1,nEpoch1,eventFlag1);
}
if (eventFlag1==10 || eventFlag2==10) nEpoch1++;
}//end while
fout.close();
Ofile1.Close();
Ofile2.Close();
delete[] broadephdata,gloeph;
}
void ProcessSingle(CString commandFile,int sysidUse,const char* outFile)
{
ProcessRinex readdata;
CString CommadFile =_T("CommandFile.txt");
//control block
DdData dddataPre;
DdData dddataCurr;
SdData lastSdData;
ObsEpochData roverData,baseData; //single system
DdObsInfo ddobsinfo,preddobsinfo;
DdAmbInfo ambinfo,preambinfo;
int numCod=0,numPhs=0;
math::matrix<double> prenorm[5];
double dt;
SppCtrl sppctrl;
Position spp;
SppInfo sppinfo,baseInfo;
SppInfoGlo sppinfoGlo,baseInfoGlo;
DdCtrl ddctrl;
InPutFileSet inputfile;
double baseCrd[3],roverCrd[3];
DdCtrl ddCtrlPtr[MAXSYS];
ReadCommFile(ddCtrlPtr,inputfile,_T("CommandFile.txt"),baseCrd,roverCrd);
inputfile.CheckPath();
ddctrl=ddCtrlPtr[sysidUse-1];
sppctrl.sysid=ddctrl.sysid;
sppctrl.maskEle=ddctrl.maskele;
//read broadcast eph
CString NFileName=inputfile.fileEph[0];
BroadEphHeader brdephheader;
BroadEphData* broadephdata=new BroadEphData[MAXEPHNUM];
BroadEphDataGlo* gloeph=new BroadEphDataGlo[MAXEPHNUM_GLO];
int nSate =0;
int nSateGlo =0;
readdata.ReadBroadEph(NFileName, brdephheader,broadephdata,gloeph, nSate,nSateGlo);
//Rover station
ObsHeader obsHeader1;
ObsEpochData epochData1;
CString OFileName1 =inputfile.fileRover[0];//E:\\Ъ§Он\\SHCORS\\066(0307)\\SHCH\\0001066J00.14O""0002066C00.14O"E:\\CUTB2014120124.obs
CStdioFile Ofile1;
Ofile1.Open(OFileName1,CFile::modeRead);
CString line1;
readdata.ReadObsHeader(Ofile1,line1,obsHeader1);
//Base station
for (int i=0;i<3;i++) baseInfo.recPos[i]=baseCrd[i];
ObsHeader obsHeader2;
ObsEpochData epochData2;
CString OFileName2 =inputfile.fileBase[0];
CStdioFile Ofile2;
Ofile2.Open(OFileName2,CFile::modeRead);
CString line2;
readdata.ReadObsHeader(Ofile2,line2,obsHeader2);
int nEpoch1=0,nEpoch2=0;
int eventFlag1=0,eventFlag2=0;
int nEpoch=0;
//output to file
fstream fout;
fout.open(outFile,ios::out);
while (eventFlag1!=10 && eventFlag2!=10)
{
epochData1.ZeroElem(); epochData2.ZeroElem();
epochData1=readdata.GetEpochData(Ofile1,line1,obsHeader1,nEpoch1,eventFlag1);
epochData1.Sort();
epochData2=readdata.GetEpochData(Ofile2,line2,obsHeader2,nEpoch2,eventFlag2);
epochData2.Sort();
if(epochData1.sateNum>=5&&ddctrl.CodTypeNo()>1) epochData1=epochData1.AutoShrink(2);
if(epochData2.sateNum>=5&&ddctrl.CodTypeNo()>1) epochData2=epochData2.AutoShrink(2);
dt=(epochData1.week-epochData2.week)*7*86400.0+(epochData1.sec-epochData2.sec);
if (1)//mark fabs(dt)<0.5
{
nEpoch++;
lastSdData.ZeroElem();
roverData.ZeroElem(); baseData.ZeroElem(); sppinfo.ZeroElem(); baseInfo.ZeroElem();
if (sysidUse==1 || sysidUse==3 ||sysidUse==5)
{
spp.StandPosition(brdephheader,broadephdata,epochData1,nSate,sppctrl,sppinfo,roverData);
spp.baseStn(baseInfo,broadephdata,epochData2,baseData,nSate,sppctrl);
}
else if(sysidUse==2)
{
spp.StandPosition(brdephheader,gloeph,epochData1,nSateGlo,sppctrl,sppinfoGlo,roverData);//Glo
spp.baseStn(baseInfoGlo,gloeph,epochData2,baseData,nSateGlo,sppctrl);//glo
}
int t0,t1,t2,t3;
t0=((int)roverData.sec%86400);
t1=t0/3600; //hour
t2=(t0-t1*3600)/60; //hour
t3=(t0-t1*3600-t2*60)%60;
#if FileOutSpp
//fout<<"epoch: "<<t1<<" "<<t2<<" "<<t3<<endl;
//SppFileOut(fout,sppinfo);
#endif
if (nEpoch>288)
{
nEpoch=nEpoch;
}
//continue;
if(Norm(roverCrd,3)>0.0) PtrEqual(roverCrd,sppinfo.recPos,3);
int refPrn=0;
ddobsinfo.ZeroEle();
int tprn=0;
refPrn=spp.SelectRefSate(baseInfo,sppinfo,5.0,baseData,roverData,lastSdData,ddobsinfo,0,tprn);
int refpos;
refpos=GetPos(lastSdData.prn,refPrn,lastSdData.satnum);
dddataCurr.ZeroElem(); ambinfo.ZeroElem();
spp.DoubleDiff(refPrn,refpos,lastSdData,dddataCurr);
if(dddataCurr.pairNum<4) exit(1);
DdData ts=dddataCurr;
/* -----------------------------------------end data preparation part ---------------------------------------*/
dddataCurr=spp.ComObsPhsCod(ddctrl,ddobsinfo,ambinfo,dddataCurr);
if(nEpoch>1) spp.PassPreAmb(preambinfo,ambinfo,ddctrl.PhsTypeNo());
/* -----------------------------------------end cycle slip---------------------------------------- */
int obsNum =ddobsinfo.SumCod()+ddobsinfo.SumPhs();//the number of all obs in one system at current epoch
int phsNum =ddobsinfo.SumPhs();
int ionoNum=dddataCurr.pairNum;
int ambNum=ambinfo.SumUnfix();
//if(nEpoch>1)ambNum=preambinfo.SumUnfix();
if(ambNum==0) ambNum=1;
/* equation part */
math::matrix<double> DesMatPos(obsNum,3);
math::matrix<double> DesMatAmb(obsNum,ambNum);
math::matrix<double> Weight(obsNum,obsNum);
math::matrix<double> L(obsNum,1);
math::matrix<double> DesMatTrop(obsNum,1);
math::matrix<double> DesMatIono(obsNum,obsNum);
spp.FormDdErrEq(DesMatPos,DesMatTrop,DesMatIono,DesMatAmb,L,dddataCurr,ddctrl,ambinfo,ddobsinfo);
Weight=spp.FormWeightVc(ddctrl,dddataCurr,ddobsinfo);
/*--------------------- end processing method------------------- */
int resultflag=0; double ratio=0.0;
if(nEpoch%1000==0) cout<<nEpoch<<endl;
if (nEpoch>0)
{
double xxb[3];
math::matrix<double>xb=SoluShortEpoch(ddctrl,DesMatPos,DesMatAmb,Weight,L,ddobsinfo,ambinfo,resultflag,ratio);
preambinfo=ambinfo;
for(int i=0;i<3;i++) xxb[i]=xb(i,0)+sppinfo.recPos[i];
fout<<resultflag<<" "<<dddataCurr.pairNum<<" "<<~XYZ2NEU(sppinfo.recPos,xxb);
//cout<<~XYZ2NEU(sppinfo.recPos,xxb);
preddobsinfo=ddobsinfo;
}
// int t0,t1,t2,t3;
//t0=((int)dddataCurr.sec%86400);
//t1=t0/3600; //hour
//t2=(t0-t1*3600)/60; //hour
//t3=(t0-t1*3600-t2*60)%60;
//cout<<"ratio "<<ratio<<" "<<t1<<" "<<t2<<" "<<t3<<" "<<dddataCurr.pairNum<<" "<<nEpoch<<endl;
//cout<<endl;
dddataPre =dddataCurr;
/* end equation part */
}
else
{
if (dt>0.0) epochData2=readdata.GetEpochData(Ofile2,line2,obsHeader2,nEpoch2,eventFlag2);
else epochData1=readdata.GetEpochData(Ofile1,line1,obsHeader1,nEpoch1,eventFlag1);
}
if (eventFlag1==10 || eventFlag2==10) nEpoch1++;
}//end while
fout.close();
Ofile1.Close();
Ofile2.Close();
delete[] broadephdata,gloeph;
}