EpochCombination LinearCombination::evaluate(const RinexObsData& rod)
{
EpochCombination result;
RinexObsData::RinexSatMap::const_iterator it;
for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
{
RinexObsData::RinexObsTypeMap otmap = it->second;
RinexObsData::RinexObsTypeMap::const_iterator
itObs;
std::map<RinexObsHeader::RinexObsType, double>::iterator itCoeff;
double sum=0;
for (itCoeff=coeffList.begin(); itCoeff!=coeffList.end(); itCoeff++)
{
bool valid= ((itObs=otmap.find(itCoeff->first))!=otmap.end());
sum += itObs->second.data * itCoeff->second;
}
result[it->first] = sum;
}
return (result);
}
/** Pull out the selected observation type from a RinexObsData object
* @param rinexData The Rinex data set holding the observations
* @param typeObs The type of observation we want to get
*
* @return
* Number of satellites with this kind of data available
*/
inline virtual int getData(const RinexObsData& rinexData, RinexObsHeader::RinexObsType typeObs) throw(InvalidData)
{
try {
// Let's make sure each time we start with clean Vectors
availableSV.resize(0);
obsData.resize(0);
// Create a CheckPRData object with the given limits
CheckPRData checker(minPRange, maxPRange);
// Let's define the "it" iterator to visit the observations PRN map
// RinexSatMap is a map from SatID to RinexObsTypeMap:
// std::map<SatID, RinexObsTypeMap>
RinexObsData::RinexSatMap::const_iterator it;
for (it = rinexData.obs.begin(); it!= rinexData.obs.end(); it++)
{
// RinexObsTypeMap is a map from RinexObsType to RinexDatum:
// std::map<RinexObsHeader::RinexObsType, RinexDatum>
RinexObsData::RinexObsTypeMap otmap;
// Let's define a iterator to visit the observations type map
RinexObsData::RinexObsTypeMap::const_iterator itObs1;
// The "second" field of a RinexSatMap (it) is a RinexObsTypeMap (otmap)
otmap = (*it).second;
// Let's find the observation type inside the RinexObsTypeMap that is "otmap"
itObs1 = otmap.find(typeObs);
// Let's check if we found this type of observation and it is between the limits
if ( (itObs1!=otmap.end()) && ( (checker.check((*itObs1).second.data)) || !(checkData) ) )
{
// Store all relevant data of this epoch
availableSV = availableSV && (*it).first;
obsData = obsData && (*itObs1).second.data;
}
} // End of data extraction from this epoch
}
catch(...) {
InvalidData e("Unable to get data from RinexObsData object");
GPSTK_THROW(e);
}
// Let's record the number of SV with this type of data available
numSV = (int)obsData.size();
// If everything is fine so far, then the results should be valid
valid = true;
return numSV;
}; // end ExtractData::getData()
int main(int argc, char *argv[])
{
// Declaration of objects for storing ephemerides and handling RAIM
GPSEphemerisStore bcestore;
PRSolution raimSolver;
// Object for void-type tropospheric model (in case no meteorological RINEX
// is available)
ZeroTropModel noTropModel;
// Object for GG-type tropospheric model (Goad and Goodman, 1974)
GGTropModel ggTropModel; // Default constructor => default values for model
// Pointer to one of the two available tropospheric models. It points to
// the void model by default
TropModel *tropModelPtr=&noTropModel;
// This verifies the ammount of command-line parameters given and prints a help
// message, if necessary
if ((argc < 3) || (argc>4))
{
cerr << "Usage:" << endl;
cerr << " " << argv[0] << " <RINEX Obs file> <RINEX Nav file> [<RINEX Met file>]" << endl;
exit (-1);
}
// Let's compute an useful constant (also found in "icd_200_constants.hpp")
const double gamma = (L1_FREQ / L2_FREQ)*(L1_FREQ / L2_FREQ);
try
{
// Read nav file and store unique list of ephemeredes
RinexNavStream rnffs(argv[2]); // Open ephemerides data file
RinexNavData rne;
RinexNavHeader hdr;
// Let's read the header (may be skipped)
rnffs >> hdr;
// Storing the ephemeris in "bcstore"
while (rnffs >> rne) bcestore.addEphemeris(rne);
// Setting the criteria for looking up ephemeris
bcestore.SearchNear();
// If provided, open and store met file into a linked list.
list<RinexMetData> rml;
if (argc==4)
{
RinexMetStream rms(argv[3]); // Open meteorological data file
RinexMetHeader rmh;
// Let's read the header (may be skipped)
rms >> rmh;
RinexMetData rmd;
// If meteorological data is provided, let's change pointer to
// a GG-model object
tropModelPtr=&ggTropModel;
// All data is read into "rml", a meteorological data linked list
while (rms >> rmd) rml.push_back(rmd);
}
// Open and read the observation file one epoch at a time.
// For each epoch, compute and print a position solution
RinexObsStream roffs(argv[1]); // Open observations data file
// In order to throw exceptions, it is necessary to set the failbit
roffs.exceptions(ios::failbit);
RinexObsHeader roh;
RinexObsData rod;
// Let's read the header (may be skipped)
roffs >> roh;
// Defining iterator "mi" for meteorological data linked list "rml", and
// set it to the beginning
list<RinexMetData>::iterator mi=rml.begin();
// Let's process all lines of observation data, one by one
while (roffs >> rod)
{
// Find a weather point. Only if a meteorological RINEX file was
// provided, the meteorological data linked list "rml" is neither empty
// or at its end, and the time of meteorological records are below
// observation data epoch.
while ( (argc==4) &&
(!rml.empty()) &&
(mi!=rml.end()) &&
((*mi).time < rod.time) )
{
mi++; // Read next item in list
// Feed GG tropospheric model object with meteorological parameters
// Take into account, however, that setWeather is not accumulative,
// i.e., only the last fed set of data will be used for computation
ggTropModel.setWeather((*mi).data[RinexMetHeader::TD],
(*mi).data[RinexMetHeader::PR],
(*mi).data[RinexMetHeader::HR]);
}
// Apply editing criteria
if (rod.epochFlag == 0 || rod.epochFlag == 1) // Begin usable data
{
vector<SatID> prnVec;
vector<double> rangeVec;
// Let's define the "it" iterator to visit the observations PRN map
// RinexSatMap is a map from SatID to RinexObsTypeMap:
// std::map<SatID, RinexObsTypeMap>
RinexObsData::RinexSatMap::const_iterator it;
// This part gets the PRN numbers and ionosphere-corrected
// pseudoranges for the current epoch. They are correspondly fed
// into "prnVec" and "rangeVec"
// "obs" is a public attribute of RinexObsData to get the map
// of observations
for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
{
// RinexObsTypeMap is a map from RinexObsType to RinexDatum:
// std::map<RinexObsHeader::RinexObsType, RinexDatum>
RinexObsData::RinexObsTypeMap otmap;
// Let's define two iterators to visit the observations type map
RinexObsData::RinexObsTypeMap::const_iterator itP1, itP2;
/////////////////////////////////////////////////
//
// What did we do in the former code lines?:
//
// For each observation data epoch (rod), if valid
// (rod.epochFlag = 0 or 1):
// - use "it" iterator to visit the RinexObsTypeMap of each
// satellite,
// - and then use "itP1" and "itP2" iterators to visit the
// observation data (RinexDatum) according to their type
// (RinexObsType)
//
/////////////////////////////////////////////////
// The "second" field of a RinexPrnMap (it) is a
// RinexObsTypeMap (otmap)
otmap = (*it).second;
// Let's find a P1 observation inside the RinexObsTypeMap that
// is "otmap"
itP1 = otmap.find(RinexObsHeader::P1);
// If "itP1" is not the last type of observation, there may be
// a P2 observation and the double-frequency ionospheric
// corrections may be applied
if (itP1!=otmap.end())
{
double ionocorr = 0;
// Now, let's find a P2 observation inside the
// RinexObsTypeMap that is "otmap"
itP2 = otmap.find(RinexObsHeader::P2);
// If we indeed found a P2 observation, let's apply the
// ionospheric corrections
if (itP2!=otmap.end())
// The "second" part of a RinexObsTypeMap is a RinexDatum,
// whose public attribute "data" indeed holds the actual
// data point
ionocorr = 1./(1.-gamma)*((*itP1).second.data-(*itP2).second.data);
// Now, we include the current PRN number in the first part
// of "it" (a RinexPrnMap) into the vector holding PRN numbers.
// All satellites in view at this epoch that also have P1 and
// P2 observations will be included
prnVec.push_back((*it).first);
// The same is done for the vector of doubles holding the
// corrected ranges
rangeVec.push_back((*itP1).second.data-ionocorr);
// WARNING: Please note that so far no further correction is
// done on data: Relativistic effects, tropospheric correction,
// instrumental delays, etc.
}
}
// The default constructor for PRSolution objects (like "raimSolver")
// is to set a RMSLimit of 6.5. We change that here. With this value
// of 3e6 the solution will have a lot more dispersion
raimSolver.RMSLimit = 3e6;
// In order to compute positions we need the current time, the
// vector of visible satellites, the vector of corresponding ranges,
// the object containing satellite ephemerides and a pointer to the
// tropospheric model to be applied
raimSolver.RAIMCompute(rod.time,prnVec,rangeVec, bcestore, tropModelPtr);
// Note: Given that the default constructor sets public attribute
// "Algebraic" to FALSE, a linearized least squares algorithm will
// be used to get the solutions.
// Also, the default constructor sets ResidualCriterion to true, so
// the rejection criterion is based on RMS residual of fit, instead
// of RMS distance from an a priori position.
// If we got a valid solution, let's print it
if (raimSolver.isValid())
{
// Vector "Solution" holds the coordinates, expressed in meters
// in an Earth Centered, Earth Fixed (ECEF) reference frame. The
// order is x, y, z (as all ECEF objects)
cout << setprecision(12) << raimSolver.Solution[0] << " " ;
cout << raimSolver.Solution[1] << " " ;
cout << raimSolver.Solution[2];
cout << endl ;
}
} // End usable data
} // End loop through each epoch
}
//------------------------------------------------------------------------------------
void FillRawData(ObsFile& of) throw(Exception)
{
try {
//int nsvs;
//double C1;
GSatID sat;
RinexObsData::RinexSatMap::const_iterator it;
RinexObsData::RinexObsTypeMap otmap;
RinexObsData::RinexObsTypeMap::const_iterator jt;
Station& st=Stations[of.label];
st.RawDataMap.clear(); // assumes one file per site at each epoch
// loop over sat=it->first, ObsTypeMap=it->second
// fill DataStruct
// Don't include L2 when user has specified --Freq L1 -- there have been
// cases where L2 is present but bad, and user had no recourse but to edit
// the RINEX file to remove L2 before processing
//nsvs = 0;
for(it=of.Robs.obs.begin(); it != of.Robs.obs.end(); ++it) {
sat = it->first;
otmap = it->second;
// ignore non-GPS satellites
if(sat.system != SatID::systemGPS) continue;
// is the satellite excluded?
if(index(CI.ExSV,sat) != -1) continue;
// pull out the data
DataStruct D;
D.P1 = D.P2 = D.L1 = D.L2 = D.D1 = D.D2 = D.S1 = D.S2 = 0;
if(of.inP1 > -1 && CI.Frequency != 2 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inP1])) != otmap.end())
D.P1 = jt->second.data;
if(of.inP2 > -1 && CI.Frequency != 1 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inP2])) != otmap.end())
D.P2 = jt->second.data;
if(of.inL1 > -1 && CI.Frequency != 2 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inL1])) != otmap.end())
D.L1 = jt->second.data;
if(of.inL2 > -1 && CI.Frequency != 1 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inL2])) != otmap.end())
D.L2 = jt->second.data;
if(of.inD1 > -1 && CI.Frequency != 2 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inD1])) != otmap.end())
D.D1 = jt->second.data;
if(of.inD2 > -1 && CI.Frequency != 1 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inD2])) != otmap.end())
D.D2 = jt->second.data;
if(of.inS1 > -1 && CI.Frequency != 2 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inS1])) != otmap.end())
D.S1 = jt->second.data;
if(of.inS2 > -1 && CI.Frequency != 1 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inS2])) != otmap.end())
D.S2 = jt->second.data;
//if(of.inC1 > -1 && CI.Frequency != 2 &&
// (jt=otmap.find(of.Rhead.obsTypeList[of.inC1])) != otmap.end())
// C1 = jt->second.data;
// if P1 is not available, but C1 is, use C1 in place of P1
if((of.inP1 == -1 || D.P1 == 0) &&
of.inC1 > -1 && CI.Frequency != 2 &&
(jt=otmap.find(of.Rhead.obsTypeList[of.inC1])) != otmap.end())
D.P1 = jt->second.data;
// temp - round L1 and L2 to 1/256 cycle
//{
// double dL1 = D.L1 - long(D.L1);
// double cL1 = double(long(256.*dL1))/256.;
// D.L1 -= dL1 - cL1;
//}
st.RawDataMap[sat] = D;
st.time = SolutionEpoch;
//nsvs++;
} // end loop over sats
}
catch(Exception& e) { GPSTK_RETHROW(e); }
catch(std::exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
} // end FillRawData()