// Method that will really process information
void example9::process()
{
// We will read each section name, which is equivalent to station name
// Station names will be read in alphabetical order
string station;
while ( (station = confReader.getEachSection()) != "" )
{
// We will skip 'DEFAULT' section because we are waiting for
// a specific section for each receiver. However, if data is
// missing we will look for it in 'DEFAULT' (see how we use method
// 'setFallback2Default()' of 'ConfDataReader' object in 'spinUp()'
if( station == "DEFAULT" )
{
continue;
}
// Show a message indicating that we are starting with this station
cout << "Starting processing for station: '" << station << "'." << endl;
// Create input observation file stream
RinexObsStream rin;
// Enable exceptions
rin.exceptions(ios::failbit);
// Try to open Rinex observations file
try
{
// Open Rinex observations file in read-only mode
rin.open( confReader("rinexObsFile", station), std::ios::in );
}
catch(...)
{
cerr << "Problem opening file '"
<< confReader.getValue("rinexObsFile", station)
<< "'." << endl;
cerr << "Maybe it doesn't exist or you don't have "
<< "proper read permissions."
<< endl;
cerr << "Skipping receiver '" << station << "'."
<< endl;
// Close current Rinex observation stream
rin.close();
continue;
} // End of 'try-catch' block
// Declare a "SP3EphemerisStore" object to handle precise ephemeris
SP3EphemerisStore SP3EphList;
// Set flags to reject satellites with bad or absent positional
// values or clocks
SP3EphList.rejectBadPositions(true);
SP3EphList.rejectBadClocks(true);
// Read if we should check for data gaps.
if ( confReader.getValueAsBoolean( "checkGaps", station ) )
{
SP3EphList.enableDataGapCheck();
SP3EphList.setGapInterval(
confReader.getValueAsDouble("SP3GapInterval",station) );
}
// Read if we should check for too wide interpolation intervals
if ( confReader.getValueAsBoolean( "checkInterval", station ) )
{
SP3EphList.enableIntervalCheck();
SP3EphList.setMaxInterval(
confReader.getValueAsDouble("maxSP3Interval",station) );
}
// Load all the SP3 ephemerides files from variable list
string sp3File;
while ( (sp3File = confReader.fetchListValue("SP3List",station) ) != "" )
{
// Try to load each ephemeris file
try
{
SP3EphList.loadFile( sp3File );
}
catch (FileMissingException& e)
{
// If file doesn't exist, issue a warning
cerr << "SP3 file '" << sp3File << "' doesn't exist or you don't "
<< "have permission to read it. Skipping it." << endl;
continue;
}
} // End of 'while ( (sp3File = confReader.fetchListValue( ... "
// Load station nominal position
double xn(confReader.fetchListValueAsDouble("nominalPosition",station));
double yn(confReader.fetchListValueAsDouble("nominalPosition",station));
double zn(confReader.fetchListValueAsDouble("nominalPosition",station));
// The former peculiar code is possible because each time we
// call a 'fetchListValue' method, it takes out the first element
// and deletes it from the given variable list.
Position nominalPos( xn, yn, zn );
// Create a 'ProcessingList' object where we'll store
// the processing objects in order
ProcessingList pList;
// This object will check that all required observables are present
RequireObservables requireObs;
requireObs.addRequiredType(TypeID::P2);
requireObs.addRequiredType(TypeID::L1);
requireObs.addRequiredType(TypeID::L2);
// This object will check that code observations are within
// reasonable limits
SimpleFilter pObsFilter;
pObsFilter.setFilteredType(TypeID::P2);
// Read if we should use C1 instead of P1
bool usingC1( confReader.getValueAsBoolean( "useC1", station ) );
if ( usingC1 )
{
requireObs.addRequiredType(TypeID::C1);
pObsFilter.addFilteredType(TypeID::C1);
}
else
{
requireObs.addRequiredType(TypeID::P1);
pObsFilter.addFilteredType(TypeID::P1);
}
// Add 'requireObs' to processing list (it is the first)
pList.push_back(requireObs);
// IMPORTANT NOTE:
// It turns out that some receivers don't correct their clocks
// from drift.
// When this happens, their code observations may drift well beyond
// what it is usually expected from a pseudorange. In turn, this
// effect causes that "SimpleFilter" objects start to reject a lot of
// satellites.
// Thence, the "filterCode" option allows you to deactivate the
// "SimpleFilter" object that filters out C1, P1 and P2, in case you
// need to.
bool filterCode( confReader.getValueAsBoolean( "filterCode", station ) );
// Check if we are going to use this "SimpleFilter" object or not
if( filterCode )
{
pList.push_back(pObsFilter); // Add to processing list
}
// This object defines several handy linear combinations
LinearCombinations comb;
// Object to compute linear combinations for cycle slip detection
ComputeLinear linear1;
// Read if we should use C1 instead of P1
if ( usingC1 )
{
linear1.addLinear(comb.pdeltaCombWithC1);
linear1.addLinear(comb.mwubbenaCombWithC1);
}
else
{
linear1.addLinear(comb.pdeltaCombination);
linear1.addLinear(comb.mwubbenaCombination);
}
linear1.addLinear(comb.ldeltaCombination);
linear1.addLinear(comb.liCombination);
pList.push_back(linear1); // Add to processing list
// Objects to mark cycle slips
LICSDetector2 markCSLI2; // Checks LI cycle slips
pList.push_back(markCSLI2); // Add to processing list
MWCSDetector markCSMW; // Checks Merbourne-Wubbena cycle slips
pList.push_back(markCSMW); // Add to processing list
// Object to keep track of satellite arcs
SatArcMarker markArc;
markArc.setDeleteUnstableSats(true);
markArc.setUnstablePeriod(151.0);
pList.push_back(markArc); // Add to processing list
// Object to decimate data
Decimate decimateData(
confReader.getValueAsDouble( "decimationInterval", station ),
confReader.getValueAsDouble( "decimationTolerance", station ),
SP3EphList.getInitialTime() );
pList.push_back(decimateData); // Add to processing list
// Declare a basic modeler
BasicModel basic(nominalPos, SP3EphList);
// Set the minimum elevation
basic.setMinElev(confReader.getValueAsDouble("cutOffElevation",station));
// If we are going to use P1 instead of C1, we must reconfigure 'basic'
if ( !usingC1 )
{
basic.setDefaultObservable(TypeID::P1);
}
// Add to processing list
pList.push_back(basic);
// Object to remove eclipsed satellites
EclipsedSatFilter eclipsedSV;
pList.push_back(eclipsedSV); // Add to processing list
// Object to compute gravitational delay effects
GravitationalDelay grDelay(nominalPos);
pList.push_back(grDelay); // Add to processing list
// Vector from monument to antenna ARP [UEN], in meters
double uARP(confReader.fetchListValueAsDouble( "offsetARP", station ) );
double eARP(confReader.fetchListValueAsDouble( "offsetARP", station ) );
double nARP(confReader.fetchListValueAsDouble( "offsetARP", station ) );
Triple offsetARP( uARP, eARP, nARP );
// Declare some antenna-related variables
Triple offsetL1( 0.0, 0.0, 0.0 ), offsetL2( 0.0, 0.0, 0.0 );
AntexReader antexReader;
Antenna receiverAntenna;
// Check if we want to use Antex information
bool useantex( confReader.getValueAsBoolean( "useAntex", station ) );
if( useantex )
{
// Feed Antex reader object with Antex file
antexReader.open( confReader.getValue( "antexFile", station ) );
// Get receiver antenna parameters
receiverAntenna =
antexReader.getAntenna( confReader.getValue( "antennaModel",
station ) );
}
// Object to compute satellite antenna phase center effect
ComputeSatPCenter svPcenter(nominalPos);
if( useantex )
{
// Feed 'ComputeSatPCenter' object with 'AntexReader' object
svPcenter.setAntexReader( antexReader );
}
pList.push_back(svPcenter); // Add to processing list
// Declare an object to correct observables to monument
CorrectObservables corr(SP3EphList);
corr.setNominalPosition(nominalPos);
corr.setMonument( offsetARP );
// Check if we want to use Antex patterns
bool usepatterns(confReader.getValueAsBoolean("usePCPatterns", station ));
if( useantex && usepatterns )
{
corr.setAntenna( receiverAntenna );
// Should we use elevation/azimuth patterns or just elevation?
corr.setUseAzimuth(confReader.getValueAsBoolean("useAzim", station));
}
else
{
// Fill vector from antenna ARP to L1 phase center [UEN], in meters
offsetL1[0] = confReader.fetchListValueAsDouble("offsetL1", station);
offsetL1[1] = confReader.fetchListValueAsDouble("offsetL1", station);
offsetL1[2] = confReader.fetchListValueAsDouble("offsetL1", station);
// Vector from antenna ARP to L2 phase center [UEN], in meters
offsetL2[0] = confReader.fetchListValueAsDouble("offsetL2", station);
offsetL2[1] = confReader.fetchListValueAsDouble("offsetL2", station);
offsetL2[2] = confReader.fetchListValueAsDouble("offsetL2", station);
corr.setL1pc( offsetL1 );
corr.setL2pc( offsetL2 );
}
pList.push_back(corr); // Add to processing list
// Object to compute wind-up effect
ComputeWindUp windup( SP3EphList,
nominalPos,
confReader.getValue( "satDataFile", station ) );
pList.push_back(windup); // Add to processing list
// Declare a NeillTropModel object, setting its parameters
NeillTropModel neillTM( nominalPos.getAltitude(),
nominalPos.getGeodeticLatitude(),
confReader.getValueAsInt("dayOfYear", station) );
// We will need this value later for printing
double drytropo( neillTM.dry_zenith_delay() );
// Object to compute the tropospheric data
ComputeTropModel computeTropo(neillTM);
pList.push_back(computeTropo); // Add to processing list
// Object to compute ionosphere-free combinations to be used
// as observables in the PPP processing
ComputeLinear linear2;
// Read if we should use C1 instead of P1
if ( usingC1 )
{
// WARNING: When using C1 instead of P1 to compute PC combination,
// be aware that instrumental errors will NOT cancel,
// introducing a bias that must be taken into account by
// other means. This won't be taken into account in this
// example.
linear2.addLinear(comb.pcCombWithC1);
}
else
{
linear2.addLinear(comb.pcCombination);
}
linear2.addLinear(comb.lcCombination);
pList.push_back(linear2); // Add to processing list
// Declare a simple filter object to screen PC
SimpleFilter pcFilter;
pcFilter.setFilteredType(TypeID::PC);
// IMPORTANT NOTE:
// Like in the "filterCode" case, the "filterPC" option allows you to
// deactivate the "SimpleFilter" object that filters out PC, in case
// you need to.
bool filterPC( confReader.getValueAsBoolean( "filterPC", station ) );
// Check if we are going to use this "SimpleFilter" object or not
if( filterPC )
{
pList.push_back(pcFilter); // Add to processing list
}
// Object to align phase with code measurements
PhaseCodeAlignment phaseAlign;
pList.push_back(phaseAlign); // Add to processing list
// Object to compute prefit-residuals
ComputeLinear linear3(comb.pcPrefit);
linear3.addLinear(comb.lcPrefit);
pList.push_back(linear3); // Add to processing list
// Declare a base-changing object: From ECEF to North-East-Up (NEU)
XYZ2NEU baseChange(nominalPos);
// We always need both ECEF and NEU data for 'ComputeDOP', so add this
pList.push_back(baseChange);
// Object to compute DOP values
ComputeDOP cDOP;
pList.push_back(cDOP); // Add to processing list
// Get if we want results in ECEF or NEU reference system
bool isNEU( confReader.getValueAsBoolean( "USENEU", station ) );
// Declare solver objects
SolverPPP pppSolver(isNEU);
SolverPPPFB fbpppSolver(isNEU);
// Get if we want 'forwards-backwards' or 'forwards' processing only
int cycles( confReader.getValueAsInt("forwardBackwardCycles", station) );
// Get if we want to process coordinates as white noise
bool isWN( confReader.getValueAsBoolean( "coordinatesAsWhiteNoise",
station ) );
// White noise stochastic model
WhiteNoiseModel wnM(100.0); // 100 m of sigma
// Decide what type of solver we will use for this station
if ( cycles > 0 )
{
// In this case, we will use the 'forwards-backwards' solver
// Check about coordinates as white noise
if ( isWN )
{
// Reconfigure solver
fbpppSolver.setCoordinatesModel(&wnM);
}
// Add solver to processing list
pList.push_back(fbpppSolver);
}
else
{
// In this case, we will use the 'forwards-only' solver
// Check about coordinates as white noise
if ( isWN )
{
// Reconfigure solver
pppSolver.setCoordinatesModel(&wnM);
}
// Add solver to processing list
pList.push_back(pppSolver);
} // End of 'if ( cycles > 0 )'
// Object to compute tidal effects
SolidTides solid;
// Configure ocean loading model
OceanLoading ocean;
ocean.setFilename( confReader.getValue( "oceanLoadingFile", station ) );
// Numerical values (xp, yp) are pole displacements (arcsec).
double xp( confReader.fetchListValueAsDouble( "poleDisplacements",
station ) );
double yp( confReader.fetchListValueAsDouble( "poleDisplacements",
station ) );
// Object to model pole tides
PoleTides pole;
pole.setXY( xp, yp );
// This is the GNSS data structure that will hold all the
// GNSS-related information
gnssRinex gRin;
// Prepare for printing
int precision( confReader.getValueAsInt( "precision", station ) );
// Let's open the output file
string outName(confReader.getValue( "outputFile", station ) );
ofstream outfile;
outfile.open( outName.c_str(), ios::out );
// Let's check if we are going to print the model
bool printmodel( confReader.getValueAsBoolean( "printModel", station ) );
string modelName;
ofstream modelfile;
// Prepare for model printing
if( printmodel )
{
modelName = confReader.getValue( "modelFile", station );
modelfile.open( modelName.c_str(), ios::out );
}
//// *** Now comes the REAL forwards processing part *** ////
// Loop over all data epochs
while(rin >> gRin)
{
// Store current epoch
DayTime time(gRin.header.epoch);
// Compute solid, oceanic and pole tides effects at this epoch
Triple tides( solid.getSolidTide( time, nominalPos ) +
ocean.getOceanLoading( station, time ) +
pole.getPoleTide( time, nominalPos ) );
// Update observable correction object with tides information
corr.setExtraBiases(tides);
try
{
// Let's process data. Thanks to 'ProcessingList' this is
// very simple and compact: Just one line of code!!!.
gRin >> pList;
}
catch(DecimateEpoch& d)
{
// If we catch a DecimateEpoch exception, just continue.
continue;
}
catch(Exception& e)
{
cerr << "Exception for receiver '" << station <<
"' at epoch: " << time << "; " << e << endl;
continue;
}
catch(...)
{
cerr << "Unknown exception for receiver '" << station <<
" at epoch: " << time << endl;
continue;
}
// Ask if we are going to print the model
if ( printmodel )
{
printModel( modelfile,
gRin );
}
// Check what type of solver we are using
if ( cycles < 1 )
{
// This is a 'forwards-only' filter. Let's print to output
// file the results of this epoch
printSolution( outfile,
pppSolver,
time,
cDOP,
isNEU,
gRin.numSats(),
drytropo,
precision );
} // End of 'if ( cycles < 1 )'
// The given epoch hass been processed. Let's get the next one
} // End of 'while(rin >> gRin)'
// Close current Rinex observation stream
rin.close();
// If we printed the model, we must close the file
if ( printmodel )
{
// Close model file for this station
modelfile.close();
}
// Clear content of SP3 ephemerides object
SP3EphList.clear();
//// *** Forwards processing part is over *** ////
// Now decide what to do: If solver was a 'forwards-only' version,
// then we are done and should continue with next station.
if ( cycles < 1 )
{
// Close output file for this station
outfile.close();
// We are done with this station. Let's show a message
cout << "Processing finished for station: '" << station
<< "'. Results in file: '" << outName << "'." << endl;
// Go process next station
continue;
}
//// *** If we got here, it is a 'forwards-backwards' solver *** ////
// Now, let's do 'forwards-backwards' cycles
try
{
fbpppSolver.ReProcess(cycles);
}
catch(Exception& e)
{
// If problems arose, issue an message and skip receiver
cerr << "Exception at reprocessing phase: " << e << endl;
cerr << "Skipping receiver '" << station << "'." << endl;
// Close output file for this station
outfile.close();
// Go process next station
continue;
} // End of 'try-catch' block
// Reprocess is over. Let's finish with the last processing
// Loop over all data epochs, again, and print results
while( fbpppSolver.LastProcess(gRin) )
{
DayTime time(gRin.header.epoch);
printSolution( outfile,
fbpppSolver,
time,
cDOP,
isNEU,
gRin.numSats(),
drytropo,
precision );
} // End of 'while( fbpppSolver.LastProcess(gRin) )'
// We are done. Close and go for next station
// Close output file for this station
outfile.close();
// We are done with this station. Let's show a message
cout << "Processing finished for station: '" << station
<< "'. Results in file: '" << outName << "'." << endl;
} // end of 'while ( (station = confReader.getEachSection()) != "" )'
return;
} // End of 'example9::process()'
int main(void)
{
/////////////////// INITIALIZATION PART /////////////////////
cout << fixed << setprecision(4); // Set a proper output format
// Create the input observation file stream
RinexObsStream rin("ebre0300.02o");
// Create the input observation file stream for REFERENCE STATION
RinexObsStream rinRef("bell0300.02o");
//// Broadcast ephemeris part
// Create the input navigation file stream
RinexNavStream rnavin("brdc0300.02n");
RinexNavData rNavData; // Object to store Rinex navigation data
GPSEphemerisStore bceStore; // Object to store satellites ephemeris
// Storing the ephemeris in "bceStore"
while (rnavin >> rNavData)
{
bceStore.addEphemeris(rNavData);
}
bceStore.SearchUser(); // This is the default
////
// EBRE station nominal position
Position nominalPos(4833520.1852, 41537.0453, 4147461.4963);
// BELL station nominal position
Position BnominalPos(4775849.4262, 116814.3084, 4213018.9143);
// Declare a NeillTropModel object, setting the defaults
NeillTropModel neillTM( nominalPos.getAltitude(),
nominalPos.getGeodeticLatitude(), 30);
// Declare a NeillTropModel object, setting the defaults (Ref. station)
NeillTropModel BneillTM( BnominalPos.getAltitude(),
BnominalPos.getGeodeticLatitude(), 30);
// This is the GNSS data structure that will hold all the
// GNSS-related information
gnssRinex gRin;
gnssRinex gRef;
// Declare base-changing objects: From ECEF to North-East-Up (NEU)
XYZ2NEU baseChange(nominalPos);
XYZ2NEU BbaseChange(BnominalPos);
// Declare a simple filter object to screen PC
SimpleFilter pcFilter;
pcFilter.setFilteredType(TypeID::PC);
// Declare a couple of basic modelers
BasicModel basic(nominalPos, bceStore);
BasicModel Bbasic(BnominalPos, bceStore);
// Objects to mark cycle slips
LICSDetector2 markCSLI; // Checks LI cycle slips
MWCSDetector markCSMW; // Checks Merbourne-Wubbena cycle slips
LICSDetector2 BmarkCSLI; // Checks LI cycle slips
MWCSDetector BmarkCSMW; // Checks Merbourne-Wubbena cycle slips
// Object to compute tidal effects
SolidTides solid;
// Ocean loading model
OceanLoading ocean("OCEAN-GOT00.dat");
// Numerical values are x,y pole displacements for Jan/30/2002 (arcsec).
PoleTides pole(-0.17153, 0.38661);
// Vector from EBRE antenna ARP to L1 phase center [UEN]
Triple offsetL1(0.110, 0.000, 0.000); // Units in meters
// Vector from EBRE antenna ARP to L2 phase center [UEN]
Triple offsetL2(0.128, 0.0000, 0.000); // Units in meters
// Vector from monument to antenna ARP [UEN] for EBRE station
Triple offsetARP(0.0, 0.0, 0.0); // Units in meters
// Vector from BELL antenna ARP to L1 phase center [UEN] (TRM29659.00)
Triple BoffsetL1(0.110, 0.000, 0.000); // Units in meters
// Vector from BELL antenna ARP to L2 phase center [UEN] (TRM29659.00)
Triple BoffsetL2(0.128, 0.0000, 0.000); // Units in meters
// Vector from monument to antenna ARP [UEN] for BELL station
Triple BoffsetARP(0.054, 0.0, 0.0); // Units in meters
// Declare an object to correct observables to monument
CorrectObservables corr(bceStore);
((corr.setNominalPosition(nominalPos)).setL1pc(offsetL1)).setL2pc(offsetL2);
corr.setMonument(offsetARP);
// Declare an object to correct observables to monument (Ref. station)
CorrectObservables Bcorr(bceStore);
Bcorr.setNominalPosition(BnominalPos);
Bcorr.setL1pc(BoffsetL1);
Bcorr.setL2pc(BoffsetL2);
Bcorr.setMonument(BoffsetARP);
// Objects to compute wind-up effect
ComputeWindUp windup(bceStore, nominalPos, "PRN_GPS");
ComputeWindUp Bwindup(bceStore, BnominalPos, "PRN_GPS");
// Objects to compute satellite antenna phase center effect
ComputeSatPCenter svPcenter(nominalPos);
ComputeSatPCenter BsvPcenter(BnominalPos);
// Objects to compute the tropospheric data
ComputeTropModel computeTropo(neillTM);
ComputeTropModel BcomputeTropo(BneillTM);
// This object defines several handy linear combinations
LinearCombinations comb;
// Object to compute linear combinations of data
ComputeLinear linear1(comb.pcCombWithC1);
linear1.addLinear(comb.lcCombination);
linear1.addLinear(comb.pdeltaCombWithC1);
linear1.addLinear(comb.ldeltaCombination);
linear1.addLinear(comb.mwubbenaCombWithC1);
linear1.addLinear(comb.liCombination);
// Let's use a different object to compute prefit residuals
ComputeLinear linear2(comb.pcPrefit);
linear2.addLinear(comb.lcPrefit);
// Declare an object to process the data using PPP. It is set
// to use a NEU system
SolverPPP pppSolver(true);
// The current processing strategy is "static".
// The real test for a PPP processing program is to handle coordinates
// as white noise. In such case, position error should be about 0.25 m or
// better. Uncomment the following couple of lines to test this.
// WhiteNoiseModel wnM(100.0); // 100 m of sigma
// pppSolver.setCoordinatesModel(&wnM);
// Object to keep track of satellite arcs
SatArcMarker markArc;
markArc.setDeleteUnstableSats(true);
markArc.setUnstablePeriod(151.0);
// Objects to compute gravitational delay effects
GravitationalDelay grDelay(nominalPos);
GravitationalDelay BgrDelay(BnominalPos);
// Object to align phase with code measurements
PhaseCodeAlignment phaseAlign;
// Object to compute DOP values
ComputeDOP cDOP;
// Object to remove eclipsed satellites
EclipsedSatFilter eclipsedSV;
// Statistical summary objects
PowerSum errorVectorStats;
TypeIDSet tset;
tset.insert(TypeID::prefitC);
tset.insert(TypeID::prefitL);
// Create an object to compute the single differences of prefit residuals
DeltaOp delta;
// By default, it will work on code prefit residuals, so we must change
// the default and provide a set of types to be differenced
delta.setDiffTypeSet(tset);
// Create an object to synchronize rover and reference station
// data streams. This object will take data out from "rinRef" until
// it is synchronized with data in "gOriginal". Default synchronization
// tolerance is 1 s.
Synchronize synchro(rinRef, gRin);
/////////////////// PROCESING PART /////////////////////
// Use this variable to select between position printing or model printing
bool printPosition(true); // By default, print position and associated
// parameters
// Loop over all data epochs
while(rin >> gRin)
{
CommonTime time(gRin.header.epoch);
// Compute the effect of solid, oceanic and pole tides
Triple tides( solid.getSolidTide(time, nominalPos) +
ocean.getOceanLoading("EBRE", time) +
pole.getPoleTide(time, nominalPos) );
// Compute the effect of solid, oceanic and pole tides
Triple Btides( solid.getSolidTide(time, BnominalPos) +
ocean.getOceanLoading("BELL", time) +
pole.getPoleTide(time, BnominalPos) );
// Update observable correction object with tides information
corr.setExtraBiases(tides);
// Update observable correction object with tides information
Bcorr.setExtraBiases(Btides);
try
{
// First, process reference station
gRef >> synchro // Synchronize data streams
>> Bbasic // Compute the basic components of model
>> eclipsedSV // Remove satellites in eclipse
>> BgrDelay // Compute gravitational delay
>> BsvPcenter // Compute the effect of satellite phase
>> Bcorr // Correct observables from tides, etc.
>> Bwindup // Compute wind-up effect
>> BcomputeTropo // Compute tropospheric effect
>> linear1 // Compute common linear combinations
>> pcFilter // Filter out spurious data
>> BmarkCSLI // Mark cycle slips: LI algorithm
>> BmarkCSMW // Mark cycle slips: Melbourne-Wubbena
>> markArc // Keep track of satellite arcs
>> linear2; // Compute prefit residuals
delta.setRefData(gRef.body);
}
catch(SynchronizeException& e) // THIS IS VERY IMPORTANT IN ORDER TO
{ // MANAGE A POSSIBLE DESYNCHRONIZATION!!
continue;
}
catch(...)
{
cerr << "Exception when processing reference station data at epoch: "
<< gRef.header.epoch << endl;
}
// Rover data processing is done here:
try
{
// The following lines are indeed just one line
gRin >> basic // Compute the basic components of model
>> eclipsedSV // Remove satellites in eclipse
>> grDelay // Compute gravitational delay
>> svPcenter // Compute the effect of satellite phase center
>> corr // Correct observables from tides, etc.
>> windup // Compute wind-up effect
>> computeTropo // Compute tropospheric effect
>> linear1 // Compute common linear combinations
>> pcFilter // Filter out spurious data
>> markCSLI // Mark cycle slips: LI algorithm
>> markCSMW // Mark cycle slips: Melbourne-Wubbena
>> markArc // Keep track of satellite arcs
>> phaseAlign // Align phases with codes
>> linear2 // Compute prefit residuals
>> delta
>> baseChange // Prepare to use North-East-UP reference frame
>> cDOP // Compute DOP figures
>> pppSolver; // Solve equations with a Kalman filter
}
catch(Exception& e)
{
cerr << "Exception at epoch: " << time << "; " << e << endl;
continue;
}
catch(...)
{
cerr << "Unknown exception at epoch: " << time << endl;
continue;
}
// Check if we want to print model or position
if(printPosition)
{
// Print here the position results
cout << static_cast<YDSTime>(time).sod << " "; // Epoch - Output field #1
cout << pppSolver.getSolution(TypeID::dLat) << " "; // dLat - #2
cout << pppSolver.getSolution(TypeID::dLon) << " "; // dLon - #3
cout << pppSolver.getSolution(TypeID::dH) << " "; // dH - #4
cout << pppSolver.getSolution(TypeID::wetMap) << " "; // Tropo - #5
cout << pppSolver.getVariance(TypeID::dLat) << " "; // Cov dLat - #6
cout << pppSolver.getVariance(TypeID::dLon) << " "; // Cov dLon - #7
cout << pppSolver.getVariance(TypeID::dH) << " "; // Cov dH - #8
cout << pppSolver.getVariance(TypeID::wetMap) << " ";//Cov Tropo- #9
cout << gRin.numSats() << " "; // Satellite number - #10
cout << cDOP.getGDOP() << " "; // GDOP - #11
cout << cDOP.getPDOP() << " "; // PDOP - #12
cout << cDOP.getTDOP() << " "; // TDOP - #13
cout << cDOP.getHDOP() << " "; // HDOP - #14
cout << cDOP.getVDOP() << " "; // VDOP - #15
cout << endl;
// For statistical purposes we discard the first two hours of data
if (static_cast<YDSTime>(time).sod > 7200.0)
{
// Statistical summary
double errorV( pppSolver.solution[1]*pppSolver.solution[1] +
pppSolver.solution[2]*pppSolver.solution[2] +
pppSolver.solution[3]*pppSolver.solution[3] );
// Get module of position error vector
errorV = std::sqrt(errorV);
// Add to statistical summary object
errorVectorStats.add(errorV);
}
} // End of position printing
else
{
// Print here the model results
// First, define types we want to keep
TypeIDSet types;
types.insert(TypeID::L1);
types.insert(TypeID::L2);
types.insert(TypeID::P1);
types.insert(TypeID::P2);
types.insert(TypeID::PC);
types.insert(TypeID::LC);
types.insert(TypeID::rho);
types.insert(TypeID::dtSat);
types.insert(TypeID::rel);
types.insert(TypeID::gravDelay);
types.insert(TypeID::tropo);
types.insert(TypeID::dryTropo);
types.insert(TypeID::dryMap);
types.insert(TypeID::wetTropo);
types.insert(TypeID::wetMap);
types.insert(TypeID::tropoSlant);
types.insert(TypeID::windUp);
types.insert(TypeID::satPCenter);
types.insert(TypeID::satX);
types.insert(TypeID::satY);
types.insert(TypeID::satZ);
types.insert(TypeID::elevation);
types.insert(TypeID::azimuth);
types.insert(TypeID::satArc);
types.insert(TypeID::prefitC);
types.insert(TypeID::prefitL);
types.insert(TypeID::dx);
types.insert(TypeID::dy);
types.insert(TypeID::dz);
types.insert(TypeID::dLat);
types.insert(TypeID::dLon);
types.insert(TypeID::dH);
types.insert(TypeID::cdt);
gRin.keepOnlyTypeID(types); // Delete the types not in 'types'
// Iterate through the GNSS Data Structure
satTypeValueMap::const_iterator it;
for (it = gRin.body.begin(); it!= gRin.body.end(); it++)
{
// Print epoch
cout << static_cast<YDSTime>(time).year << " ";
cout << static_cast<YDSTime>(time).doy << " ";
cout << static_cast<YDSTime>(time).sod << " ";
cout << cDOP.getGDOP() << " "; // GDOP #4
cout << cDOP.getPDOP() << " "; // PDOP #5
cout << cDOP.getTDOP() << " "; // TDOP #6
cout << cDOP.getHDOP() << " "; // HDOP #7
cout << cDOP.getVDOP() << " "; // VDOP #8
// Print satellite information (system and PRN)
cout << (*it).first << " ";
// Print model values
typeValueMap::const_iterator itObs;
for( itObs = (*it).second.begin();
itObs != (*it).second.end();
itObs++ )
{
bool printNames(true); // Whether print types' names or not
if (printNames)
{
cout << (*itObs).first << " ";
}
cout << (*itObs).second << " ";
} // End for( itObs = ... )
cout << endl;
} // End for (it = gRin.body.begin(); ... )
} // End of model printing
} // End of 'while(rin >> gRin)...'
// Print statistical summary in cerr
if(printPosition)
{
cerr << "Module of error vector: Average = "
<< errorVectorStats.average() << " m Std. dev. = "
<< std::sqrt(errorVectorStats.variance()) << " m" << endl;
}
exit(0); // End of program
}