/* Method to set an a priori position of receiver using Bancroft's
* method. Intended to be used with GNSS data structures.
*
* @param time DayTime object for this epoch
* @param data satTypeValueMap data structure holding
* the data.
*
* @return
* 0 if OK
* -1 if problems arose
*/
int ModeledPR::Prepare( const DayTime& time,
const satTypeValueMap& data )
{
int i;
std::vector<SatID> vSat;
std::vector<double> vPR;
Vector<SatID> Satellite( data.getVectorOfSatID() );
Vector<double> Pseudorange(
data.getVectorOfTypeID( getDefaultObservable() ) );
// Convert from gpstk::Vector to std::vector
for (i = 0; i < (int)Satellite.size(); i++)
{
vSat.push_back(Satellite[i]);
}
for (i = 0; i < (int)Pseudorange.size(); i++)
{
vPR.push_back(Pseudorange[i]);
}
return Prepare(time, vSat, vPR, (*(getDefaultEphemeris())) );
} // End of method 'ModeledPR::Prepare()'
/* Returns a satTypeValueMap object, adding the new data generated when
* calling a modeling object.
*
* @param time Epoch.
* @param gData Data object holding the data.
*/
satTypeValueMap& BasicModel::Process( const DayTime& time,
satTypeValueMap& gData )
throw(ProcessingException)
{
try
{
SatIDSet satRejectedSet;
// Loop through all the satellites
satTypeValueMap::iterator stv;
for( stv = gData.begin();
stv != gData.end();
++stv )
{
// Scalar to hold temporal value
double observable( (*stv).second(defaultObservable) );
// A lot of the work is done by a CorrectedEphemerisRange object
CorrectedEphemerisRange cerange;
try
{
// Compute most of the parameters
cerange.ComputeAtTransmitTime( time,
observable,
rxPos,
(*stv).first,
*(getDefaultEphemeris()) );
}
catch(InvalidRequest& e)
{
// If some problem appears, then schedule this satellite
// for removal
satRejectedSet.insert( (*stv).first );
continue; // Skip this SV if problems arise
}
// Let's test if satellite has enough elevation over horizon
if ( rxPos.elevationGeodetic(cerange.svPosVel) < minElev )
{
// Mark this satellite if it doesn't have enough elevation
satRejectedSet.insert( (*stv).first );
continue;
}
// Computing Total Group Delay (TGD - meters), if possible
double tempTGD(getTGDCorrections( time,
(*pDefaultEphemeris),
(*stv).first ) );
// Now we have to add the new values to the data structure
(*stv).second[TypeID::dtSat] = cerange.svclkbias;
// Now, lets insert the geometry matrix
(*stv).second[TypeID::dx] = cerange.cosines[0];
(*stv).second[TypeID::dy] = cerange.cosines[1];
(*stv).second[TypeID::dz] = cerange.cosines[2];
// When using pseudorange method, this is 1.0
(*stv).second[TypeID::cdt] = 1.0;
// Now we have to add the new values to the data structure
(*stv).second[TypeID::rho] = cerange.rawrange;
(*stv).second[TypeID::rel] = -cerange.relativity;
(*stv).second[TypeID::elevation] = cerange.elevationGeodetic;
(*stv).second[TypeID::azimuth] = cerange.azimuthGeodetic;
// Let's insert satellite position at transmission time
(*stv).second[TypeID::satX] = cerange.svPosVel.x[0];
(*stv).second[TypeID::satY] = cerange.svPosVel.x[1];
(*stv).second[TypeID::satZ] = cerange.svPosVel.x[2];
// Let's insert satellite velocity at transmission time
(*stv).second[TypeID::satVX] = cerange.svPosVel.v[0];
(*stv).second[TypeID::satVY] = cerange.svPosVel.v[1];
(*stv).second[TypeID::satVZ] = cerange.svPosVel.v[2];
// Apply correction to C1 observable, if appropriate
if(useTGD)
{
// Look for C1
if( (*stv).second.find(TypeID::C1) != (*stv).second.end() )
{
(*stv).second[TypeID::C1] =
(*stv).second[TypeID::C1] - tempTGD;
};
};
(*stv).second[TypeID::instC1] = tempTGD;
} // End of loop for(stv = gData.begin()...
// Remove satellites with missing data
gData.removeSatID(satRejectedSet);
return gData;
} // End of try...
catch(Exception& u)
{
// Throw an exception if something unexpected happens
ProcessingException e( getClassName() + ":"
+ StringUtils::asString( getIndex() ) + ":"
+ u.what() );
GPSTK_THROW(e);
}
} // End of method 'BasicModel::Process()'
