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QPPPBackSmooth.cpp
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#include "QPPPBackSmooth.h"
QStringList QPPPBackSmooth::searchFilterFile(QString floder_path, QStringList filers)
{
QDir floder_Dir(floder_path);
QStringList all_file_path;
floder_Dir.setFilter(QDir::Files | QDir::NoSymLinks);
floder_Dir.setNameFilters(filers);
QFileInfoList file_infos = floder_Dir.entryInfoList();
for(int i = 0;i < file_infos.length();i++)
{
QFileInfo file_info = file_infos.at(i);
if(file_info.fileName() != "." || file_info.fileName() != "..")
all_file_path.append(file_info.absoluteFilePath());
}
return all_file_path;
}
//Run the specified directory file
QPPPBackSmooth::QPPPBackSmooth(QString files_path, QTextEdit *pQTextEdit, QString Method, QString Satsystem,
QString TropDelay, double CutAngle, bool isKinematic, QString Smooth_Str)
{
// Display for GUI
mp_QTextEditforDisplay = pQTextEdit;
//Initialize variables
initVar();
m_run_floder = files_path + PATHSEG;
m_App_floder = QCoreApplication::applicationDirPath() + PATHSEG;
// find files
QStringList tempFilters,
OFileNamesList, Sp3FileNamesList, ClkFileNamesList, ErpFileNamesList,
AtxFileNamesList, BlqFileNamesList, GrdFileNamesList;
// find obs files
tempFilters.clear();
tempFilters.append("*.*o");
OFileNamesList = searchFilterFile(m_run_floder, tempFilters);
// find sp3 files
tempFilters.clear();
tempFilters.append("*.sp3");
Sp3FileNamesList = searchFilterFile(m_run_floder, tempFilters);
// find clk files
tempFilters.clear();
tempFilters.append("*.clk");
ClkFileNamesList = searchFilterFile(m_run_floder, tempFilters);
// find erp files
tempFilters.clear();
tempFilters.append("*.erp");
ErpFileNamesList = searchFilterFile(m_run_floder, tempFilters);
// find Atx files
tempFilters.clear();
tempFilters.append("*.atx");
AtxFileNamesList = searchFilterFile(m_App_floder, tempFilters);
// find blq files
tempFilters.clear();
tempFilters.append("*.blq");
BlqFileNamesList = searchFilterFile(m_App_floder, tempFilters);
// find grd files
tempFilters.clear();
tempFilters.append("*.grd");
GrdFileNamesList = searchFilterFile(m_App_floder, tempFilters);
// get want file
// o file
QString OfileName = "", erpFile = "", blqFile = "", atxFile = "", grdFile = "";
if (!OFileNamesList.isEmpty())
{
OfileName = OFileNamesList.at(0);
m_haveObsFile = true;
}
else
{
ErroTrace("QPPPBackSmooth::QPPPBackSmooth: Cant not find Obsvertion file.");
m_haveObsFile = false;
}
if(!ErpFileNamesList.isEmpty()) erpFile = ErpFileNamesList.at(0);
if(!AtxFileNamesList.isEmpty()) atxFile = AtxFileNamesList.at(0);
if(!BlqFileNamesList.isEmpty()) blqFile = BlqFileNamesList.at(0);
if(!GrdFileNamesList.isEmpty()) grdFile = GrdFileNamesList.at(0);
// use defualt config
setConfigure(Method, Satsystem, TropDelay, CutAngle, isKinematic, Smooth_Str);
// save data to QPPPBackSmooth
initQPPPBackSmooth(OfileName, Sp3FileNamesList, ClkFileNamesList, erpFile, blqFile, atxFile, grdFile);
}
void QPPPBackSmooth::setConfigure(QString Method, QString Satsystem, QString TropDelay, double CutAngle, bool isKinematic, QString Smooth_Str)
{
// Configure
m_Solver_Method = Method;// m_Solver_Method value can be "SRIF" or "Kalman"
m_CutAngle = CutAngle;// (degree)
m_SatSystem = Satsystem;// GPS, GLONASS, BDS, and Galieo are used respectively: the letters G, R, C, E
m_TropDelay = TropDelay;// The tropospheric model m_TropDelay can choose Sass, Hopfiled, UNB3m
m_Smooth_Str = Smooth_Str;
//Setting up the file system. SystemStr:"G"(Turn on the GPS system);"GR":(Turn on the GPS+GLONASS system);"GRCE"(Open all)et al
//GPS, GLONASS, BDS, and Galieo are used respectively: the letters G, R, C, E
setSatlitSys(Satsystem);
m_sys_str = Satsystem;
m_sys_num = getSystemnum();
if(isKinematic)
{
m_KalmanClass.setModel(QKalmanFilter::KALMAN_MODEL::PPP_KINEMATIC);// set Kinematic model
m_SRIFAlgorithm.setModel(SRIFAlgorithm::SRIF_MODEL::PPP_KINEMATIC);
}
else
{
m_KalmanClass.setModel(QKalmanFilter::KALMAN_MODEL::PPP_STATIC);// set static model
m_SRIFAlgorithm.setModel(SRIFAlgorithm::SRIF_MODEL::PPP_STATIC);
m_minSatFlag = 1;// Dynamic Settings 5, Static Settings 1 in setConfigure()
}
if("Smooth" == Smooth_Str)
{
m_KalmanClass.setSmoothRange(QKalmanFilter::KALMAN_SMOOTH_RANGE::SMOOTH);
m_SRIFAlgorithm.setSmoothRange(SRIFAlgorithm::SRIF_SMOOTH_RANGE::SMOOTH);
m_isSmoothRange = true;// Whether to use phase smoothing pseudorange for SPP
}
else if("NoSmooth" == Smooth_Str)
{
m_KalmanClass.setSmoothRange(QKalmanFilter::KALMAN_SMOOTH_RANGE::NO_SMOOTH);
m_SRIFAlgorithm.setSmoothRange(SRIFAlgorithm::SRIF_SMOOTH_RANGE::NO_SMOOTH);
m_isSmoothRange = false;// Whether to use phase smoothing pseudorange for SPP
}
m_isKinematic = isKinematic;
}
//Initialization operation
void QPPPBackSmooth::initVar()
{
for (int i = 0;i < 3;i++)
m_ApproxRecPos[0] = 0;
m_OFileName = "";
multReadOFile = 99999999999;// read all epoch in obeservation data
m_leapSeconds = 0;
m_isConnect = false;
m_run_floder = "";
m_haveObsFile = false;
m_isRuned = false;
m_isInitSPP = false;
m_save_images_path = "";
m_iswritre_file = false;
m_minSatFlag = 4;// Dynamic Settings 5, Static Settings 1 in setConfigure()
m_isSmoothRange = false;// Whether to use phase smoothing pseudorange for SPP
}
//Constructor
void QPPPBackSmooth::initQPPPBackSmooth(QString OFileName,QStringList Sp3FileNames,QStringList ClkFileNames,QString ErpFileName,QString BlqFileName,QString AtxFileName,QString GrdFileName)
{
if(!m_haveObsFile) return ;// if not have observation file.
//Set up multi-system data
//Initial various classes
m_ReadSP3Class.setSP3FileNames(Sp3FileNames);
m_ReadClkClass.setClkFileNames(ClkFileNames);
m_ReadOFileClass.setObsFileName(OFileName);
m_ReadTropClass.setTropFileNames(GrdFileName,"GMF", m_TropDelay);// Default tropospheric model projection function GMF
m_ReadAntClass.setAntFileName(AtxFileName);
m_TideEffectClass.setTideFileName(BlqFileName,ErpFileName);
//Save file name
m_OFileName = OFileName;
m_Sp3FileNames = Sp3FileNames;
m_ClkFileNames = ClkFileNames;
//Various class settings
int obsTime[5] = {0};
double Seconds = 0,ObsJD = 0;
m_ReadOFileClass.getApproXYZ(m_ApproxRecPos);//Obtain the approximate coordinates of the O file
m_ReadOFileClass.getFistObsTime(obsTime,Seconds);//Get the initial observation time
ObsJD = qCmpGpsT.computeJD(obsTime[0],obsTime[1],obsTime[2],obsTime[3],obsTime[4],Seconds);
m_ReadAntClass.setObsJD(m_ReadOFileClass.getAntType(),ObsJD);//Set the antenna effective time
m_TideEffectClass.setStationName(m_ReadOFileClass.getMakerName());//Setting the tide requires a station name
//Search products and download
int GPS_Week = 0, GPS_Day = 0;
qCmpGpsT.YMD2GPSTime(obsTime[0],obsTime[1],obsTime[2],obsTime[3],obsTime[4],Seconds, &GPS_Week, &GPS_Day);
//If there is no product, it is necessary to make up such products.
if(Sp3FileNames.isEmpty()|| ClkFileNames.isEmpty())
{
connectHost();
}
if(Sp3FileNames.isEmpty())
{
m_Sp3FileNames = downProducts(m_run_floder, GPS_Week, GPS_Day, "sp3");
m_ReadSP3Class.setSP3FileNames(m_Sp3FileNames);
}
if(ClkFileNames.isEmpty())
{
m_ClkFileNames = downProducts(m_run_floder, GPS_Week, GPS_Day, "clk");
m_ReadClkClass.setClkFileNames(m_ClkFileNames);
}
//Get skip seconds
m_leapSeconds = qCmpGpsT.getLeapSecond(obsTime[0],obsTime[1],obsTime[2],obsTime[3],obsTime[4],Seconds);
//Read the required calculation file module (time consuming)
m_ReadAntClass.getAllData();//Read all data from satellites and receivers
m_TideEffectClass.getAllData();//Read tide data
m_ReadTropClass.getAllData();//Read grd files for later tropospheric calculations
m_ReadSP3Class.getAllData();//Read the entire SP3 file
m_ReadClkClass.getAllData();//Read the clock error file for later calculation
}
// get matrix B and observer L(QPPPBackSmooth::Obtaining_equation() is same function as QPPPModel::Obtaining_equation() )
void QPPPBackSmooth::Obtaining_equation(QVector< SatlitData > &currEpoch, double *ApproxRecPos, MatrixXd &mat_B, VectorXd &Vct_L, MatrixXd &mat_P, bool isSmoothRange)
{
int epochLenLB = currEpoch.length();
MatrixXd B, P;
VectorXd L, sys_len;
sys_len.resize(m_sys_str.length());
B.resize(epochLenLB,3 + m_sys_num);
P.resize(epochLenLB,epochLenLB);
L.resize(epochLenLB);
sys_len.setZero();
B.setZero();
L.setZero();
P.setIdentity();
bool is_find_base_sat = false;
for (int i = 0; i < epochLenLB;i++)
{
SatlitData oneSatlit = currEpoch.at(i);
double li = 0,mi = 0,ni = 0,p0 = 0,dltaX = 0,dltaY = 0,dltaZ = 0;
dltaX = oneSatlit.X - ApproxRecPos[0];
dltaY = oneSatlit.Y - ApproxRecPos[1];
dltaZ = oneSatlit.Z - ApproxRecPos[2];
p0 = qSqrt(dltaX*dltaX+dltaY*dltaY+dltaZ*dltaZ);
li = dltaX/p0;mi = dltaY/p0;ni = dltaZ/p0;
//Computational B matrix
//P3 pseudorange code matrix
B(i, 0) = li;B(i, 1) = mi;B(i, 2) = ni; B(i, 3) = -1;// base system satlite clk must exist
// debug by xiaogongwei 2019.04.03 for ISB
for(int k = 1; k < m_sys_str.length();k++)
{
if(m_sys_str[k] == oneSatlit.SatType)
{
B(i,3+k) = -1;
sys_len[k] = 1;//good no zeros cloumn in B,sys_lenmybe 0 1 1 0
}
}
// is exist base system satlite clk
if(m_sys_str[0] == oneSatlit.SatType)
is_find_base_sat = true;
//Calculating the L matrix
double dlta = 0;//Correction of each
dlta = - oneSatlit.StaClock + oneSatlit.SatTrop - oneSatlit.Relativty -
oneSatlit.Sagnac - oneSatlit.TideEffect - oneSatlit.AntHeight;
//Pseudorange code PP3
if(isSmoothRange)
{// add by xiaogongwei 2018.11.20
L(i) = p0 - oneSatlit.PP3_Smooth + dlta;
// Computing weight matrix P
// if(oneSatlit.UTCTime.epochNum > 30 && oneSatlit.PP3_Smooth_NUM < 30 )//
// P(i, i) = 0.0001;
// else
P(i, i) = 1 / oneSatlit.PP3_Smooth_Q;//Smooth pseudorange????
}
else
{
L(i) = p0 - oneSatlit.PP3 + dlta;
// Computing weight matrix P
P(i, i) = oneSatlit.SatWight;//Pseudo-range right
}
}//B, L is calculated
// save data to mat_B
mat_B = B;
Vct_L = L;
mat_P = P;
// debug by xiaogongwei 2019.04.04
int no_zero = sys_len.size() - 1 - sys_len.sum();
if(no_zero > 0 || !is_find_base_sat)
{
int new_hang = B.rows() + no_zero, new_lie = B.cols(), flag = 0;
if(!is_find_base_sat) new_hang++; // check base system satlite clk is exist
mat_B.resize(new_hang,new_lie);
mat_P.resize(new_hang,new_hang);
Vct_L.resize(new_hang);
mat_B.setZero();
Vct_L.setZero();
mat_P.setIdentity();
// check base system satlite clk is exist
if(!is_find_base_sat)
{
for(int i = 0;i < B.rows();i++)
B(i, 3) = 0;
mat_B(mat_B.rows() - 1, 3) = 1;
}
mat_B.block(0,0,B.rows(),B.cols()) = B;
mat_P.block(0,0,P.rows(),P.cols()) = P;
Vct_L.head(L.rows()) = L;
for(int i = 1; i < sys_len.size();i++)
{
if(0 == sys_len[i])
{
mat_B(epochLenLB+flag, 3+i) = 1;// 3 is conntain [dx,dy,dz,mf]
flag++;
}
}
}//if(no_zero > 0)
}
void QPPPBackSmooth::SimpleSPP(QVector < SatlitData > &prevEpochSatlitData, QVector < SatlitData > &epochSatlitData, double *spp_pos)
{
double p_HEN[3] = {0};
m_ReadOFileClass.getAntHEN(p_HEN);//Get the antenna high
GPSPosTime epochTime = epochSatlitData.at(0).UTCTime;//Obtaining observation time
Vector3d tempPos3d, diff_3d;
tempPos3d[0] = spp_pos[0]; tempPos3d[1] = spp_pos[1]; tempPos3d[2] = spp_pos[2];
QVector< SatlitData > store_currEpoch;
int max_iter = 20;
for(int iterj = 0; iterj < max_iter; iterj++)
{
QVector< SatlitData > currEpoch;
// get every satilite data
for (int i = 0;i < epochSatlitData.length();i++)
{
SatlitData tempSatlitData = epochSatlitData.at(i);//Store calculated corrected satellite data
//Test whether the carrier and pseudorange are abnormal and terminate in time.
if(!(tempSatlitData.L1&&tempSatlitData.L2&&tempSatlitData.C1&&tempSatlitData.C2))
continue;
//When seeking GPS
double m_PrnGpst = qCmpGpsT.YMD2GPSTime(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds);
// Read satellite clock error from CLK file
double stalitClock = 0;//Unit m
// Note: Time is the signal transmission time(m_PrnGpst - tempSatlitData.C2/M_C)
getCLKData(tempSatlitData.PRN,tempSatlitData.SatType,m_PrnGpst - tempSatlitData.C2/M_C,&stalitClock);
tempSatlitData.StaClock = stalitClock;
//Obtain the coordinates of the epoch satellite from the SP3 data data
double pXYZ[3] = {0},pdXYZ[3] = {0};//Unit m
// Note: Time is the signal transmission time(m_PrnGpst - tempSatlitData.C2/M_C - tempSatlitData.StaClock/M_C)
getSP3Pos(m_PrnGpst - tempSatlitData.C2/M_C - tempSatlitData.StaClock/M_C,tempSatlitData.PRN,
tempSatlitData.SatType,pXYZ,pdXYZ);//Obtain the precise ephemeris coordinates of the satellite launch time(Here we need to subtract the satellite clock error tempSatlitData.StaClock/M_C Otherwise it will cause a convergence gap of 20cm)
tempSatlitData.X = pXYZ[0];tempSatlitData.Y = pXYZ[1];tempSatlitData.Z = pXYZ[2];
//Calculate the satellite's high sitting angle (as the receiver approximates the target)
double EA[2]={0};
getSatEA(tempSatlitData.X,tempSatlitData.Y,tempSatlitData.Z,spp_pos,EA);
tempSatlitData.EA[0] = EA[0];tempSatlitData.EA[1] = EA[1];
EA[0] = EA[0]*MM_PI/180;EA[1] = EA[1]*MM_PI/180;//Go to the arc to facilitate the calculation below
tempSatlitData.SatWight = 0.01;// debug xiaogongwei 2018.11.16
if( spp_pos[0] !=0 ) getWight(tempSatlitData);//Set the weight of the satellite debug by xiaogongwei 2019.04.24
//Test the state of the precise ephemeris and the clock difference and whether the carrier and pseudorange are abnormal, and terminate the XYZ or the satellite with the clock difference of 0 in time.
if (!(tempSatlitData.X&&tempSatlitData.Y&&tempSatlitData.Z&&tempSatlitData.StaClock))
continue;
//Quality control (height angle , pseudorange difference)
if (qAbs(tempSatlitData.C1 - tempSatlitData.C2) > 50)
continue;
if(spp_pos[0] !=0 && tempSatlitData.EA[0] < m_CutAngle)
continue;
//At the time of SPP, the five satellites with poor GEO orbit in front of Beidou are not removed.
// if(tempSatlitData.SatType == 'C' && tempSatlitData.PRN <=5 )
// continue;
//Calculate the wavelength (mainly for multiple systems)
double F1 = tempSatlitData.Frq[0],F2 = tempSatlitData.Frq[1];
if(F1 == 0 || F2 == 0) continue;//Frequency cannot be 0
//Computational relativity correction
double relative = 0;
if(spp_pos[0] !=0 ) relative = getRelativty(pXYZ,spp_pos,pdXYZ);
tempSatlitData.Relativty = relative;
//Calculate the autobiographic correction of the earth
double earthW = 0;
earthW = getSagnac(tempSatlitData.X,tempSatlitData.Y,tempSatlitData.Z,spp_pos);
tempSatlitData.Sagnac = 0;
if(spp_pos[0] !=0 ) tempSatlitData.Sagnac = earthW;
//Calculate tropospheric dry delay!!!
double MJD = qCmpGpsT.computeJD(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds) - 2400000.5;//Simplified Julian Day
//Calculate and save the annual accumulation date
double TDay = qCmpGpsT.YearAccDay(epochTime.Year,epochTime.Month,epochTime.Day);
double p_BLH[3] = {0},mf = 0, TropZPD = 0;;
qCmpGpsT.XYZ2BLH(spp_pos[0], spp_pos[1], spp_pos[2], p_BLH);
if(spp_pos[0] !=0 ) getTropDelay(MJD,TDay,EA[0],p_BLH,&mf, NULL, &TropZPD);
tempSatlitData.SatTrop = TropZPD;
tempSatlitData.StaTropMap = mf;
if(spp_pos[0] !=0 ) tempSatlitData.StaTropMap = mf;
//Calculate antenna high offset correction Antenna Height
tempSatlitData.AntHeight = 0;
if( spp_pos[0] !=0 )
tempSatlitData.AntHeight = p_HEN[0]*qSin(EA[0]) + p_HEN[1]*qCos(EA[0])*qSin(EA[1]) + p_HEN[2]*qCos(EA[0])*qCos(EA[1]);
//Receiver L1 L2 offset correction
double Lamta1 = M_C/F1,Lamta2 = M_C/F2;
double L1Offset = 0,L2Offset = 0;
if( spp_pos[0] !=0 ) getRecvOffset(EA,tempSatlitData.SatType,L1Offset,L2Offset, tempSatlitData.wantObserType);
tempSatlitData.L1Offset = L1Offset/Lamta1;
tempSatlitData.L2Offset = L2Offset/Lamta2;
//Satellite antenna phase center correction
double SatL12Offset[2] = {0};
if( spp_pos[0] !=0 )
getSatlitOffset(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds - tempSatlitData.C2/M_C,
tempSatlitData.PRN,tempSatlitData.SatType,pXYZ,spp_pos, SatL12Offset, tempSatlitData.wantObserType);//pXYZ saves satellite coordinates
tempSatlitData.SatL1Offset = SatL12Offset[0] / Lamta1;
tempSatlitData.SatL2Offset = SatL12Offset[0] / Lamta2;
//Calculate tide correction
tempSatlitData.TideEffect = 0;
//Calculate antenna phase winding
double AntWindup = 0,preAntWindup = 0;
//Find the previous epoch. Is there a satellite present? The deposit is stored in preAntWindup or preAntWindup=0.
if( spp_pos[0] !=0 )
{
preAntWindup = getPreEpochWindUp(prevEpochSatlitData,tempSatlitData.PRN,tempSatlitData.SatType);//Get the previous epoch of WindUp
AntWindup = getWindup(epochTime.Year,epochTime.Month,epochTime.Day,
epochTime.Hours,epochTime.Minutes,epochTime.Seconds - tempSatlitData.C2/M_C,
pXYZ,spp_pos,preAntWindup,m_ReadAntClass.m_sunpos);
}
tempSatlitData.AntWindup = AntWindup;
//Computation to eliminate ionospheric pseudorange and carrier combinations (here absorbed receiver carrier deflection and WindUp)
double alpha1 = (F1*F1)/(F1*F1 - F2*F2),alpha2 = (F2*F2)/(F1*F1 - F2*F2);
tempSatlitData.LL3 = alpha1*(tempSatlitData.L1 + tempSatlitData.L1Offset - tempSatlitData.AntWindup)*Lamta1 - alpha2*(tempSatlitData.L2 + tempSatlitData.L2Offset - tempSatlitData.AntWindup)*Lamta2;//Eliminate ionospheric carrier LL3
tempSatlitData.PP3 = alpha1*(tempSatlitData.C1 + Lamta1*tempSatlitData.L1Offset) - alpha2*(tempSatlitData.C2 + Lamta2 *tempSatlitData.L2Offset);//Eliminate ionospheric carrier PP3
// save data to currEpoch
currEpoch.append(tempSatlitData);
}
// judge satilite number large 4
if(currEpoch.length() < 4)
{
memset(spp_pos, 0, 3*sizeof(double));// debug by xiaogongwei 2019.09.25
epochSatlitData = currEpoch;// debug by xiaogongwei 2019.04.10
return ;
}
// get equation
MatrixXd mat_B, mat_P;
VectorXd Vct_L, Xk;
Vector3d XYZ_Pos;
Obtaining_equation( currEpoch, spp_pos, mat_B, Vct_L, mat_P);// debug xiaogongwei 2018.11.16
// slover by least square
Xk = (mat_B.transpose()*mat_P*mat_B).inverse()*mat_B.transpose()*mat_P*Vct_L;
XYZ_Pos[0] = tempPos3d[0] + Xk[0];
XYZ_Pos[1] = tempPos3d[1] + Xk[1];
XYZ_Pos[2] = tempPos3d[2] + Xk[2];
diff_3d = XYZ_Pos - tempPos3d;
tempPos3d = XYZ_Pos;// save slover pos
// update spp_pos
spp_pos[0] = XYZ_Pos[0]; spp_pos[1] = XYZ_Pos[1]; spp_pos[2] = XYZ_Pos[2];
// debug by xiaogongwei 2018.11.17
if(diff_3d.cwiseAbs().maxCoeff() < 1)
{
store_currEpoch = currEpoch;
break;
}
if(diff_3d.cwiseAbs().maxCoeff() > 2e7 || !isnormal(diff_3d[0]) || iterj == max_iter - 1)
{
memset(spp_pos, 0, 3*sizeof(double));
epochSatlitData = currEpoch;// debug by xiaogongwei 2019.09.25
return ;
}
}// for(int iterj = 0; iterj < 20; iterj++)
// add Pesudorange smoothed by xiaogongwei 2018.11.20
MatrixXd mat_B, mat_P;
VectorXd Vct_L, Xk_smooth;
//Monitor satellite quality and cycle slip
// getGoodSatlite(prevEpochSatlitData,store_currEpoch, m_CutAngle);
if(store_currEpoch.length() < m_minSatFlag)
{
memset(spp_pos, 0, 3*sizeof(double));// debug by xiaogongwei 2019.09.25
epochSatlitData = store_currEpoch;// debug by xiaogongwei 2019.04.10
return ;
}
if(m_isSmoothRange)// Whether to use phase smoothing pseudorange for SPP
{
m_QPseudoSmooth.SmoothPesudoRange(prevEpochSatlitData, store_currEpoch);
Obtaining_equation( store_currEpoch, spp_pos, mat_B, Vct_L, mat_P, true);// debug xiaogongwei 2018.11.16
// slover by least square
Xk_smooth = (mat_B.transpose()*mat_P*mat_B).inverse()*mat_B.transpose()*mat_P*Vct_L;
// update spp_pos
spp_pos[0] += Xk_smooth[0]; spp_pos[1] += Xk_smooth[1]; spp_pos[2] += Xk_smooth[2];
// use spp_pos update mat_B Vct_L
Obtaining_equation( store_currEpoch, spp_pos, mat_B, Vct_L, mat_P, true);// debug xiaogongwei 2019.03.28
}
else
{// Safe operation
for(int i = 0; i < store_currEpoch.length(); i++)
{
store_currEpoch[i].PP3_Smooth = store_currEpoch[i].PP3;
store_currEpoch[i].PP3_Smooth_NUM = 1;
store_currEpoch[i].PP3_Smooth_Q = 1 / store_currEpoch[i].SatWight;
}
Obtaining_equation( store_currEpoch, spp_pos, mat_B, Vct_L, mat_P, false);
}
// Qulity control. add by xiaogongwei 2019.05.06
VectorXd delate_flag;
// int max_iter1 = 10;
// Assuming that SPP has only one gross error, use if is not while, filtering uses while loop to eliminate Debug by xiaogongwei 2019.05.06
while(m_qualityCtrl.VtPVCtrl_C(mat_B, Vct_L, mat_P, delate_flag, store_currEpoch.length()))
{
QVector<int> del_val;
int sat_len = store_currEpoch.length();
for(int i = sat_len - 1; i >= 0;i--)
{
if(0 != delate_flag[i])
del_val.append(i);
}
// max_iter1--;
// if(max_iter1 <= 0) break;
// delete gross Errors
int del_len = del_val.length();
if(sat_len - del_len >= 5)
{
for(int i = 0; i < del_len;i++)
store_currEpoch.remove(del_val[i]);
sat_len = store_currEpoch.length();// update epochLenLB
//update spp_pos
Obtaining_equation( store_currEpoch, spp_pos, mat_B, Vct_L, mat_P, m_isSmoothRange);
MatrixXd mat_Q = (mat_B.transpose()*mat_P*mat_B).inverse();
VectorXd x_solver = mat_Q*mat_B.transpose()*mat_P*Vct_L;
spp_pos[0] += x_solver[0]; spp_pos[1] += x_solver[1]; spp_pos[2] += x_solver[2];
}
else
{
memset(spp_pos, 0, 3*sizeof(double));// debug by xiaogongwei 2019.09.25
break;
}
}
// change epochSatlitData !!!!!!
epochSatlitData = store_currEpoch;
}
//Read O files, sp3 files, clk files, and various error calculations, Kalman filtering ......................
//isDisplayEveryEpoch represent is disply every epoch information?(ENU or XYZ)
void QPPPBackSmooth::Run(bool isDisplayEveryEpoch)
{
// next is use to back smooth fillter
if(!m_haveObsFile) return ;// if not have observation file.
QTime myTime; // set timer
myTime.start();// start timer
// Use PPP forward filtter
QPPPModel *myPPP = new QPPPModel(m_run_floder, mp_QTextEditforDisplay, m_Solver_Method, m_SatSystem,
m_TropDelay, m_CutAngle, m_isKinematic, m_Smooth_Str);
myPPP->Run(isDisplayEveryEpoch);// false represent no disply every epoch information(ENU or XYZ)
m_isRuned = myPPP->isRuned();
if(!m_isRuned) return;
// get forward fillter information
int forWard_epoch_len = myPPP->m_writeFileClass.allSolverX.length();
if(forWard_epoch_len == 0) return ;
QVector< RecivePos > last_allReciverPos = myPPP->m_writeFileClass.allReciverPos;
QVector< VectorXd > last_allSolverX = myPPP->m_writeFileClass.allSolverX;
QVector< MatrixXd > last_allSolverQ = myPPP->m_writeFileClass.allSloverQ;
VectorXd last_fillter_X;
MatrixXd last_fillter_Q;
for(int i = forWard_epoch_len - 1; i >=0; i--)
{
last_fillter_X = last_allSolverX.at(i);
if(last_fillter_X[0] != 0)
{
last_fillter_X = last_allSolverX.at(i);
last_fillter_Q = last_allSolverQ.at(i);
break;
}
}
QVector< QVector < SatlitData > > last_allPPPSatlitData = myPPP->m_writeFileClass.allPPPSatlitData;
// delete myPPP pointer
delete myPPP;
//not use accelerate in search sp3 and clk
m_ReadSP3Class.ACCELERATE = 0;
m_ReadClkClass.ACCELERATE = 0;
//Externally initialize fixed variables to speed up calculations
double p_HEN[3] = {0};//Get the antenna high
m_ReadOFileClass.getAntHEN(p_HEN);
//Traversing data one by one epoch, reading O file data
QString disPlayQTextEdit = "";// display for QTextEdit
QVector < SatlitData > prevEpochSatlitData;//Store satellite data of an epoch, use cycle slip detection（Put it on top or read multReadOFile epochs, the life cycle will expire when reading）
double spp_pos[3] = {last_fillter_X[0], last_fillter_X[1], last_fillter_X[2]};// store back smooth pos
QVector< QVector < SatlitData > > multepochSatlitData;//Store multiple epochs
multepochSatlitData = last_allPPPSatlitData;// get all epoch data
int all_epoch_len = multepochSatlitData.length();
//Back smooth Multiple epoch cycles
for (int epoch_num = all_epoch_len - 1; epoch_num >= 0;epoch_num--)
{
QVector< SatlitData > epochSatlitData;//Temporary storage of uncalculated data for each epoch satellite
epochSatlitData = multepochSatlitData.at(epoch_num);
if(epochSatlitData.length() == 0) continue;
GPSPosTime epochTime = epochSatlitData.at(0).UTCTime;//Obtaining observation time（Each satellite in the epoch stores the observation time）
//Set the epoch of the satellite
for(int i = 0;i < epochSatlitData.length();i++)
epochSatlitData[i].UTCTime.epochNum = epoch_num;
if(epoch_num == 0)
{
int a = 0;
}
// use spp compute postion and smooth pesudorange
double temp_spp_pos[3] = {last_allReciverPos.at(epoch_num).spp_pos[0],
last_allReciverPos.at(epoch_num).spp_pos[1],
last_allReciverPos.at(epoch_num).spp_pos[2]};
//Monitor satellite quality and cycle slip
getGoodSatlite(prevEpochSatlitData,epochSatlitData, m_CutAngle);
// The number of skipping satellites is less than m_minSatFlag
// update at 2018.10.17 for less m_minSatFlag satellites at the begain observtion
if(epochSatlitData.length() < m_minSatFlag || spp_pos[0] == 0)
{
// prevEpochSatlitData.clear();
disPlayQTextEdit = "GPST: " + QString::number(epochTime.Hours) + ":" + QString::number(epochTime.Minutes)
+ ":" + QString::number(epochTime.Seconds) ;
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
disPlayQTextEdit = "Satellite number: " + QString::number(epochSatlitData.length())
+ " jump satellites number is less than 5.";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
// translation to ENU
VectorXd ENU_Vct;
double spp_vct[3] = {0};
ENU_Vct.resize(32+3*epochSatlitData.length());
ENU_Vct.fill(0);
saveResult2Class(ENU_Vct, spp_vct, epochTime, epochSatlitData, epoch_num);
continue;
}
// Choose solve method Kalman or SRIF
MatrixXd P;
VectorXd X;//分别为dX,dY,dZ,dT(Zenith tropospheric residual),dVt(Receiver clock)，N1,N2...Nm(Ambiguity)[dx,dy,dz,dTrop,dClock,N1,N2,...Nn]
double spp_vct[3] = {0};// save pos before fillter
X.resize(5+epochSatlitData.length());
X.setZero();
// use prior information
if(epoch_num == all_epoch_len - 1)
{
X = last_fillter_X;
P = last_fillter_Q;
X[0] = 0;X[1] = 0;X[2] = 0;
}
// store spp position
spp_vct[0] = temp_spp_pos[0]; spp_vct[1] = temp_spp_pos[1]; spp_vct[2] = temp_spp_pos[2];
if (!m_Solver_Method.compare("SRIF", Qt::CaseInsensitive))
m_SRIFAlgorithm.SRIFforStatic(prevEpochSatlitData,epochSatlitData,spp_pos,X,P);
else
m_KalmanClass.KalmanforStatic(prevEpochSatlitData,epochSatlitData,spp_pos,X,P);
//Save the last epoch satellite data
prevEpochSatlitData = epochSatlitData;
//Output calculation result(print result)
// display every epoch results
if(isDisplayEveryEpoch)
{
int Valid_SatNumber = epochSatlitData.length();
// display epoch number
disPlayQTextEdit = "Epoch Number: " + QString::number(epoch_num);
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
//
disPlayQTextEdit = "GPST: " + QString::number(epochTime.Hours) + ":" + QString::number(epochTime.Minutes)
+ ":" + QString::number(epochTime.Seconds) + ENDLINE + "Satellite number: " + QString::number(epochSatlitData.length());
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
// display ENU or XYZ
disPlayQTextEdit = "Valid Satellite Number: " + QString::number(Valid_SatNumber) + ENDLINE
+ "Estimated coordinates: [ " + QString::number(spp_pos[0], 'f', 4) + "," + QString::number(spp_pos[1], 'f', 4) + ","
+ QString::number(spp_pos[2], 'f', 4) + " ]" + ENDLINE;
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
}
//Save each epoch X data to prepare for writing a file
// translation to ENU
VectorXd ENU_Vct;
ENU_Vct = X;// [dx,dy,dz,dTrop,dClock,N1,N2,...Nn]
//ENU_Vct[0] = P(1,1); ENU_Vct[1] = P(2,2); ENU_Vct[2] = P(3,3);
ENU_Vct[0] = spp_pos[0]; ENU_Vct[1] = spp_pos[1]; ENU_Vct[2] = spp_pos[2];
saveResult2Class(ENU_Vct, spp_vct, epochTime, epochSatlitData, epoch_num, &P);
}//End of multiple epochs for (int n = 0; n < multepochSatlitData.length();n++)
// clear multepochSatlitData
multepochSatlitData.clear();
// time end
float m_diffTime = myTime.elapsed() / 1000.0;
if(isDisplayEveryEpoch)
{
disPlayQTextEdit = "The Elapse Time: " + QString::number(m_diffTime) + "s";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
}
//Write result to file
writeResult2File();
m_isRuned = true;// Determine whether the operation is complete.
}
// The edit box automatically scrolls, adding one row or more lines at a time.
void QPPPBackSmooth::autoScrollTextEdit(QTextEdit *textEdit,QString &add_text)
{
if(textEdit == NULL) return ;
int m_Display_Max_line = 99999;
//Add line character and refresh edit box.
QString insertText = add_text + ENDLINE;
textEdit->insertPlainText(insertText);
//Keep the editor in the last line of the cursor.
QTextCursor cursor=textEdit->textCursor();
cursor.movePosition(QTextCursor::End);
textEdit->setTextCursor(cursor);
textEdit->repaint();
QApplication::processEvents();
//If you exceed a certain number of lines, empty it.
if(textEdit->document()->lineCount() > m_Display_Max_line)
{
textEdit->clear();
}
}
bool QPPPBackSmooth::connectHost()
{
if(m_isConnect) return true;
QString ftp_link = "cddis.gsfc.nasa.gov", user_name = "anonymous", user_password = "";//ftp information
int Port = 21;
ftpClient.FtpSetUserInfor(user_name, user_password);
ftpClient.FtpSetHostPort(ftp_link, Port);
m_isConnect = true;
return true;
}
//download Get sp3, clk, erp files
// productType: "sp3", "clk"
// GPS_Week, GPS_Day: is GPS week and day.
// fileList: if fileList least 3. down new product and change fileList
QStringList QPPPBackSmooth::downProducts(QString store_floder_path, int GPS_Week, int GPS_day, QString productType)
{
QString igs_short_path = "/pub/gps/products/", igs_productCompany = "igs";// set path of products
QString gbm_short_path = "/pub/gps/products/mgex/", gbm_productCompany = "gbm";// set path of products
QStringList fileList;
fileList.clear();
if(!m_isConnect) return fileList;
//get fileList
QStringList net_fileList, igs_net_fileList;
net_fileList.clear();
igs_net_fileList.clear();
QString tempStr = "", fileName = "", disPlayQTextEdit = "";
QStringList three_fileNames, igs_three_fileNames;
for(int i = -1;i < 2; i++)
{
int temp_week = GPS_Week, temp_day = GPS_day + i;
if(temp_day < 0)
{
temp_week--;
temp_day = 0;
}
else if(temp_day > 6)
{
temp_week++;
temp_day = 0;
}
// get gbm products
tempStr.append(gbm_short_path);
tempStr.append(QString::number(temp_week));
tempStr.append("/");
fileName.append(gbm_productCompany);
fileName.append(QString::number(temp_week));
fileName.append(QString::number(temp_day));
if (productType.contains("sp3", Qt::CaseInsensitive))
fileName.append(".sp3.Z");
else if (productType.contains("clk", Qt::CaseInsensitive))
fileName.append(".clk.Z");
else
return fileList;
tempStr.append(fileName); // save filename and ftp path
three_fileNames.append(fileName);
net_fileList.append(tempStr);
// clear temp data
tempStr = ""; fileName = "";
// get igs products
tempStr.append(igs_short_path);
tempStr.append(QString::number(temp_week));
tempStr.append("/");
fileName.append(igs_productCompany);
fileName.append(QString::number(temp_week));
fileName.append(QString::number(temp_day));
if (productType.contains("sp3", Qt::CaseInsensitive))
fileName.append(".sp3.Z");
else if (productType.contains("clk", Qt::CaseInsensitive))
fileName.append(".clk.Z");
else
return fileList;
tempStr.append(fileName); // save filename and ftp path
igs_three_fileNames.append(fileName);
igs_net_fileList.append(tempStr);
// clear temp data
tempStr = ""; fileName = "";
}
// down three files
bool is_down_gbm = false, is_down_igs = false;
disPlayQTextEdit = "download start!";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
for(int i = 0; i < 3;i++)
{
QString gbm_temp_local_file = store_floder_path, igs_temp_local_file = store_floder_path;
gbm_temp_local_file.append(three_fileNames.at(i));
igs_temp_local_file.append(igs_three_fileNames.at(i));
if(!ftpClient.FtpGet(net_fileList.at(i), gbm_temp_local_file))
{
disPlayQTextEdit = "download: " + net_fileList.at(i) + " bad!";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
if(!ftpClient.FtpGet(igs_net_fileList.at(i), igs_temp_local_file))
{
disPlayQTextEdit = "download: " + igs_net_fileList.at(i) + " bad!";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
is_down_igs = false;
}
else
{
disPlayQTextEdit = "download: " + igs_net_fileList.at(i) + " success!";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
is_down_igs = true;
}
}
else
{
is_down_gbm = true;
disPlayQTextEdit = "download: " + net_fileList.at(i) + " success!";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
}
// save products file to fileList
QString temp_local_file;
if(is_down_gbm)
temp_local_file = gbm_temp_local_file;
else if(is_down_igs)
temp_local_file = igs_temp_local_file;
// If the download fail
if(!is_down_gbm && !is_down_igs)
{
m_haveObsFile = false;
disPlayQTextEdit = "download: gbm or igs products bad, Procedure will terminate!";
autoScrollTextEdit(mp_QTextEditforDisplay, disPlayQTextEdit);// display for QTextEdit
}
int extend_name = temp_local_file.lastIndexOf(".");
QString product_name = temp_local_file.mid(0, extend_name);
fileList.append(product_name);
// umcompress ".Z"
QFileInfo fileinfo(temp_local_file);
if(0 != fileinfo.size())
{
MyCompress compress;
compress.UnCompress(temp_local_file, store_floder_path);
}
}
return fileList;
}
//Destructor
QPPPBackSmooth::~QPPPBackSmooth()
{
}
//Setting up the file system SystemStr:"G"(Turn on the GPS system);"GR":(Turn on the GPS+GLONASS system);"GRCE"(Open all)et al
//GPS, GLONASS, BDS, and Galieo are used respectively: the letters G, R, C, E
bool QPPPBackSmooth::setSatlitSys(QString SystemStr)
{
bool IsGood = QBaseObject::setSatlitSys(SystemStr);
//Set to read O files
m_ReadOFileClass.setSatlitSys(SystemStr);
//Set to read Sp3
m_ReadSP3Class.setSatlitSys(SystemStr);
//Set to read Clk files
m_ReadClkClass.setSatlitSys(SystemStr);
//Setting up the receiver satellite antenna system
m_ReadAntClass.setSatlitSys(SystemStr);
//Set kalman filtering system
m_KalmanClass.setSatlitSys(SystemStr);
//Set the system of m_writeFileClass
m_writeFileClass.setSatlitSys(SystemStr);
//Set the system of m_SRIFAlgorithm
m_SRIFAlgorithm.setSatlitSys(SystemStr);
return IsGood;
}
//Obtain the coordinates of the epoch satellite from the SP3 data data
void QPPPBackSmooth::getSP3Pos(double GPST,int PRN,char SatType,double *p_XYZ,double *pdXYZ)
{
m_ReadSP3Class.getPrcisePoint(PRN,SatType,GPST,p_XYZ,pdXYZ);
}
//Get clock error from CLK data
void QPPPBackSmooth::getCLKData(int PRN,char SatType,double GPST,double *pCLKT)
{
m_ReadClkClass.getStaliteClk(PRN,SatType,GPST,pCLKT);
}
//Earth autobiography correction
double QPPPBackSmooth::getSagnac(double X,double Y,double Z,double *approxRecvXYZ)
{//Calculate the autobiographic correction of the earth
double dltaP = M_We*((X - approxRecvXYZ[0])*Y - (Y - approxRecvXYZ[1])*X)/M_C;
return -dltaP;//Returns the opposite number such that p = p' + dltaP; can be added directly
}
void QPPPBackSmooth::getWight(SatlitData &tempSatlitData)
{
double E = tempSatlitData.EA[0]*MM_PI/180;
double SatWight = qSin(E)*qSin(E) / M_Zgama_P_square;//Set the weight of the satellite
switch (tempSatlitData.SatType) {
case 'R': SatWight = 0.75*SatWight; break;
case 'C': case 'E': SatWight = 0.3*SatWight; break;
default:
break;
}
//Five satellites with poor GEO orbit in front of Beidou
if(tempSatlitData.SatType == 'C' && tempSatlitData.PRN <= 5)
SatWight = 0.01*SatWight;
tempSatlitData.SatWight = SatWight;//Set the weight of the satellite debug by xiaogongwei 2019.04.24
}
//Computational relativistic effect
double QPPPBackSmooth::getRelativty(double *pSatXYZ,double *pRecXYZ,double *pSatdXYZ)
{
/*double c = 299792458.0;
double dltaP = -2*(pSatXYZ[0]*pSatdXYZ[0] + pSatdXYZ[1]*pdXYZ[1] + pSatXYZ[2]*pSatdXYZ[2]) / c;*/
double b[3] = {0},a = 0,R = 0,Rs = 0,Rr = 0,v_light = 299792458.0,GM=3.9860047e14,dltaP = 0;
b[0] = pRecXYZ[0] - pSatXYZ[0];
b[1] = pRecXYZ[1] - pSatXYZ[1];
b[2] = pRecXYZ[2] - pSatXYZ[2];
a = pSatXYZ[0]*pSatdXYZ[0] + pSatXYZ[1]*pSatdXYZ[1] + pSatXYZ[2]*pSatdXYZ[2];
R=qCmpGpsT.norm(b,3);
Rs = qCmpGpsT.norm(pSatXYZ,3);
Rr = qCmpGpsT.norm(pRecXYZ,3);
dltaP=-2*a/M_C + (2*M_GM/qPow(M_C,2))*qLn((Rs+Rr+R)/(Rs+Rr-R));
return dltaP;//m
}
//Calculate EA, E: satellite elevation angle, A: azimuth
void QPPPBackSmooth::getSatEA(double X,double Y,double Z,double *approxRecvXYZ,double *EA)
{//Calculate EA//appear BUG Since XYZ to BLH is calculated, L (earth longitude) is actually opposite when y < 0, x > 0.L = -atan(y/x) error should be L = -atan(-y/x)
double pSAZ[3] = {0};
qCmpGpsT.XYZ2SAE(X,Y,Z,pSAZ,approxRecvXYZ);//appear Bug
EA[0] = (MM_PI/2 - pSAZ[2])*360/(2*MM_PI);
EA[1] = pSAZ[1]*360/(2*MM_PI);
}
//Using the Sass model There are other models and projection functions that can be used, as well as the GPT2 model.
// ZHD_s: GNSS signal direction dry delay, ZHD: Station zenith direction dry delay
void QPPPBackSmooth::getTropDelay(double MJD,int TDay,double E,double *pBLH,double *mf, double *ZHD_s, double *ZPD)
{
//double GPT2_Trop = m_ReadTropClass.getGPT2SasstaMDelay(MJD,TDay,E,pBLH,mf);//The GPT2 model only returns the dry delay estimate and the wet delay function.
double tropDelayH = 0, tropDelayP = 0;
if(m_TropDelay.mid(0,1).compare("U") == 0)
{
if(ZPD) m_ReadTropClass.getUNB3mDelay(pBLH,TDay,E,mf, &tropDelayP);//Total delay of the UNB3M model
if(ZHD_s) tropDelayH = m_ReadTropClass.getUNB3mDelay(pBLH,TDay,E,mf);//UNB3M model only returns dry delay
}
else if(m_TropDelay.mid(0,1).compare("S") == 0)
{
if(ZPD) m_ReadTropClass.getGPT2SasstaMDelay(MJD,TDay,E,pBLH,mf, &tropDelayP);//GPT2 model total delay
if(ZHD_s) tropDelayH = m_ReadTropClass.getGPT2SasstaMDelay(MJD,TDay,E,pBLH,mf);//GPT2 model only returns dry delay
}
else
{
if(ZPD) m_ReadTropClass.getGPT2HopfieldDelay(MJD,TDay,E,pBLH,mf, &tropDelayP);//GPT2 model total delay
if(ZHD_s) tropDelayH = m_ReadTropClass.getGPT2HopfieldDelay(MJD,TDay,E,pBLH,mf);//GPT2 model only returns dry delay
}
// juge tropDely is nan or no Meaningless
if(qAbs(tropDelayH) > 100 || qAbs(pBLH[2]) > 50000)
tropDelayH = 1e-6;
else if(!isnormal(tropDelayH))
tropDelayH = 1e-6;
if(qAbs(tropDelayP) > 100 || qAbs(pBLH[2]) > 50000)
tropDelayP = 1e-6;
else if(!isnormal(tropDelayP))
tropDelayP = 1e-6;
if(ZHD_s) *ZHD_s = tropDelayH;
if(ZPD) *ZPD = tropDelayP;
return ;
}
//Calculate the receivers L1 and L2 phase center correction PCO + PCV, L1Offset and L2Offset represent the distance correction of the line of sight direction
bool QPPPBackSmooth::getRecvOffset(double *EA,char SatType,double &L1Offset,double &L2Offset, QVector<QString> FrqFlag)
{
if (m_ReadAntClass.getRecvL12(EA[0],EA[1],SatType,L1Offset,L2Offset, FrqFlag))
return true;
else
{
L1Offset = 0; L2Offset = 0;
return false;
}
}
//Calculate the satellite PCO+PCV correction, because the satellite G1 and G2 frequencies are the same, so the two bands change exactly the same; StaPos and RecPos, satellite and receiver WGS84 coordinates (unit m)
//L12Offset
bool QPPPBackSmooth::getSatlitOffset(int Year,int Month,int Day,int Hours,int Minutes,double Seconds,int PRN,char SatType,double *StaPos,double *RecPos,
double *L12Offset, QVector<QString> FrqFlag)
{
bool isGood = m_ReadAntClass.getSatOffSet(Year,Month,Day,Hours,Minutes,Seconds,PRN,SatType,StaPos,RecPos, L12Offset, FrqFlag);//pXYZ saves satellite coordinates
if(isGood)
return true;
{
L12Offset[0] = 0; L12Offset[1] = 0;
return false;
}
}
//Calculate the correction of the tide in the direction of the line of sight (unit m)
double QPPPBackSmooth::getTideEffect(int Year,int Month,int Day,int Hours,int Minutes,double Seconds,
double *pXYZ,double *EA,double *psunpos/* =NULL */, double *pmoonpos /* = NULL */,double gmst /* = 0 */,QString StationName /* = "" */)
{
return m_TideEffectClass.getAllTideEffect(Year,Month,Day,Hours,Minutes,Seconds,pXYZ,EA,psunpos,pmoonpos,gmst,StationName);