tsrifsu.cpp

linux的gps应用

   cerr << "Caught exception\n" << e << endl;
   return -1;
}
}


/* the output should be equivalent to the following. Note that many quantities
 (Phi,Phinv,G,Rw,Rwx,zw) are intermediate values and so may differ in the 3 cases.
-------------------------------------------------------------------------------
For test==1:
-------------------------------------------------------------------------------
Matrix Print (UPT:3,3): SRI Covariance R before SU:
    -2.8250000     0.9551000    -0.1459000
           (0)    -2.8240000     0.5276000
           (0)           (0)    -1.9300000
Vector (l=3,b=0,e=2): SRI State vector before SU:
   -73.2800000    -4.5810000     1.5670000
Matrix Print (SQU:3,3): Phi before SU:
     1.0000000     5.0000000    25.0000000
     0.0000000     1.0000000     5.0000000
     0.0000000     0.0000000     1.0000000
Matrix Print (SQU:3,3): Phi inverse
     1.0000000    -5.0000000     0.0000000
     0.0000000     1.0000000    -5.0000000
     0.0000000     0.0000000     1.0000000
Matrix Print (GEN:3,3): G matrix before SU:
     1.0000000     0.0500000     0.0016670
     0.0000000     1.0000000     0.0500000
     0.0000000     0.0000000     1.0000000
Matrix Print (UPT:3,3): Rw matrix before SU:
  8485.0000000     0.0000000     0.0000000
           (0)   109.5000000     0.0000000
           (0)           (0)     3.1620000
Matrix Print (SYM:3,3): Covariance before SU:
     0.1396719     0.0429714     0.0030922
     0.0429714     0.1347628     0.0501563
     0.0030922     0.0501563     0.2684636
Vector (l=3,b=0,e=2): State X before SU:
    26.4789073     1.4704789    -0.8119171

Call SrifSU

Matrix Print (SQU:3,3): Phi inverse after SU:
     2.8308464    13.2002762    66.1692641
     0.0186639     2.7399474    13.1207326
     0.0370416    -0.1270013     1.6464965
Matrix Print (GEN:3,3): G after SU:
    -2.8250000     0.8156191    -0.1697817
     0.0000000    -2.8240000     0.6170483
     0.0000000     0.0000000    -1.9300000
Matrix Print (UPT:3,3): Rw after SU:
  8485.0000000     0.0000000     0.0000000
           (0)   109.5000000     0.0000000
           (0)           (0)     3.1620000
Matrix Print (GEN:3,3): Rwx after SU:
    -0.0300469    -5.4543935   -26.0693988
    -1.1881107    -7.4029263   -45.9955463
    -0.1329200    -0.1645391    -1.9486389
Vector (l=3,b=0,e=2): zw vector after SU:
    -3.3047654    -2.1576620    -0.4445507
Matrix Print (UPT:3,3): SRI Covariance R after SU:
     2.8308464    13.2002762    66.1692641
           (0)     2.7399474    13.1207326
           (0)           (0)     1.6464965
Vector (l=3,b=0,e=2): SRI State vector after SU:
    73.3032284     4.8851499    -0.5218388
Matrix Print (SYM:3,3): Covariance after SU:
     3.4237044     1.2242346    -0.3853596
     1.2242346     8.5920292    -1.7664210
    -0.3853596    -1.7664210     0.3688743
Vector (l=3,b=0,e=2): State X after SU:
    17.9117060     3.3006549    -0.3169389
-------------------------------------------------------------------------------
For test==2:
-------------------------------------------------------------------------------
Matrix Print (UPT:3,3): SRI Covariance R before SU:
    -2.8250000     0.9551000    -0.1459000
           (0)    -2.8240000     0.5276000
           (0)           (0)    -1.9300000
Vector (l=3,b=0,e=2): SRI State vector before SU:
   -73.2800000    -4.5810000     1.5670000
Matrix Print (SQU:3,3): Phi before SU:
     1.0000000     5.0000000    25.0000000
     0.0000000     1.0000000     5.0000000
     0.0000000     0.0000000     1.0000000
Matrix Print (SQU:3,3): Phi inverse
     1.0000000    -5.0000000     0.0000000
     0.0000000     1.0000000    -5.0000000
     0.0000000     0.0000000     1.0000000
Matrix Print (GEN:3,3): G matrix before SU:
     1.0000000     0.0500000     0.0016670
     0.0000000     1.0000000     0.0500000
     0.0000000     0.0000000     1.0000000
Matrix Print (UPT:3,3): Rw matrix before SU:
  8485.0000000     0.0000000     0.0000000
           (0)   109.5000000     0.0000000
           (0)           (0)     3.1620000
Matrix Print (SYM:3,3): Covariance before SU:
     0.1396719     0.0429714     0.0030922
     0.0429714     0.1347628     0.0501563
     0.0030922     0.0501563     0.2684636
Vector (l=3,b=0,e=2): State X before SU:
    26.4789073     1.4704789    -0.8119171

Do the HH manually

Do the SU manually:
Matrix Print (GEN:6,7): Composite matrix
  8485.0289340     5.3057267    -0.9386378     0.0289340     5.4489500    26.0408500     3.2800000
     1.2093000   110.9451900     9.0696522     1.2093000     7.4312250    46.1545250     2.5810000
     0.0000000     0.0000000     3.1643143     0.0000000     0.0000000     0.0023143    -1.5670000
    -2.8250000     0.8138500    -0.1028543    -2.8250000   -13.1699000   -65.9954000   -73.2800000
     0.0000000    -2.8240000     0.3864000     0.0000000    -2.8240000   -13.5924000    -4.5810000
     0.0000000     0.0000000    -1.9300000     0.0000000     0.0000000    -1.9300000     1.5670000

Do HouseHolder

Matrix Print (GEN:6,7): Composite matrix after HH
 -8485.0294905    -5.3212675     0.9373108    -0.0300469    -5.4543935   -26.0693988    -3.3047654
     1.2093000  -110.9833652    -9.0560140    -1.1881107    -7.4029263   -45.9955463    -2.1576620
     0.0000000     0.0000000    -3.7612976    -0.1329200    -0.1645391    -1.9486389    -0.4445507
    -2.8250000     0.8156191    -0.1697817     2.8308464    13.2002762    66.1692641    73.3032284
     0.0000000    -2.8240000     0.6170483     0.0186639     2.7399474    13.1207326     4.8851499
     0.0000000     0.0000000    -1.9300000     0.0370416    -0.1270013     1.6464965    -0.5218388
Matrix Print (SQU:3,3): Phi inverse after SU:
    -2.8250000   -13.1699000   -65.9954000
     0.0000000    -2.8240000   -13.5924000
     0.0000000     0.0000000    -1.9300000
Matrix Print (GEN:3,3): G after SU:
    -2.8250000     0.8138500    -0.1028543
     0.0000000    -2.8240000     0.3864000
     0.0000000     0.0000000    -1.9300000
Matrix Print (UPT:3,3): Rw after SU:
  8485.0000000     0.0000000     0.0000000
           (0)   109.5000000     0.0000000
           (0)           (0)     3.1620000
Matrix Print (GEN:3,3): Rwx after SU:
     0.0289340     5.4489500    26.0408500
     1.2093000     7.4312250    46.1545250
     0.0000000     0.0000000     0.0023143
Vector (l=3,b=0,e=2): zw vector after SU:
     3.2800000     2.5810000    -1.5670000
Matrix Print (UPT:3,3): SRI Covariance R after SU:
     2.8308464    13.2002762    66.1692641
           (0)     2.7399474    13.1207326
           (0)           (0)     1.6464965
Vector (l=3,b=0,e=2): SRI State vector after SU:
    73.3032284     4.8851499    -0.5218388
Matrix Print (SYM:3,3): Covariance after SU:
     3.4237044     1.2242346    -0.3853596
     1.2242346     8.5920292    -1.7664210
    -0.3853596    -1.7664210     0.3688743
Vector (l=3,b=0,e=2): State X after SU:
    17.9117060     3.3006549    -0.3169389
-------------------------------------------------------------------------------
For test==3:
-------------------------------------------------------------------------------
Matrix Print (UPT:3,3): SRI Covariance R before SU:
    -2.8250000     0.9551000    -0.1459000
           (0)    -2.8240000     0.5276000
           (0)           (0)    -1.9300000
Vector (l=3,b=0,e=2): SRI State vector before SU:
   -73.2800000    -4.5810000     1.5670000
Matrix Print (SQU:3,3): Phi before SU:
     1.0000000     5.0000000    25.0000000
     0.0000000     1.0000000     5.0000000
     0.0000000     0.0000000     1.0000000
Matrix Print (SQU:3,3): Phi inverse
     1.0000000    -5.0000000     0.0000000
     0.0000000     1.0000000    -5.0000000
     0.0000000     0.0000000     1.0000000
Matrix Print (GEN:3,3): G matrix before SU:
     1.0000000     0.0500000     0.0016670
     0.0000000     1.0000000     0.0500000
     0.0000000     0.0000000     1.0000000
Matrix Print (UPT:3,3): Rw matrix before SU:
  8485.0000000     0.0000000     0.0000000
           (0)   109.5000000     0.0000000
           (0)           (0)     3.1620000
Matrix Print (SYM:3,3): Covariance before SU:
     0.1396719     0.0429714     0.0030922
     0.0429714     0.1347628     0.0501563
     0.0030922     0.0501563     0.2684636
Vector (l=3,b=0,e=2): State X before SU:
    26.4789073     1.4704789    -0.8119171

Call SrisDM

Matrix Print (SQU:3,3): Phi inverse after SU:
     1.0000000     5.0000000    25.0000000
     0.0000000     1.0000000     5.0000000
     0.0000000     0.0000000     1.0000000
Matrix Print (GEN:3,3): G after SU:
     0.0001179     0.0004566     0.0005272
     0.0000000     0.0091324     0.0158128
     0.0000000     0.0000000     0.3162555
Matrix Print (UPT:3,3): Rw after SU:
     0.0001179     0.0000000     0.0000000
           (0)     0.0091324     0.0000000
           (0)           (0)     0.3162555
Matrix Print (GEN:3,3): Rwx after SU:
     0.0289340     5.3042800    -1.2039000
     1.2093000     1.3847250     8.9984000
     0.0000000     0.0000000     0.0023143
Vector (l=3,b=0,e=2): zw vector after SU:
     3.2800000     2.5810000    -1.5670000
Matrix Print (UPT:3,3): SRI Covariance R after SU:
     2.8308464    13.2002762    66.1692641
           (0)     2.7399474    13.1207326
           (0)           (0)     1.6464965
Vector (l=3,b=0,e=2): SRI State vector after SU:
    73.3032284     4.8851499    -0.5218388
Matrix Print (SQU:3,3): Covariance after SU:
     3.4237044     1.2242346    -0.3853596
     1.2242346     8.5920292    -1.7664210
    -0.3853596    -1.7664210     0.3688743
Vector (l=3,b=0,e=2): State X after SU:
    17.9117060     3.3006549    -0.3169389
-------------------------------------------------------------------------------
*/