mwcsdetector.hpp

gps源代码

        /// Method to get the maximum interval of time allowed between two successive epochs, in seconds.
        virtual double getDeltaTMax() const
        {
           return deltaTMax;
        };


        /** Method to set the maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
         * @param mLambdas     Maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
         */
        virtual void setMaxNumLambdas(const double& mLambdas)
        {
            // Don't allow number of lambdas less than or equal to 0
            if (mLambdas > 0.0) maxNumLambdas = mLambdas; else maxNumLambdas = 10.0;
        };


        /// Method to get the maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
        virtual double getMaxNumLambdas() const
        {
           return maxNumLambdas;
        };


        /** Method to set whether the LLI indexes will be used as an aid or not.
         * @param use   Boolean value enabling/disabling LLI check
         */
        virtual void setUseLLI(const bool& use)
        {
            useLLI = use;
        };


        /// Method to know if the LLI check is enabled or disabled.
        virtual bool getUseLLI() const
        {
           return useLLI;
        };


        /** Returns a gnnsSatTypeValue object, adding the new data generated when calling this object.
         *
         * @param gData    Data object holding the data.
         */
        virtual gnssSatTypeValue& Detect(gnssSatTypeValue& gData)
        {
            (*this).Detect(gData.header.epoch, gData.body);
            return gData;
        };


        /** Returns a gnnsRinex object, adding the new data generated when calling this object.
         *
         * @param gData    Data object holding the data.
         */
        virtual gnssRinex& Detect(gnssRinex& gData)
        {
            (*this).Detect(gData.header.epoch, gData.body, gData.header.epochFlag);
            return gData;
        };


        /// Destructor
        virtual ~MWCSDetector() {};



    private:

        /// Type of code.
        TypeID obsType;

        /// Type of LMW1 record.
        TypeID lliType1;

        /// Type of LMW2 record.
        TypeID lliType2;

        /// Type of result #1.
        TypeID resultType1;

        /// Type of result #2.
        TypeID resultType2;


        /// Maximum interval of time allowed between two successive epochs, in seconds.
        double deltaTMax;


        /// Maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
        double maxNumLambdas;


        /// This field tells whether to use or ignore the LLI indexes as an aid. 
        bool useLLI;


        /// A structure used to store filter data for a SV.
        struct filterData
        {
            // Default constructor initializing the data in the structure
            filterData() : formerEpoch(DayTime::BEGINNING_OF_TIME), windowSize(0), meanMW(0.0) {};

            DayTime formerEpoch;    ///< The previous epoch time stamp.
            int windowSize;         ///< Size of current window, in samples.
            double meanMW;          ///< Accumulated mean value of combination
        };

        /// Map holding the information regarding every satellite
        std::map<SatID, filterData> MWData;



        /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
         *
         * @param epoch     Time of observations.
         * @param sat       SatID.
         * @param tvMap     Data structure of TypeID and values.
         * @param epochflag Epoch flag.
         * @param mw        Current MW observation value.
         * @param lli1      LLI1 index.
         * @param lli2      LLI2 index.
         */
        virtual double getDetection(const DayTime& epoch, const SatID& sat, typeValueMap& tvMap, const short& epochflag, const double& mw, const double& lli1, const double& lli2)
        {
            bool reportCS(false);
            double currentDeltaT(0.0);  // Difference between current and former epochs, in sec
            double currentBias(0.0);    // Difference between current and former MW values
            double lambdaLimit(maxNumLambdas*0.862);    // Limit to declare cycle slip based on lambdas (LambdaLW = 0.862 m)
            double tempLLI1(0.0);
            double tempLLI2(0.0);


            // Get the difference between current epoch and former epoch, in seconds
            currentDeltaT = ( epoch.MJDdate() - MWData[sat].formerEpoch.MJDdate() ) * DayTime::SEC_DAY;

            // Store current epoch as former epoch
            MWData[sat].formerEpoch = epoch;

            // Difference between current value of MW and average value
            currentBias = std::abs(mw - MWData[sat].meanMW);

            // Increment size of window
            ++MWData[sat].windowSize;

            // Check if receiver already declared cycle slip or too much time has elapsed
            // Note: If tvMap(lliType1) or tvMap(lliType2) don't exist, then 0 will be used and those tests will pass
            if ( (tvMap(lliType1)==1.0) || (tvMap(lliType1)==3.0) || (tvMap(lliType1)==5.0) || (tvMap(lliType1)==7.0) ) tempLLI1 = 1.0;

            if ( (tvMap(lliType2)==1.0) || (tvMap(lliType2)==3.0) || (tvMap(lliType2)==5.0) || (tvMap(lliType2)==7.0) ) tempLLI2 = 1.0;

            if ( (epochflag==1) || (epochflag==6) || (tempLLI1==1.0) || (tempLLI2==1.0) || (currentDeltaT > deltaTMax) )
            {
                MWData[sat].windowSize = 1;     // We reset the filter with this
                reportCS = true;                // Report cycle slip
            }


            if (MWData[sat].windowSize > 1)
            {
                // Test for current bias bigger than lambda limit and for current bias squared bigger than sigma squared limit
                if ( (currentBias > lambdaLimit) )
                {
                    MWData[sat].windowSize = 1;     // We reset the filter with this
                    reportCS = true;                // Report cycle slip
                }
            }

            // Let's prepare for the next time
            // If a cycle-slip happened or just starting up
            if (MWData[sat].windowSize < 2)
            {
                MWData[sat].meanMW = mw;
            } else {
                // Compute average
                MWData[sat].meanMW += (mw - MWData[sat].meanMW) / (static_cast<double>(MWData[sat].windowSize));
            }

            if (reportCS) return 1.0; else return 0.0;
        };

   }; // end class MWCSDetector
   

    /// Input operator from gnssSatTypeValue to MWCSDetector.
    inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, MWCSDetector& mwD)
    {
            mwD.Detect(gData);
            return gData;
    }


    /// Input operator from gnssRinex to MWCSDetector.
    inline gnssRinex& operator>>(gnssRinex& gData, MWCSDetector& mwD)
    {
            mwD.Detect(gData);
            return gData;
    }

   



   //@}
   
}

#endif