ppp.hpp File Reference

Functions
double	relativity2 (VectorEcef &rSat, VectorEcef &rRec)
double	recAntDelta (VectorEcef &e, Receiver &rec)
tuple< Vector3d, Vector3d, Vector3d, Vector3d, Vector3d >	tideDelta (Trace &trace, GTime time, Receiver &rec, VectorEcef &rRec, ReceiverOptions &recOpts)
void	eopAdjustment (GTime &time, VectorEcef &e, ERPValues &erpv, FrameSwapper &frameSwapper, Receiver &rec, VectorEcef &rRec, KFMeasEntry &measEntry, KFState &kfState)
double	netResidualAndChainOutputs (Trace &trace, Observation &obs, KFMeasEntry &measEntry)
void	outputPppNmea (Trace &trace, KFState &kfState, string id)
void	spp (Trace &trace, ObsList &obsList, Solution &sol, string id, KFState *kfState_ptr=nullptr, KFState *remote_ptr=nullptr)
	Compute receiver position, velocity, clock bias by single-point positioning with pseudorange observables.
void	testEclipse (ObsList &obsList)
	exclude meas of eclipsing satellite (block IIA)
void	pppCorrections (Trace &trace, ObsList &obsList, Vector3d &rRec, Receiver &rec)
void	ppp (Trace &trace, ReceiverMap &receiverMap, KFState &kfState, KFState &remoteState)
void	phaseWindup (GObs &obs, Receiver &rec, double &phw)
	phase windup model
bool	ionoModel (GTime &time, VectorPos &pos, AzEl &azel, E_IonoMapFn mapFn, E_IonoMode mode, double layerHeight, double ionoState, double &dion, double &var)
	ionospheric model
void	outputApriori (ReceiverMap &receiverMap)
void	updateAprioriRecPos (Trace &trace, Receiver &rec, ReceiverOptions &recOpts, bool &sppUsed, KFState *remote_ptr=nullptr)
void	updateAprioriRecClk (Trace &trace, Receiver &rec, ReceiverOptions &recOpts, GTime &time, KFState &kfState, KFState *remote_ptr=nullptr)
void	selectAprioriSource (Trace &trace, Receiver &rec, GTime &time, bool &sppUsed, KFState &kfState, KFState *remote_ptr=nullptr)
void	selectAprioriSource (SatSys &Sat, GTime &time, KFState &kfState, KFState *remote_ptr=nullptr)
	Compare estimated station position with benchmark in SINEX file.
void	postFilterChecks (const GTime &time, KFState &kfState, KFMeas &kfMeas)
bool	deweightMeas (RejectCallbackDetails rejectDetails)
	Deweight worst measurement.
bool	pseudoMeasTest (RejectCallbackDetails rejectDetails)
	Call state rejection functions when a measurement is a pseudo observation.
bool	deweightStationMeas (RejectCallbackDetails rejectDetails)
	Deweight measurement and its relatives.
bool	incrementPhaseSignalError (RejectCallbackDetails rejectDetails)
	Count worst measurement.
bool	incrementReceiverErrors (RejectCallbackDetails rejectDetails)
	Count all errors on receiver.
bool	incrementSatelliteErrors (RejectCallbackDetails rejectDetails)
	Count all errors on satellite.
bool	incrementStateErrors (RejectCallbackDetails rejectDetails)
	Count all errors on an individual state.
bool	rejectWorstMeasByState (RejectCallbackDetails rejectDetails)
	Reject worst measurement attached to worst state using measurement reject callback list.
bool	rejectAllMeasByState (RejectCallbackDetails rejectDetails)
	Reject all measurements attached to worst state using measurement reject callback list.
bool	clockGlitchReaction (RejectCallbackDetails rejectDetails)
bool	satelliteGlitchReaction (RejectCallbackDetails rejectDetails)
	Immediately executed reaction to orbital state errors.
bool	relaxState (RejectCallbackDetails rejectDetails)
	Relax state.
void	resetPhaseSignalError (const GTime &time, KFMeas &kfMeas, int index)
void	resetIonoSignalOutage (const GTime &time, KFMeas &kfMeas, int index)
void	receiverUducGnss (Trace &pppTrace, Receiver &rec, KFState &kfState, KFMeasEntryList &kfMeasEntryList, KFState &remoteState)
void	orbitPseudoObs (Trace &pppTrace, Receiver &rec, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
void	initPseudoObs (Trace &pppTrace, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
void	filterPseudoObs (Trace &pppTrace, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
void	receiverPseudoObs (Trace &pppTrace, Receiver &rec, KFState &kfState, KFMeasEntryList &kfMeasEntryList, ReceiverMap &receiverMap)
void	readPseudosFromFile (string &file)
void	receiverSlr (Trace &pppTrace, Receiver &rec, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
bool	satQuat (SatPos &satPos, vector< E_Source > attitudeTypes, Quaterniond &quat)
	Satellite attitude - calculates attitude of satellite as a quaternion (ECEF) Also transforms coordinates in body frame into ECEF Returns false if no attitude available (usually due to eclipse)
void	fixAndHoldAmbiguities (Trace &trace, KFState &kfState)
bool	queryBiasUC (Trace &trace, GTime time, KFState &kfState, SatSys sat, string rec, E_ObsCode code, double &bias, double &vari, E_MeasType type)
void	pseudoRecDcb (Trace &trace, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
void	ambgPseudoObs (Trace &trace, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
void	phasePseudoObs (Trace &trace, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
	Add pseudo-observations to set one satellite's phase biases variances to zero.
void	ionoPseudoObs (Trace &trace, ReceiverMap &receiverMap, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
void	tropPseudoObs (Trace &trace, ReceiverMap &receiverMap, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
void	satClockPivotPseudoObs (Trace &trace, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
KFState	propagateUncertainty (Trace &trace, KFState &kfState)
void	explainMeasurements (Trace &trace, KFMeas &meas, KFState &kfState)
void	addRejectDetails (const GTime &time, Trace &trace, KFState &kfState, const KFKey &key, const string &action, const string &reason, vector< ArbitraryKVP > details={})

Function Documentation

addRejectDetails()

void addRejectDetails	(	const GTime &	time,
		Trace &	trace,
		KFState &	kfState,
		const KFKey &	key,
		const string &	action,
		const string &	reason,
		vector< ArbitraryKVP >	details = {} )

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ambgPseudoObs()

void ambgPseudoObs	(	Trace &	trace,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

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clockGlitchReaction()

bool clockGlitchReaction

(

RejectCallbackDetails

rejectDetails

)

deweightMeas()

bool deweightMeas

(

RejectCallbackDetails

rejectDetails

)

Deweight worst measurement.

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deweightStationMeas()

bool deweightStationMeas

(

RejectCallbackDetails

rejectDetails

)

Deweight measurement and its relatives.

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eopAdjustment()

void eopAdjustment	(	GTime &	time,
		VectorEcef &	e,
		ERPValues &	erpv,
		FrameSwapper &	frameSwapper,
		Receiver &	rec,
		VectorEcef &	rRec,
		KFMeasEntry &	measEntry,
		KFState &	kfState )

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explainMeasurements()

void explainMeasurements	(	Trace &	trace,
		KFMeas &	meas,
		KFState &	kfState )

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filterPseudoObs()

void filterPseudoObs	(	Trace &	pppTrace,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

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fixAndHoldAmbiguities()

void fixAndHoldAmbiguities	(	Trace &	trace,
		KFState &	kfState )

Parameters

trace	Debug trace
kfState	Filter state

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incrementPhaseSignalError()

bool incrementPhaseSignalError

(

RejectCallbackDetails

rejectDetails

)

Count worst measurement.

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incrementReceiverErrors()

bool incrementReceiverErrors

(

RejectCallbackDetails

rejectDetails

)

Count all errors on receiver.

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incrementSatelliteErrors()

bool incrementSatelliteErrors

(

RejectCallbackDetails

rejectDetails

)

Count all errors on satellite.

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incrementStateErrors()

bool incrementStateErrors

(

RejectCallbackDetails

rejectDetails

)

Count all errors on an individual state.

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initPseudoObs()

void initPseudoObs	(	Trace &	pppTrace,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

Parameters

pppTrace	Trace to output to
kfState	Kalman filter object containing the network state parameters
kfMeasEntryList	List to append kf measurements to

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ionoModel()

bool ionoModel	(	GTime &	time,
		VectorPos &	pos,
		AzEl &	azel,
		E_IonoMapFn	mapFn,
		E_IonoMode	mode,
		double	layerHeight,
		double	ionoState,
		double &	dion,
		double &	var )

ionospheric model

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ionoPseudoObs()

void ionoPseudoObs	(	Trace &	trace,
		ReceiverMap &	receiverMap,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

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netResidualAndChainOutputs()

double netResidualAndChainOutputs	(	Trace &	trace,
		Observation &	obs,
		KFMeasEntry &	measEntry )

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orbitPseudoObs()

void orbitPseudoObs	(	Trace &	pppTrace,
		Receiver &	rec,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

Parameters

pppTrace	Trace to output to
rec	Receiver to perform calculations for
kfState	Kalman filter object containing the network state parameters
kfMeasEntryList	List to append kf measurements to

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outputApriori()

void outputApriori

(

ReceiverMap &

receiverMap

)

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outputPppNmea()

void outputPppNmea	(	Trace &	trace,
		KFState &	kfState,
		string	id )

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phasePseudoObs()

void phasePseudoObs	(	Trace &	trace,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

Add pseudo-observations to set one satellite's phase biases variances to zero.

This shouldnt occur in the parallel section because multiple receivers may be trying to set different satellites to 0 if they see different satellites.

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phaseWindup()

void phaseWindup	(	GObs &	obs,
		Receiver &	rec,
		double &	phw )

phase windup model

Parameters

obs	Observation detailing the satellite to apply model to
rec	Position of receiver (ECEF)
phw	Output of phase windup result

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postFilterChecks()

void postFilterChecks	(	const GTime &	time,
		KFState &	kfState,
		KFMeas &	kfMeas )

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ppp()

void ppp	(	Trace &	trace,
		ReceiverMap &	receiverMap,
		KFState &	kfState,
		KFState &	remoteState )

Parameters

trace	Trace to output to
receiverMap	List of receivers containing observations for this epoch
kfState	Kalman filter object containing the network state parameters
remoteState	Optional pointer to remote kalman filter

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pppCorrections()

void pppCorrections	(	Trace &	trace,
		ObsList &	obsList,
		Vector3d &	rRec,
		Receiver &	rec )

propagateUncertainty()

KFState propagateUncertainty	(	Trace &	trace,
		KFState &	kfState )

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pseudoMeasTest()

bool pseudoMeasTest

(

RejectCallbackDetails

rejectDetails

)

Call state rejection functions when a measurement is a pseudo observation.

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pseudoRecDcb()

void pseudoRecDcb	(	Trace &	trace,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

Parameters

trace	Trace to output to
kfState	Kalman filter object containing the network state parameters
kfMeasEntryList	List to append kf measurements to

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queryBiasUC()

bool queryBiasUC	(	Trace &	trace,
		GTime	time,
		KFState &	kfState,
		SatSys	sat,
		string	rec,
		E_ObsCode	code,
		double &	bias,
		double &	vari,
		E_MeasType	type )

Parameters

trace	debug stream
time	time of biases
kfState	filter state to take biases from
sat	satellite (for receiver biases, sat.sys needs to be set to the appropriate system, and sat.prn must be 0)
rec	receiver (for satellite biases nees to be "")
code	signal code
bias	bias value
vari	bias variance
type	measurement type

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readPseudosFromFile()

void readPseudosFromFile

(

string &

file

)

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recAntDelta()

double recAntDelta	(	VectorEcef &	e,
		Receiver &	rec )

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receiverPseudoObs()

void receiverPseudoObs	(	Trace &	pppTrace,
		Receiver &	rec,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList,
		ReceiverMap &	receiverMap )

Parameters

pppTrace	Trace to output to
rec	(Pseudo) Receiver to perform calculations for
kfState	Kalman filter object containing the network state parameters
kfMeasEntryList	List to append kf measurements to
receiverMap	Map of stations to retrieve receiver metadata from

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receiverSlr()

void receiverSlr	(	Trace &	pppTrace,
		Receiver &	rec,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

Parameters

pppTrace	Trace to output to
rec	Receiver to perform calculations for
kfState	Kalman filter object containing the network state parameters
kfMeasEntryList	List to append kf measurements to

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receiverUducGnss()

void receiverUducGnss	(	Trace &	pppTrace,
		Receiver &	rec,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList,
		KFState &	remoteState )

Parameters

pppTrace	Trace to output to
rec	Receiver to perform calculations for
kfState	Kalman filter object containing the state parameters
kfMeasEntryList	List to append kf measurements to
remoteState	Kalman filter object containing remote filter values

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rejectAllMeasByState()

bool rejectAllMeasByState

(

RejectCallbackDetails

rejectDetails

)

Reject all measurements attached to worst state using measurement reject callback list.

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rejectWorstMeasByState()

bool rejectWorstMeasByState

(

RejectCallbackDetails

rejectDetails

)

Reject worst measurement attached to worst state using measurement reject callback list.

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relativity2()

double relativity2	(	VectorEcef &	rSat,
		VectorEcef &	rRec )

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relaxState()

bool relaxState

(

RejectCallbackDetails

rejectDetails

)

Relax state.

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resetIonoSignalOutage()

void resetIonoSignalOutage	(	const GTime &	time,
		KFMeas &	kfMeas,
		int	index )

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resetPhaseSignalError()

void resetPhaseSignalError	(	const GTime &	time,
		KFMeas &	kfMeas,
		int	index )

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satClockPivotPseudoObs()

void satClockPivotPseudoObs	(	Trace &	trace,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

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satelliteGlitchReaction()

bool satelliteGlitchReaction

(

RejectCallbackDetails

rejectDetails

)

Immediately executed reaction to orbital state errors.

Note there is also a 1 epoch delayed reaction function

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satQuat()

bool satQuat	(	SatPos &	satPos,
		vector< E_Source >	attitudeTypes,
		Quaterniond &	quat )

Satellite attitude - calculates attitude of satellite as a quaternion (ECEF) Also transforms coordinates in body frame into ECEF Returns false if no attitude available (usually due to eclipse)

Parameters

satPos	observation
attitudeTypes	Attitude type
quat	Rotation of satellite from ECEF

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selectAprioriSource() [1/2]

void selectAprioriSource	(	SatSys &	Sat,
		GTime &	time,
		KFState &	kfState,
		KFState *	remote_ptr )

Compare estimated station position with benchmark in SINEX file.

Output GPGGA or modified GPGGA messages

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selectAprioriSource() [2/2]

void selectAprioriSource	(	Trace &	trace,
		Receiver &	rec,
		GTime &	time,
		bool &	sppUsed,
		KFState &	kfState,
		KFState *	remote_ptr = nullptr )

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spp()

void spp	(	Trace &	trace,
		ObsList &	obsList,
		Solution &	sol,
		string	id,
		KFState *	kfState_ptr = nullptr,
		KFState *	remote_ptr = nullptr )

Compute receiver position, velocity, clock bias by single-point positioning with pseudorange observables.

Parameters

trace	Trace file to output to
obsList	List of observations for this epoch
sol	Solution object containing initial state and results
id	Id of receiver
kfState_ptr	Optional pointer to filter to take ephemerides from
remote_ptr	Optional pointer to filter to take ephemerides from

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testEclipse()

void testEclipse

(

ObsList &

obsList

)

exclude meas of eclipsing satellite (block IIA)

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tideDelta()

tuple< Vector3d, Vector3d, Vector3d, Vector3d, Vector3d > tideDelta	(	Trace &	trace,
		GTime	time,
		Receiver &	rec,
		VectorEcef &	rRec,
		ReceiverOptions &	recOpts )

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tropPseudoObs()

void tropPseudoObs	(	Trace &	trace,
		ReceiverMap &	receiverMap,
		KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

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updateAprioriRecClk()

void updateAprioriRecClk	(	Trace &	trace,
		Receiver &	rec,
		ReceiverOptions &	recOpts,
		GTime &	time,
		KFState &	kfState,
		KFState *	remote_ptr = nullptr )

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updateAprioriRecPos()

void updateAprioriRecPos	(	Trace &	trace,
		Receiver &	rec,
		ReceiverOptions &	recOpts,
		bool &	sppUsed,
		KFState *	remote_ptr = nullptr )

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