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, const KFState &kfState)
double	netResidualAndChainOutputs (Trace &trace, Observation &obs, KFMeasEntry &measEntry)
void	removeUnmeasuredAmbiguities (Trace &trace, KFState &kfState, map< KFKey, bool > measuredStates)
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	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, KFMeas &kfMeas)
bool	deweightMeas (Trace &trace, KFState &kfState, KFMeas &kfMeas, int index, bool postFit)
	Deweight worst measurement.
bool	pseudoMeasTest (Trace &trace, KFState &kfState, KFMeas &kfMeas, int index, bool postFit)
	Call state rejection functions when a measurement is a pseudo observation.
bool	deweightStationMeas (Trace &trace, KFState &kfState, KFMeas &kfMeas, int index, bool postFit)
	Deweight measurement and its relatives.
bool	countSignalErrors (Trace &trace, KFState &kfState, KFMeas &kfMeas, int index, bool postFit)
bool	incrementPhaseSignalError (Trace &trace, KFState &kfState, KFMeas &kfMeas, int index, bool postFit)
	Count worst measurement.
bool	incrementReceiverError (Trace &trace, KFState &kfState, KFMeas &kfMeas, int index, bool postFit)
	Count all errors on receiver.
bool	resetPhaseSignalError (const GTime &time, KFMeas &kfMeas, int index)
bool	resetPhaseSignalOutage (const GTime &time, KFMeas &kfMeas, int index)
bool	resetIonoSignalOutage (const GTime &time, KFMeas &kfMeas, int index)
bool	rejectByState (Trace &trace, KFState &kfState, KFMeas &kfMeas, const KFKey &kfKey, bool postFit)
	Reject measurements attached to worst state using measurement reject callback list.
bool	clockGlitchReaction (Trace &trace, KFState &kfState, KFMeas &kfMeas, const KFKey &kfKey, bool postFit)
bool	orbitGlitchReaction (Trace &trace, KFState &kfState, KFMeas &kfMeas, const KFKey &kfKey, bool postFit)
	Remove any states connected to a bad clock if it glitches.
void	receiverUducGnss (Trace &pppTrace, Receiver &rec, const KFState &kfState, KFMeasEntryList &kfMeasEntryList, const KFState &remoteState)
void	orbitPseudoObs (Trace &pppTrace, Receiver &rec, const 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, const KFState &kfState, KFMeasEntryList &kfMeasEntryList, ReceiverMap &receiverMap)
void	readPseudosFromFile (string &file)
void	receiverSlr (Trace &pppTrace, Receiver &rec, const 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 typ)
void	pseudoRecDcb (Trace &trace, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
void	ambgPseudoObs (Trace &trace, KFState &kfState, KFMeasEntryList &kfMeasEntryList)
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)

Function Documentation

ambgPseudoObs()

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

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clockGlitchReaction()

bool clockGlitchReaction	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		const KFKey &	kfKey,
		bool	postFit )

countSignalErrors()

bool countSignalErrors	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		int	index,
		bool	postFit )

deweightMeas()

bool deweightMeas	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		int	index,
		bool	postFit )

Deweight worst measurement.

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deweightStationMeas()

bool deweightStationMeas	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		int	index,
		bool	postFit )

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,
		const 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	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		int	index,
		bool	postFit )

Count worst measurement.

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incrementReceiverError()

bool incrementReceiverError	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		int	index,
		bool	postFit )

Count all errors on receiver.

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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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orbitGlitchReaction()

bool orbitGlitchReaction	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		const KFKey &	kfKey,
		bool	postFit )

Remove any states connected to a bad clock if it glitches.

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orbitPseudoObs()

void orbitPseudoObs	(	Trace &	pppTrace,
		Receiver &	rec,
		const 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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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,
		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	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		int	index,
		bool	postFit )

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	typ )

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
typ	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,
		const 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,
		const 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,
		const KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList,
		const 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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rejectByState()

bool rejectByState	(	Trace &	trace,
		KFState &	kfState,
		KFMeas &	kfMeas,
		const KFKey &	kfKey,
		bool	postFit )

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

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relativity2()

double relativity2	(	VectorEcef &	rSat,
		VectorEcef &	rRec )

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removeUnmeasuredAmbiguities()

void removeUnmeasuredAmbiguities	(	Trace &	trace,
		KFState &	kfState,
		map< KFKey, bool >	measuredStates )

resetIonoSignalOutage()

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

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resetPhaseSignalError()

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

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resetPhaseSignalOutage()

bool resetPhaseSignalOutage	(	const GTime &	time,
		KFMeas &	kfMeas,
		int	index )

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satClockPivotPseudoObs()

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

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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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