/// <summary>
/// 模糊度固定解，条件平差。
/// </summary>
/// <param name="result"></param>
/// <param name="fixedPppAmbi"></param>
private PppResult FixPppResult(PppResult result, Dictionary <SatelliteNumber, double> fixedPppAmbi)
{
if (fixedPppAmbi.Count < 2)
{
return(result);
}
var floadParams = result.ResultMatrix.Estimated;
var paramCount = floadParams.Count;
int fixedCount = fixedPppAmbi.Count;
Vector fixedVector = new Vector();//fixedCount + 1
foreach (var item in fixedPppAmbi)
{
fixedVector.Add(item.Value, item.Key.ToString());
}
//构建控制阵
Matrix constraintMatrix = new Matrix(fixedCount, paramCount);
int baseColIndex = -1;// floadParams.ParamNames.IndexOf(this.CurrentBasePrn.ToString());
for (int i = 5; i < paramCount; i++)
{
var sat = SatelliteNumber.Parse(floadParams.ParamNames[i]);
if (sat == CurrentBasePrn)
{
baseColIndex = i;
break;
}
}
for (int colIndex = 5; colIndex < paramCount; colIndex++)
{
var sat = SatelliteNumber.Parse(floadParams.ParamNames[colIndex]);
int rowIndex = fixedVector.ParamNames.IndexOf(sat.ToString());//列编号与固定值对应
if (rowIndex == -1)
{
continue;//没有，略过
}
constraintMatrix[rowIndex, baseColIndex] = -1;
constraintMatrix[rowIndex, colIndex] = 1;
}
//条件平差
AdjustObsMatrix obsMatrix = new AdjustObsMatrix();
obsMatrix.SetCoefficient(constraintMatrix).SetObservation(floadParams).SetFreeVector(fixedVector);
ConditionalAdjuster adjuster = new ConditionalAdjuster();
var resultMatrix = adjuster.Run(obsMatrix);
result.ResultMatrix.Estimated = resultMatrix.CorrectedObs;
return(result);
}
/// <summary>
/// 提取浮点解星间单差
/// </summary>
/// <param name="result"></param>
/// <param name="wideNarrowValues"></param>
private void SetPppFloatAmbiguityLen(PppResult result, SatWideNarrowValueManager wideNarrowValues)
{
var floatAmbLen = new Dictionary <SatelliteNumber, double>(); //存储星间单差无电离层浮点模糊度,略过参考星,单位：米
var baseFloatAmbi = result.GetAmbiguityDistance(CurrentBasePrn);
foreach (var prn in result.EnabledPrns)
{
if (prn == CurrentBasePrn)
{
continue;
}
var floatAmbi = result.GetAmbiguityDistance(prn); //浮点解，单位：米，是否应该需要周？ no need
var differ = floatAmbi - baseFloatAmbi;
wideNarrowValues.GetOrCreate(prn).FloatAmbiguityLength = differ;
}
}
/// <summary>
/// PPP 计算核心方法。 Kalmam滤波。
/// 观测量的顺序是先伪距观测量，后载波观测量，观测量的总数为卫星数量的两倍。
/// 参数数量为卫星数量加5,卫星数量对应各个模糊度，5为3个位置量xyz，1个接收机钟差量，1个对流程湿分量。
/// </summary>
/// <param name="recInfo">接收信息</param>
/// <param name="option">解算选项</param>
/// <param name="lastPppResult">上次解算结果（用于 Kalman 滤波）,若为null则使用初始值计算</param>
/// <returns></returns>
public override SingleSiteGnssResult CaculateKalmanFilter(EpochInformation recInfo, SingleSiteGnssResult lastPppResult = null)
{
PppResult last = null;
if (lastPppResult != null)
{
last = (PppResult)lastPppResult;
}
// ISatWeightProvider SatWeightProvider = new SatElevateAndRangeWeightProvider();
//ISatWeightProvider SatWeightProvider = new SatElevateWeightProvider();
MatrixBuilder.SetMaterial(recInfo).SetPreviousProduct(lastPppResult);
MatrixBuilder.Build();
if (this.MatrixBuilder.ObsCount > 0)
{
// this.Adjustment = new KalmanFilter( this.MatrixBuilder);
this.Adjustment = this.RunAdjuster(BuildAdjustObsMatrix(this.CurrentMaterial));
////尝试固定模糊度 cuiyang 2015.07
//int fixFlag = Ppp_AR.Process(recInfo, Adjustment);
#region 具有条件的参数平差
// this.Adjustment.restrictadjust();
#endregion
#region PPP模糊度固定
foreach (var sat in recInfo.EnabledPrns)
{
if (recInfo.SlipedPrns.Contains(sat)) //主要是针对 1.首次观测到某颗卫星 2.某颗卫星出现在第二个弧段，两个弧段的MW不相等
{
if (MwInfoDic.ContainsKey(sat))
{
MwInfoDic.Remove(sat);
}
continue;
}
if (!MwInfoDic.ContainsKey(sat)) //第一个没有周跳的历元
{
MwInfoDic[sat] = new SmoothValue(100, true)
{
Name = sat.ToString()
};
}
MwInfoDic[sat].Regist(recInfo[sat].Combinations.MwRangeCombination.Value);
}
List <int> cyclesat = new List <int>(); //将有周跳的卫星挑出来
foreach (var sat in recInfo.SlipedPrns)
{
cyclesat.Add(sat.PRN);
}
if (MwInfoDic.Count > 0)
{
Dictionary <int, double> MWs = new Dictionary <int, double>();
foreach (var sat in recInfo.EnabledPrns)
{
if (!recInfo.SlipedPrns.Contains(sat))
{
int num = sat.PRN;
MWs.Add(num, MwInfoDic[sat].Value); //宽巷模糊度的历元平滑值
}
}
IMatrix new_estimated = this.Adjustment.PppArmbiResolve(MWs, cyclesat);
}
#endregion
PppResult result = new PppResult(recInfo, Adjustment, this.MatrixBuilder.GnssParamNameBuilder);
// result.PreviousResult = lastPppResult;
//模糊度设置
IonoFreeAmbiguityMgr.SetIonoFreeCombination(result);
return(result);
}
else
{
return(null);
}
}
