/// <summary>
/// 计算相位平滑伪距值
/// 对于30s采样率的
/// </summary>
/// <remarks>
/// 参考 任晓东. 多系统GNSS电离层TEC高精度建模及差分码偏差精确估计[D].
/// </remarks>
public void SmoothP41()
{
double f1 = Common.GPS_F1;
double f2 = Common.GPS_F2;
OArc arc = null;
foreach (var prn in Arcs.Keys)
{
for (int i = 0; i < Arcs[prn].Count; i++)
{
// 取某颗卫星的一个观测弧段
arc = Arcs[prn][i];
// 整个弧段P4+L4的均值<P4+L4>
double p4l4 = 0;
for (int j = 1; j < arc.Length; j++)
{
p4l4 = p4l4 * j / (j + 1) + arc[j]["P4"] / (j + 1);
}
// 平滑P4
for (int j = 0; j < arc.Length; j++)
{
arc[j].SatData.Add("SP4", arc[j]["L4"] - p4l4);
}
}
}
}
/// <summary>
/// 将弧段以index为界分为2段,index为第2段的起始索引
/// </summary>
/// <param name="index">第二段开始的索引</param>
/// <returns></returns>
public OArc[] Split(int index)
{
if (index < 0 || index >= Length)
{
return(null);
}
// 第一段
OArc arc1 = new OArc();
arc1.PRN = PRN;
arc1.File = File;
arc1.Station = Station;
arc1.StartIndex = StartIndex;
arc1.EndIndex = StartIndex + index - 1;
// 第2段[index,end]
OArc arc2 = new OArc();
arc2.Station = Station;
arc2.File = File;
arc2.PRN = PRN;
arc2.StartIndex = StartIndex + index;
arc2.EndIndex = EndIndex;
// EndIndex = StartIndex + (index - 1 < 0 ? 0 : index - 1);
return(new OArc[] { arc1, arc2 });
}
/// <summary>
/// 浅拷贝
/// </summary>
/// <param name="arc"></param>
public OArc(OArc arc)
{
PRN = arc.PRN;
File = arc.File;
Station = arc.Station;
StartIndex = arc.StartIndex;
EndIndex = arc.EndIndex;
}
/// <summary>
/// 对弧段进行滑动窗口拟合
/// </summary>
/// <param name="arc"></param>
/// <param name="length">窗口的长度 单位:历元</param>
/// <param name="order">多项式拟合的阶数</param>
public void Fit(ref OArc arc, int length, int order)
{
int si = 0;
int ei = si + length;
double sp4 = 0d;
PolynomialModel pm = new PolynomialModel();
while (si < arc.Length)
{
if (ei > arc.Length)
{
ei = arc.Length;
}
// 只有一个历元
if (si == ei)
{
arc[si]["vtec"] = 0d;
break;
}
List <double> x = new List <double>();
List <double> y = new List <double>();
List <int> index = new List <int>();
for (int i = si; i < ei; i++)
{
sp4 = arc[i]["vtec"];
if (Math.Abs(sp4) > 1e-10)
{
x.Add(i);
y.Add(sp4);
index.Add(i);
}
}
double sigma;
List <double> residue;
if (pm.Fit(x, y, out residue, out sigma))
{
for (int i = 0; i < x.Count; i++)
{
// 剔粗差
if (Math.Abs(residue[i]) < 5 * sigma && Math.Abs(residue[i]) < 2.5)
{
arc[index[i]]["vtec"] = residue[i];
}
else
{
arc[index[i]]["vtec"] = 0d;
}
}
}
si = ei;
ei += length;
}
}
public void DetectArcs()
{
for (int i = 0; i < 32; i++)
{
string prn = string.Format("G{0:0#}", i + 1);
List <OArc> arcList = OArc.Detect(this, prn);
Arcs.Add(prn, arcList);
}
}
/// <summary>
/// 计算相位平滑伪距值
/// </summary>
public void SmoothP4()
{
ObsHelper.CalL4(ref Epoches);
ObsHelper.CalP4(ref Epoches);
foreach (var prn in Arcs.Keys)
{
for (int i = 0; i < Arcs[prn].Count; i++)
{
OArc arc = Arcs[prn][i];
Smoother.SmoothP4ByL4(ref arc);
}
}
}
/// <summary>
/// 滑动平均
/// </summary>
/// <param name="arc">弧段</param>
/// <param name="meas">要平滑的观测值名称</param>
/// <param name="order">阶数</param>
public static void Smooth(ref OArc arc, string meas, int order)
{
if (arc is null)
{
return;
}
int left = 0, right = 0;
if (order % 2 == 0)
{
left = order / 2;
right = left - 1;
}
else
{
left = right = (order - 1) / 2;
}
double[] values = new double[arc.Length];
double[] values1 = new double[arc.Length];
for (int i = left; i < arc.Length - right; i++)
{
values[i] = arc[i][meas];
int k = 0;
double mean = 0d;
for (int j = i - left; j < i + right + 1; j++)
{
if (Math.Abs(arc[j][meas]) < 1e-10)
{
continue;
}
mean = mean * k / (k + 1) + arc[j][meas] / (k + 1);
k++;
}
values[i] = mean;
}
for (int i = 0; i < arc.Length; i++)
{
arc[i]["dtec"] = arc[i][meas] - values[i];
arc[i][meas] = values[i];
}
arc.StartIndex += left;
arc.EndIndex -= right;
}
public void DetectCycleSlip()
{
for (int k = 0; k < Arcs.Keys.Count; k++)
{
string prn = Arcs.Keys.ElementAt(k);
//// 旧的弧段
Stack <OArc> oldArcs = new Stack <OArc>();
//// 探测后新的弧段
List <OArc> newArcs = new List <OArc>();
for (int i = Arcs[prn].Count - 1; i >= 0; i--)
{
oldArcs.Push(Arcs[prn][i].Copy());
}
int index = -1;
OArc arc = null;
while (oldArcs.Count() > 0)
{
arc = oldArcs.Pop();
if (ObsHelper.DetectCycleSlip(ref arc, out index))
{
// 根据返回周跳的索引将弧段分为2段
OArc[] arcs = arc.Split(index);
// 前一段加入已检测的列表
if (arcs[0].Length >= Options.ARC_MIN_LENGTH)
{
newArcs.Add(arcs[0]);
}
// 后一段加入未检测列表
if (arcs[1].Length >= Options.ARC_MIN_LENGTH)
{
oldArcs.Push(arcs[1]);
}
}
else
{
newArcs.Add(arc);
}
}
Arcs[prn] = newArcs;
}
}
public void CalVTEC()
{
foreach (var prn in Arcs.Keys)
{
for (int i = 0; i < Arcs[prn].Count; i++)
{
OArc arc = Arcs[prn][i];
for (int j = 0; j < arc.Length; j++)
{
if (Math.Abs(arc[j]["SP4"]) > 1e-10)
{
arc[j]["vtec"] = Iono.STEC2VTEC(9.52437 * arc[j]["SP4"], arc[j].Elevation);
}
}
}
}
}
public void CalP4L4()
{
OArc arc = null;
double p1 = 0d, p2 = 0d, l1 = 0d, l2 = 0d;
foreach (var prn in Arcs.Keys)
{
for (int i = 0; i < Arcs[prn].Count; i++)
{
// 取某颗卫星的一个观测弧段
arc = Arcs[prn][i];
for (int j = 0; j < arc.Length; j++)
{
p1 = arc[j].SatData["P1"];
p2 = arc[j].SatData["P2"];
l1 = arc[j].SatData["L1"];
l2 = arc[j].SatData["L2"];
if (p1 == 0d)
{
p1 = arc[j].SatData["C1"];
}
if (p1 != 0d || p2 != 0d)
{
arc[j]["P4"] = p2 - p1;
}
else
{
arc[j]["P4"] = 0;
}
if (l1 != 0 && l2 != 0)
{
arc[j]["L4"] = l2 - l1;
}
else
{
arc[j]["L4"] = 0;
}
}
}
}
}
/// <summary>
/// 平滑一个弧段
/// </summary>
/// <param name="arc"></param>
public static void SmoothP4ByL4_1(ref OArc arc)
{
double power = 1;
// P4预报值
double p4_est = 0d;
for (int i = 1; i < arc.Length; i++)
{
power = power - DEC_POWER;
if (power < MIN_POWER)
{
power = MIN_POWER;
}
p4_est = arc[i - 1]["P4"] + arc[i]["L4"] - arc[i - 1]["L4"];
arc[i]["P4"] = arc[i]["P4"] * power + (1 - power) * p4_est;
}
}
/// <summary>
/// 计算ROTI
/// </summary>
/// <param name="arc"></param>
/// <remarks>
/// 2019.研究台风引起电离层扰动的形态特征.许九靖. 安徽理工大学.
/// </remarks>
public static void CalROTI(ref OArc arc)
{
if (arc is null)
{
return;
}
// 利用相位观测值计算相对STEC信号
for (int i = 1; i < arc.Length; i++)
{
if (Math.Abs(arc[i]["L4"]) < 1e-13 ||
Math.Abs(arc[i + 1]["L4"]) < 1e-13)
{
continue;
}
arc[i]["ltec"] = 9.52437 * (arc[i]["L4"] - arc[i - 1]["L4"]);
}
int order = 9;
int left, right;
left = right = (order - 1) / 2;
Vector <double> seg = new DenseVector(order);
for (int i = left; i < arc.Length - right; i++)
{
for (int j = 0; j < order; j++)
{
seg[j] = arc[i - left + j]["ltec"];
}
arc[i]["roti"] = Math.Sqrt(seg.DotProduct(seg) / order - Math.Pow(seg.Mean(), 2));
}
arc.StartIndex += left + 1;
arc.EndIndex -= right + 1;
}
public static void CalDoubleDiff(ref OArc arc)
{
if (arc is null)
{
return;
}
for (int i = 1; i < arc.Length - 1; i++)
{
if (Math.Abs(arc[i - 1]["L4"]) < 1e-13 ||
Math.Abs(arc[i]["L4"]) < 1e-13 ||
Math.Abs(arc[i + 1]["L4"]) < 1e-13)
{
continue;
}
arc[i]["L6"] = 9.52437 * ((arc[i + 1]["L4"] - arc[i]["L4"]) -
(arc[i]["L4"] - arc[i - 1]["L4"]));
}
arc.StartIndex += 1;
arc.EndIndex -= 1;
}
public void Fit(ref OArc arc)
{
List <int> index = new List <int>();
List <double> x = new List <double>();
List <double> y = new List <double>();
for (int i = 0; i < arc.Length; i++)
{
if (Math.Abs(arc[i]["SP4"]) > 1e-3)
{
index.Add(i);
x.Add(i);
y.Add(arc[i]["SP4"]);
}
}
PolynomialModel pm = PolynomialModel.Fit(x, y, 3);
for (int i = 0; i < x.Count; i++)
{
arc[index[i]]["SP4"] -= pm.CalFit(x[i]);
}
}
/// <summary>
/// 平滑一个弧段
/// </summary>
/// <param name="arc"></param>
public static void SmoothP4ByL4(ref OArc arc, string type = "hatch")
{
if (type == "hatch")
{
// 整个弧段P4+L4的均值<P4+L4>
int n = 0;
double p4, l4;
double p4l4 = 0d;
double[] p4l4All = new double[arc.Length];
for (int i = 0; i < arc.Length; i++)
{
p4 = arc[i]["P4"];
l4 = arc[i]["L4"];
if (p4 != 0 && l4 != 0)
{
p4l4 += p4 + l4;
n++;
}
p4l4All[i] = p4 + l4;
}
if (n > 0)
{
p4l4 /= n;
}
// 平滑P4
for (int j = 0; j < arc.Length; j++)
{
p4 = arc[j]["P4"];
l4 = arc[j]["L4"];
arc[j].SatData["SP4"] = 0;
if (p4 != 0 && l4 != 0)
{
arc[j].SatData["SP4"] = p4l4 - l4;
}
}
}
else
{//双向hatch滤波
double[] sp4Forward = new double[arc.Length];
double[] sp4Backward = new double[arc.Length];
// 前向
double power = 1;
double MIN_POWER = 0.01;
double POWER_DEC = 0.02;
sp4Forward[0] = arc[0]["P4"];
for (int i = 1; i < arc.Length; i++)
{
power = power - POWER_DEC >= MIN_POWER ? power - POWER_DEC : MIN_POWER;
sp4Forward[i] = (sp4Forward[i - 1] + arc[i]["L4"] - arc[i - 1]["L4"]) * (1 - power) +
arc[i]["P4"] * power;
}
// 后向
power = 1d;
sp4Backward[arc.Length - 1] = arc[arc.Length - 1]["P4"];
for (int i = arc.Length - 2; i >= 0; i--)
{
power = power - POWER_DEC >= MIN_POWER ? power - POWER_DEC : MIN_POWER;
sp4Backward[i] = (sp4Forward[i + 1] + arc[i]["L4"] - arc[i + 1]["L4"]) * (1 - power) +
arc[i]["P4"] * power;
}
if (arc.Length > 60)
{
for (int i = 0; i < 30; i++)
{
arc[i]["SP4"] = sp4Backward[i];
}
for (int i = arc.Length - 1; i >= arc.Length - 30; i--)
{
arc[i]["SP4"] = sp4Forward[i];
}
for (int i = 30; i < arc.Length - 30; i++)
{
arc[i]["SP4"] = sp4Forward[i] / 2d + sp4Backward[i] / 2d;
}
}
else
{
int midIndex = arc.Length / 2;
for (int i = 0; i < midIndex; i++)
{
arc[i]["SP4"] = sp4Backward[i];
}
for (int i = midIndex; i < arc.Length; i++)
{
arc[i]["SP4"] = sp4Forward[i];
}
}
}
}
/// <summary>
/// 探测周跳
/// </summary>
/// <remarks>
/// GPS周跳探测与修复的算法研究与实现.彭秀英.2004
/// </remarks>
public static bool DetectCycleSlip(ref OArc arc, out int index)
{
index = -1;
// i-1历元宽巷模糊度估计值
double NW1 = 0d;
// i历元宽巷模糊度估计值
double NW2 = 0d;
// i+1历元宽巷模糊度估计值
double NW3 = 0d;
// i-1历元宽巷模糊度估计值精度
double delta1 = 0d;
// i历元宽巷模糊度估计值精度
double delta2 = 0d;
// GPS L1频率(Hz)
double f1 = Common.GPS_F1;
// GPS L2频率(Hz)
double f2 = Common.GPS_F2;
// GPS L1波长(m)
double l1 = Common.GPS_L1;
// GPS L2波长(m)
double l2 = Common.GPS_L2;
// L1精度(m)
double dL1 = Common.DELTA_L1;
// L2精度(m)
double dL2 = Common.DELTA_L2;
// P1精度(m)
double dP1 = Common.DELTA_P1;
// P2精度(m)
double dP2 = Common.DELTA_P2;
double vp1, vp2, vl1, vl2;
GetMeas(arc[0], out vp1, out vp2, out vl1, out vl2, out dP1);
// 初始化NW(i-1)
NW1 = (1 / (f1 - f2) *
(f1 * vl1 * l1 - f2 * vl2 * l2) -
1 / (f1 + f2) *
(f1 * vp1 + f2 * vp2)) / Common.GPS_Lw;
GetMeas(arc[1], out vp1, out vp2, out vl1, out vl2, out dP1);
// 初始化NW(i)
NW2 = (1 / (f1 - f2) *
(f1 * vl1 * l1 - f2 * vl2 * l2) -
1 / (f1 + f2) *
(f1 * vp1 + f2 * vp2)) / Common.GPS_Lw;
// 初始化δ(i-1)
delta1 = Math.Sqrt(
1 / Math.Pow(f1 - f2, 2) * (f1 * f1 * dL1 + f2 * f2 * dL2) +
1 / Math.Pow(f1 + f2, 2) * (f1 * f1 * dP1 + f2 * f2 + dP2)
);
// 前一历元gf值
double lstGF = arc[0]["GF"];
// 当前历元gf值
double curGF = arc[0]["GF"];
int arcLen = arc.Length - 1;
for (int i = 1; i < arcLen; i++)
{
if (!GetMeas(arc[i + 1], out vp1, out vp2, out vl1, out vl2, out _))
{
index = i + 1;
return(true);
}
NW3 = (1 / (f1 - f2) *
(f1 * vl1 * l1 - f2 * vl2 * l2) -
1 / (f1 + f2) *
(f1 * vp1 + f2 * vp2)) / Common.GPS_Lw;
delta2 = Math.Sqrt(delta1 * delta1 * i / (i + 1) + Math.Pow(NW2 - NW1, 2) / (i + 1));
// MW探测
if (Math.Abs(NW2 - NW1) > 4 * delta1)
{
if (Math.Abs(NW3 - NW2) < 1)
{
arc[i].CycleSlip = true;
}
else
{
arc[i].Outlier = true;
}
// 有周跳，分割成新弧段
//OArc newArc = arc.Split(i + 1);
//arc.Station.Arcs[arc.PRN].Add(newArc);
index = i + 1;
Common.msgBox.Print(string.Format("\r\n检测到周跳，时间:{0},历元:{1:0000},编号:{2}", arc[i + 1].Epoch, i + 1 + arc.StartIndex, arc[i + 1].SatPRN));
return(true);
}
NW1 = NW1 * i / (i + 1) + NW2 / (i + 1);
NW2 = NW3;
delta1 = delta2;
lstGF = curGF;
curGF = arc[i]["GF"];
if (arc[i].CycleSlip || arc[i].Outlier)
{
continue;
}
// GF探测
if (!arc[i].CycleSlip)
{
if (Math.Abs(curGF - lstGF) > Options.Threshold_GF)
{
arc[i].CycleSlip = true;
}
}
// 检查LLI
if (!arc[i].CycleSlip)
{
if (arc[i]["L1"] == 1 || arc[i]["L2"] == 1)
{
arc[i].CycleSlip = true;
}
}
}
return(false);
}
public static List <OArc> Detect(OStation sta, string prn, int minArcLen = -1)
{
if (sta is null)
{
return(null);
}
if (minArcLen < 0)
{
minArcLen = Options.ARC_MIN_LENGTH;
}
List <OArc> arcs = new List <OArc>();
int start = -1;
double l1, l2, p1, p2, c1;
for (int i = 0; i < sta.EpochNum; i++)
{
bool flag = true;
if (!sta.Epoches[i].AllSat.ContainsKey(prn))
{
flag = false;
}
else
{
l1 = sta.Epoches[i][prn]["L1"];
l2 = sta.Epoches[i][prn]["L2"];
p1 = sta.Epoches[i][prn]["P1"];
p2 = sta.Epoches[i][prn]["P2"];
c1 = sta.Epoches[i][prn]["C1"];
if (l1 == 0 || l2 == 0 || p2 == 0)
{
flag = false;
}
else if (p1 == 0 && c1 == 0)
{
flag = false;
}
else if (sta.Epoches[i][prn].Outlier)
{
flag = false;
}
else if (sta.Epoches[i][prn].CycleSlip)
{
flag = false;
}
}
if (flag)
{
// 弧段继续
if (start > -1)
{
continue;
}
// 弧段开始
else
{
start = i;
}
}
else
{
// 弧段结束
if (start > -1)
{
if (i - start > minArcLen)
{
OArc arc = new OArc();
arc.StartIndex = start + 10;
arc.EndIndex = i - 1 - 10;
arc.Station = sta;
arc.PRN = prn;
arcs.Add(arc);
}
start = -1;
}
else
{
continue;
}
}
}
return(arcs);
}