/** * @file MWCSDetector.hpp * This is a class to detect cycle slips using the Melbourne-Wubbena combination. */#ifndef MWCSDETECTOR_GPSTK#define MWCSDETECTOR_GPSTK//============================================================================////  This file is part of GPSTk, the GPS Toolkit.////  The GPSTk is free software; you can redistribute it and/or modify//  it under the terms of the GNU Lesser General Public License as published//  by the Free Software Foundation; either version 2.1 of the License, or//  any later version.////  The GPSTk is distributed in the hope that it will be useful,//  but WITHOUT ANY WARRANTY; without even the implied warranty of//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the//  GNU Lesser General Public License for more details.////  You should have received a copy of the GNU Lesser General Public//  License along with GPSTk; if not, write to the Free Software Foundation,//  Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA//  //  Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007////============================================================================#include "DataStructures.hpp"#include <list>namespace gpstk{    /** @addtogroup GPSsolutions */    //@{    /** This is a class to detect cycle slips using MW observables.     * This class is meant to be used with the GNSS data structures objects     * found in "DataStructures" class.     *     * A typical way to use this class follows:     *     * @code     *   RinexObsStream rin("ebre0300.02o");     *     *   gnssRinex gRin;     *   ComputeMelbourneWubbena getMW;     *   MWCSDetector markCSMW;     *     *   while(rin >> gRin) {     *      gRin >> getMW >> markCSMW;     *   }     * @endcode     *     * The "MWCSDetector" object will visit every satellite in the GNSS data     * structure that is "gRin" and will decide if a cycle slip has happened in the     * given observable.     *     * The algorithm will use MW observables, and the LLI1 and LLI2 indexes.     * The result (a 0 if a cycle slip is found, 1 otherwise) will be stored in the     * data structure both as the CSL1 and CSL2 indexes.     *     * In taking the decision, this algorithm will use criteria as the maximum     * interval of time between two successive epochs and the maximum number of      * Melbourne-Wubbena wavelenghts allowed above or below the MW combination      * average for that arc.     *      * The default values are usually fine, but nevertheless you may change them      * with the appropriate methods. The former is of special importance for the     * maximum interval time, that should be adjusted to your sampling rate. By     * default it is 61 seconds, adapted to 30 seconds per sample RINEX files.     *     * When used with the ">>" operator, this class returns the same incoming     * data structure with the cycle slip indexes inserted along their corresponding     * satellites. Be warned that if a given satellite does not have the      * observations required, it will be summarily deleted from the data     * structure.     *     * You should be aware that the Melbourne-Wubbena combination is based on a     * mix of code and phase observations, and it is very noisy. Therefore, it      * has a tendency to yield a fair number of false positives if you are not     * careful with its parameters. Because of this, the default parameters are     * very conservative, i.e., the detector is NOT much sensitive.     *     * Best results are achieved when using this detector as a "backup" detector     * for detectors based in LI combination, like this:     *     * @code     *   RinexObsStream rin("ebre0300.02o");     *     *   gnssRinex gRin;     *   ComputeLI getLI;     *   LICSDetector markCSLI;     *   ComputeMelbourneWubbena getMW;     *   MWCSDetector markCSMW;     *     *   while(rin >> gRin) {     *      gRin >> getLI >> getMW >> markCSLI >> markCSMW;     *   }     * @endcode     *     * @sa LICSDetector.hpp for more information.     *     * \warning Cycle slip detectors are objets that store their internal state,     * so you MUST NOT use the SAME object to process DIFFERENT data streams.     *     */        class MWCSDetector    {    public:        /// Default constructor, setting default parameters.        MWCSDetector() : obsType(TypeID::MWubbena), lliType1(TypeID::LLI1), lliType2(TypeID::LLI2), resultType1(TypeID::CSL1), resultType2(TypeID::CSL2), deltaTMax(61.0), maxNumLambdas(10.0), useLLI(true) {};        /** Common constructor         *         * @param mLambdas      Maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).         * @param dtMax         Maximum interval of time allowed between two successive epochs, in seconds.         */        MWCSDetector(const double& mLambdas, const double& dtMax = 61.0, const bool& use = true) : obsType(TypeID::MWubbena), lliType1(TypeID::LLI1), lliType2(TypeID::LLI2), resultType1(TypeID::CSL1), resultType2(TypeID::CSL2), useLLI(use)        {            setDeltaTMax(dtMax);            setMaxNumLambdas(mLambdas);        };        /** Returns a satTypeValueMap object, adding the new data generated when calling this object.         *         * @param epoch     Time of observations.         * @param gData     Data object holding the data.         * @param epochflag Epoch flag.         */        virtual satTypeValueMap& Detect(const DayTime& epoch, satTypeValueMap& gData, const short& epochflag=0)        {            double value1(0.0);            double lli1(0.0);            double lli2(0.0);            SatIDSet satRejectedSet;            // Loop through all the satellites            satTypeValueMap::iterator it;            for (it = gData.begin(); it != gData.end(); ++it)             {                try                {                    // Try to extract the values                    value1 = (*it).second(obsType);                }                catch(...)                {                    // If some value is missing, then schedule this satellite for removal                    satRejectedSet.insert( (*it).first );                    continue;                }                if (useLLI)                {                    try                    {                        // Try to get the LLI1 index                        lli1  = (*it).second(lliType1);                    }                    catch(...)                    {                        // If LLI #1 is not found, set it to zero                        // You REALLY want to have BOTH LLI indexes properly set                        lli1 = 0.0;                    }                    try                    {                        // Try to get the LLI2 index                        lli2  = (*it).second(lliType2);                    }                    catch(...)                    {                        // If LLI #2 is not found, set it to zero                        // You REALLY want to have BOTH LLI indexes properly set                        lli2 = 0.0;                    }                }                // If everything is OK, then get the new values inside the structure                // This way of doing it allows concatenation of several different cycle slip detectors                (*it).second[resultType1] += getDetection(epoch, (*it).first, (*it).second, epochflag, value1, lli1, lli2);                if ( (*it).second[resultType1] > 1.0 ) (*it).second[resultType1] = 1.0;                // We will mark both cycle slip flags                (*it).second[resultType2] = (*it).second[resultType1];            }            // Remove satellites with missing data            gData.removeSatID(satRejectedSet);            return gData;        };        /** Method to set the maximum interval of time allowed between two successive epochs.         * @param maxDelta      Maximum interval of time, in seconds         */        virtual void setDeltaTMax(const double& maxDelta)        {            // Don't allow delta times less than or equal to 0            if (maxDelta > 0.0) deltaTMax = maxDelta; else deltaTMax = 61.0;        };