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create_obs_matrices.m
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create_obs_matrices.m
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function [L, B, DU, CL, obs_qty] = create_obs_matrices(epoch, obs_types, dtrec_idx)
const;
load('dane_do_test.mat')
X1 = X(1,:)'; %SEPT
X2 = X(2,:)'; % SEP2
epochs = epoch;
fodw = 298.2572221;
tau1 = 0.07;% przybli¿ony
tau2 = 0.07;
% do stochastycznego
ac = 0.75;
sigma = 0.002;
phase_freq = [fE1 fE6 fE5 fE7 fE8];
system = 'E';
[sysPrefix, ~] = sysGNSS(system);
fail_sats = [20 22];
[~, ~, H1] = togeod(a, fodw, X1(1), X1(2), X1(3));
[~, ~, H2] = togeod(a, fodw, X2(1), X2(2), X2(3));
for i=1:length(epochs)
L_L_all = [];
L_c_all = [];
B = [];
DU_L = [];
DU_c = [];
CL_L = [];
CL_c = [];
obs_qty_C = [];
obs_qty_L = [];
i_epoch = find(cell2mat(obsTable1(:,1))==epochs(i)); % indeks wiersza w obsMatrix
for x = 1:14
con1 = find(~isnan(obsMatrix1(i_epoch, :, x)));
cons1 = find(~isnan(obsMatrix1(i_epoch, :, x+1)));
constellation1{x} = intersect(con1, cons1, 'stable');
con2 = find(~isnan(obsMatrix2(i_epoch, :, x)));
cons2 = find(~isnan(obsMatrix2(i_epoch, :, x+1)));
constellation2{x} = intersect(con2, cons2, 'stable');
end
for cc = 1:14
constel{cc} = intersect(cell2mat(constellation1(cc)), cell2mat(constellation2(cc)), 'stable');
end
act_constellation = mintersect(cell2mat(constel(1)), cell2mat(constel(2)), cell2mat(constel(3)),...
cell2mat(constel(4)),cell2mat(constel(5)),cell2mat(constel(6)),cell2mat(constel(7)),...
cell2mat(constel(8)), cell2mat(constel(9)), cell2mat(constel(10)), cell2mat(constel(11)),...
cell2mat(constel(12)), cell2mat(constel(13)), cell2mat(constel(14)));
act_constellation = setdiff(act_constellation, fail_sats); % usuniêcie fail
nsat = length(act_constellation);
for j=1:length(obs_types)
i_obs = find(string(obsType1(:))==obs_types(j)); % indeks warstwy w obsMatrix
% konstelacje dla obu odbiorników w danej epoce
% act_constellation_1 = find(~isnan(obsMatrix1(i_epoch,:,i_obs)));
% act_constellation_2 = find(~isnan(obsMatrix2(i_epoch,:,i_obs)));
% czêœæ wspólna konstelacji
% act_constellation = intersect(act_constellation_1, act_constellation_2, 'stable');
for k=1:nsat
prn_idx = act_constellation(k);
prn_num = act_constellation(k) + sysPrefix;
% interpolacja wsp satelity na epoke
i_sp3 = find((eph(:,2)==prn_num));
X_int = eph(i_sp3,1);
Y_int = [eph(i_sp3,3) eph(i_sp3,4) eph(i_sp3,5)];
Xs = lagrange(X_int, Y_int, epochs(i), 10);
% pêtla do obliczenia tau
for s=1:2
if (s > 1)
tau1 = (geo1(k))/c;
tau2 = (geo2(k))/c;
end
Xs1 = e_r_corr(tau1, Xs');
Xs2 = e_r_corr(tau2, Xs');
[az1(k), w1(k), geo1(k)] = topocent(X1, Xs1-X1);
[az2(k), w2(k), geo2(k)] = topocent(X2, Xs2-X2);
Xs1 = Xs1';
Xs2 = Xs2';
end
Xs1 = [];
Xs2 = [];
% wsp sat po poprawce zegara odbiornika i tau
Xs1 = lagrange(X_int, Y_int, epochs(i)-dtrec1(dtrec_idx,2)-tau1, 10);
Xs2 = lagrange(X_int, Y_int, epochs(i)-dtrec2(dtrec_idx,2)-tau2, 10);
% znowu obrót
Xs1 = e_r_corr(tau1, Xs1');
Xs2 = e_r_corr(tau2, Xs2');
%ostateczne wartoœci azymutu, wysokoœci, odleglosci i tropo
[azymut1(k), wys1(k), geom1(k)] = topocent(X1, Xs1-X1);
[azymut2(k), wys2(k), geom2(k)] = topocent(X2, Xs2-X2);
dtropo1(k)=tropo(wys1(k), H1);
dtropo2(k)=tropo(wys2(k), H2);
u(k,:) = (Xs2 - X2)/geom2(k); % wersory u
C(k) = (1+ac/sind(wys2(k)))^2 * sigma^2; % do stochastycznego
obs1(k) = obsMatrix1(i_epoch, prn_idx, i_obs);
obs2(k) = obsMatrix2(i_epoch, prn_idx, i_obs);
% satelita referencyjny
if k==nsat
sat_ref1 = find_ref_sat(wys1);
sat_ref2 = find_ref_sat(wys2);
%sprawdzenie czy obserwuje wszystkie sygna³y
% ustawienie na pierwszym miejscu w obserwacjach
while 1
if any(isnan(obsMatrix1(i_epoch, sat_ref1,:)))
wys11 = wys1;
wys11(sat_ref1) = [];
sat_ref1 = find_ref_sat(wys11);
sat_ref1 = find(wys1==wys11(sat_ref1));
elseif any(isnan(obsMatrix2(i_epoch, sat_ref2,:)))
wys22 = wys2;
wys22(sat_ref2) = [];
sat_ref2 = find_ref_sat(wys22);
sat_ref2 = find(wys2==wys22(sat_ref2));
end
if all(~isnan(obsMatrix1(i_epoch, sat_ref1,:))) && all(~isnan(obsMatrix2(i_epoch, sat_ref2,:)))
break
end
end
obs1([1 sat_ref1]) = obs1([sat_ref1 1]);
obs2([1 sat_ref2]) = obs2([sat_ref2 1]);
dtropo1([1 sat_ref1]) = dtropo1([sat_ref1 1]);
dtropo2([1 sat_ref2]) = dtropo2([sat_ref2 1]);
geom1([1 sat_ref1]) = geom1([sat_ref1 1]);
geom2([1 sat_ref2]) = geom2([sat_ref2 1]);
wys1([1 sat_ref1]) = wys1([sat_ref1 1]);
wys2([1 sat_ref2]) = wys2([sat_ref2 1]);
u([1 sat_ref2],:) = u([sat_ref2 1],:);
C([1 sat_ref2]) = C([sat_ref2 1]);
end
end
% zapis obserwacji do odpowiedniej tablicy wed³ug typu
if string(obs_types(j)) == "C1C" || string(obs_types(j)) == "L1C"
% CODE
if string(obs_types(j)) == "C1C"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_c1 = C*2500; %%%%%
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_c = design_matrix(length(single_diff)); %%%%%%
double_diff = d_c*single_diff;
double_diff_tropo = d_c*single_diff_tropo;
double_diff_geom = d_c*single_diff_geom;
du_c1 = d_c * u;
L_c = [double_diff];
T_c = [double_diff_tropo];
R_c = [double_diff_geom];
L_c1 = L_c - R_c - T_c;
C0 = diag(C_c1);
Cc_1 = 2 * d_c * C0 * d_c';
L_c_all = [L_c_all; L_c1];
DU_c = [DU_c; du_c1];
CL_c = blkdiag(CL_c, Cc_1);
obs_qty_C = [obs_qty_C; obs_types(j) length(double_diff)];
elseif string(obs_types(j)) == "L1C"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_L1 = C;
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_L = design_matrix(length(single_diff));
double_diff = d_L*single_diff*(c/phase_freq(1));
double_diff_tropo = d_L*single_diff_tropo;
double_diff_geom = d_L*single_diff_geom;
du_L1 = d_L * u;
L_L = [double_diff];
T_L = [double_diff_tropo];
% ?????
R_L = [double_diff_geom];
%macierz B
B_L = eye(length(double_diff))*(c/phase_freq(1));
const_L = act_constellation;
L_1 = L_L - R_L - T_L;
B1 = blkdiag(B_L);
B_1 = [B1];
C0 = diag(C_L1);
CL_1 = 2 * d_L * C0 * d_L';
L_L_all = [L_L_all; L_1];
B = blkdiag(B, B_1);
DU_L = [DU_L; du_L1];
CL_L = blkdiag(CL_L, CL_1);
obs_qty_L = [obs_qty_L; obs_types(j) length(double_diff)];
end
elseif string(obs_types(j)) == "C6C" || string(obs_types(j)) == "L6C"
% CODE
if string(obs_types(j)) == "C6C"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_c2 = C*2500; %%%%%
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_c = design_matrix(length(single_diff)); %%%%%%
double_diff = d_c*single_diff;
double_diff_tropo = d_c*single_diff_tropo;
double_diff_geom = d_c*single_diff_geom;
du_c2 = d_c * u;
L_c = [double_diff];
T_c = [double_diff_tropo];
R_c = [double_diff_geom];
L_c2 = L_c - R_c - T_c;
C0 = diag(C_c2);
Cc_2 = 2 * d_c * C0 * d_c';
L_c_all = [L_c_all; L_c2];
DU_c = [DU_c; du_c2];
CL_c = blkdiag(CL_c, Cc_2);
obs_qty_C = [obs_qty_C; obs_types(j) length(double_diff)];
elseif string(obs_types(j)) == "L6C"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_L2 = C;
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_L = design_matrix(length(single_diff));
double_diff = d_L*single_diff*(c/phase_freq(2));
double_diff_tropo = d_L*single_diff_tropo;
double_diff_geom = d_L*single_diff_geom;
du_L2 = d_L * u;
L_L = [double_diff];
T_L = [double_diff_tropo];
% ?????
R_L = [double_diff_geom];
%macierz B
B_L = eye(length(double_diff))*(c/phase_freq(2));
const_L = act_constellation;
L_2 = L_L - R_L - T_L;
B1 = blkdiag(B_L);
B_2 = [B1];
C0 = diag(C_L2);
CL_2 = 2 * d_L * C0 * d_L';
L_L_all = [L_L_all; L_2];
B = blkdiag(B, B_2);
DU_L = [DU_L; du_L2];
CL_L = blkdiag(CL_L, CL_2);
obs_qty_L = [obs_qty_L; obs_types(j) length(double_diff)];
end
elseif string(obs_types(j)) == "C5Q" || string(obs_types(j)) == "L5Q"
% CODE
if string(obs_types(j)) == "C5Q"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_c3 = C*2500; %%%%%
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_c = design_matrix(length(single_diff)); %%%%%%
double_diff = d_c*single_diff;
double_diff_tropo = d_c*single_diff_tropo;
double_diff_geom = d_c*single_diff_geom;
du_c3 = d_c * u;
L_c = [double_diff];
T_c = [double_diff_tropo];
R_c = [double_diff_geom];
L_c3 = L_c - R_c - T_c;
C0 = diag(C_c3);
Cc_3 = 2 * d_c * C0 * d_c';
L_c_all = [L_c_all; L_c3];
DU_c = [DU_c; du_c3];
CL_c = blkdiag(CL_c, Cc_3);
obs_qty_C = [obs_qty_C; obs_types(j) length(double_diff)];
elseif string(obs_types(j)) == "L5Q"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_L3 = C;
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_L = design_matrix(length(single_diff));
double_diff = d_L*single_diff*(c/phase_freq(3));
double_diff_tropo = d_L*single_diff_tropo;
double_diff_geom = d_L*single_diff_geom;
du_L3 = d_L * u;
L_L = [double_diff];
T_L = [double_diff_tropo];
% ?????
R_L = [double_diff_geom];
%macierz B
B_L = eye(length(double_diff))*(c/phase_freq(3));
const_L = act_constellation;
L_3 = L_L - R_L - T_L;
B1 = blkdiag(B_L);
B_3 = [B1];
C0 = diag(C_L3);
CL_3 = 2 * d_L * C0 * d_L';
L_L_all = [L_L_all; L_3];
B = blkdiag(B, B_3);
DU_L = [DU_L; du_L3];
CL_L = blkdiag(CL_L, CL_3);
obs_qty_L = [obs_qty_L; obs_types(j) length(double_diff)];
end
elseif string(obs_types(j)) == "C7Q" || string(obs_types(j)) == "L7Q"
% CODE
if string(obs_types(j)) == "C7Q"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_c4 = C*2500; %%%%%
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_c = design_matrix(length(single_diff)); %%%%%%
double_diff = d_c*single_diff;
double_diff_tropo = d_c*single_diff_tropo;
double_diff_geom = d_c*single_diff_geom;
du_c4 = d_c * u;
L_c = [double_diff];
T_c = [double_diff_tropo];
R_c = [double_diff_geom];
L_c4 = L_c - R_c - T_c;
C0 = diag(C_c4);
Cc_4 = 2 * d_c * C0 * d_c';
L_c_all = [L_c_all; L_c4];
DU_c = [DU_c; du_c4];
CL_c = blkdiag(CL_c, Cc_4);
obs_qty_C = [obs_qty_C; obs_types(j) length(double_diff)];
elseif string(obs_types(j)) == "L7Q"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_L4 = C;
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_L = design_matrix(length(single_diff));
double_diff = d_L*single_diff*(c/phase_freq(4));
double_diff_tropo = d_L*single_diff_tropo;
double_diff_geom = d_L*single_diff_geom;
du_L4 = d_L * u;
L_L = [double_diff];
T_L = [double_diff_tropo];
% ?????
R_L = [double_diff_geom];
%macierz B
B_L = eye(length(double_diff))*(c/phase_freq(4));
const_L = act_constellation;
L_4 = L_L - R_L - T_L;
B1 = blkdiag(B_L);
B_4 = [B1];
C0 = diag(C_L4);
CL_4 = 2 * d_L * C0 * d_L';
L_L_all = [L_L_all; L_4];
B = blkdiag(B, B_4);
DU_L = [DU_L; du_L4];
CL_L = blkdiag(CL_L, CL_4);
obs_qty_L = [obs_qty_L; obs_types(j) length(double_diff)];
end
elseif string(obs_types(j)) == "C8Q" || string(obs_types(j)) == "L8Q"
% CODE
if string(obs_types(j)) == "C8Q"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_c5 = C*2500; %%%%%
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_c = design_matrix(length(single_diff)); %%%%%%
double_diff = d_c*single_diff;
double_diff_tropo = d_c*single_diff_tropo;
double_diff_geom = d_c*single_diff_geom;
du_c5 = d_c * u;
L_c = [double_diff];
T_c = [double_diff_tropo];
R_c = [double_diff_geom];
L_c5 = L_c - R_c - T_c;
C0 = diag(C_c5);
Cc_5 = 2 * d_c * C0 * d_c';
L_c_all = [L_c_all; L_c5];
DU_c = [DU_c; du_c5];
CL_c = blkdiag(CL_c, Cc_5);
obs_qty_C = [obs_qty_C; obs_types(j) length(double_diff)];
elseif string(obs_types(j)) == "L8Q"
a = obs1;
b = obs2;
dtropo1 = dtropo1;
dtropo2 = dtropo2;
geom1 = geom1;
geom2 = geom2;
u = u;
C_L5 = C;
single_diff = (b - a)';
single_diff_tropo = (dtropo2 - dtropo1)';
single_diff_geom = (geom2 - geom1)';
d_L = design_matrix(length(single_diff));
double_diff = d_L*single_diff*(c/phase_freq(5));
double_diff_tropo = d_L*single_diff_tropo;
double_diff_geom = d_L*single_diff_geom;
du_L5 = d_L * u;
L_L = [double_diff];
T_L = [double_diff_tropo];
% ?????
R_L = [double_diff_geom];
%macierz B
B_L = eye(length(double_diff))*(c/phase_freq(5));
const_L = act_constellation;
L_5 = L_L - R_L - T_L;
B1 = blkdiag(B_L);
B_5 = [B1];
C0 = diag(C_L5);
CL_5 = 2 * d_L * C0 * d_L';
L_L_all = [L_L_all; L_5];
B = blkdiag(B, B_5);
DU_L = [DU_L; du_L5];
CL_L = blkdiag(CL_L, CL_5);
obs_qty_L = [obs_qty_L; obs_types(j) length(double_diff)];
end
end
% czyszczenie przed nast iteracj¹
obs1 = [];
obs2 = [];
wys1 = [];
wys2 = [];
geom1 = [];
geom2 = [];
dtropo1 = [];
dtropo2 = [];
u = [];
C = [];
end
end
L = [L_L_all; L_c_all];
B = blkdiag(B);
B0 = zeros(size(B));
B = [B; B0];
DU = [DU_L; DU_c];
CL = blkdiag(CL_L, CL_c);
obs_qty = [obs_qty_L; obs_qty_C];
end