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/***********************************************/
/**
* @file gnssProcessingStepDisableTransmitterShadowEpochs.h
*
* @brief GNSS processing step: DisableTransmitterShadowEpochs.
*
* @author Torsten Mayer-Guerr
* @date 2021-09-05
*
*/
/***********************************************/
#ifndef __GROOPS_GNSSPROCESSINGSTEPDISABLETRANSMITTERSHADOWEPOCHS__
#define __GROOPS_GNSSPROCESSINGSTEPDISABLETRANSMITTERSHADOWEPOCHS__
// Latex documentation
#ifdef DOCSTRING_GnssProcessingStep
static const char *docstringGnssProcessingStepDisableTransmitterShadowEpochs = R"(
\subsection{DisableTransmitterShadowEpochs}\label{gnssProcessingStepType:disableTransmitterShadowEpochs}
Disable transmitter epochs during eclipse.
With proper attitude modeling (see \program{SimulateStarCameraGnss}) this is usually not necessary.
)";
#endif
/***********************************************/
#include "config/config.h"
#include "base/kepler.h"
#include "classes/eclipse/eclipse.h"
#include "classes/platformSelector/platformSelector.h"
#include "gnss/gnssProcessingStep/gnssProcessingStep.h"
/***** CLASS ***********************************/
/** @brief GNSS processing step: DisableTransmitterShadowEpochs.
* @ingroup gnssProcessingStepGroup
* @see GnssProcessingStep */
class GnssProcessingStepDisableTransmitterShadowEpochs : public GnssProcessingStepBase
{
PlatformSelectorPtr selectTransmitters;
Bool disableShadowEpochs, disablePostShadowEpochs;
EphemeridesPtr ephemerides;
EclipsePtr eclipse;
public:
GnssProcessingStepDisableTransmitterShadowEpochs(Config &config);
void process(GnssProcessingStep::State &state) override;
Bool expectInitializedParameters() const override {return FALSE;}
};
/***********************************************/
inline GnssProcessingStepDisableTransmitterShadowEpochs::GnssProcessingStepDisableTransmitterShadowEpochs(Config &config)
{
try
{
readConfig(config, "selectTransmitters", selectTransmitters, Config::MUSTSET, "", "");
readConfig(config, "disableShadowEpochs", disableShadowEpochs, Config::DEFAULT, "1", "disable epochs if satellite is in Earth's/Moon's shadow");
readConfig(config, "disablePostShadowRecoveryEpochs", disablePostShadowEpochs, Config::DEFAULT, "1", "disable epochs if satellite is in post-shadow recovery maneuver for GPS block IIA");
readConfig(config, "ephemerides", ephemerides, Config::MUSTSET, "", "");
readConfig(config, "eclipse", eclipse, Config::MUSTSET, "", "eclipse model used to determine if a satellite is in Earth's shadow");
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
inline void GnssProcessingStepDisableTransmitterShadowEpochs::process(GnssProcessingStep::State &state)
{
try
{
logStatus<<"=== disable transmitter epochs in eclipse ==================="<<Log::endl;
if(state.normalEquationInfo.isEachReceiverSeparately)
{
logWarning<<"DisableTransmitterShadowEpochs is not allowed in single receiver loop"<<Log::endl;
return;
}
UInt countEpochs = 0;
auto selectedTransmitters = state.gnss->selectTransmitters(selectTransmitters);
for(UInt idTrans=0; idTrans<state.gnss->transmitters.size(); idTrans++)
if(selectedTransmitters.at(idTrans) && state.gnss->transmitters.at(idTrans)->useable())
{
auto trans = state.gnss->transmitters.at(idTrans);
// 30 minute post-shadow recovery time for block IIA satellites
Time recoveryTime;
if(trans->platform.findEquipment<PlatformGnssAntenna>(state.gnss->times.at(0))->name.find(std::string("BLOCK IIA")) != std::string::npos)
recoveryTime = seconds2time(30*60);
// Look for a potential shadow exit before the start of the interval that would result in the
// satellite already performing a post-shadow recovery maneuver at the start of the interval
Time timeShadowExit;
if(disablePostShadowEpochs && recoveryTime.seconds() > 0)
{
Kepler kepler(state.gnss->times.at(0), trans->positionCoM(state.gnss->times.at(0)), trans->velocity(state.gnss->times.at(0)));
for(UInt i=0; i<recoveryTime.seconds()/60; i++)
{
const Time time = state.gnss->times.at(0) - seconds2time(i*60.);
if(eclipse->factor(time, kepler.position(time), ephemerides) < 0.5)
{
timeShadowExit = time;
break;
}
}
}
Double factorPreviousEpoch = 1.0;
for(UInt idEpoch=0; idEpoch<state.gnss->times.size(); idEpoch++)
if(trans->useable(idEpoch))
{
const Double factor = eclipse->factor(state.gnss->times.at(idEpoch), trans->positionCoM(state.gnss->times.at(idEpoch)), ephemerides);
if((factorPreviousEpoch < 0.5) && (factor >= 0.5))
timeShadowExit = state.gnss->times.at(idEpoch);
// set satellite unuseable during shadow crossing and post-shadow recovery maneuver
if((disableShadowEpochs && factor < 0.5) || (disablePostShadowEpochs && state.gnss->times.at(idEpoch) < timeShadowExit+recoveryTime))
{
trans->disable(idEpoch, "during shadow crossing and post-shadow recovery maneuver");
for(UInt idEpoch=0; idEpoch<state.gnss->times.size(); idEpoch++)
for(const auto &recv : state.gnss->receivers)
if(recv->isMyRank() && recv->observation(trans->idTrans(), idEpoch))
recv->deleteObservation(trans->idTrans(), idEpoch);
countEpochs++;
}
factorPreviousEpoch = factor;
} // for(idEpoch)
}
if(countEpochs)
{
state.gnss->synchronizeTransceivers(state.normalEquationInfo.comm);
state.changedNormalEquationInfo = TRUE;
}
logInfo<<" "<<countEpochs<<" disabled transmitter epochs"<<Log::endl;
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
#endif
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