1 | /* -------------------------------------------------------------------------
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2 | * BKG NTRIP Client
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3 | * -------------------------------------------------------------------------
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4 | *
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5 | * Class: bncComb
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6 | *
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7 | * Purpose: Combinations of Orbit/Clock Corrections
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8 | *
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9 | * Author: L. Mervart
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10 | *
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11 | * Created: 22-Jan-2011
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12 | *
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13 | * Changes:
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14 | *
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15 | * -----------------------------------------------------------------------*/
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16 |
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17 | #include <newmatio.h>
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18 | #include <iomanip>
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19 |
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20 | #include "bnccomb.h"
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21 | #include "bncapp.h"
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22 | #include "cmbcaster.h"
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23 | #include "bncsettings.h"
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24 | #include "bncmodel.h"
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25 | #include "bncutils.h"
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26 | #include "bncpppclient.h"
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27 | #include "bnssp3.h"
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28 | #include "bncantex.h"
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29 | #include "bnctides.h"
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30 |
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31 | using namespace std;
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32 |
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33 | const int MAXPRN_GPS = 32;
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34 |
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35 | // Constructor
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36 | ////////////////////////////////////////////////////////////////////////////
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37 | cmbParam::cmbParam(cmbParam::parType type_, int index_,
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38 | const QString& ac_, const QString& prn_,
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39 | double sig_0_, double sig_P_) {
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40 |
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41 | type = type_;
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42 | index = index_;
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43 | AC = ac_;
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44 | prn = prn_;
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45 | sig_0 = sig_0_;
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46 | sig_P = sig_P_;
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47 | xx = 0.0;
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48 | }
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49 |
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50 | // Destructor
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51 | ////////////////////////////////////////////////////////////////////////////
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52 | cmbParam::~cmbParam() {
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53 | }
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54 |
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55 | // Partial
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56 | ////////////////////////////////////////////////////////////////////////////
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57 | double cmbParam::partial(const QString& AC_, t_corr* corr) {
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58 |
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59 | if (type == AC_offset) {
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60 | if (AC == AC_) {
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61 | return 1.0;
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62 | }
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63 | }
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64 | else if (type == Sat_offset) {
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65 | if (AC == AC_ && prn == corr->prn) {
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66 | return 1.0;
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67 | }
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68 | }
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69 | else if (type == clk) {
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70 | if (prn == corr->prn) {
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71 | return 1.0;
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72 | }
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73 | }
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74 |
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75 | return 0.0;
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76 | }
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77 |
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78 | //
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79 | ////////////////////////////////////////////////////////////////////////////
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80 | QString cmbParam::toString() const {
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81 |
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82 | QString outStr;
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83 |
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84 | if (type == AC_offset) {
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85 | outStr = "AC offset " + AC;
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86 | }
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87 | else if (type == Sat_offset) {
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88 | outStr = "Sat Offset " + AC + " " + prn;
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89 | }
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90 | else if (type == clk) {
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91 | outStr = "Clk Corr " + prn;
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92 | }
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93 |
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94 | return outStr;
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95 | }
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96 |
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97 | // Constructor
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98 | ////////////////////////////////////////////////////////////////////////////
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99 | bncComb::bncComb() {
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100 |
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101 | bncSettings settings;
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102 |
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103 | QStringList combineStreams = settings.value("combineStreams").toStringList();
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104 |
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105 | if (combineStreams.size() >= 1) {
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106 | QListIterator<QString> it(combineStreams);
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107 | while (it.hasNext()) {
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108 | QStringList hlp = it.next().split(" ");
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109 | cmbAC* newAC = new cmbAC();
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110 | newAC->mountPoint = hlp[0];
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111 | newAC->name = hlp[1];
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112 | newAC->weight = hlp[2].toDouble();
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113 | if (_masterAC.isEmpty()) {
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114 | _masterAC = newAC->name;
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115 | }
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116 | _ACs[newAC->mountPoint] = newAC;
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117 | }
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118 | }
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119 |
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120 | _caster = new cmbCaster();
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121 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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122 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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123 |
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124 |
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125 | // A Priori Sigmas (in Meters)
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126 | // ---------------------------
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127 | double sigAC_0 = 100.0;
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128 | double sigAC_P = 100.0;
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129 | double sigSat_0 = 100.0;
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130 | double sigSat_P = 0.0;
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131 | double sigClk_0 = 100.0;
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132 | double sigClk_P = 100.0;
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133 |
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134 | // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
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135 | // ----------------------------------------------------------------------
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136 | int nextPar = 0;
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137 | QMapIterator<QString, cmbAC*> it(_ACs);
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138 | while (it.hasNext()) {
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139 | it.next();
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140 | cmbAC* AC = it.value();
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141 | _params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar,
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142 | AC->name, "", sigAC_0, sigAC_P));
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143 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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144 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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145 | _params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar,
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146 | AC->name, prn, sigSat_0, sigSat_P));
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147 | }
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148 | }
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149 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
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150 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
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151 | _params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn,
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152 | sigClk_0, sigClk_P));
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153 | }
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154 |
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155 | // Initialize Variance-Covariance Matrix
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156 | // -------------------------------------
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157 | _QQ.ReSize(_params.size());
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158 | _QQ = 0.0;
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159 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
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160 | cmbParam* pp = _params[iPar-1];
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161 | _QQ(iPar,iPar) = pp->sig_0 * pp->sig_0;
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162 | }
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163 |
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164 | // Output File (skeleton name)
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165 | // ---------------------------
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166 | QString path = settings.value("cmbOutPath").toString();
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167 | if (!path.isEmpty() && !_caster->mountpoint().isEmpty()) {
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168 | expandEnvVar(path);
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169 | if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
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170 | path += QDir::separator();
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171 | }
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172 | _outNameSkl = path + _caster->mountpoint();
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173 | }
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174 | _out = 0;
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175 |
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176 | // SP3 writer
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177 | // ----------
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178 | if ( settings.value("cmbSP3Path").toString().isEmpty() ) {
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179 | _sp3 = 0;
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180 | }
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181 | else {
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182 | QString prep = "BNC";
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183 | QString ext = ".sp3";
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184 | QString path = settings.value("cmbSP3Path").toString();
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185 | QString interval = "";
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186 | int sampl = 0;
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187 | _sp3 = new bnsSP3(prep, ext, path, interval, sampl);
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188 | }
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189 |
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190 | _append = Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked;
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191 |
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192 | // ANTEX File
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193 | // ----------
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194 | _antex = 0;
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195 | QString antexFileName = settings.value("pppAntex").toString();
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196 | if (!antexFileName.isEmpty()) {
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197 | _antex = new bncAntex();
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198 | if (_antex->readFile(antexFileName) != success) {
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199 | emit newMessage("wrong ANTEX file", true);
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200 | delete _antex;
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201 | _antex = 0;
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202 | }
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203 | }
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204 |
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205 | // Not yet regularized
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206 | // -------------------
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207 | _firstReg = false;
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208 | }
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209 |
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210 | // Destructor
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211 | ////////////////////////////////////////////////////////////////////////////
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212 | bncComb::~bncComb() {
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213 | QMapIterator<QString, cmbAC*> it(_ACs);
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214 | while (it.hasNext()) {
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215 | it.next();
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216 | delete it.value();
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217 | }
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218 | delete _caster;
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219 | delete _out;
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220 | delete _sp3;
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221 | delete _antex;
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222 | }
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223 |
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224 | // Read and store one correction line
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225 | ////////////////////////////////////////////////////////////////////////////
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226 | void bncComb::processCorrLine(const QString& staID, const QString& line) {
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227 | QMutexLocker locker(&_mutex);
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228 |
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229 | // Find the relevant instance of cmbAC class
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230 | // -----------------------------------------
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231 | if (_ACs.find(staID) == _ACs.end()) {
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232 | return;
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233 | }
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234 | cmbAC* AC = _ACs[staID];
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235 |
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236 | // Read the Correction
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237 | // -------------------
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238 | t_corr* newCorr = new t_corr();
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239 | if (!newCorr->readLine(line) == success) {
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240 | delete newCorr;
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241 | return;
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242 | }
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243 |
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244 | // Reject delayed corrections
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245 | // --------------------------
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246 | if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
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247 | delete newCorr;
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248 | return;
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249 | }
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250 |
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251 | // Check the Ephemeris
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252 | //--------------------
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253 | if (_eph.find(newCorr->prn) == _eph.end()) {
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254 | delete newCorr;
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255 | return;
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256 | }
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257 | else {
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258 | t_eph* lastEph = _eph[newCorr->prn]->last;
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259 | t_eph* prevEph = _eph[newCorr->prn]->prev;
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260 | if (lastEph && lastEph->IOD() == newCorr->iod) {
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261 | newCorr->eph = lastEph;
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262 | }
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263 | else if (prevEph && prevEph->IOD() == newCorr->iod) {
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264 | newCorr->eph = prevEph;
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265 | }
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266 | else {
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267 | delete newCorr;
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268 | return;
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269 | }
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270 | }
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271 |
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272 | // Process all older Epochs (if there are any)
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273 | // -------------------------------------------
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274 | const double waitTime = 5.0; // wait 5 sec
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275 | _processedBeforeTime = newCorr->tt - waitTime;
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276 |
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277 | QList<cmbEpoch*> epochsToProcess;
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278 |
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279 | QMapIterator<QString, cmbAC*> itAC(_ACs);
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280 | while (itAC.hasNext()) {
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281 | itAC.next();
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282 | cmbAC* AC = itAC.value();
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283 |
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284 | QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
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285 | while (itEpo.hasNext()) {
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286 | cmbEpoch* epoch = itEpo.next();
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287 | if (epoch->time < _processedBeforeTime) {
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288 | epochsToProcess.append(epoch);
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289 | itEpo.remove();
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290 | }
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291 | }
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292 | }
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293 |
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294 | if (epochsToProcess.size()) {
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295 | processEpochs(epochsToProcess);
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296 | }
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297 |
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298 | // Check Modulo Time
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299 | // -----------------
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300 | const int moduloTime = 10;
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301 | if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
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302 | delete newCorr;
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303 | return;
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304 | }
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305 |
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306 | // Find/Create the instance of cmbEpoch class
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307 | // ------------------------------------------
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308 | cmbEpoch* newEpoch = 0;
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309 | QListIterator<cmbEpoch*> it(AC->epochs);
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310 | while (it.hasNext()) {
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311 | cmbEpoch* hlpEpoch = it.next();
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312 | if (hlpEpoch->time == newCorr->tt) {
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313 | newEpoch = hlpEpoch;
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314 | break;
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315 | }
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316 | }
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317 | if (newEpoch == 0) {
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318 | newEpoch = new cmbEpoch(AC->name);
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319 | newEpoch->time = newCorr->tt;
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320 | AC->epochs.append(newEpoch);
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321 | }
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322 |
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323 | // Merge or add the correction
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324 | // ---------------------------
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325 | if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
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326 | newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
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327 | }
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328 | else {
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329 | newEpoch->corr[newCorr->prn] = newCorr;
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330 | }
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331 | }
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332 |
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333 | // Send results to caster
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334 | ////////////////////////////////////////////////////////////////////////////
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335 | void bncComb::dumpResults(const bncTime& resTime,
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336 | const QMap<QString, t_corr*>& resCorr) {
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337 |
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338 | _caster->open();
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339 |
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340 | unsigned year, month, day;
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341 | resTime.civil_date (year, month, day);
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342 | double GPSweeks = resTime.gpssec();
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343 |
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344 | struct ClockOrbit co;
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345 | memset(&co, 0, sizeof(co));
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346 | co.GPSEpochTime = (int)GPSweeks;
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347 | co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
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348 | + 3 * 3600 - gnumleap(year, month, day);
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349 | co.ClockDataSupplied = 1;
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350 | co.OrbitDataSupplied = 1;
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351 | co.SatRefDatum = DATUM_ITRF;
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352 |
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353 | struct Bias bias;
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354 | memset(&bias, 0, sizeof(bias));
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355 | bias.GPSEpochTime = (int)GPSweeks;
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356 | bias.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
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357 | + 3 * 3600 - gnumleap(year, month, day);
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358 |
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359 | QMapIterator<QString, t_corr*> it(resCorr);
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360 | while (it.hasNext()) {
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361 | it.next();
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362 | t_corr* corr = it.value();
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363 |
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364 | struct ClockOrbit::SatData* sd = 0;
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365 | if (corr->prn[0] == 'G') {
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366 | sd = co.Sat + co.NumberOfGPSSat;
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367 | ++co.NumberOfGPSSat;
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368 | }
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369 | else if (corr->prn[0] == 'R') {
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370 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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371 | ++co.NumberOfGLONASSSat;
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372 | }
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373 |
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374 | if (sd != 0) {
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375 | sd->ID = corr->prn.mid(1).toInt();
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376 | sd->IOD = corr->iod;
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377 | sd->Clock.DeltaA0 = corr->dClk * t_CST::c;
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378 | sd->Orbit.DeltaRadial = corr->rao(1);
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379 | sd->Orbit.DeltaAlongTrack = corr->rao(2);
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380 | sd->Orbit.DeltaCrossTrack = corr->rao(3);
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381 | sd->Orbit.DotDeltaRadial = corr->dotRao(1);
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382 | sd->Orbit.DotDeltaAlongTrack = corr->dotRao(2);
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383 | sd->Orbit.DotDeltaCrossTrack = corr->dotRao(3);
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384 | }
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385 |
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386 | struct Bias::BiasSat* biasSat = 0;
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387 | if (corr->prn[0] == 'G') {
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388 | biasSat = bias.Sat + bias.NumberOfGPSSat;
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389 | ++bias.NumberOfGPSSat;
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390 | }
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391 | else if (corr->prn[0] == 'R') {
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392 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
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393 | ++bias.NumberOfGLONASSSat;
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394 | }
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395 |
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396 | // Coefficient of Ionosphere-Free LC
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397 | // ---------------------------------
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398 | const static double a_L1_GPS = 2.54572778;
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399 | const static double a_L2_GPS = -1.54572778;
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400 | const static double a_L1_Glo = 2.53125000;
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401 | const static double a_L2_Glo = -1.53125000;
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402 |
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403 | if (biasSat) {
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404 | biasSat->ID = corr->prn.mid(1).toInt();
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405 | biasSat->NumberOfCodeBiases = 3;
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406 | if (corr->prn[0] == 'G') {
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407 | biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
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408 | biasSat->Biases[0].Bias = - a_L2_GPS * 0.0; // xx(10);
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409 | biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
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410 | biasSat->Biases[1].Bias = - a_L2_GPS * 0.0; // xx(10) + xx(9);
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411 | biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
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412 | biasSat->Biases[2].Bias = a_L1_GPS * 0.0; // xx(10);
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413 | }
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414 | else if (corr->prn[0] == 'R') {
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415 | biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
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416 | biasSat->Biases[0].Bias = - a_L2_Glo * 0.0; // xx(10);
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417 | biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
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418 | biasSat->Biases[1].Bias = - a_L2_Glo * 0.0; // xx(10) + xx(9);
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419 | biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
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420 | biasSat->Biases[2].Bias = a_L1_Glo * 0.0; // xx(10);
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421 | }
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422 | }
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423 |
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424 | // SP3 Output
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425 | // ----------
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426 | if (_sp3) {
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427 | ColumnVector xc(4);
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428 | ColumnVector vv(3);
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429 | corr->eph->position(resTime.gpsw(), resTime.gpssec(),
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430 | xc.data(), vv.data());
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431 | bncPPPclient::applyCorr(resTime, corr, xc, vv);
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432 |
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433 | // Relativistic Correction
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434 | // -----------------------
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435 | xc(4) += 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
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436 |
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437 | // Correction Phase Center --> CoM
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438 | // -------------------------------
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439 | if (_antex) {
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440 | ColumnVector dx(3); dx = 0.0;
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441 | double Mjd = resTime.mjd() + resTime.daysec()/86400.0;
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442 | if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
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443 | xc(1) -= dx(1);
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444 | xc(2) -= dx(2);
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445 | xc(3) -= dx(3);
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446 | }
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---|
447 | else {
|
---|
448 | cout << "antenna not found" << endl;
|
---|
449 | }
|
---|
450 | }
|
---|
451 | _sp3->write(resTime.gpsw(), resTime.gpssec(), corr->prn, xc, _append);
|
---|
452 | }
|
---|
453 |
|
---|
454 | delete corr;
|
---|
455 | }
|
---|
456 |
|
---|
457 | // Send Corrections to Caster
|
---|
458 | // --------------------------
|
---|
459 | if ( _caster->usedSocket() &&
|
---|
460 | (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
|
---|
461 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
462 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
463 | if (len > 0) {
|
---|
464 | _caster->write(obuffer, len);
|
---|
465 | }
|
---|
466 | }
|
---|
467 |
|
---|
468 | if ( _caster->usedSocket() &&
|
---|
469 | (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
|
---|
470 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
471 | int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
472 | if (len > 0) {
|
---|
473 | _caster->write(obuffer, len);
|
---|
474 | }
|
---|
475 | }
|
---|
476 |
|
---|
477 | // Optionall send new Corrections to PPP client and/or write into file
|
---|
478 | // -------------------------------------------------------------------
|
---|
479 | RTCM3coDecoder::reopen(_outNameSkl, _outName, _out);
|
---|
480 | bncApp* app = (bncApp*) qApp;
|
---|
481 | if (app->_bncPPPclient || _out) {
|
---|
482 | QStringList corrLines;
|
---|
483 | co.messageType = COTYPE_GPSCOMBINED;
|
---|
484 | QStringListIterator il(RTCM3coDecoder::corrsToASCIIlines(resTime.gpsw(),
|
---|
485 | resTime.gpssec(), co, 0));
|
---|
486 | while (il.hasNext()) {
|
---|
487 | QString line = il.next();
|
---|
488 | if (_out) {
|
---|
489 | *_out << line.toAscii().data() << endl;
|
---|
490 | _out->flush();
|
---|
491 | }
|
---|
492 | line += " " + _caster->mountpoint();
|
---|
493 | corrLines << line;
|
---|
494 | }
|
---|
495 |
|
---|
496 | if (app->_bncPPPclient) {
|
---|
497 | app->_bncPPPclient->slotNewCorrections(corrLines);
|
---|
498 | }
|
---|
499 | }
|
---|
500 | }
|
---|
501 |
|
---|
502 | // Change the correction so that it refers to last received ephemeris
|
---|
503 | ////////////////////////////////////////////////////////////////////////////
|
---|
504 | void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
|
---|
505 |
|
---|
506 | ColumnVector oldXC(4);
|
---|
507 | ColumnVector oldVV(3);
|
---|
508 | corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
|
---|
509 | oldXC.data(), oldVV.data());
|
---|
510 |
|
---|
511 | ColumnVector newXC(4);
|
---|
512 | ColumnVector newVV(3);
|
---|
513 | lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
|
---|
514 | newXC.data(), newVV.data());
|
---|
515 |
|
---|
516 | ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
|
---|
517 | ColumnVector dV = newVV - oldVV;
|
---|
518 | double dC = newXC(4) - oldXC(4);
|
---|
519 |
|
---|
520 | ColumnVector dRAO(3);
|
---|
521 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
|
---|
522 |
|
---|
523 | ColumnVector dDotRAO(3);
|
---|
524 | XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
|
---|
525 |
|
---|
526 | QString msg = "switch " + corr->prn
|
---|
527 | + QString(" %1 -> %2 %3").arg(corr->iod,3)
|
---|
528 | .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
|
---|
529 |
|
---|
530 | emit newMessage(msg.toAscii(), false);
|
---|
531 |
|
---|
532 | corr->iod = lastEph->IOD();
|
---|
533 | corr->eph = lastEph;
|
---|
534 | corr->rao += dRAO;
|
---|
535 | corr->dotRao += dDotRAO;
|
---|
536 | corr->dClk -= dC;
|
---|
537 | }
|
---|
538 |
|
---|
539 | // Process Epochs
|
---|
540 | ////////////////////////////////////////////////////////////////////////////
|
---|
541 | void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
|
---|
542 |
|
---|
543 | _log.clear();
|
---|
544 |
|
---|
545 | QTextStream out(&_log, QIODevice::WriteOnly);
|
---|
546 |
|
---|
547 | out << "Combination:" << endl
|
---|
548 | << "------------------------------" << endl;
|
---|
549 |
|
---|
550 | // Predict Parameters Values, Add White Noise
|
---|
551 | // ------------------------------------------
|
---|
552 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
553 | cmbParam* pp = _params[iPar-1];
|
---|
554 | if (pp->sig_P != 0.0) {
|
---|
555 | pp->xx = 0.0;
|
---|
556 | for (int jj = 1; jj <= _params.size(); jj++) {
|
---|
557 | _QQ(iPar, jj) = 0.0;
|
---|
558 | }
|
---|
559 | _QQ(iPar,iPar) = pp->sig_P * pp->sig_P;
|
---|
560 | }
|
---|
561 | }
|
---|
562 |
|
---|
563 | bncTime resTime = epochs.first()->time;
|
---|
564 | QMap<QString, t_corr*> resCorr;
|
---|
565 |
|
---|
566 | int nPar = _params.size();
|
---|
567 | int nObs = 0;
|
---|
568 |
|
---|
569 | ColumnVector x0(nPar);
|
---|
570 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
571 | cmbParam* pp = _params[iPar-1];
|
---|
572 | x0(iPar) = pp->xx;
|
---|
573 | }
|
---|
574 |
|
---|
575 | // Count Observations
|
---|
576 | // ------------------
|
---|
577 | QListIterator<cmbEpoch*> itEpo(epochs);
|
---|
578 | while (itEpo.hasNext()) {
|
---|
579 | cmbEpoch* epo = itEpo.next();
|
---|
580 | QMutableMapIterator<QString, t_corr*> itCorr(epo->corr);
|
---|
581 | while (itCorr.hasNext()) {
|
---|
582 | itCorr.next();
|
---|
583 | t_corr* corr = itCorr.value();
|
---|
584 |
|
---|
585 | // Switch to last ephemeris
|
---|
586 | // ------------------------
|
---|
587 | t_eph* lastEph = _eph[corr->prn]->last;
|
---|
588 | if (lastEph == corr->eph) {
|
---|
589 | ++nObs;
|
---|
590 | }
|
---|
591 | else {
|
---|
592 | if (corr->eph == _eph[corr->prn]->prev) {
|
---|
593 | switchToLastEph(lastEph, corr);
|
---|
594 | ++nObs;
|
---|
595 | }
|
---|
596 | else {
|
---|
597 | itCorr.remove();
|
---|
598 | }
|
---|
599 | }
|
---|
600 | }
|
---|
601 | }
|
---|
602 |
|
---|
603 | if (nObs > 0) {
|
---|
604 | const double Pl = 1.0 / (0.05 * 0.05);
|
---|
605 |
|
---|
606 | const int nCon = (_firstReg == false) ? 1 + MAXPRN_GPS : 1;
|
---|
607 | Matrix AA(nObs+nCon, nPar); AA = 0.0;
|
---|
608 | ColumnVector ll(nObs+nCon); ll = 0.0;
|
---|
609 | DiagonalMatrix PP(nObs+nCon); PP = Pl;
|
---|
610 |
|
---|
611 | int iObs = 0;
|
---|
612 | QListIterator<cmbEpoch*> itEpo(epochs);
|
---|
613 | while (itEpo.hasNext()) {
|
---|
614 | cmbEpoch* epo = itEpo.next();
|
---|
615 | QMapIterator<QString, t_corr*> itCorr(epo->corr);
|
---|
616 |
|
---|
617 | while (itCorr.hasNext()) {
|
---|
618 | itCorr.next();
|
---|
619 | ++iObs;
|
---|
620 | t_corr* corr = itCorr.value();
|
---|
621 |
|
---|
622 | if (epo->acName == _masterAC) {
|
---|
623 | resCorr[corr->prn] = new t_corr(*corr);
|
---|
624 | }
|
---|
625 |
|
---|
626 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
627 | cmbParam* pp = _params[iPar-1];
|
---|
628 | AA(iObs, iPar) = pp->partial(epo->acName, corr);
|
---|
629 | }
|
---|
630 |
|
---|
631 | ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
|
---|
632 | }
|
---|
633 |
|
---|
634 | delete epo;
|
---|
635 | }
|
---|
636 |
|
---|
637 | // Regularization
|
---|
638 | // --------------
|
---|
639 | const double Ph = 1.e6;
|
---|
640 | int iCond = 1;
|
---|
641 | PP(nObs+iCond) = Ph;
|
---|
642 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
643 | cmbParam* pp = _params[iPar-1];
|
---|
644 | if (pp->type == cmbParam::clk &&
|
---|
645 | AA.Column(iPar).maximum_absolute_value() > 0.0) {
|
---|
646 | AA(nObs+iCond, iPar) = 1.0;
|
---|
647 | }
|
---|
648 | }
|
---|
649 |
|
---|
650 | if (!_firstReg) {
|
---|
651 | _firstReg = true;
|
---|
652 | for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
|
---|
653 | ++iCond;
|
---|
654 | QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
|
---|
655 | PP(nObs+1+iGps) = Ph;
|
---|
656 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
657 | cmbParam* pp = _params[iPar-1];
|
---|
658 | if (pp->type == cmbParam::Sat_offset && pp->prn == prn) {
|
---|
659 | AA(nObs+iCond, iPar) = 1.0;
|
---|
660 | }
|
---|
661 | }
|
---|
662 | }
|
---|
663 | }
|
---|
664 |
|
---|
665 | const double MAXRES = 999.10; // TODO: make it an option
|
---|
666 |
|
---|
667 | ColumnVector dx;
|
---|
668 | SymmetricMatrix QQ_sav = _QQ;
|
---|
669 |
|
---|
670 | for (int ii = 1; ii < 10; ii++) {
|
---|
671 | bncModel::kalman(AA, ll, PP, _QQ, dx);
|
---|
672 | ColumnVector vv = ll - AA * dx;
|
---|
673 |
|
---|
674 | for (int iv = 1; iv < vv.Nrows(); iv++) {
|
---|
675 | out << vv(iv) << " ";
|
---|
676 | }
|
---|
677 | out << endl;
|
---|
678 |
|
---|
679 | int maxResIndex;
|
---|
680 | double maxRes = vv.maximum_absolute_value1(maxResIndex);
|
---|
681 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
682 | out.setRealNumberPrecision(3);
|
---|
683 | out << "Maximum Residuum " << maxRes << " (index " << maxResIndex << ")\n";
|
---|
684 |
|
---|
685 | if (maxRes > MAXRES) {
|
---|
686 | out << "Outlier Detected" << endl;
|
---|
687 | _QQ = QQ_sav;
|
---|
688 | AA.Row(maxResIndex) = 0.0;
|
---|
689 | ll.Row(maxResIndex) = 0.0;
|
---|
690 | }
|
---|
691 | else {
|
---|
692 | break;
|
---|
693 | }
|
---|
694 | }
|
---|
695 |
|
---|
696 | for (int iPar = 1; iPar <= _params.size(); iPar++) {
|
---|
697 | cmbParam* pp = _params[iPar-1];
|
---|
698 | pp->xx += dx(iPar);
|
---|
699 | if (pp->type == cmbParam::clk) {
|
---|
700 | if (resCorr.find(pp->prn) != resCorr.end()) {
|
---|
701 | resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
|
---|
702 | }
|
---|
703 | }
|
---|
704 | out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
|
---|
705 | out.setRealNumberNotation(QTextStream::FixedNotation);
|
---|
706 | out.setFieldWidth(8);
|
---|
707 | out.setRealNumberPrecision(4);
|
---|
708 | out << pp->toString() << " "
|
---|
709 | << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
|
---|
710 | }
|
---|
711 | }
|
---|
712 |
|
---|
713 | printResults(out, resTime, resCorr);
|
---|
714 | dumpResults(resTime, resCorr);
|
---|
715 |
|
---|
716 | emit newMessage(_log, false);
|
---|
717 | }
|
---|
718 |
|
---|
719 | // Print results to caster
|
---|
720 | ////////////////////////////////////////////////////////////////////////////
|
---|
721 | void bncComb::printResults(QTextStream& out, const bncTime& resTime,
|
---|
722 | const QMap<QString, t_corr*>& resCorr) {
|
---|
723 |
|
---|
724 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
725 | while (it.hasNext()) {
|
---|
726 | it.next();
|
---|
727 | t_corr* corr = it.value();
|
---|
728 | const t_eph* eph = corr->eph;
|
---|
729 | if (eph) {
|
---|
730 | double xx, yy, zz, cc;
|
---|
731 | eph->position(resTime.gpsw(), resTime.gpssec(), xx, yy, zz, cc);
|
---|
732 |
|
---|
733 | out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
|
---|
734 | out.setFieldWidth(3);
|
---|
735 | out << "Full Clock " << corr->prn << " " << corr->iod << " ";
|
---|
736 | out.setFieldWidth(14);
|
---|
737 | out << (cc + corr->dClk) * t_CST::c << endl;
|
---|
738 | }
|
---|
739 | else {
|
---|
740 | out << "bncComb::printResuls bug" << endl;
|
---|
741 | }
|
---|
742 | }
|
---|
743 | }
|
---|