| 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: t_sp3Comp
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| 30 | *
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| 31 | * Purpose: Compare SP3 Files
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Nov-2014
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <QRegularExpression>
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| 42 | #include <iostream>
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| 43 | #include <iomanip>
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| 44 | #include "sp3Comp.h"
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| 45 | #include "bnccore.h"
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| 46 | #include "bncsettings.h"
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| 47 | #include "bncutils.h"
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| 48 | #include "bncsp3.h"
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| 49 |
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| 50 | using namespace std;
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| 51 |
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| 52 | // Constructor
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| 53 | ////////////////////////////////////////////////////////////////////////////
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| 54 | t_sp3Comp::t_sp3Comp(QObject* parent) : QThread(parent) {
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| 55 |
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| 56 | bncSettings settings;
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| 57 | _sp3FileNames = settings.value("sp3CompFile").toString().split(QRegularExpression("[ ,]"), Qt::SkipEmptyParts);
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| 58 | for (int ii = 0; ii < _sp3FileNames.size(); ii++) {
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| 59 | expandEnvVar(_sp3FileNames[ii]);
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| 60 | }
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| 61 | _logFileName = settings.value("sp3CompOutLogFile").toString(); expandEnvVar(_logFileName);
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| 62 | _logFile = 0;
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| 63 | _log = 0;
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| 64 |
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| 65 | _excludeSats = settings.value("sp3CompExclude").toString().split(QRegularExpression("[ ,]"), Qt::SkipEmptyParts);
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| 66 |
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| 67 | _summaryOnly = (Qt::CheckState(settings.value("sp3CompSummaryOnly").toInt()) == Qt::Checked);
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| 68 | }
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| 69 |
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| 70 | // Destructor
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| 71 | ////////////////////////////////////////////////////////////////////////////
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| 72 | t_sp3Comp::~t_sp3Comp() {
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| 73 | delete _log;
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| 74 | delete _logFile;
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| 75 | }
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| 76 |
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| 77 | //
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| 78 | ////////////////////////////////////////////////////////////////////////////
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| 79 | void t_sp3Comp::run() {
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| 80 |
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| 81 | // Open Log File
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| 82 | // -------------
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| 83 | _logFile = new QFile(_logFileName);
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| 84 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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| 85 | _log = new QTextStream();
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| 86 | _log->setDevice(_logFile);
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| 87 | }
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| 88 | if (!_log) {
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| 89 | *_log << "ERROR: SP3Comp requires logfile specification" << "\n";
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| 90 | goto exit;
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| 91 | }
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| 92 |
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| 93 | for (int ii = 0; ii < _sp3FileNames.size(); ii++) {
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| 94 | *_log << "! SP3 File " << ii+1 << ": " << _sp3FileNames[ii] << "\n";
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| 95 | }
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| 96 | if (_sp3FileNames.size() != 2) {
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| 97 | *_log << "ERROR: sp3Comp requires two input SP3 files" << "\n";
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| 98 | goto end;
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| 99 | }
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| 100 |
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| 101 | try {
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| 102 | ostringstream msg;
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| 103 | compare(msg);
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| 104 | *_log << msg.str().c_str();
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| 105 | }
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| 106 | catch (const string& error) {
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| 107 | *_log << "ERROR: " << error.c_str() << "\n";
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| 108 | }
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| 109 | catch (const char* error) {
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| 110 | *_log << "ERROR: " << error << "\n";
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| 111 | }
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| 112 | catch (Exception& exc) {
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| 113 | *_log << "ERROR: " << exc.what() << "\n";
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| 114 | }
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| 115 | catch (std::exception& exc) {
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| 116 | *_log << "ERROR: " << exc.what() << "\n";
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| 117 | }
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| 118 | catch (QString error) {
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| 119 | *_log << "ERROR: " << error << "\n";
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| 120 | }
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| 121 | catch (...) {
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| 122 | *_log << "ERROR: " << "unknown exception" << "\n";
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| 123 | }
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| 124 |
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| 125 | // Exit (thread)
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| 126 | // -------------
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| 127 | end:
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| 128 | _log->flush();
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| 129 | exit:
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| 130 | // do nothing if no logfile available
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| 131 |
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| 132 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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| 133 | qApp->exit(7);
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| 134 | msleep(100); //sleep 0.1 sec
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| 135 | }
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| 136 | else {
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| 137 | emit finished();
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| 138 | deleteLater();
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| 139 | }
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| 140 | }
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| 141 |
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| 142 | // Satellite Index in clkSats set
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| 143 | ////////////////////////////////////////////////////////////////////////////////
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| 144 | int t_sp3Comp::satIndex(const set<t_prn>& clkSats, const t_prn& prn) const {
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| 145 | int ret = 0;
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| 146 | for (set<t_prn>::const_iterator it = clkSats.begin(); it != clkSats.end(); it++) {
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| 147 | if ( *it == prn) {
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| 148 | return ret;
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| 149 | }
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| 150 | ++ret;
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| 151 | }
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| 152 | return -1;
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| 153 | }
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| 154 |
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| 155 | // Estimate Clock Offsets
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| 156 | ////////////////////////////////////////////////////////////////////////////////
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| 157 | void t_sp3Comp::processClocks(const set<t_prn>& clkSats, const vector<t_epoch*>& epochsIn,
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| 158 | map<string, t_stat>& stat) const {
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| 159 |
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| 160 | if (clkSats.size() == 0) {
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| 161 | return;
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| 162 | }
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| 163 |
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| 164 | vector<t_epoch*> epochs;
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| 165 | for (unsigned ii = 0; ii < epochsIn.size(); ii++) {
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| 166 | unsigned numSatOK = 0;
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| 167 | std::map<t_prn, double>::const_iterator it;
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| 168 | for (it = epochsIn[ii]->_dc.begin(); it != epochsIn[ii]->_dc.end(); it++) {
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| 169 | if (satIndex(clkSats, it->first) != -1) {
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| 170 | numSatOK += 1;
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| 171 | }
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| 172 | }
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| 173 | if (numSatOK > 0) {
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| 174 | epochs.push_back(epochsIn[ii]);
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| 175 | }
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| 176 | }
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| 177 | if (epochs.size() == 0) {
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| 178 | return;
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| 179 | }
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| 180 |
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| 181 | // Least-squares adjustment of an epoch-specific offset (common to all
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| 182 | // satellites) and a satellite-specific offset (common to all epochs), the
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| 183 | // sum of the satellite offsets constrained to zero (weight 1). The normal
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| 184 | // equations of the epoch offsets are diagonal, so these offsets are
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| 185 | // eliminated (Schur complement) and only the satellite offsets are solved
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| 186 | // for; the epoch offsets follow from them. The solution is identical to
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| 187 | // that of the full system, but the effort grows only linearly with the
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| 188 | // number of epochs (before: cubic).
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| 189 | // -----------------------------------------------------------------------
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| 190 | int nEpo = epochs.size();
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| 191 | int nSat = clkSats.size();
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| 192 | int nPar = nEpo + nSat;
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| 193 |
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| 194 | vector<vector<int> > satIdx(nEpo); // satellites (index) of each epoch
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| 195 | ColumnVector nEp(nEpo); nEp = 0.0; // number of satellites per epoch
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| 196 | ColumnVector bEp(nEpo); bEp = 0.0; // sum of the differences per epoch
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| 197 | SymmetricMatrix NS(nSat); NS = 1.0; // regularization: sum of satellite offsets
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| 198 | ColumnVector bS(nSat); bS = 0.0;
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| 199 | for (int ie = 0; ie < nEpo; ie++) {
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| 200 | const map<t_prn, double>& dc = epochs[ie]->_dc;
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| 201 | for (map<t_prn, double>::const_iterator it = dc.begin(); it != dc.end(); it++) {
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| 202 | int is = satIndex(clkSats, it->first);
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| 203 | if (is != -1) {
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| 204 | satIdx[ie].push_back(is);
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| 205 | nEp[ie] += 1.0;
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| 206 | bEp[ie] += it->second;
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| 207 | NS(is+1, is+1) += 1.0;
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| 208 | bS[is] += it->second;
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| 209 | }
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| 210 | }
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| 211 | }
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| 212 |
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| 213 | // Eliminate the epoch offsets
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| 214 | // ---------------------------
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| 215 | for (int ie = 0; ie < nEpo; ie++) {
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| 216 | const vector<int>& idx = satIdx[ie];
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| 217 | for (unsigned ia = 0; ia < idx.size(); ia++) {
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| 218 | bS[idx[ia]] -= bEp[ie] / nEp[ie];
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| 219 | for (unsigned ib = 0; ib <= ia; ib++) {
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| 220 | NS(idx[ia]+1, idx[ib]+1) -= 1.0 / nEp[ie];
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| 221 | }
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| 222 | }
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| 223 | }
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| 224 |
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| 225 | // Estimate Parameters (epoch offsets first, then satellite offsets)
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| 226 | // ---------------------------------------------------------------
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| 227 | ColumnVector yy = NS.i() * bS;
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| 228 | ColumnVector xx(nPar);
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| 229 | for (int ie = 0; ie < nEpo; ie++) {
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| 230 | double sum = bEp[ie];
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| 231 | for (unsigned ia = 0; ia < satIdx[ie].size(); ia++) {
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| 232 | sum -= yy[satIdx[ie][ia]];
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| 233 | }
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| 234 | xx[ie] = sum / nEp[ie];
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| 235 | }
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| 236 | for (int is = 0; is < nSat; is++) {
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| 237 | xx[nEpo + is] = yy[is];
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| 238 | }
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| 239 |
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| 240 | // Compute clock residuals
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| 241 | // -----------------------
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| 242 | for (unsigned ie = 0; ie < epochs.size(); ie++) {
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| 243 | map<t_prn, double>& dc = epochs[ie]->_dc;
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| 244 | map<t_prn, double>& dcRed = epochs[ie]->_dcRed;
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| 245 | const map<t_prn, ColumnVector>& dr = epochs[ie]->_dr;
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| 246 | for (map<t_prn, double>::iterator it = dc.begin(); it != dc.end(); it++) {
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| 247 | const t_prn& prn = it->first;
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| 248 | stringstream all; all << prn.system() << 99;
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| 249 | if (satIndex(clkSats, prn) != -1) {
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| 250 | int index = epochs.size() + satIndex(clkSats, prn);
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| 251 | dc[prn] = it->second - xx[ie] - xx[index];
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| 252 | stat[prn.toString()]._offset = xx[index];
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| 253 | if (dr.find(prn) != dr.end()){
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| 254 | // signal-in-space difference: radial minus clock, only the
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| 255 | // epoch-wise clock offset (datum) removed, i.e. including the
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| 256 | // satellite-specific clock offset
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| 257 | epochs[ie]->_sis[prn] = dr.find(prn)->second[0] - (dc[prn] + xx[index]);
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| 258 | dcRed[prn] = dc[prn] - dr.find(prn)->second[0]; // clock minus radial component
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| 259 | stat[prn.toString()]._dcRedMean += dcRed[prn];
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| 260 | stat[all.str() ]._dcRedMean += dcRed[prn];
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| 261 | stat[prn.toString()]._nc += 1;
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| 262 | stat[all.str() ]._nc += 1;
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| 263 | }
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| 264 | }
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| 265 | }
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| 266 | }
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| 267 |
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| 268 | // Compute Clock Mean
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| 269 | // ------------------
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| 270 | for (map<string, t_stat>::iterator it = stat.begin(); it != stat.end(); it++) {
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| 271 | t_stat& stat = it->second;
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| 272 | if (stat._nc > 0) {
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| 273 | stat._dcRedMean = stat._dcRedMean / stat._nc;
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| 274 | }
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| 275 | }
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| 276 | }
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| 277 |
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| 278 | // Main Routine
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| 279 | ////////////////////////////////////////////////////////////////////////////////
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| 280 | void t_sp3Comp::compare(ostringstream& out) const {
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| 281 |
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| 282 | // Synchronize reading of two sp3 files
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| 283 | // ------------------------------------
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| 284 | bncSP3 in1(_sp3FileNames[0]); in1.nextEpoch();
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| 285 | bncSP3 in2(_sp3FileNames[1]); in2.nextEpoch();
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| 286 |
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| 287 | vector<t_epoch*> epochs;
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| 288 | while (in1.currEpoch() && in2.currEpoch()) {
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| 289 | bncTime t1 = in1.currEpoch()->_tt;
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| 290 | bncTime t2 = in2.currEpoch()->_tt;
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| 291 | if (t1 < t2) {
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| 292 | in1.nextEpoch();
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| 293 | }
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| 294 | else if (t1 > t2) {
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| 295 | in2.nextEpoch();
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| 296 | }
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| 297 | else if (t1 == t2) {
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| 298 | t_epoch* epo = new t_epoch; epo->_tt = t1;
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| 299 | bool epochOK = false;
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| 300 | for (int i1 = 0; i1 < in1.currEpoch()->_sp3Sat.size(); i1++) {
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| 301 | bncSP3::t_sp3Sat* sat1 = in1.currEpoch()->_sp3Sat[i1];
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| 302 | for (int i2 = 0; i2 < in2.currEpoch()->_sp3Sat.size(); i2++) {
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| 303 | bncSP3::t_sp3Sat* sat2 = in2.currEpoch()->_sp3Sat[i2];
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| 304 | if (sat1->_prn == sat2->_prn &&
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| 305 | sat1->_clkValid && sat2->_clkValid) {
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| 306 | epochOK = true;
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| 307 | epo->_dr[sat1->_prn] = sat1->_xyz - sat2->_xyz;
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| 308 | epo->_xyz[sat1->_prn] = sat1->_xyz;
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| 309 | epo->_dc[sat1->_prn] = sat1->_clk - sat2->_clk;
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| 310 | }
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| 311 | }
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| 312 | }
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| 313 | if (epochOK) {
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| 314 | epochs.push_back(epo);
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| 315 | }
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| 316 | else {
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| 317 | delete epo;
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| 318 | }
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| 319 | in1.nextEpoch();
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| 320 | in2.nextEpoch();
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| 321 | }
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| 322 | }
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| 323 |
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| 324 | // Transform xyz into radial, along-track, and out-of-plane
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| 325 | // --------------------------------------------------------
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| 326 | if (epochs.size() < 2) {
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| 327 | throw "t_sp3Comp: not enough common epochs";
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| 328 | }
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| 329 |
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| 330 | set<t_prn> clkSatsAll;
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| 331 |
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| 332 | for (unsigned ie = 0; ie < epochs.size(); ie++) {
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| 333 | t_epoch* epoch = epochs[ie];
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| 334 | t_epoch* epoch2 = 0;
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| 335 | if (ie == 0) {
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| 336 | epoch2 = epochs[ie+1];
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| 337 | }
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| 338 | else {
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| 339 | epoch2 = epochs[ie-1];
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| 340 | }
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| 341 | double dt = epoch->_tt - epoch2->_tt;
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| 342 | map<t_prn, ColumnVector>& dr = epoch->_dr;
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| 343 | map<t_prn, ColumnVector>& xyz = epoch->_xyz;
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| 344 | map<t_prn, ColumnVector>& xyz2 = epoch2->_xyz;
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| 345 | QList<t_prn> satEraseList;
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| 346 | for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
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| 347 | const t_prn& prn = it->first;
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| 348 | if (xyz2.find(prn) != xyz2.end()) {
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| 349 | const ColumnVector dx = dr[prn];
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| 350 | const ColumnVector& x1 = xyz[prn];
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| 351 | const ColumnVector& x2 = xyz2[prn];
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| 352 | ColumnVector vel = (x1 - x2) / dt;
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| 353 | XYZ_to_RSW(x1, vel, dx, dr[prn]);
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| 354 | if (epoch->_dc.find(prn) != epoch->_dc.end()) {
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| 355 | clkSatsAll.insert(prn);
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| 356 | }
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| 357 | }
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| 358 | else {
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| 359 | satEraseList << it->first;
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| 360 | }
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| 361 | }
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| 362 | for (QList<t_prn>::const_iterator it = satEraseList.begin(); it != satEraseList.end(); it++) {
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| 363 | epoch->_dc.erase(*it);
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| 364 | epoch->_dr.erase(*it);
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| 365 | }
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| 366 | }
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| 367 |
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| 368 | map<string, t_stat> stat;
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| 369 |
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| 370 | // Estimate Clock Offsets
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| 371 | // ----------------------
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| 372 | string systems;
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| 373 | for (set<t_prn>::const_iterator it = clkSatsAll.begin(); it != clkSatsAll.end(); it++) {
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| 374 | if (systems.find(it->system()) == string::npos) {
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| 375 | systems += it->system();
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| 376 | }
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| 377 | }
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| 378 | for (unsigned iSys = 0; iSys < systems.size(); iSys++) {
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| 379 | char system = systems[iSys];
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| 380 | set<t_prn> clkSats;
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| 381 | for (set<t_prn>::const_iterator it = clkSatsAll.begin(); it != clkSatsAll.end(); it++) {
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| 382 | if (it->system() == system && !excludeSat(*it)) {
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| 383 | clkSats.insert(*it);
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| 384 | }
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| 385 | }
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| 386 | processClocks(clkSats, epochs, stat);
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| 387 | }
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| 388 |
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| 389 | // Print epoch-wise Clock Residuals
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| 390 | // --------------------------------
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| 391 | out.setf(ios::fixed);
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| 392 | if (!_summaryOnly) {
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| 393 | out << "!\n! Clock residuals and orbit differences in [m]\n"
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| 394 | "! ----------------------------------------------------------------------------\n";
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| 395 | out << "!\n! Epoch PRN radial along out clk clkRed iPRN SIS"
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| 396 | "\n! -------------------------------------------------------------------------------------\n";
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| 397 | }
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| 398 | for (unsigned ii = 0; ii < epochs.size(); ii++) {
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| 399 | const t_epoch* epo = epochs[ii];
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| 400 | const map<t_prn, ColumnVector>& dr = epochs[ii]->_dr;
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| 401 | const map<t_prn, double>& dc = epochs[ii]->_dc;
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| 402 | const map<t_prn, double>& dcRed = epochs[ii]->_dcRed;
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| 403 | const map<t_prn, double>& sis = epochs[ii]->_sis;
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| 404 | for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
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| 405 | const t_prn& prn = it->first;
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| 406 | stringstream all; all << prn.system() << 99;
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| 407 | if (!excludeSat(prn)) {
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| 408 | const ColumnVector& rao = it->second;
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| 409 | if (!_summaryOnly) {
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| 410 | out << setprecision(6) << string(epo->_tt) << ' ' << prn.toString() << ' '
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| 411 | << setw(7) << setprecision(4) << rao[0] << ' '
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| 412 | << setw(7) << setprecision(4) << rao[1] << ' '
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| 413 | << setw(7) << setprecision(4) << rao[2] << " ";
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| 414 | }
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| 415 | stat[prn.toString()]._rao += SP(rao, rao); // Schur product
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| 416 | stat[all.str() ]._rao += SP(rao, rao);
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| 417 | stat[prn.toString()]._nr += 1;
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| 418 | stat[all.str() ]._nr += 1;
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| 419 | if (dc.find(prn) != dc.end() && dcRed.find(prn) != dc.end()) {
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| 420 | double clkRes = dc.find(prn)->second;
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| 421 | double clkResRed = dcRed.find(prn)->second;
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| 422 | if (!_summaryOnly) {
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| 423 | out << setw(7) << setprecision(4) << clkRes << ' '
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| 424 | << setw(7) << setprecision(4) << clkResRed;
|
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| 425 | }
|
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| 426 | stat[prn.toString()]._dcRMS += clkRes * clkRes;
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| 427 | stat[all.str() ]._dcRMS += clkRes * clkRes;
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| 428 | stat[prn.toString()]._dcRedRMS += clkResRed * clkResRed;
|
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| 429 | stat[all.str() ]._dcRedRMS += clkResRed * clkResRed;
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| 430 | stat[prn.toString()]._dcRedSig += (clkResRed - stat[prn.toString()]._dcRedMean) *
|
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| 431 | (clkResRed - stat[prn.toString()]._dcRedMean);
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| 432 | stat[all.str() ]._dcRedSig += (clkResRed - stat[all.str() ]._dcRedMean) *
|
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| 433 | (clkResRed - stat[all.str() ]._dcRedMean);
|
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| 434 | }
|
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| 435 | else {
|
|---|
| 436 | if (!_summaryOnly) {
|
|---|
| 437 | out << " . . ";
|
|---|
| 438 | }
|
|---|
| 439 | }
|
|---|
| 440 | if (!_summaryOnly) {
|
|---|
| 441 | out << " " << setw(2) << int(prn);
|
|---|
| 442 | }
|
|---|
| 443 | if (sis.find(prn) != sis.end()) {
|
|---|
| 444 | double sisVal = sis.find(prn)->second;
|
|---|
| 445 | stat[prn.toString()]._sisSum += sisVal;
|
|---|
| 446 | stat[all.str() ]._sisSum += sisVal;
|
|---|
| 447 | stat[prn.toString()]._sisSqr += sisVal * sisVal;
|
|---|
| 448 | stat[all.str() ]._sisSqr += sisVal * sisVal;
|
|---|
| 449 | stat[prn.toString()]._ns += 1;
|
|---|
| 450 | stat[all.str() ]._ns += 1;
|
|---|
| 451 | if (!_summaryOnly) {
|
|---|
| 452 | out << " " << setw(7) << setprecision(4) << sisVal;
|
|---|
| 453 | }
|
|---|
| 454 | }
|
|---|
| 455 | if (!_summaryOnly) {
|
|---|
| 456 | out << "\n";
|
|---|
| 457 | }
|
|---|
| 458 | }
|
|---|
| 459 | }
|
|---|
| 460 | delete epo;
|
|---|
| 461 | }
|
|---|
| 462 |
|
|---|
| 463 | // Print Summary
|
|---|
| 464 | // -------------
|
|---|
| 465 | out << "!\n! Summary";
|
|---|
| 466 | out << "\n! -----------------------------------------------------------------------------------------------------------------\n";
|
|---|
| 467 | out << "!\n! PRN radialRMS alongRMS outRMS 3DRMS nOrb clkRMS clkRedRMS clkRedSig nClk Offset SISRMS SISSig"
|
|---|
| 468 | "\n! [mm] [mm] [mm] [mm] [-] [ns] [ns] [ns] [-] [ns] [mm] [mm]"
|
|---|
| 469 | "\n! -------------------------------------------------------------------------------------------------------------------------------------\n";
|
|---|
| 470 | // SIS standard deviation of a system: pooled about the satellite means
|
|---|
| 471 | map<char, double> sisVarSys;
|
|---|
| 472 | for (map<string, t_stat>::const_iterator it = stat.begin(); it != stat.end(); it++) {
|
|---|
| 473 | const t_stat& st = it->second;
|
|---|
| 474 | stringstream all; all << it->first[0] << 99;
|
|---|
| 475 | if (it->first != all.str() && st._ns > 0) {
|
|---|
| 476 | sisVarSys[it->first[0]] += st._sisSqr - st._sisSum * st._sisSum / st._ns;
|
|---|
| 477 | }
|
|---|
| 478 | }
|
|---|
| 479 | for (map<string, t_stat>::iterator it = stat.begin(); it != stat.end(); it++) {
|
|---|
| 480 | const string& prn = it->first;
|
|---|
| 481 | t_stat& stat = it->second;
|
|---|
| 482 | char sys = prn[0];
|
|---|
| 483 | stringstream all; all << sys << 99;
|
|---|
| 484 | if (stat._nr > 0) {
|
|---|
| 485 | stat._rao[0] = sqrt(stat._rao[0] / stat._nr);
|
|---|
| 486 | stat._rao[1] = sqrt(stat._rao[1] / stat._nr);
|
|---|
| 487 | stat._rao[2] = sqrt(stat._rao[2] / stat._nr);
|
|---|
| 488 | stat._rao3DRMS = stat._rao.NormFrobenius();
|
|---|
| 489 | // orbit values in millimeter
|
|---|
| 490 | if (prn != all.str()) {
|
|---|
| 491 | (_summaryOnly) ? out << " " << prn << ' ':
|
|---|
| 492 | out << "! " << prn << ' ';
|
|---|
| 493 | }
|
|---|
| 494 | else {
|
|---|
| 495 | QString sys; sys = all.str()[0];
|
|---|
| 496 | (_summaryOnly) ? out << " " << QString("%1").arg(sys,3,' ').toStdString().c_str() << " ":
|
|---|
| 497 | out << "! " << QString("%1").arg(sys,3,' ').toStdString().c_str() << " ";
|
|---|
| 498 | }
|
|---|
| 499 | out << setw(10) << setprecision(1) << stat._rao[0] * 1e3 << ' '
|
|---|
| 500 | << setw(10) << setprecision(1) << stat._rao[1] * 1e3 << ' '
|
|---|
| 501 | << setw(10) << setprecision(1) << stat._rao[2] * 1e3 << ' '
|
|---|
| 502 | << setw(10) << setprecision(1) << stat._rao3DRMS * 1e3 << ' '
|
|---|
| 503 | << setw( 7) << stat._nr << " ";
|
|---|
| 504 | // clock values in nano seconds
|
|---|
| 505 | if (stat._nc > 0) {
|
|---|
| 506 | stat._dcRMS = sqrt(stat._dcRMS / stat._nc);
|
|---|
| 507 | stat._dcRedRMS = sqrt(stat._dcRedRMS / stat._nc);
|
|---|
| 508 | stat._dcRedSig = sqrt(stat._dcRedSig / stat._nc);
|
|---|
| 509 | out << setw(10) << setprecision(2) << stat._dcRMS / t_CST::c * 1e9 << ' '
|
|---|
| 510 | << setw(10) << setprecision(2) << stat._dcRedRMS / t_CST::c * 1e9 << ' '
|
|---|
| 511 | << setw(10) << setprecision(2) << stat._dcRedSig / t_CST::c * 1e9 << ' '
|
|---|
| 512 | << setw( 9) << stat._nc << " ";
|
|---|
| 513 | if (prn != "G99" && prn != "R99" && prn != "E99" && prn != "C98" && prn != "C99") {
|
|---|
| 514 | out << setw( 9) << setprecision(2) << stat._offset / t_CST::c * 1e9;
|
|---|
| 515 | }
|
|---|
| 516 | else {
|
|---|
| 517 | out << setw( 9) << " ";
|
|---|
| 518 | }
|
|---|
| 519 | }
|
|---|
| 520 | if (stat._ns > 0) {
|
|---|
| 521 | double var = (prn == all.str()) ? sisVarSys[sys] / stat._ns
|
|---|
| 522 | : stat._sisSqr / stat._ns - pow(stat._sisSum / stat._ns, 2);
|
|---|
| 523 | out << setw(11) << setprecision(1) << sqrt(stat._sisSqr / stat._ns) * 1e3 << ' '
|
|---|
| 524 | << setw( 9) << setprecision(1) << sqrt(max(0.0, var)) * 1e3;
|
|---|
| 525 | }
|
|---|
| 526 | out << "\n";
|
|---|
| 527 | }
|
|---|
| 528 | }
|
|---|
| 529 | }
|
|---|
| 530 |
|
|---|
| 531 | //
|
|---|
| 532 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 533 | bool t_sp3Comp::excludeSat(const t_prn& prn) const {
|
|---|
| 534 | QStringListIterator it(_excludeSats);
|
|---|
| 535 | while (it.hasNext()) {
|
|---|
| 536 | string prnStr = it.next().toLatin1().data();
|
|---|
| 537 | if (prnStr == prn.toString() || // prn
|
|---|
| 538 | prnStr == prn.toString().substr(0,1)) { // sys
|
|---|
| 539 | return true;
|
|---|
| 540 | }
|
|---|
| 541 | }
|
|---|
| 542 | return false;
|
|---|
| 543 | }
|
|---|
| 544 |
|
|---|
