[3899] | 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://www.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_reqcAnalyze
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| 30 | *
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| 31 | * Purpose: Analyze RINEX 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: 11-Apr-2012
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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 <iostream>
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[4361] | 42 | #include <iomanip>
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[3899] | 43 | #include "reqcanalyze.h"
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[3973] | 44 | #include "bncapp.h"
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[3899] | 45 | #include "bncsettings.h"
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[4254] | 46 | #include "reqcedit.h"
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[4255] | 47 | #include "bncutils.h"
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[4262] | 48 | #include "bncpostprocess.h"
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[4300] | 49 | #include "graphwin.h"
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[4307] | 50 | #include "polarplot.h"
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[3899] | 51 |
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| 52 | using namespace std;
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| 53 |
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[4357] | 54 | const double SLIPTRESH = 5.0; // cycle-slip threshold (meters)
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| 55 |
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[3899] | 56 | // Constructor
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| 57 | ////////////////////////////////////////////////////////////////////////////
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| 58 | t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
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| 59 |
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| 60 | bncSettings settings;
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[4254] | 61 |
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[4257] | 62 | _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
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| 63 | _logFile = 0;
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| 64 | _log = 0;
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[4254] | 65 | _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
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[4257] | 66 | _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
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[4266] | 67 |
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| 68 | _currEpo = 0;
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[4300] | 69 |
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[4556] | 70 | connect(this, SIGNAL(displayGraph(const QString&,
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| 71 | const QByteArray&,
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| 72 | QVector<t_polarPoint*>*,
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| 73 | const QByteArray&,
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| 74 | QVector<t_polarPoint*>*,
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| 75 | double)),
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| 76 | this, SLOT(slotDisplayGraph(const QString&,
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| 77 | const QByteArray&,
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| 78 | QVector<t_polarPoint*>*,
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| 79 | const QByteArray&,
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| 80 | QVector<t_polarPoint*>*,
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| 81 | double)));
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[3899] | 82 | }
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| 83 |
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| 84 | // Destructor
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| 85 | ////////////////////////////////////////////////////////////////////////////
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| 86 | t_reqcAnalyze::~t_reqcAnalyze() {
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[4255] | 87 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 88 | delete _rnxObsFiles[ii];
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| 89 | }
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| 90 | for (int ii = 0; ii < _ephs.size(); ii++) {
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| 91 | delete _ephs[ii];
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| 92 | }
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| 93 | delete _log; _log = 0;
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| 94 | delete _logFile; _logFile = 0;
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[4452] | 95 | bncApp* app = (bncApp*) qApp;
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| 96 | if ( app->mode() != bncApp::interactive) {
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| 97 | app->exit(0);
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| 98 | }
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[3899] | 99 | }
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| 100 |
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| 101 | //
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| 102 | ////////////////////////////////////////////////////////////////////////////
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[4450] | 103 | void t_reqcAnalyze::slotDisplayGraph(const QString& fileName,
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[4556] | 104 | const QByteArray& title1,
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| 105 | QVector<t_polarPoint*>* data1,
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| 106 | const QByteArray& title2,
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| 107 | QVector<t_polarPoint*>* data2,
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| 108 | double maxValue) {
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[4342] | 109 |
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[4346] | 110 | bncApp* app = dynamic_cast<bncApp*>(qApp);
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[4448] | 111 | if (app->GUIenabled()) {
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[4334] | 112 |
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[4556] | 113 | if (maxValue == 0.0) {
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| 114 | if (data1) {
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| 115 | for (int ii = 0; ii < data1->size(); ii++) {
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| 116 | double mp = data1->at(ii)->_value;
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| 117 | if (maxValue < mp) {
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| 118 | maxValue = mp;
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| 119 | }
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| 120 | }
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[4356] | 121 | }
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[4556] | 122 | if (data1) {
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| 123 | for (int ii = 0; ii < data2->size(); ii++) {
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| 124 | double mp = data2->at(ii)->_value;
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| 125 | if (maxValue < mp) {
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| 126 | maxValue = mp;
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| 127 | }
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| 128 | }
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[4356] | 129 | }
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| 130 | }
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[4357] | 131 |
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[4556] | 132 | QwtInterval scaleInterval(0.0, maxValue);
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[4356] | 133 |
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[4556] | 134 | QVector<QWidget*> plots;
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| 135 | if (data1) {
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| 136 | t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
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| 137 | app->mainWindow());
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| 138 | plot1->addCurve(data1);
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| 139 | plots << plot1;
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| 140 | }
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| 141 | if (data1) {
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| 142 | t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
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[4356] | 143 | app->mainWindow());
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[4556] | 144 | plot2->addCurve(data2);
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| 145 | plots << plot2;
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| 146 | }
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[4334] | 147 |
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[4450] | 148 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots, scaleInterval);
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[4334] | 149 |
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[4445] | 150 | graphWin->show();
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| 151 |
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[4451] | 152 | bncSettings settings;
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| 153 | QString dirName = settings.value("reqcPlotDir").toString();
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| 154 | if (!dirName.isEmpty()) {
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| 155 | graphWin->savePNG(dirName);
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| 156 | }
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[4308] | 157 | }
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[4300] | 158 | }
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| 159 |
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| 160 | //
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| 161 | ////////////////////////////////////////////////////////////////////////////
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[3899] | 162 | void t_reqcAnalyze::run() {
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| 163 |
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[4255] | 164 | // Open Log File
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| 165 | // -------------
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| 166 | _logFile = new QFile(_logFileName);
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[4517] | 167 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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| 168 | _log = new QTextStream();
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| 169 | _log->setDevice(_logFile);
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| 170 | }
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[4255] | 171 |
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| 172 | // Initialize RINEX Observation Files
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| 173 | // ----------------------------------
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[4525] | 174 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
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[3899] | 175 |
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[4257] | 176 | // Read Ephemerides
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| 177 | // ----------------
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| 178 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
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| 179 |
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[4255] | 180 | // Loop over all RINEX Files
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| 181 | // -------------------------
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[4254] | 182 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 183 | analyzeFile(_rnxObsFiles[ii]);
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| 184 | }
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| 185 |
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[4255] | 186 | // Exit
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| 187 | // ----
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[4452] | 188 | emit finished();
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| 189 | deleteLater();
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[3899] | 190 | }
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[4254] | 191 |
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| 192 | //
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| 193 | ////////////////////////////////////////////////////////////////////////////
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[4260] | 194 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
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[4259] | 195 |
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[4517] | 196 | if (_log) {
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| 197 | *_log << "\nAnalyze File\n"
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| 198 | << "------------\n"
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| 199 | << obsFile->fileName().toAscii().data() << endl << endl;
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| 200 | }
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[4260] | 201 |
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[4343] | 202 | _satStat.clear();
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| 203 |
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[4342] | 204 | // A priori Coordinates
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| 205 | // --------------------
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| 206 | ColumnVector xyz = obsFile->xyz();
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| 207 |
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[4262] | 208 | // Loop over all Epochs
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| 209 | // --------------------
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[4541] | 210 | try {
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| 211 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
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| 212 |
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| 213 | // Loop over all satellites
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| 214 | // ------------------------
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| 215 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
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| 216 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
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| 217 | t_obs obs;
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| 218 | t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
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| 219 |
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| 220 | if (obs.satSys == 'R') {
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| 221 | continue; // TODO: set channel number
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| 222 | }
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| 223 |
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| 224 | QString prn = QString("%1%2").arg(obs.satSys)
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| 225 | .arg(obs.satNum, 2, 10, QChar('0'));
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| 226 |
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| 227 | t_satStat& satStat = _satStat[prn];
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| 228 |
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| 229 | satStat.addObs(obs);
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[4262] | 230 | }
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[4541] | 231 |
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| 232 | } // while (_currEpo)
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| 233 | }
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| 234 | catch (QString str) {
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| 235 | if (_log) {
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| 236 | *_log << "Exception " << str << endl;
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[4262] | 237 | }
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[4541] | 238 | else {
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| 239 | qDebug() << str;
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| 240 | }
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| 241 | return;
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| 242 | }
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[4262] | 243 |
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[4268] | 244 | // Analyze the Multipath
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| 245 | // ---------------------
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[4350] | 246 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
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| 247 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
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[4268] | 248 |
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| 249 | QMapIterator<QString, t_satStat> it(_satStat);
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| 250 | while (it.hasNext()) {
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| 251 | it.next();
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| 252 | QString prn = it.key();
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| 253 | const t_satStat& satStat = it.value();
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[4361] | 254 | analyzeMultipath(prn, satStat, xyz, obsFile->interval(), dataMP1, dataMP2);
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[4268] | 255 | }
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| 256 |
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[4556] | 257 | emit displayGraph(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2, 2.0);
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[4300] | 258 |
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[4517] | 259 | if (_log) {
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| 260 | _log->flush();
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| 261 | }
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[4254] | 262 | }
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[4263] | 263 |
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| 264 | //
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| 265 | ////////////////////////////////////////////////////////////////////////////
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[4355] | 266 | void t_reqcAnalyze::t_satStat::addObs(const t_obs& obs) {
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[4265] | 267 |
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[4355] | 268 | t_anaObs* newObs = new t_anaObs(obs.GPSWeek, obs.GPSWeeks);
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[4354] | 269 | bool okFlag = false;
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[4338] | 270 |
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[4268] | 271 | // Compute the Multipath
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| 272 | // ----------------------
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[4424] | 273 | double L1 = obs.measdata("L1", 3.0);
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| 274 | double L2 = obs.measdata("L2", 3.0);
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[4391] | 275 | if (L1 != 0.0 && L2 != 0.0) {
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[4266] | 276 | double f1 = t_CST::f1(obs.satSys, obs.slotNum);
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| 277 | double f2 = t_CST::f2(obs.satSys, obs.slotNum);
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| 278 |
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[4391] | 279 | L1 = L1 * t_CST::c / f1;
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| 280 | L2 = L2 * t_CST::c / f2;
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[4266] | 281 |
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[4424] | 282 | double P1 = obs.measdata("C1", 3.0);
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[4391] | 283 | if (P1 != 0.0) {
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| 284 | newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
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[4354] | 285 | okFlag = true;
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[4361] | 286 |
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| 287 | //// beg test
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| 288 | // cout.setf(ios::fixed);
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| 289 | // cout << obs.satSys << setw(2) << obs.satNum << " "
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| 290 | // << setprecision(1) << obs.GPSWeeks << " "
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| 291 | // << setprecision(4) << newObs->_MP1 << endl;
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| 292 | //// end test
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[4268] | 293 | }
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[4424] | 294 | double P2 = obs.measdata("C2", 3.0);
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[4391] | 295 | if (P2 != 0.0) {
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| 296 | newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
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[4354] | 297 | okFlag = true;
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[4268] | 298 | }
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[4265] | 299 | }
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[4338] | 300 |
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[4354] | 301 | // Remember the Observation
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| 302 | // ------------------------
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| 303 | if (okFlag) {
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| 304 | anaObs << newObs;
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| 305 | }
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| 306 | else {
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| 307 | delete newObs;
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| 308 | }
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[4263] | 309 | }
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[4350] | 310 |
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| 311 | //
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| 312 | ////////////////////////////////////////////////////////////////////////////
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| 313 | void t_reqcAnalyze::analyzeMultipath(const QString& prn,
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| 314 | const t_satStat& satStat,
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[4355] | 315 | const ColumnVector& xyz,
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[4361] | 316 | double obsInterval,
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[4350] | 317 | QVector<t_polarPoint*>* dataMP1,
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| 318 | QVector<t_polarPoint*>* dataMP2) {
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| 319 |
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[4544] | 320 | const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
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| 321 | const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
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[4350] | 322 |
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[4361] | 323 | for (int chunkStart = 0; chunkStart + numEpo < satStat.anaObs.size();
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| 324 | chunkStart += chunkStep) {
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[4351] | 325 |
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| 326 | // Compute Mean
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| 327 | // ------------
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[4353] | 328 | bool slipFlag = false;
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| 329 | double mean1 = 0.0;
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| 330 | double mean2 = 0.0;
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| 331 |
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[4361] | 332 | for (int ii = 0; ii < numEpo; ii++) {
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[4351] | 333 | int iEpo = chunkStart + ii;
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| 334 | const t_anaObs* anaObs = satStat.anaObs[iEpo];
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[4355] | 335 | mean1 += anaObs->_MP1;
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| 336 | mean2 += anaObs->_MP2;
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[4353] | 337 |
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| 338 | // Check Slip
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| 339 | // ----------
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| 340 | if (ii > 0) {
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[4355] | 341 | double diff1 = anaObs->_MP1 - satStat.anaObs[iEpo-1]->_MP1;
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| 342 | double diff2 = anaObs->_MP2 - satStat.anaObs[iEpo-1]->_MP2;
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[4357] | 343 | if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
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[4353] | 344 | slipFlag = true;
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| 345 | break;
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| 346 | }
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| 347 | }
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[4351] | 348 | }
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[4353] | 349 |
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| 350 | if (slipFlag) {
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| 351 | continue;
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| 352 | }
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| 353 |
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[4361] | 354 | mean1 /= numEpo;
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| 355 | mean2 /= numEpo;
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[4351] | 356 |
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| 357 | // Compute Standard Deviation
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| 358 | // --------------------------
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| 359 | double stddev1 = 0.0;
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| 360 | double stddev2 = 0.0;
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[4361] | 361 | for (int ii = 0; ii < numEpo; ii++) {
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[4351] | 362 | int iEpo = chunkStart + ii;
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| 363 | const t_anaObs* anaObs = satStat.anaObs[iEpo];
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[4355] | 364 | double diff1 = anaObs->_MP1 - mean1;
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| 365 | double diff2 = anaObs->_MP2 - mean2;
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[4351] | 366 | stddev1 += diff1 * diff1;
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| 367 | stddev2 += diff2 * diff2;
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| 368 | }
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[4361] | 369 | double MP1 = sqrt(stddev1 / (numEpo-1));
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| 370 | double MP2 = sqrt(stddev2 / (numEpo-1));
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[4351] | 371 |
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[4355] | 372 | const t_anaObs* anaObs0 = satStat.anaObs[chunkStart];
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| 373 |
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| 374 | // Compute the Azimuth and Zenith Distance
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| 375 | // ---------------------------------------
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| 376 | double az = 0.0;
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| 377 | double zen = 0.0;
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| 378 | if (xyz.size()) {
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| 379 | t_eph* eph = 0;
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| 380 | for (int ie = 0; ie < _ephs.size(); ie++) {
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| 381 | if (_ephs[ie]->prn() == prn) {
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| 382 | eph = _ephs[ie];
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| 383 | break;
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| 384 | }
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| 385 | }
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| 386 |
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| 387 | if (eph) {
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| 388 | double xSat, ySat, zSat, clkSat;
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| 389 | eph->position(anaObs0->_GPSWeek, anaObs0->_GPSWeeks,
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| 390 | xSat, ySat, zSat, clkSat);
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| 391 |
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| 392 | double rho, eleSat, azSat;
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| 393 | topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
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| 394 |
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| 395 | az = azSat * 180.0/M_PI;
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| 396 | zen = 90.0 - eleSat * 180.0/M_PI;
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| 397 | }
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| 398 | }
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| 399 |
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[4353] | 400 | // Add new Point
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| 401 | // -------------
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[4355] | 402 | (*dataMP1) << (new t_polarPoint(az, zen, MP1));
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| 403 | (*dataMP2) << (new t_polarPoint(az, zen, MP2));
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[4351] | 404 |
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[4517] | 405 | if (_log) {
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| 406 | _log->setRealNumberNotation(QTextStream::FixedNotation);
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[4353] | 407 |
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[4517] | 408 | _log->setRealNumberPrecision(2);
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| 409 | *_log << "MP1 " << prn << " " << az << " " << zen << " ";
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| 410 | _log->setRealNumberPrecision(3);
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| 411 | *_log << MP1 << endl;
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[4353] | 412 |
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[4517] | 413 | _log->setRealNumberPrecision(2);
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| 414 | *_log << "MP2 " << prn << " " << az << " " << zen << " ";
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| 415 | _log->setRealNumberPrecision(3);
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| 416 | *_log << MP2 << endl;
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| 417 |
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| 418 | _log->flush();
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| 419 | }
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[4350] | 420 | }
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| 421 | }
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