[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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[4579] | 43 | #include <qwt_plot_renderer.h>
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[4574] | 44 |
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[3899] | 45 | #include "reqcanalyze.h"
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[3973] | 46 | #include "bncapp.h"
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[3899] | 47 | #include "bncsettings.h"
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[4254] | 48 | #include "reqcedit.h"
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[4255] | 49 | #include "bncutils.h"
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[4262] | 50 | #include "bncpostprocess.h"
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[4300] | 51 | #include "graphwin.h"
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[4307] | 52 | #include "polarplot.h"
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[4577] | 53 | #include "availplot.h"
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[4662] | 54 | #include "eleplot.h"
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[4672] | 55 | #include "dopplot.h"
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[3899] | 56 |
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| 57 | using namespace std;
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| 58 |
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[4357] | 59 | const double SLIPTRESH = 5.0; // cycle-slip threshold (meters)
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| 60 |
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[3899] | 61 | // Constructor
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| 62 | ////////////////////////////////////////////////////////////////////////////
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| 63 | t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
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| 64 |
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| 65 | bncSettings settings;
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[4254] | 66 |
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[4257] | 67 | _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
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| 68 | _logFile = 0;
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| 69 | _log = 0;
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[4254] | 70 | _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
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[4257] | 71 | _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
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[4266] | 72 |
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| 73 | _currEpo = 0;
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[4300] | 74 |
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[4572] | 75 | connect(this, SIGNAL(dspSkyPlot(const QString&,
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| 76 | const QByteArray&,
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| 77 | QVector<t_polarPoint*>*,
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| 78 | const QByteArray&,
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| 79 | QVector<t_polarPoint*>*,
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| 80 | const QByteArray&, double)),
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| 81 | this, SLOT(slotDspSkyPlot(const QString&,
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[4556] | 82 | const QByteArray&,
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| 83 | QVector<t_polarPoint*>*,
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| 84 | const QByteArray&,
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| 85 | QVector<t_polarPoint*>*,
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[4572] | 86 | const QByteArray&, double)));
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| 87 |
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[4584] | 88 | connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
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| 89 | this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
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[3899] | 90 | }
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| 91 |
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| 92 | // Destructor
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| 93 | ////////////////////////////////////////////////////////////////////////////
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| 94 | t_reqcAnalyze::~t_reqcAnalyze() {
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[4255] | 95 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 96 | delete _rnxObsFiles[ii];
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| 97 | }
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| 98 | for (int ii = 0; ii < _ephs.size(); ii++) {
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| 99 | delete _ephs[ii];
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| 100 | }
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| 101 | delete _log; _log = 0;
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| 102 | delete _logFile; _logFile = 0;
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[4452] | 103 | bncApp* app = (bncApp*) qApp;
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| 104 | if ( app->mode() != bncApp::interactive) {
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| 105 | app->exit(0);
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| 106 | }
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[3899] | 107 | }
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| 108 |
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| 109 | //
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| 110 | ////////////////////////////////////////////////////////////////////////////
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[4572] | 111 | void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
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| 112 | const QByteArray& title1,
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| 113 | QVector<t_polarPoint*>* data1,
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| 114 | const QByteArray& title2,
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| 115 | QVector<t_polarPoint*>* data2,
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| 116 | const QByteArray& scaleTitle,
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| 117 | double maxValue) {
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[4342] | 118 |
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[4346] | 119 | bncApp* app = dynamic_cast<bncApp*>(qApp);
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[4448] | 120 | if (app->GUIenabled()) {
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[4334] | 121 |
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[4556] | 122 | if (maxValue == 0.0) {
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| 123 | if (data1) {
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| 124 | for (int ii = 0; ii < data1->size(); ii++) {
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[4566] | 125 | double val = data1->at(ii)->_value;
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| 126 | if (maxValue < val) {
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| 127 | maxValue = val;
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[4556] | 128 | }
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| 129 | }
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[4356] | 130 | }
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[4557] | 131 | if (data2) {
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[4556] | 132 | for (int ii = 0; ii < data2->size(); ii++) {
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[4566] | 133 | double val = data2->at(ii)->_value;
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| 134 | if (maxValue < val) {
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| 135 | maxValue = val;
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[4556] | 136 | }
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| 137 | }
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[4356] | 138 | }
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| 139 | }
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[4357] | 140 |
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[4556] | 141 | QwtInterval scaleInterval(0.0, maxValue);
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[4356] | 142 |
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[4556] | 143 | QVector<QWidget*> plots;
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| 144 | if (data1) {
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| 145 | t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
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| 146 | app->mainWindow());
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| 147 | plot1->addCurve(data1);
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| 148 | plots << plot1;
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| 149 | }
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[4557] | 150 | if (data2) {
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[4556] | 151 | t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
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[4356] | 152 | app->mainWindow());
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[4556] | 153 | plot2->addCurve(data2);
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| 154 | plots << plot2;
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| 155 | }
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[4334] | 156 |
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[4564] | 157 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
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[4573] | 158 | &scaleTitle, &scaleInterval);
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[4334] | 159 |
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[4445] | 160 | graphWin->show();
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| 161 |
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[4451] | 162 | bncSettings settings;
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| 163 | QString dirName = settings.value("reqcPlotDir").toString();
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| 164 | if (!dirName.isEmpty()) {
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[4606] | 165 | QByteArray ext = scaleTitle.isEmpty() ? "_S.png" : "_M.png";
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[4579] | 166 | graphWin->savePNG(dirName, ext);
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[4451] | 167 | }
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[4308] | 168 | }
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[4300] | 169 | }
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| 170 |
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| 171 | //
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| 172 | ////////////////////////////////////////////////////////////////////////////
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[3899] | 173 | void t_reqcAnalyze::run() {
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| 174 |
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[4255] | 175 | // Open Log File
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| 176 | // -------------
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| 177 | _logFile = new QFile(_logFileName);
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[4517] | 178 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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| 179 | _log = new QTextStream();
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| 180 | _log->setDevice(_logFile);
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| 181 | }
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[4255] | 182 |
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| 183 | // Initialize RINEX Observation Files
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| 184 | // ----------------------------------
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[4525] | 185 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
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[3899] | 186 |
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[4257] | 187 | // Read Ephemerides
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| 188 | // ----------------
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| 189 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
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| 190 |
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[4255] | 191 | // Loop over all RINEX Files
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| 192 | // -------------------------
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[4254] | 193 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 194 | analyzeFile(_rnxObsFiles[ii]);
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| 195 | }
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| 196 |
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[4255] | 197 | // Exit
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| 198 | // ----
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[4452] | 199 | emit finished();
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| 200 | deleteLater();
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[3899] | 201 | }
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[4254] | 202 |
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| 203 | //
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| 204 | ////////////////////////////////////////////////////////////////////////////
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[4260] | 205 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
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[4259] | 206 |
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[4517] | 207 | if (_log) {
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| 208 | *_log << "\nAnalyze File\n"
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| 209 | << "------------\n"
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| 210 | << obsFile->fileName().toAscii().data() << endl << endl;
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| 211 | }
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[4260] | 212 |
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[4584] | 213 | _allObsMap.clear();
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| 214 | _availDataMap.clear();
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[4343] | 215 |
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[4342] | 216 | // A priori Coordinates
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| 217 | // --------------------
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[4679] | 218 | ColumnVector xyzSta = obsFile->xyz();
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[4342] | 219 |
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[4262] | 220 | // Loop over all Epochs
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| 221 | // --------------------
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[4541] | 222 | try {
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[4675] | 223 | unsigned iEpo = 0;
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[4541] | 224 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
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| 225 |
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| 226 | // Loop over all satellites
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| 227 | // ------------------------
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| 228 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
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| 229 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
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| 230 | t_obs obs;
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| 231 | t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
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| 232 |
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| 233 | if (obs.satSys == 'R') {
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[4590] | 234 | // TODO: set channel number
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[4541] | 235 | }
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| 236 |
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| 237 | QString prn = QString("%1%2").arg(obs.satSys)
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| 238 | .arg(obs.satNum, 2, 10, QChar('0'));
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| 239 |
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[4584] | 240 | _allObsMap[prn].addObs(obs);
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[4675] | 241 |
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[4262] | 242 | }
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[4541] | 243 |
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[4679] | 244 | prepareObsStat(iEpo, obsFile->interval(), xyzSta);
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[4678] | 245 | iEpo++;
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| 246 |
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[4541] | 247 | } // while (_currEpo)
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| 248 | }
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| 249 | catch (QString str) {
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| 250 | if (_log) {
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| 251 | *_log << "Exception " << str << endl;
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[4262] | 252 | }
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[4541] | 253 | else {
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| 254 | qDebug() << str;
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| 255 | }
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| 256 | return;
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| 257 | }
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[4262] | 258 |
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[4268] | 259 | // Analyze the Multipath
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| 260 | // ---------------------
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[4572] | 261 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
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| 262 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
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| 263 | QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
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| 264 | QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
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[4268] | 265 |
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[4584] | 266 | QMutableMapIterator<QString, t_allObs> it(_allObsMap);
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[4268] | 267 | while (it.hasNext()) {
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| 268 | it.next();
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[4584] | 269 | QString prn = it.key();
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[4679] | 270 | preparePlotData(prn, xyzSta, obsFile->interval(),
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[4675] | 271 | dataMP1, dataMP2, dataSNR1, dataSNR2);
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[4268] | 272 | }
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| 273 |
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[4572] | 274 | emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
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| 275 | "Meters", 2.0);
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[4300] | 276 |
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[4572] | 277 | emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
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| 278 | "", 9.0);
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| 279 |
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[4605] | 280 | QFileInfo fileInfo(obsFile->fileName());
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| 281 | QByteArray title = fileInfo.fileName().toAscii();
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[4572] | 282 |
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[4605] | 283 | emit dspAvailPlot(obsFile->fileName(), title);
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| 284 |
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[4517] | 285 | if (_log) {
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| 286 | _log->flush();
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| 287 | }
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[4254] | 288 | }
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[4263] | 289 |
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| 290 | //
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| 291 | ////////////////////////////////////////////////////////////////////////////
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[4584] | 292 | void t_reqcAnalyze::t_allObs::addObs(const t_obs& obs) {
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[4265] | 293 |
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[4584] | 294 | t_oneObs* newObs = new t_oneObs(obs.GPSWeek, obs.GPSWeeks);
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[4354] | 295 | bool okFlag = false;
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[4338] | 296 |
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[4608] | 297 | // Availability and Slip Flags
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| 298 | // ---------------------------
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[4424] | 299 | double L1 = obs.measdata("L1", 3.0);
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[4571] | 300 | if (L1 != 0) {
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| 301 | newObs->_hasL1 = true;
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| 302 | }
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[4424] | 303 | double L2 = obs.measdata("L2", 3.0);
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[4571] | 304 | if (L2 != 0) {
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| 305 | newObs->_hasL2 = true;
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| 306 | }
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[4608] | 307 | if (obs.slipL1) {
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| 308 | newObs->_slipL1 = true;
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| 309 | }
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| 310 | if (obs.slipL2) {
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| 311 | newObs->_slipL2 = true;
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| 312 | }
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| 313 |
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| 314 | // Compute the Multipath
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| 315 | // ----------------------
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[4391] | 316 | if (L1 != 0.0 && L2 != 0.0) {
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[4266] | 317 | double f1 = t_CST::f1(obs.satSys, obs.slotNum);
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| 318 | double f2 = t_CST::f2(obs.satSys, obs.slotNum);
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| 319 |
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[4391] | 320 | L1 = L1 * t_CST::c / f1;
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| 321 | L2 = L2 * t_CST::c / f2;
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[4266] | 322 |
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[4424] | 323 | double P1 = obs.measdata("C1", 3.0);
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[4391] | 324 | if (P1 != 0.0) {
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| 325 | newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
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[4354] | 326 | okFlag = true;
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[4268] | 327 | }
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[4424] | 328 | double P2 = obs.measdata("C2", 3.0);
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[4391] | 329 | if (P2 != 0.0) {
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| 330 | newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
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[4354] | 331 | okFlag = true;
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[4268] | 332 | }
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[4265] | 333 | }
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[4338] | 334 |
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[4559] | 335 | // Signal-to-Noise
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| 336 | // ---------------
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| 337 | double S1 = obs.measdata("S1", 3.0);
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| 338 | if (S1 != 0.0) {
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[4562] | 339 | newObs->_SNR1 = floor(S1/6);
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| 340 | if (newObs->_SNR1 > 9.0) {
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| 341 | newObs->_SNR1 = 9.0;
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| 342 | }
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| 343 | if (newObs->_SNR1 < 1.0) {
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| 344 | newObs->_SNR1 = 1.0;
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| 345 | }
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[4559] | 346 | okFlag = true;
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| 347 | }
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[4562] | 348 | else {
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| 349 | if (obs.snrL1 > 0) {
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| 350 | newObs->_SNR1 = obs.snrL1;
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| 351 | okFlag = true;
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| 352 | }
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| 353 | }
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[4559] | 354 | double S2 = obs.measdata("S2", 3.0);
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| 355 | if (S2 != 0.0) {
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[4562] | 356 | newObs->_SNR2 = floor(S2/6);
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| 357 | if (newObs->_SNR2 > 9.0) {
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| 358 | newObs->_SNR2 = 9.0;
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| 359 | }
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| 360 | if (newObs->_SNR2 < 1.0) {
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| 361 | newObs->_SNR2 = 1.0;
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| 362 | }
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[4559] | 363 | okFlag = true;
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| 364 | }
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[4562] | 365 | else {
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| 366 | if (obs.snrL2 > 0) {
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| 367 | newObs->_SNR2 = obs.snrL2;
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| 368 | okFlag = true;
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| 369 | }
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| 370 | }
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[4559] | 371 |
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[4354] | 372 | // Remember the Observation
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| 373 | // ------------------------
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| 374 | if (okFlag) {
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[4584] | 375 | _oneObsVec << newObs;
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[4354] | 376 | }
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| 377 | else {
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| 378 | delete newObs;
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| 379 | }
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[4263] | 380 | }
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[4350] | 381 |
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| 382 | //
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| 383 | ////////////////////////////////////////////////////////////////////////////
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[4679] | 384 | void t_reqcAnalyze::prepareObsStat(unsigned iEpo, double obsInterval,
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| 385 | const ColumnVector& xyzSta) {
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[4677] | 386 | const int sampl = int(30.0 / obsInterval);
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| 387 | if (iEpo % sampl == 0) {
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[4676] | 388 | double mjdX24 = _currEpo->tt.mjddec() * 24.0;
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| 389 | if (iEpo != 0) {
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| 390 | _obsStat._mjdX24 << mjdX24;
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| 391 | _obsStat._numSat << _obsStat._numSat.last();
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[4680] | 392 | _obsStat._PDOP << _obsStat._PDOP.last();
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[4676] | 393 | }
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| 394 | _obsStat._mjdX24 << mjdX24;
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[4675] | 395 | _obsStat._numSat << _currEpo->rnxSat.size();
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[4680] | 396 | _obsStat._PDOP << cmpDOP(xyzSta);
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[4675] | 397 | }
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| 398 | }
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| 399 |
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| 400 | //
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| 401 | ////////////////////////////////////////////////////////////////////////////
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[4679] | 402 | void t_reqcAnalyze::preparePlotData(const QString& prn,
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| 403 | const ColumnVector& xyzSta,
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[4572] | 404 | double obsInterval,
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| 405 | QVector<t_polarPoint*>* dataMP1,
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| 406 | QVector<t_polarPoint*>* dataMP2,
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| 407 | QVector<t_polarPoint*>* dataSNR1,
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[4675] | 408 | QVector<t_polarPoint*>* dataSNR2) {
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[4350] | 409 |
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[4544] | 410 | const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
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| 411 | const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
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[4350] | 412 |
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[4584] | 413 | t_allObs& allObs = _allObsMap[prn];
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| 414 |
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[4591] | 415 | // Loop over all Chunks of Data
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| 416 | // ----------------------------
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[4584] | 417 | for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
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[4361] | 418 | chunkStart += chunkStep) {
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[4351] | 419 |
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[4675] | 420 | // Chunk-Specific Variables
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| 421 | // ------------------------
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[4591] | 422 | bncTime currTime;
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| 423 | bncTime prevTime;
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[4590] | 424 | bncTime chunkStartTime;
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[4675] | 425 | double mjdX24 = 0.0;
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[4607] | 426 | bool availL1 = false;
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| 427 | bool availL2 = false;
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| 428 | bool gapL1 = false;
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| 429 | bool gapL2 = false;
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| 430 | bool slipL1 = false;
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| 431 | bool slipL2 = false;
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| 432 | bool slipMP = false;
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| 433 | double meanMP1 = 0.0;
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| 434 | double meanMP2 = 0.0;
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| 435 | double minSNR1 = 0.0;
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| 436 | double minSNR2 = 0.0;
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| 437 | double aziDeg = 0.0;
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| 438 | double zenDeg = 0.0;
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[4659] | 439 | bool zenFlag = false;
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[4353] | 440 |
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[4591] | 441 | // Loop over all Epochs within one Chunk of Data
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| 442 | // ---------------------------------------------
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[4361] | 443 | for (int ii = 0; ii < numEpo; ii++) {
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[4351] | 444 | int iEpo = chunkStart + ii;
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[4584] | 445 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
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[4572] | 446 |
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[4590] | 447 | currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
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| 448 |
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| 449 | // Compute the Azimuth and Zenith Distance
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| 450 | // ---------------------------------------
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[4572] | 451 | if (ii == 0) {
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[4590] | 452 | chunkStartTime = currTime;
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[4675] | 453 | mjdX24 = chunkStartTime.mjddec() * 24.0;
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[4590] | 454 |
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[4679] | 455 | if (xyzSta.size()) {
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[4590] | 456 | t_eph* eph = 0;
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| 457 | for (int ie = 0; ie < _ephs.size(); ie++) {
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| 458 | if (_ephs[ie]->prn() == prn) {
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| 459 | eph = _ephs[ie];
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| 460 | break;
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| 461 | }
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| 462 | }
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| 463 |
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| 464 | if (eph) {
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| 465 | double xSat, ySat, zSat, clkSat;
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| 466 | eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
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| 467 | xSat, ySat, zSat, clkSat);
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| 468 |
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| 469 | double rho, eleSat, azSat;
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[4679] | 470 | topos(xyzSta(1), xyzSta(2), xyzSta(3),
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| 471 | xSat, ySat, zSat, rho, eleSat, azSat);
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[4590] | 472 |
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| 473 | aziDeg = azSat * 180.0/M_PI;
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| 474 | zenDeg = 90.0 - eleSat * 180.0/M_PI;
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[4659] | 475 | zenFlag = true;
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[4590] | 476 | }
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| 477 | }
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[4572] | 478 | }
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[4675] | 479 |
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[4590] | 480 | // Check Interval
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| 481 | // --------------
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| 482 | if (prevTime.valid()) {
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[4591] | 483 | double dt = currTime - prevTime;
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| 484 | if (dt != obsInterval) {
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| 485 | gapL1 = true;
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| 486 | gapL2 = true;
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| 487 | }
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[4590] | 488 | }
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| 489 | prevTime = currTime;
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[4563] | 490 |
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[4590] | 491 | // Check L1 and L2 availability
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| 492 | // ----------------------------
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| 493 | if (oneObs->_hasL1) {
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| 494 | availL1 = true;
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[4566] | 495 | }
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[4590] | 496 | else {
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[4591] | 497 | gapL1 = true;
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[4566] | 498 | }
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[4590] | 499 | if (oneObs->_hasL2) {
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| 500 | availL2 = true;
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| 501 | }
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| 502 | else {
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[4591] | 503 | gapL2 = true;
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[4590] | 504 | }
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| 505 |
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| 506 | // Check Minimal Signal-to-Noise Ratio
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| 507 | // -----------------------------------
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| 508 | if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
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| 509 | minSNR1 = oneObs->_SNR1;
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| 510 | }
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| 511 | if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
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| 512 | minSNR2 = oneObs->_SNR2;
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| 513 | }
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| 514 |
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[4607] | 515 | // Check Slip Flags
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| 516 | // ----------------
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| 517 | if (oneObs->_slipL1) {
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| 518 | slipL1 = true;
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| 519 | }
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| 520 | if (oneObs->_slipL2) {
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| 521 | slipL2 = true;
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| 522 | }
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| 523 |
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| 524 | // Check Slip Threshold
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| 525 | // --------------------
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[4353] | 526 | if (ii > 0) {
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[4584] | 527 | double diff1 = oneObs->_MP1 - allObs._oneObsVec[iEpo-1]->_MP1;
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| 528 | double diff2 = oneObs->_MP2 - allObs._oneObsVec[iEpo-1]->_MP2;
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[4357] | 529 | if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
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[4607] | 530 | slipMP = true;
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[4353] | 531 | }
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| 532 | }
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| 533 |
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[4590] | 534 | meanMP1 += oneObs->_MP1;
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| 535 | meanMP2 += oneObs->_MP2;
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[4353] | 536 | }
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| 537 |
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[4590] | 538 | // Availability Plot Data
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| 539 | // ----------------------
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| 540 | if (availL1) {
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[4607] | 541 | if (slipL1) {
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[4617] | 542 | _availDataMap[prn]._L1slip << mjdX24;
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[4591] | 543 | }
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| 544 | else if (gapL1) {
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[4617] | 545 | _availDataMap[prn]._L1gap << mjdX24;
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[4591] | 546 | }
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| 547 | else {
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[4617] | 548 | _availDataMap[prn]._L1ok << mjdX24;
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[4591] | 549 | }
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[4351] | 550 | }
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[4591] | 551 | if (availL2) {
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[4607] | 552 | if (slipL2) {
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[4617] | 553 | _availDataMap[prn]._L2slip << mjdX24;
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[4591] | 554 | }
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| 555 | else if (gapL2) {
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[4617] | 556 | _availDataMap[prn]._L2gap << mjdX24;
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[4591] | 557 | }
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| 558 | else {
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[4617] | 559 | _availDataMap[prn]._L2ok << mjdX24;
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[4591] | 560 | }
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| 561 | }
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[4659] | 562 | if (zenFlag) {
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[4662] | 563 | _availDataMap[prn]._eleTim << mjdX24;
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| 564 | _availDataMap[prn]._eleDeg << 90.0 - zenDeg;
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[4659] | 565 | }
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[4351] | 566 |
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[4590] | 567 | // Signal-to-Noise Ration Plot Data
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| 568 | // --------------------------------
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| 569 | (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
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| 570 | (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
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[4355] | 571 |
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[4590] | 572 | // Compute the Multipath
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| 573 | // ---------------------
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[4607] | 574 | if (!slipMP) {
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[4590] | 575 | meanMP1 /= numEpo;
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| 576 | meanMP2 /= numEpo;
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| 577 | double MP1 = 0.0;
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| 578 | double MP2 = 0.0;
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| 579 | for (int ii = 0; ii < numEpo; ii++) {
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| 580 | int iEpo = chunkStart + ii;
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| 581 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
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| 582 | double diff1 = oneObs->_MP1 - meanMP1;
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| 583 | double diff2 = oneObs->_MP2 - meanMP2;
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| 584 | MP1 += diff1 * diff1;
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| 585 | MP2 += diff2 * diff2;
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[4355] | 586 | }
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[4590] | 587 | MP1 = sqrt(MP1 / (numEpo-1));
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| 588 | MP2 = sqrt(MP2 / (numEpo-1));
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| 589 | (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
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| 590 | (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
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[4355] | 591 | }
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[4350] | 592 | }
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| 593 | }
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[4572] | 594 |
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| 595 | //
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| 596 | ////////////////////////////////////////////////////////////////////////////
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| 597 | void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
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[4584] | 598 | const QByteArray& title) {
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[4572] | 599 |
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[4574] | 600 | if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
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[4573] | 601 |
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[4659] | 602 | t_availPlot* plotA = new t_availPlot(0, &_availDataMap);
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| 603 | plotA->setTitle(title);
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[4573] | 604 |
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[4662] | 605 | t_elePlot* plotZ = new t_elePlot(0, &_availDataMap);
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[4659] | 606 |
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[4672] | 607 | t_dopPlot* plotD = new t_dopPlot(0, &_obsStat);
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[4671] | 608 |
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[4573] | 609 | QVector<QWidget*> plots;
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[4671] | 610 | plots << plotA << plotZ << plotD;
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[4573] | 611 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
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[4666] | 612 |
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| 613 | int ww = QFontMetrics(graphWin->font()).width('w');
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| 614 | graphWin->setMinimumSize(120*ww, 40*ww);
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| 615 |
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[4573] | 616 | graphWin->show();
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| 617 |
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| 618 | bncSettings settings;
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| 619 | QString dirName = settings.value("reqcPlotDir").toString();
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| 620 | if (!dirName.isEmpty()) {
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[4606] | 621 | QByteArray ext = "_A.png";
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[4579] | 622 | graphWin->savePNG(dirName, ext);
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[4573] | 623 | }
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| 624 | }
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[4572] | 625 | }
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[4679] | 626 |
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| 627 | // Compute Dilution of Precision
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| 628 | ////////////////////////////////////////////////////////////////////////////
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| 629 | double t_reqcAnalyze::cmpDOP(const ColumnVector& xyzSta) const {
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| 630 |
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| 631 | if (xyzSta.size() != 3) {
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| 632 | return 0.0;
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| 633 | }
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| 634 |
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| 635 | unsigned nSat = _currEpo->rnxSat.size();
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| 636 |
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| 637 | if (nSat < 4) {
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| 638 | return 0.0;
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| 639 | }
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| 640 |
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| 641 | Matrix AA(nSat, 4);
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| 642 |
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| 643 | unsigned nSatUsed = 0;
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| 644 | for (unsigned iSat = 0; iSat < nSat; iSat++) {
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| 645 |
|
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| 646 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iSat];
|
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| 647 |
|
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| 648 | QString prn = QString("%1%2").arg(rnxSat.satSys)
|
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| 649 | .arg(rnxSat.satNum, 2, 10, QChar('0'));
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| 650 |
|
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| 651 | t_eph* eph = 0;
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| 652 | for (int ie = 0; ie < _ephs.size(); ie++) {
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| 653 | if (_ephs[ie]->prn() == prn) {
|
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| 654 | eph = _ephs[ie];
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| 655 | break;
|
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| 656 | }
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| 657 | }
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| 658 | if (eph) {
|
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| 659 | ++nSatUsed;
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| 660 | ColumnVector xSat(3);
|
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| 661 | double clkSat;
|
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| 662 | eph->position(_currEpo->tt.gpsw(), _currEpo->tt.gpssec(),
|
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| 663 | xSat(1), xSat(2), xSat(3), clkSat);
|
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| 664 | ColumnVector dx = xSat - xyzSta;
|
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[4681] | 665 | double rho = dx.norm_Frobenius();
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| 666 | AA(nSatUsed,1) = dx(1) / rho;
|
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| 667 | AA(nSatUsed,2) = dx(2) / rho;
|
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| 668 | AA(nSatUsed,3) = dx(3) / rho;
|
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| 669 | AA(nSatUsed,4) = 1.0;
|
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[4679] | 670 | }
|
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[4681] | 671 | }
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[4679] | 672 |
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[4681] | 673 | if (nSatUsed < 4) {
|
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| 674 | return 0.0;
|
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[4679] | 675 | }
|
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| 676 |
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[4681] | 677 | AA = AA.Rows(1, nSatUsed);
|
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| 678 |
|
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| 679 | SymmetricMatrix QQ;
|
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| 680 | QQ << AA.t() * AA;
|
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| 681 | QQ = QQ.i();
|
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| 682 |
|
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| 683 | return sqrt(QQ.trace());
|
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[4679] | 684 | }
|
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