[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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[4700] | 59 | const double SLIPTRESH = 10.0; // cycle-slip threshold (meters)
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[4357] | 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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[4704] | 119 | _mutex.unlock();
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| 120 | QMutexLocker locker(&_mutex);
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| 121 |
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[4346] | 122 | bncApp* app = dynamic_cast<bncApp*>(qApp);
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[4448] | 123 | if (app->GUIenabled()) {
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[4334] | 124 |
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[4556] | 125 | if (maxValue == 0.0) {
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| 126 | if (data1) {
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| 127 | for (int ii = 0; ii < data1->size(); ii++) {
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[4566] | 128 | double val = data1->at(ii)->_value;
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| 129 | if (maxValue < val) {
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| 130 | maxValue = val;
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[4556] | 131 | }
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| 132 | }
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[4356] | 133 | }
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[4557] | 134 | if (data2) {
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[4556] | 135 | for (int ii = 0; ii < data2->size(); ii++) {
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[4566] | 136 | double val = data2->at(ii)->_value;
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| 137 | if (maxValue < val) {
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| 138 | maxValue = val;
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[4556] | 139 | }
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| 140 | }
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[4356] | 141 | }
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| 142 | }
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[4357] | 143 |
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[4556] | 144 | QwtInterval scaleInterval(0.0, maxValue);
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[4356] | 145 |
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[4556] | 146 | QVector<QWidget*> plots;
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| 147 | if (data1) {
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| 148 | t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
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| 149 | app->mainWindow());
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| 150 | plot1->addCurve(data1);
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| 151 | plots << plot1;
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| 152 | }
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[4557] | 153 | if (data2) {
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[4556] | 154 | t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
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[4356] | 155 | app->mainWindow());
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[4556] | 156 | plot2->addCurve(data2);
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| 157 | plots << plot2;
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| 158 | }
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[4334] | 159 |
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[4564] | 160 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
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[4573] | 161 | &scaleTitle, &scaleInterval);
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[4334] | 162 |
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[4445] | 163 | graphWin->show();
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| 164 |
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[4451] | 165 | bncSettings settings;
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| 166 | QString dirName = settings.value("reqcPlotDir").toString();
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| 167 | if (!dirName.isEmpty()) {
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[4606] | 168 | QByteArray ext = scaleTitle.isEmpty() ? "_S.png" : "_M.png";
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[4579] | 169 | graphWin->savePNG(dirName, ext);
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[4451] | 170 | }
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[4308] | 171 | }
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[4300] | 172 | }
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| 173 |
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| 174 | //
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| 175 | ////////////////////////////////////////////////////////////////////////////
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[3899] | 176 | void t_reqcAnalyze::run() {
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| 177 |
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[4255] | 178 | // Open Log File
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| 179 | // -------------
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| 180 | _logFile = new QFile(_logFileName);
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[4517] | 181 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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| 182 | _log = new QTextStream();
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| 183 | _log->setDevice(_logFile);
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| 184 | }
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[4255] | 185 |
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| 186 | // Initialize RINEX Observation Files
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| 187 | // ----------------------------------
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[4525] | 188 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
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[3899] | 189 |
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[4257] | 190 | // Read Ephemerides
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| 191 | // ----------------
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| 192 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
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| 193 |
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[4255] | 194 | // Loop over all RINEX Files
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| 195 | // -------------------------
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[4254] | 196 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 197 | analyzeFile(_rnxObsFiles[ii]);
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| 198 | }
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| 199 |
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[4255] | 200 | // Exit
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| 201 | // ----
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[4452] | 202 | emit finished();
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| 203 | deleteLater();
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[3899] | 204 | }
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[4254] | 205 |
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| 206 | //
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| 207 | ////////////////////////////////////////////////////////////////////////////
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[4260] | 208 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
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[4259] | 209 |
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[4704] | 210 | _mutex.lock();
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| 211 |
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[4517] | 212 | if (_log) {
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| 213 | *_log << "\nAnalyze File\n"
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| 214 | << "------------\n"
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[4701] | 215 | << "File: " << obsFile->fileName().toAscii().data() << endl;
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[4517] | 216 | }
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[4260] | 217 |
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[4584] | 218 | _allObsMap.clear();
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| 219 | _availDataMap.clear();
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[4343] | 220 |
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[4342] | 221 | // A priori Coordinates
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| 222 | // --------------------
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[4679] | 223 | ColumnVector xyzSta = obsFile->xyz();
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[4342] | 224 |
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[4262] | 225 | // Loop over all Epochs
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| 226 | // --------------------
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[4541] | 227 | try {
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[4675] | 228 | unsigned iEpo = 0;
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[4541] | 229 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
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[4688] | 230 |
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| 231 | if (iEpo == 0) {
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| 232 | _obsStat._startTime = _currEpo->tt;
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| 233 | _obsStat._antennaName = obsFile->antennaName();
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| 234 | _obsStat._markerName = obsFile->markerName();
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| 235 | _obsStat._receiverType = obsFile->receiverType();
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| 236 | _obsStat._interval = obsFile->interval();
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| 237 | }
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| 238 | _obsStat._endTime = _currEpo->tt;
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[4541] | 239 |
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| 240 | // Loop over all satellites
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| 241 | // ------------------------
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| 242 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
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| 243 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
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| 244 | t_obs obs;
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| 245 | t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
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| 246 |
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| 247 | if (obs.satSys == 'R') {
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[4590] | 248 | // TODO: set channel number
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[4541] | 249 | }
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| 250 |
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| 251 | QString prn = QString("%1%2").arg(obs.satSys)
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| 252 | .arg(obs.satNum, 2, 10, QChar('0'));
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| 253 |
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[4694] | 254 | t_irc irc = _allObsMap[prn].addObs(obs);
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[4675] | 255 |
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[4694] | 256 | if (irc == success) {
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| 257 | const t_oneObs* newObs = _allObsMap[prn]._oneObsVec.last();
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| 258 | if (newObs->_hasL1 && newObs->_hasL2) {
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| 259 | _obsStat._prnStat[prn]._numObs += 1;
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| 260 | }
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[4695] | 261 | if (newObs->_slipL1 && newObs->_slipL2) {
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[4701] | 262 | _obsStat._prnStat[prn]._numSlipsFlagged += 1;
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[4695] | 263 | }
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[4694] | 264 | }
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[4262] | 265 | }
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[4541] | 266 |
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[4679] | 267 | prepareObsStat(iEpo, obsFile->interval(), xyzSta);
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[4678] | 268 | iEpo++;
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| 269 |
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[4541] | 270 | } // while (_currEpo)
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| 271 | }
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| 272 | catch (QString str) {
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| 273 | if (_log) {
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| 274 | *_log << "Exception " << str << endl;
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[4262] | 275 | }
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[4541] | 276 | else {
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| 277 | qDebug() << str;
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| 278 | }
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| 279 | return;
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| 280 | }
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[4262] | 281 |
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[4268] | 282 | // Analyze the Multipath
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| 283 | // ---------------------
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[4572] | 284 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
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| 285 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
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| 286 | QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
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| 287 | QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
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[4268] | 288 |
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[4584] | 289 | QMutableMapIterator<QString, t_allObs> it(_allObsMap);
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[4268] | 290 | while (it.hasNext()) {
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| 291 | it.next();
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[4584] | 292 | QString prn = it.key();
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[4679] | 293 | preparePlotData(prn, xyzSta, obsFile->interval(),
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[4675] | 294 | dataMP1, dataMP2, dataSNR1, dataSNR2);
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[4268] | 295 | }
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| 296 |
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[4572] | 297 | emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
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| 298 | "Meters", 2.0);
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[4300] | 299 |
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[4572] | 300 | emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
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| 301 | "", 9.0);
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| 302 |
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[4605] | 303 | QFileInfo fileInfo(obsFile->fileName());
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| 304 | QByteArray title = fileInfo.fileName().toAscii();
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[4572] | 305 |
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[4605] | 306 | emit dspAvailPlot(obsFile->fileName(), title);
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| 307 |
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[4696] | 308 | printReport(dataMP1, dataMP2, dataSNR1, dataSNR2);
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[4254] | 309 | }
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[4263] | 310 |
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| 311 | //
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| 312 | ////////////////////////////////////////////////////////////////////////////
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[4694] | 313 | t_irc t_reqcAnalyze::t_allObs::addObs(const t_obs& obs) {
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[4265] | 314 |
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[4584] | 315 | t_oneObs* newObs = new t_oneObs(obs.GPSWeek, obs.GPSWeeks);
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[4354] | 316 | bool okFlag = false;
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[4338] | 317 |
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[4608] | 318 | // Availability and Slip Flags
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| 319 | // ---------------------------
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[4424] | 320 | double L1 = obs.measdata("L1", 3.0);
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[4571] | 321 | if (L1 != 0) {
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| 322 | newObs->_hasL1 = true;
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| 323 | }
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[4424] | 324 | double L2 = obs.measdata("L2", 3.0);
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[4571] | 325 | if (L2 != 0) {
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| 326 | newObs->_hasL2 = true;
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| 327 | }
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[4608] | 328 | if (obs.slipL1) {
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| 329 | newObs->_slipL1 = true;
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| 330 | }
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| 331 | if (obs.slipL2) {
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| 332 | newObs->_slipL2 = true;
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| 333 | }
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| 334 |
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| 335 | // Compute the Multipath
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| 336 | // ----------------------
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[4391] | 337 | if (L1 != 0.0 && L2 != 0.0) {
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[4266] | 338 | double f1 = t_CST::f1(obs.satSys, obs.slotNum);
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| 339 | double f2 = t_CST::f2(obs.satSys, obs.slotNum);
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| 340 |
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[4391] | 341 | L1 = L1 * t_CST::c / f1;
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| 342 | L2 = L2 * t_CST::c / f2;
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[4266] | 343 |
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[4424] | 344 | double P1 = obs.measdata("C1", 3.0);
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[4391] | 345 | if (P1 != 0.0) {
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| 346 | newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
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[4354] | 347 | okFlag = true;
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[4268] | 348 | }
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[4424] | 349 | double P2 = obs.measdata("C2", 3.0);
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[4391] | 350 | if (P2 != 0.0) {
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| 351 | newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
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[4354] | 352 | okFlag = true;
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[4268] | 353 | }
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[4265] | 354 | }
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[4338] | 355 |
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[4559] | 356 | // Signal-to-Noise
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| 357 | // ---------------
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| 358 | double S1 = obs.measdata("S1", 3.0);
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| 359 | if (S1 != 0.0) {
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[4562] | 360 | newObs->_SNR1 = floor(S1/6);
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| 361 | if (newObs->_SNR1 > 9.0) {
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| 362 | newObs->_SNR1 = 9.0;
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| 363 | }
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| 364 | if (newObs->_SNR1 < 1.0) {
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| 365 | newObs->_SNR1 = 1.0;
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| 366 | }
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[4559] | 367 | okFlag = true;
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| 368 | }
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[4562] | 369 | else {
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| 370 | if (obs.snrL1 > 0) {
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| 371 | newObs->_SNR1 = obs.snrL1;
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| 372 | okFlag = true;
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| 373 | }
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| 374 | }
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[4559] | 375 | double S2 = obs.measdata("S2", 3.0);
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| 376 | if (S2 != 0.0) {
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[4562] | 377 | newObs->_SNR2 = floor(S2/6);
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| 378 | if (newObs->_SNR2 > 9.0) {
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| 379 | newObs->_SNR2 = 9.0;
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| 380 | }
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| 381 | if (newObs->_SNR2 < 1.0) {
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| 382 | newObs->_SNR2 = 1.0;
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| 383 | }
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[4559] | 384 | okFlag = true;
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| 385 | }
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[4562] | 386 | else {
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| 387 | if (obs.snrL2 > 0) {
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| 388 | newObs->_SNR2 = obs.snrL2;
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| 389 | okFlag = true;
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| 390 | }
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| 391 | }
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[4559] | 392 |
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[4354] | 393 | // Remember the Observation
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| 394 | // ------------------------
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| 395 | if (okFlag) {
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[4584] | 396 | _oneObsVec << newObs;
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[4694] | 397 | return success;
|
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[4354] | 398 | }
|
---|
| 399 | else {
|
---|
| 400 | delete newObs;
|
---|
[4694] | 401 | return failure;
|
---|
[4354] | 402 | }
|
---|
[4263] | 403 | }
|
---|
[4350] | 404 |
|
---|
| 405 | //
|
---|
| 406 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4679] | 407 | void t_reqcAnalyze::prepareObsStat(unsigned iEpo, double obsInterval,
|
---|
| 408 | const ColumnVector& xyzSta) {
|
---|
[4677] | 409 | const int sampl = int(30.0 / obsInterval);
|
---|
| 410 | if (iEpo % sampl == 0) {
|
---|
[4676] | 411 | double mjdX24 = _currEpo->tt.mjddec() * 24.0;
|
---|
| 412 | if (iEpo != 0) {
|
---|
| 413 | _obsStat._mjdX24 << mjdX24;
|
---|
| 414 | _obsStat._numSat << _obsStat._numSat.last();
|
---|
[4680] | 415 | _obsStat._PDOP << _obsStat._PDOP.last();
|
---|
[4676] | 416 | }
|
---|
| 417 | _obsStat._mjdX24 << mjdX24;
|
---|
[4675] | 418 | _obsStat._numSat << _currEpo->rnxSat.size();
|
---|
[4680] | 419 | _obsStat._PDOP << cmpDOP(xyzSta);
|
---|
[4675] | 420 | }
|
---|
| 421 | }
|
---|
| 422 |
|
---|
| 423 | //
|
---|
| 424 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4679] | 425 | void t_reqcAnalyze::preparePlotData(const QString& prn,
|
---|
| 426 | const ColumnVector& xyzSta,
|
---|
[4572] | 427 | double obsInterval,
|
---|
| 428 | QVector<t_polarPoint*>* dataMP1,
|
---|
| 429 | QVector<t_polarPoint*>* dataMP2,
|
---|
| 430 | QVector<t_polarPoint*>* dataSNR1,
|
---|
[4675] | 431 | QVector<t_polarPoint*>* dataSNR2) {
|
---|
[4350] | 432 |
|
---|
[4544] | 433 | const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
|
---|
| 434 | const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
|
---|
[4350] | 435 |
|
---|
[4584] | 436 | t_allObs& allObs = _allObsMap[prn];
|
---|
| 437 |
|
---|
[4591] | 438 | // Loop over all Chunks of Data
|
---|
| 439 | // ----------------------------
|
---|
[4702] | 440 | bool slipFound = false;
|
---|
[4584] | 441 | for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
|
---|
[4361] | 442 | chunkStart += chunkStep) {
|
---|
[4351] | 443 |
|
---|
[4703] | 444 | if (chunkStart * chunkStep == numEpo) {
|
---|
[4702] | 445 | slipFound = false;
|
---|
| 446 | }
|
---|
| 447 |
|
---|
[4675] | 448 | // Chunk-Specific Variables
|
---|
| 449 | // ------------------------
|
---|
[4591] | 450 | bncTime currTime;
|
---|
| 451 | bncTime prevTime;
|
---|
[4590] | 452 | bncTime chunkStartTime;
|
---|
[4675] | 453 | double mjdX24 = 0.0;
|
---|
[4607] | 454 | bool availL1 = false;
|
---|
| 455 | bool availL2 = false;
|
---|
| 456 | bool gapL1 = false;
|
---|
| 457 | bool gapL2 = false;
|
---|
| 458 | bool slipL1 = false;
|
---|
| 459 | bool slipL2 = false;
|
---|
| 460 | double meanMP1 = 0.0;
|
---|
| 461 | double meanMP2 = 0.0;
|
---|
| 462 | double minSNR1 = 0.0;
|
---|
| 463 | double minSNR2 = 0.0;
|
---|
| 464 | double aziDeg = 0.0;
|
---|
| 465 | double zenDeg = 0.0;
|
---|
[4659] | 466 | bool zenFlag = false;
|
---|
[4353] | 467 |
|
---|
[4591] | 468 | // Loop over all Epochs within one Chunk of Data
|
---|
| 469 | // ---------------------------------------------
|
---|
[4361] | 470 | for (int ii = 0; ii < numEpo; ii++) {
|
---|
[4351] | 471 | int iEpo = chunkStart + ii;
|
---|
[4584] | 472 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
|
---|
[4572] | 473 |
|
---|
[4590] | 474 | currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
|
---|
| 475 |
|
---|
| 476 | // Compute the Azimuth and Zenith Distance
|
---|
| 477 | // ---------------------------------------
|
---|
[4572] | 478 | if (ii == 0) {
|
---|
[4590] | 479 | chunkStartTime = currTime;
|
---|
[4675] | 480 | mjdX24 = chunkStartTime.mjddec() * 24.0;
|
---|
[4590] | 481 |
|
---|
[4679] | 482 | if (xyzSta.size()) {
|
---|
[4590] | 483 | t_eph* eph = 0;
|
---|
| 484 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
| 485 | if (_ephs[ie]->prn() == prn) {
|
---|
| 486 | eph = _ephs[ie];
|
---|
| 487 | break;
|
---|
| 488 | }
|
---|
| 489 | }
|
---|
| 490 |
|
---|
| 491 | if (eph) {
|
---|
| 492 | double xSat, ySat, zSat, clkSat;
|
---|
| 493 | eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
|
---|
| 494 | xSat, ySat, zSat, clkSat);
|
---|
| 495 |
|
---|
| 496 | double rho, eleSat, azSat;
|
---|
[4679] | 497 | topos(xyzSta(1), xyzSta(2), xyzSta(3),
|
---|
| 498 | xSat, ySat, zSat, rho, eleSat, azSat);
|
---|
[4590] | 499 |
|
---|
| 500 | aziDeg = azSat * 180.0/M_PI;
|
---|
| 501 | zenDeg = 90.0 - eleSat * 180.0/M_PI;
|
---|
[4659] | 502 | zenFlag = true;
|
---|
[4590] | 503 | }
|
---|
| 504 | }
|
---|
[4572] | 505 | }
|
---|
[4675] | 506 |
|
---|
[4590] | 507 | // Check Interval
|
---|
| 508 | // --------------
|
---|
| 509 | if (prevTime.valid()) {
|
---|
[4591] | 510 | double dt = currTime - prevTime;
|
---|
| 511 | if (dt != obsInterval) {
|
---|
| 512 | gapL1 = true;
|
---|
| 513 | gapL2 = true;
|
---|
| 514 | }
|
---|
[4590] | 515 | }
|
---|
| 516 | prevTime = currTime;
|
---|
[4563] | 517 |
|
---|
[4590] | 518 | // Check L1 and L2 availability
|
---|
| 519 | // ----------------------------
|
---|
| 520 | if (oneObs->_hasL1) {
|
---|
| 521 | availL1 = true;
|
---|
[4566] | 522 | }
|
---|
[4590] | 523 | else {
|
---|
[4591] | 524 | gapL1 = true;
|
---|
[4566] | 525 | }
|
---|
[4590] | 526 | if (oneObs->_hasL2) {
|
---|
| 527 | availL2 = true;
|
---|
| 528 | }
|
---|
| 529 | else {
|
---|
[4591] | 530 | gapL2 = true;
|
---|
[4590] | 531 | }
|
---|
| 532 |
|
---|
| 533 | // Check Minimal Signal-to-Noise Ratio
|
---|
| 534 | // -----------------------------------
|
---|
| 535 | if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
|
---|
| 536 | minSNR1 = oneObs->_SNR1;
|
---|
| 537 | }
|
---|
| 538 | if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
|
---|
| 539 | minSNR2 = oneObs->_SNR2;
|
---|
| 540 | }
|
---|
| 541 |
|
---|
[4607] | 542 | // Check Slip Flags
|
---|
| 543 | // ----------------
|
---|
| 544 | if (oneObs->_slipL1) {
|
---|
| 545 | slipL1 = true;
|
---|
| 546 | }
|
---|
| 547 | if (oneObs->_slipL2) {
|
---|
| 548 | slipL2 = true;
|
---|
| 549 | }
|
---|
| 550 |
|
---|
[4698] | 551 | meanMP1 += oneObs->_MP1;
|
---|
| 552 | meanMP2 += oneObs->_MP2;
|
---|
| 553 | }
|
---|
| 554 |
|
---|
| 555 | // Compute the Multipath
|
---|
| 556 | // ---------------------
|
---|
[4700] | 557 | if (prn[0] != 'R') { // TODO
|
---|
| 558 | bool slipMP = false;
|
---|
| 559 | meanMP1 /= numEpo;
|
---|
| 560 | meanMP2 /= numEpo;
|
---|
| 561 | double MP1 = 0.0;
|
---|
| 562 | double MP2 = 0.0;
|
---|
| 563 | for (int ii = 0; ii < numEpo; ii++) {
|
---|
| 564 | int iEpo = chunkStart + ii;
|
---|
| 565 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
|
---|
| 566 | double diff1 = oneObs->_MP1 - meanMP1;
|
---|
| 567 | double diff2 = oneObs->_MP2 - meanMP2;
|
---|
| 568 |
|
---|
| 569 | // Check Slip Threshold
|
---|
| 570 | // --------------------
|
---|
| 571 | if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
|
---|
| 572 | slipMP = true;
|
---|
| 573 | break;
|
---|
| 574 | }
|
---|
| 575 |
|
---|
| 576 | MP1 += diff1 * diff1;
|
---|
| 577 | MP2 += diff2 * diff2;
|
---|
[4353] | 578 | }
|
---|
[4700] | 579 | if (slipMP) {
|
---|
| 580 | slipL1 = true;
|
---|
| 581 | slipL2 = true;
|
---|
[4702] | 582 | if (!slipFound) {
|
---|
| 583 | slipFound = true;
|
---|
| 584 | _obsStat._prnStat[prn]._numSlipsFound += 1;
|
---|
| 585 | }
|
---|
[4700] | 586 | }
|
---|
| 587 | else {
|
---|
| 588 | MP1 = sqrt(MP1 / (numEpo-1));
|
---|
| 589 | MP2 = sqrt(MP2 / (numEpo-1));
|
---|
| 590 | (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
|
---|
| 591 | (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
|
---|
| 592 | }
|
---|
[4353] | 593 | }
|
---|
| 594 |
|
---|
[4590] | 595 | // Availability Plot Data
|
---|
| 596 | // ----------------------
|
---|
| 597 | if (availL1) {
|
---|
[4607] | 598 | if (slipL1) {
|
---|
[4617] | 599 | _availDataMap[prn]._L1slip << mjdX24;
|
---|
[4591] | 600 | }
|
---|
| 601 | else if (gapL1) {
|
---|
[4617] | 602 | _availDataMap[prn]._L1gap << mjdX24;
|
---|
[4591] | 603 | }
|
---|
| 604 | else {
|
---|
[4617] | 605 | _availDataMap[prn]._L1ok << mjdX24;
|
---|
[4591] | 606 | }
|
---|
[4351] | 607 | }
|
---|
[4591] | 608 | if (availL2) {
|
---|
[4607] | 609 | if (slipL2) {
|
---|
[4617] | 610 | _availDataMap[prn]._L2slip << mjdX24;
|
---|
[4591] | 611 | }
|
---|
| 612 | else if (gapL2) {
|
---|
[4617] | 613 | _availDataMap[prn]._L2gap << mjdX24;
|
---|
[4591] | 614 | }
|
---|
| 615 | else {
|
---|
[4617] | 616 | _availDataMap[prn]._L2ok << mjdX24;
|
---|
[4591] | 617 | }
|
---|
| 618 | }
|
---|
[4659] | 619 | if (zenFlag) {
|
---|
[4662] | 620 | _availDataMap[prn]._eleTim << mjdX24;
|
---|
| 621 | _availDataMap[prn]._eleDeg << 90.0 - zenDeg;
|
---|
[4659] | 622 | }
|
---|
[4351] | 623 |
|
---|
[4590] | 624 | // Signal-to-Noise Ration Plot Data
|
---|
| 625 | // --------------------------------
|
---|
| 626 | (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
|
---|
| 627 | (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
|
---|
[4350] | 628 | }
|
---|
| 629 | }
|
---|
[4572] | 630 |
|
---|
| 631 | //
|
---|
| 632 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 633 | void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
|
---|
[4584] | 634 | const QByteArray& title) {
|
---|
[4572] | 635 |
|
---|
[4704] | 636 | _mutex.unlock();
|
---|
| 637 | QMutexLocker locker(&_mutex);
|
---|
| 638 |
|
---|
[4574] | 639 | if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
|
---|
[4573] | 640 |
|
---|
[4659] | 641 | t_availPlot* plotA = new t_availPlot(0, &_availDataMap);
|
---|
| 642 | plotA->setTitle(title);
|
---|
[4573] | 643 |
|
---|
[4662] | 644 | t_elePlot* plotZ = new t_elePlot(0, &_availDataMap);
|
---|
[4659] | 645 |
|
---|
[4672] | 646 | t_dopPlot* plotD = new t_dopPlot(0, &_obsStat);
|
---|
[4671] | 647 |
|
---|
[4573] | 648 | QVector<QWidget*> plots;
|
---|
[4671] | 649 | plots << plotA << plotZ << plotD;
|
---|
[4573] | 650 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
|
---|
[4666] | 651 |
|
---|
| 652 | int ww = QFontMetrics(graphWin->font()).width('w');
|
---|
| 653 | graphWin->setMinimumSize(120*ww, 40*ww);
|
---|
| 654 |
|
---|
[4573] | 655 | graphWin->show();
|
---|
| 656 |
|
---|
| 657 | bncSettings settings;
|
---|
| 658 | QString dirName = settings.value("reqcPlotDir").toString();
|
---|
| 659 | if (!dirName.isEmpty()) {
|
---|
[4606] | 660 | QByteArray ext = "_A.png";
|
---|
[4579] | 661 | graphWin->savePNG(dirName, ext);
|
---|
[4573] | 662 | }
|
---|
| 663 | }
|
---|
[4572] | 664 | }
|
---|
[4679] | 665 |
|
---|
| 666 | // Compute Dilution of Precision
|
---|
| 667 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 668 | double t_reqcAnalyze::cmpDOP(const ColumnVector& xyzSta) const {
|
---|
| 669 |
|
---|
| 670 | if (xyzSta.size() != 3) {
|
---|
| 671 | return 0.0;
|
---|
| 672 | }
|
---|
| 673 |
|
---|
| 674 | unsigned nSat = _currEpo->rnxSat.size();
|
---|
| 675 |
|
---|
| 676 | if (nSat < 4) {
|
---|
| 677 | return 0.0;
|
---|
| 678 | }
|
---|
| 679 |
|
---|
| 680 | Matrix AA(nSat, 4);
|
---|
| 681 |
|
---|
| 682 | unsigned nSatUsed = 0;
|
---|
| 683 | for (unsigned iSat = 0; iSat < nSat; iSat++) {
|
---|
| 684 |
|
---|
| 685 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iSat];
|
---|
| 686 |
|
---|
| 687 | QString prn = QString("%1%2").arg(rnxSat.satSys)
|
---|
| 688 | .arg(rnxSat.satNum, 2, 10, QChar('0'));
|
---|
| 689 |
|
---|
| 690 | t_eph* eph = 0;
|
---|
| 691 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
| 692 | if (_ephs[ie]->prn() == prn) {
|
---|
| 693 | eph = _ephs[ie];
|
---|
| 694 | break;
|
---|
| 695 | }
|
---|
| 696 | }
|
---|
| 697 | if (eph) {
|
---|
| 698 | ++nSatUsed;
|
---|
| 699 | ColumnVector xSat(3);
|
---|
| 700 | double clkSat;
|
---|
| 701 | eph->position(_currEpo->tt.gpsw(), _currEpo->tt.gpssec(),
|
---|
| 702 | xSat(1), xSat(2), xSat(3), clkSat);
|
---|
| 703 | ColumnVector dx = xSat - xyzSta;
|
---|
[4681] | 704 | double rho = dx.norm_Frobenius();
|
---|
| 705 | AA(nSatUsed,1) = dx(1) / rho;
|
---|
| 706 | AA(nSatUsed,2) = dx(2) / rho;
|
---|
| 707 | AA(nSatUsed,3) = dx(3) / rho;
|
---|
| 708 | AA(nSatUsed,4) = 1.0;
|
---|
[4679] | 709 | }
|
---|
[4681] | 710 | }
|
---|
[4679] | 711 |
|
---|
[4681] | 712 | if (nSatUsed < 4) {
|
---|
| 713 | return 0.0;
|
---|
[4679] | 714 | }
|
---|
| 715 |
|
---|
[4681] | 716 | AA = AA.Rows(1, nSatUsed);
|
---|
| 717 |
|
---|
| 718 | SymmetricMatrix QQ;
|
---|
| 719 | QQ << AA.t() * AA;
|
---|
| 720 | QQ = QQ.i();
|
---|
| 721 |
|
---|
| 722 | return sqrt(QQ.trace());
|
---|
[4679] | 723 | }
|
---|
[4689] | 724 |
|
---|
| 725 | // Finish the report
|
---|
| 726 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4696] | 727 | void t_reqcAnalyze::printReport(QVector<t_polarPoint*>* dataMP1,
|
---|
| 728 | QVector<t_polarPoint*>* dataMP2,
|
---|
| 729 | QVector<t_polarPoint*>* dataSNR1,
|
---|
| 730 | QVector<t_polarPoint*>* dataSNR2) {
|
---|
[4689] | 731 | if (!_log) {
|
---|
| 732 | return;
|
---|
| 733 | }
|
---|
| 734 |
|
---|
[4701] | 735 | *_log << "Marker name: " << _obsStat._markerName << endl
|
---|
| 736 | << "Receiver: " << _obsStat._receiverType << endl
|
---|
| 737 | << "Antenna: " << _obsStat._antennaName << endl
|
---|
| 738 | << "Start time: " << _obsStat._startTime.datestr().c_str() << ' '
|
---|
| 739 | << _obsStat._startTime.timestr().c_str() << endl
|
---|
| 740 | << "End time: " << _obsStat._endTime.datestr().c_str() << ' '
|
---|
| 741 | << _obsStat._endTime.timestr().c_str() << endl
|
---|
| 742 | << "Interval: " << _obsStat._interval << endl
|
---|
| 743 | << "# Sat.: " << _obsStat._prnStat.size() << endl;
|
---|
[4689] | 744 |
|
---|
[4701] | 745 | int numObs = 0;
|
---|
| 746 | int numSlipsFlagged = 0;
|
---|
| 747 | int numSlipsFound = 0;
|
---|
[4693] | 748 | QMapIterator<QString, t_prnStat> it(_obsStat._prnStat);
|
---|
| 749 | while (it.hasNext()) {
|
---|
| 750 | it.next();
|
---|
| 751 | const t_prnStat& prnStat = it.value();
|
---|
[4701] | 752 | numObs += prnStat._numObs;
|
---|
| 753 | numSlipsFlagged += prnStat._numSlipsFlagged;
|
---|
| 754 | numSlipsFound += prnStat._numSlipsFound;
|
---|
[4693] | 755 | }
|
---|
[4701] | 756 | *_log << "# Obs.: " << numObs << endl
|
---|
| 757 | << "# Slips (file): " << numSlipsFlagged << endl
|
---|
| 758 | << "# Slips (found): " << numSlipsFound << endl;
|
---|
[4693] | 759 |
|
---|
[4697] | 760 | for (int kk = 1; kk <= 4; kk++) {
|
---|
| 761 | QVector<t_polarPoint*>* data = 0;
|
---|
| 762 | QString text;
|
---|
| 763 | if (kk == 1) {
|
---|
| 764 | data = dataMP1;
|
---|
[4701] | 765 | text = "Mean MP1: ";
|
---|
[4697] | 766 | }
|
---|
| 767 | else if (kk == 2) {
|
---|
| 768 | data = dataMP2;
|
---|
[4701] | 769 | text = "Mean MP2: ";
|
---|
[4697] | 770 | }
|
---|
| 771 | else if (kk == 3) {
|
---|
| 772 | data = dataSNR1;
|
---|
[4701] | 773 | text = "Mean SNR1: ";
|
---|
[4697] | 774 | }
|
---|
| 775 | else if (kk == 4) {
|
---|
| 776 | data = dataSNR2;
|
---|
[4701] | 777 | text = "Mean SNR2: ";
|
---|
[4697] | 778 | }
|
---|
| 779 | double mean = 0.0;
|
---|
| 780 | for (int ii = 0; ii < data->size(); ii++) {
|
---|
| 781 | const t_polarPoint* point = data->at(ii);
|
---|
| 782 | mean += point->_value;
|
---|
| 783 | }
|
---|
| 784 | mean /= data->size();
|
---|
| 785 | *_log << text << mean << endl;
|
---|
| 786 | }
|
---|
| 787 |
|
---|
[4689] | 788 | _log->flush();
|
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| 789 | }
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