[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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[5070] | 46 | #include "bnccore.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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[4300] | 50 | #include "graphwin.h"
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[4307] | 51 | #include "polarplot.h"
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[4577] | 52 | #include "availplot.h"
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[4662] | 53 | #include "eleplot.h"
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[4672] | 54 | #include "dopplot.h"
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[3899] | 55 |
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| 56 | using namespace std;
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| 57 |
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[4700] | 58 | const double SLIPTRESH = 10.0; // cycle-slip threshold (meters)
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[4357] | 59 |
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[5863] | 60 | // Set Observations from RINEX File
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| 61 | ////////////////////////////////////////////////////////////////////////////
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| 62 | void t_reqcAnalyze::setObsFromRnx(const t_rnxObsFile* rnxObsFile,
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| 63 | const t_rnxObsFile::t_rnxEpo* epo,
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| 64 | const t_rnxObsFile::t_rnxSat& rnxSat,
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| 65 | t_obs& obs) {
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| 66 |
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| 67 | strncpy(obs.StatID, rnxObsFile->markerName().toAscii().constData(),
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| 68 | sizeof(obs.StatID));
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| 69 |
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| 70 | obs.satSys = rnxSat.satSys;
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| 71 | obs.satNum = rnxSat.satNum;
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| 72 | obs.GPSWeek = epo->tt.gpsw();
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| 73 | obs.GPSWeeks = epo->tt.gpssec();
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| 74 |
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| 75 | for (int iType = 0; iType < rnxObsFile->nTypes(obs.satSys); iType++) {
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| 76 | QString type = rnxObsFile->obsType(obs.satSys,iType).toAscii();
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| 77 | obs.setMeasdata(type, rnxObsFile->version(), rnxSat.obs[iType]);
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| 78 | if (type.indexOf("L1") == 0) {
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| 79 | obs.snrL1 = rnxSat.snr[iType];
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| 80 | obs.slipL1 = (rnxSat.lli[iType] & 1);
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| 81 | }
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| 82 | else if (type.indexOf("L2") == 0) {
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| 83 | obs.snrL2 = rnxSat.snr[iType];
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| 84 | obs.slipL2 = (rnxSat.lli[iType] & 1);
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| 85 | }
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| 86 | else if (type.indexOf("L5") == 0) {
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| 87 | obs.snrL5 = rnxSat.snr[iType];
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| 88 | obs.slipL5 = (rnxSat.lli[iType] & 1);
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| 89 | }
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| 90 | }
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| 91 | }
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| 92 |
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[3899] | 93 | // Constructor
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| 94 | ////////////////////////////////////////////////////////////////////////////
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| 95 | t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
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| 96 |
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| 97 | bncSettings settings;
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[4254] | 98 |
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[4257] | 99 | _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
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| 100 | _logFile = 0;
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| 101 | _log = 0;
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[4254] | 102 | _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
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[4257] | 103 | _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
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[4266] | 104 |
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| 105 | _currEpo = 0;
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[4300] | 106 |
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[4572] | 107 | connect(this, SIGNAL(dspSkyPlot(const QString&,
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| 108 | const QByteArray&,
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| 109 | QVector<t_polarPoint*>*,
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| 110 | const QByteArray&,
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| 111 | QVector<t_polarPoint*>*,
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| 112 | const QByteArray&, double)),
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| 113 | this, SLOT(slotDspSkyPlot(const QString&,
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[4556] | 114 | const QByteArray&,
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| 115 | QVector<t_polarPoint*>*,
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| 116 | const QByteArray&,
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| 117 | QVector<t_polarPoint*>*,
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[4572] | 118 | const QByteArray&, double)));
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| 119 |
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[4584] | 120 | connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
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| 121 | this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
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[3899] | 122 | }
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| 123 |
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| 124 | // Destructor
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| 125 | ////////////////////////////////////////////////////////////////////////////
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| 126 | t_reqcAnalyze::~t_reqcAnalyze() {
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[4255] | 127 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 128 | delete _rnxObsFiles[ii];
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| 129 | }
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| 130 | for (int ii = 0; ii < _ephs.size(); ii++) {
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| 131 | delete _ephs[ii];
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| 132 | }
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| 133 | delete _log; _log = 0;
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| 134 | delete _logFile; _logFile = 0;
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[5072] | 135 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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[5066] | 136 | qApp->exit(0);
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[4452] | 137 | }
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[3899] | 138 | }
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| 139 |
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| 140 | //
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| 141 | ////////////////////////////////////////////////////////////////////////////
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[4572] | 142 | void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
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| 143 | const QByteArray& title1,
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| 144 | QVector<t_polarPoint*>* data1,
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| 145 | const QByteArray& title2,
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| 146 | QVector<t_polarPoint*>* data2,
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| 147 | const QByteArray& scaleTitle,
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| 148 | double maxValue) {
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[4342] | 149 |
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[5068] | 150 | if (BNC_CORE->GUIenabled()) {
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[4334] | 151 |
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[4556] | 152 | if (maxValue == 0.0) {
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| 153 | if (data1) {
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| 154 | for (int ii = 0; ii < data1->size(); ii++) {
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[4566] | 155 | double val = data1->at(ii)->_value;
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| 156 | if (maxValue < val) {
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| 157 | maxValue = val;
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[4556] | 158 | }
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| 159 | }
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[4356] | 160 | }
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[4557] | 161 | if (data2) {
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[4556] | 162 | for (int ii = 0; ii < data2->size(); ii++) {
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[4566] | 163 | double val = data2->at(ii)->_value;
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| 164 | if (maxValue < val) {
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| 165 | maxValue = val;
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[4556] | 166 | }
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| 167 | }
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[4356] | 168 | }
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| 169 | }
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[4357] | 170 |
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[4556] | 171 | QwtInterval scaleInterval(0.0, maxValue);
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[4356] | 172 |
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[4556] | 173 | QVector<QWidget*> plots;
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| 174 | if (data1) {
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| 175 | t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
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[5068] | 176 | BNC_CORE->mainWindow());
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[4556] | 177 | plot1->addCurve(data1);
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| 178 | plots << plot1;
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| 179 | }
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[4557] | 180 | if (data2) {
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[4556] | 181 | t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
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[5068] | 182 | BNC_CORE->mainWindow());
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[4556] | 183 | plot2->addCurve(data2);
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| 184 | plots << plot2;
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| 185 | }
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[4334] | 186 |
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[4564] | 187 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
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[4573] | 188 | &scaleTitle, &scaleInterval);
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[4334] | 189 |
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[4445] | 190 | graphWin->show();
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| 191 |
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[4451] | 192 | bncSettings settings;
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| 193 | QString dirName = settings.value("reqcPlotDir").toString();
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| 194 | if (!dirName.isEmpty()) {
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[4606] | 195 | QByteArray ext = scaleTitle.isEmpty() ? "_S.png" : "_M.png";
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[4579] | 196 | graphWin->savePNG(dirName, ext);
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[4451] | 197 | }
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[4308] | 198 | }
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[4300] | 199 | }
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| 200 |
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| 201 | //
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| 202 | ////////////////////////////////////////////////////////////////////////////
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[3899] | 203 | void t_reqcAnalyze::run() {
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| 204 |
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[4255] | 205 | // Open Log File
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| 206 | // -------------
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| 207 | _logFile = new QFile(_logFileName);
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[4517] | 208 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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| 209 | _log = new QTextStream();
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| 210 | _log->setDevice(_logFile);
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| 211 | }
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[4255] | 212 |
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| 213 | // Initialize RINEX Observation Files
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| 214 | // ----------------------------------
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[4525] | 215 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
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[3899] | 216 |
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[4257] | 217 | // Read Ephemerides
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| 218 | // ----------------
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| 219 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
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| 220 |
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[4255] | 221 | // Loop over all RINEX Files
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| 222 | // -------------------------
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[4254] | 223 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 224 | analyzeFile(_rnxObsFiles[ii]);
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| 225 | }
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| 226 |
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[4255] | 227 | // Exit
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| 228 | // ----
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[4452] | 229 | emit finished();
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| 230 | deleteLater();
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[3899] | 231 | }
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[4254] | 232 |
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| 233 | //
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| 234 | ////////////////////////////////////////////////////////////////////////////
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[4260] | 235 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
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[4259] | 236 |
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[4715] | 237 | _mutex.lock();
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[4704] | 238 |
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[4517] | 239 | if (_log) {
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| 240 | *_log << "\nAnalyze File\n"
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| 241 | << "------------\n"
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[4701] | 242 | << "File: " << obsFile->fileName().toAscii().data() << endl;
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[4517] | 243 | }
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[4260] | 244 |
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[4584] | 245 | _allObsMap.clear();
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| 246 | _availDataMap.clear();
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[4717] | 247 | _obsStat.reset();
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[4343] | 248 |
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[4342] | 249 | // A priori Coordinates
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| 250 | // --------------------
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[4679] | 251 | ColumnVector xyzSta = obsFile->xyz();
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[4342] | 252 |
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[4262] | 253 | // Loop over all Epochs
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| 254 | // --------------------
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[4541] | 255 | try {
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[4675] | 256 | unsigned iEpo = 0;
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[4541] | 257 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
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[4688] | 258 |
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| 259 | if (iEpo == 0) {
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| 260 | _obsStat._startTime = _currEpo->tt;
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| 261 | _obsStat._antennaName = obsFile->antennaName();
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| 262 | _obsStat._markerName = obsFile->markerName();
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| 263 | _obsStat._receiverType = obsFile->receiverType();
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| 264 | _obsStat._interval = obsFile->interval();
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| 265 | }
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| 266 | _obsStat._endTime = _currEpo->tt;
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[4541] | 267 |
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| 268 | // Loop over all satellites
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| 269 | // ------------------------
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| 270 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
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| 271 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
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| 272 | t_obs obs;
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[5863] | 273 | setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
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[4541] | 274 |
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[5140] | 275 | QString prn = QString("%1%2").arg(obs.satSys)
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| 276 | .arg(obs.satNum, 2, 10, QChar('0'));
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| 277 |
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| 278 | t_ephGlo* ephGlo = 0;
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[4541] | 279 | if (obs.satSys == 'R') {
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[5140] | 280 | for (int ie = 0; ie < _ephs.size(); ie++) {
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[5776] | 281 | if (QString(_ephs[ie]->prn().toString().c_str()) == prn) {
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[5140] | 282 | ephGlo = dynamic_cast<t_ephGlo*>(_ephs[ie]);
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| 283 | break;
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| 284 | }
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| 285 | }
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| 286 | if (ephGlo) {
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| 287 | obs.slotNum = ephGlo->slotNum();
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| 288 | }
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[4541] | 289 | }
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| 290 |
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[4694] | 291 | t_irc irc = _allObsMap[prn].addObs(obs);
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[4675] | 292 |
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[4694] | 293 | if (irc == success) {
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[5140] | 294 | t_oneObs* newObs = _allObsMap[prn]._oneObsVec.last();
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| 295 | if (ephGlo) {
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| 296 | newObs->_slotSet = true;
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| 297 | }
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[4694] | 298 | if (newObs->_hasL1 && newObs->_hasL2) {
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| 299 | _obsStat._prnStat[prn]._numObs += 1;
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| 300 | }
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[4695] | 301 | if (newObs->_slipL1 && newObs->_slipL2) {
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[4701] | 302 | _obsStat._prnStat[prn]._numSlipsFlagged += 1;
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[4695] | 303 | }
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[4694] | 304 | }
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[4262] | 305 | }
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[4541] | 306 |
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[4679] | 307 | prepareObsStat(iEpo, obsFile->interval(), xyzSta);
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[4678] | 308 | iEpo++;
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| 309 |
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[4541] | 310 | } // while (_currEpo)
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| 311 | }
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| 312 | catch (QString str) {
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| 313 | if (_log) {
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| 314 | *_log << "Exception " << str << endl;
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[4262] | 315 | }
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[4541] | 316 | else {
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| 317 | qDebug() << str;
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| 318 | }
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[4715] | 319 | _mutex.unlock();
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[4541] | 320 | return;
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| 321 | }
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[4262] | 322 |
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[4268] | 323 | // Analyze the Multipath
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| 324 | // ---------------------
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[4718] | 325 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
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| 326 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
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| 327 | QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
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| 328 | QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
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[4268] | 329 |
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[4584] | 330 | QMutableMapIterator<QString, t_allObs> it(_allObsMap);
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[4268] | 331 | while (it.hasNext()) {
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| 332 | it.next();
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[4584] | 333 | QString prn = it.key();
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[4679] | 334 | preparePlotData(prn, xyzSta, obsFile->interval(),
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[4675] | 335 | dataMP1, dataMP2, dataSNR1, dataSNR2);
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[4268] | 336 | }
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| 337 |
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[4706] | 338 | printReport(dataMP1, dataMP2, dataSNR1, dataSNR2);
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| 339 |
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[4718] | 340 | // Show the plots
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| 341 | // --------------
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[5068] | 342 | if (BNC_CORE->GUIenabled()) {
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[4718] | 343 | QFileInfo fileInfo(obsFile->fileName());
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| 344 | QByteArray title = fileInfo.fileName().toAscii();
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| 345 | emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
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| 346 | "Meters", 2.0);
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| 347 | emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
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| 348 | "", 9.0);
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| 349 | emit dspAvailPlot(obsFile->fileName(), title);
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| 350 | }
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| 351 | else {
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| 352 | for (int ii = 0; ii < dataMP1->size(); ii++) {
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| 353 | delete dataMP1->at(ii);
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| 354 | }
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| 355 | delete dataMP1;
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| 356 | for (int ii = 0; ii < dataMP2->size(); ii++) {
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| 357 | delete dataMP2->at(ii);
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| 358 | }
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| 359 | delete dataMP2;
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| 360 | for (int ii = 0; ii < dataSNR1->size(); ii++) {
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| 361 | delete dataSNR1->at(ii);
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| 362 | }
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| 363 | delete dataSNR1;
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| 364 | for (int ii = 0; ii < dataSNR2->size(); ii++) {
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| 365 | delete dataSNR2->at(ii);
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| 366 | }
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| 367 | delete dataSNR2;
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| 368 | _mutex.unlock();
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| 369 | }
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[4254] | 370 | }
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[4263] | 371 |
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| 372 | //
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| 373 | ////////////////////////////////////////////////////////////////////////////
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[4694] | 374 | t_irc t_reqcAnalyze::t_allObs::addObs(const t_obs& obs) {
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[4265] | 375 |
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[4584] | 376 | t_oneObs* newObs = new t_oneObs(obs.GPSWeek, obs.GPSWeeks);
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[4354] | 377 | bool okFlag = false;
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[4338] | 378 |
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[4608] | 379 | // Availability and Slip Flags
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| 380 | // ---------------------------
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[4424] | 381 | double L1 = obs.measdata("L1", 3.0);
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[4571] | 382 | if (L1 != 0) {
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| 383 | newObs->_hasL1 = true;
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| 384 | }
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[5136] | 385 | double L2 = obs.satSys == 'E' ? obs.measdata("L5", 3.0) : obs.measdata("L2", 3.0);;
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[4571] | 386 | if (L2 != 0) {
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| 387 | newObs->_hasL2 = true;
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| 388 | }
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[4608] | 389 | if (obs.slipL1) {
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| 390 | newObs->_slipL1 = true;
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| 391 | }
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| 392 | if (obs.slipL2) {
|
---|
| 393 | newObs->_slipL2 = true;
|
---|
| 394 | }
|
---|
| 395 |
|
---|
| 396 | // Compute the Multipath
|
---|
| 397 | // ----------------------
|
---|
[4391] | 398 | if (L1 != 0.0 && L2 != 0.0) {
|
---|
[4266] | 399 | double f1 = t_CST::f1(obs.satSys, obs.slotNum);
|
---|
[5136] | 400 | double f2 = obs.satSys == 'E' ? t_CST::freq5 : t_CST::f2(obs.satSys, obs.slotNum);
|
---|
[4266] | 401 |
|
---|
[4391] | 402 | L1 = L1 * t_CST::c / f1;
|
---|
| 403 | L2 = L2 * t_CST::c / f2;
|
---|
[4266] | 404 |
|
---|
[4424] | 405 | double P1 = obs.measdata("C1", 3.0);
|
---|
[4391] | 406 | if (P1 != 0.0) {
|
---|
| 407 | newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
|
---|
[4354] | 408 | okFlag = true;
|
---|
[4268] | 409 | }
|
---|
[5136] | 410 | double P2 = obs.satSys == 'E' ? obs.measdata("C5", 3.0) : obs.measdata("C2", 3.0);
|
---|
[4391] | 411 | if (P2 != 0.0) {
|
---|
| 412 | newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
|
---|
[4354] | 413 | okFlag = true;
|
---|
[4268] | 414 | }
|
---|
[4265] | 415 | }
|
---|
[4338] | 416 |
|
---|
[4559] | 417 | // Signal-to-Noise
|
---|
| 418 | // ---------------
|
---|
| 419 | double S1 = obs.measdata("S1", 3.0);
|
---|
| 420 | if (S1 != 0.0) {
|
---|
[4562] | 421 | newObs->_SNR1 = floor(S1/6);
|
---|
| 422 | if (newObs->_SNR1 > 9.0) {
|
---|
| 423 | newObs->_SNR1 = 9.0;
|
---|
| 424 | }
|
---|
| 425 | if (newObs->_SNR1 < 1.0) {
|
---|
| 426 | newObs->_SNR1 = 1.0;
|
---|
| 427 | }
|
---|
[4559] | 428 | okFlag = true;
|
---|
| 429 | }
|
---|
[4562] | 430 | else {
|
---|
| 431 | if (obs.snrL1 > 0) {
|
---|
| 432 | newObs->_SNR1 = obs.snrL1;
|
---|
| 433 | okFlag = true;
|
---|
| 434 | }
|
---|
| 435 | }
|
---|
[5136] | 436 | double S2 = obs.satSys == 'E' ? obs.measdata("S5", 3.0) : obs.measdata("S2", 3.0);
|
---|
[4559] | 437 | if (S2 != 0.0) {
|
---|
[4562] | 438 | newObs->_SNR2 = floor(S2/6);
|
---|
| 439 | if (newObs->_SNR2 > 9.0) {
|
---|
| 440 | newObs->_SNR2 = 9.0;
|
---|
| 441 | }
|
---|
| 442 | if (newObs->_SNR2 < 1.0) {
|
---|
| 443 | newObs->_SNR2 = 1.0;
|
---|
| 444 | }
|
---|
[4559] | 445 | okFlag = true;
|
---|
| 446 | }
|
---|
[4562] | 447 | else {
|
---|
| 448 | if (obs.snrL2 > 0) {
|
---|
| 449 | newObs->_SNR2 = obs.snrL2;
|
---|
| 450 | okFlag = true;
|
---|
| 451 | }
|
---|
| 452 | }
|
---|
[4559] | 453 |
|
---|
[4354] | 454 | // Remember the Observation
|
---|
| 455 | // ------------------------
|
---|
| 456 | if (okFlag) {
|
---|
[4584] | 457 | _oneObsVec << newObs;
|
---|
[4694] | 458 | return success;
|
---|
[4354] | 459 | }
|
---|
| 460 | else {
|
---|
| 461 | delete newObs;
|
---|
[4694] | 462 | return failure;
|
---|
[4354] | 463 | }
|
---|
[4263] | 464 | }
|
---|
[4350] | 465 |
|
---|
| 466 | //
|
---|
| 467 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4679] | 468 | void t_reqcAnalyze::prepareObsStat(unsigned iEpo, double obsInterval,
|
---|
| 469 | const ColumnVector& xyzSta) {
|
---|
[4677] | 470 | const int sampl = int(30.0 / obsInterval);
|
---|
| 471 | if (iEpo % sampl == 0) {
|
---|
[4676] | 472 | double mjdX24 = _currEpo->tt.mjddec() * 24.0;
|
---|
| 473 | if (iEpo != 0) {
|
---|
| 474 | _obsStat._mjdX24 << mjdX24;
|
---|
| 475 | _obsStat._numSat << _obsStat._numSat.last();
|
---|
[4680] | 476 | _obsStat._PDOP << _obsStat._PDOP.last();
|
---|
[4676] | 477 | }
|
---|
| 478 | _obsStat._mjdX24 << mjdX24;
|
---|
[4675] | 479 | _obsStat._numSat << _currEpo->rnxSat.size();
|
---|
[4680] | 480 | _obsStat._PDOP << cmpDOP(xyzSta);
|
---|
[4675] | 481 | }
|
---|
| 482 | }
|
---|
| 483 |
|
---|
| 484 | //
|
---|
| 485 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4679] | 486 | void t_reqcAnalyze::preparePlotData(const QString& prn,
|
---|
| 487 | const ColumnVector& xyzSta,
|
---|
[4572] | 488 | double obsInterval,
|
---|
| 489 | QVector<t_polarPoint*>* dataMP1,
|
---|
| 490 | QVector<t_polarPoint*>* dataMP2,
|
---|
| 491 | QVector<t_polarPoint*>* dataSNR1,
|
---|
[4675] | 492 | QVector<t_polarPoint*>* dataSNR2) {
|
---|
[4350] | 493 |
|
---|
[4544] | 494 | const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
|
---|
| 495 | const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
|
---|
[4350] | 496 |
|
---|
[4584] | 497 | t_allObs& allObs = _allObsMap[prn];
|
---|
| 498 |
|
---|
[5141] | 499 | bncSettings settings;
|
---|
| 500 | QString reqSkyPlotSystems = settings.value("reqcSkyPlotSystems").toString();
|
---|
| 501 | bool plotGPS = false;
|
---|
| 502 | bool plotGlo = false;
|
---|
| 503 | bool plotGal = false;
|
---|
| 504 | if (reqSkyPlotSystems == "GPS") {
|
---|
| 505 | plotGPS = true;
|
---|
| 506 | }
|
---|
| 507 | else if (reqSkyPlotSystems == "GLONASS") {
|
---|
| 508 | plotGlo = true;
|
---|
| 509 | }
|
---|
| 510 | else if (reqSkyPlotSystems == "Galileo") {
|
---|
| 511 | plotGal = true;
|
---|
| 512 | }
|
---|
| 513 | else {
|
---|
| 514 | plotGPS = true;
|
---|
| 515 | plotGlo = true;
|
---|
| 516 | plotGal = true;
|
---|
| 517 | }
|
---|
| 518 |
|
---|
[4591] | 519 | // Loop over all Chunks of Data
|
---|
| 520 | // ----------------------------
|
---|
[4702] | 521 | bool slipFound = false;
|
---|
[4584] | 522 | for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
|
---|
[4361] | 523 | chunkStart += chunkStep) {
|
---|
[4351] | 524 |
|
---|
[4703] | 525 | if (chunkStart * chunkStep == numEpo) {
|
---|
[4702] | 526 | slipFound = false;
|
---|
| 527 | }
|
---|
| 528 |
|
---|
[4675] | 529 | // Chunk-Specific Variables
|
---|
| 530 | // ------------------------
|
---|
[4591] | 531 | bncTime currTime;
|
---|
| 532 | bncTime prevTime;
|
---|
[4590] | 533 | bncTime chunkStartTime;
|
---|
[4675] | 534 | double mjdX24 = 0.0;
|
---|
[4607] | 535 | bool availL1 = false;
|
---|
| 536 | bool availL2 = false;
|
---|
| 537 | bool gapL1 = false;
|
---|
| 538 | bool gapL2 = false;
|
---|
| 539 | bool slipL1 = false;
|
---|
| 540 | bool slipL2 = false;
|
---|
| 541 | double meanMP1 = 0.0;
|
---|
| 542 | double meanMP2 = 0.0;
|
---|
| 543 | double minSNR1 = 0.0;
|
---|
| 544 | double minSNR2 = 0.0;
|
---|
| 545 | double aziDeg = 0.0;
|
---|
| 546 | double zenDeg = 0.0;
|
---|
[4659] | 547 | bool zenFlag = false;
|
---|
[4353] | 548 |
|
---|
[4591] | 549 | // Loop over all Epochs within one Chunk of Data
|
---|
| 550 | // ---------------------------------------------
|
---|
[5140] | 551 | bool slotSet = false;
|
---|
[4361] | 552 | for (int ii = 0; ii < numEpo; ii++) {
|
---|
[4351] | 553 | int iEpo = chunkStart + ii;
|
---|
[4584] | 554 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
|
---|
[5140] | 555 | if (oneObs->_slotSet) {
|
---|
| 556 | slotSet = true;
|
---|
| 557 | }
|
---|
[4572] | 558 |
|
---|
[4590] | 559 | currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
|
---|
| 560 |
|
---|
| 561 | // Compute the Azimuth and Zenith Distance
|
---|
| 562 | // ---------------------------------------
|
---|
[4572] | 563 | if (ii == 0) {
|
---|
[4590] | 564 | chunkStartTime = currTime;
|
---|
[4675] | 565 | mjdX24 = chunkStartTime.mjddec() * 24.0;
|
---|
[4590] | 566 |
|
---|
[4679] | 567 | if (xyzSta.size()) {
|
---|
[4590] | 568 | t_eph* eph = 0;
|
---|
| 569 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
[5776] | 570 | if (QString(_ephs[ie]->prn().toString().c_str()) == prn) {
|
---|
[4590] | 571 | eph = _ephs[ie];
|
---|
| 572 | break;
|
---|
| 573 | }
|
---|
| 574 | }
|
---|
| 575 |
|
---|
| 576 | if (eph) {
|
---|
| 577 | double xSat, ySat, zSat, clkSat;
|
---|
| 578 | eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
|
---|
| 579 | xSat, ySat, zSat, clkSat);
|
---|
| 580 |
|
---|
| 581 | double rho, eleSat, azSat;
|
---|
[4679] | 582 | topos(xyzSta(1), xyzSta(2), xyzSta(3),
|
---|
| 583 | xSat, ySat, zSat, rho, eleSat, azSat);
|
---|
[4590] | 584 |
|
---|
| 585 | aziDeg = azSat * 180.0/M_PI;
|
---|
| 586 | zenDeg = 90.0 - eleSat * 180.0/M_PI;
|
---|
[4659] | 587 | zenFlag = true;
|
---|
[4590] | 588 | }
|
---|
| 589 | }
|
---|
[4572] | 590 | }
|
---|
[4675] | 591 |
|
---|
[4590] | 592 | // Check Interval
|
---|
| 593 | // --------------
|
---|
| 594 | if (prevTime.valid()) {
|
---|
[4591] | 595 | double dt = currTime - prevTime;
|
---|
| 596 | if (dt != obsInterval) {
|
---|
| 597 | gapL1 = true;
|
---|
| 598 | gapL2 = true;
|
---|
| 599 | }
|
---|
[4590] | 600 | }
|
---|
| 601 | prevTime = currTime;
|
---|
[4563] | 602 |
|
---|
[4590] | 603 | // Check L1 and L2 availability
|
---|
| 604 | // ----------------------------
|
---|
| 605 | if (oneObs->_hasL1) {
|
---|
| 606 | availL1 = true;
|
---|
[4566] | 607 | }
|
---|
[4590] | 608 | else {
|
---|
[4591] | 609 | gapL1 = true;
|
---|
[4566] | 610 | }
|
---|
[4590] | 611 | if (oneObs->_hasL2) {
|
---|
| 612 | availL2 = true;
|
---|
| 613 | }
|
---|
| 614 | else {
|
---|
[4591] | 615 | gapL2 = true;
|
---|
[4590] | 616 | }
|
---|
| 617 |
|
---|
| 618 | // Check Minimal Signal-to-Noise Ratio
|
---|
| 619 | // -----------------------------------
|
---|
| 620 | if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
|
---|
| 621 | minSNR1 = oneObs->_SNR1;
|
---|
| 622 | }
|
---|
| 623 | if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
|
---|
| 624 | minSNR2 = oneObs->_SNR2;
|
---|
| 625 | }
|
---|
| 626 |
|
---|
[4607] | 627 | // Check Slip Flags
|
---|
| 628 | // ----------------
|
---|
| 629 | if (oneObs->_slipL1) {
|
---|
| 630 | slipL1 = true;
|
---|
| 631 | }
|
---|
| 632 | if (oneObs->_slipL2) {
|
---|
| 633 | slipL2 = true;
|
---|
| 634 | }
|
---|
| 635 |
|
---|
[4698] | 636 | meanMP1 += oneObs->_MP1;
|
---|
| 637 | meanMP2 += oneObs->_MP2;
|
---|
| 638 | }
|
---|
| 639 |
|
---|
| 640 | // Compute the Multipath
|
---|
| 641 | // ---------------------
|
---|
[5141] | 642 | if ( (prn[0] == 'G' && plotGPS ) ||
|
---|
| 643 | (prn[0] == 'R' && plotGlo && slotSet) ||
|
---|
| 644 | (prn[0] == 'E' && plotGal ) ) {
|
---|
[4700] | 645 | bool slipMP = false;
|
---|
| 646 | meanMP1 /= numEpo;
|
---|
| 647 | meanMP2 /= numEpo;
|
---|
| 648 | double MP1 = 0.0;
|
---|
| 649 | double MP2 = 0.0;
|
---|
| 650 | for (int ii = 0; ii < numEpo; ii++) {
|
---|
| 651 | int iEpo = chunkStart + ii;
|
---|
| 652 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
|
---|
| 653 | double diff1 = oneObs->_MP1 - meanMP1;
|
---|
| 654 | double diff2 = oneObs->_MP2 - meanMP2;
|
---|
| 655 |
|
---|
| 656 | // Check Slip Threshold
|
---|
| 657 | // --------------------
|
---|
| 658 | if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
|
---|
| 659 | slipMP = true;
|
---|
| 660 | break;
|
---|
| 661 | }
|
---|
| 662 |
|
---|
| 663 | MP1 += diff1 * diff1;
|
---|
| 664 | MP2 += diff2 * diff2;
|
---|
[4353] | 665 | }
|
---|
[4700] | 666 | if (slipMP) {
|
---|
| 667 | slipL1 = true;
|
---|
| 668 | slipL2 = true;
|
---|
[4702] | 669 | if (!slipFound) {
|
---|
| 670 | slipFound = true;
|
---|
| 671 | _obsStat._prnStat[prn]._numSlipsFound += 1;
|
---|
| 672 | }
|
---|
[4700] | 673 | }
|
---|
| 674 | else {
|
---|
| 675 | MP1 = sqrt(MP1 / (numEpo-1));
|
---|
| 676 | MP2 = sqrt(MP2 / (numEpo-1));
|
---|
| 677 | (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
|
---|
| 678 | (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
|
---|
| 679 | }
|
---|
[4353] | 680 | }
|
---|
| 681 |
|
---|
[4590] | 682 | // Availability Plot Data
|
---|
| 683 | // ----------------------
|
---|
| 684 | if (availL1) {
|
---|
[4607] | 685 | if (slipL1) {
|
---|
[4617] | 686 | _availDataMap[prn]._L1slip << mjdX24;
|
---|
[4591] | 687 | }
|
---|
| 688 | else if (gapL1) {
|
---|
[4617] | 689 | _availDataMap[prn]._L1gap << mjdX24;
|
---|
[4591] | 690 | }
|
---|
| 691 | else {
|
---|
[4617] | 692 | _availDataMap[prn]._L1ok << mjdX24;
|
---|
[4591] | 693 | }
|
---|
[4351] | 694 | }
|
---|
[4591] | 695 | if (availL2) {
|
---|
[4607] | 696 | if (slipL2) {
|
---|
[4617] | 697 | _availDataMap[prn]._L2slip << mjdX24;
|
---|
[4591] | 698 | }
|
---|
| 699 | else if (gapL2) {
|
---|
[4617] | 700 | _availDataMap[prn]._L2gap << mjdX24;
|
---|
[4591] | 701 | }
|
---|
| 702 | else {
|
---|
[4617] | 703 | _availDataMap[prn]._L2ok << mjdX24;
|
---|
[4591] | 704 | }
|
---|
| 705 | }
|
---|
[4659] | 706 | if (zenFlag) {
|
---|
[4662] | 707 | _availDataMap[prn]._eleTim << mjdX24;
|
---|
| 708 | _availDataMap[prn]._eleDeg << 90.0 - zenDeg;
|
---|
[4659] | 709 | }
|
---|
[4351] | 710 |
|
---|
[5142] | 711 | // Signal-to-Noise Ratio Plot Data
|
---|
| 712 | // -------------------------------
|
---|
[5143] | 713 | if ( (prn[0] == 'G' && plotGPS) ||
|
---|
| 714 | (prn[0] == 'R' && plotGlo) ||
|
---|
| 715 | (prn[0] == 'E' && plotGal) ) {
|
---|
[5141] | 716 | (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
|
---|
| 717 | (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
|
---|
| 718 | }
|
---|
[4350] | 719 | }
|
---|
| 720 | }
|
---|
[4572] | 721 |
|
---|
| 722 | //
|
---|
| 723 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 724 | void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
|
---|
[4584] | 725 | const QByteArray& title) {
|
---|
[4572] | 726 |
|
---|
[5068] | 727 | if (BNC_CORE->GUIenabled()) {
|
---|
[4659] | 728 | t_availPlot* plotA = new t_availPlot(0, &_availDataMap);
|
---|
| 729 | plotA->setTitle(title);
|
---|
[4573] | 730 |
|
---|
[4662] | 731 | t_elePlot* plotZ = new t_elePlot(0, &_availDataMap);
|
---|
[4659] | 732 |
|
---|
[4672] | 733 | t_dopPlot* plotD = new t_dopPlot(0, &_obsStat);
|
---|
[4671] | 734 |
|
---|
[4573] | 735 | QVector<QWidget*> plots;
|
---|
[4671] | 736 | plots << plotA << plotZ << plotD;
|
---|
[4573] | 737 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
|
---|
[4666] | 738 |
|
---|
| 739 | int ww = QFontMetrics(graphWin->font()).width('w');
|
---|
| 740 | graphWin->setMinimumSize(120*ww, 40*ww);
|
---|
| 741 |
|
---|
[4573] | 742 | graphWin->show();
|
---|
| 743 |
|
---|
| 744 | bncSettings settings;
|
---|
| 745 | QString dirName = settings.value("reqcPlotDir").toString();
|
---|
| 746 | if (!dirName.isEmpty()) {
|
---|
[4606] | 747 | QByteArray ext = "_A.png";
|
---|
[4579] | 748 | graphWin->savePNG(dirName, ext);
|
---|
[4573] | 749 | }
|
---|
| 750 | }
|
---|
[4715] | 751 | _mutex.unlock();
|
---|
[4572] | 752 | }
|
---|
[4679] | 753 |
|
---|
| 754 | // Compute Dilution of Precision
|
---|
| 755 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 756 | double t_reqcAnalyze::cmpDOP(const ColumnVector& xyzSta) const {
|
---|
| 757 |
|
---|
| 758 | if (xyzSta.size() != 3) {
|
---|
| 759 | return 0.0;
|
---|
| 760 | }
|
---|
| 761 |
|
---|
| 762 | unsigned nSat = _currEpo->rnxSat.size();
|
---|
| 763 |
|
---|
| 764 | if (nSat < 4) {
|
---|
| 765 | return 0.0;
|
---|
| 766 | }
|
---|
| 767 |
|
---|
| 768 | Matrix AA(nSat, 4);
|
---|
| 769 |
|
---|
| 770 | unsigned nSatUsed = 0;
|
---|
| 771 | for (unsigned iSat = 0; iSat < nSat; iSat++) {
|
---|
| 772 |
|
---|
| 773 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iSat];
|
---|
| 774 |
|
---|
| 775 | QString prn = QString("%1%2").arg(rnxSat.satSys)
|
---|
| 776 | .arg(rnxSat.satNum, 2, 10, QChar('0'));
|
---|
| 777 |
|
---|
| 778 | t_eph* eph = 0;
|
---|
| 779 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
[5776] | 780 | if (QString(_ephs[ie]->prn().toString().c_str()) == prn) {
|
---|
[4679] | 781 | eph = _ephs[ie];
|
---|
| 782 | break;
|
---|
| 783 | }
|
---|
| 784 | }
|
---|
| 785 | if (eph) {
|
---|
| 786 | ++nSatUsed;
|
---|
| 787 | ColumnVector xSat(3);
|
---|
| 788 | double clkSat;
|
---|
| 789 | eph->position(_currEpo->tt.gpsw(), _currEpo->tt.gpssec(),
|
---|
| 790 | xSat(1), xSat(2), xSat(3), clkSat);
|
---|
| 791 | ColumnVector dx = xSat - xyzSta;
|
---|
[4681] | 792 | double rho = dx.norm_Frobenius();
|
---|
| 793 | AA(nSatUsed,1) = dx(1) / rho;
|
---|
| 794 | AA(nSatUsed,2) = dx(2) / rho;
|
---|
| 795 | AA(nSatUsed,3) = dx(3) / rho;
|
---|
| 796 | AA(nSatUsed,4) = 1.0;
|
---|
[4679] | 797 | }
|
---|
[4681] | 798 | }
|
---|
[4679] | 799 |
|
---|
[4681] | 800 | if (nSatUsed < 4) {
|
---|
| 801 | return 0.0;
|
---|
[4679] | 802 | }
|
---|
| 803 |
|
---|
[4681] | 804 | AA = AA.Rows(1, nSatUsed);
|
---|
| 805 |
|
---|
| 806 | SymmetricMatrix QQ;
|
---|
| 807 | QQ << AA.t() * AA;
|
---|
| 808 | QQ = QQ.i();
|
---|
| 809 |
|
---|
| 810 | return sqrt(QQ.trace());
|
---|
[4679] | 811 | }
|
---|
[4689] | 812 |
|
---|
| 813 | // Finish the report
|
---|
| 814 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4696] | 815 | void t_reqcAnalyze::printReport(QVector<t_polarPoint*>* dataMP1,
|
---|
| 816 | QVector<t_polarPoint*>* dataMP2,
|
---|
| 817 | QVector<t_polarPoint*>* dataSNR1,
|
---|
| 818 | QVector<t_polarPoint*>* dataSNR2) {
|
---|
[5368] | 819 |
|
---|
[4689] | 820 | if (!_log) {
|
---|
| 821 | return;
|
---|
| 822 | }
|
---|
| 823 |
|
---|
[4701] | 824 | *_log << "Marker name: " << _obsStat._markerName << endl
|
---|
| 825 | << "Receiver: " << _obsStat._receiverType << endl
|
---|
| 826 | << "Antenna: " << _obsStat._antennaName << endl
|
---|
| 827 | << "Start time: " << _obsStat._startTime.datestr().c_str() << ' '
|
---|
| 828 | << _obsStat._startTime.timestr().c_str() << endl
|
---|
| 829 | << "End time: " << _obsStat._endTime.datestr().c_str() << ' '
|
---|
| 830 | << _obsStat._endTime.timestr().c_str() << endl
|
---|
| 831 | << "Interval: " << _obsStat._interval << endl
|
---|
| 832 | << "# Sat.: " << _obsStat._prnStat.size() << endl;
|
---|
[4689] | 833 |
|
---|
[4701] | 834 | int numObs = 0;
|
---|
| 835 | int numSlipsFlagged = 0;
|
---|
| 836 | int numSlipsFound = 0;
|
---|
[4693] | 837 | QMapIterator<QString, t_prnStat> it(_obsStat._prnStat);
|
---|
| 838 | while (it.hasNext()) {
|
---|
| 839 | it.next();
|
---|
| 840 | const t_prnStat& prnStat = it.value();
|
---|
[4701] | 841 | numObs += prnStat._numObs;
|
---|
| 842 | numSlipsFlagged += prnStat._numSlipsFlagged;
|
---|
| 843 | numSlipsFound += prnStat._numSlipsFound;
|
---|
[4693] | 844 | }
|
---|
[4701] | 845 | *_log << "# Obs.: " << numObs << endl
|
---|
| 846 | << "# Slips (file): " << numSlipsFlagged << endl
|
---|
| 847 | << "# Slips (found): " << numSlipsFound << endl;
|
---|
[4693] | 848 |
|
---|
[4697] | 849 | for (int kk = 1; kk <= 4; kk++) {
|
---|
| 850 | QVector<t_polarPoint*>* data = 0;
|
---|
| 851 | QString text;
|
---|
| 852 | if (kk == 1) {
|
---|
| 853 | data = dataMP1;
|
---|
[4701] | 854 | text = "Mean MP1: ";
|
---|
[4697] | 855 | }
|
---|
| 856 | else if (kk == 2) {
|
---|
| 857 | data = dataMP2;
|
---|
[4701] | 858 | text = "Mean MP2: ";
|
---|
[4697] | 859 | }
|
---|
| 860 | else if (kk == 3) {
|
---|
| 861 | data = dataSNR1;
|
---|
[4701] | 862 | text = "Mean SNR1: ";
|
---|
[4697] | 863 | }
|
---|
| 864 | else if (kk == 4) {
|
---|
| 865 | data = dataSNR2;
|
---|
[4701] | 866 | text = "Mean SNR2: ";
|
---|
[4697] | 867 | }
|
---|
| 868 | double mean = 0.0;
|
---|
| 869 | for (int ii = 0; ii < data->size(); ii++) {
|
---|
| 870 | const t_polarPoint* point = data->at(ii);
|
---|
| 871 | mean += point->_value;
|
---|
| 872 | }
|
---|
| 873 | mean /= data->size();
|
---|
| 874 | *_log << text << mean << endl;
|
---|
| 875 | }
|
---|
| 876 |
|
---|
[4689] | 877 | _log->flush();
|
---|
| 878 | }
|
---|