[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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[3899] | 60 | // Constructor
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| 61 | ////////////////////////////////////////////////////////////////////////////
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| 62 | t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
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| 63 |
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| 64 | bncSettings settings;
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[4254] | 65 |
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[4257] | 66 | _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
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| 67 | _logFile = 0;
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| 68 | _log = 0;
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[4254] | 69 | _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
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[4257] | 70 | _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
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[4266] | 71 |
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| 72 | _currEpo = 0;
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[4300] | 73 |
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[4572] | 74 | connect(this, SIGNAL(dspSkyPlot(const QString&,
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| 75 | const QByteArray&,
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| 76 | QVector<t_polarPoint*>*,
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| 77 | const QByteArray&,
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| 78 | QVector<t_polarPoint*>*,
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| 79 | const QByteArray&, double)),
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| 80 | this, SLOT(slotDspSkyPlot(const QString&,
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[4556] | 81 | const QByteArray&,
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| 82 | QVector<t_polarPoint*>*,
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| 83 | const QByteArray&,
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| 84 | QVector<t_polarPoint*>*,
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[4572] | 85 | const QByteArray&, double)));
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| 86 |
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[4584] | 87 | connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
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| 88 | this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
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[3899] | 89 | }
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| 90 |
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| 91 | // Destructor
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| 92 | ////////////////////////////////////////////////////////////////////////////
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| 93 | t_reqcAnalyze::~t_reqcAnalyze() {
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[4255] | 94 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 95 | delete _rnxObsFiles[ii];
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| 96 | }
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| 97 | for (int ii = 0; ii < _ephs.size(); ii++) {
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| 98 | delete _ephs[ii];
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| 99 | }
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| 100 | delete _log; _log = 0;
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| 101 | delete _logFile; _logFile = 0;
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[5072] | 102 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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[5066] | 103 | qApp->exit(0);
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[4452] | 104 | }
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[3899] | 105 | }
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| 106 |
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| 107 | //
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| 108 | ////////////////////////////////////////////////////////////////////////////
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[4572] | 109 | void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
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| 110 | const QByteArray& title1,
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| 111 | QVector<t_polarPoint*>* data1,
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| 112 | const QByteArray& title2,
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| 113 | QVector<t_polarPoint*>* data2,
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| 114 | const QByteArray& scaleTitle,
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| 115 | double maxValue) {
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[4342] | 116 |
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[5068] | 117 | if (BNC_CORE->GUIenabled()) {
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[4334] | 118 |
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[4556] | 119 | if (maxValue == 0.0) {
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| 120 | if (data1) {
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| 121 | for (int ii = 0; ii < data1->size(); ii++) {
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[4566] | 122 | double val = data1->at(ii)->_value;
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| 123 | if (maxValue < val) {
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| 124 | maxValue = val;
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[4556] | 125 | }
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| 126 | }
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[4356] | 127 | }
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[4557] | 128 | if (data2) {
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[4556] | 129 | for (int ii = 0; ii < data2->size(); ii++) {
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[4566] | 130 | double val = data2->at(ii)->_value;
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| 131 | if (maxValue < val) {
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| 132 | maxValue = val;
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[4556] | 133 | }
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| 134 | }
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[4356] | 135 | }
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| 136 | }
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[4357] | 137 |
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[4556] | 138 | QwtInterval scaleInterval(0.0, maxValue);
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[4356] | 139 |
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[4556] | 140 | QVector<QWidget*> plots;
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| 141 | if (data1) {
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| 142 | t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
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[5068] | 143 | BNC_CORE->mainWindow());
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[4556] | 144 | plot1->addCurve(data1);
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| 145 | plots << plot1;
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| 146 | }
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[4557] | 147 | if (data2) {
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[4556] | 148 | t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
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[5068] | 149 | BNC_CORE->mainWindow());
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[4556] | 150 | plot2->addCurve(data2);
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| 151 | plots << plot2;
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| 152 | }
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[4334] | 153 |
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[4564] | 154 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
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[4573] | 155 | &scaleTitle, &scaleInterval);
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[4334] | 156 |
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[4445] | 157 | graphWin->show();
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| 158 |
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[4451] | 159 | bncSettings settings;
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| 160 | QString dirName = settings.value("reqcPlotDir").toString();
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| 161 | if (!dirName.isEmpty()) {
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[4606] | 162 | QByteArray ext = scaleTitle.isEmpty() ? "_S.png" : "_M.png";
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[4579] | 163 | graphWin->savePNG(dirName, ext);
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[4451] | 164 | }
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[4308] | 165 | }
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[4300] | 166 | }
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| 167 |
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| 168 | //
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| 169 | ////////////////////////////////////////////////////////////////////////////
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[3899] | 170 | void t_reqcAnalyze::run() {
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| 171 |
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[4255] | 172 | // Open Log File
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| 173 | // -------------
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| 174 | _logFile = new QFile(_logFileName);
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[4517] | 175 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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| 176 | _log = new QTextStream();
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| 177 | _log->setDevice(_logFile);
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| 178 | }
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[4255] | 179 |
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| 180 | // Initialize RINEX Observation Files
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| 181 | // ----------------------------------
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[4525] | 182 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
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[3899] | 183 |
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[4257] | 184 | // Read Ephemerides
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| 185 | // ----------------
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| 186 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
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| 187 |
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[4255] | 188 | // Loop over all RINEX Files
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| 189 | // -------------------------
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[4254] | 190 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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| 191 | analyzeFile(_rnxObsFiles[ii]);
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| 192 | }
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| 193 |
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[4255] | 194 | // Exit
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| 195 | // ----
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[4452] | 196 | emit finished();
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| 197 | deleteLater();
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[3899] | 198 | }
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[4254] | 199 |
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| 200 | //
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| 201 | ////////////////////////////////////////////////////////////////////////////
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[4260] | 202 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
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[4259] | 203 |
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[4715] | 204 | _mutex.lock();
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[4704] | 205 |
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[4517] | 206 | if (_log) {
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| 207 | *_log << "\nAnalyze File\n"
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| 208 | << "------------\n"
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[4701] | 209 | << "File: " << obsFile->fileName().toAscii().data() << endl;
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[4517] | 210 | }
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[4260] | 211 |
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[4584] | 212 | _allObsMap.clear();
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| 213 | _availDataMap.clear();
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[4717] | 214 | _obsStat.reset();
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[4343] | 215 |
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[4342] | 216 | // A priori Coordinates
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| 217 | // --------------------
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[4679] | 218 | ColumnVector xyzSta = obsFile->xyz();
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[4342] | 219 |
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[4262] | 220 | // Loop over all Epochs
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| 221 | // --------------------
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[4541] | 222 | try {
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[4675] | 223 | unsigned iEpo = 0;
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[4541] | 224 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
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[4688] | 225 |
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| 226 | if (iEpo == 0) {
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| 227 | _obsStat._startTime = _currEpo->tt;
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| 228 | _obsStat._antennaName = obsFile->antennaName();
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| 229 | _obsStat._markerName = obsFile->markerName();
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| 230 | _obsStat._receiverType = obsFile->receiverType();
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| 231 | _obsStat._interval = obsFile->interval();
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| 232 | }
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| 233 | _obsStat._endTime = _currEpo->tt;
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[4541] | 234 |
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| 235 | // Loop over all satellites
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| 236 | // ------------------------
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| 237 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
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| 238 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
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[6137] | 239 | t_satObs obs;
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[5884] | 240 | t_rnxObsFile::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
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[4541] | 241 |
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[6137] | 242 | QString prn(obs._prn.toString().c_str());
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[5140] | 243 |
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[6137] | 244 | t_ephGlo* ephGlo = 0;
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| 245 | int slotNum = 0;
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| 246 | if (obs._prn.system() == 'R') {
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[5140] | 247 | for (int ie = 0; ie < _ephs.size(); ie++) {
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[5776] | 248 | if (QString(_ephs[ie]->prn().toString().c_str()) == prn) {
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[5140] | 249 | ephGlo = dynamic_cast<t_ephGlo*>(_ephs[ie]);
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| 250 | break;
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| 251 | }
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| 252 | }
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| 253 | if (ephGlo) {
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[6137] | 254 | slotNum = ephGlo->slotNum();
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[5140] | 255 | }
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[4541] | 256 | }
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| 257 |
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[6137] | 258 | t_irc irc = _allObsMap[prn].addObs(obs, slotNum);
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[4675] | 259 |
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[4694] | 260 | if (irc == success) {
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[5140] | 261 | t_oneObs* newObs = _allObsMap[prn]._oneObsVec.last();
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| 262 | if (ephGlo) {
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| 263 | newObs->_slotSet = true;
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| 264 | }
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[4694] | 265 | if (newObs->_hasL1 && newObs->_hasL2) {
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| 266 | _obsStat._prnStat[prn]._numObs += 1;
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| 267 | }
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[4695] | 268 | if (newObs->_slipL1 && newObs->_slipL2) {
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[4701] | 269 | _obsStat._prnStat[prn]._numSlipsFlagged += 1;
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[4695] | 270 | }
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[4694] | 271 | }
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[4262] | 272 | }
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[4541] | 273 |
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[4679] | 274 | prepareObsStat(iEpo, obsFile->interval(), xyzSta);
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[4678] | 275 | iEpo++;
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| 276 |
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[4541] | 277 | } // while (_currEpo)
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| 278 | }
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| 279 | catch (QString str) {
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| 280 | if (_log) {
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| 281 | *_log << "Exception " << str << endl;
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[4262] | 282 | }
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[4541] | 283 | else {
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| 284 | qDebug() << str;
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| 285 | }
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[4715] | 286 | _mutex.unlock();
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[4541] | 287 | return;
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| 288 | }
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[4262] | 289 |
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[4268] | 290 | // Analyze the Multipath
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| 291 | // ---------------------
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[4718] | 292 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
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| 293 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
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| 294 | QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
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| 295 | QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
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[4268] | 296 |
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[4584] | 297 | QMutableMapIterator<QString, t_allObs> it(_allObsMap);
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[4268] | 298 | while (it.hasNext()) {
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| 299 | it.next();
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[4584] | 300 | QString prn = it.key();
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[4679] | 301 | preparePlotData(prn, xyzSta, obsFile->interval(),
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[4675] | 302 | dataMP1, dataMP2, dataSNR1, dataSNR2);
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[4268] | 303 | }
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| 304 |
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[4706] | 305 | printReport(dataMP1, dataMP2, dataSNR1, dataSNR2);
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| 306 |
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[4718] | 307 | // Show the plots
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| 308 | // --------------
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[5068] | 309 | if (BNC_CORE->GUIenabled()) {
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[4718] | 310 | QFileInfo fileInfo(obsFile->fileName());
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| 311 | QByteArray title = fileInfo.fileName().toAscii();
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| 312 | emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
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| 313 | "Meters", 2.0);
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| 314 | emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
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| 315 | "", 9.0);
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| 316 | emit dspAvailPlot(obsFile->fileName(), title);
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| 317 | }
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| 318 | else {
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| 319 | for (int ii = 0; ii < dataMP1->size(); ii++) {
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| 320 | delete dataMP1->at(ii);
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| 321 | }
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| 322 | delete dataMP1;
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| 323 | for (int ii = 0; ii < dataMP2->size(); ii++) {
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| 324 | delete dataMP2->at(ii);
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| 325 | }
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| 326 | delete dataMP2;
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| 327 | for (int ii = 0; ii < dataSNR1->size(); ii++) {
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| 328 | delete dataSNR1->at(ii);
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| 329 | }
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| 330 | delete dataSNR1;
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| 331 | for (int ii = 0; ii < dataSNR2->size(); ii++) {
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| 332 | delete dataSNR2->at(ii);
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| 333 | }
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| 334 | delete dataSNR2;
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| 335 | _mutex.unlock();
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| 336 | }
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[4254] | 337 | }
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[4263] | 338 |
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| 339 | //
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| 340 | ////////////////////////////////////////////////////////////////////////////
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[6137] | 341 | t_irc t_reqcAnalyze::t_allObs::addObs(const t_satObs& obs, int slotNum) {
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[4265] | 342 |
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[6137] | 343 | t_oneObs* newObs = new t_oneObs(obs._time.gpsw(), obs._time.gpssec());
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[4354] | 344 | bool okFlag = false;
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[4338] | 345 |
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[4608] | 346 | // Availability and Slip Flags
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| 347 | // ---------------------------
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[6137] | 348 | double L1 = 0.0;
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| 349 | double L2 = 0.0;
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| 350 | double P1 = 0.0;
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| 351 | double P2 = 0.0;
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| 352 |
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| 353 | for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
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| 354 | const t_frqObs* frqObs = obs._obs[iFrq];
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| 355 | if (frqObs->_rnxType2ch[0] == '1') {
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| 356 | if (frqObs->_phaseValid) {
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| 357 | L1 = frqObs->_phase;
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| 358 | newObs->_hasL1 = true;
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| 359 | newObs->_slipL1 = frqObs->_slip;
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| 360 | }
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| 361 | if (frqObs->_codeValid) {
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| 362 | P1 = frqObs->_code;
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| 363 | }
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| 364 | if (frqObs->_snrValid) {
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| 365 | newObs->_SNR1 = frqObs->_snr;
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| 366 | }
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| 367 | }
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| 368 | else if ( (obs._prn.system() != 'E' && frqObs->_rnxType2ch[0] == '2') ||
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| 369 | (obs._prn.system() == 'E' && frqObs->_rnxType2ch[0] == '5') ) {
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| 370 | if (frqObs->_phaseValid) {
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| 371 | L2 = frqObs->_phase;
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| 372 | newObs->_hasL2 = true;
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| 373 | newObs->_slipL2 = frqObs->_slip;
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| 374 | }
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| 375 | if (frqObs->_codeValid) {
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| 376 | P2 = frqObs->_code;
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| 377 | }
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| 378 | if (frqObs->_snrValid) {
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| 379 | newObs->_SNR2 = frqObs->_snr;
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| 380 | }
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| 381 | }
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[4571] | 382 | }
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[4608] | 383 |
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| 384 | // Compute the Multipath
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| 385 | // ----------------------
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[4391] | 386 | if (L1 != 0.0 && L2 != 0.0) {
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[6017] | 387 | double f1 = 0.0;
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| 388 | double f2 = 0.0;
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[6137] | 389 | if (obs._prn.system() == 'G') {
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[6017] | 390 | f1 = t_CST::freq(t_frequency::G1, 0);
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| 391 | f2 = t_CST::freq(t_frequency::G2, 0);
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| 392 | }
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[6137] | 393 | else if (obs._prn.system() == 'R') {
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| 394 | f1 = t_CST::freq(t_frequency::R1, slotNum);
|
---|
| 395 | f2 = t_CST::freq(t_frequency::R2, slotNum);
|
---|
[6017] | 396 | }
|
---|
[6137] | 397 | else if (obs._prn.system() == 'E') {
|
---|
[6017] | 398 | f1 = t_CST::freq(t_frequency::E1, 0);
|
---|
| 399 | f2 = t_CST::freq(t_frequency::E5, 0);
|
---|
| 400 | }
|
---|
[4266] | 401 |
|
---|
[4391] | 402 | L1 = L1 * t_CST::c / f1;
|
---|
| 403 | L2 = L2 * t_CST::c / f2;
|
---|
[4266] | 404 |
|
---|
[4391] | 405 | if (P1 != 0.0) {
|
---|
| 406 | newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
|
---|
[4354] | 407 | okFlag = true;
|
---|
[4268] | 408 | }
|
---|
[4391] | 409 | if (P2 != 0.0) {
|
---|
| 410 | newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
|
---|
[4354] | 411 | okFlag = true;
|
---|
[4268] | 412 | }
|
---|
[4265] | 413 | }
|
---|
[4338] | 414 |
|
---|
[4354] | 415 | // Remember the Observation
|
---|
| 416 | // ------------------------
|
---|
| 417 | if (okFlag) {
|
---|
[4584] | 418 | _oneObsVec << newObs;
|
---|
[4694] | 419 | return success;
|
---|
[4354] | 420 | }
|
---|
| 421 | else {
|
---|
| 422 | delete newObs;
|
---|
[4694] | 423 | return failure;
|
---|
[4354] | 424 | }
|
---|
[4263] | 425 | }
|
---|
[4350] | 426 |
|
---|
| 427 | //
|
---|
| 428 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4679] | 429 | void t_reqcAnalyze::prepareObsStat(unsigned iEpo, double obsInterval,
|
---|
| 430 | const ColumnVector& xyzSta) {
|
---|
[4677] | 431 | const int sampl = int(30.0 / obsInterval);
|
---|
| 432 | if (iEpo % sampl == 0) {
|
---|
[4676] | 433 | double mjdX24 = _currEpo->tt.mjddec() * 24.0;
|
---|
| 434 | if (iEpo != 0) {
|
---|
| 435 | _obsStat._mjdX24 << mjdX24;
|
---|
| 436 | _obsStat._numSat << _obsStat._numSat.last();
|
---|
[4680] | 437 | _obsStat._PDOP << _obsStat._PDOP.last();
|
---|
[4676] | 438 | }
|
---|
| 439 | _obsStat._mjdX24 << mjdX24;
|
---|
[4675] | 440 | _obsStat._numSat << _currEpo->rnxSat.size();
|
---|
[4680] | 441 | _obsStat._PDOP << cmpDOP(xyzSta);
|
---|
[4675] | 442 | }
|
---|
| 443 | }
|
---|
| 444 |
|
---|
| 445 | //
|
---|
| 446 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4679] | 447 | void t_reqcAnalyze::preparePlotData(const QString& prn,
|
---|
| 448 | const ColumnVector& xyzSta,
|
---|
[4572] | 449 | double obsInterval,
|
---|
| 450 | QVector<t_polarPoint*>* dataMP1,
|
---|
| 451 | QVector<t_polarPoint*>* dataMP2,
|
---|
| 452 | QVector<t_polarPoint*>* dataSNR1,
|
---|
[4675] | 453 | QVector<t_polarPoint*>* dataSNR2) {
|
---|
[4350] | 454 |
|
---|
[4544] | 455 | const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
|
---|
| 456 | const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
|
---|
[4350] | 457 |
|
---|
[4584] | 458 | t_allObs& allObs = _allObsMap[prn];
|
---|
| 459 |
|
---|
[5141] | 460 | bncSettings settings;
|
---|
| 461 | QString reqSkyPlotSystems = settings.value("reqcSkyPlotSystems").toString();
|
---|
| 462 | bool plotGPS = false;
|
---|
| 463 | bool plotGlo = false;
|
---|
| 464 | bool plotGal = false;
|
---|
| 465 | if (reqSkyPlotSystems == "GPS") {
|
---|
| 466 | plotGPS = true;
|
---|
| 467 | }
|
---|
| 468 | else if (reqSkyPlotSystems == "GLONASS") {
|
---|
| 469 | plotGlo = true;
|
---|
| 470 | }
|
---|
| 471 | else if (reqSkyPlotSystems == "Galileo") {
|
---|
| 472 | plotGal = true;
|
---|
| 473 | }
|
---|
| 474 | else {
|
---|
| 475 | plotGPS = true;
|
---|
| 476 | plotGlo = true;
|
---|
| 477 | plotGal = true;
|
---|
| 478 | }
|
---|
| 479 |
|
---|
[4591] | 480 | // Loop over all Chunks of Data
|
---|
| 481 | // ----------------------------
|
---|
[4702] | 482 | bool slipFound = false;
|
---|
[4584] | 483 | for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
|
---|
[4361] | 484 | chunkStart += chunkStep) {
|
---|
[4351] | 485 |
|
---|
[4703] | 486 | if (chunkStart * chunkStep == numEpo) {
|
---|
[4702] | 487 | slipFound = false;
|
---|
| 488 | }
|
---|
| 489 |
|
---|
[4675] | 490 | // Chunk-Specific Variables
|
---|
| 491 | // ------------------------
|
---|
[4591] | 492 | bncTime currTime;
|
---|
| 493 | bncTime prevTime;
|
---|
[4590] | 494 | bncTime chunkStartTime;
|
---|
[4675] | 495 | double mjdX24 = 0.0;
|
---|
[4607] | 496 | bool availL1 = false;
|
---|
| 497 | bool availL2 = false;
|
---|
| 498 | bool gapL1 = false;
|
---|
| 499 | bool gapL2 = false;
|
---|
| 500 | bool slipL1 = false;
|
---|
| 501 | bool slipL2 = false;
|
---|
| 502 | double meanMP1 = 0.0;
|
---|
| 503 | double meanMP2 = 0.0;
|
---|
| 504 | double minSNR1 = 0.0;
|
---|
| 505 | double minSNR2 = 0.0;
|
---|
| 506 | double aziDeg = 0.0;
|
---|
| 507 | double zenDeg = 0.0;
|
---|
[4659] | 508 | bool zenFlag = false;
|
---|
[4353] | 509 |
|
---|
[4591] | 510 | // Loop over all Epochs within one Chunk of Data
|
---|
| 511 | // ---------------------------------------------
|
---|
[5140] | 512 | bool slotSet = false;
|
---|
[4361] | 513 | for (int ii = 0; ii < numEpo; ii++) {
|
---|
[4351] | 514 | int iEpo = chunkStart + ii;
|
---|
[4584] | 515 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
|
---|
[5140] | 516 | if (oneObs->_slotSet) {
|
---|
| 517 | slotSet = true;
|
---|
| 518 | }
|
---|
[4572] | 519 |
|
---|
[4590] | 520 | currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
|
---|
| 521 |
|
---|
| 522 | // Compute the Azimuth and Zenith Distance
|
---|
| 523 | // ---------------------------------------
|
---|
[4572] | 524 | if (ii == 0) {
|
---|
[4590] | 525 | chunkStartTime = currTime;
|
---|
[4675] | 526 | mjdX24 = chunkStartTime.mjddec() * 24.0;
|
---|
[4590] | 527 |
|
---|
[4679] | 528 | if (xyzSta.size()) {
|
---|
[4590] | 529 | t_eph* eph = 0;
|
---|
| 530 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
[5776] | 531 | if (QString(_ephs[ie]->prn().toString().c_str()) == prn) {
|
---|
[4590] | 532 | eph = _ephs[ie];
|
---|
| 533 | break;
|
---|
| 534 | }
|
---|
| 535 | }
|
---|
| 536 |
|
---|
| 537 | if (eph) {
|
---|
[6109] | 538 | ColumnVector xc(4);
|
---|
| 539 | ColumnVector vv(3);
|
---|
| 540 | eph->getCrd(bncTime(oneObs->_GPSWeek, oneObs->_GPSWeeks), xc, vv, false);
|
---|
[4590] | 541 |
|
---|
| 542 | double rho, eleSat, azSat;
|
---|
[6109] | 543 | topos(xyzSta(1), xyzSta(2), xyzSta(3), xc(1), xc(2), xc(3), rho, eleSat, azSat);
|
---|
[4590] | 544 |
|
---|
| 545 | aziDeg = azSat * 180.0/M_PI;
|
---|
| 546 | zenDeg = 90.0 - eleSat * 180.0/M_PI;
|
---|
[4659] | 547 | zenFlag = true;
|
---|
[4590] | 548 | }
|
---|
| 549 | }
|
---|
[4572] | 550 | }
|
---|
[4675] | 551 |
|
---|
[4590] | 552 | // Check Interval
|
---|
| 553 | // --------------
|
---|
| 554 | if (prevTime.valid()) {
|
---|
[4591] | 555 | double dt = currTime - prevTime;
|
---|
| 556 | if (dt != obsInterval) {
|
---|
| 557 | gapL1 = true;
|
---|
| 558 | gapL2 = true;
|
---|
| 559 | }
|
---|
[4590] | 560 | }
|
---|
| 561 | prevTime = currTime;
|
---|
[4563] | 562 |
|
---|
[4590] | 563 | // Check L1 and L2 availability
|
---|
| 564 | // ----------------------------
|
---|
| 565 | if (oneObs->_hasL1) {
|
---|
| 566 | availL1 = true;
|
---|
[4566] | 567 | }
|
---|
[4590] | 568 | else {
|
---|
[4591] | 569 | gapL1 = true;
|
---|
[4566] | 570 | }
|
---|
[4590] | 571 | if (oneObs->_hasL2) {
|
---|
| 572 | availL2 = true;
|
---|
| 573 | }
|
---|
| 574 | else {
|
---|
[4591] | 575 | gapL2 = true;
|
---|
[4590] | 576 | }
|
---|
| 577 |
|
---|
| 578 | // Check Minimal Signal-to-Noise Ratio
|
---|
| 579 | // -----------------------------------
|
---|
| 580 | if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
|
---|
| 581 | minSNR1 = oneObs->_SNR1;
|
---|
| 582 | }
|
---|
| 583 | if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
|
---|
| 584 | minSNR2 = oneObs->_SNR2;
|
---|
| 585 | }
|
---|
| 586 |
|
---|
[4607] | 587 | // Check Slip Flags
|
---|
| 588 | // ----------------
|
---|
| 589 | if (oneObs->_slipL1) {
|
---|
| 590 | slipL1 = true;
|
---|
| 591 | }
|
---|
| 592 | if (oneObs->_slipL2) {
|
---|
| 593 | slipL2 = true;
|
---|
| 594 | }
|
---|
| 595 |
|
---|
[4698] | 596 | meanMP1 += oneObs->_MP1;
|
---|
| 597 | meanMP2 += oneObs->_MP2;
|
---|
| 598 | }
|
---|
| 599 |
|
---|
| 600 | // Compute the Multipath
|
---|
| 601 | // ---------------------
|
---|
[5141] | 602 | if ( (prn[0] == 'G' && plotGPS ) ||
|
---|
| 603 | (prn[0] == 'R' && plotGlo && slotSet) ||
|
---|
| 604 | (prn[0] == 'E' && plotGal ) ) {
|
---|
[4700] | 605 | bool slipMP = false;
|
---|
| 606 | meanMP1 /= numEpo;
|
---|
| 607 | meanMP2 /= numEpo;
|
---|
| 608 | double MP1 = 0.0;
|
---|
| 609 | double MP2 = 0.0;
|
---|
| 610 | for (int ii = 0; ii < numEpo; ii++) {
|
---|
| 611 | int iEpo = chunkStart + ii;
|
---|
| 612 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
|
---|
| 613 | double diff1 = oneObs->_MP1 - meanMP1;
|
---|
| 614 | double diff2 = oneObs->_MP2 - meanMP2;
|
---|
| 615 |
|
---|
| 616 | // Check Slip Threshold
|
---|
| 617 | // --------------------
|
---|
| 618 | if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
|
---|
| 619 | slipMP = true;
|
---|
| 620 | break;
|
---|
| 621 | }
|
---|
| 622 |
|
---|
| 623 | MP1 += diff1 * diff1;
|
---|
| 624 | MP2 += diff2 * diff2;
|
---|
[4353] | 625 | }
|
---|
[4700] | 626 | if (slipMP) {
|
---|
| 627 | slipL1 = true;
|
---|
| 628 | slipL2 = true;
|
---|
[4702] | 629 | if (!slipFound) {
|
---|
| 630 | slipFound = true;
|
---|
| 631 | _obsStat._prnStat[prn]._numSlipsFound += 1;
|
---|
| 632 | }
|
---|
[4700] | 633 | }
|
---|
| 634 | else {
|
---|
| 635 | MP1 = sqrt(MP1 / (numEpo-1));
|
---|
| 636 | MP2 = sqrt(MP2 / (numEpo-1));
|
---|
| 637 | (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
|
---|
| 638 | (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
|
---|
| 639 | }
|
---|
[4353] | 640 | }
|
---|
| 641 |
|
---|
[4590] | 642 | // Availability Plot Data
|
---|
| 643 | // ----------------------
|
---|
| 644 | if (availL1) {
|
---|
[4607] | 645 | if (slipL1) {
|
---|
[4617] | 646 | _availDataMap[prn]._L1slip << mjdX24;
|
---|
[4591] | 647 | }
|
---|
| 648 | else if (gapL1) {
|
---|
[4617] | 649 | _availDataMap[prn]._L1gap << mjdX24;
|
---|
[4591] | 650 | }
|
---|
| 651 | else {
|
---|
[4617] | 652 | _availDataMap[prn]._L1ok << mjdX24;
|
---|
[4591] | 653 | }
|
---|
[4351] | 654 | }
|
---|
[4591] | 655 | if (availL2) {
|
---|
[4607] | 656 | if (slipL2) {
|
---|
[4617] | 657 | _availDataMap[prn]._L2slip << mjdX24;
|
---|
[4591] | 658 | }
|
---|
| 659 | else if (gapL2) {
|
---|
[4617] | 660 | _availDataMap[prn]._L2gap << mjdX24;
|
---|
[4591] | 661 | }
|
---|
| 662 | else {
|
---|
[4617] | 663 | _availDataMap[prn]._L2ok << mjdX24;
|
---|
[4591] | 664 | }
|
---|
| 665 | }
|
---|
[4659] | 666 | if (zenFlag) {
|
---|
[4662] | 667 | _availDataMap[prn]._eleTim << mjdX24;
|
---|
| 668 | _availDataMap[prn]._eleDeg << 90.0 - zenDeg;
|
---|
[4659] | 669 | }
|
---|
[4351] | 670 |
|
---|
[5142] | 671 | // Signal-to-Noise Ratio Plot Data
|
---|
| 672 | // -------------------------------
|
---|
[5143] | 673 | if ( (prn[0] == 'G' && plotGPS) ||
|
---|
| 674 | (prn[0] == 'R' && plotGlo) ||
|
---|
| 675 | (prn[0] == 'E' && plotGal) ) {
|
---|
[5141] | 676 | (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
|
---|
| 677 | (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
|
---|
| 678 | }
|
---|
[4350] | 679 | }
|
---|
| 680 | }
|
---|
[4572] | 681 |
|
---|
| 682 | //
|
---|
| 683 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 684 | void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
|
---|
[4584] | 685 | const QByteArray& title) {
|
---|
[4572] | 686 |
|
---|
[5068] | 687 | if (BNC_CORE->GUIenabled()) {
|
---|
[4659] | 688 | t_availPlot* plotA = new t_availPlot(0, &_availDataMap);
|
---|
| 689 | plotA->setTitle(title);
|
---|
[4573] | 690 |
|
---|
[4662] | 691 | t_elePlot* plotZ = new t_elePlot(0, &_availDataMap);
|
---|
[4659] | 692 |
|
---|
[4672] | 693 | t_dopPlot* plotD = new t_dopPlot(0, &_obsStat);
|
---|
[4671] | 694 |
|
---|
[4573] | 695 | QVector<QWidget*> plots;
|
---|
[4671] | 696 | plots << plotA << plotZ << plotD;
|
---|
[4573] | 697 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
|
---|
[4666] | 698 |
|
---|
| 699 | int ww = QFontMetrics(graphWin->font()).width('w');
|
---|
| 700 | graphWin->setMinimumSize(120*ww, 40*ww);
|
---|
| 701 |
|
---|
[4573] | 702 | graphWin->show();
|
---|
| 703 |
|
---|
| 704 | bncSettings settings;
|
---|
| 705 | QString dirName = settings.value("reqcPlotDir").toString();
|
---|
| 706 | if (!dirName.isEmpty()) {
|
---|
[4606] | 707 | QByteArray ext = "_A.png";
|
---|
[4579] | 708 | graphWin->savePNG(dirName, ext);
|
---|
[4573] | 709 | }
|
---|
| 710 | }
|
---|
[4715] | 711 | _mutex.unlock();
|
---|
[4572] | 712 | }
|
---|
[4679] | 713 |
|
---|
| 714 | // Compute Dilution of Precision
|
---|
| 715 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 716 | double t_reqcAnalyze::cmpDOP(const ColumnVector& xyzSta) const {
|
---|
| 717 |
|
---|
| 718 | if (xyzSta.size() != 3) {
|
---|
| 719 | return 0.0;
|
---|
| 720 | }
|
---|
| 721 |
|
---|
| 722 | unsigned nSat = _currEpo->rnxSat.size();
|
---|
| 723 |
|
---|
| 724 | if (nSat < 4) {
|
---|
| 725 | return 0.0;
|
---|
| 726 | }
|
---|
| 727 |
|
---|
| 728 | Matrix AA(nSat, 4);
|
---|
| 729 |
|
---|
| 730 | unsigned nSatUsed = 0;
|
---|
| 731 | for (unsigned iSat = 0; iSat < nSat; iSat++) {
|
---|
| 732 |
|
---|
| 733 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iSat];
|
---|
[6122] | 734 | const t_prn& prn = rnxSat.prn;
|
---|
[4679] | 735 |
|
---|
| 736 | t_eph* eph = 0;
|
---|
| 737 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
[6122] | 738 | if (_ephs[ie]->prn() == prn) {
|
---|
[4679] | 739 | eph = _ephs[ie];
|
---|
| 740 | break;
|
---|
| 741 | }
|
---|
| 742 | }
|
---|
| 743 | if (eph) {
|
---|
| 744 | ++nSatUsed;
|
---|
[6109] | 745 | ColumnVector xSat(4);
|
---|
| 746 | ColumnVector vv(3);
|
---|
| 747 | eph->getCrd(_currEpo->tt, xSat, vv, false);
|
---|
| 748 | ColumnVector dx = xSat.Rows(1,3) - xyzSta;
|
---|
[4681] | 749 | double rho = dx.norm_Frobenius();
|
---|
| 750 | AA(nSatUsed,1) = dx(1) / rho;
|
---|
| 751 | AA(nSatUsed,2) = dx(2) / rho;
|
---|
| 752 | AA(nSatUsed,3) = dx(3) / rho;
|
---|
| 753 | AA(nSatUsed,4) = 1.0;
|
---|
[4679] | 754 | }
|
---|
[4681] | 755 | }
|
---|
[4679] | 756 |
|
---|
[4681] | 757 | if (nSatUsed < 4) {
|
---|
| 758 | return 0.0;
|
---|
[4679] | 759 | }
|
---|
| 760 |
|
---|
[4681] | 761 | AA = AA.Rows(1, nSatUsed);
|
---|
| 762 |
|
---|
| 763 | SymmetricMatrix QQ;
|
---|
| 764 | QQ << AA.t() * AA;
|
---|
| 765 | QQ = QQ.i();
|
---|
| 766 |
|
---|
| 767 | return sqrt(QQ.trace());
|
---|
[4679] | 768 | }
|
---|
[4689] | 769 |
|
---|
| 770 | // Finish the report
|
---|
| 771 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4696] | 772 | void t_reqcAnalyze::printReport(QVector<t_polarPoint*>* dataMP1,
|
---|
| 773 | QVector<t_polarPoint*>* dataMP2,
|
---|
| 774 | QVector<t_polarPoint*>* dataSNR1,
|
---|
| 775 | QVector<t_polarPoint*>* dataSNR2) {
|
---|
[5368] | 776 |
|
---|
[4689] | 777 | if (!_log) {
|
---|
| 778 | return;
|
---|
| 779 | }
|
---|
| 780 |
|
---|
[4701] | 781 | *_log << "Marker name: " << _obsStat._markerName << endl
|
---|
| 782 | << "Receiver: " << _obsStat._receiverType << endl
|
---|
| 783 | << "Antenna: " << _obsStat._antennaName << endl
|
---|
| 784 | << "Start time: " << _obsStat._startTime.datestr().c_str() << ' '
|
---|
| 785 | << _obsStat._startTime.timestr().c_str() << endl
|
---|
| 786 | << "End time: " << _obsStat._endTime.datestr().c_str() << ' '
|
---|
| 787 | << _obsStat._endTime.timestr().c_str() << endl
|
---|
| 788 | << "Interval: " << _obsStat._interval << endl
|
---|
| 789 | << "# Sat.: " << _obsStat._prnStat.size() << endl;
|
---|
[4689] | 790 |
|
---|
[4701] | 791 | int numObs = 0;
|
---|
| 792 | int numSlipsFlagged = 0;
|
---|
| 793 | int numSlipsFound = 0;
|
---|
[4693] | 794 | QMapIterator<QString, t_prnStat> it(_obsStat._prnStat);
|
---|
| 795 | while (it.hasNext()) {
|
---|
| 796 | it.next();
|
---|
| 797 | const t_prnStat& prnStat = it.value();
|
---|
[4701] | 798 | numObs += prnStat._numObs;
|
---|
| 799 | numSlipsFlagged += prnStat._numSlipsFlagged;
|
---|
| 800 | numSlipsFound += prnStat._numSlipsFound;
|
---|
[4693] | 801 | }
|
---|
[4701] | 802 | *_log << "# Obs.: " << numObs << endl
|
---|
| 803 | << "# Slips (file): " << numSlipsFlagged << endl
|
---|
| 804 | << "# Slips (found): " << numSlipsFound << endl;
|
---|
[4693] | 805 |
|
---|
[4697] | 806 | for (int kk = 1; kk <= 4; kk++) {
|
---|
| 807 | QVector<t_polarPoint*>* data = 0;
|
---|
| 808 | QString text;
|
---|
| 809 | if (kk == 1) {
|
---|
| 810 | data = dataMP1;
|
---|
[4701] | 811 | text = "Mean MP1: ";
|
---|
[4697] | 812 | }
|
---|
| 813 | else if (kk == 2) {
|
---|
| 814 | data = dataMP2;
|
---|
[4701] | 815 | text = "Mean MP2: ";
|
---|
[4697] | 816 | }
|
---|
| 817 | else if (kk == 3) {
|
---|
| 818 | data = dataSNR1;
|
---|
[4701] | 819 | text = "Mean SNR1: ";
|
---|
[4697] | 820 | }
|
---|
| 821 | else if (kk == 4) {
|
---|
| 822 | data = dataSNR2;
|
---|
[4701] | 823 | text = "Mean SNR2: ";
|
---|
[4697] | 824 | }
|
---|
| 825 | double mean = 0.0;
|
---|
| 826 | for (int ii = 0; ii < data->size(); ii++) {
|
---|
| 827 | const t_polarPoint* point = data->at(ii);
|
---|
| 828 | mean += point->_value;
|
---|
| 829 | }
|
---|
| 830 | mean /= data->size();
|
---|
| 831 | *_log << text << mean << endl;
|
---|
| 832 | }
|
---|
| 833 |
|
---|
[4689] | 834 | _log->flush();
|
---|
| 835 | }
|
---|