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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42 | #include <iomanip>
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43 | #include "reqcanalyze.h"
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44 | #include "bncapp.h"
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45 | #include "bncsettings.h"
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46 | #include "reqcedit.h"
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47 | #include "bncutils.h"
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48 | #include "bncpostprocess.h"
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49 | #include "graphwin.h"
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50 | #include "polarplot.h"
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51 |
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52 | using namespace std;
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53 |
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54 | const double SLIPTRESH = 5.0; // cycle-slip threshold (meters)
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55 |
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56 | // Constructor
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57 | ////////////////////////////////////////////////////////////////////////////
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58 | t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
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59 |
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60 | bncSettings settings;
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61 |
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62 | _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
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63 | _logFile = 0;
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64 | _log = 0;
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65 | _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
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66 | _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
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67 |
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68 | _currEpo = 0;
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69 |
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70 | connect(this, SIGNAL(displayGraph(QVector<t_polarPoint*>*, QVector<t_polarPoint*>*)),
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71 | this, SLOT(slotDisplayGraph(QVector<t_polarPoint*>*, QVector<t_polarPoint*>*)));
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72 | }
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73 |
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74 | // Destructor
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75 | ////////////////////////////////////////////////////////////////////////////
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76 | t_reqcAnalyze::~t_reqcAnalyze() {
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77 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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78 | delete _rnxObsFiles[ii];
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79 | }
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80 | for (int ii = 0; ii < _ephs.size(); ii++) {
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81 | delete _ephs[ii];
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82 | }
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83 | delete _log; _log = 0;
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84 | delete _logFile; _logFile = 0;
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85 | }
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86 |
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87 | //
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88 | ////////////////////////////////////////////////////////////////////////////
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89 | void t_reqcAnalyze::slotDisplayGraph(QVector<t_polarPoint*>* dataMP1,
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90 | QVector<t_polarPoint*>* dataMP2) {
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91 |
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92 | bncApp* app = dynamic_cast<bncApp*>(qApp);
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93 | if (app->mode() == bncApp::interactive) {
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94 |
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95 | double maxMP = 0.0;
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96 | for (int ii = 0; ii < dataMP1->size(); ii++) {
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97 | double mp = dataMP1->at(ii)->_value;
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98 | if (maxMP < mp) {
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99 | maxMP = mp;
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100 | }
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101 | }
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102 | for (int ii = 0; ii < dataMP2->size(); ii++) {
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103 | double mp = dataMP2->at(ii)->_value;
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104 | if (maxMP < mp) {
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105 | maxMP = mp;
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106 | }
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107 | }
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108 | if (maxMP > SLIPTRESH) {
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109 | maxMP = SLIPTRESH;
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110 | }
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111 |
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112 | //// beg test
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113 | maxMP = 2.0;
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114 | //// end test
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115 |
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116 | QwtInterval scaleInterval(0.0, maxMP);
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117 |
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118 | t_polarPlot* plotMP1 = new t_polarPlot(QwtText("MP1"), scaleInterval,
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119 | app->mainWindow());
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120 | plotMP1->addCurve(dataMP1);
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121 |
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122 | t_polarPlot* plotMP2 = new t_polarPlot(QwtText("MP2"), scaleInterval,
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123 | app->mainWindow());
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124 | plotMP2->addCurve(dataMP2);
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125 |
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126 | QVector<QWidget*> plots;
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127 | plots << plotMP1;
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128 | plots << plotMP2;
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129 |
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130 | t_graphWin* graphWin = new t_graphWin(0, plots, scaleInterval);
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131 |
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132 | graphWin->show();
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133 | }
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134 | }
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135 |
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136 | //
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137 | ////////////////////////////////////////////////////////////////////////////
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138 | void t_reqcAnalyze::run() {
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139 |
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140 | // Open Log File
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141 | // -------------
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142 | _logFile = new QFile(_logFileName);
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143 | _logFile->open(QIODevice::WriteOnly | QIODevice::Text);
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144 | _log = new QTextStream();
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145 | _log->setDevice(_logFile);
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146 |
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147 | // Initialize RINEX Observation Files
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148 | // ----------------------------------
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149 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles);
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150 |
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151 | // Read Ephemerides
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152 | // ----------------
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153 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
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154 |
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155 | // Loop over all RINEX Files
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156 | // -------------------------
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157 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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158 | analyzeFile(_rnxObsFiles[ii]);
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159 | }
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160 |
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161 | // Exit
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162 | // ----
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163 | bncApp* app = (bncApp*) qApp;
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164 | if ( app->mode() != bncApp::interactive) {
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165 | app->exit(0);
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166 | }
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167 | else {
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168 | emit finished();
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169 | deleteLater();
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170 | }
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171 | }
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172 |
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173 | //
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174 | ////////////////////////////////////////////////////////////////////////////
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175 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
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176 |
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177 | *_log << "\nAnalyze File\n"
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178 | << "------------\n"
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179 | << obsFile->fileName().toAscii().data() << endl << endl;
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180 |
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181 | _satStat.clear();
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182 |
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183 | // A priori Coordinates
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184 | // --------------------
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185 | ColumnVector xyz = obsFile->xyz();
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186 |
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187 | // Loop over all Epochs
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188 | // --------------------
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189 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
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190 |
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191 | // Loop over all satellites
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192 | // ------------------------
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193 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
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194 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
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195 | t_obs obs;
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196 | t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
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197 |
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198 | if (obs.satSys == 'R') {
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199 | continue; // TODO: set channel number
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200 | }
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201 |
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202 | QString prn = QString("%1%2").arg(obs.satSys)
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203 | .arg(obs.satNum, 2, 10, QChar('0'));
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204 |
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205 | t_satStat& satStat = _satStat[prn];
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206 |
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207 | satStat.addObs(obs);
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208 | }
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209 |
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210 | } // while (_currEpo)
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211 |
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212 | // Analyze the Multipath
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213 | // ---------------------
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214 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
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215 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
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216 |
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217 | QMapIterator<QString, t_satStat> it(_satStat);
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218 | while (it.hasNext()) {
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219 | it.next();
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220 | QString prn = it.key();
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221 | const t_satStat& satStat = it.value();
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222 | analyzeMultipath(prn, satStat, xyz, obsFile->interval(), dataMP1, dataMP2);
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223 | }
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224 |
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225 | emit displayGraph(dataMP1, dataMP2);
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226 |
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227 | _log->flush();
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228 | }
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229 |
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230 | //
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231 | ////////////////////////////////////////////////////////////////////////////
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232 | void t_reqcAnalyze::t_satStat::addObs(const t_obs& obs) {
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233 |
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234 | t_anaObs* newObs = new t_anaObs(obs.GPSWeek, obs.GPSWeeks);
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235 | bool okFlag = false;
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236 |
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237 | // Compute the Multipath
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238 | // ----------------------
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239 | if (obs.l1() != 0.0 && obs.l2() != 0.0) {
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240 | double f1 = t_CST::f1(obs.satSys, obs.slotNum);
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241 | double f2 = t_CST::f2(obs.satSys, obs.slotNum);
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242 |
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243 | double L1 = obs.l1() * t_CST::c / f1;
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244 | double L2 = obs.l2() * t_CST::c / f2;
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245 |
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246 | if (obs.p1() != 0.0) {
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247 | newObs->_MP1 = obs.p1() - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
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248 | okFlag = true;
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249 |
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250 | //// beg test
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251 | // cout.setf(ios::fixed);
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252 | // cout << obs.satSys << setw(2) << obs.satNum << " "
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253 | // << setprecision(1) << obs.GPSWeeks << " "
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254 | // << setprecision(4) << newObs->_MP1 << endl;
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255 | //// end test
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256 | }
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257 | if (obs.p2() != 0.0) {
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258 | newObs->_MP2 = obs.p2() - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
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259 | okFlag = true;
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260 | }
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261 | }
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262 |
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263 | // Remember the Observation
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264 | // ------------------------
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265 | if (okFlag) {
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266 | anaObs << newObs;
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267 | }
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268 | else {
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269 | delete newObs;
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270 | }
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271 | }
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272 |
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273 | //
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274 | ////////////////////////////////////////////////////////////////////////////
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275 | void t_reqcAnalyze::analyzeMultipath(const QString& prn,
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276 | const t_satStat& satStat,
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277 | const ColumnVector& xyz,
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278 | double obsInterval,
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279 | QVector<t_polarPoint*>* dataMP1,
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280 | QVector<t_polarPoint*>* dataMP2) {
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281 |
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282 | const int chunkStep = 30.0 / obsInterval; // chunk step (30 sec)
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283 | const int numEpo = 600.0 / obsInterval; // # epochs in one chunk (10 min)
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284 |
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285 | for (int chunkStart = 0; chunkStart + numEpo < satStat.anaObs.size();
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286 | chunkStart += chunkStep) {
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287 |
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288 | // Compute Mean
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289 | // ------------
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290 | bool slipFlag = false;
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291 | double mean1 = 0.0;
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292 | double mean2 = 0.0;
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293 |
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294 | for (int ii = 0; ii < numEpo; ii++) {
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295 | int iEpo = chunkStart + ii;
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296 | const t_anaObs* anaObs = satStat.anaObs[iEpo];
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297 | mean1 += anaObs->_MP1;
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298 | mean2 += anaObs->_MP2;
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299 |
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300 | // Check Slip
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301 | // ----------
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302 | if (ii > 0) {
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303 | double diff1 = anaObs->_MP1 - satStat.anaObs[iEpo-1]->_MP1;
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304 | double diff2 = anaObs->_MP2 - satStat.anaObs[iEpo-1]->_MP2;
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305 | if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
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306 | slipFlag = true;
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307 | break;
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308 | }
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309 | }
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310 | }
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311 |
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312 | if (slipFlag) {
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313 | continue;
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314 | }
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315 |
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316 | mean1 /= numEpo;
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317 | mean2 /= numEpo;
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318 |
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319 | // Compute Standard Deviation
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320 | // --------------------------
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321 | double stddev1 = 0.0;
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322 | double stddev2 = 0.0;
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323 | for (int ii = 0; ii < numEpo; ii++) {
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324 | int iEpo = chunkStart + ii;
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325 | const t_anaObs* anaObs = satStat.anaObs[iEpo];
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326 | double diff1 = anaObs->_MP1 - mean1;
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327 | double diff2 = anaObs->_MP2 - mean2;
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328 | stddev1 += diff1 * diff1;
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329 | stddev2 += diff2 * diff2;
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330 | }
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331 | double MP1 = sqrt(stddev1 / (numEpo-1));
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332 | double MP2 = sqrt(stddev2 / (numEpo-1));
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333 |
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334 | const t_anaObs* anaObs0 = satStat.anaObs[chunkStart];
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335 |
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336 | // Compute the Azimuth and Zenith Distance
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337 | // ---------------------------------------
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338 | double az = 0.0;
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339 | double zen = 0.0;
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340 | if (xyz.size()) {
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341 | t_eph* eph = 0;
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342 | for (int ie = 0; ie < _ephs.size(); ie++) {
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343 | if (_ephs[ie]->prn() == prn) {
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344 | eph = _ephs[ie];
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345 | break;
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346 | }
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347 | }
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348 |
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349 | if (eph) {
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350 | double xSat, ySat, zSat, clkSat;
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351 | eph->position(anaObs0->_GPSWeek, anaObs0->_GPSWeeks,
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352 | xSat, ySat, zSat, clkSat);
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353 |
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354 | double rho, eleSat, azSat;
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355 | topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
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356 |
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357 | az = azSat * 180.0/M_PI;
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358 | zen = 90.0 - eleSat * 180.0/M_PI;
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359 | }
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360 | }
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361 |
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362 | // Add new Point
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363 | // -------------
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364 | (*dataMP1) << (new t_polarPoint(az, zen, MP1));
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365 | (*dataMP2) << (new t_polarPoint(az, zen, MP2));
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366 |
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367 | _log->setRealNumberNotation(QTextStream::FixedNotation);
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368 |
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369 | _log->setRealNumberPrecision(2);
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370 | *_log << "MP1 " << prn << " " << az << " " << zen << " ";
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371 | _log->setRealNumberPrecision(3);
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372 | *_log << MP1 << endl;
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373 |
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374 | _log->setRealNumberPrecision(2);
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375 | *_log << "MP2 " << prn << " " << az << " " << zen << " ";
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376 | _log->setRealNumberPrecision(3);
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377 | *_log << MP2 << endl;
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378 | }
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379 | }
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