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 |
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44 | #include <qwt_plot.h>
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45 | #include <qwt_plot_curve.h>
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46 |
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47 | #include "reqcanalyze.h"
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48 | #include "bncapp.h"
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49 | #include "bncsettings.h"
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50 | #include "reqcedit.h"
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51 | #include "bncutils.h"
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52 | #include "bncpostprocess.h"
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53 | #include "graphwin.h"
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54 | #include "polarplot.h"
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55 |
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56 | using namespace std;
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57 |
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58 | const double SLIPTRESH = 5.0; // cycle-slip threshold (meters)
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59 |
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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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65 |
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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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69 | _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
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70 | _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
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71 |
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72 | _currEpo = 0;
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73 |
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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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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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85 | const QByteArray&, double)));
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86 |
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87 | connect(this, SIGNAL(dspAvailPlot(const QString&,
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88 | const QByteArray&,
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89 | QMap<QString, QVector<int> >*)),
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90 | this, SLOT(slotDspAvailPlot(const QString&,
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91 | const QByteArray&,
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92 | QMap<QString, QVector<int> >*)));
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93 |
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94 | }
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95 |
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96 | // Destructor
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97 | ////////////////////////////////////////////////////////////////////////////
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98 | t_reqcAnalyze::~t_reqcAnalyze() {
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99 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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100 | delete _rnxObsFiles[ii];
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101 | }
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102 | for (int ii = 0; ii < _ephs.size(); ii++) {
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103 | delete _ephs[ii];
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104 | }
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105 | delete _log; _log = 0;
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106 | delete _logFile; _logFile = 0;
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107 | bncApp* app = (bncApp*) qApp;
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108 | if ( app->mode() != bncApp::interactive) {
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109 | app->exit(0);
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110 | }
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111 | }
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112 |
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113 | //
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114 | ////////////////////////////////////////////////////////////////////////////
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115 | void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
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116 | const QByteArray& title1,
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117 | QVector<t_polarPoint*>* data1,
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118 | const QByteArray& title2,
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119 | QVector<t_polarPoint*>* data2,
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120 | const QByteArray& scaleTitle,
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121 | double maxValue) {
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122 |
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123 | bncApp* app = dynamic_cast<bncApp*>(qApp);
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124 | if (app->GUIenabled()) {
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125 |
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126 | if (maxValue == 0.0) {
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127 | if (data1) {
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128 | for (int ii = 0; ii < data1->size(); ii++) {
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129 | double val = data1->at(ii)->_value;
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130 | if (maxValue < val) {
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131 | maxValue = val;
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132 | }
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133 | }
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134 | }
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135 | if (data2) {
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136 | for (int ii = 0; ii < data2->size(); ii++) {
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137 | double val = data2->at(ii)->_value;
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138 | if (maxValue < val) {
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139 | maxValue = val;
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140 | }
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141 | }
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142 | }
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143 | }
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144 |
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145 | QwtInterval scaleInterval(0.0, maxValue);
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146 |
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147 | QVector<QWidget*> plots;
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148 | if (data1) {
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149 | t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
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150 | app->mainWindow());
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151 | plot1->addCurve(data1);
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152 | plots << plot1;
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153 | }
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154 | if (data2) {
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155 | t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
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156 | app->mainWindow());
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157 | plot2->addCurve(data2);
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158 | plots << plot2;
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159 | }
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160 |
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161 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
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162 | &scaleTitle, &scaleInterval);
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163 |
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164 | graphWin->show();
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165 |
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166 | bncSettings settings;
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167 | QString dirName = settings.value("reqcPlotDir").toString();
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168 | if (!dirName.isEmpty()) {
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169 | QByteArray ext = scaleTitle.isEmpty() ? "_SNR.png" : "_MP.png";
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170 | graphWin->savePNG(dirName, ext);
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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 | //
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176 | ////////////////////////////////////////////////////////////////////////////
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177 | void t_reqcAnalyze::run() {
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178 |
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179 | // Open Log File
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180 | // -------------
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181 | _logFile = new QFile(_logFileName);
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182 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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183 | _log = new QTextStream();
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184 | _log->setDevice(_logFile);
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185 | }
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186 |
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187 | // Initialize RINEX Observation Files
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188 | // ----------------------------------
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189 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
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190 |
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191 | // Read Ephemerides
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192 | // ----------------
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193 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
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194 |
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195 | // Loop over all RINEX Files
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196 | // -------------------------
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197 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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198 | analyzeFile(_rnxObsFiles[ii]);
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199 | }
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200 |
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201 | // Exit
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202 | // ----
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203 | emit finished();
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204 | deleteLater();
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205 | }
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206 |
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207 | //
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208 | ////////////////////////////////////////////////////////////////////////////
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209 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
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210 |
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211 | if (_log) {
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212 | *_log << "\nAnalyze File\n"
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213 | << "------------\n"
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214 | << obsFile->fileName().toAscii().data() << endl << endl;
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215 | }
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216 |
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217 | _satStat.clear();
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218 |
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219 | // A priori Coordinates
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220 | // --------------------
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221 | ColumnVector xyz = obsFile->xyz();
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222 |
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223 | // Loop over all Epochs
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224 | // --------------------
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225 | try {
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226 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
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227 |
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228 | // Loop over all satellites
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229 | // ------------------------
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230 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
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231 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
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232 | t_obs obs;
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233 | t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
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234 |
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235 | if (obs.satSys == 'R') {
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236 | continue; // TODO: set channel number
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237 | }
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238 |
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239 | QString prn = QString("%1%2").arg(obs.satSys)
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240 | .arg(obs.satNum, 2, 10, QChar('0'));
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241 |
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242 | t_satStat& satStat = _satStat[prn];
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243 |
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244 | satStat.addObs(obs);
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245 | }
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246 |
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247 | } // while (_currEpo)
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248 | }
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249 | catch (QString str) {
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250 | if (_log) {
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251 | *_log << "Exception " << str << endl;
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252 | }
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253 | else {
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254 | qDebug() << str;
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255 | }
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256 | return;
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257 | }
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258 |
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259 | // Analyze the Multipath
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260 | // ---------------------
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261 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
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262 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
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263 | QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
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264 | QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
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265 | QMap<QString, QVector<int> >* availL1 = new QMap<QString, QVector<int> >;
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266 |
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267 |
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268 | QMapIterator<QString, t_satStat> it(_satStat);
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269 | while (it.hasNext()) {
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270 | it.next();
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271 | QString prn = it.key();
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272 | const t_satStat& satStat = it.value();
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273 | QVector<int>& dataL1 = (*availL1)[prn];
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274 | preparePlotData(prn, satStat, xyz, obsFile->interval(),
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275 | dataMP1, dataMP2, dataSNR1, dataSNR2, dataL1);
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276 | }
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277 |
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278 | emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
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279 | "Meters", 2.0);
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280 |
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281 | emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
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282 | "", 9.0);
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283 |
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284 | ///// emit dspAvailPlot(obsFile->fileName(), "Availability L1", availL1);
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285 |
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286 | if (_log) {
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287 | _log->flush();
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288 | }
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289 | }
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290 |
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291 | //
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292 | ////////////////////////////////////////////////////////////////////////////
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293 | void t_reqcAnalyze::t_satStat::addObs(const t_obs& obs) {
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294 |
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295 | t_anaObs* newObs = new t_anaObs(obs.GPSWeek, obs.GPSWeeks);
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296 | bool okFlag = false;
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297 |
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298 | // Compute the Multipath
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299 | // ----------------------
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300 | double L1 = obs.measdata("L1", 3.0);
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301 | if (L1 != 0) {
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302 | newObs->_hasL1 = true;
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303 | }
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304 | double L2 = obs.measdata("L2", 3.0);
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305 | if (L2 != 0) {
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306 | newObs->_hasL2 = true;
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307 | }
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308 | if (L1 != 0.0 && L2 != 0.0) {
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309 | double f1 = t_CST::f1(obs.satSys, obs.slotNum);
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310 | double f2 = t_CST::f2(obs.satSys, obs.slotNum);
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311 |
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312 | L1 = L1 * t_CST::c / f1;
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313 | L2 = L2 * t_CST::c / f2;
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314 |
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315 | double P1 = obs.measdata("C1", 3.0);
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316 | if (P1 != 0.0) {
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317 | newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
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318 | okFlag = true;
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319 | }
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320 | double P2 = obs.measdata("C2", 3.0);
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321 | if (P2 != 0.0) {
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322 | newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
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323 | okFlag = true;
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324 | }
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325 | }
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326 |
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327 | // Signal-to-Noise
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328 | // ---------------
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329 | double S1 = obs.measdata("S1", 3.0);
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330 | if (S1 != 0.0) {
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331 | newObs->_SNR1 = floor(S1/6);
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332 | if (newObs->_SNR1 > 9.0) {
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333 | newObs->_SNR1 = 9.0;
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334 | }
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335 | if (newObs->_SNR1 < 1.0) {
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336 | newObs->_SNR1 = 1.0;
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337 | }
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338 | okFlag = true;
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339 | }
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340 | else {
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341 | if (obs.snrL1 > 0) {
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342 | newObs->_SNR1 = obs.snrL1;
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343 | okFlag = true;
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344 | }
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345 | }
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346 | double S2 = obs.measdata("S2", 3.0);
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347 | if (S2 != 0.0) {
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348 | newObs->_SNR2 = floor(S2/6);
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349 | if (newObs->_SNR2 > 9.0) {
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350 | newObs->_SNR2 = 9.0;
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351 | }
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352 | if (newObs->_SNR2 < 1.0) {
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353 | newObs->_SNR2 = 1.0;
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354 | }
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355 | okFlag = true;
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356 | }
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357 | else {
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358 | if (obs.snrL2 > 0) {
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359 | newObs->_SNR2 = obs.snrL2;
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360 | okFlag = true;
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361 | }
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362 | }
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363 |
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364 | // Remember the Observation
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365 | // ------------------------
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366 | if (okFlag) {
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367 | anaObs << newObs;
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368 | }
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369 | else {
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370 | delete newObs;
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371 | }
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372 | }
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373 |
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374 | //
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375 | ////////////////////////////////////////////////////////////////////////////
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376 | void t_reqcAnalyze::preparePlotData(const QString& prn,
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377 | const t_satStat& satStat,
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378 | const ColumnVector& xyz,
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379 | double obsInterval,
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380 | QVector<t_polarPoint*>* dataMP1,
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381 | QVector<t_polarPoint*>* dataMP2,
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382 | QVector<t_polarPoint*>* dataSNR1,
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383 | QVector<t_polarPoint*>* dataSNR2,
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384 | QVector<int>& dataL1) {
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385 |
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386 | const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
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387 | const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
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388 |
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389 | for (int chunkStart = 0; chunkStart + numEpo < satStat.anaObs.size();
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390 | chunkStart += chunkStep) {
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391 |
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392 | bncTime firstEpoch;
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393 |
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394 | // Compute Mean
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395 | // ------------
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396 | bool slipFlag = false;
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397 | double mean1 = 0.0;
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398 | double mean2 = 0.0;
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399 | double SNR1 = 0.0;
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400 | double SNR2 = 0.0;
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401 |
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402 | for (int ii = 0; ii < numEpo; ii++) {
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403 | int iEpo = chunkStart + ii;
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404 | const t_anaObs* anaObs = satStat.anaObs[iEpo];
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405 |
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406 | if (ii == 0) {
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407 | firstEpoch.set(anaObs->_GPSWeek, anaObs->_GPSWeeks);
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408 | }
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409 |
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410 | mean1 += anaObs->_MP1;
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411 | mean2 += anaObs->_MP2;
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412 |
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413 | if ( anaObs->_SNR1 > 0 && (SNR1 == 0 || SNR1 > anaObs->_SNR1) ) {
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414 | SNR1 = anaObs->_SNR1;
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415 | }
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416 | if ( anaObs->_SNR2 > 0 && (SNR2 == 0 || SNR2 > anaObs->_SNR2) ) {
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417 | SNR2 = anaObs->_SNR2;
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418 | }
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419 |
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420 | // Check Slip
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421 | // ----------
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422 | if (ii > 0) {
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423 | double diff1 = anaObs->_MP1 - satStat.anaObs[iEpo-1]->_MP1;
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424 | double diff2 = anaObs->_MP2 - satStat.anaObs[iEpo-1]->_MP2;
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425 | if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
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426 | slipFlag = true;
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427 | break;
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428 | }
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429 | }
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430 | }
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431 |
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432 | dataL1 << int(firstEpoch.gpssec());
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433 |
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434 | if (slipFlag) {
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435 | continue;
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436 | }
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437 |
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438 | mean1 /= numEpo;
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439 | mean2 /= numEpo;
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440 |
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441 | // Compute Standard Deviation
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442 | // --------------------------
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443 | double stddev1 = 0.0;
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444 | double stddev2 = 0.0;
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445 | for (int ii = 0; ii < numEpo; ii++) {
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446 | int iEpo = chunkStart + ii;
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447 | const t_anaObs* anaObs = satStat.anaObs[iEpo];
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448 | double diff1 = anaObs->_MP1 - mean1;
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449 | double diff2 = anaObs->_MP2 - mean2;
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450 | stddev1 += diff1 * diff1;
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451 | stddev2 += diff2 * diff2;
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452 | }
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453 | double MP1 = sqrt(stddev1 / (numEpo-1));
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454 | double MP2 = sqrt(stddev2 / (numEpo-1));
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455 |
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456 | const t_anaObs* anaObs0 = satStat.anaObs[chunkStart];
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457 |
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458 | // Compute the Azimuth and Zenith Distance
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459 | // ---------------------------------------
|
---|
460 | double az = 0.0;
|
---|
461 | double zen = 0.0;
|
---|
462 | if (xyz.size()) {
|
---|
463 | t_eph* eph = 0;
|
---|
464 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
465 | if (_ephs[ie]->prn() == prn) {
|
---|
466 | eph = _ephs[ie];
|
---|
467 | break;
|
---|
468 | }
|
---|
469 | }
|
---|
470 |
|
---|
471 | if (eph) {
|
---|
472 | double xSat, ySat, zSat, clkSat;
|
---|
473 | eph->position(anaObs0->_GPSWeek, anaObs0->_GPSWeeks,
|
---|
474 | xSat, ySat, zSat, clkSat);
|
---|
475 |
|
---|
476 | double rho, eleSat, azSat;
|
---|
477 | topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
|
---|
478 |
|
---|
479 | az = azSat * 180.0/M_PI;
|
---|
480 | zen = 90.0 - eleSat * 180.0/M_PI;
|
---|
481 | }
|
---|
482 | }
|
---|
483 |
|
---|
484 | // Add new Point
|
---|
485 | // -------------
|
---|
486 | (*dataMP1) << (new t_polarPoint(az, zen, MP1));
|
---|
487 | (*dataMP2) << (new t_polarPoint(az, zen, MP2));
|
---|
488 | (*dataSNR1) << (new t_polarPoint(az, zen, SNR1));
|
---|
489 | (*dataSNR2) << (new t_polarPoint(az, zen, SNR2));
|
---|
490 |
|
---|
491 | if (_log) {
|
---|
492 | _log->setRealNumberNotation(QTextStream::FixedNotation);
|
---|
493 |
|
---|
494 | _log->setRealNumberPrecision(2);
|
---|
495 | *_log << "MP1 " << prn << " " << az << " " << zen << " ";
|
---|
496 | _log->setRealNumberPrecision(3);
|
---|
497 | *_log << MP1 << endl;
|
---|
498 |
|
---|
499 | _log->setRealNumberPrecision(2);
|
---|
500 | *_log << "MP2 " << prn << " " << az << " " << zen << " ";
|
---|
501 | _log->setRealNumberPrecision(3);
|
---|
502 | *_log << MP2 << endl;
|
---|
503 |
|
---|
504 | _log->flush();
|
---|
505 | }
|
---|
506 | }
|
---|
507 | }
|
---|
508 |
|
---|
509 | //
|
---|
510 | ////////////////////////////////////////////////////////////////////////////
|
---|
511 | void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
|
---|
512 | const QByteArray& title,
|
---|
513 | QMap<QString, QVector<int> >* prnAvail){
|
---|
514 |
|
---|
515 | if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
|
---|
516 |
|
---|
517 | QwtPlot* plot = new QwtPlot();
|
---|
518 |
|
---|
519 | int iC = 0;
|
---|
520 | QMapIterator<QString, QVector<int> > it(*prnAvail);
|
---|
521 | while (it.hasNext()) {
|
---|
522 | it.next();
|
---|
523 | const QString& prn = it.key();
|
---|
524 | const QVector<int>& epochs = it.value();
|
---|
525 | }
|
---|
526 |
|
---|
527 | QVector<QWidget*> plots;
|
---|
528 | plots << plot;
|
---|
529 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
|
---|
530 | graphWin->show();
|
---|
531 |
|
---|
532 | bncSettings settings;
|
---|
533 | QString dirName = settings.value("reqcPlotDir").toString();
|
---|
534 | if (!dirName.isEmpty()) {
|
---|
535 | QByteArray ext = "_AVAIL.png";
|
---|
536 | graphWin->savePNG(dirName, ext);
|
---|
537 | }
|
---|
538 | }
|
---|
539 | }
|
---|