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 <qwt_plot_renderer.h>
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44 |
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45 | #include "reqcanalyze.h"
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46 | #include "bnccore.h"
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47 | #include "bncsettings.h"
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48 | #include "reqcedit.h"
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49 | #include "bncutils.h"
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50 | #include "graphwin.h"
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51 | #include "polarplot.h"
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52 | #include "availplot.h"
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53 | #include "eleplot.h"
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54 | #include "dopplot.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 = 10.0; // cycle-slip threshold (meters)
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59 |
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60 | // Set Observations from RINEX File
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61 | ////////////////////////////////////////////////////////////////////////////
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62 | void t_reqcAnalyze::setObsFromRnx(const t_rnxObsFile* rnxObsFile,
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63 | const t_rnxObsFile::t_rnxEpo* epo,
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64 | const t_rnxObsFile::t_rnxSat& rnxSat,
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65 | t_obs& obs) {
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66 |
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67 | strncpy(obs.StatID, rnxObsFile->markerName().toAscii().constData(),
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68 | sizeof(obs.StatID));
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69 |
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70 | obs.satSys = rnxSat.satSys;
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71 | obs.satNum = rnxSat.satNum;
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72 | obs.GPSWeek = epo->tt.gpsw();
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73 | obs.GPSWeeks = epo->tt.gpssec();
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74 |
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75 | for (int iType = 0; iType < rnxObsFile->nTypes(obs.satSys); iType++) {
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76 | QString type = rnxObsFile->obsType(obs.satSys,iType).toAscii();
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77 | obs.setMeasdata(type, rnxObsFile->version(), rnxSat.obs[iType]);
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78 | if (type.indexOf("L1") == 0) {
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79 | obs.snrL1 = rnxSat.snr[iType];
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80 | obs.slipL1 = (rnxSat.lli[iType] & 1);
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81 | }
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82 | else if (type.indexOf("L2") == 0) {
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83 | obs.snrL2 = rnxSat.snr[iType];
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84 | obs.slipL2 = (rnxSat.lli[iType] & 1);
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85 | }
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86 | else if (type.indexOf("L5") == 0) {
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87 | obs.snrL5 = rnxSat.snr[iType];
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88 | obs.slipL5 = (rnxSat.lli[iType] & 1);
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89 | }
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90 | }
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91 | }
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92 |
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93 | // Constructor
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94 | ////////////////////////////////////////////////////////////////////////////
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95 | t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
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96 |
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97 | bncSettings settings;
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98 |
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99 | _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
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100 | _logFile = 0;
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101 | _log = 0;
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102 | _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
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103 | _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
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104 |
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105 | _currEpo = 0;
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106 |
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107 | connect(this, SIGNAL(dspSkyPlot(const QString&,
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108 | const QByteArray&,
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109 | QVector<t_polarPoint*>*,
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110 | const QByteArray&,
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111 | QVector<t_polarPoint*>*,
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112 | const QByteArray&, double)),
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113 | this, SLOT(slotDspSkyPlot(const QString&,
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114 | const QByteArray&,
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115 | QVector<t_polarPoint*>*,
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116 | const QByteArray&,
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117 | QVector<t_polarPoint*>*,
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118 | const QByteArray&, double)));
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119 |
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120 | connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
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121 | this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
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122 | }
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123 |
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124 | // Destructor
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125 | ////////////////////////////////////////////////////////////////////////////
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126 | t_reqcAnalyze::~t_reqcAnalyze() {
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127 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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128 | delete _rnxObsFiles[ii];
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129 | }
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130 | for (int ii = 0; ii < _ephs.size(); ii++) {
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131 | delete _ephs[ii];
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132 | }
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133 | delete _log; _log = 0;
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134 | delete _logFile; _logFile = 0;
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135 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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136 | qApp->exit(0);
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137 | }
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138 | }
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139 |
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140 | //
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141 | ////////////////////////////////////////////////////////////////////////////
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142 | void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
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143 | const QByteArray& title1,
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144 | QVector<t_polarPoint*>* data1,
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145 | const QByteArray& title2,
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146 | QVector<t_polarPoint*>* data2,
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147 | const QByteArray& scaleTitle,
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148 | double maxValue) {
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149 |
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150 | if (BNC_CORE->GUIenabled()) {
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151 |
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152 | if (maxValue == 0.0) {
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153 | if (data1) {
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154 | for (int ii = 0; ii < data1->size(); ii++) {
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155 | double val = data1->at(ii)->_value;
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156 | if (maxValue < val) {
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157 | maxValue = val;
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158 | }
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159 | }
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160 | }
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161 | if (data2) {
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162 | for (int ii = 0; ii < data2->size(); ii++) {
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163 | double val = data2->at(ii)->_value;
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164 | if (maxValue < val) {
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165 | maxValue = val;
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166 | }
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167 | }
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168 | }
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169 | }
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170 |
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171 | QwtInterval scaleInterval(0.0, maxValue);
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172 |
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173 | QVector<QWidget*> plots;
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174 | if (data1) {
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175 | t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
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176 | BNC_CORE->mainWindow());
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177 | plot1->addCurve(data1);
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178 | plots << plot1;
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179 | }
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180 | if (data2) {
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181 | t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
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182 | BNC_CORE->mainWindow());
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183 | plot2->addCurve(data2);
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184 | plots << plot2;
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185 | }
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186 |
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187 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
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188 | &scaleTitle, &scaleInterval);
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189 |
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190 | graphWin->show();
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191 |
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192 | bncSettings settings;
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193 | QString dirName = settings.value("reqcPlotDir").toString();
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194 | if (!dirName.isEmpty()) {
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195 | QByteArray ext = scaleTitle.isEmpty() ? "_S.png" : "_M.png";
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196 | graphWin->savePNG(dirName, ext);
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197 | }
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198 | }
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199 | }
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200 |
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201 | //
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202 | ////////////////////////////////////////////////////////////////////////////
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203 | void t_reqcAnalyze::run() {
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204 |
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205 | // Open Log File
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206 | // -------------
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207 | _logFile = new QFile(_logFileName);
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208 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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209 | _log = new QTextStream();
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210 | _log->setDevice(_logFile);
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211 | }
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212 |
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213 | // Initialize RINEX Observation Files
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214 | // ----------------------------------
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215 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
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216 |
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217 | // Read Ephemerides
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218 | // ----------------
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219 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
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220 |
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221 | // Loop over all RINEX Files
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222 | // -------------------------
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223 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
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224 | analyzeFile(_rnxObsFiles[ii]);
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225 | }
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226 |
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227 | // Exit
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228 | // ----
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229 | emit finished();
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230 | deleteLater();
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231 | }
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232 |
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233 | //
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234 | ////////////////////////////////////////////////////////////////////////////
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235 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
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236 |
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237 | _mutex.lock();
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238 |
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239 | if (_log) {
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240 | *_log << "\nAnalyze File\n"
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241 | << "------------\n"
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242 | << "File: " << obsFile->fileName().toAscii().data() << endl;
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243 | }
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244 |
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245 | _allObsMap.clear();
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246 | _availDataMap.clear();
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247 | _obsStat.reset();
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248 |
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249 | // A priori Coordinates
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250 | // --------------------
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251 | ColumnVector xyzSta = obsFile->xyz();
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252 |
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253 | // Loop over all Epochs
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254 | // --------------------
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255 | try {
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256 | unsigned iEpo = 0;
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257 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
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258 |
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259 | if (iEpo == 0) {
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260 | _obsStat._startTime = _currEpo->tt;
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261 | _obsStat._antennaName = obsFile->antennaName();
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262 | _obsStat._markerName = obsFile->markerName();
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263 | _obsStat._receiverType = obsFile->receiverType();
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264 | _obsStat._interval = obsFile->interval();
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265 | }
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266 | _obsStat._endTime = _currEpo->tt;
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267 |
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268 | // Loop over all satellites
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269 | // ------------------------
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270 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
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271 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
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272 | t_obs obs;
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273 | setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
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274 |
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275 | QString prn = QString("%1%2").arg(obs.satSys)
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276 | .arg(obs.satNum, 2, 10, QChar('0'));
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277 |
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278 | t_ephGlo* ephGlo = 0;
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279 | if (obs.satSys == 'R') {
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280 | for (int ie = 0; ie < _ephs.size(); ie++) {
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281 | if (QString(_ephs[ie]->prn().toString().c_str()) == prn) {
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282 | ephGlo = dynamic_cast<t_ephGlo*>(_ephs[ie]);
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283 | break;
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284 | }
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285 | }
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286 | if (ephGlo) {
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287 | obs.slotNum = ephGlo->slotNum();
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288 | }
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289 | }
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290 |
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291 | t_irc irc = _allObsMap[prn].addObs(obs);
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292 |
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293 | if (irc == success) {
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294 | t_oneObs* newObs = _allObsMap[prn]._oneObsVec.last();
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295 | if (ephGlo) {
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296 | newObs->_slotSet = true;
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297 | }
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298 | if (newObs->_hasL1 && newObs->_hasL2) {
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299 | _obsStat._prnStat[prn]._numObs += 1;
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300 | }
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301 | if (newObs->_slipL1 && newObs->_slipL2) {
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302 | _obsStat._prnStat[prn]._numSlipsFlagged += 1;
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303 | }
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304 | }
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305 | }
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306 |
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307 | prepareObsStat(iEpo, obsFile->interval(), xyzSta);
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308 | iEpo++;
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309 |
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310 | } // while (_currEpo)
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311 | }
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312 | catch (QString str) {
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313 | if (_log) {
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314 | *_log << "Exception " << str << endl;
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315 | }
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316 | else {
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317 | qDebug() << str;
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318 | }
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319 | _mutex.unlock();
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320 | return;
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321 | }
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322 |
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323 | // Analyze the Multipath
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324 | // ---------------------
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325 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
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326 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
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327 | QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
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328 | QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
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329 |
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330 | QMutableMapIterator<QString, t_allObs> it(_allObsMap);
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331 | while (it.hasNext()) {
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332 | it.next();
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333 | QString prn = it.key();
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334 | preparePlotData(prn, xyzSta, obsFile->interval(),
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335 | dataMP1, dataMP2, dataSNR1, dataSNR2);
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336 | }
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337 |
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338 | printReport(dataMP1, dataMP2, dataSNR1, dataSNR2);
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339 |
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340 | // Show the plots
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341 | // --------------
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342 | if (BNC_CORE->GUIenabled()) {
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343 | QFileInfo fileInfo(obsFile->fileName());
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344 | QByteArray title = fileInfo.fileName().toAscii();
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345 | emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
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346 | "Meters", 2.0);
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347 | emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
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348 | "", 9.0);
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349 | emit dspAvailPlot(obsFile->fileName(), title);
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350 | }
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351 | else {
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352 | for (int ii = 0; ii < dataMP1->size(); ii++) {
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353 | delete dataMP1->at(ii);
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354 | }
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355 | delete dataMP1;
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356 | for (int ii = 0; ii < dataMP2->size(); ii++) {
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357 | delete dataMP2->at(ii);
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358 | }
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359 | delete dataMP2;
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360 | for (int ii = 0; ii < dataSNR1->size(); ii++) {
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361 | delete dataSNR1->at(ii);
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362 | }
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363 | delete dataSNR1;
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364 | for (int ii = 0; ii < dataSNR2->size(); ii++) {
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365 | delete dataSNR2->at(ii);
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366 | }
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367 | delete dataSNR2;
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368 | _mutex.unlock();
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369 | }
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370 | }
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371 |
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372 | //
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373 | ////////////////////////////////////////////////////////////////////////////
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374 | t_irc t_reqcAnalyze::t_allObs::addObs(const t_obs& obs) {
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375 |
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376 | t_oneObs* newObs = new t_oneObs(obs.GPSWeek, obs.GPSWeeks);
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377 | bool okFlag = false;
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378 |
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379 | // Availability and Slip Flags
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380 | // ---------------------------
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381 | double L1 = obs.measdata("L1", 3.0);
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382 | if (L1 != 0) {
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383 | newObs->_hasL1 = true;
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384 | }
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385 | double L2 = obs.satSys == 'E' ? obs.measdata("L5", 3.0) : obs.measdata("L2", 3.0);;
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386 | if (L2 != 0) {
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387 | newObs->_hasL2 = true;
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388 | }
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389 | if (obs.slipL1) {
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390 | newObs->_slipL1 = true;
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391 | }
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392 | if (obs.slipL2) {
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393 | newObs->_slipL2 = true;
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394 | }
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395 |
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396 | // Compute the Multipath
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397 | // ----------------------
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398 | if (L1 != 0.0 && L2 != 0.0) {
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399 | double f1 = t_CST::f1(obs.satSys, obs.slotNum);
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400 | double f2 = obs.satSys == 'E' ? t_CST::freq5 : t_CST::f2(obs.satSys, obs.slotNum);
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401 |
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402 | L1 = L1 * t_CST::c / f1;
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403 | L2 = L2 * t_CST::c / f2;
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404 |
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405 | double P1 = obs.measdata("C1", 3.0);
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406 | if (P1 != 0.0) {
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407 | newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
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408 | okFlag = true;
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409 | }
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410 | double P2 = obs.satSys == 'E' ? obs.measdata("C5", 3.0) : obs.measdata("C2", 3.0);
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411 | if (P2 != 0.0) {
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412 | newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
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413 | okFlag = true;
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414 | }
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415 | }
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416 |
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417 | // Signal-to-Noise
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418 | // ---------------
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419 | double S1 = obs.measdata("S1", 3.0);
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420 | if (S1 != 0.0) {
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421 | newObs->_SNR1 = floor(S1/6);
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422 | if (newObs->_SNR1 > 9.0) {
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423 | newObs->_SNR1 = 9.0;
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424 | }
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425 | if (newObs->_SNR1 < 1.0) {
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426 | newObs->_SNR1 = 1.0;
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427 | }
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428 | okFlag = true;
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429 | }
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430 | else {
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431 | if (obs.snrL1 > 0) {
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432 | newObs->_SNR1 = obs.snrL1;
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433 | okFlag = true;
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434 | }
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435 | }
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436 | double S2 = obs.satSys == 'E' ? obs.measdata("S5", 3.0) : obs.measdata("S2", 3.0);
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437 | if (S2 != 0.0) {
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438 | newObs->_SNR2 = floor(S2/6);
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439 | if (newObs->_SNR2 > 9.0) {
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440 | newObs->_SNR2 = 9.0;
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441 | }
|
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442 | if (newObs->_SNR2 < 1.0) {
|
---|
443 | newObs->_SNR2 = 1.0;
|
---|
444 | }
|
---|
445 | okFlag = true;
|
---|
446 | }
|
---|
447 | else {
|
---|
448 | if (obs.snrL2 > 0) {
|
---|
449 | newObs->_SNR2 = obs.snrL2;
|
---|
450 | okFlag = true;
|
---|
451 | }
|
---|
452 | }
|
---|
453 |
|
---|
454 | // Remember the Observation
|
---|
455 | // ------------------------
|
---|
456 | if (okFlag) {
|
---|
457 | _oneObsVec << newObs;
|
---|
458 | return success;
|
---|
459 | }
|
---|
460 | else {
|
---|
461 | delete newObs;
|
---|
462 | return failure;
|
---|
463 | }
|
---|
464 | }
|
---|
465 |
|
---|
466 | //
|
---|
467 | ////////////////////////////////////////////////////////////////////////////
|
---|
468 | void t_reqcAnalyze::prepareObsStat(unsigned iEpo, double obsInterval,
|
---|
469 | const ColumnVector& xyzSta) {
|
---|
470 | const int sampl = int(30.0 / obsInterval);
|
---|
471 | if (iEpo % sampl == 0) {
|
---|
472 | double mjdX24 = _currEpo->tt.mjddec() * 24.0;
|
---|
473 | if (iEpo != 0) {
|
---|
474 | _obsStat._mjdX24 << mjdX24;
|
---|
475 | _obsStat._numSat << _obsStat._numSat.last();
|
---|
476 | _obsStat._PDOP << _obsStat._PDOP.last();
|
---|
477 | }
|
---|
478 | _obsStat._mjdX24 << mjdX24;
|
---|
479 | _obsStat._numSat << _currEpo->rnxSat.size();
|
---|
480 | _obsStat._PDOP << cmpDOP(xyzSta);
|
---|
481 | }
|
---|
482 | }
|
---|
483 |
|
---|
484 | //
|
---|
485 | ////////////////////////////////////////////////////////////////////////////
|
---|
486 | void t_reqcAnalyze::preparePlotData(const QString& prn,
|
---|
487 | const ColumnVector& xyzSta,
|
---|
488 | double obsInterval,
|
---|
489 | QVector<t_polarPoint*>* dataMP1,
|
---|
490 | QVector<t_polarPoint*>* dataMP2,
|
---|
491 | QVector<t_polarPoint*>* dataSNR1,
|
---|
492 | QVector<t_polarPoint*>* dataSNR2) {
|
---|
493 |
|
---|
494 | const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
|
---|
495 | const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
|
---|
496 |
|
---|
497 | t_allObs& allObs = _allObsMap[prn];
|
---|
498 |
|
---|
499 | bncSettings settings;
|
---|
500 | QString reqSkyPlotSystems = settings.value("reqcSkyPlotSystems").toString();
|
---|
501 | bool plotGPS = false;
|
---|
502 | bool plotGlo = false;
|
---|
503 | bool plotGal = false;
|
---|
504 | if (reqSkyPlotSystems == "GPS") {
|
---|
505 | plotGPS = true;
|
---|
506 | }
|
---|
507 | else if (reqSkyPlotSystems == "GLONASS") {
|
---|
508 | plotGlo = true;
|
---|
509 | }
|
---|
510 | else if (reqSkyPlotSystems == "Galileo") {
|
---|
511 | plotGal = true;
|
---|
512 | }
|
---|
513 | else {
|
---|
514 | plotGPS = true;
|
---|
515 | plotGlo = true;
|
---|
516 | plotGal = true;
|
---|
517 | }
|
---|
518 |
|
---|
519 | // Loop over all Chunks of Data
|
---|
520 | // ----------------------------
|
---|
521 | bool slipFound = false;
|
---|
522 | for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
|
---|
523 | chunkStart += chunkStep) {
|
---|
524 |
|
---|
525 | if (chunkStart * chunkStep == numEpo) {
|
---|
526 | slipFound = false;
|
---|
527 | }
|
---|
528 |
|
---|
529 | // Chunk-Specific Variables
|
---|
530 | // ------------------------
|
---|
531 | bncTime currTime;
|
---|
532 | bncTime prevTime;
|
---|
533 | bncTime chunkStartTime;
|
---|
534 | double mjdX24 = 0.0;
|
---|
535 | bool availL1 = false;
|
---|
536 | bool availL2 = false;
|
---|
537 | bool gapL1 = false;
|
---|
538 | bool gapL2 = false;
|
---|
539 | bool slipL1 = false;
|
---|
540 | bool slipL2 = false;
|
---|
541 | double meanMP1 = 0.0;
|
---|
542 | double meanMP2 = 0.0;
|
---|
543 | double minSNR1 = 0.0;
|
---|
544 | double minSNR2 = 0.0;
|
---|
545 | double aziDeg = 0.0;
|
---|
546 | double zenDeg = 0.0;
|
---|
547 | bool zenFlag = false;
|
---|
548 |
|
---|
549 | // Loop over all Epochs within one Chunk of Data
|
---|
550 | // ---------------------------------------------
|
---|
551 | bool slotSet = false;
|
---|
552 | for (int ii = 0; ii < numEpo; ii++) {
|
---|
553 | int iEpo = chunkStart + ii;
|
---|
554 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
|
---|
555 | if (oneObs->_slotSet) {
|
---|
556 | slotSet = true;
|
---|
557 | }
|
---|
558 |
|
---|
559 | currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
|
---|
560 |
|
---|
561 | // Compute the Azimuth and Zenith Distance
|
---|
562 | // ---------------------------------------
|
---|
563 | if (ii == 0) {
|
---|
564 | chunkStartTime = currTime;
|
---|
565 | mjdX24 = chunkStartTime.mjddec() * 24.0;
|
---|
566 |
|
---|
567 | if (xyzSta.size()) {
|
---|
568 | t_eph* eph = 0;
|
---|
569 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
570 | if (QString(_ephs[ie]->prn().toString().c_str()) == prn) {
|
---|
571 | eph = _ephs[ie];
|
---|
572 | break;
|
---|
573 | }
|
---|
574 | }
|
---|
575 |
|
---|
576 | if (eph) {
|
---|
577 | double xSat, ySat, zSat, clkSat;
|
---|
578 | eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
|
---|
579 | xSat, ySat, zSat, clkSat);
|
---|
580 |
|
---|
581 | double rho, eleSat, azSat;
|
---|
582 | topos(xyzSta(1), xyzSta(2), xyzSta(3),
|
---|
583 | xSat, ySat, zSat, rho, eleSat, azSat);
|
---|
584 |
|
---|
585 | aziDeg = azSat * 180.0/M_PI;
|
---|
586 | zenDeg = 90.0 - eleSat * 180.0/M_PI;
|
---|
587 | zenFlag = true;
|
---|
588 | }
|
---|
589 | }
|
---|
590 | }
|
---|
591 |
|
---|
592 | // Check Interval
|
---|
593 | // --------------
|
---|
594 | if (prevTime.valid()) {
|
---|
595 | double dt = currTime - prevTime;
|
---|
596 | if (dt != obsInterval) {
|
---|
597 | gapL1 = true;
|
---|
598 | gapL2 = true;
|
---|
599 | }
|
---|
600 | }
|
---|
601 | prevTime = currTime;
|
---|
602 |
|
---|
603 | // Check L1 and L2 availability
|
---|
604 | // ----------------------------
|
---|
605 | if (oneObs->_hasL1) {
|
---|
606 | availL1 = true;
|
---|
607 | }
|
---|
608 | else {
|
---|
609 | gapL1 = true;
|
---|
610 | }
|
---|
611 | if (oneObs->_hasL2) {
|
---|
612 | availL2 = true;
|
---|
613 | }
|
---|
614 | else {
|
---|
615 | gapL2 = true;
|
---|
616 | }
|
---|
617 |
|
---|
618 | // Check Minimal Signal-to-Noise Ratio
|
---|
619 | // -----------------------------------
|
---|
620 | if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
|
---|
621 | minSNR1 = oneObs->_SNR1;
|
---|
622 | }
|
---|
623 | if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
|
---|
624 | minSNR2 = oneObs->_SNR2;
|
---|
625 | }
|
---|
626 |
|
---|
627 | // Check Slip Flags
|
---|
628 | // ----------------
|
---|
629 | if (oneObs->_slipL1) {
|
---|
630 | slipL1 = true;
|
---|
631 | }
|
---|
632 | if (oneObs->_slipL2) {
|
---|
633 | slipL2 = true;
|
---|
634 | }
|
---|
635 |
|
---|
636 | meanMP1 += oneObs->_MP1;
|
---|
637 | meanMP2 += oneObs->_MP2;
|
---|
638 | }
|
---|
639 |
|
---|
640 | // Compute the Multipath
|
---|
641 | // ---------------------
|
---|
642 | if ( (prn[0] == 'G' && plotGPS ) ||
|
---|
643 | (prn[0] == 'R' && plotGlo && slotSet) ||
|
---|
644 | (prn[0] == 'E' && plotGal ) ) {
|
---|
645 | bool slipMP = false;
|
---|
646 | meanMP1 /= numEpo;
|
---|
647 | meanMP2 /= numEpo;
|
---|
648 | double MP1 = 0.0;
|
---|
649 | double MP2 = 0.0;
|
---|
650 | for (int ii = 0; ii < numEpo; ii++) {
|
---|
651 | int iEpo = chunkStart + ii;
|
---|
652 | const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
|
---|
653 | double diff1 = oneObs->_MP1 - meanMP1;
|
---|
654 | double diff2 = oneObs->_MP2 - meanMP2;
|
---|
655 |
|
---|
656 | // Check Slip Threshold
|
---|
657 | // --------------------
|
---|
658 | if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
|
---|
659 | slipMP = true;
|
---|
660 | break;
|
---|
661 | }
|
---|
662 |
|
---|
663 | MP1 += diff1 * diff1;
|
---|
664 | MP2 += diff2 * diff2;
|
---|
665 | }
|
---|
666 | if (slipMP) {
|
---|
667 | slipL1 = true;
|
---|
668 | slipL2 = true;
|
---|
669 | if (!slipFound) {
|
---|
670 | slipFound = true;
|
---|
671 | _obsStat._prnStat[prn]._numSlipsFound += 1;
|
---|
672 | }
|
---|
673 | }
|
---|
674 | else {
|
---|
675 | MP1 = sqrt(MP1 / (numEpo-1));
|
---|
676 | MP2 = sqrt(MP2 / (numEpo-1));
|
---|
677 | (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
|
---|
678 | (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
|
---|
679 | }
|
---|
680 | }
|
---|
681 |
|
---|
682 | // Availability Plot Data
|
---|
683 | // ----------------------
|
---|
684 | if (availL1) {
|
---|
685 | if (slipL1) {
|
---|
686 | _availDataMap[prn]._L1slip << mjdX24;
|
---|
687 | }
|
---|
688 | else if (gapL1) {
|
---|
689 | _availDataMap[prn]._L1gap << mjdX24;
|
---|
690 | }
|
---|
691 | else {
|
---|
692 | _availDataMap[prn]._L1ok << mjdX24;
|
---|
693 | }
|
---|
694 | }
|
---|
695 | if (availL2) {
|
---|
696 | if (slipL2) {
|
---|
697 | _availDataMap[prn]._L2slip << mjdX24;
|
---|
698 | }
|
---|
699 | else if (gapL2) {
|
---|
700 | _availDataMap[prn]._L2gap << mjdX24;
|
---|
701 | }
|
---|
702 | else {
|
---|
703 | _availDataMap[prn]._L2ok << mjdX24;
|
---|
704 | }
|
---|
705 | }
|
---|
706 | if (zenFlag) {
|
---|
707 | _availDataMap[prn]._eleTim << mjdX24;
|
---|
708 | _availDataMap[prn]._eleDeg << 90.0 - zenDeg;
|
---|
709 | }
|
---|
710 |
|
---|
711 | // Signal-to-Noise Ratio Plot Data
|
---|
712 | // -------------------------------
|
---|
713 | if ( (prn[0] == 'G' && plotGPS) ||
|
---|
714 | (prn[0] == 'R' && plotGlo) ||
|
---|
715 | (prn[0] == 'E' && plotGal) ) {
|
---|
716 | (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
|
---|
717 | (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
|
---|
718 | }
|
---|
719 | }
|
---|
720 | }
|
---|
721 |
|
---|
722 | //
|
---|
723 | ////////////////////////////////////////////////////////////////////////////
|
---|
724 | void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
|
---|
725 | const QByteArray& title) {
|
---|
726 |
|
---|
727 | if (BNC_CORE->GUIenabled()) {
|
---|
728 | t_availPlot* plotA = new t_availPlot(0, &_availDataMap);
|
---|
729 | plotA->setTitle(title);
|
---|
730 |
|
---|
731 | t_elePlot* plotZ = new t_elePlot(0, &_availDataMap);
|
---|
732 |
|
---|
733 | t_dopPlot* plotD = new t_dopPlot(0, &_obsStat);
|
---|
734 |
|
---|
735 | QVector<QWidget*> plots;
|
---|
736 | plots << plotA << plotZ << plotD;
|
---|
737 | t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
|
---|
738 |
|
---|
739 | int ww = QFontMetrics(graphWin->font()).width('w');
|
---|
740 | graphWin->setMinimumSize(120*ww, 40*ww);
|
---|
741 |
|
---|
742 | graphWin->show();
|
---|
743 |
|
---|
744 | bncSettings settings;
|
---|
745 | QString dirName = settings.value("reqcPlotDir").toString();
|
---|
746 | if (!dirName.isEmpty()) {
|
---|
747 | QByteArray ext = "_A.png";
|
---|
748 | graphWin->savePNG(dirName, ext);
|
---|
749 | }
|
---|
750 | }
|
---|
751 | _mutex.unlock();
|
---|
752 | }
|
---|
753 |
|
---|
754 | // Compute Dilution of Precision
|
---|
755 | ////////////////////////////////////////////////////////////////////////////
|
---|
756 | double t_reqcAnalyze::cmpDOP(const ColumnVector& xyzSta) const {
|
---|
757 |
|
---|
758 | if (xyzSta.size() != 3) {
|
---|
759 | return 0.0;
|
---|
760 | }
|
---|
761 |
|
---|
762 | unsigned nSat = _currEpo->rnxSat.size();
|
---|
763 |
|
---|
764 | if (nSat < 4) {
|
---|
765 | return 0.0;
|
---|
766 | }
|
---|
767 |
|
---|
768 | Matrix AA(nSat, 4);
|
---|
769 |
|
---|
770 | unsigned nSatUsed = 0;
|
---|
771 | for (unsigned iSat = 0; iSat < nSat; iSat++) {
|
---|
772 |
|
---|
773 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iSat];
|
---|
774 |
|
---|
775 | QString prn = QString("%1%2").arg(rnxSat.satSys)
|
---|
776 | .arg(rnxSat.satNum, 2, 10, QChar('0'));
|
---|
777 |
|
---|
778 | t_eph* eph = 0;
|
---|
779 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
780 | if (QString(_ephs[ie]->prn().toString().c_str()) == prn) {
|
---|
781 | eph = _ephs[ie];
|
---|
782 | break;
|
---|
783 | }
|
---|
784 | }
|
---|
785 | if (eph) {
|
---|
786 | ++nSatUsed;
|
---|
787 | ColumnVector xSat(3);
|
---|
788 | double clkSat;
|
---|
789 | eph->position(_currEpo->tt.gpsw(), _currEpo->tt.gpssec(),
|
---|
790 | xSat(1), xSat(2), xSat(3), clkSat);
|
---|
791 | ColumnVector dx = xSat - xyzSta;
|
---|
792 | double rho = dx.norm_Frobenius();
|
---|
793 | AA(nSatUsed,1) = dx(1) / rho;
|
---|
794 | AA(nSatUsed,2) = dx(2) / rho;
|
---|
795 | AA(nSatUsed,3) = dx(3) / rho;
|
---|
796 | AA(nSatUsed,4) = 1.0;
|
---|
797 | }
|
---|
798 | }
|
---|
799 |
|
---|
800 | if (nSatUsed < 4) {
|
---|
801 | return 0.0;
|
---|
802 | }
|
---|
803 |
|
---|
804 | AA = AA.Rows(1, nSatUsed);
|
---|
805 |
|
---|
806 | SymmetricMatrix QQ;
|
---|
807 | QQ << AA.t() * AA;
|
---|
808 | QQ = QQ.i();
|
---|
809 |
|
---|
810 | return sqrt(QQ.trace());
|
---|
811 | }
|
---|
812 |
|
---|
813 | // Finish the report
|
---|
814 | ////////////////////////////////////////////////////////////////////////////
|
---|
815 | void t_reqcAnalyze::printReport(QVector<t_polarPoint*>* dataMP1,
|
---|
816 | QVector<t_polarPoint*>* dataMP2,
|
---|
817 | QVector<t_polarPoint*>* dataSNR1,
|
---|
818 | QVector<t_polarPoint*>* dataSNR2) {
|
---|
819 |
|
---|
820 | if (!_log) {
|
---|
821 | return;
|
---|
822 | }
|
---|
823 |
|
---|
824 | *_log << "Marker name: " << _obsStat._markerName << endl
|
---|
825 | << "Receiver: " << _obsStat._receiverType << endl
|
---|
826 | << "Antenna: " << _obsStat._antennaName << endl
|
---|
827 | << "Start time: " << _obsStat._startTime.datestr().c_str() << ' '
|
---|
828 | << _obsStat._startTime.timestr().c_str() << endl
|
---|
829 | << "End time: " << _obsStat._endTime.datestr().c_str() << ' '
|
---|
830 | << _obsStat._endTime.timestr().c_str() << endl
|
---|
831 | << "Interval: " << _obsStat._interval << endl
|
---|
832 | << "# Sat.: " << _obsStat._prnStat.size() << endl;
|
---|
833 |
|
---|
834 | int numObs = 0;
|
---|
835 | int numSlipsFlagged = 0;
|
---|
836 | int numSlipsFound = 0;
|
---|
837 | QMapIterator<QString, t_prnStat> it(_obsStat._prnStat);
|
---|
838 | while (it.hasNext()) {
|
---|
839 | it.next();
|
---|
840 | const t_prnStat& prnStat = it.value();
|
---|
841 | numObs += prnStat._numObs;
|
---|
842 | numSlipsFlagged += prnStat._numSlipsFlagged;
|
---|
843 | numSlipsFound += prnStat._numSlipsFound;
|
---|
844 | }
|
---|
845 | *_log << "# Obs.: " << numObs << endl
|
---|
846 | << "# Slips (file): " << numSlipsFlagged << endl
|
---|
847 | << "# Slips (found): " << numSlipsFound << endl;
|
---|
848 |
|
---|
849 | for (int kk = 1; kk <= 4; kk++) {
|
---|
850 | QVector<t_polarPoint*>* data = 0;
|
---|
851 | QString text;
|
---|
852 | if (kk == 1) {
|
---|
853 | data = dataMP1;
|
---|
854 | text = "Mean MP1: ";
|
---|
855 | }
|
---|
856 | else if (kk == 2) {
|
---|
857 | data = dataMP2;
|
---|
858 | text = "Mean MP2: ";
|
---|
859 | }
|
---|
860 | else if (kk == 3) {
|
---|
861 | data = dataSNR1;
|
---|
862 | text = "Mean SNR1: ";
|
---|
863 | }
|
---|
864 | else if (kk == 4) {
|
---|
865 | data = dataSNR2;
|
---|
866 | text = "Mean SNR2: ";
|
---|
867 | }
|
---|
868 | double mean = 0.0;
|
---|
869 | for (int ii = 0; ii < data->size(); ii++) {
|
---|
870 | const t_polarPoint* point = data->at(ii);
|
---|
871 | mean += point->_value;
|
---|
872 | }
|
---|
873 | mean /= data->size();
|
---|
874 | *_log << text << mean << endl;
|
---|
875 | }
|
---|
876 |
|
---|
877 | _log->flush();
|
---|
878 | }
|
---|