[feat] 增加RTCM双频信号强度
详细描述 # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
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@ -42,6 +42,23 @@ namespace Plane.FormationCreator.Formation
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// rtcm发送类型0:直接发送，
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// 1：1秒只发一种卫星，1秒发GPS,第2秒发北斗，第3秒发格洛纳斯，其他数据随来随发
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/*
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//F9P作为基站默认推荐的消息
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RTCM 1005 固定 RTK 参考站 ARP
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RTCM 1074 GPS MSM4
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RTCM 1084 格洛纳斯 MSM4
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RTCM 1094 伽利略 MSM4
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RTCM 1124 北⽃ MSM4
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RTCM 1230 GLONASS 码相偏差
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RTCM 3.3 校正流的配置必须遵循以下指导：
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• 所有观察消息必须以相同的速率⼴播。
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• RTCM 3.3 校正流必须包含GLONASS 码相偏差消息(RTCM 1230) 或接收器天线描述消息(RTCM 1033)，否则即使在RTK 固定模式下，GLONASS 模糊度也只能估计为浮动值。
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• 静态参考站消息（RTCM 1005 或 RTCM 1006）不需要以与观测消息相同的速率⼴播，但是，流动站在收到有效参考站消息之前将⽆法计算其位置。
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• 每个星座校正流应仅包含⼀种类型的观测消息。当使⽤多星座配置时，所有星座应使⽤相同类型的观测消息。混合 MSM4 和 MSM7 消息可能会导致多消息位设置不正确。
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• 如果接收器配置为在多个端⼝上输出RTCM 消息，则它们必须全部具有相同的RTCM 配置，否则，MSM 多消息位可能⽆法正确设置。
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*/
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private int _resendtocom = 1;
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const int MSG_GPS = 1074;
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const int MSG_GLONASS = 1084;
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@ -49,6 +66,7 @@ namespace Plane.FormationCreator.Formation
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const int MSG_BasePos = 1005;
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const int MSG_REV = 1033;
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const int MSG_GLONASS_PHASE = 1230;
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const int MSG_GALILEO = 1094;
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public string rtcm_typename(int msgtype)
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@ -57,16 +75,16 @@ namespace Plane.FormationCreator.Formation
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switch (msgtype)
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{
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case MSG_GPS:
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typename = "GPS";
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typename = "GPS(G)";
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break;
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case MSG_GLONASS:
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typename = "GLONASS";
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typename = "GLONASS(R)";
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break;
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case MSG_GLONASS_PHASE:
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typename = "GLONASS相位差";
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break;
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case MSG_Beidou:
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typename = "北斗";
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typename = "北斗(B)";
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break;
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//位置5秒发一次就可以了
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case MSG_BasePos:
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@ -75,6 +93,9 @@ namespace Plane.FormationCreator.Formation
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case MSG_REV: //这个没必要发
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typename = "版本";
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break;
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case MSG_GALILEO: //这个没必要发-移动端默认配置不收这个卫星
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typename = "伽利略(E)";
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break;
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}
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return typename;
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@ -259,6 +280,7 @@ namespace Plane.FormationCreator.Formation
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partRtcmInfos[i].Sys = obs[i].sys;
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partRtcmInfos[i].Prn = obs[i].prn;
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partRtcmInfos[i].Snr = obs[i].snr;
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partRtcmInfos[i].Snr2 = obs[i].snr2;
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}
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}
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@ -405,6 +427,8 @@ namespace Plane.FormationCreator.Formation
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DateTime unow = DateTime.UtcNow;
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long last_send_pos = CurrentTimeMillis()- 5000;//5秒发一次就可以了
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bool Ensend = false;
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bool second_sended = false; //当前秒是否已发
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int last_second = 0; //当前秒
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//新版本打包发送模式
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//await _commModuleManager.StartRtcmLoop();
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Plane.Windows.Messages.Message.Show("RTCM发送开始............");
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@ -462,6 +486,7 @@ namespace Plane.FormationCreator.Formation
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ubx_m8p.resetParser();
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nmea.resetParser();
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string msgshowname = rtcm_typename(seenmsg);
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//Plane.Windows.Messages.Message.Show("--收到[" + seenmsg + "]:"+ msgshowname+" ,长度:"+ rtcm.length);
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//广播数据直接发送不受小带宽数据选项影响
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if (_enrecom)
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{
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@ -489,6 +514,69 @@ namespace Plane.FormationCreator.Formation
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//1秒内可能发送多个同一种类型的数据，看数据大小和原始频率
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long curr_s = CurrentTimeMillis() / 1000;
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int sendtype = (int)(curr_s % 3);
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if (last_second!= sendtype) //新一秒
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{
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second_sended = false; //设置未发送
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last_second = sendtype; //设置秒数
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}
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//这些类型数据需要分秒发或者不发(MSG_REV)
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if ((seenmsg == MSG_GPS) ||
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//(seenmsg == MSG_GLONASS) ||
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//(seenmsg == MSG_GLONASS_PHASE) ||
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(seenmsg == MSG_Beidou) ||
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(seenmsg == MSG_BasePos)
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)
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{
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switch (sendtype)
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{
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case 0: //第1秒只发GPS
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if ((!second_sended) && (seenmsg == MSG_GPS))
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{
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second_sended = true;
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Ensend = true;
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// Plane.Windows.Messages.Message.Show("发送GPS:" + rtcm.length+"字节");
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}
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break;
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case 1://第2秒只发GLONASS，
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if ((!second_sended) && ((seenmsg == MSG_GLONASS)))// || (MSG_GPS == MSG_GLONASS_PHASE)))
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{
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second_sended = true;
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Ensend = true;
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// Plane.Windows.Messages.Message.Show("发送GLONASS:" + rtcm.length + "字节");
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}
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break;
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case 2://空白
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if ((!second_sended) && ((seenmsg == MSG_Beidou)))
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{
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second_sended = true;
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Ensend = true;
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//Plane.Windows.Messages.Message.Show("发送北斗:" + rtcm.length + "字节");
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}
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break;
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/*
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case 3://第4秒是 Beidou
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if ((!second_sended) && ((seenmsg == MSG_Beidou)))
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{
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second_sended = true;
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Ensend = true;
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//Plane.Windows.Messages.Message.Show("发送北斗:" + rtcm.length + "字节");
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}
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break;
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*/
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}
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if ((seenmsg == MSG_BasePos))////这些直接发
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{
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Ensend = true;
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//Plane.Windows.Messages.Message.Show("发送位置:" + rtcm.length + "字节");
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}
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}
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//else Ensend = true; ////其他类型数据不发
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/*
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switch (seenmsg)
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{
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case MSG_GPS:
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@ -523,6 +611,7 @@ namespace Plane.FormationCreator.Formation
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Ensend = true;
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break;
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}
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*/
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if (Ensend)
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{
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//Console.WriteLine(DateTime.UtcNow.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");
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@ -688,6 +777,7 @@ namespace Plane.FormationCreator.Formation
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private char sys;
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private byte prn;
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private byte snr;
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private byte snr2;
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public RtcmInfo()
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{
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@ -711,5 +801,10 @@ namespace Plane.FormationCreator.Formation
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get { return snr; }
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set { Set(nameof(Snr), ref snr, value); }
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}
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public byte Snr2
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{
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get { return snr2; }
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set { Set(nameof(Snr2), ref snr2, value); }
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}
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}
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}
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@ -1021,6 +1021,7 @@ namespace Plane.Util
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public byte prn;
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public rawrtcm raw = new rawrtcm();
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public byte snr;
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public byte snr2;
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public double tow;
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public int week;
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public char sys;
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@ -1208,6 +1209,7 @@ namespace Plane.Util
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{
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ob.pr2 = r[j] + pr[cellmaskused];
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ob.cp2 = (r[j] + cp[cellmaskused]);
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ob.snr2 = (byte)(cnr[cellmaskused]);
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}
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else if (sigs[k] >= 24 && sigs[k] <= 26)
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{
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@ -57,9 +57,22 @@
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<StackPanel Margin="5" Orientation="Horizontal">
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<TextBlock Text="消息： "/>
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<TextBlock Text="{Binding RtcmManager.Messages_seen}"
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/>
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<TextBlock Text="{Binding RtcmManager.Messages_seen}"/>
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</StackPanel>
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<StackPanel Margin="0" Orientation="Horizontal">
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<TextBlock Margin="5" Text="L1信号强度"/>
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<Rectangle Margin="0,0,15,0" Width="20" Height="20" Fill="#3EBE55"/>
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<TextBlock Margin="5" Text="L2信号强度"/>
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<Rectangle Margin="0,0,15,0" Width="20" Height="20" Fill="#ACACEC"/>
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<TextBlock Margin="5" Text="L1/L2重合"/>
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<Rectangle Margin="0,0,15,0" Width="20" Height="20" Fill="#04845C"/>
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</StackPanel>
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</StackPanel>
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@ -116,13 +129,28 @@
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Minimum="25"
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Maximum="55"
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Grid.RowSpan="2"
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Value="{Binding Snr, UpdateSourceTrigger=PropertyChanged}"/>
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<StackPanel Orientation ="Vertical" VerticalAlignment="Center" HorizontalAlignment="Center">
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Value="{Binding Snr, UpdateSourceTrigger=PropertyChanged}"
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/>
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<ProgressBar x:Name="BarSnr2"
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Margin="0.5"
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Orientation="Vertical"
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Minimum="25"
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Maximum="55"
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Grid.RowSpan="2"
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Foreground="Blue"
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Value="{Binding Snr2, UpdateSourceTrigger=PropertyChanged}"
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Opacity="0.25"
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/>
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<StackPanel Orientation ="Vertical" VerticalAlignment="Top" HorizontalAlignment="Center">
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<StackPanel Orientation ="Horizontal">
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<TextBlock Text="{Binding Sys,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
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<TextBlock Text="{Binding Prn,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
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</StackPanel>
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<TextBlock Margin="0,20,0,0" Text="{Binding Snr,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
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<TextBlock Margin="0,5,0,0" Text="{Binding Snr,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
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<TextBlock Margin="0,5,0,0" Text="{Binding Snr2,UpdateSourceTrigger=PropertyChanged}" Foreground="Blue" ></TextBlock>
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</StackPanel>
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<StackPanel Grid.Row="1" Orientation ="Vertical" HorizontalAlignment="Center">
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<Line Stroke="Red" X2="1000" StrokeThickness="3" />
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