source: ntrip/trunk/BNC/src/orbComp/sp3Comp.cpp@ 10888

Last change on this file since 10888 was 10888, checked in by stuerze, 4 days ago

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1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: t_sp3Comp
30 *
31 * Purpose: Compare SP3 Files
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Nov-2014
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include <iomanip>
43#include "sp3Comp.h"
44#include "bnccore.h"
45#include "bncsettings.h"
46#include "bncutils.h"
47#include "bncsp3.h"
48
49using namespace std;
50
51// Constructor
52////////////////////////////////////////////////////////////////////////////
53t_sp3Comp::t_sp3Comp(QObject* parent) : QThread(parent) {
54
55 bncSettings settings;
56 _sp3FileNames = settings.value("sp3CompFile").toString().split(QRegExp("[ ,]"), Qt::SkipEmptyParts);
57 for (int ii = 0; ii < _sp3FileNames.size(); ii++) {
58 expandEnvVar(_sp3FileNames[ii]);
59 }
60 _logFileName = settings.value("sp3CompOutLogFile").toString(); expandEnvVar(_logFileName);
61 _logFile = 0;
62 _log = 0;
63
64 _excludeSats = settings.value("sp3CompExclude").toString().split(QRegExp("[ ,]"), Qt::SkipEmptyParts);
65
66 _summaryOnly = (Qt::CheckState(settings.value("sp3CompSummaryOnly").toInt()) == Qt::Checked);
67}
68
69// Destructor
70////////////////////////////////////////////////////////////////////////////
71t_sp3Comp::~t_sp3Comp() {
72 delete _log;
73 delete _logFile;
74}
75
76//
77////////////////////////////////////////////////////////////////////////////
78void t_sp3Comp::run() {
79
80 // Open Log File
81 // -------------
82 _logFile = new QFile(_logFileName);
83 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
84 _log = new QTextStream();
85 _log->setDevice(_logFile);
86 }
87 if (!_log) {
88 *_log << "ERROR: SP3Comp requires logfile specification" << "\n";
89 goto exit;
90 }
91
92 for (int ii = 0; ii < _sp3FileNames.size(); ii++) {
93 *_log << "! SP3 File " << ii+1 << ": " << _sp3FileNames[ii] << "\n";
94 }
95 if (_sp3FileNames.size() != 2) {
96 *_log << "ERROR: sp3Comp requires two input SP3 files" << "\n";
97 goto end;
98 }
99
100 try {
101 ostringstream msg;
102 compare(msg);
103 *_log << msg.str().c_str();
104 }
105 catch (const string& error) {
106 *_log << "ERROR: " << error.c_str() << "\n";
107 }
108 catch (const char* error) {
109 *_log << "ERROR: " << error << "\n";
110 }
111 catch (Exception& exc) {
112 *_log << "ERROR: " << exc.what() << "\n";
113 }
114 catch (std::exception& exc) {
115 *_log << "ERROR: " << exc.what() << "\n";
116 }
117 catch (QString error) {
118 *_log << "ERROR: " << error << "\n";
119 }
120 catch (...) {
121 *_log << "ERROR: " << "unknown exception" << "\n";
122 }
123
124 // Exit (thread)
125 // -------------
126 end:
127 _log->flush();
128 exit:
129 // do nothing if no logfile available
130
131 if (BNC_CORE->mode() != t_bncCore::interactive) {
132 qApp->exit(7);
133 msleep(100); //sleep 0.1 sec
134 }
135 else {
136 emit finished();
137 deleteLater();
138 }
139}
140
141// Satellite Index in clkSats set
142////////////////////////////////////////////////////////////////////////////////
143int t_sp3Comp::satIndex(const set<t_prn>& clkSats, const t_prn& prn) const {
144 int ret = 0;
145 for (set<t_prn>::const_iterator it = clkSats.begin(); it != clkSats.end(); it++) {
146 if ( *it == prn) {
147 return ret;
148 }
149 ++ret;
150 }
151 return -1;
152}
153
154// Estimate Clock Offsets
155////////////////////////////////////////////////////////////////////////////////
156void t_sp3Comp::processClocks(const set<t_prn>& clkSats, const vector<t_epoch*>& epochsIn,
157 map<string, t_stat>& stat) const {
158
159 if (clkSats.size() == 0) {
160 return;
161 }
162
163 vector<t_epoch*> epochs;
164 for (unsigned ii = 0; ii < epochsIn.size(); ii++) {
165 unsigned numSatOK = 0;
166 std::map<t_prn, double>::const_iterator it;
167 for (it = epochsIn[ii]->_dc.begin(); it != epochsIn[ii]->_dc.end(); it++) {
168 if (satIndex(clkSats, it->first) != -1) {
169 numSatOK += 1;
170 }
171 }
172 if (numSatOK > 0) {
173 epochs.push_back(epochsIn[ii]);
174 }
175 }
176 if (epochs.size() == 0) {
177 return;
178 }
179
180 int nPar = epochs.size() + clkSats.size();
181 SymmetricMatrix NN(nPar); NN = 0.0;
182 ColumnVector bb(nPar); bb = 0.0;
183
184 // Create Matrix A'A and vector b
185 // ------------------------------
186 for (unsigned ie = 0; ie < epochs.size(); ie++) {
187 const map<t_prn, double>& dc = epochs[ie]->_dc;
188 Matrix AA(dc.size(), nPar); AA = 0.0;
189 ColumnVector ll(dc.size()); ll = 0.0;
190 map<t_prn, double>::const_iterator it;
191 int ii = -1;
192 for (it = dc.begin(); it != dc.end(); it++) {
193 const t_prn& prn = it->first;
194 if (satIndex(clkSats, prn) != -1) {
195 ++ii;
196 int index = epochs.size() + satIndex(clkSats, prn);
197 AA[ii][ie] = 1.0; // epoch-specfic offset (common for all satellites)
198 AA[ii][index] = 1.0; // satellite-specific offset (common for all epochs)
199 ll[ii] = it->second;
200 }
201 }
202 SymmetricMatrix dN; dN << AA.t() * AA;
203 NN += dN;
204 bb += AA.t() * ll;
205 }
206
207 // Regularize NN
208 // -------------
209 RowVector HH(nPar);
210 HH.columns(1, epochs.size()) = 0.0;
211 HH.columns(epochs.size()+1, nPar) = 1.0;
212 SymmetricMatrix dN; dN << HH.t() * HH;
213 NN += dN;
214
215 // Estimate Parameters
216 // -------------------
217 ColumnVector xx = NN.i() * bb;
218
219 // Compute clock residuals
220 // -----------------------
221 for (unsigned ie = 0; ie < epochs.size(); ie++) {
222 map<t_prn, double>& dc = epochs[ie]->_dc;
223 map<t_prn, double>& dcRed = epochs[ie]->_dcRed;
224 const map<t_prn, ColumnVector>& dr = epochs[ie]->_dr;
225 for (map<t_prn, double>::iterator it = dc.begin(); it != dc.end(); it++) {
226 const t_prn& prn = it->first;
227 stringstream all; all << prn.system();
228 (prn.system() == 'C' && prn.number() <= 16) ?
229 all << 98 : all << 99;
230 if (satIndex(clkSats, prn) != -1) {
231 int index = epochs.size() + satIndex(clkSats, prn);
232 dc[prn] = it->second - xx[ie] - xx[index];
233 stat[prn.toString()]._offset = xx[index];
234 if (dr.find(prn) != dr.end()){
235 dcRed[prn] = dc[prn] - dr.find(prn)->second[0]; // clock minus radial component
236 stat[prn.toString()]._dcRedMean += dcRed[prn];
237 stat[all.str() ]._dcRedMean += dcRed[prn];
238 stat[prn.toString()]._nc += 1;
239 stat[all.str() ]._nc += 1;
240 }
241 }
242 }
243 }
244
245 // Compute Clock Mean
246 // ------------------
247 for (map<string, t_stat>::iterator it = stat.begin(); it != stat.end(); it++) {
248 t_stat& stat = it->second;
249 if (stat._nc > 0) {
250 stat._dcRedMean = stat._dcRedMean / stat._nc;
251 }
252 }
253}
254
255// Main Routine
256////////////////////////////////////////////////////////////////////////////////
257void t_sp3Comp::compare(ostringstream& out) const {
258
259 // Synchronize reading of two sp3 files
260 // ------------------------------------
261 bncSP3 in1(_sp3FileNames[0]); in1.nextEpoch();
262 bncSP3 in2(_sp3FileNames[1]); in2.nextEpoch();
263
264 vector<t_epoch*> epochs;
265 while (in1.currEpoch() && in2.currEpoch()) {
266 bncTime t1 = in1.currEpoch()->_tt;
267 bncTime t2 = in2.currEpoch()->_tt;
268 if (t1 < t2) {
269 in1.nextEpoch();
270 }
271 else if (t1 > t2) {
272 in2.nextEpoch();
273 }
274 else if (t1 == t2) {
275 t_epoch* epo = new t_epoch; epo->_tt = t1;
276 bool epochOK = false;
277 for (int i1 = 0; i1 < in1.currEpoch()->_sp3Sat.size(); i1++) {
278 bncSP3::t_sp3Sat* sat1 = in1.currEpoch()->_sp3Sat[i1];
279 for (int i2 = 0; i2 < in2.currEpoch()->_sp3Sat.size(); i2++) {
280 bncSP3::t_sp3Sat* sat2 = in2.currEpoch()->_sp3Sat[i2];
281 if (sat1->_prn == sat2->_prn &&
282 sat1->_clkValid && sat2->_clkValid) {
283 epochOK = true;
284 epo->_dr[sat1->_prn] = sat1->_xyz - sat2->_xyz;
285 epo->_xyz[sat1->_prn] = sat1->_xyz;
286 epo->_dc[sat1->_prn] = sat1->_clk - sat2->_clk;
287 }
288 }
289 }
290 if (epochOK) {
291 epochs.push_back(epo);
292 }
293 else {
294 delete epo;
295 }
296 in1.nextEpoch();
297 in2.nextEpoch();
298 }
299 }
300
301 // Transform xyz into radial, along-track, and out-of-plane
302 // --------------------------------------------------------
303 if (epochs.size() < 2) {
304 throw "t_sp3Comp: not enough common epochs";
305 }
306
307 set<t_prn> clkSatsAll;
308
309 for (unsigned ie = 0; ie < epochs.size(); ie++) {
310 t_epoch* epoch = epochs[ie];
311 t_epoch* epoch2 = 0;
312 if (ie == 0) {
313 epoch2 = epochs[ie+1];
314 }
315 else {
316 epoch2 = epochs[ie-1];
317 }
318 double dt = epoch->_tt - epoch2->_tt;
319 map<t_prn, ColumnVector>& dr = epoch->_dr;
320 map<t_prn, ColumnVector>& xyz = epoch->_xyz;
321 map<t_prn, ColumnVector>& xyz2 = epoch2->_xyz;
322 QList<t_prn> satEraseList;
323 for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
324 const t_prn& prn = it->first;
325 if (xyz2.find(prn) != xyz2.end()) {
326 const ColumnVector dx = dr[prn];
327 const ColumnVector& x1 = xyz[prn];
328 const ColumnVector& x2 = xyz2[prn];
329 ColumnVector vel = (x1 - x2) / dt;
330 XYZ_to_RSW(x1, vel, dx, dr[prn]);
331 if (epoch->_dc.find(prn) != epoch->_dc.end()) {
332 clkSatsAll.insert(prn);
333 }
334 }
335 else {
336 satEraseList << it->first;
337 }
338 }
339 for (QList<t_prn>::const_iterator it = satEraseList.begin(); it != satEraseList.end(); it++) {
340 epoch->_dc.erase(*it);
341 epoch->_dr.erase(*it);
342 }
343 }
344
345 map<string, t_stat> stat;
346
347 // Estimate Clock Offsets
348 // ----------------------
349 string systems;
350 for (set<t_prn>::const_iterator it = clkSatsAll.begin(); it != clkSatsAll.end(); it++) {
351 if (systems.find(it->system()) == string::npos) {
352 systems += it->system();
353 }
354 }
355 for (unsigned iSys = 0; iSys < systems.size(); iSys++) {
356 char system = systems[iSys];
357 set<t_prn> clkSats;
358 for (set<t_prn>::const_iterator it = clkSatsAll.begin(); it != clkSatsAll.end(); it++) {
359 if (it->system() == system && !excludeSat(*it)) {
360 clkSats.insert(*it);
361 }
362 }
363 processClocks(clkSats, epochs, stat);
364 }
365
366 // Print epoch-wise Clock Residuals
367 // --------------------------------
368 out.setf(ios::fixed);
369 if (!_summaryOnly) {
370 out << "!\n! Clock residuals and orbit differences in [m]\n"
371 "! ----------------------------------------------------------------------------\n";
372 out << "!\n! Epoch PRN radial along out clk clkRed iPRN"
373 "\n! ----------------------------------------------------------------------------\n";
374 }
375 for (unsigned ii = 0; ii < epochs.size(); ii++) {
376 const t_epoch* epo = epochs[ii];
377 const map<t_prn, ColumnVector>& dr = epochs[ii]->_dr;
378 const map<t_prn, double>& dc = epochs[ii]->_dc;
379 const map<t_prn, double>& dcRed = epochs[ii]->_dcRed;
380 for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
381 const t_prn& prn = it->first;
382 stringstream all; all << prn.system();
383 (prn.system() == 'C' && prn.number() <= 16) ?
384 all << 98 : all << 99;
385 if (!excludeSat(prn)) {
386 const ColumnVector& rao = it->second;
387 if (!_summaryOnly) {
388 out << setprecision(6) << string(epo->_tt) << ' ' << prn.toString() << ' '
389 << setw(7) << setprecision(4) << rao[0] << ' '
390 << setw(7) << setprecision(4) << rao[1] << ' '
391 << setw(7) << setprecision(4) << rao[2] << " ";
392 }
393 stat[prn.toString()]._rao += SP(rao, rao); // Schur product
394 stat[all.str() ]._rao += SP(rao, rao);
395 stat[prn.toString()]._nr += 1;
396 stat[all.str() ]._nr += 1;
397 if (dc.find(prn) != dc.end() && dcRed.find(prn) != dc.end()) {
398 double clkRes = dc.find(prn)->second;
399 double clkResRed = dcRed.find(prn)->second;
400 if (!_summaryOnly) {
401 out << setw(7) << setprecision(4) << clkRes << ' '
402 << setw(7) << setprecision(4) << clkResRed;
403 }
404 stat[prn.toString()]._dcRMS += clkRes * clkRes;
405 stat[all.str() ]._dcRMS += clkRes * clkRes;
406 stat[prn.toString()]._dcRedRMS += clkResRed * clkResRed;
407 stat[all.str() ]._dcRedRMS += clkResRed * clkResRed;
408 stat[prn.toString()]._dcRedSig += (clkResRed - stat[prn.toString()]._dcRedMean) *
409 (clkResRed - stat[prn.toString()]._dcRedMean);
410 stat[all.str() ]._dcRedSig += (clkResRed - stat[all.str() ]._dcRedMean) *
411 (clkResRed - stat[all.str() ]._dcRedMean);
412 }
413 else {
414 if (!_summaryOnly) {
415 out << " . . ";
416 }
417 }
418 if (!_summaryOnly) {
419 out << " " << setw(2) << int(prn) << "\n";
420 }
421 }
422 }
423 delete epo;
424 }
425
426 // Print Summary
427 // -------------
428 out << "!\n! Summary";
429 out << "\n! -----------------------------------------------------------------------------------------------------------------\n";
430 out << "!\n! PRN radialRMS alongRMS outRMS 3DRMS nOrb clkRMS clkRedRMS clkRedSig nClk Offset "
431 "\n! [mm] [mm] [mm] [mm] [-] [ns] [ns] [ns] [-] [ns] "
432 "\n! -----------------------------------------------------------------------------------------------------------------\n";
433 for (map<string, t_stat>::iterator it = stat.begin(); it != stat.end(); it++) {
434 const string& prn = it->first;
435 t_stat& stat = it->second;
436 char sys = prn[0];
437 int num = stoi(prn.substr(1,2));
438 stringstream all; all << sys;
439 if (num >= 98) {
440 all << num;
441 }
442 else {
443 if (sys == 'C' && num <= 16) {
444 all << 98;
445 }
446 else {
447 all << 99;
448 }
449 }
450
451 if (stat._nr > 0) {
452 stat._rao[0] = sqrt(stat._rao[0] / stat._nr);
453 stat._rao[1] = sqrt(stat._rao[1] / stat._nr);
454 stat._rao[2] = sqrt(stat._rao[2] / stat._nr);
455 stat._rao3DRMS = stat._rao.NormFrobenius();
456 // orbit values in millimeter
457 if (prn != all.str()) {
458 (_summaryOnly) ? out << " " << prn << ' ':
459 out << "! " << prn << ' ';
460 }
461 else {
462 QString sys;
463 if (all.str() == "C98") {
464 sys = "C-2";
465 }
466 if (all.str() == "C99") {
467 sys = "C-3";
468 }
469 if (all.str()[0] != 'C') {
470 sys = all.str()[0];
471 }
472 (_summaryOnly) ? out << " " << QString("%1").arg(sys,3,' ').toStdString().c_str() << " ":
473 out << "! " << QString("%1").arg(sys,3,' ').toStdString().c_str() << " ";
474 }
475 out << setw(10) << setprecision(1) << stat._rao[0] * 1e3 << ' '
476 << setw(10) << setprecision(1) << stat._rao[1] * 1e3 << ' '
477 << setw(10) << setprecision(1) << stat._rao[2] * 1e3 << ' '
478 << setw(10) << setprecision(1) << stat._rao3DRMS * 1e3 << ' '
479 << setw( 7) << stat._nr << " ";
480 // clock values in nano seconds
481 if (stat._nc > 0) {
482 stat._dcRMS = sqrt(stat._dcRMS / stat._nc);
483 stat._dcRedRMS = sqrt(stat._dcRedRMS / stat._nc);
484 stat._dcRedSig = sqrt(stat._dcRedSig / stat._nc);
485 out << setw(10) << setprecision(2) << stat._dcRMS / t_CST::c * 1e9 << ' '
486 << setw(10) << setprecision(2) << stat._dcRedRMS / t_CST::c * 1e9 << ' '
487 << setw(10) << setprecision(2) << stat._dcRedSig / t_CST::c * 1e9 << ' '
488 << setw( 9) << stat._nc << " ";
489 if (prn != "G99" && prn != "R99" && prn != "E99" && prn != "C98" && prn != "C99") {
490 out << setw( 9) << setprecision(2) << stat._offset / t_CST::c * 1e9;
491 }
492 }
493 out << "\n";
494 }
495 }
496}
497
498//
499////////////////////////////////////////////////////////////////////////////
500bool t_sp3Comp::excludeSat(const t_prn& prn) const {
501 QStringListIterator it(_excludeSats);
502 while (it.hasNext()) {
503 string prnStr = it.next().toLatin1().data();
504 if (prnStr == prn.toString() || // prn
505 prnStr == prn.toString().substr(0,1)) { // sys
506 return true;
507 }
508 }
509 return false;
510}
511
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