source: ntrip/branches/BNC_2.12/src/rinex/reqcanalyze.cpp@ 9322

Last change on this file since 9322 was 8541, checked in by stuerze, 6 years ago

minor changes to consider a satellite clock drift that is introduced via RTNET format
File size: 36.1 KB
Line 
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_reqcAnalyze
30 *
31 * Purpose: Analyze RINEX Files
32 *
33 * Author: L. Mervart
34 *
35 * Created: 11-Apr-2012
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include <iomanip>
43#include <qwt_plot_renderer.h>
44
45#include "reqcanalyze.h"
46#include "bnccore.h"
47#include "bncsettings.h"
48#include "reqcedit.h"
49#include "bncutils.h"
50#include "graphwin.h"
51#include "polarplot.h"
52#include "availplot.h"
53#include "eleplot.h"
54#include "dopplot.h"
55#include "bncephuser.h"
56
57using namespace std;
58
59// Constructor
60////////////////////////////////////////////////////////////////////////////
61t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
62
63 bncSettings settings;
64
65 _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
66 _logFile = 0;
67 _log = 0;
68 _currEpo = 0;
69 _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
70 _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
71 _reqcPlotSignals = settings.value("reqcSkyPlotSignals").toString();
72 _defaultSignalTypes << "G:1&2" << "R:1&2" << "J:1&2" << "E:1&5" << "S:1&5" << "C:2&7" << "I:5&9";
73 if (_reqcPlotSignals.isEmpty()) {
74 _reqcPlotSignals = _defaultSignalTypes.join(" ");
75 }
76 analyzePlotSignals(_signalTypes);
77
78 connect(this, SIGNAL(dspSkyPlot(const QString&, const QString&, QVector<t_polarPoint*>*,
79 const QString&, QVector<t_polarPoint*>*,
80 const QByteArray&, double)),
81 this, SLOT(slotDspSkyPlot(const QString&, const QString&, QVector<t_polarPoint*>*,
82 const QString&, QVector<t_polarPoint*>*,
83 const QByteArray&, double)));
84
85 connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
86 this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
87}
88
89// Destructor
90////////////////////////////////////////////////////////////////////////////
91t_reqcAnalyze::~t_reqcAnalyze() {
92 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
93 delete _rnxObsFiles[ii];
94 }
95 for (int ii = 0; ii < _ephs.size(); ii++) {
96 delete _ephs[ii];
97 }
98 delete _log; _log = 0;
99 delete _logFile; _logFile = 0;
100 if (BNC_CORE->mode() != t_bncCore::interactive) {
101 qApp->exit(0);
102 msleep(100); //sleep 0.1 sec
103 }
104}
105
106//
107////////////////////////////////////////////////////////////////////////////
108void t_reqcAnalyze::run() {
109
110 static const double QC_FORMAT_VERSION = 1.1;
111
112 // Open Log File
113 // -------------
114 if (!_logFileName.isEmpty()) {
115 _logFile = new QFile(_logFileName);
116 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
117 _log = new QTextStream();
118 _log->setDevice(_logFile);
119 }
120 }
121
122 if (_log) {
123 *_log << "QC Format Version : " << QString("%1").arg(QC_FORMAT_VERSION,3,'f',1) << endl << endl;
124 }
125
126 // Check Ephemerides
127 // -----------------
128 checkEphemerides();
129
130 // Initialize RINEX Observation Files
131 // ----------------------------------
132 t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
133
134 // Read Ephemerides
135 // ----------------
136 t_reqcEdit::readEphemerides(_navFileNames, _ephs);
137
138 // Loop over all RINEX Files
139 // -------------------------
140 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
141 analyzeFile(_rnxObsFiles[ii]);
142 }
143
144 // Exit
145 // ----
146 emit finished();
147 deleteLater();
148}
149
150//
151////////////////////////////////////////////////////////////////////////////
152void t_reqcAnalyze::analyzePlotSignals(QMap<char, QVector<QString> >& signalTypes) {
153
154 QStringList signalsOpt = _reqcPlotSignals.split(" ", QString::SkipEmptyParts);
155
156 for (int ii = 0; ii < signalsOpt.size(); ii++) {
157 QStringList input = signalsOpt.at(ii).split(QRegExp("[:&]"), QString::SkipEmptyParts);
158 if (input.size() > 1 && input[0].length() == 1) {
159 char system = input[0].toAscii().constData()[0];
160 QStringList sysValid = _defaultSignalTypes.filter(QString(system));
161 QStringList defaultSignals = sysValid.at(0).split(QRegExp("[:&]"));
162 if (sysValid.isEmpty()) {continue;}
163 if (input[1][0].isDigit()) {
164 signalTypes[system].append(input[1]);
165 }
166 else {
167 signalTypes[system].append(defaultSignals[1]);
168 }
169 if (input.size() > 2) {
170 if (input[2][0].isDigit()) {
171 signalTypes[system].append(input[2]);
172 }
173 else {
174 signalTypes[system].append(defaultSignals[2]);
175 }
176 } else {
177 signalTypes[system].append(defaultSignals[2]);
178 if (signalTypes[system][0] == signalTypes[system][1]) {
179 signalTypes[system][0] = defaultSignals[1];
180 }
181 }
182 }
183 }
184}
185
186//
187////////////////////////////////////////////////////////////////////////////
188void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
189
190 _qcFile.clear();
191
192 // A priori Coordinates
193 // --------------------
194 ColumnVector xyzSta = obsFile->xyz();
195
196 // Loop over all Epochs
197 // --------------------
198 try {
199 QMap<QString, bncTime> lastObsTime;
200 bool firstEpo = true;
201 while ( (_currEpo = obsFile->nextEpoch()) != 0) {
202 if (firstEpo) {
203 firstEpo = false;
204 _qcFile._startTime = _currEpo->tt;
205 _qcFile._antennaName = obsFile->antennaName();
206 _qcFile._markerName = obsFile->markerName();
207 _qcFile._receiverType = obsFile->receiverType();
208 _qcFile._interval = obsFile->interval();
209 }
210 _qcFile._endTime = _currEpo->tt;
211
212 t_qcEpo qcEpo;
213 qcEpo._epoTime = _currEpo->tt;
214 qcEpo._PDOP = cmpDOP(xyzSta);
215
216 // Loop over all satellites
217 // ------------------------
218 for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
219 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
220 if (_navFileNames.size() &&
221 _numExpObs.find(rnxSat.prn) == _numExpObs.end()) {
222 _numExpObs[rnxSat.prn] = 0;
223 }
224 if (_signalTypes.find(rnxSat.prn.system()) == _signalTypes.end()) {
225 continue;
226 }
227 t_satObs satObs;
228 t_rnxObsFile::setObsFromRnx(obsFile, _currEpo, rnxSat, satObs);
229 t_qcSat& qcSat = qcEpo._qcSat[satObs._prn];
230 setQcObs(qcEpo._epoTime, xyzSta, satObs, lastObsTime, qcSat);
231 updateQcSat(qcSat, _qcFile._qcSatSum[satObs._prn]);
232 }
233 _qcFile._qcEpo.push_back(qcEpo);
234 }
235
236 analyzeMultipath();
237
238 if (_navFileNames.size()) {
239 setExpectedObs(_qcFile._startTime, _qcFile._endTime, _qcFile._interval, xyzSta);
240 }
241
242 preparePlotData(obsFile);
243
244 printReport(obsFile);
245 }
246 catch (QString str) {
247 if (_log) {
248 *_log << "Exception " << str << endl;
249 }
250 else {
251 qDebug() << str;
252 }
253 }
254}
255
256// Compute Dilution of Precision
257////////////////////////////////////////////////////////////////////////////
258double t_reqcAnalyze::cmpDOP(const ColumnVector& xyzSta) const {
259
260 if ( xyzSta.size() != 3 || (xyzSta[0] == 0.0 && xyzSta[1] == 0.0 && xyzSta[2] == 0.0) ) {
261 return 0.0;
262 }
263
264 unsigned nSat = _currEpo->rnxSat.size();
265
266 if (nSat < 4) {
267 return 0.0;
268 }
269
270 Matrix AA(nSat, 4);
271
272 unsigned nSatUsed = 0;
273 for (unsigned iSat = 0; iSat < nSat; iSat++) {
274
275 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iSat];
276 const t_prn& prn = rnxSat.prn;
277
278 if (_signalTypes.find(prn.system()) == _signalTypes.end()) {
279 continue;
280 }
281
282 t_eph* eph = 0;
283 for (int ie = 0; ie < _ephs.size(); ie++) {
284 if (_ephs[ie]->prn() == prn) {
285 eph = _ephs[ie];
286 break;
287 }
288 }
289 if (eph) {
290 ColumnVector xSat(6);
291 ColumnVector vv(3);
292 if (eph->getCrd(_currEpo->tt, xSat, vv, false) == success) {
293 ++nSatUsed;
294 ColumnVector dx = xSat.Rows(1,3) - xyzSta;
295 double rho = dx.norm_Frobenius();
296 AA(nSatUsed,1) = dx(1) / rho;
297 AA(nSatUsed,2) = dx(2) / rho;
298 AA(nSatUsed,3) = dx(3) / rho;
299 AA(nSatUsed,4) = 1.0;
300 }
301 }
302 }
303
304 if (nSatUsed < 4) {
305 return 0.0;
306 }
307
308 AA = AA.Rows(1, nSatUsed);
309
310 SymmetricMatrix QQ;
311 QQ << AA.t() * AA;
312 QQ = QQ.i();
313
314 return sqrt(QQ.trace());
315}
316
317//
318////////////////////////////////////////////////////////////////////////////
319void t_reqcAnalyze::updateQcSat(const t_qcSat& qcSat, t_qcSatSum& qcSatSum) {
320
321 for (int ii = 0; ii < qcSat._qcFrq.size(); ii++) {
322 const t_qcFrq& qcFrq = qcSat._qcFrq[ii];
323 t_qcFrqSum& qcFrqSum = qcSatSum._qcFrqSum[qcFrq._rnxType2ch];
324 qcFrqSum._numObs += 1;
325 if (qcFrq._slip) {
326 qcFrqSum._numSlipsFlagged += 1;
327 }
328 if (qcFrq._gap) {
329 qcFrqSum._numGaps += 1;
330 }
331 if (qcFrq._SNR > 0.0) {
332 qcFrqSum._numSNR += 1;
333 qcFrqSum._sumSNR += qcFrq._SNR;
334 }
335 }
336}
337
338//
339////////////////////////////////////////////////////////////////////////////
340void t_reqcAnalyze::setQcObs(const bncTime& epoTime, const ColumnVector& xyzSta,
341 const t_satObs& satObs, QMap<QString, bncTime>& lastObsTime,
342 t_qcSat& qcSat) {
343
344 t_eph* eph = 0;
345 for (int ie = 0; ie < _ephs.size(); ie++) {
346 if (_ephs[ie]->prn().system() == satObs._prn.system() &&
347 _ephs[ie]->prn().number() == satObs._prn.number()) {
348 eph = _ephs[ie];
349 break;
350 }
351 }
352 if (eph) {
353 ColumnVector xc(6);
354 ColumnVector vv(3);
355 if ( xyzSta.size() == 3 && (xyzSta[0] != 0.0 || xyzSta[1] != 0.0 || xyzSta[2] != 0.0) &&
356 eph->getCrd(epoTime, xc, vv, false) == success) {
357 double rho, eleSat, azSat;
358 topos(xyzSta(1), xyzSta(2), xyzSta(3), xc(1), xc(2), xc(3), rho, eleSat, azSat);
359 qcSat._eleSet = true;
360 qcSat._azDeg = azSat * 180.0/M_PI;
361 qcSat._eleDeg = eleSat * 180.0/M_PI;
362 }
363 if (satObs._prn.system() == 'R') {
364 qcSat._slotSet = true;
365 qcSat._slotNum = eph->slotNum();
366 }
367 }
368
369 // Availability and Slip Flags
370 // ---------------------------
371 for (unsigned ii = 0; ii < satObs._obs.size(); ii++) {
372 const t_frqObs* frqObs = satObs._obs[ii];
373
374 qcSat._qcFrq.push_back(t_qcFrq());
375 t_qcFrq& qcFrq = qcSat._qcFrq.back();
376
377 qcFrq._rnxType2ch = QString(frqObs->_rnxType2ch.c_str());
378 qcFrq._SNR = frqObs->_snr;
379 qcFrq._slip = frqObs->_slip;
380 qcFrq._phaseValid = frqObs->_phaseValid;
381 qcFrq._codeValid = frqObs->_codeValid;
382 // Check Gaps
383 // ----------
384 QString key = QString(satObs._prn.toString().c_str()) + qcFrq._rnxType2ch;
385 if (lastObsTime[key].valid()) {
386 double dt = epoTime - lastObsTime[key];
387 if (dt > 1.5 * _qcFile._interval) {
388 qcFrq._gap = true;
389 }
390 }
391 lastObsTime[key] = epoTime;
392
393 // Compute the Multipath Linear Combination
394 // ----------------------------------------
395 if (frqObs->_codeValid) {
396 t_frequency::type fA = t_frequency::dummy;
397 t_frequency::type fB = t_frequency::dummy;
398 char sys = satObs._prn.system();
399 std::string frqType1, frqType2;
400 if (_signalTypes.find(sys) != _signalTypes.end()) {
401 frqType1.push_back(sys);
402 frqType1.push_back(_signalTypes[sys][0][0].toAscii());
403 frqType2.push_back(sys);
404 frqType2.push_back(_signalTypes[sys][1][0].toAscii());
405 if (frqObs->_rnxType2ch[0] == frqType1[1]) {
406 fA = t_frequency::toInt(frqType1);
407 fB = t_frequency::toInt(frqType2);
408 }
409 else if (frqObs->_rnxType2ch[0] == frqType2[1]) {
410 fA = t_frequency::toInt(frqType2);
411 fB = t_frequency::toInt(frqType1);
412 }
413 }
414 if (fA != t_frequency::dummy && fB != t_frequency::dummy) {
415 double f_a = t_CST::freq(fA, qcSat._slotNum);
416 double f_b = t_CST::freq(fB, qcSat._slotNum);
417 double C_a = frqObs->_code;
418
419 bool foundA = false;
420 double L_a = 0.0;
421 bool foundB = false;
422 double L_b = 0.0;
423 for (unsigned jj = 0; jj < satObs._obs.size(); jj++) {
424 const t_frqObs* frqObsHlp = satObs._obs[jj];
425 if (frqObsHlp->_rnxType2ch[0] == t_frequency::toString(fA)[1] &&
426 frqObsHlp->_phaseValid) {
427 foundA = true;
428 L_a = frqObsHlp->_phase * t_CST::c / f_a;
429 }
430 else if (frqObsHlp->_rnxType2ch[0] == t_frequency::toString(fB)[1] &&
431 frqObsHlp->_phaseValid) {
432 foundB = true;
433 L_b = frqObsHlp->_phase * t_CST::c / f_b;
434 }
435 }
436 if (foundA && foundB) {
437 qcFrq._setMP = true;
438 qcFrq._rawMP = C_a - L_a - 2.0*f_b*f_b/(f_a*f_a-f_b*f_b) * (L_a - L_b);
439 }
440 }
441 }
442 } // satObs loop
443}
444
445//
446////////////////////////////////////////////////////////////////////////////
447void t_reqcAnalyze::analyzeMultipath() {
448
449 const double SLIPTRESH = 10.0; // cycle-slip threshold (meters)
450 const double chunkStep = 600.0; // 10 minutes
451
452 // Loop over all satellites available
453 // ----------------------------------
454 QMutableMapIterator<t_prn, t_qcSatSum> itSat(_qcFile._qcSatSum);
455 while (itSat.hasNext()) {
456 itSat.next();
457 const t_prn& prn = itSat.key();
458 t_qcSatSum& qcSatSum = itSat.value();
459
460 // Loop over all frequencies available
461 // -----------------------------------
462 QMutableMapIterator<QString, t_qcFrqSum> itFrq(qcSatSum._qcFrqSum);
463 while (itFrq.hasNext()) {
464 itFrq.next();
465 const QString& frqType = itFrq.key();
466 t_qcFrqSum& qcFrqSum = itFrq.value();
467
468 // Loop over all Chunks of Data
469 // ----------------------------
470 for (bncTime chunkStart = _qcFile._startTime;
471 chunkStart < _qcFile._endTime; chunkStart += chunkStep) {
472
473 bncTime chunkEnd = chunkStart + chunkStep;
474
475 QVector<t_qcFrq*> frqVec;
476 QVector<double> MP;
477
478 // Loop over all Epochs within one Chunk of Data
479 // ---------------------------------------------
480 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
481 t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
482 if (chunkStart <= qcEpo._epoTime && qcEpo._epoTime < chunkEnd) {
483 if (qcEpo._qcSat.contains(prn)) {
484 t_qcSat& qcSat = qcEpo._qcSat[prn];
485 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
486 t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
487 if (qcFrq._rnxType2ch == frqType) {
488 frqVec << &qcFrq;
489 if (qcFrq._setMP) {
490 MP << qcFrq._rawMP;
491 }
492 }
493 }
494 }
495 }
496 }
497
498 // Compute the multipath mean and standard deviation
499 // -------------------------------------------------
500 if (MP.size() > 1) {
501 double meanMP = 0.0;
502 for (int ii = 0; ii < MP.size(); ii++) {
503 meanMP += MP[ii];
504 }
505 meanMP /= MP.size();
506
507 bool slipMP = false;
508
509 double stdMP = 0.0;
510 for (int ii = 0; ii < MP.size(); ii++) {
511 double diff = MP[ii] - meanMP;
512 if (fabs(diff) > SLIPTRESH) {
513 slipMP = true;
514 break;
515 }
516 stdMP += diff * diff;
517 }
518
519 if (slipMP) {
520 stdMP = 0.0;
521 stdMP = 0.0;
522 qcFrqSum._numSlipsFound += 1;
523 }
524 else {
525 stdMP = sqrt(stdMP / (MP.size()-1));
526 qcFrqSum._numMP += 1;
527 qcFrqSum._sumMP += stdMP;
528 }
529
530 for (int ii = 0; ii < frqVec.size(); ii++) {
531 t_qcFrq* qcFrq = frqVec[ii];
532 if (slipMP) {
533 qcFrq->_slip = true;
534 }
535 else {
536 qcFrq->_stdMP = stdMP;
537 }
538 }
539 }
540 } // chunk loop
541 } // frq loop
542 } // sat loop
543}
544
545//
546////////////////////////////////////////////////////////////////////////////
547void t_reqcAnalyze::preparePlotData(const t_rnxObsFile* obsFile) {
548
549 QString mp1Title = "Multipath\n";
550 QString mp2Title = "Multipath\n";
551 QString sn1Title = "Signal-to-Noise Ratio\n";
552 QString sn2Title = "Signal-to-Noise Ratio\n";
553
554 for(QMap<char, QVector<QString> >::iterator it = _signalTypes.begin();
555 it != _signalTypes.end(); it++) {
556 mp1Title += QString(it.key()) + ":" + it.value()[0] + " ";
557 sn1Title += QString(it.key()) + ":" + it.value()[0] + " ";
558 mp2Title += QString(it.key()) + ":" + it.value()[1] + " ";
559 sn2Title += QString(it.key()) + ":" + it.value()[1] + " ";
560 }
561
562 QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
563 QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
564 QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
565 QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
566
567 // Loop over all observations
568 // --------------------------
569 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
570 t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
571 QMapIterator<t_prn, t_qcSat> it(qcEpo._qcSat);
572 while (it.hasNext()) {
573 it.next();
574 const t_prn& prn = it.key();
575 const t_qcSat& qcSat = it.value();
576 if (qcSat._eleSet) {
577
578 QString frqType[2];
579
580 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
581 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
582
583 for (int ii = 0; ii < 2; ii++) {
584 if (frqType[ii].isEmpty()) {
585 QMapIterator<char, QVector<QString> > it(_signalTypes);
586 while (it.hasNext()) {
587 it.next();
588 if (it.key() == prn.system()) {
589 if (it.value()[ii] == qcFrq._rnxType2ch || it.value()[ii] == qcFrq._rnxType2ch.left(1)) {
590 frqType[ii] = qcFrq._rnxType2ch;
591 break;
592 }
593 }
594 }
595 }
596 }
597 if (qcFrq._rnxType2ch == frqType[0]) {
598 (*dataSNR1) << (new t_polarPoint(qcSat._azDeg, 90.0 - qcSat._eleDeg, qcFrq._SNR));
599 (*dataMP1) << (new t_polarPoint(qcSat._azDeg, 90.0 - qcSat._eleDeg, qcFrq._stdMP));
600 }
601 else if (qcFrq._rnxType2ch == frqType[1]) {
602 (*dataSNR2) << (new t_polarPoint(qcSat._azDeg, 90.0 - qcSat._eleDeg, qcFrq._SNR));
603 (*dataMP2) << (new t_polarPoint(qcSat._azDeg, 90.0 - qcSat._eleDeg, qcFrq._stdMP));
604 }
605 }
606 }
607 }
608 }
609
610 // Show the plots
611 // --------------
612 if (BNC_CORE->GUIenabled()) {
613 QFileInfo fileInfo(obsFile->fileName());
614 QByteArray title = fileInfo.fileName().toAscii();
615 emit dspSkyPlot(obsFile->fileName(), mp1Title, dataMP1, mp2Title, dataMP2, "Meters", 2.0);
616 emit dspSkyPlot(obsFile->fileName(), sn1Title, dataSNR1, sn2Title, dataSNR2, "dbHz", 54.0);
617 emit dspAvailPlot(obsFile->fileName(), title);
618 }
619 else {
620 for (int ii = 0; ii < dataMP1->size(); ii++) {
621 delete dataMP1->at(ii);
622 }
623 delete dataMP1;
624 for (int ii = 0; ii < dataMP2->size(); ii++) {
625 delete dataMP2->at(ii);
626 }
627 delete dataMP2;
628 for (int ii = 0; ii < dataSNR1->size(); ii++) {
629 delete dataSNR1->at(ii);
630 }
631 delete dataSNR1;
632 for (int ii = 0; ii < dataSNR2->size(); ii++) {
633 delete dataSNR2->at(ii);
634 }
635 delete dataSNR2;
636 }
637}
638
639//
640////////////////////////////////////////////////////////////////////////////
641void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName, const QString& title1,
642 QVector<t_polarPoint*>* data1, const QString& title2,
643 QVector<t_polarPoint*>* data2, const QByteArray& scaleTitle,
644 double maxValue) {
645
646 if (BNC_CORE->GUIenabled()) {
647
648 if (maxValue == 0.0) {
649 if (data1) {
650 for (int ii = 0; ii < data1->size(); ii++) {
651 double val = data1->at(ii)->_value;
652 if (maxValue < val) {
653 maxValue = val;
654 }
655 }
656 }
657 if (data2) {
658 for (int ii = 0; ii < data2->size(); ii++) {
659 double val = data2->at(ii)->_value;
660 if (maxValue < val) {
661 maxValue = val;
662 }
663 }
664 }
665 }
666
667 QwtInterval scaleInterval(0.0, maxValue);
668
669 QVector<QWidget*> plots;
670 if (data1) {
671 QwtText title(title1);
672 QFont font = title.font(); font.setPointSize(font.pointSize()-1); title.setFont(font);
673 t_polarPlot* plot1 = new t_polarPlot(title, scaleInterval, BNC_CORE->mainWindow());
674 plot1->addCurve(data1);
675 plots << plot1;
676 }
677 if (data2) {
678 QwtText title(title2);
679 QFont font = title.font(); font.setPointSize(font.pointSize()-1); title.setFont(font);
680 t_polarPlot* plot2 = new t_polarPlot(title, scaleInterval, BNC_CORE->mainWindow());
681 plot2->addCurve(data2);
682 plots << plot2;
683 }
684
685 t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
686 &scaleTitle, &scaleInterval);
687
688 graphWin->show();
689
690 bncSettings settings;
691 QString dirName = settings.value("reqcPlotDir").toString();
692 if (!dirName.isEmpty()) {
693 QByteArray ext = (scaleTitle == "Meters") ? "_M.png" : "_S.png";
694 graphWin->savePNG(dirName, ext);
695 }
696 }
697}
698
699//
700////////////////////////////////////////////////////////////////////////////
701void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName, const QByteArray& title) {
702
703 t_plotData plotData;
704 QMap<t_prn, t_plotData> plotDataMap;
705
706 for (int ii = 0; ii < _qcFile._qcEpo.size(); ii++) {
707 const t_qcEpo& qcEpo = _qcFile._qcEpo[ii];
708 double mjdX24 = qcEpo._epoTime.mjddec() * 24.0;
709
710 plotData._mjdX24 << mjdX24;
711 plotData._PDOP << qcEpo._PDOP;
712 plotData._numSat << qcEpo._qcSat.size();
713
714 QMapIterator<t_prn, t_qcSat> it(qcEpo._qcSat);
715 while (it.hasNext()) {
716 it.next();
717 const t_prn& prn = it.key();
718 const t_qcSat& qcSat = it.value();
719
720 t_plotData& data = plotDataMap[prn];
721
722 if (qcSat._eleSet) {
723 data._mjdX24 << mjdX24;
724 data._eleDeg << qcSat._eleDeg;
725 }
726
727 char frqChar1 = _signalTypes[prn.system()][0][0].toAscii();
728 char frqChar2 = _signalTypes[prn.system()][1][0].toAscii();
729
730 QString frqType1;
731 QString frqType2;
732 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
733 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
734 if (qcFrq._rnxType2ch[0] == frqChar1 && frqType1.isEmpty()) {
735 frqType1 = qcFrq._rnxType2ch;
736 }
737 if (qcFrq._rnxType2ch[0] == frqChar2 && frqType2.isEmpty()) {
738 frqType2 = qcFrq._rnxType2ch;
739 }
740 if (qcFrq._rnxType2ch == frqType1) {
741 if (qcFrq._slip) {
742 data._L1slip << mjdX24;
743 }
744 else if (qcFrq._gap) {
745 data._L1gap << mjdX24;
746 }
747 else {
748 data._L1ok << mjdX24;
749 }
750 }
751 else if (qcFrq._rnxType2ch == frqType2) {
752 if (qcFrq._slip) {
753 data._L2slip << mjdX24;
754 }
755 else if (qcFrq._gap) {
756 data._L2gap << mjdX24;
757 }
758 else {
759 data._L2ok << mjdX24;
760 }
761 }
762 }
763 }
764 }
765
766 if (BNC_CORE->GUIenabled()) {
767 t_availPlot* plotA = new t_availPlot(0, plotDataMap);
768 plotA->setTitle(title);
769
770 t_elePlot* plotZ = new t_elePlot(0, plotDataMap);
771
772 t_dopPlot* plotD = new t_dopPlot(0, plotData);
773
774 QVector<QWidget*> plots;
775 plots << plotA << plotZ << plotD;
776 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
777
778 int ww = QFontMetrics(graphWin->font()).width('w');
779 graphWin->setMinimumSize(120*ww, 40*ww);
780
781 graphWin->show();
782
783 bncSettings settings;
784 QString dirName = settings.value("reqcPlotDir").toString();
785 if (!dirName.isEmpty()) {
786 QByteArray ext = "_A.png";
787 graphWin->savePNG(dirName, ext);
788 }
789 }
790}
791
792// Finish the report
793////////////////////////////////////////////////////////////////////////////
794void t_reqcAnalyze::printReport(const t_rnxObsFile* obsFile) {
795
796 if (!_log) {
797 return;
798 }
799
800 QFileInfo obsFi(obsFile->fileName());
801 QString obsFileName = obsFi.fileName();
802
803 // Summary
804 // -------
805 *_log << "Observation File : " << obsFileName << endl
806 << "RINEX Version : " << QString("%1").arg(obsFile->version(),4,'f',2) << endl
807 << "Marker Name : " << _qcFile._markerName << endl
808 << "Marker Number : " << obsFile->markerNumber() << endl
809 << "Receiver : " << _qcFile._receiverType << endl
810 << "Antenna : " << _qcFile._antennaName << endl
811 << "Position XYZ : " << QString("%1 %2 %3").arg(obsFile->xyz()(1), 14, 'f', 4)
812 .arg(obsFile->xyz()(2), 14, 'f', 4)
813 .arg(obsFile->xyz()(3), 14, 'f', 4) << endl
814 << "Antenna dH/dE/dN : " << QString("%1 %2 %3").arg(obsFile->antNEU()(3), 8, 'f', 4)
815 .arg(obsFile->antNEU()(2), 8, 'f', 4)
816 .arg(obsFile->antNEU()(1), 8, 'f', 4) << endl
817 << "Start Time : " << _qcFile._startTime.datestr().c_str() << ' '
818 << _qcFile._startTime.timestr(1,'.').c_str() << endl
819 << "End Time : " << _qcFile._endTime.datestr().c_str() << ' '
820 << _qcFile._endTime.timestr(1,'.').c_str() << endl
821 << "Interval : " << _qcFile._interval << " sec" << endl;
822
823 // Number of systems
824 // -----------------
825 QMap<QChar, QVector<const t_qcSatSum*> > systemMap;
826 QMapIterator<t_prn, t_qcSatSum> itSat(_qcFile._qcSatSum);
827 while (itSat.hasNext()) {
828 itSat.next();
829 const t_prn& prn = itSat.key();
830 const t_qcSatSum& qcSatSum = itSat.value();
831 systemMap[prn.system()].push_back(&qcSatSum);
832 }
833 *_log << "Navigation Systems : " << systemMap.size() << " ";
834
835 QMapIterator<QChar, QVector<const t_qcSatSum*> > itSys(systemMap);
836 while (itSys.hasNext()) {
837 itSys.next();
838 *_log << ' ' << itSys.key();
839 }
840 *_log << endl;
841
842 // Observation types per system
843 // -----------------------------
844 for (int iSys = 0; iSys < obsFile->numSys(); iSys++) {
845 char sys = obsFile->system(iSys);
846 if (sys != ' ') {
847 *_log << "Observation Types " << sys << ":";
848 for (int iType = 0; iType < obsFile->nTypes(sys); iType++) {
849 QString type = obsFile->obsType(sys, iType);
850 *_log << " " << type;
851 }
852 *_log << endl;
853 }
854 }
855
856 // System specific summary
857 // -----------------------
858 itSys.toFront();
859 while (itSys.hasNext()) {
860 itSys.next();
861 const QChar& sys = itSys.key();
862 const QVector<const t_qcSatSum*>& qcSatVec = itSys.value();
863 int numExpectedObs = 0;
864 for(QMap<t_prn, int>::iterator it = _numExpObs.begin();
865 it != _numExpObs.end(); it++) {
866 if (sys == it.key().system()) {
867 numExpectedObs += it.value();
868 }
869 }
870 QString prefixSys = QString(" ") + sys + QString(": ");
871 QMap<QString, QVector<const t_qcFrqSum*> > frqMap;
872 for (int ii = 0; ii < qcSatVec.size(); ii++) {
873 const t_qcSatSum* qcSatSum = qcSatVec[ii];
874 QMapIterator<QString, t_qcFrqSum> itFrq(qcSatSum->_qcFrqSum);
875 while (itFrq.hasNext()) {
876 itFrq.next();
877 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
878 const t_qcFrqSum& qcFrqSum = itFrq.value();
879 frqMap[frqType].push_back(&qcFrqSum);
880 }
881 }
882 *_log << endl
883 << prefixSys << "Satellites: " << qcSatVec.size() << endl
884 << prefixSys << "Signals : " << frqMap.size() << " ";
885 QMapIterator<QString, QVector<const t_qcFrqSum*> > itFrq(frqMap);
886 while (itFrq.hasNext()) {
887 itFrq.next();
888 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
889 *_log << ' ' << frqType;
890 }
891 *_log << endl;
892 QString prefixSys2 = " " + prefixSys;
893 itFrq.toFront();
894 while (itFrq.hasNext()) {
895 itFrq.next();
896 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
897 const QVector<const t_qcFrqSum*> qcFrqVec = itFrq.value();
898 QString prefixFrq = QString(" ") + frqType + QString(": ");
899 int numObs = 0;
900 int numSlipsFlagged = 0;
901 int numSlipsFound = 0;
902 int numGaps = 0;
903 int numSNR = 0;
904 int numMP = 0;
905 double sumSNR = 0.0;
906 double sumMP = 0.0;
907 for (int ii = 0; ii < qcFrqVec.size(); ii++) {
908 const t_qcFrqSum* qcFrqSum = qcFrqVec[ii];
909 numObs += qcFrqSum->_numObs ;
910 numSlipsFlagged += qcFrqSum->_numSlipsFlagged;
911 numSlipsFound += qcFrqSum->_numSlipsFound ;
912 numGaps += qcFrqSum->_numGaps ;
913 numSNR += qcFrqSum->_numSNR;
914 numMP += qcFrqSum->_numMP;
915 sumSNR += qcFrqSum->_sumSNR;
916 sumMP += qcFrqSum->_sumMP;
917 }
918 if (numSNR > 0) {
919 sumSNR /= numSNR;
920 }
921 if (numMP > 0) {
922 sumMP /= numMP;
923 }
924
925 double ratio = (double(numObs) / double(numExpectedObs)) * 100.0;
926
927 *_log << endl
928 << prefixSys2 << prefixFrq << "Observations : ";
929 if(_navFileNames.isEmpty() || _navFileIncomplete.contains(sys.toLatin1())) {
930 *_log << QString("%1\n").arg(numObs, 6);
931 }
932 else {
933 *_log << QString("%1 (%2) %3 \%\n").arg(numObs, 6).arg(numExpectedObs, 8).arg(ratio, 8, 'f', 2);
934 }
935 *_log << prefixSys2 << prefixFrq << "Slips (file+found): " << QString("%1 +").arg(numSlipsFlagged, 8)
936 << QString("%1\n").arg(numSlipsFound, 8)
937 << prefixSys2 << prefixFrq << "Gaps : " << QString("%1\n").arg(numGaps, 8)
938 << prefixSys2 << prefixFrq << "Mean SNR : " << QString("%1\n").arg(sumSNR, 8, 'f', 1)
939 << prefixSys2 << prefixFrq << "Mean Multipath : " << QString("%1\n").arg(sumMP, 8, 'f', 2);
940 }
941 }
942
943 // Epoch-Specific Output
944 // ---------------------
945 bncSettings settings;
946 if (Qt::CheckState(settings.value("reqcLogSummaryOnly").toInt()) == Qt::Checked) {
947 return;
948 }
949 *_log << endl;
950 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
951 const t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
952
953 unsigned year, month, day, hour, min;
954 double sec;
955 qcEpo._epoTime.civil_date(year, month, day);
956 qcEpo._epoTime.civil_time(hour, min, sec);
957
958 QString dateStr;
959 QTextStream(&dateStr) << QString("> %1 %2 %3 %4 %5%6")
960 .arg(year, 4)
961 .arg(month, 2, 10, QChar('0'))
962 .arg(day, 2, 10, QChar('0'))
963 .arg(hour, 2, 10, QChar('0'))
964 .arg(min, 2, 10, QChar('0'))
965 .arg(sec, 11, 'f', 7);
966
967 *_log << dateStr << QString(" %1").arg(qcEpo._qcSat.size(), 2)
968 << QString(" %1").arg(qcEpo._PDOP, 4, 'f', 1)
969 << endl;
970
971 QMapIterator<t_prn, t_qcSat> itSat(qcEpo._qcSat);
972 while (itSat.hasNext()) {
973 itSat.next();
974 const t_prn& prn = itSat.key();
975 const t_qcSat& qcSat = itSat.value();
976
977 *_log << prn.toString().c_str()
978 << QString(" %1 %2").arg(qcSat._eleDeg, 6, 'f', 2).arg(qcSat._azDeg, 7, 'f', 2);
979
980 int numObsTypes = 0;
981 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
982 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
983 if (qcFrq._phaseValid) {
984 numObsTypes += 1;
985 }
986 if (qcFrq._codeValid) {
987 numObsTypes += 1;
988 }
989 }
990 *_log << QString(" %1").arg(numObsTypes, 2);
991
992 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
993 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
994 if (qcFrq._phaseValid) {
995 *_log << " L" << qcFrq._rnxType2ch << ' ';
996 if (qcFrq._slip) {
997 *_log << 's';
998 }
999 else {
1000 *_log << '.';
1001 }
1002 if (qcFrq._gap) {
1003 *_log << 'g';
1004 }
1005 else {
1006 *_log << '.';
1007 }
1008 *_log << QString(" %1").arg(qcFrq._SNR, 4, 'f', 1);
1009 }
1010 if (qcFrq._codeValid) {
1011 *_log << " C" << qcFrq._rnxType2ch << ' ';
1012 if (qcFrq._gap) {
1013 *_log << " g";
1014 }
1015 else {
1016 *_log << " .";
1017 }
1018 *_log << QString(" %1").arg(qcFrq._stdMP, 3, 'f', 2);
1019 }
1020 }
1021 *_log << endl;
1022 }
1023 }
1024 _log->flush();
1025}
1026
1027//
1028////////////////////////////////////////////////////////////////////////////
1029void t_reqcAnalyze::checkEphemerides() {
1030
1031 QString navFileName;
1032 QStringListIterator namIt(_navFileNames);
1033 bool firstName = true;
1034 while (namIt.hasNext()) {
1035 QFileInfo navFi(namIt.next());
1036 if (firstName) {
1037 firstName = false;
1038 navFileName += navFi.fileName();
1039 }
1040 else {
1041 navFileName += ", " + navFi.fileName();
1042 }
1043 }
1044 if (_log) {
1045 *_log << "Navigation File(s) : " << navFileName << endl;
1046 }
1047 QStringListIterator it(_navFileNames);
1048 while (it.hasNext()) {
1049 const QString& fileName = it.next();
1050 unsigned numOK = 0;
1051 unsigned numBad = 0;
1052 bncEphUser ephUser(false);
1053 t_rnxNavFile rnxNavFile(fileName, t_rnxNavFile::input);
1054 for (unsigned ii = 0; ii < rnxNavFile.ephs().size(); ii++) {
1055 t_eph* eph = rnxNavFile.ephs()[ii];
1056 ephUser.putNewEph(eph, false);
1057 if (eph->checkState() == t_eph::bad) {
1058 ++numBad;
1059 }
1060 else {
1061 ++numOK;
1062 }
1063 }
1064 if (_log) {
1065 *_log << "Ephemeris : " << numOK << " OK " << numBad << " BAD" << endl;
1066 }
1067 if (numBad > 0) {
1068 for (unsigned ii = 0; ii < rnxNavFile.ephs().size(); ii++) {
1069 t_eph* eph = rnxNavFile.ephs()[ii];
1070 if (eph->checkState() == t_eph::bad) {
1071 QFileInfo navFi(fileName);
1072 if (_log) {
1073 *_log << " Bad Ephemeris : " << navFi.fileName() << ' '
1074 << eph->toString(3.0).left(24) << endl;
1075 }
1076 }
1077 }
1078 }
1079 }
1080 if (_log) {
1081 *_log << endl;
1082 }
1083}
1084
1085void t_reqcAnalyze::setExpectedObs(const bncTime& startTime, const bncTime& endTime,
1086 double interval, const ColumnVector& xyzSta) {
1087
1088 for(QMap<t_prn, int>::iterator it = _numExpObs.begin();
1089 it != _numExpObs.end(); it++) {
1090 t_eph* eph = 0;
1091 for (int ie = 0; ie < _ephs.size(); ie++) {
1092 if (_ephs[ie]->prn().system() == it.key().system() &&
1093 _ephs[ie]->prn().number() == it.key().number()) {
1094 eph = _ephs[ie];
1095 break;
1096 }
1097 }
1098 if (eph) {
1099 int numExpObs = 0;
1100 bncTime epoTime;
1101 for (epoTime = startTime - interval; epoTime < endTime;
1102 epoTime = epoTime + interval) {
1103 ColumnVector xc(6);
1104 ColumnVector vv(3);
1105 if ( xyzSta.size() == 3 && (xyzSta[0] != 0.0 || xyzSta[1] != 0.0 || xyzSta[2] != 0.0) &&
1106 eph->getCrd(epoTime, xc, vv, false) == success) {
1107 double rho, eleSat, azSat;
1108 topos(xyzSta(1), xyzSta(2), xyzSta(3), xc(1), xc(2), xc(3), rho, eleSat, azSat);
1109 if ((eleSat * 180.0/M_PI) > 0.0) {
1110 numExpObs++;
1111 }
1112 }
1113 }
1114 it.value() = numExpObs;
1115 }
1116 else {
1117 if (!_navFileIncomplete.contains(it.key().system())) {
1118 _navFileIncomplete.append(it.key().system());
1119 }
1120 }
1121 }
1122}
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