| 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_sp3Comp
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| 30 | *
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| 31 | * Purpose: Compare SP3 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: 24-Nov-2014
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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 "sp3Comp.h"
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| 44 | #include "bnccore.h"
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| 45 | #include "bncsettings.h"
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| 46 | #include "bncutils.h"
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| 47 | #include "bncsp3.h"
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| 48 |
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| 49 | using namespace std;
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| 50 |
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| 51 | // Constructor
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| 52 | ////////////////////////////////////////////////////////////////////////////
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| 53 | t_sp3Comp::t_sp3Comp(QObject* parent) : QThread(parent) {
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| 54 |
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| 55 | bncSettings settings;
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| 56 | _sp3FileNames = settings.value("sp3CompFile").toString().split(QRegExp("[ ,]"), QString::SkipEmptyParts);
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| 57 | for (int ii = 0; ii < _sp3FileNames.size(); ii++) {
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| 58 | expandEnvVar(_sp3FileNames[ii]);
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| 59 | }
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| 60 | _logFileName = settings.value("sp3CompOutLogFile").toString(); expandEnvVar(_logFileName);
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| 61 | _logFile = 0;
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| 62 | _log = 0;
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| 63 |
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| 64 | _excludeSats = settings.value("sp3CompExclude").toString().split(QRegExp("[ ,]"), QString::SkipEmptyParts);
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| 65 | }
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| 66 |
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| 67 | // Destructor
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| 68 | ////////////////////////////////////////////////////////////////////////////
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| 69 | t_sp3Comp::~t_sp3Comp() {
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| 70 | delete _log;
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| 71 | delete _logFile;
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| 72 | }
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| 73 |
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| 74 | //
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| 75 | ////////////////////////////////////////////////////////////////////////////
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| 76 | void t_sp3Comp::run() {
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| 77 |
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| 78 | // Open Log File
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| 79 | // -------------
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| 80 | _logFile = new QFile(_logFileName);
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| 81 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
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| 82 | _log = new QTextStream();
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| 83 | _log->setDevice(_logFile);
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| 84 | }
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| 85 | if (!_log) {
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| 86 | *_log << "ERROR: SP3Comp requires logfile specification" << "\n";
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| 87 | goto exit;
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| 88 | }
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| 89 |
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| 90 | for (int ii = 0; ii < _sp3FileNames.size(); ii++) {
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| 91 | *_log << "! SP3 File " << ii+1 << ": " << _sp3FileNames[ii] << "\n";
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| 92 | }
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| 93 | if (_sp3FileNames.size() != 2) {
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| 94 | *_log << "ERROR: sp3Comp requires two input SP3 files" << "\n";
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| 95 | goto end;
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| 96 | }
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| 97 |
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| 98 | try {
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| 99 | ostringstream msg;
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| 100 | compare(msg);
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| 101 | *_log << msg.str().c_str();
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| 102 | }
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| 103 | catch (const string& error) {
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| 104 | *_log << "ERROR: " << error.c_str() << "\n";
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| 105 | }
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| 106 | catch (const char* error) {
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| 107 | *_log << "ERROR: " << error << "\n";
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| 108 | }
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| 109 | catch (Exception& exc) {
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| 110 | *_log << "ERROR: " << exc.what() << "\n";
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| 111 | }
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| 112 | catch (std::exception& exc) {
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| 113 | *_log << "ERROR: " << exc.what() << "\n";
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| 114 | }
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| 115 | catch (QString error) {
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| 116 | *_log << "ERROR: " << error << "\n";
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| 117 | }
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| 118 | catch (...) {
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| 119 | *_log << "ERROR: " << "unknown exception" << "\n";
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| 120 | }
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| 121 |
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| 122 | // Exit (thread)
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| 123 | // -------------
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| 124 | end:
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| 125 | _log->flush();
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| 126 | exit:
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| 127 | // do nothing if no logfile available
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| 128 |
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| 129 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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| 130 | qApp->exit(7);
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| 131 | msleep(100); //sleep 0.1 sec
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| 132 | }
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| 133 | else {
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| 134 | emit finished();
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| 135 | deleteLater();
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| 136 | }
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| 137 | }
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| 138 |
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| 139 | // Satellite Index in clkSats set
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| 140 | ////////////////////////////////////////////////////////////////////////////////
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| 141 | int t_sp3Comp::satIndex(const set<t_prn>& clkSats, const t_prn& prn) const {
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| 142 | int ret = 0;
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| 143 | for (set<t_prn>::const_iterator it = clkSats.begin(); it != clkSats.end(); it++) {
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| 144 | if ( *it == prn) {
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| 145 | return ret;
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| 146 | }
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| 147 | ++ret;
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| 148 | }
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| 149 | return -1;
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| 150 | }
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| 151 |
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| 152 | // Estimate Clock Offsets
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| 153 | ////////////////////////////////////////////////////////////////////////////////
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| 154 | void t_sp3Comp::processClocks(const set<t_prn>& clkSats, const vector<t_epoch*>& epochsIn,
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| 155 | map<string, t_stat>& stat) const {
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| 156 |
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| 157 | if (clkSats.size() == 0) {
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| 158 | return;
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| 159 | }
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| 160 |
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| 161 | vector<t_epoch*> epochs;
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| 162 | for (unsigned ii = 0; ii < epochsIn.size(); ii++) {
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| 163 | unsigned numSatOK = 0;
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| 164 | std::map<t_prn, double>::const_iterator it;
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| 165 | for (it = epochsIn[ii]->_dc.begin(); it != epochsIn[ii]->_dc.end(); it++) {
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| 166 | if (satIndex(clkSats, it->first) != -1) {
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| 167 | numSatOK += 1;
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| 168 | }
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| 169 | }
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| 170 | if (numSatOK > 0) {
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| 171 | epochs.push_back(epochsIn[ii]);
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| 172 | }
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| 173 | }
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| 174 | if (epochs.size() == 0) {
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| 175 | return;
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| 176 | }
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| 177 |
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| 178 | int nPar = epochs.size() + clkSats.size();
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| 179 | SymmetricMatrix NN(nPar); NN = 0.0;
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| 180 | ColumnVector bb(nPar); bb = 0.0;
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| 181 |
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| 182 | // Create Matrix A'A and vector b
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| 183 | // ------------------------------
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| 184 | for (unsigned ie = 0; ie < epochs.size(); ie++) {
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| 185 | const map<t_prn, double>& dc = epochs[ie]->_dc;
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| 186 | Matrix AA(dc.size(), nPar); AA = 0.0;
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| 187 | ColumnVector ll(dc.size()); ll = 0.0;
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| 188 | map<t_prn, double>::const_iterator it;
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| 189 | int ii = -1;
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| 190 | for (it = dc.begin(); it != dc.end(); it++) {
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| 191 | const t_prn& prn = it->first;
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| 192 | if (satIndex(clkSats, prn) != -1) {
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| 193 | ++ii;
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| 194 | int index = epochs.size() + satIndex(clkSats, prn);
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| 195 | AA[ii][ie] = 1.0; // epoch-specfic offset (common for all satellites)
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| 196 | AA[ii][index] = 1.0; // satellite-specific offset (common for all epochs)
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| 197 | ll[ii] = it->second;
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| 198 | }
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| 199 | }
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| 200 | SymmetricMatrix dN; dN << AA.t() * AA;
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| 201 | NN += dN;
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| 202 | bb += AA.t() * ll;
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| 203 | }
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| 204 |
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| 205 | // Regularize NN
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| 206 | // -------------
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| 207 | RowVector HH(nPar);
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| 208 | HH.columns(1, epochs.size()) = 0.0;
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| 209 | HH.columns(epochs.size()+1, nPar) = 1.0;
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| 210 | SymmetricMatrix dN; dN << HH.t() * HH;
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| 211 | NN += dN;
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| 212 |
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| 213 | // Estimate Parameters
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| 214 | // -------------------
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| 215 | ColumnVector xx = NN.i() * bb;
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| 216 |
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| 217 | // Compute clock residuals
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| 218 | // -----------------------
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| 219 | const string all = "ZZZ";
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| 220 | for (unsigned ie = 0; ie < epochs.size(); ie++) {
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| 221 | map<t_prn, double>& dc = epochs[ie]->_dc;
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| 222 | map<t_prn, double>& dcRed = epochs[ie]->_dcRed;
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| 223 | const map<t_prn, ColumnVector>& dr = epochs[ie]->_dr;
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| 224 | for (map<t_prn, double>::iterator it = dc.begin(); it != dc.end(); it++) {
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| 225 | const t_prn& prn = it->first;
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| 226 | if (satIndex(clkSats, prn) != -1) {
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| 227 | int index = epochs.size() + satIndex(clkSats, prn);
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| 228 | dc[prn] = it->second - xx[ie] - xx[index];
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| 229 | stat[prn.toString()]._offset = xx[index];
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| 230 | if (dr.find(prn) != dr.end()){
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| 231 | dcRed[prn] = dc[prn] - dr.find(prn)->second[0]; // clock minus radial component
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| 232 | stat[prn.toString()]._dcRedMean += dcRed[prn];
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| 233 | stat[all ]._dcRedMean += dcRed[prn];
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| 234 | stat[prn.toString()]._nc += 1;
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| 235 | stat[all ]._nc += 1;
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| 236 | }
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| 237 | }
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| 238 | }
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| 239 | }
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| 240 |
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| 241 | // Compute Clock Mean
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| 242 | // ------------------
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| 243 | for (map<string, t_stat>::iterator it = stat.begin(); it != stat.end(); it++) {
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| 244 | t_stat& stat = it->second;
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| 245 | if (stat._nc > 0) {
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| 246 | stat._dcRedMean = stat._dcRedMean / stat._nc;
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| 247 | }
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| 248 | }
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| 249 | }
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| 250 |
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| 251 | // Main Routine
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| 252 | ////////////////////////////////////////////////////////////////////////////////
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| 253 | void t_sp3Comp::compare(ostringstream& out) const {
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| 254 |
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| 255 | // Synchronize reading of two sp3 files
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| 256 | // ------------------------------------
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| 257 | bncSP3 in1(_sp3FileNames[0]); in1.nextEpoch();
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| 258 | bncSP3 in2(_sp3FileNames[1]); in2.nextEpoch();
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| 259 |
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| 260 | vector<t_epoch*> epochs;
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| 261 | while (in1.currEpoch() && in2.currEpoch()) {
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| 262 | bncTime t1 = in1.currEpoch()->_tt;
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| 263 | bncTime t2 = in2.currEpoch()->_tt;
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| 264 | if (t1 < t2) {
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| 265 | in1.nextEpoch();
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| 266 | }
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| 267 | else if (t1 > t2) {
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| 268 | in2.nextEpoch();
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| 269 | }
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| 270 | else if (t1 == t2) {
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| 271 | t_epoch* epo = new t_epoch; epo->_tt = t1;
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| 272 | bool epochOK = false;
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| 273 | for (int i1 = 0; i1 < in1.currEpoch()->_sp3Sat.size(); i1++) {
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| 274 | bncSP3::t_sp3Sat* sat1 = in1.currEpoch()->_sp3Sat[i1];
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| 275 | for (int i2 = 0; i2 < in2.currEpoch()->_sp3Sat.size(); i2++) {
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| 276 | bncSP3::t_sp3Sat* sat2 = in2.currEpoch()->_sp3Sat[i2];
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| 277 | if (sat1->_prn == sat2->_prn) {
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| 278 | epochOK = true;
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| 279 | epo->_dr[sat1->_prn] = sat1->_xyz - sat2->_xyz;
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| 280 | epo->_xyz[sat1->_prn] = sat1->_xyz;
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| 281 | if (sat1->_clkValid && sat2->_clkValid) {
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| 282 | epo->_dc[sat1->_prn] = sat1->_clk - sat2->_clk;
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| 283 | }
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| 284 | }
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| 285 | }
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| 286 | }
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| 287 | if (epochOK) {
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| 288 | epochs.push_back(epo);
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| 289 | }
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| 290 | else {
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| 291 | delete epo;
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| 292 | }
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| 293 | in1.nextEpoch();
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| 294 | in2.nextEpoch();
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| 295 | }
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| 296 | }
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| 297 |
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| 298 | // Transform xyz into radial, along-track, and out-of-plane
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| 299 | // --------------------------------------------------------
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| 300 | if (epochs.size() < 2) {
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| 301 | throw "t_sp3Comp: not enough common epochs";
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| 302 | }
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| 303 |
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| 304 | set<t_prn> clkSatsAll;
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| 305 |
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| 306 | for (unsigned ie = 0; ie < epochs.size(); ie++) {
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| 307 | t_epoch* epoch = epochs[ie];
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| 308 | t_epoch* epoch2 = 0;
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| 309 | if (ie == 0) {
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| 310 | epoch2 = epochs[ie+1];
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| 311 | }
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| 312 | else {
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| 313 | epoch2 = epochs[ie-1];
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| 314 | }
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| 315 | double dt = epoch->_tt - epoch2->_tt;
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| 316 | map<t_prn, ColumnVector>& dr = epoch->_dr;
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| 317 | map<t_prn, ColumnVector>& xyz = epoch->_xyz;
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| 318 | map<t_prn, ColumnVector>& xyz2 = epoch2->_xyz;
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| 319 | QList<t_prn> satEraseList;
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| 320 | for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
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| 321 | const t_prn& prn = it->first;
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| 322 | if (xyz2.find(prn) != xyz2.end()) {
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| 323 | const ColumnVector dx = dr[prn];
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| 324 | const ColumnVector& x1 = xyz[prn];
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| 325 | const ColumnVector& x2 = xyz2[prn];
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| 326 | ColumnVector vel = (x1 - x2) / dt;
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| 327 | XYZ_to_RSW(x1, vel, dx, dr[prn]);
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| 328 | if (epoch->_dc.find(prn) != epoch->_dc.end()) {
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| 329 | clkSatsAll.insert(prn);
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| 330 | }
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| 331 | }
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| 332 | else {
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| 333 | satEraseList << it->first;
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| 334 | }
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| 335 | }
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| 336 | for (QList<t_prn>::const_iterator it = satEraseList.begin(); it != satEraseList.end(); it++) {
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| 337 | epoch->_dc.erase(*it);
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| 338 | epoch->_dr.erase(*it);
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| 339 | }
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| 340 | }
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| 341 |
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| 342 | map<string, t_stat> stat;
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| 343 |
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| 344 | // Estimate Clock Offsets
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| 345 | // ----------------------
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| 346 | string systems;
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| 347 | for (set<t_prn>::const_iterator it = clkSatsAll.begin(); it != clkSatsAll.end(); it++) {
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| 348 | if (systems.find(it->system()) == string::npos) {
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| 349 | systems += it->system();
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| 350 | }
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| 351 | }
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| 352 | for (unsigned iSys = 0; iSys < systems.size(); iSys++) {
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| 353 | char system = systems[iSys];
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| 354 | set<t_prn> clkSats;
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| 355 | for (set<t_prn>::const_iterator it = clkSatsAll.begin(); it != clkSatsAll.end(); it++) {
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| 356 | if (it->system() == system && !excludeSat(*it)) {
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| 357 | clkSats.insert(*it);
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| 358 | }
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| 359 | }
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| 360 | processClocks(clkSats, epochs, stat);
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| 361 | }
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| 362 |
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| 363 | // Print epoch-wise Clock Residuals
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| 364 | // --------------------------------
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| 365 | const string all = "ZZZ";
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| 366 |
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| 367 | out.setf(ios::fixed);
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| 368 | out << "!\n! Clock residuals and orbit differences in [m]\n"
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| 369 | "! ----------------------------------------------------------------------------\n";
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| 370 | out << "!\n! Epoch PRN radial along out clk clkRed iPRN"
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| 371 | "\n! ----------------------------------------------------------------------------\n";
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| 372 | for (unsigned ii = 0; ii < epochs.size(); ii++) {
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| 373 | const t_epoch* epo = epochs[ii];
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| 374 | const map<t_prn, ColumnVector>& dr = epochs[ii]->_dr;
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| 375 | const map<t_prn, double>& dc = epochs[ii]->_dc;
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| 376 | const map<t_prn, double>& dcRed = epochs[ii]->_dcRed;
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| 377 | for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
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| 378 | const t_prn& prn = it->first;
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| 379 | if (!excludeSat(prn)) {
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| 380 | const ColumnVector& rao = it->second;
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| 381 | out << setprecision(6) << string(epo->_tt) << ' ' << prn.toString() << ' '
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| 382 | << setw(7) << setprecision(4) << rao[0] << ' '
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| 383 | << setw(7) << setprecision(4) << rao[1] << ' '
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| 384 | << setw(7) << setprecision(4) << rao[2] << " ";
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| 385 | stat[prn.toString()]._rao += SP(rao, rao); // Schur product
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| 386 | stat[all ]._rao += SP(rao, rao);
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| 387 | stat[prn.toString()]._nr += 1;
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| 388 | stat[all ]._nr += 1;
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| 389 | if (dc.find(prn) != dc.end() && dcRed.find(prn) != dc.end()) {
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| 390 | double clkRes = dc.find(prn)->second;
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| 391 | double clkResRed = dcRed.find(prn)->second;
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| 392 | out << setw(7) << setprecision(4) << clkRes << ' '
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| 393 | << setw(7) << setprecision(4) << clkResRed;
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| 394 | stat[prn.toString()]._dcRMS += clkRes * clkRes;
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| 395 | stat[all ]._dcRMS += clkRes * clkRes;
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| 396 | stat[prn.toString()]._dcRedRMS += clkResRed * clkResRed;
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| 397 | stat[all ]._dcRedRMS += clkResRed * clkResRed;
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| 398 | stat[prn.toString()]._dcRedSig += (clkResRed - stat[prn.toString()]._dcRedMean) *
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| 399 | (clkResRed - stat[prn.toString()]._dcRedMean);
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| 400 | stat[all ]._dcRedSig += (clkResRed - stat[all ]._dcRedMean) *
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| 401 | (clkResRed - stat[all ]._dcRedMean);
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| 402 | }
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| 403 | else {
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| 404 | out << " . . ";
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| 405 | }
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| 406 | out << " " << setw(2) << int(prn) << "\n";
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| 407 | }
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| 408 | }
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| 409 | delete epo;
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| 410 | }
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| 411 |
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| 412 | // Print Summary
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| 413 | // -------------
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| 414 | out << "!\n! Summary";
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| 415 | out << "\n! -----------------------------------------------------------------------------------------------------------------\n";
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| 416 | out << "!\n! PRN radialRMS alongRMS outRMS 3DRMS nOrb clkRMS clkRedRMS clkRedSig nClk Offset "
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| 417 | "\n! [mm] [mm] [mm] [mm] [-] [ns] [ns] [ns] [-] [ns] "
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| 418 | "\n! -----------------------------------------------------------------------------------------------------------------\n";
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| 419 | for (map<string, t_stat>::iterator it = stat.begin(); it != stat.end(); it++) {
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| 420 | const string& prn = it->first;
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| 421 | t_stat& stat = it->second;
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| 422 | if (stat._nr > 0) {
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| 423 | stat._rao[0] = sqrt(stat._rao[0] / stat._nr);
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| 424 | stat._rao[1] = sqrt(stat._rao[1] / stat._nr);
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| 425 | stat._rao[2] = sqrt(stat._rao[2] / stat._nr);
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| 426 | stat._rao3DRMS = stat._rao.NormFrobenius();
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| 427 | if (prn == all) {
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| 428 | out << "!\n! Total ";
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| 429 | }
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| 430 | else {
|
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| 431 | out << "! " << prn << ' ';
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| 432 | }
|
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| 433 | // orbit values in millimeters
|
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| 434 | out << setw(10) << setprecision(1) << stat._rao[0] * 1e3 << ' '
|
|---|
| 435 | << setw(10) << setprecision(1) << stat._rao[1] * 1e3 << ' '
|
|---|
| 436 | << setw(10) << setprecision(1) << stat._rao[2] * 1e3 << ' '
|
|---|
| 437 | << setw(10) << setprecision(1) << stat._rao3DRMS * 1e3 << ' '
|
|---|
| 438 | << setw( 7) << stat._nr << " ";
|
|---|
| 439 | if (stat._nc > 0) {
|
|---|
| 440 | stat._dcRMS = sqrt(stat._dcRMS / stat._nc);
|
|---|
| 441 | stat._dcRedRMS = sqrt(stat._dcRedRMS / stat._nc);
|
|---|
| 442 | stat._dcRedSig = sqrt(stat._dcRedSig / stat._nc);
|
|---|
| 443 | // clock values in nano seconds
|
|---|
| 444 | out << setw(10) << setprecision(2) << stat._dcRMS / t_CST::c * 1e9 << ' '
|
|---|
| 445 | << setw(10) << setprecision(2) << stat._dcRedRMS / t_CST::c * 1e9 << ' '
|
|---|
| 446 | << setw(10) << setprecision(2) << stat._dcRedSig / t_CST::c * 1e9 << ' '
|
|---|
| 447 | << setw( 9) << stat._nc << " ";
|
|---|
| 448 | if (prn != all) {
|
|---|
| 449 | out << setw(9) << setprecision(2) << stat._offset / t_CST::c * 1e9;
|
|---|
| 450 | }
|
|---|
| 451 | }
|
|---|
| 452 | else {
|
|---|
| 453 | out << " . . ";
|
|---|
| 454 | }
|
|---|
| 455 | out << "\n";
|
|---|
| 456 | }
|
|---|
| 457 | }
|
|---|
| 458 | }
|
|---|
| 459 |
|
|---|
| 460 | //
|
|---|
| 461 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 462 | bool t_sp3Comp::excludeSat(const t_prn& prn) const {
|
|---|
| 463 | QStringListIterator it(_excludeSats);
|
|---|
| 464 | while (it.hasNext()) {
|
|---|
| 465 | string prnStr = it.next().toLatin1().data();
|
|---|
| 466 | if (prnStr == prn.toString() || prnStr == prn.toString().substr(0,1)) {
|
|---|
| 467 | return true;
|
|---|
| 468 | }
|
|---|
| 469 | }
|
|---|
| 470 | return false;
|
|---|
| 471 | }
|
|---|
| 472 |
|
|---|
