source: ntrip/trunk/BNC/src/orbComp/sp3Comp.cpp@ 6348

Last change on this file since 6348 was 6348, checked in by mervart, 9 years ago
File size: 10.7 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_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(',', QString::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
65// Destructor
66////////////////////////////////////////////////////////////////////////////
67t_sp3Comp::~t_sp3Comp() {
68 delete _log;
69 delete _logFile;
70}
71
72//
73////////////////////////////////////////////////////////////////////////////
74void t_sp3Comp::run() {
75
76 // Open Log File
77 // -------------
78 _logFile = new QFile(_logFileName);
79 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
80 _log = new QTextStream();
81 _log->setDevice(_logFile);
82 }
83 if (!_log) {
84 emit finished();
85 return;
86 }
87
88 for (int ii = 0; ii < _sp3FileNames.size(); ii++) {
89 *_log << "SP3 File " << ii+1 << ": " << _sp3FileNames[ii] << endl;
90 }
91 if (_sp3FileNames.size() != 2) {
92 *_log << "ERROR: sp3Comp requires two input SP3 files" << endl;
93 emit finished();
94 return;
95 }
96
97
98 // Exit (thread)
99 // -------------
100 if (BNC_CORE->mode() != t_bncCore::interactive) {
101 qApp->exit(0);
102 }
103 else {
104 emit finished();
105 deleteLater();
106 }
107}
108
109// Satellite Index in clkSats set
110////////////////////////////////////////////////////////////////////////////////
111int t_sp3Comp::satIndex(const set<t_prn>& clkSats, const t_prn& prn) const {
112 int ret = 0;
113 for (set<t_prn>::const_iterator it = clkSats.begin(); it != clkSats.end(); it++) {
114 if ( *it == prn) {
115 return ret;
116 }
117 ++ret;
118 }
119 throw "satellite not found " + prn.toString();
120}
121
122// Estimate Clock Offsets
123////////////////////////////////////////////////////////////////////////////////
124void t_sp3Comp::processClocks(const set<t_prn>& clkSats, vector<t_epoch*>& epochs,
125 map<string, t_stat>& stat) const {
126
127 if (clkSats.size() == 0) {
128 return;
129 }
130
131 int nPar = epochs.size() + clkSats.size();
132 SymmetricMatrix NN(nPar); NN = 0.0;
133 ColumnVector bb(nPar); bb = 0.0;
134
135 // Create Matrix A'A and vector b
136 // ------------------------------
137 for (unsigned ie = 0; ie < epochs.size(); ie++) {
138 const map<t_prn, double>& dc = epochs[ie]->_dc;
139 Matrix AA(dc.size(), nPar); AA = 0.0;
140 ColumnVector ll(dc.size()); ll = 0.0;
141 map<t_prn, double>::const_iterator it; int ii;
142 for (it = dc.begin(), ii = 0; it != dc.end(); it++, ii++) {
143 const t_prn& prn = it->first;
144 int index = epochs.size() + satIndex(clkSats, prn);
145 AA[ii][ie] = 1.0; // epoch-specfic offset (common for all satellites)
146 AA[ii][index] = 1.0; // satellite-specific offset (common for all epochs)
147 ll[ii] = it->second;
148 }
149 SymmetricMatrix dN; dN << AA.t() * AA;
150 NN += dN;
151 bb += AA.t() * ll;
152 }
153
154 // Regularize NN
155 // -------------
156 RowVector HH(nPar);
157 HH.columns(1, epochs.size()) = 0.0;
158 HH.columns(epochs.size()+1, nPar) = 1.0;
159 SymmetricMatrix dN; dN << HH.t() * HH;
160 NN += dN;
161
162 // Estimate Parameters
163 // -------------------
164 ColumnVector xx = NN.i() * bb;
165
166 // Compute clock residuals
167 // -----------------------
168 for (unsigned ie = 0; ie < epochs.size(); ie++) {
169 map<t_prn, double>& dc = epochs[ie]->_dc;
170 for (map<t_prn, double>::iterator it = dc.begin(); it != dc.end(); it++) {
171 const t_prn& prn = it->first;
172 int index = epochs.size() + satIndex(clkSats, prn);
173 dc[prn] = it->second - xx[ie] - xx[index];
174 stat[prn.toString()]._offset = xx[index];
175 }
176 }
177}
178
179// Main Routine
180////////////////////////////////////////////////////////////////////////////////
181void t_sp3Comp::compare() const {
182
183 // Synchronize reading of two sp3 files
184 // ------------------------------------
185 bncSP3 in1(_sp3FileNames[0]);
186 bncSP3 in2(_sp3FileNames[1]);
187
188 vector<t_epoch*> epochs;
189 set<t_prn> clkSats;
190 while (in1.nextEpoch()) {
191 bncTime tt = in1.currEpoch()->_tt;
192 while (in2.nextEpoch()) {
193 if (tt == in2.currEpoch()->_tt) {
194 t_epoch* epo = new t_epoch; epo->_tt = tt;
195
196 bool epochOK = false;
197 for (int i1 = 0; i1 < in1.currEpoch()->_sp3Sat.size(); i1++) {
198 bncSP3::t_sp3Sat* sat1 = in1.currEpoch()->_sp3Sat[i1];
199 for (int i2 = 0; i2 < in2.currEpoch()->_sp3Sat.size(); i2++) {
200 bncSP3::t_sp3Sat* sat2 = in2.currEpoch()->_sp3Sat[i2];
201 if (sat1->_prn == sat2->_prn) {
202 epochOK = true;
203 epo->_dr[sat1->_prn] = sat1->_xyz - sat2->_xyz;
204 epo->_xyz[sat1->_prn] = sat1->_xyz;
205 if (true) { //// TODO: check whether clocks set in SP3 files
206 epo->_dc[sat1->_prn] = (sat1->_clk - sat2->_clk) * t_CST::c;
207 clkSats.insert(sat1->_prn);
208 }
209 }
210 }
211 }
212 if (epochOK) {
213 epochs.push_back(epo);
214 }
215 else {
216 delete epo;
217 }
218 }
219 }
220 }
221
222 // Transform xyz into radial, along-track, and out-of-plane
223 // --------------------------------------------------------
224 for (unsigned ie = 0; ie < epochs.size(); ie++) {
225 t_epoch* epoch = epochs[ie];
226 t_epoch* epoch2 = 0;
227 if (ie == 0 && epochs.size() > 1) {
228 epoch2 = epochs[ie+1];
229 }
230 else {
231 epoch2 = epochs[ie-1];
232 }
233 double dt = epoch->_tt - epoch2->_tt;
234 map<t_prn, ColumnVector>& dr = epoch->_dr;
235 map<t_prn, ColumnVector>& xyz = epoch->_xyz;
236 map<t_prn, ColumnVector>& xyz2 = epoch2->_xyz;
237 for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
238 const t_prn& prn = it->first;
239 if (xyz2.find(prn) != xyz2.end()) {
240 const ColumnVector dx = dr[prn];
241 const ColumnVector& x1 = xyz[prn];
242 const ColumnVector& x2 = xyz2[prn];
243 ColumnVector vel = (x1 - x2) / dt;
244 XYZ_to_RSW(x1, vel, dx, dr[prn]);
245 }
246 else {
247 cerr << "not found: " << prn << endl;
248 }
249 }
250 }
251
252 map<string, t_stat> stat;
253
254 // Estimate Clock Offsets
255 // ----------------------
256 processClocks(clkSats, epochs, stat);
257
258 // Print Residuals
259 // ---------------
260 const string all = "ZZZ";
261
262 cout.setf(ios::fixed);
263 cout << "!\n! MJD PRN radial along out clk clkRed iPRN"
264 "\n! ----------------------------------------------------------------\n";
265 for (unsigned ii = 0; ii < epochs.size(); ii++) {
266 const t_epoch* epo = epochs[ii];
267 const map<t_prn, ColumnVector>& dr = epochs[ii]->_dr;
268 const map<t_prn, double>& dc = epochs[ii]->_dc;
269 for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
270 const t_prn& prn = it->first;
271 const ColumnVector& rao = it->second;
272 cout << setprecision(6) << epo->_tt.mjddec() << ' ' << prn << ' '
273 << setw(7) << setprecision(4) << rao[0] << ' '
274 << setw(7) << setprecision(4) << rao[1] << ' '
275 << setw(7) << setprecision(4) << rao[2] << " ";
276 stat[prn.toString()]._rao += SP(rao, rao); // Schur product
277 stat[prn.toString()]._nr += 1;
278 stat[all]._rao += SP(rao, rao);
279 stat[all]._nr += 1;
280 if (dc.find(prn) != dc.end()) {
281 double clkRes = dc.find(prn)->second;
282 double clkResRed = clkRes - it->second[0]; // clock minus radial component
283 cout << setw(7) << setprecision(4) << clkRes << ' '
284 << setw(7) << setprecision(4) << clkResRed;
285 stat[prn.toString()]._dc += clkRes * clkRes;
286 stat[prn.toString()]._dcRed += clkResRed * clkResRed;
287 stat[prn.toString()]._nc += 1;
288 stat[all]._dc += clkRes * clkRes;
289 stat[all]._dcRed += clkResRed * clkResRed;
290 stat[all]._nc += 1;
291 }
292 else {
293 cout << " . . ";
294 }
295 cout << " " << setw(2) << int(prn) << endl;
296 }
297 delete epo;
298 }
299
300 // Print Summary
301 // -------------
302 cout << "!\n! RMS:\n";
303 for (map<string, t_stat>::iterator it = stat.begin(); it != stat.end(); it++) {
304 const string& prn = it->first;
305 t_stat& stat = it->second;
306 if (stat._nr > 0) {
307 stat._rao[0] = sqrt(stat._rao[0] / stat._nr);
308 stat._rao[1] = sqrt(stat._rao[1] / stat._nr);
309 stat._rao[2] = sqrt(stat._rao[2] / stat._nr);
310 if (prn == all) {
311 cout << "!\n! Total ";
312 }
313 else {
314 cout << "! " << prn << ' ';
315 }
316 cout << setw(7) << setprecision(4) << stat._rao[0] << ' '
317 << setw(7) << setprecision(4) << stat._rao[1] << ' '
318 << setw(7) << setprecision(4) << stat._rao[2] << " ";
319 if (stat._nc > 0) {
320 stat._dc = sqrt(stat._dc / stat._nc);
321 stat._dcRed = sqrt(stat._dcRed / stat._nc);
322 cout << setw(7) << setprecision(4) << stat._dc << ' '
323 << setw(7) << setprecision(4) << stat._dcRed;
324 if (prn != all) {
325 cout << " offset " << setw(7) << setprecision(4) << stat._offset;
326 }
327 }
328 else {
329 cout << " . . ";
330 }
331 cout << endl;
332 }
333 }
334}
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