source: ntrip/trunk/BNC/src/orbComp/sp3Comp.cpp@ 6357

Last change on this file since 6357 was 6357, checked in by mervart, 9 years ago
File size: 10.9 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 goto end;
85 }
86
87 for (int ii = 0; ii < _sp3FileNames.size(); ii++) {
88 *_log << "! SP3 File " << ii+1 << ": " << _sp3FileNames[ii] << endl;
89 }
90 if (_sp3FileNames.size() != 2) {
91 *_log << "ERROR: sp3Comp requires two input SP3 files" << endl;
92 goto end;
93 }
94
95 try {
96 ostringstream msg;
97 compare(msg);
98 *_log << msg.str().c_str();
99 }
100 catch (const string& error) {
101 *_log << "ERROR: " << error.c_str() << endl;
102 }
103 catch (const char* error) {
104 *_log << "ERROR: " << error << endl;
105 }
106
107 // Exit (thread)
108 // -------------
109 end:
110 if (BNC_CORE->mode() != t_bncCore::interactive) {
111 qApp->exit(0);
112 }
113 else {
114 emit finished();
115 deleteLater();
116 }
117}
118
119// Satellite Index in clkSats set
120////////////////////////////////////////////////////////////////////////////////
121int t_sp3Comp::satIndex(const set<t_prn>& clkSats, const t_prn& prn) const {
122 int ret = 0;
123 for (set<t_prn>::const_iterator it = clkSats.begin(); it != clkSats.end(); it++) {
124 if ( *it == prn) {
125 return ret;
126 }
127 ++ret;
128 }
129 throw "satellite not found " + prn.toString();
130}
131
132// Estimate Clock Offsets
133////////////////////////////////////////////////////////////////////////////////
134void t_sp3Comp::processClocks(const set<t_prn>& clkSats, vector<t_epoch*>& epochs,
135 map<string, t_stat>& stat) const {
136
137 if (clkSats.size() == 0) {
138 return;
139 }
140
141 int nPar = epochs.size() + clkSats.size();
142 SymmetricMatrix NN(nPar); NN = 0.0;
143 ColumnVector bb(nPar); bb = 0.0;
144
145 // Create Matrix A'A and vector b
146 // ------------------------------
147 for (unsigned ie = 0; ie < epochs.size(); ie++) {
148 const map<t_prn, double>& dc = epochs[ie]->_dc;
149 Matrix AA(dc.size(), nPar); AA = 0.0;
150 ColumnVector ll(dc.size()); ll = 0.0;
151 map<t_prn, double>::const_iterator it; int ii;
152 for (it = dc.begin(), ii = 0; it != dc.end(); it++, ii++) {
153 const t_prn& prn = it->first;
154 int index = epochs.size() + satIndex(clkSats, prn);
155 AA[ii][ie] = 1.0; // epoch-specfic offset (common for all satellites)
156 AA[ii][index] = 1.0; // satellite-specific offset (common for all epochs)
157 ll[ii] = it->second;
158 }
159 SymmetricMatrix dN; dN << AA.t() * AA;
160 NN += dN;
161 bb += AA.t() * ll;
162 }
163
164 // Regularize NN
165 // -------------
166 RowVector HH(nPar);
167 HH.columns(1, epochs.size()) = 0.0;
168 HH.columns(epochs.size()+1, nPar) = 1.0;
169 SymmetricMatrix dN; dN << HH.t() * HH;
170 NN += dN;
171
172 // Estimate Parameters
173 // -------------------
174 ColumnVector xx = NN.i() * bb;
175
176 // Compute clock residuals
177 // -----------------------
178 for (unsigned ie = 0; ie < epochs.size(); ie++) {
179 map<t_prn, double>& dc = epochs[ie]->_dc;
180 for (map<t_prn, double>::iterator it = dc.begin(); it != dc.end(); it++) {
181 const t_prn& prn = it->first;
182 int index = epochs.size() + satIndex(clkSats, prn);
183 dc[prn] = it->second - xx[ie] - xx[index];
184 stat[prn.toString()]._offset = xx[index];
185 }
186 }
187}
188
189// Main Routine
190////////////////////////////////////////////////////////////////////////////////
191void t_sp3Comp::compare(ostringstream& out) const {
192
193 // Synchronize reading of two sp3 files
194 // ------------------------------------
195 bncSP3 in1(_sp3FileNames[0]);
196 bncSP3 in2(_sp3FileNames[1]);
197
198 vector<t_epoch*> epochs;
199 set<t_prn> clkSats;
200 while (in1.nextEpoch()) {
201 bncTime tt = in1.currEpoch()->_tt;
202 while (in2.nextEpoch()) {
203 if (tt == in2.currEpoch()->_tt) {
204 t_epoch* epo = new t_epoch; epo->_tt = tt;
205
206 bool epochOK = false;
207 for (int i1 = 0; i1 < in1.currEpoch()->_sp3Sat.size(); i1++) {
208 bncSP3::t_sp3Sat* sat1 = in1.currEpoch()->_sp3Sat[i1];
209 for (int i2 = 0; i2 < in2.currEpoch()->_sp3Sat.size(); i2++) {
210 bncSP3::t_sp3Sat* sat2 = in2.currEpoch()->_sp3Sat[i2];
211 if (sat1->_prn == sat2->_prn) {
212 epochOK = true;
213 epo->_dr[sat1->_prn] = sat1->_xyz - sat2->_xyz;
214 epo->_xyz[sat1->_prn] = sat1->_xyz;
215 if (sat1->_clkValid && sat2->_clkValid) {
216 epo->_dc[sat1->_prn] = sat1->_clk - sat2->_clk;
217 clkSats.insert(sat1->_prn);
218 }
219 }
220 }
221 }
222 if (epochOK) {
223 epochs.push_back(epo);
224 }
225 else {
226 delete epo;
227 }
228 break;
229 }
230 }
231 }
232
233 // Transform xyz into radial, along-track, and out-of-plane
234 // --------------------------------------------------------
235 for (unsigned ie = 0; ie < epochs.size(); ie++) {
236 t_epoch* epoch = epochs[ie];
237 t_epoch* epoch2 = 0;
238 if (ie == 0 && epochs.size() > 1) {
239 epoch2 = epochs[ie+1];
240 }
241 else {
242 epoch2 = epochs[ie-1];
243 }
244 double dt = epoch->_tt - epoch2->_tt;
245 map<t_prn, ColumnVector>& dr = epoch->_dr;
246 map<t_prn, ColumnVector>& xyz = epoch->_xyz;
247 map<t_prn, ColumnVector>& xyz2 = epoch2->_xyz;
248 for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
249 const t_prn& prn = it->first;
250 if (xyz2.find(prn) != xyz2.end()) {
251 const ColumnVector dx = dr[prn];
252 const ColumnVector& x1 = xyz[prn];
253 const ColumnVector& x2 = xyz2[prn];
254 ColumnVector vel = (x1 - x2) / dt;
255 XYZ_to_RSW(x1, vel, dx, dr[prn]);
256 }
257 else {
258 epoch->_dr.erase(prn);
259 epoch->_xyz.erase(prn);
260 epoch->_dc.erase(prn);
261 }
262 }
263 }
264
265 map<string, t_stat> stat;
266
267 // Estimate Clock Offsets
268 // ----------------------
269 processClocks(clkSats, epochs, stat);
270
271 // Print Residuals
272 // ---------------
273 const string all = "ZZZ";
274
275 out.setf(ios::fixed);
276 out << "!\n! MJD PRN radial along out clk clkRed iPRN"
277 "\n! ----------------------------------------------------------------\n";
278 for (unsigned ii = 0; ii < epochs.size(); ii++) {
279 const t_epoch* epo = epochs[ii];
280 const map<t_prn, ColumnVector>& dr = epochs[ii]->_dr;
281 const map<t_prn, double>& dc = epochs[ii]->_dc;
282 for (map<t_prn, ColumnVector>::const_iterator it = dr.begin(); it != dr.end(); it++) {
283 const t_prn& prn = it->first;
284 const ColumnVector& rao = it->second;
285 out << setprecision(6) << epo->_tt.mjddec() << ' ' << prn.toString() << ' '
286 << setw(7) << setprecision(4) << rao[0] << ' '
287 << setw(7) << setprecision(4) << rao[1] << ' '
288 << setw(7) << setprecision(4) << rao[2] << " ";
289 stat[prn.toString()]._rao += SP(rao, rao); // Schur product
290 stat[prn.toString()]._nr += 1;
291 stat[all]._rao += SP(rao, rao);
292 stat[all]._nr += 1;
293 if (dc.find(prn) != dc.end()) {
294 double clkRes = dc.find(prn)->second;
295 double clkResRed = clkRes - it->second[0]; // clock minus radial component
296 out << setw(7) << setprecision(4) << clkRes << ' '
297 << setw(7) << setprecision(4) << clkResRed;
298 stat[prn.toString()]._dc += clkRes * clkRes;
299 stat[prn.toString()]._dcRed += clkResRed * clkResRed;
300 stat[prn.toString()]._nc += 1;
301 stat[all]._dc += clkRes * clkRes;
302 stat[all]._dcRed += clkResRed * clkResRed;
303 stat[all]._nc += 1;
304 }
305 else {
306 out << " . . ";
307 }
308 out << " " << setw(2) << int(prn) << endl;
309 }
310 delete epo;
311 }
312
313 // Print Summary
314 // -------------
315 out << "!\n! RMS:\n";
316 for (map<string, t_stat>::iterator it = stat.begin(); it != stat.end(); it++) {
317 const string& prn = it->first;
318 t_stat& stat = it->second;
319 if (stat._nr > 0) {
320 stat._rao[0] = sqrt(stat._rao[0] / stat._nr);
321 stat._rao[1] = sqrt(stat._rao[1] / stat._nr);
322 stat._rao[2] = sqrt(stat._rao[2] / stat._nr);
323 if (prn == all) {
324 out << "!\n! Total ";
325 }
326 else {
327 out << "! " << prn << ' ';
328 }
329 out << setw(7) << setprecision(4) << stat._rao[0] << ' '
330 << setw(7) << setprecision(4) << stat._rao[1] << ' '
331 << setw(7) << setprecision(4) << stat._rao[2] << " ";
332 if (stat._nc > 0) {
333 stat._dc = sqrt(stat._dc / stat._nc);
334 stat._dcRed = sqrt(stat._dcRed / stat._nc);
335 out << setw(7) << setprecision(4) << stat._dc << ' '
336 << setw(7) << setprecision(4) << stat._dcRed;
337 if (prn != all) {
338 out << " offset " << setw(7) << setprecision(4) << stat._offset;
339 }
340 }
341 else {
342 out << " . . ";
343 }
344 out << endl;
345 }
346 }
347}
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