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