source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 10212

Last change on this file since 10212 was 10073, checked in by stuerze, 18 months ago

minor changes
File size: 34.7 KB
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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 "availplot.h"
52#include "eleplot.h"
53#include "dopplot.h"
54#include "bncephuser.h"
55
56using namespace std;
57
58// Constructor
59////////////////////////////////////////////////////////////////////////////
60t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
61
62 bncSettings settings;
63
64 _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
65 _logFile = 0;
66 _log = 0;
67 _currEpo = 0;
68 _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
69 _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
70 _reqcPlotSignals = settings.value("reqcSkyPlotSignals").toString();
71 _defaultSignalTypes << "G:1&2&5" << "R:1&2&3" << "J:1&2" << "E:1&5" << "S:1&5" << "C:2&6" << "I:5&9";
72 if (_reqcPlotSignals.isEmpty()) {
73 _reqcPlotSignals = _defaultSignalTypes.join(" ");
74 }
75 analyzePlotSignals();
76
77 qRegisterMetaType< QVector<t_skyPlotData> >("QVector<t_skyPlotData>");
78
79 connect(this, SIGNAL(dspSkyPlot(const QString&, QVector<t_skyPlotData>, const QByteArray&, double)),
80 this, SLOT(slotDspSkyPlot(const QString&, QVector<t_skyPlotData>, const QByteArray&, double)));
81
82 connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
83 this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
84}
85
86// Destructor
87////////////////////////////////////////////////////////////////////////////
88t_reqcAnalyze::~t_reqcAnalyze() {
89 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
90 delete _rnxObsFiles[ii];
91 }
92 for (int ii = 0; ii < _ephs.size(); ii++) {
93 delete _ephs[ii];
94 }
95 delete _log; _log = 0;
96 delete _logFile; _logFile = 0;
97 if (BNC_CORE->mode() != t_bncCore::interactive) {
98 qApp->exit(8);
99 msleep(100); //sleep 0.1 sec
100 }
101}
102
103//
104////////////////////////////////////////////////////////////////////////////
105void t_reqcAnalyze::run() {
106
107 static const double QC_FORMAT_VERSION = 1.1;
108
109 // Open Log File
110 // -------------
111 if (!_logFileName.isEmpty()) {
112 _logFile = new QFile(_logFileName);
113 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
114 _log = new QTextStream();
115 _log->setDevice(_logFile);
116 }
117 }
118
119 if (_log) {
120 *_log << "QC Format Version : " << QString("%1").arg(QC_FORMAT_VERSION,3,'f',1) << '\n' << '\n';
121 }
122
123 // Check Ephemerides
124 // -----------------
125 checkEphemerides();
126
127 // Initialize RINEX Observation Files
128 // ----------------------------------
129 t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
130
131 // Read Ephemerides
132 // ----------------
133 t_reqcEdit::readEphemerides(_navFileNames, _ephs);
134
135 // Loop over all RINEX Files
136 // -------------------------
137 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
138 analyzeFile(_rnxObsFiles[ii]);
139 }
140
141 // Exit
142 // ----
143 emit finished();
144 deleteLater();
145}
146
147//
148////////////////////////////////////////////////////////////////////////////
149void t_reqcAnalyze::analyzePlotSignals() {
150
151 QStringList signalsOpt = _reqcPlotSignals.split(" ", QString::SkipEmptyParts);
152
153 for (int ii = 0; ii < signalsOpt.size(); ii++) {
154 QStringList input = signalsOpt.at(ii).split(QRegExp("[:&]"), QString::SkipEmptyParts);
155 if (input.size() > 1 && input[0].length() == 1) {
156 char system = input[0].toLatin1().constData()[0];
157 QStringList sysValid = _defaultSignalTypes.filter(QString(system));
158 if (!sysValid.isEmpty()) {
159 for (int iSig = 1; iSig < input.size(); iSig++) {
160 if (input[iSig].length() == 1 && input[iSig][0].isDigit()) {
161 _signalTypes[system].append(input[iSig][0].toLatin1());
162 }
163 }
164 }
165 }
166 }
167}
168
169//
170////////////////////////////////////////////////////////////////////////////
171void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
172
173 _qcFile.clear();
174
175 // A priori Coordinates
176 // --------------------
177 ColumnVector xyzSta = obsFile->xyz();
178
179 // Loop over all Epochs
180 // --------------------
181 try {
182 QMap<QString, bncTime> lastObsTime;
183 bool firstEpo = true;
184 while ( (_currEpo = obsFile->nextEpoch()) != 0) {
185 if (firstEpo) {
186 firstEpo = false;
187 _qcFile._startTime = _currEpo->tt;
188 _qcFile._antennaName = obsFile->antennaName();
189 _qcFile._markerName = obsFile->markerName();
190 _qcFile._receiverType = obsFile->receiverType();
191 _qcFile._interval = obsFile->interval();
192 }
193 _qcFile._endTime = _currEpo->tt;
194
195 t_qcEpo qcEpo;
196 qcEpo._epoTime = _currEpo->tt;
197 qcEpo._PDOP = cmpDOP(xyzSta);
198
199 // Loop over all satellites
200 // ------------------------
201 for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
202 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
203 if (_navFileNames.size() && _numExpObs.find(rnxSat.prn) == _numExpObs.end()) {
204 _numExpObs[rnxSat.prn] = 0;
205 }
206 if (_signalTypes.find(rnxSat.prn.system()) == _signalTypes.end()) {
207 continue;
208 }
209 t_satObs satObs;
210 t_rnxObsFile::setObsFromRnx(obsFile, _currEpo, rnxSat, satObs);
211 t_qcSat& qcSat = qcEpo._qcSat[satObs._prn];
212 setQcObs(qcEpo._epoTime, xyzSta, satObs, lastObsTime, qcSat);
213 updateQcSat(qcSat, _qcFile._qcSatSum[satObs._prn]);
214 }
215 _qcFile._qcEpo.push_back(qcEpo);
216 }
217
218 analyzeMultipath();
219
220 if (_navFileNames.size()) {
221 setExpectedObs(_qcFile._startTime, _qcFile._endTime, _qcFile._interval, xyzSta);
222 }
223
224 preparePlotData(obsFile);
225
226 printReport(obsFile);
227 }
228 catch (QString str) {
229 if (_log) {
230 *_log << "Exception " << str << '\n';
231 }
232 else {
233 qDebug() << str;
234 }
235 }
236}
237
238// Compute Dilution of Precision
239////////////////////////////////////////////////////////////////////////////
240double t_reqcAnalyze::cmpDOP(const ColumnVector& xyzSta) const {
241
242 if ( xyzSta.size() != 3 || (xyzSta[0] == 0.0 && xyzSta[1] == 0.0 && xyzSta[2] == 0.0) ) {
243 return 0.0;
244 }
245
246 unsigned nSat = _currEpo->rnxSat.size();
247
248 if (nSat < 4) {
249 return 0.0;
250 }
251
252 Matrix AA(nSat, 4);
253
254 unsigned nSatUsed = 0;
255 for (unsigned iSat = 0; iSat < nSat; iSat++) {
256
257 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iSat];
258 const t_prn& prn = rnxSat.prn;
259
260 if (_signalTypes.find(prn.system()) == _signalTypes.end()) {
261 continue;
262 }
263
264 t_eph* eph = 0;
265 for (int ie = 0; ie < _ephs.size(); ie++) {
266 if (_ephs[ie]->prn() == prn) {
267 eph = _ephs[ie];
268 break;
269 }
270 }
271 if (eph) {
272 ColumnVector xSat(6);
273 ColumnVector vv(3);
274 if (eph->getCrd(_currEpo->tt, xSat, vv, false) == success) {
275 ++nSatUsed;
276 ColumnVector dx = xSat.Rows(1,3) - xyzSta;
277 double rho = dx.NormFrobenius();
278 AA(nSatUsed,1) = dx(1) / rho;
279 AA(nSatUsed,2) = dx(2) / rho;
280 AA(nSatUsed,3) = dx(3) / rho;
281 AA(nSatUsed,4) = 1.0;
282 }
283 }
284 }
285
286 if (nSatUsed < 4) {
287 return 0.0;
288 }
289
290 AA = AA.Rows(1, nSatUsed);
291
292 SymmetricMatrix QQ;
293 QQ << AA.t() * AA;
294 QQ = QQ.i();
295
296 return sqrt(QQ.trace());
297}
298
299//
300////////////////////////////////////////////////////////////////////////////
301void t_reqcAnalyze::updateQcSat(const t_qcSat& qcSat, t_qcSatSum& qcSatSum) {
302
303 for (int ii = 0; ii < qcSat._qcFrq.size(); ii++) {
304 const t_qcFrq& qcFrq = qcSat._qcFrq[ii];
305 t_qcFrqSum& qcFrqSum = qcSatSum._qcFrqSum[qcFrq._rnxType2ch];
306 qcFrqSum._numObs += 1;
307 if (qcFrq._slip) {
308 qcFrqSum._numSlipsFlagged += 1;
309 }
310 if (qcFrq._gap) {
311 qcFrqSum._numGaps += 1;
312 }
313 if (qcFrq._SNR > 0.0) {
314 qcFrqSum._numSNR += 1;
315 qcFrqSum._sumSNR += qcFrq._SNR;
316 }
317 }
318}
319
320//
321////////////////////////////////////////////////////////////////////////////
322void t_reqcAnalyze::setQcObs(const bncTime& epoTime, const ColumnVector& xyzSta,
323 const t_satObs& satObs, QMap<QString, bncTime>& lastObsTime,
324 t_qcSat& qcSat) {
325
326 t_eph* eph = 0;
327 for (int ie = 0; ie < _ephs.size(); ie++) {
328 if (_ephs[ie]->prn().system() == satObs._prn.system() &&
329 _ephs[ie]->prn().number() == satObs._prn.number()) {
330 eph = _ephs[ie];
331 break;
332 }
333 }
334 if (eph) {
335 ColumnVector xc(6);
336 ColumnVector vv(3);
337 if ( xyzSta.size() == 3 && (xyzSta[0] != 0.0 || xyzSta[1] != 0.0 || xyzSta[2] != 0.0) &&
338 eph->getCrd(epoTime, xc, vv, false) == success) {
339 double rho, eleSat, azSat;
340 topos(xyzSta(1), xyzSta(2), xyzSta(3), xc(1), xc(2), xc(3), rho, eleSat, azSat);
341 if (round(eleSat * 180.0/M_PI) >= 0.0) {
342 qcSat._eleSet = true;
343 qcSat._azDeg = azSat * 180.0/M_PI;
344 qcSat._eleDeg = eleSat * 180.0/M_PI;
345 }
346 }
347 if (satObs._prn.system() == 'R') {
348 qcSat._slotSet = true;
349 qcSat._slotNum = eph->slotNum();
350 }
351 }
352
353 // Availability and Slip Flags
354 // ---------------------------
355 for (unsigned ii = 0; ii < satObs._obs.size(); ii++) {
356 const t_frqObs* frqObs = satObs._obs[ii];
357
358 qcSat._qcFrq.push_back(t_qcFrq());
359 t_qcFrq& qcFrq = qcSat._qcFrq.back();
360
361 qcFrq._rnxType2ch = QString(frqObs->_rnxType2ch.c_str());
362 qcFrq._SNR = frqObs->_snr;
363 qcFrq._slip = frqObs->_slip;
364 qcFrq._phaseValid = frqObs->_phaseValid;
365 qcFrq._codeValid = frqObs->_codeValid;
366 // Check Gaps
367 // ----------
368 QString key = QString(satObs._prn.toString().c_str()) + qcFrq._rnxType2ch;
369 if (lastObsTime[key].valid()) {
370 double dt = epoTime - lastObsTime[key];
371 if (dt > 1.5 * _qcFile._interval) {
372 qcFrq._gap = true;
373 }
374 }
375 lastObsTime[key] = epoTime;
376
377 // Compute the Multipath Linear Combination
378 // ----------------------------------------
379 if (frqObs->_codeValid) {
380 t_frequency::type fA = t_frequency::dummy;
381 t_frequency::type fB = t_frequency::dummy;
382 char sys = satObs._prn.system();
383 if (_signalTypes.find(sys) != _signalTypes.end()) {
384 for (int iSig = 0; iSig < _signalTypes[sys].size(); iSig++) {
385 if (frqObs->_rnxType2ch[0] == _signalTypes[sys][iSig]) {
386 string frqType; frqType.push_back(sys); frqType.push_back(_signalTypes[sys][iSig]);
387 fA = t_frequency::toInt(frqType);
388 break;
389 }
390 }
391 if (fA != t_frequency::dummy) {
392 for (int iSig = 0; iSig < _signalTypes[sys].size(); iSig++) {
393 string frqType; frqType.push_back(sys); frqType.push_back(_signalTypes[sys][iSig]);
394 t_frequency::type fHlp = t_frequency::toInt(frqType);
395 if (fA != fHlp) {
396 fB = fHlp;
397 break;
398 }
399 }
400 }
401 if (fA != t_frequency::dummy && fB != t_frequency::dummy) {
402
403 double f_a = t_CST::freq(fA, qcSat._slotNum);
404 double f_b = t_CST::freq(fB, qcSat._slotNum);
405 double C_a = frqObs->_code;
406
407 bool foundA = false;
408 double L_a = 0.0;
409 bool foundB = false;
410 double L_b = 0.0;
411 for (unsigned jj = 0; jj < satObs._obs.size(); jj++) {
412 const t_frqObs* frqObsHlp = satObs._obs[jj];
413 if (frqObsHlp->_rnxType2ch[0] == t_frequency::toString(fA)[1] && frqObsHlp->_phaseValid) {
414 foundA = true;
415 L_a = frqObsHlp->_phase * t_CST::c / f_a;
416 }
417 else if (frqObsHlp->_rnxType2ch[0] == t_frequency::toString(fB)[1] && frqObsHlp->_phaseValid) {
418 foundB = true;
419 L_b = frqObsHlp->_phase * t_CST::c / f_b;
420 }
421 }
422 if (foundA && foundB && C_a) {
423 qcFrq._setMP = true;
424 qcFrq._rawMP = C_a - L_a - 2.0*f_b*f_b/(f_a*f_a-f_b*f_b) * (L_a - L_b);
425 }
426 }
427 }
428 }
429 } // satObs loop
430}
431
432//
433////////////////////////////////////////////////////////////////////////////
434void t_reqcAnalyze::analyzeMultipath() {
435
436 const double SLIPTRESH = 10.0; // cycle-slip threshold (meters)
437 const double chunkStep = 600.0; // 10 minutes
438
439 // Loop over all satellites available
440 // ----------------------------------
441 QMutableMapIterator<t_prn, t_qcSatSum> itSat(_qcFile._qcSatSum);
442 while (itSat.hasNext()) {
443 itSat.next();
444 const t_prn& prn = itSat.key();
445 t_qcSatSum& qcSatSum = itSat.value();
446
447 // Loop over all frequencies available
448 // -----------------------------------
449 QMutableMapIterator<QString, t_qcFrqSum> itFrq(qcSatSum._qcFrqSum);
450 while (itFrq.hasNext()) {
451 itFrq.next();
452 const QString& frqType = itFrq.key();
453 t_qcFrqSum& qcFrqSum = itFrq.value();
454
455 // Loop over all Chunks of Data
456 // ----------------------------
457 for (bncTime chunkStart = _qcFile._startTime;
458 chunkStart < _qcFile._endTime; chunkStart += chunkStep) {
459
460 bncTime chunkEnd = chunkStart + chunkStep;
461
462 QVector<t_qcFrq*> frqVec;
463 QVector<double> MP;
464
465 // Loop over all Epochs within one Chunk of Data
466 // ---------------------------------------------
467 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
468 t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
469 if (chunkStart <= qcEpo._epoTime && qcEpo._epoTime < chunkEnd) {
470 if (qcEpo._qcSat.contains(prn)) {
471 t_qcSat& qcSat = qcEpo._qcSat[prn];
472 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
473 t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
474 if (qcFrq._rnxType2ch == frqType) {
475 frqVec << &qcFrq;
476 if (qcFrq._setMP) {
477 MP << qcFrq._rawMP;
478 }
479 }
480 }
481 }
482 }
483 }
484
485 // Compute the multipath mean and standard deviation
486 // -------------------------------------------------
487 if (MP.size() > 1) {
488 double meanMP = 0.0;
489 for (int ii = 0; ii < MP.size(); ii++) {
490 meanMP += MP[ii];
491 }
492 meanMP /= MP.size();
493
494 bool slipMP = false;
495
496 double stdMP = 0.0;
497 for (int ii = 0; ii < MP.size(); ii++) {
498 double diff = MP[ii] - meanMP;
499 if (fabs(diff) > SLIPTRESH) {
500 slipMP = true;
501 break;
502 }
503 stdMP += diff * diff;
504 }
505
506 if (slipMP) {
507 stdMP = 0.0;
508 stdMP = 0.0;
509 qcFrqSum._numSlipsFound += 1;
510 }
511 else {
512 stdMP = sqrt(stdMP / (MP.size()-1));
513 qcFrqSum._numMP += 1;
514 qcFrqSum._sumMP += stdMP;
515 }
516
517 for (int ii = 0; ii < frqVec.size(); ii++) {
518 t_qcFrq* qcFrq = frqVec[ii];
519 if (slipMP) {
520 qcFrq->_slip = true;
521 }
522 else {
523 qcFrq->_stdMP = stdMP;
524 }
525 }
526 }
527 } // chunk loop
528 } // frq loop
529 } // sat loop
530}
531
532// Auxiliary Function for sorting MP data
533////////////////////////////////////////////////////////////////////////////
534bool t_reqcAnalyze::mpLessThan(const t_polarPoint* p1, const t_polarPoint* p2) {
535 return p1->_value < p2->_value;
536}
537
538//
539////////////////////////////////////////////////////////////////////////////
540void t_reqcAnalyze::preparePlotData(const t_rnxObsFile* obsFile) {
541
542 if (!BNC_CORE->GUIenabled()) {
543 return ;
544 }
545
546 QVector<t_skyPlotData> skyPlotDataMP;
547 QVector<t_skyPlotData> skyPlotDataSN;
548
549 for(QMap<char, QVector<char> >::iterator it1 = _signalTypes.begin();
550 it1 != _signalTypes.end(); it1++) {
551
552 char sys = it1.key();
553
554 for (int ii = 0; ii < it1.value().size(); ii++) {
555
556 skyPlotDataMP.append(t_skyPlotData(sys)); t_skyPlotData& dataMP = skyPlotDataMP.last();
557 skyPlotDataSN.append(t_skyPlotData(sys)); t_skyPlotData& dataSN = skyPlotDataSN.last();
558
559 dataMP._title = "Multipath\n" + QString(it1.key()) + ":" + it1.value()[ii] + " ";
560 dataSN._title = "Signal-to-Noise Ratio\n" + QString(it1.key()) + ":" + it1.value()[ii] + " ";
561
562 // Loop over all observations
563 // --------------------------
564 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
565 t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
566 QMapIterator<t_prn, t_qcSat> it2(qcEpo._qcSat);
567 while (it2.hasNext()) {
568 it2.next();
569 const t_qcSat& qcSat = it2.value();
570 if (qcSat._eleSet && it2.key().system() == sys) {
571 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
572 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
573 if (QString(it1.value()[ii]) == qcFrq._rnxType2ch.left(1)) {
574 (*dataMP._data) << (new t_polarPoint(qcSat._azDeg, 90.0 - qcSat._eleDeg, qcFrq._stdMP));
575 (*dataSN._data) << (new t_polarPoint(qcSat._azDeg, 90.0 - qcSat._eleDeg, qcFrq._SNR));
576 }
577 }
578 }
579 }
580 }
581
582 // Sort MP data (make the largest values always visible)
583 // -----------------------------------------------------
584 qStableSort(dataMP._data->begin(), dataMP._data->end(), mpLessThan);
585 }
586 }
587
588 // Show the plots
589 // --------------
590 QFileInfo fileInfo(obsFile->fileName());
591 QByteArray title = fileInfo.fileName().toLatin1();
592 emit dspSkyPlot(obsFile->fileName(), skyPlotDataMP, "Meters", 1.0);
593 emit dspSkyPlot(obsFile->fileName(), skyPlotDataSN, "dbHz", 54.0);
594 emit dspAvailPlot(obsFile->fileName(), title);
595}
596
597//
598////////////////////////////////////////////////////////////////////////////
599void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
600 QVector<t_skyPlotData> skyPlotData,
601 const QByteArray& scaleTitle, double maxValue) {
602
603 if (BNC_CORE->GUIenabled()) {
604
605 if (maxValue == 0.0) {
606 QVectorIterator<t_skyPlotData> it(skyPlotData);
607 while (it.hasNext()) {
608 const t_skyPlotData& plotData = it.next();
609 const QVector<t_polarPoint*>* data = plotData._data;
610 for (int ii = 0; ii < data->size(); ii++) {
611 double val = data->at(ii)->_value;
612 if (maxValue < val) {
613 maxValue = val;
614 }
615 }
616 }
617 }
618
619 QwtInterval scaleInterval(0.0, maxValue);
620
621 QVector<QWidget*> plots;
622 QVector<int> rows;
623 QMutableVectorIterator<t_skyPlotData> it(skyPlotData);
624 int iRow = 0;
625 char sys = ' ';
626 while (it.hasNext()) {
627 t_skyPlotData& plotData = it.next();
628 QVector<t_polarPoint*>* data = plotData._data;
629 QwtText title(plotData._title);
630 QFont font = title.font(); font.setPointSize(font.pointSize()-1); title.setFont(font);
631 t_polarPlot* plot = new t_polarPlot(title, scaleInterval, BNC_CORE->mainWindow());
632 plot->addCurve(data);
633 plots << plot;
634 if (sys != ' ' && sys != plotData._sys) {
635 iRow += 1;
636 }
637 sys = plotData._sys;
638 rows << iRow;
639 }
640
641 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, false,
642 &scaleTitle, &scaleInterval, &rows);
643
644 graphWin->show();
645
646 bncSettings settings;
647 QString dirName = settings.value("reqcPlotDir").toString();
648 if (!dirName.isEmpty()) {
649 QByteArray ext = (scaleTitle == "Meters") ? "_M.png" : "_S.png";
650 graphWin->savePNG(dirName, ext);
651 }
652 }
653}
654
655//
656////////////////////////////////////////////////////////////////////////////
657void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName, const QByteArray& title) {
658
659 t_plotData plotData;
660 QMap<t_prn, t_plotData> plotDataMap;
661
662 for (int ii = 0; ii < _qcFile._qcEpo.size(); ii++) {
663 const t_qcEpo& qcEpo = _qcFile._qcEpo[ii];
664 double mjdX24 = qcEpo._epoTime.mjddec() * 24.0;
665
666 plotData._mjdX24 << mjdX24;
667 plotData._PDOP << qcEpo._PDOP;
668 plotData._numSat << qcEpo._qcSat.size();
669
670 QMapIterator<t_prn, t_qcSat> it(qcEpo._qcSat);
671 while (it.hasNext()) {
672 it.next();
673 const t_prn& prn = it.key();
674 const t_qcSat& qcSat = it.value();
675
676 t_plotData& data = plotDataMap[prn];
677
678 if (qcSat._eleSet) {
679 data._mjdX24 << mjdX24;
680 data._eleDeg << qcSat._eleDeg;
681 }
682
683 for (int iSig = 0; iSig < _signalTypes[prn.system()].size(); iSig++) {
684 char frqChar = _signalTypes[prn.system()][iSig];
685 QString frqType;
686 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
687 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
688 if (qcFrq._rnxType2ch[0] == frqChar && frqType.isEmpty()) {
689 frqType = qcFrq._rnxType2ch;
690 }
691 if (qcFrq._rnxType2ch == frqType) {
692 t_plotData::t_hlpStatus& status = data._status[frqChar];
693 if (qcFrq._slip) {
694 status._slip << mjdX24;
695 }
696 else if (qcFrq._gap) {
697 status._gap << mjdX24;
698 }
699 else {
700 status._ok << mjdX24;
701 }
702 }
703 }
704 }
705 }
706 }
707
708 if (BNC_CORE->GUIenabled()) {
709 t_availPlot* plotA = new t_availPlot(0, plotDataMap);
710 plotA->setTitle(title);
711
712 t_elePlot* plotZ = new t_elePlot(0, plotDataMap);
713
714 t_dopPlot* plotD = new t_dopPlot(0, plotData);
715
716 QVector<QWidget*> plots;
717 plots << plotA << plotZ << plotD;
718 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, true);
719
720 int ww = QFontMetrics(graphWin->font()).width('w');
721 graphWin->setMinimumSize(120*ww, 40*ww);
722
723 graphWin->show();
724
725 bncSettings settings;
726 QString dirName = settings.value("reqcPlotDir").toString();
727 if (!dirName.isEmpty()) {
728 QByteArray ext = "_A.png";
729 graphWin->savePNG(dirName, ext);
730 }
731 }
732}
733
734// Finish the report
735////////////////////////////////////////////////////////////////////////////
736void t_reqcAnalyze::printReport(const t_rnxObsFile* obsFile) {
737
738 if (!_log) {
739 return;
740 }
741
742 QFileInfo obsFi(obsFile->fileName());
743 QString obsFileName = obsFi.fileName();
744
745 // Summary
746 // -------
747 *_log << "Observation File : " << obsFileName << '\n'
748 << "RINEX Version : " << QString("%1").arg(obsFile->version(),4,'f',2) << '\n'
749 << "Marker Name : " << _qcFile._markerName << '\n'
750 << "Marker Number : " << obsFile->markerNumber() << '\n'
751 << "Receiver : " << _qcFile._receiverType << '\n'
752 << "Antenna : " << _qcFile._antennaName << '\n'
753 << "Position XYZ : " << QString("%1 %2 %3").arg(obsFile->xyz()(1), 14, 'f', 4)
754 .arg(obsFile->xyz()(2), 14, 'f', 4)
755 .arg(obsFile->xyz()(3), 14, 'f', 4) << '\n'
756 << "Antenna dH/dE/dN : " << QString("%1 %2 %3").arg(obsFile->antNEU()(3), 8, 'f', 4)
757 .arg(obsFile->antNEU()(2), 8, 'f', 4)
758 .arg(obsFile->antNEU()(1), 8, 'f', 4) << '\n'
759 << "Start Time : " << _qcFile._startTime.datestr().c_str() << ' '
760 << _qcFile._startTime.timestr(1,'.').c_str() << '\n'
761 << "End Time : " << _qcFile._endTime.datestr().c_str() << ' '
762 << _qcFile._endTime.timestr(1,'.').c_str() << '\n'
763 << "Interval : " << _qcFile._interval << " sec" << '\n';
764
765
766 // Observation types per system
767 // -----------------------------
768 for (int iSys = 0; iSys < obsFile->numSys(); iSys++) {
769 char sys = obsFile->system(iSys);
770 if (sys != ' ') {
771 *_log << "Observation Types " << sys << ":";
772 for (int iType = 0; iType < obsFile->nTypes(sys); iType++) {
773 QString type = obsFile->obsType(sys, iType);
774 *_log << " " << type;
775 }
776 *_log << '\n';
777 }
778 }
779
780 // Number of analysed systems
781 // --------------------------
782 QMap<QChar, QVector<const t_qcSatSum*> > systemMap;
783 QMapIterator<t_prn, t_qcSatSum> itSat(_qcFile._qcSatSum);
784 while (itSat.hasNext()) {
785 itSat.next();
786 const t_prn& prn = itSat.key();
787 const t_qcSatSum& qcSatSum = itSat.value();
788 systemMap[prn.system()].push_back(&qcSatSum);
789 }
790 *_log << "Analysed GNSS : " << systemMap.size() << " ";
791 QMapIterator<QChar, QVector<const t_qcSatSum*> > itSys(systemMap);
792 while (itSys.hasNext()) {
793 itSys.next();
794 *_log << ' ' << itSys.key();
795 }
796 *_log << '\n';
797
798
799 // System specific summary
800 // -----------------------
801 itSys.toFront();
802 while (itSys.hasNext()) {
803 itSys.next();
804 const QChar& sys = itSys.key();
805 const QVector<const t_qcSatSum*>& qcSatVec = itSys.value();
806 int numExpectedObs = 0;
807 for(QMap<t_prn, int>::iterator it = _numExpObs.begin(); it != _numExpObs.end(); it++) {
808 if (sys == it.key().system()) {
809 numExpectedObs += it.value();
810 }
811 }
812 QString prefixSys = QString(" ") + sys + QString(": ");
813 QMap<QString, QVector<const t_qcFrqSum*> > frqMap;
814 for (int ii = 0; ii < qcSatVec.size(); ii++) {
815 const t_qcSatSum* qcSatSum = qcSatVec[ii];
816 QMapIterator<QString, t_qcFrqSum> itFrq(qcSatSum->_qcFrqSum);
817 while (itFrq.hasNext()) {
818 itFrq.next();
819 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
820 const t_qcFrqSum& qcFrqSum = itFrq.value();
821 frqMap[frqType].push_back(&qcFrqSum);
822 }
823 }
824 *_log << '\n'
825 << prefixSys << "Satellites: " << qcSatVec.size() << '\n'
826 << prefixSys << "Signals : " << frqMap.size() << " ";
827 QMapIterator<QString, QVector<const t_qcFrqSum*> > itFrq(frqMap);
828 while (itFrq.hasNext()) {
829 itFrq.next();
830 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
831 *_log << ' ' << frqType;
832 }
833 *_log << '\n';
834 QString prefixSys2 = " " + prefixSys;
835 itFrq.toFront();
836 while (itFrq.hasNext()) {
837 itFrq.next();
838 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
839 const QVector<const t_qcFrqSum*> qcFrqVec = itFrq.value();
840 QString prefixFrq = QString(" ") + frqType + QString(": ");
841 int numObs = 0;
842 int numSlipsFlagged = 0;
843 int numSlipsFound = 0;
844 int numGaps = 0;
845 int numSNR = 0;
846 int numMP = 0;
847 double sumSNR = 0.0;
848 double sumMP = 0.0;
849 for (int ii = 0; ii < qcFrqVec.size(); ii++) {
850 const t_qcFrqSum* qcFrqSum = qcFrqVec[ii];
851 numObs += qcFrqSum->_numObs ;
852 numSlipsFlagged += qcFrqSum->_numSlipsFlagged;
853 numSlipsFound += qcFrqSum->_numSlipsFound ;
854 numGaps += qcFrqSum->_numGaps ;
855 numSNR += qcFrqSum->_numSNR;
856 numMP += qcFrqSum->_numMP;
857 sumSNR += qcFrqSum->_sumSNR;
858 sumMP += qcFrqSum->_sumMP;
859 }
860 if (numSNR > 0) {
861 sumSNR /= numSNR;
862 }
863 if (numMP > 0) {
864 sumMP /= numMP;
865 }
866
867 double ratio = (double(numObs) / double(numExpectedObs)) * 100.0;
868
869 *_log << '\n'
870 << prefixSys2 << prefixFrq << "Observations : ";
871 if(_navFileNames.isEmpty() || numExpectedObs == 0.0 || _navFileIncomplete.contains(sys.toLatin1())) {
872 *_log << QString("%1\n").arg(numObs, 6);
873 }
874 else {
875 *_log << QString("%1 (%2) %3 \%\n").arg(numObs, 6).arg(numExpectedObs, 8).arg(ratio, 8, 'f', 2);
876 }
877 *_log << prefixSys2 << prefixFrq << "Slips (file+found): " << QString("%1 +").arg(numSlipsFlagged, 8)
878 << QString("%1\n").arg(numSlipsFound, 8)
879 << prefixSys2 << prefixFrq << "Gaps : " << QString("%1\n").arg(numGaps, 8)
880 << prefixSys2 << prefixFrq << "Mean SNR : " << QString("%1\n").arg(sumSNR, 8, 'f', 1)
881 << prefixSys2 << prefixFrq << "Mean Multipath : " << QString("%1\n").arg(sumMP, 8, 'f', 2);
882 }
883 }
884
885 // Epoch-Specific Output
886 // ---------------------
887 bncSettings settings;
888 if (Qt::CheckState(settings.value("reqcLogSummaryOnly").toInt()) == Qt::Checked) {
889 return;
890 }
891 *_log << '\n';
892 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
893 const t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
894
895 unsigned year, month, day, hour, min;
896 double sec;
897 qcEpo._epoTime.civil_date(year, month, day);
898 qcEpo._epoTime.civil_time(hour, min, sec);
899
900 QString dateStr;
901 QTextStream(&dateStr) << QString("> %1 %2 %3 %4 %5%6")
902 .arg(year, 4)
903 .arg(month, 2, 10, QChar('0'))
904 .arg(day, 2, 10, QChar('0'))
905 .arg(hour, 2, 10, QChar('0'))
906 .arg(min, 2, 10, QChar('0'))
907 .arg(sec, 11, 'f', 7);
908
909 *_log << dateStr << QString(" %1").arg(qcEpo._qcSat.size(), 2)
910 << QString(" %1").arg(qcEpo._PDOP, 4, 'f', 1)
911 << '\n';
912
913 QMapIterator<t_prn, t_qcSat> itSat(qcEpo._qcSat);
914 while (itSat.hasNext()) {
915 itSat.next();
916 const t_prn& prn = itSat.key();
917 const t_qcSat& qcSat = itSat.value();
918
919 *_log << prn.toString().c_str()
920 << QString(" %1 %2").arg(qcSat._eleDeg, 6, 'f', 2).arg(qcSat._azDeg, 7, 'f', 2);
921
922 int numObsTypes = 0;
923 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
924 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
925 if (qcFrq._phaseValid) {
926 numObsTypes += 1;
927 }
928 if (qcFrq._codeValid) {
929 numObsTypes += 1;
930 }
931 }
932 *_log << QString(" %1").arg(numObsTypes, 2);
933
934 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
935 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
936 if (qcFrq._phaseValid) {
937 *_log << " L" << qcFrq._rnxType2ch << ' ';
938 if (qcFrq._slip) {
939 *_log << 's';
940 }
941 else {
942 *_log << '.';
943 }
944 if (qcFrq._gap) {
945 *_log << 'g';
946 }
947 else {
948 *_log << '.';
949 }
950 *_log << QString(" %1").arg(qcFrq._SNR, 4, 'f', 1);
951 }
952 if (qcFrq._codeValid) {
953 *_log << " C" << qcFrq._rnxType2ch << ' ';
954 if (qcFrq._gap) {
955 *_log << " g";
956 }
957 else {
958 *_log << " .";
959 }
960 *_log << QString(" %1").arg(qcFrq._stdMP, 3, 'f', 2);
961 }
962 }
963 *_log << '\n';
964 }
965 }
966 _log->flush();
967}
968
969//
970////////////////////////////////////////////////////////////////////////////
971void t_reqcAnalyze::checkEphemerides() {
972
973 QString navFileName;
974 QStringListIterator namIt(_navFileNames);
975 bool firstName = true;
976 while (namIt.hasNext()) {
977 QFileInfo navFi(namIt.next());
978 if (firstName) {
979 firstName = false;
980 navFileName += navFi.fileName();
981 }
982 else {
983 navFileName += ", " + navFi.fileName();
984 }
985 }
986 if (_log) {
987 *_log << "Navigation File(s) : " << navFileName << '\n';
988 }
989 QStringListIterator it(_navFileNames);
990 while (it.hasNext()) {
991 const QString& fileName = it.next();
992 unsigned numOK = 0;
993 unsigned numBad = 0;
994 unsigned numUnhealthy = 0;
995 bncEphUser ephUser(false);
996 t_rnxNavFile rnxNavFile(fileName, t_rnxNavFile::input);
997 for (unsigned ii = 0; ii < rnxNavFile.ephs().size(); ii++) {
998 t_eph* eph = rnxNavFile.ephs()[ii];
999 ephUser.putNewEph(eph, false);
1000 if (eph->checkState() == t_eph::bad) {
1001 ++numBad;
1002 }
1003 else if (eph->checkState() == t_eph::unhealthy) {
1004 ++numUnhealthy;
1005 }
1006 else {
1007 ++numOK;
1008 }
1009 }
1010 if (_log) {
1011 *_log << "Ephemeris : " << numOK << " OK "
1012 << numUnhealthy << " UNHEALTHY "
1013 << numBad << " WRONG\n";
1014 if (numBad > 0) {
1015 for (unsigned ii = 0; ii < rnxNavFile.ephs().size(); ii++) {
1016 t_eph* eph = rnxNavFile.ephs()[ii];
1017 QFileInfo navFi(fileName);
1018 if (eph->checkState() == t_eph::bad) {
1019 *_log << " "
1020 << navFi.fileName() << ' ' << QString(": WRONG %2:%3\n")
1021 .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0))
1022 .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1();
1023 }
1024 }
1025 }
1026 *_log << '\n';
1027 }
1028 }
1029}
1030
1031void t_reqcAnalyze::setExpectedObs(const bncTime& startTime, const bncTime& endTime,
1032 double interval, const ColumnVector& xyzSta) {
1033
1034
1035 for(QMap<t_prn, int>::iterator it = _numExpObs.begin(); it != _numExpObs.end(); it++) {
1036 t_eph* eph = 0;
1037 for (int ie = 0; ie < _ephs.size(); ie++) {
1038 if (_ephs[ie]->prn().system() == it.key().system() &&
1039 _ephs[ie]->prn().number() == it.key().number()) {
1040 eph = _ephs[ie];
1041 break;
1042 }
1043 }
1044 if (eph) {
1045 int numExpObs = 0;
1046 bncTime epoTime;
1047 for (epoTime = startTime - interval; epoTime < endTime; epoTime = epoTime + interval) {
1048 ColumnVector xc(6);
1049 ColumnVector vv(3);
1050 if ( xyzSta.size() == 3 && (xyzSta[0] != 0.0 || xyzSta[1] != 0.0 || xyzSta[2] != 0.0) &&
1051 eph->getCrd(epoTime, xc, vv, false) == success) {
1052 double rho, eleSat, azSat;
1053 topos(xyzSta(1), xyzSta(2), xyzSta(3), xc(1), xc(2), xc(3), rho, eleSat, azSat);
1054 if (round(eleSat * 180.0/M_PI) >= 0.0) {
1055 numExpObs++;
1056 }
1057 }
1058 }
1059 it.value() = numExpObs;
1060 }
1061 else {
1062 if (!_navFileIncomplete.contains(it.key().system())) {
1063 _navFileIncomplete.append(it.key().system());
1064 }
1065 }
1066 }
1067}
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