source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4675

Last change on this file since 4675 was 4675, checked in by mervart, 12 years ago
File size: 17.3 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_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 "bncapp.h"
47#include "bncsettings.h"
48#include "reqcedit.h"
49#include "bncutils.h"
50#include "bncpostprocess.h"
51#include "graphwin.h"
52#include "polarplot.h"
53#include "availplot.h"
54#include "eleplot.h"
55#include "dopplot.h"
56
57using namespace std;
58
59const double SLIPTRESH = 5.0; // cycle-slip threshold (meters)
60
61// Constructor
62////////////////////////////////////////////////////////////////////////////
63t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
64
65 bncSettings settings;
66
67 _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
68 _logFile = 0;
69 _log = 0;
70 _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
71 _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
72
73 _currEpo = 0;
74
75 connect(this, SIGNAL(dspSkyPlot(const QString&,
76 const QByteArray&,
77 QVector<t_polarPoint*>*,
78 const QByteArray&,
79 QVector<t_polarPoint*>*,
80 const QByteArray&, double)),
81 this, SLOT(slotDspSkyPlot(const QString&,
82 const QByteArray&,
83 QVector<t_polarPoint*>*,
84 const QByteArray&,
85 QVector<t_polarPoint*>*,
86 const QByteArray&, double)));
87
88 connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
89 this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
90}
91
92// Destructor
93////////////////////////////////////////////////////////////////////////////
94t_reqcAnalyze::~t_reqcAnalyze() {
95 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
96 delete _rnxObsFiles[ii];
97 }
98 for (int ii = 0; ii < _ephs.size(); ii++) {
99 delete _ephs[ii];
100 }
101 delete _log; _log = 0;
102 delete _logFile; _logFile = 0;
103 bncApp* app = (bncApp*) qApp;
104 if ( app->mode() != bncApp::interactive) {
105 app->exit(0);
106 }
107}
108
109//
110////////////////////////////////////////////////////////////////////////////
111void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
112 const QByteArray& title1,
113 QVector<t_polarPoint*>* data1,
114 const QByteArray& title2,
115 QVector<t_polarPoint*>* data2,
116 const QByteArray& scaleTitle,
117 double maxValue) {
118
119 bncApp* app = dynamic_cast<bncApp*>(qApp);
120 if (app->GUIenabled()) {
121
122 if (maxValue == 0.0) {
123 if (data1) {
124 for (int ii = 0; ii < data1->size(); ii++) {
125 double val = data1->at(ii)->_value;
126 if (maxValue < val) {
127 maxValue = val;
128 }
129 }
130 }
131 if (data2) {
132 for (int ii = 0; ii < data2->size(); ii++) {
133 double val = data2->at(ii)->_value;
134 if (maxValue < val) {
135 maxValue = val;
136 }
137 }
138 }
139 }
140
141 QwtInterval scaleInterval(0.0, maxValue);
142
143 QVector<QWidget*> plots;
144 if (data1) {
145 t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
146 app->mainWindow());
147 plot1->addCurve(data1);
148 plots << plot1;
149 }
150 if (data2) {
151 t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
152 app->mainWindow());
153 plot2->addCurve(data2);
154 plots << plot2;
155 }
156
157 t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
158 &scaleTitle, &scaleInterval);
159
160 graphWin->show();
161
162 bncSettings settings;
163 QString dirName = settings.value("reqcPlotDir").toString();
164 if (!dirName.isEmpty()) {
165 QByteArray ext = scaleTitle.isEmpty() ? "_S.png" : "_M.png";
166 graphWin->savePNG(dirName, ext);
167 }
168 }
169}
170
171//
172////////////////////////////////////////////////////////////////////////////
173void t_reqcAnalyze::run() {
174
175 // Open Log File
176 // -------------
177 _logFile = new QFile(_logFileName);
178 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
179 _log = new QTextStream();
180 _log->setDevice(_logFile);
181 }
182
183 // Initialize RINEX Observation Files
184 // ----------------------------------
185 t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
186
187 // Read Ephemerides
188 // ----------------
189 t_reqcEdit::readEphemerides(_navFileNames, _ephs);
190
191 // Loop over all RINEX Files
192 // -------------------------
193 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
194 analyzeFile(_rnxObsFiles[ii]);
195 }
196
197 // Exit
198 // ----
199 emit finished();
200 deleteLater();
201}
202
203//
204////////////////////////////////////////////////////////////////////////////
205void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
206
207 if (_log) {
208 *_log << "\nAnalyze File\n"
209 << "------------\n"
210 << obsFile->fileName().toAscii().data() << endl << endl;
211 }
212
213 _allObsMap.clear();
214 _availDataMap.clear();
215
216 // A priori Coordinates
217 // --------------------
218 ColumnVector xyz = obsFile->xyz();
219
220 // Loop over all Epochs
221 // --------------------
222 try {
223 unsigned iEpo = 0;
224 while ( (_currEpo = obsFile->nextEpoch()) != 0) {
225
226 // Loop over all satellites
227 // ------------------------
228 for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
229 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
230 t_obs obs;
231 t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
232
233 if (obs.satSys == 'R') {
234 // TODO: set channel number
235 }
236
237 QString prn = QString("%1%2").arg(obs.satSys)
238 .arg(obs.satNum, 2, 10, QChar('0'));
239
240 _allObsMap[prn].addObs(obs);
241
242 prepareObsStat(iEpo, obsFile->interval());
243 }
244
245 } // while (_currEpo)
246 }
247 catch (QString str) {
248 if (_log) {
249 *_log << "Exception " << str << endl;
250 }
251 else {
252 qDebug() << str;
253 }
254 return;
255 }
256
257 // Analyze the Multipath
258 // ---------------------
259 QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
260 QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
261 QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
262 QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
263
264 QMutableMapIterator<QString, t_allObs> it(_allObsMap);
265 while (it.hasNext()) {
266 it.next();
267 QString prn = it.key();
268 preparePlotData(prn, xyz, obsFile->interval(),
269 dataMP1, dataMP2, dataSNR1, dataSNR2);
270 }
271
272 emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
273 "Meters", 2.0);
274
275 emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
276 "", 9.0);
277
278 QFileInfo fileInfo(obsFile->fileName());
279 QByteArray title = fileInfo.fileName().toAscii();
280
281 emit dspAvailPlot(obsFile->fileName(), title);
282
283 if (_log) {
284 _log->flush();
285 }
286}
287
288//
289////////////////////////////////////////////////////////////////////////////
290void t_reqcAnalyze::t_allObs::addObs(const t_obs& obs) {
291
292 t_oneObs* newObs = new t_oneObs(obs.GPSWeek, obs.GPSWeeks);
293 bool okFlag = false;
294
295 // Availability and Slip Flags
296 // ---------------------------
297 double L1 = obs.measdata("L1", 3.0);
298 if (L1 != 0) {
299 newObs->_hasL1 = true;
300 }
301 double L2 = obs.measdata("L2", 3.0);
302 if (L2 != 0) {
303 newObs->_hasL2 = true;
304 }
305 if (obs.slipL1) {
306 newObs->_slipL1 = true;
307 }
308 if (obs.slipL2) {
309 newObs->_slipL2 = true;
310 }
311
312 // Compute the Multipath
313 // ----------------------
314 if (L1 != 0.0 && L2 != 0.0) {
315 double f1 = t_CST::f1(obs.satSys, obs.slotNum);
316 double f2 = t_CST::f2(obs.satSys, obs.slotNum);
317
318 L1 = L1 * t_CST::c / f1;
319 L2 = L2 * t_CST::c / f2;
320
321 double P1 = obs.measdata("C1", 3.0);
322 if (P1 != 0.0) {
323 newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
324 okFlag = true;
325 }
326 double P2 = obs.measdata("C2", 3.0);
327 if (P2 != 0.0) {
328 newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
329 okFlag = true;
330 }
331 }
332
333 // Signal-to-Noise
334 // ---------------
335 double S1 = obs.measdata("S1", 3.0);
336 if (S1 != 0.0) {
337 newObs->_SNR1 = floor(S1/6);
338 if (newObs->_SNR1 > 9.0) {
339 newObs->_SNR1 = 9.0;
340 }
341 if (newObs->_SNR1 < 1.0) {
342 newObs->_SNR1 = 1.0;
343 }
344 okFlag = true;
345 }
346 else {
347 if (obs.snrL1 > 0) {
348 newObs->_SNR1 = obs.snrL1;
349 okFlag = true;
350 }
351 }
352 double S2 = obs.measdata("S2", 3.0);
353 if (S2 != 0.0) {
354 newObs->_SNR2 = floor(S2/6);
355 if (newObs->_SNR2 > 9.0) {
356 newObs->_SNR2 = 9.0;
357 }
358 if (newObs->_SNR2 < 1.0) {
359 newObs->_SNR2 = 1.0;
360 }
361 okFlag = true;
362 }
363 else {
364 if (obs.snrL2 > 0) {
365 newObs->_SNR2 = obs.snrL2;
366 okFlag = true;
367 }
368 }
369
370 // Remember the Observation
371 // ------------------------
372 if (okFlag) {
373 _oneObsVec << newObs;
374 }
375 else {
376 delete newObs;
377 }
378}
379
380//
381////////////////////////////////////////////////////////////////////////////
382void t_reqcAnalyze::prepareObsStat(unsigned iEpo, double obsInterval) {
383 const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
384 if (iEpo % numEpo == 0) {
385 _obsStat._mjdX24 << _currEpo->tt.mjddec() * 24.0;
386 _obsStat._numSat << _currEpo->rnxSat.size();
387 }
388}
389
390//
391////////////////////////////////////////////////////////////////////////////
392void t_reqcAnalyze::preparePlotData(const QString& prn, const ColumnVector& xyz,
393 double obsInterval,
394 QVector<t_polarPoint*>* dataMP1,
395 QVector<t_polarPoint*>* dataMP2,
396 QVector<t_polarPoint*>* dataSNR1,
397 QVector<t_polarPoint*>* dataSNR2) {
398
399 const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
400 const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
401
402 t_allObs& allObs = _allObsMap[prn];
403
404 // Loop over all Chunks of Data
405 // ----------------------------
406 for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
407 chunkStart += chunkStep) {
408
409 // Chunk-Specific Variables
410 // ------------------------
411 bncTime currTime;
412 bncTime prevTime;
413 bncTime chunkStartTime;
414 double mjdX24 = 0.0;
415 bool availL1 = false;
416 bool availL2 = false;
417 bool gapL1 = false;
418 bool gapL2 = false;
419 bool slipL1 = false;
420 bool slipL2 = false;
421 bool slipMP = false;
422 double meanMP1 = 0.0;
423 double meanMP2 = 0.0;
424 double minSNR1 = 0.0;
425 double minSNR2 = 0.0;
426 double aziDeg = 0.0;
427 double zenDeg = 0.0;
428 bool zenFlag = false;
429
430 // Loop over all Epochs within one Chunk of Data
431 // ---------------------------------------------
432 for (int ii = 0; ii < numEpo; ii++) {
433 int iEpo = chunkStart + ii;
434 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
435
436 currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
437
438 // Compute the Azimuth and Zenith Distance
439 // ---------------------------------------
440 if (ii == 0) {
441 chunkStartTime = currTime;
442 mjdX24 = chunkStartTime.mjddec() * 24.0;
443
444 if (xyz.size()) {
445 t_eph* eph = 0;
446 for (int ie = 0; ie < _ephs.size(); ie++) {
447 if (_ephs[ie]->prn() == prn) {
448 eph = _ephs[ie];
449 break;
450 }
451 }
452
453 if (eph) {
454 double xSat, ySat, zSat, clkSat;
455 eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
456 xSat, ySat, zSat, clkSat);
457
458 double rho, eleSat, azSat;
459 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
460
461 aziDeg = azSat * 180.0/M_PI;
462 zenDeg = 90.0 - eleSat * 180.0/M_PI;
463 zenFlag = true;
464 }
465 }
466 }
467
468 // Check Interval
469 // --------------
470 if (prevTime.valid()) {
471 double dt = currTime - prevTime;
472 if (dt != obsInterval) {
473 gapL1 = true;
474 gapL2 = true;
475 }
476 }
477 prevTime = currTime;
478
479 // Check L1 and L2 availability
480 // ----------------------------
481 if (oneObs->_hasL1) {
482 availL1 = true;
483 }
484 else {
485 gapL1 = true;
486 }
487 if (oneObs->_hasL2) {
488 availL2 = true;
489 }
490 else {
491 gapL2 = true;
492 }
493
494 // Check Minimal Signal-to-Noise Ratio
495 // -----------------------------------
496 if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
497 minSNR1 = oneObs->_SNR1;
498 }
499 if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
500 minSNR2 = oneObs->_SNR2;
501 }
502
503 // Check Slip Flags
504 // ----------------
505 if (oneObs->_slipL1) {
506 slipL1 = true;
507 }
508 if (oneObs->_slipL2) {
509 slipL2 = true;
510 }
511
512 // Check Slip Threshold
513 // --------------------
514 if (ii > 0) {
515 double diff1 = oneObs->_MP1 - allObs._oneObsVec[iEpo-1]->_MP1;
516 double diff2 = oneObs->_MP2 - allObs._oneObsVec[iEpo-1]->_MP2;
517 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
518 slipMP = true;
519 }
520 }
521
522 meanMP1 += oneObs->_MP1;
523 meanMP2 += oneObs->_MP2;
524 }
525
526 // Availability Plot Data
527 // ----------------------
528 if (availL1) {
529 if (slipL1) {
530 _availDataMap[prn]._L1slip << mjdX24;
531 }
532 else if (gapL1) {
533 _availDataMap[prn]._L1gap << mjdX24;
534 }
535 else {
536 _availDataMap[prn]._L1ok << mjdX24;
537 }
538 }
539 if (availL2) {
540 if (slipL2) {
541 _availDataMap[prn]._L2slip << mjdX24;
542 }
543 else if (gapL2) {
544 _availDataMap[prn]._L2gap << mjdX24;
545 }
546 else {
547 _availDataMap[prn]._L2ok << mjdX24;
548 }
549 }
550 if (zenFlag) {
551 _availDataMap[prn]._eleTim << mjdX24;
552 _availDataMap[prn]._eleDeg << 90.0 - zenDeg;
553 }
554
555 // Signal-to-Noise Ration Plot Data
556 // --------------------------------
557 (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
558 (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
559
560 // Compute the Multipath
561 // ---------------------
562 if (!slipMP) {
563 meanMP1 /= numEpo;
564 meanMP2 /= numEpo;
565 double MP1 = 0.0;
566 double MP2 = 0.0;
567 for (int ii = 0; ii < numEpo; ii++) {
568 int iEpo = chunkStart + ii;
569 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
570 double diff1 = oneObs->_MP1 - meanMP1;
571 double diff2 = oneObs->_MP2 - meanMP2;
572 MP1 += diff1 * diff1;
573 MP2 += diff2 * diff2;
574 }
575 MP1 = sqrt(MP1 / (numEpo-1));
576 MP2 = sqrt(MP2 / (numEpo-1));
577 (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
578 (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
579 }
580 }
581}
582
583//
584////////////////////////////////////////////////////////////////////////////
585void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
586 const QByteArray& title) {
587
588 if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
589
590 t_availPlot* plotA = new t_availPlot(0, &_availDataMap);
591 plotA->setTitle(title);
592
593 t_elePlot* plotZ = new t_elePlot(0, &_availDataMap);
594
595 t_dopPlot* plotD = new t_dopPlot(0, &_obsStat);
596
597 QVector<QWidget*> plots;
598 plots << plotA << plotZ << plotD;
599 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
600
601 int ww = QFontMetrics(graphWin->font()).width('w');
602 graphWin->setMinimumSize(120*ww, 40*ww);
603
604 graphWin->show();
605
606 bncSettings settings;
607 QString dirName = settings.value("reqcPlotDir").toString();
608 if (!dirName.isEmpty()) {
609 QByteArray ext = "_A.png";
610 graphWin->savePNG(dirName, ext);
611 }
612 }
613}
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