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 "reqcanalyze.h"
|
---|
43 | #include "bncapp.h"
|
---|
44 | #include "bncsettings.h"
|
---|
45 | #include "reqcedit.h"
|
---|
46 | #include "bncutils.h"
|
---|
47 | #include "bncpostprocess.h"
|
---|
48 | #include "graphwin.h"
|
---|
49 | #include "polarplot.h"
|
---|
50 |
|
---|
51 | using namespace std;
|
---|
52 |
|
---|
53 | // Constructor
|
---|
54 | ////////////////////////////////////////////////////////////////////////////
|
---|
55 | t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
|
---|
56 |
|
---|
57 | bncSettings settings;
|
---|
58 |
|
---|
59 | _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
|
---|
60 | _logFile = 0;
|
---|
61 | _log = 0;
|
---|
62 | _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
|
---|
63 | _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
|
---|
64 |
|
---|
65 | _currEpo = 0;
|
---|
66 |
|
---|
67 | connect(this, SIGNAL(displayGraph(QVector<t_polarPoint*>*, QVector<t_polarPoint*>*)),
|
---|
68 | this, SLOT(slotDisplayGraph(QVector<t_polarPoint*>*, QVector<t_polarPoint*>*)));
|
---|
69 | }
|
---|
70 |
|
---|
71 | // Destructor
|
---|
72 | ////////////////////////////////////////////////////////////////////////////
|
---|
73 | t_reqcAnalyze::~t_reqcAnalyze() {
|
---|
74 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
|
---|
75 | delete _rnxObsFiles[ii];
|
---|
76 | }
|
---|
77 | for (int ii = 0; ii < _ephs.size(); ii++) {
|
---|
78 | delete _ephs[ii];
|
---|
79 | }
|
---|
80 | delete _log; _log = 0;
|
---|
81 | delete _logFile; _logFile = 0;
|
---|
82 | }
|
---|
83 |
|
---|
84 | //
|
---|
85 | ////////////////////////////////////////////////////////////////////////////
|
---|
86 | void t_reqcAnalyze::slotDisplayGraph(QVector<t_polarPoint*>* dataMP1,
|
---|
87 | QVector<t_polarPoint*>* dataMP2) {
|
---|
88 |
|
---|
89 | bncApp* app = dynamic_cast<bncApp*>(qApp);
|
---|
90 | if (app->mode() == bncApp::interactive) {
|
---|
91 |
|
---|
92 | double maxMP = 0.0;
|
---|
93 | for (int ii = 0; ii < dataMP1->size(); ii++) {
|
---|
94 | double mp = dataMP1->at(ii)->_value;
|
---|
95 | if (maxMP < mp) {
|
---|
96 | maxMP = mp;
|
---|
97 | }
|
---|
98 | }
|
---|
99 | for (int ii = 0; ii < dataMP2->size(); ii++) {
|
---|
100 | double mp = dataMP2->at(ii)->_value;
|
---|
101 | if (maxMP < mp) {
|
---|
102 | maxMP = mp;
|
---|
103 | }
|
---|
104 | }
|
---|
105 |
|
---|
106 | qDebug() << maxMP;
|
---|
107 |
|
---|
108 | QwtInterval scaleInterval(0.0, maxMP);
|
---|
109 |
|
---|
110 | t_polarPlot* plotMP1 = new t_polarPlot(QwtText("MP1"), scaleInterval,
|
---|
111 | app->mainWindow());
|
---|
112 | plotMP1->addCurve(dataMP1);
|
---|
113 |
|
---|
114 | t_polarPlot* plotMP2 = new t_polarPlot(QwtText("MP2"), scaleInterval,
|
---|
115 | app->mainWindow());
|
---|
116 | plotMP2->addCurve(dataMP2);
|
---|
117 |
|
---|
118 | QVector<QWidget*> plots;
|
---|
119 | plots << plotMP1;
|
---|
120 | plots << plotMP2;
|
---|
121 |
|
---|
122 | t_graphWin* graphWin = new t_graphWin(0, plots, scaleInterval);
|
---|
123 |
|
---|
124 | graphWin->show();
|
---|
125 | }
|
---|
126 | }
|
---|
127 |
|
---|
128 | //
|
---|
129 | ////////////////////////////////////////////////////////////////////////////
|
---|
130 | void t_reqcAnalyze::run() {
|
---|
131 |
|
---|
132 | // Open Log File
|
---|
133 | // -------------
|
---|
134 | _logFile = new QFile(_logFileName);
|
---|
135 | _logFile->open(QIODevice::WriteOnly | QIODevice::Text);
|
---|
136 | _log = new QTextStream();
|
---|
137 | _log->setDevice(_logFile);
|
---|
138 |
|
---|
139 | // Initialize RINEX Observation Files
|
---|
140 | // ----------------------------------
|
---|
141 | t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles);
|
---|
142 |
|
---|
143 | // Read Ephemerides
|
---|
144 | // ----------------
|
---|
145 | t_reqcEdit::readEphemerides(_navFileNames, _ephs);
|
---|
146 |
|
---|
147 | // Loop over all RINEX Files
|
---|
148 | // -------------------------
|
---|
149 | for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
|
---|
150 | analyzeFile(_rnxObsFiles[ii]);
|
---|
151 | }
|
---|
152 |
|
---|
153 | // Exit
|
---|
154 | // ----
|
---|
155 | bncApp* app = (bncApp*) qApp;
|
---|
156 | if ( app->mode() != bncApp::interactive) {
|
---|
157 | app->exit(0);
|
---|
158 | }
|
---|
159 | else {
|
---|
160 | emit finished();
|
---|
161 | deleteLater();
|
---|
162 | }
|
---|
163 | }
|
---|
164 |
|
---|
165 | //
|
---|
166 | ////////////////////////////////////////////////////////////////////////////
|
---|
167 | void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
|
---|
168 |
|
---|
169 | *_log << "\nAnalyze File\n"
|
---|
170 | << "------------\n"
|
---|
171 | << obsFile->fileName().toAscii().data() << endl << endl;
|
---|
172 |
|
---|
173 | _satStat.clear();
|
---|
174 |
|
---|
175 | // A priori Coordinates
|
---|
176 | // --------------------
|
---|
177 | ColumnVector xyz = obsFile->xyz();
|
---|
178 |
|
---|
179 | // Loop over all Epochs
|
---|
180 | // --------------------
|
---|
181 | while ( (_currEpo = obsFile->nextEpoch()) != 0) {
|
---|
182 |
|
---|
183 | // Loop over all satellites
|
---|
184 | // ------------------------
|
---|
185 | for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
|
---|
186 | const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
|
---|
187 | t_obs obs;
|
---|
188 | t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
|
---|
189 |
|
---|
190 | if (obs.satSys == 'R') {
|
---|
191 | continue; // TODO: set channel number
|
---|
192 | }
|
---|
193 |
|
---|
194 | QString prn = QString("%1%2").arg(obs.satSys)
|
---|
195 | .arg(obs.satNum, 2, 10, QChar('0'));
|
---|
196 |
|
---|
197 | t_satStat& satStat = _satStat[prn];
|
---|
198 |
|
---|
199 | satStat.addObs(obs);
|
---|
200 | }
|
---|
201 |
|
---|
202 | } // while (_currEpo)
|
---|
203 |
|
---|
204 | // Analyze the Multipath
|
---|
205 | // ---------------------
|
---|
206 | QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
|
---|
207 | QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
|
---|
208 |
|
---|
209 | QMapIterator<QString, t_satStat> it(_satStat);
|
---|
210 | while (it.hasNext()) {
|
---|
211 | it.next();
|
---|
212 | QString prn = it.key();
|
---|
213 | const t_satStat& satStat = it.value();
|
---|
214 | analyzeMultipath(prn, satStat, xyz, dataMP1, dataMP2);
|
---|
215 | }
|
---|
216 |
|
---|
217 | emit displayGraph(dataMP1, dataMP2);
|
---|
218 |
|
---|
219 | _log->flush();
|
---|
220 | }
|
---|
221 |
|
---|
222 | //
|
---|
223 | ////////////////////////////////////////////////////////////////////////////
|
---|
224 | void t_reqcAnalyze::t_satStat::addObs(const t_obs& obs) {
|
---|
225 |
|
---|
226 | t_anaObs* newObs = new t_anaObs(obs.GPSWeek, obs.GPSWeeks);
|
---|
227 | bool okFlag = false;
|
---|
228 |
|
---|
229 | // Compute the Multipath
|
---|
230 | // ----------------------
|
---|
231 | if (obs.l1() != 0.0 && obs.l2() != 0.0) {
|
---|
232 | double f1 = t_CST::f1(obs.satSys, obs.slotNum);
|
---|
233 | double f2 = t_CST::f2(obs.satSys, obs.slotNum);
|
---|
234 |
|
---|
235 | double L1 = obs.l1() * t_CST::c / f1;
|
---|
236 | double L2 = obs.l2() * t_CST::c / f2;
|
---|
237 |
|
---|
238 | if (obs.p1() != 0.0) {
|
---|
239 | newObs->_MP1 = obs.p1() - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
|
---|
240 | okFlag = true;
|
---|
241 | }
|
---|
242 | if (obs.p2() != 0.0) {
|
---|
243 | newObs->_MP2 = obs.p2() - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
|
---|
244 | okFlag = true;
|
---|
245 | }
|
---|
246 | }
|
---|
247 |
|
---|
248 | // Remember the Observation
|
---|
249 | // ------------------------
|
---|
250 | if (okFlag) {
|
---|
251 | anaObs << newObs;
|
---|
252 | }
|
---|
253 | else {
|
---|
254 | delete newObs;
|
---|
255 | }
|
---|
256 | }
|
---|
257 |
|
---|
258 | //
|
---|
259 | ////////////////////////////////////////////////////////////////////////////
|
---|
260 | void t_reqcAnalyze::analyzeMultipath(const QString& prn,
|
---|
261 | const t_satStat& satStat,
|
---|
262 | const ColumnVector& xyz,
|
---|
263 | QVector<t_polarPoint*>* dataMP1,
|
---|
264 | QVector<t_polarPoint*>* dataMP2) {
|
---|
265 |
|
---|
266 | const int LENGTH = 10; // number of epochs in one chunk
|
---|
267 | const double SLIP = 5.0; // cycle-slip threshold
|
---|
268 |
|
---|
269 | int numEpo = satStat.anaObs.size();
|
---|
270 |
|
---|
271 | for (int chunkStart = 0; chunkStart + LENGTH < numEpo; chunkStart += LENGTH) {
|
---|
272 |
|
---|
273 | // Compute Mean
|
---|
274 | // ------------
|
---|
275 | bool slipFlag = false;
|
---|
276 | double mean1 = 0.0;
|
---|
277 | double mean2 = 0.0;
|
---|
278 |
|
---|
279 | for (int ii = 0; ii < LENGTH; ii++) {
|
---|
280 | int iEpo = chunkStart + ii;
|
---|
281 | const t_anaObs* anaObs = satStat.anaObs[iEpo];
|
---|
282 | mean1 += anaObs->_MP1;
|
---|
283 | mean2 += anaObs->_MP2;
|
---|
284 |
|
---|
285 | // Check Slip
|
---|
286 | // ----------
|
---|
287 | if (ii > 0) {
|
---|
288 | double diff1 = anaObs->_MP1 - satStat.anaObs[iEpo-1]->_MP1;
|
---|
289 | double diff2 = anaObs->_MP2 - satStat.anaObs[iEpo-1]->_MP2;
|
---|
290 | if (fabs(diff1) > SLIP || fabs(diff2) > SLIP) {
|
---|
291 | slipFlag = true;
|
---|
292 | break;
|
---|
293 | }
|
---|
294 | }
|
---|
295 | }
|
---|
296 |
|
---|
297 | if (slipFlag) {
|
---|
298 | continue;
|
---|
299 | }
|
---|
300 |
|
---|
301 | mean1 /= LENGTH;
|
---|
302 | mean2 /= LENGTH;
|
---|
303 |
|
---|
304 | // Compute Standard Deviation
|
---|
305 | // --------------------------
|
---|
306 | double stddev1 = 0.0;
|
---|
307 | double stddev2 = 0.0;
|
---|
308 | for (int ii = 0; ii < LENGTH; ii++) {
|
---|
309 | int iEpo = chunkStart + ii;
|
---|
310 | const t_anaObs* anaObs = satStat.anaObs[iEpo];
|
---|
311 | double diff1 = anaObs->_MP1 - mean1;
|
---|
312 | double diff2 = anaObs->_MP2 - mean2;
|
---|
313 | stddev1 += diff1 * diff1;
|
---|
314 | stddev2 += diff2 * diff2;
|
---|
315 | }
|
---|
316 | double MP1 = sqrt(stddev1 / (LENGTH-1));
|
---|
317 | double MP2 = sqrt(stddev2 / (LENGTH-1));
|
---|
318 |
|
---|
319 | const t_anaObs* anaObs0 = satStat.anaObs[chunkStart];
|
---|
320 |
|
---|
321 | // Compute the Azimuth and Zenith Distance
|
---|
322 | // ---------------------------------------
|
---|
323 | double az = 0.0;
|
---|
324 | double zen = 0.0;
|
---|
325 | if (xyz.size()) {
|
---|
326 | t_eph* eph = 0;
|
---|
327 | for (int ie = 0; ie < _ephs.size(); ie++) {
|
---|
328 | if (_ephs[ie]->prn() == prn) {
|
---|
329 | eph = _ephs[ie];
|
---|
330 | break;
|
---|
331 | }
|
---|
332 | }
|
---|
333 |
|
---|
334 | if (eph) {
|
---|
335 | double xSat, ySat, zSat, clkSat;
|
---|
336 | eph->position(anaObs0->_GPSWeek, anaObs0->_GPSWeeks,
|
---|
337 | xSat, ySat, zSat, clkSat);
|
---|
338 |
|
---|
339 | double rho, eleSat, azSat;
|
---|
340 | topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
|
---|
341 |
|
---|
342 | az = azSat * 180.0/M_PI;
|
---|
343 | zen = 90.0 - eleSat * 180.0/M_PI;
|
---|
344 | }
|
---|
345 | }
|
---|
346 |
|
---|
347 | // Add new Point
|
---|
348 | // -------------
|
---|
349 | (*dataMP1) << (new t_polarPoint(az, zen, MP1));
|
---|
350 | (*dataMP2) << (new t_polarPoint(az, zen, MP2));
|
---|
351 |
|
---|
352 | _log->setRealNumberNotation(QTextStream::FixedNotation);
|
---|
353 |
|
---|
354 | _log->setRealNumberPrecision(2);
|
---|
355 | *_log << "MP1 " << prn << " " << az << " " << zen << " ";
|
---|
356 | _log->setRealNumberPrecision(3);
|
---|
357 | *_log << MP1 << endl;
|
---|
358 |
|
---|
359 | _log->setRealNumberPrecision(2);
|
---|
360 | *_log << "MP2 " << prn << " " << az << " " << zen << " ";
|
---|
361 | _log->setRealNumberPrecision(3);
|
---|
362 | *_log << MP2 << endl;
|
---|
363 | }
|
---|
364 | }
|
---|