source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4424

Last change on this file since 4424 was 4424, checked in by mervart, 12 years ago
File size: 10.8 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 "reqcanalyze.h"
44#include "bncapp.h"
45#include "bncsettings.h"
46#include "reqcedit.h"
47#include "bncutils.h"
48#include "bncpostprocess.h"
49#include "graphwin.h"
50#include "polarplot.h"
51
52using namespace std;
53
54const double SLIPTRESH = 5.0; // cycle-slip threshold (meters)
55
56// Constructor
57////////////////////////////////////////////////////////////////////////////
58t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
59
60 bncSettings settings;
61
62 _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
63 _logFile = 0;
64 _log = 0;
65 _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
66 _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
67
68 _currEpo = 0;
69
70 connect(this, SIGNAL(displayGraph(QVector<t_polarPoint*>*, QVector<t_polarPoint*>*)),
71 this, SLOT(slotDisplayGraph(QVector<t_polarPoint*>*, QVector<t_polarPoint*>*)));
72}
73
74// Destructor
75////////////////////////////////////////////////////////////////////////////
76t_reqcAnalyze::~t_reqcAnalyze() {
77 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
78 delete _rnxObsFiles[ii];
79 }
80 for (int ii = 0; ii < _ephs.size(); ii++) {
81 delete _ephs[ii];
82 }
83 delete _log; _log = 0;
84 delete _logFile; _logFile = 0;
85}
86
87//
88////////////////////////////////////////////////////////////////////////////
89void t_reqcAnalyze::slotDisplayGraph(QVector<t_polarPoint*>* dataMP1,
90 QVector<t_polarPoint*>* dataMP2) {
91
92 bncApp* app = dynamic_cast<bncApp*>(qApp);
93 if (app->mode() == bncApp::interactive) {
94
95 double maxMP = 0.0;
96 for (int ii = 0; ii < dataMP1->size(); ii++) {
97 double mp = dataMP1->at(ii)->_value;
98 if (maxMP < mp) {
99 maxMP = mp;
100 }
101 }
102 for (int ii = 0; ii < dataMP2->size(); ii++) {
103 double mp = dataMP2->at(ii)->_value;
104 if (maxMP < mp) {
105 maxMP = mp;
106 }
107 }
108 if (maxMP > SLIPTRESH) {
109 maxMP = SLIPTRESH;
110 }
111
112 //// beg test
113 maxMP = 2.0;
114 //// end test
115
116 QwtInterval scaleInterval(0.0, maxMP);
117
118 t_polarPlot* plotMP1 = new t_polarPlot(QwtText("MP1"), scaleInterval,
119 app->mainWindow());
120 plotMP1->addCurve(dataMP1);
121
122 t_polarPlot* plotMP2 = new t_polarPlot(QwtText("MP2"), scaleInterval,
123 app->mainWindow());
124 plotMP2->addCurve(dataMP2);
125
126 QVector<QWidget*> plots;
127 plots << plotMP1;
128 plots << plotMP2;
129
130 t_graphWin* graphWin = new t_graphWin(0, plots, scaleInterval);
131
132 graphWin->show();
133 }
134}
135
136//
137////////////////////////////////////////////////////////////////////////////
138void t_reqcAnalyze::run() {
139
140 // Open Log File
141 // -------------
142 _logFile = new QFile(_logFileName);
143 _logFile->open(QIODevice::WriteOnly | QIODevice::Text);
144 _log = new QTextStream();
145 _log->setDevice(_logFile);
146
147 // Initialize RINEX Observation Files
148 // ----------------------------------
149 t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles);
150
151 // Read Ephemerides
152 // ----------------
153 t_reqcEdit::readEphemerides(_navFileNames, _ephs);
154
155 // Loop over all RINEX Files
156 // -------------------------
157 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
158 analyzeFile(_rnxObsFiles[ii]);
159 }
160
161 // Exit
162 // ----
163 bncApp* app = (bncApp*) qApp;
164 if ( app->mode() != bncApp::interactive) {
165 app->exit(0);
166 }
167 else {
168 emit finished();
169 deleteLater();
170 }
171}
172
173//
174////////////////////////////////////////////////////////////////////////////
175void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
176
177 *_log << "\nAnalyze File\n"
178 << "------------\n"
179 << obsFile->fileName().toAscii().data() << endl << endl;
180
181 _satStat.clear();
182
183 // A priori Coordinates
184 // --------------------
185 ColumnVector xyz = obsFile->xyz();
186
187 // Loop over all Epochs
188 // --------------------
189 while ( (_currEpo = obsFile->nextEpoch()) != 0) {
190
191 // Loop over all satellites
192 // ------------------------
193 for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
194 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
195 t_obs obs;
196 t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
197
198 if (obs.satSys == 'R') {
199 continue; // TODO: set channel number
200 }
201
202 QString prn = QString("%1%2").arg(obs.satSys)
203 .arg(obs.satNum, 2, 10, QChar('0'));
204
205 t_satStat& satStat = _satStat[prn];
206
207 satStat.addObs(obs);
208 }
209
210 } // while (_currEpo)
211
212 // Analyze the Multipath
213 // ---------------------
214 QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
215 QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
216
217 QMapIterator<QString, t_satStat> it(_satStat);
218 while (it.hasNext()) {
219 it.next();
220 QString prn = it.key();
221 const t_satStat& satStat = it.value();
222 analyzeMultipath(prn, satStat, xyz, obsFile->interval(), dataMP1, dataMP2);
223 }
224
225 emit displayGraph(dataMP1, dataMP2);
226
227 _log->flush();
228}
229
230//
231////////////////////////////////////////////////////////////////////////////
232void t_reqcAnalyze::t_satStat::addObs(const t_obs& obs) {
233
234 t_anaObs* newObs = new t_anaObs(obs.GPSWeek, obs.GPSWeeks);
235 bool okFlag = false;
236
237 // Compute the Multipath
238 // ----------------------
239 double L1 = obs.measdata("L1", 3.0);
240 double L2 = obs.measdata("L2", 3.0);
241 if (L1 != 0.0 && L2 != 0.0) {
242 double f1 = t_CST::f1(obs.satSys, obs.slotNum);
243 double f2 = t_CST::f2(obs.satSys, obs.slotNum);
244
245 L1 = L1 * t_CST::c / f1;
246 L2 = L2 * t_CST::c / f2;
247
248 double P1 = obs.measdata("C1", 3.0);
249 if (P1 != 0.0) {
250 newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
251 okFlag = true;
252
253 //// beg test
254 // cout.setf(ios::fixed);
255 // cout << obs.satSys << setw(2) << obs.satNum << " "
256 // << setprecision(1) << obs.GPSWeeks << " "
257 // << setprecision(4) << newObs->_MP1 << endl;
258 //// end test
259 }
260 double P2 = obs.measdata("C2", 3.0);
261 if (P2 != 0.0) {
262 newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
263 okFlag = true;
264 }
265 }
266
267 // Remember the Observation
268 // ------------------------
269 if (okFlag) {
270 anaObs << newObs;
271 }
272 else {
273 delete newObs;
274 }
275}
276
277//
278////////////////////////////////////////////////////////////////////////////
279void t_reqcAnalyze::analyzeMultipath(const QString& prn,
280 const t_satStat& satStat,
281 const ColumnVector& xyz,
282 double obsInterval,
283 QVector<t_polarPoint*>* dataMP1,
284 QVector<t_polarPoint*>* dataMP2) {
285
286 const int chunkStep = 30.0 / obsInterval; // chunk step (30 sec)
287 const int numEpo = 600.0 / obsInterval; // # epochs in one chunk (10 min)
288
289 for (int chunkStart = 0; chunkStart + numEpo < satStat.anaObs.size();
290 chunkStart += chunkStep) {
291
292 // Compute Mean
293 // ------------
294 bool slipFlag = false;
295 double mean1 = 0.0;
296 double mean2 = 0.0;
297
298 for (int ii = 0; ii < numEpo; ii++) {
299 int iEpo = chunkStart + ii;
300 const t_anaObs* anaObs = satStat.anaObs[iEpo];
301 mean1 += anaObs->_MP1;
302 mean2 += anaObs->_MP2;
303
304 // Check Slip
305 // ----------
306 if (ii > 0) {
307 double diff1 = anaObs->_MP1 - satStat.anaObs[iEpo-1]->_MP1;
308 double diff2 = anaObs->_MP2 - satStat.anaObs[iEpo-1]->_MP2;
309 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
310 slipFlag = true;
311 break;
312 }
313 }
314 }
315
316 if (slipFlag) {
317 continue;
318 }
319
320 mean1 /= numEpo;
321 mean2 /= numEpo;
322
323 // Compute Standard Deviation
324 // --------------------------
325 double stddev1 = 0.0;
326 double stddev2 = 0.0;
327 for (int ii = 0; ii < numEpo; ii++) {
328 int iEpo = chunkStart + ii;
329 const t_anaObs* anaObs = satStat.anaObs[iEpo];
330 double diff1 = anaObs->_MP1 - mean1;
331 double diff2 = anaObs->_MP2 - mean2;
332 stddev1 += diff1 * diff1;
333 stddev2 += diff2 * diff2;
334 }
335 double MP1 = sqrt(stddev1 / (numEpo-1));
336 double MP2 = sqrt(stddev2 / (numEpo-1));
337
338 const t_anaObs* anaObs0 = satStat.anaObs[chunkStart];
339
340 // Compute the Azimuth and Zenith Distance
341 // ---------------------------------------
342 double az = 0.0;
343 double zen = 0.0;
344 if (xyz.size()) {
345 t_eph* eph = 0;
346 for (int ie = 0; ie < _ephs.size(); ie++) {
347 if (_ephs[ie]->prn() == prn) {
348 eph = _ephs[ie];
349 break;
350 }
351 }
352
353 if (eph) {
354 double xSat, ySat, zSat, clkSat;
355 eph->position(anaObs0->_GPSWeek, anaObs0->_GPSWeeks,
356 xSat, ySat, zSat, clkSat);
357
358 double rho, eleSat, azSat;
359 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
360
361 az = azSat * 180.0/M_PI;
362 zen = 90.0 - eleSat * 180.0/M_PI;
363 }
364 }
365
366 // Add new Point
367 // -------------
368 (*dataMP1) << (new t_polarPoint(az, zen, MP1));
369 (*dataMP2) << (new t_polarPoint(az, zen, MP2));
370
371 _log->setRealNumberNotation(QTextStream::FixedNotation);
372
373 _log->setRealNumberPrecision(2);
374 *_log << "MP1 " << prn << " " << az << " " << zen << " ";
375 _log->setRealNumberPrecision(3);
376 *_log << MP1 << endl;
377
378 _log->setRealNumberPrecision(2);
379 *_log << "MP2 " << prn << " " << az << " " << zen << " ";
380 _log->setRealNumberPrecision(3);
381 *_log << MP2 << endl;
382 }
383}
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