source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4557

Last change on this file since 4557 was 4557, checked in by mervart, 12 years ago
File size: 12.1 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(const QString&,
71 const QByteArray&,
72 QVector<t_polarPoint*>*,
73 const QByteArray&,
74 QVector<t_polarPoint*>*,
75 double)),
76 this, SLOT(slotDisplayGraph(const QString&,
77 const QByteArray&,
78 QVector<t_polarPoint*>*,
79 const QByteArray&,
80 QVector<t_polarPoint*>*,
81 double)));
82}
83
84// Destructor
85////////////////////////////////////////////////////////////////////////////
86t_reqcAnalyze::~t_reqcAnalyze() {
87 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
88 delete _rnxObsFiles[ii];
89 }
90 for (int ii = 0; ii < _ephs.size(); ii++) {
91 delete _ephs[ii];
92 }
93 delete _log; _log = 0;
94 delete _logFile; _logFile = 0;
95 bncApp* app = (bncApp*) qApp;
96 if ( app->mode() != bncApp::interactive) {
97 app->exit(0);
98 }
99}
100
101//
102////////////////////////////////////////////////////////////////////////////
103void t_reqcAnalyze::slotDisplayGraph(const QString& fileName,
104 const QByteArray& title1,
105 QVector<t_polarPoint*>* data1,
106 const QByteArray& title2,
107 QVector<t_polarPoint*>* data2,
108 double maxValue) {
109
110 bncApp* app = dynamic_cast<bncApp*>(qApp);
111 if (app->GUIenabled()) {
112
113 if (maxValue == 0.0) {
114 if (data1) {
115 for (int ii = 0; ii < data1->size(); ii++) {
116 double mp = data1->at(ii)->_value;
117 if (maxValue < mp) {
118 maxValue = mp;
119 }
120 }
121 }
122 if (data2) {
123 for (int ii = 0; ii < data2->size(); ii++) {
124 double mp = data2->at(ii)->_value;
125 if (maxValue < mp) {
126 maxValue = mp;
127 }
128 }
129 }
130 }
131
132 QwtInterval scaleInterval(0.0, maxValue);
133
134 QVector<QWidget*> plots;
135 if (data1) {
136 t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
137 app->mainWindow());
138 plot1->addCurve(data1);
139 plots << plot1;
140 }
141 if (data2) {
142 t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
143 app->mainWindow());
144 plot2->addCurve(data2);
145 plots << plot2;
146 }
147
148 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, scaleInterval);
149
150 graphWin->show();
151
152 bncSettings settings;
153 QString dirName = settings.value("reqcPlotDir").toString();
154 if (!dirName.isEmpty()) {
155 graphWin->savePNG(dirName);
156 }
157 }
158}
159
160//
161////////////////////////////////////////////////////////////////////////////
162void t_reqcAnalyze::run() {
163
164 // Open Log File
165 // -------------
166 _logFile = new QFile(_logFileName);
167 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
168 _log = new QTextStream();
169 _log->setDevice(_logFile);
170 }
171
172 // Initialize RINEX Observation Files
173 // ----------------------------------
174 t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
175
176 // Read Ephemerides
177 // ----------------
178 t_reqcEdit::readEphemerides(_navFileNames, _ephs);
179
180 // Loop over all RINEX Files
181 // -------------------------
182 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
183 analyzeFile(_rnxObsFiles[ii]);
184 }
185
186 // Exit
187 // ----
188 emit finished();
189 deleteLater();
190}
191
192//
193////////////////////////////////////////////////////////////////////////////
194void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
195
196 if (_log) {
197 *_log << "\nAnalyze File\n"
198 << "------------\n"
199 << obsFile->fileName().toAscii().data() << endl << endl;
200 }
201
202 _satStat.clear();
203
204 // A priori Coordinates
205 // --------------------
206 ColumnVector xyz = obsFile->xyz();
207
208 // Loop over all Epochs
209 // --------------------
210 try {
211 while ( (_currEpo = obsFile->nextEpoch()) != 0) {
212
213 // Loop over all satellites
214 // ------------------------
215 for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
216 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
217 t_obs obs;
218 t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
219
220 if (obs.satSys == 'R') {
221 continue; // TODO: set channel number
222 }
223
224 QString prn = QString("%1%2").arg(obs.satSys)
225 .arg(obs.satNum, 2, 10, QChar('0'));
226
227 t_satStat& satStat = _satStat[prn];
228
229 satStat.addObs(obs);
230 }
231
232 } // while (_currEpo)
233 }
234 catch (QString str) {
235 if (_log) {
236 *_log << "Exception " << str << endl;
237 }
238 else {
239 qDebug() << str;
240 }
241 return;
242 }
243
244 // Analyze the Multipath
245 // ---------------------
246 QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
247 QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
248
249 QMapIterator<QString, t_satStat> it(_satStat);
250 while (it.hasNext()) {
251 it.next();
252 QString prn = it.key();
253 const t_satStat& satStat = it.value();
254 analyzeMultipath(prn, satStat, xyz, obsFile->interval(), dataMP1, dataMP2);
255 }
256
257 emit displayGraph(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2, 2.0);
258
259 if (_log) {
260 _log->flush();
261 }
262}
263
264//
265////////////////////////////////////////////////////////////////////////////
266void t_reqcAnalyze::t_satStat::addObs(const t_obs& obs) {
267
268 t_anaObs* newObs = new t_anaObs(obs.GPSWeek, obs.GPSWeeks);
269 bool okFlag = false;
270
271 // Compute the Multipath
272 // ----------------------
273 double L1 = obs.measdata("L1", 3.0);
274 double L2 = obs.measdata("L2", 3.0);
275 if (L1 != 0.0 && L2 != 0.0) {
276 double f1 = t_CST::f1(obs.satSys, obs.slotNum);
277 double f2 = t_CST::f2(obs.satSys, obs.slotNum);
278
279 L1 = L1 * t_CST::c / f1;
280 L2 = L2 * t_CST::c / f2;
281
282 double P1 = obs.measdata("C1", 3.0);
283 if (P1 != 0.0) {
284 newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
285 okFlag = true;
286
287 //// beg test
288 // cout.setf(ios::fixed);
289 // cout << obs.satSys << setw(2) << obs.satNum << " "
290 // << setprecision(1) << obs.GPSWeeks << " "
291 // << setprecision(4) << newObs->_MP1 << endl;
292 //// end test
293 }
294 double P2 = obs.measdata("C2", 3.0);
295 if (P2 != 0.0) {
296 newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
297 okFlag = true;
298 }
299 }
300
301 // Remember the Observation
302 // ------------------------
303 if (okFlag) {
304 anaObs << newObs;
305 }
306 else {
307 delete newObs;
308 }
309}
310
311//
312////////////////////////////////////////////////////////////////////////////
313void t_reqcAnalyze::analyzeMultipath(const QString& prn,
314 const t_satStat& satStat,
315 const ColumnVector& xyz,
316 double obsInterval,
317 QVector<t_polarPoint*>* dataMP1,
318 QVector<t_polarPoint*>* dataMP2) {
319
320 const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
321 const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
322
323 for (int chunkStart = 0; chunkStart + numEpo < satStat.anaObs.size();
324 chunkStart += chunkStep) {
325
326 // Compute Mean
327 // ------------
328 bool slipFlag = false;
329 double mean1 = 0.0;
330 double mean2 = 0.0;
331
332 for (int ii = 0; ii < numEpo; ii++) {
333 int iEpo = chunkStart + ii;
334 const t_anaObs* anaObs = satStat.anaObs[iEpo];
335 mean1 += anaObs->_MP1;
336 mean2 += anaObs->_MP2;
337
338 // Check Slip
339 // ----------
340 if (ii > 0) {
341 double diff1 = anaObs->_MP1 - satStat.anaObs[iEpo-1]->_MP1;
342 double diff2 = anaObs->_MP2 - satStat.anaObs[iEpo-1]->_MP2;
343 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
344 slipFlag = true;
345 break;
346 }
347 }
348 }
349
350 if (slipFlag) {
351 continue;
352 }
353
354 mean1 /= numEpo;
355 mean2 /= numEpo;
356
357 // Compute Standard Deviation
358 // --------------------------
359 double stddev1 = 0.0;
360 double stddev2 = 0.0;
361 for (int ii = 0; ii < numEpo; ii++) {
362 int iEpo = chunkStart + ii;
363 const t_anaObs* anaObs = satStat.anaObs[iEpo];
364 double diff1 = anaObs->_MP1 - mean1;
365 double diff2 = anaObs->_MP2 - mean2;
366 stddev1 += diff1 * diff1;
367 stddev2 += diff2 * diff2;
368 }
369 double MP1 = sqrt(stddev1 / (numEpo-1));
370 double MP2 = sqrt(stddev2 / (numEpo-1));
371
372 const t_anaObs* anaObs0 = satStat.anaObs[chunkStart];
373
374 // Compute the Azimuth and Zenith Distance
375 // ---------------------------------------
376 double az = 0.0;
377 double zen = 0.0;
378 if (xyz.size()) {
379 t_eph* eph = 0;
380 for (int ie = 0; ie < _ephs.size(); ie++) {
381 if (_ephs[ie]->prn() == prn) {
382 eph = _ephs[ie];
383 break;
384 }
385 }
386
387 if (eph) {
388 double xSat, ySat, zSat, clkSat;
389 eph->position(anaObs0->_GPSWeek, anaObs0->_GPSWeeks,
390 xSat, ySat, zSat, clkSat);
391
392 double rho, eleSat, azSat;
393 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
394
395 az = azSat * 180.0/M_PI;
396 zen = 90.0 - eleSat * 180.0/M_PI;
397 }
398 }
399
400 // Add new Point
401 // -------------
402 (*dataMP1) << (new t_polarPoint(az, zen, MP1));
403 (*dataMP2) << (new t_polarPoint(az, zen, MP2));
404
405 if (_log) {
406 _log->setRealNumberNotation(QTextStream::FixedNotation);
407
408 _log->setRealNumberPrecision(2);
409 *_log << "MP1 " << prn << " " << az << " " << zen << " ";
410 _log->setRealNumberPrecision(3);
411 *_log << MP1 << endl;
412
413 _log->setRealNumberPrecision(2);
414 *_log << "MP2 " << prn << " " << az << " " << zen << " ";
415 _log->setRealNumberPrecision(3);
416 *_log << MP2 << endl;
417
418 _log->flush();
419 }
420 }
421}
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