source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4562

Last change on this file since 4562 was 4562, checked in by mervart, 12 years ago
File size: 12.6 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 "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 double P2 = obs.measdata("C2", 3.0);
288 if (P2 != 0.0) {
289 newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
290 okFlag = true;
291 }
292 }
293
294 // Signal-to-Noise
295 // ---------------
296 double S1 = obs.measdata("S1", 3.0);
297 if (S1 != 0.0) {
298 newObs->_SNR1 = floor(S1/6);
299 if (newObs->_SNR1 > 9.0) {
300 newObs->_SNR1 = 9.0;
301 }
302 if (newObs->_SNR1 < 1.0) {
303 newObs->_SNR1 = 1.0;
304 }
305 okFlag = true;
306 }
307 else {
308 if (obs.snrL1 > 0) {
309 newObs->_SNR1 = obs.snrL1;
310 okFlag = true;
311 }
312 }
313 double S2 = obs.measdata("S2", 3.0);
314 if (S2 != 0.0) {
315 newObs->_SNR2 = floor(S2/6);
316 if (newObs->_SNR2 > 9.0) {
317 newObs->_SNR2 = 9.0;
318 }
319 if (newObs->_SNR2 < 1.0) {
320 newObs->_SNR2 = 1.0;
321 }
322 okFlag = true;
323 }
324 else {
325 if (obs.snrL2 > 0) {
326 newObs->_SNR2 = obs.snrL2;
327 okFlag = true;
328 }
329 }
330
331 // Remember the Observation
332 // ------------------------
333 if (okFlag) {
334 anaObs << newObs;
335 }
336 else {
337 delete newObs;
338 }
339}
340
341//
342////////////////////////////////////////////////////////////////////////////
343void t_reqcAnalyze::analyzeMultipath(const QString& prn,
344 const t_satStat& satStat,
345 const ColumnVector& xyz,
346 double obsInterval,
347 QVector<t_polarPoint*>* dataMP1,
348 QVector<t_polarPoint*>* dataMP2) {
349
350 const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
351 const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
352
353 for (int chunkStart = 0; chunkStart + numEpo < satStat.anaObs.size();
354 chunkStart += chunkStep) {
355
356 // Compute Mean
357 // ------------
358 bool slipFlag = false;
359 double mean1 = 0.0;
360 double mean2 = 0.0;
361
362 for (int ii = 0; ii < numEpo; ii++) {
363 int iEpo = chunkStart + ii;
364 const t_anaObs* anaObs = satStat.anaObs[iEpo];
365 mean1 += anaObs->_MP1;
366 mean2 += anaObs->_MP2;
367
368 // Check Slip
369 // ----------
370 if (ii > 0) {
371 double diff1 = anaObs->_MP1 - satStat.anaObs[iEpo-1]->_MP1;
372 double diff2 = anaObs->_MP2 - satStat.anaObs[iEpo-1]->_MP2;
373 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
374 slipFlag = true;
375 break;
376 }
377 }
378 }
379
380 if (slipFlag) {
381 continue;
382 }
383
384 mean1 /= numEpo;
385 mean2 /= numEpo;
386
387 // Compute Standard Deviation
388 // --------------------------
389 double stddev1 = 0.0;
390 double stddev2 = 0.0;
391 for (int ii = 0; ii < numEpo; ii++) {
392 int iEpo = chunkStart + ii;
393 const t_anaObs* anaObs = satStat.anaObs[iEpo];
394 double diff1 = anaObs->_MP1 - mean1;
395 double diff2 = anaObs->_MP2 - mean2;
396 stddev1 += diff1 * diff1;
397 stddev2 += diff2 * diff2;
398 }
399 double MP1 = sqrt(stddev1 / (numEpo-1));
400 double MP2 = sqrt(stddev2 / (numEpo-1));
401
402 const t_anaObs* anaObs0 = satStat.anaObs[chunkStart];
403
404 // Compute the Azimuth and Zenith Distance
405 // ---------------------------------------
406 double az = 0.0;
407 double zen = 0.0;
408 if (xyz.size()) {
409 t_eph* eph = 0;
410 for (int ie = 0; ie < _ephs.size(); ie++) {
411 if (_ephs[ie]->prn() == prn) {
412 eph = _ephs[ie];
413 break;
414 }
415 }
416
417 if (eph) {
418 double xSat, ySat, zSat, clkSat;
419 eph->position(anaObs0->_GPSWeek, anaObs0->_GPSWeeks,
420 xSat, ySat, zSat, clkSat);
421
422 double rho, eleSat, azSat;
423 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
424
425 az = azSat * 180.0/M_PI;
426 zen = 90.0 - eleSat * 180.0/M_PI;
427 }
428 }
429
430 // Add new Point
431 // -------------
432 (*dataMP1) << (new t_polarPoint(az, zen, MP1));
433 (*dataMP2) << (new t_polarPoint(az, zen, MP2));
434
435 if (_log) {
436 _log->setRealNumberNotation(QTextStream::FixedNotation);
437
438 _log->setRealNumberPrecision(2);
439 *_log << "MP1 " << prn << " " << az << " " << zen << " ";
440 _log->setRealNumberPrecision(3);
441 *_log << MP1 << endl;
442
443 _log->setRealNumberPrecision(2);
444 *_log << "MP2 " << prn << " " << az << " " << zen << " ";
445 _log->setRealNumberPrecision(3);
446 *_log << MP2 << endl;
447
448 _log->flush();
449 }
450 }
451}
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