source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4584

Last change on this file since 4584 was 4584, checked in by mervart, 10 years ago
File size: 14.7 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
55using namespace std;
56
57const double SLIPTRESH = 5.0; // cycle-slip threshold (meters)
58
59// Constructor
60////////////////////////////////////////////////////////////////////////////
61t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
62
63 bncSettings settings;
64
65 _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
66 _logFile = 0;
67 _log = 0;
68 _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
69 _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
70
71 _currEpo = 0;
72
73 connect(this, SIGNAL(dspSkyPlot(const QString&,
74 const QByteArray&,
75 QVector<t_polarPoint*>*,
76 const QByteArray&,
77 QVector<t_polarPoint*>*,
78 const QByteArray&, double)),
79 this, SLOT(slotDspSkyPlot(const QString&,
80 const QByteArray&,
81 QVector<t_polarPoint*>*,
82 const QByteArray&,
83 QVector<t_polarPoint*>*,
84 const QByteArray&, double)));
85
86 connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
87 this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
88}
89
90// Destructor
91////////////////////////////////////////////////////////////////////////////
92t_reqcAnalyze::~t_reqcAnalyze() {
93 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
94 delete _rnxObsFiles[ii];
95 }
96 for (int ii = 0; ii < _ephs.size(); ii++) {
97 delete _ephs[ii];
98 }
99 delete _log; _log = 0;
100 delete _logFile; _logFile = 0;
101 bncApp* app = (bncApp*) qApp;
102 if ( app->mode() != bncApp::interactive) {
103 app->exit(0);
104 }
105}
106
107//
108////////////////////////////////////////////////////////////////////////////
109void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
110 const QByteArray& title1,
111 QVector<t_polarPoint*>* data1,
112 const QByteArray& title2,
113 QVector<t_polarPoint*>* data2,
114 const QByteArray& scaleTitle,
115 double maxValue) {
116
117 bncApp* app = dynamic_cast<bncApp*>(qApp);
118 if (app->GUIenabled()) {
119
120 if (maxValue == 0.0) {
121 if (data1) {
122 for (int ii = 0; ii < data1->size(); ii++) {
123 double val = data1->at(ii)->_value;
124 if (maxValue < val) {
125 maxValue = val;
126 }
127 }
128 }
129 if (data2) {
130 for (int ii = 0; ii < data2->size(); ii++) {
131 double val = data2->at(ii)->_value;
132 if (maxValue < val) {
133 maxValue = val;
134 }
135 }
136 }
137 }
138
139 QwtInterval scaleInterval(0.0, maxValue);
140
141 QVector<QWidget*> plots;
142 if (data1) {
143 t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
144 app->mainWindow());
145 plot1->addCurve(data1);
146 plots << plot1;
147 }
148 if (data2) {
149 t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
150 app->mainWindow());
151 plot2->addCurve(data2);
152 plots << plot2;
153 }
154
155 t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
156 &scaleTitle, &scaleInterval);
157
158 graphWin->show();
159
160 bncSettings settings;
161 QString dirName = settings.value("reqcPlotDir").toString();
162 if (!dirName.isEmpty()) {
163 QByteArray ext = scaleTitle.isEmpty() ? "_SNR.png" : "_MP.png";
164 graphWin->savePNG(dirName, ext);
165 }
166 }
167}
168
169//
170////////////////////////////////////////////////////////////////////////////
171void t_reqcAnalyze::run() {
172
173 // Open Log File
174 // -------------
175 _logFile = new QFile(_logFileName);
176 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
177 _log = new QTextStream();
178 _log->setDevice(_logFile);
179 }
180
181 // Initialize RINEX Observation Files
182 // ----------------------------------
183 t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
184
185 // Read Ephemerides
186 // ----------------
187 t_reqcEdit::readEphemerides(_navFileNames, _ephs);
188
189 // Loop over all RINEX Files
190 // -------------------------
191 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
192 analyzeFile(_rnxObsFiles[ii]);
193 }
194
195 // Exit
196 // ----
197 emit finished();
198 deleteLater();
199}
200
201//
202////////////////////////////////////////////////////////////////////////////
203void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
204
205 if (_log) {
206 *_log << "\nAnalyze File\n"
207 << "------------\n"
208 << obsFile->fileName().toAscii().data() << endl << endl;
209 }
210
211 _allObsMap.clear();
212 _availDataMap.clear();
213
214 // A priori Coordinates
215 // --------------------
216 ColumnVector xyz = obsFile->xyz();
217
218 // Loop over all Epochs
219 // --------------------
220 try {
221 while ( (_currEpo = obsFile->nextEpoch()) != 0) {
222
223 // Loop over all satellites
224 // ------------------------
225 for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
226 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
227 t_obs obs;
228 t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
229
230 if (obs.satSys == 'R') {
231 continue; // TODO: set channel number
232 }
233
234 QString prn = QString("%1%2").arg(obs.satSys)
235 .arg(obs.satNum, 2, 10, QChar('0'));
236
237 _allObsMap[prn].addObs(obs);
238 }
239
240 } // while (_currEpo)
241 }
242 catch (QString str) {
243 if (_log) {
244 *_log << "Exception " << str << endl;
245 }
246 else {
247 qDebug() << str;
248 }
249 return;
250 }
251
252 // Analyze the Multipath
253 // ---------------------
254 QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
255 QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
256 QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
257 QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
258
259 QMutableMapIterator<QString, t_allObs> it(_allObsMap);
260 while (it.hasNext()) {
261 it.next();
262 QString prn = it.key();
263 preparePlotData(prn, xyz, obsFile->interval(),
264 dataMP1, dataMP2, dataSNR1, dataSNR2);
265 }
266
267 emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
268 "Meters", 2.0);
269
270 emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
271 "", 9.0);
272
273 emit dspAvailPlot(obsFile->fileName(), "Availability L1");
274
275 if (_log) {
276 _log->flush();
277 }
278}
279
280//
281////////////////////////////////////////////////////////////////////////////
282void t_reqcAnalyze::t_allObs::addObs(const t_obs& obs) {
283
284 t_oneObs* newObs = new t_oneObs(obs.GPSWeek, obs.GPSWeeks);
285 bool okFlag = false;
286
287 // Compute the Multipath
288 // ----------------------
289 double L1 = obs.measdata("L1", 3.0);
290 if (L1 != 0) {
291 newObs->_hasL1 = true;
292 }
293 double L2 = obs.measdata("L2", 3.0);
294 if (L2 != 0) {
295 newObs->_hasL2 = true;
296 }
297 if (L1 != 0.0 && L2 != 0.0) {
298 double f1 = t_CST::f1(obs.satSys, obs.slotNum);
299 double f2 = t_CST::f2(obs.satSys, obs.slotNum);
300
301 L1 = L1 * t_CST::c / f1;
302 L2 = L2 * t_CST::c / f2;
303
304 double P1 = obs.measdata("C1", 3.0);
305 if (P1 != 0.0) {
306 newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
307 okFlag = true;
308 }
309 double P2 = obs.measdata("C2", 3.0);
310 if (P2 != 0.0) {
311 newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
312 okFlag = true;
313 }
314 }
315
316 // Signal-to-Noise
317 // ---------------
318 double S1 = obs.measdata("S1", 3.0);
319 if (S1 != 0.0) {
320 newObs->_SNR1 = floor(S1/6);
321 if (newObs->_SNR1 > 9.0) {
322 newObs->_SNR1 = 9.0;
323 }
324 if (newObs->_SNR1 < 1.0) {
325 newObs->_SNR1 = 1.0;
326 }
327 okFlag = true;
328 }
329 else {
330 if (obs.snrL1 > 0) {
331 newObs->_SNR1 = obs.snrL1;
332 okFlag = true;
333 }
334 }
335 double S2 = obs.measdata("S2", 3.0);
336 if (S2 != 0.0) {
337 newObs->_SNR2 = floor(S2/6);
338 if (newObs->_SNR2 > 9.0) {
339 newObs->_SNR2 = 9.0;
340 }
341 if (newObs->_SNR2 < 1.0) {
342 newObs->_SNR2 = 1.0;
343 }
344 okFlag = true;
345 }
346 else {
347 if (obs.snrL2 > 0) {
348 newObs->_SNR2 = obs.snrL2;
349 okFlag = true;
350 }
351 }
352
353 // Remember the Observation
354 // ------------------------
355 if (okFlag) {
356 _oneObsVec << newObs;
357 }
358 else {
359 delete newObs;
360 }
361}
362
363//
364////////////////////////////////////////////////////////////////////////////
365void t_reqcAnalyze::preparePlotData(const QString& prn, const ColumnVector& xyz,
366 double obsInterval,
367 QVector<t_polarPoint*>* dataMP1,
368 QVector<t_polarPoint*>* dataMP2,
369 QVector<t_polarPoint*>* dataSNR1,
370 QVector<t_polarPoint*>* dataSNR2) {
371
372 const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
373 const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
374
375 t_allObs& allObs = _allObsMap[prn];
376
377 for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
378 chunkStart += chunkStep) {
379
380 bncTime firstEpoch;
381
382 // Compute Mean
383 // ------------
384 bool slipFlag = false;
385 double mean1 = 0.0;
386 double mean2 = 0.0;
387 double SNR1 = 0.0;
388 double SNR2 = 0.0;
389
390 for (int ii = 0; ii < numEpo; ii++) {
391 int iEpo = chunkStart + ii;
392 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
393
394 if (ii == 0) {
395 bncTime epoTime(oneObs->_GPSWeek, oneObs->_GPSWeeks);
396 _availDataMap[prn]._epoL1 << epoTime.mjddec();
397 }
398
399 mean1 += oneObs->_MP1;
400 mean2 += oneObs->_MP2;
401
402 if ( oneObs->_SNR1 > 0 && (SNR1 == 0 || SNR1 > oneObs->_SNR1) ) {
403 SNR1 = oneObs->_SNR1;
404 }
405 if ( oneObs->_SNR2 > 0 && (SNR2 == 0 || SNR2 > oneObs->_SNR2) ) {
406 SNR2 = oneObs->_SNR2;
407 }
408
409 // Check Slip
410 // ----------
411 if (ii > 0) {
412 double diff1 = oneObs->_MP1 - allObs._oneObsVec[iEpo-1]->_MP1;
413 double diff2 = oneObs->_MP2 - allObs._oneObsVec[iEpo-1]->_MP2;
414 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
415 slipFlag = true;
416 break;
417 }
418 }
419 }
420
421 if (slipFlag) {
422 continue;
423 }
424
425 mean1 /= numEpo;
426 mean2 /= numEpo;
427
428 // Compute Standard Deviation
429 // --------------------------
430 double stddev1 = 0.0;
431 double stddev2 = 0.0;
432 for (int ii = 0; ii < numEpo; ii++) {
433 int iEpo = chunkStart + ii;
434 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
435 double diff1 = oneObs->_MP1 - mean1;
436 double diff2 = oneObs->_MP2 - mean2;
437 stddev1 += diff1 * diff1;
438 stddev2 += diff2 * diff2;
439 }
440 double MP1 = sqrt(stddev1 / (numEpo-1));
441 double MP2 = sqrt(stddev2 / (numEpo-1));
442
443 const t_oneObs* oneObs0 = allObs._oneObsVec[chunkStart];
444
445 // Compute the Azimuth and Zenith Distance
446 // ---------------------------------------
447 double az = 0.0;
448 double zen = 0.0;
449 if (xyz.size()) {
450 t_eph* eph = 0;
451 for (int ie = 0; ie < _ephs.size(); ie++) {
452 if (_ephs[ie]->prn() == prn) {
453 eph = _ephs[ie];
454 break;
455 }
456 }
457
458 if (eph) {
459 double xSat, ySat, zSat, clkSat;
460 eph->position(oneObs0->_GPSWeek, oneObs0->_GPSWeeks,
461 xSat, ySat, zSat, clkSat);
462
463 double rho, eleSat, azSat;
464 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
465
466 az = azSat * 180.0/M_PI;
467 zen = 90.0 - eleSat * 180.0/M_PI;
468 }
469 }
470
471 // Add new Point
472 // -------------
473 (*dataMP1) << (new t_polarPoint(az, zen, MP1));
474 (*dataMP2) << (new t_polarPoint(az, zen, MP2));
475 (*dataSNR1) << (new t_polarPoint(az, zen, SNR1));
476 (*dataSNR2) << (new t_polarPoint(az, zen, SNR2));
477
478 if (_log) {
479 _log->setRealNumberNotation(QTextStream::FixedNotation);
480
481 _log->setRealNumberPrecision(2);
482 *_log << "MP1 " << prn << " " << az << " " << zen << " ";
483 _log->setRealNumberPrecision(3);
484 *_log << MP1 << endl;
485
486 _log->setRealNumberPrecision(2);
487 *_log << "MP2 " << prn << " " << az << " " << zen << " ";
488 _log->setRealNumberPrecision(3);
489 *_log << MP2 << endl;
490
491 _log->flush();
492 }
493 }
494}
495
496//
497////////////////////////////////////////////////////////////////////////////
498void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
499 const QByteArray& title) {
500
501 if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
502
503 t_availPlot* plot = new t_availPlot(0, &_availDataMap);
504 plot->setTitle(title);
505
506 QVector<QWidget*> plots;
507 plots << plot;
508 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
509 graphWin->show();
510
511 bncSettings settings;
512 QString dirName = settings.value("reqcPlotDir").toString();
513 if (!dirName.isEmpty()) {
514 QByteArray ext = "_AVAIL.png";
515 graphWin->savePNG(dirName, ext);
516 }
517 }
518}
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