source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4605

Last change on this file since 4605 was 4605, checked in by mervart, 12 years ago
File size: 15.9 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 <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 // 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 QFileInfo fileInfo(obsFile->fileName());
274 QByteArray title = fileInfo.fileName().toAscii();
275
276 emit dspAvailPlot(obsFile->fileName(), title);
277
278 if (_log) {
279 _log->flush();
280 }
281}
282
283//
284////////////////////////////////////////////////////////////////////////////
285void t_reqcAnalyze::t_allObs::addObs(const t_obs& obs) {
286
287 t_oneObs* newObs = new t_oneObs(obs.GPSWeek, obs.GPSWeeks);
288 bool okFlag = false;
289
290 // Compute the Multipath
291 // ----------------------
292 double L1 = obs.measdata("L1", 3.0);
293 if (L1 != 0) {
294 newObs->_hasL1 = true;
295 }
296 double L2 = obs.measdata("L2", 3.0);
297 if (L2 != 0) {
298 newObs->_hasL2 = true;
299 }
300 if (L1 != 0.0 && L2 != 0.0) {
301 double f1 = t_CST::f1(obs.satSys, obs.slotNum);
302 double f2 = t_CST::f2(obs.satSys, obs.slotNum);
303
304 L1 = L1 * t_CST::c / f1;
305 L2 = L2 * t_CST::c / f2;
306
307 double P1 = obs.measdata("C1", 3.0);
308 if (P1 != 0.0) {
309 newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
310 okFlag = true;
311 }
312 double P2 = obs.measdata("C2", 3.0);
313 if (P2 != 0.0) {
314 newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
315 okFlag = true;
316 }
317 }
318
319 // Signal-to-Noise
320 // ---------------
321 double S1 = obs.measdata("S1", 3.0);
322 if (S1 != 0.0) {
323 newObs->_SNR1 = floor(S1/6);
324 if (newObs->_SNR1 > 9.0) {
325 newObs->_SNR1 = 9.0;
326 }
327 if (newObs->_SNR1 < 1.0) {
328 newObs->_SNR1 = 1.0;
329 }
330 okFlag = true;
331 }
332 else {
333 if (obs.snrL1 > 0) {
334 newObs->_SNR1 = obs.snrL1;
335 okFlag = true;
336 }
337 }
338 double S2 = obs.measdata("S2", 3.0);
339 if (S2 != 0.0) {
340 newObs->_SNR2 = floor(S2/6);
341 if (newObs->_SNR2 > 9.0) {
342 newObs->_SNR2 = 9.0;
343 }
344 if (newObs->_SNR2 < 1.0) {
345 newObs->_SNR2 = 1.0;
346 }
347 okFlag = true;
348 }
349 else {
350 if (obs.snrL2 > 0) {
351 newObs->_SNR2 = obs.snrL2;
352 okFlag = true;
353 }
354 }
355
356 // Remember the Observation
357 // ------------------------
358 if (okFlag) {
359 _oneObsVec << newObs;
360 }
361 else {
362 delete newObs;
363 }
364}
365
366//
367////////////////////////////////////////////////////////////////////////////
368void t_reqcAnalyze::preparePlotData(const QString& prn, const ColumnVector& xyz,
369 double obsInterval,
370 QVector<t_polarPoint*>* dataMP1,
371 QVector<t_polarPoint*>* dataMP2,
372 QVector<t_polarPoint*>* dataSNR1,
373 QVector<t_polarPoint*>* dataSNR2) {
374
375 const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
376 const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
377
378 t_allObs& allObs = _allObsMap[prn];
379
380 // Loop over all Chunks of Data
381 // ----------------------------
382 for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
383 chunkStart += chunkStep) {
384
385 // Chunk-Speicific Variables
386 // -------------------------
387 bncTime currTime;
388 bncTime prevTime;
389 bncTime chunkStartTime;
390 bool availL1 = false;
391 bool availL2 = false;
392 bool gapL1 = false;
393 bool gapL2 = false;
394 bool slipFlag = false;
395 double meanMP1 = 0.0;
396 double meanMP2 = 0.0;
397 double minSNR1 = 0.0;
398 double minSNR2 = 0.0;
399 double aziDeg = 0.0;
400 double zenDeg = 0.0;
401
402 // Loop over all Epochs within one Chunk of Data
403 // ---------------------------------------------
404 for (int ii = 0; ii < numEpo; ii++) {
405 int iEpo = chunkStart + ii;
406 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
407
408 currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
409
410 // Compute the Azimuth and Zenith Distance
411 // ---------------------------------------
412 if (ii == 0) {
413 chunkStartTime = currTime;
414
415 if (xyz.size()) {
416 t_eph* eph = 0;
417 for (int ie = 0; ie < _ephs.size(); ie++) {
418 if (_ephs[ie]->prn() == prn) {
419 eph = _ephs[ie];
420 break;
421 }
422 }
423
424 if (eph) {
425 double xSat, ySat, zSat, clkSat;
426 eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
427 xSat, ySat, zSat, clkSat);
428
429 double rho, eleSat, azSat;
430 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
431
432 aziDeg = azSat * 180.0/M_PI;
433 zenDeg = 90.0 - eleSat * 180.0/M_PI;
434 }
435 }
436 }
437
438 // Check Interval
439 // --------------
440 if (prevTime.valid()) {
441 double dt = currTime - prevTime;
442 if (dt != obsInterval) {
443 gapL1 = true;
444 gapL2 = true;
445 }
446 }
447 prevTime = currTime;
448
449 // Check L1 and L2 availability
450 // ----------------------------
451 if (oneObs->_hasL1) {
452 availL1 = true;
453 }
454 else {
455 gapL1 = true;
456 }
457 if (oneObs->_hasL2) {
458 availL2 = true;
459 }
460 else {
461 gapL2 = true;
462 }
463
464 // Check Minimal Signal-to-Noise Ratio
465 // -----------------------------------
466 if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
467 minSNR1 = oneObs->_SNR1;
468 }
469 if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
470 minSNR2 = oneObs->_SNR2;
471 }
472
473 // Check Slip
474 // ----------
475 if (ii > 0) {
476 double diff1 = oneObs->_MP1 - allObs._oneObsVec[iEpo-1]->_MP1;
477 double diff2 = oneObs->_MP2 - allObs._oneObsVec[iEpo-1]->_MP2;
478 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
479 slipFlag = true;
480 }
481 }
482
483 meanMP1 += oneObs->_MP1;
484 meanMP2 += oneObs->_MP2;
485 }
486
487 // Availability Plot Data
488 // ----------------------
489 double mjd = chunkStartTime.mjddec();
490 if (availL1) {
491 if (slipFlag) {
492 _availDataMap[prn]._L1slip << mjd;
493 }
494 else if (gapL1) {
495 _availDataMap[prn]._L1gap << mjd;
496 }
497 else {
498 _availDataMap[prn]._L1ok << mjd;
499 }
500 }
501 if (availL2) {
502 if (slipFlag) {
503 _availDataMap[prn]._L2slip << mjd;
504 }
505 else if (gapL2) {
506 _availDataMap[prn]._L2gap << mjd;
507 }
508 else {
509 _availDataMap[prn]._L2ok << mjd;
510 }
511 }
512
513 // Signal-to-Noise Ration Plot Data
514 // --------------------------------
515 (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
516 (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
517
518 // Compute the Multipath
519 // ---------------------
520 if (!slipFlag) {
521 meanMP1 /= numEpo;
522 meanMP2 /= numEpo;
523 double MP1 = 0.0;
524 double MP2 = 0.0;
525 for (int ii = 0; ii < numEpo; ii++) {
526 int iEpo = chunkStart + ii;
527 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
528 double diff1 = oneObs->_MP1 - meanMP1;
529 double diff2 = oneObs->_MP2 - meanMP2;
530 MP1 += diff1 * diff1;
531 MP2 += diff2 * diff2;
532 }
533 MP1 = sqrt(MP1 / (numEpo-1));
534 MP2 = sqrt(MP2 / (numEpo-1));
535 (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
536 (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
537 }
538 }
539}
540
541//
542////////////////////////////////////////////////////////////////////////////
543void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
544 const QByteArray& title) {
545
546 if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
547
548 t_availPlot* plot = new t_availPlot(0, &_availDataMap);
549 plot->setTitle(title);
550
551 QVector<QWidget*> plots;
552 plots << plot;
553 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
554 graphWin->show();
555
556 bncSettings settings;
557 QString dirName = settings.value("reqcPlotDir").toString();
558 if (!dirName.isEmpty()) {
559 QByteArray ext = "_AVAIL.png";
560 graphWin->savePNG(dirName, ext);
561 }
562 }
563}
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