source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4607

Last change on this file since 4607 was 4607, checked in by mervart, 12 years ago
File size: 16.2 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() ? "_S.png" : "_M.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 slipL1 = false;
395 bool slipL2 = false;
396 bool slipMP = false;
397 double meanMP1 = 0.0;
398 double meanMP2 = 0.0;
399 double minSNR1 = 0.0;
400 double minSNR2 = 0.0;
401 double aziDeg = 0.0;
402 double zenDeg = 0.0;
403
404 // Loop over all Epochs within one Chunk of Data
405 // ---------------------------------------------
406 for (int ii = 0; ii < numEpo; ii++) {
407 int iEpo = chunkStart + ii;
408 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
409
410 currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
411
412 // Compute the Azimuth and Zenith Distance
413 // ---------------------------------------
414 if (ii == 0) {
415 chunkStartTime = currTime;
416
417 if (xyz.size()) {
418 t_eph* eph = 0;
419 for (int ie = 0; ie < _ephs.size(); ie++) {
420 if (_ephs[ie]->prn() == prn) {
421 eph = _ephs[ie];
422 break;
423 }
424 }
425
426 if (eph) {
427 double xSat, ySat, zSat, clkSat;
428 eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
429 xSat, ySat, zSat, clkSat);
430
431 double rho, eleSat, azSat;
432 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
433
434 aziDeg = azSat * 180.0/M_PI;
435 zenDeg = 90.0 - eleSat * 180.0/M_PI;
436 }
437 }
438 }
439
440 // Check Interval
441 // --------------
442 if (prevTime.valid()) {
443 double dt = currTime - prevTime;
444 if (dt != obsInterval) {
445 gapL1 = true;
446 gapL2 = true;
447 }
448 }
449 prevTime = currTime;
450
451 // Check L1 and L2 availability
452 // ----------------------------
453 if (oneObs->_hasL1) {
454 availL1 = true;
455 }
456 else {
457 gapL1 = true;
458 }
459 if (oneObs->_hasL2) {
460 availL2 = true;
461 }
462 else {
463 gapL2 = true;
464 }
465
466 // Check Minimal Signal-to-Noise Ratio
467 // -----------------------------------
468 if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
469 minSNR1 = oneObs->_SNR1;
470 }
471 if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
472 minSNR2 = oneObs->_SNR2;
473 }
474
475 // Check Slip Flags
476 // ----------------
477 if (oneObs->_slipL1) {
478 slipL1 = true;
479 }
480 if (oneObs->_slipL2) {
481 slipL2 = true;
482 }
483
484 // Check Slip Threshold
485 // --------------------
486 if (ii > 0) {
487 double diff1 = oneObs->_MP1 - allObs._oneObsVec[iEpo-1]->_MP1;
488 double diff2 = oneObs->_MP2 - allObs._oneObsVec[iEpo-1]->_MP2;
489 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
490 slipMP = true;
491 }
492 }
493
494 meanMP1 += oneObs->_MP1;
495 meanMP2 += oneObs->_MP2;
496 }
497
498 // Availability Plot Data
499 // ----------------------
500 double mjd = chunkStartTime.mjddec();
501 if (availL1) {
502 if (slipL1) {
503 _availDataMap[prn]._L1slip << mjd;
504 }
505 else if (gapL1) {
506 _availDataMap[prn]._L1gap << mjd;
507 }
508 else {
509 _availDataMap[prn]._L1ok << mjd;
510 }
511 }
512 if (availL2) {
513 if (slipL2) {
514 _availDataMap[prn]._L2slip << mjd;
515 }
516 else if (gapL2) {
517 _availDataMap[prn]._L2gap << mjd;
518 }
519 else {
520 _availDataMap[prn]._L2ok << mjd;
521 }
522 }
523
524 // Signal-to-Noise Ration Plot Data
525 // --------------------------------
526 (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
527 (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
528
529 // Compute the Multipath
530 // ---------------------
531 if (!slipMP) {
532 meanMP1 /= numEpo;
533 meanMP2 /= numEpo;
534 double MP1 = 0.0;
535 double MP2 = 0.0;
536 for (int ii = 0; ii < numEpo; ii++) {
537 int iEpo = chunkStart + ii;
538 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
539 double diff1 = oneObs->_MP1 - meanMP1;
540 double diff2 = oneObs->_MP2 - meanMP2;
541 MP1 += diff1 * diff1;
542 MP2 += diff2 * diff2;
543 }
544 MP1 = sqrt(MP1 / (numEpo-1));
545 MP2 = sqrt(MP2 / (numEpo-1));
546 (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
547 (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
548 }
549 }
550}
551
552//
553////////////////////////////////////////////////////////////////////////////
554void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
555 const QByteArray& title) {
556
557 if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
558
559 t_availPlot* plot = new t_availPlot(0, &_availDataMap);
560 plot->setTitle(title);
561
562 QVector<QWidget*> plots;
563 plots << plot;
564 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
565 graphWin->show();
566
567 bncSettings settings;
568 QString dirName = settings.value("reqcPlotDir").toString();
569 if (!dirName.isEmpty()) {
570 QByteArray ext = "_A.png";
571 graphWin->savePNG(dirName, ext);
572 }
573 }
574}
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