source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4656

Last change on this file since 4656 was 4617, checked in by mervart, 14 years ago
File size: 16.4 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 // Availability and Slip Flags
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 (obs.slipL1) {
301 newObs->_slipL1 = true;
302 }
303 if (obs.slipL2) {
304 newObs->_slipL2 = true;
305 }
306
307 // Compute the Multipath
308 // ----------------------
309 if (L1 != 0.0 && L2 != 0.0) {
310 double f1 = t_CST::f1(obs.satSys, obs.slotNum);
311 double f2 = t_CST::f2(obs.satSys, obs.slotNum);
312
313 L1 = L1 * t_CST::c / f1;
314 L2 = L2 * t_CST::c / f2;
315
316 double P1 = obs.measdata("C1", 3.0);
317 if (P1 != 0.0) {
318 newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
319 okFlag = true;
320 }
321 double P2 = obs.measdata("C2", 3.0);
322 if (P2 != 0.0) {
323 newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
324 okFlag = true;
325 }
326 }
327
328 // Signal-to-Noise
329 // ---------------
330 double S1 = obs.measdata("S1", 3.0);
331 if (S1 != 0.0) {
332 newObs->_SNR1 = floor(S1/6);
333 if (newObs->_SNR1 > 9.0) {
334 newObs->_SNR1 = 9.0;
335 }
336 if (newObs->_SNR1 < 1.0) {
337 newObs->_SNR1 = 1.0;
338 }
339 okFlag = true;
340 }
341 else {
342 if (obs.snrL1 > 0) {
343 newObs->_SNR1 = obs.snrL1;
344 okFlag = true;
345 }
346 }
347 double S2 = obs.measdata("S2", 3.0);
348 if (S2 != 0.0) {
349 newObs->_SNR2 = floor(S2/6);
350 if (newObs->_SNR2 > 9.0) {
351 newObs->_SNR2 = 9.0;
352 }
353 if (newObs->_SNR2 < 1.0) {
354 newObs->_SNR2 = 1.0;
355 }
356 okFlag = true;
357 }
358 else {
359 if (obs.snrL2 > 0) {
360 newObs->_SNR2 = obs.snrL2;
361 okFlag = true;
362 }
363 }
364
365 // Remember the Observation
366 // ------------------------
367 if (okFlag) {
368 _oneObsVec << newObs;
369 }
370 else {
371 delete newObs;
372 }
373}
374
375//
376////////////////////////////////////////////////////////////////////////////
377void t_reqcAnalyze::preparePlotData(const QString& prn, const ColumnVector& xyz,
378 double obsInterval,
379 QVector<t_polarPoint*>* dataMP1,
380 QVector<t_polarPoint*>* dataMP2,
381 QVector<t_polarPoint*>* dataSNR1,
382 QVector<t_polarPoint*>* dataSNR2) {
383
384 const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
385 const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
386
387 t_allObs& allObs = _allObsMap[prn];
388
389 // Loop over all Chunks of Data
390 // ----------------------------
391 for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
392 chunkStart += chunkStep) {
393
394 // Chunk-Speicific Variables
395 // -------------------------
396 bncTime currTime;
397 bncTime prevTime;
398 bncTime chunkStartTime;
399 bool availL1 = false;
400 bool availL2 = false;
401 bool gapL1 = false;
402 bool gapL2 = false;
403 bool slipL1 = false;
404 bool slipL2 = false;
405 bool slipMP = false;
406 double meanMP1 = 0.0;
407 double meanMP2 = 0.0;
408 double minSNR1 = 0.0;
409 double minSNR2 = 0.0;
410 double aziDeg = 0.0;
411 double zenDeg = 0.0;
412
413 // Loop over all Epochs within one Chunk of Data
414 // ---------------------------------------------
415 for (int ii = 0; ii < numEpo; ii++) {
416 int iEpo = chunkStart + ii;
417 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
418
419 currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
420
421 // Compute the Azimuth and Zenith Distance
422 // ---------------------------------------
423 if (ii == 0) {
424 chunkStartTime = currTime;
425
426 if (xyz.size()) {
427 t_eph* eph = 0;
428 for (int ie = 0; ie < _ephs.size(); ie++) {
429 if (_ephs[ie]->prn() == prn) {
430 eph = _ephs[ie];
431 break;
432 }
433 }
434
435 if (eph) {
436 double xSat, ySat, zSat, clkSat;
437 eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
438 xSat, ySat, zSat, clkSat);
439
440 double rho, eleSat, azSat;
441 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
442
443 aziDeg = azSat * 180.0/M_PI;
444 zenDeg = 90.0 - eleSat * 180.0/M_PI;
445 }
446 }
447 }
448
449 // Check Interval
450 // --------------
451 if (prevTime.valid()) {
452 double dt = currTime - prevTime;
453 if (dt != obsInterval) {
454 gapL1 = true;
455 gapL2 = true;
456 }
457 }
458 prevTime = currTime;
459
460 // Check L1 and L2 availability
461 // ----------------------------
462 if (oneObs->_hasL1) {
463 availL1 = true;
464 }
465 else {
466 gapL1 = true;
467 }
468 if (oneObs->_hasL2) {
469 availL2 = true;
470 }
471 else {
472 gapL2 = true;
473 }
474
475 // Check Minimal Signal-to-Noise Ratio
476 // -----------------------------------
477 if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
478 minSNR1 = oneObs->_SNR1;
479 }
480 if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
481 minSNR2 = oneObs->_SNR2;
482 }
483
484 // Check Slip Flags
485 // ----------------
486 if (oneObs->_slipL1) {
487 slipL1 = true;
488 }
489 if (oneObs->_slipL2) {
490 slipL2 = true;
491 }
492
493 // Check Slip Threshold
494 // --------------------
495 if (ii > 0) {
496 double diff1 = oneObs->_MP1 - allObs._oneObsVec[iEpo-1]->_MP1;
497 double diff2 = oneObs->_MP2 - allObs._oneObsVec[iEpo-1]->_MP2;
498 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
499 slipMP = true;
500 }
501 }
502
503 meanMP1 += oneObs->_MP1;
504 meanMP2 += oneObs->_MP2;
505 }
506
507 // Availability Plot Data
508 // ----------------------
509 double mjdX24 = chunkStartTime.mjddec() * 24.0;
510 if (availL1) {
511 if (slipL1) {
512 _availDataMap[prn]._L1slip << mjdX24;
513 }
514 else if (gapL1) {
515 _availDataMap[prn]._L1gap << mjdX24;
516 }
517 else {
518 _availDataMap[prn]._L1ok << mjdX24;
519 }
520 }
521 if (availL2) {
522 if (slipL2) {
523 _availDataMap[prn]._L2slip << mjdX24;
524 }
525 else if (gapL2) {
526 _availDataMap[prn]._L2gap << mjdX24;
527 }
528 else {
529 _availDataMap[prn]._L2ok << mjdX24;
530 }
531 }
532
533 // Signal-to-Noise Ration Plot Data
534 // --------------------------------
535 (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
536 (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
537
538 // Compute the Multipath
539 // ---------------------
540 if (!slipMP) {
541 meanMP1 /= numEpo;
542 meanMP2 /= numEpo;
543 double MP1 = 0.0;
544 double MP2 = 0.0;
545 for (int ii = 0; ii < numEpo; ii++) {
546 int iEpo = chunkStart + ii;
547 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
548 double diff1 = oneObs->_MP1 - meanMP1;
549 double diff2 = oneObs->_MP2 - meanMP2;
550 MP1 += diff1 * diff1;
551 MP2 += diff2 * diff2;
552 }
553 MP1 = sqrt(MP1 / (numEpo-1));
554 MP2 = sqrt(MP2 / (numEpo-1));
555 (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
556 (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
557 }
558 }
559}
560
561//
562////////////////////////////////////////////////////////////////////////////
563void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
564 const QByteArray& title) {
565
566 if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
567
568 t_availPlot* plot = new t_availPlot(0, &_availDataMap);
569 plot->setTitle(title);
570
571 QVector<QWidget*> plots;
572 plots << plot;
573 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
574 graphWin->show();
575
576 bncSettings settings;
577 QString dirName = settings.value("reqcPlotDir").toString();
578 if (!dirName.isEmpty()) {
579 QByteArray ext = "_A.png";
580 graphWin->savePNG(dirName, ext);
581 }
582 }
583}
Note: See TracBrowser for help on using the repository browser.