source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 4662

Last change on this file since 4662 was 4662, checked in by mervart, 12 years ago
File size: 16.6 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 <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#include "eleplot.h"
55
56using namespace std;
57
58const double SLIPTRESH = 5.0; // cycle-slip threshold (meters)
59
60// Constructor
61////////////////////////////////////////////////////////////////////////////
62t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
63
64 bncSettings settings;
65
66 _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
67 _logFile = 0;
68 _log = 0;
69 _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
70 _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
71
72 _currEpo = 0;
73
74 connect(this, SIGNAL(dspSkyPlot(const QString&,
75 const QByteArray&,
76 QVector<t_polarPoint*>*,
77 const QByteArray&,
78 QVector<t_polarPoint*>*,
79 const QByteArray&, double)),
80 this, SLOT(slotDspSkyPlot(const QString&,
81 const QByteArray&,
82 QVector<t_polarPoint*>*,
83 const QByteArray&,
84 QVector<t_polarPoint*>*,
85 const QByteArray&, double)));
86
87 connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
88 this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
89}
90
91// Destructor
92////////////////////////////////////////////////////////////////////////////
93t_reqcAnalyze::~t_reqcAnalyze() {
94 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
95 delete _rnxObsFiles[ii];
96 }
97 for (int ii = 0; ii < _ephs.size(); ii++) {
98 delete _ephs[ii];
99 }
100 delete _log; _log = 0;
101 delete _logFile; _logFile = 0;
102 bncApp* app = (bncApp*) qApp;
103 if ( app->mode() != bncApp::interactive) {
104 app->exit(0);
105 }
106}
107
108//
109////////////////////////////////////////////////////////////////////////////
110void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
111 const QByteArray& title1,
112 QVector<t_polarPoint*>* data1,
113 const QByteArray& title2,
114 QVector<t_polarPoint*>* data2,
115 const QByteArray& scaleTitle,
116 double maxValue) {
117
118 bncApp* app = dynamic_cast<bncApp*>(qApp);
119 if (app->GUIenabled()) {
120
121 if (maxValue == 0.0) {
122 if (data1) {
123 for (int ii = 0; ii < data1->size(); ii++) {
124 double val = data1->at(ii)->_value;
125 if (maxValue < val) {
126 maxValue = val;
127 }
128 }
129 }
130 if (data2) {
131 for (int ii = 0; ii < data2->size(); ii++) {
132 double val = data2->at(ii)->_value;
133 if (maxValue < val) {
134 maxValue = val;
135 }
136 }
137 }
138 }
139
140 QwtInterval scaleInterval(0.0, maxValue);
141
142 QVector<QWidget*> plots;
143 if (data1) {
144 t_polarPlot* plot1 = new t_polarPlot(QwtText(title1), scaleInterval,
145 app->mainWindow());
146 plot1->addCurve(data1);
147 plots << plot1;
148 }
149 if (data2) {
150 t_polarPlot* plot2 = new t_polarPlot(QwtText(title2), scaleInterval,
151 app->mainWindow());
152 plot2->addCurve(data2);
153 plots << plot2;
154 }
155
156 t_graphWin* graphWin = new t_graphWin(0, fileName, plots,
157 &scaleTitle, &scaleInterval);
158
159 graphWin->show();
160
161 bncSettings settings;
162 QString dirName = settings.value("reqcPlotDir").toString();
163 if (!dirName.isEmpty()) {
164 QByteArray ext = scaleTitle.isEmpty() ? "_S.png" : "_M.png";
165 graphWin->savePNG(dirName, ext);
166 }
167 }
168}
169
170//
171////////////////////////////////////////////////////////////////////////////
172void t_reqcAnalyze::run() {
173
174 // Open Log File
175 // -------------
176 _logFile = new QFile(_logFileName);
177 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
178 _log = new QTextStream();
179 _log->setDevice(_logFile);
180 }
181
182 // Initialize RINEX Observation Files
183 // ----------------------------------
184 t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
185
186 // Read Ephemerides
187 // ----------------
188 t_reqcEdit::readEphemerides(_navFileNames, _ephs);
189
190 // Loop over all RINEX Files
191 // -------------------------
192 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
193 analyzeFile(_rnxObsFiles[ii]);
194 }
195
196 // Exit
197 // ----
198 emit finished();
199 deleteLater();
200}
201
202//
203////////////////////////////////////////////////////////////////////////////
204void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
205
206 if (_log) {
207 *_log << "\nAnalyze File\n"
208 << "------------\n"
209 << obsFile->fileName().toAscii().data() << endl << endl;
210 }
211
212 _allObsMap.clear();
213 _availDataMap.clear();
214
215 // A priori Coordinates
216 // --------------------
217 ColumnVector xyz = obsFile->xyz();
218
219 // Loop over all Epochs
220 // --------------------
221 try {
222 while ( (_currEpo = obsFile->nextEpoch()) != 0) {
223
224 // Loop over all satellites
225 // ------------------------
226 for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
227 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
228 t_obs obs;
229 t_postProcessing::setObsFromRnx(obsFile, _currEpo, rnxSat, obs);
230
231 if (obs.satSys == 'R') {
232 // TODO: set channel number
233 }
234
235 QString prn = QString("%1%2").arg(obs.satSys)
236 .arg(obs.satNum, 2, 10, QChar('0'));
237
238 _allObsMap[prn].addObs(obs);
239 }
240
241 } // while (_currEpo)
242 }
243 catch (QString str) {
244 if (_log) {
245 *_log << "Exception " << str << endl;
246 }
247 else {
248 qDebug() << str;
249 }
250 return;
251 }
252
253 // Analyze the Multipath
254 // ---------------------
255 QVector<t_polarPoint*>* dataMP1 = new QVector<t_polarPoint*>;
256 QVector<t_polarPoint*>* dataMP2 = new QVector<t_polarPoint*>;
257 QVector<t_polarPoint*>* dataSNR1 = new QVector<t_polarPoint*>;
258 QVector<t_polarPoint*>* dataSNR2 = new QVector<t_polarPoint*>;
259
260 QMutableMapIterator<QString, t_allObs> it(_allObsMap);
261 while (it.hasNext()) {
262 it.next();
263 QString prn = it.key();
264 preparePlotData(prn, xyz, obsFile->interval(),
265 dataMP1, dataMP2, dataSNR1, dataSNR2);
266 }
267
268 emit dspSkyPlot(obsFile->fileName(), "MP1", dataMP1, "MP2", dataMP2,
269 "Meters", 2.0);
270
271 emit dspSkyPlot(obsFile->fileName(), "SNR1", dataSNR1, "SNR2", dataSNR2,
272 "", 9.0);
273
274 QFileInfo fileInfo(obsFile->fileName());
275 QByteArray title = fileInfo.fileName().toAscii();
276
277 emit dspAvailPlot(obsFile->fileName(), title);
278
279 if (_log) {
280 _log->flush();
281 }
282}
283
284//
285////////////////////////////////////////////////////////////////////////////
286void t_reqcAnalyze::t_allObs::addObs(const t_obs& obs) {
287
288 t_oneObs* newObs = new t_oneObs(obs.GPSWeek, obs.GPSWeeks);
289 bool okFlag = false;
290
291 // Availability and Slip Flags
292 // ---------------------------
293 double L1 = obs.measdata("L1", 3.0);
294 if (L1 != 0) {
295 newObs->_hasL1 = true;
296 }
297 double L2 = obs.measdata("L2", 3.0);
298 if (L2 != 0) {
299 newObs->_hasL2 = true;
300 }
301 if (obs.slipL1) {
302 newObs->_slipL1 = true;
303 }
304 if (obs.slipL2) {
305 newObs->_slipL2 = true;
306 }
307
308 // Compute the Multipath
309 // ----------------------
310 if (L1 != 0.0 && L2 != 0.0) {
311 double f1 = t_CST::f1(obs.satSys, obs.slotNum);
312 double f2 = t_CST::f2(obs.satSys, obs.slotNum);
313
314 L1 = L1 * t_CST::c / f1;
315 L2 = L2 * t_CST::c / f2;
316
317 double P1 = obs.measdata("C1", 3.0);
318 if (P1 != 0.0) {
319 newObs->_MP1 = P1 - L1 - 2.0*f2*f2/(f1*f1-f2*f2) * (L1 - L2);
320 okFlag = true;
321 }
322 double P2 = obs.measdata("C2", 3.0);
323 if (P2 != 0.0) {
324 newObs->_MP2 = P2 - L2 - 2.0*f1*f1/(f1*f1-f2*f2) * (L1 - L2);
325 okFlag = true;
326 }
327 }
328
329 // Signal-to-Noise
330 // ---------------
331 double S1 = obs.measdata("S1", 3.0);
332 if (S1 != 0.0) {
333 newObs->_SNR1 = floor(S1/6);
334 if (newObs->_SNR1 > 9.0) {
335 newObs->_SNR1 = 9.0;
336 }
337 if (newObs->_SNR1 < 1.0) {
338 newObs->_SNR1 = 1.0;
339 }
340 okFlag = true;
341 }
342 else {
343 if (obs.snrL1 > 0) {
344 newObs->_SNR1 = obs.snrL1;
345 okFlag = true;
346 }
347 }
348 double S2 = obs.measdata("S2", 3.0);
349 if (S2 != 0.0) {
350 newObs->_SNR2 = floor(S2/6);
351 if (newObs->_SNR2 > 9.0) {
352 newObs->_SNR2 = 9.0;
353 }
354 if (newObs->_SNR2 < 1.0) {
355 newObs->_SNR2 = 1.0;
356 }
357 okFlag = true;
358 }
359 else {
360 if (obs.snrL2 > 0) {
361 newObs->_SNR2 = obs.snrL2;
362 okFlag = true;
363 }
364 }
365
366 // Remember the Observation
367 // ------------------------
368 if (okFlag) {
369 _oneObsVec << newObs;
370 }
371 else {
372 delete newObs;
373 }
374}
375
376//
377////////////////////////////////////////////////////////////////////////////
378void t_reqcAnalyze::preparePlotData(const QString& prn, const ColumnVector& xyz,
379 double obsInterval,
380 QVector<t_polarPoint*>* dataMP1,
381 QVector<t_polarPoint*>* dataMP2,
382 QVector<t_polarPoint*>* dataSNR1,
383 QVector<t_polarPoint*>* dataSNR2) {
384
385 const int chunkStep = int( 30.0 / obsInterval); // chunk step (30 sec)
386 const int numEpo = int(600.0 / obsInterval); // # epochs in one chunk (10 min)
387
388 t_allObs& allObs = _allObsMap[prn];
389
390 // Loop over all Chunks of Data
391 // ----------------------------
392 for (int chunkStart = 0; chunkStart + numEpo < allObs._oneObsVec.size();
393 chunkStart += chunkStep) {
394
395 // Chunk-Speicific Variables
396 // -------------------------
397 bncTime currTime;
398 bncTime prevTime;
399 bncTime chunkStartTime;
400 bool availL1 = false;
401 bool availL2 = false;
402 bool gapL1 = false;
403 bool gapL2 = false;
404 bool slipL1 = false;
405 bool slipL2 = false;
406 bool slipMP = false;
407 double meanMP1 = 0.0;
408 double meanMP2 = 0.0;
409 double minSNR1 = 0.0;
410 double minSNR2 = 0.0;
411 double aziDeg = 0.0;
412 double zenDeg = 0.0;
413 bool zenFlag = false;
414
415 // Loop over all Epochs within one Chunk of Data
416 // ---------------------------------------------
417 for (int ii = 0; ii < numEpo; ii++) {
418 int iEpo = chunkStart + ii;
419 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
420
421 currTime.set(oneObs->_GPSWeek, oneObs->_GPSWeeks);
422
423 // Compute the Azimuth and Zenith Distance
424 // ---------------------------------------
425 if (ii == 0) {
426 chunkStartTime = currTime;
427
428 if (xyz.size()) {
429 t_eph* eph = 0;
430 for (int ie = 0; ie < _ephs.size(); ie++) {
431 if (_ephs[ie]->prn() == prn) {
432 eph = _ephs[ie];
433 break;
434 }
435 }
436
437 if (eph) {
438 double xSat, ySat, zSat, clkSat;
439 eph->position(oneObs->_GPSWeek, oneObs->_GPSWeeks,
440 xSat, ySat, zSat, clkSat);
441
442 double rho, eleSat, azSat;
443 topos(xyz(1), xyz(2), xyz(3), xSat, ySat, zSat, rho, eleSat, azSat);
444
445 aziDeg = azSat * 180.0/M_PI;
446 zenDeg = 90.0 - eleSat * 180.0/M_PI;
447 zenFlag = true;
448 }
449 }
450 }
451
452 // Check Interval
453 // --------------
454 if (prevTime.valid()) {
455 double dt = currTime - prevTime;
456 if (dt != obsInterval) {
457 gapL1 = true;
458 gapL2 = true;
459 }
460 }
461 prevTime = currTime;
462
463 // Check L1 and L2 availability
464 // ----------------------------
465 if (oneObs->_hasL1) {
466 availL1 = true;
467 }
468 else {
469 gapL1 = true;
470 }
471 if (oneObs->_hasL2) {
472 availL2 = true;
473 }
474 else {
475 gapL2 = true;
476 }
477
478 // Check Minimal Signal-to-Noise Ratio
479 // -----------------------------------
480 if ( oneObs->_SNR1 > 0 && (minSNR1 == 0 || minSNR1 > oneObs->_SNR1) ) {
481 minSNR1 = oneObs->_SNR1;
482 }
483 if ( oneObs->_SNR2 > 0 && (minSNR2 == 0 || minSNR2 > oneObs->_SNR2) ) {
484 minSNR2 = oneObs->_SNR2;
485 }
486
487 // Check Slip Flags
488 // ----------------
489 if (oneObs->_slipL1) {
490 slipL1 = true;
491 }
492 if (oneObs->_slipL2) {
493 slipL2 = true;
494 }
495
496 // Check Slip Threshold
497 // --------------------
498 if (ii > 0) {
499 double diff1 = oneObs->_MP1 - allObs._oneObsVec[iEpo-1]->_MP1;
500 double diff2 = oneObs->_MP2 - allObs._oneObsVec[iEpo-1]->_MP2;
501 if (fabs(diff1) > SLIPTRESH || fabs(diff2) > SLIPTRESH) {
502 slipMP = true;
503 }
504 }
505
506 meanMP1 += oneObs->_MP1;
507 meanMP2 += oneObs->_MP2;
508 }
509
510 // Availability Plot Data
511 // ----------------------
512 double mjdX24 = chunkStartTime.mjddec() * 24.0;
513 if (availL1) {
514 if (slipL1) {
515 _availDataMap[prn]._L1slip << mjdX24;
516 }
517 else if (gapL1) {
518 _availDataMap[prn]._L1gap << mjdX24;
519 }
520 else {
521 _availDataMap[prn]._L1ok << mjdX24;
522 }
523 }
524 if (availL2) {
525 if (slipL2) {
526 _availDataMap[prn]._L2slip << mjdX24;
527 }
528 else if (gapL2) {
529 _availDataMap[prn]._L2gap << mjdX24;
530 }
531 else {
532 _availDataMap[prn]._L2ok << mjdX24;
533 }
534 }
535 if (zenFlag) {
536 _availDataMap[prn]._eleTim << mjdX24;
537 _availDataMap[prn]._eleDeg << 90.0 - zenDeg;
538 }
539
540 // Signal-to-Noise Ration Plot Data
541 // --------------------------------
542 (*dataSNR1) << (new t_polarPoint(aziDeg, zenDeg, minSNR1));
543 (*dataSNR2) << (new t_polarPoint(aziDeg, zenDeg, minSNR2));
544
545 // Compute the Multipath
546 // ---------------------
547 if (!slipMP) {
548 meanMP1 /= numEpo;
549 meanMP2 /= numEpo;
550 double MP1 = 0.0;
551 double MP2 = 0.0;
552 for (int ii = 0; ii < numEpo; ii++) {
553 int iEpo = chunkStart + ii;
554 const t_oneObs* oneObs = allObs._oneObsVec[iEpo];
555 double diff1 = oneObs->_MP1 - meanMP1;
556 double diff2 = oneObs->_MP2 - meanMP2;
557 MP1 += diff1 * diff1;
558 MP2 += diff2 * diff2;
559 }
560 MP1 = sqrt(MP1 / (numEpo-1));
561 MP2 = sqrt(MP2 / (numEpo-1));
562 (*dataMP1) << (new t_polarPoint(aziDeg, zenDeg, MP1));
563 (*dataMP2) << (new t_polarPoint(aziDeg, zenDeg, MP2));
564 }
565 }
566}
567
568//
569////////////////////////////////////////////////////////////////////////////
570void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName,
571 const QByteArray& title) {
572
573 if (dynamic_cast<bncApp*>(qApp)->GUIenabled()) {
574
575 t_availPlot* plotA = new t_availPlot(0, &_availDataMap);
576 plotA->setTitle(title);
577
578 t_elePlot* plotZ = new t_elePlot(0, &_availDataMap);
579 plotZ->setTitle(title);
580
581 QVector<QWidget*> plots;
582 plots << plotA << plotZ;
583 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, 0, 0);
584 graphWin->show();
585
586 bncSettings settings;
587 QString dirName = settings.value("reqcPlotDir").toString();
588 if (!dirName.isEmpty()) {
589 QByteArray ext = "_A.png";
590 graphWin->savePNG(dirName, ext);
591 }
592 }
593}
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