source: ntrip/trunk/BNC/src/rinex/reqcanalyze.cpp@ 9788

Last change on this file since 9788 was 9775, checked in by stuerze, 2 years ago

minor changes
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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 "bnccore.h"
47#include "bncsettings.h"
48#include "reqcedit.h"
49#include "bncutils.h"
50#include "graphwin.h"
51#include "availplot.h"
52#include "eleplot.h"
53#include "dopplot.h"
54#include "bncephuser.h"
55
56using namespace std;
57
58// Constructor
59////////////////////////////////////////////////////////////////////////////
60t_reqcAnalyze::t_reqcAnalyze(QObject* parent) : QThread(parent) {
61
62 bncSettings settings;
63
64 _logFileName = settings.value("reqcOutLogFile").toString(); expandEnvVar(_logFileName);
65 _logFile = 0;
66 _log = 0;
67 _currEpo = 0;
68 _obsFileNames = settings.value("reqcObsFile").toString().split(",", QString::SkipEmptyParts);
69 _navFileNames = settings.value("reqcNavFile").toString().split(",", QString::SkipEmptyParts);
70 _reqcPlotSignals = settings.value("reqcSkyPlotSignals").toString();
71 _defaultSignalTypes << "G:1&2&5" << "R:1&2&3" << "J:1&2" << "E:1&5" << "S:1&5" << "C:2&7" << "I:5&9";
72 if (_reqcPlotSignals.isEmpty()) {
73 _reqcPlotSignals = _defaultSignalTypes.join(" ");
74 }
75 analyzePlotSignals();
76
77 qRegisterMetaType< QVector<t_skyPlotData> >("QVector<t_skyPlotData>");
78
79 connect(this, SIGNAL(dspSkyPlot(const QString&, QVector<t_skyPlotData>,
80 const QByteArray&, double)),
81 this, SLOT(slotDspSkyPlot(const QString&, QVector<t_skyPlotData>,
82 const QByteArray&, double)));
83
84 connect(this, SIGNAL(dspAvailPlot(const QString&, const QByteArray&)),
85 this, SLOT(slotDspAvailPlot(const QString&, const QByteArray&)));
86}
87
88// Destructor
89////////////////////////////////////////////////////////////////////////////
90t_reqcAnalyze::~t_reqcAnalyze() {
91 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
92 delete _rnxObsFiles[ii];
93 }
94 for (int ii = 0; ii < _ephs.size(); ii++) {
95 delete _ephs[ii];
96 }
97 delete _log; _log = 0;
98 delete _logFile; _logFile = 0;
99 if (BNC_CORE->mode() != t_bncCore::interactive) {
100 qApp->exit(0);
101 msleep(100); //sleep 0.1 sec
102 }
103}
104
105//
106////////////////////////////////////////////////////////////////////////////
107void t_reqcAnalyze::run() {
108
109 static const double QC_FORMAT_VERSION = 1.1;
110
111 // Open Log File
112 // -------------
113 if (!_logFileName.isEmpty()) {
114 _logFile = new QFile(_logFileName);
115 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
116 _log = new QTextStream();
117 _log->setDevice(_logFile);
118 }
119 }
120
121 if (_log) {
122 *_log << "QC Format Version : " << QString("%1").arg(QC_FORMAT_VERSION,3,'f',1) << endl << endl;
123 }
124
125 // Check Ephemerides
126 // -----------------
127 checkEphemerides();
128
129 // Initialize RINEX Observation Files
130 // ----------------------------------
131 t_reqcEdit::initRnxObsFiles(_obsFileNames, _rnxObsFiles, _log);
132
133 // Read Ephemerides
134 // ----------------
135 t_reqcEdit::readEphemerides(_navFileNames, _ephs);
136
137 // Loop over all RINEX Files
138 // -------------------------
139 for (int ii = 0; ii < _rnxObsFiles.size(); ii++) {
140 analyzeFile(_rnxObsFiles[ii]);
141 }
142
143 // Exit
144 // ----
145 emit finished();
146 deleteLater();
147}
148
149//
150////////////////////////////////////////////////////////////////////////////
151void t_reqcAnalyze::analyzePlotSignals() {
152
153 QStringList signalsOpt = _reqcPlotSignals.split(" ", QString::SkipEmptyParts);
154
155 for (int ii = 0; ii < signalsOpt.size(); ii++) {
156 QStringList input = signalsOpt.at(ii).split(QRegExp("[:&]"), QString::SkipEmptyParts);
157 if (input.size() > 1 && input[0].length() == 1) {
158 char system = input[0].toLatin1().constData()[0];
159 QStringList sysValid = _defaultSignalTypes.filter(QString(system));
160 if (!sysValid.isEmpty()) {
161 for (int iSig = 1; iSig < input.size(); iSig++) {
162 if (input[iSig].length() == 1 && input[iSig][0].isDigit()) {
163 _signalTypes[system].append(input[iSig][0].toLatin1());
164 }
165 }
166 }
167 }
168 }
169}
170
171//
172////////////////////////////////////////////////////////////////////////////
173void t_reqcAnalyze::analyzeFile(t_rnxObsFile* obsFile) {
174
175 _qcFile.clear();
176
177 // A priori Coordinates
178 // --------------------
179 ColumnVector xyzSta = obsFile->xyz();
180
181 // Loop over all Epochs
182 // --------------------
183 try {
184 QMap<QString, bncTime> lastObsTime;
185 bool firstEpo = true;
186 while ( (_currEpo = obsFile->nextEpoch()) != 0) {
187 if (firstEpo) {
188 firstEpo = false;
189 _qcFile._startTime = _currEpo->tt;
190 _qcFile._antennaName = obsFile->antennaName();
191 _qcFile._markerName = obsFile->markerName();
192 _qcFile._receiverType = obsFile->receiverType();
193 _qcFile._interval = obsFile->interval();
194 }
195 _qcFile._endTime = _currEpo->tt;
196
197 t_qcEpo qcEpo;
198 qcEpo._epoTime = _currEpo->tt;
199 qcEpo._PDOP = cmpDOP(xyzSta);
200
201 // Loop over all satellites
202 // ------------------------
203 for (unsigned iObs = 0; iObs < _currEpo->rnxSat.size(); iObs++) {
204 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iObs];
205 if (_navFileNames.size() &&
206 _numExpObs.find(rnxSat.prn) == _numExpObs.end()) {
207 _numExpObs[rnxSat.prn] = 0;
208 }
209 if (_signalTypes.find(rnxSat.prn.system()) == _signalTypes.end()) {
210 continue;
211 }
212 t_satObs satObs;
213 t_rnxObsFile::setObsFromRnx(obsFile, _currEpo, rnxSat, satObs);
214 t_qcSat& qcSat = qcEpo._qcSat[satObs._prn];
215 setQcObs(qcEpo._epoTime, xyzSta, satObs, lastObsTime, qcSat);
216 updateQcSat(qcSat, _qcFile._qcSatSum[satObs._prn]);
217 }
218 _qcFile._qcEpo.push_back(qcEpo);
219 }
220
221 analyzeMultipath();
222
223 if (_navFileNames.size()) {
224 setExpectedObs(_qcFile._startTime, _qcFile._endTime, _qcFile._interval, xyzSta);
225 }
226
227 preparePlotData(obsFile);
228
229 printReport(obsFile);
230 }
231 catch (QString str) {
232 if (_log) {
233 *_log << "Exception " << str << endl;
234 }
235 else {
236 qDebug() << str;
237 }
238 }
239}
240
241// Compute Dilution of Precision
242////////////////////////////////////////////////////////////////////////////
243double t_reqcAnalyze::cmpDOP(const ColumnVector& xyzSta) const {
244
245 if ( xyzSta.size() != 3 || (xyzSta[0] == 0.0 && xyzSta[1] == 0.0 && xyzSta[2] == 0.0) ) {
246 return 0.0;
247 }
248
249 unsigned nSat = _currEpo->rnxSat.size();
250
251 if (nSat < 4) {
252 return 0.0;
253 }
254
255 Matrix AA(nSat, 4);
256
257 unsigned nSatUsed = 0;
258 for (unsigned iSat = 0; iSat < nSat; iSat++) {
259
260 const t_rnxObsFile::t_rnxSat& rnxSat = _currEpo->rnxSat[iSat];
261 const t_prn& prn = rnxSat.prn;
262
263 if (_signalTypes.find(prn.system()) == _signalTypes.end()) {
264 continue;
265 }
266
267 t_eph* eph = 0;
268 for (int ie = 0; ie < _ephs.size(); ie++) {
269 if (_ephs[ie]->prn() == prn) {
270 eph = _ephs[ie];
271 break;
272 }
273 }
274 if (eph) {
275 ColumnVector xSat(6);
276 ColumnVector vv(3);
277 if (eph->getCrd(_currEpo->tt, xSat, vv, false) == success) {
278 ++nSatUsed;
279 ColumnVector dx = xSat.Rows(1,3) - xyzSta;
280 double rho = dx.NormFrobenius();
281 AA(nSatUsed,1) = dx(1) / rho;
282 AA(nSatUsed,2) = dx(2) / rho;
283 AA(nSatUsed,3) = dx(3) / rho;
284 AA(nSatUsed,4) = 1.0;
285 }
286 }
287 }
288
289 if (nSatUsed < 4) {
290 return 0.0;
291 }
292
293 AA = AA.Rows(1, nSatUsed);
294
295 SymmetricMatrix QQ;
296 QQ << AA.t() * AA;
297 QQ = QQ.i();
298
299 return sqrt(QQ.trace());
300}
301
302//
303////////////////////////////////////////////////////////////////////////////
304void t_reqcAnalyze::updateQcSat(const t_qcSat& qcSat, t_qcSatSum& qcSatSum) {
305
306 for (int ii = 0; ii < qcSat._qcFrq.size(); ii++) {
307 const t_qcFrq& qcFrq = qcSat._qcFrq[ii];
308 t_qcFrqSum& qcFrqSum = qcSatSum._qcFrqSum[qcFrq._rnxType2ch];
309 qcFrqSum._numObs += 1;
310 if (qcFrq._slip) {
311 qcFrqSum._numSlipsFlagged += 1;
312 }
313 if (qcFrq._gap) {
314 qcFrqSum._numGaps += 1;
315 }
316 if (qcFrq._SNR > 0.0) {
317 qcFrqSum._numSNR += 1;
318 qcFrqSum._sumSNR += qcFrq._SNR;
319 }
320 }
321}
322
323//
324////////////////////////////////////////////////////////////////////////////
325void t_reqcAnalyze::setQcObs(const bncTime& epoTime, const ColumnVector& xyzSta,
326 const t_satObs& satObs, QMap<QString, bncTime>& lastObsTime,
327 t_qcSat& qcSat) {
328
329 t_eph* eph = 0;
330 for (int ie = 0; ie < _ephs.size(); ie++) {
331 if (_ephs[ie]->prn().system() == satObs._prn.system() &&
332 _ephs[ie]->prn().number() == satObs._prn.number()) {
333 eph = _ephs[ie];
334 break;
335 }
336 }
337 if (eph) {
338 ColumnVector xc(6);
339 ColumnVector vv(3);
340 if ( xyzSta.size() == 3 && (xyzSta[0] != 0.0 || xyzSta[1] != 0.0 || xyzSta[2] != 0.0) &&
341 eph->getCrd(epoTime, xc, vv, false) == success) {
342 double rho, eleSat, azSat;
343 topos(xyzSta(1), xyzSta(2), xyzSta(3), xc(1), xc(2), xc(3), rho, eleSat, azSat);
344 qcSat._eleSet = true;
345 qcSat._azDeg = azSat * 180.0/M_PI;
346 qcSat._eleDeg = eleSat * 180.0/M_PI;
347 }
348 if (satObs._prn.system() == 'R') {
349 qcSat._slotSet = true;
350 qcSat._slotNum = eph->slotNum();
351 }
352 }
353
354 // Availability and Slip Flags
355 // ---------------------------
356 for (unsigned ii = 0; ii < satObs._obs.size(); ii++) {
357 const t_frqObs* frqObs = satObs._obs[ii];
358
359 qcSat._qcFrq.push_back(t_qcFrq());
360 t_qcFrq& qcFrq = qcSat._qcFrq.back();
361
362 qcFrq._rnxType2ch = QString(frqObs->_rnxType2ch.c_str());
363 qcFrq._SNR = frqObs->_snr;
364 qcFrq._slip = frqObs->_slip;
365 qcFrq._phaseValid = frqObs->_phaseValid;
366 qcFrq._codeValid = frqObs->_codeValid;
367 // Check Gaps
368 // ----------
369 QString key = QString(satObs._prn.toString().c_str()) + qcFrq._rnxType2ch;
370 if (lastObsTime[key].valid()) {
371 double dt = epoTime - lastObsTime[key];
372 if (dt > 1.5 * _qcFile._interval) {
373 qcFrq._gap = true;
374 }
375 }
376 lastObsTime[key] = epoTime;
377
378 // Compute the Multipath Linear Combination
379 // ----------------------------------------
380 if (frqObs->_codeValid) {
381 t_frequency::type fA = t_frequency::dummy;
382 t_frequency::type fB = t_frequency::dummy;
383 char sys = satObs._prn.system();
384 if (_signalTypes.find(sys) != _signalTypes.end()) {
385 for (int iSig = 0; iSig < _signalTypes[sys].size(); iSig++) {
386 if (frqObs->_rnxType2ch[0] == _signalTypes[sys][iSig]) {
387 string frqType; frqType.push_back(sys); frqType.push_back(_signalTypes[sys][iSig]);
388 fA = t_frequency::toInt(frqType);
389 break;
390 }
391 }
392 if (fA != t_frequency::dummy) {
393 for (int iSig = 0; iSig < _signalTypes[sys].size(); iSig++) {
394 string frqType; frqType.push_back(sys); frqType.push_back(_signalTypes[sys][iSig]);
395 t_frequency::type fHlp = t_frequency::toInt(frqType);
396 if (fA != fHlp) {
397 fB = fHlp;
398 break;
399 }
400 }
401 }
402 if (fA != t_frequency::dummy && fB != t_frequency::dummy) {
403
404 double f_a = t_CST::freq(fA, qcSat._slotNum);
405 double f_b = t_CST::freq(fB, qcSat._slotNum);
406 double C_a = frqObs->_code;
407
408 bool foundA = false;
409 double L_a = 0.0;
410 bool foundB = false;
411 double L_b = 0.0;
412 for (unsigned jj = 0; jj < satObs._obs.size(); jj++) {
413 const t_frqObs* frqObsHlp = satObs._obs[jj];
414 if (frqObsHlp->_rnxType2ch[0] == t_frequency::toString(fA)[1] &&
415 frqObsHlp->_phaseValid) {
416 foundA = true;
417 L_a = frqObsHlp->_phase * t_CST::c / f_a;
418 }
419 else if (frqObsHlp->_rnxType2ch[0] == t_frequency::toString(fB)[1] &&
420 frqObsHlp->_phaseValid) {
421 foundB = true;
422 L_b = frqObsHlp->_phase * t_CST::c / f_b;
423 }
424 }
425 if (foundA && foundB) {
426 qcFrq._setMP = true;
427 qcFrq._rawMP = C_a - L_a - 2.0*f_b*f_b/(f_a*f_a-f_b*f_b) * (L_a - L_b);
428 }
429 }
430 }
431 }
432 } // satObs loop
433}
434
435//
436////////////////////////////////////////////////////////////////////////////
437void t_reqcAnalyze::analyzeMultipath() {
438
439 const double SLIPTRESH = 10.0; // cycle-slip threshold (meters)
440 const double chunkStep = 600.0; // 10 minutes
441
442 // Loop over all satellites available
443 // ----------------------------------
444 QMutableMapIterator<t_prn, t_qcSatSum> itSat(_qcFile._qcSatSum);
445 while (itSat.hasNext()) {
446 itSat.next();
447 const t_prn& prn = itSat.key();
448 t_qcSatSum& qcSatSum = itSat.value();
449
450 // Loop over all frequencies available
451 // -----------------------------------
452 QMutableMapIterator<QString, t_qcFrqSum> itFrq(qcSatSum._qcFrqSum);
453 while (itFrq.hasNext()) {
454 itFrq.next();
455 const QString& frqType = itFrq.key();
456 t_qcFrqSum& qcFrqSum = itFrq.value();
457
458 // Loop over all Chunks of Data
459 // ----------------------------
460 for (bncTime chunkStart = _qcFile._startTime;
461 chunkStart < _qcFile._endTime; chunkStart += chunkStep) {
462
463 bncTime chunkEnd = chunkStart + chunkStep;
464
465 QVector<t_qcFrq*> frqVec;
466 QVector<double> MP;
467
468 // Loop over all Epochs within one Chunk of Data
469 // ---------------------------------------------
470 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
471 t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
472 if (chunkStart <= qcEpo._epoTime && qcEpo._epoTime < chunkEnd) {
473 if (qcEpo._qcSat.contains(prn)) {
474 t_qcSat& qcSat = qcEpo._qcSat[prn];
475 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
476 t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
477 if (qcFrq._rnxType2ch == frqType) {
478 frqVec << &qcFrq;
479 if (qcFrq._setMP) {
480 MP << qcFrq._rawMP;
481 }
482 }
483 }
484 }
485 }
486 }
487
488 // Compute the multipath mean and standard deviation
489 // -------------------------------------------------
490 if (MP.size() > 1) {
491 double meanMP = 0.0;
492 for (int ii = 0; ii < MP.size(); ii++) {
493 meanMP += MP[ii];
494 }
495 meanMP /= MP.size();
496
497 bool slipMP = false;
498
499 double stdMP = 0.0;
500 for (int ii = 0; ii < MP.size(); ii++) {
501 double diff = MP[ii] - meanMP;
502 if (fabs(diff) > SLIPTRESH) {
503 slipMP = true;
504 break;
505 }
506 stdMP += diff * diff;
507 }
508
509 if (slipMP) {
510 stdMP = 0.0;
511 stdMP = 0.0;
512 qcFrqSum._numSlipsFound += 1;
513 }
514 else {
515 stdMP = sqrt(stdMP / (MP.size()-1));
516 qcFrqSum._numMP += 1;
517 qcFrqSum._sumMP += stdMP;
518 }
519
520 for (int ii = 0; ii < frqVec.size(); ii++) {
521 t_qcFrq* qcFrq = frqVec[ii];
522 if (slipMP) {
523 qcFrq->_slip = true;
524 }
525 else {
526 qcFrq->_stdMP = stdMP;
527 }
528 }
529 }
530 } // chunk loop
531 } // frq loop
532 } // sat loop
533}
534
535// Auxiliary Function for sorting MP data
536////////////////////////////////////////////////////////////////////////////
537bool t_reqcAnalyze::mpLessThan(const t_polarPoint* p1, const t_polarPoint* p2) {
538 return p1->_value < p2->_value;
539}
540
541//
542////////////////////////////////////////////////////////////////////////////
543void t_reqcAnalyze::preparePlotData(const t_rnxObsFile* obsFile) {
544
545 if (!BNC_CORE->GUIenabled()) {
546 return ;
547 }
548
549 QVector<t_skyPlotData> skyPlotDataMP;
550 QVector<t_skyPlotData> skyPlotDataSN;
551
552 for(QMap<char, QVector<char> >::iterator it1 = _signalTypes.begin();
553 it1 != _signalTypes.end(); it1++) {
554
555 char sys = it1.key();
556
557 for (int ii = 0; ii < it1.value().size(); ii++) {
558
559 skyPlotDataMP.append(t_skyPlotData(sys)); t_skyPlotData& dataMP = skyPlotDataMP.last();
560 skyPlotDataSN.append(t_skyPlotData(sys)); t_skyPlotData& dataSN = skyPlotDataSN.last();
561
562 dataMP._title = "Multipath\n" + QString(it1.key()) + ":" + it1.value()[ii] + " ";
563 dataSN._title = "Signal-to-Noise Ratio\n" + QString(it1.key()) + ":" + it1.value()[ii] + " ";
564
565 // Loop over all observations
566 // --------------------------
567 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
568 t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
569 QMapIterator<t_prn, t_qcSat> it2(qcEpo._qcSat);
570 while (it2.hasNext()) {
571 it2.next();
572 const t_qcSat& qcSat = it2.value();
573 if (qcSat._eleSet && it2.key().system() == sys) {
574 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
575 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
576 if (QString(it1.value()[ii]) == qcFrq._rnxType2ch.left(1)) {
577 (*dataMP._data) << (new t_polarPoint(qcSat._azDeg, 90.0 - qcSat._eleDeg, qcFrq._stdMP));
578 (*dataSN._data) << (new t_polarPoint(qcSat._azDeg, 90.0 - qcSat._eleDeg, qcFrq._SNR));
579 }
580 }
581 }
582 }
583 }
584
585 // Sort MP data (make the largest values always visible)
586 // -----------------------------------------------------
587 qStableSort(dataMP._data->begin(), dataMP._data->end(), mpLessThan);
588 }
589 }
590
591 // Show the plots
592 // --------------
593 QFileInfo fileInfo(obsFile->fileName());
594 QByteArray title = fileInfo.fileName().toLatin1();
595 emit dspSkyPlot(obsFile->fileName(), skyPlotDataMP, "Meters", 1.0);
596 emit dspSkyPlot(obsFile->fileName(), skyPlotDataSN, "dbHz", 54.0);
597 emit dspAvailPlot(obsFile->fileName(), title);
598}
599
600//
601////////////////////////////////////////////////////////////////////////////
602void t_reqcAnalyze::slotDspSkyPlot(const QString& fileName,
603 QVector<t_skyPlotData> skyPlotData,
604 const QByteArray& scaleTitle, double maxValue) {
605
606 if (BNC_CORE->GUIenabled()) {
607
608 if (maxValue == 0.0) {
609 QVectorIterator<t_skyPlotData> it(skyPlotData);
610 while (it.hasNext()) {
611 const t_skyPlotData& plotData = it.next();
612 const QVector<t_polarPoint*>* data = plotData._data;
613 for (int ii = 0; ii < data->size(); ii++) {
614 double val = data->at(ii)->_value;
615 if (maxValue < val) {
616 maxValue = val;
617 }
618 }
619 }
620 }
621
622 QwtInterval scaleInterval(0.0, maxValue);
623
624 QVector<QWidget*> plots;
625 QVector<int> rows;
626 QMutableVectorIterator<t_skyPlotData> it(skyPlotData);
627 int iRow = 0;
628 char sys = ' ';
629 while (it.hasNext()) {
630 t_skyPlotData& plotData = it.next();
631 QVector<t_polarPoint*>* data = plotData._data;
632 QwtText title(plotData._title);
633 QFont font = title.font(); font.setPointSize(font.pointSize()-1); title.setFont(font);
634 t_polarPlot* plot = new t_polarPlot(title, scaleInterval, BNC_CORE->mainWindow());
635 plot->addCurve(data);
636 plots << plot;
637 if (sys != ' ' && sys != plotData._sys) {
638 iRow += 1;
639 }
640 sys = plotData._sys;
641 rows << iRow;
642 }
643
644 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, false,
645 &scaleTitle, &scaleInterval, &rows);
646
647 graphWin->show();
648
649 bncSettings settings;
650 QString dirName = settings.value("reqcPlotDir").toString();
651 if (!dirName.isEmpty()) {
652 QByteArray ext = (scaleTitle == "Meters") ? "_M.png" : "_S.png";
653 graphWin->savePNG(dirName, ext);
654 }
655 }
656}
657
658//
659////////////////////////////////////////////////////////////////////////////
660void t_reqcAnalyze::slotDspAvailPlot(const QString& fileName, const QByteArray& title) {
661
662 t_plotData plotData;
663 QMap<t_prn, t_plotData> plotDataMap;
664
665 for (int ii = 0; ii < _qcFile._qcEpo.size(); ii++) {
666 const t_qcEpo& qcEpo = _qcFile._qcEpo[ii];
667 double mjdX24 = qcEpo._epoTime.mjddec() * 24.0;
668
669 plotData._mjdX24 << mjdX24;
670 plotData._PDOP << qcEpo._PDOP;
671 plotData._numSat << qcEpo._qcSat.size();
672
673 QMapIterator<t_prn, t_qcSat> it(qcEpo._qcSat);
674 while (it.hasNext()) {
675 it.next();
676 const t_prn& prn = it.key();
677 const t_qcSat& qcSat = it.value();
678
679 t_plotData& data = plotDataMap[prn];
680
681 if (qcSat._eleSet) {
682 data._mjdX24 << mjdX24;
683 data._eleDeg << qcSat._eleDeg;
684 }
685
686 for (int iSig = 0; iSig < _signalTypes[prn.system()].size(); iSig++) {
687 char frqChar = _signalTypes[prn.system()][iSig];
688 QString frqType;
689 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
690 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
691 if (qcFrq._rnxType2ch[0] == frqChar && frqType.isEmpty()) {
692 frqType = qcFrq._rnxType2ch;
693 }
694 if (qcFrq._rnxType2ch == frqType) {
695 t_plotData::t_hlpStatus& status = data._status[frqChar];
696 if (qcFrq._slip) {
697 status._slip << mjdX24;
698 }
699 else if (qcFrq._gap) {
700 status._gap << mjdX24;
701 }
702 else {
703 status._ok << mjdX24;
704 }
705 }
706 }
707 }
708 }
709 }
710
711 if (BNC_CORE->GUIenabled()) {
712 t_availPlot* plotA = new t_availPlot(0, plotDataMap);
713 plotA->setTitle(title);
714
715 t_elePlot* plotZ = new t_elePlot(0, plotDataMap);
716
717 t_dopPlot* plotD = new t_dopPlot(0, plotData);
718
719 QVector<QWidget*> plots;
720 plots << plotA << plotZ << plotD;
721 t_graphWin* graphWin = new t_graphWin(0, fileName, plots, true);
722
723 int ww = QFontMetrics(graphWin->font()).width('w');
724 graphWin->setMinimumSize(120*ww, 40*ww);
725
726 graphWin->show();
727
728 bncSettings settings;
729 QString dirName = settings.value("reqcPlotDir").toString();
730 if (!dirName.isEmpty()) {
731 QByteArray ext = "_A.png";
732 graphWin->savePNG(dirName, ext);
733 }
734 }
735}
736
737// Finish the report
738////////////////////////////////////////////////////////////////////////////
739void t_reqcAnalyze::printReport(const t_rnxObsFile* obsFile) {
740
741 if (!_log) {
742 return;
743 }
744
745 QFileInfo obsFi(obsFile->fileName());
746 QString obsFileName = obsFi.fileName();
747
748 // Summary
749 // -------
750 *_log << "Observation File : " << obsFileName << endl
751 << "RINEX Version : " << QString("%1").arg(obsFile->version(),4,'f',2) << endl
752 << "Marker Name : " << _qcFile._markerName << endl
753 << "Marker Number : " << obsFile->markerNumber() << endl
754 << "Receiver : " << _qcFile._receiverType << endl
755 << "Antenna : " << _qcFile._antennaName << endl
756 << "Position XYZ : " << QString("%1 %2 %3").arg(obsFile->xyz()(1), 14, 'f', 4)
757 .arg(obsFile->xyz()(2), 14, 'f', 4)
758 .arg(obsFile->xyz()(3), 14, 'f', 4) << endl
759 << "Antenna dH/dE/dN : " << QString("%1 %2 %3").arg(obsFile->antNEU()(3), 8, 'f', 4)
760 .arg(obsFile->antNEU()(2), 8, 'f', 4)
761 .arg(obsFile->antNEU()(1), 8, 'f', 4) << endl
762 << "Start Time : " << _qcFile._startTime.datestr().c_str() << ' '
763 << _qcFile._startTime.timestr(1,'.').c_str() << endl
764 << "End Time : " << _qcFile._endTime.datestr().c_str() << ' '
765 << _qcFile._endTime.timestr(1,'.').c_str() << endl
766 << "Interval : " << _qcFile._interval << " sec" << endl;
767
768 // Number of systems
769 // -----------------
770 QMap<QChar, QVector<const t_qcSatSum*> > systemMap;
771 QMapIterator<t_prn, t_qcSatSum> itSat(_qcFile._qcSatSum);
772 while (itSat.hasNext()) {
773 itSat.next();
774 const t_prn& prn = itSat.key();
775 const t_qcSatSum& qcSatSum = itSat.value();
776 systemMap[prn.system()].push_back(&qcSatSum);
777 }
778 *_log << "Navigation Systems : " << systemMap.size() << " ";
779
780 QMapIterator<QChar, QVector<const t_qcSatSum*> > itSys(systemMap);
781 while (itSys.hasNext()) {
782 itSys.next();
783 *_log << ' ' << itSys.key();
784 }
785 *_log << endl;
786
787 // Observation types per system
788 // -----------------------------
789 for (int iSys = 0; iSys < obsFile->numSys(); iSys++) {
790 char sys = obsFile->system(iSys);
791 if (sys != ' ') {
792 *_log << "Observation Types " << sys << ":";
793 for (int iType = 0; iType < obsFile->nTypes(sys); iType++) {
794 QString type = obsFile->obsType(sys, iType);
795 *_log << " " << type;
796 }
797 *_log << endl;
798 }
799 }
800
801 // System specific summary
802 // -----------------------
803 itSys.toFront();
804 while (itSys.hasNext()) {
805 itSys.next();
806 const QChar& sys = itSys.key();
807 const QVector<const t_qcSatSum*>& qcSatVec = itSys.value();
808 int numExpectedObs = 0;
809 for(QMap<t_prn, int>::iterator it = _numExpObs.begin();
810 it != _numExpObs.end(); it++) {
811 if (sys == it.key().system()) {
812 numExpectedObs += it.value();
813 }
814 }
815 QString prefixSys = QString(" ") + sys + QString(": ");
816 QMap<QString, QVector<const t_qcFrqSum*> > frqMap;
817 for (int ii = 0; ii < qcSatVec.size(); ii++) {
818 const t_qcSatSum* qcSatSum = qcSatVec[ii];
819 QMapIterator<QString, t_qcFrqSum> itFrq(qcSatSum->_qcFrqSum);
820 while (itFrq.hasNext()) {
821 itFrq.next();
822 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
823 const t_qcFrqSum& qcFrqSum = itFrq.value();
824 frqMap[frqType].push_back(&qcFrqSum);
825 }
826 }
827 *_log << endl
828 << prefixSys << "Satellites: " << qcSatVec.size() << endl
829 << prefixSys << "Signals : " << frqMap.size() << " ";
830 QMapIterator<QString, QVector<const t_qcFrqSum*> > itFrq(frqMap);
831 while (itFrq.hasNext()) {
832 itFrq.next();
833 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
834 *_log << ' ' << frqType;
835 }
836 *_log << endl;
837 QString prefixSys2 = " " + prefixSys;
838 itFrq.toFront();
839 while (itFrq.hasNext()) {
840 itFrq.next();
841 QString frqType = itFrq.key(); if (frqType.length() < 2) frqType += '?';
842 const QVector<const t_qcFrqSum*> qcFrqVec = itFrq.value();
843 QString prefixFrq = QString(" ") + frqType + QString(": ");
844 int numObs = 0;
845 int numSlipsFlagged = 0;
846 int numSlipsFound = 0;
847 int numGaps = 0;
848 int numSNR = 0;
849 int numMP = 0;
850 double sumSNR = 0.0;
851 double sumMP = 0.0;
852 for (int ii = 0; ii < qcFrqVec.size(); ii++) {
853 const t_qcFrqSum* qcFrqSum = qcFrqVec[ii];
854 numObs += qcFrqSum->_numObs ;
855 numSlipsFlagged += qcFrqSum->_numSlipsFlagged;
856 numSlipsFound += qcFrqSum->_numSlipsFound ;
857 numGaps += qcFrqSum->_numGaps ;
858 numSNR += qcFrqSum->_numSNR;
859 numMP += qcFrqSum->_numMP;
860 sumSNR += qcFrqSum->_sumSNR;
861 sumMP += qcFrqSum->_sumMP;
862 }
863 if (numSNR > 0) {
864 sumSNR /= numSNR;
865 }
866 if (numMP > 0) {
867 sumMP /= numMP;
868 }
869
870 double ratio = (double(numObs) / double(numExpectedObs)) * 100.0;
871
872 *_log << endl
873 << prefixSys2 << prefixFrq << "Observations : ";
874 if(_navFileNames.isEmpty() || _navFileIncomplete.contains(sys.toLatin1())) {
875 *_log << QString("%1\n").arg(numObs, 6);
876 }
877 else {
878 *_log << QString("%1 (%2) %3 \%\n").arg(numObs, 6).arg(numExpectedObs, 8).arg(ratio, 8, 'f', 2);
879 }
880 *_log << prefixSys2 << prefixFrq << "Slips (file+found): " << QString("%1 +").arg(numSlipsFlagged, 8)
881 << QString("%1\n").arg(numSlipsFound, 8)
882 << prefixSys2 << prefixFrq << "Gaps : " << QString("%1\n").arg(numGaps, 8)
883 << prefixSys2 << prefixFrq << "Mean SNR : " << QString("%1\n").arg(sumSNR, 8, 'f', 1)
884 << prefixSys2 << prefixFrq << "Mean Multipath : " << QString("%1\n").arg(sumMP, 8, 'f', 2);
885 }
886 }
887
888 // Epoch-Specific Output
889 // ---------------------
890 bncSettings settings;
891 if (Qt::CheckState(settings.value("reqcLogSummaryOnly").toInt()) == Qt::Checked) {
892 return;
893 }
894 *_log << endl;
895 for (int iEpo = 0; iEpo < _qcFile._qcEpo.size(); iEpo++) {
896 const t_qcEpo& qcEpo = _qcFile._qcEpo[iEpo];
897
898 unsigned year, month, day, hour, min;
899 double sec;
900 qcEpo._epoTime.civil_date(year, month, day);
901 qcEpo._epoTime.civil_time(hour, min, sec);
902
903 QString dateStr;
904 QTextStream(&dateStr) << QString("> %1 %2 %3 %4 %5%6")
905 .arg(year, 4)
906 .arg(month, 2, 10, QChar('0'))
907 .arg(day, 2, 10, QChar('0'))
908 .arg(hour, 2, 10, QChar('0'))
909 .arg(min, 2, 10, QChar('0'))
910 .arg(sec, 11, 'f', 7);
911
912 *_log << dateStr << QString(" %1").arg(qcEpo._qcSat.size(), 2)
913 << QString(" %1").arg(qcEpo._PDOP, 4, 'f', 1)
914 << endl;
915
916 QMapIterator<t_prn, t_qcSat> itSat(qcEpo._qcSat);
917 while (itSat.hasNext()) {
918 itSat.next();
919 const t_prn& prn = itSat.key();
920 const t_qcSat& qcSat = itSat.value();
921
922 *_log << prn.toString().c_str()
923 << QString(" %1 %2").arg(qcSat._eleDeg, 6, 'f', 2).arg(qcSat._azDeg, 7, 'f', 2);
924
925 int numObsTypes = 0;
926 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
927 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
928 if (qcFrq._phaseValid) {
929 numObsTypes += 1;
930 }
931 if (qcFrq._codeValid) {
932 numObsTypes += 1;
933 }
934 }
935 *_log << QString(" %1").arg(numObsTypes, 2);
936
937 for (int iFrq = 0; iFrq < qcSat._qcFrq.size(); iFrq++) {
938 const t_qcFrq& qcFrq = qcSat._qcFrq[iFrq];
939 if (qcFrq._phaseValid) {
940 *_log << " L" << qcFrq._rnxType2ch << ' ';
941 if (qcFrq._slip) {
942 *_log << 's';
943 }
944 else {
945 *_log << '.';
946 }
947 if (qcFrq._gap) {
948 *_log << 'g';
949 }
950 else {
951 *_log << '.';
952 }
953 *_log << QString(" %1").arg(qcFrq._SNR, 4, 'f', 1);
954 }
955 if (qcFrq._codeValid) {
956 *_log << " C" << qcFrq._rnxType2ch << ' ';
957 if (qcFrq._gap) {
958 *_log << " g";
959 }
960 else {
961 *_log << " .";
962 }
963 *_log << QString(" %1").arg(qcFrq._stdMP, 3, 'f', 2);
964 }
965 }
966 *_log << endl;
967 }
968 }
969 _log->flush();
970}
971
972//
973////////////////////////////////////////////////////////////////////////////
974void t_reqcAnalyze::checkEphemerides() {
975
976 QString navFileName;
977 QStringListIterator namIt(_navFileNames);
978 bool firstName = true;
979 while (namIt.hasNext()) {
980 QFileInfo navFi(namIt.next());
981 if (firstName) {
982 firstName = false;
983 navFileName += navFi.fileName();
984 }
985 else {
986 navFileName += ", " + navFi.fileName();
987 }
988 }
989 if (_log) {
990 *_log << "Navigation File(s) : " << navFileName << endl;
991 }
992 QStringListIterator it(_navFileNames);
993 while (it.hasNext()) {
994 const QString& fileName = it.next();
995 unsigned numOK = 0;
996 unsigned numBad = 0;
997 unsigned numUnhealthy = 0;
998 bncEphUser ephUser(false);
999 t_rnxNavFile rnxNavFile(fileName, t_rnxNavFile::input);
1000 for (unsigned ii = 0; ii < rnxNavFile.ephs().size(); ii++) {
1001 t_eph* eph = rnxNavFile.ephs()[ii];
1002 ephUser.putNewEph(eph, false);
1003 if (eph->checkState() == t_eph::bad) {
1004 ++numBad;
1005 }
1006 else if (eph->checkState() == t_eph::unhealthy) {
1007 ++numUnhealthy;
1008 }
1009 else {
1010 ++numOK;
1011 }
1012 }
1013 if (_log) {
1014 *_log << "Ephemeris : " << numOK << " OK "
1015 << numUnhealthy << " UNHEALTHY "
1016 << numBad << " WRONG\n";
1017 }
1018 if (numBad > 0 || numUnhealthy > 0) {
1019 for (unsigned ii = 0; ii < rnxNavFile.ephs().size(); ii++) {
1020 t_eph* eph = rnxNavFile.ephs()[ii];
1021 QFileInfo navFi(fileName);
1022 if (_log) {
1023#ifdef BNC_DEBUG_BCEP
1024 if (eph->checkState() == t_eph::unhealthy) {
1025 *_log << " "
1026 << navFi.fileName() << ' ' << QString(": UNHEALTHY %2:%3\n")
1027 .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0))
1028 .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1();
1029 }
1030#endif
1031 if (eph->checkState() == t_eph::bad) {
1032 *_log << " "
1033 << navFi.fileName() << ' ' << QString(": WRONG %2:%3\n")
1034 .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0))
1035 .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1();
1036 }
1037 }
1038 }
1039 }
1040 }
1041 if (_log) {
1042 *_log << endl;
1043 }
1044}
1045
1046void t_reqcAnalyze::setExpectedObs(const bncTime& startTime, const bncTime& endTime,
1047 double interval, const ColumnVector& xyzSta) {
1048
1049 for(QMap<t_prn, int>::iterator it = _numExpObs.begin();
1050 it != _numExpObs.end(); it++) {
1051 t_eph* eph = 0;
1052 for (int ie = 0; ie < _ephs.size(); ie++) {
1053 if (_ephs[ie]->prn().system() == it.key().system() &&
1054 _ephs[ie]->prn().number() == it.key().number()) {
1055 eph = _ephs[ie];
1056 break;
1057 }
1058 }
1059 if (eph) {
1060 int numExpObs = 0;
1061 bncTime epoTime;
1062 for (epoTime = startTime - interval; epoTime < endTime;
1063 epoTime = epoTime + interval) {
1064 ColumnVector xc(6);
1065 ColumnVector vv(3);
1066 if ( xyzSta.size() == 3 && (xyzSta[0] != 0.0 || xyzSta[1] != 0.0 || xyzSta[2] != 0.0) &&
1067 eph->getCrd(epoTime, xc, vv, false) == success) {
1068 double rho, eleSat, azSat;
1069 topos(xyzSta(1), xyzSta(2), xyzSta(3), xc(1), xc(2), xc(3), rho, eleSat, azSat);
1070 if ((eleSat * 180.0/M_PI) > 0.0) {
1071 numExpObs++;
1072 }
1073 }
1074 }
1075 it.value() = numExpObs;
1076 }
1077 else {
1078 if (!_navFileIncomplete.contains(it.key().system())) {
1079 _navFileIncomplete.append(it.key().system());
1080 }
1081 }
1082 }
1083}
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