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/***********************************************/
/**
* @file gnssReceiver2RinexObservation.cpp
*
* @brief Converts GnssReceiver Instrument file to RINEX.
*
* @author Torsten Mayer-Guerr
* @date 2023-03-05
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
Converts a \configFile{inputfileGnssReceiver}{instrument} into a
\href{https://files.igs.org/pub/data/format/rinex_4.00.pdf}{RINEX} observation file.
The \configFile{inputfileStationInfo}{platform} contains the antenna
and receiver information for the RINEX header.
The \configClass{useType}{gnssType} and \configClass{ignoreType}{gnssType} can be used to filter
the observation types that will be exported.
)";
/***********************************************/
#include "programs/program.h"
#include "base/string.h"
#include "inputOutput/file.h"
#include "inputOutput/system.h"
#include "files/filePlatform.h"
#include "files/fileInstrument.h"
/***** CLASS ***********************************/
/** @brief Converts GnssReceiver Instrument file to RINEX.
* @ingroup programsConversionGroup */
class GnssReceiver2RinexObservation
{
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(GnssReceiver2RinexObservation, SINGLEPROCESS, "Converts GnssReceiver Instrument file to RINEX.", Conversion, Gnss, Instrument)
/***********************************************/
void GnssReceiver2RinexObservation::run(Config &config, Parallel::CommunicatorPtr /*comm*/)
{
try
{
FileName fileNameOut, fileNameObs, fileNamePlatform;
std::string observer, angency;
std::vector<std::string> comments;
std::vector<GnssType> useType, ignoreType;
readConfig(config, "outputfileRinexObservation", fileNameOut, Config::MUSTSET, "", "RINEX observation file");
readConfig(config, "inputfileGnssReceiver", fileNameObs, Config::MUSTSET, "", "GNSS instrument file");
readConfig(config, "inputfileStationInfo", fileNamePlatform, Config::MUSTSET, "", "antenna and receiver info");
readConfig(config, "comment", comments, Config::OPTIONAL, "", "write comments at begin of header");
readConfig(config, "observer", observer, Config::OPTIONAL, "TUG", "header information");
readConfig(config, "angency", angency, Config::OPTIONAL, "TUG", "header information");
readConfig(config, "useType", useType, Config::OPTIONAL, "", "only use observations that match any of these patterns");
readConfig(config, "ignoreType", ignoreType, Config::OPTIONAL, "", "ignore observations that match any of these patterns");
if(isCreateSchema(config)) return;
logStatus<<"read instrument file <"<<fileNameObs<<">"<<Log::endl;
GnssReceiverArc arc = InstrumentFile::read(fileNameObs);
if(!arc.size())
{
logWarning<<"Empty observation file"<<Log::endl;
return;
}
// find all types
std::map<GnssType, std::set<GnssType>> types; // types per system
std::set<GnssType> glonass; // GLONASS frequencyNumbers
for(auto &epoch : arc)
for(GnssType satType : epoch.satellite)
for(UInt idType = GnssType::index(epoch.obsType, satType); (idType < epoch.obsType.size()) && (epoch.obsType.at(idType) == satType); idType++)
if((!useType.size() || (epoch.obsType.at(idType)+satType).isInList(useType)) && !(epoch.obsType.at(idType)+satType).isInList(ignoreType))
{
types[satType & GnssType::SYSTEM].insert(epoch.obsType.at(idType));
if(satType == GnssType::GLONASS)
glonass.insert(satType);
}
logStatus<<"read platform file <"<<fileNamePlatform<<">"<<Log::endl;
Platform platform;
readFilePlatform(fileNamePlatform, platform);
const Time timeStart = arc.front().time;
Vector3d com = platform.referencePoint(timeStart);
auto antenna = platform.findEquipment<PlatformGnssAntenna>(timeStart);
if(!antenna)
throw(Exception(platform.markerName+"."+platform.markerNumber+": no antenna definition found at "+timeStart.dateTimeStr()));
auto receiver = platform.findEquipment<PlatformGnssReceiver>(timeStart);
auto fixedSize = [](const std::string &str, UInt size)
{
return (str+std::string(size, ' ')).substr(0, size);
};
// header
// ------
logStatus<<"write RINEX file <"<<fileNameOut<<">"<<Log::endl;
OutFile file(fileNameOut);
file<<" 4.00 O M RINEX VERSION / TYPE"<<std::endl;
for(auto &comment : comments)
file<<fixedSize(comment, 60) <<"COMMENT "<<std::endl;
file<<"GROOPS "<<fixedSize(angency, 20)<<System::now()%"%y%m%d %H%M%S LCL PGM / RUN BY / DATE"s<<std::endl;
file<<fixedSize(observer, 20)<<fixedSize(angency, 40) <<"OBSERVER / AGENCY "<<std::endl;
file<<fixedSize(platform.markerName, 60) <<"MARKER NAME "<<std::endl;
if(!platform.markerNumber.empty())
file<<fixedSize(platform.markerNumber, 20)<<" MARKER NUMBER "<<std::endl;
if(receiver)
file<<fixedSize(receiver->serial, 20)<<fixedSize(receiver->name, 20)<<fixedSize(receiver->version, 20)<<"REC # / TYPE / VERS "<<std::endl;
file<<fixedSize(antenna->serial, 20)<<fixedSize(antenna->name, 16)<<fixedSize(antenna->radome, 4)<<" ANT # / TYPE "<<std::endl;
file<<platform.approxPosition.x()%"%14.4f"s<<platform.approxPosition.y()%"%14.4f"s<<platform.approxPosition.z()%"%14.4f APPROX POSITION XYZ "s<<std::endl;
file<<antenna->position.z()%"%14.4f"s<<antenna->position.y()%"%14.4f"s<<antenna->position.x()%"%14.4f ANTENNA: DELTA H/E/N"s<<std::endl;
file<<antenna->position.x()%"%14.4f"s<<antenna->position.y()%"%14.4f"s<<antenna->position.z()%"%14.4f ANTENNA: DELTA X/Y/Z"s<<std::endl;
const Vector3d boresight = antenna->local2antennaFrame.inverseTransform(Vector3d(0,0,1));
const Vector3d zerodir = antenna->local2antennaFrame.inverseTransform(Vector3d(1,0,0));
file<<boresight.x()%"%14.4f"s<<boresight.y()%"%14.4f"s<<boresight.z()%"%14.4f ANTENNA: B.SIGHT XYZ"s<<std::endl;
file<<zerodir.x() %"%14.4f"s<<zerodir.y() %"%14.4f"s<<zerodir.z() %"%14.4f ANTENNA: ZERODIR XYZ"s<<std::endl;
if(com.r() >= 1e-4)
file<<com.x()%"%14.4f"s<<com.y()%"%14.4f"s<<com.z()%"%14.4f CENTER OF MASS: XYZ "s<<std::endl;
for(auto &system : types)
{
file<<system.first.str().at(3)<<system.second.size()%" %3i"s;
UInt count = 0;
for(auto &type : system.second)
{
if(++count > 13) // continuation line?
{
count = 1;
file<<" SYS / # / OBS TYPES "<<std::endl<<" ";
}
file<<" "<<type.str().substr(0, 3);
}
file<<std::string(60-6-4*count, ' ')<<"SYS / # / OBS TYPES "<<std::endl;
}
file<<timeStart %" %y %m %d %H %M %11.7S GPS TIME OF FIRST OBS "s<<std::endl;
file<<arc.back().time%" %y %m %d %H %M %11.7S GPS TIME OF LAST OBS "s<<std::endl;
if(glonass.size())
{
file<<glonass.size()%"%3i "s;
UInt count = 0;
for(auto &type : glonass)
{
if(++count > 8) // continuation line?
{
count = 1;
file<<"GLONASS SLOT / FRQ #"<<std::endl<<" ";
}
file<<type.str().substr(3, 3)<<type.frequencyNumber()%" %2i "s;
}
file<<std::string(60-4-7*count, ' ')<<"GLONASS SLOT / FRQ #"<<std::endl;
}
file<<" END OF HEADER "<<std::endl;
// data section
// ------------
for(auto &epoch : arc)
{
// antenna change?
if(antenna != platform.findEquipment<PlatformGnssAntenna>(epoch.time))
{
antenna = platform.findEquipment<PlatformGnssAntenna>(epoch.time);
if(!antenna)
throw(Exception(platform.markerName+"."+platform.markerNumber+": no antenna definition found at "+epoch.time.dateTimeStr()));
file<<"> "<<antenna->timeStart%"%y %m %d %H %M%11.7S 4 5"s<<std::endl;
file<<fixedSize(antenna->serial, 20)<<fixedSize(antenna->name, 16)<<fixedSize(antenna->radome, 4)<<" ANT # / TYPE "<<std::endl;
file<<antenna->position.z()%"%14.4f"s<<antenna->position.y()%"%14.4f"s<<antenna->position.x()%"%14.4f ANTENNA: DELTA H/E/N"s<<std::endl;
file<<antenna->position.x()%"%14.4f"s<<antenna->position.y()%"%14.4f"s<<antenna->position.z()%"%14.4f ANTENNA: DELTA X/Y/Z"s<<std::endl;
const Vector3d boresight = antenna->local2antennaFrame.inverseTransform(Vector3d(0,0,1));
const Vector3d zerodir = antenna->local2antennaFrame.inverseTransform(Vector3d(1,0,0));
file<<boresight.x()%"%14.4f"s<<boresight.y()%"%14.4f"s<<boresight.z()%"%14.4f ANTENNA: B.SIGHT XYZ"s<<std::endl;
file<<zerodir.x() %"%14.4f"s<<zerodir.y() %"%14.4f"s<<zerodir.z() %"%14.4f ANTENNA: ZERODIR XYZ"s<<std::endl;
}
// receiver change?
if(receiver != platform.findEquipment<PlatformGnssReceiver>(epoch.time))
{
receiver = platform.findEquipment<PlatformGnssReceiver>(epoch.time);
if(receiver)
{
file<<"> "<<receiver->timeStart%"%y %m %d %H %M%11.7S 4 1"s<<std::endl;
file<<fixedSize(receiver->serial, 20)<<fixedSize(receiver->name, 20)<<fixedSize(receiver->version, 20)<<"REC # / TYPE / VERS "<<std::endl;
}
}
// center of mass change?
if((com-platform.referencePoint(epoch.time)).r() >= 1e-4)
{
com = platform.referencePoint(epoch.time);
file<<"> "<<epoch.time%"%y %m %d %H %M%11.7S 4 1"s<<std::endl;
file<<com.x()%"%14.4f"s<<com.y()%"%14.4f"s<<com.z()%"%14.4f CENTER OF MASS: XYZ "s<<std::endl;
}
// Has satellite valid observation types?
auto isSat = [&](GnssType satType)
{
for(UInt idType = GnssType::index(epoch.obsType, satType); (idType < epoch.obsType.size()) && (epoch.obsType.at(idType) == satType); idType++)
if((!useType.size() || (epoch.obsType.at(idType)+satType).isInList(useType)) && !(epoch.obsType.at(idType)+satType).isInList(ignoreType))
return TRUE;
return FALSE;
};
const UInt countSat = std::count_if(epoch.satellite.begin(), epoch.satellite.end(), isSat);
if(!countSat)
continue;
file<<"> "<<epoch.time%"%y %m %d %H %M%11.7S 0"s<<countSat%"%3i"s;
if(epoch.clockError)
file<<epoch.clockError%" %15.12f"s;
file<<std::endl;
UInt idObs = 0, idx;
for(GnssType satType : epoch.satellite)
{
UInt idType = GnssType::index(epoch.obsType, satType); // find type for the satellite system
if(isSat(satType))
{
file<<satType.str().substr(3, 3);
for(GnssType type : types.at(satType & GnssType::SYSTEM))
if(type.isInList(epoch.obsType, idx) && !std::isnan(epoch.observation.at(idObs+idx-idType)) &&
(!useType.size() || (type+satType).isInList(useType)) && !(type+satType).isInList(ignoreType))
file<<(epoch.observation.at(idObs+idx-idType) / ((type == GnssType::PHASE) ? (type+satType).wavelength() : 1.))%"%14.3f "s; // convert to cycles
else
file<<" ";
file<<std::endl;
}
// to next satellite
while((idType < epoch.obsType.size()) && (epoch.obsType.at(idType) == satType))
idType++, idObs++;
} // for(satType)
} // for(epoch)
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
|
