1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
|
/***********************************************/
/**
* @file orbit2Sp3Format.cpp
*
* @brief Write orbits (position, velocity, covariance) to SP3 format.
*
* @author Norbert Zehentner
* @author Sebastian Strasser
* @date 2012-12-17
*
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
Writes orbits to \href{https://files.igs.org/pub/data/format/sp3d.pdf}{SP3 format}.
SP3 orbits are usually given in the terrestrial reference frame (TRF), so providing \configClass{earthRotation}{earthRotationType}
automatically rotates the orbits from the celestial reference frame (CRF) to the TRF.
Since SP3 orbits often use the center of Earth as a reference, a correction from center of mass to center
of Earth can be applied to the orbits by providing \configClass{gravityfield}{gravityfieldType} (e.g. ocean tides).
See also \program{Sp3Format2Orbit}.
)";
/***********************************************/
#include "programs/program.h"
#include "inputOutput/file.h"
#include "files/fileInstrument.h"
#include "classes/earthRotation/earthRotation.h"
#include "classes/gravityfield/gravityfield.h"
/***** CLASS ***********************************/
/** @brief Write orbits (position, velocity, covariance) to SP3 format.
* @ingroup programsConversionGroup */
class Orbit2Sp3Format
{
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
class Satellite
{
public:
FileName inNameOrbit, inNameClock, inNameCov;
std::string identifier;
OrbitArc orbit;
MiscValueArc clock;
Covariance3dArc cov;
std::vector<Time> times;
UInt idEpoch = 0;
Double orbitAccuracy;
};
};
GROOPS_REGISTER_PROGRAM(Orbit2Sp3Format, SINGLEPROCESS, "Write orbits (position, velocity, covariance) to SP3 format.", Conversion, Orbit, Covariance, Instrument)
GROOPS_RENAMED_PROGRAM(Orbit2Sp3, Orbit2Sp3Format, date2time(2020, 8, 4))
/***********************************************/
template<> Bool readConfig(Config &config, const std::string &name, Orbit2Sp3Format::Satellite &var, Config::Appearance mustSet, const std::string &defaultValue, const std::string &annotation)
{
if(!readConfigSequence(config, name, mustSet, defaultValue, annotation))
return FALSE;
readConfig(config, "inputfileOrbit", var.inNameOrbit, Config::MUSTSET, "", "");
readConfig(config, "inputfileClock", var.inNameClock, Config::OPTIONAL, "", "");
readConfig(config, "inputfileCovariance", var.inNameCov, Config::OPTIONAL, "", "");
readConfig(config, "identifier", var.identifier, Config::MUSTSET, "", "3 characters (e.g. GNSS PRN: G01)");
readConfig(config, "orbitAccuracy", var.orbitAccuracy, Config::DEFAULT, "0", "[m] used for accuracy codes in header (0 = unknown)");
endSequence(config);
return TRUE;
}
/***********************************************/
void Orbit2Sp3Format::run(Config &config, Parallel::CommunicatorPtr /*comm*/)
{
try
{
FileName outName;
Bool writeVel, useSp3k;
EarthRotationPtr earthRotation;
GravityfieldPtr gravityfield;
std::string textLine1;
std::vector<std::string> commentLines;
std::vector<Satellite> satellites;
readConfig(config, "outputfile", outName, Config::MUSTSET, "", "");
readConfig(config, "satellite", satellites, Config::MUSTSET, "", "");
readConfig(config, "earthRotation", earthRotation, Config::OPTIONAL, "file", "rotate data into Earth-fixed frame");
readConfig(config, "gravityfield", gravityfield, Config::DEFAULT, R"([{"tides": {"tides": {"doodsonHarmonicTide": {"minDegree":1, "maxDegree":1}}}}])", "degree 1 fluid mantle for CM2CE correction (SP3 orbits should be in center of Earth)");
readConfig(config, "comment", commentLines, Config::OPTIONAL, "", "comment lines (77 char max)");
readConfig(config, "firstLine", textLine1, Config::DEFAULT, "RAW IGb14 FIT TUG", "Text for first line e.g: u+U IGb14 KIN ITSG");
readConfig(config, "writeVelocity", writeVel, Config::DEFAULT, "0", "write velocity in addition to position");
readConfig(config, "useSp3kFormat", useSp3k, Config::DEFAULT, "0", "use the extended sp3k format");
if(isCreateSchema(config)) return;
std::set<Time> timesSet; // unique set of times covering all satellites
auto iter = satellites.begin();
while(iter != satellites.end())
{
try
{
logStatus<<"read orbit file <"<<iter->inNameOrbit<<">"<<Log::endl;
iter->orbit = InstrumentFile::read(iter->inNameOrbit);
iter->clock = InstrumentFile::read(iter->inNameClock);
iter->cov = InstrumentFile::read(iter->inNameCov);
}
catch(std::exception &e)
{
logWarning << e.what() << " continue..." << Log::endl;
iter = satellites.erase(iter);
continue;
}
iter->times = iter->orbit.times();
Arc::checkSynchronized({iter->orbit, iter->clock, iter->cov});
std::copy(iter->times.begin(), iter->times.end(), std::inserter(timesSet, timesSet.end()));
iter++;
}
const std::vector<Time> times(timesSet.begin(), timesSet.end());
const Double sampling = medianSampling(times).seconds();
logStatus<<"write file <"<<outName<<">"<<Log::endl;
OutFile file(outName);
const Time timeStart = times.at(0);
UInt year, month, day, hour, minute;
Double second;
timeStart.date(year, month, day, hour, minute, second);
// first line
file<<"#"<<(useSp3k?"k":"d")<<(writeVel?"V":"P")<<timeStart%"%y %m %d %H %M %011.8S "s<<times.size()%"%7i "s<<textLine1<<std::endl;
// second line
file<<"## "<<timeStart%"%4W"<<" "<<((timeStart.mjdInt()-44244)%7*86400+timeStart.mjdMod()*86400)%"%15.8f "s<<sampling%"%14.8f "s<<timeStart.mjdInt()%"%5i "s<<timeStart.mjdMod()%"%15.13f"s<<std::endl;
// satellite identifier lines
const UInt satPerLine = 17;
const UInt lineCount = std::max<UInt>(5, (satellites.size()+satPerLine+1)/satPerLine);
for(UInt i = 0; i < lineCount; i++)
{
if(i == 0)
file<<"+ "<<satellites.size()%"% 3i"s<<" ";
else
file<<"+ ";
for(UInt j = 0; j < satPerLine; j++)
{
const UInt idSat = i*satPerLine+j;
if(idSat < satellites.size())
file<<satellites.at(i*satPerLine+j).identifier;
else
file<<" 0";
}
file<<std::endl;
}
// satellite accuracy lines
for(UInt i=0; i<lineCount; i++)
{
file<<"++ ";
for(UInt j=0; j<satPerLine; j++)
{
const UInt idSat = i*satPerLine+j;
if(idSat < satellites.size() && satellites.at(i*satPerLine+j).orbitAccuracy > 0)
file<<std::round(std::log2(satellites.at(i*satPerLine+j).orbitAccuracy*1e3))%"% 3i"s;
else
file<<" 0";
}
file<<std::endl;
}
file<<"%c M cc GPS ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc"<<std::endl;
file<<"%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc"<<std::endl;
file<<"%f 1.2500000 1.025000000 0.00000000000 0.000000000000000"<<std::endl;
file<<"%f 0.0000000 0.000000000 0.00000000000 0.000000000000000"<<std::endl;
file<<"%i 0 0 0 0 0 0 0 0 0"<<std::endl;
file<<"%i 0 0 0 0 0 0 0 0 0"<<std::endl;
// comment lines
for(UInt i = 0; i < std::max<UInt>(commentLines.size(), 4); i++)
{
if(i < commentLines.size())
file<<"/* "<<commentLines.at(i)<<std::endl;
else
file<<"/* CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC"<<std::endl;
}
Single::forEach(times.size(), [&](UInt i)
{
file<<"* "<<times.at(i)%"%y %m %d %H %M %011.8S"s<<std::endl;
Rotary3d rot;
Vector3d omega;
if(earthRotation)
{
rot = earthRotation->rotaryMatrix(times.at(i));
if(writeVel)
omega = earthRotation->rotaryAxis(times.at(i));
}
const SphericalHarmonics harmonics = gravityfield->sphericalHarmonics(times.at(i), 1, 1);
const Vector coeff = harmonics.x(); // [c00, c10, c11, s11]
const Vector3d cm2ceCorrection = std::sqrt(3.) * harmonics.R() * Vector3d(coeff(2), coeff(3), coeff(1));
for(auto &&satellite : satellites)
{
if(satellite.idEpoch >= satellite.times.size() || satellite.times.at(satellite.idEpoch) != times.at(i))
continue; // no data for this epoch
const Vector3d position = rot.rotate(satellite.orbit.at(satellite.idEpoch).position) + cm2ceCorrection;
const std::string clock = satellite.clock.size() ? (satellite.clock.at(satellite.idEpoch).value*1e6)%"%14.6f"s : " 999999.999999";
if(useSp3k || (position.r() < 10000e3))
file<<"P"<<satellite.identifier<<(position.x()/1000)%"%14.7f"s<<(position.y()/1000)%"%14.7f"s<<(position.z()/1000)%"%14.7f"s<<clock<<" "<<std::endl;
else
file<<"P"<<satellite.identifier<<(position.x()/1000)%"%14.6f"s<<(position.y()/1000)%"%14.6f"s<<(position.z()/1000)%"%14.6f"s<<clock<<" "<<std::endl;
if(writeVel)
{
const Vector3d velocity = rot.rotate(satellite.orbit.at(satellite.idEpoch).velocity-crossProduct(omega, satellite.orbit.at(satellite.idEpoch).position));
if(useSp3k)
file<<"V"<<satellite.identifier<<(velocity.x()*10)%"%14.7f"s<<(velocity.y()*10)%"%14.7f"s<<(velocity.z()*10)%"%14.7f 999999.999999 "s<<std::endl;
else
file<<"V"<<satellite.identifier<<(velocity.x()*10)%"%14.6f"s<<(velocity.y()*10)%"%14.6f"s<<(velocity.z()*10)%"%14.6f 999999.999999 "s<<std::endl;
}
if(satellite.cov.size())
{
Tensor3d cv = earthRotation ? rot.rotate(satellite.cov.at(satellite.idEpoch).covariance) : satellite.cov.at(satellite.idEpoch).covariance;
if(useSp3k)
{
file<<"EPx "
<<std::min(1000*std::sqrt(cv.xx()), 99.)%"%4.1f "s
<<std::min(1000*std::sqrt(cv.yy()), 99.)%"%4.1f "s
<<std::min(1000*std::sqrt(cv.zz()), 99.)%"%4.1f "s;
}
else
{
file<<"EP "
<<std::min(std::round(1000*std::sqrt(cv.xx())), 9999.)%"%4i "s
<<std::min(std::round(1000*std::sqrt(cv.yy())), 9999.)%"%4i "s
<<std::min(std::round(1000*std::sqrt(cv.zz())), 9999.)%"%4i "s;
}
file<<" " // clk-sdev
<<std::min(std::round(10000000*cv.xy()/(std::sqrt(cv.xx())*std::sqrt(cv.yy()))), 99999999.)%"%8.0f "s
<<std::min(std::round(10000000*cv.xz()/(std::sqrt(cv.xx())*std::sqrt(cv.zz()))), 99999999.)%"%8.0f "s
<<" " // xc
<<std::min(std::round(10000000*cv.yz()/(std::sqrt(cv.yy())*std::sqrt(cv.zz()))), 99999999.)%"%8.0f "s
<<" " // yc
<<" " // zc
<<std::endl;
}
satellite.idEpoch++;
}
});
file<<"EOF"<<std::endl;
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
|
