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
|
/***********************************************/
/**
* @file gnssAttitude2Orbex.cpp
*
* @brief DEPRECATED. Please use StarCamera2Orbex instead.
*
* @author Sebastian Strasser
* @date 2019-05-29
*
* @deprecated Please use StarCamera2Orbex instead.
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
DEPRECATED. Please use \program{StarCamera2Orbex} instead.
)";
/***********************************************/
#include "programs/program.h"
#include "base/polynomial.h"
#include "classes/earthRotation/earthRotation.h"
#include "classes/timeSeries/timeSeries.h"
#include "files/fileInstrument.h"
#include "files/fileStringTable.h"
#include "inputOutput/system.h"
/***** CLASS ***********************************/
/** @brief DEPRECATED. Please use StarCamera2Orbex instead.
* @ingroup programsConversionGroup */
class GnssAttitude2Orbex
{
class Record
{
public:
std::string prn;
Vector quaternion;
Record(const std::string &prn, const_MatrixSliceRef quaternion) : prn(prn), quaternion(quaternion) {}
};
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(GnssAttitude2Orbex, SINGLEPROCESS, "DEPRECATED. Please use StarCamera2Orbex instead.", Deprecated)
/***********************************************/
void GnssAttitude2Orbex::run(Config &config, Parallel::CommunicatorPtr /*comm*/)
{
try
{
FileName fileNameOrbex, fileNameAttitude;
std::vector<FileName> fileNameTransmitterList;
std::string variablePrn, coordSystem, contact, createdBy, description, inputData;
std::vector<std::string> comments;
TimeSeriesPtr timeSeriesPtr;
EarthRotationPtr earthRotation;
UInt interpolationDegree;
Polynomial polynomial;
readConfig(config, "outputfileOrbex", fileNameOrbex, Config::MUSTSET, "", "ORBEX file");
readConfig(config, "inputfileTransmitterList", fileNameTransmitterList, Config::MUSTSET, "", "ASCII list with transmitter PRNs");
readConfig(config, "inputfileAttitude", fileNameAttitude, Config::MUSTSET, "attitude.{prn}.dat", "instrument file containing attitude");
readConfig(config, "variablePrn", variablePrn, Config::DEFAULT, "prn", "loop variable for PRNs from transmitter list");
readConfig(config, "timeSeries", timeSeriesPtr, Config::DEFAULT, "", "resample to these epochs (otherwise input file epochs are used)");
readConfig(config, "earthRotation", earthRotation, Config::OPTIONAL, "file", "rotate data into Earth-fixed frame");
readConfig(config, "interpolationDegree", interpolationDegree, Config::MUSTSET, "7", "for attitude and Earth rotation interpolation");
readConfig(config, "description", description, Config::MUSTSET, "", "description of file contents");
readConfig(config, "createdBy", createdBy, Config::MUSTSET, "", "name of agency");
readConfig(config, "inputData", inputData, Config::MUSTSET, "p", "description of input data (see ORBEX description)");
readConfig(config, "contact", contact, Config::MUSTSET, "", "email address");
readConfig(config, "referenceFrame", coordSystem, Config::MUSTSET, "IGb14", "reference frame used in file");
readConfig(config, "comment", comments, Config::OPTIONAL, "", "");
if(isCreateSchema(config)) return;
logWarning<<"DEPRECATED. Please use StarCamera2Orbex instead."<<Log::endl;
std::vector<Time> times = timeSeriesPtr->times();
std::vector<std::string> transmitterList;
for(const auto &fileName : fileNameTransmitterList)
{
logStatus<<"reading transmitter list from <"<<fileName<<">"<<Log::endl;
readFileStringList(fileName, transmitterList);
}
VariableList fileNameVariableList;
std::map<Time, std::vector<Record>> times2Records;
for(const auto &prn : transmitterList)
{
fileNameVariableList.setVariable(variablePrn, prn);
StarCameraArc arc = InstrumentFile::read(fileNameAttitude(fileNameVariableList));
for(UInt idEpoch=0; idEpoch<arc.size(); idEpoch++)
{
arc.at(idEpoch).rotary = inverse(arc.at(idEpoch).rotary);
if(earthRotation)
arc.at(idEpoch).rotary *= inverse(earthRotation->rotaryMatrix(arc.at(idEpoch).time));
}
Matrix quaternion = arc.matrix().column(1, 4);
// (optionally) resample attitude
std::vector<Time> prnTimes = arc.times();
if(times.size())
{
Polynomial polynomial(prnTimes, interpolationDegree);
quaternion = polynomial.interpolate(times, quaternion);
prnTimes = times;
}
for(UInt idEpoch=0; idEpoch<quaternion.rows(); idEpoch++)
times2Records[prnTimes.at(idEpoch)].push_back(Record(prn, (quaternion.row(idEpoch)/norm(quaternion.row(idEpoch))).trans())); // normalize quaternions
}
times.clear();
for(const auto &epoch : times2Records)
times.push_back(epoch.first);
logStatus<<"writing ORBEX file to <"<<fileNameOrbex<<">"<<Log::endl;
OutFile outfile(fileNameOrbex);
outfile << "%=ORBEX 0.09" << std::endl;
outfile << "%%" << std::endl;
outfile << "*------------------------------------------------------------------------------------------------------" << std::endl;
outfile << "+FILE/DESCRIPTION" << std::endl;
outfile << " DESCRIPTION " << description << std::endl;
outfile << " CREATED_BY " << createdBy << std::endl;
outfile << " CREATION_DATE " << System::now()%"%y %m %d %H %M %S"s << std::endl;
outfile << " INPUT_DATA " << inputData << std::endl;
outfile << " CONTACT " << contact << std::endl;
outfile << " TIME_SYSTEM GPS" << std::endl;
outfile << " START_TIME " << times.front()%"%y %m %d %H %M %012.9S000"s << std::endl;// ATTENTION: "fake" 15.12 precision due to max Time precision
outfile << " END_TIME " << times.back() %"%y %m %d %H %M %012.9S000"s << std::endl;// ATTENTION: "fake" 15.12 precision due to max Time precision
outfile << " EPOCH_INTERVAL " << medianSampling(times).seconds()%"%9.3f"s << std::endl;
outfile << " COORD_SYSTEM " << coordSystem << std::endl;
outfile << " FRAME_TYPE " << (earthRotation ? "ECEF" : "ECI") << std::endl;
outfile << " LIST_OF_REC_TYPES ATT" << std::endl;
outfile << "-FILE/DESCRIPTION" << std::endl;
if(comments.size())
{
outfile << "*------------------------------------------------------------------------------------------------------" << std::endl;
for(auto &comment : comments)
outfile << "* " << comment << std::endl;
}
outfile << "*------------------------------------------------------------------------------------------------------" << std::endl;
outfile << "+SATELLITE/ID_AND_DESCRIPTION" << std::endl;
for(const auto &prn : transmitterList)
outfile << " " << prn << std::endl;
outfile << "-SATELLITE/ID_AND_DESCRIPTION" << std::endl;
outfile << "*------------------------------------------------------------------------------------------------------" << std::endl;
outfile << "+EPHEMERIS/DATA" << std::endl;
outfile << "*ATT RECORDS: TRANSFORMATION FROM TERRESTRIAL FRAME COORDINATES (T) TO SAT. BODY FRAME ONES (B) SUCH AS" << std::endl;
outfile << "* (0,B) = q.(0,T).trans(q)" << std::endl;
outfile << "*REC ID_ N ___q0_(scalar)_____ ____q1__x__________ ____q2__y__________ ____q3__z__________" << std::endl;
for(const auto &epoch : times2Records)
{
outfile << epoch.first%"## %y %m %d %H %M %012.9S000 "s << epoch.second.size()%"%3i"s << std::endl; // ATTENTION: "fake" 15.12 precision due to max Time precision
for(const auto &record : epoch.second)
{
outfile << " ATT " << record.prn << std::string(14, ' ') << record.quaternion.size();
for(UInt i = 0; i < record.quaternion.size(); i++)
outfile << record.quaternion(i)%" %19.16f"s;
outfile << std::endl;
}
}
outfile << "-EPHEMERIS/DATA" << std::endl;
outfile << "*------------------------------------------------------------------------------------------------------" << std::endl;
outfile << "%END_ORBEX" << std::endl;
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
|
