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/***********************************************/
/**
* @file gnssSimulateReceiver.cpp
*
* @brief GNSS receiver simulation.
*
* @author Sebastian Strasser
* @author Torsten Mayer-Gürr
* @date 2014-09-25
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
This program simulates observations from receivers to GNSS satellites.
These simulated observations can then be used in \program{GnssProcessing}, for example to conduct closed-loop simulations.
One or more GNSS constellations must be defined via \configClass{transmitter}{gnssTransmitterGeneratorType}.
Receivers such as ground station networks or Low Earth Orbit (LEO) satellites can be defined via \configClass{receiver}{gnssReceiverGeneratorType}.
If multiple receivers defined an \configFile{outputfileGnssReceiver}{instrument} and \configFile{outputfileClock}{instrument}
are written for each single receiver with the \reference{variable}{general.parser} \verb|{station}| being replaced by the receiver name.
A list of simulated observation types can be defined via \configClass{observationType}{gnssType}. Noise can be added to both observations and clock errors
via \configClass{noiseObervation}{noiseGeneratorType} and \configClass{noiseClockReceiver}{noiseGeneratorType}, respectively. Observation noise is
interpreted as a factor that is multiplied to the accuracy derived from the accuracy pattern of the respective observation type
(see \configFile{inputfileAccuracyDefinition}{gnssAntennaDefinition} in \configClass{receiver}{gnssReceiverGeneratorType}).
The \configClass{parametrization}{gnssParametrizationType} are used to simulate a priori models (e.g. troposphere, signal biases).
Parameter settings and outputfiles are ignored.
If the program is run on multiple processes the \configClass{receiver}{gnssReceiverGeneratorType}s
(stations or LEO satellites) are distributed over the processes.
)";
/***********************************************/
#include "programs/program.h"
#include "files/fileInstrument.h"
#include "classes/earthRotation/earthRotation.h"
#include "classes/noiseGenerator/noiseGenerator.h"
#include "classes/timeSeries/timeSeries.h"
#include "gnss/gnss.h"
#include "gnss/gnssObservation.h"
#include "gnss/gnssTransmitterGenerator/gnssTransmitterGenerator.h"
#include "gnss/gnssReceiverGenerator/gnssReceiverGenerator.h"
/***** CLASS ***********************************/
/** @brief GNSS receiver simulation.
* @ingroup programsGroup */
class GnssSimulateReceiver
{
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(GnssSimulateReceiver, PARALLEL, "GNSS receiver simulation", Gnss, Simulation)
/***********************************************/
void GnssSimulateReceiver::run(Config &config, Parallel::CommunicatorPtr comm)
{
try
{
FileName fileNameReceiver, fileNameClock;
TimeSeriesPtr timeSeries;
Double marginSeconds;
GnssTransmitterGeneratorPtr transmitterGenerator;
GnssReceiverGeneratorPtr receiverGenerator;
GnssParametrizationPtr gnssParametrization;
EarthRotationPtr earthRotation;
NoiseGeneratorPtr noiseClock, noiseObs;
std::vector<GnssType> obsTypes;
readConfig(config, "outputfileGnssReceiver", fileNameReceiver, Config::MUSTSET, "gnssReceiver_{loopTime:%D}.{station}.dat.gz", "variable {station} available, simulated observations");
readConfig(config, "outputfileClock", fileNameClock, Config::OPTIONAL, "clock_{loopTime:%D}.{station}.dat", "variable {station} available, simulated receiver clock errors");
readConfig(config, "timeSeries", timeSeries, Config::MUSTSET, "", "defines observation epochs");
readConfig(config, "timeMargin", marginSeconds, Config::DEFAULT, "0.1", "[seconds] margin to consider two times identical");
readConfig(config, "transmitter", transmitterGenerator, Config::MUSTSET, "", "constellation of GNSS satellites");
readConfig(config, "receiver", receiverGenerator, Config::MUSTSET, "", "ground station network or LEO satellite");
readConfig(config, "earthRotation", earthRotation, Config::MUSTSET, "", "apriori earth rotation");
readConfig(config, "parametrization", gnssParametrization, Config::DEFAULT, R"(["troposphere"])", "models and parameters");
readConfig(config, "observationType", obsTypes, Config::MUSTSET, "", "simulated observation types");
readConfig(config, "noiseObservation", noiseObs, Config::DEFAULT, "", "[-] noise is multiplied with type accuracy pattern of receiver");
readConfig(config, "noiseClockReceiver", noiseClock, Config::DEFAULT, "", "[m] noise added to the simulated receiver clock");
if(isCreateSchema(config)) return;
// ============================
// init the GNSS system
// --------------------
logInfo<<"Init GNSS"<<Log::endl;
std::sort(obsTypes.begin(), obsTypes.end());
std::vector<Time> times = timeSeries->times();
Gnss gnss;
gnss.init(obsTypes, times, seconds2time(marginSeconds), transmitterGenerator, receiverGenerator, earthRotation, gnssParametrization, comm);
receiverGenerator->simulation(noiseClock, noiseObs, &gnss, comm);
gnss.synchronizeTransceivers(comm);
logInfo<<" transmitter: "<<std::count_if(gnss.transmitters.begin(), gnss.transmitters.end(), [](auto t) {return t->useable();})<<Log::endl;
logInfo<<" receiver: "<<std::count_if(gnss.receivers.begin(), gnss.receivers.end(), [](auto r) {return r->useable();})<<Log::endl;
if(!std::any_of(gnss.transmitters.begin(), gnss.transmitters.end(), [](auto trans){return trans->useable();}))
{
logWarningOnce<<times.front().dateTimeStr()<<" - "<<times.back().dateTimeStr()<<": no useable transmitters"<<Log::endl;
return;
}
if(!std::any_of(gnss.receivers.begin(), gnss.receivers.end(), [](auto recv){return recv->useable();}))
{
logWarningOnce<<times.front().dateTimeStr()<<" - "<<times.back().dateTimeStr()<<": no useable receivers"<<Log::endl;
return;
}
// count observation types
// -----------------------
logInfo<<"types and number of observations:"<<Log::endl;
std::vector<GnssType> types = gnss.types(~(GnssType::PRN + GnssType::FREQ_NO));
Vector countTypes(types.size());
for(auto recv : gnss.receivers)
if(recv->isMyRank())
for(UInt idEpoch=0; idEpoch<recv->idEpochSize(); idEpoch++)
for(UInt idTrans=0; idTrans<recv->idTransmitterSize(idEpoch); idTrans++)
{
auto obs = recv->observation(idTrans, idEpoch);
if(obs)
for(UInt idType=0; idType<obs->size(); idType++)
{
const UInt idx = GnssType::index(types, obs->at(idType).type);
if(idx != NULLINDEX)
countTypes(idx)++;
}
}
Parallel::reduceSum(countTypes, 0, comm);
for(UInt idType=0; idType<types.size(); idType++)
logInfo<<" "<<types.at(idType).str()<<":"<<countTypes(idType)%"%10i"s<<Log::endl;
logInfo<<" + ========="<<Log::endl;
logInfo<<" total:"<<sum(countTypes)%"%11i"s<<Log::endl;
UInt countTracks = 0;
for(auto recv : gnss.receivers)
if(recv->isMyRank())
countTracks += recv->tracks.size();
Parallel::reduceSum(countTracks, 0, comm);
logInfo<<" number of tracks: "<<countTracks<<Log::endl;
// ============================
// Write observations
// ------------------
if(!fileNameReceiver.empty())
{
VariableList fileNameVariableList;
fileNameVariableList.setVariable("station", "****");
logStatus<<"write receiver observations to files <"<<fileNameReceiver(fileNameVariableList)<<">"<<Log::endl;
for(auto recv : gnss.receivers)
if(recv->isMyRank())
{
GnssReceiverArc arc;
for(UInt idEpoch=0; idEpoch<gnss.times.size(); idEpoch++)
if(recv->useable(idEpoch))
{
GnssReceiverEpoch epoch;
epoch.time = gnss.times.at(idEpoch);
epoch.clockError = recv->clockError(idEpoch);
// get types
for(UInt idTrans=0; idTrans<recv->idTransmitterSize(idEpoch); idTrans++)
if(recv->observation(idTrans, idEpoch) && gnss.transmitters.at(idTrans)->useable(idEpoch))
for(UInt idType=0; idType<recv->observation(idTrans, idEpoch)->size(); idType++)
if(!recv->observation(idTrans, idEpoch)->at(idType).type.isInList(epoch.obsType))
epoch.obsType.push_back(recv->observation(idTrans, idEpoch)->at(idType).type & ~(GnssType::PRN+GnssType::FREQ_NO));
std::sort(epoch.obsType.begin(), epoch.obsType.end());
if(!epoch.obsType.size())
continue;
for(UInt idTrans=0; idTrans<recv->idTransmitterSize(idEpoch); idTrans++)
if(recv->observation(idTrans, idEpoch) && gnss.transmitters.at(idTrans)->useable(idEpoch))
{
const GnssObservation &obs = *recv->observation(idTrans, idEpoch);
const GnssType prn = obs.at(0).type & (GnssType::SYSTEM + GnssType::PRN + GnssType::FREQ_NO);
UInt idType = std::distance(epoch.obsType.begin(), std::find(epoch.obsType.begin(), epoch.obsType.end(), prn));
epoch.satellite.push_back(prn);
for(; (idType<epoch.obsType.size()) && (epoch.obsType.at(idType) == prn); idType++)
{
epoch.observation.push_back(NAN_EXPR);
for(UInt i=0; i<obs.size(); i++)
if(obs.at(i).type == epoch.obsType.at(idType))
{
epoch.observation.back() = obs.at(i).observation;
break;
}
}
} // for(idTrans)
if(epoch.satellite.size())
arc.push_back(epoch);
} // for(idEpoch)
fileNameVariableList.setVariable("station", recv->name());
InstrumentFile::write(fileNameReceiver(fileNameVariableList), arc);
} // for(recv)
} // if(fileNameReceiver)
// ============================
// write clock errors
// ------------------
if(!fileNameClock.empty())
{
VariableList fileNameVariableList;
fileNameVariableList.setVariable("station", "****");
logStatus<<"write receiver clocks to files <"<<fileNameClock(fileNameVariableList)<<">"<<Log::endl;
for(auto recv : gnss.receivers)
if(recv->isMyRank())
{
MiscValueArc arc;
for(UInt idEpoch=0; idEpoch<gnss.times.size(); idEpoch++)
if(recv->useable(idEpoch))
{
MiscValueEpoch epoch;
epoch.time = gnss.times.at(idEpoch);
epoch.value = recv->clockError(idEpoch);
arc.push_back(epoch);
}
fileNameVariableList.setVariable("station", recv->name());
InstrumentFile::write(fileNameClock(fileNameVariableList), arc);
} // for(recv)
} // if(fileNameClock)
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
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