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/***********************************************/
/**
* @file instrumentEstimateHelmertTransformation.cpp
*
* @brief Estimate Helmert transformation parameters between two networks (frame realizations).
*
* @author Sebastian Strasser
* @date 2018-01-31
*
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
This program estimates a 3D Helmert transformation between two networks
(frame realizations, e.g. GNSS satellite or station network).
Each separate \config{data} represents a satellite/station/\ldots (e.g. 32 GPS satellites).
The instrument data (x,y,z position) considered can be set with \config{startData}.
The Helmert parameters are set up according to \configClass{parametrizationTemporal}{parametrizationTemporalType}
for each \configClass{timeIntervals}{timeSeriesType} and are estimated using a
\reference{robust least squares adjustment}{fundamentals.robustLeastSquares}.
)";
/***********************************************/
#include "programs/program.h"
#include "files/fileMatrix.h"
#include "files/fileInstrument.h"
#include "classes/timeSeries/timeSeries.h"
#include "classes/parametrizationTemporal/parametrizationTemporal.h"
#include "misc/varianceComponentEstimation.h"
/***** CLASS ***********************************/
/** @brief Estimate Helmert transformation parameters between two networks (frame realizations).
* @ingroup programsGroup */
class InstrumentEstimateHelmertTransformation
{
public:
class Data
{
public:
FileName outNameInstrumentTransformed, outNameInstrumentDiff, inNameInstrument, inNameInstrumentRef;
std::vector<Time> times;
std::vector<UInt> intervalBoundaries;
Matrix pos, posRef;
UInt startData;
Bool useable;
void init(const std::vector<Time> &intervals);
void removeEpochsOutsideIntervals(const FileName &fileName, const std::vector<Time> &intervals, Arc &arc) const;
};
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(InstrumentEstimateHelmertTransformation, SINGLEPROCESS, "Compute RMS time series from instrument file(s).", Instrument, Gnss)
/***********************************************/
template<> Bool readConfig(Config &config, const std::string &name, InstrumentEstimateHelmertTransformation::Data &var, Config::Appearance mustSet, const std::string &defaultValue, const std::string &annotation)
{
if(!readConfigSequence(config, name, mustSet, defaultValue, annotation))
return FALSE;
renameDeprecatedConfig(config, "startData", "startDataFields", date2time(2020, 7, 14));
readConfig(config, "outputfileInstrument", var.outNameInstrumentTransformed, Config::OPTIONAL, "", "transformed positions as instrument type Vector3d");
readConfig(config, "outputfileInstrumentDiff", var.outNameInstrumentDiff, Config::OPTIONAL, "", "position difference as instrument type Vector3d");
readConfig(config, "inputfileInstrument", var.inNameInstrument, Config::MUSTSET, "", "");
readConfig(config, "inputfileInstrumentReference", var.inNameInstrumentRef, Config::MUSTSET, "", "");
readConfig(config, "startDataFields", var.startData, Config::DEFAULT, "0", "start index of position (x,y,z) columns");
endSequence(config);
return TRUE;
}
/***********************************************/
void InstrumentEstimateHelmertTransformation::run(Config &config, Parallel::CommunicatorPtr /*comm*/)
{
try
{
FileName fileNameHelmertTimeSeries;
std::vector<Data> data;
TimeSeriesPtr intervalsPtr;
Bool estimateShift, estimateScale, estimateRotation;
ParametrizationTemporalPtr parametrization;
Double huber, huberPower;
UInt iterCount;
renameDeprecatedConfig(config, "temporalRepresentation", "parametrizationTemporal", date2time(2020, 6, 3));
renameDeprecatedConfig(config, "intervals", "timeIntervals", date2time(2020, 7, 14));
readConfig(config, "outputfileHelmertTimeSeries", fileNameHelmertTimeSeries, Config::OPTIONAL, "", "columns: mjd, Tx,Ty,Tz,s,Rx,Ry,Rz according to temporal parametrization");
readConfig(config, "data", data, Config::MUSTSET, "", "e.g. satellite, station");
readConfig(config, "timeIntervals", intervalsPtr, Config::MUSTSET, "", "parameters are estimated per interval");
readConfig(config, "parametrizationTemporal", parametrization, Config::MUSTSET, "", "temporal parametrization");
readConfig(config, "estimateShift", estimateShift, Config::DEFAULT, "1", "coordinate center");
readConfig(config, "estimateScale", estimateScale, Config::DEFAULT, "1", "scale factor of position");
readConfig(config, "estimateRotation", estimateRotation, Config::DEFAULT, "1", "rotation");
readConfig(config, "huber", huber, Config::DEFAULT, "2.5", "for robust least squares");
readConfig(config, "huberPower", huberPower, Config::DEFAULT, "1.5", "for robust least squares");
readConfig(config, "huberMaxIteration", iterCount, Config::DEFAULT, "30", "(maximum) number of iterations for robust estimation");
if(isCreateSchema(config)) return;
const std::vector<Time> intervals = intervalsPtr->times();
if(intervals.size() < 2)
throw(Exception("invalid intervals"));
for(auto &&d : data)
{
logStatus << "read instrument file <" << d.inNameInstrument << ">" << Log::endl;
d.init(intervals);
}
data.erase(std::remove_if(data.begin(), data.end(), [](const Data &d){ return !d.useable; }), data.end());
const UInt paramCount = 3*estimateShift+estimateScale+3*estimateRotation;
const UInt intervalCount = intervals.size() - 1;
std::vector<Vector> helmertTimeSeries;
Single::forEach(intervalCount, [&](UInt idInterval)
{
parametrization->setInterval(intervals.at(idInterval), intervals.at(idInterval+1));
const UInt trendCount = parametrization->parameterCount();
// check if interval has data
UInt epochCount = 0;
for(const auto &d : data)
epochCount += d.intervalBoundaries.at(idInterval+1) - d.intervalBoundaries.at(idInterval);
if(epochCount == 0)
{
logWarning<<"No data found in interval "+intervals.at(idInterval).dateTimeStr()+" -> "+intervals.at(idInterval+1).dateTimeStr()+". continue with next interval"<<Log::endl;
return;
}
// check if interval is solvable
if(3*static_cast<UInt>(std::count_if(data.begin(), data.end(), [&](const Data &d){ return ((d.intervalBoundaries.at(idInterval+1)-d.intervalBoundaries.at(idInterval)) >= trendCount); })) < paramCount)
throw(Exception("interval "+intervals.at(idInterval).dateTimeStr()+" -> "+intervals.at(idInterval+1).dateTimeStr()+" not solvable"));
// set up observation vector and design matrix
UInt idRow = 0;
Vector l(3*epochCount);
Matrix A(3*epochCount, paramCount*trendCount);
for(const auto &d : data)
{
for(UInt idEpoch=d.intervalBoundaries.at(idInterval); idEpoch<d.intervalBoundaries.at(idInterval+1); idEpoch++)
{
copy((d.pos.row(idEpoch) - d.posRef.row(idEpoch)).trans(), l.row(idRow, 3));
std::vector<UInt> index;
std::vector<Double> factor;
parametrization->factors(d.times.at(idEpoch), index, factor);
for(UInt k = 0; k < index.size(); k++)
{
UInt idCol = index.at(k)*paramCount;
if(estimateShift)
{
A(idRow+0, idCol++) = factor.at(k);
A(idRow+1, idCol++) = factor.at(k);
A(idRow+2, idCol++) = factor.at(k);
}
if(estimateScale)
{
Vector3d position(d.posRef.row(idEpoch));
A(idRow+0, idCol) = position.x()/DEFAULT_R*factor.at(k);
A(idRow+1, idCol) = position.y()/DEFAULT_R*factor.at(k);
A(idRow+2, idCol++) = position.z()/DEFAULT_R*factor.at(k);
}
if(estimateRotation)
{
Vector3d position(d.posRef.row(idEpoch));
A(idRow+1, idCol) = position.z()/DEFAULT_R*factor.at(k); //rx
A(idRow+2, idCol++) = -position.y()/DEFAULT_R*factor.at(k); //rx
A(idRow+0, idCol) = -position.z()/DEFAULT_R*factor.at(k); //ry
A(idRow+2, idCol++) = position.x()/DEFAULT_R*factor.at(k); //ry
A(idRow+0, idCol) = position.y()/DEFAULT_R*factor.at(k); //rz
A(idRow+1, idCol++) = -position.x()/DEFAULT_R*factor.at(k); //rz
}
}
idRow += 3;
}
}
// solve system and compute residuals
Vector x;
if(A.size())
{
Vector sigma;
x = Vce::robustLeastSquares(A, l, 3, huber, huberPower, iterCount, sigma);
l -= A*x;
}
// write residuals into input data
idRow = 0;
for(const auto &d : data)
for(UInt idEpoch=d.intervalBoundaries.at(idInterval); idEpoch<d.intervalBoundaries.at(idInterval+1); idEpoch++)
copy(l.row(3*idRow++, 3).trans(), d.pos.row(idEpoch));
// add Helmert parameters to time series
Vector h(1+paramCount*trendCount);
h(0) = 0.5*(intervals.at(idInterval)+intervals.at(idInterval+1)).mjd();
if(x.size())
{
copy(x, h.row(1, x.size()));
for(UInt k = 0; k < trendCount; k++)
if(estimateScale || estimateRotation)
h.row(1+k*paramCount+3*estimateShift, paramCount-3*estimateShift) /= DEFAULT_R;
}
helmertTimeSeries.push_back(h);
});
// save output files
for(const auto &d : data)
if(!d.outNameInstrumentTransformed.empty())
{
logStatus << "write transformed instrument file <" << d.outNameInstrumentTransformed << ">" << Log::endl;
Matrix A(d.times.size(), 4);
copy(d.pos+d.posRef, A.column(1,3));
InstrumentFile::write(d.outNameInstrumentTransformed, Arc(d.times, A, Epoch::VECTOR3D));
}
for(const auto &d : data)
if(!d.outNameInstrumentDiff.empty())
{
logStatus << "write difference instrument file <" << d.outNameInstrumentDiff << ">" << Log::endl;
Matrix A(d.times.size(), 4);
copy(d.pos, A.column(1,3));
InstrumentFile::write(d.outNameInstrumentDiff, Arc(d.times, A, Epoch::VECTOR3D));
}
if(!fileNameHelmertTimeSeries.empty() && (estimateShift || estimateScale || estimateRotation))
{
logStatus<<"write Helmert time series to file <"<<fileNameHelmertTimeSeries<<">"<<Log::endl;
Matrix H(helmertTimeSeries.size(), 1+paramCount*parametrization->parameterCount());
for(UInt i=0; i<H.rows(); i++)
copy(helmertTimeSeries.at(i).trans(), H.row(i));
writeFileMatrix(fileNameHelmertTimeSeries, H);
}
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
void InstrumentEstimateHelmertTransformation::Data::init(const std::vector<Time> &intervals)
{
try
{
useable = FALSE;
Arc arc, arcRef;
try
{
arc = InstrumentFile::read(inNameInstrument);
arcRef = InstrumentFile::read(inNameInstrumentRef);
}
catch(std::exception &e)
{
logWarning << e.what() << Log::endl;
return;
}
removeEpochsOutsideIntervals(inNameInstrument, intervals, arc);
removeEpochsOutsideIntervals(inNameInstrumentRef, intervals, arcRef);
if(!arc.size() || arc.times() != arcRef.times())
{
logWarning << "arcs empty or not synchronized: " << arc.size() << " != " << arcRef.size() << ", skipping" << Log::endl;
return;
}
times = arc.times();
pos = arc.matrix().column(1+startData,3);
posRef = arcRef.matrix().column(1+startData,3);
// find epochs IDs of interval boundaries
UInt idEpoch = 0;
intervalBoundaries.push_back(idEpoch);
for(UInt idInterval = 0; idInterval < intervals.size()-1; idInterval++)
{
while(idEpoch < times.size() && times.at(idEpoch) < intervals.at(idInterval+1))
idEpoch++;
intervalBoundaries.push_back(idEpoch);
}
useable = TRUE;
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
void InstrumentEstimateHelmertTransformation::Data::removeEpochsOutsideIntervals(const FileName &fileName, const std::vector<Time> &intervals, Arc &arc) const
{
UInt removedEpochs = arc.size();
for(UInt idEpoch = arc.size(); idEpoch --> 0; )
if(arc.at(idEpoch).time < intervals.front() || arc.at(idEpoch).time >= intervals.back())
arc.remove(idEpoch);
removedEpochs -= arc.size();
if(removedEpochs > 0)
logWarning << "removed " << removedEpochs << " epochs outside interval boundaries from <" << fileName << ">" << Log::endl;
}
/***********************************************/
|
