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/*------------------------------------------------------------------------------
* diffeph.c : output difference between ephemerides
*
* history : 2010/06/17 0.1 new
* 2011/09/17 0.2 add comparison of 2 precise ephemeris
*-----------------------------------------------------------------------------*/
#include <stdio.h>
#include "rtklib.h"
static const char *usage[]={
"Synopsys",
" diffeph [-t0 y/m/d h:m:s][-ts ts][-ti ti][-s s][-1 r][-2 b][-t]",
" [-o][-u lat lon][-x level] file ...",
"",
"Description",
"compute ephemeris and clock error and output errors.",
"",
"Options [default]",
"-t0 y/m/d h:m:s start time expressed in gpst",
"-ts ts time span (hr) [24]",
"-ti ti time interval (s) [30]",
"-s s satellite number (all)",
"-1 r compared ephemeris type (0:broadcast,1:precise,2:sbas,3:ssrapc,5:lex)",
"-2 b reference ephemeris type (same as above)",
"-t output time as yyyy/mm/dd hh:mm:ss",
"-e output difference as ecef-x/y/z [radial/along-trk/cross-trk]",
"-o output satellite position/clock-bias",
"-u lat lon refrence position latitude and longitude for ure",
"-x level trace level",
"file ... compared ephemeris files and antenna parameters file",
NULL};
/* print usage ---------------------------------------------------------------*/
static void prusage(void)
{
int i;
for (i=0;usage[i];i++) fprintf(stderr,"%s\n",usage[i]);
}
/* update rtcm struct --------------------------------------------------------*/
static void updatertcm(gtime_t time, rtcm_t *rtcm, nav_t *nav, FILE *fp)
{
char s1[32],s2[32];
int i;
while (input_rtcm3f(rtcm,fp)>=0) {
time2str(time ,s1,0);
time2str(rtcm->time,s2,0);
trace(2,"rtcm.time=%s time=%s\n",s1,s2);
if (timediff(rtcm->time,time)>=5.0) break;
}
for (i=0;i<MAXSAT;i++) nav->ssr[i]=rtcm->ssr[i];
}
/* update lex ephemeris ------------------------------------------------------*/
static int updatelex(int index, gtime_t time, lex_t *lex, nav_t *nav)
{
gtime_t tof;
for (;index<lex->n;index++) {
if (!lexupdatecorr(lex->msgs+index,nav,&tof)) continue;
if (timediff(tof,time)>=0.0) break;
}
return index;
}
/* print difference ----------------------------------------------------------*/
static void printephdiff(gtime_t time, int sat, int eph1, int eph2,
const nav_t *nav1, const nav_t *nav2, int topt,
int eopt, int mopt, const double *pos)
{
double tow,rs1[6],rs2[6],dts1[2],dts2[2],var1,var2;
double drs[3],drss[3],rc[3],er[3],ea[3],ec[3];
double rr[3],e[3],rr1[3],rr2[3],r1,r2,azel[2];
int i,week,svh1,svh2;
char tstr[32];
if (!satpos(time,time,sat,eph1,nav1,rs1,dts1,&var1,&svh1)) return;
if (!satpos(time,time,sat,eph2,nav2,rs2,dts2,&var2,&svh2)) return;
if (svh1||svh2) return;
for (i=0;i<3;i++) drs[i]=rs1[i]-rs2[i];
if (!normv3(rs2+3,ea)) return;
cross3(rs2,rs2+3,rc);
if (!normv3(rc,ec)) return;
cross3(ea,ec,er);
drss[0]=dot(drs,er,3); /* radial/along-trk/cross-trk */
drss[1]=dot(drs,ea,3);
drss[2]=dot(drs,ec,3);
if (topt) {
time2str(time,tstr,0);
printf("%s ",tstr);
}
else {
tow=time2gpst(time,&week);
printf("%4d %6.0f",week,tow);
}
printf("%3d ",sat);
if (mopt) {
printf("%8.3f %8.3f %8.3f ",drss[0],drss[1],drss[2]);
}
else {
printf("%8.3f %8.3f %8.3f ",drs[0],drs[1],drs[2]);
}
printf("%8.3f ",dts1[0]==0.0||dts2[0]==0.0?0.0:(dts1[0]-dts2[0])*CLIGHT);
if (mopt) {
printf(" %13.3f %13.3f %13.3f %12.3f",rs1[0],rs1[1],rs1[2],dts1[0]*CLIGHT);
}
if (norm(pos,3)>0.0) {
pos2ecef(pos,rr);
for (i=0;i<3;i++) {
rr1[i]=rs1[i]-rr[i];
rr2[i]=rs2[i]-rr[i];
}
r1=norm(rr1,3);
r2=norm(rr2,3);
for (i=0;i<3;i++) e[i]=rr2[i]/r2;
satazel(pos,e,azel);
printf(" %8.3f %5.1f",(r1-r2)-(dts1[0]-dts2[0])*CLIGHT,azel[1]*R2D);
}
printf("\n");
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
FILE *fp=NULL;
nav_t nav={0},nav2={0};
rtcm_t rtcm;
lex_t lex={0};
gtime_t t0,time;
double ep0[]={2000,1,1,0,0,0},tspan=24.0,tint=300,pos[]={0};
int i,s,n=0,nx=0,sat=0,topt=0,eopt=0,mopt=0,trl=0,index=0;
int eph1=EPHOPT_BRDC,eph2=EPHOPT_PREC;
char *files[32],*ext;
t0=epoch2time(ep0);
init_rtcm(&rtcm);
rtcm.time=t0;
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-s" )&&i+1<argc) sat =atoi(argv[++i]);
else if (!strcmp(argv[i],"-1" )&&i+1<argc) eph1 =atoi(argv[++i]);
else if (!strcmp(argv[i],"-2" )&&i+1<argc) eph2 =atoi(argv[++i]);
else if (!strcmp(argv[i],"-x" )&&i+1<argc) trl =atoi(argv[++i]);
else if (!strcmp(argv[i],"-t0")&&i+2<argc) {
if (sscanf(argv[++i],"%lf/%lf/%lf",ep0 ,ep0+1,ep0+2)<3||
sscanf(argv[++i],"%lf:%lf:%lf",ep0+3,ep0+4,ep0+5)<1) {
fprintf(stderr,"invalid time\n");
return -1;
}
}
else if (!strcmp(argv[i],"-ts")&&i+1<argc) tspan=atof(argv[++i]);
else if (!strcmp(argv[i],"-ti")&&i+1<argc) tint =atof(argv[++i]);
else if (!strcmp(argv[i],"-t" )) topt=1;
else if (!strcmp(argv[i],"-u" )&&i+2<argc) {
pos[0]=atof(argv[++i])*D2R;
pos[1]=atof(argv[++i])*D2R;
}
else if (!strcmp(argv[i],"-e" )) eopt=1;
else if (!strcmp(argv[i],"-o" )) mopt=1;
else if (!strncmp(argv[i],"-",1)) {
prusage();
return 0;
}
else files[n++]=argv[i];
}
if (trl>0) {
traceopen("diffeph.trace");
tracelevel(trl);
}
t0=epoch2time(ep0);
init_rtcm(&rtcm);
rtcm.time=t0;
for (i=0;i<n;i++) {
if (!(ext=strrchr(files[i],'.'))) ext="";
if (!strcmp(ext,".sp3")||!strcmp(ext,".SP3")||
!strcmp(ext,".eph")||!strcmp(ext,".EPH")) {
if (nav.ne>0) {
readsp3(files[i],&nav2); /* second precise ephemeris */
}
else {
readsp3(files[i],&nav);
}
}
else if (!strcmp(ext,".atx")) {
readsap(files[i],t0,&nav);
}
else if (!strcmp(ext,".rtcm3")||!strcmp(ext,".log")) {
if (!(fp=fopen(files[i],"rb"))) {
fprintf(stderr,"file open error: %s\n",files[i]);
return -1;
}
}
else if (!strcmp(ext,".lex")) {
if (!lexreadmsg(files[i],0,&lex)) {
fprintf(stderr,"file read error: %s\n",files[i]);
return -1;
}
}
else files[nx++]=files[i]; /* rinex clock */
}
for (i=0;i<nx;i++) {
readrnx(files[i],1,"",NULL,&nav,NULL);
if (nav.nc>0) {
readrnxc(files[i],&nav2); /* second precise clock */
}
else {
readrnxc(files[i],&nav);
}
}
for (i=0;i<(int)(tspan*3600.0/tint);i++) {
time=timeadd(t0,tint*i);
fprintf(stderr,"time=%s\r",time_str(time,0));
/* update ephemeris in navigation data */
if (fp) {
updatertcm(time,&rtcm,&nav,fp);
}
else if (lex.n>0) {
index=updatelex(index,time,&lex,&nav);
}
for (s=1;s<=MAXSAT;s++) {
if (sat&&s!=sat) continue;
printephdiff(time,s,eph1,eph2,&nav,eph1==1&&eph2==1?&nav2:&nav,topt,
eopt,mopt,pos);
}
}
if (fp) fclose(fp);
if (trl>0) traceclose();
return 0;
}
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