// Get the SourceID of the rinex observation file
SourceID NetworkObsStreams::sourceIDOfRinexObsFile(std::string obsFile)
{
try
{
RinexObsStream rin;
rin.exceptions(std::ios::failbit);
rin.open(obsFile, std::ios::in);
gnssRinex gRin;
rin >> gRin;
rin.close();
return gRin.header.source;
}
catch(...)
{
// Problem opening the file
// Maybe it doesn't exist or you don't have proper read permissions
Exception e("Problem opening the file "
+ obsFile
+ "Maybe it doesn't exist or you don't have proper read permissions");
GPSTK_THROW(e);
}
} // End of method 'NetworkObsStreams::sourceIDOfRinexObsFile'
//------------------------------------------------------------------------------------
int OpenFiles(void) throw(Exception)
{
try {
string filename;
if(InputDirectory.empty())
filename = NovatelFile;
else
filename = InputDirectory + string("/") + NovatelFile;
instr.open(filename.c_str(),ios::in | ios::binary);
if(!instr.is_open()) {
cerr << "Failed to open input file " << NovatelFile << endl;
return -1;
}
if(verbose) cout << "Opened input file " << NovatelFile << endl;
instr.exceptions(fstream::failbit);
TempFileName = GetTempFileName();
rostr.open(TempFileName.c_str(),ios::out);
if(!rostr.is_open()) {
cerr << "Failed to open temporary output file " << TempFileName << endl;
return -2;
}
rostr.exceptions(fstream::failbit);
rnstr.open(RinexNavFile.c_str(),ios::out);
if(!rnstr.is_open()) {
cerr << "Failed to open output nav file " << RinexNavFile << endl;
return -3;
}
if(verbose) cout << "Opened output nav file " << RinexNavFile << endl;
rnstr.exceptions(fstream::failbit);
return 0;
}
catch(Exception& e) { GPSTK_RETHROW(e); }
catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
}
// Method that will really process information
void example9::process()
{
// We will read each section name, which is equivalent to station name
// Station names will be read in alphabetical order
string station;
while ( (station = confReader.getEachSection()) != "" )
{
// We will skip 'DEFAULT' section because we are waiting for
// a specific section for each receiver. However, if data is
// missing we will look for it in 'DEFAULT' (see how we use method
// 'setFallback2Default()' of 'ConfDataReader' object in 'spinUp()'
if( station == "DEFAULT" )
{
continue;
}
// Show a message indicating that we are starting with this station
cout << "Starting processing for station: '" << station << "'." << endl;
// Create input observation file stream
RinexObsStream rin;
// Enable exceptions
rin.exceptions(ios::failbit);
// Try to open Rinex observations file
try
{
// Open Rinex observations file in read-only mode
rin.open( confReader("rinexObsFile", station), std::ios::in );
}
catch(...)
{
cerr << "Problem opening file '"
<< confReader.getValue("rinexObsFile", station)
<< "'." << endl;
cerr << "Maybe it doesn't exist or you don't have "
<< "proper read permissions."
<< endl;
cerr << "Skipping receiver '" << station << "'."
<< endl;
// Close current Rinex observation stream
rin.close();
continue;
} // End of 'try-catch' block
// Declare a "SP3EphemerisStore" object to handle precise ephemeris
SP3EphemerisStore SP3EphList;
// Set flags to reject satellites with bad or absent positional
// values or clocks
SP3EphList.rejectBadPositions(true);
SP3EphList.rejectBadClocks(true);
// Read if we should check for data gaps.
if ( confReader.getValueAsBoolean( "checkGaps", station ) )
{
SP3EphList.enableDataGapCheck();
SP3EphList.setGapInterval(
confReader.getValueAsDouble("SP3GapInterval",station) );
}
// Read if we should check for too wide interpolation intervals
if ( confReader.getValueAsBoolean( "checkInterval", station ) )
{
SP3EphList.enableIntervalCheck();
SP3EphList.setMaxInterval(
confReader.getValueAsDouble("maxSP3Interval",station) );
}
// Load all the SP3 ephemerides files from variable list
string sp3File;
while ( (sp3File = confReader.fetchListValue("SP3List",station) ) != "" )
{
// Try to load each ephemeris file
try
{
SP3EphList.loadFile( sp3File );
}
catch (FileMissingException& e)
{
// If file doesn't exist, issue a warning
cerr << "SP3 file '" << sp3File << "' doesn't exist or you don't "
<< "have permission to read it. Skipping it." << endl;
continue;
}
} // End of 'while ( (sp3File = confReader.fetchListValue( ... "
// Load station nominal position
double xn(confReader.fetchListValueAsDouble("nominalPosition",station));
double yn(confReader.fetchListValueAsDouble("nominalPosition",station));
double zn(confReader.fetchListValueAsDouble("nominalPosition",station));
// The former peculiar code is possible because each time we
// call a 'fetchListValue' method, it takes out the first element
// and deletes it from the given variable list.
Position nominalPos( xn, yn, zn );
// Create a 'ProcessingList' object where we'll store
// the processing objects in order
ProcessingList pList;
// This object will check that all required observables are present
RequireObservables requireObs;
requireObs.addRequiredType(TypeID::P2);
requireObs.addRequiredType(TypeID::L1);
requireObs.addRequiredType(TypeID::L2);
// This object will check that code observations are within
// reasonable limits
SimpleFilter pObsFilter;
pObsFilter.setFilteredType(TypeID::P2);
// Read if we should use C1 instead of P1
bool usingC1( confReader.getValueAsBoolean( "useC1", station ) );
if ( usingC1 )
{
requireObs.addRequiredType(TypeID::C1);
pObsFilter.addFilteredType(TypeID::C1);
}
else
{
requireObs.addRequiredType(TypeID::P1);
pObsFilter.addFilteredType(TypeID::P1);
}
// Add 'requireObs' to processing list (it is the first)
pList.push_back(requireObs);
// IMPORTANT NOTE:
// It turns out that some receivers don't correct their clocks
// from drift.
// When this happens, their code observations may drift well beyond
// what it is usually expected from a pseudorange. In turn, this
// effect causes that "SimpleFilter" objects start to reject a lot of
// satellites.
// Thence, the "filterCode" option allows you to deactivate the
// "SimpleFilter" object that filters out C1, P1 and P2, in case you
// need to.
bool filterCode( confReader.getValueAsBoolean( "filterCode", station ) );
// Check if we are going to use this "SimpleFilter" object or not
if( filterCode )
{
pList.push_back(pObsFilter); // Add to processing list
}
// This object defines several handy linear combinations
LinearCombinations comb;
// Object to compute linear combinations for cycle slip detection
ComputeLinear linear1;
// Read if we should use C1 instead of P1
if ( usingC1 )
{
linear1.addLinear(comb.pdeltaCombWithC1);
linear1.addLinear(comb.mwubbenaCombWithC1);
}
else
{
linear1.addLinear(comb.pdeltaCombination);
linear1.addLinear(comb.mwubbenaCombination);
}
linear1.addLinear(comb.ldeltaCombination);
linear1.addLinear(comb.liCombination);
pList.push_back(linear1); // Add to processing list
// Objects to mark cycle slips
LICSDetector2 markCSLI2; // Checks LI cycle slips
pList.push_back(markCSLI2); // Add to processing list
MWCSDetector markCSMW; // Checks Merbourne-Wubbena cycle slips
pList.push_back(markCSMW); // Add to processing list
// Object to keep track of satellite arcs
SatArcMarker markArc;
markArc.setDeleteUnstableSats(true);
markArc.setUnstablePeriod(151.0);
pList.push_back(markArc); // Add to processing list
// Object to decimate data
Decimate decimateData(
confReader.getValueAsDouble( "decimationInterval", station ),
confReader.getValueAsDouble( "decimationTolerance", station ),
SP3EphList.getInitialTime() );
pList.push_back(decimateData); // Add to processing list
// Declare a basic modeler
BasicModel basic(nominalPos, SP3EphList);
// Set the minimum elevation
basic.setMinElev(confReader.getValueAsDouble("cutOffElevation",station));
// If we are going to use P1 instead of C1, we must reconfigure 'basic'
if ( !usingC1 )
{
basic.setDefaultObservable(TypeID::P1);
}
// Add to processing list
pList.push_back(basic);
// Object to remove eclipsed satellites
EclipsedSatFilter eclipsedSV;
pList.push_back(eclipsedSV); // Add to processing list
// Object to compute gravitational delay effects
GravitationalDelay grDelay(nominalPos);
pList.push_back(grDelay); // Add to processing list
// Vector from monument to antenna ARP [UEN], in meters
double uARP(confReader.fetchListValueAsDouble( "offsetARP", station ) );
double eARP(confReader.fetchListValueAsDouble( "offsetARP", station ) );
double nARP(confReader.fetchListValueAsDouble( "offsetARP", station ) );
Triple offsetARP( uARP, eARP, nARP );
// Declare some antenna-related variables
Triple offsetL1( 0.0, 0.0, 0.0 ), offsetL2( 0.0, 0.0, 0.0 );
AntexReader antexReader;
Antenna receiverAntenna;
// Check if we want to use Antex information
bool useantex( confReader.getValueAsBoolean( "useAntex", station ) );
if( useantex )
{
// Feed Antex reader object with Antex file
antexReader.open( confReader.getValue( "antexFile", station ) );
// Get receiver antenna parameters
receiverAntenna =
antexReader.getAntenna( confReader.getValue( "antennaModel",
station ) );
}
// Object to compute satellite antenna phase center effect
ComputeSatPCenter svPcenter(nominalPos);
if( useantex )
{
// Feed 'ComputeSatPCenter' object with 'AntexReader' object
svPcenter.setAntexReader( antexReader );
}
pList.push_back(svPcenter); // Add to processing list
// Declare an object to correct observables to monument
CorrectObservables corr(SP3EphList);
corr.setNominalPosition(nominalPos);
corr.setMonument( offsetARP );
// Check if we want to use Antex patterns
bool usepatterns(confReader.getValueAsBoolean("usePCPatterns", station ));
if( useantex && usepatterns )
{
corr.setAntenna( receiverAntenna );
// Should we use elevation/azimuth patterns or just elevation?
corr.setUseAzimuth(confReader.getValueAsBoolean("useAzim", station));
}
else
{
// Fill vector from antenna ARP to L1 phase center [UEN], in meters
offsetL1[0] = confReader.fetchListValueAsDouble("offsetL1", station);
offsetL1[1] = confReader.fetchListValueAsDouble("offsetL1", station);
offsetL1[2] = confReader.fetchListValueAsDouble("offsetL1", station);
// Vector from antenna ARP to L2 phase center [UEN], in meters
offsetL2[0] = confReader.fetchListValueAsDouble("offsetL2", station);
offsetL2[1] = confReader.fetchListValueAsDouble("offsetL2", station);
offsetL2[2] = confReader.fetchListValueAsDouble("offsetL2", station);
corr.setL1pc( offsetL1 );
corr.setL2pc( offsetL2 );
}
pList.push_back(corr); // Add to processing list
// Object to compute wind-up effect
ComputeWindUp windup( SP3EphList,
nominalPos,
confReader.getValue( "satDataFile", station ) );
pList.push_back(windup); // Add to processing list
// Declare a NeillTropModel object, setting its parameters
NeillTropModel neillTM( nominalPos.getAltitude(),
nominalPos.getGeodeticLatitude(),
confReader.getValueAsInt("dayOfYear", station) );
// We will need this value later for printing
double drytropo( neillTM.dry_zenith_delay() );
// Object to compute the tropospheric data
ComputeTropModel computeTropo(neillTM);
pList.push_back(computeTropo); // Add to processing list
// Object to compute ionosphere-free combinations to be used
// as observables in the PPP processing
ComputeLinear linear2;
// Read if we should use C1 instead of P1
if ( usingC1 )
{
// WARNING: When using C1 instead of P1 to compute PC combination,
// be aware that instrumental errors will NOT cancel,
// introducing a bias that must be taken into account by
// other means. This won't be taken into account in this
// example.
linear2.addLinear(comb.pcCombWithC1);
}
else
{
linear2.addLinear(comb.pcCombination);
}
linear2.addLinear(comb.lcCombination);
pList.push_back(linear2); // Add to processing list
// Declare a simple filter object to screen PC
SimpleFilter pcFilter;
pcFilter.setFilteredType(TypeID::PC);
// IMPORTANT NOTE:
// Like in the "filterCode" case, the "filterPC" option allows you to
// deactivate the "SimpleFilter" object that filters out PC, in case
// you need to.
bool filterPC( confReader.getValueAsBoolean( "filterPC", station ) );
// Check if we are going to use this "SimpleFilter" object or not
if( filterPC )
{
pList.push_back(pcFilter); // Add to processing list
}
// Object to align phase with code measurements
PhaseCodeAlignment phaseAlign;
pList.push_back(phaseAlign); // Add to processing list
// Object to compute prefit-residuals
ComputeLinear linear3(comb.pcPrefit);
linear3.addLinear(comb.lcPrefit);
pList.push_back(linear3); // Add to processing list
// Declare a base-changing object: From ECEF to North-East-Up (NEU)
XYZ2NEU baseChange(nominalPos);
// We always need both ECEF and NEU data for 'ComputeDOP', so add this
pList.push_back(baseChange);
// Object to compute DOP values
ComputeDOP cDOP;
pList.push_back(cDOP); // Add to processing list
// Get if we want results in ECEF or NEU reference system
bool isNEU( confReader.getValueAsBoolean( "USENEU", station ) );
// Declare solver objects
SolverPPP pppSolver(isNEU);
SolverPPPFB fbpppSolver(isNEU);
// Get if we want 'forwards-backwards' or 'forwards' processing only
int cycles( confReader.getValueAsInt("forwardBackwardCycles", station) );
// Get if we want to process coordinates as white noise
bool isWN( confReader.getValueAsBoolean( "coordinatesAsWhiteNoise",
station ) );
// White noise stochastic model
WhiteNoiseModel wnM(100.0); // 100 m of sigma
// Decide what type of solver we will use for this station
if ( cycles > 0 )
{
// In this case, we will use the 'forwards-backwards' solver
// Check about coordinates as white noise
if ( isWN )
{
// Reconfigure solver
fbpppSolver.setCoordinatesModel(&wnM);
}
// Add solver to processing list
pList.push_back(fbpppSolver);
}
else
{
// In this case, we will use the 'forwards-only' solver
// Check about coordinates as white noise
if ( isWN )
{
// Reconfigure solver
pppSolver.setCoordinatesModel(&wnM);
}
// Add solver to processing list
pList.push_back(pppSolver);
} // End of 'if ( cycles > 0 )'
// Object to compute tidal effects
SolidTides solid;
// Configure ocean loading model
OceanLoading ocean;
ocean.setFilename( confReader.getValue( "oceanLoadingFile", station ) );
// Numerical values (xp, yp) are pole displacements (arcsec).
double xp( confReader.fetchListValueAsDouble( "poleDisplacements",
station ) );
double yp( confReader.fetchListValueAsDouble( "poleDisplacements",
station ) );
// Object to model pole tides
PoleTides pole;
pole.setXY( xp, yp );
// This is the GNSS data structure that will hold all the
// GNSS-related information
gnssRinex gRin;
// Prepare for printing
int precision( confReader.getValueAsInt( "precision", station ) );
// Let's open the output file
string outName(confReader.getValue( "outputFile", station ) );
ofstream outfile;
outfile.open( outName.c_str(), ios::out );
// Let's check if we are going to print the model
bool printmodel( confReader.getValueAsBoolean( "printModel", station ) );
string modelName;
ofstream modelfile;
// Prepare for model printing
if( printmodel )
{
modelName = confReader.getValue( "modelFile", station );
modelfile.open( modelName.c_str(), ios::out );
}
//// *** Now comes the REAL forwards processing part *** ////
// Loop over all data epochs
while(rin >> gRin)
{
// Store current epoch
DayTime time(gRin.header.epoch);
// Compute solid, oceanic and pole tides effects at this epoch
Triple tides( solid.getSolidTide( time, nominalPos ) +
ocean.getOceanLoading( station, time ) +
pole.getPoleTide( time, nominalPos ) );
// Update observable correction object with tides information
corr.setExtraBiases(tides);
try
{
// Let's process data. Thanks to 'ProcessingList' this is
// very simple and compact: Just one line of code!!!.
gRin >> pList;
}
catch(DecimateEpoch& d)
{
// If we catch a DecimateEpoch exception, just continue.
continue;
}
catch(Exception& e)
{
cerr << "Exception for receiver '" << station <<
"' at epoch: " << time << "; " << e << endl;
continue;
}
catch(...)
{
cerr << "Unknown exception for receiver '" << station <<
" at epoch: " << time << endl;
continue;
}
// Ask if we are going to print the model
if ( printmodel )
{
printModel( modelfile,
gRin );
}
// Check what type of solver we are using
if ( cycles < 1 )
{
// This is a 'forwards-only' filter. Let's print to output
// file the results of this epoch
printSolution( outfile,
pppSolver,
time,
cDOP,
isNEU,
gRin.numSats(),
drytropo,
precision );
} // End of 'if ( cycles < 1 )'
// The given epoch hass been processed. Let's get the next one
} // End of 'while(rin >> gRin)'
// Close current Rinex observation stream
rin.close();
// If we printed the model, we must close the file
if ( printmodel )
{
// Close model file for this station
modelfile.close();
}
// Clear content of SP3 ephemerides object
SP3EphList.clear();
//// *** Forwards processing part is over *** ////
// Now decide what to do: If solver was a 'forwards-only' version,
// then we are done and should continue with next station.
if ( cycles < 1 )
{
// Close output file for this station
outfile.close();
// We are done with this station. Let's show a message
cout << "Processing finished for station: '" << station
<< "'. Results in file: '" << outName << "'." << endl;
// Go process next station
continue;
}
//// *** If we got here, it is a 'forwards-backwards' solver *** ////
// Now, let's do 'forwards-backwards' cycles
try
{
fbpppSolver.ReProcess(cycles);
}
catch(Exception& e)
{
// If problems arose, issue an message and skip receiver
cerr << "Exception at reprocessing phase: " << e << endl;
cerr << "Skipping receiver '" << station << "'." << endl;
// Close output file for this station
outfile.close();
// Go process next station
continue;
} // End of 'try-catch' block
// Reprocess is over. Let's finish with the last processing
// Loop over all data epochs, again, and print results
while( fbpppSolver.LastProcess(gRin) )
{
DayTime time(gRin.header.epoch);
printSolution( outfile,
fbpppSolver,
time,
cDOP,
isNEU,
gRin.numSats(),
drytropo,
precision );
} // End of 'while( fbpppSolver.LastProcess(gRin) )'
// We are done. Close and go for next station
// Close output file for this station
outfile.close();
// We are done with this station. Let's show a message
cout << "Processing finished for station: '" << station
<< "'. Results in file: '" << outName << "'." << endl;
} // end of 'while ( (station = confReader.getEachSection()) != "" )'
return;
} // End of 'example9::process()'
//------------------------------------------------------------------------------------
int AfterReadingFiles(int reading) throw(Exception)
{
try {
int i,j,iret=0;
double dt;
if(reading == 1) {
// compute data interval for this file
for(j=0,i=1; i<9; i++) { if(PIC.ndt[i]>PIC.ndt[j]) j=i; }
PIC.DT = PIC.estdt[j];
PIC.oflog << endl;
PIC.oflog << "Estimated data interval is " << PIC.DT << " seconds.\n";
PIC.oflog << "Interpolate to " << PIC.irate << " times the input data rate\n";
PIC.oflog << "Last data epoch is "
<< PIC.LastEpoch.printf("%04Y/%02m/%02d %02H:%02M:%06.3f = %4F %.3g") << endl;
if(TimePositionMap.size() == 0) {
cout << "No position information was found in the input file! Abort.\n";
PIC.oflog << "No position information was found in the input file! Abort.\n";
return -1;
}
PIC.oflog << endl;
// dump the map of positions
if(PIC.DumpMap) {
PIC.oflog << "Here is all the Time/Position information:\n";
map<DayTime,PosInfo>::const_iterator itr;
itr = TimePositionMap.begin();
i = 0;
while(itr != TimePositionMap.end()) {
PIC.oflog << setw(4) << i << " "
<< itr->first.printf("%04Y/%02m/%02d %02H:%02M:%6.3f %4F %10.3g")
<< fixed << setprecision(3)
<< " " << setw(2) << itr->second.N
<< " " << setw(13) << itr->second.X
<< " " << setw(13) << itr->second.Y
<< " " << setw(13) << itr->second.Z
<< " " << setw(13) << itr->second.T
<< " " << setw(7) << itr->second.rms
<< endl;
itr++;
i++;
}
PIC.oflog << "End of the Time/Position information.\n\n";
}
// open output file
if(!PIC.OutRinexObs.empty()) {
ofstr.open(PIC.OutRinexObs.c_str(), ios::out);
if(ofstr.fail()) {
PIC.oflog << "Failed to open output file " << PIC.OutRinexObs
<< ". Abort.\n";
return 1;
}
else PIC.oflog << "Opened output file " << PIC.OutRinexObs << endl;
ofstr.exceptions(ios::failbit);
}
}
else if(reading==2) {
PIC.oflog << "Close the output file\n";
ofstr.close();
}
return iret;
}
catch(Exception& e) { GPSTK_RETHROW(e); }
catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
}
//------------------------------------------------------------------------------------
// open the file, read header and check for data; then loop over the epochs
// Return 0 ok, <0 fatal error, >0 non-fatal error (ie skip this file)
// 0 ok, 1 couldn't open file, 2 file doesn't have required data
int ReadFile(int nfile, int reading) throw(Exception)
{
try {
int i,iret;
RinexObsData rodata;
RinexObsStream ifstr;
// open input file
ifstr.open(PIC.InputObsName[nfile].c_str(),ios::in);
if(ifstr.fail()) {
PIC.oflog << "(" << reading << ") Failed to open input file "
<< PIC.InputObsName[nfile] << ". Abort.\n";
return 1;
}
else PIC.oflog << "(" << reading << ") Opened input file "
<< PIC.InputObsName[nfile] << endl;
ifstr.exceptions(ios::failbit);
// read header and (on 2nd reading) output
iret = ProcessHeader(ifstr, nfile, reading);
if(iret) return iret;
// loop over epochs in the file
if(reading == 2)
LastInterpolated = DayTime::BEGINNING_OF_TIME;
while(1) {
try {
ifstr >> rodata;
}
catch(Exception& e) {
GPSTK_RETHROW(e);
}
catch(...) {
Exception e("Unknown exception in ReadFile() from operator>>");
GPSTK_THROW(e);
break;
}
if(ifstr.eof()) break;
if(ifstr.bad()) {
Exception e("Bad read in ReadFile() from operator>>");
GPSTK_THROW(e);
}
iret = ProcessOneEntireEpoch(rodata,reading);
if(iret < -1) break;
if(iret == -1) { iret=0; break; } // end of file
if(iret == 1) continue; // ignore this epoch
}
ifstr.clear();
ifstr.close();
PIC.oflog << endl << "Finished reading (" << reading
<< ") file " << PIC.InputObsName[nfile] << endl;
return iret;
}
catch(Exception& e) { GPSTK_RETHROW(e); }
catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
}