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rtkpos: rework antenna offsets, line of sight vectors per freq #543

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rtkpos: rework antenna offsets, line of sight vectors per freq #543

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20f9afd
setstr(): export
ourairquality Feb 5, 2024
0217f93
ANTEX: PCV with azimuth, full freq range, ANTEX 2, SINEX metadata
ourairquality Nov 20, 2024
fe8bc09
rtksvr: implement automated antenna selection, pos in static mode
ourairquality Dec 4, 2024
14e52d4
pntpos: pass in the receiver index; and antpos fix
ourairquality Dec 4, 2024
6eb432c
pntpos: model the antenna delta, pco, and pcv
ourairquality Dec 5, 2024
7d72239
postpost: set antenna parameters in single mode
ourairquality Dec 5, 2024
5fc3e2c
tropmodel, rtkpos: use the precise mapping function
ourairquality Nov 12, 2024
8233a88
rtkpos: rework antenna offsets, line of sight vectors per freq
ourairquality Nov 25, 2024
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89 changes: 52 additions & 37 deletions app/consapp/rtkrcv/rtkrcv.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -362,41 +362,52 @@ static int readcmd(const char *file, char *cmd, int type)
fclose(fp);
return 1;
}
/* read antenna file ---------------------------------------------------------*/
static void readant(vt_t *vt, prcopt_t *opt, nav_t *nav)
{
const pcv_t pcv0={0};
pcvs_t pcvr={0},pcvs={0};
pcv_t *pcv;
gtime_t time=timeget();
int i;

trace(3,"readant:\n");

opt->pcvr[0]=opt->pcvr[1]=pcv0;
if (!*filopt.rcvantp) return;

if (readpcv(filopt.rcvantp,&pcvr)) {
for (i=0;i<2;i++) {
if (!*opt->anttype[i]) continue;
if (!(pcv=searchpcv(0,opt->anttype[i],time,&pcvr))) {
vt_printf(vt,"no antenna %s in %s",opt->anttype[i],filopt.rcvantp);
continue;
}
opt->pcvr[i]=*pcv;
/* Read antenna file ---------------------------------------------------------*/
static void readant(vt_t *vt, prcopt_t *opt, nav_t *nav, pcvs_t *pcvsr) {
trace(3, "readant:\n");

const pcv_t pcv0 = {0};
opt->pcvr[0] = opt->pcvr[1] = pcv0;

if (*filopt.rcvantp) {
gtime_t time = timeget();
if (readpcv(filopt.rcvantp, 2, pcvsr)) {
for (int i = 0; i < 2; i++) {
if (!*opt->anttype[i]) continue;
pcv_t *pcv = searchpcv(0, opt->anttype[i], time, NULL, pcvsr);
if (!pcv) {
vt_printf(vt, "no antenna %s in %s", opt->anttype[i], filopt.rcvantp);
continue;
}
}
else vt_printf(vt,"antenna file open error %s",filopt.rcvantp);

if (readpcv(filopt.satantp,&pcvs)) {
for (i=0;i<MAXSAT;i++) {
if (!(pcv=searchpcv(i+1,"",time,&pcvs))) continue;
nav->pcvs[i]=*pcv;
copy_pcv(&opt->pcvr[i], pcv);
}
} else
vt_printf(vt, "antenna file open error %s", filopt.rcvantp);
}

if (*filopt.satantp) {
satsvns_t satsvns = {0};
if (*filopt.satmeta && !readsinex(filopt.satmeta, &satsvns))
vt_printf(vt, "error : reading sat meta sinex %s", filopt.satmeta);

pcvs_t pcvs = {0};
if (readpcv(filopt.satantp, 1, &pcvs)) {
gtime_t time = timeget();
for (int i = 0; i < MAXSAT; i++) {
pcv_t *pcv = searchpcv(i + 1, "", time, &satsvns, &pcvs);
if (!pcv) {
char id[8];
satno2id(i + 1, id);
vt_printf(vt, "no satellite %s pcv in %s", id, filopt.satantp);
continue;
}
}
else vt_printf(vt,"antenna file open error %s",filopt.satantp);

free(pcvr.pcv); free(pcvs.pcv);
copy_pcv(&nav->pcvs[i], pcv);
}
free_pcvs(&pcvs);
} else
vt_printf(vt, "antenna file open error %s", filopt.satantp);
free(satsvns.satsvn);
}
}
/* start rtk server ----------------------------------------------------------*/
static int startsvr(vt_t *vt)
Expand Down Expand Up @@ -440,9 +451,9 @@ static int startsvr(vt_t *vt)
pos[1]=nmeapos[1]*D2R;
pos[2]=nmeapos[2];
pos2ecef(pos,npos);

/* read antenna file */
readant(vt,&prcopt,&svr.nav);
readant(vt,&prcopt,&svr.nav,&svr.pcvsr);

/* read dcb file */
if (*filopt.dcb) {
Expand Down Expand Up @@ -523,6 +534,10 @@ static void stopsvr(vt_t *vt)
#endif
if (solopt[0].geoid>0) closegeoid();

for (int i = 0; i < 2; i++) free_pcv(&prcopt.pcvr[i]);
free_pcvs(&svr.pcvsr);
for (int i = 0; i < MAXSAT; i++) free_pcv(&svr.nav.pcvs[i]);

vt_printf(vt,"stop rtk server\n");
}
/* print time ----------------------------------------------------------------*/
Expand Down Expand Up @@ -771,10 +786,10 @@ static void prstatus(vt_t *vt)
vt_printf(vt,"%-28s: %d\n","# of average single pos base",nave);
vt_printf(vt,"%-28s: %s\n","ant type rover",rtk.opt.pcvr[0].type);
del=rtk.opt.antdel[0];
vt_printf(vt,"%-28s: %.3f %.3f %.3f\n","ant delta rover",del[0],del[1],del[2]);
vt_printf(vt,"%-28s: %.4f %.4f %.4f\n","ant delta rover",del[0],del[1],del[2]);
vt_printf(vt,"%-28s: %s\n","ant type base" ,rtk.opt.pcvr[1].type);
del=rtk.opt.antdel[1];
vt_printf(vt,"%-28s: %.3f %.3f %.3f\n","ant delta base",del[0],del[1],del[2]);
vt_printf(vt,"%-28s: %.4f %.4f %.4f\n","ant delta base",del[0],del[1],del[2]);
ecef2enu(pos,rtk.rb+3,vel);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","vel enu (m/s) base",
vel[0],vel[1],vel[2]);
Expand Down
60 changes: 48 additions & 12 deletions app/qtapp/appcmn_qt/navi_post_opt.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -145,6 +145,7 @@ OptDialog::OptDialog(QWidget *parent, int opts)
fileOptions.geoid[0] = '\0';
fileOptions.iono[0] = '\0';
fileOptions.rcvantp[0] = '\0';
fileOptions.satmeta[0] = '\0';
fileOptions.satantp[0] = '\0';
fileOptions.solstat[0] = '\0';
fileOptions.stapos[0] = '\0';
Expand Down Expand Up @@ -200,6 +201,7 @@ OptDialog::OptDialog(QWidget *parent, int opts)
fileCompleter->setModel(fileModel);
ui->lEStationPositionFile->setCompleter(fileCompleter);
ui->lEAntennaPcvFile->setCompleter(fileCompleter);
ui->lESatelliteMetaFile->setCompleter(fileCompleter);
ui->lESatellitePcvFile->setCompleter(fileCompleter);
ui->lEDCBFile->setCompleter(fileCompleter);
ui->lEGeoidDataFile->setCompleter(fileCompleter);
Expand All @@ -220,7 +222,14 @@ OptDialog::OptDialog(QWidget *parent, int opts)
acStationPositionFileView->setToolTip(tr("View File"));
acStationPositionFileView->setEnabled(false);

// satllite PCV line edit actions
// Satellite meta data line edit actions
QAction *acSatelliteMetaFileSelect = ui->lESatelliteMetaFile->addAction(QIcon(":/buttons/folder"), QLineEdit::TrailingPosition);
acSatelliteMetaFileSelect->setToolTip(tr("Select File"));
QAction *acSatelliteMetaFileView = ui->lESatelliteMetaFile->addAction(QIcon(":/buttons/doc"), QLineEdit::TrailingPosition);
acSatelliteMetaFileView->setToolTip(tr("View File"));
acSatelliteMetaFileView->setEnabled(false);

// satellite PCV line edit actions
QAction *acSatellitePcvFileSelect = ui->lESatellitePcvFile->addAction(QIcon(":/buttons/folder"), QLineEdit::TrailingPosition);
acSatellitePcvFileSelect->setToolTip(tr("Select File"));
QAction *acSatellitePcvFileView = ui->lESatellitePcvFile->addAction(QIcon(":/buttons/doc"), QLineEdit::TrailingPosition);
Expand Down Expand Up @@ -271,6 +280,8 @@ OptDialog::OptDialog(QWidget *parent, int opts)
connect(ui->buttonBox, &QDialogButtonBox::rejected, this, &OptDialog::reject);
connect(ui->btnLoad, &QPushButton::clicked, this, &OptDialog::loadSettings);
connect(ui->btnSave, &QPushButton::clicked, this, &OptDialog::saveSettings);
connect(acSatelliteMetaFileSelect, &QAction::triggered, this, &OptDialog::selectSatelliteMetaFile);
connect(acSatelliteMetaFileView, &QAction::triggered, this, &OptDialog::viewSatelliteMetaFile);
connect(acAntennaPcvFileSelect, &QAction::triggered, this, &OptDialog::selectAntennaPcvFile);
connect(acAntennaPcvFileView, &QAction::triggered, this, &OptDialog::viewAntennaPcvFile);
connect(ui->lEAntennaPcvFile, &QLineEdit::textChanged, this, [acAntennaPcvFileView, this]()
Expand Down Expand Up @@ -504,6 +515,23 @@ void OptDialog::selectReferencePosition()
setPosition(ui->cBReferencePositionType->currentIndex(), edit, p);
}
//---------------------------------------------------------------------------
void OptDialog::viewSatelliteMetaFile()
{
if (ui->lESatelliteMetaFile->text().isEmpty()) return;

textViewer->read(ui->lESatelliteMetaFile->text());

textViewer->show();
}
//---------------------------------------------------------------------------
void OptDialog::selectSatelliteMetaFile()
{
QString filename = QFileDialog::getOpenFileName(this, tr("Satellite Meta Data Sinex File"), ui->lESatelliteMetaFile->text(), tr("Sinex File (*.snx);All (*.*)"));

if (!filename.isEmpty())
ui->lESatelliteMetaFile->setText(QDir::toNativeSeparators(filename));
}
//---------------------------------------------------------------------------
void OptDialog::viewSatellitePcvFile()
{
if (ui->lESatellitePcvFile->text().isEmpty()) return;
Expand Down Expand Up @@ -650,13 +678,14 @@ void OptDialog::updateOptions()
QLineEdit *editu[] = {ui->lERoverPosition1, ui->lERoverPosition2, ui->lERoverPosition3 };
QLineEdit *editr[] = {ui->lEReferencePosition1, ui->lEReferencePosition2, ui->lEReferencePosition3 };
pcvs_t pcvr;
pcv_t *pcv, pcv0;
pcv_t pcv0;
gtime_t time = timeget();

memset(&pcvr, 0, sizeof(pcvs_t));
memset(&pcv0, 0, sizeof(pcv_t));

// file options
strncpy(fileOptions.satmeta, qPrintable(ui->lESatelliteMetaFile->text()), MAXSTRPATH-1);
strncpy(fileOptions.satantp, qPrintable(ui->lESatellitePcvFile->text()), MAXSTRPATH-1);
strncpy(fileOptions.rcvantp, qPrintable(ui->lEAntennaPcvFile->text()), MAXSTRPATH-1);
strncpy(fileOptions.stapos, qPrintable(ui->lEStationPositionFile->text()), MAXSTRPATH-1);
Expand Down Expand Up @@ -797,24 +826,27 @@ void OptDialog::updateOptions()
}

processingOptions.pcvr[0] = processingOptions.pcvr[1] = pcv0; // initialize antenna PCV
if ((ui->cBRoverAntennaPcv->isChecked() || ui->cBReferenceAntennaPcv->isChecked()) && !readpcv(fileOptions.rcvantp, &pcvr)) {
if ((ui->cBRoverAntennaPcv->isChecked() || ui->cBReferenceAntennaPcv->isChecked()) && !readpcv(fileOptions.rcvantp, 2, &pcvr)) {
QMessageBox::warning(this, tr("Error"), tr("Antenna file read error: \"%1\"").arg(fileOptions.rcvantp));
return;
}
if (ui->cBRoverAntennaPcv->isChecked() && (processingOptions.anttype[0] != QStringLiteral("*"))) {
if ((pcv = searchpcv(0, processingOptions.anttype[0], time, &pcvr)))
processingOptions.pcvr[0] = *pcv;
pcv_t *pcv = searchpcv(0, processingOptions.anttype[0], time, NULL, &pcvr);
if (pcv)
copy_pcv(&processingOptions.pcvr[0], pcv);
else
QMessageBox::warning(this, tr("Error"), tr("No rover antenna PCV: \"%1\"").arg(processingOptions.anttype[0]));
}
if (ui->cBReferenceAntennaPcv->isChecked()&& (processingOptions.anttype[1] != QStringLiteral("*"))) {
if ((pcv = searchpcv(0, processingOptions.anttype[1], time, &pcvr)))
processingOptions.pcvr[1] = *pcv;
pcv_t *pcv = searchpcv(0, processingOptions.anttype[1], time, NULL, &pcvr);
if (pcv)
copy_pcv(&processingOptions.pcvr[1], pcv);
else
QMessageBox::warning(this, tr("Error"), tr("No reference station antenna PCV: \"%1\"").arg(processingOptions.anttype[1]));
}
if (ui->cBRoverAntennaPcv->isChecked() || ui->cBReferenceAntennaPcv->isChecked())
free(pcvr.pcv);
if (ui->cBRoverAntennaPcv->isChecked() || ui->cBReferenceAntennaPcv->isChecked()) {
free_pcvs(&pcvr);
}
fillExcludedSatellites(&processingOptions, ui->lEExcludedSatellites->text());
processingOptions.maxaveep = ui->sBMaxAveEp->value();
processingOptions.initrst = ui->cBInitRestart->isChecked();
Expand Down Expand Up @@ -1041,6 +1073,7 @@ void OptDialog::load(const QString &file)
ui->sBMaxSolutionStd->setValue(solopt.maxsolstd);

// file options
ui->lESatelliteMetaFile->setText(filopt.satmeta);
ui->lESatellitePcvFile->setText(filopt.satantp);
ui->lEAntennaPcvFile->setText(filopt.rcvantp);
ui->lEStationPositionFile->setText(filopt.stapos);
Expand Down Expand Up @@ -1215,6 +1248,7 @@ void OptDialog::save(const QString &file)
strncpy(solOpts.sep, qPrintable(ui->lEFieldSeperator->text()), 63);
solOpts.maxsolstd = ui->sBMaxSolutionStd->value();

strncpy(filopt.satmeta, qPrintable(ui->lESatelliteMetaFile->text()), MAXSTRPATH-1);
strncpy(filopt.satantp, qPrintable(ui->lESatellitePcvFile->text()), MAXSTRPATH-1);
strncpy(filopt.rcvantp, qPrintable(ui->lEAntennaPcvFile->text()), MAXSTRPATH-1);
strncpy(filopt.stapos, qPrintable(ui->lEStationPositionFile->text()), MAXSTRPATH-1);
Expand Down Expand Up @@ -1388,6 +1422,7 @@ void OptDialog::saveOptions(QSettings &settings)
settings.setValue("prcopt/outsingle", processingOptions.outsingle);
settings.setValue("solopt/maxsolstd", ui->sBMaxSolutionStd->value());

settings.setValue("setting/satmetafile", ui->lESatelliteMetaFile->text());
settings.setValue("setting/satpcvfile", ui->lESatellitePcvFile->text());
settings.setValue("setting/antpcvfile", ui->lEAntennaPcvFile->text());
settings.setValue("setting/staposfile", ui->lEStationPositionFile->text());
Expand Down Expand Up @@ -1533,6 +1568,7 @@ void OptDialog::loadOptions(QSettings &settings)
ui->sBBaselineLen->setValue(settings.value("prcopt/baseline1", 0.0).toDouble());
ui->sBBaselineSig->setValue(settings.value("prcopt/baseline2", 0.0).toDouble());

ui->lESatelliteMetaFile->setText(settings.value("setting/satmetafile", "").toString());
ui->lESatellitePcvFile->setText(settings.value("setting/satpcvfile", "").toString());
ui->lEAntennaPcvFile->setText(settings.value("setting/antpcvfile", "").toString());
readAntennaList();
Expand Down Expand Up @@ -1906,7 +1942,7 @@ void OptDialog::readAntennaList()
QString currentRoverAntenna, currentReferenceAntenna;
int i;

if (!readpcv(qPrintable(ui->lEAntennaPcvFile->text()), &pcvs)) return;
if (!readpcv(qPrintable(ui->lEAntennaPcvFile->text()), 2, &pcvs)) return;

/* Save currently defined antennas */
currentRoverAntenna = ui->cBRoverAntenna->currentText();
Expand All @@ -1920,7 +1956,7 @@ void OptDialog::readAntennaList()
ui->cBRoverAntenna->addItem("*"); ui->cBReferenceAntenna->addItem("*");

for (int i = 0; i < pcvs.n; i++) {
if (pcvs.pcv[i].sat) continue;
if (pcvs.pcv[i].sat || pcvs.pcv[i].svn) continue;
if ((p = strchr(pcvs.pcv[i].type, ' '))) *p = '\0';
if (i > 0 && !strcmp(pcvs.pcv[i].type, pcvs.pcv[i - 1].type)) continue;
ui->cBRoverAntenna->addItem(pcvs.pcv[i].type);
Expand All @@ -1933,7 +1969,7 @@ void OptDialog::readAntennaList()
i = ui->cBReferenceAntenna->findText(currentReferenceAntenna);
ui->cBReferenceAntenna->setCurrentIndex(i == -1 ? 0 : i);

free(pcvs.pcv);
free_pcvs(&pcvs);
}
//---------------------------------------------------------------------------
void OptDialog::showKeyDialog()
Expand Down
2 changes: 2 additions & 0 deletions app/qtapp/appcmn_qt/navi_post_opt.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,8 @@ protected slots:
void selectPanelFont();
void selectSolutionFont();
void selectGeoidDataFile();
void viewSatelliteMetaFile();
void selectSatelliteMetaFile();
void viewSatellitePcvFile();
void selectSatellitePcvFile();
void selectLocalDirectory();
Expand Down
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