{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Import libraries" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "from moncenterlib.gnss.tools4rnx import RtkLibConvbin\n", "from moncenterlib.gnss.postprocessing import RtkLibPost" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "converter = RtkLibConvbin()\n", "postproc = RtkLibPost()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Convert raw data to RINEX format" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Create configuration for every stations" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "conf_netr5 = {\n", " 'format': 'rtcm3',\n", " 'rinex_v': '3.04',\n", " 'start_time': '',\n", " 'end_time': '',\n", " 'interval': '0',\n", " 'freq': '32',\n", " 'system': 'G,R,E,J,S,C,I',\n", " 'output_o': '1',\n", " 'output_n': '0',\n", " 'output_g': '0',\n", " 'output_h': '0',\n", " 'output_q': '0',\n", " 'output_l': '0',\n", " 'output_b': '0',\n", " 'output_i': '0',\n", " 'output_s': '0',\n", " 'other_od': '1',\n", " 'other_os': '1',\n", " 'other_oi': '1',\n", " 'other_ot': '1',\n", " 'other_ol': '1',\n", " 'other_halfc': '1',\n", " 'comment': '',\n", " 'marker_name': 'NSKN',\n", " 'marker_number': '00',\n", " 'marker_type': 'GEODETIC',\n", " 'about_name': '',\n", " 'about_agency': 'SSUGT',\n", " 'receiver_number': '4733K10360',\n", " 'receiver_type': 'TRIMBLE NET R5',\n", " 'receiver_version': '4.41',\n", " 'antenna_number': '000000000',\n", " 'antenna_type': 'HXCCSX601A NONE',\n", " 'approx_position_x': '',\n", " 'approx_position_y': '',\n", " 'approx_position_z': '',\n", " 'antenna_delta_h': '',\n", " 'antenna_delta_e': '',\n", " 'antenna_delta_n': ''\n", " }" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "conf_zedf9p = {\n", " 'format': 'ubx',\n", " 'rinex_v': '3.04',\n", " 'start_time': '',\n", " 'end_time': '',\n", " 'interval': '1',\n", " 'freq': '32',\n", " 'system': 'G,R,E,J,S,C,I',\n", " 'output_o': '1',\n", " 'output_n': '0',\n", " 'output_g': '0',\n", " 'output_h': '0',\n", " 'output_q': '0',\n", " 'output_l': '0',\n", " 'output_b': '0',\n", " 'output_i': '0',\n", " 'output_s': '0',\n", " 'other_od': '1',\n", " 'other_os': '1',\n", " 'other_oi': '1',\n", " 'other_ot': '1',\n", " 'other_ol': '1',\n", " 'other_halfc': '1',\n", " 'comment': '',\n", " 'marker_name': 'NSKN',\n", " 'marker_number': '00',\n", " 'marker_type': 'GEODETIC',\n", " 'about_name': '',\n", " 'about_agency': 'SSUGT',\n", " 'receiver_number': '0000000001',\n", " 'receiver_type': 'U-Blox ZED-F9P-01B-01',\n", " 'receiver_version': '',\n", " 'antenna_number': '000000000',\n", " 'antenna_type': 'HXCCSX601A NONE',\n", " 'approx_position_x': '',\n", " 'approx_position_y': '',\n", " 'approx_position_z': '',\n", " 'antenna_delta_h': '',\n", " 'antenna_delta_e': '',\n", " 'antenna_delta_n': ''\n", " }" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "conf_simple = {\n", " 'format': 'ubx',\n", " 'rinex_v': '3.04',\n", " 'start_time': '',\n", " 'end_time': '',\n", " 'interval': '1',\n", " 'freq': '32',\n", " 'system': 'G,R,E,J,S,C,I',\n", " 'output_o': '1',\n", " 'output_n': '0',\n", " 'output_g': '0',\n", " 'output_h': '0',\n", " 'output_q': '0',\n", " 'output_l': '0',\n", " 'output_b': '0',\n", " 'output_i': '0',\n", " 'output_s': '0',\n", " 'other_od': '1',\n", " 'other_os': '1',\n", " 'other_oi': '1',\n", " 'other_ot': '1',\n", " 'other_ol': '1',\n", " 'other_halfc': '1',\n", " 'comment': '',\n", " 'marker_name': 'NSKN',\n", " 'marker_number': '00',\n", " 'marker_type': 'GEODETIC',\n", " 'about_name': '',\n", " 'about_agency': 'SSUGT',\n", " 'receiver_number': '0000000001',\n", " 'receiver_type': 'Simple ST901P-L1105',\n", " 'receiver_version': '',\n", " 'antenna_number': '000000000',\n", " 'antenna_type': 'HXCCSX601A NONE',\n", " 'approx_position_x': '',\n", " 'approx_position_y': '',\n", " 'approx_position_z': '',\n", " 'antenna_delta_h': '',\n", " 'antenna_delta_e': '',\n", " 'antenna_delta_n': ''\n", " }" ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "conf_nav = {\n", " 'format': 'rtcm3',\n", " 'rinex_v': '3.04',\n", " 'start_time': '',\n", " 'end_time': '',\n", " 'interval': '1',\n", " 'freq': '32',\n", " 'system': 'G,R,E,J,S,C,I',\n", " 'output_o': '0',\n", " 'output_n': '1',\n", " 'output_g': '0',\n", " 'output_h': '0',\n", " 'output_q': '0',\n", " 'output_l': '0',\n", " 'output_b': '0',\n", " 'output_i': '0',\n", " 'output_s': '0',\n", " 'other_od': '1',\n", " 'other_os': '1',\n", " 'other_oi': '1',\n", " 'other_ot': '1',\n", " 'other_ol': '1',\n", " 'other_halfc': '1',\n", " 'comment': '',\n", " 'marker_name': '',\n", " 'marker_number': '',\n", " 'marker_type': '',\n", " 'about_name': '',\n", " 'about_agency': '',\n", " 'receiver_number': '',\n", " 'receiver_type': '',\n", " 'receiver_version': '',\n", " 'antenna_number': '',\n", " 'antenna_type': '',\n", " 'approx_position_x': '',\n", " 'approx_position_y': '',\n", " 'approx_position_z': '',\n", " 'antenna_delta_h': '',\n", " 'antenna_delta_e': '',\n", " 'antenna_delta_n': ''\n", " }" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [], "source": [ "# converter.start(f\"/home/danisimo/Summer_Experiment/Obs/NETR5/obs.log\",\n", "# f\"/home/danisimo/Summer_Experiment/Obs/NETR5/\", conf_netr5)\n", "# converter.start(f\"/home/danisimo/Summer_Experiment/Obs/NETR5/nav.log\",\n", "# f\"/home/danisimo/Summer_Experiment/Obs/NETR5/\", conf_nav)\n", "\n", "# converter.start(f\"/home/danisimo/Summer_Experiment/Obs/Simple/obs.log\",\n", "# f\"/home/danisimo/Summer_Experiment/Obs/Simple/\", conf_simple)\n", "# converter.start(f\"/home/danisimo/Summer_Experiment/Obs/Simple/nav.log\",\n", "# f\"/home/danisimo/Summer_Experiment/Obs/Simple/\", conf_nav)\n", "\n", "# converter.start(f\"/home/danisimo/Summer_Experiment/Research_simple/NETR5_R_2024323075156_01D_01S_MO.log\",\n", "# f\"/home/danisimo/Summer_Experiment/Research_simple/\", conf_netr5)\n", "# converter.start(f\"/home/danisimo/Summer_Experiment/Research_simple/NAV_R_2024323075157_01D_01S_MO.log\",\n", "# f\"/home/danisimo/Summer_Experiment/Research_simple/\", conf_nav)\n" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "from moncenterlib.gnss.rgs_client import RGSClient\n", "rgs = RGSClient(\"qdZsTWSBRlTXvgZRsyesXgst5l09iUJUnt2jGa7bEXwLa3RwXqfaI6Qa079O\", False)\n", "query = {\n", " \"working_center\": \"NSK1\",\n", " \"date\": \"2024-11-19\",\n", " \"type\": \"O\"\n", "}\n", "\n", "output_path = \"/home/danisimo/Summer_Experiment/Research_simple/\"\n", "rgs.download_files(output_path, query)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "from moncenterlib.gnss.cddis_client import CDDISClient\n", "\n", "cdddis = CDDISClient()\n", "query = {\n", " \"dates\": {\"start\": \"2024-11-19\", \"end\": \"2024-11-19\"},\n", " \"station\": \"NOVM\",\n", " \"type\": \"o\",\n", " \"rinex_v\": \"auto\"\n", " }\n", "cdddis.get_daily_30s_data(\"./Base/NOVM/\", query)" ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [], "source": [ "from moncenterlib.gnss.gnss_time_series import parse_pos_file\n", "import pandas as pd\n", "import math\n", "import numpy as np\n", "from pprint import pprint\n", "from moncenterlib.gnss.quality_check import Anubis\n", "\n", "def create_df(path):\n", " header, data = parse_pos_file(path)\n", " df = pd.DataFrame(data, columns=header[\"name_columns\"])\n", " df[\"GPST\"] = pd.to_datetime(df[\"GPST\"], format=\"%Y/%m/%d %H:%M:%S.%f\")\n", " df.set_index('GPST', inplace=True)\n", " df['e-baseline(m)'] = df['e-baseline(m)'].astype(float)\n", " df['n-baseline(m)'] = df['n-baseline(m)'].astype(float)\n", " df['u-baseline(m)'] = df['u-baseline(m)'].astype(float)\n", " df['Q'] = df['Q'].astype(int)\n", " df['ns'] = df['ns'].astype(int)\n", " df['sde(m)'] = df['sde(m)'].astype(float)\n", " df['sdn(m)'] = df['sdn(m)'].astype(float)\n", " df['sdu(m)'] = df['sdu(m)'].astype(float)\n", " df['sden(m)'] = df['sden(m)'].astype(float)\n", " df['sdnu(m)'] = df['sdnu(m)'].astype(float)\n", " df['sdue(m)'] = df['sdue(m)'].astype(float)\n", " df['age(s)'] = df['age(s)'].astype(float)\n", " df['ratio'] = df['ratio'].astype(float)\n", "\n", " return df\n", "\n", "def calc_kinematic(df: pd.DataFrame, ref: list):\n", " print(\"++++++++++\")\n", " print(\"KINEMATIC\")\n", " df_q1 = df[df[\"Q\"] == 1]\n", "\n", " STD_E = round(df_q1[\"e-baseline(m)\"].std(), 4)\n", " STD_N = round(df_q1[\"n-baseline(m)\"].std(), 4)\n", " STD_U = round(df_q1[\"u-baseline(m)\"].std(), 4)\n", "\n", " coord_means = df_q1[[\"e-baseline(m)\", \"n-baseline(m)\", \"u-baseline(m)\"]].mean().to_list()\n", " coord_means = list(map(lambda x: round(x, 4), coord_means))\n", " print(f\"Coordinates E: {coord_means[0]} N: {coord_means[1]} U: {coord_means[2]}\")\n", "\n", " print(f\"STD E: {STD_E} N: {STD_N} U: {STD_U}\")\n", "\n", "def calc_RMSE(df: pd.DataFrame, ref: list, is_kinematic: bool):\n", " if is_kinematic:\n", " df_q1 = df[df[\"Q\"] == 1]\n", " else:\n", " df_q1 = df\n", " RMSE_E = round(math.sqrt(((df_q1[\"e-baseline(m)\"] - ref[0]) ** 2).sum() / (len(df_q1))), 4)\n", " RMSE_N = round(math.sqrt(((df_q1[\"n-baseline(m)\"] - ref[1]) ** 2).sum() / len(df_q1)), 4)\n", " RMSE_U = round(math.sqrt(((df_q1[\"u-baseline(m)\"] - ref[2]) ** 2).sum() / len(df_q1)), 4)\n", " print(f\"RMSE E: {RMSE_E} N: {RMSE_N} U: {RMSE_U}\")\n", "\n", "def calc_last_obs(df: pd.DataFrame):\n", " print(\"++++++++++\")\n", " print(\"STATIC\")\n", " coords = df.iloc[-1][0:3].to_list()\n", " errors = df.iloc[-1][5:8].to_list()\n", " print(f\"Coordinates E: {coords[0]} N: {coords[1]} U: {coords[2]}\")\n", " print(f\"STD E: {errors[0]} N: {errors[1]} U: {errors[2]}\")\n", "\n", "def calc_fix(df: pd.DataFrame):\n", " per = int((len(df[df[\"Q\"] == 1]) * 100) / len(df))\n", " print(f\"FIX {per}%\")\n", "\n", "def calc_MAE(df: pd.DataFrame, ref: list, is_kinematic: bool):\n", " if is_kinematic:\n", " df_q1 = df[df[\"Q\"] == 1]\n", " else:\n", " df_q1 = df\n", " MAE_E = round(((df_q1[\"e-baseline(m)\"] - ref[0]).abs()).mean(), 4)\n", " MAE_N = round(((df_q1[\"n-baseline(m)\"] - ref[1]).abs()).mean(), 4)\n", " MAE_U = round(((df_q1[\"u-baseline(m)\"] - ref[2]).abs()).mean(), 4)\n", " print(f\"MAE E: {MAE_E}, N: {MAE_N}, U: {MAE_U}\")\n", "\n", "def calc(path_static, path_kinematic, name_rover, name_base, ref):\n", " print(\"==========\")\n", " \n", " print(f\"Rover: {name_rover}, Base: {name_base}\")\n", " df_static = create_df(path_static)\n", " calc_last_obs(df_static)\n", " calc_RMSE(df_static, ref, False)\n", " calc_MAE(df_static, ref, False)\n", " calc_fix(df_static)\n", "\n", " df_kinematic = create_df(path_kinematic)\n", " calc_kinematic(df_kinematic, ref)\n", " calc_RMSE(df_kinematic, ref, True)\n", " calc_MAE(df_kinematic, ref, True)\n", " calc_fix(df_kinematic)\n", "\n", " print(\"==========\\n\")\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Base NSK1" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "df_netr5_ref = create_df(\"./Ref/pos/NETR5_NSK1.pos\")\n", "coords_netr5_ref = df_netr5_ref.iloc[-1][0:3].to_list()\n", "std_netr5_ref = df_netr5_ref.iloc[-1][5:8].to_list()\n", "offset_H = 0.041\n", "coords_netr5_ref[2] -= offset_H\n", "coords_netr5_ref" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "calc(\"./Simple/pos_NSK1/obs_static.pos\", \"./Simple/pos_NSK1/obs_kinematic.pos\", \"Simple\", \"NSK1\", coords_netr5_ref)\n", "calc(\"./ZEDF9P/pos_NSK1/obs_static.pos\", \"./ZEDF9P/pos_NSK1/obs_kinematic.pos\", \"ZedF9P\", \"NSK1\", coords_netr5_ref)\n", "calc(\"./NETR5/pos_NSK1/obs_static.pos\", \"./NETR5/pos_NSK1/obs_kinematic.pos\", \"NETR5\", \"NSK1\", coords_netr5_ref)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Base NVS2" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "df_netr5_ref = create_df(\"./Ref/pos/NETR5_NVS2.pos\")\n", "coords_netr5_ref = df_netr5_ref.iloc[-1][0:3].to_list()\n", "std_netr5_ref = df_netr5_ref.iloc[-1][5:8].to_list()\n", "offset_H = 0.043\n", "coords_netr5_ref[2] -= offset_H\n", "coords_netr5_ref" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "calc(\"./Simple/pos_NVS2/obs_static.pos\", \"./Simple/pos_NVS2/obs_kinematic.pos\", \"Simple\", \"NVS2\", coords_netr5_ref)\n", "calc(\"./ZEDF9P/pos_NVS2/obs_static.pos\", \"./ZEDF9P/pos_NVS2/obs_kinematic.pos\", \"ZedF9P\", \"NVS2\", coords_netr5_ref)\n", "calc(\"./NETR5/pos_NVS2/obs_static.pos\", \"./NETR5/pos_NVS2/obs_kinematic.pos\", \"NETR5\", \"NVS2\", coords_netr5_ref)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Base NOVM\n" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "df_netr5_ref = create_df(\"./Ref/pos/NETR5_NOVM.pos\")\n", "coords_netr5_ref = df_netr5_ref.iloc[-1][0:3].to_list()\n", "std_netr5_ref = df_netr5_ref.iloc[-1][5:8].to_list()\n", "offset_H = 0.0458\n", "coords_netr5_ref[2] -= offset_H\n", "coords_netr5_ref" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "calc(\"./Simple/pos_NOVM/obs_static.pos\", \"./Simple/pos_NOVM/obs_kinematic.pos\", \"Simple\", \"NOVM\", coords_netr5_ref)\n", "calc(\"./ZEDF9P/pos_NOVM/obs_static.pos\", \"./ZEDF9P/pos_NOVM/obs_kinematic.pos\", \"ZedF9P\", \"NOVM\", coords_netr5_ref)\n", "calc(\"./NETR5/pos_NOVM/obs_static.pos\", \"./NETR5/pos_NOVM/obs_kinematic.pos\", \"NETR5\", \"NOVM\", coords_netr5_ref)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": ".venv", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.10.13" } }, "nbformat": 4, "nbformat_minor": 2 }