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GNSS_utils.R
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GNSS_utils.R
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# GNSS_utils written for PRJ3280
library(tidyverse)
library(sf)
library(readxl)
library(mapview)
library(plotly)
library(ggforce)
library(pdftools)
# to include this set of utilities in other code:
#source("C:/Users/McMillanAn/OneDrive - MWLR/Projects/PRJ3820-DOC-GNSS/Code/R/PRJ3820-DOC-GNSS/GNSS_utils.R")
FSlash<- function(path = "clipboard") {
y <- if (path == "clipboard") {
readClipboard()
} else {
cat("Please enter the path:\n\n")
readline()
}
x <- chartr("\\", "/", y)
writeClipboard(x)
return(x)
}
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
### crs_convert
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
crs_convert = function(csv_ffn = NULL, crs_src, crs_dst, plot_dst=T){
#
# EPSG:9988 ITRF2020 Cartesian/Geocentric Ellipsoid: GRS 1980
# EPSG:9990 ITRF2020 Geodetic (degrees) Ellipsoid: GRS 1980
# EPSG:7789 ITRF2014 Cartesian/Geocentric Ellipsoid: GRS 1980
# EPSG:7912 ITRF2014 Geodetic Ellipsoid: GRS 1980
# EPSG:32760 UTM Zone 60S Geodetic Ellipsoid: GRS 1980
csv_ffn = NULL
crs_src = 7912
crs_dst = 2193
if (is.null(csv_ffn)){csv_ffn = "C:/temp/coords2convert.csv"}
src_data = read.csv("C:/temp/coords2convert.csv")
if (is.na(src_data$LAT_SRC[1] )){
#this means that the input data is in DMS format
src_data = src_data %>%
mutate(
LAT_SRC = sign(LAT_DEG) *(abs(LAT_DEG) + LAT_MIN/60 + LAT_SEC/3600),
LON_SRC = sign(LON_DEG) *(abs(LON_DEG) + LON_MIN/60 + LON_SEC/3600)
)
}
crs_conv2 = function(DMS_LATLON = NULL, DD_LATLON = NULL, src_crs, dst_crs){
DMS_LATLON = c(-40,20,10.51917, 175,48,45.27946)
DMS_LATLON = c(-40,20,10.5481, 175,48,45.4390)
src_crs = 9990
dst_crs = 32760
if (!is.null(DMS_LATLONG)){
DD_LAT = sign(DMS_LATLON[1]) * (abs(DMS_LATLON[1]) + DMS_LATLON[2]/60 + DMS_LATLON[3]/3600)
DD_LON = sign(DMS_LATLON[4]) * (abs(DMS_LATLON[4]) + DMS_LATLON[5]/60 + DMS_LATLON[6]/3600)
DD_LATLON = c(DD_LAT, DD_LON)
}
DF = data.frame(X = DD_LATLON[2], Y = DD_LATLON[1])
SF_src = st_as_sf(DF, coords = c("X","Y"), crs = "EPSG:7912")
SF_dst = st_transform(SF_src, crs = dst_crs)
SF_2193 = st_transform(SF_dst, crs = "EPSG:2193")
sprintf("%.12f",st_coordinates(SF_dst))
sprintf("%.12f",st_coordinates(SF_2193))
}
src_sf = st_as_sf(src_data, coords = c("LON_SRC", "LAT_SRC"), crs = crs_src)
# src_sf = st_as_sf(src, coords = c(-4855980.940, 355080.488), crs = 7789)
mapview(src_sf)
int_sf = st_transform(src_sf, "epsg:4326")
dst_sf = st_transform(int_sf, "epsg:2193")
#
dst_coords = st_coordinates(dst_sf) %>% as.data.frame()
dst = src_data %>%
mutate(
SRC_CRS = crs_src,
LAT_DST = dst_coords$Y,
LON_DST = dst_coords$X,
DST_CRS = crs_dst
)
if (plot_dst){mapview(dst_sf)}
sprintf("%.3f",dst$LAT_DST)
sprintf("%.3f",dst$LON_DST)
results_out_ffn = paste0(tools::file_path_sans_ext(csv_ffn),"_converted.csv")
write_csv(dst, results_out_ffn)
}
draw_circle=function(g, RADIUS, CX, CY, NPOINTS = 100, COL = "red", LTYPE = "dashed"){
CIRC = circleFun(center = c(CX, CY), diameter = RADIUS*2, npoints = NPOINTS)
g = g + geom_path(data = CIRC, aes(x,y), color = COL, linetype = LTYPE)
g
}
circleFun <- function(center = c(0,0),diameter = 1, npoints = 100){
r = diameter / 2
tt <- seq(0,2*pi,length.out = npoints)
xx <- center[1] + r * cos(tt)
yy <- center[2] + r * sin(tt)
circ = data.frame(x = xx, y = yy)
# circ_pos = circ %>% filter(y>=center[2]) %>% dplyr::arrange(x)
# circ_neg = circ %>% filter(y<=center[2]) %>% dplyr::arrange(x, "desc")
# circ_srt = bind_rows(circ_pos, circ_neg)
return(circ)
}
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
### rotate coordinate system to find angle of rotation that
# minimizes correlation between EASTING AND NORTHING Coordinates
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#+
find_semi_major = function(D, known_loc){
# D = read_csv("c:/temp/CRSD.csv") %>%
# mutate(
# DX = X-known_loc$X,
# DY = Y-known_loc$Y,
# )
# known_loc = data.frame(PEG = 6, X = 1838913.032, Y = 5531118.301)
D = D %>%
mutate(
DX = X - known_loc$X,
DY = Y - known_loc$Y
)
interv_deg = 1 # degrees
interv = interv_deg*pi/180
angles = seq(-pi/2, pi/2, interv)
for (i in 1:length(angles)){
itheta = angles[4]
itheta = angles[i]
Drot = D %>%
mutate(
DXROT = DX * cos(itheta) + DY * sin(itheta),
DYROT = -1 * DX * sin(itheta) + DY * cos(itheta)
)
COV_orig = cov(Drot$DX, Drot$DY)
COV = cov(Drot$DXROT, Drot$DYROT)
DROW = data.frame(i, itheta, COV)
if (i==1){
DOUT = DROW
} else {
DOUT = DOUT %>% bind_rows(DROW)
}
}
print(DOUT)
min_cov_theta = DOUT$itheta[which.min(abs(DOUT$COV))]
min_cov_theta_deg = min_cov_theta*180/pi
g = ggplot(DOUT) + geom_point(aes(itheta, COV))
g = g + geom_vline(aes(xintercept = min_cov_theta))
g
Drot_final = D %>%
mutate(
DXROT = DX * cos(min_cov_theta) + DY * sin(min_cov_theta),
DYROT = -1 * DX * sin(min_cov_theta) + DY * cos(min_cov_theta)
)
g = ggplot(Drot_final) + geom_point(aes(DX, DY))
g = g + geom_point(aes(DXROT, DYROT), color = "red")
g = g + lims(x = c(-.75,.75), y = c(-.75,.75))
g
DX_SIGMA_95 = 2 * sd(Drot_final$DXROT)
DY_SIGMA_95 = 2 * sd(Drot_final$DYROT)
DX_SIGMA_95_ROT = DX_SIGMA_95 * cos(min_cov_theta) + 0 * sin(min_cov_theta)
DY_SIGMA_95_ROT = 0 * cos(min_cov_theta) + DY_SIGMA_95 * sin(min_cov_theta)
if (DX_SIGMA_95 > DY_SIGMA_95){
Semimajor_azimuth = min_cov_theta
Semiminor_azimuth = min_cov_theta - pi/2
Semimajor_2SD = DX_SIGMA_95
Semiminor_2SD = DY_SIGMA_95
}else{
Semimajor_azimuth = min_cov_theta - pi/2
Semiminor_azimuth = min_cov_theta
Semimajor_2SD = DY_SIGMA_95
Semiminor_2SD = DX_SIGMA_95
}
DOUT = data.frame(
Semimajor_azimuth = Semimajor_azimuth,
Semiminor_azimuth = Semiminor_azimuth,
Semimajor_2SD = Semimajor_2SD,
Semiminor_2SD = Semiminor_2SD)
# NOW ROTATE THE sigma values
# ggplot(DOUT) + geom_ellipse(aes(x0 = 0,y0 = 0, a = Semimajor_2SD, b = Semiminor_2SD, angle = 90 ))
return(DOUT)
}
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
### plot ellipse
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#
# g = ggplot object that the ellipse will be plotted to
# XC = x coordinate of centre of ellipse
# XY = y coordinate of centre of ellipse
# A = semi-minor axis of ellipse
# B = semi-major axis of ellipse
# THETA = angle (measured anticlockwise from positive horisontal axis) of ellipse
plot_ellipse = function(g, XC, YC, A, B, THETA){
#
# XC = 0
# YC = 0
# A = 4
# B = 2
# THETA = pi/4
t = seq(0, 2*pi, 0.01)
x = XC + A*cos(t)*cos(THETA) - B*sin(t)*sin(THETA)
y = YC + A*cos(t)*cos(THETA) + B*sin(t)*cos(THETA)
DF = data.frame(t,x,y)
g2 = ggplot(DF) + geom_path(aes(x=x,y=y))
g2 = g2 + geom_point()
g2 = g2 + geom_point(data = DF, aes(x,y))
g3 = ggplot(DF) + geom_point(aes(x=x,y=y))
g3 = g3 + geom_path(aes(x,y), color="red")
return(g)
}
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
### calc_acc_and_prec
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#+
calc_acc_and_prec = function(GNSS_data, known_loc){
n = nrow(GNSS_data)
melap = max(GNSS_data$melap)
GNSS_data = GNSS_data %>%
mutate(
X_DEV = (X - known_loc$X),
Y_DEV = (Y - known_loc$Y),
X_DEV2 = X_DEV^2,
Y_DEV2 = Y_DEV^2
)
GNSS_data_smy = GNSS_data %>%
summarise(
mean_X_DEV = mean(X_DEV),
mean_Y_DEV = mean(Y_DEV),
M_X_tmp = sum(X_DEV2),
M_Y_tmp = sum(Y_DEV2),
SIGMA_X = sd(X_DEV),
SIGMA_Y = sd(Y_DEV)
) %>%
mutate(
M_X = sqrt(M_X_tmp/n),
M_Y = sqrt(M_Y_tmp/n),
# M_ACC = sqrt(M_X^2 + M_Y^2),
M_ACC = sqrt(mean_X_DEV^2 + mean_Y_DEV^2),
M_PREC = sqrt(SIGMA_X^2 + SIGMA_X^2), #this is DRMS
DRMS_65 = sqrt(SIGMA_X^2 + SIGMA_X^2),
DRMS_95 = 2*DRMS_65,
SIG_Y_X_RATIO = SIGMA_Y/SIGMA_X,
CEP_50 = ifelse(SIG_Y_X_RATIO > 0.3, 0.62*SIGMA_Y + 0.56*SIGMA_X, DRMS_95/2.4),#accurate when SIGMA
CEP_95 = CEP_50*2.08,
N_MEAS = n,
minutes_elapsed = melap)
}
### ===> Function analyze_POS\\
# calls
#
# anl_pos_fig_1
# calc_acc_and_prec
#-----------------------------------------------------------------------#
# read_POS: read an RTKLIB output file
#-----------------------------------------------------------------------#
read_POS = function(POS_ffn,FMT_OPT=NULL){
lines = readLines(POS_ffn,100)
NSKIP = min(which(!( str_detect(lines, "^\\%"))))-1
if (is.null(FMT_OPT)){
D = read_csv(POS_ffn, skip = NSKIP, col_names =F, show_col_types = FALSE)
HDRS = c("GPS_Week", "GPS_Time", "Lat_DD", "Lon_DD", "Ht_ell", "Q",
"nvsv","sdn", "sde", "sdu", "sdne" , "sdeu","sdun", "age" ,"ratio")
names(D) <- HDRS
D %>% pull(GPS_Week) %>% unique()
D = D %>%
mutate(
across(Lat_DD:ratio, as.numeric),
melap = (GPS_Time - GPS_Time[1])/60,
UTC_TIME_PX = GPS_tm_2_UTC(GPS_Week , GPS_Time ))
}else{
leapseconds_curr = 18
if (FMT_OPT==2){
D = read_csv(POS_ffn, skip = NSKIP, col_names =F)
HDRS = c("GPS_DateTime", "Lat_DD", "Lon_DD", "Ht_ell", "Q",
"nvsv","sdn", "sde", "sdu", "sdne" , "sdeu","sdun", "age" , "ratio")
names(D) <- HDRS
D = D %>%
dplyr::filter(!is.na(GPS_DateTime) | GPS_DateTime != "" | GPS_DateTime != "NA") %>%
mutate(
GPS_Time = as.POSIXct(GPS_DateTime, format = "%Y/%m/%d %H:%M:%S"),
melap = (as.numeric(GPS_Time) - as.numeric(GPS_Time[1]))/60,
UTC_TIME_PX = GPS_Time + seconds(leapseconds_curr)
)
} else if (FMT_OPT==3){
# This is for the EMLID LLH files
D = read.table(POS_ffn, skip = 0, header =F, sep = "") %>% as_tibble()
HDRS = c("GPS_YMD", "GPS_HMS", "Lat_DD", "Lon_DD", "Ht_ell", "Q",
"nvsv","sdn", "sde", "sdu", "sdne" , "sdeu","sdun", "age" , "ratio")
names(D) = HDRS
D = D %>%
mutate(
GPS_DateTime = paste(GPS_YMD,GPS_HMS),
GPS_Time = as.POSIXct(GPS_DateTime, format = "%Y/%m/%d %H:%M:%OS"),
melap = (as.numeric(GPS_Time) - as.numeric(GPS_Time[1]))/60,
UTC_TIME_PX = GPS_Time + seconds(leapseconds_curr)
)
} else if (FMT_OPT==4){
# This is for the EMLID files created by EMLID studio
D = read.table(POS_ffn, skip = 11, header =F, sep = "") %>% as_tibble()
HDRS = c("GPS_YMD", "GPS_HMS", "Lat_DD", "Lon_DD", "Ht_ell", "Q",
"nvsv","sdn", "sde", "sdu", "sdne" , "sdeu","sdun", "age" , "ratio")
names(D) = HDRS
D = D %>%
mutate(
GPS_DateTime = paste(GPS_YMD,GPS_HMS),
GPS_Time = as.POSIXct(GPS_DateTime, format = "%Y/%m/%d %H:%M:%OS"),
melap = (as.numeric(GPS_Time) - as.numeric(GPS_Time[1]))/60,
UTC_TIME_PX = GPS_Time + seconds(leapseconds_curr)
)
} else if (FMT_OPT==5){
# This is for the EMLID files created by DEMO Version of RTKLIB
D = read.table(POS_ffn, skip = NSKIP, header =F, sep = "") %>% as_tibble()
HDRS = c("GPS_YMD", "GPS_HMS", "Lat_DD", "Lon_DD", "Ht_ell", "Q",
"nvsv","sdn", "sde", "sdu", "sdne" , "sdeu","sdun", "age" , "ratio")
names(D) = HDRS
D = D %>%
mutate(
GPS_DateTime = paste(GPS_YMD,GPS_HMS),
GPS_Time = as.POSIXct(GPS_DateTime, format = "%Y/%m/%d %H:%M:%OS"),
melap = (as.numeric(GPS_Time) - as.numeric(GPS_Time[1]))/60,
UTC_TIME_PX = GPS_Time + seconds(leapseconds_curr)
)
} else {
D = read_csv(POS_ffn, skip = NSKIP, col_names =F)
HDRS = c("GPS_Week", "GPS_Time", "Lat_DD", "Lon_DD", "Ht_ell", "Q",
"nvsv","sdn", "sde", "sdu", "sdne" , "sdeu","sdun", "age" ,"ratio")
names(D) <- HDRS
D %>% pull(GPS_Week) %>% unique()
D = D %>%
mutate(
across(Lat_DD:ratio, as.numeric),
melap = (GPS_Time - GPS_Time[1])/60,
UTC_TIME_PX = GPS_tm_2_UTC(GPS_Week , GPS_Time ))
}
}
return(D)
}
#======================================================================================#
# figure 1. the xy plot of the solution
#======================================================================================#
anl_pos_fig_1 = function(D_sf, RCVR, OCC, PEG, PERIOD, METHOD, known_loc, plotdir, plotdim, limax, CEP=NULL){
CRDS = D_sf %>%
st_coordinates() %>% as.data.frame() %>% as_tibble() %>%
mutate(melap = D_sf$melap)
CRDS_last5 = CRDS %>% tail(10) %>% summarise(across(everything(), mean))
# DEL = sqrt( (known_loc$X - CRDS$X)^2 + (known_loc$Y - CRDS$Y)^2 )
AccPrec = calc_acc_and_prec(CRDS, known_loc)
if (is.null(CEP)){CEP = c(AccPrec$CEP_50, AccPrec$CEP_95)}
minx = min(CRDS$X)
maxx = max(CRDS$X)
miny = min(CRDS$Y)
maxy = max(CRDS$Y)
rngx = maxx - minx
rngy = maxy - miny
rng_largest = max(c(rngx,rngy))
# midx = mean(c(minx, maxx))
# midy = mean(c(miny, maxy))
midx = known_loc$X
midy = known_loc$Y
# plotdim = rng_largest * 1.3
# plotdim = 3
xlim = c(midx - 0.5*plotdim, midx + 0.5*plotdim)
ylim = c(midy - 0.5*plotdim, midy + 0.5*plotdim)
if (limax){
g = ggplot(D_sf) + geom_sf(aes(fill = melap, color = melap)) + coord_sf(datum = 2193, xlim = xlim, ylim = ylim) + geom_point(data = known_loc, aes(X,Y), color = "red", size =5) + scale_fill_continuous(type = "viridis") + scale_color_continuous(type = "viridis")
}else{
g = ggplot(D_sf) + geom_sf(aes(fill = melap, color = melap)) + coord_sf(datum = 2193) + geom_point(data = known_loc, aes(X,Y), color = "red", size =5) + scale_fill_continuous(type = "viridis") + scale_color_continuous(type = "viridis")
}
if (!is.null(CEP)){
#
# CEP_50 = CEP[1]
# XNDIVS_50 = 100
# DIVSZ_50 = 2*CEP_50/XNDIVS_50
# XSERIES_50 = seq(-1*CEP_50, CEP_50, by=DIVSZ_50)
# YSERIES_50_POS = sqrt(CEP_50^2 - ((XSERIES_50 - known_loc$X)^2)) + known_loc$Y
# YSERIES_50_NEG = -1*(sqrt(CEP_50^2 - ((XSERIES_50 - known_loc$X)^2)) + known_loc$Y)
# CEP_50_df = data.frame(X = c(XSERIES_50, XSERIES_50), Y = c(YSERIES_50_POS, YSERIES_50_NEG))
#
# CEP_95 = CEP[2]
# XNDIVS_95 = 100
# DIVSZ_95 = 2*CEP_95/XNDIVS_95
# XSERIES_95 = seq(-1*CEP_95, CEP_95, by=DIVSZ_95)
# YSERIES_95_POS = sqrt(CEP_95^2 - ((XSERIES_95 - known_loc$X)^2)) + known_loc$Y
# YSERIES_95_NEG = -1*(sqrt(CEP_95^2 - ((XSERIES_95 - known_loc$X)^2)) + known_loc$Y)
# CEP_95_df = data.frame(X = c(XSERIES_95, XSERIES_95), Y = c(YSERIES_95_POS, YSERIES_95_NEG))
#
CEP_50 = CEP[1]
g = draw_circle(g, CEP_50, CX = known_loc$X, CY = known_loc$Y, NPOINTS = 100)
CEP_95 = CEP[2]
g = draw_circle(g, CEP_95, CX = known_loc$X, CY = known_loc$Y, NPOINTS = 100)
}
g = g + scale_x_continuous(breaks = seq(xlim[1], xlim[2]))
g = g + scale_y_continuous(breaks = seq(ylim[1], ylim[2]))
g = g + labs(x= "EASTING (m)", y = "NORTHING (m)", color = "Occupation\nTime\n(minutes)")
g = g + scale_fill_continuous(guide = 'none')
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.05, label = RCVR, hjust=0)
g
DESCR = paste("Peg", PEG," - Occupation", OCC, " - ", PERIOD)
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.15, label = DESCR, hjust=0)
ACC_PREC_METRICS = paste0("M_Acc = ", formatC(AccPrec$M_ACC, digits = 11) , ", M_Prec = ", formatC(AccPrec$M_PREC, digits = 11) )
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.25, label = ACC_PREC_METRICS, hjust=0)
g
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.55, label = paste0("DRMS(65%) = ", formatC(AccPrec$DRMS_65, digits = 3), "m"), hjust=0)
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.60, label = paste0("DRMS(95%) = ", formatC(AccPrec$DRMS_95, digits = 3), "m"), hjust=0)
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.65, label = paste0("CEP(50%) = ", formatC(AccPrec$CEP_50, digits = 3), "m"), hjust=0)
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.70, label = paste0("CEP(95%) = ", formatC(AccPrec$CEP_95, digits = 3), "m"), hjust=0)
g
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.85, label = paste0("Known Peg Location = \nX: ",known_loc$X , ", Y: ", known_loc$Y), hjust=0)
g
g = g + annotate("text", x = xlim[1] + diff(xlim)*.05, y = ylim[2] - diff(ylim)*.95, label = paste0("Measured Peg Location = \nX: ",formatC(CRDS_last5$X, digits=10) , ", Y: ", formatC(CRDS_last5$Y, digits=10)), hjust=0)
g
g1 = g
# plot_subdn = paste0(plotdir, RCVR, "/")
# if (!dir.exists(plot_subdn)){dir.create(plot_subdn)}
plot_fname_g1 = paste0(RCVR,"-OCC#", OCC, "-PEG#", PEG,"-Method-",METHOD,"-", PERIOD,".png" )
plot_ffname_g1 = paste0(plotdir, plot_fname_g1)
ggsave(plot_ffname_g1, g1, width = 18, height =18, units = 'cm')
return(g1)
}
#======================================================================================#
# figure 2. DISTRIBUTION OF ERROR
#======================================================================================#
anl_pos_quantify_error = function(known_loc, D_sf){
CRDS = D_sf %>%
st_coordinates() %>% as.data.frame() %>% as_tibble() %>% mutate(melap = D$melap)
AccPrec = calc_acc_and_prec(CRDS, known_loc)
CRDS_last5 = CRDS %>% tail(10) %>% summarise(across(everything(), mean))
# DEL = sqrt( (known_loc$X - CRDS_last5$X)^2 + (known_loc$Y - CRDS_last5$Y)^2 )
minx = min(CRDS$X)
maxx = max(CRDS$X)
miny = min(CRDS$Y)
maxy = max(CRDS$Y)
rngx = maxx - minx
rngy = maxy - miny
rng_largest = max(c(rngx,rngy))
# midx = mean(c(minx, maxx))
# midy = mean(c(miny, maxy))
midx = known_loc$X
midy = known_loc$Y
# plotdim = rng_largest * 1.3
# plotdim = 3
xlim = c(midx - 0.5*plotdim, midx + 0.5*plotdim)
ylim = c(midy - 0.5*plotdim, midy + 0.5*plotdim)
errors_df = data.frame(x_meas = CRDS$X, y_meas = CRDS$Y) %>%
as_tibble() %>%
mutate(x_dev = known_loc$X - x_meas, y_dev = known_loc$Y)
}
#======================================================================================#
# figure 3. DISTRIBUTION OF ERROR
#======================================================================================#
# anl_pos_quantify_error = function(known_loc, D_sf){
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
### wineq_path
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#Check to make sure these three files exist
wineq_path = function(PATH){
PATHOUT = str_replace(PATH, "\\/mnt\\/c", "C\\:\\")
}
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
### read_rinex
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#Check to make sure these three files exist
read_rinex = function(PATH){
library(asteRisk)
testGPSnav <- readGPSNavigationRINEX("C:/Users/McMillanAn/OneDrive - MWLR/Projects/PRJ3820-DOC-GNSS/data/Field-Test-Ballance-20231108/R10-Base/RINEX211/01393111.23n")
}
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
### GPS_tm_2_UTC
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#Check to make sure these three files exist
GPS_tm_2_UTC = function(gps_week, gps_sec_of_current_week){
# gps_week = c(2287,2288)
# gps_sec_of_current_week = c(250846,250846)
gps_week_in_sec = 7*86400*(gps_week)
sec_since_rollover = gps_week_in_sec+gps_sec_of_current_week
rollover_date = as.POSIXct("1980-1-6", origin = "1970-01-01 00:00:00", tz = "UTC")
rollover_date_nmc = as.numeric(rollover_date)
leapseconds = 18
current_sec = rollover_date_nmc + sec_since_rollover + leapseconds
current_datetime_UTC = as.POSIXct(current_sec, origin = "1970-01-01 00:00:00", tz = "UTC")
}
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
### proc_rtk
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# InputFilesOption:
# 0 = Autonomous
# 1 = PPK (Base Station Obs and Nav)
# 2 = PPK (Base station Obs + Nav) + Precise EPH + Precise Clock
proc_rtk = function(Rover, Occ, Method, Period, InputFilesOption = 2, plotdim = 3, replot_only = F,
config_ffn = "/mnt/c/Users/McMillanAn/OneDrive - MWLR/Projects/PRJ3820-DOC-GNSS/RTKLIB_config-files/config-DEF.conf"){
testmode = F
if (testmode){
config_ffn = "/mnt/c/Users/McMillanAn/OneDrive - MWLR/Projects/PRJ3820-DOC-GNSS/RTKLIB_config-files/config-DEF.conf"
InputFilesOption=3
Rover = "JVD"
Occ = 2
Method = "RTK-R10"
Period = "60MIN"
# plotdim=3
# Method = "RTK-CORS"
}
if (InputFilesOption==3){useConfig = T}else{useConfig = T}
datadir_w10 = "C:/Users/McMillanAn/OneDrive - MWLR/Projects/PRJ3820-DOC-GNSS/data/"
datadir_wsl = "/mnt/c/Users/McMillanAn/OneDrive - MWLR/Projects/PRJ3820-DOC-GNSS/data/"
fielddatadir_w10 = paste0(datadir_w10, "Field-Test-Ballance-20231108/")
fielddatadir_wsl = paste0(datadir_wsl, "Field-Test-Ballance-20231108/")
solution_dn_w10 = paste0(fielddatadir_w10, "SOLUTIONS/")
solution_dn_wsl = paste0(fielddatadir_wsl, "SOLUTIONS/")
#read the metadata table
field_metadata_binary_ffn = paste0(datadir_w10, "GNSS_DATA_COLLATED.RDS")
reread_xls=F
if (reread_xls){
field_metadata_xls_ffn = paste0(datadir_w10, "GNSS_DATA_COLLATED.xlsx")
field_metadata = read_excel(field_metadata_xls_ffn, sheet = "BAL-FIELD-TEST-231108", range = "A6:AR24") %>%
filter(!is.na(RECEIVER))
saveRDS(field_metadata, field_metadata_binary_ffn)
} else {
field_metadata = readRDS(field_metadata_binary_ffn)
}
# get the relevant row of metadata
current_metadata_row = field_metadata %>% filter(RECEIVER == Rover & OCC_NUM == Occ)
pegid = current_metadata_row$PEG_ID
pegnum = as.numeric(substr(pegid,6,6))
rover_fn = current_metadata_row$RAW_RINEX_FNAME
rover_sdn = paste0(Rover, "/BAL-", Rover, "-OCC", Occ,"-P", pegnum, "-RINEX/" )
rover_ffn = paste0(fielddatadir_wsl, rover_sdn, rover_fn)
print(paste("+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++"))
print(paste("++++ Start processing data from Rover:", Rover," - Occ#", Occ,"at peg # ", pegnum, "using method", Method))
print(paste("++++ Time Period: ", Period))
print(paste("--------------------------------------------------------------------------------------"))
proc_metadata = list(Rover = Rover, Occ = Occ, Peg = pegnum, Method = Method, Period=Period)
base_obs_ffn = case_when(
Method == "RTK-R10" & Occ == 1 ~ paste0(fielddatadir_wsl, "R10-Base/RINEX211/01393111.23o"),
Method == "RTK-R10" & Occ == 2 ~ paste0(fielddatadir_wsl, "R10-Base/RINEX211/01393120.23o"),
Method == "RTK-CORS-DNVK" & Occ == 1 ~ paste0(fielddatadir_wsl, "POSITIONZ-DNVK/OCC1/dnvk3110_20.23o"),
Method == "RTK-CORS-DNVK" & Occ == 2 ~ paste0(fielddatadir_wsl, "POSITIONZ-DNVK/OCC2/dnvk3120.23o"),
Method == "RTK-CORS-WANG" & Occ == 1 ~ paste0(fielddatadir_wsl, "POSITIONZ-WANG/OCC1/wang3110_20.23o"),
Method == "RTK-CORS-WANG" & Occ == 2 ~ paste0(fielddatadir_wsl, "POSITIONZ-WANG/OCC2/wang3120.23o"),
Method == "RTK-CORS-WRPA" & Occ == 1 ~ paste0(fielddatadir_wsl, "POSITIONZ-WRPA/OCC1/wrpa3110_20.23o"),
Method == "RTK-CORS-WRPA" & Occ == 2 ~ paste0(fielddatadir_wsl, "POSITIONZ-WRPA/OCC2/wrpa3120.23o"),
Method == "RTK-CORS-RDLV" & Occ == 1 ~ paste0(fielddatadir_wsl, "POSITIONZ-RDLV/OCC1/rdlv3110_20.23o"),
Method == "RTK-CORS-RDLC" & Occ == 2 ~ paste0(fielddatadir_wsl, "POSITIONZ-RDLV/OCC2/rdlv3120.23o"),
)
base_nav_ffn = case_when(
Method == "RTK-R10" & Occ == 1 ~ paste0(fielddatadir_wsl, "R10-Base/RINEX211/01393111.23n"),
Method == "RTK-R10" & Occ == 2 ~ paste0(fielddatadir_wsl, "R10-Base/RINEX211/01393120.23n"),
Method == "RTK-CORS-DNVK" & Occ == 1 ~ paste0(fielddatadir_wsl, "POSITIONZ-DNVK/OCC1/auto3110_20.23n"),
Method == "RTK-CORS-DNVK" & Occ == 2 ~ paste0(fielddatadir_wsl, "POSITIONZ-DNVK/OCC2/auto3120.23n"),
Method == "RTK-CORS-WANG" & Occ == 1 ~ paste0(fielddatadir_wsl, "POSITIONZ-WANG/OCC1/auto3110_20.23n"),
Method == "RTK-CORS-WANG" & Occ == 2 ~ paste0(fielddatadir_wsl, "POSITIONZ-WANG/OCC2/auto3120.23n"),
Method == "RTK-CORS-WRPA" & Occ == 1 ~ paste0(fielddatadir_wsl, "POSITIONZ-WRPA/OCC1/auto3110_20.23n"),
Method == "RTK-CORS-WRPA" & Occ == 2 ~ paste0(fielddatadir_wsl, "POSITIONZ-WRPA/OCC2/auto3120.23n"),
Method == "RTK-CORS-RDLV" & Occ == 1 ~ paste0(fielddatadir_wsl, "POSITIONZ-RDLV/OCC1/auto3110_20.23n"),
Method == "RTK-CORS-RDLV" & Occ == 2 ~ paste0(fielddatadir_wsl, "POSITIONZ-RDLV/OCC2/auto3120.23n"),
)
precise_eph_ffn = case_when(
Occ == 1 ~ paste0(fielddatadir_wsl, "PREC-EPH-CLK/CODE Precise/COD0OPSFIN_20233110000_01D_05M_ORB.SP3"),
Occ == 2 ~ paste0(fielddatadir_wsl, "PREC-EPH-CLK/CODE Precise/COD0OPSFIN_20233120000_01D_05M_ORB.SP3"),
)
precise_clk_ffn = case_when(
Occ == 1 ~ paste0(fielddatadir_wsl, "PREC-EPH-CLK/CODE Precise/COD0OPSFIN_20233110000_01D_05S_CLK.CLK"),
Occ == 2 ~ paste0(fielddatadir_wsl, "PREC-EPH-CLK/CODE Precise/COD0OPSFIN_20233120000_01D_05S_CLK.CLK"),
)
FileTypeVec = c("Rover_obs", "Base_obs", "Base_nav", "Precise_eph", "Precise_clk", "config")
FilesReqd_IFO_0 = c(1 , 0 , 0 , 0 , 0 , 0 )
FilesReqd_IFO_1 = c(1 , 1 , 1 , 0 , 0 , 0 )
FilesReqd_IFO_2 = c(1 , 1 , 1 , 1 , 1 , 0 )
FilesReqd_IFO_3 = c(1 , 1 , 1 , 1 , 1 , 1 )
FilesReqd = case_when(
InputFilesOption == 0 ~ FilesReqd_IFO_0,
InputFilesOption == 1 ~ FilesReqd_IFO_1,
InputFilesOption == 2 ~ FilesReqd_IFO_2,
InputFilesOption == 3 ~ FilesReqd_IFO_3
)
FilesList = c(rover_ffn,base_obs_ffn, base_nav_ffn, precise_eph_ffn, precise_clk_ffn, config_ffn )
InputFileTable = data.frame(
FileType = FileTypeVec,
Reqd = FilesReqd,
Found = 0,
FileName = FilesList) %>%
filter(Reqd==1)
NR = nrow(InputFileTable)
for (i in 1:NR){
cfilename = InputFileTable$FileName[i]
if (file.exists(wineq_path(cfilename))){InputFileTable$Found[i]=1}
}
ALL_FOUND = sum(InputFileTable$Found) == NR
if (ALL_FOUND){
print("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
print("!!!......found all files........!!!!!!!!!")
print("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
} else {
InputFileTable_badrows = InputFileTable %>%
filter(Found==0)
for (ii in 1:nrow(InputFileTable_badrows)){
print(paste("Input File", wineq_path(InputFileTable_badrows$FileName[ii]),"not found ..."))
}
}
#
# if (file.exists(wineq_path(rover_ffn))){
# print(paste("Rover file:", rover_ffn, "exists"))
# files_fnd = files_fnd + 1
# }else{
# print(paste("Rover file:", rover_ffn, "not found"))
# }
#
# if (file.exists(wineq_path(base_obs_ffn))){
# print(paste("Base obs file:", base_obs_ffn, "exists"))
# files_fnd = files_fnd + 1
# }else{
# print(paste("Base obs file:", base_obs_ffn, "not found"))
# }
#
# if (file.exists(wineq_path(base_nav_ffn))){
# print(paste("Base nav file:", base_nav_ffn, "exists"))
# files_fnd = files_fnd + 1
# }else{
# print(paste("Base nav file:", base_nav_ffn, "not found"))
# }
#
# if (file.exists(wineq_path(precise_eph_ffn))){
# print(paste("Base nav file:", precise_eph_ffn, "exists"))
# files_fnd = files_fnd + 1
# }else{
# print(paste("Preceise ephemeris data file:", precise_eph_ffn, "not found"))
# }
#
# if (file.exists(wineq_path(precise_clk_ffn))){
# print(paste("Base nav file:", precise_clk_ffn, "exists"))
# files_fnd = files_fnd + 1
# }else{
# print(paste("Base nav file:", precise_clk_ffn, "not found"))
# }
#
# print("=================================================================")
# files_fnd
if (ALL_FOUND){
# Build the name of the solution file
Solution_fn = paste0("BAL_OCC",Occ,"_", Rover,"_", Method, "_", Period, ".pos" )
Solution_ffn = paste0(solution_dn_wsl, Solution_fn)
Solution_ffn_w10 = paste0(solution_dn_w10, Solution_fn)
#now build the cmd
qm = "\""
if (!useConfig){
cmd_stub = paste0("wsl rnx2rtkp -o ", qm, Solution_ffn, qm," -p 3 -f 3 -s \",\" -c")
}else{
cmd_stub = paste0("wsl rnx2rtkp -k ", qm, config_ffn, qm, " -o ", qm,Solution_ffn,qm)
}
# buld the time mark portion of the command if it is used
if (Period != "FULL" ){
#
# Period = "30MIN_TO_60MIN"
# Period = "30MIN"
start_AND_stop = str_detect(Period, "_TO_")|str_detect(Period, "_to_")
if (start_AND_stop){
start_MIN = as.numeric(str_extract(Period, "^\\d{1,4}"))
end_MIN = as.numeric(str_extract(Period, "(?<=\\d{1,4}MIN\\_TO\\_)\\d{1,4}"))
} else {
start_MIN = 0
end_MIN = as.numeric(str_extract(Period, "^\\d{1,4}"))
}
#get the start time of the measurement
tm_start_obs = current_metadata_row$OCC_START
tm_end_obs = current_metadata_row$OCC_END
tm_start_proc = tm_start_obs + minutes(start_MIN)
tm_end_proc = tm_start_obs + minutes(end_MIN)
fmt = "%Y/%m/%d %H:%M:%S"
tm_start_proc_txt = strftime(tm_start_proc, fmt, tz = "UTC")
tm_end_proc_txt = strftime(tm_end_proc, fmt, tz = "UTC")
timeSliceString = paste0("-ts ", tm_start_proc_txt, " -te ", tm_end_proc_txt)
cmd_stub_mdf = paste0(cmd_stub, " ", timeSliceString)
} else {
cmd_stub_mdf = cmd_stub
}
#now create full CMD string
CMD = paste0(cmd_stub_mdf, " ",
qm, rover_ffn, qm, " ",
qm, base_obs_ffn, qm, " ",
qm, base_nav_ffn, qm, " ",
qm, precise_eph_ffn, qm, " ",
qm, precise_clk_ffn, qm)
print(CMD)
if (!replot_only){
system(CMD)
print(paste("+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++"))
print(paste("++++ Finished processing data from Rover:", Rover," - Occ#", Occ,"at peg # ", pegnum, "using method", Method))
print(paste("++++ Time Period: ", Period))
print(paste("++++ Solution saved to: ", basename(Solution_ffn_w10)))
print(paste("++++ in directory: ", dirname(Solution_ffn_w10)))
print(paste("+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++"))
# print(paste("Now plotting results"))
# print(paste("Done"))
# print(paste("+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++"))
}
# PLOTDN = paste0("C:/Users/McMillanAn/OneDrive - MWLR/Projects/PRJ3820-DOC-GNSS/plots/Solution-Plots/", Rover, "/", Method, "/")
# if (!dir.exists(PLOTDN)){dir.create(PLOTDN, recursive = T)}
#
#
# POS_ANL_RESULTS = analyze_POS(Rover, OCC=Occ, PEG=pegnum, PERIOD=Period, Solution_ffn_w10, plotdir = PLOTDN, plotdim = plotdim)