Commit 8394b4dc authored by Sigurd M. Albrektsen's avatar Sigurd M. Albrektsen
Browse files

Added local base support and improved feedback

parent 3b48785d

autortk.sh

+97 −33
Original line number Diff line number Diff line 
#!/bin/bash



# Input files:

BASE=base

UAV=uav

UAV_FILE=$1

BASE_FILE=$2

FINAL_OUTPUT_FILE=$3



if [ -z "$UAV_FILE" ]; then

    UAV_FILE="uav.ubx"

fi

if [ -z "$BASE_FILE" ]; then

    BASE_FILE="base.ubx"

fi

if [ -z "$FINAL_OUTPUT_FILE" ]; then

    FINAL_OUTPUT_FILE="uav.pos"

fi



if [ ! -f $UAV_FILE ]; then

    echo -e "\e[31m\e[39mError:UAV-file does not exist."

    echo

    echo "Usage:"

    echo "    $0 uav_rawfile [base_rawfile [output_file]]"

    echo

    echo "Default values: uav.ubx base.ubx ubv.pos"

    exit -1

fi



ONLINE_MODE=true



FINAL_OUTPUT_DIR=.

FINAL_OUTPUT_FILE=$FINAL_OUTPUT_DIR/uav.pos

INTERM_DIR="rtk_interm"

INTERM_DIR="rtk_intermediates"



BASE_FILE=${BASE}.ubx

UAV_FILE=${UAV}.ubx

UAV_NAME=rover

BASE_NAME=base



FINAL_OUTPUT_OPTIONS="-c -s | -d 5"

FINAL_MODE=2 #RTK
@@ -19,9 +38,11 @@ FINAL_MODE=2 #RTK 
EUREF_URL='ftp://igs.bkg.bund.de/EUREF/obs'





DEFAULT_FORMAT='ubx'



# Intermediate files

UAV_INTERM="$INTERM_DIR/${UAV}"

BASE_INTERM="$INTERM_DIR/${BASE}"

UAV_INTERM="$INTERM_DIR/${UAV_NAME}"

BASE_INTERM="$INTERM_DIR/${BASE_NAME}"



# Programs:

SCRIPT_DIR=`dirname $0`
@@ -34,11 +55,18 @@ CLOSEST_BS=${SCRIPT_DIR}/scripts/get_closest_basestation.py 
EUREF_URL_GENERATOR=${SCRIPT_DIR}/scripts/get_euref_urls.py



INPUT_FILE_EXT=".obs .nav .eph .sp3 .sbs"



# Define colors:

YELLOW="\e[33m"

USE_COLORS=true



if $USE_COLORS; then

    RED="\e[31m"

    GREEN="\e[32m"

    YELLOW="\e[33m"

    DEFAULT="\e[39m"



    UNDERLINED="\e[4m"

    DEFAULT_ATTR="\e[0m"

fi

# Fail if any part of a pipe fails

set -o pipefail
@@ -54,8 +82,24 @@ fi 


mkdir -p $INTERM_DIR



function get_extension() {

    filename=$(basename "$fullfile");

    echo ${filename##*.}

}



UAV_FILE_EXTENSION=".${UAV_FILE##*.}"

if [ "$UAV_FILE_EXTENSION" == ".senti" ]; then

	UAV_CONV_EXTRA_SETTINGS="-r ubx"

elif [ "$UAV_FILE_EXTENSION" == ".dat" ]; then

    echo -e "${YELLOW}Warning:${DEFAULT} Could not auto-detect UAV input format. Defaulting to ${DEFAULT_FORMAT}.";

    UAV_CONV_EXTRA_SETTINGS="-r ${DEFAULT_FORMAT}"

fi



echo

# Convert observations to RINEX

${CONVBIN} ${UAV_FILE} -ts 2000/01/01 00:00:00 -d "$INTERM_DIR"

echo -e "${GREEN}Converting observations to RINEX${DEFAULT}"



${CONVBIN} -ts 1990/01/01 00:00:00 -d "$INTERM_DIR" -o "$UAV_NAME.obs" -n "$UAV_NAME.nav" -g "$UAV_NAME.gnav" -h "$UAV_NAME.hnav" -q "$UAV_NAME.qnav" -l "$UAV_NAME.lnav" -s "$UAV_NAME.sbs" ${UAV_CONV_EXTRA_SETTINGS} ${UAV_FILE}

if [ ! $? -eq 0 ]; then

    echo

    echo -e "${RED}Error:${DEFAULT} Could not convert ${UAV_FILE}.";
@@ -63,7 +107,15 @@ if [ ! $? -eq 0 ]; then 
fi



if $HAS_BASE; then

    ${CONVBIN} ${BASE_FILE} -ts 2000/01/01 00:00:00 -d "$INTERM_DIR"

    BASE_FILE_EXTENSION=".${BASE_FILE%%*.}"

    if [ "$BASE_FILE_EXTENSION" == ".senti" ]; then

	BASE_CONV_EXTRA_SETTINGS="-r ubx"

    elif [ "$BASE_FILE_EXTENSION" == ".dat" ]; then

	echo -e "${YELLOW}Warning:${DEFAULT} Could not auto-detect base's input format. Defaulting to ${DEFAULT_FORMAT}.";

	BASE_CONV_EXTRA_SETTINGS="-r ${DEFAULT_FORMAT}"

    fi



    ${CONVBIN} -ts 1990/01/01 00:00:00 -d "$INTERM_DIR" -o "$BASE_NAME.obs" -n "$BASE_NAME.nav" -g "$BASE_NAME.gnav" -h "$BASE_NAME.hnav" -q "$BASE_NAME.qnav" -l "$BASE_NAME.lnav" -s "$BASE_NAME.sbs" ${BASE_CONV_EXTRA_SETTINGS} ${BASE_FILE}

    if [ ! $? -eq 0 ]; then

	echo

	echo -e "${YELLOW}Warning:${DEFAULT} Could not convert ${UAV_FILE}.";
@@ -72,7 +124,7 @@ if $HAS_BASE; then 
    fi

fi



# Get generate RNX file names

# Get generated RNX file names

UAV_RNX_FILES=""

BASE_RNX_FILES=""

for ext in $INPUT_FILE_EXT; do
@@ -93,6 +145,8 @@ else 
    INPUT_FILES="$UAV_RNX_FILES"

fi



echo

echo -e "${GREEN}Getting single position solution${DEFAULT}"

# Get single position from observations

${RNX2RTKP} -p 0 -s "|" -o $INTERM_DIR/single.pos $INPUT_FILES

if [ ! $? -eq 0 ]; then
@@ -105,12 +159,12 @@ fi 
AVG_SINGLE_LLH=$(${RTKLIB2AVG} $INTERM_DIR/single.pos 5 6 | tail -n1)

if [ ! $? -eq 0 ]; then

    echo

    echo "${RED}Error:${DEFAULT} Could not find single position.";

    echo -e "${RED}Error:${DEFAULT} Could not find single position.";

    exit -1;

fi



echo

echo "Average single pos lat long: " ${AVG_SINGLE_LLH}

echo -e "Average ${UNDERLINED}single${DEFAULT_ATTR} lat long height position:" ${AVG_SINGLE_LLH}

echo



if $ONLINE_MODE; then
@@ -121,16 +175,15 @@ if $ONLINE_MODE; then 
	echo -e "${RED}Error:${DEFAULT} Could not find basestation ID.";

	exit -1;

    fi

    echo "Closest base station: " ${BS}

    BSID=$(echo $BS | rev | cut -f 1 -d ' ' | rev )

    echo "ID:" $BSID

    echo -e "Closest base station: ${GREEN}" ${BS} "${DEFAULT}"

    echo

    BSID=$(echo $BS | rev | cut -f 1 -d ' ' | rev )



    # Find the start and end-file of the uav

    awk_string='{ printf "%04d-%02d-%02dT%02d:%02d:%02.6f",$1,$2,$3,$4,$5,$6; }'

    FIRST_OBS=$(head -n 100 $INTERM_DIR/${UAV}.obs | grep "FIRST OBS" |

    FIRST_OBS=$(head -n 100 $INTERM_DIR/${UAV_NAME}.obs | grep "FIRST OBS" |

	awk "${awk_string}")

    LAST_OBS=$(head -n 100 $INTERM_DIR/${UAV}.obs | grep "LAST OBS" |

    LAST_OBS=$(head -n 100 $INTERM_DIR/${UAV_NAME}.obs | grep "LAST OBS" |

	awk "${awk_string}")



    echo "First observation: " ${FIRST_OBS}
@@ -151,8 +204,12 @@ if $ONLINE_MODE; then 
    # Download and unzip basestation file

    cache_dir=basestations

    mkdir -p $cache_dir

    if [ ! -e "$cache_dir/$BS_FILENAME" ]; then

    if [ -e "$cache_dir/$BS_FILENAME" ]; then

	echo -e "${GREEN}Using cached base station data:${DEFAULT} $BS_FILENAME"

    else

	if [ ! -e "$cache_dir/$BS_BASENAME.crx" ]; then

	    echo -e "${GREEN}Downloaded public base station data.${DEFAULT}"

	    

	    if [ ! -e "$cache_dir/$BS_ZIPPEDNAME" ]; then

		wget $BS_URL -P $cache_dir

		if [ ! $? -eq 0 ]; then
@@ -181,9 +238,11 @@ fi 
MODE=2 # Kinematic

if [ $HAS_BASE == false ]; then

    if ! $ONLINE_MODE; then

	echo "${RED}Error:${DEFAULT} can not get RTK solution without a base."

	echo -e "${RED}Error:${DEFAULT} can not get RTK solution without a base."

	exit -1;

    fi



    echo -e "${GREEN}Calculating UAV position solution${DEFAULT} ${YELLOW}without local base${DEFAULT}"

    INPUT_FILES=${UAV_RNX_FILES}

    BASE_STATION_FILES="$cache_dir/$BS_FILENAME"

    ${RNX2RTKP} -o "$FINAL_OUTPUT_FILE" -p ${MODE} $FINAL_OUTPUT_OPTIONS $INPUT_FILES $BASE_STATION_FILES
@@ -192,12 +251,12 @@ if [ $HAS_BASE == false ]; then 
	exit -1;

    fi

    echo

    echo "Done."

    echo -e "Sucessfully created ${GREEN}rtk solution${DEFAULT} file ${YELLOW}without local base${DEFAULT}: $FINAL_OUTPUT_FILE"

    exit 0

fi



if $ONLINE_MODE ; then

    echo "Getting local base RTK solution"

    echo -e "Getting the RTK solution for the ${GREEN}local base${DEFAULT}"

    BASE_STATION_FILES="$cache_dir/$BS_FILENAME"

    ${RNX2RTKP} -o "$INTERM_DIR/base.pos" -p 2 -c -s "|" ${BASE_RNX_FILES} $BASE_STATION_FILES

    if [ ! $? -eq 0 ]; then
@@ -206,25 +265,30 @@ if $ONLINE_MODE; then 
	exit -1;

    fi



    BASE_STATION_POSITION=$(${RTKLIB2AVG} $INTERM_DIR/base.pos 1 6 | tail -n1)

    BASE_STATION_POSITION=$(${RTKLIB2AVG} $INTERM_DIR/base.pos 1 | tail -n1)

    if [ ! $? -eq 0 ]; then

	echo

	echo "${YELLOW}Warning:${DEFAULT} Could not find Q=1 base position, switching to Q=2.";

	echo -e "${YELLOW}Warning:${DEFAULT} Could not find Q=1 base position, switching to Q=2.";

	BASE_STATION_POSITION=$(${RTKLIB2AVG} $INTERM_DIR/base.pos 2 5 | tail -n1)

	if [ ! $? -eq 0 ]; then

	    echo

	    echo "${RED}Error:${DEFAULT} Could not find accurate base station position.";

	    echo -e "${RED}Error:${DEFAULT} Could not find accurate base station position.";

	    exit -1;

	fi

    fi

    echo

    echo -e "Average ${UNDERLINED}RTK${DEFAULT_ATTR} base station lat long height position:" ${BASE_STATION_POSITION}

else

    echo "Using base llh: average of single position"

    echo "Using average of single position solution as base position:"

    BASE_STATION_POSITION=$AVG_SINGLE_LLH

fi



echo -e "${GREEN}Calculating UAV position solution:${DEFAULT}"

${RNX2RTKP} -o "$FINAL_OUTPUT_FILE" -p ${FINAL_MODE} -l $BASE_STATION_POSITION $FINAL_OUTPUT_OPTIONS $UAV_RNX_FILES $BASE_RNX_FILES $BASE_STATION_FILES



echo

if [ $? -eq 0 ]; then

    echo "Sucessfully created rtk solution file: $FINAL_OUTPUT_FILE"

    echo -e "Sucessfully created ${GREEN}rtk solution file${DEFAULT} with ${GREEN}local base${DEFAULT}: $FINAL_OUTPUT_FILE"

else

    echo "${RED}Error:${DEFAULT} could not generate rtk position"

    echo -e "${RED}Error:${DEFAULT} could not generate rtk position"

fi