autortk.sh

@@ -4,11 +4,25 @@
 BASE=base
 UAV=uav
 
+ONLINE_MODE=true
+
+FINAL_OUTPUT_DIR=.
+FINAL_OUTPUT_FILE=$FINAL_OUTPUT_DIR/uav.pos
+INTERM_DIR="rtk_interm"
+
 BASE_FILE=${BASE}.ubx
 UAV_FILE=${UAV}.ubx
 
+FINAL_OUTPUT_OPTIONS="-c -s | -d 5"
+FINAL_MODE=2 #RTK
+
 EUREF_URL='ftp://igs.bkg.bund.de/EUREF/obs'
 
+
+# Intermediate files
+UAV_INTERM="$INTERM_DIR/${UAV}"
+BASE_INTERM="$INTERM_DIR/${BASE}"
+
 # Programs:
 SCRIPT_DIR=`dirname $0`
 RNX2RTKP=${SCRIPT_DIR}/bin/rnx2rtkp
@@ -19,6 +33,7 @@ RTKLIB2AVG=${SCRIPT_DIR}/scripts/rtklib2avg.py
 CLOSEST_BS=${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"
 RED="\e[31m"
@@ -28,7 +43,7 @@ DEFAULT="\e[39m"
 set -o pipefail
 
 # Check if we have a local base
-if [ -e "${BASE}" ]; then
+if [ -e "${BASE_FILE}" ]; then
     HAS_BASE=true
 else
     HAS_BASE=false
@@ -37,8 +52,10 @@ else
     echo
 fi
 
+mkdir -p $INTERM_DIR
+
 # Convert observations to RINEX
-${CONVBIN} ${UAV_FILE} -ts 2000/01/01 00:00:00
+${CONVBIN} ${UAV_FILE} -ts 2000/01/01 00:00:00 -d "$INTERM_DIR"
 if [ ! $? -eq 0 ]; then
     echo
     echo -e "${RED}Error:${DEFAULT} Could not convert ${UAV_FILE}.";
@@ -46,7 +63,7 @@ if [ ! $? -eq 0 ]; then
 fi
 
 if $HAS_BASE; then
-    ${CONVBIN} ${BASE_FILE} -ts 2000/01/01 00:00:00
+    ${CONVBIN} ${BASE_FILE} -ts 2000/01/01 00:00:00 -d "$INTERM_DIR"
     if [ ! $? -eq 0 ]; then
 	echo
 	echo -e "${YELLOW}Warning:${DEFAULT} Could not convert ${UAV_FILE}.";
@@ -55,18 +72,29 @@ if $HAS_BASE; then
     fi
 fi
 
+# Get generate RNX file names
+UAV_RNX_FILES=""
+BASE_RNX_FILES=""
+for ext in $INPUT_FILE_EXT; do
+    fname=$UAV_INTERM$ext
+    if [ -e "$fname" ]; then
+	UAV_RNX_FILES+="$fname "
+    fi
+    fname=$BASE_INTERM$ext
+    if [ -e "$fname" ]; then
+	BASE_RNX_FILES+="$fname "
+    fi
+done
 
 # Get public observations
 if $HAS_BASE; then
-    MODE=3 # Static position
-    INPUT_FILES="$BASE.*"
+    INPUT_FILES="$BASE_RNX_FILES"
 else
-    MODE=0 # Single position
-    INPUT_FILES="$UAV.*"
+    INPUT_FILES="$UAV_RNX_FILES"
 fi
 
 # Get single position from observations
-${RNX2RTKP} -p $MODE -o single.pos $INPUT_FILES
+${RNX2RTKP} -p 0 -s "|" -o $INTERM_DIR/single.pos $INPUT_FILES
 if [ ! $? -eq 0 ]; then
     echo
     echo -e "${RED}Error:${DEFAULT} could not analyze ${INPUT_FILES}.";
@@ -74,7 +102,7 @@ if [ ! $? -eq 0 ]; then
 fi
 
 # Get average single position from pos-file
-llh=$(${RTKLIB2AVG} single.pos 5 6 | tail -n1)
+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.";
@@ -82,75 +110,83 @@ if [ ! $? -eq 0 ]; then
 fi
 
 echo
-echo "Average single pos lat long: " ${llh}
+echo "Average single pos lat long: " ${AVG_SINGLE_LLH}
 echo
 
-# Find the closest base station ID
-BS=$(${CLOSEST_BS} ${llh} | tail -n2)
-if [ ! $? -eq 0 ]; then
+if $ONLINE_MODE; then
+    # Find the closest base station ID
+    BS=$(${CLOSEST_BS} ${AVG_SINGLE_LLH} | tail -n2)
+    if [ ! $? -eq 0 ]; then
+	echo
+	echo -e "${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:" $BSID
     echo
-    echo -e "${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
 
-# 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 ${UAV}.obs | grep "FIRST OBS" |
-    awk "${awk_string}")
-LAST_OBS=$(head -n 100 ${UAV}.obs | grep "LAST OBS" |
-    awk "${awk_string}")
+    # 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" |
+	awk "${awk_string}")
+    LAST_OBS=$(head -n 100 $INTERM_DIR/${UAV}.obs | grep "LAST OBS" |
+	awk "${awk_string}")
 
-echo "First observation: " ${FIRST_OBS}
-echo "Last observation:  " ${LAST_OBS}
+    echo "First observation: " ${FIRST_OBS}
+    echo "Last observation:  " ${LAST_OBS}
 
-echo
-# Generate the proper URL
-BS_URL=$(${EUREF_URL_GENERATOR} ${EUREF_URL} ${BSID} ${FIRST_OBS} ${LAST_OBS})
-if [ ! $? -eq 0 ]; then
     echo
-    echo -e "${RED}Error:${DEFAULT} Could not generate url.";
-    exit -1;
-fi
-BS_ZIPPEDNAME=$(echo $BS_URL | awk -F '/' '{ print $(NF) }')
-BS_BASENAME=${BS_ZIPPEDNAME%.crx.gz}
-BS_FILENAME=${BS_BASENAME}.rnx
-
-# Download and unzip basestation file
-cache_dir=basestations
-mkdir -p $cache_dir
-if [ ! -e "$cache_dir/$BS_FILENAME" ]; then
-    if [ ! -e "$cache_dir/$BS_BASENAME.crx" ]; then
-	if [ ! -e "$cache_dir/$BS_ZIPPEDNAME" ]; then
-	    wget $BS_URL -P $cache_dir
+    # Generate the proper URL
+    BS_URL=$(${EUREF_URL_GENERATOR} ${EUREF_URL} ${BSID} ${FIRST_OBS} ${LAST_OBS})
+    if [ ! $? -eq 0 ]; then
+	echo
+	echo -e "${RED}Error:${DEFAULT} Could not generate url.";
+	exit -1;
+    fi
+    BS_ZIPPEDNAME=$(echo $BS_URL | awk -F '/' '{ print $(NF) }')
+    BS_BASENAME=${BS_ZIPPEDNAME%.crx.gz}
+    BS_FILENAME=${BS_BASENAME}.rnx
+
+    # Download and unzip basestation file
+    cache_dir=basestations
+    mkdir -p $cache_dir
+    if [ ! -e "$cache_dir/$BS_FILENAME" ]; then
+	if [ ! -e "$cache_dir/$BS_BASENAME.crx" ]; then
+	    if [ ! -e "$cache_dir/$BS_ZIPPEDNAME" ]; then
+		wget $BS_URL -P $cache_dir
+		if [ ! $? -eq 0 ]; then
+		    echo -e "${RED}Warning:${DEFAULT} Could not download '$BS_URL' to '$cache_dir'.";
+		    ONLINE_MODE=false
+		fi
+	    fi
+	    if $ONLINE_MODE; then
+		gunzip -f $cache_dir/$BS_ZIPPEDNAME
+		if [ ! $? -eq 0 ]; then
+		    echo -e "${YELLOW}Warning:${DEFAULT} Could not unzip '$cache_dir/$BS_ZIPPEDNAME'.";
+		fi
+	    fi
+	fi
+	if $ONLINE_MODE; then
+	    ${CRX2RNX} $cache_dir/$BS_BASENAME.crx
 	    if [ ! $? -eq 0 ]; then
-		echo -e "${RED}Error:${DEFAULT} Could not download '$BS_URL' to '$cache_dir'.";
+		echo -e "${RED}Error:${DEFAULT} Could not convert '$cache_dir/$BS_BASENAME.crx'.";
 		exit -1;
 	    fi
-
-	fi
-	gunzip -f $cache_dir/$BS_ZIPPEDNAME
-	if [ ! $? -eq 0 ]; then
-	    echo -e "${YELLOW}Warning:${DEFAULT} Could not unzip '$cache_dir/$BS_ZIPPEDNAME'.";
 	fi
     fi
-    ${CRX2RNX} $cache_dir/$BS_BASENAME.crx
-    if [ ! $? -eq 0 ]; then
-	echo -e "${RED}Error:${DEFAULT} Could not convert '$cache_dir/$BS_BASENAME.crx'.";
-	exit -1;
-    fi
 fi
 
 # Calculate UAV position from basestation if we do not have local base
+MODE=2 # Kinematic
 if [ $HAS_BASE == false ]; then
-    MODE=2 # Kinematic
-    INPUT_FILES="uav.*"
+    if ! $ONLINE_MODE; then
+	echo "${RED}Error:${DEFAULT} can not get RTK solution without a base."
+	exit -1;
+    fi
+    INPUT_FILES=${UAV_RNX_FILES}
     BASE_STATION_FILES="$cache_dir/$BS_FILENAME"
-    OPTIONS="-c -s | -d 5"
-    ${RNX2RTKP} -o $UAV.pos -p ${MODE} $OPTIONS $INPUT_FILES $BASE_STATION_FILES
+    ${RNX2RTKP} -o "$FINAL_OUTPUT_FILE" -p ${MODE} $FINAL_OUTPUT_OPTIONS $INPUT_FILES $BASE_STATION_FILES
     if [ ! $? -eq 0 ]; then
 	echo -e "${RED}Error:${DEFAULT} RTK analysis failed";
 	exit -1;
@@ -160,5 +196,35 @@ if [ $HAS_BASE == false ]; then
     exit 0
 fi
 
-echo "Local base station not implemented yet"
-exit -1
+if $ONLINE_MODE; then
+    echo "Getting local base RTK solution"
+    BASE_STATION_FILES="$cache_dir/$BS_FILENAME"
+    ${RNX2RTKP} -o "$INTERM_DIR/base.pos" -p 2 -c -s "|" ${BASE_RNX_FILES} $BASE_STATION_FILES
+    if [ ! $? -eq 0 ]; then
+	echo
+	echo -e "${RED}Error:${DEFAULT} could not get base pos rtk fix.";
+	exit -1;
+    fi
+
+    BASE_STATION_POSITION=$(${RTKLIB2AVG} $INTERM_DIR/base.pos 1 6 | tail -n1)
+    if [ ! $? -eq 0 ]; then
+	echo
+	echo "${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:${DEFAULT} Could not find accurate base station position.";
+	    exit -1;
+	fi
+    fi
+else
+    echo "Using base llh: average of single position"
+    BASE_STATION_POSITION=$AVG_SINGLE_LLH
+fi
+
+${RNX2RTKP} -o "$FINAL_OUTPUT_FILE" -p ${FINAL_MODE} -l $BASE_STATION_POSITION $FINAL_OUTPUT_OPTIONS $UAV_RNX_FILES $BASE_RNX_FILES $BASE_STATION_FILES
+if [ $? -eq 0 ]; then
+    echo "Sucessfully created rtk solution file: $FINAL_OUTPUT_FILE"
+else
+    echo "${RED}Error:${DEFAULT} could not generate rtk position"
+fi

scripts/rtklib2avg.py

@@ -2,6 +2,7 @@
 
 import sys
 import os
+import re
 import numpy as np
 dir_path = os.path.dirname(os.path.realpath(__file__))
 sys.path.append(os.path.join(dir_path, '..'))
@@ -11,8 +12,15 @@ def print_usage():
     print('  python rtklib2matlab.py [rover.pos]')
     sys.exit(1)
 
+def split_line(line):
+    if '|' in line:
+        return line.split('|')
+    if '\t' in line:
+        return line.split('\t')
+    return re.sub(' +', ' ', line).split(' ')
+
 def parseline(line, names):
-    values = line.split()
+    values = split_line(line)
     converters = [int] + [float]*4 + [int]*2 + [float]*8
     conv_vals = [c(v) for c, v in zip(converters, values) ]
     return dict(zip(names, conv_vals))
@@ -53,7 +61,7 @@ if __name__ == '__main__':
         for line in f:
             if line.startswith('%'):
                 if 'ratio' in line:
-                    names = [fix_name(name) for name in line[1:].split()]
+                    names = [fix_name(name) for name in split_line(line.strip('% '))]
                     if 'gpst' in names:
                         names.insert(0, 'week')
                 continue
@@ -93,6 +101,7 @@ if __name__ == '__main__':
             name_start_ix = ix
             break
     print('')
+    print('Std : %s' % np.std(valid_arr, axis=1)[:3])
     print('Mean:')
     print('\t'.join(names[name_start_ix:name_start_ix+3]))
     llh = np.mean(valid_arr, axis=1)[:3]