...
 
Commits (2)
......@@ -10,18 +10,23 @@ UAV_FILE=${UAV}.ubx
EUREF_URL='ftp://igs.bkg.bund.de/EUREF/obs'
# Programs:
RNX2RTKP=./bin/rnx2rtkp
CONVBIN=./bin/convbin
CRX2RNX=./bin/CRX2RNX
SCRIPT_DIR=`dirname $0`
RNX2RTKP=${SCRIPT_DIR}/bin/rnx2rtkp
CONVBIN=${SCRIPT_DIR}/bin/convbin
CRX2RNX=${SCRIPT_DIR}/bin/CRX2RNX
RTKLIB2AVG=./scripts/rtklib2avg.py
CLOSEST_BS=./scripts/get_closest_basestation.py
EUREF_URL_GENERATOR=./scripts/get_euref_urls.py
RTKLIB2AVG=${SCRIPT_DIR}/scripts/rtklib2avg.py
CLOSEST_BS=${SCRIPT_DIR}/scripts/get_closest_basestation.py
EUREF_URL_GENERATOR=${SCRIPT_DIR}/scripts/get_euref_urls.py
# Define colors:
YELLOW="\e[33m"
RED="\e[31m"
DEFAULT="\e[39m"
# Fail if any part of a pipe fails
set -o pipefail
# Check if we have a local base
if [ -e "${BASE}" ]; then
HAS_BASE=true
......@@ -34,8 +39,20 @@ fi
# Convert observations to RINEX
${CONVBIN} ${UAV_FILE} -ts 2000/01/01 00:00:00
if [ ! $? -eq 0 ]; then
echo
echo -e "${RED}Error:${DEFAULT} Could not convert ${UAV_FILE}.";
exit -1;
fi
if $HAS_BASE; then
${CONVBIN} ${BASE_FILE} -ts 2000/01/01 00:00:00
if [ ! $? -eq 0 ]; then
echo
echo -e "${YELLOW}Warning:${DEFAULT} Could not convert ${UAV_FILE}.";
echo
HAS_BASE=false
fi
fi
......@@ -50,15 +67,31 @@ fi
# Get single position from observations
${RNX2RTKP} -p $MODE -o single.pos $INPUT_FILES
if [ ! $? -eq 0 ]; then
echo
echo -e "${RED}Error:${DEFAULT} could not analyze ${INPUT_FILES}.";
exit -1;
fi
# Get average single position from pos-file
llh=$(${RTKLIB2AVG} single.pos 5 6 | tail -n1)
if [ ! $? -eq 0 ]; then
echo
echo "${RED}Error:${DEFAULT} Could not find single position.";
exit -1;
fi
echo
echo "Average single pos lat long: " ${llh}
echo
# Find the closest base station ID
BS=$(${CLOSEST_BS} ${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
......@@ -77,6 +110,11 @@ 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=${BS_BASENAME}.rnx
......@@ -88,10 +126,22 @@ if [ ! -e "$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}Error:${DEFAULT} Could not download '$BS_URL' to '$cache_dir'.";
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
......@@ -101,6 +151,10 @@ if [ $HAS_BASE == false ]; then
BASE_STATION_FILES="$cache_dir/$BS_FILENAME"
OPTIONS="-c -s | -d 5"
${RNX2RTKP} -o $UAV.pos -p ${MODE} $OPTIONS $INPUT_FILES $BASE_STATION_FILES
if [ ! $? -eq 0 ]; then
echo -e "${RED}Error:${DEFAULT} RTK analysis failed";
exit -1;
fi
echo
echo "Done."
exit 0
......
......@@ -82,7 +82,8 @@ if __name__ == '__main__':
print(' %s lat lon [alt [basestations.txt]]' % sys.argv[0])
sys.exit(-1)
basestations_fname = 'basestations.txt'
SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__))
basestations_fname = os.path.join(SCRIPT_DIR, '../basestations.txt')
if len(sys.argv) > 4:
basestations_fname = sys.argv[4]
......