483 lines
16 KiB
C
483 lines
16 KiB
C
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/*------------------------------------------------------------------------------
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* ionex.c : ionex functions
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*
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* Copyright (C) 2011-2013 by T.TAKASU, All rights reserved.
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*
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* references:
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* [1] S.Schear, W.Gurtner and J.Feltens, IONEX: The IONosphere Map EXchange
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* Format Version 1, February 25, 1998
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* [2] S.Schaer, R.Markus, B.Gerhard and A.S.Timon, Daily Global Ionosphere
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* Maps based on GPS Carrier Phase Data Routinely producted by CODE
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* Analysis Center, Proceeding of the IGS Analysis Center Workshop, 1996
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*
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* version : $Revision:$ $Date:$
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* history : 2011/03/29 1.0 new
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* 2013/03/05 1.1 change api readtec()
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* fix problem in case of lat>85deg or lat<-85deg
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* 2014/02/22 1.2 fix problem on compiled as C++
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*-----------------------------------------------------------------------------*/
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#include "rtklib.h"
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#define SQR(x) ((x)*(x))
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#define VAR_NOTEC SQR(30.0) /* variance of no tec */
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#define MIN_EL 0.0 /* min elevation angle (rad) */
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#define MIN_HGT -1000.0 /* min user height (m) */
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/* get index -----------------------------------------------------------------*/
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static int getindex(double value, const double *range)
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{
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if (range[2]==0.0) return 0;
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if (range[1]>0.0&&(value<range[0]||range[1]<value)) return -1;
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if (range[1]<0.0&&(value<range[1]||range[0]<value)) return -1;
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return (int)floor((value-range[0])/range[2]+0.5);
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}
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/* get number of items -------------------------------------------------------*/
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static int nitem(const double *range)
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{
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return getindex(range[1],range)+1;
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}
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/* data index (i:lat,j:lon,k:hgt) --------------------------------------------*/
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static int dataindex(int i, int j, int k, const int *ndata)
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{
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if (i<0||ndata[0]<=i||j<0||ndata[1]<=j||k<0||ndata[2]<=k) return -1;
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return i+ndata[0]*(j+ndata[1]*k);
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}
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/* add tec data to navigation data -------------------------------------------*/
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static tec_t *addtec(const double *lats, const double *lons, const double *hgts,
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double rb, nav_t *nav)
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{
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tec_t *p,*nav_tec;
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gtime_t time0={0};
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int i,n,ndata[3],indx;
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trace(3,"addtec :\n");
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ndata[0]=nitem(lats);
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ndata[1]=nitem(lons);
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ndata[2]=nitem(hgts);
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if (ndata[0] > 1 && ndata[1] > 1 && ndata[2] > 0)
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{
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if (nav->nt >= nav->ntmax) {
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nav->ntmax += 256;
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if (!(nav_tec = (tec_t*)realloc(nav->tec, sizeof(tec_t) * nav->ntmax))) {
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trace(1, "readionex malloc error ntmax=%d\n", nav->ntmax);
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free(nav->tec); nav->tec = NULL; nav->nt = nav->ntmax = 0;
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return NULL;
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}
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for (indx = nav->ntmax - 1; indx >= nav->ntmax - 256; indx--)
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memset(&nav_tec[indx], 0, sizeof(tec_t));
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nav->tec = nav_tec;
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}
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p = nav->tec + nav->nt;
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p->time = time0;
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p->rb = rb;
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for (i = 0; i < 3; i++) {
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p->ndata[i] = ndata[i];
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p->lats[i] = lats[i];
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p->lons[i] = lons[i];
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p->hgts[i] = hgts[i];
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}
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n = ndata[0] * ndata[1] * ndata[2];
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if (!(p->data = (double*)malloc(sizeof(double) * n)) ||
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!(p->rms = (float*)malloc(sizeof(float) * n))) {
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return NULL;
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}
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for (i = 0; i < n; i++) {
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/* Thanks to 'if (ndata[0]>1 && ndata[1]>1 && ndata[2]>0)' we know analysis is wrong - disable 6386 */
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p->data[i] = 0.0;
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p->rms[i] = 0.0f;
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}
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nav->nt++;
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return p;
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}
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else
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return NULL;
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}
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/* read ionex dcb aux data ----------------------------------------------------*/
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static void readionexdcb(FILE *fp, double *dcb, double *rms)
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{
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int i,sat;
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char buff[1024],id[32],*label;
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trace(3,"readionexdcb:\n");
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for (i=0;i<MAXSAT;i++) dcb[i]=rms[i]=0.0;
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while (fgets(buff,sizeof(buff),fp)) {
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if (strlen(buff)<60) continue;
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label=buff+60;
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if (strstr(label,"PRN / BIAS / RMS")==label) {
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strncpy(id,buff+3,3); id[3]='\0';
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if (!(sat=satid2no(id))) {
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trace(2,"ionex invalid satellite: %s\n",id);
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continue;
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}
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dcb[sat-1]=str2num(buff, 6,10);
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rms[sat-1]=str2num(buff,16,10);
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}
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else if (strstr(label,"END OF AUX DATA")==label) break;
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}
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}
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/* read ionex header ---------------------------------------------------------*/
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static double readionexh(FILE *fp, double *lats, double *lons, double *hgts,
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double *rb, double *nexp, double *dcb, double *rms)
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{
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double ver=0.0;
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char buff[1024],*label;
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trace(3,"readionexh:\n");
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while (fgets(buff,sizeof(buff),fp)) {
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if (strlen(buff)<60) continue;
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label=buff+60;
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if (strstr(label,"IONEX VERSION / TYPE")==label) {
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if (buff[20]=='I') ver=str2num(buff,0,8);
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}
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else if (strstr(label,"BASE RADIUS")==label) {
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*rb=str2num(buff,0,8);
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}
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else if (strstr(label,"HGT1 / HGT2 / DHGT")==label) {
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hgts[0]=str2num(buff, 2,6);
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hgts[1]=str2num(buff, 8,6);
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hgts[2]=str2num(buff,14,6);
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}
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else if (strstr(label,"LAT1 / LAT2 / DLAT")==label) {
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lats[0]=str2num(buff, 2,6);
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lats[1]=str2num(buff, 8,6);
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lats[2]=str2num(buff,14,6);
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}
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else if (strstr(label,"LON1 / LON2 / DLON")==label) {
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lons[0]=str2num(buff, 2,6);
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lons[1]=str2num(buff, 8,6);
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lons[2]=str2num(buff,14,6);
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}
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else if (strstr(label,"EXPONENT")==label) {
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*nexp=str2num(buff,0,6);
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}
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else if (strstr(label,"START OF AUX DATA")==label&&
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strstr(buff,"DIFFERENTIAL CODE BIASES")) {
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readionexdcb(fp,dcb,rms);
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}
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else if (strstr(label,"END OF HEADER")==label) {
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return ver;
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}
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}
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return 0.0;
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}
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/* read ionex body -----------------------------------------------------------*/
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static int readionexb(FILE *fp, const double *lats, const double *lons,
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const double *hgts, double rb, double nexp, nav_t *nav)
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{
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tec_t *p=NULL;
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gtime_t time={0};
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double lat,lon[3],hgt,x;
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int i,j,k,n,m,index,type=0;
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char buff[1024],*label=buff+60;
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trace(3,"readionexb:\n");
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while (fgets(buff,sizeof(buff),fp)) {
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if (strlen(buff)<60) continue;
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if (strstr(label,"START OF TEC MAP")==label) {
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if ((p=addtec(lats,lons,hgts,rb,nav))) type=1;
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}
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else if (strstr(label,"END OF TEC MAP")==label) {
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type=0;
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p=NULL;
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}
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else if (strstr(label,"START OF RMS MAP")==label) {
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type=2;
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p=NULL;
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}
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else if (strstr(label,"END OF RMS MAP")==label) {
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type=0;
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p=NULL;
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}
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else if (strstr(label,"EPOCH OF CURRENT MAP")==label) {
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if (str2time(buff,0,36,&time)) {
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trace(2,"ionex epoch invalid: %-36.36s\n",buff);
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continue;
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}
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if (type==2) {
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for (i=nav->nt-1;i>=0;i--) {
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if (fabs(timediff(time,nav->tec[i].time))>=1.0) continue;
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p=nav->tec+i;
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break;
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}
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}
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else if (p) p->time=time;
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}
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else if (strstr(label,"LAT/LON1/LON2/DLON/H")==label&&p) {
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lat =str2num(buff, 2,6);
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lon[0]=str2num(buff, 8,6);
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lon[1]=str2num(buff,14,6);
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lon[2]=str2num(buff,20,6);
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hgt =str2num(buff,26,6);
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i=getindex(lat,p->lats);
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k=getindex(hgt,p->hgts);
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n=nitem(lon);
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for (m=0;m<n;m++) {
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if (m%16==0&&!fgets(buff,sizeof(buff),fp)) break;
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j=getindex(lon[0]+lon[2]*m,p->lons);
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if ((index=dataindex(i,j,k,p->ndata))<0) continue;
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if ((x=str2num(buff,m%16*5,5))==9999.0) continue;
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if (type==1) p->data[index]=x*pow(10.0,nexp);
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else p->rms[index]=(float)(x*pow(10.0,nexp));
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}
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}
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}
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return 1;
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}
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/* combine tec grid data -----------------------------------------------------*/
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static void combtec(nav_t *nav)
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{
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tec_t tmp;
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int i,j,n=0;
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trace(3,"combtec : nav->nt=%d\n",nav->nt);
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for (i=0;i<nav->nt-1;i++) {
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for (j=i+1;j<nav->nt;j++) {
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if (timediff(nav->tec[j].time,nav->tec[i].time)<0.0) {
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tmp=nav->tec[i];
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nav->tec[i]=nav->tec[j];
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nav->tec[j]=tmp;
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}
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}
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}
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for (i=0;i<nav->nt;i++) {
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if (i>0&&timediff(nav->tec[i].time,nav->tec[n-1].time)==0.0) {
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free(nav->tec[n-1].data);
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free(nav->tec[n-1].rms );
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nav->tec[n-1]=nav->tec[i];
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continue;
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}
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nav->tec[n++]=nav->tec[i];
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}
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nav->nt=n;
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trace(4,"combtec : nav->nt=%d\n",nav->nt);
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}
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/* read ionex tec grid file ----------------------------------------------------
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* read ionex ionospheric tec grid file
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* args : char *file I ionex tec grid file
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* (wind-card * is expanded)
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* nav_t *nav IO navigation data
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* nav->nt, nav->ntmax and nav->tec are modified
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* int opt I read option (1: no clear of tec data,0:clear)
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* return : none
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* notes : see ref [1]
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*-----------------------------------------------------------------------------*/
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extern void readtec(const char *file, nav_t *nav, int opt)
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{
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FILE *fp;
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double lats[3]={0},lons[3]={0},hgts[3]={0},rb=0.0,nexp=-1.0;
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double dcb[MAXSAT]={0},rms[MAXSAT]={0};
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int i,n;
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char *efiles[MAXEXFILE];
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trace(3,"readtec : file=%s\n",file);
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/* clear of tec grid data option */
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if (!opt) {
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free(nav->tec); nav->tec=NULL; nav->nt=nav->ntmax=0;
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}
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for (i=0;i<MAXEXFILE;i++) {
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if (!(efiles[i]=(char *)malloc(1024))) {
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for (i--;i>=0;i--) free(efiles[i]);
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return;
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}
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}
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/* expand wild card in file path */
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n=expath(file,efiles,MAXEXFILE);
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for (i=0;i<n;i++) {
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if (!(fp=fopen(efiles[i],"r"))) {
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trace(2,"ionex file open error %s\n",efiles[i]);
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continue;
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}
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/* read ionex header */
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if (readionexh(fp,lats,lons,hgts,&rb,&nexp,dcb,rms)<=0.0) {
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trace(2,"ionex file format error %s\n",efiles[i]);
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continue;
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}
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/* read ionex body */
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readionexb(fp,lats,lons,hgts,rb,nexp,nav);
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fclose(fp);
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}
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for (i=0;i<MAXEXFILE;i++) free(efiles[i]);
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/* combine tec grid data */
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if (nav->nt>0) combtec(nav);
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/* P1-P2 dcb */
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for (i=0;i<MAXSAT;i++) {
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nav->cbias[i][0]=CLIGHT*dcb[i]*1E-9; /* ns->m */
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}
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}
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/* interpolate tec grid data -------------------------------------------------*/
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static int interptec(const tec_t *tec, int k, const double *posp, double *value,
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double *rms)
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{
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double dlat,dlon,a,b,d[4]={0},r[4]={0};
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int i,j,n,index;
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trace(3,"interptec: k=%d posp=%.2f %.2f\n",k,posp[0]*R2D,posp[1]*R2D);
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*value=*rms=0.0;
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|
|
|
||
|
|
if (tec->lats[2]==0.0||tec->lons[2]==0.0) return 0;
|
||
|
|
|
||
|
|
dlat=posp[0]*R2D-tec->lats[0];
|
||
|
|
dlon=posp[1]*R2D-tec->lons[0];
|
||
|
|
if (tec->lons[2]>0.0) dlon-=floor( dlon/360)*360.0; /* 0<=dlon<360 */
|
||
|
|
else dlon+=floor(-dlon/360)*360.0; /* -360<dlon<=0 */
|
||
|
|
|
||
|
|
a=dlat/tec->lats[2];
|
||
|
|
b=dlon/tec->lons[2];
|
||
|
|
i=(int)floor(a); a-=i;
|
||
|
|
j=(int)floor(b); b-=j;
|
||
|
|
|
||
|
|
/* get gridded tec data */
|
||
|
|
for (n=0;n<4;n++) {
|
||
|
|
if ((index=dataindex(i+(n%2),j+(n<2?0:1),k,tec->ndata))<0) continue;
|
||
|
|
d[n]=tec->data[index];
|
||
|
|
r[n]=tec->rms [index];
|
||
|
|
}
|
||
|
|
if (d[0]>0.0&&d[1]>0.0&&d[2]>0.0&&d[3]>0.0) {
|
||
|
|
|
||
|
|
/* bilinear interpolation (inside of grid) */
|
||
|
|
*value=(1.0-a)*(1.0-b)*d[0]+a*(1.0-b)*d[1]+(1.0-a)*b*d[2]+a*b*d[3];
|
||
|
|
*rms =(1.0-a)*(1.0-b)*r[0]+a*(1.0-b)*r[1]+(1.0-a)*b*r[2]+a*b*r[3];
|
||
|
|
}
|
||
|
|
/* nearest-neighbour extrapolation (outside of grid) */
|
||
|
|
else if (a<=0.5&&b<=0.5&&d[0]>0.0) {*value=d[0]; *rms=r[0];}
|
||
|
|
else if (a> 0.5&&b<=0.5&&d[1]>0.0) {*value=d[1]; *rms=r[1];}
|
||
|
|
else if (a<=0.5&&b> 0.5&&d[2]>0.0) {*value=d[2]; *rms=r[2];}
|
||
|
|
else if (a> 0.5&&b> 0.5&&d[3]>0.0) {*value=d[3]; *rms=r[3];}
|
||
|
|
else {
|
||
|
|
i=0;
|
||
|
|
for (n=0;n<4;n++) if (d[n]>0.0) {i++; *value+=d[n]; *rms+=r[n];}
|
||
|
|
if(i==0) return 0;
|
||
|
|
*value/=i; *rms/=i;
|
||
|
|
}
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
/* ionosphere delay by tec grid data -----------------------------------------*/
|
||
|
|
static int iondelay(gtime_t time, const tec_t *tec, const double *pos,
|
||
|
|
const double *azel, int opt, double *delay, double *var)
|
||
|
|
{
|
||
|
|
const double fact=40.30E16/FREQL1/FREQL1; /* tecu->L1 iono (m) */
|
||
|
|
double fs,posp[3]={0},vtec,rms,hion,rp;
|
||
|
|
int i;
|
||
|
|
|
||
|
|
trace(3,"iondelay: time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0),
|
||
|
|
pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
|
||
|
|
|
||
|
|
*delay=*var=0.0;
|
||
|
|
|
||
|
|
for (i=0;i<tec->ndata[2];i++) { /* for a layer */
|
||
|
|
|
||
|
|
hion=tec->hgts[0]+tec->hgts[2]*i;
|
||
|
|
|
||
|
|
/* ionospheric pierce point position */
|
||
|
|
fs=ionppp(pos,azel,tec->rb,hion,posp);
|
||
|
|
|
||
|
|
if (opt&2) {
|
||
|
|
/* modified single layer mapping function (M-SLM) ref [2] */
|
||
|
|
rp=tec->rb/(tec->rb+hion)*sin(0.9782*(PI/2.0-azel[1]));
|
||
|
|
fs=1.0/sqrt(1.0-rp*rp);
|
||
|
|
}
|
||
|
|
if (opt&1) {
|
||
|
|
/* earth rotation correction (sun-fixed coordinate) */
|
||
|
|
posp[1]+=2.0*PI*timediff(time,tec->time)/86400.0;
|
||
|
|
}
|
||
|
|
/* interpolate tec grid data */
|
||
|
|
if (!interptec(tec,i,posp,&vtec,&rms)) return 0;
|
||
|
|
|
||
|
|
*delay+=fact*fs*vtec;
|
||
|
|
*var+=fact*fact*fs*fs*rms*rms;
|
||
|
|
}
|
||
|
|
trace(4,"iondelay: delay=%7.2f std=%6.2f\n",*delay,sqrt(*var));
|
||
|
|
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
/* ionosphere model by tec grid data -------------------------------------------
|
||
|
|
* compute ionospheric delay by tec grid data
|
||
|
|
* args : gtime_t time I time (gpst)
|
||
|
|
* nav_t *nav I navigation data
|
||
|
|
* double *pos I receiver position {lat,lon,h} (rad,m)
|
||
|
|
* double *azel I azimuth/elevation angle {az,el} (rad)
|
||
|
|
* int opt I model option
|
||
|
|
* bit0: 0:earth-fixed,1:sun-fixed
|
||
|
|
* bit1: 0:single-layer,1:modified single-layer
|
||
|
|
* double *delay O ionospheric delay (L1) (m)
|
||
|
|
* double *var O ionospheric dealy (L1) variance (m^2)
|
||
|
|
* return : status (1:ok,0:error)
|
||
|
|
* notes : before calling the function, read tec grid data by calling readtec()
|
||
|
|
* return ok with delay=0 and var=VAR_NOTEC if el<MIN_EL or h<MIN_HGT
|
||
|
|
*-----------------------------------------------------------------------------*/
|
||
|
|
extern int iontec(gtime_t time, const nav_t *nav, const double *pos,
|
||
|
|
const double *azel, int opt, double *delay, double *var)
|
||
|
|
{
|
||
|
|
double dels[2],vars[2],a,tt;
|
||
|
|
int i,stat[2];
|
||
|
|
|
||
|
|
trace(3,"iontec : time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0),
|
||
|
|
pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
|
||
|
|
|
||
|
|
if (azel[1]<MIN_EL||pos[2]<MIN_HGT) {
|
||
|
|
*delay=0.0;
|
||
|
|
*var=VAR_NOTEC;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
for (i=0;i<nav->nt;i++) {
|
||
|
|
if (timediff(nav->tec[i].time,time)>0.0) break;
|
||
|
|
}
|
||
|
|
if (i==0||i>=nav->nt) {
|
||
|
|
trace(2,"%s: tec grid out of period\n",time_str(time,0));
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
if ((tt=timediff(nav->tec[i].time,nav->tec[i-1].time))==0.0) {
|
||
|
|
trace(2,"tec grid time interval error\n");
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* ionospheric delay by tec grid data */
|
||
|
|
stat[0]=iondelay(time,nav->tec+i-1,pos,azel,opt,dels ,vars );
|
||
|
|
stat[1]=iondelay(time,nav->tec+i ,pos,azel,opt,dels+1,vars+1);
|
||
|
|
|
||
|
|
if (!stat[0]&&!stat[1]) {
|
||
|
|
trace(2,"%s: tec grid out of area pos=%6.2f %7.2f azel=%6.1f %5.1f\n",
|
||
|
|
time_str(time,0),pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
if (stat[0]&&stat[1]) { /* linear interpolation by time */
|
||
|
|
a=timediff(time,nav->tec[i-1].time)/tt;
|
||
|
|
*delay=dels[0]*(1.0-a)+dels[1]*a;
|
||
|
|
*var =vars[0]*(1.0-a)+vars[1]*a;
|
||
|
|
}
|
||
|
|
else if (stat[0]) { /* nearest-neighbour extrapolation by time */
|
||
|
|
*delay=dels[0];
|
||
|
|
*var =vars[0];
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
*delay=dels[1];
|
||
|
|
*var =vars[1];
|
||
|
|
}
|
||
|
|
trace(3,"iontec : delay=%5.2f std=%5.2f\n",*delay,sqrt(*var));
|
||
|
|
return 1;
|
||
|
|
}
|