diff --git a/.gitignore b/.gitignore index c16b97e29..a888c4a76 100644 --- a/.gitignore +++ b/.gitignore @@ -1,11 +1,17 @@ +debug/ target/ + test_resources/ + Cargo.lock + *.png *.jpg *.swp *.swo +**/*.rs.bk .DS_Store + rinex/merge.rnx rinex/test.crx DATA/ diff --git a/Cargo.toml b/Cargo.toml index 2a8497998..853049bf8 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -1,2 +1,13 @@ [workspace] -members = ["rinex", "crx2rnx", "rnx2crx", "qc-traits", "rinex-qc", "rinex-cli", "ublox-rnx", "sinex"] +resolver = "2" +members = [ + "rinex", + "crx2rnx", + "rnx2crx", + "qc-traits", + "rinex-qc", + "rinex-cli", + "ublox-rnx", + "sinex", + "sp3", +] diff --git a/README.md b/README.md index 19936016f..040685acd 100644 --- a/README.md +++ b/README.md @@ -53,6 +53,7 @@ It can be used to process RINEX files and perform operations similar to `teqc`. The application is auto-generated for a few architectures, download it from the [release portal](https://github.com/gwbres/rinex/releases) +* [`sp3`](sp3/) High Precision Orbits (by IGS) * [`rnx2crx`](rnx2crx/) is a RINEX compressor (RINEX to Compact RINEX) * [`crx2rnx`](crx2rnx/) is a CRINEX decompresor (Compact RINEX to RINEX) * [`rinex-qc`](rinex-qc/) is a library dedicated to RINEX files analysis diff --git a/qc-traits/Cargo.toml b/qc-traits/Cargo.toml index 251eed7a9..bc2f06c23 100644 --- a/qc-traits/Cargo.toml +++ b/qc-traits/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rinex-qc-traits" -version = "0.1.0" +version = "0.1.1" license = "MIT OR Apache-2.0" authors = ["Guillaume W. Bres "] description = "RINEX quality analysis specific traits" diff --git a/rinex-cli/Cargo.toml b/rinex-cli/Cargo.toml index 60d4ec707..eedff0041 100644 --- a/rinex-cli/Cargo.toml +++ b/rinex-cli/Cargo.toml @@ -18,9 +18,9 @@ pretty_env_logger = "0.5" clap = { version = "4", features = ["derive", "color"] } rand = "0.8" serde_json = "1" -sp3 = { version = "1.0.2", features = ["serde", "flate2"] } -rinex-qc = { version = "0.1.1", features = ["serde"] } -rinex = { version = "0.13.1", features = ["serde", "flate2", "sbas", "obs", "nav", "qc", "processing"] } +sp3 = { path = "../sp3", features = ["serde", "flate2"] } +rinex-qc = { path = "../rinex-qc", features = ["serde"] } +rinex = { path = "../rinex", features = ["serde", "flate2", "sbas", "obs", "nav", "qc", "processing"] } thiserror = "1" itertools = "0.11" plotly = "0.8.4" diff --git a/rinex-qc/Cargo.toml b/rinex-qc/Cargo.toml index 356fd77bf..29673fd55 100644 --- a/rinex-qc/Cargo.toml +++ b/rinex-qc/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rinex-qc" -version = "0.1.1" +version = "0.1.2" license = "MIT OR Apache-2.0" authors = ["Guillaume W. Bres "] description = "RINEX data analysis" @@ -26,9 +26,9 @@ strum_macros = "0.25" horrorshow = "0.8" itertools = "0.11.0" statrs = "0.16" -sp3 = { version = "1.0.2", features = ["serde"] } -rinex-qc-traits = "0.1.0" -rinex = { version = "0.13.1", features = ["obs", "nav", "qc", "processing"] } +sp3 = { path = "../sp3", features = ["serde"] } +rinex-qc-traits = { path = "../qc-traits" } +rinex = { path = "../rinex", features = ["obs", "nav", "qc", "processing", "serde", "flate2"] } [dev-dependencies] serde_json = "1" diff --git a/rinex/Cargo.toml b/rinex/Cargo.toml index 6fd1f84f8..24701fae9 100644 --- a/rinex/Cargo.toml +++ b/rinex/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rinex" -version = "0.13.1" +version = "0.13.2" license = "MIT OR Apache-2.0" authors = ["Guillaume W. Bres "] description = "Package to parse and analyze RINEX data" @@ -47,7 +47,7 @@ serde = { version = "1.0", optional = true, default-features = false, features = flate2 = { version = "1.0.24", optional = true, default-features = false, features = ["zlib"] } hifitime = { version = "3.8", features = ["serde", "std"] } horrorshow = { version = "0.8", optional = true } -rinex-qc-traits = { version = "0.1", optional = true } +rinex-qc-traits = { path = "../rinex", optional = true } [dev-dependencies] serde_json = "1" diff --git a/rinex/src/tests/decompression.rs b/rinex/src/tests/decompression.rs index eb8abf18f..4cd1f0a97 100644 --- a/rinex/src/tests/decompression.rs +++ b/rinex/src/tests/decompression.rs @@ -530,6 +530,7 @@ mod test { } } #[test] + #[cfg(feature = "flate2")] fn v3_mojn00dnk_sig_strength_regression() { let crnx = Rinex::from_file("../test_resources/CRNX/V3/MOJN00DNK_R_20201770000_01D_30S_MO.crx.gz"); diff --git a/rinex/src/tests/production.rs b/rinex/src/tests/production.rs index 768f74a47..48de5f6d7 100644 --- a/rinex/src/tests/production.rs +++ b/rinex/src/tests/production.rs @@ -18,6 +18,7 @@ mod test { let _ = std::fs::remove_file(tmp_path); } #[test] + #[cfg(feature = "flate2")] fn obs_v2() { let folder = env!("CARGO_MANIFEST_DIR").to_owned() + "/../test_resources/OBS/V2/"; for file in std::fs::read_dir(folder).unwrap() { @@ -27,6 +28,7 @@ mod test { } } #[test] + #[cfg(feature = "flate2")] fn obs_v3() { let folder = env!("CARGO_MANIFEST_DIR").to_owned() + "/../test_resources/OBS/V3/"; for file in std::fs::read_dir(folder).unwrap() { @@ -36,6 +38,7 @@ mod test { } } #[test] + #[cfg(feature = "flate2")] fn meteo_v2() { let folder = env!("CARGO_MANIFEST_DIR").to_owned() + "/../test_resources/MET/V2/"; for file in std::fs::read_dir(folder).unwrap() { @@ -45,6 +48,7 @@ mod test { } } #[test] + #[cfg(feature = "flate2")] fn meteo_v4() { let folder = env!("CARGO_MANIFEST_DIR").to_owned() + "/../test_resources/MET/V4/"; for file in std::fs::read_dir(folder).unwrap() { @@ -54,6 +58,7 @@ mod test { } } //#[test] + //#[cfg(feature = "flate2")] fn clocks_v2() { let folder = env!("CARGO_MANIFEST_DIR").to_owned() + "/../test_resources/CLK/V2/"; for file in std::fs::read_dir(folder).unwrap() { @@ -63,6 +68,7 @@ mod test { } } #[test] + #[cfg(feature = "flate2")] fn nav_v2() { let folder = env!("CARGO_MANIFEST_DIR").to_owned() + "/../test_resources/NAV/V2/"; for file in std::fs::read_dir(folder).unwrap() { @@ -72,6 +78,7 @@ mod test { } } #[test] + #[cfg(feature = "flate2")] fn nav_v3() { let folder = env!("CARGO_MANIFEST_DIR").to_owned() + "/../test_resources/NAV/V3/"; for file in std::fs::read_dir(folder).unwrap() { @@ -82,6 +89,7 @@ mod test { } /* #[test] + #[cfg(feature = "flate2")] fn nav_v4() { let folder = env!("CARGO_MANIFEST_DIR").to_owned() + "/../test_resources/NAV/V4/"; for file in std::fs::read_dir(folder).unwrap() { diff --git a/sp3/Cargo.toml b/sp3/Cargo.toml new file mode 100644 index 000000000..4bb3adf32 --- /dev/null +++ b/sp3/Cargo.toml @@ -0,0 +1,31 @@ +[package] +name = "sp3" +version = "1.0.3" +license = "MIT OR Apache-2.0" +authors = ["Guillaume W. Bres "] +description = "IGS SP3 file parser" +homepage = "https://github.com/georust/sp3" +repository = "https://github.com/georust/sp3" +documentation = "https://docs.rs/sp3/" +keywords = ["gnss", "timing", "gps", "glonass", "galileo", "igs"] +categories = ["science", "science::geo", "parsing"] +edition = "2021" +readme = "README.md" + +[features] +default = [] # no features by default + +[package.metadata.docs.rs] +all-features = true +rustdoc-args = ["--cfg", "docrs", "--generate-link-to-definition"] + +[build-dependencies] + +[dependencies] +rinex = { path = "../rinex", features = ["serde"] } +hifitime = "3.8.4" +thiserror = "1" +serde = { version = "1.0", optional = true, default-features = false, features = ["derive"] } +flate2 = { version = "1.0.24", optional = true, default-features = false, features = ["zlib"] } + +[dev-dependencies] diff --git a/sp3/README.md b/sp3/README.md new file mode 100644 index 000000000..eeffce031 --- /dev/null +++ b/sp3/README.md @@ -0,0 +1,147 @@ +# SP3 + +[![crates.io](https://img.shields.io/crates/v/sp3.svg)](https://crates.io/crates/sp3) +[![Rust](https://github.com/georust/rinex/actions/workflows/rust.yml/badge.svg)](https://github.com/georust/rinex/actions/workflows/rust.yml) +[![crates.io](https://docs.rs/sp3/badge.svg)](https://docs.rs/sp3/) +[![crates.io](https://img.shields.io/crates/d/sp3.svg)](https://crates.io/crates/sp3) +[![License](https://img.shields.io/badge/license-Apache%202.0-blue?style=flat-square)](https://github.com/georust/rinex/sp3/blob/main/LICENSE-APACHE) +[![License](https://img.shields.io/badge/license-MIT-blue?style=flat-square)](https://github.com/georust/rinex/sp3/blob/main/LICENSE-MIT) + +SP3 Precise GNSS Orbit files parser. + +SP3 is specifid by [IGS](https://igs.org/products/#orbits_clocks). + +The parser only supports Revisions C & D at the moment and rejects revisions A & B. + +## Getting started + +Add "sp3" to you cargo file + +```toml +[dependencies] +sp3 = "1" +``` + +Parse an SP3 file + +```rust +use crate::prelude::*; +use rinex::prelude::Constellation; +use std::path::PathBuf; +use std::str::FromStr; + +let path = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("data") + .join("ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz"); + +let sp3 = SP3::from_file(&path.to_string_lossy()); +assert!( + sp3.is_ok(), + "failed to parse ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz : {:?}", + sp3.err() +); + +let sp3 = sp3.unwrap(); + +/* + * Test general infos + */ +assert_eq!(sp3.version, Version::C); +assert_eq!(sp3.data_type, DataType::Position); + +assert_eq!( + sp3.first_epoch(), + Some(Epoch::from_str("2023-08-27T00:00:00 GPST").unwrap()) +); + +assert_eq!(sp3.nb_epochs(), 96, "bad number of epochs"); +assert_eq!(sp3.coord_system, "ITRF2"); +assert_eq!(sp3.orbit_type, OrbitType::BHN); +assert_eq!(sp3.time_system, TimeScale::GPST); +assert_eq!(sp3.constellation, Constellation::Mixed); +assert_eq!(sp3.agency, "ESOC"); + +assert_eq!(sp3.week_counter, (2277, 0.0_f64)); +assert_eq!(sp3.epoch_interval, Duration::from_seconds(900.0_f64)); + +// browse SV positions +for (epoch, sv, (x, y, z)) in sp3.sv_position() { + +} + +// browse SV clock +for (epoch, sv, clock) in sp3.sv_clock() { + +} +``` + +## File Merge + +Merge files together, for example to create a context spanning 48 hours + +```rust +let folder = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("data"); + +let sp3_a = folder.clone() + .join("ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz"); + +let sp3_b = folder.clone() + .join("ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz"); + +let sp3 = SP3::from_file(&sp3_a.to_string_lossy()) + .unwrap(); + +let sp3_b = SP3::from_file(&sp3_b.to_string_lossy()) + .unwrap(); + +let sp3 = sp3_a.merge(sp3_b); +assert!(sp3.is_ok()); +``` + +## Position Vector Interpolation + +Interpolate SV position at desired Epoch. +In order to preserve the high (+/- 1mm precision) for SP3 datasets, +we recommend using at least an interpolation order of 9 for typical SP3 files +with 15' epoch intervals. + +The current implementation restricts the interpolatable Epochs at +[tmin, tmax] = [(N +1)/2 * τ, T(n-1) - (N +1)/2 * τ], +both included, where N is the interpolation order, τ the epoch interval, and T(n-1) +the last Epoch in this file. + +Refer to the online API for more information + +```rust +use sp3::prelude::*; +use rinex::sv; +use std::str::FromStr; +use std::path::PathBuf; +use rinex::prelude::Sv; + +let path = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("data") + .join("ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz"); + +let sp3 = SP3::from_file(&path.to_string_lossy()) + .unwrap(); + +let epoch = Epoch::from_str("2023-08-27T00:00:00 GPST") + .unwrap(); +let interpolated = sp3.interpolate(epoch, sv!("G01"), 11); +assert!(interpolated.is_none(), "too early in this file"); + +let epoch = Epoch::from_str("2023-08-27T08:15:00 GPST") + .unwrap(); +let interpolated = sp3.interpolate(epoch, sv!("G01"), 11); +assert!(interpolated.is_some()); +let (x, y, z) = interpolated.unwrap(); +// demonstrate error is still sub cm +assert!((x - 13281.083885).abs() * 1.0E3 < 1.0E-2); // distances are expressed in km in all SP3 +assert!((y - -11661.887057).abs() * 1.0E3 < 1.0E-2); +assert!((z - 19365.687261).abs() * 1.0E3 < 1.0E-2); +``` diff --git a/sp3/src/bibliography.rs b/sp3/src/bibliography.rs new file mode 100644 index 000000000..e50fbf0f7 --- /dev/null +++ b/sp3/src/bibliography.rs @@ -0,0 +1,14 @@ +pub enum Bibliography { + /// SP3 -D revision specifications + /// [DOI]() + SP3dRev, + /// SP3 -C revision specifications + /// [DOI]() + SP3cRev, + /// C. Japhet, 2021 * Méthodes Numériques II - Interpolation Polynomiale * + /// [DOI]() + Japhet2021, + /// Univ. Rennes UFR Maths, * Interpolation polynomiale, Interpolation de Lagrange * + /// [DOI]() + UFRRennes, +} diff --git a/sp3/src/header/line1.rs b/sp3/src/header/line1.rs new file mode 100644 index 000000000..5048f3568 --- /dev/null +++ b/sp3/src/header/line1.rs @@ -0,0 +1,44 @@ +//! header line #1 parsing helper + +use crate::ParsingError; +use crate::{DataType, OrbitType, Version}; + +pub(crate) fn is_header_line1(content: &str) -> bool { + content.starts_with('#') +} + +pub(crate) struct Line1 { + pub version: Version, + pub data_type: DataType, + pub coord_system: String, + pub orbit_type: OrbitType, + pub agency: String, +} + +impl std::str::FromStr for Line1 { + type Err = ParsingError; + fn from_str(line: &str) -> Result { + if line.len() != 60 { + return Err(ParsingError::MalformedH1); + } + Ok(Self { + version: Version::from_str(&line[1..2])?, + data_type: DataType::from_str(&line[2..3])?, + coord_system: line[45..51].trim().to_string(), + orbit_type: OrbitType::from_str(line[51..55].trim())?, + agency: line[55..].trim().to_string(), + }) + } +} + +impl Line1 { + pub(crate) fn to_parts(&self) -> (Version, DataType, String, OrbitType, String) { + ( + self.version, + self.data_type, + self.coord_system.clone(), + self.orbit_type, + self.agency.clone(), + ) + } +} diff --git a/sp3/src/header/line2.rs b/sp3/src/header/line2.rs new file mode 100644 index 000000000..b80badb64 --- /dev/null +++ b/sp3/src/header/line2.rs @@ -0,0 +1,52 @@ +//! header line #2 parsing helper + +use crate::ParsingError; +use hifitime::Duration; + +pub(crate) fn is_header_line2(content: &str) -> bool { + content.starts_with("##") +} + +pub(crate) struct Line2 { + pub week_counter: (u32, f64), + pub epoch_interval: Duration, + pub mjd: (u32, f64), +} + +impl std::str::FromStr for Line2 { + type Err = ParsingError; + fn from_str(line: &str) -> Result { + if line.len() != 60 { + return Err(ParsingError::MalformedH2); + } + let mut mjd = (0_u32, 0.0_f64); + let mut week_counter = (0_u32, 0.0_f64); + + week_counter.0 = u32::from_str(line[2..7].trim()) + .or(Err(ParsingError::WeekCounter(line[2..7].to_string())))?; + + week_counter.1 = f64::from_str(line[7..23].trim()) + .or(Err(ParsingError::WeekCounter(line[7..23].to_string())))?; + + let dt = f64::from_str(line[24..38].trim()) + .or(Err(ParsingError::EpochInterval(line[24..38].to_string())))?; + + mjd.0 = u32::from_str(line[38..44].trim()) + .or(Err(ParsingError::Mjd(line[38..44].to_string())))?; + + mjd.1 = + f64::from_str(line[44..].trim()).or(Err(ParsingError::Mjd(line[44..].to_string())))?; + + Ok(Self { + week_counter, + epoch_interval: Duration::from_seconds(dt), + mjd, + }) + } +} + +impl Line2 { + pub(crate) fn to_parts(&self) -> ((u32, f64), Duration, (u32, f64)) { + (self.week_counter, self.epoch_interval, self.mjd) + } +} diff --git a/sp3/src/header/mod.rs b/sp3/src/header/mod.rs new file mode 100644 index 000000000..df256ef94 --- /dev/null +++ b/sp3/src/header/mod.rs @@ -0,0 +1,3 @@ +//! header parsing utilities +pub(crate) mod line1; +pub(crate) mod line2; diff --git a/sp3/src/lib.rs b/sp3/src/lib.rs new file mode 100644 index 000000000..2c23c61fc --- /dev/null +++ b/sp3/src/lib.rs @@ -0,0 +1,703 @@ +//! SP3 precise orbit file parser. +#![cfg_attr(docrs, feature(doc_cfg))] + +use hifitime::{Duration, Epoch, TimeScale}; +use rinex::prelude::{Constellation, Sv}; +use std::collections::{BTreeMap, HashMap}; + +use std::str::FromStr; +use thiserror::Error; + +#[cfg(test)] +mod tests; + +mod header; +mod merge; +mod position; +mod reader; +mod velocity; +mod version; + +#[cfg(doc_cfg)] +mod bibliography; + +use header::{ + line1::{is_header_line1, Line1}, + line2::{is_header_line2, Line2}, +}; + +use position::{position_entry, ClockRecord, PositionEntry, PositionRecord}; +use velocity::{velocity_entry, ClockRateRecord, VelocityEntry, VelocityRecord}; + +use reader::BufferedReader; +use std::io::BufRead; +use version::Version; + +#[cfg(feature = "serde")] +use serde::{Deserialize, Serialize}; + +/* + * 3D position + */ +type Vector3D = (f64, f64, f64); + +pub mod prelude { + pub use crate::version::Version; + pub use crate::{DataType, OrbitType, SP3}; + pub use hifitime::{Duration, Epoch, TimeScale}; + pub use rinex::prelude::{Constellation, Sv}; +} + +pub use merge::Merge; + +fn file_descriptor(content: &str) -> bool { + content.starts_with("%c") +} + +fn sp3_comment(content: &str) -> bool { + content.starts_with("/*") +} + +fn end_of_file(content: &str) -> bool { + content.eq("EOF") +} + +fn new_epoch(content: &str) -> bool { + content.starts_with("* ") +} + +#[derive(Default, Copy, Clone, Debug, PartialEq, Eq, Hash)] +#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))] +pub enum DataType { + #[default] + Position, + Velocity, +} + +impl std::fmt::Display for DataType { + fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result { + match self { + Self::Position => f.write_str("P"), + Self::Velocity => f.write_str("V"), + } + } +} + +impl std::str::FromStr for DataType { + type Err = ParsingError; + fn from_str(s: &str) -> Result { + if s.eq("P") { + Ok(Self::Position) + } else if s.eq("V") { + Ok(Self::Velocity) + } else { + Err(ParsingError::UnknownDataType(s.to_string())) + } + } +} + +#[derive(Default, Copy, Clone, Debug, PartialEq, Eq, Hash)] +#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))] +pub enum OrbitType { + #[default] + FIT, + EXT, + BCT, + BHN, + HLM, +} + +impl std::fmt::Display for OrbitType { + fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result { + match self { + Self::FIT => f.write_str("FIT"), + Self::EXT => f.write_str("EXT"), + Self::BCT => f.write_str("BCT"), + Self::BHN => f.write_str("BHN"), + Self::HLM => f.write_str("HLM"), + } + } +} + +impl std::str::FromStr for OrbitType { + type Err = ParsingError; + fn from_str(s: &str) -> Result { + if s.eq("FIT") { + Ok(Self::FIT) + } else if s.eq("EXT") { + Ok(Self::EXT) + } else if s.eq("BCT") { + Ok(Self::BCT) + } else if s.eq("BHN") { + Ok(Self::BHN) + } else if s.eq("HLM") { + Ok(Self::HLM) + } else { + Err(ParsingError::UnknownOrbitType(s.to_string())) + } + } +} + +/* + * Comments contained in file + */ +type Comments = Vec; + +#[derive(Default, Clone, Debug)] +#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))] +pub struct SP3 { + /// File revision + pub version: Version, + /// Data Type used in this file. + /// If DataType == Velocity, you know + /// that velocities record will be provided. + /// Otherwise, that is not garanteed and kind of rare. + pub data_type: DataType, + /// Coordinates system used in this file. + pub coord_system: String, + /// Type of Orbit contained in this file. + pub orbit_type: OrbitType, + /// Agency providing this data + pub agency: String, + /// Type of constellations encountered in this file. + /// For example "GPS" means only GPS vehicles are present. + pub constellation: Constellation, + /// File original time system, + /// either UTC or time source from which we converted to UTC. + pub time_system: TimeScale, + /// Initial week counter, in time_system + pub week_counter: (u32, f64), + /// Initial MJD, in time_system + pub mjd_start: (u32, f64), + /// [`Epoch`]s where at least one position + /// or one clock data is provided. Epochs are expressed UTC time, + /// either directly if provided as such, or internally converted. + pub epoch: Vec, + /// Returns sampling interval, ie., time between successive [`Epoch`]s. + pub epoch_interval: Duration, + /// Satellite Vehicles + pub sv: Vec, + /// Positions expressed in km, with 1mm precision, per Epoch and Sv. + pub position: PositionRecord, + /// Clock estimates in microseconds, with 1E-12 precision per Epoch and Sv. + pub clock: ClockRecord, + /// Velocities (Position derivative estimates) in 10^-1 m/s with 0.1 um/s precision. + pub velocities: VelocityRecord, + /// Rate of change of clock correction in 0.1 ns/s with 0.1 fs/s precision. + pub clock_rate: ClockRateRecord, + /// File header comments, stored as is. + pub comments: Comments, +} + +#[derive(Debug, Error)] +pub enum Errors { + #[error("parsing error")] + ParsingError(#[from] ParsingError), + #[error("hifitime parsing error")] + HifitimeParsingError(#[from] hifitime::Errors), + #[error("constellation parsing error")] + ConstellationParsingError(#[from] rinex::constellation::ParsingError), + #[error("unknown or non supported revision \"{0}\"")] + UnknownVersion(String), + #[error("unknown data type \"{0}\"")] + UnknownDataType(String), + #[error("unknown orbit type \"{0}\"")] + UnknownOrbitType(String), + #[error("file i/o error")] + DataParsingError(#[from] std::io::Error), +} + +#[derive(Debug, Error)] +pub enum ParsingError { + #[error("unknown or non supported revision \"{0}\"")] + UnknownVersion(String), + #[error("unknown data type \"{0}\"")] + UnknownDataType(String), + #[error("unknown orbit type \"{0}\"")] + UnknownOrbitType(String), + #[error("malformed header line #1")] + MalformedH1, + #[error("malformed header line #2")] + MalformedH2, + #[error("malformed %c line \"{0}\"")] + MalformedDescriptor(String), + #[error("failed to parse epoch year from \"{0}\"")] + EpochYear(String), + #[error("failed to parse epoch month from \"{0}\"")] + EpochMonth(String), + #[error("failed to parse epoch day from \"{0}\"")] + EpochDay(String), + #[error("failed to parse epoch hours from \"{0}\"")] + EpochHours(String), + #[error("failed to parse epoch minutes from \"{0}\"")] + EpochMinutes(String), + #[error("failed to parse epoch seconds from \"{0}\"")] + EpochSeconds(String), + #[error("failed to parse epoch milliseconds from \"{0}\"")] + EpochMilliSeconds(String), + #[error("failed to parse number of epochs \"{0}\"")] + NumberEpoch(String), + #[error("failed to parse week counter")] + WeekCounter(String), + #[error("failed to parse hifitime::Epoch")] + Epoch, + #[error("failed to parse sample rate from \"{0}\"")] + EpochInterval(String), + #[error("failed to parse mjd start \"{0}\"")] + Mjd(String), + #[error("failed to parse sv from \"{0}\"")] + Sv(String), + #[error("failed to parse (x, y, or z) coordinates from \"{0}\"")] + Coordinates(String), + #[error("failed to parse clock data from \"{0}\"")] + Clock(String), +} + +/* + * Parses hifitime::Epoch from standard format + */ +fn parse_epoch(content: &str, time_scale: TimeScale) -> Result { + let y = u32::from_str(content[0..4].trim()) + .or(Err(ParsingError::EpochYear(content[0..4].to_string())))?; + + let m = u32::from_str(content[4..7].trim()) + .or(Err(ParsingError::EpochMonth(content[4..7].to_string())))?; + + let d = u32::from_str(content[7..10].trim()) + .or(Err(ParsingError::EpochDay(content[7..10].to_string())))?; + + let hh = u32::from_str(content[10..13].trim()) + .or(Err(ParsingError::EpochHours(content[10..13].to_string())))?; + + let mm = u32::from_str(content[13..16].trim()) + .or(Err(ParsingError::EpochMinutes(content[13..16].to_string())))?; + + let ss = u32::from_str(content[16..19].trim()) + .or(Err(ParsingError::EpochSeconds(content[16..19].to_string())))?; + + let ss_fract = f64::from_str(content[20..27].trim()).or(Err( + ParsingError::EpochMilliSeconds(content[20..27].to_string()), + ))?; + + Epoch::from_str(&format!( + "{:04}-{:02}-{:02}T{:02}:{:02}:{:02} {}", + y, m, d, hh, mm, ss, time_scale, + )) + .or(Err(ParsingError::Epoch)) +} + +impl SP3 { + /// Parses given SP3 file, with possible seamless + /// .gz decompression, if compiled with the "flate2" feature. + pub fn from_file(path: &str) -> Result { + let reader = BufferedReader::new(path)?; + + let mut version = Version::default(); + let mut data_type = DataType::default(); + + let mut time_system = TimeScale::default(); + let mut constellation = Constellation::default(); + let mut pc_count = 0_u8; + + let mut coord_system = String::from("Unknown"); + let mut orbit_type = OrbitType::default(); + let mut agency = String::from("Unknown"); + let mut week_counter = (0_u32, 0_f64); + let mut epoch_interval = Duration::default(); + let mut mjd_start = (0_u32, 0_f64); + + let mut vehicles: Vec = Vec::new(); + let mut position = PositionRecord::default(); + let mut velocities = VelocityRecord::default(); + let mut clock = ClockRecord::default(); + let mut clock_rate = ClockRateRecord::default(); + let mut comments = Comments::new(); + + let mut epoch = Epoch::default(); + let mut epochs: Vec = Vec::new(); + + for line in reader.lines() { + let line = line.unwrap(); + let line = line.trim(); + if sp3_comment(line) { + comments.push(line[3..].to_string()); + continue; + } + if end_of_file(line) { + break; + } + if is_header_line1(line) && !is_header_line2(line) { + let l1 = Line1::from_str(line)?; + (version, data_type, coord_system, orbit_type, agency) = l1.to_parts(); + } + if is_header_line2(line) { + let l2 = Line2::from_str(line)?; + (week_counter, epoch_interval, mjd_start) = l2.to_parts(); + } + if file_descriptor(line) { + if line.len() < 60 { + return Err(Errors::ParsingError(ParsingError::MalformedDescriptor( + line.to_string(), + ))); + } + + if pc_count == 0 { + constellation = Constellation::from_str(line[3..4].trim())?; + time_system = TimeScale::from_str(line[9..12].trim())?; + } + + pc_count += 1; + } + if new_epoch(line) { + epoch = parse_epoch(&line[3..], time_system)?; + epochs.push(epoch); + } + if position_entry(line) { + if line.len() < 60 { + /* + * tolerate malformed positions + */ + continue; + } + let entry = PositionEntry::from_str(line)?; + let (sv, (pos_x, pos_y, pos_z), clk) = entry.to_parts(); + + //TODO : move this into %c config frame + if !vehicles.contains(&sv) { + vehicles.push(sv); + } + + if pos_x != 0.0_f64 && pos_y != 0.0_f64 && pos_z != 0.0_f64 { + /* + * Position vector is present & correct + */ + if let Some(e) = position.get_mut(&epoch) { + e.insert(sv, (pos_x, pos_y, pos_z)); + } else { + let mut map: BTreeMap = BTreeMap::new(); + map.insert(sv, (pos_x, pos_y, pos_z)); + position.insert(epoch, map); + } + } + if let Some(clk) = clk { + /* + * Clock data is present & correct + */ + if let Some(e) = clock.get_mut(&epoch) { + e.insert(sv, clk); + } else { + let mut map: BTreeMap = BTreeMap::new(); + map.insert(sv, clk); + clock.insert(epoch, map); + } + } + } + if velocity_entry(line) { + if line.len() < 60 { + /* + * tolerate malformed velocities + */ + continue; + } + let entry = VelocityEntry::from_str(line)?; + let (sv, (vel_x, vel_y, vel_z), clk) = entry.to_parts(); + + //TODO : move this into %c config frame + if !vehicles.contains(&sv) { + vehicles.push(sv); + } + + if vel_x != 0.0_f64 && vel_y != 0.0_f64 && vel_z != 0.0_f64 { + /* + * Position vector is present & correct + */ + if let Some(e) = velocities.get_mut(&epoch) { + e.insert(sv, (vel_x, vel_y, vel_z)); + } else { + let mut map: BTreeMap = BTreeMap::new(); + map.insert(sv, (vel_x, vel_y, vel_z)); + velocities.insert(epoch, map); + } + } + if let Some(clk) = clk { + /* + * Clock data is present & correct + */ + if let Some(e) = clock_rate.get_mut(&epoch) { + e.insert(sv, clk); + } else { + let mut map: BTreeMap = BTreeMap::new(); + map.insert(sv, clk); + clock_rate.insert(epoch, map); + } + } + } + } + Ok(Self { + version, + data_type, + epoch: epochs, + time_system, + constellation, + coord_system, + orbit_type, + agency, + week_counter, + epoch_interval, + mjd_start, + sv: vehicles, + position, + velocities, + clock, + clock_rate, + comments, + }) + } + /// Returns a unique Epoch iterator where either + /// Position or Clock data is provided. + pub fn epoch(&self) -> impl Iterator + '_ { + self.epoch.iter().copied() + } + /// Returns total number of epoch + pub fn nb_epochs(&self) -> usize { + self.epoch.len() + } + /// Returns first epoch + pub fn first_epoch(&self) -> Option { + self.epoch.get(0).copied() + } + /// Returns last epoch + pub fn last_epoch(&self) -> Option { + self.epoch.last().copied() + } + /// Returns a unique Sv iterator + pub fn sv(&self) -> impl Iterator + '_ { + self.sv.iter().copied() + } + /// Returns an Iterator over Sv position estimates, in km + /// with 1mm precision. + pub fn sv_position(&self) -> impl Iterator + '_ { + self.position + .iter() + .flat_map(|(e, sv)| sv.iter().map(|(sv, pos)| (*e, *sv, *pos))) + } + /// Returns an Iterator over Sv velocities estimates, + /// in 10^-1 m/s with 0.1 um/s precision. + pub fn sv_velocities(&self) -> impl Iterator + '_ { + self.velocities + .iter() + .flat_map(|(e, sv)| sv.iter().map(|(sv, vel)| (*e, *sv, *vel))) + } + /// Returns an Iterator over Clock error estimates, in microseconds + /// with 1E-12 precision. + pub fn sv_clock(&self) -> impl Iterator + '_ { + self.clock + .iter() + .flat_map(|(e, sv)| sv.iter().map(|(sv, clk)| (*e, *sv, *clk))) + } + /// Returns an Iterator over Clock rate of change estimates, + /// in 0.1 ns/s with 0.1 fs/s precision. + pub fn sv_clock_change(&self) -> impl Iterator + '_ { + self.clock_rate + .iter() + .flat_map(|(e, sv)| sv.iter().map(|(sv, clk)| (*e, *sv, *clk))) + } + /// Returns an Iterator over [`Comments`] contained in this file + pub fn comments(&self) -> impl Iterator + '_ { + self.comments.iter() + } + /// Interpolate SV position, expressed in kilometers ECEF at desired Epoch `t`. + /// For typical SP3 files with 15' epoch interval, + /// an interpolation order of at least 11 is recommended to preserve + /// data precision. + /// For an evenly spaced SP3 file, operation is feasible on Epochs + /// contained in the interval ](N +1)/2 * τ; T - (N +1)/2 * τ], + /// where N is the interpolation order, τ the epoch interval and T + /// the last Epoch in this file. See [Bibliography::Japhet2021]. + pub fn sv_position_interpolate(&self, sv: Sv, t: Epoch, order: usize) -> Option { + let odd_order = order % 2 > 0; + let sv_position: Vec<_> = self + .sv_position() + .filter_map(|(e, svnn, (x, y, z))| { + if sv == svnn { + Some((e, (x, y, z))) + } else { + None + } + }) + .collect(); + /* + * Determine closest Epoch in time + */ + let center = match sv_position + .iter() + .find(|(e, _)| (*e - t).abs() < self.epoch_interval) + { + Some(center) => center, + None => { + /* + * Failed to determine central Epoch for this SV: + * empty data set: should not happen + */ + return None; + }, + }; + // println!("CENTRAL EPOCH : {:?}", center); //DEBUG + let center_pos = match sv_position.iter().position(|(e, _)| *e == center.0) { + Some(center) => center, + None => { + /* will never happen at this point*/ + return None; + }, + }; + + let (min_before, min_after): (usize, usize) = match odd_order { + true => ((order + 1) / 2, (order + 1) / 2), + false => (order / 2, order / 2 + 1), + }; + + if center_pos < min_before || sv_position.len() - center_pos < min_after { + /* can't design time window */ + return None; + } + + let mut polynomials = Vector3D::default(); + let offset = center_pos - min_before; + + for i in 0..order + 1 { + let mut li = 1.0_f64; + let (e_i, (x_i, y_i, z_i)) = sv_position[offset + i]; + for j in 0..order + 1 { + let (e_j, _) = sv_position[offset + j]; + if j != i { + li *= (t - e_j).to_seconds(); + li /= (e_i - e_j).to_seconds(); + } + } + polynomials.0 += x_i * li; + polynomials.1 += y_i * li; + polynomials.2 += z_i * li; + } + + Some(polynomials) + } +} + +use merge::MergeError; + +impl Merge for SP3 { + fn merge(&self, rhs: &Self) -> Result { + let mut s = self.clone(); + s.merge_mut(rhs)?; + Ok(s) + } + fn merge_mut(&mut self, rhs: &Self) -> Result<(), MergeError> { + if self.agency != rhs.agency { + return Err(MergeError::DataProvider); + } + if self.time_system != rhs.time_system { + return Err(MergeError::TimeScale); + } + if self.coord_system != rhs.coord_system { + return Err(MergeError::CoordSystem); + } + if self.constellation != rhs.constellation { + /* + * Convert self to Mixed constellation + */ + self.constellation = Constellation::Mixed; + } + // adjust revision + if rhs.version > self.version { + self.version = rhs.version; + } + // Adjust MJD start + if rhs.mjd_start.0 < self.mjd_start.0 { + self.mjd_start.0 = rhs.mjd_start.0; + } + if rhs.mjd_start.1 < self.mjd_start.1 { + self.mjd_start.1 = rhs.mjd_start.1; + } + // Adjust week counter + if rhs.week_counter.0 < self.week_counter.0 { + self.week_counter.0 = rhs.week_counter.0; + } + if rhs.week_counter.1 < self.week_counter.1 { + self.week_counter.1 = rhs.week_counter.1; + } + // update Sv table + for sv in &rhs.sv { + if !self.sv.contains(sv) { + self.sv.push(*sv); + } + } + // update sampling interval (pessimistic) + self.epoch_interval = std::cmp::max(self.epoch_interval, rhs.epoch_interval); + /* + * Merge possible new positions + */ + for (epoch, svnn) in &rhs.position { + if let Some(lhs_sv) = self.position.get_mut(epoch) { + for (sv, position) in svnn { + lhs_sv.insert(*sv, *position); + } + } else { + // introduce new epoch + self.epoch.push(*epoch); + self.position.insert(*epoch, svnn.clone()); + } + } + /* + * Merge possible new Clock estimates + */ + for (epoch, svnn) in &rhs.clock { + if let Some(lhs_sv) = self.clock.get_mut(epoch) { + for (sv, clock) in svnn { + lhs_sv.insert(*sv, *clock); + } + } else { + // introduce new epoch : in clock record + self.clock.insert(*epoch, svnn.clone()); + // introduce new epoch : if not contained in positions + let mut found = false; + for e in &self.epoch { + found |= *e == *epoch; + if found { + break; + } + } + if !found { + self.epoch.push(*epoch); + } + } + } + /* + * Merge possible new Velocities estimates + */ + for (epoch, svnn) in &rhs.velocities { + if let Some(lhs_sv) = self.velocities.get_mut(epoch) { + for (sv, position) in svnn { + lhs_sv.insert(*sv, *position); + } + } else { + // introduce new epoch + self.velocities.insert(*epoch, svnn.clone()); + // introduce new epoch : if not contained in positions + let mut found = false; + for e in &self.epoch { + found |= *e == *epoch; + if found { + break; + } + } + if !found { + self.epoch.push(*epoch); + } + } + } + + // maintain Epochs in correct order + self.epoch.sort(); + Ok(()) + } +} diff --git a/sp3/src/merge.rs b/sp3/src/merge.rs new file mode 100644 index 000000000..d48921d11 --- /dev/null +++ b/sp3/src/merge.rs @@ -0,0 +1,27 @@ +//! SP3 file merging operations. + +use thiserror::Error; + +#[derive(Debug, Clone, Error)] +pub enum MergeError { + #[error("data providers (agencies) should match, when meging two sp3")] + DataProvider, + #[error("timescales should match when meging two sp3")] + TimeScale, + #[error("coords system (ref. frame) should match when meging two sp3")] + CoordSystem, +} + +pub trait Merge { + /// Merge two SP3 files together: this introduces + /// need Epoch and new data into self. + /// We tolerate different sample rate, in this case + /// self.epoch_interval becomes the lowest sample rate (pessimistic). + /// File version is adjusted to newest revision. + fn merge(&self, rhs: &Self) -> Result + where + Self: Sized; + fn merge_mut(&mut self, rhs: &Self) -> Result<(), MergeError> + where + Self: Sized; +} diff --git a/sp3/src/position.rs b/sp3/src/position.rs new file mode 100644 index 000000000..68c3a6d90 --- /dev/null +++ b/sp3/src/position.rs @@ -0,0 +1,57 @@ +//! Position & Clock data parsing +use crate::ParsingError; +use crate::{Epoch, Sv, Vector3D}; +use std::collections::BTreeMap; +/* + * Positions + */ +pub type PositionRecord = BTreeMap>; + +/* + * Clock estimates + */ +pub type ClockRecord = BTreeMap>; + +pub(crate) fn position_entry(content: &str) -> bool { + content.starts_with('P') +} + +pub(crate) struct PositionEntry { + sv: Sv, + clock: Option, + position: (f64, f64, f64), +} + +impl std::str::FromStr for PositionEntry { + type Err = ParsingError; + fn from_str(line: &str) -> Result { + let mut clock: Option = None; + let sv = + Sv::from_str(line[1..4].trim()).or(Err(ParsingError::Sv(line[1..4].to_string())))?; + let x = f64::from_str(line[4..18].trim()) + .or(Err(ParsingError::Coordinates(line[4..18].to_string())))?; + let y = f64::from_str(line[18..32].trim()) + .or(Err(ParsingError::Coordinates(line[18..32].to_string())))?; + let z = f64::from_str(line[32..46].trim()) + .or(Err(ParsingError::Coordinates(line[32..46].to_string())))?; + if !line[45..52].trim().eq("999999.") { + /* + * Clock data present + */ + let clk_data = f64::from_str(line[46..60].trim()) + .or(Err(ParsingError::Clock(line[46..60].to_string())))?; + clock = Some(clk_data); + } + Ok(Self { + sv, + clock, + position: (x, y, z), + }) + } +} + +impl PositionEntry { + pub fn to_parts(&self) -> (Sv, (f64, f64, f64), Option) { + (self.sv, self.position, self.clock) + } +} diff --git a/sp3/src/reader.rs b/sp3/src/reader.rs new file mode 100644 index 000000000..e7afe007f --- /dev/null +++ b/sp3/src/reader.rs @@ -0,0 +1,66 @@ +//! Buffered Reader wrapper, for efficient data reading +//! and integrated .gz decompression. +#[cfg(feature = "flate2")] +use flate2::read::GzDecoder; +use std::fs::File; +use std::io::BufReader; // Seek, SeekFrom}; + +#[derive(Debug)] +pub enum BufferedReader { + /// Readable (plain) file + PlainFile(BufReader), + /// gzip compressed RINEX + #[cfg(feature = "flate2")] + GzFile(BufReader>), +} + +impl BufferedReader { + /// Builds a new BufferedReader for efficient file interation, + /// with possible .gz decompression + pub fn new(path: &str) -> std::io::Result { + let f = File::open(path)?; + if path.ends_with(".gz") { + // --> gzip encoded + #[cfg(feature = "flate2")] + { + Ok(Self::GzFile(BufReader::new(GzDecoder::new(f)))) + } + #[cfg(not(feature = "flate2"))] + { + panic!(".gz data requires --flate2 feature") + } + } else if path.ends_with(".Z") { + panic!(".z decompresion is not supported: uncompress manually") + } else { + // Assumes no extra compression + Ok(Self::PlainFile(BufReader::new(f))) + } + } +} + +impl std::io::Read for BufferedReader { + fn read(&mut self, buf: &mut [u8]) -> Result { + match self { + Self::PlainFile(ref mut h) => h.read(buf), + #[cfg(feature = "flate2")] + Self::GzFile(ref mut h) => h.read(buf), + } + } +} + +impl std::io::BufRead for BufferedReader { + fn fill_buf(&mut self) -> Result<&[u8], std::io::Error> { + match self { + Self::PlainFile(ref mut bufreader) => bufreader.fill_buf(), + #[cfg(feature = "flate2")] + Self::GzFile(ref mut bufreader) => bufreader.fill_buf(), + } + } + fn consume(&mut self, s: usize) { + match self { + Self::PlainFile(ref mut bufreader) => bufreader.consume(s), + #[cfg(feature = "flate2")] + Self::GzFile(ref mut bufreader) => bufreader.consume(s), + } + } +} diff --git a/sp3/src/tests/interpolation.rs b/sp3/src/tests/interpolation.rs new file mode 100644 index 000000000..b1c843b53 --- /dev/null +++ b/sp3/src/tests/interpolation.rs @@ -0,0 +1,112 @@ +//! SP3 interpolation specific tests +#[cfg(test)] +mod test { + use crate::prelude::*; + use rinex::prelude::Sv; + use rinex::sv; + use std::path::PathBuf; + use std::str::FromStr; + /* + * Theoretical maximal error of a Lagrangian interpolation + * over a given Dataset for specified interpolation order + */ + fn max_error(values: Vec<(Epoch, f64)>, epoch: Epoch, order: usize) -> f64 { + let mut q = 1.0_f64; + for (e, _) in values { + q *= (epoch - e).to_seconds(); + } + let factorial: usize = (1..=order + 1).product(); + q.abs() / factorial as f64 // TODO f^(n+1)[x] + } + #[cfg(feature = "flate2")] + #[test] + fn interp() { + let path = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("..") + .join("test_resources") + .join("SP3") + .join("EMR0OPSULT_20232391800_02D_15M_ORB.SP3.gz"); + let sp3 = SP3::from_file(&path.to_string_lossy()); + assert!( + sp3.is_ok(), + "failed to parse EMR0OPSULT_20232391800_02D_15M_ORB.SP3.gz" + ); + + let sp3 = sp3.unwrap(); + + let first_epoch = sp3.first_epoch().expect("failed to determine 1st epoch"); + + let last_epoch = sp3.last_epoch().expect("failed to determine last epoch"); + + let dt = sp3.epoch_interval; + let total_epochs = sp3.epoch().count(); + + //TODO: replace with max_error() + for (order, max_error) in vec![(7, 1E-1_f64), (9, 1.0E-2_64), (11, 0.5E-3_f64)] { + let tmin = first_epoch + (order / 2) * dt; + let tmax = last_epoch - (order / 2) * dt; + println!("running Interp({}) testbench..", order); + //DEBUG + for (index, (epoch, sv, (x, y, z))) in sp3.sv_position().enumerate() { + let feasible = epoch > tmin && epoch <= tmax; + let interpolated = sp3.sv_position_interpolate(sv, epoch, order as usize); + let achieved = interpolated.is_some(); + //DEBUG + //println!("tmin: {} | tmax: {} | epoch: {} | feasible : {} | achieved: {}", tmin, tmax, epoch, feasible, achieved); + if feasible { + assert!( + achieved == feasible, + "interpolation should have been feasible @ epoch {}", + epoch, + ); + } else { + assert!( + achieved == feasible, + "interpolation should not have been feasible @ epoch {}", + epoch, + ); + } + if !feasible { + continue; + } + /* + * test interpolation errors + */ + let (x_interp, y_interp, z_interp) = interpolated.unwrap(); + let err = ( + (x_interp - x).abs() * 1.0E3, // error in km + (y_interp - y).abs() * 1.0E3, + (z_interp - z).abs() * 1.0E3, + ); + assert!( + err.0 < max_error, + "x error too large: {} for Interp({}) for {} @ Epoch {}/{}", + err.0, + order, + sv, + index, + total_epochs, + ); + assert!( + err.1 < max_error, + "y error too large: {} for Interp({}) for {} @ Epoch {}/{}", + err.1, + order, + sv, + index, + total_epochs, + ); + assert!( + err.2 < max_error, + "z error too large: {} for Interp({}) for {} @ Epoch {}/{}", + err.2, + order, + sv, + index, + total_epochs, + ); + } + } + } +} diff --git a/sp3/src/tests/merge.rs b/sp3/src/tests/merge.rs new file mode 100644 index 000000000..920aeffdf --- /dev/null +++ b/sp3/src/tests/merge.rs @@ -0,0 +1,91 @@ +//! SP3 merging opreations + +#[cfg(test)] +mod test { + use crate::prelude::*; + use crate::Merge; + use std::path::PathBuf; + use std::str::FromStr; + #[cfg(feature = "flate2")] + #[test] + fn merge_failure() { + let test_pool = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("..") + .join("test_resources") + .join("SP3"); + + let path_a = test_pool + .clone() + .join("EMR0OPSULT_20232391800_02D_15M_ORB.SP3.gz"); + let file_a = SP3::from_file(&path_a.to_string_lossy()); + assert!( + file_a.is_ok(), + "failed to parse EMR0OPSULT_20232391800_02D_15M_ORB.SP3.gz" + ); + let file_a = file_a.unwrap(); + + let path_b = test_pool + .clone() + .join("ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz"); + let file_b = SP3::from_file(&path_b.to_string_lossy()); + assert!( + file_b.is_ok(), + "failed to parse ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz" + ); + let file_b = file_b.unwrap(); + + let new = file_a.merge(&file_b); + assert!( + new.is_err(), + "should not be able to merge files from two different data providers" + ); + } + #[cfg(feature = "flate2")] + #[test] + fn esa0opsrap_esa0opsult_2023() { + let test_pool = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("..") + .join("test_resources") + .join("SP3"); + + let path_a = test_pool + .clone() + .join("ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz"); + let file_a = SP3::from_file(&path_a.to_string_lossy()); + assert!( + file_a.is_ok(), + "failed to parse ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz" + ); + let file_a = file_a.unwrap(); + + let path_b = test_pool + .clone() + .join("ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz"); + let file_b = SP3::from_file(&path_b.to_string_lossy()); + assert!( + file_b.is_ok(), + "failed to parse ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz" + ); + let file_b = file_b.unwrap(); + + let merged = file_a.merge(&file_b); + assert!( + merged.is_ok(), + "failed to merge into ESA0OPSULT_20232320600 ESA0OPSRAP_20232390000, {:?}", + merged.err() + ); + + let merged = merged.unwrap(); + assert_eq!(merged.nb_epochs(), 192 + 96); + assert_eq!( + merged.first_epoch(), + Some(Epoch::from_str("2023-08-20T06:00:00 GPST").unwrap()) + ); + assert_eq!( + merged.last_epoch(), + Some(Epoch::from_str("2023-08-27T23:45:00 GPST").unwrap()) + ); + } +} diff --git a/sp3/src/tests/mod.rs b/sp3/src/tests/mod.rs new file mode 100644 index 000000000..569bf08cc --- /dev/null +++ b/sp3/src/tests/mod.rs @@ -0,0 +1,5 @@ +mod interpolation; +mod merge; +mod parser_3c; +mod parser_3d; +mod test_pool; diff --git a/sp3/src/tests/parser_3c.rs b/sp3/src/tests/parser_3c.rs new file mode 100644 index 000000000..48873aebb --- /dev/null +++ b/sp3/src/tests/parser_3c.rs @@ -0,0 +1,89 @@ +//! SP3-C dedicated tests +#[cfg(test)] +mod test { + use crate::prelude::*; + use rinex::prelude::Constellation; + use std::path::PathBuf; + use std::str::FromStr; + #[cfg(feature = "flate2")] + #[test] + fn esa0opsrap_20232339_01d_15m() { + let path = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("..") + .join("test_resources") + .join("SP3") + .join("ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz"); + + let sp3 = SP3::from_file(&path.to_string_lossy()); + assert!( + sp3.is_ok(), + "failed to parse ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz : {:?}", + sp3.err() + ); + + let sp3 = sp3.unwrap(); + + /* + * Test general infos + */ + assert_eq!(sp3.version, Version::C); + assert_eq!(sp3.data_type, DataType::Position); + + assert_eq!( + sp3.first_epoch(), + Some(Epoch::from_str("2023-08-27T00:00:00 GPST").unwrap()) + ); + + assert_eq!(sp3.nb_epochs(), 96, "bad number of epochs"); + assert_eq!(sp3.coord_system, "ITRF2"); + assert_eq!(sp3.orbit_type, OrbitType::BHN); + assert_eq!(sp3.time_system, TimeScale::GPST); + assert_eq!(sp3.constellation, Constellation::Mixed); + assert_eq!(sp3.agency, "ESOC"); + + assert_eq!(sp3.week_counter, (2277, 0.0_f64)); + assert_eq!(sp3.epoch_interval, Duration::from_seconds(900.0_f64)); + assert_eq!(sp3.mjd_start, (60183, 0.0_f64)); + + for (index, epoch) in sp3.epoch().enumerate() { + match index { + 0 => { + assert_eq!( + epoch, + Epoch::from_str("2023-08-27T00:00:00 GPST").unwrap(), + "parsed wrong epoch" + ); + }, + 1 => { + assert_eq!( + epoch, + Epoch::from_str("2023-08-27T00:15:00 GPST").unwrap(), + "parsed wrong epoch" + ); + }, + _ => {}, + } + } + + for (index, (epoch, sv, clock)) in sp3.sv_clock().enumerate() {} + + /* + * Test file comments + */ + assert_eq!( + sp3.comments.len(), + 4, + "failed to parse files comment correctly" + ); + assert_eq!( + sp3.comments, + vec![ + "CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC", + "CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC", + "CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC", + "PCV:IGS20_2274 OL/AL:EOT11A NONE YN ORB:CoN CLK:CoN", + ], + ); + } +} diff --git a/sp3/src/tests/parser_3d.rs b/sp3/src/tests/parser_3d.rs new file mode 100644 index 000000000..2571e3281 --- /dev/null +++ b/sp3/src/tests/parser_3d.rs @@ -0,0 +1,117 @@ +//! SP3-D dedicated tests +#[cfg(test)] +mod test { + use crate::prelude::*; + use rinex::prelude::{Constellation, Sv}; + use rinex::sv; + use std::path::PathBuf; + use std::str::FromStr; + #[test] + fn sp3d_txt() { + let path = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("..") + .join("test_resources") + .join("SP3") + .join("sp3d.txt"); + let sp3 = SP3::from_file(&path.to_string_lossy()); + assert!( + sp3.is_ok(), + "failed to parse data/sp3d.txt: {:?}", + sp3.err() + ); + + let sp3 = sp3.unwrap(); + + /* + * Test general infos + */ + assert_eq!(sp3.version, Version::D); + assert_eq!(sp3.data_type, DataType::Position); + assert_eq!( + sp3.first_epoch(), + Some(Epoch::from_str("2019-10-27T00:00:00 GPST").unwrap()) + ); + assert_eq!(sp3.nb_epochs(), 1, "bad number of epochs"); + assert_eq!(sp3.coord_system, "IGS14"); + assert_eq!(sp3.orbit_type, OrbitType::FIT); + assert_eq!(sp3.time_system, TimeScale::GPST); + assert_eq!(sp3.constellation, Constellation::Mixed); + assert_eq!(sp3.agency, "IGS"); + assert_eq!(sp3.week_counter, (2077, 0.0_f64)); + assert_eq!(sp3.epoch_interval, Duration::from_seconds(300.0_f64)); + assert_eq!(sp3.mjd_start, (58783, 0.0_f64)); + + for (epoch, sv, position) in sp3.sv_position() { + assert_eq!(epoch, Epoch::from_str("2019-10-27T00:00:00 GPST").unwrap()); + if sv == sv!("C01") { + assert_eq!( + position, + (-32312.652253, 27060.656563, 205.195454), + "bad position data" + ); + } else if sv == sv!("E01") { + assert_eq!( + position, + (-15325.409333, 5781.454973, -24645.410980), + "bad position data" + ); + } else if sv == sv!("G01") { + assert_eq!( + position, + (-22335.782004, -14656.280389, -1218.238499), + "bad position data" + ); + } else if sv == sv!("J01") { + assert_eq!( + position, + (-30616.656355, 26707.752269, 16227.934145), + "bad position data" + ); + } else if sv == sv!("R01") { + assert_eq!( + position, + (15684.717752, -12408.390324, -15847.221180), + "bad position data" + ); + } else { + panic!("identified wrong sv"); + } + } + + let mut clk: Vec<_> = sp3.sv_clock().collect(); + for (epoch, sv, clock) in sp3.sv_clock() { + assert_eq!(epoch, Epoch::from_str("2019-10-27T00:00:00 GPST").unwrap()); + if sv == sv!("C01") { + assert_eq!(clock, 63.035497, "bad clock data"); + } else if sv == sv!("E01") { + assert_eq!(clock, -718.927492, "bad clock data"); + } else if sv == sv!("G01") { + assert_eq!(clock, -176.397152, "bad clock data"); + } else if sv == sv!("J01") { + assert_eq!(clock, -336.145158, "bad clock data"); + } else if sv == sv!("R01") { + assert_eq!(clock, 51.759894, "bad clock data"); + } else { + panic!("identified wrong sv"); + } + } + /* + * Test file comments + */ + assert_eq!( + sp3.comments.len(), + 4, + "failed to parse files comment correctly" + ); + assert_eq!( + sp3.comments, + vec![ + "PCV:IGS14_2074 OL/AL:FES2004 NONE YN CLK:CoN ORB:CoN", + "THIS EXAMPLE OF SP3 FILE IS PART OF THE gLAB TOOL SUITE", + "FILE PREPARED BY: MOWEN LI", + "PLEASE EMAIL ANY COMMENT OR REQUEST TO glab.gage @upc.edu", + ], + ); + } +} diff --git a/sp3/src/tests/test_pool.rs b/sp3/src/tests/test_pool.rs new file mode 100644 index 000000000..acc1382fc --- /dev/null +++ b/sp3/src/tests/test_pool.rs @@ -0,0 +1,57 @@ +#[cfg(test)] +mod test { + use crate::prelude::*; + use std::path::PathBuf; + #[cfg(feature = "flate2")] + #[test] + fn gzip_data() { + let prefix = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("..") + .join("test_resources") + .join("SP3"); + + for file in vec![ + "EMR0OPSULT_20232391800_02D_15M_ORB.SP3.gz", + "ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz", + "COD0MGXFIN_20230500000_01D_05M_ORB.SP3.gz", + "ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz", + ] { + let file_path = prefix.clone().join(file); + println!("Parsing file \"{}\"", file_path.to_string_lossy()); + let sp3 = SP3::from_file(&file_path.to_string_lossy()); + assert!( + sp3.is_ok(), + "failed to parse data/{}, error: {:?}", + file, + sp3.err() + ); + } + } + #[test] + fn data_folder() { + let prefix = PathBuf::new() + .join(env!("CARGO_MANIFEST_DIR")) + .join("..") + .join("test_resources") + .join("SP3"); + + for file in vec![ + "co108870.sp3", + "em108871.sp3", + //"emr08874.sp3", + //"sio06492.sp3", + "sp3d.txt", + ] { + let file_path = prefix.clone().join(file); + println!("Parsing file \"{}\"", file_path.to_string_lossy()); + let sp3 = SP3::from_file(&file_path.to_string_lossy()); + assert!( + sp3.is_ok(), + "failed to parse data/{}, error: {:?}", + file, + sp3.err() + ); + } + } +} diff --git a/sp3/src/velocity.rs b/sp3/src/velocity.rs new file mode 100644 index 000000000..c3d77923e --- /dev/null +++ b/sp3/src/velocity.rs @@ -0,0 +1,58 @@ +//! Velocity entry parsing +use crate::ParsingError; +use crate::{Epoch, Sv, Vector3D}; +use std::collections::BTreeMap; + +/* + * SV velocities prediction estimates + */ +pub type VelocityRecord = BTreeMap>; +/* + * Clock rate of change record content + */ +pub type ClockRateRecord = BTreeMap>; + +pub(crate) fn velocity_entry(content: &str) -> bool { + content.starts_with('V') +} + +pub(crate) struct VelocityEntry { + sv: Sv, + velocity: (f64, f64, f64), + clock: Option, +} + +impl std::str::FromStr for VelocityEntry { + type Err = ParsingError; + fn from_str(line: &str) -> Result { + let mut clock: Option = None; + let sv = + Sv::from_str(line[1..4].trim()).or(Err(ParsingError::Sv(line[1..4].to_string())))?; + let x = f64::from_str(line[4..18].trim()) + .or(Err(ParsingError::Coordinates(line[4..18].to_string())))?; + let y = f64::from_str(line[18..32].trim()) + .or(Err(ParsingError::Coordinates(line[18..32].to_string())))?; + let z = f64::from_str(line[32..46].trim()) + .or(Err(ParsingError::Coordinates(line[32..46].to_string())))?; + + if !line[45..52].trim().eq("999999.") { + /* + * Clock data present + */ + let clk_data = f64::from_str(line[46..60].trim()) + .or(Err(ParsingError::Clock(line[46..60].to_string())))?; + clock = Some(clk_data); + } + Ok(Self { + sv, + velocity: (x, y, z), + clock, + }) + } +} + +impl VelocityEntry { + pub fn to_parts(&self) -> (Sv, (f64, f64, f64), Option) { + (self.sv, self.velocity, self.clock) + } +} diff --git a/sp3/src/version.rs b/sp3/src/version.rs new file mode 100644 index 000000000..2538edd65 --- /dev/null +++ b/sp3/src/version.rs @@ -0,0 +1,121 @@ +//! sp3 version + +use crate::ParsingError; + +#[cfg(feature = "serde")] +use serde::{Deserialize, Serialize}; + +#[derive(Default, Copy, Clone, Debug, PartialEq, PartialOrd, Eq, Ord, Hash)] +#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))] +pub enum Version { + A, + B, + /// SP3-C defined in [Bibliography::SP3cRev] + C, + #[default] + /// SP3-D defined in [Bibliography::SP3dRev] + D, +} + +impl std::fmt::Display for Version { + fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result { + match self { + Self::A => f.write_str("a"), + Self::B => f.write_str("b"), + Self::C => f.write_str("c"), + Self::D => f.write_str("d"), + } + } +} + +impl std::str::FromStr for Version { + type Err = ParsingError; + fn from_str(s: &str) -> Result { + if s.eq("a") { + Ok(Self::A) + } else if s.eq("b") { + Ok(Self::B) + } else if s.eq("c") { + Ok(Self::C) + } else if s.eq("d") { + Ok(Self::D) + } else { + Err(ParsingError::UnknownVersion(s.to_string())) + } + } +} + +impl From for u8 { + fn from(val: Version) -> Self { + match val { + Version::A => 1, + Version::B => 2, + Version::C => 3, + Version::D => 4, + } + } +} + +impl From for Version { + fn from(lhs: u8) -> Version { + match lhs { + 4..=u8::MAX => Version::D, + 0..=3 => Version::C, + } + } +} + +impl std::ops::Add for Version { + type Output = Self; + fn add(self, rhs: u8) -> Self { + let s: u8 = self.into(); + (s + rhs).into() + } +} + +impl std::ops::Sub for Version { + type Output = Self; + fn sub(self, rhs: u8) -> Self { + let s: u8 = self.into(); + (s - rhs).into() + } +} + +#[cfg(test)] +mod test { + use super::Version; + use std::str::FromStr; + #[test] + fn version() { + for (desc, expected) in vec![("c", Version::C), ("d", Version::D)] { + assert!( + Version::from_str(desc).is_ok(), + "failed to parse Version from \"{}\"", + desc + ); + } + + for (vers, expected) in vec![(Version::C, 3), (Version::D, 4)] { + let version: u8 = vers.into(); + assert_eq!(version, expected, "convertion to integer failed"); + } + + assert!(Version::C < Version::D); + assert!(Version::D >= Version::C); + + let version: Version = 4_u8.into(); + assert_eq!(version, Version::D); + assert_eq!(version + 1, Version::D); + assert_eq!(version - 1, Version::C); + + let version: Version = 3_u8.into(); + assert_eq!(version, Version::C); + assert_eq!(version + 1, Version::D); + assert_eq!(version - 1, Version::C); + + assert!(Version::A < Version::B); + assert!(Version::A < Version::C); + assert!(Version::A < Version::D); + assert!(Version::D > Version::C); + } +} diff --git a/test_resources/SP3/COD0MGXFIN_20230500000_01D_05M_ORB.SP3.gz b/test_resources/SP3/COD0MGXFIN_20230500000_01D_05M_ORB.SP3.gz new file mode 100644 index 000000000..ee685bf68 Binary files /dev/null and b/test_resources/SP3/COD0MGXFIN_20230500000_01D_05M_ORB.SP3.gz differ diff --git a/test_resources/SP3/EMR0OPSULT_20232391800_02D_15M_ORB.SP3.gz b/test_resources/SP3/EMR0OPSULT_20232391800_02D_15M_ORB.SP3.gz new file mode 100644 index 000000000..5fff2ea9c Binary files /dev/null and b/test_resources/SP3/EMR0OPSULT_20232391800_02D_15M_ORB.SP3.gz differ diff --git a/test_resources/SP3/ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz b/test_resources/SP3/ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz new file mode 100644 index 000000000..faf72e1c9 Binary files /dev/null and b/test_resources/SP3/ESA0OPSRAP_20232390000_01D_15M_ORB.SP3.gz differ diff --git a/test_resources/SP3/ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz b/test_resources/SP3/ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz new file mode 100644 index 000000000..55bad547a Binary files /dev/null and b/test_resources/SP3/ESA0OPSULT_20232320600_02D_15M_ORB.SP3.gz differ diff --git a/test_resources/SP3/co108870.sp3 b/test_resources/SP3/co108870.sp3 new file mode 100644 index 000000000..4abd62519 --- /dev/null +++ b/test_resources/SP3/co108870.sp3 @@ -0,0 +1,2423 @@ +#cP1997 1 5 0 0 0.00000000 96 d+D IGS05 FIT IAPG +## 887 0.00000000 900.00000000 50453 0.0000000000000 ++ 24 G01G02G03G04G05G06G07G09G10G14G15G17G18G19G21G22G23 ++ G24G25G26G27G29G30G31 0 0 0 0 0 0 0 0 0 0 ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +++ 3 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +++ 3 4 3 2 3 3 3 0 0 0 0 0 0 0 0 0 0 +++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +%c G cc GPS ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc +%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc +%f 1.2500000 1.025000000 0.00000000000 0.000000000000000 +%f 0.0000000 0.000000000 0.00000000000 0.000000000000000 +%i 0 0 0 0 0 0 0 0 0 +%i 0 0 0 0 0 0 0 0 0 +/* Center for Orbit Determination in Europe (CODE) +/* Repro1 GPS orbits and BRD clocks for 005/1997 +/* Note: Middle day of a 3-day arc +/* PCV:IGS05_1499 OL/AL:FES2004 NONE YN ORB:CoN CLK:BRD +* 1997 1 5 0 0 0.00000000 +PG01 15439.211089 21527.722470 -1767.012001 10.550979 +PG02 -14239.806413 -12402.743015 19247.091635 -323.860383 +PG03 19213.844052 6448.669572 17047.381366 86.976761 +PG04 -10324.454960 -11785.524146 -21315.965580 6.324266 +PG05 -18880.944621 12104.946326 -14178.387345 75.816299 +PG06 1240.540346 21521.450407 -15230.845337 4.061644 +PG07 -15680.805727 -21614.803050 -744.566396 735.242422 +PG09 -15765.582731 19635.615289 7972.634801 -23.174803 +PG10 -26401.709562 -247.995608 -3245.463776 1.909797 +PG14 16200.483994 -12341.988087 -17097.837655 16.474586 +PG15 16052.763358 -20034.019863 6649.123272 378.410189 +PG17 -4262.740259 23006.687728 12061.733805 -136.172223 +PG18 -3468.396083 -22301.895232 -14215.389655 19.746788 +PG19 4657.785424 -24998.623372 7458.278410 237.585576 +PG21 16054.347544 11527.475144 18086.293926 21.996902 +PG22 25824.667403 2382.638050 -6798.878712 362.457989 +PG23 3160.982685 15110.416105 21939.880175 8.030786 +PG24 -16613.760020 3107.866387 -20228.237831 318.055713 +PG25 12013.026050 10941.795840 -20984.181566 -4.809699 +PG26 -15749.366866 3488.705965 21298.724392 -97.666046 +PG27 -4353.476224 -19786.925604 16786.230511 13.920508 +PG29 13673.541078 -7089.384599 -21485.249917 4.969623 +PG30 -7047.289192 15262.203192 -20729.964330 -25.921759 +PG31 13639.872128 -6769.565083 21634.413733 150.340661 +* 1997 1 5 0 15 0.00000000 +PG01 15242.958464 21727.054619 1075.443931 10.552311 +PG02 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-17087.752567 1547.405996 20511.757475 -97.671151 +PG27 -3413.222059 -21400.767589 14877.823846 13.924044 +PG29 15141.136385 -5102.620176 -21071.443648 4.970217 +PG30 -9325.926035 15411.224674 -19686.447172 -25.924860 +PG31 15096.442166 -4763.290773 21223.737355 150.360885 +* 1997 1 5 0 30 0.00000000 +PG01 14859.910286 21683.615414 3899.405420 10.553617 +PG02 -9852.177265 -13353.953383 21189.663431 -323.865633 +PG03 21056.493930 9431.358859 12992.117759 86.983073 +PG04 -8341.654571 -16061.189443 -19287.046016 6.327903 +PG05 -21661.023079 12052.617669 -9478.350274 75.822335 +PG06 -1407.216035 18558.726082 -18742.406534 4.048788 +PG07 -15053.834855 -21564.868492 4903.782990 735.245668 +PG09 -15396.059619 17167.997410 12909.505655 -23.181503 +PG10 -25107.208848 -919.610265 -8718.345454 1.915653 +PG14 19662.832327 -12351.039409 -12977.439876 16.475566 +PG15 15486.330779 -17896.122622 11867.151811 378.416903 +PG17 -5656.524035 24803.727981 6828.187901 -136.171311 +PG18 -837.124364 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17307.878200 11390.911681 17018.311265 23.030205 +P 22 26225.348681 2219.252977 -5129.439572 363.610283 +P 23 4776.364340 15070.251964 21689.432644 7.990022 +P 24 -17234.505251 4374.932502 -19461.486865 311.265905 +P 25 12701.156818 9534.282991 -21246.535979 -5.076282 +P 26 -14938.272515 4768.562895 21612.482360 -100.658962 +P 27 -4981.684939 -18742.646874 17804.942952 14.087674 +P 29 12903.135749 -8213.652553 -21555.868767 4.862311 +P 30 -5586.748965 15221.564262 -21202.701081 -27.457071 +P 31 12794.834182 -8038.446587 21701.292895 158.307263 +* 1997 1 9 23 45 .0000000 +P 1 15388.736232 21629.715397 -733.517828 10.625527 +P 2 -13477.835290 -12535.679545 19695.641488 -325.722814 +P 3 19569.304619 7068.449515 16382.861386 88.205563 +P 4 -9941.829226 -12543.025393 -21061.459462 6.897842 +P 5 -19413.712953 12113.396601 -13433.539695 76.278025 +P 6 784.935667 20992.950894 -15985.923230 3.706697 +P 7 -15631.077372 -21670.756292 282.731179 735.323613 +P 9 -15717.299127 19261.235638 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a/test_resources/SP3/sio06492.sp3 b/test_resources/SP3/sio06492.sp3 new file mode 100644 index 000000000..c42629468 --- /dev/null +++ b/test_resources/SP3/sio06492.sp3 @@ -0,0 +1,2686 @@ +# 1992 6 15 8 37 29.00000000 148 d ITR91 FIT SIO +## 649 117449.00000000 1350.00000000 48788 0.3593634259259 ++ 17 2 3 11 12 13 14 15 16 17 18 19 20 21 23 24 25 28 ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc +%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc +%f 0.0000000 0.000000000 0.00000000000 0.000000000000000 +%f 0.0000000 0.000000000 0.00000000000 0.000000000000000 +%i 0 0 0 0 0 0 0 0 0 +%i 0 0 0 0 0 0 0 0 0 +/* +/* +/* +/* +* 1992 6 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3 1202.810504 23891.029457 10748.974524 999999.999999 +P 11 10464.024179 -20003.102843 14647.447295 999999.999999 +P 12 -12687.106369 15267.376450 -17210.486721 999999.999999 +P 13 -11726.058487 -1378.847969 -23722.359748 999999.999999 +P 14 1029.931810 -15764.049920 -21350.817680 999999.999999 +P 15 13363.499853 -19986.613082 -11630.497067 999999.999999 +P 16 -20889.978898 3279.678077 16040.047599 999999.999999 +P 17 5209.495259 14511.476829 21418.999573 999999.999999 +P 18 -7913.191578 -24889.918634 4992.178890 999999.999999 +P 19 -3492.553080 -16382.934495 20644.655478 999999.999999 +P 20 10223.846246 17011.952332 -17785.415758 999999.999999 +P 21 24424.071578 10763.932552 1714.864394 999999.999999 +P 23 16057.928568 16827.002171 13149.663966 999999.999999 +P 24 -22533.177929 11638.673664 -7542.284326 999999.999999 +P 25 20338.479861 -1005.784461 -17058.671346 999999.999999 +P 28 13747.118677 -7879.060438 21261.841959 999999.999999 +* 1992 6 15 16 29 59.00000000 +P 2 -21718.270758 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16 52 29.00000000 +P 2 -19789.986142 -12450.494636 13130.845947 999999.999999 +P 3 1551.881493 26177.119787 1629.710221 999999.999999 +P 11 9664.572201 -14132.692097 20767.778090 999999.999999 +P 12 -16716.336368 17790.907614 -9616.007256 999999.999999 +P 13 -11505.938042 -9323.285712 -22016.209527 999999.999999 +P 14 8108.631200 -13625.970439 -21361.541261 999999.999999 +P 15 15744.741867 -21185.755590 -3687.961726 999999.999999 +P 16 -24857.409015 1294.353821 9186.919981 999999.999999 +P 17 -348.024873 18862.020234 18504.165208 999999.999999 +P 18 -7126.896346 -25435.700230 -3414.718607 999999.999999 +P 19 1427.490522 -20626.819015 16729.836287 999999.999999 +P 20 3665.840349 15598.593417 -21318.919202 999999.999999 +P 21 22239.508889 10943.690254 9813.830234 999999.999999 +P 23 10694.905265 15689.752790 18780.455889 999999.999999 +P 24 -20218.473766 8386.191357 -14850.528588 999999.999999 +P 25 15998.772331 3905.961665 -20924.356753 999999.999999 +P 28 15579.681463 -649.202806 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999999.999999 +P 28 16865.268889 2725.032170 20143.709132 999999.999999 +* 1992 6 15 17 37 29.00000000 +P 2 -14328.707184 -12602.672825 18747.745903 999999.999999 +P 3 1957.317431 25125.925000 -7749.215914 999999.999999 +P 11 10449.406311 -6694.985357 23829.644473 999999.999999 +P 12 -17918.963057 19180.824736 -495.881185 999999.999999 +P 13 -12845.172442 -15953.477445 -16929.343908 999999.999999 +P 14 14866.024612 -12667.644263 -18117.269275 999999.999999 +P 15 16206.940708 -20513.051437 4812.127142 999999.999999 +P 16 -26510.309825 278.591006 922.879997 999999.999999 +P 17 -4202.845866 22845.568965 12713.288779 999999.999999 +P 18 -5254.963561 -23575.532947 -11303.933317 999999.999999 +P 19 4642.807048 -24099.528034 10263.766647 999999.999999 +P 20 -3681.244000 15167.942008 -21627.658356 999999.999999 +P 21 17590.367431 11226.392393 16424.125377 999999.999999 +P 23 3788.297577 15208.184014 21581.597507 999999.999999 +P 24 -17213.639779 3078.100625 -19857.451443 999999.999999 +P 25 12011.102809 10029.093410 -21610.822556 999999.999999 +P 28 18281.274200 5751.281211 18139.477490 999999.999999 +* 1992 6 15 17 59 59.00000000 +P 2 -11017.116369 -13037.190478 20540.764971 999999.999999 +P 3 1762.476257 23441.011052 -12070.773263 999999.999999 +P 11 11540.117742 -2852.874339 24047.938416 999999.999999 +P 12 -17601.668484 19059.509461 4187.506665 999999.999999 +P 13 -13835.214573 -18372.433491 -13348.438008 999999.999999 +P 14 17739.305977 -12576.165873 -15414.963145 999999.999999 +P 15 15950.717285 -19277.374147 8865.443427 999999.999999 +P 16 -26315.307522 -136.509886 -3344.919616 999999.999999 +P 17 -5440.872320 24334.198855 9010.427824 999999.999999 +P 18 -3708.772061 -21970.552944 -14673.406724 999999.999999 +P 19 5633.303641 -25206.820679 6371.103762 999999.999999 +P 20 -7256.778244 15381.494092 -20538.884402 999999.999999 +P 21 14540.652887 11669.357117 18836.855092 999999.999999 +P 23 102.341806 15372.515989 21766.802731 999999.999999 +P 24 -15796.502807 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21119.065203 999999.999999 +P 24 -14584.740761 -3718.745399 -21790.513414 999999.999999 +P 25 9132.919866 16373.396597 -19032.390644 999999.999999 +P 28 20995.037429 10381.989468 12092.594391 999999.999999 +* 1992 6 15 18 44 59.00000000 +P 2 -3958.781777 -14813.326306 21741.016914 999999.999999 +P 3 -49.925117 18400.795695 -19146.794399 999999.999999 +P 11 14880.226093 4123.988421 21798.727538 999999.999999 +P 12 -15804.609012 16718.302966 12874.661033 999999.999999 +P 13 -15656.129645 -20994.625687 -4802.552744 999999.999999 +P 14 21879.614256 -12753.280508 -8368.066310 999999.999999 +P 15 15091.264624 -14953.332504 15796.322674 999999.999999 +P 16 -23948.981795 -1384.233758 -11330.664944 999999.999999 +P 17 -6793.683797 25689.806495 712.194768 999999.999999 +P 18 719.080790 -18067.779492 -19626.746176 999999.999999 +P 19 6736.314889 -25654.437632 -1990.348392 999999.999999 +P 20 -13452.842326 16443.969853 -16079.030328 999999.999999 +P 21 7665.788178 13448.512603 21394.275239 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21 4158.453075 14787.290547 21430.548137 999999.999999 +P 23 -10004.188952 17349.320982 17445.097530 999999.999999 +P 24 -13025.405911 -10913.102081 -20359.372986 999999.999999 +P 25 7549.028892 21741.022420 -13589.195936 999999.999999 +P 28 22611.055611 12900.681252 4152.831710 999999.999999 +* 1992 6 15 19 29 59.00000000 +P 2 2645.861241 -17596.640010 19629.097441 999999.999999 +P 3 -4066.909073 12372.472499 -23292.084052 999999.999999 +P 11 18917.108787 9155.599728 16269.419797 999999.999999 +P 12 -13603.362941 11569.038329 19549.555336 999999.999999 +P 13 -16137.615191 -20731.173712 4474.207232 999999.999999 +P 14 23500.247119 -12615.241643 -55.228688 999999.999999 +P 15 14579.602203 -8590.143798 20284.440953 999999.999999 +P 16 -19511.335322 -3827.001441 -17575.840753 999999.999999 +P 17 -7337.236737 24434.738302 -7696.539884 999999.999999 +P 18 6623.195752 -14156.613753 -21616.677221 999999.999999 +P 19 7402.318303 -23477.526526 -10048.112610 999999.999999 +P 20 -17638.665303 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16296.293406 -10034.050317 -18512.846031 999999.999999 +P 19 9520.709181 -16020.686985 -18932.462067 999999.999999 +P 20 -19547.034367 17635.504931 3396.175284 999999.999999 +P 21 -7028.866935 21398.315369 13566.690598 999999.999999 +P 23 -17070.618954 19968.833702 3046.666863 999999.999999 +P 24 -12879.497900 -21543.019588 -8815.100632 999999.999999 +P 25 6177.877397 25847.919671 2301.461256 999999.999999 +P 28 19161.713209 13431.343887 -12336.821782 999999.999999 +* 1992 6 15 20 59 59.00000000 +P 2 10914.143795 -22875.084682 7095.202763 999999.999999 +P 3 -16497.189985 3114.211840 -20982.404548 999999.999999 +P 11 23478.941663 11844.091019 -1034.118398 999999.999999 +P 12 -12529.358774 -3602.997607 23327.878311 999999.999999 +P 13 -9590.315982 -15189.798023 19692.098733 999999.999999 +P 14 20298.313757 -7855.959172 15333.728506 999999.999999 +P 15 16654.964535 5917.345420 19573.992716 999999.999999 +P 16 -8805.842992 -12983.894294 -21433.399735 999999.999999 +P 17 -9739.704235 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15 19769.569043 13629.652502 11008.168401 999999.999999 +P 16 -3154.009374 -21086.507454 -15871.841837 999999.999999 +P 17 -14682.341772 5326.135934 -21691.149670 999999.999999 +P 18 24715.161323 -8138.293622 -5181.099012 999999.999999 +P 19 16384.226202 -3471.438266 -20580.663519 999999.999999 +P 20 -16850.006749 10258.313663 17649.693228 999999.999999 +P 21 -11015.686813 23837.717928 -2509.718242 999999.999999 +P 23 -16601.331173 15762.019432 -13151.186711 999999.999999 +P 24 -11570.596512 -22677.700372 7912.204584 999999.999999 +P 25 1428.586540 20487.358090 16835.526305 999999.999999 +P 28 6982.382809 14032.950509 -21500.953886 999999.999999 +* 1992 6 15 22 29 59.00000000 +P 2 12404.760859 -21049.692586 -9701.639831 999999.999999 +P 3 -25986.557920 1541.640182 -6690.636757 999999.999999 +P 11 16785.945357 9617.917870 -17670.168628 999999.999999 +P 12 -17023.688644 -15741.799066 13586.411006 999999.999999 +P 13 5268.046782 -11467.521669 23421.021060 999999.999999 +P 14 14613.106301 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15258.530017 999999.999999 +P 11 -2028.683752 13277.093719 -22677.220790 999999.999999 +P 12 -18999.450140 -16967.313953 -8350.860386 999999.999999 +P 13 19863.710178 -14884.958014 9309.448914 999999.999999 +P 14 12609.799993 19931.186066 11986.870701 999999.999999 +P 15 16870.349624 15748.343978 -13260.287247 999999.999999 +P 16 663.348119 -25457.643198 7659.447348 999999.999999 +P 17 -25358.877910 -5884.659978 -5338.490367 999999.999999 +P 18 19837.179140 -1656.664489 17395.351275 999999.999999 +P 19 25675.361147 6329.187312 -1999.026513 999999.999999 +P 20 -15721.902310 -10829.852667 18327.394794 999999.999999 +P 21 -12913.314602 10239.279691 -20972.863196 999999.999999 +P 23 -15797.666573 -4249.812506 -20849.889262 999999.999999 +P 24 3609.058026 -14702.929355 21913.444984 999999.999999 +P 25 -16143.207632 9096.761273 18808.465481 999999.999999 +P 28 -10718.542110 21373.128301 -12020.505636 999999.999999 +* 1992 6 16 0 44 59.00000000 +P 2 15150.886124 -2727.336268 -21599.931495 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16502.652852 676.447220 -20825.149947 999999.999999 +P 3 -16022.179054 -960.606068 21090.805725 999999.999999 +P 11 -8123.393668 17235.656564 -18397.514856 999999.999999 +P 12 -15402.713214 -14704.311251 -16119.403910 999999.999999 +P 13 20991.679306 -16141.473249 172.765838 999999.999999 +P 14 12676.860591 22852.383320 4069.501814 999999.999999 +P 15 11416.528833 14959.064341 -18914.854040 999999.999999 +P 16 2430.998314 -21909.996363 14864.011431 999999.999999 +P 17 -25436.692323 -6732.335655 3191.459658 999999.999999 +P 18 15760.145592 3735.671005 20895.908535 999999.999999 +P 19 24743.742383 7115.910164 6386.736073 999999.999999 +P 20 -16981.072472 -16110.200305 12412.211648 999999.999999 +P 21 -15332.296399 3378.555416 -21666.319410 999999.999999 +P 23 -17378.461937 -10688.174811 -17010.774557 999999.999999 +P 24 10741.736490 -13159.983590 20468.139217 999999.999999 +P 25 -21584.339153 7418.145844 13252.958738 999999.999999 +P 28 -13022.648525 23000.900938 -4172.095840 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6606.883676 5630.233577 999999.999999 +P 28 -13606.076601 22597.514399 4301.001200 999999.999999 +* 1992 6 16 2 14 59.00000000 +P 2 21079.318265 8666.825506 -13970.560334 999999.999999 +P 3 -7290.757275 -9151.868268 23582.460652 999999.999999 +P 11 -12495.839041 22530.253030 -6989.383370 999999.999999 +P 12 -5415.020026 -12172.401716 -22932.848357 999999.999999 +P 13 18158.594002 -14069.077332 -13132.212326 999999.999999 +P 14 10903.775510 22541.509307 -8573.737649 999999.999999 +P 15 831.668755 15330.824768 -21894.108926 999999.999999 +P 16 7816.433128 -14039.099283 21162.779381 999999.999999 +P 17 -20556.907723 -7774.133320 14663.133928 999999.999999 +P 18 10796.853613 13525.790945 20036.798580 999999.999999 +P 19 18677.800680 8660.446757 16759.612657 999999.999999 +P 20 -17870.184067 -19642.237950 320.771656 999999.999999 +P 21 -20310.345772 -5215.707066 -16727.145780 999999.999999 +P 23 -19734.076455 -16625.318131 -6669.047969 999999.999999 +P 24 19468.551791 -12852.586108 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24 8152.743034 20186.315175 15401.319429 999999.999999 +P 25 3768.318861 -15911.177040 20839.824945 999999.999999 +P 28 457.071967 -16041.802570 -21317.375703 999999.999999 +* 1992 6 16 11 14 59.00000000 +P 2 -12465.173127 16099.626289 -16709.733573 999999.999999 +P 3 26537.772280 -2328.908939 2962.267846 999999.999999 +P 11 -9278.603355 -9782.797163 -22496.489017 999999.999999 +P 12 19305.180448 18075.528110 4818.609569 999999.999999 +P 13 -13005.552654 12167.140329 19710.888911 999999.999999 +P 14 -12992.437684 -11674.146113 19924.350584 999999.999999 +P 15 -20721.338097 -16444.247036 -1739.947904 999999.999999 +P 16 626.919219 26190.418757 -4563.012541 999999.999999 +P 17 21228.622436 2359.813615 -15967.394932 999999.999999 +P 18 -24484.812831 6419.123750 7730.454511 999999.999999 +P 19 -22684.568479 -3422.172295 -13303.786165 999999.999999 +P 20 15083.588064 471.635562 21719.679585 999999.999999 +P 21 11422.272408 -19093.910869 -14439.759545 999999.999999 +P 23 15178.536189 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59.00000000 +P 2 -10391.671771 -13146.926213 20784.301324 999999.999999 +P 3 1683.047324 23068.136177 -12802.865412 999999.999999 +P 11 11782.354762 -2178.499518 23991.296111 999999.999999 +P 12 -17490.882677 18970.045540 5013.041758 999999.999999 +P 13 -14018.374928 -18736.983788 -12638.706438 999999.999999 +P 14 18204.212388 -12581.827397 -14862.144376 999999.999999 +P 15 15881.753373 -18987.972653 9565.931310 999999.999999 +P 16 -26206.252882 -217.748846 -4109.844191 999999.999999 +P 17 -5620.267140 24552.788724 8296.833039 999999.999999 +P 18 -3382.288646 -21646.516188 -15226.121699 999999.999999 +P 19 5777.136460 -25349.842627 5630.951043 999999.999999 +P 20 -7877.934811 15448.109910 -20256.312510 999999.999999 +P 21 13944.524640 11781.326579 19201.492423 999999.999999 +P 23 -574.888021 15433.385940 21710.568508 999999.999999 +P 24 -15552.629639 -838.078757 -21405.147051 999999.999999 +P 25 10142.759731 13838.599191 -20462.728003 999999.999999 +P 28 19954.041395 8743.210347 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25 8047.458507 19746.845824 -16110.298416 999999.999999 +P 28 22152.358890 12122.177679 7550.224750 999999.999999 +* 1992 6 16 19 7 29.00000000 +P 2 70.795569 -16371.694158 20887.341729 999999.999999 +P 3 -2158.408443 14861.726986 -21996.132262 999999.999999 +P 11 17261.115841 7380.825115 18894.593922 999999.999999 +P 12 -14464.960030 13995.834671 17127.237495 999999.999999 +P 13 -16178.947848 -21155.831423 679.897069 999999.999999 +P 14 23145.324526 -12778.662118 -3537.346774 999999.999999 +P 15 14692.312216 -11389.951900 18797.539969 999999.999999 +P 16 -21516.873648 -2646.806200 -15299.587424 999999.999999 +P 17 -7149.973874 25276.730935 -4325.932481 999999.999999 +P 18 4069.597660 -15696.076077 -21189.653955 999999.999999 +P 19 7122.626744 -24682.769684 -6872.092563 999999.999999 +P 20 -16204.328296 17218.832837 -12240.117273 999999.999999 +P 21 3529.614150 15059.357766 21345.837352 999999.999999 +P 23 -10521.310998 17512.121666 16962.903477 999999.999999 +P 24 -12938.341553 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21 -5300.990329 20102.671705 16100.916480 999999.999999 +P 23 -16362.436332 19771.764521 6466.592411 999999.999999 +P 24 -12744.954162 -20076.051762 -11888.525202 999999.999999 +P 25 6500.351092 25863.835818 -1156.545175 999999.999999 +P 28 20695.182458 13565.888335 -9276.212360 999999.999999 +* 1992 6 16 20 37 29.00000000 +P 2 9871.792378 -22135.564809 10328.871298 999999.999999 +P 3 -13802.357927 4412.160738 -22600.241218 999999.999999 +P 11 23306.667066 11990.103633 2843.339733 999999.999999 +P 12 -12209.154408 -352.075687 23716.352703 999999.999999 +P 13 -11808.441423 -16496.145569 17295.460980 999999.999999 +P 14 21432.087993 -9482.716520 12663.671878 999999.999999 +P 15 15896.502101 3116.286537 20811.208448 999999.999999 +P 16 -10868.049291 -10755.005850 -21712.692424 999999.999999 +P 17 -8893.609176 17409.223252 -18217.427459 999999.999999 +P 18 16837.177532 -9876.414951 -18103.634390 999999.999999 +P 19 9733.182584 -15458.635109 -19286.011315 999999.999999 +P 20 -19512.557756 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999999.999999 +P 3 -9463.907288 -6545.533437 23725.333219 999999.999999 +P 11 -11891.220250 21384.357499 -10534.193778 999999.999999 +P 12 -8551.334760 -12589.819882 -21784.418832 999999.999999 +P 13 19308.152612 -15229.331600 -9773.095215 999999.999999 +P 14 11752.661872 23119.810926 -5234.100495 999999.999999 +P 15 3829.701867 14975.742701 -21807.426700 999999.999999 +P 16 6007.967008 -16309.125470 20105.784606 999999.999999 +P 17 -22438.141113 -7366.653490 11888.030961 999999.999999 +P 18 11906.989428 10815.602112 21011.595014 999999.999999 +P 19 20801.928748 8065.059565 14375.572951 999999.999999 +P 20 -17910.287002 -19207.801901 3818.718686 999999.999999 +P 21 -18916.294378 -3221.492555 -18728.869848 999999.999999 +P 23 -19250.227693 -15523.830352 -9878.101487 999999.999999 +P 24 17514.782179 -12764.268926 15342.869378 999999.999999 +P 25 -25120.769253 6541.476872 4864.027575 999999.999999 +P 28 -13602.532668 22436.065192 5062.653274 999999.999999 +* 1992 6 17 2 14 59.00000000 +P 2 21331.652479 9009.708929 -13372.886794 999999.999999 +P 3 -6850.329424 -9746.868400 23465.955169 999999.999999 +P 11 -12570.739063 22735.806672 -6187.611480 999999.999999 +P 12 -4710.233127 -12116.335627 -23104.383908 999999.999999 +P 13 17884.428389 -13743.877655 -13833.613346 999999.999999 +P 14 10678.365864 22371.640215 -9280.284545 999999.999999 +P 15 176.442050 15434.258545 -21838.760005 999999.999999 +P 16 8245.981196 -13538.493920 21324.078682 999999.999999 +P 17 -20093.445374 -7885.546822 15228.229549 999999.999999 +P 18 10583.103213 14112.399357 19748.522013 999999.999999 +P 19 18166.995183 8820.055074 17233.630454 999999.999999 +P 20 -17823.798553 -19686.950154 -457.129846 999999.999999 +P 21 -20612.548427 -5622.020649 -16220.323947 999999.999999 +P 23 -19810.054696 -16824.371729 -5921.470558 999999.999999 +P 24 19866.010412 -12870.053879 11986.917277 999999.999999 +P 25 -25684.998097 6191.788235 618.795256 999999.999999 +P 28 -13471.474921 21177.833346 9087.670434 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28 -13267.530329 19282.410358 12766.545124 999999.999999 +* 1992 6 17 2 59 59.00000000 +P 2 23409.433636 11680.838474 -5857.020270 999999.999999 +P 3 -3033.321072 -16484.265594 20194.320902 999999.999999 +P 11 -12348.130739 23614.289180 3037.427185 999999.999999 +P 12 3338.005197 -12451.863652 -23027.921841 999999.999999 +P 13 14721.741097 -8712.116679 -20194.899291 999999.999999 +P 14 7005.113022 19816.841054 -16142.584814 999999.999999 +P 15 -6643.840944 17114.664129 -19451.323718 999999.999999 +P 16 13519.836676 -8359.541488 21275.468188 999999.999999 +P 17 -14142.629291 -9801.911949 20004.861960 999999.999999 +P 18 8877.450947 19997.227860 14992.628600 999999.999999 +P 19 11992.922060 11248.479759 20864.900732 999999.999999 +P 20 -16155.212153 -19221.779665 -8791.867781 999999.999999 +P 21 -23417.978121 -8979.954003 -9494.264724 999999.999999 +P 23 -19722.829551 -17817.721948 2511.210540 999999.999999 +P 24 22709.558843 -13038.588504 4028.260418 999999.999999 +P 25 -24819.282649 4959.031315 -7777.547954 999999.999999 +P 28 -13115.669577 16799.180264 15957.427432 999999.999999 +* 1992 6 17 3 22 29.00000000 +P 2 23775.993665 12316.655682 -1693.955094 999999.999999 +P 3 -1934.395333 -19610.306314 17305.285608 999999.999999 +P 11 -11724.539385 22955.050722 7566.471394 999999.999999 +P 12 7139.720359 -13239.247982 -21622.407157 999999.999999 +P 13 13329.642850 -5319.419637 -22247.706153 999999.999999 +P 14 4412.734783 18289.813915 -18693.097135 999999.999999 +P 15 -9535.725342 18188.260096 -17123.262863 999999.999999 +P 16 16323.368930 -6176.597883 20009.247986 999999.999999 +P 17 -10837.704139 -11268.209455 21251.192195 999999.999999 +P 18 8416.182774 22300.883200 11688.053807 999999.999999 +P 19 8758.108609 12931.176787 21499.136071 999999.999999 +P 20 -14466.746478 -18506.836795 -12530.226392 999999.999999 +P 21 -24258.958666 -9955.987890 -5528.855300 999999.999999 +P 23 -18889.914326 -17669.495146 6665.193010 999999.999999 +P 24 23154.723066 -12841.720465 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3 24972.363752 -1368.867690 -9884.794988 999999.999999 +P 11 -18901.171731 -9931.391476 -15195.727208 999999.999999 +P 12 16035.993776 14201.756943 16203.281831 999999.999999 +P 13 -2350.730264 11662.201887 23809.974191 999999.999999 +P 14 -15475.345051 -1678.329428 21514.944087 999999.999999 +P 15 -20000.729638 -14083.038552 9988.737864 999999.999999 +P 16 2812.148419 21724.735508 -15056.683743 999999.999999 +P 17 15243.232252 -4511.863622 -21484.360972 999999.999999 +P 18 -24942.519191 8062.923380 -4054.001186 999999.999999 +P 19 -16970.525981 2707.680263 -20214.632825 999999.999999 +P 20 16620.282185 -9443.124751 18305.244436 999999.999999 +P 21 11085.969759 -23665.072033 -3675.323850 999999.999999 +P 23 16446.162918 -15117.987568 -14070.426359 999999.999999 +P 24 11235.733932 22436.332905 9013.216601 999999.999999 +P 25 -838.741392 -19903.234506 17547.049629 999999.999999 +P 28 -5990.471120 -14226.954169 -21685.031056 999999.999999 +* 1992 6 17 10 29 59.00000000 +P 2 -12394.532492 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17 10 52 29.00000000 +P 2 -12386.553319 18329.020294 -14250.487781 999999.999999 +P 3 26748.365832 -2028.190592 -855.311225 999999.999999 +P 11 -12423.992966 -9495.943621 -21034.127934 999999.999999 +P 12 18567.460229 17516.118596 8440.670878 999999.999999 +P 13 -10160.846250 11689.906664 21601.982993 999999.999999 +P 14 -13471.912529 -8810.524544 21066.473497 999999.999999 +P 15 -20897.599124 -16168.801336 1778.743131 999999.999999 +P 16 1054.744765 25365.020924 -7907.878644 999999.999999 +P 17 19544.442859 701.922313 -18161.627171 999999.999999 +P 18 -25124.190662 7122.052239 4393.868361 999999.999999 +P 19 -21175.423693 -1995.854507 -15844.379554 999999.999999 +P 20 15327.935110 -2588.046233 21399.723321 999999.999999 +P 21 11315.284881 -20923.089204 -11640.805964 999999.999999 +P 23 15414.971609 -9297.097385 -19333.997413 999999.999999 +P 24 7732.060322 19917.759664 15957.485032 999999.999999 +P 25 4308.603248 -15509.973040 21030.051163 999999.999999 +P 28 1075.919873 -16270.200921 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-20503.877786 999999.999999 +P 24 -4612.720243 14412.236092 21912.938939 999999.999999 +P 25 16986.588021 -8785.342259 18200.048811 999999.999999 +P 28 11159.072220 -21683.474291 -11025.735120 999999.999999 +* 1992 6 17 12 44 59.00000000 +P 2 -15496.651722 1779.687205 -21471.506286 999999.999999 +P 3 18234.636174 -336.477714 19298.123155 999999.999999 +P 11 6152.992947 -15726.874047 -20339.198074 999999.999999 +P 12 17054.588766 15564.619295 -13502.172322 999999.999999 +P 13 -20922.375550 15849.001081 3576.279202 999999.999999 +P 14 -12703.498466 -22085.131031 7101.020489 999999.999999 +P 15 -13629.516751 -15193.811561 -17149.732914 999999.999999 +P 16 -1638.796042 23436.816075 12452.785399 999999.999999 +P 17 25719.539979 6508.246274 73.719366 999999.999999 +P 18 -17238.681566 -1598.449834 19976.896151 999999.999999 +P 19 -25391.923018 -6876.378013 3387.198641 999999.999999 +P 20 16510.661205 14433.129221 14845.069997 999999.999999 +P 21 14326.386654 -5838.468971 -21797.051247 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15743.649684 -2469.745882 -21504.773686 999999.999999 +P 23 17626.709247 11444.761020 -16260.025251 999999.999999 +P 24 -11701.299560 13034.564326 20009.930480 999999.999999 +P 25 22194.732487 -7261.892982 12298.335740 999999.999999 +P 28 13193.039919 -23080.705840 -3018.178520 999999.999999 +* 1992 6 17 13 29 59.00000000 +P 2 -18445.120730 -4552.534659 -18686.976560 999999.999999 +P 3 12119.714387 3933.888289 23146.502297 999999.999999 +P 11 10707.689992 -19787.896326 -14143.952505 999999.999999 +P 12 11726.597682 13332.343335 -19849.117343 999999.999999 +P 13 -20308.098575 15972.411866 -5745.326913 999999.999999 +P 14 -12344.051037 -23354.535848 -1370.086135 999999.999999 +P 15 -7116.953826 -14812.138826 -21060.425276 999999.999999 +P 16 -4289.038651 18774.041381 18323.063602 999999.999999 +P 17 24068.431786 7059.855611 8442.387369 999999.999999 +P 18 -13375.575638 -7788.503894 21447.736493 999999.999999 +P 19 -22781.856360 -7587.897994 11291.517593 999999.999999 +P 20 17664.370323 18268.312707 7583.369557 999999.999999 +P 21 17359.495643 669.210693 -20400.310092 999999.999999 +P 23 18528.785453 13840.121260 -13147.349289 999999.999999 +P 24 -14933.539916 12786.853752 17877.485777 999999.999999 +P 25 24019.413184 -6838.659026 8556.758714 999999.999999 +P 28 13551.342954 -23020.014140 1234.933520 999999.999999 +* 1992 6 17 13 52 29.00000000 +P 2 -20006.853900 -7113.521012 -16185.421001 999999.999999 +P 3 9213.644711 6821.785774 23740.391452 999999.999999 +P 11 11976.789040 -21525.573955 -10158.397131 999999.999999 +P 12 8221.564380 12531.071099 -21937.725185 999999.999999 +P 13 -19191.532876 15122.343335 -10160.100140 999999.999999 +P 14 -11677.367323 -23070.909386 -5609.256341 999999.999999 +P 15 -3499.804995 -15004.702768 -21844.749698 999999.999999 +P 16 -6195.776861 16058.496536 20249.421350 999999.999999 +P 17 22248.216413 7403.958474 12212.204643 999999.999999 +P 18 -11775.013043 -11117.175187 20930.122812 999999.999999 +P 19 -20579.817012 -8123.619504 14660.804645 999999.999999 +P 20 17920.313613 19273.387817 3435.394295 999999.999999 +P 21 19073.410255 3460.591238 -18527.827025 999999.999999 +P 23 19312.236877 15668.875813 -9528.845870 999999.999999 +P 24 -17758.506429 12766.010250 15055.111679 999999.999999 +P 25 25202.360167 -6508.547244 4478.345618 999999.999999 +P 28 13598.159892 -22347.205867 5441.209881 999999.999999 +* 1992 6 17 14 14 59.00000000 +P 2 -21454.886622 -9174.649181 -13067.849804 999999.999999 +P 3 6635.383664 10046.765319 23396.331631 999999.999999 +P 11 12601.266950 -22831.736771 -5783.702062 999999.999999 +P 12 4355.505286 12093.634105 -23179.254498 999999.999999 +P 13 -17745.144980 13572.492735 -14177.763828 999999.999999 +P 14 -10559.649699 -22281.769352 -9629.150357 999999.999999 +P 15 149.749590 -15489.449853 -21800.924419 999999.999999 +P 16 -8464.353677 13289.201712 21394.612865 999999.999999 +P 17 19855.925601 7944.569023 15503.355711 999999.999999 +P 18 -10480.142317 -14403.667783 19594.781057 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9920.241819 20151.465572 999999.999999 +P 18 -8828.012082 -20226.562272 14715.310371 999999.999999 +P 19 -11697.589035 -11390.170167 20956.506684 999999.999999 +P 20 16027.365274 19165.753130 -9146.446888 999999.999999 +P 21 23513.532392 9088.574302 -9144.720583 999999.999999 +P 23 19669.038905 17820.560798 2898.669962 999999.999999 +P 24 -22780.374112 13027.571502 3634.315947 999999.999999 +P 25 24721.490264 -4870.794373 -8144.846360 999999.999999 +P 28 13109.330112 -16544.823988 16220.368089 999999.999999 +* 1992 6 17 15 22 29.00000000 +P 2 -23782.334836 -12354.300734 -1310.884791 999999.999999 +P 3 1861.837885 19873.383421 17008.984143 999999.999999 +P 11 11659.270403 -22858.420027 7961.225968 999999.999999 +P 12 -7461.687174 13327.068164 -21453.978121 999999.999999 +P 13 -13217.691363 4987.925945 -22391.948072 999999.999999 +P 14 -4158.754559 -18150.645583 -18888.591570 999999.999999 +P 15 9773.584542 -18287.762986 -16879.790178 999999.999999 +P 16 -16575.444761 5996.459380 19855.588953 999999.999999 +P 17 10535.544058 11417.002123 21323.410681 999999.999999 +P 18 -8384.644350 -22482.009065 11364.185234 999999.999999 +P 19 -8466.125279 -13098.656235 21515.640829 999999.999999 +P 20 14286.055571 18432.221281 -12846.936457 999999.999999 +P 21 24310.526178 10025.409671 -5153.935673 999999.999999 +P 23 18782.824771 17641.360149 7035.926671 999999.999999 +P 24 -23166.606284 12802.954970 -666.647066 999999.999999 +P 25 23375.821843 -3742.777419 -11932.613646 999999.999999 +P 28 13138.417699 -13523.674801 18737.339910 999999.999999 +* 1992 6 17 15 44 59.00000000 +P 2 -23519.043062 -12602.768847 2913.689659 999999.999999 +P 3 1321.314043 22517.326675 13369.503055 999999.999999 +P 11 10914.120666 -21357.267361 12174.380083 999999.999999 +P 12 -10818.065426 14450.065185 -19118.991080 999999.999999 +P 13 -12176.381919 1167.175294 -23495.162355 999999.999999 +P 14 -1103.268767 -16650.953131 -20644.455724 999999.999999 +P 15 12135.249086 -19364.024922 -13849.567851 999999.999999 +P 16 -19283.563571 4214.344566 17748.585030 999999.999999 +P 17 7235.260415 13225.652161 21654.646171 999999.999999 +P 18 -8084.853826 -24155.552249 7573.209686 999999.999999 +P 19 -5350.625654 -15053.668168 21244.570963 999999.999999 +P 20 11975.089792 17567.637885 -16054.483575 999999.999999 +P 21 24571.481040 10576.055244 -969.185644 999999.999999 +P 23 17300.297027 17194.155803 10905.808034 999999.999999 +P 24 -22950.070997 12217.818157 -4941.559658 999999.999999 +P 25 21608.772077 -2197.519828 -15256.656151 999999.999999 +P 28 13418.861531 -10140.983029 20531.843378 999999.999999 diff --git a/test_resources/SP3/sp3d.txt b/test_resources/SP3/sp3d.txt new file mode 100644 index 000000000..d854dc21f --- /dev/null +++ b/test_resources/SP3/sp3d.txt @@ -0,0 +1,31 @@ +#dP2019 10 27 0 0 0.00000000 1 u+U IGS14 FIT IGS +## 2077 0.00000000 300.00000000 58783 0.0000000000000 ++ 96 C01C02C03C04C05C06C07C08C09C10C11C12C13C14C16E01E02 ++ E03E04E05E07E08E09E11E12E13E14E15E18E19E21E24E25E26 ++ E27E30E31E33E36G01G02G03G04G05G06G07G08G09G10G11G12 ++ G13G14G15G16G17G18G19G20G21G22G23G24G25G26G27G28G29 ++ G30G31G32J01J02J03J07R01R02R03R05R07R08R09R11R12R13 ++ R14R15R16R17R18R19R20R21R22R23R24 00 00 00 00 00 00 +++ 10 10 10 10 10 8 7 8 10 8 7 8 6 9 10 6 6 +++ 7 8 6 6 6 7 5 7 8 5 5 5 7 6 5 6 6 +++ 6 5 5 5 10 6 6 10 5 5 8 5 6 6 6 5 7 +++ 5 6 8 6 5 5 5 6 5 7 7 6 6 5 6 5 6 +++ 5 6 10 10 10 10 10 10 8 8 0 6 5 0 8 6 6 +++ 6 8 6 6 10 10 5 9 10 8 0 5 5 5 5 5 5 +%c M cc GPS ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc +%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc +%f 1.2500000 1.025000000 0.00000000000 0.000000000000000 +%f 0.0000000 0.000000000 0.00000000000 0.000000000000000 +%i 0 0 0 0 0 0 0 0 0 +%i 0 0 0 0 0 0 0 0 0 +/* PCV:IGS14_2074 OL/AL:FES2004 NONE YN CLK:CoN ORB:CoN +/* THIS EXAMPLE OF SP3 FILE IS PART OF THE gLAB TOOL SUITE +/* FILE PREPARED BY: MOWEN LI +/* PLEASE EMAIL ANY COMMENT OR REQUEST TO glab.gage @upc.edu +* 2019 10 27 0 0 0.00000000 +PC01 -32312.652253 27060.656563 205.195454 63.035497 +PE01 -15325.409333 5781.454973 -24645.410980 -718.927492 +PG01 -22335.782004 -14656.280389 -1218.238499 -176.397152 10 9 11 102 EP MP +PJ01 -30616.656355 26707.752269 16227.934145 -336.145158 +PR01 15684.717752 -12408.390324 -15847.221180 51.759894 +EOF diff --git a/ublox-rnx/Cargo.toml b/ublox-rnx/Cargo.toml index 68f79ccdd..e114c8db1 100644 --- a/ublox-rnx/Cargo.toml +++ b/ublox-rnx/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "ublox-rnx" -version = "0.1.0" +version = "0.1.1" license = "MIT OR Apache-2.0" authors = ["Guillaume W. Bres "] description = "Efficient RINEX production from a Ublox GNSS receiver" @@ -17,5 +17,5 @@ serde = "1.0" serde_json = "1.0" serialport = "4.2.0" ublox = "0.4.2" -rinex = { version = "0.13.1", features = ["serde"] } +rinex = { path = "../rinex", features = ["serde"] } clap = { version = "3.2.22", features = ["yaml"] }