Fix clock offset scaling, especially in sp3 interpolation (#222)

Signed-off-by: Guillaume W. Bres <[email protected]>
georust · Mar 28, 2024 · 484d8db · 484d8db
1 parent d481068
commit 484d8db
Show file tree

Hide file tree

Showing 11 changed files with 35 additions and 36 deletions.
diff --git a/crx2rnx/Cargo.toml b/crx2rnx/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "crx2rnx"
-version = "2.3.1"
+version = "2.3.2"
 license = "MIT OR Apache-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "RINEX data decompressor"
@@ -12,4 +12,4 @@ readme = "README.md"
 
 [dependencies]
 clap = { version = "4.4.13", features = ["derive", "color"] }
-rinex = { path = "../rinex", version = "=0.15.6", features = ["serde"] }
+rinex = { path = "../rinex", version = "=0.15.7", features = ["serde"] }
diff --git a/rinex-cli/Cargo.toml b/rinex-cli/Cargo.toml
@@ -32,17 +32,17 @@ horrorshow = "0.8"
 clap = { version = "4.4.13", features = ["derive", "color"] }
 hifitime = { version = "3.9.0", features = ["serde", "std"] }
 gnss-rs = { version = "2.1.3" , features = ["serde"] }
-rinex = { path = "../rinex", version = "=0.15.6", features = ["full"] }
-rinex-qc = { path = "../rinex-qc", version = "=0.1.11", features = ["serde"] } 
-sp3 = { path = "../sp3", version = "=1.0.7",  features = ["serde", "flate2"] }
+rinex = { path = "../rinex", version = "=0.15.7", features = ["full"] }
+rinex-qc = { path = "../rinex-qc", version = "=0.1.12", features = ["serde"] } 
+sp3 = { path = "../sp3", version = "=1.0.8",  features = ["serde", "flate2"] }
 serde = { version = "1.0", default-features = false, features = ["derive"] }
 
 # plotly
 plotly =  "0.8.4"
 # plotly = { git = "https://github.com/gwbres/plotly", branch = "density-mapbox" }
 
 # solver
-gnss-rtk = { version = "0.4.2", features = ["serde"] }
+gnss-rtk = { version = "0.4.3", features = ["serde"] }
 # gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
 
 # cggtts

diff --git a/rinex-cli/src/graph/record/navigation.rs b/rinex-cli/src/graph/record/navigation.rs
@@ -192,7 +192,7 @@ fn ctx_sv_clock_corrections(
     obs: &Rinex,
     nav: &Rinex,
     clk: Option<&Rinex>,
-    _sp3: Option<&SP3>,
+    sp3: Option<&SP3>,
 ) -> CtxClockCorrections {
     let mut clock_corr = CtxClockCorrections::new();
     for ((t, flag), (_, vehicles)) in obs.observation() {
@@ -215,8 +215,15 @@ fn ctx_sv_clock_corrections(
                 let clock_state: Option<(f64, f64, f64)> = match product {
                     ProductType::Radio => Some(sv_eph.sv_clock()),
                     ProductType::HighPrecisionSp3 => {
-                        //TODO: sv_clock interpolate please
-                        None
+                        if let Some(sp3) = sp3 {
+                            if let Some(bias) = sp3.sv_clock_interpolate(*t, *sv) {
+                                Some((bias, 0.0_f64, 0.0_f64))
+                            } else {
+                                None
+                            }
+                        } else {
+                            None
+                        }
                     },
                     ProductType::HighPrecisionClk => {
                         if let Some(clk) = clk {
@@ -233,13 +240,6 @@ fn ctx_sv_clock_corrections(
                                     }
                                 })
                                 .reduce(|k, _| k)
-                            //if let Some((_, profile)) = clk
-                            //    .precise_sv_clock_interpolate(*t, *sv)
-                            //{
-                            //    Some((profile.bias, profile.drift.unwrap_or(0.0_f64), profile.drift_change.unwrap_or(0.0_f64)))
-                            //} else {
-                            //    None
-                            //}
                         } else {
                             None
                         }

diff --git a/rinex-qc/Cargo.toml b/rinex-qc/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rinex-qc"
-version = "0.1.11"
+version = "0.1.12"
 license = "MIT OR Apache-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "RINEX data analysis"
@@ -26,9 +26,9 @@ strum_macros = "0.26"
 horrorshow = "0.8"
 itertools = "0.12.0"
 statrs = "0.16"
-sp3 = { path = "../sp3", version = "=1.0.7", features = ["serde"] }
+sp3 = { path = "../sp3", version = "=1.0.8", features = ["serde"] }
 rinex-qc-traits = { path = "../qc-traits", version = "=0.1.1" }
-rinex = { path = "../rinex", version = "=0.15.6", features = ["full"] }
+rinex = { path = "../rinex", version = "=0.15.7", features = ["full"] }
 gnss-rs = { version = "2.1.3", features = ["serde"] }
 
 [dev-dependencies]

diff --git a/rinex/Cargo.toml b/rinex/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rinex"
-version = "0.15.6"
+version = "0.15.7"
 license = "MIT OR Apache-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "Package to parse and analyze RINEX data"
@@ -101,7 +101,7 @@ rinex-qc-traits = { path = "../qc-traits", version = "=0.1.1", optional = true }
 
 # RINEX Context dependencies
 walkdir = { version = "2.4.0", optional = true }
-sp3 = { path = "../sp3", version = "=1.0.7", optional = true }
+sp3 = { path = "../sp3", version = "=1.0.8", optional = true }
 
 [dev-dependencies]
 serde_json = "1"

diff --git a/rnx2crx/Cargo.toml b/rnx2crx/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rnx2crx"
-version = "1.2.1"
+version = "1.2.2"
 license = "MIT OR Apache-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "RINEX data compressor"
@@ -14,4 +14,4 @@ readme = "README.md"
 [dependencies]
 thiserror = "1"
 clap = { version = "4.4.13", features = ["derive", "color"] }
-rinex = { path = "../rinex", version = "=0.15.6", features = ["serde"] }
+rinex = { path = "../rinex", version = "=0.15.7", features = ["serde"] }
diff --git a/sp3/Cargo.toml b/sp3/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "sp3"
-version = "1.0.7"
+version = "1.0.8"
 license = "MIT OR Apache-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "IGS SP3 file parser"

diff --git a/sp3/src/lib.rs b/sp3/src/lib.rs
@@ -183,7 +183,7 @@ pub struct SP3 {
     pub sv: Vec<SV>,
     /// 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.
+    /// Clock offsets 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,
@@ -518,8 +518,7 @@ impl SP3 {
             .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.
+    /// Returns an Iterator over Clock offsets with theoretical 1E-12 precision.
     pub fn sv_clock(&self) -> impl Iterator<Item = (Epoch, SV, f64)> + '_ {
         self.clock
             .iter()
@@ -532,7 +531,7 @@ impl SP3 {
             .iter()
             .flat_map(|(e, sv)| sv.iter().map(|(sv, clk)| (*e, *sv, *clk)))
     }
-    /// Interpolate Clock state at desired "t" expressed in the timescale you want.
+    /// Interpolate Clock (offset) at desired "t" expressed in the timescale you want.
     /// SP3 files usually have a 15' sampling interval which makes this operation
     /// most likely incorrect. You should either use higher sample rate to reduce
     /// the error generated by interpolation, or use different products like

diff --git a/sp3/src/position.rs b/sp3/src/position.rs
@@ -40,7 +40,7 @@ impl std::str::FromStr for PositionEntry {
              */
             let clk_data = f64::from_str(line[46..60].trim())
                 .or(Err(ParsingError::Clock(line[46..60].to_string())))?;
-            clock = Some(clk_data);
+            clock = Some(clk_data * 1.0E-6);
         }
         Ok(Self {
             sv,

diff --git a/sp3/src/tests/parser_3d.rs b/sp3/src/tests/parser_3d.rs
@@ -82,15 +82,15 @@ mod test {
         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");
+                assert!((clock - 63.035497E-6).abs() < 1E-9, "bad clock data");
             } else if sv == sv!("E01") {
-                assert_eq!(clock, -718.927492, "bad clock data");
+                assert!((clock - -718.927492E-6).abs() < 1E-9, "bad clock data");
             } else if sv == sv!("G01") {
-                assert_eq!(clock, -176.397152, "bad clock data");
+                assert!((clock - -176.397152E-6).abs() < 1E-9, "bad clock data");
             } else if sv == sv!("J01") {
-                assert_eq!(clock, -336.145158, "bad clock data");
+                assert!((clock - -336.145158E-6).abs() < 1E-9, "bad clock data");
             } else if sv == sv!("R01") {
-                assert_eq!(clock, 51.759894, "bad clock data");
+                assert!((clock - 51.759894E-6).abs() < 1E-9, "bad clock data");
             } else {
                 panic!("identified wrong sv");
             }

diff --git a/ublox-rnx/Cargo.toml b/ublox-rnx/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "ublox-rnx"
-version = "0.1.5"
+version = "0.1.6"
 license = "MIT OR Apache-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "Efficient RINEX production from a Ublox GNSS receiver"
@@ -22,4 +22,4 @@ serialport = "4.2.0"
 ublox = "0.4.4"
 clap = { version = "4.4.10", features = ["derive", "color"] }
 gnss-rs = { version = "2.1.3", features = ["serde"] }
-rinex = { path = "../rinex", version = "=0.15.6", features = ["serde", "nav", "obs"] }
+rinex = { path = "../rinex", version = "=0.15.7", features = ["serde", "nav", "obs"] }