RTK V0_4_5

README.md

@@ -103,10 +103,10 @@ RINEX formats & applications
 | Observation (OBS)          | :heavy_check_mark:| :heavy_check_mark: | :heavy_check_mark:  :chart_with_upwards_trend: | Phase, Pseudo Range, Doppler, SSI | Epoch | GNSS (any) |
 |  CRINEX  (Compressed OBS)  | :heavy_check_mark:| RNX2CRX1 :heavy_check_mark: RNX2CRX3 :construction:  | :heavy_check_mark:  :chart_with_upwards_trend:  |  Phase, Pseudo Range, Doppler, SSI | Epoch | GNSS (any) |
 |  Meteorological data (MET) | :heavy_check_mark:| :heavy_check_mark:  | :heavy_check_mark: :chart_with_upwards_trend:  | Meteo sensors data (Temperature, Moisture..) | Epoch | UTC | 
-|  Clocks (CLK)              | :heavy_check_mark:| :construction:      | :heavy_check_mark: :chart_with_upwards_trend:  | Precise SV and Reference Clock states |  Epoch | UTC |
+|  Clocks (CLK)              | :heavy_check_mark:| :construction:      | :heavy_check_mark: :chart_with_upwards_trend:  | Precise SV and Reference Clock states |  Epoch | GNSS (any) |
 |  Antenna (ATX)             | :heavy_check_mark:| :construction:      | :construction:   | Precise RX/SV Antenna calibration | `antex::Antenna` | :heavy_minus_sign: |
 |  Ionosphere Maps  (IONEX)  | :heavy_check_mark:|  :construction:     | :heavy_check_mark:  :chart_with_upwards_trend: | Ionosphere Electron density | Epoch | UTC |
-|  DORIS RINEX               | :heavy_check_mark:|  :construction:     | :construction:       | Temperature, Moisture, Pseudo Range and Phase observations | Epoch | TAI |
+|  DORIS RINEX               | :heavy_check_mark:|  :construction:     | :heavy_check_mark:   | Temperature, Moisture, Pseudo Range and Phase observations | Epoch | TAI |
 |  SINEX  (SNX)              | :construction:    |  :construction:     | :heavy_minus_sign:   | SINEX are special RINEX, they are managed by a dedicated [core library](sinex/) | Epoch | :question: |
 |  Troposphere  (TRO)        | :construction:    |  :construction:     | :question:           | Troposphere modeling | Epoch | :question: |
 |  Bias  (BIA)               | :heavy_check_mark: |  :construction:    | :question:           | Bias estimates, like DCB.. | Epoch | :question: |

rinex-cli/Cargo.toml

@@ -33,16 +33,14 @@ 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 = "=0.16.1", features = ["full"] }
+plotly = { git = "https://github.com/plotly/plotly.rs", branch = "main" }
 rinex-qc = { path = "../rinex-qc", version = "=0.1.14", 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 = "0.4.4", features = ["serde"] }
+gnss-rtk = { version = "0.4.5", features = ["serde"] }
 # gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
 # gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "main", features = ["serde"] }
 

rinex-cli/config/rtk/gpst_ppp_basic.json → rinex-cli/config/rtk/gpst_cpp_basic.json

@@ -1,8 +1,8 @@
 {
     "method": "CodePPP",
     "timescale": "GPST",
-    "interp_order": 13,
-    "min_sv_elevation": 1.0,
+    "interp_order": 17,
+    "min_sv_elevation": 5.0,
     "solver": {
         "filter": "LSQ",
         "gdop_threshold": 10.0

rinex-cli/config/rtk/gpst_cpp_kf.json

@@ -0,0 +1,18 @@
+{
+    "method": "CodePPP",
+    "timescale": "GPST",
+    "interp_order": 17,
+    "min_sv_elev": 5.0,
+    "solver": {
+        "filter": "Kalman",
+        "gdop_threshold": 10.0
+    },
+    "modeling": {
+        "iono_delay": true,
+        "tropo_delay": true,
+        "earth_rotation": true,
+        "sv_clock_bias": true,
+        "sv_total_group_delay": true,
+        "relativistic_clock_bias": true
+    } 
+}

rinex-cli/config/rtk/gpst_spp_basic.json

@@ -2,7 +2,7 @@
     "method": "SPP",
     "timescale": "GPST",
     "interp_order": 11,
-    "min_sv_elevation": 10.0,
+    "min_sv_elevation": 5.0,
     "solver": {
         "filter": "LSQ",
         "gdop_threshold": 10.0

rinex-cli/src/cli/graph.rs

@@ -6,43 +6,77 @@ pub fn subcommand() -> Command {
         .long_flag("graph")
         .arg_required_else_help(true)
         .about(
-            "RINEX data visualization (signals, orbits..), rendered as HTML or CSV in the workspace.",
+            "RINEX data analysis and visualization, rendered as HTML or CSV in the workspace.",
         )
+        .long_about("Analysis and plots (in HTML).
+When Observations are present, whether they come from Observation RINEX, Meteo or DORIS RINEX,
+we can export the results as CSV too. This is particularly useful to export the results of the analysis
+to other tools.")
         .arg(
             Arg::new("csv")
                 .long("csv")
                 .action(ArgAction::SetTrue)
-                .help("Generate CSV files along HTML plots.")
+                .help("Extract Data as CSV along HTML plots. See --help.")
+                .long_help("This is particularly helpful if you are interested in
+using our toolbox as data parser and preprocessor and inject the results to third party programs.")                
         )
         .next_help_heading(
             "RINEX dependent visualizations. 
         Will only generate graphs if related dataset is present.",
         )
-        .next_help_heading("GNSS observations (requires OBS RINEX)")
+        .next_help_heading("Observations rendering (OBS, Meteo, DORIS)")
         .arg(
             Arg::new("obs")
                 .short('o')
                 .long("obs")
                 .action(ArgAction::SetTrue)
-                .help(
-                    "Plot all observables.
-When OBS RINEX is provided, this will plot raw phase, dopplers and SSI.
-When METEO RINEX is provided, data from meteo sensors is plotted too.",
-                ),
+                .help("Plot all observables described in either Observation, Meteo or DORIS RINEX. See --help")
+                .long_help("Use this option to plot all observations.
+OBS RINEX gives GNSS signals observations, but we also support Meteo RINEX and DORIS (special observation) RINEX.
+
+Example (1): render GNSS signals (all of them, whether it be Phase or PR) for GPS.
+Use CSV for extract and export as well:
+
+./target/release/rinex-cli \\
+    -f test_resources/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \\
+    -g --obs --csv
+
+Example (2): render meteo sensor observations similary.
+
+./target/release/rinex-cli \\
+    -f test_resources/MET/V3/POTS00DEU_R_20232540000_01D_05M_MM.rnx.gz \\
+    -g --obs --csv
+
+Example (3): render DORIS observations similarly.
+
+./target/release/rinex-cli \\
+    -f test_resources/MET/V3/POTS00DEU_R_20232540000_01D_05M_MM.rnx.gz \\
+    -g --obs --csv
+
+Example (4): render OBS + Meteo combination at once.
+RINEX-Cli allows loading OBS + Meteo in one session.
+In graph mode, this means we can render both in a single run.
+
+./target/release/rinex-cli \\
+    -f test_resources/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \\
+    -f test_resources/MET/V3/POTS00DEU_R_20232540000_01D_05M_MM.rnx.gz \\
+    -g --obs --csv
+")
+
         )
+        .next_help_heading("GNSS signals (requires OBS and/or DORIS RINEX)")
         .arg(
             Arg::new("dcb")
                 .long("dcb")
                 .action(ArgAction::SetTrue)
-                .help("Plot Differential Code Bias. Requires OBS RINEX."),
+                .help("Plot Differential Code Bias."),
         )
         .arg(
             Arg::new("mp")
                 .long("mp")
                 .action(ArgAction::SetTrue)
-                .help("Plot Code Multipath. Requires OBS RINEX."),
+                .help("Plot Code Multipath."),
         )
-        .next_help_heading("GNSS combinations (requires OBS RINEX)")
         .arg(
             Arg::new("if")
                 .short('i')
@@ -149,4 +183,14 @@ It is the temporal equuivalent to |BRDC-SP3| requested with --sp3-residual.")
                 .action(ArgAction::SetTrue)
                 .help("Plot ionospheric delay per signal & SV, at latitude and longitude of signal sampling."),
         )
+        .next_help_heading("DORIS (requires at least one DORIS file)").
+        arg(
+            Arg::new("acorr")
+                .short('a')
+                .long("acorr")
+                .action(ArgAction::SetTrue)
+                .help("Compute and render the autocorrelation of (precise) Pseudo Range and Dopplers from the DORIS measurement,
+from all contained stations. See --help")
+            .long_help("TODO")
+        )
 }

rinex-cli/src/cli/positioning.rs

@@ -7,18 +7,18 @@ pub fn subcommand() -> Command {
         .short_flag('p')
         .arg_required_else_help(false)
         .about("Precise Positioning opmode.
-Use this mode to resolve precise positions and local time from RINEX dataset.
-You should provide Observations from a unique receiver.")
+Use this mode to resolve Position Velocity and Time (PVT) solutions from one GNSS context.")
         .arg(Arg::new("cfg")
             .short('c')
             .long("cfg")
             .value_name("FILE")
             .required(false)
             .action(ArgAction::Append)
-            .help("Pass a Position Solver configuration file (JSON).
+            .help("Pass a Position Solver configuration file (JSON). See --help.")
+            .long_help("
+Use [https://github.com/georust/rinex/rinex-cli/config.rtk] as a starting point.
 [https://docs.rs/gnss-rtk/latest/gnss_rtk/prelude/struct.Config.html] is the structure to represent in JSON.
-Refer to [https://docs.rs/gnss-rtk/latest/gnss_rtk/prelude/enum.Method.html] for solving strategies.
-See [] for meaningful examples."))
+Our Wiki pages contains several examples."))
         .arg(Arg::new("gpx")
             .long("gpx")
             .action(ArgAction::SetTrue)
@@ -31,8 +31,11 @@ See [] for meaningful examples."))
         .arg(Arg::new("cggtts")
             .long("cggtts")
             .action(ArgAction::SetTrue)
-            .help("Activate CGGTTS special solver.
-Wrapps PVT solutions as CGGTTS file(s) for remote clock comparison (time transfer)."))
+            .help("Activate CGGTTS special solver. See --help.")
+            .long_help("In CGGTTS opmode, we're only interested in resolving the local offset to the constellation.
+Navigation mode is set to [TimeOnly] and we navigate using every single vehicle in sight fitting criteria. 
+CGGTTS opmode is therefore more demanding as it runs the algorithm many more times than regular PPP.
+The PVT solutions are then formatted as a CGGTTS file which is used to compare remote clocks to one another, from a common GNSS constellation."))
         .arg(Arg::new("tracking")
             .long("trk")
             .short('t')

rinex-cli/src/graph/record/ionex.rs

@@ -1,16 +1,15 @@
-//use itertools::Itertools;
 use crate::graph::PlotContext;
-use plotly::color::NamedColor;
-use plotly::common::{Marker, MarkerSymbol};
-use plotly::layout::MapboxStyle;
-//use plotly::DensityMapbox;
-use plotly::ScatterMapbox;
+use plotly::{
+    color::NamedColor,
+    common::{Marker, MarkerSymbol},
+    layout::MapboxStyle,
+    {DensityMapbox, ScatterMapbox},
+};
 use rinex::prelude::Rinex;
 
 pub fn plot_tec_map(data: &Rinex, _borders: ((f64, f64), (f64, f64)), plot_ctx: &mut PlotContext) {
     let _cmap = colorous::TURBO;
-    //TODO
-    //let hover_text: Vec<String> = ctx.primary_data().epoch().map(|e| e.to_string()).collect();
+    let hover_text: Vec<String> = data.epoch().map(|e| e.to_string()).collect();
     /*
      * TEC map visualization
      * plotly-rs has no means to animate plots at the moment
@@ -41,7 +40,7 @@ pub fn plot_tec_map(data: &Rinex, _borders: ((f64, f64), (f64, f64)), plot_ctx:
                 },
             )
             .collect();
-        let _tec: Vec<_> = data
+        let tec: Vec<_> = data
             .tec()
             .filter_map(
                 |(t, _, _, _, tec)| {
@@ -75,14 +74,14 @@ pub fn plot_tec_map(data: &Rinex, _borders: ((f64, f64), (f64, f64)), plot_ctx:
         plot_ctx.add_trace(grid);
 
         //let map = AnimatedDensityMapbox::new(lat.clone(), lon.clone(), z)
-        //let map = DensityMapbox::new(lat.clone(), lon.clone(), tec.clone())
-        //    //.title("TEST")
-        //    .name(epoch.to_string())
-        //    .opacity(0.66)
-        //    //.hover_text_array(hover_text.clone())
-        //    .zauto(true)
-        //    //.animation_frame("test")
-        //    .zoom(3);
-        //plot_ctx.add_trace(map);
+        let map = DensityMapbox::new(lat.clone(), lon.clone(), tec.clone())
+            //.title("TEST")
+            .name(epoch.to_string())
+            .opacity(0.66)
+            //.hover_text_array(hover_text.clone())
+            .zauto(true)
+            //.animation_frame("test")
+            .zoom(3);
+        plot_ctx.add_trace(map);
     }
 }