[teqc] status of full qc of Beidou/Compass (and GPS, GLONASS, ...)

Lou Estey lou at unavco.org
Wed Dec 11 10:34:54 MST 2013


hi everyone,

This is an update on the full qc of Beidou/Compass data and, more generally, the revamp
of the qc in teqc.  (See also http://postal.unavco.org/pipermail/teqc/2013/001587.html )

But, more importantly, this is to give you fair warning of a number of changes to the way
qc from teqc will be in the next official release, for Beidou/Compass and all other
constellations (GPS, GLONASS, Galileo, QZSS, SBAS).

First, I'm providing a limited set of teqc builds for your evaluation and testing (teqc
version 2013Dec11):

at ftp://brick.unavco.org/pub/users/lou

teqc_bc.zip                 -- 32-bit teqc.exe using Borland compiler
teqc_mingw_32.zip           -- 32-bit teqc.exe using Mingw-32
teqc_mingw_64.zip           -- 64-bit teqc.exe using Mingw-64
teqc_Lx86_32s.zip           -- 32-bit Linux statically-linked teqc
teqc_Lx86_64s.zip           -- 64-bit Linux statically-linked teqc
teqc_OSX_x86_gcc4.2d_64.zip -- 32-bit OSX teqc
teqc_Sparc_5.10_64d.zip     -- 64-bit Solaris Sparc teqc
teqc_Solx86_5.10_64d.zip    -- 64-bit Solaris x86 teqc
teqc_HPUXcc.zip             -- 32-bit HPUX teqc

Next, at the same ftp pickup area I'm providing a test dataset which is 30-second data
from Perth, Australia, collected with a Trimble NetR9:

test.zip  (7 MB)

The RINEX in this was created using the command:

teqc +all -O.dec 30 +nav tmp.gps,tmp.glo,tmp.sbs,-,tmp.cmp,tmp.qzs *.tgd > tmp.obs

- '+all' is a new option which is equivalent to '+relax +C2 +L5 +L6 +L7 +L8'
- the input .tgd data was 1-second data, so '-O.dec 30' just decimates it to 30 seconds
- there were no Galileo navigation messages in the .tgd, so on '+nav' there
   was no attempt to create 'tmp.gal' which would have held the RINEX version
   of the Galileo navigation messages

Then the qc was done:

teqc +qc +ssv +plot -set_mask 0 tmp.obs

- the optional '+ssv' was included so that you could see the 30-s multipath rms
   for each SV
- '+plot': this is no longer the default, so if you want to get the ASCII 'compact'
   plot files (now in compact-3 format), this option must be included
- the optional '-set_mask 0' was used only because the data was quite good at
   low elevations (if this option is excluded, then the elevation mask defaults
   to 10 degrees above the horizon which is equivalent to using '-set_mask 10')

The files in test.zip are (with the size in bytes):

-rw-r--r--   165948 Dec 11 15:59 tmp.cmp
-rw-r--r--   119190 Dec 11 15:59 tmp.gps
-rw-r--r--    52263 Dec 11 15:59 tmp.qzs
-rw-r--r--   147656 Dec 11 15:59 tmp.glo
-rw-r--r--   325816 Dec 11 15:59 tmp.sbs
-rw-r--r-- 22432724 Dec 11 15:59 tmp.obs
-rw-r--r--   665289 Dec 11 16:06 tmp.i12
-rw-r--r--   125907 Dec 11 16:06 tmp.i15
-rw-r--r--   390245 Dec 11 16:06 tmp.i16
-rw-r--r--   381555 Dec 11 16:06 tmp.i17
-rw-r--r--    57205 Dec 11 16:06 tmp.i18
-rw-r--r--   665289 Dec 11 16:06 tmp.d12
-rw-r--r--   125907 Dec 11 16:06 tmp.d15
-rw-r--r--   390245 Dec 11 16:06 tmp.d16
-rw-r--r--   381475 Dec 11 16:06 tmp.d17
-rw-r--r--    57107 Dec 11 16:06 tmp.d18
-rw-r--r--   665289 Dec 11 16:06 tmp.m12
-rw-r--r--   665289 Dec 11 16:06 tmp.m21
-rw-r--r--   125907 Dec 11 16:06 tmp.m15
-rw-r--r--   125907 Dec 11 16:06 tmp.m51
-rw-r--r--   390245 Dec 11 16:06 tmp.m16
-rw-r--r--   390245 Dec 11 16:06 tmp.m61
-rw-r--r--   381475 Dec 11 16:06 tmp.m17
-rw-r--r--   381475 Dec 11 16:06 tmp.m71
-rw-r--r--    41713 Dec 11 16:06 tmp.m18
-rw-r--r--    41713 Dec 11 16:06 tmp.m81
-rw-r--r--  1096799 Dec 11 16:06 tmp.sn1
-rw-r--r--   665289 Dec 11 16:06 tmp.sn2
-rw-r--r--   125907 Dec 11 16:06 tmp.sn5
-rw-r--r--   390245 Dec 11 16:06 tmp.sn6
-rw-r--r--   408661 Dec 11 16:06 tmp.sn7
-rw-r--r--    90227 Dec 11 16:06 tmp.sn8
-rw-r--r--   987025 Dec 11 16:06 tmp.azi
-rw-r--r--   987025 Dec 11 16:06 tmp.ele
-rw-r--r--    69417 Dec 11 16:06 tmp.13S

(Note: test.zip does _not_ contain the 1-sec .tgd data file.)

You will notice there are now many more multipath combinations.  In fact, these
are just a subset of the possible combinations.  In redoing the qc, I focused on
creating multipath combinations relative to the code pseudorange and phase
values on the main signal of the principal carrier frequency, 'L1' in tmp.obs,
which is:

GPS     L1       @ 1575.42 MHz     (L1P(Y) if present, otherwise L1C/A)
GLONASS G1       @ 1602+k*9/16 MHz (L1HA is present, otherwise L1SA)
Galileo E2-L1-E1 @ 1575.42 MHz
SBAS    L1       @ 1575.42 MHz
Beidou  B1/E2    @ 1561.098 MHz
QZSS    L1C/A    @ 1575.42 MHz

So, as a reminder, what used to be called "mp1" is now m12 or mp12, and what
used to be called "mp2" is now m21 or mp21.

There were necessary changes to the qc output to accommodate the new GNSS qc.
First, review the new symbols in `teqc ++sym` for the ASCII time plot.  Also,
for example, there is now a new 'SMP' summary line at the end of the short qc
report which should show up if there are more multipath combinations than
just m12 and m21.  For example in tmp.13S:

       first epoch    last epoch    mp12  mp21  mp15  mp51  mp16  mp61  mp17  mp71  mp18  mp81
SMP 13 10  7 00:00 13 10  7 23:59  0.71  0.55  0.61  0.56  0.56  0.34  0.60  0.41  1.45  1.42

(Note: the original 'SUM' line remains as it has been with just m12 and m21
with the old labels.  If there is no L2 data, then these will be filled in
with '-'.)

Also, the "missing" data section of the full qc report now is done as percentages,
with a separate column for each constellation; in tmp.13S:

                                 |  G  |  R  |  S  |  E  |  C  |  J  |
% Obs above mask w/ no L1     :   0.0   0.0   0.0   0.0   0.0   0.0
% Obs above mask w/ no L2     :   3.5   0.1    -     -  100.0   0.3
% Obs above mask w/ no L5     :  88.7    -  100.0   0.1    -    0.3
% Obs above mask w/ no L6     :    -     -     -  100.0   0.1   0.3
% Obs above mask w/ no L7     :    -  100.0    -    0.1   0.1   0.3
% Obs above mask w/ no L8     :    -     -     -    0.1    -    0.3

% Obs above mask w/ no P1     : 100.0   0.0    -     -     -     -
% Obs above mask w/ no P2     :   3.9   0.1    -     -     -     -
% Obs above mask w/ no C1     :   0.0   0.0   0.0   0.0   0.0   0.0
% Obs above mask w/ no C2     :  64.5   0.0    -     -  100.0   0.3
% Obs above mask w/ no C5     :  88.7    -  100.0   0.1    -    0.3
% Obs above mask w/ no C6     :    -     -     -  100.0   0.1   0.3
% Obs above mask w/ no C7     :    -  100.0    -    0.1   0.1   0.3
% Obs above mask w/ no C8     :    -     -     -    0.1    -    0.3

These are just some of the changes that have been made.

I encourage anyone interested in full GNSS qc to take a look at all this
as soon as possible, whether your primary interest is qc of Beidou/Compass
data or just qc of some other constellation (like GPS).  Remember that this
is the way qc from teqc is going to be in the next official release.

-------------

Translation: In addition, this interim version of teqc should be able to read
Beidou/Compass navigation messages in the following formats:

Trimble .tgd (record 28)
Trimble stream (0x55)
Javad JPS ([CN])
Septentrio Binary Format (SBF) (message ID 4081)
BINEX 0x01-05 (see http://binex.unavco.org/binex_record_01.html#01_05)

-------------

Have fun, and let me know how it goes.

cheers,
--lou

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Louis H. Estey, Ph.D.              office:  [+001] 303-381-7456
UNAVCO, 6350 Nautilus Drive           FAX:  [+001] 303-381-7451
Boulder, CO  80301-5554            e-mail:  lou  unavco.org
    WWW:  http://www.unavco.org   http://jules.unavco.org

"If the universe is the answer, what is the question?"
                                                -- Leon Lederman
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~





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