[teqc] helpful tip of week 1938

Lou Estey lou at unavco.org
Thu Mar 2 06:50:12 MST 2017


This week's tip: the '+psp' option

This option is the official replacement of an experimental option that our D&T group
asked for a few years ago.  Receivers can output positions of varying precision at
user-specified intervals to data streams and files.  Precision will depend on the
receiver’s capabilities and configuration, and may be (in order of increasing precision):
     o standalone,
     o SBAS augmented,
     o PPP-AR (using global clock and orbit corrections received through the L-band
       or network),
     o or real-time kinematic (RTK) using a rover and base-station configuration.
The '+psp' option gives you a view into these position solutions if they are available:

[4164] teqc +help | grep psp
         +psp .               output position solution parameters to stdout
         +psp ..              output position solution parameters to stderr
         +psp name            output position solution parameters to file 'name'
         ++psp name           append position solution parameters to file 'name'
         -psp                 don't output position solution parameters (default)

What exactly do I mean by "position solution parameters"?  If available (see below) this
will show the deltas of the receiver's position solutions rotated into a East-North-Up (ENU)
local coordinate system using either the first position or a supplied position for the
starting ENU location; next, the velocity (if available) is shown in the same ENU system;
next, the receiver clock offset and drift (if available) are shown.

Here are the current formats for which this option is usable, along with the needed
record/message types:

     o BINEX record 0x05 (defined June-August 2016)
     o Trimble .tgd record 29 and RT27 streaming 0x57-7
     o Septentrio Binary Format (SBF) messages 4006, 4007 (and older 5903, 5904)
     o Leica MDB 10 & 110, 11 & 111, 12 & 112 (initial reference position only), 13 & 113 (no clock info)
     o Topcon TPS and Javad JPS: [rE], [rV], [rT]; [ST], [TO], [DO], [PG], [PO], [PV], [VE], [VG]
     o u-blox UBX-NAV-SOL (0x0106) and UBX-NAV-PVT (0x0107): no clock info yet

Let's take a quick look at using a Trimble .tdg file with record 29:

   [4191] teqc -tr d +psp . +mds 5024K68287201507190000a.tgd 2> /dev/null | more
2015 Jul 19 00:00:00.000      0.0000    0.0000    0.0000    -0.014   0.005   0.002    2.623  0.038
2015 Jul 19 00:00:30.000     -0.0027    0.0035   -0.0361     0.006  -0.015  -0.007    2.369  0.061
2015 Jul 19 00:01:00.000     -0.0052   -0.0004   -0.0446     0.003  -0.016  -0.009    2.369 -0.130
2015 Jul 19 00:01:30.000      0.0020   -0.0049   -0.0468    -0.004  -0.003  -0.013    2.712 -0.046
2015 Jul 19 00:02:00.000      0.0052    0.0012   -0.0637     0.010   0.011  -0.040    2.876 -0.130
2015 Jul 19 00:02:30.000     -0.0003   -0.0063   -0.0627    -0.006   0.007  -0.015    2.697 -0.046
2015 Jul 19 00:03:00.000      0.0017    0.0017   -0.0473     0.004   0.003  -0.041    2.429 -0.038
...

Note the first ENU delta is zero because teqc is using the first found coordinate to determine
the local system; deltas for all solutions (including the first one) are relative to that, hence
the position delta is zero for the first point.

(If you are capturing one of these formats in a stream with ncat or nc, then you just pipe
the output of your "network cat" process into teqc and proceed the same way.)

Units for the delta-ENU position: meters to 0.1 mm resolution
Units for the ENU velocity:       meters per second to 0.001 m/s resolution
Units for rx clock offset:        milliseconds to nanosecond resolution
Units for rx clock drift:         parts per million to parts per billion resolution

If you do not want to use the first position found as the local position, you can define what
you want the local position to be using either -O.pg or -O.px:

[4197] teqc -O.pg 40.061214 -105.205585 1571.8 +psp . +mds 5024K68287201507190000a.tgd 2> /dev/null | more
2015 Jul 19 00:00:00.000      0.0000    0.0000    0.0000    -0.014   0.005   0.002    2.623  0.038
2015 Jul 19 00:00:30.000     -0.0060    0.0433   -0.0361     0.006  -0.015  -0.007    2.369  0.061
2015 Jul 19 00:01:00.000     -0.0085    0.0394   -0.0446     0.003  -0.016  -0.009    2.369 -0.130
2015 Jul 19 00:01:30.000     -0.0013    0.0349   -0.0468    -0.004  -0.003  -0.013    2.712 -0.046
2015 Jul 19 00:02:00.000      0.0019    0.0410   -0.0637     0.010   0.011  -0.040    2.876 -0.130
2015 Jul 19 00:02:30.000     -0.0037    0.0335   -0.0627    -0.006   0.007  -0.015    2.697 -0.046
2015 Jul 19 00:03:00.000     -0.0016    0.0415   -0.0473     0.004   0.003  -0.041    2.429 -0.038
...

[4198] teqc -O.pg 40.06 -105.21 1572 +psp . +mds 5024K68287201507190000a.tgd 2> /dev/null | more
2015 Jul 19 00:00:00.000      0.0000    0.0000    0.0000    -0.014   0.005   0.002    2.623  0.038
2015 Jul 19 00:00:30.000    376.7637  134.8834   -0.2486     0.006  -0.015  -0.007    2.369  0.061
2015 Jul 19 00:01:00.000    376.7612  134.8795   -0.2572     0.003  -0.016  -0.009    2.369 -0.130
2015 Jul 19 00:01:30.000    376.7684  134.8750   -0.2594    -0.004  -0.003  -0.013    2.712 -0.046
2015 Jul 19 00:02:00.000    376.7716  134.8811   -0.2762     0.010   0.011  -0.040    2.876 -0.130
2015 Jul 19 00:02:30.000    376.7660  134.8736   -0.2752    -0.006   0.007  -0.015    2.697 -0.046
2015 Jul 19 00:03:00.000    376.7681  134.8816   -0.2599     0.004   0.003  -0.041    2.429 -0.038
...

The purpose, obviously, it to monitor the antenna motion either during testing, during
a geophysical event (like an earthquake), or during some other antenna motion of interest,
plus keeping an eye on the receiver's clock solution.

Happy teqc-ing!

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
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Past helpful tips:

week 1894: using teqc config files - http://postal.unavco.org/pipermail/teqc/2016/002067.html
week 1895: qc of high-rate data - http://postal.unavco.org/pipermail/teqc/2016/002071.html
week 1896: UNIX/Linux shells for Windows - http://postal.unavco.org/pipermail/teqc/2016/002072.html
week 1897: '-' vs. '+' teqc options - http://postal.unavco.org/pipermail/teqc/2016/002076.html
week 1898: auto-identification of formats - http://postal.unavco.org/pipermail/teqc/2016/002092.html
week 1899: auto-identification vs. format flags - http://postal.unavco.org/pipermail/teqc/2016/002096.html
week 1900: square brackets in options - http://postal.unavco.org/pipermail/teqc/2016/002105.html
week 1901: using option '+mds' - http://postal.unavco.org/pipermail/teqc/2016/002108.html
week 1902: qc results w/ problematic nav messages - http://postal.unavco.org/pipermail/teqc/2016/002113.html
week 1903: '-no_orb[it]' and '-no_pos[ition]' options - http://postal.unavco.org/pipermail/teqc/2016/002115.html
week 1904: '-week' option - http://postal.unavco.org/pipermail/teqc/2016/002117.html
week 1905: using '+bcf' for XYZ/geodetic conversion - http://postal.unavco.org/pipermail/teqc/2016/002126.html
week 1906: the '+v[erify]' option - http://postal.unavco.org/pipermail/teqc/2016/002128.html
week 1907: '+C2', '+L5', "+L6', '+L7', '+L8', '+all' options - http://postal.unavco.org/pipermail/teqc/2016/002130.html
week 1908: getting RINEX doppler and L2 - http://postal.unavco.org/pipermail/teqc/2016/002131.html
week 1909: using paths w/ file names - http://postal.unavco.org/pipermail/teqc/2016/002132.html
week 1910: the (un)importance of file names - http://postal.unavco.org/pipermail/teqc/2016/002133.html
week 1911: notices, warnings, and errors - http://postal.unavco.org/pipermail/teqc/2016/002134.html
week 1912: the '-max_rx_SVs' option - http://postal.unavco.org/pipermail/teqc/2016/002137.html
week 1913: the end of '++igs' and '+igs' - http://postal.unavco.org/pipermail/teqc/2016/002140.html
week 1914: splicing together RINEX files - http://postal.unavco.org/pipermail/teqc/2016/002144.html
week 1915: using '-O.int' and '-O.dec' - http://postal.unavco.org/pipermail/teqc/2016/002145.html
week 1916: '+doy' option - http://postal.unavco.org/pipermail/teqc/2016/002146.html
week 1917: '-tbin' and '-ast' options - http://postal.unavco.org/pipermail/teqc/2016/002152.html
week 1918: mp12 RMS before/after Oct 2013 - http://postal.unavco.org/pipermail/teqc/2016/002158.html
week 1919: the global windowing options - http://postal.unavco.org/pipermail/teqc/2016/002159.html
week 1920: '-M.dec' and '-N.dec' options - http://postal.unavco.org/pipermail/teqc/2016/002163.html
week 1921: combining time filtering options - http://postal.unavco.org/pipermail/teqc/2016/002176.html
week 1922: helping me (or someone else on the list) help you - http://postal.unavco.org/pipermail/teqc/2016/002187.html
week 1923: the "build" line - http://postal.unavco.org/pipermail/teqc/2016/002190.html
week 1924: the qc '-w[idth]' option - http://postal.unavco.org/pipermail/teqc/2016/002193.html
week 1925: qc with explicit time windowing - http://postal.unavco.org/pipermail/teqc/2016/002194.html
week 1926: the '+rx_state' option - http://postal.unavco.org/pipermail/teqc/2016/002200.html
week 1927: the '-O.sum' option - http://postal.unavco.org/pipermail/teqc/2016/002204.html
week 1928: the '+meta' and '+mds' options - http://postal.unavco.org/pipermail/teqc/2016/002206.html
week 1930: more on '-O.sum' - http://postal.unavco.org/pipermail/teqc/2017/002207.html
week 1931: the '-O.s[ystem]' option - http://postal.unavco.org/pipermail/teqc/2017/002208.html
week 1932: leap seconds - http://postal.unavco.org/pipermail/teqc/2017/002215.html
week 1936: what you can (and shouldn't) do in a RINEX obs file - http://postal.unavco.org/pipermail/teqc/2017/002229.html

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