[teqc] helpful tip of week 1955

Lou Estey lou at unavco.org
Fri Jun 30 10:38:34 MDT 2017


This week's tip: current qc notation (re-visiting changes made in late 2013)

The purpose of this tip is to revisit current qc notation, including the compact3
"plot" filenames, with changes made in late 2013; parts of this tip have been extracted
from http://postal.unavco.org/pipermail/teqc/2013/001619.html, but overall this
email should contain a superset of all pertinent points.

The basic idea in 2013 was to slightly modify the notation that had worked fine
for dual-frequency GPS and GLONASS data with observables on the respective L-band
carriers and now generalizing that notation for multi-frequency GNSS data, e.g.
for standard RINEX 2.11, data for GPS + GLONASS + SBAS + Galileo (with specified
carrier frequencies below in MHz):
    +---------------------------------------------------------------------------+
    | GPS     L1         1575.42     C1,P1       L1         D1         S1       |
    |         L2         1227.60     C2,P2       L2         D2         S2       |
    |         L5         1176.45      C5         L5         D5         S5       |
    |                                                                           |
    | GLONASS G1         1602+k*9/16 C1,P1       L1         D1         S1       |
    |         G2         1246+k*7/16 C2,P2       L2         D2         S2       |
    |                                                                           |
    | Galileo E2-L1-E1   1575.42      C1         L1         D1         S1       |
    |         E5a        1176.45      C5         L5         D5         S5       |
    |         E5b        1207.140     C7         L7         D7         S7       |
    |         E5a+b      1191.795     C8         L8         D8         S8       |
    |         E6         1278.75      C6         L6         D6         S6       |
    |                                                                           |
    | SBAS    L1         1575.42      C1         L1         D1         S1       |
    |         L5         1176.45      C5         L5         D5         S5       |
    +---------------------------------------------------------------------------+
and extended RINEX 2.11 (allowed in teqc) which additionally includes GPS L1C (from
upcoming Block III SVs), GLONASS G3 (from GLONASS-K), Beidou, QZSS, and L-band IRNSS:
    +---------------------------------------------------------------------------+
    | GPS     L1C        1575.42      C7         L7         D7         S7       |
    |                                                                           |
    | GLONASS G3         1202.025     C7         L7         D7         S7       |
    |                                                                           |
    | Beidou  B1/E2  I/Q 1561.098     C1         L1         D1         S1       |
    |         B2/E5b I/Q 1207.14      C7         L7         D7         S7       |
    |         B2a    I/Q 1176.45      C5         L5         D5         S5       |
    |         B3/E6  I/Q 1268.52      C6         L6         D6         S6       |
    |         B1-2/E1    1589.742     C2         L2         D2         S2       |
    |         B1C        1575.42      C8         L8         D8         S8       |
    |                                                                           |
    | QZSS    L1C/A      1575.42      C1         L1         D1         S1       |
    |         L1C        1575.42      C7         L7         D7         S7       |
    |         L1-SAIF    1575.42      C8         L8         D8         S8       |
    |         L2C        1227.60      C2         L2         D2         S2       |
    |         L5     I/Q 1176.45      C5         L5         D5         S5       |
    |                                                                           |
    | IRNSS   L5     I/Q 1176.45      C5         L5         D5         S5       |
    +---------------------------------------------------------------------------+

First, start with full GNSS from some receiver, say Javad, Leica, Septentrio, Topcon, or Trimble.
(In the following, I'm using a JPS file from a Javad Sigma receiver.)

teqc +extend +all -O.dec 30 +nav tmp.gps,tmp.glo,tmp.sbs,tmp.gal,tmp.cmp,tmp.qzs,tmp.irn *.jps > tmp.obs

where:
    - '+all' is an option equivalent to '+relax +C2 +L5 +L6 +L7 +L8';
    -  the input .jps data happens to be 1-second data, so '-O.dec 30' just decimates it to 30 seconds.

Delete any zero-length nav files and then qc the resultant RINEX:

teqc +qc +ssv +plot tmp.obs

where:
    - the optional '+ssv' is included if you want see the 30-s multipath rms for each SV;
    - '+plot': note that '-plot' is now the default, so if you want to get the ASCII 'compact'
      plot files (now in compact-3 format), '+plot' must be included.

In addition to the report file tmp.17S, the following compact3 files were generated
(where below I'm using regular expression -- "regex" -- notation, like [2,5-8], to mean
all the individual cases of 2, 5, 6, 7, and 8):

5 files tmp.i1[2,5-8]
5 files tmp.d1[2,5-8]
5 files tmp.m1[2,5-8]
5 files tmp.m[2,5-8]1
6 files tmp.sn[1,2,5-8]
tmp.azi
tmp.ele

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.

You will notice there are now many more multipath combinations than there were
in versions of teqc before late 2013.  And, in fact, these are just a subset of
the possible combinations.  In redoing the qc in 2013, 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       @ 1575.420 MHz     (L1P(Y) if present, otherwise L1C/A)
GLONASS G1       @ 1602+k*9/16 MHz  (L1HA is present, otherwise L1SA)
Galileo E2-L1-E1 @ 1575.420 MHz
SBAS    L1       @ 1575.420 MHz
Beidou  B1/E2    @ 1561.098 MHz
QZSS    L1C/A    @ 1575.420 MHz

(Because IRNSS only has one L-band signal, and so far I haven't seen any S-band
data collected by any GNSS receiver, there will be no IRNSS SVs listed in the
tmp.i1[2,5-8], tmp.d1[2,5-8], tmp.m1[2,5-8], or tmp.m[2,5-8]1 compact3 files
because one needs data at two different frequencies for these.)

There were necessary changes to the qc output to accommodate the new GNSS qc.
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.17S:

       first epoch    last epoch    mp12  mp21  mp15  mp51  mp16  mp61  mp17  mp71  mp18  mp81
SMP 17  2  4 14:14 17  2  5 07:01  0.45  0.49  0.78  0.68  0.48  0.42  0.60  0.36  0.49  0.42

(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.17S:

                                 |  G  |  R  |  S  |  E  |  C  |  J  |  I  |
% Obs above mask w/ no L1     :   0.0   0.0   0.0   0.0   0.1   1.7 100.0
% Obs above mask w/ no L2     :   0.3   5.8    -     -   85.6   7.4    -
% Obs above mask w/ no L5     :  64.2    -   30.0   1.5    -    7.4   0.0
% Obs above mask w/ no L6     :    -     -     -  100.0  85.6 100.0    -
% Obs above mask w/ no L7     :    -  100.0    -    1.5   0.0   2.6    -
% Obs above mask w/ no L8     :    -     -     -    1.5    -    6.5    -

% Obs above mask w/ no P1     :   0.4   0.3    -     -     -     -     -
% Obs above mask w/ no P2     :   0.4   5.8    -     -     -     -     -
% Obs above mask w/ no C1     :   0.0   0.0   0.0   0.0   0.1   1.7 100.0
% Obs above mask w/ no C2     :  42.2   4.2    -     -   85.6   7.4    -
% Obs above mask w/ no C5     :  64.2    -   30.0   1.5    -    7.4   0.0
% Obs above mask w/ no C6     :    -     -     -  100.0  85.6 100.0    -
% Obs above mask w/ no C7     :    -  100.0    -    1.5   0.0   5.7    -
% Obs above mask w/ no C8     :    -     -     -    1.5    -    7.6    -

% Obs above mask w/ low L1 S/N:   0.0   0.0   0.0   0.0   0.0   0.0   0.0
% Obs above mask w/ low L2 S/N:   5.2   0.0    -     -    0.0   0.0    -
% Obs above mask w/ low L5 S/N:   0.0    -    0.0   0.0    -    0.0   0.0
% Obs above mask w/ low L6 S/N:    -     -     -    0.0   0.0   0.0    -
% Obs above mask w/ low L7 S/N:    -    0.0    -    0.0   0.0   0.0    -
% Obs above mask w/ low L8 S/N:    -     -     -    0.0    -    0.0    -

(A little detail that needed addressing: I've fixed the code for the next
release so that '-' shows up for L1, C1, and low L1 S/N for IRNSS.)

Run your own tests and see what you get.

Also, there have been additions to the symbols in the ASCII time plot
at the beginning of qc output; thus executing `teqc ++sym` to see them:

Symbol codes for "SV":
(hierarchy is left-to-right, top-to_bottom)
'  SV nav indicates unhealthy         C  receiver clock slip
m  n-msec multipath jump              I  ionospheric phase slip
M  MP1 and MP2 or MP15 and MP51 slips 1  multipath MP1 slip
2  multipath MP2 slip                 Z  multipath MP15 slip
5  multipath MP51 slip                T  multipath MP17 slip
7  multipath MP71 slip                S  multipath MP18 slip
8  multipath MP81 slip                Q  multipath MP16 slip
6  multipath MP61 slip                -  SV above elev mask, but no data
L  Bit 0 of LLI set (rx lost lock)    ?  SV orbit is uncertain
+  SV data, but below elev mask       ^  partial SV data below elev mask
.  no A/S; C1                         c  no A/S; L1 C1
:  no A/S; L1 P1                      =  L1 C1 C2
i  L5 C5                              r  L1 C1 C7
z  L1 C1 C5                           ~  no A/S; L1 C1 L2 P2
*  no A/S; L1 P1 L2 P2                ,  A/S on; C1
a  A/S on; L1 C1                      ;  A/S on; L1 P1
e  L1 C1|P1 L2 C2                     n  L1 C1 L7 C7
u  L1 C1 L7 C7 L6 C6                  s  L1 C1 L5 C5
o  A/S on; L1 C1|P1 L2 P2             y  A/S on; L1 P1 L2 P2
N  data present, but no qc done       _  no SV data and below elev mask
   notes:
"no A/S" == GPS antispoofing off or unknown, or not GPS SV
L1/P1 == phase/pseudorange of GPS L1P(Y), or GLONASS G1HA
L2/P2 == phase/pseudorange of GPS L2P(Y), or GLONASS G2HA
L1/C1 == phase/pseudorange of GPS|SBAS|QZSS L1C/A, GLONASS G1SA, Galileo E2-L1-E1, or Beidou B1/E2
L2/C2 == phase/pseudorange of GPS|QZSS L2C, GLONASS G2SA, or Beidou B1-2/E1
L5/C5 == phase/pseudorange of GPS|SBAS|QZSS|IRNSS L5, Galileo E5a, or Beidou B2a
L6/C6 == phase/pseudorange of Galileo|Beidou (B3/)E6 or QZSS LEX
L7/C7 == phase/pseudorange of Galileo|Beidou (B2/)E5b or GPS|QZSS L1C or GLONASS G3
L8/C8 == phase/pseudorange of Galileo E5a+b, Beidou B1C, or QZSS L1-SAIF

The newer symbols are:

s - L1 C1 L5 C5 (e.g. SBAS with full L1 and L5)
z - L1 C1 C5 (e.g. SBAS with full L1 but only L5 code pseudorange)
u - L1 C1 L7 C7 L6 C6 (e.g. Beidou with full B1/E2, B2/E5b, B3/E6)
n - L1 C1 L7 C7 (e.g. Beidou with full B1/E2 and B2/E5b or GLONASS with full G1SA and G3)
r - L1 C1 C7 (e.g. Galileo with full E2-L1-E1 but only E5b code pseudorange)
i - L5 C5 (e.g. IRNSS with full L5)

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

"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
week 1938: the '+psp' option - http://postal.unavco.org/pipermail/teqc/2017/002231.html
week 1939: the '+diag' option - http://postal.unavco.org/pipermail/teqc/2017/002235.html
week 1951: '-n_<system>' and SV filtering options - http://postal.unavco.org/pipermail/teqc/2017/002277.html
week 1953: more with '+diag' option - http://postal.unavco.org/pipermail/teqc/2017/002287.html
week 1954: using '+diag' output to split raw files - http://postal.unavco.org/pipermail/teqc/2017/002290.html

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