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#!/usr/bin/env python2
# -*- coding: utf-8 -*-
"""
Created on 2017 - 07 - 04
Updated 2018 - 10 - 03
@author: Irving Badolato
"""
import sys
from datetime import datetime, timedelta
"""
#getRinexTime function creates python datetime object from a Rinex line
"""
#
def getRinexTime(line):
hour = int(line[10:12])
minute = int(line[13:15])
second = int(line[16:18])
return datetime(1, 1, 1, hour, minute, second)
"""
#getNmeaTime function creates python datetime object from nmea line where:
0 = hour
1 = minutes
2 = seconds
tuc = leapseconds to tuc
"""
def getNmeaTime(nmea, tuc):
time = datetime(1, 1, 1, nmea[0], nmea[1], nmea[2])
return time - timedelta(hours=0) + timedelta(seconds=0);
"""
#getSatellites function adjusts RINEX satellite number to match NMEA satellite number format
"""
def getSatellites(line):
result = []
for i in range(0, len(line)/3): # Loops in bundles of 3 due to GXX RXX satellite number format
c = line[i*3] # G for GPS and R for GLONASS
d = line[i*3+1] # Tenths
u = line[i*3+2] # Units
if not (c in ['g','G', 'r', 'R']):
break
elif c in ['g','G']:
result.append( int(d)*10 + int(u) )
else:
result.append( int(d)*10 + int(u) + 64) #64 is added to match NMEA numbering for GLONASS
return result
"""
#getRinexEpoch function compares RINEX observed satellites to NMEA's, removing the ones that do not match
"""
def getRinexEpoch(line, rsats, nsats):
result = line # inserts first 29 spaces related to the epoch
sats = []
for rsat in rsats: # Checking each RINEX satellite
for nsat in nsats: # checks each NMEA satellite
if rsat == nsat:
sats.append(rsat) # Includes RINEX satellite in the list
for nsat in nsats:
if not (nsat in sats): # Checks if all NMEA satellites were also observed in RINEX list
print "Alert: Satellite ", nsat," in NMEA not found in RINEX.", line
result = result + '%3d' % len(sats) # Adds total number of satellites that match
for i, sat in enumerate(sats):
if (i > 0) and (i % 12 == 0): # Checks to see if line has 12 satellites
result = result + '\n' + (' ' * 32) # Adds new line with 32 blank spaces
if sat > 64:
Rsat = sat - 64 # Restores RINEX numbering for GLONASS satellite
result = result + 'R%02d' % Rsat # Concatenates GLONASS satellite
else:
result = result + 'G%02d' % sat # Concatenates GPS satellite
result = result + '\n'
return result
"""
readNMEA é função para leitura de fonte de dados NMEA e listagem dos satélites
usados em cada época, cuja solução foi considerada fixada.
No formato NMEA são inseridas diversas linhas (sentenças) com formatos
distintos, dos quais nos interessam os formatos a saber:
Formato da sentença $GPGSA
Posição: Domínio:
0 $GPGSA => Satellite status
1 A or M (for Automatic or Manual) selection of 2D or 3D fix
2 3D fix - values include: 1 = no fix
2 = 2D fix
3 = 3D fix
3 - 14 PRNs of satellites used for fix (space for 12)
15 PDOP (dilution of precision)
16 Horizontal dilution of precision (HDOP)
17 Vertical dilution of precision (VDOP)
18 The checksum data, always begins with *
Formato da sentença $GPGGA
Posição: Domínio:
0 $GPGGA => Global Positioning System Fix Data
1 Fix taken at UTC (123519 => 12:35:19)
2 Latitude ( 4807.038 => 48 deg 07.038')
3 (N or S)
4 Longitude (01131.000 => 11 deg 31.000')
5 (E or W)
6 Fix quality: 0 = invalid
1 = GPS fix (SPS)
2 = DGPS fix
3 = PPS fix
4 = Real Time Kinematic
5 = Float RTK
6 = estimated (dead reckoning) (2.3 feature)
7 = Manual input mode
8 = Simulation mode
7 Number of satellites being tracked
8 Horizontal dilution of position
9 Altitude, Meters, above mean sea level
10 Metric unit
11 Height of geoid (mean sea level) above WGS84 ellipsoid
12 Metric unit
13 Time in seconds since last DGPS update
14 DGPS station ID number
15 The checksum data, always begins with *
"""
def readNMEASimple(fileName):
result = []
searchFix = True
searchSat = False
numberSat = 0
satellites = []
hTime = 0
mTime = 0
sTime = 0
with open(fileName, 'r') as nmeaFile:
for line in nmeaFile:
line = line.translate(None, '$')
dataArray = line.split(',')
if len(dataArray) == 0: # Pula linhas vazias
continue
sentenceId = dataArray[0]
if searchFix and sentenceId == "GPGGA":
fixQuality = int(dataArray[6])
if fixQuality == 1:
numberSat = int(dataArray[7])
hTime = int(dataArray[1][0:2])
mTime = int(dataArray[1][2:4])
sTime = int(dataArray[1][4:6])
searchSat = True
searchFix = False
if searchSat and sentenceId == "GPGSA":
fixType = int(dataArray[2])
if fixType in [2, 3]:
satellites = [int(x) for x in dataArray[3:15] if x is not '']
if numberSat != len(satellites):
print "Incoherent satellite count at the line ", \
len(result), "\n"
epoch = (hTime, mTime, sTime, numberSat, satellites)
result.append( epoch )
searchSat = False
searchFix = True
nmeaFile.close()
return result
def readNMEA(fileName):
result = []
searchFix = True
searchSat = False
numberSat = 0
satellites = []
hTime = 0
mTime = 0
sTime = 0
nlines = 0
with open(fileName, 'r') as nmeaFile:
for line in nmeaFile:
line = line.translate(None, '$')
dataArray = line.split(',')
if len(dataArray) == 0: # Skip blank lines
continue
sentenceId = dataArray[0]
if searchFix and sentenceId == "GNGNS": # Searching for GNSS fixes
fixQuality = dataArray[6]
if fixQuality[0] != 'N' and fixQuality[1] != 'N': # Check if solution exists
numberSat = int(dataArray[7]) # Number of satellites in fix
hTime = int(dataArray[1][0:2]) # Hour of fix
mTime = int(dataArray[1][2:4]) # Minute of fix
sTime = int(dataArray[1][4:6]) # Second of fix
searchSat = True # Start looking for fix satellites
searchFix = False
nlines = 0
satellites = []
if searchSat and sentenceId == "GNGSA": # Searching for satellites in fix
fixType = int(dataArray[2]) # Checks if fix exists
if fixType in [2, 3]:
satellites += [int(x) for x in dataArray[3:15] if x is not ''] # Add observed satellite numbers
nlines += 1 # Looks at second line of observed satellites
if nlines == 2:
epoch = (hTime, mTime, sTime, numberSat, satellites)
result.append( epoch )
if numberSat != len(satellites):
print "Incoherent satellite count at the line ", \
len(result), "\n"
searchSat = False
searchFix = True # Starts looking for next fix
nmeaFile.close()
return result
"""
readRINEX is a function that reads RINEX data and lists the observed satellites for each epoch.
"""
def filterRINEX(fileName, nmea):
result = []
onHeader = True
currNmea = None
nmeaTime = None
currTime = None
searchTime = True
ignoreLines = 0
extendLines = 0
numSat = 0
epoch = 0
tuc = 0
sat = []
out = []
with open(fileName, 'r') as rinexFile:
for line in rinexFile:
if onHeader: # Keeps Header and gets leap seconds
result.append(line)
if "LEAP SECONDS" in line:
tuc = int(line[0:6]) # Gets Leap seconds
if "END OF HEADER" in line:
onHeader = False
currNmea = nmea.pop(0) # List a file and read first line
else: # Start reading epochs
if searchTime:
if ignoreLines == 0:
currTime = getRinexTime(line)
nmeaTime = getNmeaTime(currNmea, tuc)
numSat = int(line[29:32]) # Number of satellites in epoch
extendLines = (numSat - 1) / 12 # Check if epoch has more than 1 line of observed satellites
if (currTime < nmeaTime): # Checks if RINEX epoch matches NMEA epoch
ignoreLines = numSat + extendLines # Skip satellite observation lines
elif (currTime >= nmeaTime): # Checks if RINEX epoch matches NMEA epoch
while(currTime > nmeaTime): # Gets new NMEA line If RINEX epoch is ahead of NMEA epoch
if len(nmea) == 0:
break
currNmea = nmea.pop(0) # Get new NMEA line
nmeaTime = getNmeaTime(currNmea, tuc)
if (currTime == nmeaTime): #Epochs match
epoch = line[0:29] # Reads epoch date
sat = getSatellites(line[32:]) # List satellites for this epoch
searchTime = False # Start reading each satellite observation
else:
break
else:
ignoreLines -= 1 # Counts down lines that need to be skipped
continue
else: # Start reading each satellite observation
if extendLines > 0: # Read extra observed satellite line
extendLines -= 1
sat = sat + getSatellites(line[32:]) # concatenates second satellite line to first
else:
if len(out) == 0:
out.append(getRinexEpoch(epoch, sat, currNmea[4])) # Compares RINEX observed satellites to NMEA's
if sat[-numSat] in currNmea[4]: # Test Sat to append in out
out.append(line[:32])
numSat -= 1
if numSat == 0: # Finished reading all satellites
searchTime = True
while (len(out) > 0):
result.append(out.pop(0)) # pop out to result, resetting out
if len(nmea) == 0:
break
currNmea = nmea.pop(0) # Get new NMEA line
rinexFile.close()
return result
import sys
old_stdout = sys.stdout
log_file = open("log.txt","w")
sys.stdout = log_file
isDebug = True
if isDebug:
#NMEA = readNMEA('NMEA_Tools.txt')
NMEA = readNMEA('02_20170824135855.txt')
#for item in NMEA:
#if (item[2]+18) % 15 == 0:
# print item
RINEX = filterRINEX('onrj2361.17o', NMEA)
with open('filteredRinex20_G_Debugg11111.txt', 'w') as outputFile:
for line in RINEX:
outputFile.write(line)
outputFile.close()
if len(sys.argv) == 4:
NMEA = readNMEA(sys.argv[1])
RINEX = filterRINEX(sys.argv[2], NMEA)
with open(sys.argv[3], 'w') as outputFile:
for line in RINEX:
outputFile.write(line)
outputFile.close()
elif not isDebug:
print "Usage: \n"
print "\tpython NMEAFilter <NMEA_filename> <RINEX_filename> <output_filename>\n"
print "Program has finished!"
sys.stdout = old_stdout
log_file.close()
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