require 'rspec'
require 'tempfile'
$: << File::join(File::dirname(__FILE__), '..', 'build_SWIG')
require 'GPS.so'
describe 'GPS solver' do
let(:input){{
:rinex_nav => Tempfile::open{|f|
if true then
f.write(<<-__RINEX_NAV_TEXT__)
2.10 N: GPS NAV DATA RINEX VERSION / TYPE
teqc 2013Mar15 BKG Frankfurt 20150617 00:16:14UTCPGM / RUN BY / DATE
Linux 2.4.21-27.ELsmp|Opteron|gcc -static|Linux x86_64|=+ COMMENT
2.10 N: GPS NAV DATA COMMENT
teqc 2008Feb15 20150617 00:10:22UTCCOMMENT
Linux 2.4.20-8|Pentium IV|gcc -static|Linux|486/DX+ COMMENT
1.3970D-08 2.2352D-08 -1.1921D-07 -1.1921D-07 ION ALPHA
1.1059D+05 1.6384D+05 -6.5536D+04 -5.2429D+05 ION BETA
3.725290298462D-09 1.509903313490D-14 319488 1849 DELTA-UTC: A0,A1,T,W
16 LEAP SECONDS
Concatenated RINEX files (28/) COMMENT
Original file name: brdc1670.15n COMMENT
END OF HEADER
31 15 6 16 0 0 0.0 3.128303214908D-04-1.136868377216D-12 0.000000000000D+00
7.800000000000D+01 1.292812500000D+02 4.074098273975D-09 1.410690806649D+00
6.768852472305D-06 8.027532137930D-03 4.271045327187D-06 5.153535821915D+03
1.728000000000D+05 9.872019290924D-08 8.650894583569D-01 8.940696716309D-08
9.750288799237D-01 3.013750000000D+02-5.268559212524D-01-8.036049019412D-09
3.664438352852D-10 1.000000000000D+00 1.849000000000D+03 0.000000000000D+00
2.000000000000D+00 0.000000000000D+00-1.350417733192D-08 7.800000000000D+01
1.663560000000D+05 4.000000000000D+00
24 15 6 16 0 0 0.0-4.998780786991D-05-5.684341886081D-13 0.000000000000D+00
9.000000000000D+01 1.401250000000D+02 4.642336229081D-09 2.380519254182D+00
7.258728146553D-06 3.228595596738D-03 3.971159458160D-06 5.153673912048D+03
1.728000000000D+05-2.980232238770D-08 8.160388274984D-01-1.490116119385D-08
9.533772739559D-01 2.969375000000D+02 3.612098431884D-01-8.379634759709D-09
4.025167664390D-10 1.000000000000D+00 1.849000000000D+03 0.000000000000D+00
2.900000000000D+00 0.000000000000D+00 2.328306436539D-09 9.000000000000D+01
1.656600000000D+05 4.000000000000D+00
12 15 6 16 0 0 0.0 3.018006682396D-04 3.183231456205D-12 0.000000000000D+00
9.000000000000D+01-8.984375000000D+01 4.146244136282D-09 1.019955493515D+00
-4.906207323074D-06 5.596161005087D-03 2.166256308556D-06 5.153664655685D+03
1.728000000000D+05-3.352761268616D-08 1.926955253672D+00 9.685754776001D-08
9.895896897770D-01 3.531562500000D+02 6.166481681571D-01-8.222842514396D-09
-2.525105180766D-10 1.000000000000D+00 1.849000000000D+03 0.000000000000D+00
2.000000000000D+00 0.000000000000D+00-1.210719347000D-08 9.000000000000D+01
1.708800000000D+05 4.000000000000D+00
25 15 6 16 0 0 0.0-2.291053533554D-06-4.206412995700D-12 0.000000000000D+00
4.300000000000D+01-8.231250000000D+01 4.456614188797D-09 3.514302168106D-01
-4.393979907036D-06 4.659408819862D-03 1.480802893639D-06 5.153666315079D+03
1.728000000000D+05 0.000000000000D+00 1.880081553172D+00 1.080334186554D-07
9.780612252959D-01 3.641250000000D+02 7.406192694225D-01-8.389992700586D-09
-1.742929689463D-10 1.000000000000D+00 1.849000000000D+03 0.000000000000D+00
2.000000000000D+00 0.000000000000D+00 5.587935447693D-09 4.300000000000D+01
1.728000000000D+05
18 15 6 15 23 59 44.0 4.096841439605D-04 2.955857780762D-12 0.000000000000D+00
0.000000000000D+00-2.200000000000D+01 5.964177003340D-09-4.658085121885D-01
-1.063570380211D-06 1.631921075750D-02 5.243346095085D-06 5.153597631454D+03
1.727840000000D+05-9.499490261078D-08-1.282443549024D+00 1.769512891769D-07
9.246030417022D-01 2.601875000000D+02-1.955724914307D+00-8.981445541829D-09
-4.760912596834D-10 1.000000000000D+00 1.849000000000D+03 0.000000000000D+00
2.000000000000D+00 0.000000000000D+00-1.117587089539D-08 0.000000000000D+00
1.696560000000D+05 4.000000000000D+00
29 15 6 16 0 0 0.0 6.168931722641D-04 2.273736754432D-12 0.000000000000D+00
7.300000000000D+01-1.041875000000D+02 4.061597753278D-09 5.907941646969D-01
-5.280598998070D-06 1.195417135023D-03 1.201778650284D-05 5.153755130768D+03
1.728000000000D+05 9.313225746155D-09 2.981267878597D+00-1.303851604462D-08
9.739471617229D-01 1.573125000000D+02-5.419126340021D-01-7.659961925303D-09
2.107230631757D-10 1.000000000000D+00 1.849000000000D+03 0.000000000000D+00
2.000000000000D+00 0.000000000000D+00-9.778887033463D-09 7.300000000000D+01
1.656180000000D+05 4.000000000000D+00
__RINEX_NAV_TEXT__
else # equivalent
open(File::join(File::dirname(__FILE__), "..", "..", "test_log", "brdc1670.15n"), 'r'){|io|
while (str = io.readline)
f.puts("%-80s"%[str.chomp])
break if str =~ /END OF HEADER/
end
while !io.eof?
entry = 8.times.collect{io.readline}
next unless entry[0] =~ /^([ \d]\d) /
prn = $1.to_i
next unless entry[6] =~ /(\d\.\d{12})D([+-]\d{2})\s*$/
iode = ($1.to_f * (10 ** $2.to_i)).to_i
next unless [[12, 90], [18, 0], [24, 90], [25, 43], [29, 73], [31, 78]] \
.include?([prn, iode])
entry.each{|str|
f.print("%-80s\n"%[str.chomp])
}
end
}
end
f.path
},
:measurement => proc{
l1p = GPS::Measurement::L1_PSEUDORANGE
l1d = GPS::Measurement::L1_RANGE_RATE
{
12 => {l1p => 23707858.8131, l1d => -466.953123206},
18 => {l1p => 25319310.9754, l1d => -453.797772239},
24 => {l1p => 25683081.3903, l1d => -579.768048832},
25 => {l1p => 21551698.5927, l1d => -847.86674626},
29 => {l1p => 23637198.3968, l1d => -1560.30646593},
31 => {l1p => 23707474.1231, l1d => -1423.67588761},
}
}.call,
:rinex_obs => Tempfile::open{|f|
if true then
f.write(<<-__RINEX_OBS_TEXT__)
2.11 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE
BINEX2RINEX 1.00 GSI, JAPAN 20150617 18:30:58UTCPGM / RUN BY / DATE
0228 MARKER NAME
GSI, JAPAN GEOSPATIAL INFORMATION AUTHORITY OF JAPAOBSERVER / AGENCY
00000 TRIMBLE NETR9 4.93,26/NOV/2014 REC # / TYPE / VERS
TRM59800.80 GSI ANT # / TYPE
-3952590.4754 3360273.8926 3697987.2632 APPROX POSITION XYZ
0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
1 1 WAVELENGTH FACT L1/2
6 L1 C1 L2 P2 S1 S2 # / TYPES OF OBSERV
2015 6 16 0 0 0.0000000 GPS TIME OF FIRST OBS
30.000 INTERVAL
16 LEAP SECONDS
smtt on - smooth time tag (ms jumps in phase and range) COMMENT
END OF HEADER
15 6 16 0 0 0.0000000 0 13R04R14G22G18G25G14R03G12R13G29R23R24 0.000000000
G26
107962537.996 8 20161244.813 83970896.187 7 20161248.340 53.100
45.700
108292688.703 7 20315410.305 84227597.491 6 20315417.836 44.900
38.600
120164532.762 7 22866559.250 93634735.08845 22866565.0164 44.800
31.9004
127657315.100 5 24292417.195 99473356.27642 24292426.4844 33.000
16.9004
107108718.011 8 20382088.883 83461307.35447 20382098.2114 52.700
44.8004
106665594.451 8 20297781.844 83116060.16147 20297788.3284 48.500
43.6004
112247722.253 8 20968815.328 87303792.973 7 20968819.930 48.200
43.900
119180856.024 7 22679363.352 92868240.86845 22679370.8554 46.000
34.4004
113219403.456 7 21202362.125 88059583.077 7 21202366.582 43.300
42.600
116573807.952 8 22183256.359 90836814.38846 22183263.8554 48.000
37.2004
118068213.681 8 22071607.477 91830908.595 5 22071616.434 48.300
34.300
122821571.168 6 22968227.047 95527813.562 5 22968231.008 41.000
33.400
126887720.863 7 24145939.008 98873654.81144 24145951.6954 42.000
24.8004
15 6 16 0 0 30.0000000 0 13R04R14G22G18G25G14R03G12R13G29R23R24 0.000000000
G26
107953906.562 8 20159632.578 83964182.831 7 20159636.547 52.900
45.500
108275524.990 7 20312191.531 84214247.928 6 20312198.477 46.000
37.900
120243117.022 7 22881512.617 93695969.52045 22881519.3444 43.200
30.0004
127752623.271 5 24310554.234 99547622.25842 24310562.6254 34.300
14.8004
107148475.172 8 20389654.469 83492286.95147 20389663.6914 53.000
44.7004
106649633.973 8 20294744.781 83103623.41147 20294751.4144 49.800
44.5004
112354437.822 8 20988750.797 87386793.909 7 20988756.371 48.000
44.200
119276901.051 7 22697639.727 92943081.07945 22697647.7704 47.500
34.6004
113277695.919 7 21213278.297 88104921.616 7 21213283.438 43.800
42.700
116499708.794 8 22169155.719 90779074.87246 22169163.7704 48.500
37.6004
118027431.830 8 22063984.773 91799189.430 5 22063991.707 49.300
35.100
122710898.974 6 22947531.234 95441735.252 5 22947536.609 40.900
33.600
126789541.785 6 24127256.484 98797151.68444 24127268.9224 41.900
25.3004
15 6 16 0 1 0.0000000 0 13R04R14G22G18G25G14R03G12R13G29R23R24 0.000000000
G26
107946098.362 8 20158174.969 83958109.762 7 20158178.289 53.200
44.900
108258590.494 7 20309014.148 84201076.653 6 20309021.145 46.000
38.700
120321906.821 7 22896506.344 93757364.10145 22896512.2934 44.600
30.2004
127847866.993 6 24328677.648 99621838.11742 24328687.3954 37.300
16.9004
107188670.264 8 20397303.531 83523607.79247 20397312.3054 53.700
44.3004
106634143.554 8 20291797.133 83091552.94947 20291803.6724 49.900
44.0004
112461605.174 7 21008771.203 87470146.236 7 21008775.176 47.500
43.900
119373111.958 8 22715948.289 93018050.54445 22715955.9534 48.100
34.1004
113336078.148 7 21224212.609 88150329.998 7 21224216.957 43.000
42.500
116425964.067 7 22155122.617 90721611.48746 22155131.1914 46.200
37.6004
117987330.119 7 22056486.641 91767999.260 5 22056494.809 46.900
34.500
122600398.977 6 22926865.672 95355790.881 5 22926871.977 39.700
32.500
126691542.694 6 24108607.188 98720788.84544 24108620.5234 41.700
24.8004
__RINEX_OBS_TEXT__
else # equivalent
# GEONET Setagaya from https://terras.gsi.go.jp/data_service.php#11/35.663712/139.630394
open(File::join(File::dirname(__FILE__), "..", "..", "test_log", "02281670.15o"), 'r'){|io|
99.times{|i|
break unless str = io.readline
f.write(str)
}
}
end
f.path
},
:sp3 => Tempfile::open{|f|
f.write(<<-__SP3_TEXT__)
#cP2015 6 16 0 0 0.00000000 96 ORBIT IGb08 HLM IGS
## 1849 172800.00000000 900.00000000 57189 0.0000000000000
+ 32 G01G02G03G04G05G06G07G08G09G10G11G12G13G14G15G16G17
+ G18G19G20G21G22G23G24G25G26G27G28G29G30G31G32 0 0
+ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
++ 2 2 2 2 2 2 2 0 2 2 2 3 2 2 2 2 2
++ 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 0 0
++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
%c G cc GPS ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc
%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc
%f 1.2500000 1.025000000 0.00000000000 0.000000000000000
%f 0.0000000 0.000000000 0.00000000000 0.000000000000000
%i 0 0 0 0 0 0 0 0 0
%i 0 0 0 0 0 0 0 0 0
/* FINAL ORBIT COMBINATION FROM WEIGHTED AVERAGE OF:
/* cod emr esa gfz grg jpl mit ngs sio
/* REFERENCED TO IGS TIME (IGST) AND TO WEIGHTED MEAN POLE:
/* PCV:IGS08_1848 OL/AL:FES2004 NONE Y ORB:CMB CLK:CMB
* 2015 6 16 0 0 0.00000000
PG01 21477.204419 11282.581331 10982.666329 -4.224052 10 9 5 88
PG02 -12947.386225 -21737.519960 9157.412040 572.334531 11 9 9 92
PG03 15091.272344 2635.335027 21713.458097 350.710803 5 7 5 106
PG04 19856.311038 17713.928768 1945.134852 -19.579715 8 4 7 110
PG05 -5028.958918 -21535.647757 -14619.836324 -228.975511 6 6 8 130
PG06 43.183960 -18726.862044 18839.608728 185.417169 9 5 7 118
PG07 17287.852835 -1614.468072 -20102.036060 468.894353 7 6 9 116
PG08 -7526.428030 25336.071960 -245.225055 999999.999999
PG09 25592.191216 -7119.852791 -684.470086 -170.790925 11 4 5 85
PG10 8847.115692 -24659.480635 2225.055266 -179.067962 9 6 9 88
PG11 24364.312740 10558.140769 1439.121385 -585.254884 12 9 7 95
PG12 -13123.844385 -6477.031146 22071.429026 301.796773 8 9 10 93
PG13 -9339.292125 -13217.275814 -21176.552360 -123.730302 9 9 8 122
PG14 -14836.144028 14380.662771 16842.481371 55.763000 11 5 8 126
PG15 -20449.064495 -6178.529584 -16069.113276 -255.187297 9 9 9 125
PG16 2754.103102 21634.705923 -14967.352446 -118.509573 7 9 5 100
PG17 14291.286810 -14775.679540 16998.771557 -176.046900 8 5 7 115
PG18 -14912.214427 16679.406498 -13581.838805 409.684054 10 7 9 95
PG19 18186.236969 9260.919982 -17444.978749 -513.455728 8 7 9 109
PG20 -13708.481723 -10140.408823 -20549.806986 329.972500 8 9 6 117
PG21 -16310.214424 4505.474102 -19851.246022 -455.613502 9 7 5 121
PG22 -9140.171474 24554.172420 -3496.039791 361.363708 8 5 8 126
PG23 25005.294805 917.699796 9692.016699 -115.088944 9 8 7 104
PG24 -21619.917392 -13093.113260 8361.648626 -49.986148 9 11 10 115
PG25 -15926.363688 8086.632412 19499.639094 -2.293761 9 7 6 117
PG26 -3444.306835 25822.029845 -5170.649066 28.992311 7 3 5 115
PG27 7030.047838 13625.959589 -21718.367990 -2.586803 9 8 8 112
PG28 12589.599269 -22200.918417 -6564.241144 447.108354 7 6 9 106
PG29 -26145.500336 4393.700952 1101.532432 616.888621 9 5 7 126
PG30 9603.268484 -12222.107844 -21542.569444 -42.995526 7 6 7 110
PG31 2516.152098 20041.355033 17195.270451 312.823331 6 7 9 101
PG32 7816.149081 17455.765714 18623.743215 -124.425901 7 7 6 87
* 2015 6 16 0 15 0.00000000
PG01 22125.898696 12210.710646 8434.382990 -4.223620 10 8 5 92
PG02 -11951.321019 -21155.258586 11604.487814 572.336520 11 8 8 105
PG03 14493.617968 5043.109433 21691.742487 350.717279 5 7 5 110
PG04 19726.940481 17995.510562 -852.233761 -19.581230 8 5 7 100
PG05 -4433.415203 -22986.447296 -12414.534400 -228.971826 6 6 8 129
PG06 1730.013897 -17267.497150 20110.925682 185.424997 8 5 6 117
PG07 18796.845135 34.482430 -18810.071658 468.896277 8 6 9 104
PG08 -7688.377243 25126.780691 2663.720428 999999.999999
PG09 25584.496369 -6843.675160 2162.214539 -170.794879 10 5 5 104
PG10 9066.202161 -24124.908678 5023.880148 -179.068357 9 6 9 95
PG11 24246.405305 10980.607409 -1269.558391 -585.257201 11 8 7 103
PG12 -12391.481603 -8883.994994 21674.458648 301.799930 8 9 9 94
PG13 -6955.547005 -13679.190935 -21805.910302 -123.733389 9 8 7 121
PG14 -16610.996969 14579.862564 14855.386958 55.760359 10 5 7 123
PG15 -18694.826324 -6973.975468 -17769.669719 -255.189168 9 9 9 128
PG16 2129.074463 23092.067912 -12674.278891 -118.505842 7 8 5 111
PG17 16065.480708 -15044.473471 15011.389296 -176.048587 8 5 7 109
PG18 -14804.612202 14891.262012 -15586.058534 409.686464 10 7 9 109
PG19 16206.849722 9737.602172 -19039.158930 -513.456824 6 7 9 112
PG20 -13210.049028 -12362.603203 -19622.713070 329.975853 8 9 6 113
PG21 -17947.302833 2815.947196 -18790.297528 -455.616542 9 6 5 125
PG22 -9371.981345 23899.167229 -6208.337263 361.366953 7 5 8 125
PG23 23895.554890 1459.524021 12116.482481 -115.090983 8 8 6 107
PG24 -22038.737047 -13825.881887 5682.662530 -49.986052 8 10 10 121
PG25 -15459.686294 5814.198097 20659.615093 -2.297478 8 7 6 112
PG26 -3792.792452 26179.536375 -2358.958812 28.990278 7 3 5 103
PG27 4644.915207 14334.491875 -21892.391922 -2.584354 8 8 8 119
PG28 12459.481059 -21209.059613 -9283.872183 447.110302 7 6 9 103
PG29 -25914.740695 4114.379895 3966.925642 616.890669 8 4 7 115
PG30 11269.116559 -10393.315220 -21701.261909 -42.989457 6 6 6 103
PG31 988.656450 18670.855259 18856.340317 312.822220 6 6 9 106
PG32 7038.403242 19337.703519 17057.294350 -124.417256 7 6 6 78
* 2015 6 16 0 30 0.00000000
PG01 22598.904313 12909.166888 5742.253300 -4.223157 9 7 5 97
PG02 -10725.048337 -20460.182827 13859.879905 572.338767 10 7 7 109
PG03 14025.757280 7455.832663 21297.248477 350.723680 5 7 5 111
PG04 19372.515409 18081.570715 -3635.218943 -19.583289 8 6 7 92
PG05 -3955.644181 -24207.804792 -9994.086575 -228.967777 5 5 8 122
PG06 3585.681199 -15817.855899 21036.307779 185.432810 8 5 5 113
PG07 20267.885162 1487.156443 -17195.575383 468.898268 8 6 9 101
PG08 -7796.832888 24603.012536 5526.024667 999999.999999
PG09 25289.984960 -6459.300547 4971.730196 -170.798785 9 5 5 110
PG10 9252.556199 -23290.526219 7733.185245 -179.067844 8 5 8 89
PG11 23867.497297 11295.612872 -3956.648072 -585.259273 10 7 7 98
PG12 -11811.938676 -11261.327882 20902.008631 301.802728 7 8 9 87
PG13 -4553.234371 -14281.604583 -22064.441251 -123.735636 9 8 7 122
PG14 -18145.114411 14810.031014 12614.672755 55.758283 10 6 6 121
PG15 -16819.068235 -7919.955165 -19169.829661 -255.191052 9 8 9 119
PG16 1652.289121 24317.264577 -10159.806075 -118.502129 6 8 5 102
PG17 17597.487698 -15338.435396 12768.046849 -176.050100 8 5 7 110
PG18 -14742.697494 12887.260615 -17309.277093 409.689721 9 6 9 106
PG19 14098.742291 10362.083162 -20315.548205 -513.458037 5 7 8 120
PG20 -12829.771689 -14485.831618 -18362.877776 329.979186 8 8 6 120
PG21 -19547.826731 1300.360022 -17390.044597 -455.619675 10 6 5 127
PG22 -9584.802238 22957.368342 -8811.946628 361.370738 7 6 8 119
PG23 22569.765865 2143.299692 14338.664004 -115.093124 8 7 5 107
PG24 -22257.498211 -14339.836555 2906.629814 -49.986621 7 9 10 117
PG25 -15097.169747 3410.855409 21459.674732 -2.301153 8 6 6 112
PG26 -4064.800382 26239.180135 493.344111 28.988250 7 3 5 102
PG27 2301.320549 15168.991908 -21690.431483 -2.581992 8 7 7 125
PG28 12311.949451 -19913.472199 -11838.736557 447.112865 7 6 8 116
PG29 -25391.228568 3732.101422 6763.871575 616.892908 8 4 7 120
PG30 13023.956057 -8655.194652 -21486.959784 -42.983373 6 6 6 95
PG31 -733.645733 17272.367833 20192.738059 312.821310 7 6 8 106
PG32 6409.358298 21068.389882 15202.804981 -124.408473 7 6 6 62
* 2015 6 16 0 45 0.00000000
PG01 22861.512106 13394.645177 2952.296261 -4.222726 9 7 5 99
PG02 -9271.578205 -19691.359425 15886.663754 572.340964 9 6 7 107
PG03 13691.115613 9825.043065 20536.639173 350.730056 5 7 4 108
PG04 18775.028186 18002.898410 -6356.968732 -19.585179 8 6 6 107
PG05 -3569.639695 -25169.453169 -7400.211477 -228.963650 5 4 7 126
PG06 5582.362123 -14417.027488 21599.830046 185.440645 8 5 5 119
PG07 21656.663954 2732.846117 -15287.177128 468.900536 9 6 9 99
PG08 -7891.322905 23766.409877 8291.399530 999999.999999
PG09 24728.702544 -5935.295950 7695.776313 -170.802729 8 5 6 95
PG10 9441.982986 -22164.251924 10304.245434 -179.067506 8 5 8 101
PG11 23222.803074 11534.901219 -6576.745716 -585.261991 9 6 7 87
PG12 -11385.964974 -13558.287712 19768.202113 301.805798 6 8 9 105
PG13 -2180.944790 -15016.374946 -21948.174706 -123.739380 9 7 6 119
PG14 -19416.247238 15034.322334 10157.922439 55.755931 9 6 6 120
PG15 -14864.849705 -9017.447047 -20245.388241 -255.192612 9 8 8 127
PG16 1297.147177 25275.350767 -7467.422295 -118.498585 6 7 5 116
PG17 18865.768749 -15619.546069 10306.157528 -176.051841 8 5 8 113
PG18 -14752.942078 10702.289189 -18719.891876 409.692029 9 6 9 110
PG19 11907.352809 11140.152075 -21252.074103 -513.458935 4 7 8 121
PG20 -12556.343097 -16467.994598 -16791.164399 329.981902 8 8 7 116
PG21 -21068.376150 -27.912715 -15677.875460 -455.622502 10 6 5 125
PG22 -9812.422851 21740.110902 -11260.974761 361.374424 8 6 8 120
PG23 21063.934504 2986.543526 16321.294321 -115.095157 7 7 4 107
PG24 -22246.326758 -14656.822746 80.990475 -49.986660 7 9 10 115
PG25 -14857.981935 923.194467 21886.246597 -2.304847 7 6 7 101
PG26 -4296.516125 25992.458671 3337.152534 28.986232 7 4 5 109
PG27 44.719670 16109.996663 -21115.590308 -2.579591 8 7 7 123
PG28 12186.497187 -18329.635938 -14182.165525 447.115229 7 6 8 124
PG29 -24597.546625 3214.851035 9444.147403 616.894657 8 3 6 121
PG30 14831.253542 -7039.559984 -20903.552144 -42.977300 6 6 6 91
PG31 -2629.350085 15889.128540 21182.549527 312.820354 7 6 7 104
PG32 5914.853410 22608.601876 13092.460715 -124.399970 7 5 6 73
* 2015 6 16 1 0 0.00000000
PG01 22884.292928 13690.755795 112.086191 -4.222253 9 7 5 109
PG02 -7601.639813 -18887.587505 17651.605295 572.342837 8 6 6 109
PG03 13485.067045 12102.889339 19422.869157 350.736528 5 7 4 111
PG04 17923.652695 17794.137860 -8971.961457 -19.586759 7 7 6 103
PG05 -3244.715097 -25848.259363 -4677.770848 -228.959846 5 4 7 114
PG06 7685.581063 -13099.374092 21791.787407 185.448446 8 5 4 114
PG07 22919.191892 3769.440959 -13118.300955 468.902792 9 6 8 97
PG08 -8010.759834 22628.103059 10911.111183 999999.999999
PG09 23927.944568 -5245.142850 10287.510817 -170.806556 7 4 6 105
PG10 9668.705550 -20762.955841 12690.606600 -179.068186 8 5 7 95
PG11 22314.920222 11731.313790 -9086.085585 -585.263968 9 6 7 104
PG12 -11105.731064 -15725.824970 18293.364229 301.808899 6 8 9 92
PG13 114.807073 -15867.395188 -21459.424182 -123.742395 9 7 6 117
PG14 -20410.340608 15213.531025 7526.654712 55.753038 9 7 5 115
PG15 -12875.879469 -10259.709427 -20977.470768 -255.194859 9 8 8 130
PG16 1031.377366 25938.822880 -4643.994240 -118.494860 7 7 5 110
PG17 19857.090743 -15847.598073 7667.166678 -176.053488 8 5 8 116
PG18 -14856.080242 8377.126912 -19792.135862 409.694893 8 6 9 113
PG19 9679.448638 12069.482122 -21832.093387 -513.459887 4 7 7 122
PG20 -12371.776485 -18270.545083 -14933.757028 329.985335 8 7 7 128
PG21 -22466.063330 -1164.070764 -13686.577182 -455.625680 11 6 6 124
PG22 -10086.450522 20266.885901 -13512.120313 361.377666 8 6 8 122
PG23 19418.002915 3999.756614 18030.924287 -115.097325 6 7 4 105
PG24 -21981.505235 -14804.701545 -2746.032419 -49.987655 7 8 10 115
PG25 -14753.387602 -1599.168569 21932.351913 -2.308551 7 6 7 113
PG26 -4525.185834 25439.666023 6123.494061 28.984272 7 4 5 114
PG27 -2083.503629 17130.923784 -20177.385928 -2.577193 8 7 7 125
PG28 12119.822978 -16482.473595 -16270.860450 447.117348 7 6 8 118
PG29 -23563.660238 2535.815564 11961.583514 616.896722 8 2 6 135
PG30 16650.082915 -5571.518007 -19961.248240 -42.971202 5 6 5 77
PG31 -4669.569943 14560.701530 21809.911183 312.819333 8 6 6 105
PG32 5534.090930 23923.841879 10762.439771 -124.391523 7 4 6 40
* 2015 6 16 1 15 0.00000000
PG01 22644.291493 13826.933539 -2730.036867 -4.221821 8 6 4 110
PG02 -5733.460709 -18085.945575 19125.625930 572.344881 7 6 5 114
PG03 13395.183095 14243.789995 17974.971293 350.742908 5 7 4 114
PG04 16815.246563 17492.338640 -11436.700119 -19.588377 7 8 5 102
PG05 -2946.892654 -26229.084898 -1873.982369 -228.956014 5 4 6 111
PG06 9855.357631 -11893.288578 21608.861845 185.456292 7 5 4 118
PG07 24013.435035 4603.260614 -10726.552863 468.904730 9 7 8 84
PG08 -8191.703867 21208.391635 13338.899596 999999.999999
PG09 22921.179460 -4368.462963 12702.354820 -170.810546 7 4 6 104
PG10 9963.770294 -19111.940234 14849.044134 -179.068526 8 6 7 104
PG11 21153.749054 11917.371366 -11443.197259 -585.266382 8 6 7 111
PG12 -10955.274148 -17718.304695 16503.617230 301.811970 6 7 9 96
PG13 2291.152264 -16811.167433 -20606.726885 -123.745281 9 6 6 118
PG14 -21121.976175 15307.720567 4765.662623 55.750457 9 7 4 111
PG15 -10894.991898 -11632.355406 -21352.880295 -255.196686 9 7 7 129
PG16 818.496931 26288.699010 -1738.924558 -118.491482 7 7 5 114
PG17 20566.946526 -15981.856544 4895.904019 -176.055176 8 5 8 120
PG18 -15066.146731 5956.975409 -20506.629777 409.697456 7 6 8 116
PG19 7461.539306 13139.556940 -22044.710056 -513.460673 5 7 7 118
PG20 -12252.187688 -19859.810546 -12821.765435 329.988288 8 7 7 122
PG21 -23700.173314 -2111.743940 -11453.534970 -455.628580 11 6 7 116
PG22 -10434.867770 18564.714880 -15525.500180 361.381441 8 7 8 119
PG23 17674.443103 5185.838912 19438.452369 -115.099556 6 7 4 107
PG24 -21446.475593 -14816.109005 -5526.236059 -49.988265 7 8 10 111
PG25 -14786.317502 -4105.336631 21597.698724 -2.312244 6 6 7 113
PG26 -4787.476559 24589.922923 8804.376735 28.982273 7 5 5 104
PG27 -4047.447403 18199.042063 -18891.612034 -2.574743 7 6 7 126
PG28 12144.149382 -14405.604003 -18065.849448 447.119898 7 6 9 108
PG29 -22325.753461 1674.619987 14272.861920 616.898738 7 2 6 125
PG30 18436.582502 -4268.668915 -18676.390691 -42.965072 5 6 5 95
PG31 -6818.898991 13321.547590 22065.202282 312.818520 8 6 5 109
PG32 5240.619068 24985.498105 8252.302757 -124.382851 7 4 6 51
* 2015 6 16 1 30 0.00000000
PG01 22125.984442 13837.136700 -5525.763483 -4.221390 8 6 4 113
PG02 -3692.286064 -17320.412550 20284.218171 572.347023 6 5 5 116
PG03 13401.795063 16206.012722 16217.739040 350.749263 5 7 4 107
PG04 15454.576075 17135.443401 -13710.360487 -19.590362 8 8 5 106
PG05 -2640.432195 -26305.346414 962.418401 -228.951985 6 4 6 125
PG06 12047.572288 -10820.194456 21054.180374 185.464105 7 5 4 113
PG07 24900.874401 5248.570838 -8153.056869 468.906732 9 7 8 77
PG08 -8466.719136 19536.063865 15531.857973 999999.999999
PG09 21746.746251 -3292.008626 14898.758978 -170.814610 6 4 6 105
PG10 10353.582606 -17244.069500 16740.463114 -179.070408 8 6 7 105
PG11 19756.157565 12123.901865 -13609.501489 -585.268387 7 6 7 100
PG12 -10911.265981 -19495.091536 14430.381231 301.815004 6 7 9 103
PG13 4310.294191 -17817.664082 -19404.689035 -123.748133 8 7 6 113
PG14 -21554.493252 15277.908661 1922.278197 55.748016 8 7 3 120
PG15 -8962.655686 -13113.723875 -21364.363423 -255.198691 9 6 6 126
PG16 619.454877 26315.274299 1196.754805 -118.487836 8 7 6 121
PG17 20999.650200 -15982.773564 2039.855146 -176.056748 7 5 8 122
PG18 -15389.815484 3489.801762 -20850.782260 409.700287 6 6 8 118
PG19 5298.290997 14331.906213 -21885.020426 -513.461819 6 7 7 121
PG20 -12168.817130 -21208.146817 -10490.744229 329.991833 8 6 7 118
PG21 -24733.696407 -2882.500417 -9019.873502 -455.632051 11 7 7 107
PG22 -10880.736512 16667.226924 -17265.416380 361.384936 7 7 7 127
PG23 15876.764689 6539.781587 20519.602097 -115.101877 6 7 4 111
PG24 -20632.580039 -14727.043697 -8212.237936 -49.988620 7 7 9 104
PG25 -14951.281527 -6544.919923 20888.651669 -2.315891 6 6 7 107
PG26 -5117.861344 23460.878015 11333.618311 28.980295 7 5 5 120
PG27 -5817.891754 19276.696326 -17280.091485 -2.572329 7 6 8 123
PG28 12285.712645 -12140.217141 -19533.377698 447.122156 8 6 9 108
PG29 -20924.838503 618.311870 16338.261838 616.900925 7 3 7 129
PG30 20145.533388 -3140.604023 -17071.166204 -42.959023 5 6 5 95
PG31 -9036.616077 12199.813040 21945.130425 312.817364 8 6 5 109
PG32 5003.516299 25771.791891 5604.349748 -124.374137 7 4 6 69
* 2015 6 16 1 45 0.00000000
PG01 21321.967739 13758.385379 -8227.606461 -4.220992 8 6 4 127
PG02 -1509.653225 -16620.607871 21107.810028 572.349216 6 5 5 114
PG03 13478.848619 17953.113358 14181.308970 350.755609 5 7 4 111
PG04 13854.259780 16760.767075 -15755.388263 -19.592286 8 8 4 100
PG05 -2289.437353 -26079.251967 3782.050755 -228.947916 7 5 6 119
PG06 14215.498776 -9893.826219 20137.262800 185.471896 7 5 4 114
PG07 25547.932115 5726.806417 -5441.751546 468.908874 9 7 8 75
PG08 -8862.893713 17647.380032 17451.250873 999999.999999
PG09 20446.376945 -2010.378654 16838.918343 -170.818636 5 3 6 105
PG10 10858.640948 -15198.584012 18330.712623 -179.070018 7 5 6 107
PG11 18145.410487 12378.760795 -15549.840656 -585.270768 7 6 7 107
PG12 -10944.069218 -21021.939075 12109.792399 301.817568 7 7 9 107
PG13 6140.741419 -18851.444144 -17873.739902 -123.751258 8 7 6 105
PG14 -21719.778822 15087.743508 -954.427718 55.745373 8 7 3 120
PG15 -7115.569755 -14675.537238 -21010.787488 -255.200568 8 6 5 128
PG16 394.390687 26018.516485 4111.333908 -118.484635 8 7 6 124
PG17 21168.097141 -15813.689388 -851.638749 -176.058494 7 5 8 120
PG18 -15826.069944 1024.569816 -20819.026077 409.703145 5 6 8 115
PG19 3230.998452 15620.648316 -21354.277879 -513.462524 6 7 6 114
PG20 -12089.254670 -22294.878874 -7980.130852 329.994877 7 6 7 127
PG21 -25534.683079 -3495.044881 -6429.569786 -455.634878 11 8 7 103
PG22 -11441.106320 14613.473892 -18701.044299 361.388544 7 7 7 127
PG23 14067.986832 8048.651216 21255.340711 -115.103479 6 7 5 107
PG24 -19539.512421 -14575.336281 -10758.260665 -49.989351 7 7 9 102
PG25 -15234.626645 -8869.796569 19818.080453 -2.319600 5 6 7 104
PG26 -5547.092689 22078.091338 13667.644547 28.978288 7 5 5 120
PG27 -7373.242501 20322.740871 -15370.322478 -2.569880 7 6 8 122
PG28 12563.499661 -9733.611675 -20645.699174 447.124129 8 6 9 104
PG29 -19405.193343 -637.945038 18122.339592 616.902563 7 3 7 122
PG30 21731.998888 -2188.718410 -15173.219218 -42.952986 5 6 5 89
PG31 -11278.084106 11216.380259 21452.714377 312.816400 9 6 6 101
PG32 4788.732831 26268.482136 2862.952955 -124.365395 7 4 6 99
* 2015 6 16 2 0 0.00000000
PG01 20233.348484 13629.194257 -10789.676668 -4.220562 7 5 5 128
PG02 777.556162 -16010.692492 21582.075535 572.351271 6 5 6 108
PG03 13595.017826 19455.179341 11900.649915 350.761968 5 7 4 112
PG04 12034.436020 16403.520506 -17538.041715 -19.594147 8 9 3 110
PG05 -1859.474012 -25561.702165 6535.778728 -228.944077 7 5 6 116
PG06 16311.445084 -9119.817432 18873.860017 185.479747 7 5 5 108
PG07 25927.214413 6065.534460 -2638.658561 468.910793 9 8 7 87
PG08 -9400.587101 15584.760342 19063.251083 999999.999999
PG09 19063.600635 -526.431067 18489.423436 -170.822590 5 3 6 111
PG10 11492.528897 -13019.648952 19591.289231 -179.070356 7 5 6 106
PG11 16350.387804 12705.686309 -17232.943454 -585.273100 7 7 6 116
PG12 -11019.037738 -22272.133150 9582.051192 301.820693 7 7 9 98
PG13 7758.302905 -19872.983416 -16039.798293 -123.754514 8 7 6 105
PG14 -21637.729183 14705.103859 -3814.497904 55.742885 8 7 3 119
PG15 -5385.399289 -16283.825851 -20297.222778 -255.202399 8 5 5 129
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PG17 21093.191351 -15442.451590 -3728.240845 -176.060365 7 5 7 120
PG18 -16366.218735 -1390.559434 -20412.885121 409.706210 5 6 8 116
PG19 1296.169874 16973.327115 -20459.969711 -513.463309 6 7 6 112
PG20 -11978.822564 -23106.990938 -5332.608667 329.998263 7 5 7 119
PG21 -26077.373942 -3974.155066 -3728.564042 -455.637336 11 8 7 97
PG22 -12126.174504 12446.531805 -19807.025111 361.392250 7 7 7 128
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PG24 -18175.463222 -14399.059020 -13120.890056 -49.989711 7 7 9 118
PG25 -15615.126509 -11035.777175 18405.092531 -2.323319 5 6 6 98
PG26 -6100.824441 20474.123672 15766.242473 28.976320 7 5 6 119
PG27 -8700.181001 21294.126874 -13195.022353 -2.567487 7 5 8 113
PG28 12988.297366 -7237.454640 -21381.739406 447.126649 8 6 9 98
PG29 -17812.688580 -2090.494976 19594.531426 616.904478 7 4 7 125
PG30 23152.962870 -1406.344184 -13015.175331 -42.947046 6 6 5 95
PG31 -13496.289143 10384.210310 20597.169249 312.815369 9 6 6 108
PG32 4560.540435 26469.305624 73.872429 -124.356654 7 4 6 73
__SP3_TEXT__
# https://cddis.nasa.gov/archive/gnss/products/1849/igs18492.sp3.Z
# mirrored: ftp://garner.ucsd.edu/pub/products/1849/igs18492.sp3.Z
f.path
},
:antex => Tempfile::open{|f|
f.write(<<-__ANTEX_TEXT__)
1.4 M ANTEX VERSION / SYST
A PCV TYPE / REFANT
END OF HEADER
START OF ANTENNA
BLOCK IIR-M G12 G058 2006-052A TYPE / SERIAL NO
0 29-JAN-17 METH / BY / # / DATE
0.0 DAZI
0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
2 # OF FREQUENCIES
2006 11 17 0 0 0.0000000 VALID FROM
IGS14_2196 SINEX CODE
G01 START OF FREQUENCY
10.20 -5.60 767.80 NORTH / EAST / UP
NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
G01 END OF FREQUENCY
G02 START OF FREQUENCY
10.20 -5.60 767.80 NORTH / EAST / UP
NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
G02 END OF FREQUENCY
END OF ANTENNA
START OF ANTENNA
BLOCK IIR-A G18 G054 2001-004A TYPE / SERIAL NO
0 29-JAN-17 METH / BY / # / DATE
0.0 DAZI
0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
2 # OF FREQUENCIES
2001 1 30 0 0 0.0000000 VALID FROM
2018 1 23 23 59 59.9999999 VALID UNTIL
IGS14_2196 SINEX CODE
G01 START OF FREQUENCY
13.90 0.30 1248.60 NORTH / EAST / UP
NOAZI -6.10 -5.20 -3.30 -1.00 1.40 3.50 4.70 4.90 4.10 2.80 0.80 -1.00 -2.10 -2.10 -1.40 -0.80 2.00 6.40
G01 END OF FREQUENCY
G02 START OF FREQUENCY
13.90 0.30 1248.60 NORTH / EAST / UP
NOAZI -6.10 -5.20 -3.30 -1.00 1.40 3.50 4.70 4.90 4.10 2.80 0.80 -1.00 -2.10 -2.10 -1.40 -0.80 2.00 6.40
G02 END OF FREQUENCY
END OF ANTENNA
START OF ANTENNA
BLOCK IIF G24 G065 2012-053A TYPE / SERIAL NO
0 29-JAN-17 METH / BY / # / DATE
0.0 DAZI
0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
2 # OF FREQUENCIES
2012 10 4 0 0 0.0000000 VALID FROM
IGS14_2196 SINEX CODE
G01 START OF FREQUENCY
394.00 0.00 1407.10 NORTH / EAST / UP
NOAZI 6.10 4.40 2.80 1.30 -0.20 -1.40 -2.80 -3.90 -4.40 -4.40 -3.70 -2.30 -0.20 3.00 5.70 12.40 18.20 23.50
G01 END OF FREQUENCY
G02 START OF FREQUENCY
394.00 0.00 1407.10 NORTH / EAST / UP
NOAZI 6.10 4.40 2.80 1.30 -0.20 -1.40 -2.80 -3.90 -4.40 -4.40 -3.70 -2.30 -0.20 3.00 5.70 12.40 18.20 23.50
G02 END OF FREQUENCY
END OF ANTENNA
START OF ANTENNA
BLOCK IIF G25 G062 2010-022A TYPE / SERIAL NO
0 29-JAN-17 METH / BY / # / DATE
0.0 DAZI
0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
2 # OF FREQUENCIES
2010 5 28 0 0 0.0000000 VALID FROM
IGS14_2196 SINEX CODE
G01 START OF FREQUENCY
394.00 0.00 1517.40 NORTH / EAST / UP
NOAZI 6.10 4.40 2.80 1.30 -0.20 -1.40 -2.80 -3.90 -4.40 -4.40 -3.70 -2.30 -0.20 3.00 5.70 12.40 18.20 23.50
G01 END OF FREQUENCY
G02 START OF FREQUENCY
394.00 0.00 1517.40 NORTH / EAST / UP
NOAZI 6.10 4.40 2.80 1.30 -0.20 -1.40 -2.80 -3.90 -4.40 -4.40 -3.70 -2.30 -0.20 3.00 5.70 12.40 18.20 23.50
G02 END OF FREQUENCY
END OF ANTENNA
START OF ANTENNA
BLOCK IIR-M G29 G057 2007-062A TYPE / SERIAL NO
0 29-JAN-17 METH / BY / # / DATE
0.0 DAZI
0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
2 # OF FREQUENCIES
2007 12 20 0 0 0.0000000 VALID FROM
IGS14_2196 SINEX CODE
G01 START OF FREQUENCY
10.90 -4.50 791.80 NORTH / EAST / UP
NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
G01 END OF FREQUENCY
G02 START OF FREQUENCY
10.90 -4.50 791.80 NORTH / EAST / UP
NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
G02 END OF FREQUENCY
END OF ANTENNA
START OF ANTENNA
BLOCK IIR-M G31 G052 2006-042A TYPE / SERIAL NO
0 29-JAN-17 METH / BY / # / DATE
0.0 DAZI
0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
2 # OF FREQUENCIES
2006 9 25 0 0 0.0000000 VALID FROM
IGS14_2196 SINEX CODE
G01 START OF FREQUENCY
-0.80 5.80 912.50 NORTH / EAST / UP
NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
G01 END OF FREQUENCY
G02 START OF FREQUENCY
-0.80 5.80 912.50 NORTH / EAST / UP
NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
G02 END OF FREQUENCY
END OF ANTENNA
__ANTEX_TEXT__
# https://files.igs.org/pub/station/general/igs14.atx
f.path
},
:rinex_clk => Tempfile::open{|f|
f.write(<<-__RINEX_CLK_TEXT__)
3.00 C RINEX VERSION / TYPE
CCLOCK IGSACC @ NOAA NGS PGM / RUN BY / DATE
GPS week: 1849 Day: 2 MJD: 57189 COMMENT
THE COMBINED CLOCKS ARE A WEIGHTED AVERAGE OF: COMMENT
cod emr esa gfz grg jpl COMMENT
THE FOLLOWING REFERENCE CLOCKS WERE USED BY ACs: COMMENT
WSRT AMC2 BRUX HRAO COMMENT
THE COMBINED CLOCKS ARE ALIGNED TO GPS TIME COMMENT
USING THE SATELLITE BROADCAST EPHEMERIDES COMMENT
All clocks have been re-aligned to the IGS time scale: IGST COMMENT
16 LEAP SECONDS
1 AS # / TYPES OF DATA
IGS IGSACC @ NOAA NGS ANALYSIS CENTER
6 # OF SOLN SATS
G12 G18 G24 G25 G29 G31 PRN LIST
G igs08_1848.atx SYS / PCVS APPLIED
END OF HEADER
AS G12 2015 06 15 23 45 0.000000 2 3.017937472687e-04 1.069824072610e-11
AS G18 2015 06 15 23 45 0.000000 2 4.096815344517e-04 9.225410060960e-12
AS G24 2015 06 15 23 45 0.000000 2 -4.998574751545e-05 2.372704308220e-11
AS G25 2015 06 15 23 45 0.000000 2 -2.290169594092e-06 1.683218228880e-11
AS G29 2015 06 15 23 45 0.000000 2 6.168866864097e-04 1.206217360840e-11
AS G31 2015 06 15 23 45 0.000000 2 3.128244102077e-04 2.173867579920e-11
AS G12 2015 06 15 23 50 0.000000 2 3.017948525918e-04 1.300769315700e-11
AS G18 2015 06 15 23 50 0.000000 2 4.096823340968e-04 8.242414325510e-12
AS G24 2015 06 15 23 50 0.000000 2 -4.998578937856e-05 3.095238106380e-11
AS G25 2015 06 15 23 50 0.000000 2 -2.291410963946e-06 2.242880773880e-11
AS G29 2015 06 15 23 50 0.000000 2 6.168873857128e-04 1.695910016600e-11
AS G31 2015 06 15 23 50 0.000000 2 3.128241216228e-04 1.904362802980e-11
AS G12 2015 06 15 23 55 0.000000 2 3.017958412577e-04 1.171495359430e-11
AS G18 2015 06 15 23 55 0.000000 2 4.096833491457e-04 1.008770038860e-11
AS G24 2015 06 15 23 55 0.000000 2 -4.998596967628e-05 2.600074192880e-11
AS G25 2015 06 15 23 55 0.000000 2 -2.292650290468e-06 2.671557682290e-11
AS G29 2015 06 15 23 55 0.000000 2 6.168880208367e-04 1.729095211710e-11
AS G31 2015 06 15 23 55 0.000000 2 3.128236493567e-04 1.807462018720e-11
AS G12 2015 06 16 00 00 0.000000 2 3.017967728708e-04 1.000801049580e-11
AS G18 2015 06 16 00 00 0.000000 2 4.096840539308e-04 1.041670195750e-11
AS G24 2015 06 16 00 00 0.000000 2 -4.998614775959e-05 1.699628132880e-11
AS G25 2015 06 16 00 00 0.000000 2 -2.293760646361e-06 1.805118466830e-11
AS G29 2015 06 16 00 00 0.000000 2 6.168886213338e-04 2.220055594770e-11
AS G31 2015 06 16 00 00 0.000000 2 3.128233311248e-04 1.215284180360e-11
AS G12 2015 06 16 00 05 0.000000 2 3.017980078016e-04 1.152529430320e-11
AS G18 2015 06 16 00 05 0.000000 2 4.096851745816e-04 1.517949585220e-11
AS G24 2015 06 16 00 05 0.000000 2 -4.998569129850e-05 1.987308774570e-11
AS G25 2015 06 16 00 05 0.000000 2 -2.295014987154e-06 1.568891027900e-11
AS G29 2015 06 16 00 05 0.000000 2 6.168894672506e-04 1.906237292480e-11
AS G31 2015 06 16 00 05 0.000000 2 3.128231387506e-04 1.007829428500e-11
AS G12 2015 06 16 00 10 0.000000 2 3.017987334831e-04 8.726251168980e-12
AS G18 2015 06 16 00 10 0.000000 2 4.096859333261e-04 1.403166740100e-11
AS G24 2015 06 16 00 10 0.000000 2 -4.998597422529e-05 1.727695888430e-11
AS G25 2015 06 16 00 10 0.000000 2 -2.296262879345e-06 1.460867818340e-11
AS G29 2015 06 16 00 10 0.000000 2 6.168900483001e-04 1.556536485070e-11
AS G31 2015 06 16 00 10 0.000000 2 3.128226535741e-04 1.258498073020e-11
AS G12 2015 06 16 00 15 0.000000 2 3.017999301583e-04 1.006627990480e-11
AS G18 2015 06 16 00 15 0.000000 2 4.096864636193e-04 1.460541676660e-11
AS G24 2015 06 16 00 15 0.000000 2 -4.998605241609e-05 1.970841363000e-11
AS G25 2015 06 16 00 15 0.000000 2 -2.297477664413e-06 1.598459869060e-11
AS G29 2015 06 16 00 15 0.000000 2 6.168906691983e-04 1.729396319140e-11
AS G31 2015 06 16 00 15 0.000000 2 3.128222195893e-04 1.358710059900e-11
__RINEX_CLK_TEXT__
# modified version. original data are
# https://cddis.nasa.gov/archive/gnss/products/1849/igs1849[12].clk.Z
# mirrored: ftp://garner.ucsd.edu/pub/products/1849/igs1849[12].clk.Z
f.path
},
}}
let(:solver){
res = GPS::Solver::new
res.correction = {:gps_ionospheric => :klobuchar, :gps_tropospheric => :hopfield}
res
}
describe 'demo' do
it 'calculates position without any error' do
sn = solver.gps_space_node
puts "RINEX NAV read: %d items."%[sn.read(input[:rinex_nav])]
meas = GPS::Measurement::new
input[:measurement].each{|prn, items|
items.each{|k, v|
meas.add(prn, k, v)
}
}
expect(meas.to_hash).to eq(proc{|array|
res = {}
array.each{|prn, k, v|
(res[prn][k] = v) rescue (res[prn] = {k => v})
}
res
}.call(meas.to_a))
expect(GPS::Measurement::new(meas.to_a).to_a.sort).to eq(meas.to_a.sort) # accept [[prn, k, v], ...]
expect(GPS::Measurement::new(meas.to_hash).to_a.sort).to eq(meas.to_a.sort) # accept {prn => {k => v, ...}, ...}
expect{GPS::Measurement::new({:sym => {1 => 2}})}.to raise_error
expect{GPS::Measurement::new({1 => {:sym => 2}})}.to raise_error
expect{GPS::Measurement::new({1 => [2, 3]})}.to raise_error
t_meas = GPS::Time::new(1849, 172413)
puts "Measurement time: #{t_meas.to_a} (a.k.a #{"%d/%d/%d %02d:%02d:%02d UTC"%[*t_meas.c_tm]})"
expect(t_meas.c_tm).to eq([2015, 6, 15, 23, 53, 33])
expect(GPS::Time::new(0, t_meas.serialize)).to eq(t_meas)
sn.update_all_ephemeris(t_meas)
[:alpha, :beta].each{|k|
puts "Iono #{k}: #{sn.iono_utc.send(k)}"
}
proc{|raw|
expect(raw.size).to eq(10)
puts "Raw(IONO): #{raw.collect{|v| "0x%08X" % [v]}.join(', ')}"
iono2 = GPS::Ionospheric_UTC_Parameters::parse(raw)
[:alpha, :beta].collect{|f|
sn.iono_utc.send(f).zip(iono2.send(f))
}.flatten(1).zip([-30, -27, -24, -24, 11, 14, 16, 16]).each{|(a, b), sf|
expect(a).to be_within((2 ** sf) * 2).of(b)
}
[
[:A1, 2 ** -50], [:A0, 2 ** -30],
].each{|k, sf|
#p [k, sf.to_f, sn.iono_utc.send(k) - iono2.send(k), sn.iono_utc.send(k), iono2.send(k)]
expect(sn.iono_utc.send(k)).to be_within((sf || 1).to_f * 2).of(iono2.send(k))
}
}.call(sn.iono_utc.dump(t_meas))
meas.each{|prn, k, v|
eph = sn.ephemeris(prn)
expect(eph.valid?(t_meas)).to eq(true)
sc2rad = 3.1415926535898
proc{|raw|
expect(raw.size).to eq(30)
eph2 = GPS::Ephemeris::new
raw.each_slice(10).with_index{|subframe, i|
puts "Raw(PRN:#{prn},SF:#{i+1}): #{subframe.collect{|v| "0x%08X" % [v]}.join(', ')}"
eph2.parse(subframe)
}
expect(eph.WN % 1024).to be(eph2.WN % 1024)
[
#:URA,
:SV_health, :iodc,
[:t_GD, 2 ** -31], [:t_oc, 2 ** 4], # SF1
[:a_f0, 2 ** -31], [:a_f1, 2 ** -43], [:a_f2, 2 ** -55], # SF1
:iode, # SF2
[:c_rs, 2 ** -5], [:delta_n, sc2rad * 2 ** -43], # SF2
[:M0, sc2rad * 2 ** -31], [:c_uc, 2 ** -29], [:e, 2 ** -33], # SF2
[:c_us, 2 ** -29], [:sqrt_A, 2 ** -19], [:t_oe, 2 ** 4], # SF2
:fit_interval, # SF2
[:c_ic, 2 ** -29], [:Omega0, sc2rad * 2 ** -31], [:c_is, 2 ** -29], # SF3
[:i0, sc2rad * 2 ** -31], [:c_rc, 2 ** -5], [:omega, sc2rad * 2 ** -31], # SF3
[:dot_Omega0, sc2rad * 2 ** -43], [:dot_i0, sc2rad * 2 ** -43], # SF3
].each{|k, sf|
#p [k, sf.to_f, eph.send(k) - eph2.send(k), eph.send(k), eph2.send(k)]
expect(eph.send(k)).to be_within((sf || 1).to_f * 2).of(eph2.send(k))
}
}.call(eph.dump(t_meas))
proc{|raw| # Almanac -> Ephemeris
expect(raw.size).to eq(10)
puts "Raw(PRN:#{prn},Almanac): #{raw.collect{|v| "0x%08X" % [v]}.join(', ')}"
eph2 = GPS::Ephemeris::new
eph2.parse_almanac(raw)
[
:SV_health,
[:t_oc, 2 ** 12], [:a_f0, 2 ** -20], [:a_f1, 2 ** -38],
[:M0, sc2rad * 2 ** -23], [:e, 2 ** -21],
[:sqrt_A, 2 ** -11], [:t_oe, 2 ** 12],
[:Omega0, sc2rad * 2 ** -23], [:i0, sc2rad * 2 ** -19],
[:omega, sc2rad * 2 ** -23], [:dot_Omega0, sc2rad * 2 ** -38],
].each{|k, sf|
#p [k, sf.to_f, eph.send(k) - eph2.send(k), eph.send(k), eph2.send(k)]
expect(eph.send(k)).to be_within((sf || 1).to_f * 2).of(eph2.send(k))
}
}.call(eph.dump_almanac(t_meas))
puts "XYZ(PRN:#{prn}): #{eph.constellation(t_meas)[0].to_a} (iodc: #{eph.iodc}, iode: #{eph.iode})"
}
run_solver = proc{
pvt = solver.solve(meas, t_meas)
[
:error_code,
:position_solved?,
[:receiver_time, proc{|v| v.to_a}],
:used_satellite_list,
[:llh, proc{|llh| llh.to_a.zip([180.0 / Math::PI] * 2 + [1]).collect{|v, sf| v * sf}}],
:receiver_error,
[:velocity, proc{|xyz| xyz.to_a}],
:receiver_error_rate,
[:G_enu, proc{|mat| mat.to_s}],
:fd,
:fde_min,
:fde_2nd,
].each{|fun, task|
task ||= proc{|v| v}
puts "pvt.#{fun}: #{task.call(pvt.send(fun))}"
}
pvt
}
puts "Normal solution ..."
pvt = run_solver.call
puts
expect(pvt.position_solved?).to be(true)
expect(pvt.receiver_time.to_a).to eq([1849, 172413])
expect(pvt.llh.to_a).to eq([:lat, :lng, :alt].collect{|k| pvt.llh.send(k)})
expect(pvt.llh.lat / Math::PI * 180).to be_within(1E-3).of(35.7) # latitude
expect(pvt.llh.lng / Math::PI * 180).to be_within(1E-3).of(139.542) # longitude
expect(pvt.llh.alt) .to be_within(1E-1).of(104.3) # altitude
expect(pvt.receiver_error).to be_within(1E-1).of(1259087.8)
expect(pvt.gdop).to be_within(1E-2).of(2.42)
expect(pvt.pdop).to be_within(1E-2).of(2.17)
expect(pvt.hdop).to be_within(1E-2).of(1.11)
expect(pvt.vdop).to be_within(1E-2).of(1.87)
expect(pvt.tdop).to be_within(1E-2).of(1.08)
expect(pvt.velocity.to_a).to eq([:e, :n, :u].collect{|k| pvt.velocity.send(k)})
expect(pvt.velocity.north).to be_within(1E-2).of(-0.86) # north
expect(pvt.velocity.east) .to be_within(1E-2).of(-1.10) # east
expect(pvt.velocity.down) .to be_within(1E-2).of(-0.22) # down
expect(pvt.receiver_error_rate).to be_within(1E-2).of(-1061.86)
expect(pvt.G.rows).to eq(6)
expect(pvt.W.rows).to eq(6)
expect(pvt.delta_r.rows).to eq(6)
expect(pvt.G_enu.rows).to eq(6)
expect(Math::sqrt(pvt.C[3, 3])).to be_within(1E-10).of(pvt.tdop)
expect(Math::sqrt(pvt.C_enu[2, 2])).to be_within(1E-10).of(pvt.vdop)
pvt.S.to_a.flatten.zip(
((pvt.G.t * pvt.W * pvt.G).inv * (pvt.G.t * pvt.W)).to_a.flatten).each{|a, b|
expect(a).to be_within(1E-10).of(b)
}
pvt.S_enu.to_a.flatten.zip(
((pvt.G_enu.t * pvt.W * pvt.G_enu).inv * (pvt.G_enu.t * pvt.W)).to_a.flatten).each{|a, b|
expect(a).to be_within(1E-10).of(b)
}
expect([:rows, :columns].collect{|f| pvt.slope_HV_enu.send(f)}).to eq([6, 2])
expect(pvt.used_satellites).to eq(6)
expect(pvt.used_satellite_list).to eq([12,18, 24, 25, 29, 31])
meas.each{|prn, k, v|
solver.gps_options.exclude(prn)
puts "Excluded(PRN: #{solver.gps_options.excluded.join(', ')}) solution ..."
run_solver.call
solver.gps_options.excluded.each{|prn|
solver.gps_options.include(prn)
}
puts
}
end
it 'can be modified through hooks' do
sn = solver.gps_space_node
expect(solver.options).to be_a_kind_of(Hash)
expect(solver.options.keys).to include(:skip_exclusion)
expect{solver.options = {:skip_exclusion => true}}.not_to raise_error
expect(solver.options[:skip_exclusion]).to eq(true)
expect(solver.correction[:gps_ionospheric]).to include(:klobuchar)
expect(solver.correction[:gps_tropospheric]).to include(:hopfield)
expect{solver.correction = nil}.to raise_error(RuntimeError)
expect{solver.correction = {
:gps_ionospheric => [proc{|t, usr_pos, sat_pos|
expect(t).to be_a_kind_of(GPS::Time)
expect(usr_pos).to be_a_kind_of(Coordinate::XYZ) unless usr_pos
expect(sat_pos).to be_a_kind_of(Coordinate::ENU) unless sat_pos
false
}, :klobuchar, :no_correction],
:options => {:f_10_7 => 10},
}}.not_to raise_error
expect(solver.correction[:gps_ionospheric]).to include(:no_correction)
expect(solver.correction[:options][:f_10_7]).to eq(10)
expect(solver.gps_options.exclude_L2C?).to eq(true) #default
solver.gps_options.exclude_L2C = false
expect(solver.gps_options.exclude_L2C?).to eq(false)
sn.read(input[:rinex_nav])
t_meas = GPS::Time::new(1849, 172413)
sn.update_all_ephemeris(t_meas)
solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
expect(input[:measurement]).to include(prn)
expect(meas).to be_a_kind_of(Hash)
expect(t_arv).to be_a_kind_of(GPS::Time)
expect(usr_pos).to be_a_kind_of(Coordinate::XYZ)
expect(usr_vel).to be_a_kind_of(Coordinate::XYZ)
weight, range_c, range_r, rate_rel_neg, *los_neg = rel_prop
weight = 1
[weight, range_c, range_r, rate_rel_neg] + los_neg
}
solver.hooks[:update_position_solution] = proc{|mat_G, mat_W, mat_delta_r, temp_pvt|
expect(temp_pvt).to be_a_kind_of(GPS::PVT)
[mat_G, mat_W, mat_delta_r].each{|mat|
expect(mat).to be_a_kind_of(SylphideMath::MatrixD)
expect(mat.rows).to be >= temp_pvt.used_satellites
expect(mat).to respond_to(:resize!)
}
}
pvt = solver.solve(
input[:measurement].collect{|prn, items|
items.collect{|k, v| [prn, k, v]}
}.flatten(1),
t_meas)
expect(pvt.W).to eq(SylphideMath::MatrixD::I(pvt.W.rows))
end
it 'calculates position without any error with RINEX obs file' do
sn = solver.gps_space_node
puts "RINEX NAV read: %d items."%[sn.read(input[:rinex_nav])]
GPS::RINEX_Observation::read(input[:rinex_obs]){|item|
t_meas = item[:time]
puts "Measurement time: #{t_meas.to_a} (a.k.a #{"%d/%d/%d %02d:%02d:%02d UTC"%[*t_meas.c_tm]})"
sn.update_all_ephemeris(t_meas)
meas = GPS::Measurement::new
types = (item[:meas_types]['G'] || item[:meas_types][' ']).collect.with_index{|type_, i|
case type_
when "C1"
[i, GPS::Measurement::L1_PSEUDORANGE]
when "D1"
[i, GPS::Measurement::L1_RANGE_RATE]
else
nil
end
}.compact
item[:meas].each{|k, v|
sys, prn = k
next unless sys == 'G' # GPS only
types.each{|i, type_|
meas.add(prn, type_, v[i][0]) if v[i]
}
}
pvt = solver.solve(meas, t_meas)
expect(pvt.position_solved?).to eq(true)
puts pvt.llh.to_a.zip([180.0 / Math::PI] * 2 + [1]).collect{|v, sf| v * sf}.inspect
if approx_pos = proc{
next false unless res = item[:header].select{|k, v| k =~ /APPROX POSITION XYZ/}.values[0]
next false unless res = res.collect{|item|
item.scan(/([+-]?\d+(?:\.\d+)?)\s*/).flatten
}.reject{|item|
item.empty?
}[0]
Coordinate::XYZ::new(*(res.collect{|str| str.to_f}))
}.call then
approx_pos.to_a.zip(pvt.xyz.to_a).each{|a, b|
expect(a).to be_within(1E+1).of(b) # 10 m
}
end
pvt.used_satellite_list.each{|prn|
eph = sn.ephemeris(prn)
puts "XYZ(PRN:#{prn}): #{eph.constellation(t_meas)[0].to_a} (iodc: #{eph.iodc}, iode: #{eph.iode})"
}
}
end
it 'calculates satellites position based on SP3 with ANTEX' do
sp3, sn = [GPS::SP3::new, solver.gps_space_node]
expect(sp3.read(input[:sp3])).to eq(32 * 9)
proc{|sats|
expect(sats.kind_of?(Array)).to eq(true)
expect(sats[sp3.class::SYS_GPS]).to eq(32)
}.call(sp3.satellites)
expect(sp3.apply_antex(input[:antex])).to eq(6 * 9)
sn.read(input[:rinex_nav])
t0 = GPS::Time::new(1849, 172800)
sn.update_all_ephemeris(t0)
(0..120).step(10){|dt_min|
t = t0 + (dt_min * 60)
[12, 18, 24, 25, 29, 31].each{|sat_id|
eph_pos_vel = sn.ephemeris(sat_id).constellation(t)
delta = {
:pos => (sp3.position(sat_id, t) - eph_pos_vel[0]).to_a,
:vel => (sp3.velocity(sat_id, t) - eph_pos_vel[1]).to_a,
}
puts "SP3 delta(#{t.seconds}, #{sat_id}): #{delta}"
delta[:pos].each{|v|
expect(v.abs).to be < 5 # 5m
}
delta[:vel].each{|v|
expect(v.abs).to be < 1E-2 # 10mm
}
}
}
end
it 'calculates position without any error with SP3 and ANTEX' do
sn = solver.gps_space_node
sp3 = GPS::SP3::new
sp3.read(input[:sp3])
sp3.apply_antex(input[:antex])
expect(sp3.push(solver, sp3.class::SYS_GPS)).to eq(true)
GPS::RINEX_Observation::read(input[:rinex_obs]){|item|
t_meas = item[:time]
sn.update_all_ephemeris(t_meas)
meas = GPS::Measurement::new
types = (item[:meas_types]['G'] || item[:meas_types][' ']).collect.with_index{|type_, i|
type_ = {
"C1" => :L1_PSEUDORANGE,
"D1" => :L1_RANGE_RATE,
}[type_]
type_ && [i, GPS::Measurement::const_get(type_)]
}.compact
item[:meas].each{|k, v|
sys, prn = k
next unless sys == 'G' # GPS only
types.each{|i, type_|
meas.add(prn, type_, v[i][0]) if v[i]
}
}
pvt = solver.solve(meas, t_meas)
expect(pvt.position_solved?).to eq(true)
[-3952590.4754, 3360273.8926, 3697987.2632].zip(pvt.xyz.to_a).each{|a, b|
expect(a).to be_within(1E+2).of(b) # 10 m
}
puts ([:lat, :lng].collect{|f| pvt.llh.send(f) / Math::PI * 180} + [pvt.llh.alt]).inspect
}
end
it 'calculates satellite clock error based on RINEX clock' do
clk, sn = [GPS::RINEX_Clock::new, solver.gps_space_node]
expect(clk.read(input[:rinex_clk])).to eq(6 * 7)
proc{|sats|
expect(sats.kind_of?(Array)).to eq(true)
expect(sats[clk.class::SYS_GPS]).to eq(6)
}.call(clk.satellites)
sn.read(input[:rinex_nav])
t0 = GPS::Time::new(1849, 172800)
sn.update_all_ephemeris(t0)
(-5..5).step(1){|dt_min|
t = t0 + (dt_min * 60)
[12, 18, 24, 25, 29, 31].each{|sat_id|
eph = sn.ephemeris(sat_id).constellation(t)
expect(clk.clock_error(sat_id, t)).to be_within(1E-7).of(eph[2]) # 100 ns
expect(clk.clock_error_dot(sat_id, t)).to be_within(1E-10).of(eph[3]) # 100 ps
}
}
end
it 'calculates position without any error with RINEX NAV and CLK' do
sn = solver.gps_space_node
sn.read(input[:rinex_nav])
clk = GPS::RINEX_Clock::new
clk.read(input[:rinex_clk])
expect(clk.push(solver, clk.class::SYS_GPS)).to eq(true)
GPS::RINEX_Observation::read(input[:rinex_obs]){|item|
t_meas = item[:time]
sn.update_all_ephemeris(t_meas)
meas = GPS::Measurement::new
types = (item[:meas_types]['G'] || item[:meas_types][' ']).collect.with_index{|type_, i|
type_ = {
"C1" => :L1_PSEUDORANGE,
"D1" => :L1_RANGE_RATE,
}[type_]
type_ && [i, GPS::Measurement::const_get(type_)]
}.compact
item[:meas].each{|k, v|
sys, prn = k
next unless sys == 'G' # GPS only
types.each{|i, type_|
meas.add(prn, type_, v[i][0]) if v[i]
}
}
pvt = solver.solve(meas, t_meas)
expect(pvt.position_solved?).to eq(true)
[-3952590.4754, 3360273.8926, 3697987.2632].zip(pvt.xyz.to_a).each{|a, b|
expect(a).to be_within(1E+2).of(b) # 10 m
}
}
end
end
end