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Add baseline comparing tool in Coordinates class
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@clicat
clicat committed Jul 23, 2020
1 parent 6681815 commit e1906a9
Showing 1 changed file with 162 additions and 0 deletions.
162 changes: 162 additions & 0 deletions goGPS/obj/utils/Coordinates.m
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Original file line number Diff line number Diff line change
Expand Up @@ -1338,6 +1338,168 @@ function addOffset(this, enu_offset, time_start, time_stop)

fh = coo_list.showPositionENU();
end

function bslCompare(coo_list_0, coo_list_1, id_ref, spline_base, outlier_thr, y_lim)
% Compare two sets of receivers coordinates (e.g. coming from two different execution)
%
% INPUT
% coo_list_0 first set of GNSS receivers or coordinates
% coo_list_1 second set of GNSS receivers or coordinates
% id_ref id of the reference receiver
% DEFAULT: last receiver
% spline_base spline base in days (for removing splines)
% DEFAULT: 365/4
% outlier_threshold threshold on the baseline difference for the
% spline and STD computation [mm]
% DEFAULT: 2 mm
% y_lim 3 x 2 ylimits
%
% SINTAX
% Coordinates.bslCompare(rec_list_0, rec_list_1, id_ref, spline_base, outlier_thr)
%
% EXAMPLE
% Coordinates.bslCompare(nomp.core.rec, core.rec, 7, 365/4, 2);

if nargin < 3 || isempty(id_ref)
id_ref = numel(coo_list_0); % set to the last;
end
if nargin < 4 || isempty(spline_base)
spline_base = 365/4;
end
% Set outlier treshold (on baseline differrence);
if nargin < 5 || isempty(outlier_thr)
outlier_thr = 2;
end

if isa(coo_list_0, 'Coordinates')
coo_ref0 = coo_list_0(id_ref);
else
coo_ref0 = coo_list_0(id_ref).getPos;
end
if isa(coo_list_1, 'Coordinates')
coo_ref1 = coo_list_1(id_ref);
else
coo_ref1 = coo_list_1(id_ref).getPos;
end
if nargin < 6 || isempty(y_lim)
y_lim = [-5 5; -10 10; -10 10];
elseif spline_base == 0
spline_base = -1;
end

Core.getLogger.addMonoMessage('\nProcessing gain - solution 0 vs 1\n----------------------------------------');

for r = setdiff(1 : numel(coo_list_1), id_ref)
if isa(coo_list_0, 'Coordinates')
coo0 = coo_list_0(r);
else
coo0 = coo_list_0(r).getPos;
end
if isa(coo_list_1, 'Coordinates')
coo1 = coo_list_1(r);
else
coo1 = coo_list_1(r).getPos;
end

% Extract the baselines
[t_comm, idx1, idx2] = intersect(round(coo_ref0.time.getRefTime(coo0.time.first.getMatlabTime)),round(coo0.time.getRefTime(coo0.time.first.getMatlabTime)));
t0 = coo0.time.first.getMatlabTime + t_comm/86400;
enu_diff0 = Coordinates.cart2local(median(coo_ref0.xyz,1,'omitnan'),coo0.xyz(idx2,:) - coo_ref0.xyz(idx1,:) )*1e3;
id_ok = not(any(isnan(enu_diff0), 2)); % discard NaN
t0 = t0(id_ok);
enu_diff0 = enu_diff0(id_ok,:);

[t_comm, idx1, idx2] = intersect(round(coo_ref1.time.getRefTime(coo1.time.first.getMatlabTime)),round(coo1.time.getRefTime(coo1.time.first.getMatlabTime)));
t1 = coo1.time.first.getMatlabTime + t_comm/86400;
enu_diff1 = Coordinates.cart2local(median(coo_ref1.xyz,1,'omitnan'),coo1.xyz(idx2,:) - coo_ref1.xyz(idx1,:) )*1e3;
id_ok = not(any(isnan(enu_diff1), 2)); % discard NaN
t1 = t1(id_ok);
enu_diff1 = enu_diff1(id_ok,:);

% Sync the baselines
[t_comm, idx0, idx1] = intersect(round(t0*86400)/86400,round(t1*86400)/86400, 'stable');
enu_diff = enu_diff0(idx0,:) - enu_diff1(idx1,:);
id_ok = abs(enu_diff - median(enu_diff, 'omitnan')) < outlier_thr;

fh = figure; Core_UI.beautifyFig(fh, 'dark'); drawnow
% Plot the baseline difference ----------------------------------------
subplot(3,1,1);
plotSep(t_comm, enu_diff, '.-', 'MarkerSize', 15, 'LineWidth', 2);
for c = 1 : 3
std_enu(:,c) = std(enu_diff(id_ok(:,c), c), 'omitnan');
end
legend(sprintf('East (%.2f mm)', std_enu(1)), sprintf('North (%.2f mm)', std_enu(2)), sprintf('Up (%.2f mm)', std_enu(3)), 'location', 'EastOutside');
ylim(y_lim(1,:));
xlim(minMax(t_comm));
setTimeTicks();
ax(1) = gca;
ylabel(sprintf('Baseline\ndifference'));
grid minor
title(sprintf('Baseline %d - %d\\fontsize{5} \n', r, id_ref), 'FontSize', 16);


% Plot the baseline (filtered by spline) of the solution with no MP ---
subplot(3,1,2);
tmp = enu_diff0(idx0,:) - median(enu_diff0(idx0,:), 'omitnan');

splined = zeros(size(tmp));
if spline_base > 0
for c = 1 : 3
ttmp = t_comm(id_ok(:,c));
[filtered, ~, ~, splined(:,c)] = splinerMat(ttmp, tmp(id_ok(:,c),c), spline_base, 1e-8, t_comm);
end
end
tmp = tmp - splined; % remove splines
plotSep(t_comm, tmp, '.-', 'MarkerSize', 15, 'LineWidth', 2);

for c = 1 : 3
std_enu0(:,c) = std(tmp(id_ok(:,c), c), 'omitnan');
end
%plotSep(t_comm, splined, '.-', 'MarkerSize', 1, 'LineWidth', 1, 'Color', 'k');
legend(sprintf('East (%.2f mm)', std_enu0(1)), sprintf('North (%.2f mm)', std_enu0(2)), sprintf('Up (%.2f mm)', std_enu0(3)), 'location', 'EastOutside');
if spline_base ~= 0
ylim(y_lim(2,:));
end
xlim(minMax(t_comm));
setTimeTicks();
ax(2) = gca;
ylabel(sprintf('Baseline 0\n(reduced)'));
grid minor

% Plot the baseline (filtered by spline) of the solution with MP ------
subplot(3,1,3);
tmp = enu_diff1(idx1,:) - median(enu_diff1(idx1,:), 'omitnan');

splined = zeros(size(tmp));
if spline_base > 0
for c = 1 : 3
ttmp = t_comm(id_ok(:,c));
[filtered, ~, ~, splined(:,c)] = splinerMat(ttmp, tmp(id_ok(:,c),c), spline_base, 1e-8, t_comm);
end
end

tmp = tmp - splined; % remove splines
plotSep(t_comm, tmp, '.-', 'MarkerSize', 15, 'LineWidth', 2);

for c = 1 : 3
std_enu1(:,c) = std(tmp(id_ok(:,c), c), 'omitnan');
end
legend(sprintf('East (%.2f mm)', std_enu1(1)), sprintf('North (%.2f mm)', std_enu1(2)), sprintf('Up (%.2f mm)', std_enu1(3)), 'location', 'EastOutside');
if spline_base ~= 0
ylim(y_lim(3,:));
end
xlim(minMax(t_comm));
setTimeTicks();
ax(3) = gca;
ylabel(sprintf('Baseline 1\n(reduced)'));
grid minor

Core_UI.beautifyFig(fh, 'dark');
linkaxes(ax, 'x');

Core.getLogger.addMonoMessage(sprintf('Baseline %d - %d) %5.2f %% %5.2f %% %5.2f %%', r, id_ref, (100*((std_enu0 - std_enu1) ./ std_enu0))));
end
end
end

% =========================================================================
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