clock coherency / interpolation logic

Signed-off-by: Guillaume W. Bres <[email protected]>

rinex-cli/src/cli/mod.rs

@@ -59,6 +59,10 @@ pub struct Context {
     ///  1. manually defined by CLI
     ///  2. determined from dataset
     pub rx_ecef: Option<(f64, f64, f64)>,
+    /// True if (high precision) CLK product needs to be interpolated.
+    /// False if both CLK and OBS products are not present.
+    /// False if both are present but this is a high quality/state of the art context.
+    pub needs_clock_interpolation: bool,
 }
 
 impl Context {
@@ -148,8 +152,17 @@ impl Context {
         }
         let data_stem = Self::context_stem(&data);
         let data_position = data.ground_position();
+
+        let needs_clock_interpolation = data.needs_clock_interpolation();
+        if !needs_clock_interpolation {
+            info!("coherent precise products detected: interpolation is not required");
+        } else {
+            warn!("incoherent CLK/OBS products: interpolation will be needed");
+        }
+
         Ok(Self {
             data,
+            needs_clock_interpolation,
             quiet: cli.matches.get_flag("quiet"),
             workspace: {
                 let path = match std::env::var("RINEX_WORKSPACE") {

rinex-cli/src/positioning/ppp/mod.rs

@@ -1,6 +1,7 @@
 //! PPP solver
 use crate::cli::Context;
 use crate::positioning::{bd_model, kb_model, ng_model, tropo_components};
+use hifitime::TimeScale;
 use rinex::carrier::Carrier;
 use rinex::navigation::Ephemeris;
 use rinex::prelude::SV;
@@ -59,13 +60,15 @@ where
 
             // determine TOE
             let (toe, sv_eph) = sv_eph.unwrap();
+
             /*
              * Clock state
              *   1. Prefer CLK product
              *   2. Prefer SP3 product
              *   3. Radio last option: always feasible
              */
             let clock_state = if let Some(clk) = clk_data {
+                //if ctx.needs_clock_interpolation {
                 if let Some((_, profile)) = clk.precise_sv_clock_interpolate(*t, *sv) {
                     (
                         profile.bias,
@@ -74,15 +77,41 @@ where
                     )
                 } else {
                     /*
-                     * do not interpolate other products: abort
+                     * interpolation failure.
+                     * Do not interpolate other products: SV will not be presented.
                      */
                     continue;
                 }
+                //} else {
+                //    if let Some(profile) = clk.precise_sv_clock()
+                //        .filter_map(|(clk_t, clk_sv, _, profile)| {
+                //            if clk_t == *t && clk_sv == *sv {
+                //                Some(profile)
+                //            } else {
+                //                None
+                //            }
+                //        }).reduce(|k, _| k)
+                //    {
+                //        (
+                //            profile.bias,
+                //            profile.drift.unwrap_or(0.0),
+                //            profile.drift_change.unwrap_or(0.0),
+                //        )
+                //    } else {
+                //        /*
+                //         * When using high precision products it's better not to attempt
+                //         * this in other products, which would mix high and low precision products
+                //         * in the solution. We simply abort.
+                //         */
+                //        continue;
+                //    }
+                //}
             } else if sp3_has_clock {
-                panic!("sp3 (clock) interpolation not ready yet: prefer broadcast or clk product");
+                panic!("sp3 (clock) not ready yet: prefer broadcast or clk product");
             } else {
                 sv_eph.sv_clock() // BRDC case
             };
+
             // determine clock correction
             let clock_corr = Ephemeris::sv_clock_corr(*sv, clock_state, *t, toe);
 

rinex/src/context/mod.rs

@@ -130,16 +130,16 @@ impl RnxContext {
         if let Ok(rnx) = Rinex::from_path(path) {
             if rnx.is_observation_rinex() {
                 self.load_obs(path, &rnx)?;
-                trace!("loaded observations \"{}\"", filename);
+                trace!("loaded signal observations \"{}\"", filename);
             } else if rnx.is_navigation_rinex() {
                 self.load_nav(path, &rnx)?;
-                trace!("loaded brdc nav \"{}\"", filename);
+                trace!("loaded broadcast nav \"{}\"", filename);
             } else if rnx.is_meteo_rinex() {
                 self.load_meteo(path, &rnx)?;
                 trace!("loaded meteo observations \"{}\"", filename);
             } else if rnx.is_clock_rinex() {
                 self.load_clock(path, &rnx)?;
-                trace!("loaded clock data \"{}\"", filename);
+                trace!("loaded high precision clock product \"{}\"", filename);
             } else if rnx.is_ionex() {
                 self.load_ionex(path, &rnx)?;
                 trace!("loaded ionex \"{}\"", filename);
@@ -151,7 +151,7 @@ impl RnxContext {
             }
         } else if let Ok(sp3) = SP3::from_file(&fullpath) {
             self.load_sp3(path, &sp3)?;
-            trace!("loaded sp3 \"{}\"", filename);
+            trace!("loaded high precision oribits \"{}\"", filename);
         }
         Ok(())
     }