https://github.com/roblabs/teqc
Notes on how to use `teqc` with Leica GG04 files.
https://github.com/roblabs/teqc
gg04 glonass gps leica teqc unavco
Last synced: 2 months ago
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Notes on how to use `teqc` with Leica GG04 files.
- Host: GitHub
- URL: https://github.com/roblabs/teqc
- Owner: roblabs
- License: mit
- Created: 2023-01-04T23:54:34.000Z (over 2 years ago)
- Default Branch: trunk
- Last Pushed: 2023-01-30T21:47:04.000Z (about 2 years ago)
- Last Synced: 2025-02-14T06:14:59.206Z (3 months ago)
- Topics: gg04, glonass, gps, leica, teqc, unavco
- Homepage: https://RobLabs.com/teqc
- Size: 41 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
[
](https://roblabs.com)
[](https://github.com/roblabs/teqc)
> "TEQC (**Translation, Editing and Quality Checking**) — is [UNAVCO]-designed and supported for a variety of [GPS]/[GNSS] pre-processing and quick post-processing tasks, including translation to [RINEX] or BINEX, time windowing, satellite filtering, metadata correction, dataset merging or splitting, and GPS/GNSS quality checking of the data including coarse point-positioning."
> "[Teqc] (pronouced "tek") is a simple yet powerful and unified approach to solving many pre-processing problems with [GPS], GLONASS, Galileo, SBAS, Beidou, QZSS, and IRNSS data, especially in [RINEX] or BINEX format:"
---
## Definitions
The Teqc documenation has an excellent glossary of terms they use in the `teqc` software. Of note for this blog post are:
* decimate - "*modulo decimation of OBS epochs to # time units*"
* [epoch] - "*a specific time instance, using the GPS time basis or the time basis from another constellation*"
* [GPS] - "*'**G**lobal **P**ositioning **S**ystem'; a specific spaceborne radionavigation system financed and operated by the U.S. Department of Defense*"
* [RINEX] - "*'**R**eceiver **In**dependent **Ex**change'; ASCII exchange representation of [GNSS] data and metadata*"
* [SV] - "*'**S**pace **V**ehicle', referring originally to a specific Navstar GPS satellite, but now used to refer to any one of the Navstar GPS, GLONASS, Beidou/Compass, Galileo, QZSS, IRNSS, or SBAS satellites*"
## Getting Started
Download binaries for macOS, Linux, Windows and others from the [Teqc](https://www.unavco.org/software/data-processing/teqc/teqc.html) site. You can also find documentation & tutorials at that site.
```bash
teqc -version
# executable: teqc
# version: teqc 2019Feb25
```
---
## Example
### Example of converting [Leica](https://leica-geosystems.com/en-us) file in the `.m00` format.
#### `teqc` Help
You can filter help results for *leica*.
```bash
teqc -help | grep lei
```
```console
-lei[ca] code input is from Leica receiver, record type 'code':
code = ds for Leica DS format
code = lb2 for Leica LB2 format
code = mdb for Leica MDB format
```
---
#### Convert Leica to RINEX
```bash
# The output RINEX file could be `.obs`
# You may also see it in the format of `.yyo`, where yy = 22. E.g, `.22o`
# Use either of these commands. The record type is `mdb`
teqc -lei mdb GNSS202235660778.m00 > GNSS202235660778.obs
teqc -leica mdb GNSS202235660778.m00 > GNSS202235660778.obs
```
```bash
2.11 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE
teqc 2019Feb25 20230105 00:07:30UTCPGM / RUN BY / DATE
OSX ker:10.11.6|Core i5|gcc 4.3 -m64|OSX ker:10.10+|=+ COMMENT
BIT 2 OF LLI FLAGS DATA COLLECTED UNDER A/S CONDITION COMMENT
-Unknown- MARKER NAME
-Unknown- -Unknown- OBSERVER / AGENCY
287551 LEICA 7.500/4.000 REC # / TYPE / VERS
-Unknown- -Unknown- NONE ANT # / TYPE
0.0000 0.0000 0.0000 APPROX POSITION XYZ
2.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
1 1 WAVELENGTH FACT L1/2
6 L1 L2 C1 P2 S1 S2 # / TYPES OF OBSERV
1.0000 INTERVAL
GNSS Survey COMMENT
GNSS Survey COMMENT
Project creator: COMMENT
Leica Geosystems AG COMMENT
SNR is mapped to RINEX snr flag value [0-9] COMMENT
L1 & L2: min(max(int(snr_dBHz/6), 0), 9) COMMENT
2022 12 22 16 53 18.0000000 GPS TIME OF FIRST OBS
18 LEAP SECONDS
END OF HEADER
22 12 22 16 53 18.0000000 0 22G31G22G03G04G21G01G26G32G16S31S33S35
```
---
### decimate
Decimate the file from 1 sec to 30 seconds.
```bash
teqc -help | grep dec
```
> `-O.dec[imate] interval[:offset] modulo decimation of OBS epochs to interval time units (default in seconds),`
```bash
teqc -O.dec 30 GNSS202235660778.obs > GNSS202235660778.30.obs
```
#### Results
This reduces a *1 second* file from 32 MB to a *30 second* file down to 1.1 MB. You can inspect the `.obs` file for `COMMENT` and see that the decimation is now 30 seconds.
*Analyze the RINEX output, focusing on decimation and excluded satellites.*
```console
ll -h *.obs
# result of Linux listing of OBS files to determine file size, human readable
-rw-r--r-- 1 roblabs staff 1.1M Jan 4 16:24 GNSS202235660778.30.obs
-rw-r--r-- 1 roblabs staff 32M Jan 4 16:16 GNSS202235660778.obs
# ---
cat GGNSS202235660778.30.obs | grep COMMENT
# result of Linux regular expression (grep)
teqc 2019Feb25 20230105 00:16:58UTCCOMMENT
BIT 2 OF LLI FLAGS DATA COLLECTED UNDER A/S CONDITION COMMENT
GNSS Survey COMMENT
GNSS Survey COMMENT
Project creator: COMMENT
Leica Geosystems AG COMMENT
SNR is mapped to RINEX snr flag value [0-9] COMMENT
L1 & L2: min(max(int(snr_dBHz/6), 0), 9) COMMENT
Forced Modulo Decimation to 30 seconds COMMENT
```
---
### Decimate & GPS Only
Our goal here is to do two operations in the same `teqc` command: _decimate_ & convert only the GPS data in the original file.
You can call `teqc` with multiple flags (or sometimes called switches). This will be important if, for example, you want to convert with the following options:
1. Convert to [RINEX]
2. decimate down to 30 seconds
3. Only use [SV]s from [GPS]. That is, _filter out_ other constellations such as GLONASS, etc.
First, we need to understand how to _filter out_ or remove from the RINEX the constellations that we don't want.
Let's look at how the help information from the `teqc` executable is displayed.
```
teqc -help | grep use\ any
```
-G don't use any GPS SVs
-R don't use any GLONASS SVs
-S don't use any SBAS SVs
-E don't use any Galileo SVs
-C don't use any Beidou SVs
-J don't use any QZSS SVs
-I don't use any IRNSS SVs
The [Teqc Tutorial](https://www.unavco.org/software/data-processing/teqc/doc/UNAVCO_Teqc_Tutorial.pdf) from unavco.org has this documentation about excluding GLONASS(**R**), GALILEO(**E**), and SBAS(**S**), but leaving all GPS(G):
```bash
# These flags can explicity used to remove some constellations.
# See page 12 of the PDF documentation for details
# -R don't use any GLONASS SVs
# -S don't use any SBAS SVs
# -E don't use any Galileo SVs
teqc -R -E -S +obs + +nav +,+ -tbin 1d tbinoutput inputfiles
```
#### Command
Now we can put together decmitate and save GPS only.
```bash
teqc -O.dec 30 -R -E -S -C -J GNSS202235660778.obs > GNSS202235660778.30.GPS.obs
```
#### Results
* As we saw with just [_decimate_](#decimate), we reduced a 32 MB *1-second* file down to a *30-second* file at 1.1 MB.
* Now with _decimate_ and _GPS Only_, we reduced a 32 MB file down to 423K.
* You can review the comments in the RINEX file that shows which satellites were excluded.
*Analyze the RINEX output, focusing on decimation and excluded satellites.*
```console
ll -h *.obs
# result of Linux listing of OBS files to determine file size, human readable
-rw-r--r-- 1 roblabs staff 32M Jan 4 16:16 GNSS202235660778.obs
-rw-r--r-- 1 roblabs staff 1.1M Jan 4 16:24 GNSS202235660778.30.obs
-rw-r--r-- 1 roblabs staff 423K Jan 12 18:11 GNSS202235660778.30.GPS.obs
# ---
cat GNSS202235660778.30.GPS.obs | grep COMMENT
# result of Linux regular expression (grep)
teqc 2019Feb25 20230105 00:16:58UTCCOMMENT
BIT 2 OF LLI FLAGS DATA COLLECTED UNDER A/S CONDITION COMMENT
GNSS Survey COMMENT
GNSS Survey COMMENT
Project creator: COMMENT
Leica Geosystems AG COMMENT
SNR is mapped to RINEX snr flag value [0-9] COMMENT
L1 & L2: min(max(int(snr_dBHz/6), 0), 9) COMMENT
Forced Modulo Decimation to 30 seconds COMMENT
teqc edited: all GLONASS satellites excluded COMMENT
teqc edited: all SBAS satellites excluded COMMENT
teqc edited: all Galileo satellites excluded COMMENT
teqc edited: all Beidou satellites excluded COMMENT
teqc edited: all QZSS satellites excluded COMMENT
```
---
### `meta`
You can use the metadata extraction options `+meta`.
Interrogate the file native m00 file
```bash
teqc +meta GNSS202235660778.m00
```
Result:
> week: 2255
---
Once you have decimate'd the file & filtered the SVs for *GPS Only*, you can use `+meta` to get a summary of the RINEX file.
```console
teqc +meta GNSS202235660778.30.GPS.obs
# result of metadata extraction
filename: GNSS202235660778.30.GPS.obs
file format: RINEX
file size (bytes): 432666
start date & time: 2022-12-22 16:53:30.000
final date & time: 2022-12-22 21:17:30.000
sample interval: 30.0000
possible missing epochs: 0
4-char station code: GNSS
station name: -Unknown-
station ID number:
antenna ID number: -Unknown-
antenna type: -Unknown- NONE
antenna latitude (deg): 90
antenna longitude (deg): 0
antenna elevation (m): -6356752.3142
antenna height (m): 2.0000
receiver ID number: 287551
receiver type: LEICA
receiver firmware: 7.500/4.000
RINEX version: 2.11
RINEX translator: teqc 2019Feb25
trans date & time: 2023-01-13 02:11:36.000
```
[epoch]: https://www.unavco.org/help/glossary/glossary.html#epoch
[GNSS]: https://www.unavco.org/help/glossary/glossary.html#GNSS
[GPS]: https://www.unavco.org/help/glossary/glossary.html#GPS
[RINEX]: https://www.unavco.org/help/glossary/glossary.html#RINEX
[SV]: https://www.unavco.org/help/glossary/glossary.html#SV
[Teqc]: https://www.unavco.org/software/data-processing/teqc/teqc.html
[UNAVCO]: https://www.unavco.org