Observation data not displayed when using obs command in rtkrcv with sbf files

rsasaki0109 commented 1 week ago

@JAXA-SNU First of all, thank you for providing such an amazing open-source software!

Issue Description

When using MALIB to process sbf files, the obs command in rtkrcv does not display any observation data. However, the same sbf file works correctly and displays observation data in the RTKLIB v2.4.3 b34.

Environment

MALIB version: 1.0.0 OS: Ubuntu 20.04 Input data format: sbf (from Septentrio Mosaic)

Expected Behavior

The obs command should display observation data as it does in RTKLIB v2.4.3 b34.

Additional Information

Post-processing with rnx2rtkp was completed without any issues. I modified the configuration as follows.

a part of conf

inpstr1-type       =serial       # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http,10:udpsvr,11:udpcli)
inpstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http,10:udpsvr,11:udpcli)
inpstr3-type       =off       # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http,10:udpsvr,11:udpcli)
inpstr1-path       =/serial/by-id/usb-Septentrio_Septentrio_USB_Device_XXXXXX-if02:115200:8:n:1:off
inpstr2-path       =
inpstr3-path       =
inpstr3-path       =
inpstr1-format     =sbf        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,14:sp3,21:l6e)
inpstr2-format     =           # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,14:sp3,21:l6e)
inpstr3-format     =        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,14:sp3,21:l6e)

Your attention and support in resolving this issue would be greatly appreciated. Thank you.

rsasaki0109 commented 6 days ago

The differences in the edited configuration file.


aaa@bbb:~/workspace/MALIB/bin$ diff rtkrcv_copy.conf rtkrcv.conf 
130,138c130,160
< inpstr1-type       =file       # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http,10:udpsvr,11:udpcli)
< inpstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http,10:udpsvr,11:udpcli)
< inpstr3-type       =file       # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http,10:udpsvr,11:udpcli)
< inpstr1-path       =./data/MALIB_OSS_data_obsnav_240822-1100.sbf::T::x10
< inpstr2-path       =
< inpstr3-path       =./data/MALIB_OSS_data_l6e_240822-1100.sbf::T::x10
< inpstr1-format     =sbf        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,14:sp3,21:l6e)
< inpstr2-format     =           # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,14:sp3,21:l6e)
< inpstr3-format     =sbf        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,14:sp3,21:l6e)
---
> inpstr1-type       =serial     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
> inpstr2-type       =off     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
> inpstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
> #inpstr1-path       =/ttyACM0:115200:8:n:1:off
> inpstr1-path       =/serial/by-id/usb-Septentrio_Septentrio_USB_Device_XXXXX-if02:115200:8:n:1:off
> inpstr2-path       =localhost:61115
> inpstr3-path       =
> inpstr1-format     =sbf        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,13:sbf,14:cmr,15:tersus,18:sp3)
> inpstr2-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,13:sbf,14:cmr,15:tersus,18:sp3)
> inpstr3-format     =ubx        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,13:sbf,14:cmr,15:tersus,18:sp3)
aaa@bbb:~/workspace/MALIB/bin$

rsasaki0109 commented 6 days ago

level 3 trace

JAXA-SNU commented 4 days ago

@rsasaki0109 Thank you for your comment. Please allow me to confirm a few points.

Did you get a positioning solution when you ran this config? Also, is it possible to run commands other than “obs” (e.g., “stream” and “nav”)? If so, please let us know the execution results of the stream and nav commands.
If you know the model number and FW version of mosaic, please let us know.
Does the obs command work without any problem with sbf format data as described in the rtkrcv procedure in the readme?

rsasaki0109 commented 3 days ago

Hello, thank you for your response.

I apologize for the trouble, but the issue has been resolved. The problem was that the s option was not included when starting rtkrcv. On the other hand, it’s an issue with RTKLIB that strsvr can still start even without the s option or start command.

Since the issue has been resolved, I will close this issue.

Postscript: Sorry, it doesn't seem to be an issue with RTKLIB itself, but rather with the modifications we made to RTKLIB.

JAXA-SNU / MALIB