NickMortimer
commented
1 year ago """
Column 1: Image sequence.
Column 2: Second of week of the exposure timestamp in UTC time, with seconds expressed in GPS
time format.
Column 3: GPS week of the exposure timestamp in UTC time, with seconds expressed in GPS time
format.
Column 4: Offset (in mm) of the antenna phase center to camera CMOS sensor center in the north
(N) direction at the time of exposure of each photo. It is positive when the CMOS center is in the
north direction of the antenna phase center and negative when in the south direction.
Column 5: Offset (in mm) of the antenna phase center to camera CMOS sensor center in the east
(E) direction at the time of exposure of each photo. It is positive when the CMOS center is in the
east direction of the antenna phase center and negative when in the west direction.
Column 6: Offset (in mm) of the antenna phase center to camera CMOS sensor center in the vertical
(V) direction at the time of exposure of each photo. It is positive when the CMOS center is below
the antenna phase center and negative when the former is above the latter.
Column 7: real-time position latitude (Lat) of the CMOS center acquired at the time of exposure,
in degrees. When the aircraft is in the RTK mode, its position is the RTK antenna phase center
position plus the offset of the antenna phase center relative to the CMOS center at the time of
exposure, with the RTK accuracy (centimeter level); and when the aircraft is in the GPS mode,
its position is that detected by GPS single-point positioning plus the offset of the RTK antenna
phase center relative to the CMOS center at the time of exposure, with GPS single-point
positioning accuracy (meter level).
Column 8: real-time position longitude (Lon) of the CMOS center acquired at the time of exposure,
in degrees.
Column 9: real-time height of the CMOS center acquired at the time of exposure, in meters. The
height is a geodetic height (commonly known as the ellipsoid height), relative to the surface of
the default reference ellipsoid (WGS84 is the default and can be set as other ellipsoids such as
CGCS2000 via a different CORS station system/reference). Note that the above height is not based
on the national 85 elevation datum or 56 elevation datum (normal height) or commonly used
EGM96/2008 elevation datum (orthometric height) worldwide.
For correlation of orthometric height, normal height, and geodetic height, refer to the following link:
http://www.esri.com/news/arcuser/0703/geoid1of3.html
Columns 10 to 12:
Standard deviation (in meters) of positioning results in the north, east, and the vertical direction,
describe the relative accuracy of positioning in the three directions.
Column 13:
RTK status flag. 0: no positioning; 16: single-point positioning mode; 34: RTK floating solution;
50: RTK fixed solution. When the flag bit of a photo is not 50, it is recommended not to use this
photo directly in map building.
Rinex.Obs file: real-time decoded satellite observation file (GPS+GLO+BDS+GAL) received by
the UAV, in RINEX 3.02 format. This file can be directly imported into PPK post-processing
software for post-processing.
1 268619.354051 [2129] 24,N 9,E 193,V -21.97273819,Lat 113.93433129,Lon 91.071,Ellh 1.056360, 1.085926, 3.245131 16,Q
2 268625.283927 [2129] 20,N 15,E 193,V -21.97253139,Lat 113.93438555,Lon 91.182,Ellh 1.097883, 1.051731, 3.346695 16,Q
3 268627.779356 [2129] 10,N 13,E 194,V -21.97234525,Lat 113.93440346,Lon 91.287,Ellh 1.095263, 1.051843, 3.344983 16,Q
4 268630.314319 [2129] 13,N 10,E 194,V -21.97216604,Lat 113.93443131,Lon 89.959,Ellh 1.090093, 1.041215, 3.321528 16,Q
5 268632.830491 [2129] 15,N 6,E 194,V -21.97199354,Lat 113.93445195,Lon 89.447,Ellh 1.081201, 1.031734, 3.327098 16,Q
6 268635.351011 [2129] 14,N 8,E 194,V -21.97182339,Lat 113.93448809,Lon 92.148,Ellh 1.076505, 1.022308, 3.273235 16,Q
7 268638.543134 [2129] 66,N 42,E 178,V -21.97168707,Lat 113.93449202,Lon 88.557,Ellh 1.110462, 1.036878, 3.367443 16,Q
8 268642.289662 [2129] 20,N 3,E 194,V -21.97167044,Lat 113.93429231,Lon 91.825,Ellh 1.109429, 1.020208, 3.272965 16,Q
https://hpiers.obspm.fr/eoppc/bul/bulc/Leap_Second.dat
"""
import pandas as pd
import os
import glob
import ftplib
import re
"""
Get 30 second data
"""
import time
secsInWeek = 604800
secsInDay = 86400
gpsEpoch = (1980, 1, 6, 0, 0, 0) # (year, month, day, hh, mm, ss)
def UTCFromGps(gpsWeek, SOW, leapSecs=16):
"""converts gps week and seconds to UTC
see comments of inverse function!
SOW = seconds of week
gpsWeek is the full number (not modulo 1024)
"""
secFract = SOW % 1
epochTuple = gpsEpoch + (-1, -1, 0)
t0 = time.mktime(epochTuple) - time.timezone #mktime is localtime, correct for UTC
tdiff = (gpsWeek * secsInWeek) + SOW - leapSecs
t = t0 + tdiff
#print t
(year, month, day, hh, mm, ss, dayOfWeek, julianDay, daylightsaving) = time.gmtime(t)
#use gmtime since localtime does not allow to switch off daylighsavings correction!!!
return (year, month, day, hh, mm, ss + secFract)
def read_mrk(filename,leapseconds=37,index='Sequence'):
names=['Sequence','GPSSecondOfWeek','GPSWeekNumber','NorthOff','EastOff','VelOff','Latitude','Longitude','EllipsoideHight','Error','RTKFlag']
data = pd.read_csv(filename,header=None,sep='\t',names=names)
if data.shape[0]>0:
data['Latitude']=data.Latitude.str.split(',',expand=True)[0].astype(float)
data['Longitude']=data.Longitude.str.split(',',expand=True)[0].astype(float)
data['GPSWeekNumber']=data.GPSWeekNumber.str[1:-1].astype(int)
data['UTCTime'] =data.apply(lambda x: pd.to_datetime("1980-01-06 00:00:00")+pd.Timedelta(weeks=x['GPSWeekNumber'])+pd.Timedelta(seconds=x.GPSSecondOfWeek)
-pd.Timedelta(seconds=leapseconds),axis=1)
data.set_index(index,inplace=True)
return data
def read_mrk_gpst(filename,index='UTCTime'):
return read_mrk(filename,leapseconds=0,index=index)
def read_pos(filename):
# Using readlines()
with open(filename, 'r') as pos:
head = 0
while pos:
line = pos.readline()
head= head+1
if line.startswith(r'% GPST'):
break
names = re.split('\s+',line.strip())
data = pd.read_csv(filename,skiprows=head,sep='\s+',names=names,header=None)
data.index =pd.to_datetime(data['%']+' '+data['GPST'])
data.drop(['%','GPST'],axis=1,inplace=True)
data.index.name = 'GPST'
return data
def imagenames(filename):
path =os.path.split(filename)[0]
base =os.path.split(filename)[1].split('Timestamp')[0]+'*.JPG'
images = glob.glob(os.path.join(path,base))
data = pd.DataFrame({'Path':images})
data['Sequence'] = data.Path.str.split('_').str[-1].str.split('.').str[0].astype(int)
data.set_index('Sequence',inplace=True)
return data
alsonathif
I have some code to do this https://docs.opendronemap.org/geo/