kalman_UKOOA/0000775001506400150640000000000011044330664013146 5ustar mirshakmirshakkalman_UKOOA/ukooa.py0000664001506400150640000002545111044067650014647 0ustar mirshakmirshak#!/usr/bin/python # Scripts used for reading and writing UKOOA files import sys import numpy import re import kal_nav_subroutines as kn import os def read(filename, utm, newutm, directory, fields): fid = open(filename,'r') fname = kn.getinfile(filename) # Files such as vessel, source, etc. fout = {} outfile = {} for i in fields: outfile[i] = directory + fname + "_" + fields[i] + ".txt" fout[i] = open(outfile[i],'w') # Other files (i.e. time) tfile = open(directory + fname + "_time.txt", 'w') tempfile = open(directory + "temp", 'w') line = fid.readline() n = 0 m = 0 receiver = list() easting = list() northing = list() depth = list() lon = list() lat = list() # skip header while re.match("^H", line): if re.match("^H0200", line): cols = line.split('/') year = cols[-1] year = re.sub("\s","",year) line = fid.readline() while(line): flag = 1 # 1 2 3 4 5 6 7 #01234567890123456789012345678901234567890123456789012345678901234567890123456789 #VGSC0708A-022 1 1723402709.75N0590221.65W 835879.64485544.05059.5202154808 #CGSC0708A-022 1 1 1814402450.66N0590256.32W 835254.94481217.45063.1202162211 # ^^^^^vvvvvvvvvv^^^^^^^^^^^vvvvvvvvv^^^^^^^^^vvvvvv^^^vvvvvv # FFID latitude longitude easting northing depth doy h.m.s while re.match("^[A-QS-Z]", line): # Parse lines if line[0] in fout: key = line[0] ffid = line[20:25] ffid = re.sub("\s","",ffid) latdeg = line[25:27] latmin = line[27:29] latsec = line[29:34] lathem = line[34:35] lat_nav = float(latdeg) + (float(latmin) + float(latsec) / 60) / 60 if(re.match("S", lathem)): lat_nav = - lat_nav londeg = line[35:38] lonmin = line[38:40] lonsec = line[40:45] lonhem = line[45:46] lon_nav = float(londeg) + (float(lonmin) + float(lonsec) / 60) / 60 if(re.match("W",lonhem)): lon_nav = - lon_nav east = line[46:55] north = line[55:64] depth_nav = line[64:70] doy = line[70:73] hh = line[73:75] mm = line[75:77] ss = line[77:79] fout[key].write('%d %.7f %0.7f\n' % (int(ffid), float(lon_nav), float(lat_nav))) # write time if(flag): flag = 0 tfile.write(str(ffid) + " " + year + " " + str(doy) + " " + str(hh) + " " + str(mm) + " " + str(ss) + "\n") line = fid.readline() # 1 2 3 4 5 6 7 #01234567890123456789012345678901234567890123456789012345678901234567890123456789 #R 1 836046.44486079.0 8.9 2 836051.94486090.6 9.1 3 836057.34486101.9 9.2 # ^^^ vvvvvvvv^^^^^^^^^vvvv ^^^ vvvvvvvv^^^^^^^^^vvvv ^^^ vvvvvvvv^^^^^^^^^vvvv # # note the repetition at 2, 28, 54 n = n + 1 while(re.match("^R", line)): # Parse lines for j in range(0,3): val = 26 * j temp = line[2+val:2+val+3] temp = re.sub("\s","0",temp) receiver.append(temp) eastingt = (line[6+val:6+val+8]) northingt = (line[14+val:14+val+9]) temp = line[23+val:23+val+4] temp = re.sub("\s","", temp) depth.append(temp) temp1 = eastingt temp2 = northingt if(float(receiver[-1])==0): receiver.pop() depth.pop() else: m = m + 1 tempfile.write(str(temp1) + " " + str(temp2) + "\n") line = fid.readline() for key in fout: fout[key].close() tfile.close() tempfile.close() N = n M = m / n print " -- Converting UTM to lon/lat for info in " + filename cmd = 'invproj +proj=utm +zone=' + str(utm) + ' -f ' + "\'%.7f\' " + directory + "temp > " + \ directory + "temp2" os.system(cmd) cmd = 'proj +proj=utm +zone=' + str(newutm) + " -f \'%.1f\' " + directory + "temp2 > " + directory + "temp" os.system(cmd) tempfile = open(directory + 'temp2', 'r') line = tempfile.readline() while(line): tmp = line.split() lon.append(tmp[0]) lat.append(tmp[-1]) line = tempfile.readline() tempfile.close() easting = list() northing = list() tempfile = open(directory + 'temp', 'r') line = tempfile.readline() while(line): tmp = line.split() easting.append(tmp[0]) northing.append(tmp[-1]) line = tempfile.readline() for key in fout: cmd = "cat " + outfile[key] + " | awk \'{print $2, $3}\' | proj +proj=utm +zone=" + newutm + " > " + directory + "temp" cmd2 = "paste " + outfile[key] + " " + directory + "temp > " + directory + "temp2" cmd3 = "mv " + directory + "temp2 " + outfile[key] os.system(cmd) os.system(cmd2) os.system(cmd3) print " -- Writing data to files" eastingfile = open(directory + fname + "_receiveeasting.txt","w") northingfile = open(directory + fname + "_receivenorthing.txt","w") depthfile = open(directory + fname + "_receivedepth.txt","w") lonfile = open(directory + fname + "_receivelon.txt","w") latfile = open(directory + fname + "_receivelat.txt","w") for n in range(0, N): st = ["", "", "", "", ""] for k in range(0, M): temp = easting[n*M + k] st[0] = st[0] + str(easting[n*M + k]) + " " st[1] = st[1] + str(northing[n*M + k]) + " " st[2] = st[2] + str(depth[n*M + k]) + " " st[3] = st[3] + str(lon[n*M + k]) + " " st[4] = st[4] + str(lat[n*M + k]) + " " eastingfile.write(st[0] + "\n") northingfile.write(st[1] + "\n") depthfile.write(st[2] + "\n") lonfile.write(st[3] + "\n") latfile.write(st[4] + "\n") eastingfile.close northingfile.close depthfile.close lonfile.close latfile.close def write(infile, outfile, oldutm, newutm, fields, n_receivers, tempdir): outfile_temp = tempdir + "out.P190" os.system("cp " + infile + " " + outfile_temp) # first, break the file into its individual parts # header # add comments about Kalman to end of header. os.system("echo \"H2600 Locations Kalman filtered using kalman_nav.py\" > " + tempdir + "temp") os.system("cat " + outfile_temp + " " + tempdir + "temp | grep \"^H\" > " + tempdir + "header") # fix projection zone to utm grid fin = open(tempdir + "header", 'r') fout = open(tempdir + "header2", 'w') line = fin.readline() # 1 2 3 4 5 6 7 #01234567890123456789012345678901234567890123456789012345678901234567890123456789 #H1900PROJECTION ZONE 20N #H2600 WAYPOINT (E, N) 840764.54521215.0 while(line): if (re.match("^H1900PROJECTION ZONE", line) ) : line = line[0:32] + newutm[0:3] + line[35:-1] + "\n" if (re.match("^H2600 WAYPOINT", line)): firstpart = line[0:47] east = line[47:55] north = line[55:64] lastpart = line[64:-1] vals = os.popen("echo \"" + east + " " + north + "\" | invproj +proj=utm +zone=" + oldutm + " | proj +proj=utm +zone=" + newutm).read() parts = vals.split() parts[0] = str(round(float(parts[0]) * 10)/10) parts[1] = str(round(float(parts[1]) * 10)/10) line = firstpart + parts[0] + parts[1] + lastpart + "\n" fout.write(line) line = fin.readline() fin.close() fout.close() for key in fields: os.system("cat " + outfile_temp + " | grep \"^" + key + "\" > " + tempdir + key + ".tmp") os.system("mv " + tempdir + "header2 " + outfile_temp) root = kn.getinfile(infile) fins = {} for key in fields: fins[key] = open(tempdir + root + "_" + fields[key] + "_kalman.txt",'r') rins = {} for i in range(0,n_receivers): r = i + 1 rstr = str(r) while len(rstr) < 3: rstr = "0" + rstr rins[r] = open(tempdir + root + "_receive" + rstr + "_kalman.txt",'r') fout = open(outfile_temp, 'a') receivedepth = open(tempdir + root + "_receivedepth.txt",'r') ffid = open(tempdir + "ffid.tmp",'r') line = ffid.readline() blank = " " while line: line = line.rstrip() for key in fields: outline = os.popen("grep ' " + line + "' " + tempdir + key + ".tmp").read() firstpart = outline[0:25] lastpart = outline[64:-1] fieldparts = fins[key].readline().split() outline = firstpart + fieldparts[2] + fieldparts[1] + " " + fieldparts[3] + fieldparts[4] + lastpart + "\n" fout.write(outline) recdepth = receivedepth.readline().split() for i in range(0, len(recdepth)): while len(recdepth[i]) < 4: recdepth[i] = " " + recdepth[i] j = 1 for r in rins: rstr1 = str(r) rstr2 = str(r) while len(rstr1) < 3: rstr1 = "0" + rstr1 while len(rstr2) < 4: rstr2 = " " + rstr2 rstr2 = rstr2 + " " rline = rins[r].readline().split() if j == 1: outline = "R" outline = outline + rstr2 + rline[3] + rline[4] + recdepth[r-1] if j == 3: outline = outline + "\n" fout.write(outline) j = j + 1 if(j==4): j = 1 if j == 3: outline = outline + blank + "\n" fout.write(outline) if j == 2: outline = outline + blank + blank + "\n" fout.write(outline) line = ffid.readline() for key in fins: fins[key].close() for key in rins: rins[key].close() fout.close() os.system("mv " + outfile_temp + " " + outfile) print "Loaded ukooa.py" kalman_UKOOA/kal_nav_subroutines.py0000664001506400150640000003415111044067635017606 0ustar mirshakmirshakimport md5 import time import os import numpy as np import scipy as sp import re import math # Start-up, read input arguments def read_argv(argv): global prog_name if(len(argv) == 1): print "Error in " + prog_name + ": No navigation file in input field" sys.exit() elif(len(argv) > 1): inputfile = argv[1] if(len(argv) == 2): # it is necessary to determine the file name outputfile = getoutfile(inputfile) # it is necessary to extract the UTM zone from the navigation file utmzone = newutmzone = getutm(inputfile) elif(len(argv) == 3): outputfile = argv[2] utmzone = newutmzone = getutm(inputfile) elif(len(argv) == 4): outputfile = getoutfile(inputfile) utmzone = argv[2] newutmzone = argv[3] elif(len(argv) != 4): print "Error in " + prog_name + ": Too many input fields" sys.exit() else: outputfile = argv[2] utmzone = argv[3] newutmzone = argv[4] return(inputfile, outputfile, utmzone, newutmzone) # Create temporary directory in /var/tmp/ based on time def timehash(): thash = md5.new() tstr = time.time() thash.update(str(tstr)) tmp = repr(thash.hexdigest()) tmp = tmp.split("\'") return(tmp[1]) def time_dir(): tempdir = "/var/tmp/" + timehash() + "/" return(tempdir) # Get UTM zone from UKOOA file def getutm(inputfile): nav_in = open(inputfile, 'r') for line in nav_in: if "PROJECTION ZONE" in line: break nav_in.close() line = line.strip() line = line.split() line = line[-1] return(line) # Filename extraction/assignment def getoutfile(fname): f = fname.split('.') f2 = f[0] for i in range(1,len(f)-1): f2 = f2 + '.' + f[i] f2 = f2 + '_kalman.' + f[-1] return(f2) def getinfile(fname): f = fname.split('.') f2 = f[0] for i in range(1,len(f)-1): f2 = f2 + '.' + f[i] f = f2.split('/') f2 = f[-1] return(f2) # Create temporary easting/northing files for each receiver def receiver_files(tempdir, fname): eastfile = tempdir + fname + "_receiveeasting.txt" northfile = tempdir + fname + "_receivenorthing.txt" latfile = tempdir + fname + "_receivelat.txt" lonfile = tempdir + fname + "_receivelon.txt" fid = open(eastfile, 'r') line = fid.readline() line = re.sub("\s+$","", line) cols = line.split(' ') fid.close os.system("cat " + tempdir + fname + \ "_time.txt | awk \'{print $1}\' > " + tempdir + fname + \ "_ffid.txt") cmd_lon1 = "cat " + lonfile + " | awk \'{print $" cmd_lon2 = "}\' > " + tempdir + "lon.tmp" cmd_lat1 = "cat " + latfile + " | awk \'{print $" cmd_lat2 = "}\' > " + tempdir + "lat.tmp" cmd_east1 = "cat " + eastfile + " | awk \'{print $" cmd_east2 = "}\' > " + tempdir + "east.tmp" cmd_north1 = "cat " + northfile + " | awk \'{print $" cmd_north2 = "}\' > " + tempdir + "north.tmp" cmd_concat = "paste " + tempdir + fname + "_ffid.txt " + tempdir + "lon.tmp " + tempdir + "lat.tmp " \ + tempdir + "east.tmp " + tempdir + "north.tmp > " \ + tempdir + fname + "_receive" for i in range(1,len(cols)+1): istr = str(i) while(len(istr) < 3): istr = '0' + istr os.system(cmd_lon1 + istr + cmd_lon2) os.system(cmd_lat1 + istr + cmd_lat2) os.system(cmd_east1 + istr + cmd_east2) os.system(cmd_north1 + istr + cmd_north2) os.system(cmd_concat + istr + ".txt") return(i) def grad(spam): g = np.zeros(np.size(spam),float) for i in range(1,len(g)-1): g[i] = (spam[i+1] - spam[i-1]) / 2 g[0] = spam[1] - spam[0] g[-1] = spam[-1] - spam[-2] return g # Kalman filter code def kalfilt(tempdir, timename, fname, xcol, ycol): locations = np.loadtxt(tempdir + fname) time = np.loadtxt(tempdir + timename) x = locations[:,xcol] sz = len(x) dx = grad(x) y = locations[:,ycol] dy = grad(y) t = time[:,2] + (time[:,3] + (time[:,4] + time[:,5]/60)/60) / 24 t = t - t[0] t = t * 24 * 60 * 60 # convert to seconds dt = grad(t) u = dx / dt v = dy / dt # error estimates by propagation of error # d_i = (x_{i+1} - x_{1-1})/2 # --> delta d = sqrt(2 * (delta_x/2)^2) # --> delta_x = delta_d * sqrt(2) std_x = sp.std(dx) * sp.sqrt(2) std_y = sp.std(dy) * sp.sqrt(2) # u = d / t, assume no error in t # du = dd / (2 * dt) std_u = sp.std(dx/2) std_v = sp.std(dy/2) # w in the time update equations # R = sqrt(dx**2 + (du/dt)**2 # = sqrt(std_x**2 + std_u**2) std_wx = sp.sqrt(std_x**2 + std_u**2) std_wy = sp.sqrt(std_y**2 + std_v**2) # allocate space for arrays xhat = np.zeros(sz,float) # a posteri estimate of x Px = np.zeros(sz,float) # a posteri error estimate xhatminus = np.zeros(sz,float) # a priori estimate of x Pxminus = np.zeros(sz,float) # a priori error estimate Kx = np.zeros(sz,float) # gain or blending factor yhat = np.zeros(sz,float) # a posteri estimate of x Py = np.zeros(sz,float) # a posteri error estimate yhatminus = np.zeros(sz,float) # a priori estimate of x Pyminus = np.zeros(sz,float) # a priori error estimate Ky = np.zeros(sz,float) # gain or blending factor # intial guesses xhat[0] = x[0] Px[0] = 1.0 yhat[0] = y[0] Py[0] = 1.0 for k in range(1,sz): # x time update xhatminus[k] = xhat[k-1] + u[k-1] * dt[k] Pxminus[k] = Px[k-1] + std_wx**2 # x measurement update Kx[k] = Pxminus[k]/( Pxminus[k] + std_x**2) xhat[k] = xhatminus[k] + Kx[k] * (x[k]-xhatminus[k]) Px[k] = (1-Kx[k])*Pxminus[k] # y time update yhatminus[k] = yhat[k-1] + v[k-1] * dt[k] Pyminus[k] = Py[k-1] + std_wy**2 # y measurement update Ky[k] = Pyminus[k]/( Pyminus[k] + std_y**2) yhat[k] = yhatminus[k]+Ky[k]*(y[k]-yhatminus[k]) Py[k] = (1-Ky[k])*Pyminus[k] return(xhat, yhat) def utm2lonlat(easting, northing, zone): # if len(easting) > 10, write to a file... if len(easting) != len(northing): print "Error in kal_nav_subroutines.utm2lonlat:" print " easting and northing of different lengths." sys.exit() lon = list() lat = list() tval = timehash() fname = "utm2lonlat." + tval fname2 = "utm2lonlat2." + tval fout = open(fname, "w") for j in range(0,len(easting)): fout.write(str(easting[j]) + " " + str(northing[j]) + "\n") fout.close() cmd = "invproj +proj=utm +zone=" + str(zone) + ' -f ' + "\'%.7f\' " + fname + " > " + fname2 os.system(cmd) fin = open(fname2,'r') line = fin.readline() while line: parts = line.split() lon.append(parts[0]) lat.append(parts[1]) line = fin.readline() fin.close() os.remove(fname) os.remove(fname2) return lon, lat def lonlat2utm(longitude, latitude, zone): if len(lon) != len(lat): print "Error in kal_nav_subroutines.lonlat2utm:" print " lon and lat of different lengths." sys.exit() easting = list() northing = list() tval = timehash() fname = "lonlat2utm." + tval fname2 = "lonlat2utm." + tval fout = open(fname, "w") for j in range(0,len(lon)): fout.write(str(lon[j]) + " " + str(lat[j]) + "\n") fout.close() cmd = "proj +proj=utm +zone=" + str(zone) + ' -f ' + "\'%.7f\' " + fname + " > " + fname2 os.system(cmd) fin = open(fname2,'r') line = fin.readline() while line: parts = line.split() easting.append(parts[0]) northing.append(parts[1]) line = fin.readline() fin.close() os.remove(fname) os.remove(fname2) return easting, northing def lon_dec2minsec(lon): # converts lon from decimal degrees to degrees minutes seconds E/W dg = list() mn = list() sc = list() dr = list() for j in range(0, len(lon)): l = float(lon[j]) while(l >= 360): l = l - 360 while(l <= -360): l = l + 360 if(l < - 180): l = 360 + l elif(l > 180): l = l if(l > 0): dr.append("E") if(l < 0): l = -l dr.append("W") dg.append(math.floor(l)) mn.append(math.floor((l-dg[-1]) * 60)) sc.append(((l-dg[-1])*60 - mn[-1]) * 60) return dg,mn,sc,dr def lat_dec2minsec(lat): #converts lat from decimal degrees to degrees minutes seconds N/S # converts lon from decimal degrees to degrees minutes seconds E/W dg = list() mn = list() sc = list() dr = list() for j in range(0, len(lat)): l = float(lat[j]) if math.fabs(l) > 90: print l l = math.degrees(math.asin(math.sin(math.radians(l)))) if l >= 0: dr.append("N") else: l = - l dr.append("S") dg.append(math.floor(l)) mn.append(math.floor((l-dg[-1]) * 60)) sc.append(((l-dg[-1])*60 - mn[-1]) * 60) return dg,mn,sc,dr def write_kalfile(tempdir, infile, data): if(len(data[0]) == len(data[1]) == len(data[2]) == len(data[3])): parts = infile.split('.') outfile = tempdir + parts[0] + "_kalman." + parts[1] parts2 = parts[0].split('_') # extract ffids from ffid file created by the function # receiver_files which should be in this package. parts2[-1] = "ffid" ffidfile = tempdir + "_".join(parts2) + ".txt" # write data to single-column file fout = {} fname = {} for key in data: fname[key] = tempdir + str(key) + ".tmp" fout[key] = open(fname[key],'w') for j in range(0, len(data[0])): for key in data: fout[key].write(str(data[key][j]) + "\n") for key in data: fout[key].close() # paste results into single file with FFID cmd = "paste " + ffidfile for key in data: cmd = cmd + " " + fname[key] cmd = cmd + " > " + outfile os.system(cmd) # clean up for key in data: os.remove(fname[key]) else: print "Error in kal_nav_subroutines.write_kalfile:\n" print " coordinate lists are of different lengths." def prepforukooa(tempdir, fname): # convert lon/lat from dec to min/sec infile = tempdir + fname lonfile = tempdir + "lon.tmp" latfile = tempdir + "lat.tmp" ffidfile = tempdir + "ffid.tmp" eastingfile = tempdir + "east.tmp" northingfile = tempdir + "north.tmp" # read lon/lat data from file os.system("cat " + infile + " | awk \'{print $1}' > " + ffidfile) os.system("cat " + infile + " | awk \'{print $4}' > " + lonfile) os.system("cat " + infile + " | awk \'{print $5}' > " + latfile) os.system("cat " + infile + " | awk \'{print $2}' > " + eastingfile) os.system("cat " + infile + " | awk \'{print $3}' > " + northingfile) lons = list() lats = list() north = list() east = list() fid = open(lonfile,'r') line = fid.readline() while line: parts = line.split("\n") lons.append(parts[0]) line = fid.readline() fid.close() fid = open(latfile,'r') line = fid.readline() while line: parts = line.split("\n") lats.append(parts[0]) line = fid.readline() fid.close() # two sigfigs for lon/lat sigfigs = 2 # convert lon to dg/min/sec and write to file dg, mn, sc, dr = lon_dec2minsec(lons) fout = open(lonfile, 'w') for j in range(0,len(dg)): dgstr = str(int(dg[j])) while( len(dgstr) < 3 ): dgstr = "0" + dgstr mnstr = str(int(mn[j])) while( len(mnstr) < 2 ): mnstr = "0" + mnstr temp = str(sc[j]) parts = temp.split('.') scstr = str(round(float(parts[0] + "." + parts[1][0:2]) * 10**sigfigs) / 10**sigfigs) parts = scstr.split('.') while( len(parts[0]) < 2): parts[0] = "0" + parts[0] while(len(parts[1]) < 2): parts[1] = parts[1] + "0" scstr = '.'.join(parts) fout.write(dgstr + mnstr + scstr + dr[j] + "\n") fout.close() # convert lat to dg/min/sec and write to file dg, mn, sc, dr = lat_dec2minsec(lats) fout = open(latfile, 'w') for j in range(0,len(dg)): dgstr = str(int(dg[j])) while( len(dgstr) < 2 ): dgstr = "0" + dgstr mnstr = str(int(mn[j])) while( len(mnstr) < 2 ): mnstr = "0" + mnstr temp = str(sc[j]) parts = temp.split('.') scstr = str(round(float(parts[0] + "." + parts[1][0:2]) * 10**sigfigs) / 10**sigfigs) parts = scstr.split('.') while( len(parts[0]) < 2): parts[0] = "0" + parts[0] while(len(parts[1]) < 2): parts[1] = parts[1] + "0" scstr = '.'.join(parts) fout.write(dgstr + mnstr + scstr + dr[j] + "\n") fout.close() # correct the sigfigs for utm sigfigs = 1 fid = open(eastingfile,'r') line = fid.readline() while line: parts = line.split("\n") east.append(parts[0]) line = fid.readline() fid.close() fid = open(northingfile,'r') line = fid.readline() while line: parts = line.split("\n") north.append(parts[0]) line = fid.readline() fid.close() fout_e = open(eastingfile,'w') fout_n = open(northingfile,'w') for j in range(0,len(east)): etxt = str(round(float(east[j]) * 10 ** sigfigs) / 10 ** sigfigs) fout_e.write(etxt + "\n") ntxt = str(round(float(north[j]) * 10 ** sigfigs) / 10 ** sigfigs) fout_n.write(ntxt + "\n") fout_e.close() fout_n.close() os.system("paste " + ffidfile + " " + lonfile + " " + latfile + " " + \ eastingfile + " " + northingfile + " > " + infile) print "Loaded kal_nav_subroutines.py" kalman_UKOOA/kalman_nav.py0000664001506400150640000001130311044067613015626 0ustar mirshakmirshak#!/usr/bin/python ''' This script takes an input file UKOOA file, Kalman filters the locations of the sources, receivers, etc., and creates a new Kalman filtered nav file. From the command line, run $ python kalman_nav.py FILENAME_IN [FILENAME_OUT] [UTM NEWUTM] e.g. $ python kalman_nav.py original.P190 new.P190 21N 20N Note that the UTMs must be in this three-character format. Mandatory fields: FILENAME_IN is the name of the navigation file used for input Optional fields: FILENAME_OUT is the name of the navigation file that will be produced by kalman_nav.py. If this then the an output file name will be created that is similar to the input file, i.e. if the input file is filein.ext then the output file will be filein_kal.ext. UTM is the utmzone (e.g. 20) in the original nav file NEWUTM is the utmzone in which you want to process the data (e.g. 21). NOTE: UTM and NEWUTM must both be used or both be ommitted. If both are omitted, then it will be assumed that the UTM zone in the navigation file is correct. Reporting the correct UTM is necessary in some cases because a survey will cross multiple UTM zones. Normally, the surveyors will report only from one UTM. This procedure can cause confusion if other UTM datasets are to be compared with the seismic data later in analysis. This software package includes and requires the following scripts: ukooa.py : A Python package for reading and writing UKOOA : files, creating temporary files used by the : main script and other kalman_pos.py : A Python script that Kalman filters the nav data : in the temporary files produced by read_p190.rb This software package requires the following programs be installed on your computer (it will not check for these, so you have to be sure they are present): proj (http://trac.osgeo.org/proj/ -- can also be installed via yum, apt-get, etc.), python with numpy, scipy, and pylab packages. Written by Ramzi Mirshak, Departments of Oceanography and Earth Sciences, Dalhousie University, ramzi-at-dal-dot-ca. version 0.6 ''' import os import sys import numpy # My packages import kal_nav_subroutines as kn import ukooa ### BEGIN MAIN ### prog_name = "kalman_nav.py" # Read input arguments inputfile, outputfile, utmzone, newutmzone = kn.read_argv(sys.argv) print "Running kalman_nav.py on file " + inputfile print " output file is " + outputfile print " the old and new UTM zones are " + utmzone + " and " + newutmzone # Create temporary directory tempdir = kn.time_dir() os.mkdir(tempdir) print "Creating the temporary directory" + tempdir # while developmental #tempdir = '/var/tmp/dfb78c9b54496ca97a6f4ad0ab1dfc23/' # parse UKOOA file and make desired temporary files print "Reading UKOOA file." vessel_fields = {'V': "vessel", 'E' : "eship", 'A' : 'antenna', 'S': "source", 'Z' : 'zship', 'C' : "cmp",'T' : 'tail'} ukooa.read(inputfile, utmzone, newutmzone, tempdir, vessel_fields) # create file for each receiver: print "Creating location files for each receiver." inputfilename = kn.getinfile(inputfile) n_receivers = kn.receiver_files(tempdir, inputfilename) # run Kalman filter on fields print "Applying Kalman filter." tname = inputfilename + "_time.txt" for key in vessel_fields: fname = inputfilename + "_" + vessel_fields[key] + ".txt" xhat, yhat = kn.kalfilt(tempdir, tname, fname, 3, 4) lonhat, lathat = kn.utm2lonlat(xhat, yhat, newutmzone) data_fields = {0: xhat, 1: yhat, 2: lonhat, 3: lathat} kn.write_kalfile(tempdir, fname, data_fields) for i in range(0,n_receivers): istr = str(i + 1) while(len(istr) < 3): istr = "0" + istr fname = inputfilename + "_receive" + istr + ".txt" xhat, yhat = kn.kalfilt(tempdir, tname, fname, 3, 4) lonhat, lathat = kn.utm2lonlat(xhat, yhat, newutmzone) data_fields = {0: xhat, 1: yhat, 2: lonhat, 3: lathat} kn.write_kalfile(tempdir, fname, data_fields) # Prepare location files for UKOOA file. i.e. decimal degrees to # minutes second to be applied to UKOOA file, and ensure that sigfigs # match original format. print "Checking sigfigs for output to UKOOA file" for key in vessel_fields: fname = inputfilename + "_" + vessel_fields[key] + "_kalman.txt" kn.prepforukooa(tempdir, fname) for i in range(0,n_receivers): istr = str(i + 1) while(len(istr) < 3): istr = "0" + istr fname = inputfilename + "_receive" + istr + "_kalman.txt" kn.prepforukooa(tempdir, fname) print "Writing UKOOA file" ukooa.write(inputfile, outputfile, utmzone, newutmzone, vessel_fields, n_receivers, tempdir) # Remove temporary directory os.system("rm -rf " + tempdir) print "Removed temporary directory from /var/tmp/"