2017-04-20 14:10:12 +00:00
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/*!
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* \file rtklib_pntpos.cc
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* \brief standard code-based positioning
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* \authors <ul>
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* <li> 2007-2013, T. Takasu
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -------------------------------------------------------------------------
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* Copyright (C) 2007-2013, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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2017-04-21 09:34:23 +00:00
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*
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*-----------------------------------------------------------------------------*/
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2017-04-20 14:10:12 +00:00
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#include "rtklib_pntpos.h"
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/* pseudorange measurement error variance ------------------------------------*/
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double varerr(const prcopt_t *opt, double el, int sys)
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{
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double fact,varr;
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2017-04-21 09:34:23 +00:00
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fact = sys == SYS_GLO ? EFACT_GLO : (sys == SYS_SBS ? EFACT_SBS : EFACT_GPS);
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varr = std::pow(2, opt->err[0]) * (std::pow(2, opt->err[1]) + std::pow(2, opt->err[2]) / sin(el));
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if (opt->ionoopt == IONOOPT_IFLC) varr *= std::pow(2, 3.0); /* iono-free */
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return std::pow(2, fact) * varr;
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2017-04-20 14:10:12 +00:00
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}
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2017-04-21 09:34:23 +00:00
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2017-04-20 14:10:12 +00:00
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/* get tgd parameter (m) -----------------------------------------------------*/
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double gettgd(int sat, const nav_t *nav)
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{
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int i;
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2017-04-21 09:34:23 +00:00
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for (i = 0; i < nav->n; i++)
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{
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if (nav->eph[i].sat != sat) continue;
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return SPEED_OF_LIGHT * nav->eph[i].tgd[0];
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}
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2017-04-20 14:10:12 +00:00
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return 0.0;
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}
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2017-04-21 09:34:23 +00:00
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2017-04-20 14:10:12 +00:00
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/* psendorange with code bias correction -------------------------------------*/
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double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
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2017-04-21 09:34:23 +00:00
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int iter, const prcopt_t *opt, double *var)
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2017-04-20 14:10:12 +00:00
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{
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2017-04-21 09:34:23 +00:00
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const double *lam = nav->lam[obs->sat - 1];
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double PC, P1, P2, P1_P2, P1_C1, P2_C2, gamma;
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int i = 0, j = 1, sys;
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*var = 0.0;
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if (!(sys = satsys(obs->sat, NULL)))
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2017-04-20 14:10:12 +00:00
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{
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2017-04-21 09:34:23 +00:00
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trace(4, "prange: satsys NULL\n");
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2017-04-20 14:10:12 +00:00
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return 0.0;
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}
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2017-04-21 09:34:23 +00:00
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/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
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if (NFREQ>=3&&(sys&(SYS_GAL|SYS_SBS))) j = 2;
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if (NFREQ<2 || lam[i] == 0.0 || lam[j] == 0.0)
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{
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trace(4, "prange: NFREQ<2||lam[i]==0.0||lam[j]==0.0\n");
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printf("i: %d j:%d, lam[i]: %f lam[j] %f\n", i, j, lam[i], lam[j]);
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2017-04-20 14:10:12 +00:00
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return 0.0;
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}
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2017-04-21 09:34:23 +00:00
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/* test snr mask */
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if (iter>0)
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{
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if (testsnr(0, i, azel[1], obs->SNR[i] * 0.25, &opt->snrmask))
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2017-04-20 14:10:12 +00:00
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{
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2017-04-21 09:34:23 +00:00
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trace(4, "snr mask: %s sat=%2d el=%.1f snr=%.1f\n",
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time_str(obs->time, 0), obs->sat, azel[1] * R2D, obs->SNR[i] * 0.25);
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2017-04-20 14:10:12 +00:00
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return 0.0;
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}
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2017-04-21 09:34:23 +00:00
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if (opt->ionoopt == IONOOPT_IFLC)
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{
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if (testsnr(0, j, azel[1], obs->SNR[j] * 0.25, &opt->snrmask))
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{
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trace(4, "prange: testsnr error\n");
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return 0.0;
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}
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}
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2017-04-20 14:10:12 +00:00
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}
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2017-04-21 09:34:23 +00:00
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gamma = std::pow(2, lam[j]) / std::pow(2, lam[i]); /* f1^2/f2^2 */
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P1 = obs->P[i];
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P2 = obs->P[j];
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P1_P2 = nav->cbias[obs->sat-1][0];
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P1_C1 = nav->cbias[obs->sat-1][1];
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P2_C2 = nav->cbias[obs->sat-1][2];
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2017-04-20 14:10:12 +00:00
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/* if no P1-P2 DCB, use TGD instead */
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2017-04-21 09:34:23 +00:00
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if (P1_P2 == 0.0 && (sys & (SYS_GPS | SYS_GAL | SYS_QZS)))
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{
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P1_P2 = (1.0 - gamma) * gettgd(obs->sat, nav);
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}
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if (opt->ionoopt == IONOOPT_IFLC)
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{ /* dual-frequency */
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if (P1 == 0.0 || P2 == 0.0) return 0.0;
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if (obs->code[i] == CODE_L1C) P1 += P1_C1; /* C1->P1 */
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if (obs->code[j] == CODE_L2C) P2 += P2_C2; /* C2->P2 */
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/* iono-free combination */
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PC = (gamma * P1 - P2) / (gamma - 1.0);
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}
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else
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{ /* single-frequency */
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if (P1 == 0.0) return 0.0;
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if (obs->code[i] == CODE_L1C) P1 += P1_C1; /* C1->P1 */
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PC = P1 - P1_P2 / (1.0 - gamma);
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}
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if (opt->sateph == EPHOPT_SBAS) PC -= P1_C1; /* sbas clock based C1 */
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*var = std::pow(2, ERR_CBIAS);
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2017-04-20 14:10:12 +00:00
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return PC;
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}
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2017-04-21 09:34:23 +00:00
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2017-04-20 14:10:12 +00:00
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/* ionospheric correction ------------------------------------------------------
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2017-04-21 09:34:23 +00:00
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* compute ionospheric correction
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* args : gtime_t time I time
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* nav_t *nav I navigation data
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* int sat I satellite number
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* double *pos I receiver position {lat,lon,h} (rad|m)
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* double *azel I azimuth/elevation angle {az,el} (rad)
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* int ionoopt I ionospheric correction option (IONOOPT_???)
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* double *ion O ionospheric delay (L1) (m)
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* double *var O ionospheric delay (L1) variance (m^2)
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* return : status(1:ok,0:error)
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*-----------------------------------------------------------------------------*/
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2017-04-20 14:10:12 +00:00
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int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
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2017-04-21 09:34:23 +00:00
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const double *azel, int ionoopt, double *ion, double *var)
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2017-04-20 14:10:12 +00:00
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{
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2017-04-21 09:34:23 +00:00
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trace(4, "ionocorr: time=%s opt=%d sat=%2d pos=%.3f %.3f azel=%.3f %.3f\n",
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time_str(time, 3), ionoopt, sat, pos[0]*R2D, pos[1]*R2D, azel[0]*R2D,
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azel[1]*R2D);
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2017-04-20 14:10:12 +00:00
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/* broadcast model */
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2017-04-21 09:34:23 +00:00
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if (ionoopt == IONOOPT_BRDC)
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{
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*ion = ionmodel(time, nav->ion_gps, pos, azel);
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*var = SQR(*ion*ERR_BRDCI);
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return 1;
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}
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2017-04-20 14:10:12 +00:00
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/* sbas ionosphere model */
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2017-04-21 09:34:23 +00:00
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if (ionoopt == IONOOPT_SBAS)
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{
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return sbsioncorr(time, nav, pos, azel, ion, var);
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}
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2017-04-20 14:10:12 +00:00
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/* ionex tec model */
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2017-04-21 09:34:23 +00:00
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if (ionoopt == IONOOPT_TEC)
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{
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return iontec(time, nav, pos, azel, 1, ion, var);
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}
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2017-04-20 14:10:12 +00:00
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/* qzss broadcast model */
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2017-04-21 09:34:23 +00:00
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if (ionoopt == IONOOPT_QZS && norm(nav->ion_qzs, 8)>0.0)
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{
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*ion = ionmodel(time, nav->ion_qzs, pos, azel);
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*var = std::pow(2, *ion * ERR_BRDCI);
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return 1;
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}
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2017-04-20 14:10:12 +00:00
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/* lex ionosphere model */
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2017-04-21 09:34:23 +00:00
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//if (ionoopt == IONOOPT_LEX) {
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// return lexioncorr(time, nav, pos, azel, ion, var);
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2017-04-20 14:10:12 +00:00
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//}
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2017-04-21 09:34:23 +00:00
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*ion = 0.0;
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*var = ionoopt == IONOOPT_OFF ? std::pow(2, ERR_ION) : 0.0;
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2017-04-20 14:10:12 +00:00
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return 1;
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}
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2017-04-21 09:34:23 +00:00
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2017-04-20 14:10:12 +00:00
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/* tropospheric correction -----------------------------------------------------
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2017-04-21 09:34:23 +00:00
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* compute tropospheric correction
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* args : gtime_t time I time
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* nav_t *nav I navigation data
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* double *pos I receiver position {lat,lon,h} (rad|m)
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* double *azel I azimuth/elevation angle {az,el} (rad)
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* int tropopt I tropospheric correction option (TROPOPT_???)
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* double *trp O tropospheric delay (m)
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* double *var O tropospheric delay variance (m^2)
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* return : status(1:ok,0:error)
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*-----------------------------------------------------------------------------*/
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2017-04-20 14:10:12 +00:00
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int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
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2017-04-21 09:34:23 +00:00
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const double *azel, int tropopt, double *trp, double *var)
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2017-04-20 14:10:12 +00:00
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{
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2017-04-21 09:34:23 +00:00
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trace(4, "tropcorr: time=%s opt=%d pos=%.3f %.3f azel=%.3f %.3f\n",
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time_str(time, 3), tropopt, pos[0]*R2D, pos[1]*R2D, azel[0]*R2D,
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azel[1]*R2D);
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2017-04-20 14:10:12 +00:00
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/* saastamoinen model */
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2017-04-21 09:34:23 +00:00
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if (tropopt == TROPOPT_SAAS || tropopt == TROPOPT_EST || tropopt == TROPOPT_ESTG)
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{
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*trp = tropmodel(time, pos, azel, REL_HUMI);
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*var = SQR(ERR_SAAS / (sin(azel[1]) + 0.1));
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return 1;
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}
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2017-04-20 14:10:12 +00:00
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/* sbas troposphere model */
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2017-04-21 09:34:23 +00:00
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if (tropopt == TROPOPT_SBAS)
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{
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*trp = sbstropcorr(time, pos, azel, var);
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return 1;
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}
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2017-04-20 14:10:12 +00:00
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/* no correction */
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2017-04-21 09:34:23 +00:00
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*trp = 0.0;
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*var = tropopt == TROPOPT_OFF ? std::pow(2, ERR_TROP) : 0.0;
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2017-04-20 14:10:12 +00:00
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return 1;
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}
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2017-04-21 09:34:23 +00:00
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2017-04-20 14:10:12 +00:00
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/* pseudorange residuals -----------------------------------------------------*/
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int rescode(int iter, const obsd_t *obs, int n, const double *rs,
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2017-04-21 09:34:23 +00:00
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const double *dts, const double *vare, const int *svh,
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const nav_t *nav, const double *x, const prcopt_t *opt,
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double *v, double *H, double *var, double *azel, int *vsat,
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double *resp, int *ns)
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2017-04-20 14:10:12 +00:00
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{
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2017-04-21 09:34:23 +00:00
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double r, dion, dtrp, vmeas, vion, vtrp, rr[3], pos[3], dtr, e[3], P, lam_L1;
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int i, j, nv = 0, sys, mask[4] = {0};
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trace(3, "resprng : n=%d\n", n);
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for (i = 0; i < 3; i++) rr[i] = x[i];
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dtr = x[3];
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ecef2pos(rr, pos);
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for (i = *ns = 0; i < n && i < MAXOBS; i++)
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{
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vsat[i] = 0;
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azel[i*2] = azel[1+i*2] = resp[i] = 0.0;
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if (!(sys = satsys(obs[i].sat, NULL))) continue;
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/* reject duplicated observation data */
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if (i < n - 1 && i < MAXOBS - 1 && obs[i].sat == obs[i+1].sat)
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{
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trace(2, "duplicated observation data %s sat=%2d\n",
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time_str(obs[i].time, 3), obs[i].sat);
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i++;
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continue;
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}
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/* geometric distance/azimuth/elevation angle */
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if ((r = geodist(rs + i * 6, rr, e)) <= 0.0 || satazel(pos, e, azel + i * 2) < opt->elmin)
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|
|
|
{
|
|
|
|
trace(4, "geodist / satazel error\n");
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* psudorange with code bias correction */
|
|
|
|
if ((P = prange(obs+i, nav, azel+i*2, iter, opt, &vmeas)) == 0.0)
|
|
|
|
{
|
|
|
|
trace(4, "prange error\n");
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* excluded satellite? */
|
|
|
|
if (satexclude(obs[i].sat, svh[i], opt))
|
|
|
|
{
|
|
|
|
trace(4, "satexclude error\n");
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* ionospheric corrections */
|
|
|
|
if (!ionocorr(obs[i].time, nav, obs[i].sat, pos, azel+i*2,
|
|
|
|
iter>0 ? opt->ionoopt : IONOOPT_BRDC, &dion, &vion))
|
|
|
|
{
|
|
|
|
trace(4, "ionocorr error\n");
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* GPS-L1 -> L1/B1 */
|
|
|
|
if ((lam_L1 = nav->lam[obs[i].sat - 1][0]) > 0.0)
|
|
|
|
{
|
|
|
|
dion *= pow(2, lam_L1 / lam_carr[0]);
|
|
|
|
}
|
|
|
|
/* tropospheric corrections */
|
|
|
|
if (!tropcorr(obs[i].time, nav, pos, azel + i*2,
|
|
|
|
iter > 0 ? opt->tropopt : TROPOPT_SAAS, &dtrp, &vtrp))
|
|
|
|
{
|
|
|
|
trace(4, "tropocorr error\n");
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
/* pseudorange residual */
|
|
|
|
v[nv] = P - (r + dtr - SPEED_OF_LIGHT * dts[i*2] + dion + dtrp);
|
|
|
|
|
|
|
|
/* design matrix */
|
|
|
|
for (j = 0; j < NX; j++) H[j + nv * NX] = j < 3 ? - e[j] : (j == 3 ? 1.0 : 0.0);
|
|
|
|
|
|
|
|
/* time system and receiver bias offset correction */
|
|
|
|
if (sys == SYS_GLO) {v[nv] -= x[4]; H[4+nv*NX] = 1.0; mask[1] = 1;}
|
|
|
|
else if (sys == SYS_GAL) {v[nv] -= x[5]; H[5+nv*NX] = 1.0; mask[2] = 1;}
|
|
|
|
else if (sys == SYS_BDS) {v[nv] -= x[6]; H[6+nv*NX] = 1.0; mask[3] = 1;}
|
|
|
|
else mask[0] = 1;
|
|
|
|
|
|
|
|
vsat[i] = 1;
|
|
|
|
resp[i] = v[nv];
|
|
|
|
(*ns)++;
|
|
|
|
|
|
|
|
/* error variance */
|
|
|
|
var[nv++] = varerr(opt, azel[1+i*2], sys) + vare[i] + vmeas + vion + vtrp;
|
|
|
|
|
|
|
|
trace(4, "sat=%2d azel=%5.1f %4.1f res=%7.3f sig=%5.3f\n", obs[i].sat,
|
|
|
|
azel[i*2] * R2D, azel[1+i*2] * R2D, resp[i], sqrt(var[nv-1]));
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
|
|
|
/* constraint to avoid rank-deficient */
|
2017-04-21 09:34:23 +00:00
|
|
|
for (i = 0; i < 4; i++)
|
|
|
|
{
|
|
|
|
if (mask[i]) continue;
|
|
|
|
v[nv] = 0.0;
|
|
|
|
for (j = 0; j < NX; j++) H[j + nv * NX] = j == i + 3 ? 1.0 : 0.0;
|
|
|
|
var[nv++] = 0.01;
|
|
|
|
}
|
2017-04-20 14:10:12 +00:00
|
|
|
return nv;
|
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* validate solution ---------------------------------------------------------*/
|
|
|
|
int valsol(const double *azel, const int *vsat, int n,
|
2017-04-21 09:34:23 +00:00
|
|
|
const prcopt_t *opt, const double *v, int nv, int nx,
|
|
|
|
char *msg)
|
2017-04-20 14:10:12 +00:00
|
|
|
{
|
2017-04-21 09:34:23 +00:00
|
|
|
double azels[MAXOBS*2], dop[4], vv;
|
|
|
|
int i, ns;
|
|
|
|
|
|
|
|
trace(3, "valsol : n=%d nv=%d\n", n, nv);
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* chi-square validation of residuals */
|
2017-04-21 09:34:23 +00:00
|
|
|
vv = dot(v, v, nv);
|
|
|
|
if (nv > nx && vv > chisqr[nv-nx-1])
|
|
|
|
{
|
|
|
|
sprintf(msg, "chi-square error nv=%d vv=%.1f cs=%.1f", nv, vv, chisqr[nv-nx-1]);
|
|
|
|
return 0;
|
|
|
|
}
|
2017-04-20 14:10:12 +00:00
|
|
|
/* large gdop check */
|
2017-04-21 09:34:23 +00:00
|
|
|
for (i = ns = 0; i < n; i++)
|
|
|
|
{
|
|
|
|
if (!vsat[i]) continue;
|
|
|
|
azels[ ns*2] = azel[ i*2];
|
|
|
|
azels[1+ns*2] = azel[1+i*2];
|
|
|
|
ns++;
|
|
|
|
}
|
|
|
|
dops(ns, azels, opt->elmin, dop);
|
|
|
|
if (dop[0] <= 0.0 || dop[0] > opt->maxgdop)
|
|
|
|
{
|
|
|
|
sprintf(msg, "gdop error nv=%d gdop=%.1f", nv, dop[0]);
|
|
|
|
return 0;
|
|
|
|
}
|
2017-04-20 14:10:12 +00:00
|
|
|
return 1;
|
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* estimate receiver position ------------------------------------------------*/
|
|
|
|
int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
|
2017-04-21 09:34:23 +00:00
|
|
|
const double *vare, const int *svh, const nav_t *nav,
|
|
|
|
const prcopt_t *opt, sol_t *sol, double *azel, int *vsat,
|
|
|
|
double *resp, char *msg)
|
2017-04-20 14:10:12 +00:00
|
|
|
{
|
2017-04-21 09:34:23 +00:00
|
|
|
double x[NX] = {0}, dx[NX], Q[NX*NX], *v, *H, *var, sig;
|
|
|
|
int i, j, k, info, stat, nv, ns;
|
|
|
|
|
|
|
|
trace(3, "estpos : n=%d\n", n);
|
|
|
|
|
|
|
|
v = mat(n + 4, 1);
|
|
|
|
H = mat(NX, n + 4);
|
|
|
|
var = mat(n + 4, 1);
|
|
|
|
|
|
|
|
for (i = 0; i < 3; i++) x[i] = sol->rr[i];
|
|
|
|
|
|
|
|
for (i = 0; i < MAXITR; i++)
|
|
|
|
{
|
|
|
|
/* pseudorange residuals */
|
|
|
|
nv = rescode(i, obs, n, rs, dts, vare, svh, nav, x, opt, v, H, var, azel, vsat, resp, &ns);
|
|
|
|
|
|
|
|
if (nv < NX)
|
|
|
|
{
|
|
|
|
sprintf(msg, "lack of valid sats ns=%d", nv);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
/* weight by variance */
|
|
|
|
for (j = 0;j < nv; j++)
|
|
|
|
{
|
|
|
|
sig = sqrt(var[j]);
|
|
|
|
v[j] /= sig;
|
|
|
|
for (k = 0; k < NX; k++) H[k + j * NX] /= sig;
|
|
|
|
}
|
|
|
|
/* least square estimation */
|
|
|
|
if ((info = lsq(H, v, NX, nv, dx, Q)))
|
|
|
|
{
|
|
|
|
sprintf(msg, "lsq error info=%d", info);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
for (j = 0; j < NX; j++) x[j] += dx[j];
|
|
|
|
|
|
|
|
if (norm(dx, NX) < 1e-4)
|
|
|
|
{
|
|
|
|
sol->type = 0;
|
|
|
|
sol->time = timeadd(obs[0].time, -x[3] / SPEED_OF_LIGHT);
|
|
|
|
sol->dtr[0] = x[3] / SPEED_OF_LIGHT; /* receiver clock bias (s) */
|
|
|
|
sol->dtr[1] = x[4] / SPEED_OF_LIGHT; /* glo-gps time offset (s) */
|
|
|
|
sol->dtr[2] = x[5] / SPEED_OF_LIGHT; /* gal-gps time offset (s) */
|
|
|
|
sol->dtr[3] = x[6] / SPEED_OF_LIGHT; /* bds-gps time offset (s) */
|
|
|
|
for (j = 0; j < 6; j++) sol->rr[j] = j < 3 ? x[j] : 0.0;
|
|
|
|
for (j = 0; j < 3; j++) sol->qr[j] = (float)Q[j + j * NX];
|
|
|
|
sol->qr[3] = (float)Q[1]; /* cov xy */
|
|
|
|
sol->qr[4] = (float)Q[2 + NX]; /* cov yz */
|
|
|
|
sol->qr[5] = (float)Q[2]; /* cov zx */
|
|
|
|
sol->ns = (unsigned char)ns;
|
|
|
|
sol->age = sol->ratio = 0.0;
|
|
|
|
|
|
|
|
/* validate solution */
|
|
|
|
if ((stat = valsol(azel, vsat, n, opt, v, nv, NX, msg)))
|
|
|
|
{
|
|
|
|
sol->stat = opt->sateph == EPHOPT_SBAS ? SOLQ_SBAS : SOLQ_SINGLE;
|
|
|
|
}
|
|
|
|
free(v);
|
|
|
|
free(H);
|
|
|
|
free(var);
|
|
|
|
|
|
|
|
return stat;
|
|
|
|
}
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
if (i >= MAXITR) sprintf(msg, "iteration divergent i=%d", i);
|
|
|
|
|
|
|
|
free(v);
|
|
|
|
free(H);
|
|
|
|
free(var);
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
return 0;
|
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* raim fde (failure detection and exclution) -------------------------------*/
|
2017-04-21 09:34:23 +00:00
|
|
|
int raim_fde(const obsd_t *obs, int n, const double *rs,
|
|
|
|
const double *dts, const double *vare, const int *svh,
|
|
|
|
const nav_t *nav, const prcopt_t *opt, sol_t *sol,
|
|
|
|
double *azel, int *vsat, double *resp, char *msg)
|
2017-04-20 14:10:12 +00:00
|
|
|
{
|
|
|
|
obsd_t *obs_e;
|
2017-04-21 09:34:23 +00:00
|
|
|
sol_t sol_e = {};
|
|
|
|
char tstr[32], name[16], msg_e[128];
|
|
|
|
double *rs_e, *dts_e, *vare_e, *azel_e, *resp_e, rms_e, rms = 100.0;
|
|
|
|
int i, j, k, nvsat, stat = 0, *svh_e, *vsat_e, sat = 0;
|
|
|
|
|
|
|
|
trace(3, "raim_fde: %s n=%2d\n", time_str(obs[0].time, 0), n);
|
|
|
|
|
|
|
|
if (!(obs_e = (obsd_t *)malloc(sizeof(obsd_t) * n))) return 0;
|
|
|
|
rs_e = mat(6, n);
|
|
|
|
dts_e = mat(2, n);
|
|
|
|
vare_e = mat(1, n);
|
|
|
|
azel_e = zeros(2, n);
|
|
|
|
svh_e = imat(1, n);
|
|
|
|
vsat_e = imat(1, n);
|
|
|
|
resp_e = mat(1, n);
|
|
|
|
|
|
|
|
for (i = 0; i < n; i++)
|
|
|
|
{
|
|
|
|
/* satellite exclution */
|
|
|
|
for (j = k = 0; j < n; j++)
|
|
|
|
{
|
|
|
|
if (j == i) continue;
|
|
|
|
obs_e[k] = obs[j];
|
|
|
|
matcpy(rs_e + 6 * k, rs + 6 * j, 6, 1);
|
|
|
|
matcpy(dts_e + 2 * k, dts + 2 * j, 2, 1);
|
|
|
|
vare_e[k] = vare[j];
|
|
|
|
svh_e[k++] = svh[j];
|
|
|
|
}
|
|
|
|
/* estimate receiver position without a satellite */
|
|
|
|
if (!estpos(obs_e, n-1, rs_e, dts_e, vare_e, svh_e, nav, opt, &sol_e, azel_e,
|
|
|
|
vsat_e, resp_e, msg_e))
|
|
|
|
{
|
|
|
|
trace(3, "raim_fde: exsat=%2d (%s)\n", obs[i].sat, msg);
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
for (j = nvsat = 0, rms_e = 0.0; j < n - 1; j++)
|
|
|
|
{
|
|
|
|
if (!vsat_e[j]) continue;
|
|
|
|
rms_e += std::pow(2, resp_e[j]);
|
|
|
|
nvsat++;
|
|
|
|
}
|
|
|
|
if (nvsat < 5)
|
|
|
|
{
|
|
|
|
trace(3, "raim_fde: exsat=%2d lack of satellites nvsat=%2d\n",
|
|
|
|
obs[i].sat, nvsat);
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
rms_e = sqrt(rms_e / nvsat);
|
|
|
|
|
|
|
|
trace(3, "raim_fde: exsat=%2d rms=%8.3f\n", obs[i].sat, rms_e);
|
|
|
|
|
|
|
|
if (rms_e > rms) continue;
|
|
|
|
|
|
|
|
/* save result */
|
|
|
|
for (j = k = 0; j < n; j++)
|
|
|
|
{
|
|
|
|
if (j == i) continue;
|
|
|
|
matcpy(azel + 2 * j, azel_e + 2 * k, 2, 1);
|
|
|
|
vsat[j] = vsat_e[k];
|
|
|
|
resp[j] = resp_e[k++];
|
|
|
|
}
|
|
|
|
stat = 1;
|
|
|
|
*sol = sol_e;
|
|
|
|
sat = obs[i].sat;
|
|
|
|
rms = rms_e;
|
|
|
|
vsat[i] = 0;
|
|
|
|
strcpy(msg, msg_e);
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
if (stat)
|
|
|
|
{
|
|
|
|
time2str(obs[0].time, tstr, 2); satno2id(sat, name);
|
|
|
|
trace(2, "%s: %s excluded by raim\n", tstr + 11, name);
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
|
|
|
free(obs_e);
|
2017-04-21 09:34:23 +00:00
|
|
|
free(rs_e);
|
|
|
|
free(dts_e);
|
|
|
|
free(vare_e);
|
|
|
|
free(azel_e);
|
|
|
|
free(svh_e);
|
|
|
|
free(vsat_e);
|
|
|
|
free(resp_e);
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
return stat;
|
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* doppler residuals ---------------------------------------------------------*/
|
|
|
|
int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
|
2017-04-21 09:34:23 +00:00
|
|
|
const nav_t *nav, const double *rr, const double *x,
|
|
|
|
const double *azel, const int *vsat, double *v, double *H)
|
2017-04-20 14:10:12 +00:00
|
|
|
{
|
2017-04-21 09:34:23 +00:00
|
|
|
double lam, rate, pos[3], E[9], a[3], e[3], vs[3], cosel;
|
|
|
|
int i, j, nv = 0;
|
|
|
|
|
|
|
|
trace(3, "resdop : n=%d\n", n);
|
|
|
|
|
|
|
|
ecef2pos(rr, pos);
|
|
|
|
xyz2enu(pos, E);
|
|
|
|
|
|
|
|
for (i = 0; i < n && i < MAXOBS; i++)
|
|
|
|
{
|
|
|
|
lam = nav->lam[obs[i].sat-1][0];
|
|
|
|
|
|
|
|
if (obs[i].D[0] == 0.0 || lam == 0.0 || !vsat[i] || norm(rs + 3 + i * 6, 3) <= 0.0)
|
|
|
|
{
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
/* line-of-sight vector in ecef */
|
|
|
|
cosel = cos(azel[1+i*2]);
|
|
|
|
a[0] = sin(azel[i*2]) * cosel;
|
|
|
|
a[1] = cos(azel[i*2]) * cosel;
|
|
|
|
a[2] = sin(azel[1+i*2]);
|
|
|
|
matmul("TN", 3, 1, 3, 1.0, E, a, 0.0, e);
|
|
|
|
|
|
|
|
/* satellite velocity relative to receiver in ecef */
|
|
|
|
for (j = 0; j < 3; j++) vs[j] = rs[j+3+i*6] - x[j];
|
|
|
|
|
|
|
|
/* range rate with earth rotation correction */
|
|
|
|
rate = dot(vs, e, 3) + DEFAULT_OMEGA_EARTH_DOT / SPEED_OF_LIGHT * (rs[4 + i * 6] * rr[0] + rs[1 + i * 6] * x[0]-
|
|
|
|
rs[3 + i * 6] * rr[1] - rs[i * 6] * x[1]);
|
|
|
|
|
|
|
|
/* doppler residual */
|
|
|
|
v[nv] =- lam * obs[i].D[0] - (rate + x[3] - SPEED_OF_LIGHT * dts[1 + i *2]);
|
|
|
|
|
|
|
|
/* design matrix */
|
|
|
|
for (j = 0; j < 4; j++) H[j + nv * 4] = j < 3 ? - e[j] : 1.0;
|
|
|
|
|
|
|
|
nv++;
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
|
|
|
return nv;
|
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* estimate receiver velocity ------------------------------------------------*/
|
|
|
|
void estvel(const obsd_t *obs, int n, const double *rs, const double *dts,
|
2017-04-21 09:34:23 +00:00
|
|
|
const nav_t *nav, const prcopt_t *opt, sol_t *sol,
|
|
|
|
const double *azel, const int *vsat)
|
2017-04-20 14:10:12 +00:00
|
|
|
{
|
2017-04-21 09:34:23 +00:00
|
|
|
double x[4] = {0}, dx[4], Q[16], *v, *H;
|
|
|
|
int i, j, nv;
|
|
|
|
|
|
|
|
trace(3, "estvel : n=%d\n", n);
|
|
|
|
|
|
|
|
v = mat(n, 1);
|
|
|
|
H = mat(4, n);
|
|
|
|
|
|
|
|
for (i = 0; i < MAXITR; i++)
|
|
|
|
{
|
|
|
|
/* doppler residuals */
|
|
|
|
if ((nv = resdop(obs, n, rs, dts, nav, sol->rr, x, azel, vsat, v, H)) < 4)
|
|
|
|
{
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
/* least square estimation */
|
|
|
|
if (lsq(H, v, 4, nv, dx, Q)) break;
|
|
|
|
|
|
|
|
for (j = 0; j < 4; j++) x[j] += dx[j];
|
|
|
|
|
|
|
|
if (norm(dx, 4) < 1e-6)
|
|
|
|
{
|
|
|
|
for (i = 0; i < 3; i++) sol->rr[i+3] = x[i];
|
|
|
|
break;
|
|
|
|
}
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
free(v);
|
|
|
|
free(H);
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* single-point positioning ----------------------------------------------------
|
2017-04-21 09:34:23 +00:00
|
|
|
* compute receiver position, velocity, clock bias by single-point positioning
|
|
|
|
* with pseudorange and doppler observables
|
|
|
|
* args : obsd_t *obs I observation data
|
|
|
|
* int n I number of observation data
|
|
|
|
* nav_t *nav I navigation data
|
|
|
|
* prcopt_t *opt I processing options
|
|
|
|
* sol_t *sol IO solution
|
|
|
|
* double *azel IO azimuth/elevation angle (rad) (NULL: no output)
|
|
|
|
* ssat_t *ssat IO satellite status (NULL: no output)
|
|
|
|
* char *msg O error message for error exit
|
|
|
|
* return : status(1:ok,0:error)
|
|
|
|
* notes : assuming sbas-gps, galileo-gps, qzss-gps, compass-gps time offset and
|
|
|
|
* receiver bias are negligible (only involving glonass-gps time offset
|
|
|
|
* and receiver bias)
|
|
|
|
*-----------------------------------------------------------------------------*/
|
2017-04-20 14:10:12 +00:00
|
|
|
int pntpos(const obsd_t *obs, int n, const nav_t *nav,
|
2017-04-21 09:34:23 +00:00
|
|
|
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
|
|
|
|
char *msg)
|
2017-04-20 14:10:12 +00:00
|
|
|
{
|
2017-04-21 09:34:23 +00:00
|
|
|
// int k = 0;
|
|
|
|
// for (k = 0;k<n;k++)
|
|
|
|
// {
|
|
|
|
// printf("OBS[%i]: sat %i, P:%f ,LLI:%s \r\n",k,obs[k].sat,obs[k].P[0], obs[k].LLI);
|
|
|
|
// }
|
|
|
|
//
|
|
|
|
// for (k = 0;k<nav->n;k++)
|
|
|
|
// {
|
|
|
|
// printf("NAV[%i]: sat %i, %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f \r\n",
|
|
|
|
// k,
|
|
|
|
// nav->eph[k].sat,
|
|
|
|
// nav->eph[k].A,
|
|
|
|
// nav->eph[k].Adot,
|
|
|
|
// nav->eph[k].M0,
|
|
|
|
// nav->eph[k].OMG0,
|
|
|
|
// nav->eph[k].OMGd,
|
|
|
|
// nav->eph[k].cic,
|
|
|
|
// nav->eph[k].cis,
|
|
|
|
// nav->eph[k].code,
|
|
|
|
// nav->eph[k].crc,
|
|
|
|
// nav->eph[k].crs,
|
|
|
|
// nav->eph[k].cuc,
|
|
|
|
// nav->eph[k].cus,
|
|
|
|
// nav->eph[k].deln,
|
|
|
|
// nav->eph[k].e,
|
|
|
|
// nav->eph[k].f0,
|
|
|
|
// nav->eph[k].f1,
|
|
|
|
// nav->eph[k].f2,
|
|
|
|
// nav->eph[k].fit,
|
|
|
|
// nav->eph[k].flag,
|
|
|
|
// nav->eph[k].i0,
|
|
|
|
// nav->eph[k].idot,
|
|
|
|
// nav->eph[k].iodc,
|
|
|
|
// nav->eph[k].iode,
|
|
|
|
// nav->eph[k].ndot,
|
|
|
|
// nav->eph[k].omg,
|
|
|
|
// nav->eph[k].sat,
|
|
|
|
// nav->eph[k].sva,
|
|
|
|
// nav->eph[k].svh,
|
|
|
|
// nav->eph[k].tgd[0],
|
|
|
|
// nav->eph[k].toc.sec,
|
|
|
|
// nav->eph[k].toe.sec,
|
|
|
|
// nav->eph[k].toes,
|
|
|
|
// nav->eph[k].ttr.sec,
|
|
|
|
// nav->eph[k].week);
|
|
|
|
// }
|
|
|
|
|
|
|
|
prcopt_t opt_ = *opt;
|
|
|
|
double *rs, *dts, *var, *azel_, *resp;
|
|
|
|
int i, stat, vsat[MAXOBS] = {0}, svh[MAXOBS];
|
|
|
|
|
|
|
|
sol->stat = SOLQ_NONE;
|
|
|
|
|
|
|
|
if (n <= 0) {strcpy(msg, "no observation data"); return 0;}
|
|
|
|
|
|
|
|
trace(3, "pntpos : tobs=%s n=%d\n", time_str(obs[0].time, 3), n);
|
|
|
|
|
|
|
|
sol->time = obs[0].time;
|
|
|
|
msg[0] = '\0';
|
|
|
|
|
|
|
|
rs = mat(6, n);
|
|
|
|
dts = mat(2, n);
|
|
|
|
var = mat(1, n);
|
|
|
|
azel_ = zeros(2, n);
|
|
|
|
resp = mat(1, n);
|
|
|
|
|
|
|
|
if (opt_.mode != PMODE_SINGLE)
|
|
|
|
{ /* for precise positioning */
|
2017-04-20 14:10:12 +00:00
|
|
|
#if 0
|
2017-04-21 09:34:23 +00:00
|
|
|
opt_.sateph = EPHOPT_BRDC;
|
2017-04-20 14:10:12 +00:00
|
|
|
#endif
|
2017-04-21 09:34:23 +00:00
|
|
|
opt_.ionoopt = IONOOPT_BRDC;
|
|
|
|
opt_.tropopt = TROPOPT_SAAS;
|
|
|
|
}
|
2017-04-20 14:10:12 +00:00
|
|
|
/* satellite positons, velocities and clocks */
|
2017-04-21 09:34:23 +00:00
|
|
|
satposs(sol->time, obs, n, nav, opt_.sateph, rs, dts, var, svh);
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* estimate receiver position with pseudorange */
|
2017-04-21 09:34:23 +00:00
|
|
|
stat = estpos(obs, n, rs, dts, var, svh, nav, &opt_, sol, azel_, vsat, resp, msg);
|
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
/* raim fde */
|
2017-04-21 09:34:23 +00:00
|
|
|
if (!stat && n >= 6 && opt->posopt[4])
|
|
|
|
{
|
|
|
|
stat = raim_fde(obs, n, rs, dts, var, svh, nav, &opt_, sol, azel_, vsat, resp, msg);
|
|
|
|
}
|
2017-04-20 14:10:12 +00:00
|
|
|
/* estimate receiver velocity with doppler */
|
2017-04-21 09:34:23 +00:00
|
|
|
if (stat) estvel(obs, n, rs, dts, nav, &opt_, sol, azel_, vsat);
|
|
|
|
|
|
|
|
if (azel)
|
|
|
|
{
|
|
|
|
for (i = 0; i < n * 2; i++) azel[i] = azel_[i];
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
if (ssat)
|
|
|
|
{
|
|
|
|
for (i = 0; i < MAXSAT; i++)
|
|
|
|
{
|
|
|
|
ssat[i].vs = 0;
|
|
|
|
ssat[i].azel[0] = ssat[i].azel[1] = 0.0;
|
|
|
|
ssat[i].resp[0] = ssat[i].resc[0] = 0.0;
|
|
|
|
ssat[i].snr[0] = 0;
|
|
|
|
}
|
|
|
|
for (i = 0; i < n; i++)
|
|
|
|
{
|
|
|
|
ssat[obs[i].sat-1].azel[0] = azel_[ i*2];
|
|
|
|
ssat[obs[i].sat-1].azel[1] = azel_[1+i*2];
|
|
|
|
ssat[obs[i].sat-1].snr[0] = obs[i].SNR[0];
|
|
|
|
if (!vsat[i]) continue;
|
|
|
|
ssat[obs[i].sat-1].vs = 1;
|
|
|
|
ssat[obs[i].sat-1].resp[0] = resp[i];
|
|
|
|
}
|
2017-04-20 14:10:12 +00:00
|
|
|
}
|
2017-04-21 09:34:23 +00:00
|
|
|
free(rs);
|
|
|
|
free(dts);
|
|
|
|
free(var);
|
|
|
|
free(azel_);
|
|
|
|
free(resp);
|
2017-04-20 14:10:12 +00:00
|
|
|
return stat;
|
|
|
|
}
|