gnss-sdr/src/algorithms/libs/rtklib/rtklib_pntpos.h

/*!
 * \file rtklib_pntpos.h
 * \brief standard code-based positioning
 * \authors <ul>
 *          <li> 2007-2013, T. Takasu
 *          <li> 2017, Javier Arribas
 *          <li> 2017, Carles Fernandez
 *          </ul>
 *
 * This is a derived work from RTKLIB http://www.rtklib.com/
 * The original source code at https://github.com/tomojitakasu/RTKLIB is
 * released under the BSD 2-clause license with an additional exclusive clause
 * that does not apply here. This additional clause is reproduced below:
 *
 * " The software package includes some companion executive binaries or shared
 * libraries necessary to execute APs on Windows. These licenses succeed to the
 * original ones of these software. "
 *
 * Neither the executive binaries nor the shared libraries are required by, used
 * or included in GNSS-SDR.
 *
 * -------------------------------------------------------------------------
 * Copyright (C) 2007-2013, T. Takasu
 * Copyright (C) 2017, Javier Arribas
 * Copyright (C) 2017, Carles Fernandez
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 *----------------------------------------------------------------------------*/

#ifndef GNSS_SDR_RTKLIB_PNTPOS_H_
#define GNSS_SDR_RTKLIB_PNTPOS_H_

#include "rtklib.h"
#include "rtklib_rtkcmn.h"

/* constants -----------------------------------------------------------------*/
const int NX = 4 + 3;          //!< # of estimated parameters
const int MAXITR = 10;         //!< max number of iteration for point pos
const double ERR_ION = 5.0;    //!< ionospheric delay std (m)
const double ERR_TROP = 3.0;   //!< tropspheric delay std (m)


/* pseudorange measurement error variance ------------------------------------*/
double varerr(const prcopt_t *opt, double el, int sys);

/* get tgd parameter (m) -----------------------------------------------------*/
double gettgd(int sat, const nav_t *nav);

/* psendorange with code bias correction -------------------------------------*/
double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
                     int iter, const prcopt_t *opt, double *var);

/* ionospheric correction ------------------------------------------------------
* compute ionospheric correction
* args   : gtime_t time     I   time
*          nav_t  *nav      I   navigation data
*          int    sat       I   satellite number
*          double *pos      I   receiver position {lat,lon,h} (rad|m)
*          double *azel     I   azimuth/elevation angle {az,el} (rad)
*          int    ionoopt   I   ionospheric correction option (IONOOPT_???)
*          double *ion      O   ionospheric delay (L1) (m)
*          double *var      O   ionospheric delay (L1) variance (m^2)
* return : status(1:ok,0:error)
*-----------------------------------------------------------------------------*/
int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
                    const double *azel, int ionoopt, double *ion, double *var);
/* tropospheric correction -----------------------------------------------------
* compute tropospheric correction
* args   : gtime_t time     I   time
*          nav_t  *nav      I   navigation data
*          double *pos      I   receiver position {lat,lon,h} (rad|m)
*          double *azel     I   azimuth/elevation angle {az,el} (rad)
*          int    tropopt   I   tropospheric correction option (TROPOPT_???)
*          double *trp      O   tropospheric delay (m)
*          double *var      O   tropospheric delay variance (m^2)
* return : status(1:ok,0:error)
*-----------------------------------------------------------------------------*/
int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
                    const double *azel, int tropopt, double *trp, double *var);

/* pseudorange residuals -----------------------------------------------------*/
int rescode(int iter, const obsd_t *obs, int n, const double *rs,
                   const double *dts, const double *vare, const int *svh,
                   const nav_t *nav, const double *x, const prcopt_t *opt,
                   double *v, double *H, double *var, double *azel, int *vsat,
                   double *resp, int *ns);

/* validate solution ---------------------------------------------------------*/
int valsol(const double *azel, const int *vsat, int n,
                  const prcopt_t *opt, const double *v, int nv, int nx,
                  char *msg);

/* estimate receiver position ------------------------------------------------*/
int estpos(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);

/* raim fde (failure detection and exclution) -------------------------------*/
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);

/* doppler residuals ---------------------------------------------------------*/
int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
                  const nav_t *nav, const double *rr, const double *x,
                  const double *azel, const int *vsat, double *v, double *H);

/* estimate receiver velocity ------------------------------------------------*/
void estvel(const obsd_t *obs, int n, const double *rs, const double *dts,
                   const nav_t *nav, const prcopt_t *opt, sol_t *sol,
                   const double *azel, const int *vsat);

/*!
* \brief single-point positioning
* 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)
*/
int pntpos(const obsd_t *obs, int n, const nav_t *nav,
                  const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
                  char *msg);

#endif /* GNSS_SDR_RTKLIB_PNTPOS_H_ */