mirror of
https://github.com/gnss-sdr/gnss-sdr
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181 lines
8.8 KiB
C
181 lines
8.8 KiB
C
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/*!
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* \file rtklib_pntpos.h
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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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*
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* history : 2010/07/28 1.0 moved from rtkcmn.c
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* changed api:
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* pntpos()
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* deleted api:
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* pntvel()
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* 2011/01/12 1.1 add option to include unhealthy satellite
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* reject duplicated observation data
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* changed api: ionocorr()
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* 2011/11/08 1.2 enable snr mask for single-mode (rtklib_2.4.1_p3)
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* 2012/12/25 1.3 add variable snr mask
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* 2014/05/26 1.4 support galileo and beidou
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* 2015/03/19 1.5 fix bug on ionosphere correction for GLO and BDS
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*-----------------------------------------------------------------------------*/
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#ifndef RTKLIB_PNTPOS_H_
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#define RTKLIB_PNTPOS_H_
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#include "rtklib.h"
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#include "rtklib_rtkcmn.h"
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#include "rtklib_ephemeris.h"
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#include "rtklib_ionex.h"
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/* constants -----------------------------------------------------------------*/
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#define SQR(x) ((x)*(x))
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#define NX (4+3) /* # of estimated parameters */
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#define MAXITR 10 /* max number of iteration for point pos */
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#define ERR_ION 5.0 /* ionospheric delay std (m) */
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#define ERR_TROP 3.0 /* tropspheric delay std (m) */
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#define ERR_SAAS 0.3 /* saastamoinen model error std (m) */
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#define ERR_BRDCI 0.5 /* broadcast iono model error factor */
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#define ERR_CBIAS 0.3 /* code bias error std (m) */
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#define REL_HUMI 0.7 /* relative humidity for saastamoinen model */
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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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/* get tgd parameter (m) -----------------------------------------------------*/
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double gettgd(int sat, const nav_t *nav);
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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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int iter, const prcopt_t *opt, double *var);
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/* ionospheric correction ------------------------------------------------------
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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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int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
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const double *azel, int ionoopt, double *ion, double *var);
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/* tropospheric correction -----------------------------------------------------
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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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int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
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const double *azel, int tropopt, double *trp, double *var);
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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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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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/* validate solution ---------------------------------------------------------*/
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int valsol(const double *azel, const int *vsat, int n,
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const prcopt_t *opt, const double *v, int nv, int nx,
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char *msg);
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/* estimate receiver position ------------------------------------------------*/
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int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
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const double *vare, const int *svh, const nav_t *nav,
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const prcopt_t *opt, sol_t *sol, double *azel, int *vsat,
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double *resp, char *msg);
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/* raim fde (failure detection and exclution) -------------------------------*/
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int raim_fde(const obsd_t *obs, int n, const double *rs,
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const double *dts, const double *vare, const int *svh,
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const nav_t *nav, const prcopt_t *opt, sol_t *sol,
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double *azel, int *vsat, double *resp, char *msg);
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/* doppler residuals ---------------------------------------------------------*/
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int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
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const nav_t *nav, const double *rr, const double *x,
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const double *azel, const int *vsat, double *v, double *H);
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/* estimate receiver velocity ------------------------------------------------*/
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void estvel(const obsd_t *obs, int n, const double *rs, const double *dts,
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const nav_t *nav, const prcopt_t *opt, sol_t *sol,
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const double *azel, const int *vsat);
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/*!
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* \brief single-point positioning
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* compute receiver position, velocity, clock bias by single-point positioning
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* with pseudorange and doppler observables
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* args : obsd_t *obs I observation data
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* int n I number of observation data
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* nav_t *nav I navigation data
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* prcopt_t *opt I processing options
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* sol_t *sol IO solution
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* double *azel IO azimuth/elevation angle (rad) (NULL: no output)
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* ssat_t *ssat IO satellite status (NULL: no output)
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* char *msg O error message for error exit
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* return : status(1:ok,0:error)
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* notes : assuming sbas-gps, galileo-gps, qzss-gps, compass-gps time offset and
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* receiver bias are negligible (only involving glonass-gps time offset
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* and receiver bias)
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*/
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int pntpos(const obsd_t *obs, int n, const nav_t *nav,
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const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
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char *msg);
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#endif /* RTKLIB_PNTPOS_H_ */
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