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Add RTKLIB fixes for Galileo

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This commit is contained in:
Carles Fernandez 2018-10-09 12:33:38 +02:00
parent c5727d6302
commit 06140620f7
9 changed files with 95 additions and 21 deletions
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9
src/algorithms/libs/rtklib/rtklib.h
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@ -274,7 +274,7 @@ const int MAXRCV = 64; //!< max receiver number (1 to MAXRCV)
const int MAXOBSTYPE = 64; //!< max number of obs type in RINEX
const double MAXDTOE = 7200.0; //!< max time difference to GPS Toe (s)
const double MAXDTOE_QZS = 7200.0; //!< max time difference to QZSS Toe (s)
const double MAXDTOE_GAL = 10800.0; //!< max time difference to Galileo Toe (s)
const double MAXDTOE_GAL = 14400.0; //!< max time difference to Galileo Toe (s)
const double MAXDTOE_BDS = 21600.0; //!< max time difference to BeiDou Toe (s)
const double MAXDTOE_GLO = 1800.0; //!< max time difference to GLONASS Toe (s)
const double MAXDTOE_SBS = 360.0; //!< max time difference to SBAS Toe (s)
@ -299,6 +299,9 @@ const int IONOOPT_QZS = 6; //!< ionosphere option: QZSS broadcast model
const int IONOOPT_LEX = 7; //!< ionosphere option: QZSS LEX ionospehre
const int IONOOPT_STEC = 8; //!< ionosphere option: SLANT TEC model
const int GALMESS_INAV = 0; //!< Galileo message type: FNAV */
const int GALMESS_FNAV = 1; //!< Galileo message type: INAV */
const int TROPOPT_OFF = 0; //!< troposphere option: correction off
const int TROPOPT_SAAS = 1; //!< troposphere option: Saastamoinen model
const int TROPOPT_SBAS = 2; //!< troposphere option: SBAS model
@ -1210,7 +1213,7 @@ typedef struct
char local[1024]; /* local file path */
int topts[4]; /* time options {poff,tint,toff,tretry} (s) */
gtime_t tnext; /* next retry time (gpst) */
pthread_t thread; /* download thread */
pthread_t thread; /* download thread */
} ftp_t;
@ -1283,7 +1286,7 @@ typedef struct
stream_t stream[8]; /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
stream_t *moni; /* monitor stream */
unsigned int tick; /* start tick */
pthread_t thread; /* server thread */
pthread_t thread; /* server thread */
int cputime; /* CPU time (ms) for a processing cycle */
int prcout; /* missing observation data count */
lock_t lock; /* lock flag */

45
src/algorithms/libs/rtklib/rtklib_ephemeris.cc
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@ -84,6 +84,7 @@ const double STD_BRDCCLK = 30.0; /* error of broadcast clock (m)
const int MAX_ITER_KEPLER = 30; /* max number of iteration of Kelpler */
int galmessagetype;
/* variance by ura ephemeris (ref [1] 20.3.3.3.1.1) --------------------------*/
double var_uraeph(int ura)
@ -94,6 +95,15 @@ double var_uraeph(int ura)
return ura < 0 || 14 < ura ? std::pow(6144.0, 2.0) : std::pow(ura_value[ura], 2.0);
}
/* variance by sisa ephemeris (ref [7] Issue 1.3 5.1.11) --------------------------*/
double var_sisaeph(int ura)
{
if (ura < 50) return std::pow(ura * 0.01, 2.0);
if (ura < 75) return std::pow(0.50 + (ura - 50) * 0.02, 2.0);
if (ura < 100) return std::pow(1.0 + (ura - 75) * 0.04, 2.0);
if (ura <= 125) return std::pow(2.0 + (ura - 100) * 0.16, 2.0);
return -1.0;
}
/* variance by ura ssr (ref [4]) ---------------------------------------------*/
double var_urassr(int ura)
@ -289,7 +299,14 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
*dts -= 2.0 * sqrt(mu * eph->A) * eph->e * sinE / std::pow(SPEED_OF_LIGHT, 2.0);
/* position and clock error variance */
*var = var_uraeph(eph->sva);
if (sys == SYS_GAL)
{
*var = var_sisaeph(eph->sva);
}
else
{
*var = var_uraeph(eph->sva);
}
}
@ -454,16 +471,18 @@ eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
{
double t, tmax, tmin;
int i, j = -1;
int sys;
trace(4, "seleph : time=%s sat=%2d iode=%d\n", time_str(time, 3), sat, iode);
switch (satsys(sat, NULL))
sys = satsys(sat, NULL);
switch (sys)
{
case SYS_QZS:
tmax = MAXDTOE_QZS + 1.0;
break;
case SYS_GAL:
tmax = MAXDTOE_GAL + 1.0;
tmax = MAXDTOE_GAL;
break;
case SYS_BDS:
tmax = MAXDTOE_BDS + 1.0;
@ -478,7 +497,25 @@ eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
{
if (nav->eph[i].sat != sat) continue;
if (iode >= 0 && nav->eph[i].iode != iode) continue;
if ((t = fabs(timediff(nav->eph[i].toe, time))) > tmax) continue;
if (sys == SYS_GAL)
{
if (galmessagetype == GALMESS_FNAV)
{
/* Check if F/NAV ephemeris */
if (!(nav->eph[i].code & 0x02)) continue;
}
else
{
/* Check if I/NAV ephemeris */
if (!(nav->eph[i].code & 0x05)) continue;
}
if ((t = timediff(time, nav->eph[i].toe)) > tmax) continue;
if (t < 0) continue;
}
else
{
if ((t = fabs(timediff(nav->eph[i].toe, time))) > tmax) continue;
}
if (iode >= 0) return nav->eph + i;
if (t <= tmin)
{

1
src/algorithms/libs/rtklib/rtklib_ephemeris.h
View File

@ -58,6 +58,7 @@
double var_uraeph(int ura);
double var_sisaeph(int ura);
double var_urassr(int ura);
void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts);
double eph2clk(gtime_t time, const eph_t *eph);

14
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -402,7 +402,8 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs,
double *resp, int *ns)
{
double r, dion, dtrp, vmeas, vion, vtrp, rr[3], pos[3], dtr, e[3], P, lam_L1;
int i, j, nv = 0, sys, mask[4] = {0};
int i, j, nv = 0, sys, mask[4] = {0}, sva = -1;
eph_t *eph;
trace(3, "resprng : n=%d\n", n);
@ -438,15 +439,20 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs,
trace(4, "satazel error. el = %lf , elmin = %lf\n", elaux, opt->elmin);
continue;
}
/* psudorange with code bias correction */
/* pseudorange with code bias correction */
if ((P = prange(obs + i, nav, azel + i * 2, iter, opt, &vmeas)) == 0.0)
{
trace(4, "prange error\n");
continue;
}
/* if Gal satellite, check SISA is not NAPA*/
if (sys == SYS_GAL)
{
if (!(eph = seleph(obs[i].time, obs[i].sat, -1, nav))) continue;
sva = eph->sva;
}
/* excluded satellite? */
if (satexclude(obs[i].sat, svh[i], opt))
if (satexclude(obs[i].sat, svh[i], sva, opt))
{
trace(4, "satexclude error\n");
continue;

11
src/algorithms/libs/rtklib/rtklib_ppp.cc
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@ -1522,7 +1522,8 @@ int res_ppp(int iter __attribute__((unused)), const obsd_t *obs, int n, const do
prcopt_t *opt = &rtk->opt;
double r, rr[3], disp[3], pos[3], e[3], meas[2], dtdx[3], dantr[NFREQ] = {0};
double dants[NFREQ] = {0}, var[MAXOBS * 2], dtrp = 0.0, vart = 0.0, varm[2] = {0};
int i, j, k, sat, sys, nv = 0, nx = rtk->nx, brk, tideopt;
int i, j, k, sat, sys, nv = 0, nx = rtk->nx, brk, tideopt, sva = -1;
eph_t *eph;
trace(3, "res_ppp : n=%d nx=%d\n", n, nx);
@ -1550,8 +1551,14 @@ int res_ppp(int iter __attribute__((unused)), const obsd_t *obs, int n, const do
if ((r = geodist(rs + i * 6, rr, e)) <= 0.0 ||
satazel(pos, e, azel + i * 2) < opt->elmin) continue;
/* if Gal satellite, check SISA is not NAPA*/
if (sys == SYS_GAL)
{
if (!(eph = seleph(obs[i].time, obs[i].sat, -1, nav))) continue;
sva = eph->sva;
}
/* excluded satellite? */
if (satexclude(obs[i].sat, svh[i], opt)) continue;
if (satexclude(obs[i].sat, svh[i], sva, opt)) continue;
/* tropospheric delay correction */
if (opt->tropopt == TROPOPT_SAAS)

17
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
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@ -464,10 +464,11 @@ void satno2id(int sat, char *id)
* test excluded satellite
* args : int sat I satellite number
* int svh I sv health flag
* int sva I SV URA/SISA
* prcopt_t *opt I processing options (NULL: not used)
* return : status (1:excluded,0:not excluded)
*-----------------------------------------------------------------------------*/
int satexclude(int sat, int svh, const prcopt_t *opt)
int satexclude(int sat, int svh, const int sva, const prcopt_t *opt)
{
int sys = satsys(sat, NULL);
@ -492,6 +493,13 @@ int satexclude(int sat, int svh, const prcopt_t *opt)
}
}
if (sys == SYS_QZS) svh &= 0xFE; /* mask QZSS LEX health */
/* Exclude Galileo satellites with NAPA or invalid SISA */
if ((sys == SYS_GAL) && (sva > 125))
{
trace(3, "Galileo satellite with NAPA or invalid SISA: sat=%3d", sat);
return 1;
}
if (svh)
{
trace(3, "unhealthy satellite: sat=%3d svh=%02X\n", sat, svh);
@ -2740,7 +2748,7 @@ int cmpeph(const void *p1, const void *p2)
void uniqeph(nav_t *nav)
{
eph_t *nav_eph;
int i, j;
int i, j, sys;
trace(3, "uniqeph: n=%d\n", nav->n);
@ -2750,8 +2758,11 @@ void uniqeph(nav_t *nav)
for (i = 1, j = 0; i < nav->n; i++)
{
sys = satsys(nav->eph[i].sat, NULL);
if (nav->eph[i].sat != nav->eph[j].sat ||
nav->eph[i].iode != nav->eph[j].iode)
nav->eph[i].iode != nav->eph[j].iode ||
((sys == SYS_GAL) && (nav->eph[i].code != nav->eph[j].code)) ||
(nav->eph[i].toe.sec != nav->eph[j].toe.sec))
{
nav->eph[++j] = nav->eph[i];
}

2
src/algorithms/libs/rtklib/rtklib_rtkcmn.h
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@ -121,7 +121,7 @@ int satno(int sys, int prn);
int satsys(int sat, int *prn);
int satid2no(const char *id);
void satno2id(int sat, char *id);
int satexclude(int sat, int svh, const prcopt_t *opt);
int satexclude(int sat, int svh, const int sva, const prcopt_t *opt);
int testsnr(int base, int freq, double el, double snr, const snrmask_t *mask);
unsigned char obs2code(const char *obs, int *freq);
char *code2obs(unsigned char code, int *freq);

13
src/algorithms/libs/rtklib/rtklib_rtkpos.cc
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@ -1097,7 +1097,8 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
{
double r, rr_[3], pos[3], dant[NFREQ] = {0}, disp[3];
double zhd, zazel[] = {0.0, 90.0 * D2R};
int i, nf = NF_RTK(opt);
int i, nf = NF_RTK(opt), sys, sva = -1;
eph_t *eph;
trace(3, "zdres : n=%d\n", n);
@ -1122,8 +1123,16 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
if ((r = geodist(rs + i * 6, rr_, e + i * 3)) <= 0.0) continue;
if (satazel(pos, e + i * 3, azel + i * 2) < opt->elmin) continue;
/* if Gal satellite, check SISA is not NAPA*/
if (!(sys = satsys(obs[i].sat, NULL))) continue;
if (sys == SYS_GAL)
{
if (!(eph = seleph(obs[i].time, obs[i].sat, -1, nav))) continue;
sva = eph->sva;
}
/* excluded satellite? */
if (satexclude(obs[i].sat, svh[i], opt)) continue;
if (satexclude(obs[i].sat, svh[i], sva, opt)) continue;
/* satellite clock-bias */
r += -SPEED_OF_LIGHT * dts[i * 2];

4
src/algorithms/libs/rtklib/rtklib_stream.cc
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@ -96,7 +96,7 @@ serial_t *openserial(const char *path, int mode, char *msg)
if (!(serial = (serial_t *)malloc(sizeof(serial_t)))) return NULL;
if ((p = strchr((char *)path, ':')))
if ((p = const_cast<char *>(strchr((char *)path, ':'))))
{
strncpy(port, path, p - path);
port[p - path] = '\0';
@ -1589,7 +1589,7 @@ void *ftpthread(void *arg)
/* proxy settings for wget (ref [2]) */
if (*proxyaddr)
{
proto = ftp->proto ? (char *)"http" : (char *)"ftp";
proto = const_cast<char *>(ftp->proto ? (char *)"http" : (char *)"ftp");
sprintf(env, "set %s_proxy=http://%s & ", proto, proxyaddr);
proxyopt = (char *)"--proxy=on ";
}