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Work on initializations

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This commit is contained in:
Carles Fernandez 2017-05-13 20:25:38 +02:00
parent 1b4cfad57d
commit 1b25d14b4c
5 changed files with 74 additions and 63 deletions
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13
src/algorithms/libs/rtklib/rtklib.h
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@ -1223,6 +1223,19 @@ typedef struct { /* RTK server type */
lock_t lock; /* lock flag */ lock_t lock; /* lock flag */
} rtksvr_t; } rtksvr_t;
typedef struct { /* multi-signal-message header type */
unsigned char iod; /* issue of data station */
unsigned char time_s; /* cumulative session transmitting time */
unsigned char clk_str; /* clock steering indicator */
unsigned char clk_ext; /* external clock indicator */
unsigned char smooth; /* divergence free smoothing indicator */
unsigned char tint_s; /* soothing interval */
unsigned char nsat,nsig; /* number of satellites/signals */
unsigned char sats[64]; /* satellites */
unsigned char sigs[32]; /* signals */
unsigned char cellmask[64]; /* cell mask */
} msm_h_t;
const double chisqr[100] = { /* chi-sqr(n) (alpha=0.001) */ const double chisqr[100] = { /* chi-sqr(n) (alpha=0.001) */
10.8, 13.8, 16.3, 18.5, 20.5, 22.5, 24.3, 26.1, 27.9, 29.6, 10.8, 13.8, 16.3, 18.5, 20.5, 22.5, 24.3, 26.1, 27.9, 29.6,

13
src/algorithms/libs/rtklib/rtklib_rtcm.cc
View File

@ -67,11 +67,14 @@
*-----------------------------------------------------------------------------*/ *-----------------------------------------------------------------------------*/
int init_rtcm(rtcm_t *rtcm) int init_rtcm(rtcm_t *rtcm)
{ {
gtime_t time0 = {0}; gtime_t time0 = {0, 0.0};
obsd_t data0 = {{0}}; obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}};
eph_t eph0 = {0, -1, -1}; eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
geph_t geph0 = {0, -1}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
ssr_t ssr0 = {{{0}}}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
geph_t geph0 = {0, -1, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0.0}, {0.0}, {0.0},
0.0, 0.0, 0.0};
ssr_t ssr0 = { {{0, 0.0}}, {0.0}, {0}, 0, 0, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, {0.0}, {0.0}, {0.0}, 0.0, 0.0, '0' };
int i, j; int i, j;
trace(3, "init_rtcm:\n"); trace(3, "init_rtcm:\n");

20
src/algorithms/libs/rtklib/rtklib_rtcm2.cc
View File

@ -206,7 +206,9 @@ int decode_type16(rtcm_t *rtcm)
/* decode type 17: gps ephemerides -------------------------------------------*/ /* decode type 17: gps ephemerides -------------------------------------------*/
int decode_type17(rtcm_t *rtcm) int decode_type17(rtcm_t *rtcm)
{ {
eph_t eph = {0}; eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
int i = 48, week, prn, sat; int i = 48, week, prn, sat;
@ -423,56 +425,56 @@ int decode_type22(rtcm_t *rtcm)
/* decode type 23: antenna type definition record ----------------------------*/ /* decode type 23: antenna type definition record ----------------------------*/
int decode_type23(rtcm_t *rtcm) int decode_type23(rtcm_t *rtcm __attribute((unused)))
{ {
return 0; return 0;
} }
/* decode type 24: antenna reference point (arp) -----------------------------*/ /* decode type 24: antenna reference point (arp) -----------------------------*/
int decode_type24(rtcm_t *rtcm) int decode_type24(rtcm_t *rtcm __attribute((unused)))
{ {
return 0; return 0;
} }
/* decode type 31: differential glonass correction ---------------------------*/ /* decode type 31: differential glonass correction ---------------------------*/
int decode_type31(rtcm_t *rtcm) int decode_type31(rtcm_t *rtcm __attribute((unused)))
{ {
return 0; return 0;
} }
/* decode type 32: differential glonass reference station parameters ---------*/ /* decode type 32: differential glonass reference station parameters ---------*/
int decode_type32(rtcm_t *rtcm) int decode_type32(rtcm_t *rtcm __attribute((unused)))
{ {
return 0; return 0;
} }
/* decode type 34: glonass partial differential correction set ---------------*/ /* decode type 34: glonass partial differential correction set ---------------*/
int decode_type34(rtcm_t *rtcm) int decode_type34(rtcm_t *rtcm __attribute((unused)))
{ {
return 0; return 0;
} }
/* decode type 36: glonass special message -----------------------------------*/ /* decode type 36: glonass special message -----------------------------------*/
int decode_type36(rtcm_t *rtcm) int decode_type36(rtcm_t *rtcm __attribute((unused)))
{ {
return 0; return 0;
} }
/* decode type 37: gnss system time offset -----------------------------------*/ /* decode type 37: gnss system time offset -----------------------------------*/
int decode_type37(rtcm_t *rtcm) int decode_type37(rtcm_t *rtcm __attribute((unused)))
{ {
return 0; return 0;
} }
/* decode type 59: proprietary message ---------------------------------------*/ /* decode type 59: proprietary message ---------------------------------------*/
int decode_type59(rtcm_t *rtcm) int decode_type59(rtcm_t *rtcm __attribute((unused)))
{ {
return 0; return 0;
} }

71
src/algorithms/libs/rtklib/rtklib_rtcm3.cc
View File

@ -727,7 +727,9 @@ int decode_type1013(rtcm_t *rtcm)
/* decode type 1019: gps ephemerides -----------------------------------------*/ /* decode type 1019: gps ephemerides -----------------------------------------*/
int decode_type1019(rtcm_t *rtcm) int decode_type1019(rtcm_t *rtcm)
{ {
eph_t eph = {0}; eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24+12, prn, sat, week, sys = SYS_GPS; int i = 24+12, prn, sat, week, sys = SYS_GPS;
@ -806,7 +808,8 @@ int decode_type1019(rtcm_t *rtcm)
/* decode type 1020: glonass ephemerides -------------------------------------*/ /* decode type 1020: glonass ephemerides -------------------------------------*/
int decode_type1020(rtcm_t *rtcm) int decode_type1020(rtcm_t *rtcm)
{ {
geph_t geph = {0}; geph_t geph = {0, -1, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0.0}, {0.0}, {0.0},
0.0, 0.0, 0.0};
double tk_h, tk_m, tk_s, toe, tow, tod, tof; double tk_h, tk_m, tk_s, toe, tow, tod, tof;
char *msg; char *msg;
int i = 24+12, prn, sat, week, tb, bn, sys = SYS_GLO; int i = 24+12, prn, sat, week, tb, bn, sys = SYS_GLO;
@ -877,7 +880,7 @@ int decode_type1020(rtcm_t *rtcm)
/* decode type 1021: helmert/abridged molodenski -----------------------------*/ /* decode type 1021: helmert/abridged molodenski -----------------------------*/
int decode_type1021(rtcm_t *rtcm) int decode_type1021(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1021: not supported message\n"); trace(2, "rtcm3 1021: not supported message\n");
return 0; return 0;
@ -885,7 +888,7 @@ int decode_type1021(rtcm_t *rtcm)
/* decode type 1022: moledenski-badekas transfromation -----------------------*/ /* decode type 1022: moledenski-badekas transfromation -----------------------*/
int decode_type1022(rtcm_t *rtcm) int decode_type1022(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1022: not supported message\n"); trace(2, "rtcm3 1022: not supported message\n");
return 0; return 0;
@ -893,7 +896,7 @@ int decode_type1022(rtcm_t *rtcm)
/* decode type 1023: residual, ellipoidal grid representation ----------------*/ /* decode type 1023: residual, ellipoidal grid representation ----------------*/
int decode_type1023(rtcm_t *rtcm) int decode_type1023(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1023: not supported message\n"); trace(2, "rtcm3 1023: not supported message\n");
return 0; return 0;
@ -901,7 +904,7 @@ int decode_type1023(rtcm_t *rtcm)
/* decode type 1024: residual, plane grid representation ---------------------*/ /* decode type 1024: residual, plane grid representation ---------------------*/
int decode_type1024(rtcm_t *rtcm) int decode_type1024(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1024: not supported message\n"); trace(2, "rtcm3 1024: not supported message\n");
return 0; return 0;
@ -909,7 +912,7 @@ int decode_type1024(rtcm_t *rtcm)
/* decode type 1025: projection (types except LCC2SP, OM) ---------------------*/ /* decode type 1025: projection (types except LCC2SP, OM) ---------------------*/
int decode_type1025(rtcm_t *rtcm) int decode_type1025(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1025: not supported message\n"); trace(2, "rtcm3 1025: not supported message\n");
return 0; return 0;
@ -917,7 +920,7 @@ int decode_type1025(rtcm_t *rtcm)
/* decode type 1026: projection (LCC2SP - lambert conic conformal (2sp)) -----*/ /* decode type 1026: projection (LCC2SP - lambert conic conformal (2sp)) -----*/
int decode_type1026(rtcm_t *rtcm) int decode_type1026(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1026: not supported message\n"); trace(2, "rtcm3 1026: not supported message\n");
return 0; return 0;
@ -925,7 +928,7 @@ int decode_type1026(rtcm_t *rtcm)
/* decode type 1027: projection (type OM - oblique mercator) -----------------*/ /* decode type 1027: projection (type OM - oblique mercator) -----------------*/
int decode_type1027(rtcm_t *rtcm) int decode_type1027(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1027: not supported message\n"); trace(2, "rtcm3 1027: not supported message\n");
return 0; return 0;
@ -972,7 +975,7 @@ int decode_type1029(rtcm_t *rtcm)
/* decode type 1030: network rtk residual ------------------------------------*/ /* decode type 1030: network rtk residual ------------------------------------*/
int decode_type1030(rtcm_t *rtcm) int decode_type1030(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1030: not supported message\n"); trace(2, "rtcm3 1030: not supported message\n");
return 0; return 0;
@ -980,7 +983,7 @@ int decode_type1030(rtcm_t *rtcm)
/* decode type 1031: glonass network rtk residual ----------------------------*/ /* decode type 1031: glonass network rtk residual ----------------------------*/
int decode_type1031(rtcm_t *rtcm) int decode_type1031(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1031: not supported message\n"); trace(2, "rtcm3 1031: not supported message\n");
return 0; return 0;
@ -988,7 +991,7 @@ int decode_type1031(rtcm_t *rtcm)
/* decode type 1032: physical reference station position information ---------*/ /* decode type 1032: physical reference station position information ---------*/
int decode_type1032(rtcm_t *rtcm) int decode_type1032(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1032: not supported message\n"); trace(2, "rtcm3 1032: not supported message\n");
return 0; return 0;
@ -1062,7 +1065,7 @@ int decode_type1033(rtcm_t *rtcm)
/* decode type 1034: gps network fkp gradient --------------------------------*/ /* decode type 1034: gps network fkp gradient --------------------------------*/
int decode_type1034(rtcm_t *rtcm) int decode_type1034(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1034: not supported message\n"); trace(2, "rtcm3 1034: not supported message\n");
return 0; return 0;
@ -1070,7 +1073,7 @@ int decode_type1034(rtcm_t *rtcm)
/* decode type 1035: glonass network fkp gradient ----------------------------*/ /* decode type 1035: glonass network fkp gradient ----------------------------*/
int decode_type1035(rtcm_t *rtcm) int decode_type1035(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1035: not supported message\n"); trace(2, "rtcm3 1035: not supported message\n");
return 0; return 0;
@ -1078,7 +1081,7 @@ int decode_type1035(rtcm_t *rtcm)
/* decode type 1037: glonass network rtk ionospheric correction difference ---*/ /* decode type 1037: glonass network rtk ionospheric correction difference ---*/
int decode_type1037(rtcm_t *rtcm) int decode_type1037(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1037: not supported message\n"); trace(2, "rtcm3 1037: not supported message\n");
return 0; return 0;
@ -1086,7 +1089,7 @@ int decode_type1037(rtcm_t *rtcm)
/* decode type 1038: glonass network rtk geometic correction difference ------*/ /* decode type 1038: glonass network rtk geometic correction difference ------*/
int decode_type1038(rtcm_t *rtcm) int decode_type1038(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1038: not supported message\n"); trace(2, "rtcm3 1038: not supported message\n");
return 0; return 0;
@ -1094,7 +1097,7 @@ int decode_type1038(rtcm_t *rtcm)
/* decode type 1039: glonass network rtk combined correction difference ------*/ /* decode type 1039: glonass network rtk combined correction difference ------*/
int decode_type1039(rtcm_t *rtcm) int decode_type1039(rtcm_t *rtcm __attribute__((unused)))
{ {
trace(2, "rtcm3 1039: not supported message\n"); trace(2, "rtcm3 1039: not supported message\n");
return 0; return 0;
@ -1104,7 +1107,9 @@ int decode_type1039(rtcm_t *rtcm)
/* decode type 1044: qzss ephemerides (ref [15]) -----------------------------*/ /* decode type 1044: qzss ephemerides (ref [15]) -----------------------------*/
int decode_type1044(rtcm_t *rtcm) int decode_type1044(rtcm_t *rtcm)
{ {
eph_t eph = {0}; eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24+12, prn, sat, week, sys = SYS_QZS; int i = 24+12, prn, sat, week, sys = SYS_QZS;
@ -1179,7 +1184,9 @@ int decode_type1044(rtcm_t *rtcm)
/* decode type 1045: galileo satellite ephemerides (ref [15]) ----------------*/ /* decode type 1045: galileo satellite ephemerides (ref [15]) ----------------*/
int decode_type1045(rtcm_t *rtcm) int decode_type1045(rtcm_t *rtcm)
{ {
eph_t eph = {0}; eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24+12, prn, sat, week, e5a_hs, e5a_dvs, rsv, sys = SYS_GAL; int i = 24+12, prn, sat, week, e5a_hs, e5a_dvs, rsv, sys = SYS_GAL;
@ -1254,7 +1261,9 @@ int decode_type1045(rtcm_t *rtcm)
/* decode type 1046: galileo satellite ephemerides (extension for IGS MGEX) --*/ /* decode type 1046: galileo satellite ephemerides (extension for IGS MGEX) --*/
int decode_type1046(rtcm_t *rtcm) int decode_type1046(rtcm_t *rtcm)
{ {
eph_t eph = {0}; eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24+12, prn, sat, week, e5a_hs, e5a_dvs, rsv, sys = SYS_GAL; int i = 24+12, prn, sat, week, e5a_hs, e5a_dvs, rsv, sys = SYS_GAL;
@ -1329,7 +1338,9 @@ int decode_type1046(rtcm_t *rtcm)
/* decode type 1047: beidou ephemerides (tentative mt and format) ------------*/ /* decode type 1047: beidou ephemerides (tentative mt and format) ------------*/
int decode_type1047(rtcm_t *rtcm) int decode_type1047(rtcm_t *rtcm)
{ {
eph_t eph = {0}; eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};;
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24+12, prn, sat, week, sys = SYS_BDS; int i = 24+12, prn, sat, week, sys = SYS_BDS;
@ -1407,7 +1418,9 @@ int decode_type1047(rtcm_t *rtcm)
/* decode type 63: beidou ephemerides (rtcm draft) ---------------------------*/ /* decode type 63: beidou ephemerides (rtcm draft) ---------------------------*/
int decode_type63(rtcm_t *rtcm) int decode_type63(rtcm_t *rtcm)
{ {
eph_t eph = {0}; eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24+12, prn, sat, week, sys = SYS_BDS; int i = 24+12, prn, sat, week, sys = SYS_BDS;
@ -2180,7 +2193,7 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod, int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
msm_h_t *h, int *hsize) msm_h_t *h, int *hsize)
{ {
msm_h_t h0 = {0}; msm_h_t h0 = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
double tow, tod; double tow, tod;
char *msg; char *msg;
int i = 24, j, dow, mask, staid, type, ncell = 0; int i = 24, j, dow, mask, staid, type, ncell = 0;
@ -2270,7 +2283,7 @@ int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
/* decode unsupported msm message --------------------------------------------*/ /* decode unsupported msm message --------------------------------------------*/
int decode_msm0(rtcm_t *rtcm, int sys) int decode_msm0(rtcm_t *rtcm, int sys)
{ {
msm_h_t h = {0}; msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
int i, sync, iod; int i, sync, iod;
if (decode_msm_head(rtcm, sys, &sync, &iod, &h, &i) < 0) return -1; if (decode_msm_head(rtcm, sys, &sync, &iod, &h, &i) < 0) return -1;
rtcm->obsflag = !sync; rtcm->obsflag = !sync;
@ -2281,7 +2294,7 @@ int decode_msm0(rtcm_t *rtcm, int sys)
/* decode msm 4: full pseudorange and phaserange plus cnr --------------------*/ /* decode msm 4: full pseudorange and phaserange plus cnr --------------------*/
int decode_msm4(rtcm_t *rtcm, int sys) int decode_msm4(rtcm_t *rtcm, int sys)
{ {
msm_h_t h = {0}; msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
double r[64], pr[64], cp[64], cnr[64]; double r[64], pr[64], cp[64], cnr[64];
int i, j, type, sync, iod, ncell, rng, rng_m, prv, cpv, lock[64], half[64]; int i, j, type, sync, iod, ncell, rng, rng_m, prv, cpv, lock[64], half[64];
@ -2290,7 +2303,7 @@ int decode_msm4(rtcm_t *rtcm, int sys)
/* decode msm header */ /* decode msm header */
if ((ncell = decode_msm_head(rtcm, sys, &sync, &iod, &h, &i)) < 0) return -1; if ((ncell = decode_msm_head(rtcm, sys, &sync, &iod, &h, &i)) < 0) return -1;
if (i+h.nsat*18+ncell*48>rtcm->len*8) if (i+h.nsat*18+ncell*48 > rtcm->len*8)
{ {
trace(2, "rtcm3 %d length error: nsat=%d ncell=%d len=%d\n", type, h.nsat, trace(2, "rtcm3 %d length error: nsat=%d ncell=%d len=%d\n", type, h.nsat,
ncell, rtcm->len); ncell, rtcm->len);
@ -2344,7 +2357,7 @@ int decode_msm4(rtcm_t *rtcm, int sys)
/* decode msm 5: full pseudorange, phaserange, phaserangerate and cnr --------*/ /* decode msm 5: full pseudorange, phaserange, phaserangerate and cnr --------*/
int decode_msm5(rtcm_t *rtcm, int sys) int decode_msm5(rtcm_t *rtcm, int sys)
{ {
msm_h_t h = {0}; msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
double r[64], rr[64], pr[64], cp[64], rrf[64], cnr[64]; double r[64], rr[64], pr[64], cp[64], rrf[64], cnr[64];
int i, j, type, sync, iod, ncell, rng, rng_m, rate, prv, cpv, rrv, lock[64]; int i, j, type, sync, iod, ncell, rng, rng_m, rate, prv, cpv, rrv, lock[64];
int ex[64], half[64]; int ex[64], half[64];
@ -2425,7 +2438,7 @@ int decode_msm5(rtcm_t *rtcm, int sys)
/* decode msm 6: full pseudorange and phaserange plus cnr (high-res) ---------*/ /* decode msm 6: full pseudorange and phaserange plus cnr (high-res) ---------*/
int decode_msm6(rtcm_t *rtcm, int sys) int decode_msm6(rtcm_t *rtcm, int sys)
{ {
msm_h_t h = {0}; msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
double r[64], pr[64], cp[64], cnr[64]; double r[64], pr[64], cp[64], cnr[64];
int i, j, type, sync, iod, ncell, rng, rng_m, prv, cpv, lock[64], half[64]; int i, j, type, sync, iod, ncell, rng, rng_m, prv, cpv, lock[64], half[64];
@ -2488,7 +2501,7 @@ int decode_msm6(rtcm_t *rtcm, int sys)
/* decode msm 7: full pseudorange, phaserange, phaserangerate and cnr (h-res) */ /* decode msm 7: full pseudorange, phaserange, phaserangerate and cnr (h-res) */
int decode_msm7(rtcm_t *rtcm, int sys) int decode_msm7(rtcm_t *rtcm, int sys)
{ {
msm_h_t h = {0}; msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
double r[64], rr[64], pr[64], cp[64], rrf[64], cnr[64]; double r[64], rr[64], pr[64], cp[64], rrf[64], cnr[64];
int i, j, type, sync, iod, ncell, rng, rng_m, rate, prv, cpv, rrv, lock[64]; int i, j, type, sync, iod, ncell, rng, rng_m, rate, prv, cpv, rrv, lock[64];
int ex[64], half[64]; int ex[64], half[64];

20
src/algorithms/libs/rtklib/rtklib_rtcm3.h
View File

@ -62,26 +62,6 @@ const double PRUNIT_GPS = 299792.458; /* rtcm ver.3 unit of gps pseudorange (m)
const double PRUNIT_GLO = 599584.916; /* rtcm ver.3 unit of glonass pseudorange (m) */ const double PRUNIT_GLO = 599584.916; /* rtcm ver.3 unit of glonass pseudorange (m) */
const double RANGE_MS = SPEED_OF_LIGHT * 0.001; /* range in 1 ms */ const double RANGE_MS = SPEED_OF_LIGHT * 0.001; /* range in 1 ms */
//#define P2_10 0.0009765625 /* 2^-10 */
//#define P2_34 5.820766091346740E-11 /* 2^-34 */
//#define P2_46 1.421085471520200E-14 /* 2^-46 */
//#define P2_59 1.734723475976810E-18 /* 2^-59 */
//#define P2_66 1.355252715606880E-20 /* 2^-66 */
/* type definition -----------------------------------------------------------*/
typedef struct { /* multi-signal-message header type */
unsigned char iod; /* issue of data station */
unsigned char time_s; /* cumulative session transmitting time */
unsigned char clk_str; /* clock steering indicator */
unsigned char clk_ext; /* external clock indicator */
unsigned char smooth; /* divergence free smoothing indicator */
unsigned char tint_s; /* soothing interval */
unsigned char nsat,nsig; /* number of satellites/signals */
unsigned char sats[64]; /* satellites */
unsigned char sigs[32]; /* signals */
unsigned char cellmask[64]; /* cell mask */
} msm_h_t;
/* msm signal id table -------------------------------------------------------*/ /* msm signal id table -------------------------------------------------------*/
const char *msm_sig_gps[32] = { const char *msm_sig_gps[32] = {