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Add rtkpos and its dependencies
This commit is contained in:
Carles Fernandez
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/*!
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* \file rtklib_ppp.h
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* \brief Precise Point Positioning
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* \authors <ul>
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* <li> 2007-2008, 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) 2007-2008, 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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*----------------------------------------------------------------------------*/
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#ifndef GNSS_SDR_RTKLIB_PPP_H_
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#define GNSS_SDR_RTKLIB_PPP_H_
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#include "rtklib.h"
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#define MAX_PPP(x,y) ((x)>(y)?(x):(y))
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#define ROUND_PPP(x) (int)floor((x)+0.5)
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const int MAX_ITER = 8; /* max number of iterations */
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const double MAX_STD_FIX = 0.15; /* max std-dev (3d) to fix solution */
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const int MIN_NSAT_SOL = 4; /* min satellite number for solution */
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const double THRES_REJECT = 4.0; /* reject threshold of posfit-res (sigma) */
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const double THRES_MW_JUMP = 10.0;
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const double VAR_POS_PPP = std::pow(60.0, 2.0); /* init variance receiver position (m^2) */
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const double VAR_CLK = std::pow(60.0, 2.0); /* init variance receiver clock (m^2) */
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const double VAR_ZTD = std::pow( 0.6, 2.0); /* init variance ztd (m^2) */
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const double VAR_GRA_PPP = std::pow(0.01, 2.0); /* init variance gradient (m^2) */
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const double VAR_DCB = std::pow(30.0, 2.0); /* init variance dcb (m^2) */
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const double VAR_BIAS = std::pow(60.0, 2.0); /* init variance phase-bias (m^2) */
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const double VAR_IONO = std::pow(60.0, 2.0); /* init variance iono-delay */
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const double VAR_GLO_IFB = std::pow( 0.6, 2.0); /* variance of glonass ifb */
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const double EFACT_GPS_L5 = 10.0; /* error factor of GPS/QZS L5 */
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const double MUDOT_GPS = (0.00836*D2R); /* average angular velocity GPS (rad/s) */
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const double MUDOT_GLO = (0.00888*D2R); /* average angular velocity GLO (rad/s) */
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const double EPS0_GPS = (13.5*D2R); /* max shadow crossing angle GPS (rad) */
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const double EPS0_GLO = (14.2*D2R); /* max shadow crossing angle GLO (rad) */
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const double T_POSTSHADOW = 1800.0; /* post-shadow recovery time (s) */
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const double QZS_EC_BETA = 20.0; /* max beta angle for qzss Ec (deg) */
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/* number and index of states */
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#define NF_PPP(opt) ((opt)->ionoopt==IONOOPT_IFLC?1:(opt)->nf)
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#define NP_PPP(opt) ((opt)->dynamics?9:3)
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#define NC_PPP(opt) (NSYS)
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#define NT_PPP(opt) ((opt)->tropopt<TROPOPT_EST?0:((opt)->tropopt==TROPOPT_EST?1:3))
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#define NI_PPP(opt) ((opt)->ionoopt==IONOOPT_EST?MAXSAT:0)
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#define ND_PPP(opt) ((opt)->nf>=3?1:0)
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#define NR_PPP(opt) (NP_PPP(opt)+NC_PPP(opt)+NT_PPP(opt)+NI_PPP(opt)+ND_PPP(opt))
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#define NB_PPP(opt) (NF_PPP(opt)*MAXSAT)
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#define NX_PPP(opt) (NR_PPP(opt)+NB_PPP(opt))
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#define IC_PPP(s,opt) (NP_PPP(opt)+(s))
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#define IT_PPP(opt) (NP_PPP(opt)+NC_PPP(opt))
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#define II_PPP(s,opt) (NP_PPP(opt)+NC_PPP(opt)+NT_PPP(opt)+(s)-1)
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#define ID_PPP(opt) (NP_PPP(opt)+NC_PPP(opt)+NT_PPP(opt)+NI_PPP(opt))
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#define IB_PPP(s,f,opt) (NR_PPP(opt)+MAXSAT*(f)+(s)-1)
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int pppcorr_read(pppcorr_t *corr, const char *file);
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void pppcorr_free(pppcorr_t *corr);
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int pppcorr_trop(const pppcorr_t *corr, gtime_t time, const double *pos,
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double *trp, double *std);
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int pppcorr_stec(const pppcorr_t *corr, gtime_t time, const double *pos,
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double *ion, double *std);
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int ppp_ar(rtk_t *rtk, const obsd_t *obs, int n, int *exc,
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const nav_t *nav, const double *azel, double *x, double *P);
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double STD(rtk_t *rtk, int i);
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int pppoutstat(rtk_t *rtk, char *buff);
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void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs);
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double yaw_nominal(double beta, double mu);
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double yaw_angle(int sat, const char *type, int opt, double beta, double mu,
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double *yaw);
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int sat_yaw(gtime_t time, int sat, const char *type, int opt,
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const double *rs, double *exs, double *eys);
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int model_phw(gtime_t time, int sat, const char *type, int opt,
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const double *rs, const double *rr, double *phw);
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double varerr(int sat, int sys, double el, int freq, int type,
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const prcopt_t *opt);
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void initx(rtk_t *rtk, double xi, double var, int i);
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double gfmeas(const obsd_t *obs, const nav_t *nav);
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double mwmeas(const obsd_t *obs, const nav_t *nav);
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void corr_meas(const obsd_t *obs, const nav_t *nav, const double *azel,
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const prcopt_t *opt, const double *dantr,
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const double *dants, double phw, double *L, double *P,
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double *Lc, double *Pc);
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void detslp_ll(rtk_t *rtk, const obsd_t *obs, int n);
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void detslp_gf(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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void detslp_mw(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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void udpos_ppp(rtk_t *rtk);
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void udclk_ppp(rtk_t *rtk);
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void udtrop_ppp(rtk_t *rtk);
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void udiono_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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void uddcb_ppp(rtk_t *rtk);
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void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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void udstate_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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void satantpcv(const double *rs, const double *rr, const pcv_t *pcv,
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double *dant);
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double trop_model_prec(gtime_t time, const double *pos,
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const double *azel, const double *x, double *dtdx,
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double *var);
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int model_trop(gtime_t time, const double *pos, const double *azel,
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const prcopt_t *opt, const double *x, double *dtdx,
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const nav_t *nav, double *dtrp, double *var);
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int model_iono(gtime_t time, const double *pos, const double *azel,
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const prcopt_t *opt, int sat, const double *x,
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const nav_t *nav, double *dion, double *var);
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int const_corr(const obsd_t *obs, int n, const int *exc,
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const nav_t *nav, const double *x, const double *pos,
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const double *azel, rtk_t *rtk, double *v, double *H,
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double *var);
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int ppp_res(int post, const obsd_t *obs, int n, const double *rs,
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const double *dts, const double *var_rs, const int *svh,
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const double *dr, int *exc, const nav_t *nav,
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const double *x, rtk_t *rtk, double *v, double *H, double *R,
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double *azel);
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int pppnx(const prcopt_t *opt);
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void update_stat(rtk_t *rtk, const obsd_t *obs, int n, int stat);
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int test_hold_amb(rtk_t *rtk);
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void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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#endif
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