mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 20:20:35 +00:00
RTKLIB: Switch to STL containers
...to prevent thread stack abuse. And free up some stack space in Rtklib_Solver::get_PVT. Signed-off-by: Vladisslav P <vladisslav2011@gmail.com>
This commit is contained in:
Vladisslav P
Vlad P
parent
1153544fca
commit
59c9c6f8ab
@ -463,7 +463,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
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std::map<int, Beidou_Dnav_Ephemeris>::const_iterator beidou_ephemeris_iter;
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const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
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const Glonass_Gnav_Utc_Model &gnav_utc = this->glonass_gnav_utc_model;
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this->set_averaging_flag(flag_averaging);
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@ -900,89 +900,89 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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if ((valid_obs + glo_valid_obs) > 3)
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{
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int result = 0;
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nav_t nav_data{};
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nav_data.eph = eph_data.data();
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nav_data.geph = geph_data.data();
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nav_data.n = valid_obs;
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nav_data.ng = glo_valid_obs;
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d_nav_data = {};
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d_nav_data.eph = eph_data.data();
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d_nav_data.geph = geph_data.data();
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d_nav_data.n = valid_obs;
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d_nav_data.ng = glo_valid_obs;
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if (gps_iono.valid)
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{
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nav_data.ion_gps[0] = gps_iono.alpha0;
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nav_data.ion_gps[1] = gps_iono.alpha1;
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nav_data.ion_gps[2] = gps_iono.alpha2;
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nav_data.ion_gps[3] = gps_iono.alpha3;
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nav_data.ion_gps[4] = gps_iono.beta0;
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nav_data.ion_gps[5] = gps_iono.beta1;
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nav_data.ion_gps[6] = gps_iono.beta2;
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nav_data.ion_gps[7] = gps_iono.beta3;
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d_nav_data.ion_gps[0] = gps_iono.alpha0;
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d_nav_data.ion_gps[1] = gps_iono.alpha1;
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d_nav_data.ion_gps[2] = gps_iono.alpha2;
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d_nav_data.ion_gps[3] = gps_iono.alpha3;
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d_nav_data.ion_gps[4] = gps_iono.beta0;
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d_nav_data.ion_gps[5] = gps_iono.beta1;
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d_nav_data.ion_gps[6] = gps_iono.beta2;
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d_nav_data.ion_gps[7] = gps_iono.beta3;
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}
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if (!(gps_iono.valid) and gps_cnav_iono.valid)
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{
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nav_data.ion_gps[0] = gps_cnav_iono.alpha0;
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nav_data.ion_gps[1] = gps_cnav_iono.alpha1;
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nav_data.ion_gps[2] = gps_cnav_iono.alpha2;
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nav_data.ion_gps[3] = gps_cnav_iono.alpha3;
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nav_data.ion_gps[4] = gps_cnav_iono.beta0;
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nav_data.ion_gps[5] = gps_cnav_iono.beta1;
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nav_data.ion_gps[6] = gps_cnav_iono.beta2;
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nav_data.ion_gps[7] = gps_cnav_iono.beta3;
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d_nav_data.ion_gps[0] = gps_cnav_iono.alpha0;
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d_nav_data.ion_gps[1] = gps_cnav_iono.alpha1;
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d_nav_data.ion_gps[2] = gps_cnav_iono.alpha2;
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d_nav_data.ion_gps[3] = gps_cnav_iono.alpha3;
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d_nav_data.ion_gps[4] = gps_cnav_iono.beta0;
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d_nav_data.ion_gps[5] = gps_cnav_iono.beta1;
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d_nav_data.ion_gps[6] = gps_cnav_iono.beta2;
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d_nav_data.ion_gps[7] = gps_cnav_iono.beta3;
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}
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if (galileo_iono.ai0 != 0.0)
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{
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nav_data.ion_gal[0] = galileo_iono.ai0;
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nav_data.ion_gal[1] = galileo_iono.ai1;
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nav_data.ion_gal[2] = galileo_iono.ai2;
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nav_data.ion_gal[3] = 0.0;
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d_nav_data.ion_gal[0] = galileo_iono.ai0;
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d_nav_data.ion_gal[1] = galileo_iono.ai1;
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d_nav_data.ion_gal[2] = galileo_iono.ai2;
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d_nav_data.ion_gal[3] = 0.0;
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}
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if (beidou_dnav_iono.valid)
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{
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nav_data.ion_cmp[0] = beidou_dnav_iono.alpha0;
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nav_data.ion_cmp[1] = beidou_dnav_iono.alpha1;
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nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2;
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nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3;
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nav_data.ion_cmp[4] = beidou_dnav_iono.beta0;
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nav_data.ion_cmp[5] = beidou_dnav_iono.beta0;
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nav_data.ion_cmp[6] = beidou_dnav_iono.beta0;
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nav_data.ion_cmp[7] = beidou_dnav_iono.beta3;
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d_nav_data.ion_cmp[0] = beidou_dnav_iono.alpha0;
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d_nav_data.ion_cmp[1] = beidou_dnav_iono.alpha1;
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d_nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2;
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d_nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3;
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d_nav_data.ion_cmp[4] = beidou_dnav_iono.beta0;
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d_nav_data.ion_cmp[5] = beidou_dnav_iono.beta0;
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d_nav_data.ion_cmp[6] = beidou_dnav_iono.beta0;
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d_nav_data.ion_cmp[7] = beidou_dnav_iono.beta3;
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}
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if (gps_utc_model.valid)
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{
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nav_data.utc_gps[0] = gps_utc_model.A0;
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nav_data.utc_gps[1] = gps_utc_model.A1;
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nav_data.utc_gps[2] = gps_utc_model.tot;
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nav_data.utc_gps[3] = gps_utc_model.WN_T;
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nav_data.leaps = gps_utc_model.DeltaT_LS;
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d_nav_data.utc_gps[0] = gps_utc_model.A0;
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d_nav_data.utc_gps[1] = gps_utc_model.A1;
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d_nav_data.utc_gps[2] = gps_utc_model.tot;
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d_nav_data.utc_gps[3] = gps_utc_model.WN_T;
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d_nav_data.leaps = gps_utc_model.DeltaT_LS;
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}
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if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid)
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{
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nav_data.utc_gps[0] = gps_cnav_utc_model.A0;
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nav_data.utc_gps[1] = gps_cnav_utc_model.A1;
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nav_data.utc_gps[2] = gps_cnav_utc_model.tot;
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nav_data.utc_gps[3] = gps_cnav_utc_model.WN_T;
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nav_data.leaps = gps_cnav_utc_model.DeltaT_LS;
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d_nav_data.utc_gps[0] = gps_cnav_utc_model.A0;
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d_nav_data.utc_gps[1] = gps_cnav_utc_model.A1;
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d_nav_data.utc_gps[2] = gps_cnav_utc_model.tot;
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d_nav_data.utc_gps[3] = gps_cnav_utc_model.WN_T;
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d_nav_data.leaps = gps_cnav_utc_model.DeltaT_LS;
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}
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if (glonass_gnav_utc_model.valid)
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{
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nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ??
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nav_data.utc_glo[1] = 0.0; // ??
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nav_data.utc_glo[2] = 0.0; // ??
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nav_data.utc_glo[3] = 0.0; // ??
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d_nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ??
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d_nav_data.utc_glo[1] = 0.0; // ??
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d_nav_data.utc_glo[2] = 0.0; // ??
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d_nav_data.utc_glo[3] = 0.0; // ??
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}
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if (galileo_utc_model.A0 != 0.0)
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{
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nav_data.utc_gal[0] = galileo_utc_model.A0;
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nav_data.utc_gal[1] = galileo_utc_model.A1;
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nav_data.utc_gal[2] = galileo_utc_model.tot;
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nav_data.utc_gal[3] = galileo_utc_model.WNot;
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nav_data.leaps = galileo_utc_model.Delta_tLS;
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d_nav_data.utc_gal[0] = galileo_utc_model.A0;
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d_nav_data.utc_gal[1] = galileo_utc_model.A1;
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d_nav_data.utc_gal[2] = galileo_utc_model.tot;
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d_nav_data.utc_gal[3] = galileo_utc_model.WNot;
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d_nav_data.leaps = galileo_utc_model.Delta_tLS;
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}
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if (beidou_dnav_utc_model.valid)
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{
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nav_data.utc_cmp[0] = beidou_dnav_utc_model.A0_UTC;
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nav_data.utc_cmp[1] = beidou_dnav_utc_model.A1_UTC;
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nav_data.utc_cmp[2] = 0.0; // ??
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nav_data.utc_cmp[3] = 0.0; // ??
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nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS;
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d_nav_data.utc_cmp[0] = beidou_dnav_utc_model.A0_UTC;
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d_nav_data.utc_cmp[1] = beidou_dnav_utc_model.A1_UTC;
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d_nav_data.utc_cmp[2] = 0.0; // ??
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d_nav_data.utc_cmp[3] = 0.0; // ??
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d_nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS;
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}
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/* update carrier wave length using native function call in RTKlib */
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@ -990,11 +990,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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{
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for (int j = 0; j < NFREQ; j++)
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{
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nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &nav_data);
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d_nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &d_nav_data);
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}
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}
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result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
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result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &d_nav_data);
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if (result == 0)
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{
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@ -1095,7 +1095,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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// TOW
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d_monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
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// WEEK
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d_monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
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d_monitor_pvt.week = adjgpsweek(d_nav_data.eph[0].week, this->is_pre_2009());
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// PVT GPS time
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d_monitor_pvt.RX_time = gnss_observables_map.cbegin()->second.RX_time;
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// User clock offset [s]
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@ -1161,7 +1161,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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tmp_uint32 = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
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d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
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// WEEK
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tmp_uint32 = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
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tmp_uint32 = adjgpsweek(d_nav_data.eph[0].week, this->is_pre_2009());
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d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
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// PVT GPS time
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tmp_double = gnss_observables_map.cbegin()->second.RX_time;
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@ -132,6 +132,7 @@ private:
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uint32_t d_type_of_rx;
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bool d_flag_dump_enabled;
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bool d_flag_dump_mat_enabled;
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nav_t d_nav_data;
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};
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@ -34,6 +34,7 @@
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#include "rtklib_preceph.h"
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#include "rtklib_rtkcmn.h"
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#include "rtklib_sbas.h"
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#include <vector>
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/* constants -----------------------------------------------------------------*/
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@ -1023,7 +1024,7 @@ int satpos(gtime_t time, gtime_t teph, int sat, int ephopt,
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void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
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int ephopt, double *rs, double *dts, double *var, int *svh)
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{
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gtime_t time[MAXOBS] = {};
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std::vector<gtime_t> time(MAXOBS);
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double dt;
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double pr;
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int i;
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@ -39,6 +39,7 @@
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#include "rtklib_ionex.h"
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#include "rtklib_rtkcmn.h"
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#include <cstring>
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#include <vector>
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/* get index -----------------------------------------------------------------*/
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int getindex(double value, const double *range)
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@ -425,8 +426,8 @@ void readtec(const char *file, nav_t *nav, int opt)
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double hgts[3] = {0};
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double rb = 0.0;
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double nexp = -1.0;
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double dcb[MAXSAT] = {0};
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double rms[MAXSAT] = {0};
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std::vector<double> dcb(MAXSAT, 0);
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std::vector<double> rms(MAXSAT, 0);
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int i;
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int n;
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char *efiles[MAXEXFILE];
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@ -463,7 +464,7 @@ void readtec(const char *file, nav_t *nav, int opt)
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}
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/* read ionex header */
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if (readionexh(fp, lats, lons, hgts, &rb, &nexp, dcb, rms) <= 0.0)
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if (readionexh(fp, lats, lons, hgts, &rb, &nexp, dcb.data(), rms.data()) <= 0.0)
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{
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trace(2, "ionex file format error %s\n", efiles[i]);
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fclose(fp);
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@ -34,6 +34,7 @@
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#include "rtklib_ionex.h"
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#include "rtklib_sbas.h"
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#include <cstring>
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#include <vector>
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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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@ -988,8 +989,8 @@ int pntpos(const obsd_t *obs, int n, const nav_t *nav,
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double *resp;
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int i;
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int stat;
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int vsat[MAXOBS] = {0};
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int svh[MAXOBS];
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std::vector<int> vsat(MAXOBS, 0);
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std::vector<int> svh(MAXOBS, 0);
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sol->stat = SOLQ_NONE;
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@ -1019,20 +1020,20 @@ int pntpos(const obsd_t *obs, int n, const nav_t *nav,
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opt_.tropopt = TROPOPT_SAAS;
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}
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/* satellite positions, velocities and clocks */
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satposs(sol->time, obs, n, nav, opt_.sateph, rs, dts, var, svh);
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satposs(sol->time, obs, n, nav, opt_.sateph, rs, dts, var, svh.data());
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/* estimate receiver position with pseudorange */
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stat = estpos(obs, n, rs, dts, var, svh, nav, &opt_, sol, azel_, vsat, resp, msg);
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stat = estpos(obs, n, rs, dts, var, svh.data(), nav, &opt_, sol, azel_, vsat.data(), resp, msg);
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/* raim fde */
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if (!stat && n >= 6 && opt->posopt[4])
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{
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stat = raim_fde(obs, n, rs, dts, var, svh, nav, &opt_, sol, azel_, vsat, resp, msg);
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stat = raim_fde(obs, n, rs, dts, var, svh.data(), nav, &opt_, sol, azel_, vsat.data(), resp, msg);
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}
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/* estimate receiver velocity with doppler */
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if (stat)
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{
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estvel(obs, n, rs, dts, nav, &opt_, sol, azel_, vsat);
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estvel(obs, n, rs, dts, nav, &opt_, sol, azel_, vsat.data());
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}
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if (azel)
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@ -38,6 +38,7 @@
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#include "rtklib_sbas.h"
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#include "rtklib_tides.h"
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#include <cstring>
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#include <vector>
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/* wave length of LC (m) -----------------------------------------------------*/
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double lam_LC(int i, int j, int k)
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@ -351,7 +352,7 @@ int sel_amb(int *sat1, int *sat2, double *N, double *var, int n)
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{
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int i;
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int j;
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int flgs[MAXSAT] = {0};
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std::vector<int> flgs(MAXSAT, 0);
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int max_flg = 0;
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/* sort by variance */
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@ -372,7 +373,7 @@ int sel_amb(int *sat1, int *sat2, double *N, double *var, int n)
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/* select linearly independent satellite pair */
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for (i = j = 0; i < n; i++)
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{
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if (!is_depend(sat1[i], sat2[i], flgs, &max_flg))
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if (!is_depend(sat1[i], sat2[i], flgs.data(), &max_flg))
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{
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continue;
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}
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@ -546,7 +547,7 @@ int fix_amb_ILS(rtk_t *rtk, int *sat1, int *sat2, int *NW, int n)
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int m = 0;
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int info;
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int stat;
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int flgs[MAXSAT] = {0};
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std::vector<int> flgs(MAXSAT, 0);
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int max_flg = 0;
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|
||||
lam1 = LAM_CARR[0];
|
||||
@ -565,7 +566,7 @@ int fix_amb_ILS(rtk_t *rtk, int *sat1, int *sat2, int *NW, int n)
|
||||
for (i = 0; i < n; i++)
|
||||
{
|
||||
/* check linear independency */
|
||||
if (!is_depend(sat1[i], sat2[i], flgs, &max_flg))
|
||||
if (!is_depend(sat1[i], sat2[i], flgs.data(), &max_flg))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -1362,7 +1363,7 @@ void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
{
|
||||
double meas[2];
|
||||
double var[2];
|
||||
double bias[MAXOBS] = {0};
|
||||
std::vector<double> bias(MAXOBS, 0.0);
|
||||
double offset = 0.0;
|
||||
double pos[3] = {0};
|
||||
int i;
|
||||
@ -1562,7 +1563,7 @@ int res_ppp(int iter __attribute__((unused)), const obsd_t *obs, int n, const do
|
||||
double dtdx[3];
|
||||
double dantr[NFREQ] = {0};
|
||||
double dants[NFREQ] = {0};
|
||||
double var[MAXOBS * 2];
|
||||
std::vector<double> var(MAXOBS * 2, 0.0);
|
||||
double dtrp = 0.0;
|
||||
double vart = 0.0;
|
||||
double varm[2] = {0};
|
||||
@ -1781,7 +1782,7 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
int i;
|
||||
int nv;
|
||||
int info;
|
||||
int svh[MAXOBS];
|
||||
std::vector<int> svh(MAXOBS);
|
||||
int stat = SOLQ_SINGLE;
|
||||
|
||||
trace(3, "pppos : nx=%d n=%d\n", rtk->nx, n);
|
||||
@ -1803,7 +1804,7 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
tracemat(4, rtk->x, 1, NR_PPP(opt), 13, 4);
|
||||
|
||||
/* satellite positions and clocks */
|
||||
satposs(obs[0].time, obs, n, nav, rtk->opt.sateph, rs, dts, var, svh);
|
||||
satposs(obs[0].time, obs, n, nav, rtk->opt.sateph, rs, dts, var, svh.data());
|
||||
|
||||
/* exclude measurements of eclipsing satellite */
|
||||
if (rtk->opt.posopt[3])
|
||||
@ -1821,7 +1822,7 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
for (i = 0; i < rtk->opt.niter; i++)
|
||||
{
|
||||
/* phase and code residuals */
|
||||
if ((nv = res_ppp(i, obs, n, rs, dts, var, svh, nav, xp, rtk, v, H, R, azel)) <= 0)
|
||||
if ((nv = res_ppp(i, obs, n, rs, dts, var, svh.data(), nav, xp, rtk, v, H, R, azel)) <= 0)
|
||||
{
|
||||
break;
|
||||
}
|
||||
@ -1842,7 +1843,7 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
if (stat == SOLQ_PPP)
|
||||
{
|
||||
/* postfit residuals */
|
||||
res_ppp(1, obs, n, rs, dts, var, svh, nav, xp, rtk, v, H, R, azel);
|
||||
res_ppp(1, obs, n, rs, dts, var, svh.data(), nav, xp, rtk, v, H, R, azel);
|
||||
|
||||
/* update state and covariance matrix */
|
||||
matcpy(rtk->x, xp, rtk->nx, 1);
|
||||
|
||||
@ -43,6 +43,7 @@
|
||||
#include "rtklib_preceph.h"
|
||||
#include "rtklib_rtkcmn.h"
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
/* satellite code to satellite system ----------------------------------------*/
|
||||
int code2sys(char code)
|
||||
@ -390,7 +391,7 @@ void readsp3(const char *file, nav_t *nav, int opt)
|
||||
int j;
|
||||
int n;
|
||||
int ns;
|
||||
int sats[MAXSAT] = {};
|
||||
std::vector<int> sats(MAXSAT);
|
||||
char *efiles[MAXEXFILE];
|
||||
char *ext;
|
||||
char type = ' ';
|
||||
@ -431,10 +432,10 @@ void readsp3(const char *file, nav_t *nav, int opt)
|
||||
continue;
|
||||
}
|
||||
/* read sp3 header */
|
||||
ns = readsp3h(fp, &time, &type, sats, bfact, tsys);
|
||||
ns = readsp3h(fp, &time, &type, sats.data(), bfact, tsys);
|
||||
|
||||
/* read sp3 body */
|
||||
readsp3b(fp, type, sats, ns, bfact, tsys, j++, opt, nav);
|
||||
readsp3b(fp, type, sats.data(), ns, bfact, tsys, j++, opt, nav);
|
||||
|
||||
fclose(fp);
|
||||
}
|
||||
|
||||
@ -31,6 +31,7 @@
|
||||
|
||||
#include "rtklib_rtkcmn.h"
|
||||
#include <glog/logging.h>
|
||||
#include <array>
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <dirent.h>
|
||||
@ -40,6 +41,7 @@
|
||||
#include <sys/stat.h>
|
||||
#include <sys/time.h>
|
||||
#include <sys/types.h>
|
||||
#include <vector>
|
||||
|
||||
|
||||
const double GPST0[] = {1980, 1, 6, 0, 0, 0}; /* gps time reference */
|
||||
@ -4496,7 +4498,7 @@ double satazel(const double *pos, const double *e, double *azel)
|
||||
*-----------------------------------------------------------------------------*/
|
||||
void dops(int ns, const double *azel, double elmin, double *dop)
|
||||
{
|
||||
double H[4 * MAXSAT];
|
||||
std::vector<double> H(4 * MAXSAT);
|
||||
double Q[16];
|
||||
double cosel;
|
||||
double sinel;
|
||||
@ -4525,7 +4527,7 @@ void dops(int ns, const double *azel, double elmin, double *dop)
|
||||
return;
|
||||
}
|
||||
|
||||
matmul("NT", 4, 4, n, 1.0, H, H, 0.0, Q);
|
||||
matmul("NT", 4, 4, n, 1.0, H.data(), H.data(), 0.0, Q);
|
||||
if (!matinv(Q, 4))
|
||||
{
|
||||
dop[0] = std::sqrt(Q[0] + Q[5] + Q[10] + Q[15]); /* GDOP */
|
||||
@ -5029,16 +5031,23 @@ void sunmoonpos(gtime_t tutc, const double *erpv, double *rsun,
|
||||
*-----------------------------------------------------------------------------*/
|
||||
void csmooth(obs_t *obs, int ns)
|
||||
{
|
||||
double Ps[2][MAXSAT][NFREQ] = {};
|
||||
double Lp[2][MAXSAT][NFREQ] = {};
|
||||
std::vector<std::array<double, NFREQ>> Ps[2];
|
||||
std::vector<std::array<double, NFREQ>> Lp[2];
|
||||
double dcp;
|
||||
int i;
|
||||
int j;
|
||||
int s;
|
||||
int r;
|
||||
int n[2][MAXSAT][NFREQ] = {};
|
||||
std::vector<std::array<int, NFREQ>> n[2];
|
||||
obsd_t *p;
|
||||
|
||||
Ps[0].resize(MAXSAT);
|
||||
Ps[1].resize(MAXSAT);
|
||||
Lp[0].resize(MAXSAT);
|
||||
Lp[1].resize(MAXSAT);
|
||||
n[0].resize(MAXSAT);
|
||||
n[1].resize(MAXSAT);
|
||||
|
||||
trace(3, "csmooth: nobs=%d,ns=%d\n", obs->n, ns);
|
||||
|
||||
for (i = 0; i < obs->n; i++)
|
||||
|
||||
@ -37,6 +37,7 @@
|
||||
#include "rtklib_tides.h"
|
||||
#include <cmath>
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
static int resamb_WLNL(rtk_t *rtk __attribute((unused)), const obsd_t *obs __attribute((unused)), const int *sat __attribute((unused)),
|
||||
const int *iu __attribute((unused)), const int *ir __attribute((unused)), int ns __attribute__((unused)), const nav_t *nav __attribute((unused)),
|
||||
@ -2029,7 +2030,7 @@ void restamb(rtk_t *rtk, const double *bias, int nb __attribute((unused)), doubl
|
||||
int n;
|
||||
int m;
|
||||
int f;
|
||||
int index[MAXSAT];
|
||||
std::vector<int> index(MAXSAT);
|
||||
int nv = 0;
|
||||
int nf = NF_RTK(&rtk->opt);
|
||||
|
||||
@ -2083,7 +2084,7 @@ void holdamb(rtk_t *rtk, const double *xa)
|
||||
int m;
|
||||
int f;
|
||||
int info;
|
||||
int index[MAXSAT];
|
||||
std::vector<int> index(MAXSAT);
|
||||
int nb = rtk->nx - rtk->na;
|
||||
int nv = 0;
|
||||
int nf = NF_RTK(&rtk->opt);
|
||||
@ -2371,13 +2372,13 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
int ns;
|
||||
int ny;
|
||||
int nv;
|
||||
int sat[MAXSAT];
|
||||
int iu[MAXSAT];
|
||||
int ir[MAXSAT];
|
||||
std::vector<int> sat(MAXSAT);
|
||||
std::vector<int> iu(MAXSAT);
|
||||
std::vector<int> ir(MAXSAT);
|
||||
int niter;
|
||||
int info;
|
||||
int vflg[MAXOBS * NFREQ * 2 + 1];
|
||||
int svh[MAXOBS * 2];
|
||||
std::vector<int> vflg(MAXOBS * NFREQ * 2 + 1);
|
||||
std::vector<int> svh(MAXOBS * 2);
|
||||
int stat = rtk->opt.mode <= PMODE_DGPS ? SOLQ_DGPS : SOLQ_FLOAT;
|
||||
int nf = opt->ionoopt == IONOOPT_IFLC ? 1 : opt->nf;
|
||||
|
||||
@ -2401,10 +2402,10 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
}
|
||||
}
|
||||
/* satellite positions/clocks */
|
||||
satposs(time, obs, n, nav, opt->sateph, rs, dts, var, svh);
|
||||
satposs(time, obs, n, nav, opt->sateph, rs, dts, var, svh.data());
|
||||
|
||||
/* undifferenced residuals for base station */
|
||||
if (!zdres(1, obs + nu, nr, rs + nu * 6, dts + nu * 2, svh + nu, nav, rtk->rb, opt, 1,
|
||||
if (!zdres(1, obs + nu, nr, rs + nu * 6, dts + nu * 2, &svh[nu], nav, rtk->rb, opt, 1,
|
||||
y + nu * nf * 2, e + nu * 3, azel + nu * 2))
|
||||
{
|
||||
errmsg(rtk, "initial base station position error\n");
|
||||
@ -2423,7 +2424,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
dt = intpres(time, obs + nu, nr, nav, rtk, y + nu * nf * 2);
|
||||
}
|
||||
/* select common satellites between rover and base-station */
|
||||
if ((ns = selsat(obs, azel, nu, nr, opt, sat, iu, ir)) <= 0)
|
||||
if ((ns = selsat(obs, azel, nu, nr, opt, sat.data(), iu.data(), ir.data())) <= 0)
|
||||
{
|
||||
errmsg(rtk, "no common satellite\n");
|
||||
|
||||
@ -2436,7 +2437,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
return 0;
|
||||
}
|
||||
/* temporal update of states */
|
||||
udstate(rtk, obs, sat, iu, ir, ns, nav);
|
||||
udstate(rtk, obs, sat.data(), iu.data(), ir.data(), ns, nav);
|
||||
|
||||
trace(4, "x(0)=");
|
||||
tracemat(4, rtk->x, 1, NR_RTK(opt), 13, 4);
|
||||
@ -2458,14 +2459,14 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
for (i = 0; i < niter; i++)
|
||||
{
|
||||
/* undifferenced residuals for rover */
|
||||
if (!zdres(0, obs, nu, rs, dts, svh, nav, xp, opt, 0, y, e, azel))
|
||||
if (!zdres(0, obs, nu, rs, dts, svh.data(), nav, xp, opt, 0, y, e, azel))
|
||||
{
|
||||
errmsg(rtk, "rover initial position error\n");
|
||||
stat = SOLQ_NONE;
|
||||
break;
|
||||
}
|
||||
/* double-differenced residuals and partial derivatives */
|
||||
if ((nv = ddres(rtk, nav, dt, xp, Pp, sat, y, e, azel, iu, ir, ns, v, H, R, vflg)) < 1)
|
||||
if ((nv = ddres(rtk, nav, dt, xp, Pp, sat.data(), y, e, azel, iu.data(), ir.data(), ns, v, H, R, vflg.data())) < 1)
|
||||
{
|
||||
errmsg(rtk, "no double-differenced residual\n");
|
||||
stat = SOLQ_NONE;
|
||||
@ -2482,13 +2483,13 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
trace(4, "x(%d)=", i + 1);
|
||||
tracemat(4, xp, 1, NR_RTK(opt), 13, 4);
|
||||
}
|
||||
if (stat != SOLQ_NONE && zdres(0, obs, nu, rs, dts, svh, nav, xp, opt, 0, y, e, azel))
|
||||
if (stat != SOLQ_NONE && zdres(0, obs, nu, rs, dts, svh.data(), nav, xp, opt, 0, y, e, azel))
|
||||
{
|
||||
/* post-fit residuals for float solution */
|
||||
nv = ddres(rtk, nav, dt, xp, Pp, sat, y, e, azel, iu, ir, ns, v, nullptr, R, vflg);
|
||||
nv = ddres(rtk, nav, dt, xp, Pp, sat.data(), y, e, azel, iu.data(), ir.data(), ns, v, nullptr, R, vflg.data());
|
||||
|
||||
/* validation of float solution */
|
||||
if (valpos(rtk, v, R, vflg, nv, 4.0))
|
||||
if (valpos(rtk, v, R, vflg.data(), nv, 4.0))
|
||||
{
|
||||
/* update state and covariance matrix */
|
||||
matcpy(rtk->x, xp, rtk->nx, 1);
|
||||
@ -2526,7 +2527,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
/* resolve integer ambiguity by WL-NL */
|
||||
if (stat != SOLQ_NONE && rtk->opt.modear == ARMODE_WLNL)
|
||||
{
|
||||
if (resamb_WLNL(rtk, obs, sat, iu, ir, ns, nav, azel))
|
||||
if (resamb_WLNL(rtk, obs, sat.data(), iu.data(), ir.data(), ns, nav, azel))
|
||||
{
|
||||
stat = SOLQ_FIX;
|
||||
}
|
||||
@ -2534,7 +2535,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
/* resolve integer ambiguity by TCAR */
|
||||
else if (stat != SOLQ_NONE && rtk->opt.modear == ARMODE_TCAR)
|
||||
{
|
||||
if (resamb_TCAR(rtk, obs, sat, iu, ir, ns, nav, azel))
|
||||
if (resamb_TCAR(rtk, obs, sat.data(), iu.data(), ir.data(), ns, nav, azel))
|
||||
{
|
||||
stat = SOLQ_FIX;
|
||||
}
|
||||
@ -2542,13 +2543,13 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
/* resolve integer ambiguity by LAMBDA */
|
||||
else if (stat != SOLQ_NONE && resamb_LAMBDA(rtk, bias, xa) > 1)
|
||||
{
|
||||
if (zdres(0, obs, nu, rs, dts, svh, nav, xa, opt, 0, y, e, azel))
|
||||
if (zdres(0, obs, nu, rs, dts, svh.data(), nav, xa, opt, 0, y, e, azel))
|
||||
{
|
||||
/* post-fit reisiduals for fixed solution */
|
||||
nv = ddres(rtk, nav, dt, xa, nullptr, sat, y, e, azel, iu, ir, ns, v, nullptr, R, vflg);
|
||||
nv = ddres(rtk, nav, dt, xa, nullptr, sat.data(), y, e, azel, iu.data(), ir.data(), ns, v, nullptr, R, vflg.data());
|
||||
|
||||
/* validation of fixed solution */
|
||||
if (valpos(rtk, v, R, vflg, nv, 4.0))
|
||||
if (valpos(rtk, v, R, vflg.data(), nv, 4.0))
|
||||
{
|
||||
/* hold integer ambiguity */
|
||||
if (++rtk->nfix >= rtk->opt.minfix &&
|
||||
|
||||
@ -37,6 +37,7 @@
|
||||
#include <cctype>
|
||||
#include <cmath>
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
|
||||
/* constants and macros ------------------------------------------------------*/
|
||||
@ -1654,7 +1655,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
int sat;
|
||||
int sys;
|
||||
int nsat;
|
||||
int prn[MAXSAT];
|
||||
std::vector<int> prn(MAXSAT);
|
||||
char *p = reinterpret_cast<char *>(buff);
|
||||
char *q;
|
||||
char *s;
|
||||
@ -1683,7 +1684,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
{
|
||||
continue;
|
||||
}
|
||||
sys = satsys(sat, prn + nsat);
|
||||
sys = satsys(sat, &prn[nsat]);
|
||||
if (sys != SYS_GPS && sys != SYS_SBS)
|
||||
{
|
||||
continue;
|
||||
@ -1728,7 +1729,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
{
|
||||
continue;
|
||||
}
|
||||
if (satsys(sat, prn + nsat) != SYS_GLO)
|
||||
if (satsys(sat, &prn[nsat]) != SYS_GLO)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -1769,7 +1770,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
{
|
||||
continue;
|
||||
}
|
||||
if (satsys(sat, prn + nsat) != SYS_GAL)
|
||||
if (satsys(sat, &prn[nsat]) != SYS_GAL)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -1809,7 +1810,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
{
|
||||
continue;
|
||||
}
|
||||
if (satsys(sat, prn + nsat) != SYS_BDS)
|
||||
if (satsys(sat, &prn[nsat]) != SYS_BDS)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -1861,7 +1862,7 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
|
||||
int prn;
|
||||
int sys;
|
||||
int nmsg;
|
||||
int sats[MAXSAT];
|
||||
std::vector<int> sats(MAXSAT);
|
||||
char *p = reinterpret_cast<char *>(buff);
|
||||
char *q;
|
||||
char *s;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user