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Revert "Refactor of constants, remove defines"

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This reverts commit 27ab390944.
This commit is contained in:
Carles Fernandez
2017-04-21 16:15:38 +02:00
parent a1c3188c44
commit ecd1612680
23 changed files with 5521 additions and 6220 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -217,8 +217,8 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
nav_data.n=valid_obs;
for (int i=0; i< MAXSAT;i++)
{
nav_data.lam[i][0]=SPEED_OF_LIGHT/FREQ1; /* L1/E1 */
nav_data.lam[i][1]=SPEED_OF_LIGHT/FREQ2; /* L2 */
nav_data.lam[i][0]=CLIGHT/FREQ1; /* L1/E1 */
nav_data.lam[i][1]=CLIGHT/FREQ2; /* L2 */
}
result=pntpos(obs_data, valid_obs, &nav_data, &rtklib_opt, &old_pvt_sol, NULL, NULL,rtklib_msg);

9
src/algorithms/libs/rtklib/CMakeLists.txt
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@@ -1,4 +1,4 @@
# Copyright (C) 2012-2017 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2015 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@@ -38,13 +38,14 @@ include_directories(
${GFlags_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
)
file(GLOB RTKLIB_LIB_HEADERS "*.h")
list(SORT RTKLIB_LIB_HEADERS)
add_library(rtklib_lib ${RTKLIB_LIB_SOURCES} ${RTKLIB_LIB_HEADERS})
source_group(Headers FILES ${RTKLIB_LIB_HEADERS})
add_dependencies(rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
#set_property(SOURCE rtklib_rtkcmn.cc APPEND_STRING PROPERTY COMPILE_FLAGS " -Wno-missing-field-initializers ")
target_link_libraries(
rtklib_lib
${Boost_LIBRARIES}
@@ -54,4 +55,6 @@ target_link_libraries(
${BLAS}
${LAPACK}
)
#MESSAGE( STATUS "*****************BLAS: " ${BLAS} )

601
src/algorithms/libs/rtklib/rtklib.h
View File

@@ -48,300 +48,356 @@
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef GNSS_SDR_RTKLIB_H_
#define GNSS_SDR_RTKLIB_H_
#ifndef RTKLIB_H_
#define RTKLIB_H_
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <cstring>
#include <cmath>
#include <math.h>
#include <time.h>
#include <ctype.h>
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
#define thread_t pthread_t
#define lock_t pthread_mutex_t
#define initlock(f) pthread_mutex_init(f,NULL)
#define lock(f) pthread_mutex_lock(f)
#define unlock(f) pthread_mutex_unlock(f)
#define FILEPATHSEP '/'
const int FILEPATHSEP = '/';
#define PI 3.1415926535897932 /* pi */
#define D2R (PI/180.0) /* deg to rad */
#define R2D (180.0/PI) /* rad to deg */
#define CLIGHT 299792458.0 /* speed of light (m/s) */
#define SC2RAD 3.1415926535898 /* semi-circle to radian (IS-GPS) */
#define AU 149597870691.0 /* 1 AU (m) */
#define AS2R (D2R/3600.0) /* arc sec to radian */
const double RE_WGS84 = 6378137.0; //!< earth semimajor axis (WGS84) (m)
const double FE_WGS84 = (1.0 / 298.257223563); //!< earth flattening (WGS84)
#define OMGE 7.2921151467E-5 /* earth angular velocity (IS-GPS) (rad/s) */
const double HION = 350000.0; //!< ionosphere height (m)
#define RE_WGS84 6378137.0 /* earth semimajor axis (WGS84) (m) */
#define FE_WGS84 (1.0/298.257223563) /* earth flattening (WGS84) */
const unsigned int POLYCRC32 = 0xEDB88320u; //!< CRC32 polynomial
const unsigned int POLYCRC24Q = 0x1864CFBu; //!< CRC24Q polynomial
#define HION 350000.0 /* ionosphere height (m) */
const unsigned int PMODE_SINGLE = 0; //!< positioning mode: single
const unsigned int PMODE_DGPS = 1; //!< positioning mode: DGPS/DGNSS
const unsigned int PMODE_KINEMA = 2; //!< positioning mode: kinematic
const unsigned int PMODE_STATIC = 3; //!< positioning mode: static
const unsigned int PMODE_MOVEB = 4; //!< positioning mode: moving-base
const unsigned int PMODE_FIXED = 5; //!< positioning mode: fixed
const unsigned int PMODE_PPP_KINEMA = 6; //!< positioning mode: PPP-kinemaric
const unsigned int PMODE_PPP_STATIC = 7; //!< positioning mode: PPP-static
const unsigned int PMODE_PPP_FIXED = 8; //!< positioning mode: PPP-fixed
#define P2_5 0.03125 /* 2^-5 */
#define P2_6 0.015625 /* 2^-6 */
#define P2_11 4.882812500000000E-04 /* 2^-11 */
#define P2_15 3.051757812500000E-05 /* 2^-15 */
#define P2_17 7.629394531250000E-06 /* 2^-17 */
#define P2_19 1.907348632812500E-06 /* 2^-19 */
#define P2_20 9.536743164062500E-07 /* 2^-20 */
#define P2_21 4.768371582031250E-07 /* 2^-21 */
#define P2_23 1.192092895507810E-07 /* 2^-23 */
#define P2_24 5.960464477539063E-08 /* 2^-24 */
#define P2_27 7.450580596923828E-09 /* 2^-27 */
#define P2_29 1.862645149230957E-09 /* 2^-29 */
#define P2_30 9.313225746154785E-10 /* 2^-30 */
#define P2_31 4.656612873077393E-10 /* 2^-31 */
#define P2_32 2.328306436538696E-10 /* 2^-32 */
#define P2_33 1.164153218269348E-10 /* 2^-33 */
#define P2_35 2.910383045673370E-11 /* 2^-35 */
#define P2_38 3.637978807091710E-12 /* 2^-38 */
#define P2_39 1.818989403545856E-12 /* 2^-39 */
#define P2_40 9.094947017729280E-13 /* 2^-40 */
#define P2_43 1.136868377216160E-13 /* 2^-43 */
#define P2_48 3.552713678800501E-15 /* 2^-48 */
#define P2_50 8.881784197001252E-16 /* 2^-50 */
#define P2_55 2.775557561562891E-17 /* 2^-55 */
const unsigned int SOLF_LLH = 0; //!< solution format: lat/lon/height
const unsigned int SOLF_XYZ = 1; //!< solution format: x/y/z-ecef
const unsigned int SOLF_ENU = 2; //!< solution format: e/n/u-baseline
const unsigned int SOLF_NMEA = 3; //!< solution format: NMEA-183
const unsigned int SOLF_STAT = 4; //!< solution format: solution status
const unsigned int SOLF_GSIF = 5; //!< solution format: GSI F1/F2
#define POLYCRC32 0xEDB88320u /* CRC32 polynomial */
#define POLYCRC24Q 0x1864CFBu /* CRC24Q polynomial */
const unsigned int SOLQ_NONE = 0; //!< solution status: no solution
const unsigned int SOLQ_FIX = 1; //!< solution status: fix
const unsigned int SOLQ_FLOAT = 2; //!< solution status: float
const unsigned int SOLQ_SBAS = 3; //!< solution status: SBAS
const unsigned int SOLQ_DGPS = 4; //!< solution status: DGPS/DGNSS
const unsigned int SOLQ_SINGLE = 5; //!< solution status: single
const unsigned int SOLQ_PPP = 6; //!< solution status: PPP
const unsigned int SOLQ_DR = 7; //!< solution status: dead reckoning
const unsigned int MAXSOLQ = 7; //!< max number of solution status
#define PMODE_SINGLE 0 /* positioning mode: single */
#define PMODE_DGPS 1 /* positioning mode: DGPS/DGNSS */
#define PMODE_KINEMA 2 /* positioning mode: kinematic */
#define PMODE_STATIC 3 /* positioning mode: static */
#define PMODE_MOVEB 4 /* positioning mode: moving-base */
#define PMODE_FIXED 5 /* positioning mode: fixed */
#define PMODE_PPP_KINEMA 6 /* positioning mode: PPP-kinemaric */
#define PMODE_PPP_STATIC 7 /* positioning mode: PPP-static */
#define PMODE_PPP_FIXED 8 /* positioning mode: PPP-fixed */
const unsigned int TIMES_GPST = 0; //!< time system: gps time
const unsigned int TIMES_UTC = 1; //!< time system: utc
const unsigned int TIMES_JST = 2; //!< time system: jst
#define SOLF_LLH 0 /* solution format: lat/lon/height */
#define SOLF_XYZ 1 /* solution format: x/y/z-ecef */
#define SOLF_ENU 2 /* solution format: e/n/u-baseline */
#define SOLF_NMEA 3 /* solution format: NMEA-183 */
#define SOLF_STAT 4 /* solution format: solution status */
#define SOLF_GSIF 5 /* solution format: GSI F1/F2 */
const unsigned int MAXFREQ = 7; //!< max NFREQ
#define SOLQ_NONE 0 /* solution status: no solution */
#define SOLQ_FIX 1 /* solution status: fix */
#define SOLQ_FLOAT 2 /* solution status: float */
#define SOLQ_SBAS 3 /* solution status: SBAS */
#define SOLQ_DGPS 4 /* solution status: DGPS/DGNSS */
#define SOLQ_SINGLE 5 /* solution status: single */
#define SOLQ_PPP 6 /* solution status: PPP */
#define SOLQ_DR 7 /* solution status: dead reconing */
#define MAXSOLQ 7 /* max number of solution status */
const unsigned int MAXLEAPS = 64; //!< max number of leap seconds table */
const double DTTOL = 0.005; //!< tolerance of time difference (s) */
#define TIMES_GPST 0 /* time system: gps time */
#define TIMES_UTC 1 /* time system: utc */
#define TIMES_JST 2 /* time system: jst */
const unsigned int NFREQ = 3;
const unsigned int NEXOBS = 0; //!< number of extended obs codes */
const unsigned int MAXANT = 64; //!< max length of station name/antenna type */
#define MAXFREQ 7 /* max NFREQ */
const unsigned int MINPRNGPS = 1; //!< min satellite PRN number of GPS */
const unsigned int MAXPRNGPS = 32; //!< max satellite PRN number of GPS */
const unsigned int NSATGPS = (MAXPRNGPS - MINPRNGPS + 1); //!< number of GPS satellites */
const unsigned int NSYSGPS = 1;
#define FREQ1 1.57542E9 /* L1/E1 frequency (Hz) */
#define FREQ2 1.22760E9 /* L2 frequency (Hz) */
#define FREQ5 1.17645E9 /* L5/E5a frequency (Hz) */
#define FREQ6 1.27875E9 /* E6/LEX frequency (Hz) */
#define FREQ7 1.20714E9 /* E5b frequency (Hz) */
#define FREQ8 1.191795E9 /* E5a+b frequency (Hz) */
#define FREQ9 2.492028E9 /* S frequency (Hz) */
#define FREQ1_GLO 1.60200E9 /* GLONASS G1 base frequency (Hz) */
#define DFRQ1_GLO 0.56250E6 /* GLONASS G1 bias frequency (Hz/n) */
#define FREQ2_GLO 1.24600E9 /* GLONASS G2 base frequency (Hz) */
#define DFRQ2_GLO 0.43750E6 /* GLONASS G2 bias frequency (Hz/n) */
#define FREQ3_GLO 1.202025E9 /* GLONASS G3 frequency (Hz) */
#define FREQ1_CMP 1.561098E9 /* BeiDou B1 frequency (Hz) */
#define FREQ2_CMP 1.20714E9 /* BeiDou B2 frequency (Hz) */
#define FREQ3_CMP 1.26852E9 /* BeiDou B3 frequency (Hz) */
const int SYS_NONE = 0x00; //!< navigation system: none */
const int SYS_GPS = 0x01; //!< navigation system: GPS */
const int SYS_SBS = 0x02; //!< navigation system: SBAS */
const int SYS_GLO = 0x04; //!< navigation system: GLONASS */
const int SYS_GAL = 0x08; //!< navigation system: Galileo */
const int SYS_QZS = 0x10; //!< navigation system: QZSS */
const int SYS_BDS = 0x20; //!< navigation system: BeiDou */
const int SYS_IRN = 0x40; //!< navigation system: IRNS */
const int SYS_LEO = 0x80; //!< navigation system: LEO */
const int SYS_ALL = 0xFF; //!< navigation system: all */
#define MAXLEAPS 64 /* max number of leap seconds table */
#define DTTOL 0.005 /* tolerance of time difference (s) */
const unsigned int CODE_NONE = 0; //!< obs code: none or unknown */
const unsigned int CODE_L1C = 1; //!< obs code: L1C/A,G1C/A,E1C (GPS,GLO,GAL,QZS,SBS) */
const unsigned int CODE_L1P = 2; //!< obs code: L1P,G1P (GPS,GLO) */
const unsigned int CODE_L1W = 3; //!< obs code: L1 Z-track (GPS) */
const unsigned int CODE_L1Y = 4; //!< obs code: L1Y (GPS) */
const unsigned int CODE_L1M = 5; //!< obs code: L1M (GPS) */
const unsigned int CODE_L1N = 6; //!< obs code: L1codeless (GPS) */
const unsigned int CODE_L1S = 7; //!< obs code: L1C(D) (GPS,QZS) */
const unsigned int CODE_L1L = 8; //!< obs code: L1C(P) (GPS,QZS) */
const unsigned int CODE_L1E = 9; //!< (not used) */
const unsigned int CODE_L1A = 10; //!< obs code: E1A (GAL) */
const unsigned int CODE_L1B = 11; //!< obs code: E1B (GAL) */
const unsigned int CODE_L1X = 12; //!< obs code: E1B+C,L1C(D+P) (GAL,QZS) */
const unsigned int CODE_L1Z = 13; //!< obs code: E1A+B+C,L1SAIF (GAL,QZS) */
const unsigned int CODE_L2C = 14; //!< obs code: L2C/A,G1C/A (GPS,GLO) */
const unsigned int CODE_L2D = 15; //!< obs code: L2 L1C/A-(P2-P1) (GPS) */
const unsigned int CODE_L2S = 16; //!< obs code: L2C(M) (GPS,QZS) */
const unsigned int CODE_L2L = 17; //!< obs code: L2C(L) (GPS,QZS) */
const unsigned int CODE_L2X = 18; //!< obs code: L2C(M+L),B1I+Q (GPS,QZS,BDS) */
const unsigned int CODE_L2P = 19; //!< obs code: L2P,G2P (GPS,GLO) */
const unsigned int CODE_L2W = 20; //!< obs code: L2 Z-track (GPS) */
const unsigned int CODE_L2Y = 21; //!< obs code: L2Y (GPS) */
const unsigned int CODE_L2M = 22; //!< obs code: L2M (GPS) */
const unsigned int CODE_L2N = 23; //!< obs code: L2codeless (GPS) */
const unsigned int CODE_L5I = 24; //!< obs code: L5/E5aI (GPS,GAL,QZS,SBS) */
const unsigned int CODE_L5Q = 25; //!< obs code: L5/E5aQ (GPS,GAL,QZS,SBS) */
const unsigned int CODE_L5X = 26; //!< obs code: L5/E5aI+Q/L5B+C (GPS,GAL,QZS,IRN,SBS) */
const unsigned int CODE_L7I = 27; //!< obs code: E5bI,B2I (GAL,BDS) */
const unsigned int CODE_L7Q = 28; //!< obs code: E5bQ,B2Q (GAL,BDS) */
const unsigned int CODE_L7X = 29; //!< obs code: E5bI+Q,B2I+Q (GAL,BDS) */
const unsigned int CODE_L6A = 30; //!< obs code: E6A (GAL) */
const unsigned int CODE_L6B = 31; //!< obs code: E6B (GAL) */
const unsigned int CODE_L6C = 32; //!< obs code: E6C (GAL) */
const unsigned int CODE_L6X = 33; //!< obs code: E6B+C,LEXS+L,B3I+Q (GAL,QZS,BDS) */
const unsigned int CODE_L6Z = 34; //!< obs code: E6A+B+C (GAL) */
const unsigned int CODE_L6S = 35; //!< obs code: LEXS (QZS) */
const unsigned int CODE_L6L = 36; //!< obs code: LEXL (QZS) */
const unsigned int CODE_L8I = 37; //!< obs code: E5(a+b)I (GAL) */
const unsigned int CODE_L8Q = 38; //!< obs code: E5(a+b)Q (GAL) */
const unsigned int CODE_L8X = 39; //!< obs code: E5(a+b)I+Q (GAL) */
const unsigned int CODE_L2I = 40; //!< obs code: B1I (BDS) */
const unsigned int CODE_L2Q = 41; //!< obs code: B1Q (BDS) */
const unsigned int CODE_L6I = 42; //!< obs code: B3I (BDS) */
const unsigned int CODE_L6Q = 43; //!< obs code: B3Q (BDS) */
const unsigned int CODE_L3I = 44; //!< obs code: G3I (GLO) */
const unsigned int CODE_L3Q = 45; //!< obs code: G3Q (GLO) */
const unsigned int CODE_L3X = 46; //!< obs code: G3I+Q (GLO) */
const unsigned int CODE_L1I = 47; //!< obs code: B1I (BDS) */
const unsigned int CODE_L1Q = 48; //!< obs code: B1Q (BDS) */
const unsigned int CODE_L5A = 49; //!< obs code: L5A SPS (IRN) */
const unsigned int CODE_L5B = 50; //!< obs code: L5B RS(D) (IRN) */
const unsigned int CODE_L5C = 51; //!< obs code: L5C RS(P) (IRN) */
const unsigned int CODE_L9A = 52; //!< obs code: SA SPS (IRN) */
const unsigned int CODE_L9B = 53; //!< obs code: SB RS(D) (IRN) */
const unsigned int CODE_L9C = 54; //!< obs code: SC RS(P) (IRN) */
const unsigned int CODE_L9X = 55; //!< obs code: SB+C (IRN) */
const unsigned int MAXCODE = 55; //!< max number of obs code */
#define NFREQ 3
#define NEXOBS 0 /* number of extended obs codes */
#define MAXANT 64 /* max length of station name/antenna type */
#define MINPRNGPS 1 /* min satellite PRN number of GPS */
#define MAXPRNGPS 32 /* max satellite PRN number of GPS */
#define NSATGPS (MAXPRNGPS-MINPRNGPS+1) /* number of GPS satellites */
#define NSYSGPS 1
#define SYS_NONE 0x00 /* navigation system: none */
#define SYS_GPS 0x01 /* navigation system: GPS */
#define SYS_SBS 0x02 /* navigation system: SBAS */
#define SYS_GLO 0x04 /* navigation system: GLONASS */
#define SYS_GAL 0x08 /* navigation system: Galileo */
#define SYS_QZS 0x10 /* navigation system: QZSS */
#define SYS_CMP 0x20 /* navigation system: BeiDou */
#define SYS_IRN 0x40 /* navigation system: IRNS */
#define SYS_LEO 0x80 /* navigation system: LEO */
#define SYS_ALL 0xFF /* navigation system: all */
#define CODE_NONE 0 /* obs code: none or unknown */
#define CODE_L1C 1 /* obs code: L1C/A,G1C/A,E1C (GPS,GLO,GAL,QZS,SBS) */
#define CODE_L1P 2 /* obs code: L1P,G1P (GPS,GLO) */
#define CODE_L1W 3 /* obs code: L1 Z-track (GPS) */
#define CODE_L1Y 4 /* obs code: L1Y (GPS) */
#define CODE_L1M 5 /* obs code: L1M (GPS) */
#define CODE_L1N 6 /* obs code: L1codeless (GPS) */
#define CODE_L1S 7 /* obs code: L1C(D) (GPS,QZS) */
#define CODE_L1L 8 /* obs code: L1C(P) (GPS,QZS) */
#define CODE_L1E 9 /* (not used) */
#define CODE_L1A 10 /* obs code: E1A (GAL) */
#define CODE_L1B 11 /* obs code: E1B (GAL) */
#define CODE_L1X 12 /* obs code: E1B+C,L1C(D+P) (GAL,QZS) */
#define CODE_L1Z 13 /* obs code: E1A+B+C,L1SAIF (GAL,QZS) */
#define CODE_L2C 14 /* obs code: L2C/A,G1C/A (GPS,GLO) */
#define CODE_L2D 15 /* obs code: L2 L1C/A-(P2-P1) (GPS) */
#define CODE_L2S 16 /* obs code: L2C(M) (GPS,QZS) */
#define CODE_L2L 17 /* obs code: L2C(L) (GPS,QZS) */
#define CODE_L2X 18 /* obs code: L2C(M+L),B1I+Q (GPS,QZS,CMP) */
#define CODE_L2P 19 /* obs code: L2P,G2P (GPS,GLO) */
#define CODE_L2W 20 /* obs code: L2 Z-track (GPS) */
#define CODE_L2Y 21 /* obs code: L2Y (GPS) */
#define CODE_L2M 22 /* obs code: L2M (GPS) */
#define CODE_L2N 23 /* obs code: L2codeless (GPS) */
#define CODE_L5I 24 /* obs code: L5/E5aI (GPS,GAL,QZS,SBS) */
#define CODE_L5Q 25 /* obs code: L5/E5aQ (GPS,GAL,QZS,SBS) */
#define CODE_L5X 26 /* obs code: L5/E5aI+Q/L5B+C (GPS,GAL,QZS,IRN,SBS) */
#define CODE_L7I 27 /* obs code: E5bI,B2I (GAL,CMP) */
#define CODE_L7Q 28 /* obs code: E5bQ,B2Q (GAL,CMP) */
#define CODE_L7X 29 /* obs code: E5bI+Q,B2I+Q (GAL,CMP) */
#define CODE_L6A 30 /* obs code: E6A (GAL) */
#define CODE_L6B 31 /* obs code: E6B (GAL) */
#define CODE_L6C 32 /* obs code: E6C (GAL) */
#define CODE_L6X 33 /* obs code: E6B+C,LEXS+L,B3I+Q (GAL,QZS,CMP) */
#define CODE_L6Z 34 /* obs code: E6A+B+C (GAL) */
#define CODE_L6S 35 /* obs code: LEXS (QZS) */
#define CODE_L6L 36 /* obs code: LEXL (QZS) */
#define CODE_L8I 37 /* obs code: E5(a+b)I (GAL) */
#define CODE_L8Q 38 /* obs code: E5(a+b)Q (GAL) */
#define CODE_L8X 39 /* obs code: E5(a+b)I+Q (GAL) */
#define CODE_L2I 40 /* obs code: B1I (BDS) */
#define CODE_L2Q 41 /* obs code: B1Q (BDS) */
#define CODE_L6I 42 /* obs code: B3I (BDS) */
#define CODE_L6Q 43 /* obs code: B3Q (BDS) */
#define CODE_L3I 44 /* obs code: G3I (GLO) */
#define CODE_L3Q 45 /* obs code: G3Q (GLO) */
#define CODE_L3X 46 /* obs code: G3I+Q (GLO) */
#define CODE_L1I 47 /* obs code: B1I (BDS) */
#define CODE_L1Q 48 /* obs code: B1Q (BDS) */
#define CODE_L5A 49 /* obs code: L5A SPS (IRN) */
#define CODE_L5B 50 /* obs code: L5B RS(D) (IRN) */
#define CODE_L5C 51 /* obs code: L5C RS(P) (IRN) */
#define CODE_L9A 52 /* obs code: SA SPS (IRN) */
#define CODE_L9B 53 /* obs code: SB RS(D) (IRN) */
#define CODE_L9C 54 /* obs code: SC RS(P) (IRN) */
#define CODE_L9X 55 /* obs code: SB+C (IRN) */
#define MAXCODE 55 /* max number of obs code */
#ifdef ENAGLO
const unsigned int MINPRNGLO = 1; //!< min satellite slot number of GLONASS */
const unsigned int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS */
const unsigned int NSATGLO = (MAXPRNGLO - MINPRNGLO + 1); //!< number of GLONASS satellites */
const unsigned int NSYSGLO = 1;
#define MINPRNGLO 1 /* min satellite slot number of GLONASS */
#define MAXPRNGLO 27 /* max satellite slot number of GLONASS */
#define NSATGLO (MAXPRNGLO-MINPRNGLO+1) /* number of GLONASS satellites */
#define NSYSGLO 1
#else
const unsigned int MINPRNGLO = 0;
const unsigned int MAXPRNGLO = 0;
const unsigned int NSATGLO = 0;
const unsigned int NSYSGLO = 0;
#define MINPRNGLO 0
#define MAXPRNGLO 0
#define NSATGLO 0
#define NSYSGLO 0
#endif
#ifdef ENAGAL
const unsigned int MINPRNGAL = 1; //!< min satellite PRN number of Galileo */
const unsigned int MAXPRNGAL = 30; //!< max satellite PRN number of Galileo */
const unsigned int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1); //!< number of Galileo satellites */
const unsigned int NSYSGAL = 1;
#define MINPRNGAL 1 /* min satellite PRN number of Galileo */
#define MAXPRNGAL 30 /* max satellite PRN number of Galileo */
#define NSATGAL (MAXPRNGAL-MINPRNGAL+1) /* number of Galileo satellites */
#define NSYSGAL 1
#else
const unsigned int MINPRNGAL = 0;
const unsigned int MAXPRNGAL = 0;
const unsigned int NSATGAL = 0;
const unsigned int NSYSGAL = 0;
#define MINPRNGAL 0
#define MAXPRNGAL 0
#define NSATGAL 0
#define NSYSGAL 0
#endif
#ifdef ENAQZS
const unsigned int MINPRNQZS = 193; //!< min satellite PRN number of QZSS */
const unsigned int MAXPRNQZS = 199; //!< max satellite PRN number of QZSS */
const unsigned int MINPRNQZS_S = 183; //!< min satellite PRN number of QZSS SAIF */
const unsigned int MAXPRNQZS_S = 189; //!< max satellite PRN number of QZSS SAIF */
const unsigned int NSATQZS = (MAXPRNQZS - MINPRNQZS + 1); //!< number of QZSS satellites */
const unsigned int NSYSQZS = 1;
#define MINPRNQZS 193 /* min satellite PRN number of QZSS */
#define MAXPRNQZS 199 /* max satellite PRN number of QZSS */
#define MINPRNQZS_S 183 /* min satellite PRN number of QZSS SAIF */
#define MAXPRNQZS_S 189 /* max satellite PRN number of QZSS SAIF */
#define NSATQZS (MAXPRNQZS-MINPRNQZS+1) /* number of QZSS satellites */
#define NSYSQZS 1
#else
const unsigned int MINPRNQZS = 0;
const unsigned int MAXPRNQZS = 0;
const unsigned int MINPRNQZS_S = 0;
const unsigned int MAXPRNQZS_S = 0;
const unsigned int NSATQZS = 0;
const unsigned int NSYSQZS = 0;
#define MINPRNQZS 0
#define MAXPRNQZS 0
#define MINPRNQZS_S 0
#define MAXPRNQZS_S 0
#define NSATQZS 0
#define NSYSQZS 0
#endif
#ifdef ENABDS
const unsigned int MINPRNBDS = 1; //!< min satellite sat number of BeiDou */
const unsigned int MAXPRNBDS = 35; //!< max satellite sat number of BeiDou */
const unsigned int NSATBDS = (MAXPRNBDS - MINPRNCM + 1); //!< number of BeiDou satellites */
const unsigned int NSYSBDS = 1;
#ifdef ENACMP
#define MINPRNCMP 1 /* min satellite sat number of BeiDou */
#define MAXPRNCMP 35 /* max satellite sat number of BeiDou */
#define NSATCMP (MAXPRNCMP-MINPRNCMP+1) /* number of BeiDou satellites */
#define NSYSCMP 1
#else
const unsigned int MINPRNBDS = 0;
const unsigned int MAXPRNBDS = 0;
const unsigned int NSATBDS = 0;
const unsigned int NSYSBDS = 0;
#define MINPRNCMP 0
#define MAXPRNCMP 0
#define NSATCMP 0
#define NSYSCMP 0
#endif
#ifdef ENAIRN
const unsigned int MINPRNIRN = 1; //!< min satellite sat number of IRNSS */
const unsigned int MAXPRNIRN = 7; //!< max satellite sat number of IRNSS */
const unsigned int NSATIRN = (MAXPRNIRN - MINPRNIRN + 1); //!< number of IRNSS satellites */
const unsigned int NSYSIRN = 1;
#define MINPRNIRN 1 /* min satellite sat number of IRNSS */
#define MAXPRNIRN 7 /* max satellite sat number of IRNSS */
#define NSATIRN (MAXPRNIRN-MINPRNIRN+1) /* number of IRNSS satellites */
#define NSYSIRN 1
#else
const unsigned int MINPRNIRN = 0;
const unsigned int MAXPRNIRN = 0;
const unsigned int NSATIRN = 0;
const unsigned int NSYSIRN = 0;
#define MINPRNIRN 0
#define MAXPRNIRN 0
#define NSATIRN 0
#define NSYSIRN 0
#endif
#ifdef ENALEO
const unsigned int MINPRNLEO = 1; //!< min satellite sat number of LEO */
const unsigned int NSATLEO = 10; //!< max satellite sat number of LEO */
const unsigned int NSATLEO = (MAXPRNLEO - MINPRNLEO + 1); //!< number of LEO satellites */
const unsigned int NSYSLEO = 1;
#define MINPRNLEO 1 /* min satellite sat number of LEO */
#define MAXPRNLEO 10 /* max satellite sat number of LEO */
#define NSATLEO (MAXPRNLEO-MINPRNLEO+1) /* number of LEO satellites */
#define NSYSLEO 1
#else
const unsigned int MINPRNLEO = 0;
const unsigned int MAXPRNLEO = 0;
const unsigned int NSATLEO = 0;
const unsigned int NSYSLEO = 0;
#define MINPRNLEO 0
#define MAXPRNLEO 0
#define NSATLEO 0
#define NSYSLEO 0
#endif
const unsigned int NSYS = (NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS + NSYSIRN + NSYSLEO); /* number of systems */
#define NSYS (NSYSGPS+NSYSGLO+NSYSGAL+NSYSQZS+NSYSCMP+NSYSIRN+NSYSLEO) /* number of systems */
const unsigned int MINPRNSBS = 120; //!< min satellite PRN number of SBAS */
const unsigned int MAXPRNSBS = 142; //!< max satellite PRN number of SBAS */
const unsigned int NSATSBS = (MAXPRNSBS - MINPRNSBS + 1); //!< number of SBAS satellites */
#define MINPRNSBS 120 /* min satellite PRN number of SBAS */
#define MAXPRNSBS 142 /* max satellite PRN number of SBAS */
#define NSATSBS (MAXPRNSBS-MINPRNSBS+1) /* number of SBAS satellites */
const unsigned int MAXSAT = (NSATGPS + NSATGLO + NSATGAL + NSATQZS + NSATBDS + NSATIRN + NSATSBS + NSATLEO);
#define MAXSAT (NSATGPS+NSATGLO+NSATGAL+NSATQZS+NSATCMP+NSATIRN+NSATSBS+NSATLEO)
const unsigned int MAXSTA = 255;
#define MAXNIGP 201 /* max number of IGP in SBAS band */
#define MAXCODE 55 /* max number of obs code */
#define MAXSTA 255
#ifndef MAXOBS
const unsigned int MAXOBS = 64; //!< max number of obs in an epoch */
#define MAXOBS 64 /* max number of obs in an epoch */
#endif
const unsigned int MAXRCV = 64; //!< max receiver number (1 to MAXRCV) */
const unsigned 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_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) */
const double MAXDTOE_S = 86400.0; //!< max time difference to ephem toe (s) for other */
const double MAXGDOP = 300.0; //!< max GDOP */
#define MAXRCV 64 /* max receiver number (1 to MAXRCV) */
#define MAXOBSTYPE 64 /* max number of obs type in RINEX */
#define DTTOL 0.005 /* tolerance of time difference (s) */
#define MAXDTOE 7200.0 /* max time difference to GPS Toe (s) */
#define MAXDTOE_QZS 7200.0 /* max time difference to QZSS Toe (s) */
#define MAXDTOE_GAL 10800.0 /* max time difference to Galileo Toe (s) */
#define MAXDTOE_CMP 21600.0 /* max time difference to BeiDou Toe (s) */
#define MAXDTOE_GLO 1800.0 /* max time difference to GLONASS Toe (s) */
#define MAXDTOE_SBS 360.0 /* max time difference to SBAS Toe (s) */
#define MAXDTOE_S 86400.0 /* max time difference to ephem toe (s) for other */
#define MAXGDOP 300.0 /* max GDOP */
const unsigned int MAXSBSURA = 8; //!< max URA of SBAS satellite */
const unsigned int MAXBAND = 10; //!< max SBAS band of IGP */
const unsigned int MAXNIGP = 201; //!< max number of IGP in SBAS band */
const unsigned int MAXNGEO = 4; //!< max number of GEO satellites */
#define MAXSBSAGEF 30.0 /* max age of SBAS fast correction (s) */
#define MAXSBSAGEL 1800.0 /* max age of SBAS long term corr (s) */
#define MAXSBSURA 8 /* max URA of SBAS satellite */
#define MAXBAND 10 /* max SBAS band of IGP */
#define MAXNIGP 201 /* max number of IGP in SBAS band */
#define MAXNGEO 4 /* max number of GEO satellites */
const unsigned int MAXSOLMSG = 8191; //!< max length of solution message */
const unsigned int MAXERRMSG = 4096; //!< max length of error/warning message */
#define MAXSOLMSG 8191 /* max length of solution message */
#define MAXERRMSG 4096 /* max length of error/warning message */
const unsigned int IONOOPT_OFF = 0; //!< ionosphere option: correction off */
const unsigned int IONOOPT_BRDC = 1; //!< ionosphere option: broadcast model */
const unsigned int IONOOPT_SBAS = 2; //!< ionosphere option: SBAS model */
const unsigned int IONOOPT_IFLC = 3; //!< ionosphere option: L1/L2 or L1/L5 iono-free LC */
const unsigned int IONOOPT_EST = 4; //!< ionosphere option: estimation */
const unsigned int IONOOPT_TEC = 5; //!< ionosphere option: IONEX TEC model */
const unsigned int IONOOPT_QZS = 6; //!< ionosphere option: QZSS broadcast model */
const unsigned int IONOOPT_LEX = 7; //!< ionosphere option: QZSS LEX ionospehre */
const unsigned int IONOOPT_STEC = 8; //!< ionosphere option: SLANT TEC model */
#define IONOOPT_OFF 0 /* ionosphere option: correction off */
#define IONOOPT_BRDC 1 /* ionosphere option: broadcast model */
#define IONOOPT_SBAS 2 /* ionosphere option: SBAS model */
#define IONOOPT_IFLC 3 /* ionosphere option: L1/L2 or L1/L5 iono-free LC */
#define IONOOPT_EST 4 /* ionosphere option: estimation */
#define IONOOPT_TEC 5 /* ionosphere option: IONEX TEC model */
#define IONOOPT_QZS 6 /* ionosphere option: QZSS broadcast model */
#define IONOOPT_LEX 7 /* ionosphere option: QZSS LEX ionospehre */
#define IONOOPT_STEC 8 /* ionosphere option: SLANT TEC model */
const unsigned int TROPOPT_OFF = 0; //!< troposphere option: correction off */
const unsigned int TROPOPT_SAAS = 1; //!< troposphere option: Saastamoinen model */
const unsigned int TROPOPT_SBAS = 2; //!< troposphere option: SBAS model */
const unsigned int TROPOPT_EST = 3; //!< troposphere option: ZTD estimation */
const unsigned int TROPOPT_ESTG = 4; //!< troposphere option: ZTD+grad estimation */
const unsigned int TROPOPT_ZTD = 5; //!< troposphere option: ZTD correction */
#define TROPOPT_OFF 0 /* troposphere option: correction off */
#define TROPOPT_SAAS 1 /* troposphere option: Saastamoinen model */
#define TROPOPT_SBAS 2 /* troposphere option: SBAS model */
#define TROPOPT_EST 3 /* troposphere option: ZTD estimation */
#define TROPOPT_ESTG 4 /* troposphere option: ZTD+grad estimation */
#define TROPOPT_ZTD 5 /* troposphere option: ZTD correction */
const unsigned int EPHOPT_BRDC = 0; //!< ephemeris option: broadcast ephemeris */
const unsigned int EPHOPT_PREC = 1; //!< ephemeris option: precise ephemeris */
const unsigned int EPHOPT_SBAS = 2; //!< ephemeris option: broadcast + SBAS */
const unsigned int EPHOPT_SSRAPC = 3; //!< ephemeris option: broadcast + SSR_APC */
const unsigned int EPHOPT_SSRCOM = 4; //!< ephemeris option: broadcast + SSR_COM */
const unsigned int EPHOPT_LEX = 5; //!< ephemeris option: QZSS LEX ephemeris */
#define EPHOPT_BRDC 0 /* ephemeris option: broadcast ephemeris */
#define EPHOPT_PREC 1 /* ephemeris option: precise ephemeris */
#define EPHOPT_SBAS 2 /* ephemeris option: broadcast + SBAS */
#define EPHOPT_SSRAPC 3 /* ephemeris option: broadcast + SSR_APC */
#define EPHOPT_SSRCOM 4 /* ephemeris option: broadcast + SSR_COM */
#define EPHOPT_LEX 5 /* ephemeris option: QZSS LEX ephemeris */
const double EFACT_GPS = 1.0; //!< error factor: GPS */
const double EFACT_GLO = 1.5; //!< error factor: GLONASS */
const double EFACT_GAL = 1.0; //!< error factor: Galileo */
const double EFACT_QZS = 1.0; //!< error factor: QZSS */
const double EFACT_BDS = 1.0; //!< error factor: BeiDou */
const double EFACT_IRN = 1.5; //!< error factor: IRNSS */
const double EFACT_SBS = 3.0; //!< error factor: SBAS */
#define EFACT_GPS 1.0 /* error factor: GPS */
#define EFACT_GLO 1.5 /* error factor: GLONASS */
#define EFACT_GAL 1.0 /* error factor: Galileo */
#define EFACT_QZS 1.0 /* error factor: QZSS */
#define EFACT_CMP 1.0 /* error factor: BeiDou */
#define EFACT_IRN 1.5 /* error factor: IRNSS */
#define EFACT_SBS 3.0 /* error factor: SBAS */
const unsigned int MAXEXFILE = 1024; //!< max number of expanded files */
const double MAXSBSAGEF = 30.0; //!< max age of SBAS fast correction (s) */
const double MAXSBSAGEL = 1800.0; //!< max age of SBAS long term corr (s) */
#define MAXEXFILE 1024 /* max number of expanded files */
#define MAXSBSAGEF 30.0 /* max age of SBAS fast correction (s) */
#define MAXSBSAGEL 1800.0 /* max age of SBAS long term corr (s) */
#define MAXSBSURA 8 /* max URA of SBAS satellite */
#define MAXBAND 10 /* max SBAS band of IGP */
#define MAXNIGP 201 /* max number of IGP in SBAS band */
typedef void fatalfunc_t(const char *); /* fatal callback function type */
typedef struct { /* time struct */
time_t time; /* time (s) expressed by standard time_t */
double sec; /* fraction of second under 1 s */
} gtime_t;
typedef struct { /* observation data record */
gtime_t time; /* receiver sampling time (GPST) */
unsigned char sat,rcv; /* satellite/receiver number */
@@ -353,13 +409,11 @@ typedef struct { /* observation data record */
float D[NFREQ+NEXOBS]; /* observation data doppler frequency (Hz) */
} obsd_t;
typedef struct { /* observation data */
int n,nmax; /* number of obervation data/allocated */
obsd_t *data; /* observation data records */
} obs_t;
typedef struct { /* earth rotation parameter data type */
double mjd; /* mjd (days) */
double xp,yp; /* pole offset (rad) */
@@ -368,13 +422,11 @@ typedef struct { /* earth rotation parameter data type */
double lod; /* length of day (s/day) */
} erpd_t;
typedef struct { /* earth rotation parameter type */
int n,nmax; /* number and max number of data */
erpd_t *data; /* earth rotation parameter data */
} erp_t;
typedef struct { /* antenna parameter type */
int sat; /* satellite number (0:receiver) */
char type[MAXANT]; /* antenna type */
@@ -385,13 +437,11 @@ typedef struct { /* antenna parameter type */
/* el=90,85,...,0 or nadir=0,1,2,3,... (deg) */
} pcv_t;
typedef struct { /* antenna parameters type */
int n,nmax; /* number of data/allocated */
pcv_t *pcv; /* antenna parameters data */
} pcvs_t;
typedef struct { /* almanac type */
int sat; /* satellite number */
int svh; /* sv health (0:ok) */
@@ -404,15 +454,14 @@ typedef struct { /* almanac type */
double f0,f1; /* SV clock parameters (af0,af1) */
} alm_t;
typedef struct { /* GPS/QZS/GAL broadcast ephemeris type */
int sat; /* satellite number */
int iode,iodc; /* IODE,IODC */
int sva; /* SV accuracy (URA index) */
int svh; /* SV health (0:ok) */
int week; /* GPS/QZS: gps week, GAL: galileo week */
int code; /* GPS/QZS: code on L2, GAL/BDS: data sources */
int flag; /* GPS/QZS: L2 P data flag, BDS: nav type */
int code; /* GPS/QZS: code on L2, GAL/CMP: data sources */
int flag; /* GPS/QZS: L2 P data flag, CMP: nav type */
gtime_t toe,toc,ttr; /* Toe,Toc,T_trans */
/* SV orbit parameters */
double A,e,i0,OMG0,omg,M0,deln,OMGd,idot;
@@ -423,11 +472,10 @@ typedef struct { /* GPS/QZS/GAL broadcast ephemeris type */
double tgd[4]; /* group delay parameters */
/* GPS/QZS:tgd[0]=TGD */
/* GAL :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */
/* BDS :tgd[0]=BGD1,tgd[1]=BGD2 */
/* CMP :tgd[0]=BGD1,tgd[1]=BGD2 */
double Adot,ndot; /* Adot,ndot for CNAV */
} eph_t;
typedef struct { /* GLONASS broadcast ephemeris type */
int sat; /* satellite number */
int iode; /* IODE (0-6 bit of tb field) */
@@ -453,7 +501,6 @@ typedef struct { /* precise ephemeris type */
float vco[MAXSAT][3]; /* satellite velocity covariance (m^2) */
} peph_t;
typedef struct { /* precise clock type */
gtime_t time; /* time (GPST) */
int index; /* clock index for multiple files */
@@ -461,7 +508,6 @@ typedef struct { /* precise clock type */
float std[MAXSAT][1]; /* satellite clock std (s) */
} pclk_t;
typedef struct { /* SBAS ephemeris type */
int sat; /* satellite number */
gtime_t t0; /* reference epoch time (GPST) */
@@ -474,7 +520,6 @@ typedef struct { /* SBAS ephemeris type */
double af0,af1; /* satellite clock-offset/drift (s,s/s) */
} seph_t;
typedef struct { /* norad two line element data type */
char name [32]; /* common name */
char alias[32]; /* alias name */
@@ -496,13 +541,11 @@ typedef struct { /* norad two line element data type */
int rev; /* revolution number at epoch */
} tled_t;
typedef struct { /* norad two line element type */
int n,nmax; /* number/max number of two line element data */
tled_t *data; /* norad two line element data */
} tle_t;
typedef struct { /* TEC grid type */
gtime_t time; /* epoch time (GPST) */
int ndata[3]; /* TEC grid data size {nlat,nlon,nhgt} */
@@ -514,27 +557,23 @@ typedef struct { /* TEC grid type */
float *rms; /* RMS values (tecu) */
} tec_t;
typedef struct { /* satellite fcb data type */
gtime_t ts,te; /* start/end time (GPST) */
double bias[MAXSAT][3]; /* fcb value (cyc) */
double std [MAXSAT][3]; /* fcb std-dev (cyc) */
} fcbd_t;
typedef struct { /* SBAS message type */
int week,tow; /* receiption time */
int prn; /* SBAS satellite PRN number */
unsigned char msg[29]; /* SBAS message (226bit) padded by 0 */
} sbsmsg_t;
typedef struct { /* SBAS messages type */
int n,nmax; /* number of SBAS messages/allocated */
sbsmsg_t *msgs; /* SBAS messages */
} sbs_t;
typedef struct { /* SBAS fast correction type */
gtime_t t0; /* time of applicability (TOF) */
double prc; /* pseudorange correction (PRC) (m) */
@@ -545,7 +584,6 @@ typedef struct { /* SBAS fast correction type */
short ai; /* degradation factor indicator */
} sbsfcorr_t;
typedef struct { /* SBAS long term satellite error correction type */
gtime_t t0; /* correction time */
int iode; /* IODE (issue of date ephemeris) */
@@ -554,14 +592,12 @@ typedef struct { /* SBAS long term satellite error correction type */
double daf0,daf1; /* delta clock-offset/drift (s,s/s) */
} sbslcorr_t;
typedef struct { /* SBAS satellite correction type */
int sat; /* satellite number */
sbsfcorr_t fcorr; /* fast correction */
sbslcorr_t lcorr; /* long term correction */
} sbssatp_t;
typedef struct { /* SBAS satellite corrections type */
int iodp; /* IODP (issue of date mask) */
int nsat; /* number of satellites */
@@ -569,7 +605,6 @@ typedef struct { /* SBAS satellite corrections type */
sbssatp_t sat[MAXSAT]; /* satellite correction */
} sbssat_t;
typedef struct { /* SBAS ionospheric correction type */
gtime_t t0; /* correction time */
short lat,lon; /* latitude/longitude (deg) */
@@ -577,7 +612,6 @@ typedef struct { /* SBAS ionospheric correction type */
float delay; /* vertical delay estimate (m) */
} sbsigp_t;
typedef struct { /* IGP band type */
short x; /* longitude/latitude (deg) */
const short *y; /* latitudes/longitudes (deg) */
@@ -585,14 +619,12 @@ typedef struct { /* IGP band type */
unsigned char bite; /* IGP mask end bit */
} sbsigpband_t;
typedef struct { /* SBAS ionospheric corrections type */
int iodi; /* IODI (issue of date ionos corr) */
int nigp; /* number of igps */
sbsigp_t igp[MAXNIGP]; /* ionospheric correction */
} sbsion_t;
typedef struct { /* DGPS/GNSS correction type */
gtime_t t0; /* correction time */
double prc; /* pseudorange correction (PRC) (m) */
@@ -601,7 +633,6 @@ typedef struct { /* DGPS/GNSS correction type */
double udre; /* UDRE */
} dgps_t;
typedef struct { /* SSR correction type */
gtime_t t0[6]; /* epoch time (GPST) {eph,clk,hrclk,ura,bias,pbias} */
double udi[6]; /* SSR update interval (s) */
@@ -621,7 +652,6 @@ typedef struct { /* SSR correction type */
unsigned char update; /* update flag (0:no update,1:update) */
} ssr_t;
typedef struct { /* QZSS LEX message type */
int prn; /* satellite PRN number */
int type; /* message type */
@@ -632,13 +662,11 @@ typedef struct { /* QZSS LEX message type */
unsigned char msg[212]; /* LEX message data part 1695 bits */
} lexmsg_t;
typedef struct { /* QZSS LEX messages type */
int n,nmax; /* number of LEX messages and allocated */
lexmsg_t *msgs; /* LEX messages */
} lex_t;
typedef struct { /* QZSS LEX ephemeris type */
gtime_t toe; /* epoch time (GPST) */
gtime_t tof; /* message frame time (GPST) */
@@ -654,7 +682,6 @@ typedef struct { /* QZSS LEX ephemeris type */
double isc[8]; /* ISC */
} lexeph_t;
typedef struct { /* QZSS LEX ionosphere correction type */
gtime_t t0; /* epoch time (GPST) */
double tspan; /* valid time span (s) */
@@ -662,7 +689,6 @@ typedef struct { /* QZSS LEX ionosphere correction type */
double coef[3][2]; /* coefficients lat x lon (3 x 2) */
} lexion_t;
typedef struct { /* stec data type */
gtime_t time; /* time (GPST) */
unsigned char sat; /* satellite number */
@@ -672,14 +698,12 @@ typedef struct { /* stec data type */
unsigned char flag; /* fix flag */
} stec_t;
typedef struct { /* trop data type */
gtime_t time; /* time (GPST) */
double trp[3]; /* zenith tropos delay/gradient (m) */
float std[3]; /* std-dev (m) */
} trop_t;
typedef struct { /* ppp corrections type */
int nsta; /* number of stations */
char stas[MAXSTA][8]; /* station names */
@@ -690,7 +714,6 @@ typedef struct { /* ppp corrections type */
trop_t *trop[MAXSTA]; /* trop data */
} pppcorr_t;
typedef struct { /* navigation data type */
int n,nmax; /* number of broadcast ephemeris */
int ng,ngmax; /* number of glonass ephemeris */
@@ -738,7 +761,6 @@ typedef struct { /* navigation data type */
pppcorr_t pppcorr; /* ppp corrections */
} nav_t;
typedef struct { /* station parameter type */
char name [MAXANT]; /* marker name */
char marker [MAXANT]; /* marker number */
@@ -755,7 +777,6 @@ typedef struct { /* station parameter type */
double hgt; /* antenna height (m) */
} sta_t;
typedef struct { /* solution type */
gtime_t time; /* time (GPST) */
double rr[6]; /* position/velocity (m|m/s) */
@@ -772,7 +793,6 @@ typedef struct { /* solution type */
float thres; /* AR ratio threshold for valiation */
} sol_t;
typedef struct { /* solution buffer type */
int n,nmax; /* number of solution/max number of buffer */
int cyclic; /* cyclic buffer flag */
@@ -784,7 +804,6 @@ typedef struct { /* solution buffer type */
int nb; /* number of byte in message buffer */
} solbuf_t;
typedef struct { /* solution status type */
gtime_t time; /* time (GPST) */
unsigned char sat; /* satellite number */
@@ -800,13 +819,11 @@ typedef struct { /* solution status type */
unsigned short rejc; /* reject counter */
} solstat_t;
typedef struct { /* solution status buffer type */
int n,nmax; /* number of solution/max number of buffer */
solstat_t *data; /* solution status data */
} solstatbuf_t;
typedef struct { /* RTCM control struct type */
int staid; /* station id */
int stah; /* station health */
@@ -838,7 +855,6 @@ typedef struct { /* RTCM control struct type */
char opt[256]; /* RTCM dependent options */
} rtcm_t;
typedef struct { /* download url type */
char type[32]; /* data type */
char path[1024]; /* url path */
@@ -846,7 +862,6 @@ typedef struct { /* download url type */
double tint; /* time interval (s) */
} url_t;
typedef struct { /* option type */
const char *name; /* option name */
int format; /* option format (0:int,1:double,2:string,3:enum) */
@@ -854,7 +869,6 @@ typedef struct { /* option type */
const char *comment; /* option comment/enum labels/unit */
} opt_t;
typedef struct { /* extended receiver error model */
int ena[4]; /* model enabled */
double cerr[4][NFREQ*2]; /* code errors (m) */
@@ -863,13 +877,11 @@ typedef struct { /* extended receiver error model */
double gloicb [NFREQ]; /* glonass interchannel bias (m/fn) */
} exterr_t;
typedef struct { /* SNR mask type */
int ena[2]; /* enable flag {rover,base} */
double mask[NFREQ][9]; /* mask (dBHz) at 5,10,...85 deg */
} snrmask_t;
typedef struct { /* processing options type */
int mode; /* positioning mode (PMODE_???) */
int soltype; /* solution type (0:forward,1:backward,2:combined) */
@@ -932,7 +944,6 @@ typedef struct { /* processing options type */
char pppopt[256]; /* ppp option */
} prcopt_t;
typedef struct { /* solution options type */
int posf; /* solution format (SOLF_???) */
int times; /* time system (TIMES_???) */
@@ -955,6 +966,7 @@ typedef struct { /* solution options type */
} solopt_t;
typedef struct { /* satellite status type */
unsigned char sys; /* navigation system */
unsigned char vs; /* valid satellite flag single */
@@ -978,7 +990,6 @@ typedef struct { /* satellite status type */
double ph[2][NFREQ]; /* previous carrier-phase observable (cycle) */
} ssat_t;
typedef struct { /* ambiguity control type */
gtime_t epoch[4]; /* last epoch */
int n[4]; /* number of epochs */
@@ -988,7 +999,6 @@ typedef struct { /* ambiguity control type */
char flags[MAXSAT]; /* fix flags */
} ambc_t;
typedef struct { /* RTK control/result type */
sol_t sol; /* RTK solution */
double rb[6]; /* base position/velocity (ecef) (m|m/s) */
@@ -1004,7 +1014,6 @@ typedef struct { /* RTK control/result type */
prcopt_t opt; /* processing options */
} rtk_t;
typedef struct half_cyc_tag { /* half-cycle correction list type */
unsigned char sat; /* satellite number */
unsigned char freq; /* frequency number (0:L1,1:L2,2:L5) */
@@ -1015,23 +1024,21 @@ typedef struct half_cyc_tag { /* half-cycle correction list type */
} half_cyc_t;
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,
31.3, 32.9, 34.5, 36.1, 37.7, 39.3, 40.8, 42.3, 43.8, 45.3,
46.8, 48.3, 49.7, 51.2, 52.6, 54.1, 55.5, 56.9, 58.3, 59.7,
61.1, 62.5, 63.9, 65.2, 66.6, 68.0, 69.3, 70.7, 72.1, 73.4,
74.7, 76.0, 77.3, 78.6, 80.0, 81.3, 82.6, 84.0, 85.4, 86.7,
88.0, 89.3, 90.6, 91.9, 93.3, 94.7, 96.0, 97.4, 98.7, 100 ,
101 , 102 , 103 , 104 , 105 , 107 , 108 , 109 , 110 , 112 ,
113 , 114 , 115 , 116 , 118 , 119 , 120 , 122 , 123 , 125 ,
126 , 127 , 128 , 129 , 131 , 132 , 133 , 134 , 135 , 137 ,
138 , 139 , 140 , 142 , 143 , 144 , 145 , 147 , 148 , 149
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,
31.3,32.9,34.5,36.1,37.7,39.3,40.8,42.3,43.8,45.3,
46.8,48.3,49.7,51.2,52.6,54.1,55.5,56.9,58.3,59.7,
61.1,62.5,63.9,65.2,66.6,68.0,69.3,70.7,72.1,73.4,
74.7,76.0,77.3,78.6,80.0,81.3,82.6,84.0,85.4,86.7,
88.0,89.3,90.6,91.9,93.3,94.7,96.0,97.4,98.7,100 ,
101 ,102 ,103 ,104 ,105 ,107 ,108 ,109 ,110 ,112 ,
113 ,114 ,115 ,116 ,118 ,119 ,120 ,122 ,123 ,125 ,
126 ,127 ,128 ,129 ,131 ,132 ,133 ,134 ,135 ,137 ,
138 ,139 ,140 ,142 ,143 ,144 ,145 ,147 ,148 ,149
};
const double lam_carr[MAXFREQ] = { /* carrier wave length (m) */
SPEED_OF_LIGHT / FREQ1, SPEED_OF_LIGHT / FREQ2, SPEED_OF_LIGHT / FREQ5, SPEED_OF_LIGHT / FREQ6, SPEED_OF_LIGHT / FREQ7,
SPEED_OF_LIGHT / FREQ8, SPEED_OF_LIGHT / FREQ9
const double lam_carr[MAXFREQ]={ /* carrier wave length (m) */
CLIGHT/FREQ1,CLIGHT/FREQ2,CLIGHT/FREQ5,CLIGHT/FREQ6,CLIGHT/FREQ7,
CLIGHT/FREQ8,CLIGHT/FREQ9
};
#endif

216
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@@ -53,162 +53,158 @@
obsd_t obs_to_rtklib(Gnss_Synchro gnss_synchro, int week)
{
obsd_t rtklib_obs;
rtklib_obs.D[0] = gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[0] = gnss_synchro.Pseudorange_m;
rtklib_obs.L[0] = gnss_synchro.Carrier_phase_rads;//todo: check units
//rtklib_obs.SNR = gnss_synchro.CN0_dB_hz;
rtklib_obs.sat = gnss_synchro.PRN;
rtklib_obs.time = gpst2time(adjgpsweek(week),gnss_synchro.RX_time);
rtklib_obs.D[0]=gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[0]=gnss_synchro.Pseudorange_m;
rtklib_obs.L[0]=gnss_synchro.Carrier_phase_rads;//todo: check units
//rtklib_obs.SNR=gnss_synchro.CN0_dB_hz;
rtklib_obs.sat=gnss_synchro.PRN;
rtklib_obs.time=gpst2time(adjgpsweek(week),gnss_synchro.RX_time);
//printf("OBS RX TIME [%i]: %s,%f\n\r",rtklib_obs.sat,time_str(rtklib_obs.time,3),rtklib_obs.time.sec);
return rtklib_obs;
}
eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph)
{
eph_t rtklib_sat;
rtklib_sat.sat = gal_eph.i_satellite_PRN;
rtklib_sat.A = gal_eph.A_1*gal_eph.A_1;
rtklib_sat.M0 = gal_eph.M0_1;
rtklib_sat.deln = gal_eph.delta_n_3;
rtklib_sat.OMG0 = gal_eph.OMEGA_0_2;
rtklib_sat.OMGd = gal_eph.OMEGA_dot_3;
rtklib_sat.omg = gal_eph.omega_2;
rtklib_sat.i0 = gal_eph.i_0_2;
rtklib_sat.idot = gal_eph.iDot_2;
rtklib_sat.e = gal_eph.e_1;
rtklib_sat.Adot = 0; //only in CNAV;
rtklib_sat.ndot = 0; //only in CNAV;
rtklib_sat.A=gal_eph.A_1*gal_eph.A_1;
rtklib_sat.M0=gal_eph.M0_1;
rtklib_sat.deln=gal_eph.delta_n_3;
rtklib_sat.OMG0=gal_eph.OMEGA_0_2;
rtklib_sat.OMGd=gal_eph.OMEGA_dot_3;
rtklib_sat.omg=gal_eph.omega_2;
rtklib_sat.i0=gal_eph.i_0_2;
rtklib_sat.idot=gal_eph.iDot_2;
rtklib_sat.e=gal_eph.e_1;
rtklib_sat.Adot=0; //only in CNAV;
rtklib_sat.ndot=0; //only in CNAV;
rtklib_sat.week = adjgpsweek(gal_eph.WN_5); /* week of tow */
rtklib_sat.cic = gal_eph.C_ic_4;
rtklib_sat.cis = gal_eph.C_is_4;
rtklib_sat.cuc = gal_eph.C_uc_3;
rtklib_sat.cus = gal_eph.C_us_3;
rtklib_sat.crc = gal_eph.C_rc_3;
rtklib_sat.crs = gal_eph.C_rs_3;
rtklib_sat.f0 = gal_eph.af0_4;
rtklib_sat.f1 = gal_eph.af1_4;
rtklib_sat.f2 = gal_eph.af2_4;
rtklib_sat.tgd[0] = 0;
rtklib_sat.tgd[1] = 0;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gal_eph.t0e_1;
rtklib_sat.toc = gpst2time(rtklib_sat.week,gal_eph.t0c_4);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,gal_eph.TOW_5);
rtklib_sat.week=adjgpsweek(gal_eph.WN_5); /* week of tow */
rtklib_sat.cic=gal_eph.C_ic_4;
rtklib_sat.cis=gal_eph.C_is_4;
rtklib_sat.cuc=gal_eph.C_uc_3;
rtklib_sat.cus=gal_eph.C_us_3;
rtklib_sat.crc=gal_eph.C_rc_3;
rtklib_sat.crs=gal_eph.C_rs_3;
rtklib_sat.f0=gal_eph.af0_4;
rtklib_sat.f1=gal_eph.af1_4;
rtklib_sat.f2=gal_eph.af2_4;
rtklib_sat.tgd[0]=0;
rtklib_sat.tgd[1]=0;
rtklib_sat.tgd[2]=0;
rtklib_sat.tgd[3]=0;
rtklib_sat.toes=gal_eph.t0e_1;
rtklib_sat.toc=gpst2time(rtklib_sat.week,gal_eph.t0c_4);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,gal_eph.TOW_5);
/* adjustment for week handover */
double tow, toc;
tow = time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc,NULL);
tow=time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc=time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,tow);
rtklib_sat.toe=gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc=gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,tow);
return rtklib_sat;
}
eph_t eph_to_rtklib(Gps_Ephemeris gps_eph)
{
eph_t rtklib_sat;
rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A*gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0;
rtklib_sat.deln = gps_eph.d_Delta_n;
rtklib_sat.OMG0 = gps_eph.d_OMEGA0;
rtklib_sat.OMGd = gps_eph.d_OMEGA_DOT;
rtklib_sat.omg = gps_eph.d_OMEGA;
rtklib_sat.i0 = gps_eph.d_i_0;
rtklib_sat.idot = gps_eph.d_IDOT;
rtklib_sat.e = gps_eph.d_e_eccentricity;
rtklib_sat.Adot = 0; //only in CNAV;
rtklib_sat.ndot = 0; //only in CNAV;
rtklib_sat.A=gps_eph.d_sqrt_A*gps_eph.d_sqrt_A;
rtklib_sat.M0=gps_eph.d_M_0;
rtklib_sat.deln=gps_eph.d_Delta_n;
rtklib_sat.OMG0=gps_eph.d_OMEGA0;
rtklib_sat.OMGd=gps_eph.d_OMEGA_DOT;
rtklib_sat.omg=gps_eph.d_OMEGA;
rtklib_sat.i0=gps_eph.d_i_0;
rtklib_sat.idot=gps_eph.d_IDOT;
rtklib_sat.e=gps_eph.d_e_eccentricity;
rtklib_sat.Adot=0; //only in CNAV;
rtklib_sat.ndot=0; //only in CNAV;
rtklib_sat.week = adjgpsweek(gps_eph.i_GPS_week); /* week of tow */
rtklib_sat.cic = gps_eph.d_Cic;
rtklib_sat.cis = gps_eph.d_Cis;
rtklib_sat.cuc = gps_eph.d_Cuc;
rtklib_sat.cus = gps_eph.d_Cus;
rtklib_sat.crc = gps_eph.d_Crc;
rtklib_sat.crs = gps_eph.d_Crs;
rtklib_sat.f0 = gps_eph.d_A_f0;
rtklib_sat.f1 = gps_eph.d_A_f1;
rtklib_sat.f2 = gps_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_eph.d_TGD;
rtklib_sat.tgd[1] = 0;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gps_eph.d_Toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week,gps_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,gps_eph.d_TOW);
rtklib_sat.week=adjgpsweek(gps_eph.i_GPS_week); /* week of tow */
rtklib_sat.cic=gps_eph.d_Cic;
rtklib_sat.cis=gps_eph.d_Cis;
rtklib_sat.cuc=gps_eph.d_Cuc;
rtklib_sat.cus=gps_eph.d_Cus;
rtklib_sat.crc=gps_eph.d_Crc;
rtklib_sat.crs=gps_eph.d_Crs;
rtklib_sat.f0=gps_eph.d_A_f0;
rtklib_sat.f1=gps_eph.d_A_f1;
rtklib_sat.f2=gps_eph.d_A_f2;
rtklib_sat.tgd[0]=gps_eph.d_TGD;
rtklib_sat.tgd[1]=0;
rtklib_sat.tgd[2]=0;
rtklib_sat.tgd[3]=0;
rtklib_sat.toes=gps_eph.d_Toe;
rtklib_sat.toc=gpst2time(rtklib_sat.week,gps_eph.d_Toc);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,gps_eph.d_TOW);
/* adjustment for week handover */
double tow, toc;
tow = time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc,NULL);
tow=time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc=time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,tow);
rtklib_sat.toe=gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc=gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,tow);
//printf("EPHEMERIS TIME [%i]: %s,%f\n\r",rtklib_sat.sat,time_str(rtklib_sat.toe,3),rtklib_sat.toe.sec);
return rtklib_sat;
}
eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph)
{
eph_t rtklib_sat;
rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
rtklib_sat.M0 = gps_cnav_eph.d_M_0;
rtklib_sat.deln = gps_cnav_eph.d_Delta_n;
rtklib_sat.OMG0 = gps_cnav_eph.d_OMEGA0;
rtklib_sat.A=A_REF + gps_cnav_eph.d_DELTA_A;
rtklib_sat.M0=gps_cnav_eph.d_M_0;
rtklib_sat.deln=gps_cnav_eph.d_Delta_n;
rtklib_sat.OMG0=gps_cnav_eph.d_OMEGA0;
// Compute the angle between the ascending node and the Greenwich meridian
const double OMEGA_DOT_REF = -2.6e-9; // semicircles / s, see IS-GPS-200H pp. 164
double d_OMEGA_DOT = OMEGA_DOT_REF*GPS_L2_PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
rtklib_sat.OMGd = d_OMEGA_DOT;
rtklib_sat.omg = gps_cnav_eph.d_OMEGA;
rtklib_sat.i0 = gps_cnav_eph.d_i_0;
rtklib_sat.idot = gps_cnav_eph.d_IDOT;
rtklib_sat.e = gps_cnav_eph.d_e_eccentricity;
rtklib_sat.Adot = gps_cnav_eph.d_A_DOT; //only in CNAV;
rtklib_sat.ndot = gps_cnav_eph.d_DELTA_DOT_N; //only in CNAV;
rtklib_sat.OMGd=d_OMEGA_DOT;
rtklib_sat.omg=gps_cnav_eph.d_OMEGA;
rtklib_sat.i0=gps_cnav_eph.d_i_0;
rtklib_sat.idot=gps_cnav_eph.d_IDOT;
rtklib_sat.e=gps_cnav_eph.d_e_eccentricity;
rtklib_sat.Adot=gps_cnav_eph.d_A_DOT; //only in CNAV;
rtklib_sat.ndot=gps_cnav_eph.d_DELTA_DOT_N; //only in CNAV;
rtklib_sat.week = adjgpsweek(gps_cnav_eph.i_GPS_week); /* week of tow */
rtklib_sat.cic = gps_cnav_eph.d_Cic;
rtklib_sat.cis = gps_cnav_eph.d_Cis;
rtklib_sat.cuc = gps_cnav_eph.d_Cuc;
rtklib_sat.cus = gps_cnav_eph.d_Cus;
rtklib_sat.crc = gps_cnav_eph.d_Crc;
rtklib_sat.crs = gps_cnav_eph.d_Crs;
rtklib_sat.f0 = gps_cnav_eph.d_A_f0;
rtklib_sat.f1 = gps_cnav_eph.d_A_f1;
rtklib_sat.f2 = gps_cnav_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD;
rtklib_sat.tgd[1] = 0;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gps_cnav_eph.d_Toe1;
rtklib_sat.toc = gpst2time(rtklib_sat.week,gps_cnav_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,gps_cnav_eph.d_TOW);
rtklib_sat.week=adjgpsweek(gps_cnav_eph.i_GPS_week); /* week of tow */
rtklib_sat.cic=gps_cnav_eph.d_Cic;
rtklib_sat.cis=gps_cnav_eph.d_Cis;
rtklib_sat.cuc=gps_cnav_eph.d_Cuc;
rtklib_sat.cus=gps_cnav_eph.d_Cus;
rtklib_sat.crc=gps_cnav_eph.d_Crc;
rtklib_sat.crs=gps_cnav_eph.d_Crs;
rtklib_sat.f0=gps_cnav_eph.d_A_f0;
rtklib_sat.f1=gps_cnav_eph.d_A_f1;
rtklib_sat.f2=gps_cnav_eph.d_A_f2;
rtklib_sat.tgd[0]=gps_cnav_eph.d_TGD;
rtklib_sat.tgd[1]=0;
rtklib_sat.tgd[2]=0;
rtklib_sat.tgd[3]=0;
rtklib_sat.toes=gps_cnav_eph.d_Toe1;
rtklib_sat.toc=gpst2time(rtklib_sat.week,gps_cnav_eph.d_Toc);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,gps_cnav_eph.d_TOW);
/* adjustment for week handover */
double tow, toc;
tow = time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc,NULL);
tow=time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc=time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,tow);
rtklib_sat.toe=gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc=gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,tow);
return rtklib_sat;
}

8
src/algorithms/libs/rtklib/rtklib_conversions.h
View File

@@ -47,10 +47,8 @@
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/
#ifndef GNSS_SDR_RTKLIB_CONVERSIONS_H_
#define GNSS_SDR_RTKLIB_CONVERSIONS_H_
#ifndef SRC_ALGORITHMS_PVT_LIBS_RTKLIB_CONVERSIONS_H_
#define SRC_ALGORITHMS_PVT_LIBS_RTKLIB_CONVERSIONS_H_
#include "rtklib_rtkcmn.h"
#include "gnss_synchro.h"
@@ -64,4 +62,4 @@ eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph);
obsd_t obs_to_rtklib(Gnss_Synchro gnss_synchro, int week);
#endif /* GNSS_SDR_RTKLIB_CONVERSIONS_H_ */
#endif /* SRC_ALGORITHMS_PVT_LIBS_RTKLIB_CONVERSIONS_H_ */

1285
src/algorithms/libs/rtklib/rtklib_ephemeris.cc
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File diff suppressed because it is too large Load Diff

36
src/algorithms/libs/rtklib/rtklib_ephemeris.h
View File

@@ -47,12 +47,38 @@
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*-----------------------------------------------------------------------------*/
* history : 2010/07/28 1.1 moved from rtkcmn.c
* added api:
* eph2clk(),geph2clk(),seph2clk(),satantoff()
* satposs()
* changed api:
* eph2pos(),geph2pos(),satpos()
* deleted api:
* satposv(),satposiode()
* 2010/08/26 1.2 add ephemeris option EPHOPT_LEX
* 2010/09/09 1.3 fix problem when precise clock outage
* 2011/01/12 1.4 add api alm2pos()
* change api satpos(),satposs()
* enable valid unhealthy satellites and output status
* fix bug on exception by glonass ephem computation
* 2013/01/10 1.5 support beidou (compass)
* use newton's method to solve kepler eq.
* update ssr correction algorithm
* 2013/03/20 1.6 fix problem on ssr clock relativitic correction
* 2013/09/01 1.7 support negative pseudorange
* fix bug on variance in case of ura ssr = 63
* 2013/11/11 1.8 change constant MAXAGESSR 70.0 -> 90.0
* 2014/10/24 1.9 fix bug on return of var_uraeph() if ura<0||15<ura
* 2014/12/07 1.10 modify MAXDTOE for qzss,gal and bds
* test max number of iteration for Kepler
* 2015/08/26 1.11 update RTOL_ELPLER 1E-14 -> 1E-13
* set MAX_ITER_KEPLER for alm2pos()
*-----------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_EPHEMERIS_H_
#define GNSS_SDR_RTKLIB_EPHEMERIS_H_
#ifndef RTKLIB_EPHEMERIS_H_
#define RTKLIB_EPHEMERIS_H_
#include "rtklib.h"
#include "rtklib_rtkcmn.h"
@@ -96,4 +122,4 @@ void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
#endif /* GNSS_SDR_RTKLIB_EPHEMERIS_H_ */
#endif /* RTKLIB_EPHEMERIS_H_ */

834
src/algorithms/libs/rtklib/rtklib_ionex.cc
View File

@@ -55,536 +55,462 @@
* Maps based on GPS Carrier Phase Data Routinely producted by CODE
* Analysis Center, Proceeding of the IGS Analysis Center Workshop, 1996
*
* version : $Revision:$ $Date:$
* history : 2011/03/29 1.0 new
* 2013/03/05 1.1 change api readtec()
* fix problem in case of lat>85deg or lat<-85deg
* 2014/02/22 1.2 fix problem on compiled as C++
*-----------------------------------------------------------------------------*/
#include "rtklib_ionex.h"
/* get index -----------------------------------------------------------------*/
int getindex(double value, const double *range)
{
if (range[2] == 0.0) return 0;
if (range[1] > 0.0 && (value < range[0] || range[1]<value)) return -1;
if (range[1] < 0.0 && (value < range[1] || range[0]<value)) return -1;
return (int)floor((value - range[0]) / range[2] + 0.5);
if (range[2]==0.0) return 0;
if (range[1]>0.0&&(value<range[0]||range[1]<value)) return -1;
if (range[1]<0.0&&(value<range[1]||range[0]<value)) return -1;
return (int)floor((value-range[0])/range[2]+0.5);
}
/* get number of items -------------------------------------------------------*/
int nitem(const double *range)
{
return getindex(range[1], range) + 1;
return getindex(range[1],range)+1;
}
/* data index (i:lat,j:lon,k:hgt) --------------------------------------------*/
int dataindex(int i, int j, int k, const int *ndata)
{
if (i < 0 || ndata[0] <= i || j < 0 || ndata[1] <= j || k < 0 || ndata[2] <= k) return -1;
return i + ndata[0] * (j + ndata[1] * k);
if (i<0||ndata[0]<=i||j<0||ndata[1]<=j||k<0||ndata[2]<=k) return -1;
return i+ndata[0]*(j+ndata[1]*k);
}
/* add tec data to navigation data -------------------------------------------*/
tec_t *addtec(const double *lats, const double *lons, const double *hgts,
double rb, nav_t *nav)
double rb, nav_t *nav)
{
tec_t *p, *nav_tec;
gtime_t time0 = {};
int i, n, ndata[3];
trace(3, "addtec :\n");
ndata[0] = nitem(lats);
ndata[1] = nitem(lons);
ndata[2] = nitem(hgts);
if (ndata[0] <= 1 || ndata[1] <= 1 || ndata[2] <= 0) return NULL;
if (nav->nt >= nav->ntmax)
{
nav->ntmax+=256;
if (!(nav_tec = (tec_t *)realloc(nav->tec, sizeof(tec_t)*nav->ntmax)))
{
trace(1, "readionex malloc error ntmax=%d\n", nav->ntmax);
free(nav->tec); nav->tec = NULL; nav->nt = nav->ntmax = 0;
return NULL;
}
nav->tec = nav_tec;
}
p = nav->tec+nav->nt;
p->time = time0;
p->rb = rb;
for (i = 0; i < 3; i++)
{
p->ndata[i] = ndata[i];
p->lats[i] = lats[i];
p->lons[i] = lons[i];
p->hgts[i] = hgts[i];
}
n = ndata[0] * ndata[1] * ndata[2];
if (!(p->data = (double *)malloc(sizeof(double) * n)) ||
!(p->rms = (float *)malloc(sizeof(float ) * n)))
{
tec_t *p,*nav_tec;
gtime_t time0={};
int i,n,ndata[3];
trace(3,"addtec :\n");
ndata[0]=nitem(lats);
ndata[1]=nitem(lons);
ndata[2]=nitem(hgts);
if (ndata[0]<=1||ndata[1]<=1||ndata[2]<=0) return NULL;
if (nav->nt>=nav->ntmax) {
nav->ntmax+=256;
if (!(nav_tec=(tec_t *)realloc(nav->tec,sizeof(tec_t)*nav->ntmax))) {
trace(1,"readionex malloc error ntmax=%d\n",nav->ntmax);
free(nav->tec); nav->tec=NULL; nav->nt=nav->ntmax=0;
return NULL;
}
for (i = 0; i < n; i++)
{
p->data[i] = 0.0;
p->rms [i] = 0.0f;
}
nav->tec=nav_tec;
}
p=nav->tec+nav->nt;
p->time=time0;
p->rb=rb;
for (i=0;i<3;i++) {
p->ndata[i]=ndata[i];
p->lats[i]=lats[i];
p->lons[i]=lons[i];
p->hgts[i]=hgts[i];
}
n=ndata[0]*ndata[1]*ndata[2];
if (!(p->data=(double *)malloc(sizeof(double)*n))||
!(p->rms =(float *)malloc(sizeof(float )*n))) {
return NULL;
}
for (i=0;i<n;i++) {
p->data[i]=0.0;
p->rms [i]=0.0f;
}
nav->nt++;
return p;
}
/* read ionex dcb aux data ----------------------------------------------------*/
void readionexdcb(FILE *fp, double *dcb, double *rms)
{
int i, sat;
char buff[1024], id[32], *label;
trace(3, "readionexdcb:\n");
for (i = 0; i < MAXSAT; i++) dcb[i] = rms[i] = 0.0;
while (fgets(buff, sizeof(buff), fp))
{
if (strlen(buff) < 60) continue;
label = buff + 60;
if (strstr(label, "PRN / BIAS / RMS") == label)
{
strncpy(id, buff+3, 3); id[3] = '\0';
if (!(sat = satid2no(id)))
{
trace(2, "ionex invalid satellite: %s\n", id);
continue;
}
dcb[sat-1] = str2num(buff, 6, 10);
rms[sat-1] = str2num(buff, 16, 10);
}
else if (strstr(label, "END OF AUX DATA") == label) break;
int i,sat;
char buff[1024],id[32],*label;
trace(3,"readionexdcb:\n");
for (i=0;i<MAXSAT;i++) dcb[i]=rms[i]=0.0;
while (fgets(buff,sizeof(buff),fp)) {
if (strlen(buff)<60) continue;
label=buff+60;
if (strstr(label,"PRN / BIAS / RMS")==label) {
strncpy(id,buff+3,3); id[3]='\0';
if (!(sat=satid2no(id))) {
trace(2,"ionex invalid satellite: %s\n",id);
continue;
}
dcb[sat-1]=str2num(buff, 6,10);
rms[sat-1]=str2num(buff,16,10);
}
else if (strstr(label,"END OF AUX DATA")==label) break;
}
}
/* read ionex header ---------------------------------------------------------*/
double readionexh(FILE *fp, double *lats, double *lons, double *hgts,
double *rb, double *nexp, double *dcb, double *rms)
double *rb, double *nexp, double *dcb, double *rms)
{
double ver = 0.0;
char buff[1024], *label;
trace(3, "readionexh:\n");
while (fgets(buff, sizeof(buff), fp))
{
if (strlen(buff) < 60) continue;
label = buff + 60;
if (strstr(label, "IONEX VERSION / TYPE") == label)
{
if (buff[20] == 'I') ver = str2num(buff, 0, 8);
}
else if (strstr(label, "BASE RADIUS") == label)
{
*rb = str2num(buff, 0, 8);
}
else if (strstr(label, "HGT1 / HGT2 / DHGT") == label)
{
hgts[0] = str2num(buff, 2, 6);
hgts[1] = str2num(buff, 8, 6);
hgts[2] = str2num(buff, 14, 6);
}
else if (strstr(label, "LAT1 / LAT2 / DLAT") == label)
{
lats[0] = str2num(buff, 2, 6);
lats[1] = str2num(buff, 8, 6);
lats[2] = str2num(buff, 14, 6);
}
else if (strstr(label,"LON1 / LON2 / DLON") == label)
{
lons[0] = str2num(buff, 2, 6);
lons[1] = str2num(buff, 8, 6);
lons[2] = str2num(buff, 14, 6);
}
else if (strstr(label, "EXPONENT") == label)
{
*nexp = str2num(buff, 0, 6);
}
else if (strstr(label, "START OF AUX DATA") == label &&
strstr(buff, "DIFFERENTIAL CODE BIASES"))
{
readionexdcb(fp, dcb, rms);
}
else if (strstr(label, "END OF HEADER") == label)
{
return ver;
}
double ver=0.0;
char buff[1024],*label;
trace(3,"readionexh:\n");
while (fgets(buff,sizeof(buff),fp)) {
if (strlen(buff)<60) continue;
label=buff+60;
if (strstr(label,"IONEX VERSION / TYPE")==label) {
if (buff[20]=='I') ver=str2num(buff,0,8);
}
else if (strstr(label,"BASE RADIUS")==label) {
*rb=str2num(buff,0,8);
}
else if (strstr(label,"HGT1 / HGT2 / DHGT")==label) {
hgts[0]=str2num(buff, 2,6);
hgts[1]=str2num(buff, 8,6);
hgts[2]=str2num(buff,14,6);
}
else if (strstr(label,"LAT1 / LAT2 / DLAT")==label) {
lats[0]=str2num(buff, 2,6);
lats[1]=str2num(buff, 8,6);
lats[2]=str2num(buff,14,6);
}
else if (strstr(label,"LON1 / LON2 / DLON")==label) {
lons[0]=str2num(buff, 2,6);
lons[1]=str2num(buff, 8,6);
lons[2]=str2num(buff,14,6);
}
else if (strstr(label,"EXPONENT")==label) {
*nexp=str2num(buff,0,6);
}
else if (strstr(label,"START OF AUX DATA")==label&&
strstr(buff,"DIFFERENTIAL CODE BIASES")) {
readionexdcb(fp,dcb,rms);
}
else if (strstr(label,"END OF HEADER")==label) {
return ver;
}
}
return 0.0;
}
/* read ionex body -----------------------------------------------------------*/
int readionexb(FILE *fp, const double *lats, const double *lons,
const double *hgts, double rb, double nexp, nav_t *nav)
const double *hgts, double rb, double nexp, nav_t *nav)
{
tec_t *p = NULL;
gtime_t time = {};
double lat, lon[3], hgt, x;
int i, j, k, n, m, index, type = 0;
char buff[1024], *label = buff + 60;
trace(3, "readionexb:\n");
while (fgets(buff, sizeof(buff), fp))
{
if (strlen(buff) < 60) continue;
if (strstr(label, "START OF TEC MAP") == label)
{
if ((p = addtec(lats, lons, hgts, rb, nav))) type = 1;
}
else if (strstr(label, "END OF TEC MAP") == label)
{
type = 0;
p = NULL;
}
else if (strstr(label, "START OF RMS MAP") == label)
{
type = 2;
p = NULL;
}
else if (strstr(label, "END OF RMS MAP") == label)
{
type = 0;
p = NULL;
}
else if (strstr(label, "EPOCH OF CURRENT MAP") == label)
{
if (str2time(buff, 0, 36, &time))
{
trace(2, "ionex epoch invalid: %-36.36s\n", buff);
continue;
}
if (type == 2)
{
for (i = nav->nt-1; i >= 0; i--)
{
if (fabs(timediff(time, nav->tec[i].time)) >= 1.0) continue;
p = nav->tec + i;
break;
}
}
else if (p) p->time = time;
}
else if (strstr(label, "LAT/LON1/LON2/DLON/H") == label && p)
{
lat = str2num(buff, 2, 6);
lon[0] = str2num(buff, 8, 6);
lon[1] = str2num(buff, 14, 6);
lon[2] = str2num(buff, 20, 6);
hgt = str2num(buff, 26, 6);
i = getindex(lat, p->lats);
k = getindex(hgt, p->hgts);
n = nitem(lon);
for (m = 0; m < n; m++)
{
if (m%16 == 0 && !fgets(buff, sizeof(buff), fp)) break;
j = getindex(lon[0] + lon[2] * m, p->lons);
if ((index = dataindex(i, j, k, p->ndata)) < 0) continue;
if ((x = str2num(buff, m%16*5, 5)) == 9999.0) continue;
if (type == 1) p->data[index] = x * pow(10.0, nexp);
else p->rms[index] = (float)(x * pow(10.0, nexp));
}
}
tec_t *p=NULL;
gtime_t time={};
double lat,lon[3],hgt,x;
int i,j,k,n,m,index,type=0;
char buff[1024],*label=buff+60;
trace(3,"readionexb:\n");
while (fgets(buff,sizeof(buff),fp)) {
if (strlen(buff)<60) continue;
if (strstr(label,"START OF TEC MAP")==label) {
if ((p=addtec(lats,lons,hgts,rb,nav))) type=1;
}
else if (strstr(label,"END OF TEC MAP")==label) {
type=0;
p=NULL;
}
else if (strstr(label,"START OF RMS MAP")==label) {
type=2;
p=NULL;
}
else if (strstr(label,"END OF RMS MAP")==label) {
type=0;
p=NULL;
}
else if (strstr(label,"EPOCH OF CURRENT MAP")==label) {
if (str2time(buff,0,36,&time)) {
trace(2,"ionex epoch invalid: %-36.36s\n",buff);
continue;
}
if (type==2) {
for (i=nav->nt-1;i>=0;i--) {
if (fabs(timediff(time,nav->tec[i].time))>=1.0) continue;
p=nav->tec+i;
break;
}
}
else if (p) p->time=time;
}
else if (strstr(label,"LAT/LON1/LON2/DLON/H")==label&&p) {
lat =str2num(buff, 2,6);
lon[0]=str2num(buff, 8,6);
lon[1]=str2num(buff,14,6);
lon[2]=str2num(buff,20,6);
hgt =str2num(buff,26,6);
i=getindex(lat,p->lats);
k=getindex(hgt,p->hgts);
n=nitem(lon);
for (m=0;m<n;m++) {
if (m%16==0&&!fgets(buff,sizeof(buff),fp)) break;
j=getindex(lon[0]+lon[2]*m,p->lons);
if ((index=dataindex(i,j,k,p->ndata))<0) continue;
if ((x=str2num(buff,m%16*5,5))==9999.0) continue;
if (type==1) p->data[index]=x*pow(10.0,nexp);
else p->rms[index]=(float)(x*pow(10.0,nexp));
}
}
}
return 1;
}
/* combine tec grid data -----------------------------------------------------*/
void combtec(nav_t *nav)
{
tec_t tmp;
int i, j, n = 0;
trace(3, "combtec : nav->nt=%d\n", nav->nt);
for (i = 0; i < nav->nt - 1; i++)
{
for (j = i + 1; j < nav->nt; j++)
{
if (timediff(nav->tec[j].time, nav->tec[i].time) < 0.0)
{
tmp = nav->tec[i];
nav->tec[i] = nav->tec[j];
nav->tec[j] = tmp;
}
}
int i,j,n=0;
trace(3,"combtec : nav->nt=%d\n",nav->nt);
for (i=0;i<nav->nt-1;i++) {
for (j=i+1;j<nav->nt;j++) {
if (timediff(nav->tec[j].time,nav->tec[i].time)<0.0) {
tmp=nav->tec[i];
nav->tec[i]=nav->tec[j];
nav->tec[j]=tmp;
}
}
for (i = 0; i < nav->nt; i++)
{
if (i > 0 && timediff(nav->tec[i].time, nav->tec[n - 1].time) == 0.0)
{
free(nav->tec[n - 1].data);
free(nav->tec[n - 1].rms );
nav->tec[n - 1] = nav->tec[i];
continue;
}
nav->tec[n++] = nav->tec[i];
}
for (i=0;i<nav->nt;i++) {
if (i>0&&timediff(nav->tec[i].time,nav->tec[n-1].time)==0.0) {
free(nav->tec[n-1].data);
free(nav->tec[n-1].rms );
nav->tec[n-1]=nav->tec[i];
continue;
}
nav->nt = n;
trace(4, "combtec : nav->nt=%d\n", nav->nt);
nav->tec[n++]=nav->tec[i];
}
nav->nt=n;
trace(4,"combtec : nav->nt=%d\n",nav->nt);
}
/* read ionex tec grid file ----------------------------------------------------
* read ionex ionospheric tec grid file
* args : char *file I ionex tec grid file
* (wind-card * is expanded)
* nav_t *nav IO navigation data
* nav->nt, nav->ntmax and nav->tec are modified
* int opt I read option (1: no clear of tec data,0:clear)
* return : none
* notes : see ref [1]
*-----------------------------------------------------------------------------*/
* read ionex ionospheric tec grid file
* args : char *file I ionex tec grid file
* (wind-card * is expanded)
* nav_t *nav IO navigation data
* nav->nt, nav->ntmax and nav->tec are modified
* int opt I read option (1: no clear of tec data,0:clear)
* return : none
* notes : see ref [1]
*-----------------------------------------------------------------------------*/
void readtec(const char *file, nav_t *nav, int opt)
{
FILE *fp;
double lats[3] = {0}, lons[3] = {0}, hgts[3] = {0}, rb = 0.0, nexp = -1.0;
double dcb[MAXSAT] = {0}, rms[MAXSAT] = {0};
int i, n;
double lats[3]={0},lons[3]={0},hgts[3]={0},rb=0.0,nexp=-1.0;
double dcb[MAXSAT]={0},rms[MAXSAT]={0};
int i,n;
char *efiles[MAXEXFILE];
trace(3, "readtec : file=%s\n", file);
trace(3,"readtec : file=%s\n",file);
/* clear of tec grid data option */
if (!opt)
{
free(nav->tec);
nav->tec = NULL;
nav->nt = nav->ntmax = 0;
}
for (i = 0; i < MAXEXFILE; i++)
{
if (!(efiles[i] = (char *)malloc(1024)))
{
for (i--; i >= 0; i--) free(efiles[i]);
return;
}
if (!opt) {
free(nav->tec); nav->tec=NULL; nav->nt=nav->ntmax=0;
}
for (i=0;i<MAXEXFILE;i++) {
if (!(efiles[i]=(char *)malloc(1024))) {
for (i--;i>=0;i--) free(efiles[i]);
return;
}
}
/* expand wild card in file path */
n = expath(file, efiles, MAXEXFILE);
for (i = 0; i < n; i++)
{
if (!(fp = fopen(efiles[i], "r")))
{
trace(2, "ionex file open error %s\n", efiles[i]);
continue;
}
/* read ionex header */
if (readionexh(fp, lats, lons, hgts, &rb, &nexp, dcb, rms) <= 0.0)
{
trace(2, "ionex file format error %s\n", efiles[i]);
continue;
}
/* read ionex body */
readionexb(fp, lats, lons, hgts, rb, nexp, nav);
fclose(fp);
n=expath(file,efiles,MAXEXFILE);
for (i=0;i<n;i++) {
if (!(fp=fopen(efiles[i],"r"))) {
trace(2,"ionex file open error %s\n",efiles[i]);
continue;
}
for (i = 0; i < MAXEXFILE; i++) free(efiles[i]);
/* read ionex header */
if (readionexh(fp,lats,lons,hgts,&rb,&nexp,dcb,rms)<=0.0) {
trace(2,"ionex file format error %s\n",efiles[i]);
continue;
}
/* read ionex body */
readionexb(fp,lats,lons,hgts,rb,nexp,nav);
fclose(fp);
}
for (i=0;i<MAXEXFILE;i++) free(efiles[i]);
/* combine tec grid data */
if (nav->nt > 0) combtec(nav);
if (nav->nt>0) combtec(nav);
/* P1-P2 dcb */
for (i = 0; i < MAXSAT; i++)
{
nav->cbias[i][0] = SPEED_OF_LIGHT * dcb[i] * 1e-9; /* ns->m */
}
for (i=0;i<MAXSAT;i++) {
nav->cbias[i][0]=CLIGHT*dcb[i]*1E-9; /* ns->m */
}
}
/* interpolate tec grid data -------------------------------------------------*/
int interptec(const tec_t *tec, int k, const double *posp, double *value,
double *rms)
double *rms)
{
double dlat, dlon, a, b, d[4] = {0}, r[4] = {0};
int i, j, n, index;
trace(3, "interptec: k=%d posp=%.2f %.2f\n", k, posp[0] * R2D, posp[1] * R2D);
*value = *rms = 0.0;
if (tec->lats[2] == 0.0 || tec->lons[2] == 0.0) return 0;
dlat = posp[0] * R2D - tec->lats[0];
dlon = posp[1] * R2D - tec->lons[0];
if (tec->lons[2] > 0.0) dlon -= floor( dlon / 360) * 360.0; /* 0 <= dlon<360 */
else dlon += floor(-dlon / 360) * 360.0; /* -360<dlon <= 0 */
a = dlat / tec->lats[2];
b = dlon / tec->lons[2];
i = (int)floor(a);
a -= i;
j = (int)floor(b);
b -= j;
double dlat,dlon,a,b,d[4]={0},r[4]={0};
int i,j,n,index;
trace(3,"interptec: k=%d posp=%.2f %.2f\n",k,posp[0]*R2D,posp[1]*R2D);
*value=*rms=0.0;
if (tec->lats[2]==0.0||tec->lons[2]==0.0) return 0;
dlat=posp[0]*R2D-tec->lats[0];
dlon=posp[1]*R2D-tec->lons[0];
if (tec->lons[2]>0.0) dlon-=floor( dlon/360)*360.0; /* 0<=dlon<360 */
else dlon+=floor(-dlon/360)*360.0; /* -360<dlon<=0 */
a=dlat/tec->lats[2];
b=dlon/tec->lons[2];
i=(int)floor(a); a-=i;
j=(int)floor(b); b-=j;
/* get gridded tec data */
for (n = 0; n < 4; n++)
{
if ((index = dataindex(i + (n % 2), j + (n < 2 ? 0 : 1), k, tec->ndata)) < 0) continue;
d[n] = tec->data[index];
r[n] = tec->rms[index];
}
if (d[0] > 0.0 && d[1] > 0.0 && d[2] > 0.0 && d[3] > 0.0)
{
/* bilinear interpolation (inside of grid) */
*value = (1.0 - a) * (1.0 - b) * d[0] + a*(1.0 -b) * d[1] + (1.0 - a) * b * d[2] + a * b * d[3];
*rms = (1.0 - a) * (1.0 - b) * r[0] + a*(1.0 - b) * r[1] + (1.0 - a) * b * r[2] + a * b * r[3];
}
for (n=0;n<4;n++) {
if ((index=dataindex(i+(n%2),j+(n<2?0:1),k,tec->ndata))<0) continue;
d[n]=tec->data[index];
r[n]=tec->rms [index];
}
if (d[0]>0.0&&d[1]>0.0&&d[2]>0.0&&d[3]>0.0) {
/* bilinear interpolation (inside of grid) */
*value=(1.0-a)*(1.0-b)*d[0]+a*(1.0-b)*d[1]+(1.0-a)*b*d[2]+a*b*d[3];
*rms =(1.0-a)*(1.0-b)*r[0]+a*(1.0-b)*r[1]+(1.0-a)*b*r[2]+a*b*r[3];
}
/* nearest-neighbour extrapolation (outside of grid) */
else if (a <= 0.5 && b <= 0.5 && d[0] > 0.0) {*value = d[0]; *rms = r[0];}
else if (a > 0.5 && b <= 0.5 && d[1] > 0.0) {*value = d[1]; *rms = r[1];}
else if (a <= 0.5 && b > 0.5 && d[2] > 0.0) {*value = d[2]; *rms = r[2];}
else if (a > 0.5 && b > 0.5 && d[3] > 0.0) {*value = d[3]; *rms = r[3];}
else
{
i = 0;
for (n = 0; n < 4; n++) if (d[n] > 0.0) {i++; *value += d[n]; *rms += r[n];}
if(i == 0) return 0;
*value /= i;
*rms /= i;
}
else if (a<=0.5&&b<=0.5&&d[0]>0.0) {*value=d[0]; *rms=r[0];}
else if (a> 0.5&&b<=0.5&&d[1]>0.0) {*value=d[1]; *rms=r[1];}
else if (a<=0.5&&b> 0.5&&d[2]>0.0) {*value=d[2]; *rms=r[2];}
else if (a> 0.5&&b> 0.5&&d[3]>0.0) {*value=d[3]; *rms=r[3];}
else {
i=0;
for (n=0;n<4;n++) if (d[n]>0.0) {i++; *value+=d[n]; *rms+=r[n];}
if(i==0) return 0;
*value/=i; *rms/=i;
}
return 1;
}
/* ionosphere delay by tec grid data -----------------------------------------*/
int iondelay(gtime_t time, const tec_t *tec, const double *pos,
const double *azel, int opt, double *delay, double *var)
const double *azel, int opt, double *delay, double *var)
{
const double fact = 40.30E16 / FREQ1 / FREQ1; /* tecu->L1 iono (m) */
double fs, posp[3] = {0}, vtec, rms, hion, rp;
const double fact=40.30E16/FREQ1/FREQ1; /* tecu->L1 iono (m) */
double fs,posp[3]={0},vtec,rms,hion,rp;
int i;
trace(3, "iondelay: time=%s pos=%.1f %.1f azel=%.1f %.1f\n", time_str(time, 0),
pos[0]*R2D, pos[1]*R2D, azel[0]*R2D, azel[1]*R2D);
*delay = *var = 0.0;
for (i = 0;i < tec->ndata[2]; i++)
{ /* for a layer */
hion = tec->hgts[0] + tec->hgts[2] * i;
/* ionospheric pierce point position */
fs = ionppp(pos, azel, tec->rb, hion, posp);
if (opt&2)
{
/* modified single layer mapping function (M-SLM) ref [2] */
rp = tec->rb / (tec->rb + hion) * sin(0.9782 * (PI / 2.0 - azel[1]));
fs = 1.0 / sqrt(1.0 - rp * rp);
}
if (opt&1)
{
/* earth rotation correction (sun-fixed coordinate) */
posp[1] += 2.0 * PI * timediff(time, tec->time) / 86400.0;
}
/* interpolate tec grid data */
if (!interptec(tec, i, posp, &vtec, &rms)) return 0;
*delay += fact * fs * vtec;
*var += fact * fact * fs * fs * rms * rms;
trace(3,"iondelay: time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0),
pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
*delay=*var=0.0;
for (i=0;i<tec->ndata[2];i++) { /* for a layer */
hion=tec->hgts[0]+tec->hgts[2]*i;
/* ionospheric pierce point position */
fs=ionppp(pos,azel,tec->rb,hion,posp);
if (opt&2) {
/* modified single layer mapping function (M-SLM) ref [2] */
rp=tec->rb/(tec->rb+hion)*sin(0.9782*(PI/2.0-azel[1]));
fs=1.0/sqrt(1.0-rp*rp);
}
trace(4, "iondelay: delay=%7.2f std=%6.2f\n", *delay, sqrt(*var));
if (opt&1) {
/* earth rotation correction (sun-fixed coordinate) */
posp[1]+=2.0*PI*timediff(time,tec->time)/86400.0;
}
/* interpolate tec grid data */
if (!interptec(tec,i,posp,&vtec,&rms)) return 0;
*delay+=fact*fs*vtec;
*var+=fact*fact*fs*fs*rms*rms;
}
trace(4,"iondelay: delay=%7.2f std=%6.2f\n",*delay,sqrt(*var));
return 1;
}
/* ionosphere model by tec grid data -------------------------------------------
* compute ionospheric delay by tec grid data
* args : gtime_t time I time (gpst)
* nav_t *nav I navigation data
* double *pos I receiver position {lat,lon,h} (rad,m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* int opt I model option
* bit0: 0:earth-fixed,1:sun-fixed
* bit1: 0:single-layer,1:modified single-layer
* double *delay O ionospheric delay (L1) (m)
* double *var O ionospheric dealy (L1) variance (m^2)
* return : status (1:ok,0:error)
* notes : before calling the function, read tec grid data by calling readtec()
* return ok with delay=0 and var=VAR_NOTEC if el<MIN_EL or h<MIN_HGT
*-----------------------------------------------------------------------------*/
* compute ionospheric delay by tec grid data
* args : gtime_t time I time (gpst)
* nav_t *nav I navigation data
* double *pos I receiver position {lat,lon,h} (rad,m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* int opt I model option
* bit0: 0:earth-fixed,1:sun-fixed
* bit1: 0:single-layer,1:modified single-layer
* double *delay O ionospheric delay (L1) (m)
* double *var O ionospheric dealy (L1) variance (m^2)
* return : status (1:ok,0:error)
* notes : before calling the function, read tec grid data by calling readtec()
* return ok with delay=0 and var=VAR_NOTEC if el<MIN_EL or h<MIN_HGT
*-----------------------------------------------------------------------------*/
int iontec(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, int opt, double *delay, double *var)
const double *azel, int opt, double *delay, double *var)
{
double dels[2], vars[2], a, tt;
int i, stat[2];
trace(3, "iontec : time=%s pos=%.1f %.1f azel=%.1f %.1f\n", time_str(time, 0),
pos[0] * R2D, pos[1] * R2D, azel[0] * R2D, azel[1] * R2D);
if (azel[1] < MIN_EL || pos[2] < MIN_HGT)
{
*delay = 0.0;
*var = VAR_NOTEC;
return 1;
}
for (i = 0; i < nav->nt; i++)
{
if (timediff(nav->tec[i].time, time) > 0.0) break;
}
if (i == 0 || i >= nav->nt)
{
trace(2, "%s: tec grid out of period\n", time_str(time, 0));
return 0;
}
if ((tt = timediff(nav->tec[i].time, nav->tec[i-1].time)) == 0.0)
{
trace(2, "tec grid time interval error\n");
return 0;
}
double dels[2],vars[2],a,tt;
int i,stat[2];
trace(3,"iontec : time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0),
pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
if (azel[1]<MIN_EL||pos[2]<MIN_HGT) {
*delay=0.0;
*var=VAR_NOTEC;
return 1;
}
for (i=0;i<nav->nt;i++) {
if (timediff(nav->tec[i].time,time)>0.0) break;
}
if (i==0||i>=nav->nt) {
trace(2,"%s: tec grid out of period\n",time_str(time,0));
return 0;
}
if ((tt=timediff(nav->tec[i].time,nav->tec[i-1].time))==0.0) {
trace(2,"tec grid time interval error\n");
return 0;
}
/* ionospheric delay by tec grid data */
stat[0] = iondelay(time, nav->tec+i-1, pos, azel, opt, dels , vars );
stat[1] = iondelay(time, nav->tec+i , pos, azel, opt, dels+1, vars+1);
if (!stat[0] && !stat[1])
{
trace(2, "%s: tec grid out of area pos=%6.2f %7.2f azel=%6.1f %5.1f\n",
time_str(time, 0), pos[0] * R2D, pos[1] * R2D, azel[0] * R2D, azel[1] * R2D);
return 0;
}
if (stat[0] && stat[1])
{ /* linear interpolation by time */
a = timediff(time, nav->tec[i-1].time) / tt;
*delay = dels[0] * (1.0 - a) + dels[1] * a;
*var = vars[0] * (1.0 - a) + vars[1] * a;
}
else if (stat[0])
{ /* nearest-neighbour extrapolation by time */
*delay = dels[0];
*var = vars[0];
}
else
{
*delay = dels[1];
*var = vars[1];
}
trace(3, "iontec : delay=%5.2f std=%5.2f\n", *delay, sqrt(*var));
stat[0]=iondelay(time,nav->tec+i-1,pos,azel,opt,dels ,vars );
stat[1]=iondelay(time,nav->tec+i ,pos,azel,opt,dels+1,vars+1);
if (!stat[0]&&!stat[1]) {
trace(2,"%s: tec grid out of area pos=%6.2f %7.2f azel=%6.1f %5.1f\n",
time_str(time,0),pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
return 0;
}
if (stat[0]&&stat[1]) { /* linear interpolation by time */
a=timediff(time,nav->tec[i-1].time)/tt;
*delay=dels[0]*(1.0-a)+dels[1]*a;
*var =vars[0]*(1.0-a)+vars[1]*a;
}
else if (stat[0]) { /* nearest-neighbour extrapolation by time */
*delay=dels[0];
*var =vars[0];
}
else {
*delay=dels[1];
*var =vars[1];
}
trace(3,"iontec : delay=%5.2f std=%5.2f\n",*delay,sqrt(*var));
return 1;
}

39
src/algorithms/libs/rtklib/rtklib_ionex.h
View File

@@ -1,5 +1,5 @@
/*!
* \file rtklib_ionex.h
* \file rtklib_ionex.cc
* \brief ionex functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
@@ -47,24 +47,29 @@
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* References:
* [1] S.Schear, W.Gurtner and J.Feltens, IONEX: The IONosphere Map EXchange
* Format Version 1, February 25, 1998
* [2] S.Schaer, R.Markus, B.Gerhard and A.S.Timon, Daily Global Ionosphere
* Maps based on GPS Carrier Phase Data Routinely producted by CODE
* Analysis Center, Proceeding of the IGS Analysis Center Workshop, 1996
*
*-----------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_IONEX_H_
#define GNSS_SDR_RTKLIB_IONEX_H_
*
* references:
* [1] S.Schear, W.Gurtner and J.Feltens, IONEX: The IONosphere Map EXchange
* Format Version 1, February 25, 1998
* [2] S.Schaer, R.Markus, B.Gerhard and A.S.Timon, Daily Global Ionosphere
* Maps based on GPS Carrier Phase Data Routinely producted by CODE
* Analysis Center, Proceeding of the IGS Analysis Center Workshop, 1996
*
* version : $Revision:$ $Date:$
* history : 2011/03/29 1.0 new
* 2013/03/05 1.1 change api readtec()
* fix problem in case of lat>85deg or lat<-85deg
* 2014/02/22 1.2 fix problem on compiled as C++
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_IONEX_H_
#define RTKLIB_IONEX_H_
#include "rtklib_rtkcmn.h"
const double VAR_NOTEC = 30.0 * 30.0; /* variance of no tec */
const double MIN_EL = 0.0; /* min elevation angle (rad) */
const double MIN_HGT = -1000.0; /* min user height (m) */
#define SQR(x) ((x)*(x))
#define VAR_NOTEC SQR(30.0) /* variance of no tec */
#define MIN_EL 0.0 /* min elevation angle (rad) */
#define MIN_HGT -1000.0 /* min user height (m) */
int getindex(double value, const double *range);
@@ -87,4 +92,4 @@ int iondelay(gtime_t time, const tec_t *tec, const double *pos,
int iontec(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, int opt, double *delay, double *var);
#endif /* GNSS_SDR_RTKLIB_IONEX_H_ */
#endif /* SRC_ALGORITHMS_PVT_LIBS_RTKLIB_IONEX_H_ */

1190
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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File diff suppressed because it is too large Load Diff

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

@@ -48,10 +48,22 @@
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*-----------------------------------------------------------------------------*/
* history : 2010/07/28 1.0 moved from rtkcmn.c
* changed api:
* pntpos()
* deleted api:
* pntvel()
* 2011/01/12 1.1 add option to include unhealthy satellite
* reject duplicated observation data
* changed api: ionocorr()
* 2011/11/08 1.2 enable snr mask for single-mode (rtklib_2.4.1_p3)
* 2012/12/25 1.3 add variable snr mask
* 2014/05/26 1.4 support galileo and beidou
* 2015/03/19 1.5 fix bug on ionosphere correction for GLO and BDS
*-----------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_PNTPOS_H_
#define GNSS_SDR_RTKLIB_PNTPOS_H_
#ifndef RTKLIB_PNTPOS_H_
#define RTKLIB_PNTPOS_H_
#include "rtklib.h"
#include "rtklib_rtkcmn.h"
@@ -165,4 +177,4 @@ int pntpos(const obsd_t *obs, int n, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
char *msg);
#endif /* GNSS_SDR_RTKLIB_PNTPOS_H_ */
#endif /* RTKLIB_PNTPOS_H_ */

1283
src/algorithms/libs/rtklib/rtklib_preceph.cc
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66
src/algorithms/libs/rtklib/rtklib_preceph.h
View File

@@ -48,29 +48,57 @@
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* References :
* [1] S.Hilla, The Extended Standard Product 3 Orbit Format (SP3-c),
* 12 February, 2007
* [2] J.Ray, W.Gurtner, RINEX Extensions to Handle Clock Information,
* 27 August, 1998
* [3] D.D.McCarthy, IERS Technical Note 21, IERS Conventions 1996, July 1996
* [4] D.A.Vallado, Fundamentals of Astrodynamics and Applications 2nd ed,
* Space Technology Library, 2004
*
*-----------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_PRECEPH_H_
#define GNSS_SDR_RTKLIB_PRECEPH_H_
*
* references :
* [1] S.Hilla, The Extended Standard Product 3 Orbit Format (SP3-c),
* 12 February, 2007
* [2] J.Ray, W.Gurtner, RINEX Extensions to Handle Clock Information,
* 27 August, 1998
* [3] D.D.McCarthy, IERS Technical Note 21, IERS Conventions 1996, July 1996
* [4] D.A.Vallado, Fundamentals of Astrodynamics and Applications 2nd ed,
* Space Technology Library, 2004
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2009/01/18 1.0 new
* 2009/01/31 1.1 fix bug on numerical error to read sp3a ephemeris
* 2009/05/15 1.2 support glonass,galileo,qzs
* 2009/12/11 1.3 support wild-card expansion of file path
* 2010/07/21 1.4 added api:
* eci2ecef(),sunmoonpos(),peph2pos(),satantoff(),
* readdcb()
* changed api:
* readsp3()
* deleted api:
* eph2posp()
* 2010/09/09 1.5 fix problem when precise clock outage
* 2011/01/23 1.6 support qzss satellite code
* 2011/09/12 1.7 fix problem on precise clock outage
* move sunmmonpos() to rtkcmn.c
* 2011/12/01 1.8 modify api readsp3()
* precede later ephemeris if ephemeris is NULL
* move eci2ecef() to rtkcmn.c
* 2013/05/08 1.9 fix bug on computing std-dev of precise clocks
* 2013/11/20 1.10 modify option for api readsp3()
* 2014/04/03 1.11 accept extenstion including sp3,eph,SP3,EPH
* 2014/05/23 1.12 add function to read sp3 velocity records
* change api: satantoff()
* 2014/08/31 1.13 add member cov and vco in peph_t sturct
* 2014/10/13 1.14 fix bug on clock error variance in peph2pos()
* 2015/05/10 1.15 add api readfcb()
* modify api readdcb()
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_PRECEPH_H_
#define RTKLIB_PRECEPH_H_
#include "rtklib.h"
#include "rtklib_rtkcmn.h"
#define SQR(x) ((x)*(x))
const int NMAX = 10; /* order of polynomial interpolation */
const double MAXDTE = 900.0; /* max time difference to ephem time (s) */
const double EXTERR_CLK = 1e-3; /* extrapolation error for clock (m/s) */
const double EXTERR_EPH = 5e-7; /* extrapolation error for ephem (m/s^2) */
#define NMAX 10 /* order of polynomial interpolation */
#define MAXDTE 900.0 /* max time difference to ephem time (s) */
#define EXTERR_CLK 1E-3 /* extrapolation error for clock (m/s) */
#define EXTERR_EPH 5E-7 /* extrapolation error for ephem (m/s^2) */
int code2sys(char code);
int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats,
@@ -105,4 +133,4 @@ void satantoff(gtime_t time, const double *rs, int sat, const nav_t *nav,
int peph2pos(gtime_t time, int sat, const nav_t *nav, int opt,
double *rs, double *dts, double *var);
#endif // GNSS_SDR_RTKLIB_PRECEPH_H_
#endif //RTKLIB_PRECEPH_H_

4319
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
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166
src/algorithms/libs/rtklib/rtklib_rtkcmn.h
View File

@@ -48,44 +48,132 @@
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* options : -DLAPACK use LAPACK/BLAS
* -DMKL use Intel MKL
* -DTRACE enable debug trace
* -DWIN32 use WIN32 API
* -DNOCALLOC no use calloc for zero matrix
* -DIERS_MODEL use GMF instead of NMF
* -DDLL built for shared library
* -DCPUTIME_IN_GPST cputime operated in gpst
*
* references :
* [1] IS-GPS-200D, Navstar GPS Space Segment/Navigation User Interfaces,
* 7 March, 2006
* [2] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [3] M.Rothacher, R.Schmid, ANTEX: The Antenna Exchange Format Version 1.4,
* 15 September, 2010
* [4] A.Gelb ed., Applied Optimal Estimation, The M.I.T Press, 1974
* [5] A.E.Niell, Global mapping functions for the atmosphere delay at radio
* wavelengths, Jounal of geophysical research, 1996
* [6] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.00, November 28, 2007
* [7] J.Kouba, A Guide to using International GNSS Service (IGS) products,
* May 2009
* [8] China Satellite Navigation Office, BeiDou navigation satellite system
* signal in space interface control document, open service signal B1I
* (version 1.0), Dec 2012
* [9] J.Boehm, A.Niell, P.Tregoning and H.Shuh, Global Mapping Function
* (GMF): A new empirical mapping function base on numerical weather
* model data, Geophysical Research Letters, 33, L07304, 2006
* [10] GLONASS/GPS/Galileo/Compass/SBAS NV08C receiver series BINR interface
* protocol specification ver.1.3, August, 2012
*
*-----------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_RTKCMN_H_
#define GNSS_SDR_RTKLIB_RTKCMN_H_
*
* options : -DLAPACK use LAPACK/BLAS
* -DMKL use Intel MKL
* -DTRACE enable debug trace
* -DWIN32 use WIN32 API
* -DNOCALLOC no use calloc for zero matrix
* -DIERS_MODEL use GMF instead of NMF
* -DDLL built for shared library
* -DCPUTIME_IN_GPST cputime operated in gpst
*
* references :
* [1] IS-GPS-200D, Navstar GPS Space Segment/Navigation User Interfaces,
* 7 March, 2006
* [2] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [3] M.Rothacher, R.Schmid, ANTEX: The Antenna Exchange Format Version 1.4,
* 15 September, 2010
* [4] A.Gelb ed., Applied Optimal Estimation, The M.I.T Press, 1974
* [5] A.E.Niell, Global mapping functions for the atmosphere delay at radio
* wavelengths, Jounal of geophysical research, 1996
* [6] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.00, November 28, 2007
* [7] J.Kouba, A Guide to using International GNSS Service (IGS) products,
* May 2009
* [8] China Satellite Navigation Office, BeiDou navigation satellite system
* signal in space interface control document, open service signal B1I
* (version 1.0), Dec 2012
* [9] J.Boehm, A.Niell, P.Tregoning and H.Shuh, Global Mapping Function
* (GMF): A new empirical mapping function base on numerical weather
* model data, Geophysical Research Letters, 33, L07304, 2006
* [10] GLONASS/GPS/Galileo/Compass/SBAS NV08C receiver series BINR interface
* protocol specification ver.1.3, August, 2012
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/01/12 1.0 new
* 2007/03/06 1.1 input initial rover pos of pntpos()
* update only effective states of filter()
* fix bug of atan2() domain error
* 2007/04/11 1.2 add function antmodel()
* add gdop mask for pntpos()
* change constant MAXDTOE value
* 2007/05/25 1.3 add function execcmd(),expandpath()
* 2008/06/21 1.4 add funciton sortobs(),uniqeph(),screent()
* replace geodist() by sagnac correction way
* 2008/10/29 1.5 fix bug of ionosphereic mapping function
* fix bug of seasonal variation term of tropmapf
* 2008/12/27 1.6 add function tickget(), sleepms(), tracenav(),
* xyz2enu(), satposv(), pntvel(), covecef()
* 2009/03/12 1.7 fix bug on error-stop when localtime() returns NULL
* 2009/03/13 1.8 fix bug on time adjustment for summer time
* 2009/04/10 1.9 add function adjgpsweek(),getbits(),getbitu()
* add function geph2pos()
* 2009/06/08 1.10 add function seph2pos()
* 2009/11/28 1.11 change function pntpos()
* add function tracegnav(),tracepeph()
* 2009/12/22 1.12 change default parameter of ionos std
* valid under second for timeget()
* 2010/07/28 1.13 fix bug in tropmapf()
* added api:
* obs2code(),code2obs(),cross3(),normv3(),
* gst2time(),time2gst(),time_str(),timeset(),
* deg2dms(),dms2deg(),searchpcv(),antmodel_s(),
* tracehnav(),tracepclk(),reppath(),reppaths(),
* createdir()
* changed api:
* readpcv(),
* deleted api:
* uniqeph()
* 2010/08/20 1.14 omit to include mkl header files
* fix bug on chi-sqr(n) table
* 2010/12/11 1.15 added api:
* freeobs(),freenav(),ionppp()
* 2011/05/28 1.16 fix bug on half-hour offset by time2epoch()
* added api:
* uniqnav()
* 2012/06/09 1.17 add a leap second after 2012-6-30
* 2012/07/15 1.18 add api setbits(),setbitu(),utc2gmst()
* fix bug on interpolation of antenna pcv
* fix bug on str2num() for string with over 256 char
* add api readblq(),satexclude(),setcodepri(),
* getcodepri()
* change api obs2code(),code2obs(),antmodel()
* 2012/12/25 1.19 fix bug on satwavelen(),code2obs(),obs2code()
* add api testsnr()
* 2013/01/04 1.20 add api gpst2bdt(),bdt2gpst(),bdt2time(),time2bdt()
* readblq(),readerp(),geterp(),crc16()
* change api eci2ecef(),sunmoonpos()
* 2013/03/26 1.21 tickget() uses clock_gettime() for linux
* 2013/05/08 1.22 fix bug on nutation coefficients for ast_args()
* 2013/06/02 1.23 add #ifdef for undefined CLOCK_MONOTONIC_RAW
* 2013/09/01 1.24 fix bug on interpolation of satellite antenna pcv
* 2013/09/06 1.25 fix bug on extrapolation of erp
* 2014/04/27 1.26 add SYS_LEO for satellite system
* add BDS L1 code for RINEX 3.02 and RTCM 3.2
* support BDS L1 in satwavelen()
* 2014/05/29 1.27 fix bug on obs2code() to search obs code table
* 2014/08/26 1.28 fix problem on output of uncompress() for tar file
* add function to swap trace file with keywords
* 2014/10/21 1.29 strtok() -> strtok_r() in expath() for thread-safe
* add bdsmodear in procopt_default
* 2015/03/19 1.30 fix bug on interpolation of erp values in geterp()
* add leap second insertion before 2015/07/01 00:00
* add api read_leaps()
* 2015/05/31 1.31 delte api windupcorr()
* 2015/08/08 1.32 add compile option CPUTIME_IN_GPST
* add api add_fatal()
* support usno leapsec.dat for api read_leaps()
* 2016/01/23 1.33 enable septentrio
* 2016/02/05 1.34 support GLONASS for savenav(), loadnav()
* 2016/06/11 1.35 delete trace() in reppath() to avoid deadlock
* 2016/07/01 1.36 support IRNSS
* add leap second before 2017/1/1 00:00:00
* 2016/07/29 1.37 rename api compress() -> rtk_uncompress()
* rename api crc16() -> rtk_crc16()
* rename api crc24q() -> rtk_crc24q()
* rename api crc32() -> rtk_crc32()
* 2016/08/20 1.38 fix type incompatibility in win64 environment
* change constant _POSIX_C_SOURCE 199309 -> 199506
* 2016/08/21 1.39 fix bug on week overflow in time2gpst()/gpst2time()
* 2016/09/05 1.40 fix bug on invalid nav data read in readnav()
* 2016/09/17 1.41 suppress warnings
* 2016/09/19 1.42 modify api deg2dms() to consider numerical error
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_RTKCMN_H_
#define RTKLIB_RTKCMN_H_
#include "rtklib.h"
@@ -272,4 +360,4 @@ void csmooth(obs_t *obs, int ns);
int rtk_uncompress(const char *file, char *uncfile);
int expath(const char *path, char *paths[], int nmax);
#endif /* GNSS_SDR_RTKLIB_RTKCMN_H_ */
#endif /* RTKLIB_RTKCMN_H_ */

1453
src/algorithms/libs/rtklib/rtklib_sbas.cc
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File diff suppressed because it is too large Load Diff

124
src/algorithms/libs/rtklib/rtklib_sbas.h
View File

@@ -48,21 +48,43 @@
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* option : -DRRCENA enable rrc correction
*
* References :
* [1] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [2] IS-QZSS v.1.1, Quasi-Zenith Satellite System Navigation Service
* Interface Specification for QZSS, Japan Aerospace Exploration Agency,
* July 31, 2009
*
*-----------------------------------------------------------------------------*/
*
* option : -DRRCENA enable rrc correction
*
* references :
* [1] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [2] IS-QZSS v.1.1, Quasi-Zenith Satellite System Navigation Service
* Interface Specification for QZSS, Japan Aerospace Exploration Agency,
* July 31, 2009
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/10/14 1.0 new
* 2009/01/24 1.1 modify sbspntpos() api
* improve fast/ion correction update
* 2009/04/08 1.2 move function crc24q() to rcvlog.c
* support glonass, galileo and qzss
* 2009/06/08 1.3 modify sbsupdatestat()
* delete sbssatpos()
* 2009/12/12 1.4 support glonass
* 2010/01/22 1.5 support ems (egnos message service) format
* 2010/06/10 1.6 added api:
* sbssatcorr(),sbstropcorr(),sbsioncorr(),
* sbsupdatecorr()
* changed api:
* sbsreadmsgt(),sbsreadmsg()
* deleted api:
* sbspntpos(),sbsupdatestat()
* 2010/08/16 1.7 not reject udre==14 or give==15 correction message
* (2.4.0_p4)
* 2011/01/15 1.8 use api ionppp()
* add prn mask of qzss for qzss L1SAIF
* 2016/07/29 1.9 crc24q() -> rtk_crc24q()
*-----------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_SBAS_H_
#define GNSS_SDR_RTKLIB_SBAS_H_
#ifndef RTKLIB_SBAS_H_
#define RTKLIB_SBAS_H_
#include "rtklib.h"
#include "rtklib_rtkcmn.h"
@@ -72,51 +94,51 @@
/* sbas igp definition -------------------------------------------------------*/
static const short
x1[] = {-75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, - 5, 0, 5, 10, 15, 20,
x1[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20,
25, 30, 35, 40, 45, 50, 55, 65, 75, 85},
x2[] = {-55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20, 25, 30,
x2[]={-55,-50,-45,-40,-35,-30,-25,-20,-15,-10, -5, 0, 5, 10, 15, 20, 25, 30,
35, 40, 45, 50, 55},
x3[] = {-75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, - 5, 0, 5, 10, 15, 20,
x3[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20,
25, 30, 35, 40, 45, 50, 55, 65, 75},
x4[] = {-85, -75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, - 5, 0, 5, 10, 15,
x4[]={-85,-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15,
20, 25, 30, 35, 40, 45, 50, 55, 65, 75},
x5[] = {-180, -175, -170, -165, -160, -155, -150, -145, -140, -135, -130, -125, -120, -115,
-110, -105, -100, - 95, - 90, - 85, - 80, - 75, - 70, - 65, - 60, - 55, - 50, - 45,
- 40, - 35, - 30, - 25, - 20, - 15, - 10, - 5, 0, 5, 10, 15, 20, 25,
x5[]={-180,-175,-170,-165,-160,-155,-150,-145,-140,-135,-130,-125,-120,-115,
-110,-105,-100,- 95,- 90,- 85,- 80,- 75,- 70,- 65,- 60,- 55,- 50,- 45,
- 40,- 35,- 30,- 25,- 20,- 15,- 10,- 5, 0, 5, 10, 15, 20, 25,
30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95,
100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165,
170, 175},
x6[] = {-180, -170, -160, -150, -140, -130, -120, -110, -100, - 90, - 80, - 70, - 60, - 50,
- 40, - 30, - 20, - 10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90,
x6[]={-180,-170,-160,-150,-140,-130,-120,-110,-100,- 90,- 80,- 70,- 60,- 50,
- 40,- 30,- 20,- 10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90,
100, 110, 120, 130, 140, 150, 160, 170},
x7[] = {-180, -150, -120, - 90, - 60, - 30, 0, 30, 60, 90, 120, 150},
x8[] = {-170, -140, -110, - 80, - 50, - 20, 10, 40, 70, 100, 130, 160};
x7[]={-180,-150,-120,- 90,- 60,- 30, 0, 30, 60, 90, 120, 150},
x8[]={-170,-140,-110,- 80,- 50,- 20, 10, 40, 70, 100, 130, 160};
const sbsigpband_t igpband1[9][8] = { /* band 0-8 */
{{-180, x1, 1, 28}, {-175, x2, 29, 51}, {-170, x3, 52, 78}, {-165, x2, 79, 101},
{-160, x3, 102, 128}, {-155, x2, 129, 151}, {-150, x3, 152, 178}, {-145, x2, 179, 201}},
{{-140, x4, 1, 28}, {-135, x2, 29, 51}, {-130, x3, 52, 78}, {-125, x2, 79, 101},
{-120, x3, 102, 128}, {-115, x2, 129, 151}, {-110, x3, 152, 178}, {-105, x2, 179, 201}},
{{-100, x3, 1, 27}, {- 95,x2, 28, 50},{- 90, x1, 51, 78}, {- 85, x2, 79, 101},
{- 80, x3, 102, 128}, {- 75, x2, 129, 151}, {- 70, x3, 152, 178}, {- 65, x2,179, 201}},
{{- 60, x3, 1, 27}, {- 55, x2, 28, 50}, {- 50,x4, 51, 78}, {- 45, x2, 79, 101},
{- 40, x3, 102, 128}, {- 35, x2, 129, 151}, {- 30, x3, 152, 178}, {- 25, x2, 179, 201}},
{{- 20, x3, 1, 27}, {- 15, x2, 28, 50}, {- 10, x3, 51, 77}, {- 5, x2, 78, 100},
{ 0, x1, 101, 128}, { 5, x2, 129, 151}, { 10, x3, 152, 178}, { 15, x2, 179, 201}},
{{ 20, x3, 1, 27}, { 25, x2, 28, 50}, { 30, x3, 51, 77}, { 35, x2, 78, 100},
{ 40, x4, 101, 128}, { 45, x2, 129, 151},{ 50, x3, 152, 178}, { 55, x2, 179, 201}},
{{ 60, x3, 1, 27}, { 65, x2, 28, 50}, { 70, x3, 51, 77}, { 75, x2, 78, 100},
{ 80, x3, 101, 127}, { 85, x2, 128, 150}, { 90,x1, 151, 178}, { 95, x2, 179, 201}},
{{ 100, x3, 1, 27}, { 105, x2, 28, 50}, { 110, x3, 51, 77}, { 115, x2, 78 ,100},
{ 120, x3, 101, 127}, { 125, x2, 128, 150}, { 130, x4, 151, 178}, { 135, x2, 179, 201}},
{{ 140, x3, 1, 27}, { 145, x2, 28, 50}, { 150, x3, 51, 77}, { 155, x2, 78, 100},
{ 160, x3, 101, 127}, { 165, x2,128, 150}, { 170, x3,151,177}, { 175, x2, 178, 200}}
const sbsigpband_t igpband1[9][8]={ /* band 0-8 */
{{-180,x1, 1, 28},{-175,x2, 29, 51},{-170,x3, 52, 78},{-165,x2, 79,101},
{-160,x3,102,128},{-155,x2,129,151},{-150,x3,152,178},{-145,x2,179,201}},
{{-140,x4, 1, 28},{-135,x2, 29, 51},{-130,x3, 52, 78},{-125,x2, 79,101},
{-120,x3,102,128},{-115,x2,129,151},{-110,x3,152,178},{-105,x2,179,201}},
{{-100,x3, 1, 27},{- 95,x2, 28, 50},{- 90,x1, 51, 78},{- 85,x2, 79,101},
{- 80,x3,102,128},{- 75,x2,129,151},{- 70,x3,152,178},{- 65,x2,179,201}},
{{- 60,x3, 1, 27},{- 55,x2, 28, 50},{- 50,x4, 51, 78},{- 45,x2, 79,101},
{- 40,x3,102,128},{- 35,x2,129,151},{- 30,x3,152,178},{- 25,x2,179,201}},
{{- 20,x3, 1, 27},{- 15,x2, 28, 50},{- 10,x3, 51, 77},{- 5,x2, 78,100},
{ 0,x1,101,128},{ 5,x2,129,151},{ 10,x3,152,178},{ 15,x2,179,201}},
{{ 20,x3, 1, 27},{ 25,x2, 28, 50},{ 30,x3, 51, 77},{ 35,x2, 78,100},
{ 40,x4,101,128},{ 45,x2,129,151},{ 50,x3,152,178},{ 55,x2,179,201}},
{{ 60,x3, 1, 27},{ 65,x2, 28, 50},{ 70,x3, 51, 77},{ 75,x2, 78,100},
{ 80,x3,101,127},{ 85,x2,128,150},{ 90,x1,151,178},{ 95,x2,179,201}},
{{ 100,x3, 1, 27},{ 105,x2, 28, 50},{ 110,x3, 51, 77},{ 115,x2, 78,100},
{ 120,x3,101,127},{ 125,x2,128,150},{ 130,x4,151,178},{ 135,x2,179,201}},
{{ 140,x3, 1, 27},{ 145,x2, 28, 50},{ 150,x3, 51, 77},{ 155,x2, 78,100},
{ 160,x3,101,127},{ 165,x2,128,150},{ 170,x3,151,177},{ 175,x2,178,200}}
};
const sbsigpband_t igpband2[2][5] = { /* band 9-10 */
{{ 60, x5, 1, 72}, { 65, x6, 73, 108}, { 70, x6, 109, 144}, { 75, x6, 145, 180},
{ 85, x7, 181, 192}},
{{- 60, x5, 1, 72}, {- 65, x6, 73, 108}, {- 70, x6, 109, 144}, {- 75 ,x6, 145, 180},
{- 85, x8, 181, 192}}
const sbsigpband_t igpband2[2][5]={ /* band 9-10 */
{{ 60,x5, 1, 72},{ 65,x6, 73,108},{ 70,x6,109,144},{ 75,x6,145,180},
{ 85,x7,181,192}},
{{- 60,x5, 1, 72},{- 65,x6, 73,108},{- 70,x6,109,144},{- 75,x6,145,180},
{- 85,x8,181,192}}
};
@@ -124,7 +146,6 @@ char *getfield(char *p, int pos);
double varfcorr(int udre);
double varicorr(int give);
double degfcorr(int ai);
int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat);
@@ -137,7 +158,6 @@ int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion);
int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav);
void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,sbs_t *sbs);
int cmpmsgs(const void *p1, const void *p2);
@@ -164,4 +184,4 @@ int sbsdecodemsg(gtime_t time, int prn, const unsigned int *words,
sbsmsg_t *sbsmsg);
#endif /* GNSS_SDR_RTKLIB_SBAS_H_ */
#endif /* RTKLIB_SBAS_H_ */

7
src/core/system_parameters/GPS_L1_CA.h
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@@ -35,20 +35,19 @@
#include <vector>
#include <utility> // std::pair
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
// Physical constants
const double GPS_C_m_s = SPEED_OF_LIGHT; //!< The speed of light, [m/s]
const double GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const double GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
const double GPS_TWO_PI = 6.283185307179586;//!< 2Pi as defined in IS-GPS-200E
const double OMEGA_EARTH_DOT = DEFAULT_OMEGA_EARTH_DOT; //!< Earth rotation rate, [rad/s]
const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
// carrier and code frequencies
const double GPS_L1_FREQ_HZ = FREQ1; //!< L1 [Hz]
const double GPS_L1_FREQ_HZ = 1.57542e9; //!< L1 [Hz]
const double GPS_L1_CA_CODE_RATE_HZ = 1.023e6; //!< GPS L1 C/A code rate [chips/s]
const double GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
const double GPS_L1_CA_CODE_PERIOD = 0.001; //!< GPS L1 C/A code period [seconds]

3
src/core/system_parameters/GPS_L2C.h
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@@ -36,7 +36,6 @@
#include <vector>
#include <utility> // std::pair
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
// Physical constants
const double GPS_L2_C_m_s = 299792458.0; //!< The speed of light, [m/s]
@@ -49,7 +48,7 @@ const double GPS_L2_F = -4.442807633e-10; //!< Constant, [s/(m)^(1
// carrier and code frequencies
const double GPS_L2_FREQ_HZ = FREQ2; //!< L2 [Hz]
const double GPS_L2_FREQ_HZ = 1.2276e9; //!< L2 [Hz]
const double GPS_L2_M_CODE_RATE_HZ = 0.5115e6; //!< GPS L2 M code rate [chips/s]
const int GPS_L2_M_CODE_LENGTH_CHIPS = 10230; //!< GPS L2 M code length [chips]

3
src/core/system_parameters/Galileo_E1.h
View File

@@ -37,7 +37,6 @@
#include <vector>
#include <utility> // std::pair
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
// Physical constants
const double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD
@@ -49,7 +48,7 @@ const double GALILEO_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)]
// carrier and code frequencies
const double Galileo_E1_FREQ_HZ = FREQ1; //!< Galileo E1 carrier frequency [Hz]
const double Galileo_E1_FREQ_HZ = 1.57542e9; //!< Galileo E1 carrier frequency [Hz]
const double Galileo_E1_CODE_CHIP_RATE_HZ = 1.023e6; //!< Galileo E1 code rate [chips/s]
const double Galileo_E1_CODE_PERIOD = 0.004; //!< Galileo E1 code period [s]
const double Galileo_E1_SUB_CARRIER_A_RATE_HZ = 1.023e6; //!< Galileo E1 sub-carrier 'a' rate [Hz]

4
src/core/system_parameters/Galileo_E5a.h
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@@ -35,11 +35,11 @@
#include <vector>
#include <utility> // std::pair
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
// Physical constants already defined in E1
// Carrier and code frequencies
const double Galileo_E5a_FREQ_HZ = FREQ5; //!< Galileo E5a carrier frequency [Hz]
const double Galileo_E5a_FREQ_HZ = 1.176450e9; //!< Galileo E5a carrier frequency [Hz]
const double Galileo_E5a_CODE_CHIP_RATE_HZ = 1.023e7; //!< Galileo E5a code rate [chips/s]
const double Galileo_E5a_I_TIERED_CODE_PERIOD = 0.020; //!< Galileo E5a-I tiered code period [s]
const double Galileo_E5a_Q_TIERED_CODE_PERIOD = 0.100; //!< Galileo E5a-Q tiered code period [s]

18
src/core/system_parameters/MATH_CONSTANTS.h
View File

@@ -40,9 +40,6 @@
PI_TWO_PX ==> Pi*2^X
ONE_PI_TWO_PX = (1/Pi)*2^X
*/
const double PI = 3.1415926535897932; //!< pi
const double TWO_P4 = (16); //!< 2^4
const double TWO_P11 = (2048); //!< 2^11
const double TWO_P12 = (4096); //!< 2^12
@@ -56,7 +53,6 @@ const double TWO_P57 = (1.441151880758559e+017); //!< 2^57
const double TWO_N2 = (0.25); //!< 2^-2
const double TWO_N5 = (0.03125); //!< 2^-5
const double TWO_N6 = (0.015625); //!< 2^-6
const double TWO_N8 = (0.00390625); //!< 2^-8
const double TWO_N9 = (0.001953125); //!< 2^-9
const double TWO_N10 = (0.0009765625); //!< 2^-10
@@ -64,11 +60,9 @@ const double TWO_N11 = (4.882812500000000e-004); //!< 2^-11
const double TWO_N14 = (0.00006103515625); //!< 2^-14
const double TWO_N15 = (0.00003051757813); //!< 2^-15
const double TWO_N16 = (0.0000152587890625); //!< 2^-16
const double TWO_N17 = (7.629394531250000e-006); //!< 2^-17
const double TWO_N19 = (1.907348632812500e-006); //!< 2^-19
const double TWO_N20 = (9.536743164062500e-007); //!< 2^-20
const double TWO_N21 = (4.768371582031250e-007); //!< 2^-21
const double TWO_N23 = (1.192092895507810e-007); //!< 2^-23
const double TWO_N24 = (5.960464477539063e-008); //!< 2^-24
const double TWO_N25 = (2.980232238769531e-008); //!< 2^-25
const double TWO_N27 = (7.450580596923828e-009); //!< 2^-27
@@ -79,9 +73,8 @@ const double TWO_N32 = (2.328306436538696e-010); //!< 2^-32
const double TWO_N33 = (1.164153218269348e-010); //!< 2^-33
const double TWO_N34 = (5.82076609134674e-011); //!< 2^-34
const double TWO_N35 = (2.91038304567337e-011); //!< 2^-35
const double TWO_N38 = (3.637978807091713e-012); //!< 2^-38
const double TWO_N39 = (1.818989403545856e-012); //!< 2^-39
const double TWO_N40 = (9.094947017729280e-013); //!< 2^-40
const double TWO_N43 = (1.136868377216160e-013); //!< 2^-43
const double TWO_N44 = (5.684341886080802e-14); //!< 2^-44
const double TWO_N46 = (1.4210854715202e-014); //!< 2^-46
@@ -102,13 +95,4 @@ const double PI_TWO_N31 = (1.462918079267160e-009); //!< Pi*2^-31
const double PI_TWO_N38 = (1.142904749427469e-011); //!< Pi*2^-38
const double PI_TWO_N23 = (3.745070282923929e-007); //!< Pi*2^-23
const double D2R = (PI/180.0); //!< deg to rad */
const double R2D = (180.0/PI); //!< rad to deg */
const double SC2RAD = 3.1415926535898; //!< semi-circle to radian (IS-GPS)
const double AS2R = (D2R / 3600.0); //!< arc sec to radian
const double DEFAULT_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Default Earth rotation rate, [rad/s]
const double SPEED_OF_LIGHT = 299792458.0; //!< [m/s]
const double AU = 149597870691.0; //!< 1 Astronomical Unit AU (m) distance from Earth to the Sun.
#endif /* GNSS_SDR_MATH_CONSTANTS_H_ */

53
src/core/system_parameters/gnss_frequencies.h
View File

@@ -1,53 +0,0 @@
/*!
* \file gnss_frequencies.h
* \brief GNSS Frequencies
* \author Carles Fernandez, 2017. cfernandez(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GNSS_FREQUENCIES_H_
#define GNSS_SDR_GNSS_FREQUENCIES_H_
const double FREQ1 = 1.57542e9; //!< L1/E1 frequency (Hz)
const double FREQ2 = 1.22760e9; //!< L2 frequency (Hz)
const double FREQ5 = 1.17645e9; //!< L5/E5a frequency (Hz)
const double FREQ6 = 1.27875e9; //!< E6/LEX frequency (Hz)
const double FREQ7 = 1.20714e9; //!< E5b frequency (Hz)
const double FREQ8 = 1.191795e9; //!< E5a+b frequency (Hz)
const double FREQ9 = 2.492028e9; //!< S frequency (Hz)
const double FREQ1_GLO = 1.60200e9; //!< GLONASS G1 base frequency (Hz)
const double DFRQ1_GLO = 0.56250e6; //!< GLONASS G1 bias frequency (Hz/n)
const double FREQ2_GLO = 1.24600e9; //!< GLONASS G2 base frequency (Hz)
const double DFRQ2_GLO = 0.43750e6; //!< GLONASS G2 bias frequency (Hz/n)
const double FREQ3_GLO = 1.202025e9; //!< GLONASS G3 frequency (Hz)
const double FREQ1_BDS = 1.561098e9; //!< BeiDou B1 frequency (Hz)
const double FREQ2_BDS = 1.20714e9; //!< BeiDou B2 frequency (Hz)
const double FREQ3_BDS = 1.26852e9; //!< BeiDou B3 frequency (Hz)
#endif