mirror of https://github.com/gnss-sdr/gnss-sdr
76 lines
2.6 KiB
C
76 lines
2.6 KiB
C
/*!
|
|
* \file rtklib_lambda.h
|
|
* \brief Integer ambiguity resolution
|
|
* \authors <ul>
|
|
* <li> 2007-2008, T. Takasu
|
|
* <li> 2017, Javier Arribas
|
|
* <li> 2017, Carles Fernandez
|
|
* </ul>
|
|
*
|
|
* This is a derived work from RTKLIB http://www.rtklib.com/
|
|
* The original source code at https://github.com/tomojitakasu/RTKLIB is
|
|
* released under the BSD 2-clause license with an additional exclusive clause
|
|
* that does not apply here. This additional clause is reproduced below:
|
|
*
|
|
* " The software package includes some companion executive binaries or shared
|
|
* libraries necessary to execute APs on Windows. These licenses succeed to the
|
|
* original ones of these software. "
|
|
*
|
|
* Neither the executive binaries nor the shared libraries are required by, used
|
|
* or included in GNSS-SDR.
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
* Copyright (C) 2007-2008, T. Takasu
|
|
* Copyright (C) 2017, Javier Arribas
|
|
* Copyright (C) 2017, Carles Fernandez
|
|
* All rights reserved.
|
|
*
|
|
* SPDX-License-Identifier: BSD-2-Clause
|
|
*
|
|
* References:
|
|
* [1] P.J.G.Teunissen, The least-square ambiguity decorrelation adjustment:
|
|
* a method for fast GPS ambiguity estimation, J.Geodesy, Vol.70, 65-82,
|
|
* 1995
|
|
* [2] X.-W.Chang, X.Yang, T.Zhou, MLAMBDA: A modified LAMBDA method for
|
|
* integer least-squares estimation, J.Geodesy, Vol.79, 552-565, 2005
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
*/
|
|
|
|
#ifndef GNSS_SDR_RTKLIB_LAMBDA_H
|
|
#define GNSS_SDR_RTKLIB_LAMBDA_H
|
|
|
|
|
|
#include "rtklib.h"
|
|
|
|
/* constants/macros ----------------------------------------------------------*/
|
|
const int LOOPMAX = 10000; /* maximum count of search loop */
|
|
#define SGN_LAMBDA(x) ((x) <= 0.0 ? -1.0 : 1.0)
|
|
#define ROUND_LAMBDA(x) (floor((x) + 0.5))
|
|
#define SWAP_LAMBDA(x, y) \
|
|
do \
|
|
{ \
|
|
double tmp_; \
|
|
tmp_ = x; \
|
|
x = y; \
|
|
y = tmp_; \
|
|
} \
|
|
while (0)
|
|
|
|
int LD(int n, const double *Q, double *L, double *D);
|
|
void gauss(int n, double *L, double *Z, int i, int j);
|
|
void perm(int n, double *L, double *D, int j, double del, double *Z);
|
|
void reduction(int n, double *L, double *D, double *Z);
|
|
int search(int n, int m, const double *L, const double *D,
|
|
const double *zs, double *zn, double *s);
|
|
|
|
int lambda(int n, int m, const double *a, const double *Q, double *F, double *s);
|
|
|
|
int lambda_reduction(int n, const double *Q, double *Z);
|
|
|
|
int lambda_search(int n, int m, const double *a, const double *Q,
|
|
double *F, double *s);
|
|
|
|
|
|
#endif
|