mirror of https://github.com/gnss-sdr/gnss-sdr
195 lines
7.2 KiB
C++
195 lines
7.2 KiB
C++
/*!
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* \file rtklib_rtkpos.h
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* \brief rtklib ppp-related functions
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* \authors <ul>
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* <li> 2007-2013, T. Takasu
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -------------------------------------------------------------------------
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* Copyright (C) 2007-2013, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*----------------------------------------------------------------------------*/
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#ifndef GNSS_SDR_RTKLIB_RKTPOS_H_
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#define GNSS_SDR_RTKLIB_RKTPOS_H_
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#include "rtklib.h"
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#include "rtklib_rtkcmn.h"
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/* constants/macros ----------------------------------------------------------*/
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const double VAR_POS = std::pow(30.0, 2.0); /* initial variance of receiver pos (m^2) */
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const double VAR_VEL = std::pow(10.0, 2.0); /* initial variance of receiver vel ((m/s)^2) */
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const double VAR_ACC = std::pow(10.0, 2.0); /* initial variance of receiver acc ((m/ss)^2) */
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const double VAR_HWBIAS = std::pow(1.0, 2.0); /* initial variance of h/w bias ((m/MHz)^2) */
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const double VAR_GRA = std::pow(0.001, 2.0); /* initial variance of gradient (m^2) */
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const double INIT_ZWD = 0.15; /* initial zwd (m) */
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const double PRN_HWBIA = 1E-6; /* process noise of h/w bias (m/MHz/sqrt(s)) */
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const double MAXAC = 30.0; /* max accel for doppler slip detection (m/s^2) */
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const double VAR_HOLDAMB = 0.001; /* constraint to hold ambiguity (cycle^2) */
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const double TTOL_MOVEB = (1.0 + 2 * DTTOL);
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/* time sync tolerance for moving-baseline (s) */
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/* number of parameters (pos,ionos,tropos,hw-bias,phase-bias,real,estimated) */
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/* state variable index */
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#define II_RTK(s, opt) (NP_RTK(opt) + (s)-1) /* ionos (s:satellite no) */
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#define IT_RTK(r, opt) (NP_RTK(opt) + NI_RTK(opt) + NT_RTK(opt) / 2 * (r)) /* tropos (r:0=rov,1:ref) */
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#define IL_RTK(f, opt) (NP_RTK(opt) + NI_RTK(opt) + NT_RTK(opt) + (f)) /* receiver h/w bias */
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#define IB_RTK(s, f, opt) (NR_RTK(opt) + MAXSAT * (f) + (s)-1) /* phase bias (s:satno,f:freq) */
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int rtkopenstat(const char *file, int level);
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void rtkclosestat(void);
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void rtkoutstat(rtk_t *rtk);
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void swapsolstat(void);
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void outsolstat(rtk_t *rtk);
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void errmsg(rtk_t *rtk, const char *format, ...);
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double sdobs(const obsd_t *obs, int i, int j, int f);
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double gfobs_L1L2(const obsd_t *obs, int i, int j, const double *lam);
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double gfobs_L1L5(const obsd_t *obs, int i, int j, const double *lam);
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double varerr(int sat, int sys, double el, double bl, double dt, int f,
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const prcopt_t *opt);
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double baseline(const double *ru, const double *rb, double *dr);
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void initx_rtk(rtk_t *rtk, double xi, double var, int i);
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int selsat(const obsd_t *obs, const double *azel, int nu, int nr,
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const prcopt_t *opt, int *sat, int *iu, int *ir);
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void udpos(rtk_t *rtk, double tt);
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void udion(rtk_t *rtk, double tt, double bl, const int *sat, int ns);
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void udtrop(rtk_t *rtk, double tt, double bl);
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void udrcvbias(rtk_t *rtk, double tt);
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void detslp_ll(rtk_t *rtk, const obsd_t *obs, int i, int rcv);
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void detslp_gf_L1L2(rtk_t *rtk, const obsd_t *obs, int i, int j,
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const nav_t *nav);
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void detslp_gf_L1L5(rtk_t *rtk, const obsd_t *obs, int i, int j,
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const nav_t *nav);
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void detslp_dop(rtk_t *rtk, const obsd_t *obs, int i, int rcv,
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const nav_t *nav);
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void udbias(rtk_t *rtk, double tt, const obsd_t *obs, const int *sat,
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const int *iu, const int *ir, int ns, const nav_t *nav);
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void udstate(rtk_t *rtk, const obsd_t *obs, const int *sat,
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const int *iu, const int *ir, int ns, const nav_t *nav);
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void zdres_sat(int base, double r, const obsd_t *obs, const nav_t *nav,
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const double *azel, const double *dant,
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const prcopt_t *opt, double *y);
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int zdres(int base, const obsd_t *obs, int n, const double *rs,
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const double *dts, const int *svh, const nav_t *nav,
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const double *rr, const prcopt_t *opt, int index, double *y,
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double *e, double *azel);
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int validobs(int i, int j, int f, int nf, const double *y);
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void ddcov(const int *nb, int n, const double *Ri, const double *Rj,
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int nv, double *R);
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int constbl(rtk_t *rtk, const double *x, const double *P, double *v,
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double *H, double *Ri, double *Rj, int index);
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double prectrop(gtime_t time, const double *pos, int r,
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const double *azel, const prcopt_t *opt, const double *x,
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double *dtdx);
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double gloicbcorr(int sat1, int sat2, const prcopt_t *opt, double lam1,
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double lam2, int f);
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int test_sys(int sys, int m);
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int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x,
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const double *P, const int *sat, double *y, const double *e,
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double *azel, const int *iu, const int *ir, int ns, double *v,
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double *H, double *R, int *vflg);
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double intpres(gtime_t time, const obsd_t *obs, int n, const nav_t *nav,
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rtk_t *rtk, double *y);
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int ddmat(rtk_t *rtk, double *D);
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void restamb(rtk_t *rtk, const double *bias, int nb, double *xa);
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void holdamb(rtk_t *rtk, const double *xa);
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int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa);
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int valpos(rtk_t *rtk, const double *v, const double *R, const int *vflg,
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int nv, double thres);
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int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
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const nav_t *nav);
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void rtkinit(rtk_t *rtk, const prcopt_t *opt);
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void rtkfree(rtk_t *rtk);
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int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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#endif
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