mirror of
https://github.com/gnss-sdr/gnss-sdr
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200 lines
7.2 KiB
C++
200 lines
7.2 KiB
C++
/*!
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* \file rtklib_ppp.h
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* \brief Precise Point Positioning
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* \authors <ul>
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* <li> 2007-2008, T. Takasu
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -------------------------------------------------------------------------
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* Copyright (C) 2007-2008, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*----------------------------------------------------------------------------*/
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#ifndef GNSS_SDR_RTKLIB_PPP_H_
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#define GNSS_SDR_RTKLIB_PPP_H_
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#include "rtklib.h"
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#define MIN_PPP(x, y) ((x) <= (y) ? (x) : (y))
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#define ROUND_PPP(x) (int)floor((x) + 0.5)
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#define SWAP_I(x, y) \
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do \
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{ \
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int _z = x; \
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x = y; \
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y = _z; \
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} \
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while (0)
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#define SWAP_D(x, y) \
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do \
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{ \
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double _z = x; \
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x = y; \
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y = _z; \
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} \
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while (0)
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const double MIN_ARC_GAP = 300.0; /* min arc gap (s) */
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const double CONST_AMB = 0.001; /* constraint to fixed ambiguity */
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const double THRES_RES = 0.3; /* threshold of residuals test (m) */
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const double LOG_PI = 1.14472988584940017; /* log(pi) */
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const double SQRT2 = 1.41421356237309510; /* sqrt(2) */
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const double VAR_POS_PPP = std::pow(100.0, 2.0); /* init variance receiver position (m^2) */
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const double VAR_CLK = std::pow(100.0, 2.0); /* init variance receiver clock (m^2) */
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const double VAR_ZTD = std::pow(0.3, 2.0); /* init variance ztd (m^2) */
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const double VAR_GRA_PPP = std::pow(0.001, 2.0); /* init variance gradient (m^2) */
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const double VAR_BIAS = std::pow(100.0, 2.0); /* init variance phase-bias (m^2) */
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const double VAR_IONO_OFF = std::pow(10.0, 2.0); /* variance of iono-model-off */
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/* functions originally included in RTKLIB/src/ppp_ar.c v2.4.2*/
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double lam_LC(int i, int j, int k);
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double L_LC(int i, int j, int k, const double *L);
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double P_LC(int i, int j, int k, const double *P);
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double var_LC(int i, int j, int k, double sig);
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double q_gamma(double a, double x, double log_gamma_a);
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double p_gamma(double a, double x, double log_gamma_a);
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double f_erfc(double x);
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double conffunc(int N, double B, double sig);
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void average_LC(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav, const double *azel);
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int fix_amb_WL(rtk_t *rtk, const nav_t *nav, int sat1, int sat2, int *NW);
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int is_depend(int sat1, int sat2, int *flgs, int *max_flg);
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int sel_amb(int *sat1, int *sat2, double *N, double *var, int n);
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int fix_sol(rtk_t *rtk, const int *sat1, const int *sat2, const double *NC, int n);
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int fix_amb_ROUND(rtk_t *rtk, int *sat1, int *sat2, const int *NW, int n);
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int fix_amb_ILS(rtk_t *rtk, int *sat1, int *sat2, int *NW, int n);
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int pppamb(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav, const double *azel);
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/* functions originally included in RTKLIB/src/ppp.c v2.4.2 */
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void pppoutsolstat(rtk_t *rtk, int level, FILE *fp);
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void tide_pl(const double *eu, const double *rp, double GMp, const double *pos, double *dr);
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void tide_solid(const double *rsun, const double *rmoon,
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const double *pos, const double *E, double gmst, int opt,
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double *dr);
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void tide_oload(gtime_t tut, const double *odisp, double *denu);
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void iers_mean_pole(gtime_t tut, double *xp_bar, double *yp_bar);
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void tide_pole(gtime_t tut, const double *pos, const double *erpv, double *denu);
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void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
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const double *odisp, double *dr);
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void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs);
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double varerr(int sat, int sys, double el, int type, const prcopt_t *opt);
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void initx(rtk_t *rtk, double xi, double var, int i);
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int ifmeas(const obsd_t *obs, const nav_t *nav, const double *azel,
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const prcopt_t *opt, const double *dantr, const double *dants,
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double phw, double *meas, double *var);
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double gettgd_ppp(int sat, const nav_t *nav);
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int corr_ion(gtime_t time, const nav_t *nav, int sat, const double *pos,
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const double *azel, int ionoopt, double *ion, double *var,
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int *brk);
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int corrmeas(const obsd_t *obs, const nav_t *nav, const double *pos,
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const double *azel, const prcopt_t *opt,
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const double *dantr, const double *dants, double phw,
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double *meas, double *var, int *brk);
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double gfmeas(const obsd_t *obs, const nav_t *nav);
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void udpos_ppp(rtk_t *rtk);
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void udclk_ppp(rtk_t *rtk);
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void udtrop_ppp(rtk_t *rtk);
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void detslp_ll(rtk_t *rtk, const obsd_t *obs, int n);
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void detslp_gf(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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void udstate_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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void satantpcv(const double *rs, const double *rr, const pcv_t *pcv, double *dant);
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double prectrop(gtime_t time, const double *pos, const double *azel,
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const prcopt_t *opt, const double *x, double *dtdx,
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double *var);
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int res_ppp(int iter, const obsd_t *obs, int n, const double *rs,
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const double *dts, const double *vare, const int *svh,
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const nav_t *nav, const double *x, rtk_t *rtk, double *v,
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double *H, double *R, double *azel);
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int pppnx(const prcopt_t *opt);
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void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
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#endif
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