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96 lines
3.8 KiB
C
96 lines
3.8 KiB
C
/*!
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* \file rtklib_lambda.h
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* \brief Integer ambiguity resolution
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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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* References:
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* [1] P.J.G.Teunissen, The least-square ambiguity decorrelation adjustment:
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* a method for fast GPS ambiguity estimation, J.Geodesy, Vol.70, 65-82,
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* 1995
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* [2] X.-W.Chang, X.Yang, T.Zhou, MLAMBDA: A modified LAMBDA method for
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* integer least-squares estimation, J.Geodesy, Vol.79, 552-565, 2005
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*
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*----------------------------------------------------------------------------*/
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#ifndef GNSS_SDR_RTKLIB_LAMBDA_H_
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#define GNSS_SDR_RTKLIB_LAMBDA_H_
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#include "rtklib.h"
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/* constants/macros ----------------------------------------------------------*/
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const int LOOPMAX = 10000; /* maximum count of search loop */
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#define SGN_LAMBDA(x) ((x) <= 0.0 ? -1.0 : 1.0)
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#define ROUND_LAMBDA(x) (floor((x) + 0.5))
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#define SWAP_LAMBDA(x, y) \
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do \
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{ \
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double tmp_; \
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tmp_ = x; \
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x = y; \
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y = tmp_; \
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} \
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while (0)
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int LD(int n, const double *Q, double *L, double *D);
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void gauss(int n, double *L, double *Z, int i, int j);
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void perm(int n, double *L, double *D, int j, double del, double *Z);
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void reduction(int n, double *L, double *D, double *Z);
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int search(int n, int m, const double *L, const double *D,
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const double *zs, double *zn, double *s);
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int lambda(int n, int m, const double *a, const double *Q, double *F, double *s);
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int lambda_reduction(int n, const double *Q, double *Z);
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int lambda_search(int n, int m, const double *a, const double *Q,
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double *F, double *s);
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#endif
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