mirror of https://github.com/gnss-sdr/gnss-sdr
1332 lines
61 KiB
C++
1332 lines
61 KiB
C++
/*!
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* \file rtklib.h
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* \brief main header file for the rtklib library
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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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#ifndef GNSS_SDR_RTKLIB_H_
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#define GNSS_SDR_RTKLIB_H_
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#include "MATH_CONSTANTS.h"
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#include "gnss_frequencies.h"
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#include "gnss_obs_codes.h"
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#include <cctype>
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#include <cmath>
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#include <cstdarg>
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#include <cstdint>
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#include <cstdlib>
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#include <netinet/in.h>
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#include <pthread.h>
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/* macros --------------------------------------------------------------------*/
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#define dev_t int
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#define socket_t int
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#define closesocket close
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#define lock_t pthread_mutex_t
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#define initlock(f) pthread_mutex_init(f, NULL)
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#define rtk_lock(f) pthread_mutex_lock(f)
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#define rtk_unlock(f) pthread_mutex_unlock(f)
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#define VER_RTKLIB "2.4.2"
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#define NTRIP_AGENT "RTKLIB/" VER_RTKLIB
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#define NTRIP_CLI_PORT 2101 /* default ntrip-client connection port */
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#define NTRIP_SVR_PORT 80 /* default ntrip-server connection port */
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#define NTRIP_MAXRSP 32768 /* max size of ntrip response */
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#define NTRIP_MAXSTR 256 /* max length of mountpoint string */
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#define NTRIP_RSP_OK_CLI "ICY 200 OK\r\n" /* ntrip response: client */
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#define NTRIP_RSP_OK_SVR "OK\r\n" /* ntrip response: server */
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#define NTRIP_RSP_SRCTBL "SOURCETABLE 200 OK\r\n" /* ntrip response: source table */
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#define NTRIP_RSP_TBLEND "ENDSOURCETABLE"
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#define NTRIP_RSP_HTTP "HTTP/" /* ntrip response: http */
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#define NTRIP_RSP_ERROR "ERROR" /* ntrip response: error */
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#define FTP_CMD "wget" /* ftp/http command */
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const int TINTACT = 200; //!< period for stream active (ms)
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const int SERIBUFFSIZE = 4096; //!< serial buffer size (bytes)
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const int TIMETAGH_LEN = 64; //!< time tag file header length
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const int MAXCLI = 32; //!< max client connection for tcp svr
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const int MAXSTATMSG = 32; //!< max length of status message
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const int FTP_TIMEOUT = 30; //!< ftp/http timeout (s)
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const int MAXRAWLEN = 4096; //!< max length of receiver raw message
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const int MAXSOLBUF = 256; //!< max number of solution buffer
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const int MAXSBSMSG = 32; //!< max number of SBAS msg in RTK server
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const int MAXOBSBUF = 128; //!< max number of observation data buffer
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const int FILEPATHSEP = '/';
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const double RE_WGS84 = 6378137.0; //!< earth semimajor axis (WGS84) (m)
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const double FE_WGS84 = (1.0 / 298.257223563); //!< earth flattening (WGS84)
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const double HION = 350000.0; //!< ionosphere height (m)
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const double PRN_HWBIAS = 1e-6; //!< process noise of h/w bias (m/MHz/sqrt(s))
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const double INT_SWAP_STAT = 86400.0; //!< swap interval of solution status file (s)
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const double INT_SWAP_TRAC = 86400.0; //!< swap interval of trace file (s)
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const unsigned int POLYCRC32 = 0xEDB88320u; //!< CRC32 polynomial
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const unsigned int POLYCRC24Q = 0x1864CFBu; //!< CRC24Q polynomial
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const int PMODE_SINGLE = 0; //!< positioning mode: single
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const int PMODE_DGPS = 1; //!< positioning mode: DGPS/DGNSS
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const int PMODE_KINEMA = 2; //!< positioning mode: kinematic
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const int PMODE_STATIC = 3; //!< positioning mode: static
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const int PMODE_MOVEB = 4; //!< positioning mode: moving-base
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const int PMODE_FIXED = 5; //!< positioning mode: fixed
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const int PMODE_PPP_KINEMA = 6; //!< positioning mode: PPP-kinemaric
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const int PMODE_PPP_STATIC = 7; //!< positioning mode: PPP-static
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const int PMODE_PPP_FIXED = 8; //!< positioning mode: PPP-fixed
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const int SOLF_LLH = 0; //!< solution format: lat/lon/height
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const int SOLF_XYZ = 1; //!< solution format: x/y/z-ecef
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const int SOLF_ENU = 2; //!< solution format: e/n/u-baseline
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const int SOLF_NMEA = 3; //!< solution format: NMEA-183
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const int SOLF_STAT = 4; //!< solution format: solution status
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const int SOLF_GSIF = 5; //!< solution format: GSI F1/F2
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const int SOLQ_NONE = 0; //!< solution status: no solution
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const int SOLQ_FIX = 1; //!< solution status: fix
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const int SOLQ_FLOAT = 2; //!< solution status: float
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const int SOLQ_SBAS = 3; //!< solution status: SBAS
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const int SOLQ_DGPS = 4; //!< solution status: DGPS/DGNSS
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const int SOLQ_SINGLE = 5; //!< solution status: single
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const int SOLQ_PPP = 6; //!< solution status: PPP
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const int SOLQ_DR = 7; //!< solution status: dead reckoning
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const int MAXSOLQ = 7; //!< max number of solution status
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const int TIMES_GPST = 0; //!< time system: gps time
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const int TIMES_UTC = 1; //!< time system: utc
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const int TIMES_JST = 2; //!< time system: jst
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const double ERR_SAAS = 0.3; //!< saastamoinen model error std (m)
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const double ERR_BRDCI = 0.5; //!< broadcast iono model error factor
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const double ERR_CBIAS = 0.3; //!< code bias error std (m)
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const double REL_HUMI = 0.7; //!< relative humidity for saastamoinen model
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const double GAP_RESION = 120; //!< default gap to reset ionos parameters (ep)
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const int MAXFREQ = 7; //!< max NFREQ
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const int MAXLEAPS = 64; //!< max number of leap seconds table
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const double DTTOL = 0.005; //!< tolerance of time difference (s)
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const int NFREQ = 3; //!< number of carrier frequencies
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const int NFREQGLO = 2; //!< number of carrier frequencies of GLONASS
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const int NEXOBS = 0; //!< number of extended obs codes
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const int MAXANT = 64; //!< max length of station name/antenna type
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const int MINPRNGPS = 1; //!< min satellite PRN number of GPS
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const int MAXPRNGPS = 32; //!< max satellite PRN number of GPS
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const int NSATGPS = (MAXPRNGPS - MINPRNGPS + 1); //!< number of GPS satellites
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const int NSYSGPS = 1;
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const int SYS_NONE = 0x00; //!< navigation system: none
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const int SYS_GPS = 0x01; //!< navigation system: GPS
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const int SYS_SBS = 0x02; //!< navigation system: SBAS
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const int SYS_GLO = 0x04; //!< navigation system: GLONASS
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const int SYS_GAL = 0x08; //!< navigation system: Galileo
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const int SYS_QZS = 0x10; //!< navigation system: QZSS
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const int SYS_BDS = 0x20; //!< navigation system: BeiDou
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const int SYS_IRN = 0x40; //!< navigation system: IRNS
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const int SYS_LEO = 0x80; //!< navigation system: LEO
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const int SYS_ALL = 0xFF; //!< navigation system: all
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#define ENAGLO
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#ifdef ENAGLO
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const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS
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const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS
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const int NSATGLO = (MAXPRNGLO - MINPRNGLO + 1); //!< number of GLONASS satellites
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const int NSYSGLO = 1;
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#else
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const int MINPRNGLO = 0;
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const int MAXPRNGLO = 0;
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const int NSATGLO = 0;
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const int NSYSGLO = 0;
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#endif
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const int MINPRNGAL = 1; //!< min satellite PRN number of Galileo
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const int MAXPRNGAL = 36; //!< max satellite PRN number of Galileo
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const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1); //!< number of Galileo satellites
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const int NSYSGAL = 1;
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#ifdef ENAQZS
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const int MINPRNQZS = 193; //!< min satellite PRN number of QZSS
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const int MAXPRNQZS = 199; //!< max satellite PRN number of QZSS
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const int MINPRNQZS_S = 183; //!< min satellite PRN number of QZSS SAIF
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const int MAXPRNQZS_S = 189; //!< max satellite PRN number of QZSS SAIF
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const int NSATQZS = (MAXPRNQZS - MINPRNQZS + 1); //!< number of QZSS satellites
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const int NSYSQZS = 1;
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#else
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const int MINPRNQZS = 0;
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const int MAXPRNQZS = 0;
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const int MINPRNQZS_S = 0;
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const int MAXPRNQZS_S = 0;
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const int NSATQZS = 0;
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const int NSYSQZS = 0;
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#endif
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#define ENABDS
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#ifdef ENABDS
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const int MINPRNBDS = 1; //!< min satellite sat number of BeiDou
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const int MAXPRNBDS = 37; //!< max satellite sat number of BeiDou
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const int NSATBDS = (MAXPRNBDS - MINPRNBDS + 1); //!< number of BeiDou satellites
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const int NSYSBDS = 1;
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#else
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const int MINPRNBDS = 0;
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const int MAXPRNBDS = 0;
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const int NSATBDS = 0;
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const int NSYSBDS = 0;
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#endif
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#ifdef ENAIRN
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const int MINPRNIRN = 1; //!< min satellite sat number of IRNSS
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const int MAXPRNIRN = 7; //!< max satellite sat number of IRNSS
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const int NSATIRN = (MAXPRNIRN - MINPRNIRN + 1); //!< number of IRNSS satellites
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const int NSYSIRN = 1;
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#else
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const int MINPRNIRN = 0;
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const int MAXPRNIRN = 0;
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const int NSATIRN = 0;
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const int NSYSIRN = 0;
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#endif
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#ifdef ENALEO
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const int MINPRNLEO = 1; //!< min satellite sat number of LEO
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const int NSATLEO = 10; //!< max satellite sat number of LEO
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const int NSATLEO = (MAXPRNLEO - MINPRNLEO + 1); //!< number of LEO satellites
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const int NSYSLEO = 1;
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#else
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const int MINPRNLEO = 0;
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const int MAXPRNLEO = 0;
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const int NSATLEO = 0;
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const int NSYSLEO = 0;
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#endif
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const int NSYS = (NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS + NSYSIRN + NSYSLEO); //!< number of systems
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const int MINPRNSBS = 120; //!< min satellite PRN number of SBAS
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const int MAXPRNSBS = 142; //!< max satellite PRN number of SBAS
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const int NSATSBS = (MAXPRNSBS - MINPRNSBS + 1); //!< number of SBAS satellites
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const int MAXSAT = (NSATGPS + NSATGLO + NSATGAL + NSATQZS + NSATBDS + NSATIRN + NSATSBS + NSATLEO);
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const int MAXSTA = 255;
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#ifndef MAXOBS
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const int MAXOBS = 64; //!< max number of obs in an epoch
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#endif
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const int MAXRCV = 64; //!< max receiver number (1 to MAXRCV)
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const int MAXOBSTYPE = 64; //!< max number of obs type in RINEX
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const double MAXDTOE = 7200.0; //!< max time difference to GPS Toe (s)
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const double MAXDTOE_QZS = 7200.0; //!< max time difference to QZSS Toe (s)
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const double MAXDTOE_GAL = 10800.0; //!< max time difference to Galileo Toe (s)
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const double MAXDTOE_BDS = 21600.0; //!< max time difference to BeiDou Toe (s)
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const double MAXDTOE_GLO = 1800.0; //!< max time difference to GLONASS Toe (s)
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const double MAXDTOE_SBS = 360.0; //!< max time difference to SBAS Toe (s)
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const double MAXDTOE_S = 86400.0; //!< max time difference to ephem toe (s) for other
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const double MAXGDOP = 300.0; //!< max GDOP
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const int MAXSBSURA = 8; //!< max URA of SBAS satellite
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const int MAXBAND = 10; //!< max SBAS band of IGP
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const int MAXNIGP = 201; //!< max number of IGP in SBAS band
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const int MAXNGEO = 4; //!< max number of GEO satellites
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const int MAXSOLMSG = 8191; //!< max length of solution message
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const int MAXERRMSG = 4096; //!< max length of error/warning message
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const int IONOOPT_OFF = 0; //!< ionosphere option: correction off
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const int IONOOPT_BRDC = 1; //!< ionosphere option: broadcast model
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const int IONOOPT_SBAS = 2; //!< ionosphere option: SBAS model
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const int IONOOPT_IFLC = 3; //!< ionosphere option: L1/L2 or L1/L5 iono-free LC
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const int IONOOPT_EST = 4; //!< ionosphere option: estimation
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const int IONOOPT_TEC = 5; //!< ionosphere option: IONEX TEC model
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const int IONOOPT_QZS = 6; //!< ionosphere option: QZSS broadcast model
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const int IONOOPT_LEX = 7; //!< ionosphere option: QZSS LEX ionospehre
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const int IONOOPT_STEC = 8; //!< ionosphere option: SLANT TEC model
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const int TROPOPT_OFF = 0; //!< troposphere option: correction off
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const int TROPOPT_SAAS = 1; //!< troposphere option: Saastamoinen model
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const int TROPOPT_SBAS = 2; //!< troposphere option: SBAS model
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const int TROPOPT_EST = 3; //!< troposphere option: ZTD estimation
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const int TROPOPT_ESTG = 4; //!< troposphere option: ZTD+grad estimation
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const int TROPOPT_COR = 5; //!< troposphere option: ZTD correction
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const int TROPOPT_CORG = 6; //!< troposphere option: ZTD+grad correction
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const int EPHOPT_BRDC = 0; //!< ephemeris option: broadcast ephemeris
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const int EPHOPT_PREC = 1; //!< ephemeris option: precise ephemeris
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const int EPHOPT_SBAS = 2; //!< ephemeris option: broadcast + SBAS
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const int EPHOPT_SSRAPC = 3; //!< ephemeris option: broadcast + SSR_APC
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const int EPHOPT_SSRCOM = 4; //!< ephemeris option: broadcast + SSR_COM
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const int EPHOPT_LEX = 5; //!< ephemeris option: QZSS LEX ephemeris
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const double EFACT_GPS = 1.0; //!< error factor: GPS
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const double EFACT_GLO = 1.5; //!< error factor: GLONASS
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const double EFACT_GAL = 1.0; //!< error factor: Galileo
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const double EFACT_QZS = 1.0; //!< error factor: QZSS
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const double EFACT_BDS = 1.0; //!< error factor: BeiDou
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const double EFACT_IRN = 1.5; //!< error factor: IRNSS
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const double EFACT_SBS = 3.0; //!< error factor: SBAS
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const int MAXEXFILE = 1024; //!< max number of expanded files
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const double MAXSBSAGEF = 30.0; //!< max age of SBAS fast correction (s)
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const double MAXSBSAGEL = 1800.0; //!< max age of SBAS long term corr (s)
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const int ARMODE_OFF = 0; //!< AR mode: off
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const int ARMODE_CONT = 1; //!< AR mode: continuous
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const int ARMODE_INST = 2; //!< AR mode: instantaneous
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const int ARMODE_FIXHOLD = 3; //!< AR mode: fix and hold
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const int ARMODE_PPPAR = 4; //!< AR mode: PPP-AR
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const int ARMODE_PPPAR_ILS = 5; //!< AR mode: AR mode: PPP-AR ILS
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const int ARMODE_WLNL = 6;
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const int ARMODE_TCAR = 7;
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const int POSOPT_RINEX = 3; //!< pos option: rinex header pos
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const int MAXSTRPATH = 1024; //!< max length of stream path
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const int MAXSTRMSG = 1024; //!< max length of stream message
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using fatalfunc_t = void(const char *); //!< fatal callback function type
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#define STR_MODE_R 0x1 /* stream mode: read */
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#define STR_MODE_W 0x2 /* stream mode: write */
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#define STR_MODE_RW 0x3 /* stream mode: read/write */
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#define STR_NONE 0 /* stream type: none */
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#define STR_SERIAL 1 /* stream type: serial */
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#define STR_FILE 2 /* stream type: file */
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#define STR_TCPSVR 3 /* stream type: TCP server */
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#define STR_TCPCLI 4 /* stream type: TCP client */
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#define STR_UDP 5 /* stream type: UDP stream */
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#define STR_NTRIPSVR 6 /* stream type: NTRIP server */
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#define STR_NTRIPCLI 7 /* stream type: NTRIP client */
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#define STR_FTP 8 /* stream type: ftp */
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#define STR_HTTP 9 /* stream type: http */
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#define NP_PPP(opt) ((opt)->dynamics ? 9 : 3) /* number of pos solution */
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#define IC_PPP(s, opt) (NP_PPP(opt) + (s)) /* state index of clocks (s=0:gps,1:glo) */
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#define IT_PPP(opt) (IC_PPP(0, opt) + NSYS) /* state index of tropos */
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#define NR_PPP(opt) (IT_PPP(opt) + ((opt)->tropopt < TROPOPT_EST ? 0 : ((opt)->tropopt == TROPOPT_EST ? 1 : 3))) /* number of solutions */
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#define IB_PPP(s, opt) (NR_PPP(opt) + (s)-1) /* state index of phase bias */
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#define NX_PPP(opt) (IB_PPP(MAXSAT, opt) + 1) /* number of estimated states */
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#define NF_RTK(opt) ((opt)->ionoopt == IONOOPT_IFLC ? 1 : (opt)->nf)
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#define NP_RTK(opt) ((opt)->dynamics == 0 ? 3 : 9)
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#define NI_RTK(opt) ((opt)->ionoopt != IONOOPT_EST ? 0 : MAXSAT)
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#define NT_RTK(opt) ((opt)->tropopt < TROPOPT_EST ? 0 : ((opt)->tropopt < TROPOPT_ESTG ? 2 : 6))
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#define NL_RTK(opt) ((opt)->glomodear != 2 ? 0 : NFREQGLO)
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#define NB_RTK(opt) ((opt)->mode <= PMODE_DGPS ? 0 : MAXSAT * NF_RTK(opt))
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#define NR_RTK(opt) (NP_RTK(opt) + NI_RTK(opt) + NT_RTK(opt) + NL_RTK(opt))
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#define NX_RTK(opt) (NR_RTK(opt) + NB_RTK(opt))
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typedef struct
|
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{ /* time struct */
|
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time_t time; /* time (s) expressed by standard time_t */
|
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double sec; /* fraction of second under 1 s */
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} gtime_t;
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typedef struct
|
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{ /* observation data record */
|
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gtime_t time; /* receiver sampling time (GPST) */
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unsigned char sat, rcv; /* satellite/receiver number */
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unsigned char SNR[NFREQ + NEXOBS]; /* signal strength (0.25 dBHz) */
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unsigned char LLI[NFREQ + NEXOBS]; /* loss of lock indicator */
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unsigned char code[NFREQ + NEXOBS]; /* code indicator (CODE_???) */
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double L[NFREQ + NEXOBS]; /* observation data carrier-phase (cycle) */
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double P[NFREQ + NEXOBS]; /* observation data pseudorange (m) */
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float D[NFREQ + NEXOBS]; /* observation data doppler frequency (Hz) */
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} obsd_t;
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typedef struct
|
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{ /* observation data */
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int n, nmax; /* number of obervation data/allocated */
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obsd_t *data; /* observation data records */
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} obs_t;
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typedef struct
|
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{ /* earth rotation parameter data type */
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double mjd; /* mjd (days) */
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double xp, yp; /* pole offset (rad) */
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double xpr, ypr; /* pole offset rate (rad/day) */
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double ut1_utc; /* ut1-utc (s) */
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double lod; /* length of day (s/day) */
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} erpd_t;
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typedef struct
|
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{ /* earth rotation parameter type */
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int n, nmax; /* number and max number of data */
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erpd_t *data; /* earth rotation parameter data */
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} erp_t;
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typedef struct
|
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{ /* antenna parameter type */
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int sat; /* satellite number (0:receiver) */
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char type[MAXANT]; /* antenna type */
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char code[MAXANT]; /* serial number or satellite code */
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gtime_t ts, te; /* valid time start and end */
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double off[NFREQ][3]; /* phase center offset e/n/u or x/y/z (m) */
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double var[NFREQ][19]; /* phase center variation (m) */
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/* el=90,85,...,0 or nadir=0,1,2,3,... (deg) */
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} pcv_t;
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typedef struct
|
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{ /* antenna parameters type */
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int n, nmax; /* number of data/allocated */
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pcv_t *pcv; /* antenna parameters data */
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} pcvs_t;
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typedef struct
|
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{ /* almanac type */
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int sat; /* satellite number */
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int svh; /* sv health (0:ok) */
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int svconf; /* as and sv config */
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int week; /* GPS/QZS: gps week, GAL: galileo week */
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gtime_t toa; /* Toa */
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/* SV orbit parameters */
|
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double A, e, i0, OMG0, omg, M0, OMGd;
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double toas; /* Toa (s) in week */
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double f0, f1; /* SV clock parameters (af0,af1) */
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} alm_t;
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typedef struct
|
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{ /* GPS/QZS/GAL broadcast ephemeris type */
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int sat; /* satellite number */
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int iode, iodc; /* IODE,IODC */
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int sva; /* SV accuracy (URA index) */
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int svh; /* SV health (0:ok) */
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int week; /* GPS/QZS: gps week, GAL: galileo week */
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int code; /* GPS/QZS: code on L2, GAL/BDS: data sources */
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int flag; /* GPS/QZS: L2 P data flag, BDS: nav type */
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|
gtime_t toe, toc, ttr; /* Toe,Toc,T_trans */
|
|
/* SV orbit parameters */
|
|
double A, e, i0, OMG0, omg, M0, deln, OMGd, idot;
|
|
double crc, crs, cuc, cus, cic, cis;
|
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double toes; /* Toe (s) in week */
|
|
double fit; /* fit interval (h) */
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double f0, f1, f2; /* SV clock parameters (af0,af1,af2) */
|
|
double tgd[4]; /* group delay parameters */
|
|
/* GPS/QZS:tgd[0]=TGD */
|
|
/* GAL :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */
|
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/* BDS :tgd[0]=BGD1,tgd[1]=BGD2 */
|
|
double isc[4]; /* GPS :isc[0]=ISCL1, isc[1]=ISCL2, isc[2]=ISCL5I, isc[3]=ISCL5Q */
|
|
double Adot, ndot; /* Adot,ndot for CNAV */
|
|
} eph_t;
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|
|
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|
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typedef struct
|
|
{ /* GLONASS broadcast ephemeris type */
|
|
int sat; /* satellite number */
|
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int iode; /* IODE (0-6 bit of tb field) */
|
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int frq; /* satellite frequency number */
|
|
int svh, sva, age; /* satellite health, accuracy, age of operation */
|
|
gtime_t toe; /* epoch of epherides (gpst) */
|
|
gtime_t tof; /* message frame time (gpst) */
|
|
double pos[3]; /* satellite position (ecef) (m) */
|
|
double vel[3]; /* satellite velocity (ecef) (m/s) */
|
|
double acc[3]; /* satellite acceleration (ecef) (m/s^2) */
|
|
double taun, gamn; /* SV clock bias (s)/relative freq bias */
|
|
double dtaun; /* delay between L1 and L2 (s) */
|
|
} geph_t;
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|
|
|
|
|
typedef struct
|
|
{ /* precise ephemeris type */
|
|
gtime_t time; /* time (GPST) */
|
|
int index; /* ephemeris index for multiple files */
|
|
double pos[MAXSAT][4]; /* satellite position/clock (ecef) (m|s) */
|
|
float std[MAXSAT][4]; /* satellite position/clock std (m|s) */
|
|
double vel[MAXSAT][4]; /* satellite velocity/clk-rate (m/s|s/s) */
|
|
float vst[MAXSAT][4]; /* satellite velocity/clk-rate std (m/s|s/s) */
|
|
float cov[MAXSAT][3]; /* satellite position covariance (m^2) */
|
|
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 */
|
|
double clk[MAXSAT][1]; /* satellite clock (s) */
|
|
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) */
|
|
gtime_t tof; /* time of message frame (GPST) */
|
|
int sva; /* SV accuracy (URA index) */
|
|
int svh; /* SV health (0:ok) */
|
|
double pos[3]; /* satellite position (m) (ecef) */
|
|
double vel[3]; /* satellite velocity (m/s) (ecef) */
|
|
double acc[3]; /* satellite acceleration (m/s^2) (ecef) */
|
|
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 */
|
|
char satno[16]; /* satellite catalog number */
|
|
char satclass; /* classification */
|
|
char desig[16]; /* international designator */
|
|
gtime_t epoch; /* element set epoch (UTC) */
|
|
double ndot; /* 1st derivative of mean motion */
|
|
double nddot; /* 2st derivative of mean motion */
|
|
double bstar; /* B* drag term */
|
|
int etype; /* element set type */
|
|
int eleno; /* element number */
|
|
double inc; /* orbit inclination (deg) */
|
|
double OMG; /* right ascension of ascending node (deg) */
|
|
double ecc; /* eccentricity */
|
|
double omg; /* argument of perigee (deg) */
|
|
double M; /* mean anomaly (deg) */
|
|
double n; /* mean motion (rev/day) */
|
|
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} */
|
|
double rb; /* earth radius (km) */
|
|
double lats[3]; /* latitude start/interval (deg) */
|
|
double lons[3]; /* longitude start/interval (deg) */
|
|
double hgts[3]; /* heights start/interval (km) */
|
|
double *data; /* TEC grid data (tecu) */
|
|
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) */
|
|
double rrc; /* range-rate correction (RRC) (m/s) */
|
|
double dt; /* range-rate correction delta-time (s) */
|
|
int iodf; /* IODF (issue of date fast corr) */
|
|
short udre; /* UDRE+1 */
|
|
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) */
|
|
double dpos[3]; /* delta position (m) (ecef) */
|
|
double dvel[3]; /* delta velocity (m/s) (ecef) */
|
|
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 */
|
|
int tlat; /* system latency (s) */
|
|
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) */
|
|
short give; /* GIVI+1 */
|
|
float delay; /* vertical delay estimate (m) */
|
|
} sbsigp_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* IGP band type */
|
|
short x; /* longitude/latitude (deg) */
|
|
const short *y; /* latitudes/longitudes (deg) */
|
|
unsigned char bits; /* IGP mask start bit */
|
|
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) */
|
|
double rrc; /* range rate correction (RRC) (m/s) */
|
|
int iod; /* issue of data (IOD) */
|
|
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) */
|
|
int iod[6]; /* iod ssr {eph,clk,hrclk,ura,bias,pbias} */
|
|
int iode; /* issue of data */
|
|
int iodcrc; /* issue of data crc for beidou/sbas */
|
|
int ura; /* URA indicator */
|
|
int refd; /* sat ref datum (0:ITRF,1:regional) */
|
|
double deph[3]; /* delta orbit {radial,along,cross} (m) */
|
|
double ddeph[3]; /* dot delta orbit {radial,along,cross} (m/s) */
|
|
double dclk[3]; /* delta clock {c0,c1,c2} (m,m/s,m/s^2) */
|
|
double hrclk; /* high-rate clock corection (m) */
|
|
float cbias[MAXCODE]; /* code biases (m) */
|
|
double pbias[MAXCODE]; /* phase biases (m) */
|
|
float stdpb[MAXCODE]; /* std-dev of phase biases (m) */
|
|
double yaw_ang, yaw_rate; /* yaw angle and yaw rate (deg,deg/s) */
|
|
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 */
|
|
int alert; /* alert flag */
|
|
unsigned char stat; /* signal tracking status */
|
|
unsigned char snr; /* signal C/N0 (0.25 dBHz) */
|
|
unsigned int ttt; /* tracking time (ms) */
|
|
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) */
|
|
int sat; /* satellite number */
|
|
unsigned char health; /* signal health (L1,L2,L1C,L5,LEX) */
|
|
unsigned char ura; /* URA index */
|
|
double pos[3]; /* satellite position (m) */
|
|
double vel[3]; /* satellite velocity (m/s) */
|
|
double acc[3]; /* satellite acceleration (m/s2) */
|
|
double jerk[3]; /* satellite jerk (m/s3) */
|
|
double af0, af1; /* satellite clock bias and drift (s,s/s) */
|
|
double tgd; /* TGD */
|
|
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) */
|
|
double pos0[2]; /* reference position {lat,lon} (rad) */
|
|
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 */
|
|
double ion; /* slant ionos delay (m) */
|
|
float std; /* std-dev (m) */
|
|
float azel[2]; /* azimuth/elevation (rad) */
|
|
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 */
|
|
double rr[MAXSTA][3]; /* station ecef positions (m) */
|
|
int ns[MAXSTA], nsmax[MAXSTA]; /* number of stec data */
|
|
int nt[MAXSTA], ntmax[MAXSTA]; /* number of trop data */
|
|
stec_t *stec[MAXSTA]; /* stec data */
|
|
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 */
|
|
int ns, nsmax; /* number of sbas ephemeris */
|
|
int ne, nemax; /* number of precise ephemeris */
|
|
int nc, ncmax; /* number of precise clock */
|
|
int na, namax; /* number of almanac data */
|
|
int nt, ntmax; /* number of tec grid data */
|
|
int nf, nfmax; /* number of satellite fcb data */
|
|
eph_t *eph; /* GPS/QZS/GAL ephemeris */
|
|
geph_t *geph; /* GLONASS ephemeris */
|
|
seph_t *seph; /* SBAS ephemeris */
|
|
peph_t *peph; /* precise ephemeris */
|
|
pclk_t *pclk; /* precise clock */
|
|
alm_t *alm; /* almanac data */
|
|
tec_t *tec; /* tec grid data */
|
|
fcbd_t *fcb; /* satellite fcb data */
|
|
erp_t erp; /* earth rotation parameters */
|
|
double utc_gps[4]; /* GPS delta-UTC parameters {A0,A1,T,W} */
|
|
double utc_glo[4]; /* GLONASS UTC GPS time parameters */
|
|
double utc_gal[4]; /* Galileo UTC GPS time parameters */
|
|
double utc_qzs[4]; /* QZS UTC GPS time parameters */
|
|
double utc_cmp[4]; /* BeiDou UTC parameters */
|
|
double utc_irn[4]; /* IRNSS UTC parameters */
|
|
double utc_sbs[4]; /* SBAS UTC parameters */
|
|
double ion_gps[8]; /* GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
|
|
double ion_gal[4]; /* Galileo iono model parameters {ai0,ai1,ai2,0} */
|
|
double ion_qzs[8]; /* QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
|
|
double ion_cmp[8]; /* BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
|
|
double ion_irn[8]; /* IRNSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
|
|
int leaps; /* leap seconds (s) */
|
|
double lam[MAXSAT][NFREQ]; /* carrier wave lengths (m) */
|
|
double cbias[MAXSAT][3]; /* satellite dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
|
|
double rbias[MAXRCV][2][3]; /* receiver dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
|
|
double wlbias[MAXSAT]; /* wide-lane bias (cycle) */
|
|
double glo_cpbias[4]; /* glonass code-phase bias {1C,1P,2C,2P} (m) */
|
|
char glo_fcn[MAXPRNGLO + 1]; /* glonass frequency channel number + 8 */
|
|
pcv_t pcvs[MAXSAT]; /* satellite antenna pcv */
|
|
sbssat_t sbssat; /* SBAS satellite corrections */
|
|
sbsion_t sbsion[MAXBAND + 1]; /* SBAS ionosphere corrections */
|
|
dgps_t dgps[MAXSAT]; /* DGPS corrections */
|
|
ssr_t ssr[MAXSAT]; /* SSR corrections */
|
|
lexeph_t lexeph[MAXSAT]; /* LEX ephemeris */
|
|
lexion_t lexion; /* LEX ionosphere correction */
|
|
pppcorr_t pppcorr; /* ppp corrections */
|
|
} nav_t;
|
|
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typedef struct
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{ /* station parameter type */
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char name[MAXANT]; /* marker name */
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char marker[MAXANT]; /* marker number */
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char antdes[MAXANT]; /* antenna descriptor */
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char antsno[MAXANT]; /* antenna serial number */
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char rectype[MAXANT]; /* receiver type descriptor */
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char recver[MAXANT]; /* receiver firmware version */
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char recsno[MAXANT]; /* receiver serial number */
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int antsetup; /* antenna setup id */
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int itrf; /* ITRF realization year */
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int deltype; /* antenna delta type (0:enu,1:xyz) */
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double pos[3]; /* station position (ecef) (m) */
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double del[3]; /* antenna position delta (e/n/u or x/y/z) (m) */
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double hgt; /* antenna height (m) */
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} sta_t;
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typedef struct
|
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{ /* solution type */
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gtime_t time; /* time (GPST) */
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double rr[6]; /* position/velocity (m|m/s) */
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/* {x,y,z,vx,vy,vz} or {e,n,u,ve,vn,vu} */
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float qr[6]; /* position variance/covariance (m^2) */
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/* {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} or */
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/* {c_ee,c_nn,c_uu,c_en,c_nu,c_ue} */
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double dtr[6]; /* receiver clock bias to time systems (s) */
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unsigned char type; /* type (0:xyz-ecef,1:enu-baseline) */
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unsigned char stat; /* solution status (SOLQ_???) */
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unsigned char ns; /* number of valid satellites */
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float age; /* age of differential (s) */
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float ratio; /* AR ratio factor for validation */
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float thres; /* AR ratio threshold for validation */
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} sol_t;
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typedef struct
|
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{ /* solution buffer type */
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int n, nmax; /* number of solution/max number of buffer */
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int cyclic; /* cyclic buffer flag */
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int start, end; /* start/end index */
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gtime_t time; /* current solution time */
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sol_t *data; /* solution data */
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double rb[3]; /* reference position {x,y,z} (ecef) (m) */
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unsigned char buff[MAXSOLMSG + 1]; /* message buffer */
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int nb; /* number of byte in message buffer */
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} solbuf_t;
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typedef struct
|
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{ /* solution status type */
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gtime_t time; /* time (GPST) */
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unsigned char sat; /* satellite number */
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unsigned char frq; /* frequency (1:L1,2:L2,...) */
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float az, el; /* azimuth/elevation angle (rad) */
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float resp; /* pseudorange residual (m) */
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float resc; /* carrier-phase residual (m) */
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unsigned char flag; /* flags: (vsat<<5)+(slip<<3)+fix */
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unsigned char snr; /* signal strength (0.25 dBHz) */
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unsigned short lock; /* lock counter */
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unsigned short outc; /* outage counter */
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unsigned short slipc; /* slip counter */
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unsigned short rejc; /* reject counter */
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} solstat_t;
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typedef struct
|
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{ /* solution status buffer type */
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int n, nmax; /* number of solution/max number of buffer */
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solstat_t *data; /* solution status data */
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} solstatbuf_t;
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typedef struct
|
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{ /* RTCM control struct type */
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int staid; /* station id */
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int stah; /* station health */
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int seqno; /* sequence number for rtcm 2 or iods msm */
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int outtype; /* output message type */
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gtime_t time; /* message time */
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gtime_t time_s; /* message start time */
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obs_t obs; /* observation data (uncorrected) */
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nav_t nav; /* satellite ephemerides */
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sta_t sta; /* station parameters */
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dgps_t *dgps; /* output of dgps corrections */
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ssr_t ssr[MAXSAT]; /* output of ssr corrections */
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char msg[128]; /* special message */
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char msgtype[256]; /* last message type */
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char msmtype[6][128]; /* msm signal types */
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int obsflag; /* obs data complete flag (1:ok,0:not complete) */
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int ephsat; /* update satellite of ephemeris */
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double cp[MAXSAT][NFREQ + NEXOBS]; /* carrier-phase measurement */
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unsigned short lock[MAXSAT][NFREQ + NEXOBS]; /* lock time */
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unsigned short loss[MAXSAT][NFREQ + NEXOBS]; /* loss of lock count */
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gtime_t lltime[MAXSAT][NFREQ + NEXOBS]; /* last lock time */
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int nbyte; /* number of bytes in message buffer */
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int nbit; /* number of bits in word buffer */
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int len; /* message length (bytes) */
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unsigned char buff[1200]; /* message buffer */
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unsigned int word; /* word buffer for rtcm 2 */
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unsigned int nmsg2[100]; /* message count of RTCM 2 (1-99:1-99,0:other) */
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unsigned int nmsg3[400]; /* message count of RTCM 3 (1-299:1001-1299,300-399:2000-2099,0:ohter) */
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char opt[256]; /* RTCM dependent options */
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} rtcm_t;
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typedef struct
|
|
{ /* download url type */
|
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char type[32]; /* data type */
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char path[1024]; /* url path */
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char dir[1024]; /* local directory */
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double tint; /* time interval (s) */
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|
} url_t;
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|
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typedef struct
|
|
{ /* option type */
|
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const char *name; /* option name */
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|
int format; /* option format (0:int,1:double,2:string,3:enum) */
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void *var; /* pointer to option variable */
|
|
const char *comment; /* option comment/enum labels/unit */
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} opt_t;
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|
|
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|
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typedef struct
|
|
{ /* extended receiver error model */
|
|
int ena[4]; /* model enabled */
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|
double cerr[4][NFREQ * 2]; /* code errors (m) */
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double perr[4][NFREQ * 2]; /* carrier-phase errors (m) */
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double gpsglob[NFREQ]; /* gps-glonass h/w bias (m) */
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|
double gloicb[NFREQ]; /* glonass interchannel bias (m/fn) */
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|
} exterr_t;
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|
|
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|
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typedef struct
|
|
{ /* SNR mask type */
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|
int ena[2]; /* enable flag {rover,base} */
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|
double mask[NFREQ][9]; /* mask (dBHz) at 5,10,...85 deg */
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|
} snrmask_t;
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|
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|
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typedef struct
|
|
{ /* processing options type */
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|
int mode; /* positioning mode (PMODE_???) */
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int soltype; /* solution type (0:forward,1:backward,2:combined) */
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|
int nf; /* number of frequencies (1:L1,2:L1+L2,3:L1+L2+L5) */
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|
int navsys; /* navigation system */
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|
double elmin; /* elevation mask angle (rad) */
|
|
snrmask_t snrmask; /* SNR mask */
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|
int sateph; /* satellite ephemeris/clock (EPHOPT_???) */
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int modear; /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
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|
int glomodear; /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
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|
int bdsmodear; /* BeiDou AR mode (0:off,1:on) */
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|
int maxout; /* obs outage count to reset bias */
|
|
int minlock; /* min lock count to fix ambiguity */
|
|
int minfix; /* min fix count to hold ambiguity */
|
|
int armaxiter; /* max iteration to resolve ambiguity */
|
|
int ionoopt; /* ionosphere option (IONOOPT_???) */
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|
int tropopt; /* troposphere option (TROPOPT_???) */
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|
int dynamics; /* dynamics model (0:none,1:velociy,2:accel) */
|
|
int tidecorr; /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
|
|
int niter; /* number of filter iteration */
|
|
int codesmooth; /* code smoothing window size (0:none) */
|
|
int intpref; /* interpolate reference obs (for post mission) */
|
|
int sbascorr; /* SBAS correction options */
|
|
int sbassatsel; /* SBAS satellite selection (0:all) */
|
|
int rovpos; /* rover position for fixed mode */
|
|
int refpos; /* base position for relative mode */
|
|
/* (0:pos in prcopt, 1:average of single pos, */
|
|
/* 2:read from file, 3:rinex header, 4:rtcm pos) */
|
|
double eratio[NFREQ]; /* code/phase error ratio */
|
|
double err[5]; /* measurement error factor */
|
|
/* [0]:reserved */
|
|
/* [1-3]:error factor a/b/c of phase (m) */
|
|
/* [4]:doppler frequency (hz) */
|
|
double std[3]; /* initial-state std [0]bias,[1]iono [2]trop */
|
|
double prn[6]; /* process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv [5] pos */
|
|
double sclkstab; /* satellite clock stability (sec/sec) */
|
|
double thresar[8]; /* AR validation threshold */
|
|
double elmaskar; /* elevation mask of AR for rising satellite (deg) */
|
|
double elmaskhold; /* elevation mask to hold ambiguity (deg) */
|
|
double thresslip; /* slip threshold of geometry-free phase (m) */
|
|
double maxtdiff; /* max difference of time (sec) */
|
|
double maxinno; /* reject threshold of innovation (m) */
|
|
double maxgdop; /* reject threshold of gdop */
|
|
double baseline[2]; /* baseline length constraint {const,sigma} (m) */
|
|
double ru[3]; /* rover position for fixed mode {x,y,z} (ecef) (m) */
|
|
double rb[3]; /* base position for relative mode {x,y,z} (ecef) (m) */
|
|
char anttype[2][MAXANT]; /* antenna types {rover,base} */
|
|
double antdel[2][3]; /* antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
|
|
pcv_t pcvr[2]; /* receiver antenna parameters {rov,base} */
|
|
unsigned char exsats[MAXSAT]; /* excluded satellites (1:excluded,2:included) */
|
|
int maxaveep; /* max averaging epoches */
|
|
int initrst; /* initialize by restart */
|
|
int outsingle; /* output single by dgps/float/fix/ppp outage */
|
|
char rnxopt[2][256]; /* rinex options {rover,base} */
|
|
int posopt[6]; /* positioning options */
|
|
int syncsol; /* solution sync mode (0:off,1:on) */
|
|
double odisp[2][6 * 11]; /* ocean tide loading parameters {rov,base} */
|
|
exterr_t exterr; /* extended receiver error model */
|
|
int freqopt; /* disable L2-AR */
|
|
char pppopt[256]; /* ppp option */
|
|
} prcopt_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* solution options type */
|
|
int posf; /* solution format (SOLF_???) */
|
|
int times; /* time system (TIMES_???) */
|
|
int timef; /* time format (0:sssss.s,1:yyyy/mm/dd hh:mm:ss.s) */
|
|
int timeu; /* time digits under decimal point */
|
|
int degf; /* latitude/longitude format (0:ddd.ddd,1:ddd mm ss) */
|
|
int outhead; /* output header (0:no,1:yes) */
|
|
int outopt; /* output processing options (0:no,1:yes) */
|
|
int datum; /* datum (0:WGS84,1:Tokyo) */
|
|
int height; /* height (0:ellipsoidal,1:geodetic) */
|
|
int geoid; /* geoid model (0:EGM96,1:JGD2000) */
|
|
int solstatic; /* solution of static mode (0:all,1:single) */
|
|
int sstat; /* solution statistics level (0:off,1:states,2:residuals) */
|
|
int trace; /* debug trace level (0:off,1-5:debug) */
|
|
double nmeaintv[2]; /* nmea output interval (s) (<0:no,0:all) */
|
|
/* nmeaintv[0]:gprmc,gpgga,nmeaintv[1]:gpgsv */
|
|
char sep[64]; /* field separator */
|
|
char prog[64]; /* program name */
|
|
double maxsolstd; /* max std-dev for solution output (m) (0:all) */
|
|
} solopt_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* satellite status type */
|
|
unsigned char sys; /* navigation system */
|
|
unsigned char vs; /* valid satellite flag single */
|
|
double azel[2]; /* azimuth/elevation angles {az,el} (rad) */
|
|
double resp[NFREQ]; /* residuals of pseudorange (m) */
|
|
double resc[NFREQ]; /* residuals of carrier-phase (m) */
|
|
unsigned char vsat[NFREQ]; /* valid satellite flag */
|
|
unsigned char snr[NFREQ]; /* signal strength (0.25 dBHz) */
|
|
unsigned char fix[NFREQ]; /* ambiguity fix flag (1:fix,2:float,3:hold) */
|
|
unsigned char slip[NFREQ]; /* cycle-slip flag */
|
|
unsigned char half[NFREQ]; /* half-cycle valid flag */
|
|
int lock[NFREQ]; /* lock counter of phase */
|
|
unsigned int outc[NFREQ]; /* obs outage counter of phase */
|
|
unsigned int slipc[NFREQ]; /* cycle-slip counter */
|
|
unsigned int rejc[NFREQ]; /* reject counter */
|
|
double gf; /* geometry-free phase L1-L2 (m) */
|
|
double gf2; /* geometry-free phase L1-L5 (m) */
|
|
double mw; /* MW-LC (m) */
|
|
double phw; /* phase windup (cycle) */
|
|
gtime_t pt[2][NFREQ]; /* previous carrier-phase time */
|
|
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 */
|
|
double LC[4]; /* linear combination average */
|
|
double LCv[4]; /* linear combination variance */
|
|
int fixcnt; /* fix count */
|
|
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) */
|
|
int nx, na; /* number of float states/fixed states */
|
|
double tt; /* time difference between current and previous (s) */
|
|
double *x, *P; /* float states and their covariance */
|
|
double *xa, *Pa; /* fixed states and their covariance */
|
|
int nfix; /* number of continuous fixes of ambiguity */
|
|
ambc_t ambc[MAXSAT]; /* ambiguity control */
|
|
ssat_t ssat[MAXSAT]; /* satellite status */
|
|
int neb; /* bytes in error message buffer */
|
|
char errbuf[MAXERRMSG]; /* error message buffer */
|
|
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) */
|
|
unsigned char valid; /* half-cycle valid flag */
|
|
char corr; /* half-cycle corrected (x 0.5 cyc) */
|
|
gtime_t ts, te; /* time start, time end */
|
|
struct half_cyc_tag *next; /* pointer to next correction */
|
|
} half_cyc_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* stream type */
|
|
int type; /* type (STR_???) */
|
|
int mode; /* mode (STR_MODE_?) */
|
|
int state; /* state (-1:error,0:close,1:open) */
|
|
unsigned int inb, inr; /* input bytes/rate */
|
|
unsigned int outb, outr; /* output bytes/rate */
|
|
unsigned int tick, tact; /* tick/active tick */
|
|
unsigned int inbt, outbt; /* input/output bytes at tick */
|
|
lock_t lock; /* lock flag */
|
|
void *port; /* type dependent port control struct */
|
|
char path[MAXSTRPATH]; /* stream path */
|
|
char msg[MAXSTRMSG]; /* stream message */
|
|
} stream_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* serial control type */
|
|
dev_t dev; /* serial device */
|
|
int error; /* error state */
|
|
} serial_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* file control type */
|
|
FILE *fp; /* file pointer */
|
|
FILE *fp_tag; /* file pointer of tag file */
|
|
FILE *fp_tmp; /* temporary file pointer for swap */
|
|
FILE *fp_tag_tmp; /* temporary file pointer of tag file for swap */
|
|
char path[MAXSTRPATH]; /* file path */
|
|
char openpath[MAXSTRPATH]; /* open file path */
|
|
int mode; /* file mode */
|
|
int timetag; /* time tag flag (0:off,1:on) */
|
|
int repmode; /* replay mode (0:master,1:slave) */
|
|
int offset; /* time offset (ms) for slave */
|
|
gtime_t time; /* start time */
|
|
gtime_t wtime; /* write time */
|
|
unsigned int tick; /* start tick */
|
|
unsigned int tick_f; /* start tick in file */
|
|
unsigned int fpos; /* current file position */
|
|
double start; /* start offset (s) */
|
|
double speed; /* replay speed (time factor) */
|
|
double swapintv; /* swap interval (hr) (0: no swap) */
|
|
lock_t lock; /* lock flag */
|
|
} file_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* tcp control type */
|
|
int state; /* state (0:close,1:wait,2:connect) */
|
|
char saddr[256]; /* address string */
|
|
int port; /* port */
|
|
struct sockaddr_in addr; /* address resolved */
|
|
socket_t sock; /* socket descriptor */
|
|
int tcon; /* reconnect time (ms) (-1:never,0:now) */
|
|
unsigned int tact; /* data active tick */
|
|
unsigned int tdis; /* disconnect tick */
|
|
} tcp_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* tcp server type */
|
|
tcp_t svr; /* tcp server control */
|
|
tcp_t cli[MAXCLI]; /* tcp client controls */
|
|
} tcpsvr_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* tcp cilent type */
|
|
tcp_t svr; /* tcp server control */
|
|
int toinact; /* inactive timeout (ms) (0:no timeout) */
|
|
int tirecon; /* reconnect interval (ms) (0:no reconnect) */
|
|
} tcpcli_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* ntrip control type */
|
|
int state; /* state (0:close,1:wait,2:connect) */
|
|
int type; /* type (0:server,1:client) */
|
|
int nb; /* response buffer size */
|
|
char url[256]; /* url for proxy */
|
|
char mntpnt[256]; /* mountpoint */
|
|
char user[256]; /* user */
|
|
char passwd[256]; /* password */
|
|
char str[NTRIP_MAXSTR]; /* mountpoint string for server */
|
|
unsigned char buff[NTRIP_MAXRSP]; /* response buffer */
|
|
tcpcli_t *tcp; /* tcp client */
|
|
} ntrip_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* ftp download control type */
|
|
int state; /* state (0:close,1:download,2:complete,3:error) */
|
|
int proto; /* protocol (0:ftp,1:http) */
|
|
int error; /* error code (0:no error,1-10:wget error, */
|
|
/* 11:no temp dir,12:uncompact error) */
|
|
char addr[1024]; /* download address */
|
|
char file[1024]; /* download file path */
|
|
char user[256]; /* user for ftp */
|
|
char passwd[256]; /* password for ftp */
|
|
char local[1024]; /* local file path */
|
|
int topts[4]; /* time options {poff,tint,toff,tretry} (s) */
|
|
gtime_t tnext; /* next retry time (gpst) */
|
|
pthread_t thread; /* download thread */
|
|
} ftp_t;
|
|
|
|
|
|
typedef struct
|
|
{ /* receiver raw data control type */
|
|
gtime_t time; /* message time */
|
|
gtime_t tobs; /* observation data time */
|
|
obs_t obs; /* observation data */
|
|
obs_t obuf; /* observation data buffer */
|
|
nav_t nav; /* satellite ephemerides */
|
|
sta_t sta; /* station parameters */
|
|
int ephsat; /* sat number of update ephemeris (0:no satellite) */
|
|
sbsmsg_t sbsmsg; /* SBAS message */
|
|
char msgtype[256]; /* last message type */
|
|
unsigned char subfrm[MAXSAT][380]; /* subframe buffer */
|
|
lexmsg_t lexmsg; /* LEX message */
|
|
double lockt[MAXSAT][NFREQ + NEXOBS]; /* lock time (s) */
|
|
double icpp[MAXSAT], off[MAXSAT], icpc; /* carrier params for ss2 */
|
|
double prCA[MAXSAT], dpCA[MAXSAT]; /* L1/CA pseudrange/doppler for javad */
|
|
unsigned char halfc[MAXSAT][NFREQ + NEXOBS]; /* half-cycle add flag */
|
|
char freqn[MAXOBS]; /* frequency number for javad */
|
|
int nbyte; /* number of bytes in message buffer */
|
|
int len; /* message length (bytes) */
|
|
int iod; /* issue of data */
|
|
int tod; /* time of day (ms) */
|
|
int tbase; /* time base (0:gpst,1:utc(usno),2:glonass,3:utc(su) */
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int flag; /* general purpose flag */
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|
int outtype; /* output message type */
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unsigned char buff[MAXRAWLEN]; /* message buffer */
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|
char opt[256]; /* receiver dependent options */
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|
double receive_time; /* RT17: Reiceve time of week for week rollover detection */
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|
unsigned int plen; /* RT17: Total size of packet to be read */
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|
unsigned int pbyte; /* RT17: How many packet bytes have been read so far */
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|
unsigned int page; /* RT17: Last page number */
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|
unsigned int reply; /* RT17: Current reply number */
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|
int week; /* RT17: week number */
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|
unsigned char pbuff[255 + 4 + 2]; /* RT17: Packet buffer */
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|
} raw_t;
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|
|
|
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typedef struct
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|
{ /* RTK server type */
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int state; /* server state (0:stop,1:running) */
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int cycle; /* processing cycle (ms) */
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int nmeacycle; /* NMEA request cycle (ms) (0:no req) */
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int nmeareq; /* NMEA request (0:no,1:nmeapos,2:single sol) */
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double nmeapos[3]; /* NMEA request position (ecef) (m) */
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|
int buffsize; /* input buffer size (bytes) */
|
|
int format[3]; /* input format {rov,base,corr} */
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|
solopt_t solopt[2]; /* output solution options {sol1,sol2} */
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|
int navsel; /* ephemeris select (0:all,1:rover,2:base,3:corr) */
|
|
int nsbs; /* number of sbas message */
|
|
int nsol; /* number of solution buffer */
|
|
rtk_t rtk; /* RTK control/result struct */
|
|
int nb[3]; /* bytes in input buffers {rov,base} */
|
|
int nsb[2]; /* bytes in soulution buffers */
|
|
int npb[3]; /* bytes in input peek buffers */
|
|
unsigned char *buff[3]; /* input buffers {rov,base,corr} */
|
|
unsigned char *sbuf[2]; /* output buffers {sol1,sol2} */
|
|
unsigned char *pbuf[3]; /* peek buffers {rov,base,corr} */
|
|
sol_t solbuf[MAXSOLBUF]; /* solution buffer */
|
|
unsigned int nmsg[3][10]; /* input message counts */
|
|
raw_t raw[3]; /* receiver raw control {rov,base,corr} */
|
|
rtcm_t rtcm[3]; /* RTCM control {rov,base,corr} */
|
|
gtime_t ftime[3]; /* download time {rov,base,corr} */
|
|
char files[3][MAXSTRPATH]; /* download paths {rov,base,corr} */
|
|
obs_t obs[3][MAXOBSBUF]; /* observation data {rov,base,corr} */
|
|
nav_t nav; /* navigation data */
|
|
sbsmsg_t sbsmsg[MAXSBSMSG]; /* SBAS message buffer */
|
|
stream_t stream[8]; /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
|
|
stream_t *moni; /* monitor stream */
|
|
unsigned int tick; /* start tick */
|
|
pthread_t thread; /* server thread */
|
|
int cputime; /* CPU time (ms) for a processing cycle */
|
|
int prcout; /* missing observation data count */
|
|
lock_t lock; /* lock flag */
|
|
} rtksvr_t;
|
|
|
|
typedef struct
|
|
{ /* multi-signal-message header type */
|
|
unsigned char iod; /* issue of data station */
|
|
unsigned char time_s; /* cumulative session transmitting time */
|
|
unsigned char clk_str; /* clock steering indicator */
|
|
unsigned char clk_ext; /* external clock indicator */
|
|
unsigned char smooth; /* divergence free smoothing indicator */
|
|
unsigned char tint_s; /* soothing interval */
|
|
unsigned char nsat, nsig; /* number of satellites/signals */
|
|
unsigned char sats[64]; /* satellites */
|
|
unsigned char sigs[32]; /* signals */
|
|
unsigned char cellmask[64]; /* cell mask */
|
|
} msm_h_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 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 int STRFMT_RTCM2 = 0; /* stream format: RTCM 2 */
|
|
const int STRFMT_RTCM3 = 1; /* stream format: RTCM 3 */
|
|
const int STRFMT_SP3 = 16; /* stream format: SP3 */
|
|
const int STRFMT_RNXCLK = 17; /* stream format: RINEX CLK */
|
|
const int STRFMT_SBAS = 18; /* stream format: SBAS messages */
|
|
const int STRFMT_NMEA = 19; /* stream format: NMEA 0183 */
|
|
//const solopt_t solopt_default; /* default solution output options */
|
|
|
|
const int MAXSTRRTK = 8; /* max number of stream in RTK server */
|
|
|
|
|
|
#endif
|