CLAS (QZSS L6D) CSSR decoder and grid correction type definitions. More...

#include <stdio.h>
#include "mrtklib/mrtk_bits.h"
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_l6.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_rtkpos.h"
#include "mrtklib/mrtk_time.h"

Include dependency graph for mrtk_clas.h:

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Classes
struct	stecd_t
struct	stec_t
struct	zwdd_t
struct	zwd_t
struct	clas_oload_t
struct	clas_gp_t
struct	cssropt_t
struct	ssrn_t
struct	cssr_t
struct	clas_corr_t
struct	clas_orbit_bank_t
struct	clas_clock_bank_t
struct	clas_bias_bank_t
struct	clas_trop_bank_t
struct	clas_latest_trop_t
struct	clas_bank_ctrl_t
struct	clas_grid_t
struct	clas_osrd_t
struct	clas_dec_ssr_t
struct	clas_l6buf_t
struct	clas_ctx_t
struct	clas_satcorr_t
struct	clas_osr_ctx_t

Macros
#define	CLAS_VER "0.1" /* CLAS module version */
#define	CSSR_MAX_GNSS 16 /* max GNSS systems in CSSR */
#define	CSSR_MAX_SV_GNSS 40 /* max satellites per GNSS system */
#define	CSSR_MAX_SV 64 /* max satellites in CSSR message */
#define	CSSR_MAX_SIG 16 /* max signals per satellite */
#define	CSSR_MAX_CELLMASK 64 /* max cellmask entries */
#define	CSSR_MAX_NET 32 /* max networks in CSSR message */
#define	CSSR_MAX_LOCAL_SV 32 /* max local satellites per network */
#define	CSSR_MAX_GP 128 /* max grid points in CSSR message */
#define	CSSR_SYS_GPS 0
#define	CSSR_SYS_GLO 1
#define	CSSR_SYS_GAL 2
#define	CSSR_SYS_BDS 3
#define	CSSR_SYS_QZS 4
#define	CSSR_SYS_SBS 5
#define	CSSR_SYS_NONE -1
#define	CSSR_TYPE_NUM 14 /* total subtype count */
#define	CSSR_TYPE_MASK 1 /* ST1: Satellite/signal mask */
#define	CSSR_TYPE_OC 2 /* ST2: Orbit correction */
#define	CSSR_TYPE_CC 3 /* ST3: Clock correction */
#define	CSSR_TYPE_CB 4 /* ST4: Code bias */
#define	CSSR_TYPE_PB 5 /* ST5: Phase bias */
#define	CSSR_TYPE_BIAS 6 /* ST6: Combined bias */
#define	CSSR_TYPE_URA 7 /* ST7: URA */
#define	CSSR_TYPE_STEC 8 /* ST8: STEC correction (CLAS-only) */
#define	CSSR_TYPE_GRID 9 /* ST9: Grid definition (CLAS-only) */
#define	CSSR_TYPE_SI 10 /* ST10: Service information (CLAS-only) */
#define	CSSR_TYPE_COMBO 11 /* ST11: Combined correction (CLAS-only) */
#define	CSSR_TYPE_ATMOS 12 /* ST12: Atmospheric corr. (CLAS-only) */
#define	CSSR_TYPE_INIT 254 /* initialization marker */
#define	CSSR_TYPE_NULL 255 /* null/invalid marker */
#define	P2_S16_MAX 32767
#define	P2_S15_MAX 16383
#define	P2_S14_MAX 8191
#define	P2_S13_MAX 4095
#define	P2_S12_MAX 2047
#define	P2_S11_MAX 1023
#define	P2_S10_MAX 511
#define	P2_S9_MAX 255
#define	P2_S8_MAX 127
#define	P2_S7_MAX 63
#define	P2_S6_MAX 31
#define	CSSR_TROP_HS_REF 2.3 /* hydrostatic reference (m) */
#define	CSSR_TROP_WET_REF 0.252 /* wet delay reference (m) */
#define	CSSR_UPDATE_TROP 0
#define	CSSR_UPDATE_STEC 1
#define	CSSR_UPDATE_PBIAS 2
#define	CSSR_TROPVALIDAGE 3600 /* max troposphere correction age */
#define	CSSR_STECVALIDAGE 3600 /* max STEC correction age */
#define	CSSR_INVALID_VALUE -10000 /* invalid correction marker */
#define	L6FRMPREAMB L6_PREAMBLE /* L6 frame preamble (4 bytes) */
#define	BLEN_MSG L6_FRAME_LEN /* L6 subframe length (bytes) */
#define	CLAS_CH_NUM 2 /* L6 channels */
#define	CLAS_MAX_NETWORK 13 /* max networks (upstream uses 32, 13 covers networks 1-12) */
#define	CLAS_BANK_NUM 32 /* bank depth (ring buffer entries) */
#define	CLAS_MAX_GP 80 /* max grid points in bank storage */
#define	CLAS_MAX_NGRID 4 /* grid points for interpolation */
#define	CLAS_MAXPBCORSSR 20.0 /* max phase bias correction (m) */
#define	CLAS_L6_RELOCK_TIMEOUT 10.0
#define	CLAS_CSSRINVALID (-10000)
#define	CLAS_MAXAGESSR_BIAS 120.0
#define	CLAS_MAXPBCORSSR 20.0

Typedefs
typedef clas_osrd_t	osrd_t

Enumerations
enum	{ CSSR_REF_MASK = 0 , CSSR_REF_ORBIT , CSSR_REF_CLOCK , CSSR_REF_CBIAS , CSSR_REF_PBIAS , CSSR_REF_BIAS , CSSR_REF_URA , CSSR_REF_STEC , CSSR_REF_GRID , CSSR_REF_COMBINED , CSSR_REF_ATMOSPHERIC , CSSR_REF_MAX }

Functions
int	clas_ctx_init (clas_ctx_t *ctx)
	Initialize CLAS context (allocate bank control on heap).
void	clas_ctx_free (clas_ctx_t *ctx)
	Free CLAS context (release heap-allocated bank control).
int	clas_input_cssr (clas_ctx_t *ctx, uint8_t data, int ch)
	Input CSSR byte stream (one byte at a time, real-time).
void	clas_set_l6tag (clas_ctx_t *ctx, int ch, double tag)
	Set the receiver time tag of the L6 frame about to be input.
int	clas_decode_msg (clas_ctx_t *ctx, int ch)
	Decode the next pending CSSR message from the assembled bit buffer.
int	clas_input_cssrf (clas_ctx_t ctx, FILE fp, int ch)
	Input CSSR from file (one message at a time, post-processing).
void	clas_bank_init (clas_ctx_t *ctx, int ch)
	Initialize bank control for a channel.
int	clas_bank_get_close (const clas_ctx_t ctx, gtime_t time, int network, int ch, clas_corr_t corr)
	Merge closest corrections from all banks into a clas_corr_t snapshot.
int	clas_backup_valid (const clas_ctx_t *ctx, gtime_t obstime, int l6mrg)
	Save/restore the latest usable CSSR snapshot for short correction gaps.
void	clas_backup_current (clas_ctx_t ctx, const clas_grid_t grid, int l6mrg)
void	clas_restore_backup (clas_ctx_t ctx, gtime_t time, clas_grid_t grid, int l6mrg)
void	clas_clear_current (clas_ctx_t *ctx, int ch)
	Drop the current correction snapshot of one channel.
void	clas_update_global (nav_t nav, const clas_corr_t corr, int ch)
	Apply global corrections (orbit/clock/bias) to nav_t.ssr[].
void	clas_update_local (nav_t nav, const clas_corr_t corr, int ch)
	Apply local corrections (trop/STEC) to nav_t.
int	clas_read_grid_def (clas_ctx_t ctx, const char file)
	Read CLAS grid definition file.
void	clas_check_grid_status (clas_ctx_t ctx, const clas_corr_t corr, int ch)
	Check and update grid status flags based on correction availability.
void	clas_check_grid_status_time (clas_ctx_t *ctx, gtime_t time, int ch)
int	clas_get_correct_fac (int msgid)
	Get L6 facility ID from message ID byte.
int	clas_route_l6frame (clas_ctx_t *ctx, int prn, int ptn, int l6mrg, gtime_t now)
	Route one interleaved L6D frame to a CLAS channel (or drop it).
int	clas_get_grid_index (clas_ctx_t ctx, const double pos, clas_grid_t *grid, int gridsel, gtime_t obstime)
	Select surrounding grid points and compute interpolation weights.
int	clas_stec_grid_data (clas_corr_t corr, const int index, gtime_t time, int sat, int n, const double weight, const double Gmat, const double Emat, double iono, double rate, double var, int *brk)
	Interpolate STEC (ionosphere delay) from grid points.
int	clas_trop_grid_data (clas_corr_t corr, const int index, gtime_t time, int n, const double weight, const double Gmat, const double Emat, double zwd, double ztd, int tbrk)
	Interpolate troposphere delay from grid points.
void	clas_init_oload (clas_ctx_t *ctx)
	Initialize ocean loading data in context.
int	readblqgrid (const char file, clas_ctx_t ctx)
	Read BLQ ocean tide loading parameters for CLAS grid points.
double	clas_osr_prectrop (gtime_t time, const double pos, const double azel, double zwd, double ztd)
	Precise troposphere model for CLAS (MOPS standard + mapping function).
int	clas_osr_selfreqpair (int sat, const prcopt_t opt, const obsd_t obs)
	Select frequency pair for multi-frequency processing.
int	clas_osr_satcorr_update (gtime_t time, gtime_t teph, int sat, const prcopt_t opt, const nav_t nav, int ch, clas_osr_ctx_t *ctx)
	Compute zero-differenced phase/code residuals with CLAS corrections.
int	clas_osr_zdres (const obsd_t obs, int n, const double rs, const double dts, const double vare, const int svh, nav_t nav, double x, double y, double e, double azel, rtk_t rtk, int osrlog, clas_osr_ctx_t osr_ctx, clas_grid_t grid, clas_corr_t corr, ssat_t ssat, prcopt_t opt, sol_t sol, clas_osrd_t osr, int ch)
	Compute zero-differenced phase/code residuals with CLAS corrections.
void	clas_osr_compensatedisp (clas_corr_t corr, const int index, const obsd_t obs, int sat, double iono, const double pb, double compL, int pbreset, const prcopt_t opt, ssat_t ssat, int ch, clas_osr_ctx_t osr_ctx, const nav_t *nav)
	Compensate time variation of signal bias and ionosphere delay.
int	clas_osr_corrmeas (const obsd_t obs, nav_t nav, const double pos, const double azel, const prcopt_t opt, clas_grid_t grid, clas_corr_t corr, ssat_t ssat, int brk, clas_osrd_t osr, int pbreset, int ch, clas_osr_ctx_t *osr_ctx)
	Assemble per-satellite ionosphere/bias/antenna corrections.
void	clas_osr_ctx_init (clas_osr_ctx_t *ctx)
	Initialize OSR conversion context.
int	clas_ssr2osr (rtk_t rtk, obsd_t obs, int n, nav_t nav, clas_osrd_t osr, int mode, clas_ctx_t *clas)
	Convert compact SSR corrections to observation-space representations.
int	cssr_gnss2sys (int gnss, int *prn0)
	Convert CSSR GNSS ID to RTKLIB system bitmask.
int	cssr_sys2gnss (int sys, int *prn0)
	Convert RTKLIB system bitmask to CSSR GNSS ID.
int	readisb (const char file, nav_t nav)
	Read ISB correction table from file.
int	readL2C (const char file, nav_t nav)
	Read L2C 1/4 cycle phase shift table from file.
void	setisb (const nav_t nav, const char rectype0, const char rectype1, sta_t sta0, sta_t *sta1)
	Set ISB corrections for rover and reference stations.
void	chk_isb (int sysno, const prcopt_t opt, const sta_t sta, double y[5][2])
	Get ISB correction values for a satellite system.
int	isL2C (int code)
	Check if observation code is L2C.

Detailed Description

CLAS (QZSS L6D) CSSR decoder and grid correction type definitions.

References: [1] claslib (https://github.com/mf-arai/claslib) — upstream implementation [2] IS-QZSS-L6-001 — CLAS Interface Specification [3] IS-QZSS-L6-003 — CLAS Compact SSR Specification

Notes:

Bank struct dimensions are reduced from upstream claslib defaults for memory efficiency. See "CLAS Storage Dimension" section below.
Global singletons in upstream (_cssr, cssrObject[], CurrentCSSR[], BackupCSSR[]) are replaced with clas_ctx_t context struct passed via function parameters for thread safety and multi-channel support.

Definition in file mrtk_clas.h.

Macro Definition Documentation

◆ BLEN_MSG

#define BLEN_MSG L6_FRAME_LEN /* L6 subframe length (bytes) */

Definition at line 151 of file mrtk_clas.h.

Referenced by clas_input_cssr().

◆ CLAS_BANK_NUM

#define CLAS_BANK_NUM 32 /* bank depth (ring buffer entries) */

Definition at line 187 of file mrtk_clas.h.

Referenced by clas_has_orbit_bank(), get_close_cbias(), get_close_clock(), get_close_orbit(), get_close_pbias(), get_close_trop(), get_same_bias(), get_same_clock(), get_same_orbit(), get_same_trop(), set_cssr_bank_cbias(), set_cssr_bank_clock(), set_cssr_bank_orbit(), set_cssr_bank_pbias(), and set_cssr_bank_trop().

◆ CLAS_CH_NUM

#define CLAS_CH_NUM 2 /* L6 channels */

Definition at line 185 of file mrtk_clas.h.

Referenced by clas_backup_current(), clas_backup_valid(), clas_bank_init(), clas_check_grid_status(), clas_check_grid_status_time(), clas_clear_current(), clas_ctx_free(), clas_ctx_init(), clas_get_grid_index(), clas_has_orbit_bank(), clas_osr_ctx_init(), clas_restore_backup(), clas_route_l6frame(), freepreceph(), readpreceph(), and update_clas().

◆ CLAS_CSSRINVALID

#define CLAS_CSSRINVALID (-10000)

Invalid CSSR bias value sentinel

Definition at line 956 of file mrtk_clas.h.

Referenced by clas_osr_compensatedisp(), clas_osr_corrmeas(), and clas_osr_zdres().

◆ CLAS_L6_RELOCK_TIMEOUT

#define CLAS_L6_RELOCK_TIMEOUT 10.0

Seconds an L6 channel's active source PRN may be silent before the demux re-locks the channel to a newly arriving PRN/pattern (QZS handover).

Definition at line 808 of file mrtk_clas.h.

Referenced by clas_route_l6frame().

◆ CLAS_MAX_GP

#define CLAS_MAX_GP 80 /* max grid points in bank storage */

Definition at line 188 of file mrtk_clas.h.

Referenced by clas_check_grid_status(), clas_check_grid_status_time(), clas_read_grid_def(), decode_cssr_atmos(), decode_cssr_grid(), init_grid_index(), pickup_candidates_of_grid(), and readblqgrid().

◆ CLAS_MAX_NETWORK

#define CLAS_MAX_NETWORK 13 /* max networks (upstream uses 32, 13 covers networks 1-12) */

Definition at line 186 of file mrtk_clas.h.

Referenced by clas_bank_init(), clas_check_grid_status(), clas_check_grid_status_time(), clas_init_oload(), clas_read_grid_def(), decoderaw(), get_close_cbias(), get_close_clock(), get_close_orbit(), get_close_pbias(), get_close_trop(), pickup_candidates_of_grid(), readblqgrid(), and update_clas().

◆ CLAS_MAX_NGRID

#define CLAS_MAX_NGRID 4 /* grid points for interpolation */

Definition at line 194 of file mrtk_clas.h.

◆ CLAS_MAXAGESSR_BIAS

#define CLAS_MAXAGESSR_BIAS 120.0

Maximum age for SSR bias corrections (seconds)

Definition at line 959 of file mrtk_clas.h.

Referenced by clas_osr_corrmeas().

◆ CLAS_MAXPBCORSSR [1/2]

#define CLAS_MAXPBCORSSR 20.0

Maximum phase bias correction for SSR (meters)

Definition at line 195 of file mrtk_clas.h.

◆ CLAS_MAXPBCORSSR [2/2]

#define CLAS_MAXPBCORSSR 20.0 /* max phase bias correction (m) */

Maximum phase bias correction for SSR (meters)

Definition at line 195 of file mrtk_clas.h.

◆ CLAS_VER

#define CLAS_VER "0.1" /* CLAS module version */

Definition at line 52 of file mrtk_clas.h.

◆ CSSR_INVALID_VALUE

#define CSSR_INVALID_VALUE -10000 /* invalid correction marker */

Definition at line 144 of file mrtk_clas.h.

Referenced by add_base_value_to_cbias(), add_base_value_to_pbias(), clas_bank_get_close(), clas_check_grid_status_time(), decode_cssr_atmos(), decode_cssr_combo(), decode_cssr_grid(), decode_cssr_oc(), decode_sval(), get_cssr_latest_iono(), get_cssr_latest_trop(), set_cssr_bank_clock(), set_cssr_bank_orbit(), set_cssr_bank_trop(), set_cssr_latest_trop(), and trop_data().

◆ CSSR_MAX_CELLMASK

#define CSSR_MAX_CELLMASK 64 /* max cellmask entries */

Definition at line 65 of file mrtk_clas.h.

◆ CSSR_MAX_GNSS

#define CSSR_MAX_GNSS 16 /* max GNSS systems in CSSR */

Definition at line 61 of file mrtk_clas.h.

Referenced by decode_cssr_mask(), and svmask2sat().

◆ CSSR_MAX_GP

#define CSSR_MAX_GP 128 /* max grid points in CSSR message */

Definition at line 68 of file mrtk_clas.h.

Referenced by decode_cssr_atmos(), and decode_cssr_grid().

◆ CSSR_MAX_LOCAL_SV

#define CSSR_MAX_LOCAL_SV 32 /* max local satellites per network */

Definition at line 67 of file mrtk_clas.h.

◆ CSSR_MAX_NET

#define CSSR_MAX_NET 32 /* max networks in CSSR message */

Definition at line 66 of file mrtk_clas.h.

Referenced by decode_cssr_atmos(), decode_cssr_grid(), and decode_cssr_stec().

◆ CSSR_MAX_SIG

#define CSSR_MAX_SIG 16 /* max signals per satellite */

Definition at line 64 of file mrtk_clas.h.

Referenced by decode_cssr_bias(), decode_cssr_cb(), decode_cssr_pb(), sigmask2nsig(), sigmask2sig(), and sigmask2sig_p().

◆ CSSR_MAX_SV

#define CSSR_MAX_SV 64 /* max satellites in CSSR message */

Definition at line 63 of file mrtk_clas.h.

Referenced by check_bit_width_bias(), check_bit_width_cb(), check_bit_width_combo(), check_bit_width_oc(), check_bit_width_pb(), check_bit_width_stec(), decode_cssr_atmos(), decode_cssr_bias(), decode_cssr_cb(), decode_cssr_cc(), decode_cssr_combo(), decode_cssr_grid(), decode_cssr_mask(), decode_cssr_oc(), decode_cssr_pb(), decode_cssr_stec(), and decode_cssr_ura().

◆ CSSR_MAX_SV_GNSS

#define CSSR_MAX_SV_GNSS 40 /* max satellites per GNSS system */

Definition at line 62 of file mrtk_clas.h.

Referenced by svmask2nsat(), svmask2nsatlist(), and svmask2sat().

◆ CSSR_STECVALIDAGE

#define CSSR_STECVALIDAGE 3600 /* max STEC correction age */

Definition at line 138 of file mrtk_clas.h.

Referenced by get_cssr_latest_iono().

◆ CSSR_SYS_BDS

#define CSSR_SYS_BDS 3

Definition at line 77 of file mrtk_clas.h.

Referenced by cssr_gnss2sys(), and cssr_sys2gnss().

◆ CSSR_SYS_GAL

#define CSSR_SYS_GAL 2

Definition at line 76 of file mrtk_clas.h.

Referenced by cssr_gnss2sys(), and cssr_sys2gnss().

◆ CSSR_SYS_GLO

#define CSSR_SYS_GLO 1

Definition at line 75 of file mrtk_clas.h.

Referenced by cssr_gnss2sys(), and cssr_sys2gnss().

◆ CSSR_SYS_GPS

#define CSSR_SYS_GPS 0

Definition at line 74 of file mrtk_clas.h.

Referenced by cssr_gnss2sys(), and cssr_sys2gnss().

◆ CSSR_SYS_NONE

#define CSSR_SYS_NONE -1

Definition at line 80 of file mrtk_clas.h.

Referenced by cssr_sys2gnss().

◆ CSSR_SYS_QZS

#define CSSR_SYS_QZS 4

Definition at line 78 of file mrtk_clas.h.

Referenced by cssr_gnss2sys(), and cssr_sys2gnss().

◆ CSSR_SYS_SBS

#define CSSR_SYS_SBS 5

Definition at line 79 of file mrtk_clas.h.

Referenced by cssr_gnss2sys(), and cssr_sys2gnss().

◆ CSSR_TROP_HS_REF

#define CSSR_TROP_HS_REF 2.3 /* hydrostatic reference (m) */

Definition at line 122 of file mrtk_clas.h.

Referenced by decode_cssr_atmos(), and decode_cssr_grid().

◆ CSSR_TROP_WET_REF

#define CSSR_TROP_WET_REF 0.252 /* wet delay reference (m) */

Definition at line 123 of file mrtk_clas.h.

◆ CSSR_TROPVALIDAGE

#define CSSR_TROPVALIDAGE 3600 /* max troposphere correction age */

Definition at line 137 of file mrtk_clas.h.

Referenced by get_cssr_latest_trop().

◆ CSSR_TYPE_ATMOS

#define CSSR_TYPE_ATMOS 12 /* ST12: Atmospheric corr. (CLAS-only) */

Definition at line 98 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_BIAS

#define CSSR_TYPE_BIAS 6 /* ST6: Combined bias */

Definition at line 92 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_CB

#define CSSR_TYPE_CB 4 /* ST4: Code bias */

Definition at line 90 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_CC

#define CSSR_TYPE_CC 3 /* ST3: Clock correction */

Definition at line 89 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_COMBO

#define CSSR_TYPE_COMBO 11 /* ST11: Combined correction (CLAS-only) */

Definition at line 97 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_GRID

#define CSSR_TYPE_GRID 9 /* ST9: Grid definition (CLAS-only) */

Definition at line 95 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_INIT

#define CSSR_TYPE_INIT 254 /* initialization marker */

Definition at line 99 of file mrtk_clas.h.

◆ CSSR_TYPE_MASK

#define CSSR_TYPE_MASK 1 /* ST1: Satellite/signal mask */

Definition at line 87 of file mrtk_clas.h.

Referenced by decode_cssr_head(), decode_qzs_msg(), and update_clas().

◆ CSSR_TYPE_NULL

#define CSSR_TYPE_NULL 255 /* null/invalid marker */

Definition at line 100 of file mrtk_clas.h.

◆ CSSR_TYPE_NUM

#define CSSR_TYPE_NUM 14 /* total subtype count */

Definition at line 86 of file mrtk_clas.h.

◆ CSSR_TYPE_OC

#define CSSR_TYPE_OC 2 /* ST2: Orbit correction */

Definition at line 88 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_PB

#define CSSR_TYPE_PB 5 /* ST5: Phase bias */

Definition at line 91 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_SI

#define CSSR_TYPE_SI 10 /* ST10: Service information (CLAS-only) */

Definition at line 96 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_STEC

#define CSSR_TYPE_STEC 8 /* ST8: STEC correction (CLAS-only) */

Definition at line 94 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_TYPE_URA

#define CSSR_TYPE_URA 7 /* ST7: URA */

Definition at line 93 of file mrtk_clas.h.

Referenced by decode_qzs_msg().

◆ CSSR_UPDATE_PBIAS

#define CSSR_UPDATE_PBIAS 2

Definition at line 131 of file mrtk_clas.h.

◆ CSSR_UPDATE_STEC

#define CSSR_UPDATE_STEC 1

Definition at line 130 of file mrtk_clas.h.

◆ CSSR_UPDATE_TROP

#define CSSR_UPDATE_TROP 0

Definition at line 129 of file mrtk_clas.h.

◆ L6FRMPREAMB

#define L6FRMPREAMB L6_PREAMBLE /* L6 frame preamble (4 bytes) */

Definition at line 150 of file mrtk_clas.h.

Referenced by clas_input_cssr().

◆ P2_S10_MAX

#define P2_S10_MAX 511

Definition at line 112 of file mrtk_clas.h.

◆ P2_S11_MAX

#define P2_S11_MAX 1023

Definition at line 111 of file mrtk_clas.h.

◆ P2_S12_MAX

#define P2_S12_MAX 2047

Definition at line 110 of file mrtk_clas.h.

◆ P2_S13_MAX

#define P2_S13_MAX 4095

Definition at line 109 of file mrtk_clas.h.

◆ P2_S14_MAX

#define P2_S14_MAX 8191

Definition at line 108 of file mrtk_clas.h.

◆ P2_S15_MAX

#define P2_S15_MAX 16383

Definition at line 107 of file mrtk_clas.h.

◆ P2_S16_MAX

#define P2_S16_MAX 32767

Definition at line 106 of file mrtk_clas.h.

◆ P2_S6_MAX

#define P2_S6_MAX 31

Definition at line 116 of file mrtk_clas.h.

◆ P2_S7_MAX

#define P2_S7_MAX 63

Definition at line 115 of file mrtk_clas.h.

◆ P2_S8_MAX

#define P2_S8_MAX 127

Definition at line 114 of file mrtk_clas.h.

Referenced by decode_cssr_grid().

◆ P2_S9_MAX

#define P2_S9_MAX 255

Definition at line 113 of file mrtk_clas.h.

Referenced by decode_cssr_grid().

Typedef Documentation

◆ osrd_t

typedef clas_osrd_t osrd_t

Definition at line 513 of file mrtk_clas.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
CSSR_REF_MASK
CSSR_REF_ORBIT
CSSR_REF_CLOCK
CSSR_REF_CBIAS
CSSR_REF_PBIAS
CSSR_REF_BIAS
CSSR_REF_URA
CSSR_REF_STEC
CSSR_REF_GRID
CSSR_REF_COMBINED
CSSR_REF_ATMOSPHERIC
CSSR_REF_MAX

Definition at line 157 of file mrtk_clas.h.

Function Documentation

◆ chk_isb()

void chk_isb	(	int	sysno,
		const prcopt_t *	opt,
		const sta_t *	sta,
		double	y[5][2] )

Get ISB correction values for a satellite system.

Parameters

[in]	sysno	Satellite system code (SYS_GPS, etc.)
[in]	opt	Processing options
[in]	sta	Station data with ISB values
[out]	y	ISB corrections [NFREQ][2] (0:phase, 1:code) (m)

Definition at line 451 of file mrtk_clas_isb.c.

References prcopt_t::isb, sta_t::isb, ISBOPT_TABLE, and sys2isbidx().

Referenced by clas_osr_zdres().

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◆ clas_backup_current()

void clas_backup_current	(	clas_ctx_t *	ctx,
		const clas_grid_t *	grid,
		int	l6mrg )

Definition at line 1250 of file mrtk_clas.c.

References clas_ctx_t::backup, clas_ctx_t::backup_grid, CLAS_CH_NUM, clas_ctx_t::current, init_grid_index(), and SSR_CH_NUM.

Referenced by ppp_rtk_pos().

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◆ clas_backup_valid()

int clas_backup_valid	(	const clas_ctx_t *	ctx,
		gtime_t	obstime,
		int	l6mrg )

Save/restore the latest usable CSSR snapshot for short correction gaps.

Mirrors claslib's BackupCSSR/BackupGrid path. The backup is considered valid while its latest global correction time is within 180 s of the observation.

Definition at line 1233 of file mrtk_clas.c.

References clas_ctx_t::backup, backup_cssr_time(), CLAS_CH_NUM, SSR_CH_NUM, timediff(), and clas_corr_t::use.

Referenced by ppp_rtk_pos().

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◆ clas_bank_get_close()

int clas_bank_get_close	(	const clas_ctx_t *	ctx,
		gtime_t	time,
		int	network,
		int	ch,
		clas_corr_t *	corr )

Merge closest corrections from all banks into a clas_corr_t snapshot.

Parameters

[in]	ctx	CLAS context
[in]	time	Target time for matching
[in]	network	Network id
[in]	ch	Channel index
[out]	corr	Output merged correction snapshot

Returns: 0 on success, -1 if no valid corrections found

Definition at line 1121 of file mrtk_clas.c.

Referenced by clas_ssr2osr(), decoderaw(), ppp_rtk_pos(), and update_clas().

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◆ clas_bank_init()

void clas_bank_init	(	clas_ctx_t *	ctx,
		int	ch )

Initialize bank control for a channel.

Parameters

[in,out]	ctx	CLAS context
[in]	ch	Channel index

Definition at line 101 of file mrtk_clas.c.

References clas_ctx_t::bank, clas_bank_ctrl_t::BiasBank, CLAS_CH_NUM, CLAS_MAX_NETWORK, clas_bank_ctrl_t::ClockBank, clas_bank_ctrl_t::Facility, clas_bank_ctrl_t::fastfix, clas_bank_ctrl_t::LatestTrop, clas_bank_ctrl_t::NextBias, clas_bank_ctrl_t::NextClock, clas_bank_ctrl_t::NextOrbit, clas_bank_ctrl_t::NextTrop, clas_bank_ctrl_t::OrbitBank, clas_bank_ctrl_t::separation, clas_bank_ctrl_t::TropBank, and clas_bank_ctrl_t::use.

Referenced by clas_ctx_init().

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◆ clas_check_grid_status()

void clas_check_grid_status	(	clas_ctx_t *	ctx,
		const clas_corr_t *	corr,
		int	ch )

Check and update grid status flags based on correction availability.

Validates that orbit, trop, and STEC corrections exist for each grid point and sets grid_stat[ch][network][gp] accordingly. Must be called after clas_bank_get_close() to enable grid-based positioning.

Parameters

[in,out]	ctx	CLAS context (updates grid_stat)
[in]	time	Current observation time
[in]	ch	L6 channel index (0..CLAS_CH_NUM-1)

Definition at line 1320 of file mrtk_clas.c.

References clas_ctx_t::bank, CLAS_CH_NUM, CLAS_MAX_GP, CLAS_MAX_NETWORK, clas_bank_ctrl_t::fastfix, clas_ctx_t::grid_stat, clas_corr_t::gridnum, stec_t::n, clas_corr_t::network, clas_corr_t::orbit_time, clas_corr_t::stec, gtime_t::time, timediff(), trace(), clas_corr_t::trop_time, clas_corr_t::update_time, clas_corr_t::use, zwdd_t::valid, and clas_corr_t::zwddata.

Referenced by clas_ssr2osr(), decoderaw(), ppp_rtk_pos(), and update_clas().

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◆ clas_check_grid_status_time()

void clas_check_grid_status_time	(	clas_ctx_t *	ctx,
		gtime_t	time,
		int	ch )

Definition at line 1365 of file mrtk_clas.c.

References clas_ctx_t::bank, CLAS_CH_NUM, CLAS_MAX_GP, CLAS_MAX_NETWORK, CSSR_INVALID_VALUE, clas_bank_ctrl_t::fastfix, get_close_orbit(), get_close_trop(), clas_ctx_t::grid_stat, clas_trop_bank_t::gridnum, clas_trop_bank_t::iono, clas_orbit_bank_t::network, clas_trop_bank_t::satnum, clas_orbit_bank_t::time, clas_trop_bank_t::time, timediff(), clas_trop_bank_t::total, trace(), clas_bank_ctrl_t::use, and clas_trop_bank_t::wet.

Referenced by update_clas().

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◆ clas_clear_current()

void clas_clear_current	(	clas_ctx_t *	ctx,
		int	ch )

Drop the current correction snapshot of one channel.

Used when a channel supplies no corrections for the epoch, so that clas_update_global() clears nav_t.ssr_ch[ch] instead of re-applying the previous epoch's snapshot.

Parameters

[in,out]	ctx	CLAS context
[in]	ch	Channel index

Definition at line 1266 of file mrtk_clas.c.

References CLAS_CH_NUM, clas_ctx_t::current, and init_grid_index().

Referenced by ppp_rtk_pos().

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◆ clas_ctx_free()

void clas_ctx_free ( clas_ctx_t * ctx )

Free CLAS context (release heap-allocated bank control).

Parameters

[in,out] ctx CLAS context to free

Definition at line 88 of file mrtk_clas.c.

References clas_ctx_t::bank, CLAS_CH_NUM, free, and clas_ctx_t::initialized.

Referenced by clas_ctx_init(), freepreceph(), and rtksvrfree().

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◆ clas_ctx_init()

int clas_ctx_init ( clas_ctx_t * ctx )

Initialize CLAS context (allocate bank control on heap).

Parameters

[out] ctx CLAS context to initialize

Returns: 0 on success, -1 on allocation failure

Definition at line 54 of file mrtk_clas.c.

References clas_ctx_t::bank, calloc, clas_bank_init(), CLAS_CH_NUM, clas_ctx_free(), CSSR_REF_MAX, clas_ctx_t::initialized, clas_ctx_t::l6delivery, clas_ctx_t::l6facility, clas_ctx_t::l6lock_time, clas_ctx_t::l6pattern, gtime_t::sec, gtime_t::time, and clas_ctx_t::tow_ref.

Referenced by readpreceph(), and rtksvrstart().

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◆ clas_decode_msg()

int clas_decode_msg	(	clas_ctx_t *	ctx,
		int	ch )

Decode the next pending CSSR message from the assembled bit buffer.

Call this after clas_input_cssr() to trigger CSSR message decoding. clas_input_cssr() only assembles L6 frames; this function performs the actual CSSR decode step and returns a completion code.

Parameters

[in,out]	ctx	CLAS context
[in]	ch	Channel index (0 = primary)

Returns: 10 when a complete CSSR correction set is ready, 0 otherwise

Definition at line 3213 of file mrtk_clas.c.

References decode_qzs_msg().

Referenced by decoderaw().

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◆ clas_get_correct_fac()

int clas_get_correct_fac ( int msgid )

Get L6 facility ID from message ID byte.

Parameters

[in] msgid L6 message ID byte

Returns: Facility ID (0-3)

Definition at line 3037 of file mrtk_clas.c.

Referenced by clas_input_cssr().

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◆ clas_get_grid_index()

int clas_get_grid_index	(	clas_ctx_t *	ctx,
		const double *	pos,
		clas_grid_t *	grid,
		int	gridsel,
		gtime_t	obstime )

Select surrounding grid points and compute interpolation weights.

Parameters

[in,out]	ctx	CLAS context (grid_pos, grid_stat)
[in]	pos	Receiver position {lat,lon,hgt} (rad,m)
[out]	grid	Interpolation result (weights, indices, matrix)
[in]	gridsel	Grid selection threshold (m), 0=always multi-grid
[in]	obstime	Observation time (reserved)

Returns: Number of selected grids (0=error, 1/3/4=ok)

Definition at line 459 of file mrtk_clas_grid.c.

References calc_grid_weight(), CLAS_CH_NUM, clas_grid_t::Emat, find_grid_surround_pos(), free, clas_grid_t::Gmat, clas_grid_t::index, grid_info::index, is_exists_inside(), mat(), matcpy(), matinv(), MAX_GRID_CACHE, clas_grid_t::network, grid_info::network, clas_grid_t::num, output_selected_grid(), pickup_candidates_of_grid(), grid_info::pos, R2D, trace(), tracemat(), and clas_grid_t::weight.

Referenced by clas_ssr2osr(), and ppp_rtk_pos().

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◆ clas_init_oload()

void clas_init_oload ( clas_ctx_t * ctx )

Initialize ocean loading data in context.

Parameters

[in,out] ctx CLAS context

Definition at line 824 of file mrtk_clas_grid.c.

References CLAS_MAX_NETWORK, clas_oload_t::gridnum, and clas_ctx_t::oload.

◆ clas_input_cssr()

int clas_input_cssr	(	clas_ctx_t *	ctx,
		uint8_t	data,
		int	ch )

Input CSSR byte stream (one byte at a time, real-time).

Parameters

[in,out]	ctx	CLAS context
[in]	data	Input byte
[in]	ch	Channel index (0 or 1)

Returns: Status (-1:error, 0:no message, 10:SSR message decoded)

Definition at line 3127 of file mrtk_clas.c.

References l6_header_t::alert, BLEN_MSG, clas_l6buf_t::buff, clas_get_correct_fac(), clas_l6buf_t::decode_start, clas_l6buf_t::fbuff, clas_l6buf_t::frame, clas_l6buf_t::ftag, clas_l6buf_t::ftag_last, clas_l6buf_t::havebit, l6_parse_header(), l6_service_name(), L6_SVC_CLAS, L6_SVC_NULL, clas_ctx_t::l6buf, clas_ctx_t::l6delivery, clas_ctx_t::l6facility, L6FRMPREAMB, clas_l6buf_t::len, l6_header_t::msgid, clas_l6buf_t::nbit, clas_l6buf_t::nbyte, clas_l6buf_t::nframe, clas_l6buf_t::preamble, l6_header_t::prn, setbitu(), l6_header_t::sf_ind, l6_header_t::svc, and trace().

Referenced by clas_input_cssrf(), and decoderaw().

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◆ clas_input_cssrf()

int clas_input_cssrf	(	clas_ctx_t *	ctx,
		FILE *	fp,
		int	ch )

Input CSSR from file (one message at a time, post-processing).

Parameters

[in,out]	ctx	CLAS context
[in]	fp	File pointer
[in]	ch	Channel index

Returns: Status (-2:EOF, -1:error, 0:no message, 10:SSR message decoded)

Definition at line 3217 of file mrtk_clas.c.

References clas_input_cssr(), and decode_qzs_msg().

Referenced by update_clas().

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◆ clas_osr_compensatedisp()

void clas_osr_compensatedisp	(	clas_corr_t *	corr,
		const int *	index,
		const obsd_t *	obs,
		int	sat,
		double	iono,
		const double *	pb,
		double *	compL,
		int *	pbreset,
		const prcopt_t *	opt,
		ssat_t	ssat,
		int	ch,
		clas_osr_ctx_t *	osr_ctx,
		const nav_t *	nav )

Compensate time variation of signal bias and ionosphere delay.

Parameters

[in]	corr	Merged correction snapshot
[in]	index	Grid point indices
[in]	obs	Observation for this satellite
[in]	sat	Satellite number
[in]	iono	Ionosphere delay (m)
[in]	pb	Phase biases per frequency
[out]	compL	Compensation output per frequency
[in,out]	pbreset	Phase bias reset flags
[in]	opt	Processing options
[in]	ssat	Satellite status
[in]	ch	SSR channel
[in,out]	osr_ctx	OSR context for persistent state
[in]	nav	Navigation data (for wavelengths)

Ported from upstream claslib compensatedisp(). All static variables replaced by clas_osr_ctx_t members (comp_*).

Parameters

[in]	corr	Merged correction snapshot
[in]	index	Grid point indices
[in]	obs	Observation for this satellite
[in]	sat	Satellite number
[in]	iono	Ionosphere delay (m)
[in]	pb	Phase biases per frequency
[out]	compL	Compensation output per frequency
[in,out]	pbreset	Phase bias reset flags
[in]	opt	Processing options
[in]	ssat	Satellite status
[in]	ch	SSR channel (0 in MRTKLIB)
[in,out]	osr_ctx	OSR context for persistent state
[in]	nav	Navigation data (for wavelengths)

Definition at line 430 of file mrtk_clas_osr.c.

References CLAS_CSSRINVALID, stec_t::data, FREQ1, FREQ2, obsd_t::L, MAXSAT, stec_t::n, prcopt_t::nf, obsfreqs, osr_ctx, prcopt_t::posopt, stecd_t::sat, sat_wavelengths(), ssat_t::slip, clas_corr_t::smode, SQR, clas_corr_t::stec, obsd_t::time, stecd_t::time, and timediff().

Referenced by clas_osr_corrmeas().

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◆ clas_osr_corrmeas()

int clas_osr_corrmeas	(	const obsd_t *	obs,
		nav_t *	nav,
		const double *	pos,
		const double *	azel,
		const prcopt_t *	opt,
		clas_grid_t *	grid,
		clas_corr_t *	corr,
		ssat_t	ssat,
		int *	brk,
		clas_osrd_t *	osr,
		int *	pbreset,
		int	ch,
		clas_osr_ctx_t *	osr_ctx )

Assemble per-satellite ionosphere/bias/antenna corrections.

Parameters

[in]	obs	Observation for this satellite
[in,out]	nav	Navigation data
[in]	pos	Receiver position {lat,lon,hgt} (rad,m)
[in]	azel	Azimuth/elevation for this satellite
[in]	opt	Processing options
[in]	grid	Grid interpolation state
[in]	corr	Merged correction snapshot
[in]	ssat	Satellite status
[out]	brk	Slip break flag
[out]	osr	OSR output for this satellite
[in,out]	pbreset	Phase bias reset flags
[in]	ch	SSR channel
[in,out]	osr_ctx	OSR context

Returns: 1=ok, 0=error (stale bias, missing iono)

Ported from upstream claslib corrmeas(). Decodes phase and code biases from SSR corrections, applies STEC grid interpolation for ionosphere, performs consistency checks, and computes receiver antenna correction.

Parameters

[in]	obs	Observation for this satellite
[in,out]	nav	Navigation data
[in]	pos	Receiver position {lat,lon,hgt} (rad,m)
[in]	azel	Azimuth/elevation for this satellite
[in]	opt	Processing options
[in]	grid	Grid interpolation state
[in]	corr	Merged correction snapshot
[in]	ssat	Satellite status
[out]	brk	Slip break flag
[out]	osr	OSR output for this satellite
[in,out]	pbreset	Phase bias reset flags
[in]	ch	SSR channel (0 in MRTKLIB)
[in,out]	osr_ctx	OSR context

Returns: 1=ok, 0=error (stale bias, missing iono)

Definition at line 582 of file mrtk_clas_osr.c.

References prcopt_t::antdel, antmodel(), clas_osrd_t::antr, clas_osrd_t::cbias, ssr_t::cbias, CLAS_CSSRINVALID, CLAS_MAXAGESSR_BIAS, clas_osr_compensatedisp(), clas_stec_grid_data(), claslib_pcv_slot(), obsd_t::code, code_on_same_freq(), clas_osrd_t::compL, count_nsig(), stec_t::data, clas_grid_t::Emat, clas_grid_t::Gmat, clas_grid_t::index, clas_osrd_t::iono, MAXCODE, stec_t::n, prcopt_t::nf, NFREQPCV, clas_grid_t::num, osr_ctx, clas_osrd_t::pbias, ssr_t::pbias, prcopt_t::pcvr, ssat_t::phw, prcopt_t::posopt, obsd_t::sat, stecd_t::sat, sat_wavelengths(), satsys(), clas_corr_t::smode, nav_s::ssr_ch, clas_corr_t::stec, ssr_t::t0, obsd_t::time, stecd_t::time, time2gpst(), time_str(), timediff(), trace(), clas_grid_t::weight, and clas_osrd_t::wupL.

Referenced by clas_osr_zdres().

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◆ clas_osr_ctx_init()

void clas_osr_ctx_init ( clas_osr_ctx_t * ctx )

Initialize OSR conversion context.

Parameters

[out] ctx OSR context to initialize

Initialize OSR conversion context.

Parameters

[out] ctx OSR context to initialize

Definition at line 297 of file mrtk_clas_osr.c.

References CLAS_CH_NUM, clas_satcorr_t::currtow, clas_osr_ctx_t::initialized, MAXSAT, clas_satcorr_t::prev_orb_tow, clas_satcorr_t::previode, clas_satcorr_t::prevtow, and clas_osr_ctx_t::satcorr.

Referenced by clas_ssr2osr().

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◆ clas_osr_prectrop()

double clas_osr_prectrop	(	gtime_t	time,
		const double *	pos,
		const double *	azel,
		double	zwd,
		double	ztd )

Precise troposphere model for CLAS (MOPS standard + mapping function).

Parameters

[in]	time	Observation time
[in]	pos	Receiver position {lat,lon,hgt} (rad,m)
[in]	azel	Azimuth/elevation {az,el} (rad)
[in]	zwd	Zenith wet delay from grid (m)
[in]	ztd	Zenith total delay from grid (m)

Returns: Slant tropospheric delay (m), 0 on error

Computes slant tropospheric delay from zenith wet and total delays obtained from CLAS grid interpolation.

Parameters

[in]	time	Observation time
[in]	pos	Receiver position {lat,lon,hgt} (rad,m)
[in]	azel	Azimuth/elevation {az,el} (rad)
[in]	zwd	Zenith wet delay from grid (m)
[in]	ztd	Zenith total delay from grid (m)

Returns: Slant tropospheric delay (m), 0 on error

Definition at line 328 of file mrtk_clas_osr.c.

References geoidh(), get_stTv(), and tropmapf().

Referenced by clas_osr_zdres().

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◆ clas_osr_satcorr_update()

int clas_osr_satcorr_update	(	gtime_t	time,
		gtime_t	teph,
		int	sat,
		const prcopt_t *	opt,
		const nav_t *	nav,
		int	ch,
		clas_osr_ctx_t *	ctx )

Compute zero-differenced phase/code residuals with CLAS corrections.

Parameters

[in]	obs	Observation data for epoch
[in]	n	Number of observations
[in]	rs	Satellite positions+velocities (6*n)
[in]	dts	Satellite clock corrections (2*n)
[in]	vare	Satellite position variances (n)
[in]	svh	Satellite health flags (n)
[in,out]	nav	Navigation data
[in,out]	x	State vector (position extracted from [0:2])
[out]	y	Residuals (nnf2)
[out]	e	Line-of-sight vectors (3*n)
[out]	azel	Azimuth/elevation (2*n)
[in]	rtk	RTK control struct
[in]	osrlog	Enable OSR logging
[in,out]	osr_ctx	OSR context for persistent state
[in]	grid	Grid interpolation state
[in]	corr	Merged correction snapshot
[in,out]	ssat	Satellite status array
[in]	opt	Processing options
[in,out]	sol	Solution struct
[out]	osr	OSR output per satellite
[in]	ch	SSR channel (0 or 1)

Returns: Number of valid measurements

Update per-satellite SIS correction state for IODE adjustment.

Parameters

[in]	time	Observation time
[in]	teph	Time for ephemeris selection
[in]	sat	Satellite number
[in]	opt	Processing options
[in]	nav	Navigation data
[in]	ch	SSR channel index
[in,out]	ctx	OSR context (satcorr state updated)

Returns: 1:ok, 0:error

Compute zero-differenced phase/code residuals with CLAS corrections.

Tracks orbit/clock corrections and detects 5-second/25-second SSR boundary transitions. Computes currsis = SIS discontinuity for adjust_cpc/adjust_prc.

Ported from upstream satpos_ssr_sis() in ephemeris.c.

Definition at line 793 of file mrtk_clas_osr.c.

References clas_satcorr_t::clk, cross3(), clas_satcorr_t::currsis, clas_satcorr_t::currtow, ssr_t::dclk, ssr_t::ddeph, ssr_t::deph, dot(), ephpos(), ssr_t::hrclk, ssr_t::iod, ssr_t::iode, MAXAGESSR_SIS, MAXCCORSSR_SIS, MAXECORSSR_SIS, norm(), normv3(), clas_satcorr_t::orb, prcopt_t::posopt, clas_satcorr_t::prev_orb_tow, clas_satcorr_t::previode, clas_satcorr_t::prevsis, clas_satcorr_t::prevtow, clas_osr_ctx_t::satcorr, clas_osr_ctx_t::saved_rr, nav_s::ssr_ch, ssr_t::t0, gtime_t::time, time2gpst(), timediff(), clas_satcorr_t::tow, trace(), and ssr_t::udi.

Referenced by ppp_rtk_pos().

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◆ clas_osr_selfreqpair()

int clas_osr_selfreqpair	(	int	sat,
		const prcopt_t *	opt,
		const obsd_t *	obs )

Select frequency pair for multi-frequency processing.

Parameters

[in]	sat	Satellite number
[in]	opt	Processing options
[in]	obs	Observation data

Returns: Frequency pair bitmask (0=L1 only, 1=L2, 2=L5, 3=L2+L5)

Returns a bitmask indicating which secondary frequencies to use alongside L1. The selection depends on the satellite system and the processing options posopt[10] (GPS) and posopt[12] (QZS).

Note: MRTKLIB's prcopt_t.posopt[] is 6 elements (indices 0-5) while upstream claslib uses indices up to 12. For forward compatibility the indices 10/12 are checked against the array size; if out of range, default to L1+L2.

Parameters

[in]	sat	Satellite number
[in]	opt	Processing options
[in]	obs	Observation data for this satellite

Returns: Frequency pair bitmask (0=L1 only, 1=L2, 2=L5, 3=L2+L5)

Definition at line 368 of file mrtk_clas_osr.c.

References obsd_t::L, obsd_t::P, POSL1, POSL1L2, POSL1L2L5, POSL1L5, POSL1L5_L2, prcopt_t::posopt, satsys(), SYS_GAL, SYS_GPS, and SYS_QZS.

Referenced by clas_osr_zdres(), and udion().

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◆ clas_osr_zdres()

int clas_osr_zdres	(	const obsd_t *	obs,
		int	n,
		const double *	rs,
		const double *	dts,
		const double *	vare,
		const int *	svh,
		nav_t *	nav,
		double *	x,
		double *	y,
		double *	e,
		double *	azel,
		rtk_t *	rtk,
		int	osrlog,
		clas_osr_ctx_t *	osr_ctx,
		clas_grid_t *	grid,
		clas_corr_t *	corr,
		ssat_t *	ssat,
		prcopt_t *	opt,
		sol_t *	sol,
		clas_osrd_t *	osr,
		int	ch )

Compute zero-differenced phase/code residuals with CLAS corrections.

Ported from upstream claslib zdres(). This is the ENA_PPP_RTK path (always enabled). CSSR2OSR_VRS path is removed.

Key differences from upstream:

obs is const; a local copy is allocated.
cpc/pt0 come from osr_ctx->cpctmp/pt0tmp.
pbias_ofst comes from osr_ctx->pbias_ofst.
Uses nav->ssr_ch[0][sat-1] (channel 0 by default).
nav->lam[sat-1] -> local lam[] via sat_wavelengths().
Stubbed functions: ISB, L2C.

Parameters

[in]	obs	Observation data for epoch
[in]	n	Number of observations
[in]	rs	Satellite positions+velocities (6*n)
[in]	dts	Satellite clock corrections (2*n)
[in]	vare	Satellite position variances (n)
[in]	svh	Satellite health flags (n)
[in,out]	nav	Navigation data
[in,out]	x	State vector (position extracted from [0:2])
[out]	y	Residuals (nnf2), can be NULL
[out]	e	Line-of-sight vectors (3*n)
[out]	azel	Azimuth/elevation (2*n)
[in]	rtk	RTK control struct
[in]	osrlog	Enable OSR logging
[in,out]	osr_ctx	OSR context for persistent state
[in]	grid	Grid interpolation state
[in]	corr	Merged correction snapshot
[in,out]	ssat	Satellite status array
[in]	opt	Processing options
[in,out]	sol	Solution struct
[out]	osr	OSR output per satellite
[in]	ch	SSR channel (0 in MRTKLIB)

Returns: Number of valid residual measurements

Definition at line 1080 of file mrtk_clas_osr.c.

References clas_osrd_t::antr, sft_t::bias, clas_osrd_t::c, clas_osrd_t::cbias, chk_isb(), CLAS_CSSRINVALID, nav_s::clas_ctx, clas_osr_adjust_cpc(), clas_osr_adjust_prc(), clas_osr_adjust_r_dts(), clas_osr_corrmeas(), clas_osr_prectrop(), clas_osr_selfreqpair(), clas_trop_grid_data(), CLIGHT, clas_osrd_t::clk, obsd_t::code, ssat_t::code, code2freq_num(), clas_osrd_t::compL, clas_osrd_t::CPC, ecef2pos(), prcopt_t::elmin, clas_grid_t::Emat, nav_s::erp, nav_s::filreset, free, FREQ1, FREQ2, geodist(), geterp(), clas_grid_t::Gmat, gpst2utc(), clas_oload_t::gridnum, IB_RTK, clas_grid_t::index, clas_osrd_t::iono, prcopt_t::isb, ISBOPT_TABLE, isL2C(), obsd_t::L, malloc, MAXOBS, MAXSAT, erp_t::n, sft_t::n, clas_grid_t::network, prcopt_t::nf, norm(), clas_grid_t::num, ocean_tide_clasgrid(), prcopt_t::odisp, clas_ctx_t::oload, clas_osrd_t::orb, osr_ctx, obsd_t::P, clas_osrd_t::p, clas_osrd_t::pbias, prcopt_t::phasshft, ssat_t::phw, prcopt_t::posopt, clas_osrd_t::PRC, R2D, sft_t::rectyp, prcopt_t::rectype, clas_osrd_t::relatv, clas_osrd_t::sat, obsd_t::sat, sat_wavelengths(), satazel(), satsys(), nav_s::sfts, shapiro(), clas_osrd_t::sis, clas_corr_t::smode, prcopt_t::snrmask, nav_s::ssr_ch, nav_s::stas, SYS_GAL, ssr_t::t0, testsnr(), prcopt_t::tidecorr, tidedisp(), obsd_t::time, sol_t::time, time2gpst(), time_str(), timeadd(), timediff(), trace(), clas_osrd_t::trop, utc2gpst(), clas_grid_t::weight, windupcorr(), clas_osrd_t::wupL, and xyz2enu().

Referenced by clas_ssr2osr(), and ppp_rtk_pos().

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◆ clas_read_grid_def()

int clas_read_grid_def	(	clas_ctx_t *	ctx,
		const char *	file )

Read CLAS grid definition file.

Parameters

[in,out]	ctx	CLAS context (stores grid positions)
[in]	file	Grid definition file path

Returns: 0 on success, -1 on error

Definition at line 3238 of file mrtk_clas.c.

References CLAS_MAX_GP, CLAS_MAX_NETWORK, clas_ctx_t::grid_pos, clas_ctx_t::gridsel, and trace().

Referenced by execses().

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◆ clas_restore_backup()

void clas_restore_backup	(	clas_ctx_t *	ctx,
		gtime_t	time,
		clas_grid_t *	grid,
		int	l6mrg )

Definition at line 1274 of file mrtk_clas.c.

References clas_ctx_t::backup, backup_cssr_time(), clas_ctx_t::backup_grid, clas_ctx_t::bank, clas_clock_bank_t::c0, clas_corr_t::c0, CLAS_CH_NUM, clas_corr_t::clock_time, clas_ctx_t::current, clas_corr_t::flag, get_close_clock(), init_grid_index(), clas_clock_bank_t::iod, clas_corr_t::iod, MAXSAT, clas_grid_t::network, clas_corr_t::orbit_time, clas_clock_bank_t::prn, clas_corr_t::prn, SSR_CH_NUM, clas_clock_bank_t::time, clas_corr_t::time, timediff(), clas_clock_bank_t::udi, clas_corr_t::udi, clas_bank_ctrl_t::use, and clas_corr_t::use.

Referenced by ppp_rtk_pos().

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◆ clas_route_l6frame()

int clas_route_l6frame	(	clas_ctx_t *	ctx,
		int	prn,
		int	ptn,
		int	l6mrg,
		gtime_t	now )

Route one interleaved L6D frame to a CLAS channel (or drop it).

A single UBX/SBF stream from a multi-channel L6 receiver (e.g. u-blox D9C, and future receivers with more channels) carries L6D frames from several QZS PRNs interleaved. Each CLAS channel decodes one PRN's subframe sequence statefully, so frames from different PRNs must NOT be mixed into the same channel. This router keeps each channel locked to a single active source PRN and drops frames from any other PRN, re-locking only after the active source has been silent for CLAS_L6_RELOCK_TIMEOUT seconds.

Channels are keyed by CLAS Transmit Pattern ID (IS-QZSS-L6 §4.1.1.2): there are only two patterns, so two channels suffice regardless of how many PRNs the receiver tracks. Single-channel CLAS (l6mrg=0) uses ch 0 only and collapses to whichever pattern is currently active; dual-channel CLAS (l6mrg!=0) maps each pattern to its own channel for merging.

Parameters

[in,out]	ctx	CLAS context (holds per-channel PRN/pattern/time lock)
[in]	prn	Broadcasting QZS PRN (L6 frame byte buff[4])
[in]	ptn	CLAS Transmit Pattern ID, (buff[5] & 0x06) >> 1
[in]	l6mrg	L6 merge mode (0:single channel, !=0:dual channel)
[in]	now	Current observation time (GPST) used for the timeout

Returns: Channel index (0..CLAS_CH_NUM-1) to feed, or -1 to drop the frame.

Definition at line 3070 of file mrtk_clas.c.

References CLAS_CH_NUM, CLAS_L6_RELOCK_TIMEOUT, clas_ctx_t::l6delivery, clas_ctx_t::l6lock_time, clas_ctx_t::l6pattern, gtime_t::time, timediff(), and trace().

Referenced by decoderaw().

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◆ clas_set_l6tag()

void clas_set_l6tag	(	clas_ctx_t *	ctx,
		int	ch,
		double	tag )

Set the receiver time tag of the L6 frame about to be input.

L6 frames are broadcast once per second and the L6 header has no frame counter, so a lost frame can only be seen from the receiver time. Call this before inputting each frame when the receiver reports a per-frame time (SBF QZSRawL6 block TOW, UBX-RXM-QZSSL6 time tag). A subframe with a frame missing is then discarded instead of being decoded from shifted bits (#363). Inputs without a time tag (raw L6 byte streams and files) are not checked.

Parameters

[in,out]	ctx	CLAS context
[in]	ch	Channel index (0 or 1)
[in]	tag	Receiver time of the frame (s, any origin; 0: unknown)

Definition at line 3215 of file mrtk_clas.c.

References clas_l6buf_t::ftag, and clas_ctx_t::l6buf.

Referenced by decoderaw().

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◆ clas_ssr2osr()

int clas_ssr2osr	(	rtk_t *	rtk,
		obsd_t *	obs,
		int	n,
		nav_t *	nav,
		clas_osrd_t *	osr,
		int	mode,
		clas_ctx_t *	clas )

Convert compact SSR corrections to observation-space representations.

Top-level wrapper that sets up grid/CSSR corrections and calls clas_osr_zdres(). Verbatim port of upstream claslib ssr2osr() from cssr2osr.c.

Parameters

[in,out]	rtk	RTK control structure
[in,out]	obs	Observation data array
[in]	n	Number of observations
[in,out]	nav	Navigation data
[out]	osr	OSR output per satellite
[in]	mode	0=normal (upstream compat)
[in]	clas	CLAS decoder context

Returns: Number of valid measurements, 0 on failure

This is the top-level wrapper that sets up satellite state, grid/CSSR corrections, then calls clas_osr_zdres() to compute per-satellite residuals.

Parameters

[in,out]	rtk	RTK control structure
[in,out]	obs	Observation data array (may be modified)
[in]	n	Number of observations
[in,out]	nav	Navigation data (SSR corrections applied here)
[out]	osr	OSR output per satellite
[in]	mode	0=normal, unused (upstream compat)
[in]	clas	CLAS decoder context (replaces upstream globals)

Returns: Number of valid measurements, 0 on failure

Definition at line 1493 of file mrtk_clas_osr.c.

References sol_t::age, clas_osrd_t::c, clas_bank_get_close(), clas_check_grid_status(), clas_get_grid_index(), clas_osr_ctx_init(), clas_osr_zdres(), clas_update_global(), clas_update_local(), obsd_t::code, clas_ctx_t::current, ecef2pos(), EPHOPT_SSRAPC, ssat_t::fix, free, clas_ctx_t::grid, obsd_t::L, clas_ctx_t::l6buf, obsd_t::LLI, mat(), MAXOBS, MAXSAT, prcopt_t::mode, clas_grid_t::network, prcopt_t::nf, norm(), rtk_t::opt, osr_ctx, obsd_t::P, clas_osrd_t::p, ssat_t::ph, PMODE_SSR2OSR_FIXED, prcopt_t::posopt, ssat_t::pt, obsd_t::rcv, sol_t::rr, prcopt_t::ru, clas_osrd_t::sat, obsd_t::sat, sat_wavelengths(), satposs(), satsys(), set_ssr_ch_idx(), ssat_t::slip, ssat_t::slipc, clas_corr_t::smode, obsd_t::SNR, ssat_t::snr, SNR_UNIT, rtk_t::sol, SOLQ_SINGLE, rtk_t::ssat, nav_s::ssr_ch, sol_t::stat, ssat_t::sys, ssr_t::t0, clas_l6buf_t::time, obsd_t::time, timediff(), trace(), ssat_t::vsat, rtk_t::x, and zeros().

Referenced by rtkpos().

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◆ clas_stec_grid_data()

int clas_stec_grid_data	(	clas_corr_t *	corr,
		const int *	index,
		gtime_t	time,
		int	sat,
		int	n,
		const double *	weight,
		const double *	Gmat,
		const double *	Emat,
		double *	iono,
		double *	rate,
		double *	var,
		int *	brk )

Interpolate STEC (ionosphere delay) from grid points.

Parameters

[in]	corr	Merged correction snapshot
[in]	index	Selected grid point indices
[in]	time	Time (GPST)
[in]	sat	Satellite number
[in]	n	Number of grids (1-4)
[in]	weight	Interpolation weights
[in]	Gmat	Interpolation matrix (4x4, can be NULL)
[in]	Emat	Basis vector (4x1, can be NULL)
[out]	iono	Interpolated L1 ionosphere delay (m)
[out]	rate	Interpolated ionosphere rate (m/s)
[out]	var	Interpolated variance (m^2)
[out]	brk	Slip break flag

Returns: 1=ok, 0=error

Definition at line 588 of file mrtk_clas_grid.c.

References dot(), free, mat(), matmul(), SQR, clas_corr_t::stec, and stec_data().

Referenced by clas_osr_corrmeas().

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◆ clas_trop_grid_data()

int clas_trop_grid_data	(	clas_corr_t *	corr,
		const int *	index,
		gtime_t	time,
		int	n,
		const double *	weight,
		const double *	Gmat,
		const double *	Emat,
		double *	zwd,
		double *	ztd,
		int *	tbrk )

Interpolate troposphere delay from grid points.

Parameters

[in]	corr	Merged correction snapshot
[in]	index	Selected grid point indices
[in]	time	Time (GPST)
[in]	n	Number of grids (1-4)
[in]	weight	Interpolation weights
[in]	Gmat	Interpolation matrix (4x4, can be NULL)
[in]	Emat	Basis vector (4x1, can be NULL)
[out]	zwd	Interpolated zenith wet delay
[out]	ztd	Interpolated zenith total delay
[out]	tbrk	Validity flag (0=all valid, 1=partial)

Returns: 1=ok, 0=error

Definition at line 749 of file mrtk_clas_grid.c.

References dot(), free, imat(), mat(), matmul(), trop_data(), and clas_corr_t::zwd.

Referenced by clas_osr_zdres().

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◆ clas_update_global()

void clas_update_global	(	nav_t *	nav,
		const clas_corr_t *	corr,
		int	ch )

Apply global corrections (orbit/clock/bias) to nav_t.ssr[].

Parameters

[in,out]	nav	Navigation data
[in]	corr	Merged correction snapshot
[in]	ch	Channel index

Definition at line 1430 of file mrtk_clas.c.

References clas_corr_t::c0, clas_corr_t::cbias, ssr_t::cbias, ssr_t::dclk, ssr_t::ddeph, ssr_t::deph, clas_corr_t::deph0, clas_corr_t::deph1, clas_corr_t::deph2, ssr_t::discnt, clas_corr_t::facility, nav_s::facility, clas_corr_t::iod, ssr_t::iod, clas_corr_t::iode, ssr_t::iode, MAXCODE, MAXSAT, clas_corr_t::pbias, ssr_t::pbias, clas_corr_t::prn, clas_corr_t::smode, nav_s::ssr_ch, ssr_t::t0, clas_corr_t::time, clas_corr_t::udi, ssr_t::udi, and ssr_t::update.

Referenced by clas_ssr2osr(), decoderaw(), ppp_rtk_pos(), and update_clas().

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◆ clas_update_local()

void clas_update_local	(	nav_t *	nav,
		const clas_corr_t *	corr,
		int	ch )

Apply local corrections (trop/STEC) to nav_t.

Parameters

[in,out]	nav	Navigation data
[in]	corr	Merged correction snapshot
[in]	ch	Channel index

Definition at line 1493 of file mrtk_clas.c.

Referenced by clas_ssr2osr(), and ppp_rtk_pos().

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◆ cssr_gnss2sys()

int cssr_gnss2sys	(	int	gnss,
		int *	prn0 )

Convert CSSR GNSS ID to RTKLIB system bitmask.

Parameters

[in]	gnss	CSSR GNSS ID (CSSR_SYS_GPS, etc.)
[out]	prn0	Output base PRN offset (can be NULL)

Returns: RTKLIB system bitmask (SYS_GPS, etc.), 0 on error

Definition at line 175 of file mrtk_clas.c.

References CSSR_SYS_BDS, CSSR_SYS_GAL, CSSR_SYS_GLO, CSSR_SYS_GPS, CSSR_SYS_QZS, CSSR_SYS_SBS, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_NONE, SYS_QZS, and SYS_SBS.

Referenced by svmask2nsatlist(), and svmask2sat().

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◆ cssr_sys2gnss()

int cssr_sys2gnss	(	int	sys,
		int *	prn0 )

Convert RTKLIB system bitmask to CSSR GNSS ID.

Parameters

[in]	sys	RTKLIB system (SYS_GPS, etc.)
[out]	prn0	Output base PRN offset (can be NULL)

Returns: CSSR GNSS ID, CSSR_SYS_NONE on error

Definition at line 140 of file mrtk_clas.c.

References CSSR_SYS_BDS, CSSR_SYS_GAL, CSSR_SYS_GLO, CSSR_SYS_GPS, CSSR_SYS_NONE, CSSR_SYS_QZS, CSSR_SYS_SBS, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, and SYS_SBS.

Referenced by sigmask2sig(), and sigmask2sig_p().

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◆ isL2C()

int isL2C ( int code )

Check if observation code is L2C.

Parameters

[in] code Observation code (CODE_???)

Returns: 1 if L2C, 0 otherwise

Definition at line 546 of file mrtk_clas_isb.c.

References CODE_L2L, CODE_L2S, and CODE_L2X.

Referenced by clas_osr_zdres(), and zdres().

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◆ readblqgrid()

int readblqgrid	(	const char *	file,
		clas_ctx_t *	ctx )

Read BLQ ocean tide loading parameters for CLAS grid points.

Parameters

[in]	file	BLQ grid file
[in,out]	ctx	CLAS context (oload[] populated)

Returns: 1:ok, 0:file open error

Definition at line 839 of file mrtk_clas_grid.c.

References CLAS_MAX_GP, CLAS_MAX_NETWORK, clas_oload_t::gridnum, clas_oload_t::odisp, clas_ctx_t::oload, clas_oload_t::pos, readblqrecord(), and trace().

Referenced by execses().

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◆ readisb()

int readisb	(	const char *	file,
		nav_t *	nav )

Read ISB correction table from file.

Parameters

[in]	file	ISB table file path (wild-card * expanded)
[in,out]	nav	Navigation data (isb array populated)

Returns: Status (1:ok, 0:error)

Definition at line 308 of file mrtk_clas_isb.c.

References expath(), free, malloc, MAXEXFILE, nav_s::ni, nav_s::nimax, readisbf(), and trace().

Referenced by execses().

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◆ readL2C()

int readL2C	(	const char *	file,
		nav_t *	nav )

Read L2C 1/4 cycle phase shift table from file.

Parameters

[in]	file	L2C phase shift table file path
[in,out]	nav	Navigation data (sfts populated)

Returns: Status (0:ok, -1:error)

Definition at line 489 of file mrtk_clas_isb.c.

References sft_t::bias, MAXRECTYP, sft_t::n, PHASE_CYCLE, sft_t::rectyp, nav_s::sfts, str2num(), trace(), and trim_str().

Referenced by execses().

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◆ setisb()

void setisb	(	const nav_t *	nav,
		const char *	rectype0,
		const char *	rectype1,
		sta_t *	sta0,
		sta_t *	sta1 )

Set ISB corrections for rover and reference stations.

Parameters

[in]	nav	Navigation data (contains isb table)
[in]	rectype0	Rover receiver type
[in]	rectype1	Reference receiver type
[out]	sta0	Rover station (isb field populated)
[out]	sta1	Reference station (isb field populated, can be NULL)

Definition at line 340 of file mrtk_clas_isb.c.

References isb_t::gsb, nav_s::isb, sta_t::isb, nav_s::ni, NSYS, isb_t::sta_name, isb_t::sta_name_base, and trace().

Referenced by execses().

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Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ BLEN_MSG

◆ CLAS_BANK_NUM

◆ CLAS_CH_NUM

◆ CLAS_CSSRINVALID

◆ CLAS_L6_RELOCK_TIMEOUT

◆ CLAS_MAX_GP

◆ CLAS_MAX_NETWORK

◆ CLAS_MAX_NGRID

◆ CLAS_MAXAGESSR_BIAS

◆ CLAS_MAXPBCORSSR [1/2]

◆ CLAS_MAXPBCORSSR [2/2]

◆ CLAS_VER

◆ CSSR_INVALID_VALUE

◆ CSSR_MAX_CELLMASK

◆ CSSR_MAX_GNSS

◆ CSSR_MAX_GP

◆ CSSR_MAX_LOCAL_SV

◆ CSSR_MAX_NET

◆ CSSR_MAX_SIG

◆ CSSR_MAX_SV

◆ CSSR_MAX_SV_GNSS

◆ CSSR_STECVALIDAGE

◆ CSSR_SYS_BDS

◆ CSSR_SYS_GAL

◆ CSSR_SYS_GLO

◆ CSSR_SYS_GPS

◆ CSSR_SYS_NONE

◆ CSSR_SYS_QZS

◆ CSSR_SYS_SBS

◆ CSSR_TROP_HS_REF

◆ CSSR_TROP_WET_REF

◆ CSSR_TROPVALIDAGE

◆ CSSR_TYPE_ATMOS

◆ CSSR_TYPE_BIAS

◆ CSSR_TYPE_CB

◆ CSSR_TYPE_CC

◆ CSSR_TYPE_COMBO

◆ CSSR_TYPE_GRID

◆ CSSR_TYPE_INIT

◆ CSSR_TYPE_MASK

◆ CSSR_TYPE_NULL

◆ CSSR_TYPE_NUM

◆ CSSR_TYPE_OC

◆ CSSR_TYPE_PB

◆ CSSR_TYPE_SI

◆ CSSR_TYPE_STEC

◆ CSSR_TYPE_URA

◆ CSSR_UPDATE_PBIAS

◆ CSSR_UPDATE_STEC

◆ CSSR_UPDATE_TROP

◆ L6FRMPREAMB

◆ P2_S10_MAX

◆ P2_S11_MAX

◆ P2_S12_MAX

◆ P2_S13_MAX

◆ P2_S14_MAX

◆ P2_S15_MAX

◆ P2_S16_MAX

◆ P2_S6_MAX

◆ P2_S7_MAX

◆ P2_S8_MAX

◆ P2_S9_MAX

Typedef Documentation

◆ osrd_t

Enumeration Type Documentation

◆ anonymous enum

Function Documentation

◆ chk_isb()

◆ clas_backup_current()

◆ clas_backup_valid()

◆ clas_bank_get_close()

◆ clas_bank_init()

◆ clas_check_grid_status()