CLAS SSR-to-OSR (Observation Space Representation) conversion. More...

#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_antenna.h"
#include "mrtklib/mrtk_astro.h"
#include "mrtklib/mrtk_atmos.h"
#include "mrtklib/mrtk_clas.h"
#include "mrtklib/mrtk_const.h"
#include "mrtklib/mrtk_coords.h"
#include "mrtklib/mrtk_eph.h"
#include "mrtklib/mrtk_geoid.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_opt.h"
#include "mrtklib/mrtk_ppp_rtk.h"
#include "mrtklib/mrtk_rtkpos.h"
#include "mrtklib/mrtk_sol.h"
#include "mrtklib/mrtk_tides.h"
#include "mrtklib/mrtk_time.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_clas_osr.c:

Macros
#define	SQR(x)
#define	NF_RTK(opt)
#define	NP_RTK(opt)
#define	NI_RTK(opt)
#define	NR_RTK(opt)
#define	IB_RTK(s, f, opt)
#define	GME 3.986004415E+14
#define	POSL1 1 /* L1 single freq positioning */
#define	POSL1L2 2 /* L1+L2 dual freq positioning */
#define	POSL1L5 3 /* L1+L5 dual freq positioning */
#define	POSL1L2L5 4 /* L1+L2+L5 triple freq positioning */
#define	POSL1L5_L2 5 /* L1+L5(or L2) dual freq positioning */
#define	MAXAGESSR_SIS 60.0 /* max age of ssr orbit/clock (s) */
#define	MAXECORSSR_SIS 10.0 /* max orbit correction (m) */
#define	MAXCCORSSR_SIS (1E-6 * CLIGHT) /* max clock correction (m) */

Functions
static int	NT_RTK (const prcopt_t *opt)
static int	code_on_same_freq (int sys, uint8_t code1, uint8_t code2)
	Check if two obs codes are on the same frequency band.
static int	pcv_slot_has_data (const pcv_t *pcv, int slot)
static int	claslib_pcv_slot (const pcv_t *pcv, int f)
static double	shapiro (const double rsat, const double rrcv)
	Compute Shapiro (relativistic) time delay correction.
static void	windupcorr (gtime_t time, const double rs, const double rr, double *phw)
	Compute phase windup correction.
double	sat2freq (int sat, uint8_t code, const nav_t *nav)
static void	sat_wavelengths (int sat, const obsd_t obs, const nav_t nav, double *lam)
	Fill wavelength array for a satellite from observation codes.
static int	count_nsig (const int smode[MAXCODE])
	Count non-zero entries in a signal mode array (equivalent to nsig).
void	clas_osr_ctx_init (clas_osr_ctx_t *ctx)
	Initialize OSR conversion context (zero all persistent state).
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.
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.
static void	ocean_tide_clasgrid (gtime_t tut, const clas_oload_t oload, const int index, int nn, const double E, const double Emat, const double Gmat, const double weight, double *dr)
	Compute ocean tide loading displacement using CLAS grid interpolation.
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)
	Update per-satellite SIS correction state for IODE adjustment.
static double	clas_osr_adjust_cpc (gtime_t teph, int sat, const ssr_t ssr, int sig, double cpc, double sis, int flag, int ch, clas_osr_ctx_t ctx)
	Adjust carrier-phase correction for SIS discontinuity.
static double	clas_osr_adjust_prc (gtime_t teph, int sat, const ssr_t ssr, int sig, double prc, double sis, int flag, int ch, clas_osr_ctx_t ctx)
	Adjust pseudorange correction for SIS discontinuity.
static void	clas_osr_adjust_r_dts (double retr, double retdts, gtime_t teph, int sat, nav_t nav, const double rr, gtime_t dts_time, int ch, clas_osr_ctx_t *ctx)
	Recompute geometric range and clock on IODE change.
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.
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.

Variables
static const unsigned char	obsfreqs []

Detailed Description

CLAS SSR-to-OSR (Observation Space Representation) conversion.

References: [1] claslib cssr2osr.c – upstream SSR->OSR implementation [2] IS-QZSS-L6-003 – CLAS Compact SSR Specification

Notes:

Ported from upstream claslib cssr2osr.c.
ENA_PPP_RTK path always enabled; CSSR2OSR_VRS path removed.
Converts SSR compact corrections (orbit, clock, bias, STEC, ZWD) into per-satellite observation-space residuals (clas_osrd_t).
Static variables from upstream moved to clas_osr_ctx_t for thread safety.
Uses nav->ssr_ch[0][sat-1] (channel 0 by default).
nav->lam[sat-1] replaced by local lam[] computed from sat2freq().
Several upstream functions stubbed (ISB, L2C, etc.).

Definition in file mrtk_clas_osr.c.

Macro Definition Documentation

◆ GME

#define GME 3.986004415E+14

Earth gravitational constant (m^3/s^2) – for Shapiro correction

Definition at line 76 of file mrtk_clas_osr.c.

Referenced by shapiro(), and tide_pl().

◆ IB_RTK

#define IB_RTK	(	s,
		f,
		opt )

Value:

(NR_RTK(opt) + MAXSAT * (f) + (s) - 1)

NR_RTK

#define NR_RTK(opt)

Definition mrtk_clas_osr.c:72

MAXSAT

#define MAXSAT

Definition mrtk_coords.c:45

Definition at line 73 of file mrtk_clas_osr.c.

Referenced by clas_osr_zdres(), set_init_pb(), and udbias_ppp().

◆ MAXAGESSR_SIS

#define MAXAGESSR_SIS 60.0 /* max age of ssr orbit/clock (s) */

Definition at line 781 of file mrtk_clas_osr.c.

Referenced by clas_osr_satcorr_update().

◆ MAXCCORSSR_SIS

#define MAXCCORSSR_SIS (1E-6 * CLIGHT) /* max clock correction (m) */

Definition at line 783 of file mrtk_clas_osr.c.

Referenced by clas_osr_satcorr_update().

◆ MAXECORSSR_SIS

#define MAXECORSSR_SIS 10.0 /* max orbit correction (m) */

Definition at line 782 of file mrtk_clas_osr.c.

Referenced by clas_osr_satcorr_update().

◆ NF_RTK

#define NF_RTK ( opt )

Value:

((opt)->nf)

Definition at line 64 of file mrtk_clas_osr.c.

◆ NI_RTK

#define NI_RTK ( opt )

Value:

(((opt)->ionoopt == IONOOPT_EST || (opt)->ionoopt == IONOOPT_EST_ADPT) ? MAXSAT : 0)

IONOOPT_EST

#define IONOOPT_EST

Definition mrtk_opt.h:96

IONOOPT_EST_ADPT

#define IONOOPT_EST_ADPT

Definition mrtk_opt.h:100

Definition at line 66 of file mrtk_clas_osr.c.

◆ NP_RTK

#define NP_RTK ( opt )

Value:

((opt)->dynamics == 0 ? 3 : 9)

Definition at line 65 of file mrtk_clas_osr.c.

Referenced by residual_test().

◆ NR_RTK

#define NR_RTK ( opt )

Value:

(NP_RTK(opt) + NI_RTK(opt) + NT_RTK(opt))

NI_RTK

#define NI_RTK(opt)

Definition mrtk_clas_osr.c:66

NP_RTK

#define NP_RTK(opt)

Definition mrtk_clas_osr.c:65

NT_RTK

#define NT_RTK(opt)

Definition mrtk_ppp_rtk.c:101

Definition at line 72 of file mrtk_clas_osr.c.

Referenced by ppp_rtk_pos().

◆ POSL1

#define POSL1 1 /* L1 single freq positioning */

Frequency pair selection modes (upstream claslib rtklib.h)

Definition at line 113 of file mrtk_clas_osr.c.

Referenced by clas_osr_selfreqpair(), and selfreqpair().

◆ POSL1L2

#define POSL1L2 2 /* L1+L2 dual freq positioning */

Definition at line 114 of file mrtk_clas_osr.c.

Referenced by clas_osr_selfreqpair().

◆ POSL1L2L5

#define POSL1L2L5 4 /* L1+L2+L5 triple freq positioning */

Definition at line 116 of file mrtk_clas_osr.c.

Referenced by clas_osr_selfreqpair(), and selfreqpair().

◆ POSL1L5

#define POSL1L5 3 /* L1+L5 dual freq positioning */

Definition at line 115 of file mrtk_clas_osr.c.

Referenced by clas_osr_selfreqpair(), and selfreqpair().

◆ POSL1L5_L2

#define POSL1L5_L2 5 /* L1+L5(or L2) dual freq positioning */

Definition at line 117 of file mrtk_clas_osr.c.

Referenced by clas_osr_selfreqpair(), and selfreqpair().

◆ SQR

#define SQR ( x )

Value:

((x) * (x))

Definition at line 61 of file mrtk_clas_osr.c.

Referenced by clas_osr_compensatedisp().

Function Documentation

◆ clas_osr_adjust_cpc()

double clas_osr_adjust_cpc	(	gtime_t	teph,
		int	sat,
		const ssr_t *	ssr,
		int	sig,
		double	cpc,
		double *	sis,
		int *	flag,
		int	ch,
		clas_osr_ctx_t *	ctx )

static

Adjust carrier-phase correction for SIS discontinuity.

When phase bias TOW differs from current SIS TOW by exactly 30s, subtracts the SIS discontinuity from CPC to maintain phase continuity.

Definition at line 928 of file mrtk_clas_osr.c.

References cpc, clas_satcorr_t::currsis, clas_satcorr_t::currtow, ssr_t::iode, clas_satcorr_t::previode, clas_satcorr_t::prevtow, clas_osr_ctx_t::satcorr, ssr_t::t0, time2gpst(), and trace().

Referenced by clas_osr_zdres().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ clas_osr_adjust_prc()

double clas_osr_adjust_prc	(	gtime_t	teph,
		int	sat,
		const ssr_t *	ssr,
		int	sig,
		double	prc,
		double *	sis,
		int *	flag,
		int	ch,
		clas_osr_ctx_t *	ctx )

static

Adjust pseudorange correction for SIS discontinuity.

Same logic as adjust_cpc but applied to PRC.

Definition at line 965 of file mrtk_clas_osr.c.

References clas_satcorr_t::currsis, clas_satcorr_t::currtow, ssr_t::iode, clas_satcorr_t::previode, clas_osr_ctx_t::satcorr, ssr_t::t0, time2gpst(), and trace().

Referenced by clas_osr_zdres().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ clas_osr_adjust_r_dts()

void clas_osr_adjust_r_dts	(	double *	retr,
		double *	retdts,
		gtime_t	teph,
		int	sat,
		nav_t *	nav,
		const double *	rr,
		gtime_t	dts_time,
		int	ch,
		clas_osr_ctx_t *	ctx )

static

Recompute geometric range and clock on IODE change.

When IODE changes at an SSR boundary, the broadcast ephemeris has changed. This recomputes the geometric range using the previous IODE's ephemeris to maintain consistency.

Definition at line 999 of file mrtk_clas_osr.c.

References CLIGHT, cross3(), ssr_t::dclk, ssr_t::deph, eph2clk(), ephpos(), geodist(), normv3(), clas_satcorr_t::previode, clas_osr_ctx_t::satcorr, satsys(), seleph(), nav_s::ssr_ch, SYS_CMP, SYS_GAL, SYS_GPS, SYS_QZS, time2gpst(), timeadd(), and trace().

Referenced by clas_osr_zdres().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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.

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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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.

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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ clas_osr_ctx_init()

void clas_osr_ctx_init ( clas_osr_ctx_t * ctx )

Initialize OSR conversion context (zero all persistent state).

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().

Here is the caller graph for this function:

◆ 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).

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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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 )

Update per-satellite SIS correction state for IODE adjustment.

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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ clas_osr_selfreqpair()

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

Select frequency pair for multi-frequency processing.

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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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.

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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ claslib_pcv_slot()

int claslib_pcv_slot	(	const pcv_t *	pcv,
		int	f )

static

Definition at line 104 of file mrtk_clas_osr.c.

References pcv_slot_has_data().

Referenced by clas_osr_corrmeas().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ code_on_same_freq()

int code_on_same_freq	(	int	sys,
		uint8_t	code1,
		uint8_t	code2 )

static

Check if two obs codes are on the same frequency band.

CLAS corrections use combined tracking codes (e.g. L2X = L2C M+L), while receivers report specific codes (e.g. L2W, L2L). These are equivalent for bias correction purposes since CLAS biases are frequency-band level, not tracking-mode specific.

Parameters

[in]	sys	Satellite system (SYS_GPS, SYS_GAL, etc.)
[in]	code1	First obs code (CODE_L??)
[in]	code2	Second obs code (CODE_L??)

Returns: 1 if codes are on the same frequency band, 0 otherwise

Definition at line 91 of file mrtk_clas_osr.c.

References code2freq_idx().

Referenced by clas_osr_corrmeas().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ count_nsig()

int count_nsig ( const int smode[MAXCODE] )

static

Count non-zero entries in a signal mode array (equivalent to nsig).

Parameters

[in] smode Signal mode array for one satellite

Returns: Number of valid signal modes

Definition at line 279 of file mrtk_clas_osr.c.

References MAXCODE.

Referenced by clas_osr_corrmeas().

Here is the caller graph for this function:

◆ NT_RTK()

int NT_RTK ( const prcopt_t * opt )

inlinestatic

Definition at line 67 of file mrtk_clas_osr.c.

References prcopt_t::tropopt, TROPOPT_EST, and TROPOPT_ESTG.

◆ ocean_tide_clasgrid()

void ocean_tide_clasgrid	(	gtime_t	tut,
		const clas_oload_t *	oload,
		const int *	index,
		int	nn,
		const double *	E,
		const double *	Emat,
		const double *	Gmat,
		const double *	weight,
		double *	dr )

static

Compute ocean tide loading displacement using CLAS grid interpolation.

Evaluates tide_oload() at each surrounding grid point, then interpolates using bilinear (Gmat/Emat) or weighted average. Ported from upstream claslib ppp.c:ocean_tide_clasgrid().

Parameters

[in]	tut	Time in UT
[in]	oload	Ocean loading data for the selected network
[in]	index	Grid point indices (from clas_grid_t)
[in]	nn	Number of grid points (1-4)
[in]	E	ENU rotation matrix (3x3)
[in]	Emat	Interpolation basis vector (4x1, can be NULL)
[in]	Gmat	Interpolation matrix (4x4, can be NULL)
[in]	weight	Interpolation weights (4x1)
[out]	dr	Displacement (ECEF, m) — accumulated

Definition at line 736 of file mrtk_clas_osr.c.

References dot(), matmul(), clas_oload_t::odisp, tide_oload(), and trace().

Referenced by clas_osr_zdres().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ pcv_slot_has_data()

int pcv_slot_has_data	(	const pcv_t *	pcv,
		int	slot )

static

Definition at line 100 of file mrtk_clas_osr.c.

References NFREQPCV, norm(), pcv_t::off, and pcv_t::var.

Referenced by claslib_pcv_slot().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ sat2freq()

double sat2freq	(	int	sat,
		uint8_t	code,
		const nav_t *	nav )

extern

Definition at line 244 of file mrtk_obs.c.

References code2freq(), geph_t::frq, nav_s::geph, nav_s::glo_fcn, nav_s::ng, geph_t::sat, satsys_bd2(), and SYS_GLO.

Referenced by decode_cresgloraw(), decode_rangeb(), decode_rangecmpb(), gfobs(), iflc_freq2_idx(), prange(), rescode(), resdop(), sat_lambda(), sat_wavelengths(), satantoff(), udbias(), and zdres_sat().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ sat_wavelengths()

void sat_wavelengths	(	int	sat,
		const obsd_t *	obs,
		const nav_t *	nav,
		double *	lam )

static

Fill wavelength array for a satellite from observation codes.

Parameters

[in]	sat	Satellite number
[in]	obs	Observation data for this satellite
[in]	nav	Navigation data (for GLONASS FCN)
[out]	lam	Wavelength array [NFREQ+NEXOBS]

Definition at line 261 of file mrtk_clas_osr.c.

References CLIGHT, obsd_t::code, and sat2freq().

Referenced by clas_osr_compensatedisp(), clas_osr_corrmeas(), clas_osr_zdres(), and clas_ssr2osr().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ shapiro()

double shapiro	(	const double *	rsat,
		const double *	rrcv )

static

Compute Shapiro (relativistic) time delay correction.

Parameters

[in]	rsat	Satellite position (ECEF) (m)
[in]	rrcv	Receiver position (ECEF) (m)

Returns: Shapiro correction (m)

Definition at line 142 of file mrtk_clas_osr.c.

References CLIGHT, GME, and norm().

Referenced by clas_osr_zdres().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ windupcorr()

void windupcorr	(	gtime_t	time,
		const double *	rs,
		const double *	rr,
		double *	phw )

static

Compute phase windup correction.

Parameters

[in]	time	Time (GPST)
[in]	rs	Satellite position + velocity (ECEF, 6 elements)
[in]	rr	Receiver position (ECEF, 3 elements)
[in,out]	phw	Phase windup correction (cycle), previous value as input

Definition at line 169 of file mrtk_clas_osr.c.

References cross3(), dot(), ecef2pos(), gpst2utc(), norm(), normv3(), OMGE, PI, satpos(), sunmoonpos(), and xyz2enu().

Referenced by clas_osr_zdres().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

◆ obsfreqs

const unsigned char obsfreqs[]

static

Initial value:

= {
    0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 
    2, 2, 2, 2, 3, 3, 3, 5, 5, 5, 
    4, 4, 4, 4, 4, 4, 4, 6, 6, 6, 
    2, 2, 4, 4, 3, 3, 3, 1, 1, 0  
}

CSSR signal mode to frequency band mapping table. Index = signal tracking mode code, value = 1:L1,2:L2,3:L5,4:L6,5:L7,6:L8

Definition at line 122 of file mrtk_clas_osr.c.

Referenced by clas_osr_compensatedisp().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ GME

◆ IB_RTK

◆ MAXAGESSR_SIS

◆ MAXCCORSSR_SIS

◆ MAXECORSSR_SIS

◆ NF_RTK

◆ NI_RTK

◆ NP_RTK

◆ NR_RTK

◆ POSL1

◆ POSL1L2

◆ POSL1L2L5

◆ POSL1L5

◆ POSL1L5_L2

◆ SQR

Function Documentation

◆ clas_osr_adjust_cpc()

◆ clas_osr_adjust_prc()

◆ clas_osr_adjust_r_dts()

◆ clas_osr_compensatedisp()

◆ clas_osr_corrmeas()

◆ clas_osr_ctx_init()

◆ clas_osr_prectrop()

◆ clas_osr_satcorr_update()

◆ clas_osr_selfreqpair()

◆ clas_osr_zdres()

◆ clas_ssr2osr()

◆ claslib_pcv_slot()

◆ code_on_same_freq()

◆ count_nsig()

◆ NT_RTK()

◆ ocean_tide_clasgrid()

◆ pcv_slot_has_data()

◆ sat2freq()

◆ sat_wavelengths()

◆ shapiro()

◆ windupcorr()

Variable Documentation

◆ obsfreqs