MRTKLIB Coordinates Module — Coordinate transformations and geometry. More...

#include "mrtklib/mrtk_coords.h"
#include <math.h>
#include <string.h>
#include "mrtklib/mrtk_trace.h"

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Macros
#define	PI 3.1415926535897932 /* pi */
#define	D2R (PI / 180.0) /* deg to rad */
#define	AS2R (D2R / 3600.0) /* arc sec to radian */
#define	RE_WGS84 6378137.0 /* earth semimajor axis (WGS84) (m) */
#define	FE_WGS84 (1.0 / 298.257223563) /* earth flattening (WGS84) */
#define	OMGE 7.2921151467E-5 /* earth angular velocity (IS-GPS) (rad/s) */
#define	CLIGHT 299792458.0 /* speed of light (m/s) */
#define	MAXSAT 256
#define	Rx(t, X)
#define	Ry(t, X)
#define	Rz(t, X)
#define	SQRT(x)

Functions
void	deg2dms (double deg, double *dms, int ndec)
	Convert degree to degree-minute-second.
double	dms2deg (const double *dms)
	Convert degree-minute-second to degree.
void	ecef2pos (const double r, double pos)
	Transform ECEF position to geodetic position.
void	pos2ecef (const double pos, double r)
	Transform geodetic position to ECEF position.
void	xyz2enu (const double pos, double E)
	Compute ECEF to local coordinate transformation matrix.
void	ecef2enu (const double pos, const double r, double *e)
	Transform ECEF vector to local tangential coordinate.
void	enu2ecef (const double pos, const double e, double *r)
	Transform local tangential coordinate vector to ECEF.
void	covenu (const double pos, const double P, double *Q)
	Transform ECEF covariance to local tangential coordinate.
void	covecef (const double pos, const double Q, double *P)
	Transform local ENU covariance to ECEF coordinate.
static void	ast_args (double t, double *f)
static void	nut_iau1980 (double t, const double f, double dpsi, double *deps)
void	eci2ecef (gtime_t tutc, const double erpv, double U, double *gmst)
	Compute ECI to ECEF transformation matrix.
double	geodist (const double rs, const double rr, double *e)
	Compute geometric distance and receiver-to-satellite unit vector.
double	satazel (const double pos, const double e, double *azel)
	Compute satellite azimuth/elevation angle.
void	dops (int ns, const double azel, double elmin, double dop)
	Compute DOP (dilution of precision).

Detailed Description

MRTKLIB Coordinates Module — Coordinate transformations and geometry.

This file contains all coordinate transformation and positioning geometry functions extracted from rtkcmn.c with zero algorithmic changes (pure cut-and-paste).

Definition in file mrtk_coords.c.

Macro Definition Documentation

◆ AS2R

#define AS2R (D2R / 3600.0) /* arc sec to radian */

Definition at line 37 of file mrtk_coords.c.

Referenced by ast_args(), ast_args(), eci2ecef(), nut_iau1980(), readerp(), and tide_pole().

◆ CLIGHT

#define CLIGHT 299792458.0 /* speed of light (m/s) */

Definition at line 41 of file mrtk_coords.c.

Referenced by clas_osr_adjust_r_dts(), clas_osr_zdres(), corr_meas(), ddres(), ddres(), decode_bnx_7f_05_obs(), decode_cresgloraw(), decode_cresraw(), decode_cresraw2(), decode_measepoch(), decode_rangeb(), decode_rangecmpb(), decode_Rx(), decode_rx(), decode_rxmraw(), decode_rxmrawx(), decode_ss2meas(), decode_trkd5(), decode_trkmeas(), decode_type1002(), decode_type1004(), decode_type1010(), decode_type1012(), decode_xf5raw(), decode_xP(), decode_xp(), decode_xR(), decode_xr(), DecodeType17(), eph2pos(), estpos(), gen_msm_sat(), gen_msm_sig(), gen_obs_glo(), gen_obs_gps(), geodist(), get_wavelength(), gettgd(), gfmeas(), gfobs(), gloicbcorr(), has_code2lam(), ionmodel(), mwmeas(), peph2pos(), pephclk(), pephpos(), ppp_res(), pppoutstat(), readdcbf(), readfcbf(), readisbf(), readtec(), rescode(), resdop(), sat_lambda(), sat_lambda(), sat_wavelengths(), satpos_ssr(), satposs(), save_msm_obs(), sbslongcorr(), sbssatcorr(), shapiro(), udbias(), udbias_ppp(), udclk_ppp(), update_stat(), varerr(), varerr(), zdres(), zdres(), and zdres_sat().

◆ D2R

#define D2R (PI / 180.0) /* deg to rad */

◆ FE_WGS84

#define FE_WGS84 (1.0 / 298.257223563) /* earth flattening (WGS84) */

Definition at line 39 of file mrtk_coords.c.

Referenced by ecef2pos(), and pos2ecef().

◆ MAXSAT

#define MAXSAT 256

Definition at line 45 of file mrtk_coords.c.

Referenced by add_base_value_to_cbias(), add_base_value_to_pbias(), buff2sysopts(), check_same_fac(), clas_bank_get_close(), clas_osr_compensatedisp(), clas_osr_ctx_init(), clas_osr_zdres(), clas_restore_backup(), clas_ssr2osr(), clas_update_global(), combpclk(), combpeph(), convnav(), corr_iono_distwgt(), corr_iono_plane(), ddidx(), ddmat(), ddmat(), ddres(), ddres(), ddres(), decode_bnx_01_04(), decode_bnx_01_14(), decode_cssr_bias(), decode_cssr_cb(), decode_cssr_cc(), decode_cssr_combo(), decode_cssr_oc(), decode_cssr_pb(), decode_eph(), decode_galephemerisb(), decode_galinavephemerisb(), decode_galrawfnav(), decode_has_mask(), decode_lcliono(), decode_longcorr0(), decode_longcorr1(), decode_mcssr_mask(), decode_sbstype1(), decode_sbstype6(), decode_sbstype7(), decode_trkd5(), decode_trkmeas(), decode_type1045(), decoderaw(), detslp_dop(), dops(), dump_halfc(), encode_ssr1(), encode_ssr2(), encode_ssr3(), encode_ssr4(), encode_ssr5(), encode_ssr6(), encode_ssr7(), encode_type1045(), estpos(), exclsat(), flushobuf(), free_strfile(), freebiass(), gen_strfile(), get_iono_sta(), grid_intp_iono(), holdamb(), holdamb(), holdamb(), init_grid_index(), init_mdcl6d(), init_raw(), init_rnxctr(), init_rtcm(), input_rnxctr(), load_ppp_osr_cpc(), miono_get_corr(), nextsat(), outbsnxsol(), outnmea_gsa(), outnmea_gsv(), outsolstat(), peph2pos(), pntpos(), ppp_amb_ILS(), ppp_res(), ppp_rtk_pos(), pppos(), pppoutstat(), ppprtk_outstat(), raw2rtcm(), readbnxfp(), readdcb(), readionexdcb(), readrnxclk(), readrnxobs(), readsap(), readsp3(), readsp3b(), readsp3h(), readtec(), relpos(), relposvrs(), rescode(), residual_test(), residual_test(), restamb(), restamb(), restamb(), rtcm2rtcm(), rtkinit(), rtkoutstat(), rtksvrinit(), rtksvrstart(), satsys(), save_ppp_osr_cpc(), savenav(), search_amb_lambda(), seleph(), selsat(), set_cssr_bank_cbias(), set_cssr_bank_clock(), set_cssr_bank_orbit(), set_cssr_bank_pbias(), setpcv(), sta_sel_iono(), sysopts2buff(), test_hold_amb(), tracepclk(), tracepeph(), udbias(), udbias_ppp(), udbias_ppp(), udbias_ppp(), udfcb_sat(), udion(), udion(), udion(), udiono_ppp(), udosb_sat(), udosb_station(), udpos(), udsatcb(), udsatpb(), udstacb(), update_eph(), update_gal_has(), update_qzssl6d(), update_qzssl6e(), update_rtcm(), update_ssr(), update_stat(), update_stat(), update_stat(), and valid_zd_sig().

◆ OMGE

#define OMGE 7.2921151467E-5 /* earth angular velocity (IS-GPS) (rad/s) */

Definition at line 40 of file mrtk_coords.c.

Referenced by alm2pos(), eph2pos(), geodist(), pephpos(), resdop(), sat_yaw(), and windupcorr().

◆ PI

#define PI 3.1415926535897932 /* pi */

Definition at line 35 of file mrtk_coords.c.

Referenced by ast_args(), ast_args(), corr_trop_distwgt(), decode_bdsnav(), decode_galnav(), decode_gpsnav(), decode_lcltrop(), decode_qzssnav(), ecef2pos(), encode_lcltrop(), exc_sat_par(), get_mops(), iondelay(), ionmapf(), ionmodel(), ionppp(), model_phw(), nmf(), sat_yaw(), satazel(), sbstropcorr(), testeclipse(), tide_oload(), trop_model_prec(), tropmapf(), tropmodel(), udtrop_ppp(), utc2gmst(), windupcorr(), and yaw_nominal().

◆ RE_WGS84

#define RE_WGS84 6378137.0 /* earth semimajor axis (WGS84) (m) */

Definition at line 38 of file mrtk_coords.c.

Referenced by ecef2pos(), geodist(), ionmapf(), pickup_candidates_of_grid(), pos2ecef(), satazel(), sunmoonpos_eci(), testeclipse(), and tide_pl().

◆ Rx

#define Rx	(		t,
			X )

Value:

    do {                                         \
        (X)[0] = 1.0;                            \
        (X)[1] = (X)[2] = (X)[3] = (X)[6] = 0.0; \
        (X)[4] = (X)[8] = cos(t);                \
        (X)[7] = sin(t);                         \
        (X)[5] = -(X)[7];                        \
    } while (0)

Definition at line 215 of file mrtk_coords.c.

Referenced by eci2ecef().

◆ Ry

#define Ry	(		t,
			X )

Value:

    do {                                         \
        (X)[4] = 1.0;                            \
        (X)[1] = (X)[3] = (X)[5] = (X)[7] = 0.0; \
        (X)[0] = (X)[8] = cos(t);                \
        (X)[2] = sin(t);                         \
        (X)[6] = -(X)[2];                        \
    } while (0)

Definition at line 224 of file mrtk_coords.c.

Referenced by eci2ecef().

◆ Rz

#define Rz	(		t,
			X )

Value:

    do {                                         \
        (X)[8] = 1.0;                            \
        (X)[2] = (X)[5] = (X)[6] = (X)[7] = 0.0; \
        (X)[0] = (X)[4] = cos(t);                \
        (X)[3] = sin(t);                         \
        (X)[1] = -(X)[3];                        \
    } while (0)

Definition at line 233 of file mrtk_coords.c.

Referenced by eci2ecef().

◆ SQRT

#define SQRT ( x )

Value:

((x) < 0.0 || (x) != (x) ? 0.0 : sqrt(x))

Definition at line 543 of file mrtk_coords.c.

Referenced by dops(), outecef(), outenu(), outpos(), and ppprtk_outstat().

Function Documentation

◆ ast_args()

void ast_args	(	double	t,
		double *	f )

static

Definition at line 243 of file mrtk_coords.c.

References AS2R, and PI.

Referenced by eci2ecef().

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◆ covecef()

void covecef	(	const double *	pos,
		const double *	Q,
		double *	P )

extern

Transform local ENU covariance to ECEF coordinate.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[in]	Q	Covariance in local ENU coordinate
[out]	P	Covariance in ECEF coordinate

Definition at line 202 of file mrtk_coords.c.

References matmul(), and xyz2enu().

Referenced by decode_solllh(), udpos(), udpos(), udpos_ppp(), and udpos_ppp().

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◆ covenu()

void covenu	(	const double *	pos,
		const double *	P,
		double *	Q )

extern

Transform ECEF covariance to local tangential coordinate.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[in]	P	Covariance in ECEF coordinate
[out]	Q	Covariance in local tangential coordinate

Definition at line 188 of file mrtk_coords.c.

References matmul(), and xyz2enu().

Referenced by const_iono_corr(), outenu(), and outpos().

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◆ deg2dms()

void deg2dms	(	double	deg,
		double *	dms,
		int	ndec )

extern

Convert degree to degree-minute-second.

Parameters

[in]	deg	Degree
[out]	dms	Degree-minute-second {deg, min, sec}
[in]	ndec	Number of decimals of second

Definition at line 63 of file mrtk_coords.c.

Referenced by outnmea_gga(), outnmea_rmc(), outpos(), and outrpos().

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◆ dms2deg()

double dms2deg ( const double * dms )

extern

Convert degree-minute-second to degree.

Parameters

[in] dms Degree-minute-second {deg, min, sec}

Returns: Degree

Definition at line 86 of file mrtk_coords.c.

Referenced by decode_refpos(), and decode_solllh().

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◆ dops()

void dops	(	int	ns,
		const double *	azel,
		double	elmin,
		double *	dop )

extern

Compute DOP (dilution of precision).

Parameters

[in]	ns	Number of satellites
[in]	azel	Satellite azimuth/elevation angle (rad)
[in]	elmin	Elevation cutoff angle (rad)
[out]	dop	DOPs {GDOP, PDOP, HDOP, VDOP}

Note: dop[0]-[3] return 0 in case of DOP computation error.

Definition at line 545 of file mrtk_coords.c.

References matinv(), matmul(), MAXSAT, and SQRT.

Referenced by outnmea_gsa(), valsol(), zddop(), and zddop().

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◆ ecef2enu()

void ecef2enu	(	const double *	pos,
		const double *	r,
		double *	e )

extern

Transform ECEF vector to local tangential coordinate.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[in]	r	Vector in ECEF coordinate {x, y, z}
[out]	e	Vector in local tangential coordinate {e, n, u}

Definition at line 162 of file mrtk_coords.c.

References matmul(), and xyz2enu().

Referenced by outenu(), outnmea_rmc(), outpos(), outrnxevent(), pppoutstat(), ppprtk_outstat(), rtkoutstat(), satazel(), setopt_sta(), and setpcv().

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◆ ecef2pos()

void ecef2pos	(	const double *	r,
		double *	pos )

extern

Transform ECEF position to geodetic position.

Parameters

[in]	r	ECEF position {x, y, z} (m)
[out]	pos	Geodetic position {lat, lon, h} (rad, m)

Note: WGS84, ellipsoidal height.

Definition at line 102 of file mrtk_coords.c.

References dot(), FE_WGS84, PI, and RE_WGS84.

Referenced by antpos(), clas_osr_zdres(), clas_ssr2osr(), const_iono_corr(), corr_iono_plane(), corr_trop_plane(), ddres(), ddres(), ddres(), decode_type1005(), decode_type1006(), dump_stas(), get_site(), gettriangledd(), miono_get_corr(), model_phw(), outenu(), outnmea_gga(), outnmea_rmc(), outpos(), outrnxevent(), outrpos(), ppp_res(), ppp_rtk_pos(), pppoutstat(), ppprtk_outstat(), rescode(), resdop(), rtkoutstat(), rtksvrmark(), selpersta(), setopt_sta(), setpcv(), sta_sel_iono(), sta_sel_trop(), sysopts2buff(), udbias_ppp(), udiono_ppp(), udpos(), udpos(), udpos_ppp(), udpos_ppp(), udtrop_ppp(), update_antpos(), windupcorr(), zdres(), and zdres().

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◆ eci2ecef()

void eci2ecef	(	gtime_t	tutc,
		const double *	erpv,
		double *	U,
		double *	gmst )

extern

Compute ECI to ECEF transformation matrix.

Parameters

[in]	tutc	Time in UTC
[in]	erpv	ERP values {xp, yp, ut1_utc, lod} (rad, rad, s, s/d)
[out]	U	ECI to ECEF transformation matrix (3x3)
[in,out]	gmst	Greenwich mean sidereal time (rad) (NULL: no output)

Note: Not thread-safe (uses static cache).

Definition at line 399 of file mrtk_coords.c.

References AS2R, ast_args(), epoch2time(), matmul(), NP, nut_iau1980(), Rx, Ry, Rz, time_str(), timediff(), trace(), tracemat(), utc2gmst(), and utc2gpst().

Referenced by sunmoonpos().

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◆ enu2ecef()

void enu2ecef	(	const double *	pos,
		const double *	e,
		double *	r )

extern

Transform local tangential coordinate vector to ECEF.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[in]	e	Vector in local tangential coordinate {e, n, u}
[out]	r	Vector in ECEF coordinate {x, y, z}

Definition at line 175 of file mrtk_coords.c.

References matmul(), and xyz2enu().

Referenced by antpos(), decode_solllh(), and update_antpos().

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◆ geodist()

double geodist	(	const double *	rs,
		const double *	rr,
		double *	e )

extern

Compute geometric distance and receiver-to-satellite unit vector.

Parameters

[in]	rs	Satellite position (ECEF at transmission) (m)
[in]	rr	Receiver position (ECEF at reception) (m)
[out]	e	Line-of-sight vector (ECEF)

Returns: Geometric distance (m) (<0: error/no satellite position)

Note: Distance includes Sagnac effect correction.

Definition at line 493 of file mrtk_coords.c.

References CLIGHT, norm(), OMGE, and RE_WGS84.

Referenced by clas_osr_adjust_r_dts(), clas_osr_zdres(), ppp_res(), rescode(), zdres(), and zdres().

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◆ nut_iau1980()

void nut_iau1980	(	double	t,
		const double *	f,
		double *	dpsi,
		double *	deps )

static

Definition at line 265 of file mrtk_coords.c.

References AS2R.

Referenced by eci2ecef().

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◆ pos2ecef()

void pos2ecef	(	const double *	pos,
		double *	r )

extern

Transform geodetic position to ECEF position.

Parameters

[in]	pos	Geodetic position {lat, lon, h} (rad, m)
[out]	r	ECEF position {x, y, z} (m)

Note: WGS84, ellipsoidal height.

Definition at line 122 of file mrtk_coords.c.

References FE_WGS84, and RE_WGS84.

Referenced by buff2sysopts(), decode_bnx_00(), decode_lcliono(), decode_lcltrop(), decode_nmeagga(), decode_nmearmc(), decode_pvtgeodetic(), decode_refpos(), decode_solllh(), get_site(), getstapos(), miono_sel_area(), and selpersta().

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◆ satazel()

double satazel	(	const double *	pos,
		const double *	e,
		double *	azel )

extern

Compute satellite azimuth/elevation angle.

Parameters

[in]	pos	Geodetic position {lat, lon, h} (rad, m)
[in]	e	Receiver-to-satellite unit vector (ECEF)
[in,out]	azel	Azimuth/elevation {az, el} (rad) (NULL: no output) (0.0<=azel[0]<2*pi, -pi/2<=azel[1]<=pi/2)

Returns: Elevation angle (rad)

Definition at line 517 of file mrtk_coords.c.

References dot(), ecef2enu(), PI, and RE_WGS84.

Referenced by clas_osr_zdres(), ppp_res(), rescode(), zdres(), and zdres().

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◆ xyz2enu()

void xyz2enu	(	const double *	pos,
		double *	E )

extern

Compute ECEF to local coordinate transformation matrix.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[out]	E	ECEF to local coord transformation matrix (3x3)

Note: Matrix stored by column-major order (Fortran convention).

Definition at line 142 of file mrtk_coords.c.

Referenced by clas_osr_zdres(), covecef(), covenu(), ecef2enu(), enu2ecef(), model_phw(), resdop(), tidedisp(), and windupcorr().

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Macros

Functions

Detailed Description

Macro Definition Documentation

◆ AS2R

◆ CLIGHT

◆ D2R

◆ FE_WGS84

◆ MAXSAT

◆ OMGE

◆ PI

◆ RE_WGS84

◆ Rx

◆ Ry

◆ Rz

◆ SQRT

Function Documentation

◆ ast_args()

◆ covecef()

◆ covenu()

◆ deg2dms()

◆ dms2deg()

◆ dops()

◆ ecef2enu()

◆ ecef2pos()

◆ eci2ecef()

◆ enu2ecef()

◆ geodist()

◆ nut_iau1980()

◆ pos2ecef()

◆ satazel()

◆ xyz2enu()