MRTKLIB Matrix Module — Matrix/vector operations and estimation. More...

#include "mrtklib/mrtk_mat.h"
#include <math.h>
#include <stdarg.h>
#include <stdlib.h>
#include <string.h>

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Functions
static void	fatalerr (const char *format,...)
void	add_fatal (fatalfunc_t *func)
	Add fatal callback function for mat(), zeros(), imat().
double *	mat (int n, int m)
	Allocate memory for a double matrix.
int *	imat (int n, int m)
	Allocate memory for an integer matrix.
double *	zeros (int n, int m)
	Allocate a new zero matrix.
double *	eye (int n)
	Generate a new identity matrix.
double	dot (const double a, const double b, int n)
	Inner product of vectors.
double	norm (const double *a, int n)
	Euclidean norm of vector.
void	cross3 (const double a, const double b, double *c)
	Cross product of 3D vectors.
int	normv3 (const double a, double b)
	Normalize 3D vector.
void	matcpy (double A, const double B, int n, int m)
	Copy matrix.
void	matmul (const char tr, int n, int k, int m, double alpha, const double A, const double B, double beta, double C)
	Multiply matrix by matrix (C = alphaAB + beta*C).
static int	ludcmp (double A, int n, int indx, double *d)
static void	lubksb (const double A, int n, const int indx, double *b)
int	matinv (double *A, int n)
	Inverse of matrix (A = A^-1).
int	solve (const char tr, const double A, const double Y, int n, int m, double X)
	Solve linear equation (X = A\Y or X = A'\Y).
int	lsq (const double A, const double y, int n, int m, double x, double Q)
	Least square estimation by solving normal equation.
static int	filter_ (const double x, const double P, const double H, const double v, const double R, int n, int m, double xp, double *Pp)
int	filter (double x, double P, const double H, const double v, const double *R, int n, int m)
	Kalman filter state update.
int	smoother (const double xf, const double Qf, const double xb, const double Qb, int n, double xs, double Qs)
	Combine forward and backward filters by fixed-interval smoother.
void	matfprint (const double A[], int n, int m, int p, int q, FILE *fp)
void	matprint (const double A[], int n, int m, int p, int q)

Variables
static fatalfunc_t *	fatalfunc = NULL

Detailed Description

MRTKLIB Matrix Module — Matrix/vector operations and estimation.

This file contains all matrix/vector and estimation functions extracted from rtkcmn.c with zero algorithmic changes (pure cut-and-paste).

Definition in file mrtk_mat.c.

Function Documentation

◆ add_fatal()

void add_fatal ( fatalfunc_t * func )

extern

Add fatal callback function for mat(), zeros(), imat().

Parameters

[in] func Callback function

Definition at line 65 of file mrtk_mat.c.

References fatalfunc.

◆ cross3()

void cross3	(	const double *	a,
		const double *	b,
		double *	c )

extern

Cross product of 3D vectors.

Parameters

[in]	a	Vector a (3 x 1)
[in]	b	Vector b (3 x 1)
[out]	c	Cross product a x b (3 x 1)

Definition at line 172 of file mrtk_mat.c.

Referenced by clas_osr_adjust_r_dts(), clas_osr_satcorr_update(), model_phw(), plane(), sat_yaw(), satantoff(), satpos_ssr(), and windupcorr().

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◆ dot()

double dot	(	const double *	a,
		const double *	b,
		int	n )

extern

Inner product of vectors.

Parameters

[in]	a	Vector a (n x 1)
[in]	b	Vector b (n x 1)
[in]	n	Size of vectors

Returns: a' * b

Definition at line 151 of file mrtk_mat.c.

Referenced by antmodel(), clas_osr_satcorr_update(), clas_stec_grid_data(), clas_trop_grid_data(), deq(), ecef2pos(), find_grid_surround_pos(), model_phw(), norm(), ocean_tide_clasgrid(), peph2pos(), resdop(), sat_yaw(), satantpcv(), satazel(), satpos_ssr(), testeclipse(), tide_pl(), toml_rtod_ex(), valsol(), and windupcorr().

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◆ eye()

double * eye ( int n )

extern

Generate a new identity matrix.

Parameters

[in] n Number of rows and columns

Returns: Matrix pointer (NULL if n<=0)

Definition at line 129 of file mrtk_mat.c.

References zeros().

Referenced by filter2_(), filter2_(), filter_(), lambda(), udpos(), udpos(), udpos_ppp(), and udpos_ppp().

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◆ fatalerr()

void fatalerr	(	const char *	format,
			... )

static

Definition at line 41 of file mrtk_mat.c.

References fatalfunc.

Referenced by imat(), mat(), and zeros().

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◆ filter()

int filter	(	double *	x,
		double *	P,
		const double *	H,
		const double *	v,
		const double *	R,
		int	n,
		int	m )

extern

Kalman filter state update.

K=P*H*(H'*P*H+R)^-1, xp=x+K*v, Pp=(I-K*H')*P

Parameters

[in,out]	x	States vector (n x 1)
[in,out]	P	Covariance matrix of states (n x n)
[in]	H	Transpose of design matrix (n x m)
[in]	v	Innovation (measurement - model) (m x 1)
[in]	R	Covariance matrix of measurement error (m x m)
[in]	n	Number of states
[in]	m	Number of measurements

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

Note: Matrix stored by column-major order (Fortran convention). If state x[i]==0.0, does not update state x[i]/P[i+i*n].

Definition at line 524 of file mrtk_mat.c.

References filter_(), free, imat(), and mat().

Referenced by holdamb(), holdamb(), holdamb(), pppos(), relpos(), and update_states().

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◆ filter_()

int filter_	(	const double *	x,
		const double *	P,
		const double *	H,
		const double *	v,
		const double *	R,
		int	n,
		int	m,
		double *	xp,
		double *	Pp )

static

Definition at line 503 of file mrtk_mat.c.

References eye(), free, mat(), matcpy(), matinv(), and matmul().

Referenced by filter().

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◆ imat()

int * imat	(	int	n,
		int	m )

extern

Allocate memory for an integer matrix.

Parameters

[in]	n	Number of rows
[in]	m	Number of columns

Returns: Matrix pointer (NULL if n<=0 or m<=0)

Definition at line 92 of file mrtk_mat.c.

References fatalerr(), and malloc.

Referenced by clas_trop_grid_data(), filter(), filter2(), filter2(), filter2_(), filter2_(), matinv(), raim_fde(), resamb_LAMBDA(), udpos(), and udpos_ppp().

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◆ lsq()

int lsq	(	const double *	A,
		const double *	y,
		int	n,
		int	m,
		double *	x,
		double *	Q )

extern

Least square estimation by solving normal equation.

Solves x = (A*A')^-1 * A * y.

Parameters

[in]	A	Transpose of (weighted) design matrix (n x m)
[in]	y	(Weighted) measurements (m x 1)
[in]	n	Number of parameters
[in]	m	Number of measurements (n <= m)
[out]	x	Estimated parameters (n x 1)
[out]	Q	Estimated parameters covariance matrix (n x n)

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

Note: For weighted least square, replace A and y by A*w and w*y (w=W^(1/2)). Matrix stored by column-major order (Fortran convention).

Definition at line 470 of file mrtk_mat.c.

References free, mat(), matinv(), and matmul().

Referenced by estpos(), and estvel().

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◆ lubksb()

void lubksb	(	const double *	A,
		int	n,
		const int *	indx,
		double *	b )

static

Definition at line 400 of file mrtk_mat.c.

Referenced by matinv().

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◆ ludcmp()

int ludcmp	(	double *	A,
		int	n,
		int *	indx,
		double *	d )

static

Definition at line 345 of file mrtk_mat.c.

References free, and mat().

Referenced by matinv().

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◆ mat()

double * mat	(	int	n,
		int	m )

extern

Allocate memory for a double matrix.

Parameters

[in]	n	Number of rows
[in]	m	Number of columns

Returns: Matrix pointer (NULL if n<=0 or m<=0)

Definition at line 76 of file mrtk_mat.c.

References fatalerr(), and malloc.

Referenced by calc_3points_weight(), clas_get_grid_index(), clas_ssr2osr(), clas_stec_grid_data(), clas_trop_grid_data(), ddres(), ddres(), ddres(), estpos(), estvel(), filter(), filter2(), filter2(), filter2_(), filter2_(), filter_(), holdamb(), holdamb(), holdamb(), lambda(), lambda_reduction(), lambda_search(), LD(), lsq(), ludcmp(), matinv(), pntpos(), ppp_amb_ILS(), ppp_rtk_pos(), pppos(), raim_fde(), relpos(), relposvrs(), resamb_LAMBDA(), resamb_LAMBDA(), resamb_LAMBDA(), sddop(), sddop(), search(), smoother(), solve(), udpos(), udpos(), udpos_ppp(), udpos_ppp(), write_trace_sd_amb(), zddop(), zddop(), and zeros().

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◆ matcpy()

void matcpy	(	double *	A,
		const double *	B,
		int	n,
		int	m )

extern

Copy matrix.

Parameters

[out]	A	Destination matrix (n x m)
[in]	B	Source matrix (n x m)
[in]	n	Number of rows
[in]	m	Number of columns

Definition at line 205 of file mrtk_mat.c.

Referenced by clas_get_grid_index(), decode_bdsraw(), decode_bnx_00(), decode_cnav(), decode_enav(), decode_galrawfnav(), decode_galrawinav(), decode_glorawca(), decode_gnav(), decode_ionutc(), decode_ionutc(), decode_L1ionutc(), decode_navicraw(), decode_qzssrawsubframeb(), estvel(), filter2_(), filter2_(), filter_(), matinv(), model_trop(), pntpos(), ppp_amb_ILS(), ppp_rtk_pos(), pppos(), raim_fde(), raw2rtcm(), readpcv(), relpos(), relposvrs(), sat_yaw(), send_nmea(), setopt_apppos(), setopt_sta(), smoother(), solve(), strsvrthread(), udpos(), udpos_ppp(), and update_ionutc().

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◆ matfprint()

void matfprint	(	const double	A[],
		int	n,
		int	m,
		int	p,
		int	q,
		FILE *	fp )

extern

Definition at line 615 of file mrtk_mat.c.

Referenced by matprint().

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◆ matinv()

int matinv	(	double *	A,
		int	n )

extern

Inverse of matrix (A = A^-1).

Parameters

[in,out]	A	Matrix (n x n)
[in]	n	Size of matrix

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

Definition at line 421 of file mrtk_mat.c.

References free, imat(), lubksb(), ludcmp(), mat(), and matcpy().

Referenced by calc_3points_weight(), clas_get_grid_index(), dops(), filter2_(), filter2_(), filter_(), lsq(), resamb_LAMBDA(), resamb_LAMBDA(), resamb_LAMBDA(), sddop(), sddop(), smoother(), and solve().

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◆ matmul()

void matmul	(	const char *	tr,
		int	n,
		int	k,
		int	m,
		double	alpha,
		const double *	A,
		const double *	B,
		double	beta,
		double *	C )

extern

Multiply matrix by matrix (C = alpha*A*B + beta*C).

Parameters

[in]	tr	Transpose flags ("N":normal, "T":transpose)
[in]	n,k,m	Size of (transposed) matrix A, B
[in]	alpha	Alpha coefficient
[in]	A,B	(Transposed) matrix A (n x m), B (m x k)
[in]	beta	Beta coefficient
[in,out]	C	Matrix C (n x k)

Definition at line 310 of file mrtk_mat.c.

Referenced by calc_3points_weight(), clas_stec_grid_data(), clas_trop_grid_data(), covecef(), covenu(), dops(), ecef2enu(), eci2ecef(), enu2ecef(), filter2_(), filter2_(), filter_(), lambda(), lsq(), ocean_tide_clasgrid(), resamb_LAMBDA(), resamb_LAMBDA(), resamb_LAMBDA(), resdop(), sddop(), sddop(), smoother(), solve(), sunmoonpos(), tidedisp(), udpos(), udpos(), udpos_ppp(), udpos_ppp(), and write_trace_sd_amb().

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◆ matprint()

void matprint	(	const double	A[],
		int	n,
		int	m,
		int	p,
		int	q )

extern

Definition at line 625 of file mrtk_mat.c.

References matfprint().

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◆ norm()

double norm	(	const double *	a,
		int	n )

extern

Euclidean norm of vector.

Parameters

[in]	a	Vector a (n x 1)
[in]	n	Size of vector

Returns: || a ||

Definition at line 165 of file mrtk_mat.c.

References dot().

Referenced by antpos(), baseline(), baseline(), baseline_len(), clas_osr_satcorr_update(), clas_osr_zdres(), clas_ssr2osr(), combpeph(), constbl(), convrnx_s(), decode_solsss(), estpos(), estvel(), find_grid_surround_pos(), geodist(), ionmodel(), ionocorr(), miono_sel_area(), model_phw(), normv3(), out_iono_sys(), out_leaps(), out_time_sys(), outnmea_rmc(), outrnxevent(), outsols(), pcv_slot_has_data(), pephpos(), pickup_candidates_of_grid(), pntpos(), posdist(), ppp_amb_ILS(), ppp_rtk_pos(), pppos(), readpcv(), relposvrs(), resdop(), satpos_ssr(), send_nmea(), setopt_sta(), setpcv(), shapiro(), testeclipse(), tide_pl(), tidedisp(), udpos(), udpos(), udpos_ppp(), udpos_ppp(), windupcorr(), zdres(), and zdres().

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◆ normv3()

int normv3	(	const double *	a,
		double *	b )

extern

Normalize 3D vector.

Parameters

[in]	a	Vector a (3 x 1)
[out]	b	Normalized vector (3 x 1), \|\| b \|\| = 1

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

Definition at line 183 of file mrtk_mat.c.

References norm().

Referenced by clas_osr_adjust_r_dts(), clas_osr_satcorr_update(), model_phw(), plane(), sat_yaw(), satantoff(), satantpcv(), satpos_ssr(), testeclipse(), and windupcorr().

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◆ smoother()

int smoother	(	const double *	xf,
		const double *	Qf,
		const double *	xb,
		const double *	Qb,
		int	n,
		double *	xs,
		double *	Qs )

extern

Combine forward and backward filters by fixed-interval smoother.

xs=Qs*(Qf^-1*xf+Qb^-1*xb), Qs=(Qf^-1+Qb^-1)^-1

Parameters

[in]	xf	Forward solutions (n x 1)
[in]	Qf	Forward solutions covariance matrix (n x n)
[in]	xb	Backward solutions (n x 1)
[in]	Qb	Backward solutions covariance matrix (n x n)
[in]	n	Number of solutions
[out]	xs	Smoothed solutions (n x 1)
[out]	Qs	Smoothed solutions covariance matrix (n x n)

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

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

Definition at line 579 of file mrtk_mat.c.

References free, mat(), matcpy(), matinv(), and matmul().

Referenced by combres().

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◆ solve()

int solve	(	const char *	tr,
		const double *	A,
		const double *	Y,
		int	n,
		int	m,
		double *	X )

extern

Solve linear equation (X = A\Y or X = A'\Y).

Parameters

[in]	tr	Transpose flag ("N":normal, "T":transpose)
[in]	A	Input matrix A (n x n)
[in]	Y	Input matrix Y (n x m)
[in]	n,m	Size of matrix A, Y
[out]	X	Solution X = A\Y or X = A'\Y (n x m)

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

Note: Matrix stored by column-major order (Fortran convention). X can be same as Y.

Definition at line 443 of file mrtk_mat.c.

References free, mat(), matcpy(), matinv(), and matmul().

Referenced by lambda().

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◆ zeros()

double * zeros	(	int	n,
		int	m )

extern

Allocate a new zero matrix.

Parameters

[in]	n	Number of rows
[in]	m	Number of columns

Returns: Matrix pointer (NULL if n<=0 or m<=0)

Definition at line 108 of file mrtk_mat.c.

References calloc, fatalerr(), and mat().

Referenced by clas_ssr2osr(), eye(), filter2(), holdamb(), holdamb(), holdamb(), lambda(), lambda_reduction(), lambda_search(), pntpos(), ppp_amb_ILS(), ppp_rtk_pos(), pppos(), raim_fde(), relpos(), relposvrs(), resamb_LAMBDA(), resamb_LAMBDA(), residual_test(), residual_test(), rtkinit(), search(), set_init_pb(), set_init_pb(), udbias(), udbias_ppp(), udbias_ppp(), update_states(), and write_trace_sd_amb().

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Variable Documentation

◆ fatalfunc

fatalfunc_t* fatalfunc = NULL

static

Definition at line 34 of file mrtk_mat.c.

Referenced by add_fatal(), and fatalerr().

Functions

Variables

Detailed Description

Function Documentation

◆ add_fatal()

◆ cross3()

◆ dot()

◆ eye()

◆ fatalerr()

◆ filter()

◆ filter_()

◆ imat()

◆ lsq()

◆ lubksb()

◆ ludcmp()

◆ mat()

◆ matcpy()

◆ matfprint()

◆ matinv()

◆ matmul()

◆ matprint()

◆ norm()

◆ normv3()

◆ smoother()

◆ solve()

◆ zeros()

Variable Documentation

◆ fatalfunc