MRTKLIB Navigation Module — Navigation data types and satellite/nav utility functions. More...

#include "mrtklib/mrtk_eph.h"
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_peph.h"
#include "mrtklib/mrtk_time.h"

Include dependency graph for mrtk_nav.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	pcv_t
struct	pcvs_t
struct	peph_t
struct	pclk_t
struct	tec_t
struct	sbsmsg_t
struct	sbs_t
struct	sbsfcorr_t
struct	sbslcorr_t
struct	sbssatp_t
struct	sbssat_t
struct	sbsigp_t
struct	sbsigpband_t
struct	sbsion_t
struct	dgps_t
struct	ssr_t
struct	osb_t
struct	miono_sat_t
struct	miono_area_t
struct	miono_region_t
struct	pppiono_corr_t
struct	pppiono_t
struct	spos_t
struct	ion_t
struct	trp_t
struct	siteion_t
struct	sitetrp_t
struct	stat_t
struct	sstat_t
struct	lclopt_t
struct	blkinf_t
struct	lclblock_t
struct	isb_t
struct	sft_t
struct	sta_t
struct	nav_s

Macros
#define	ISBOPT_OFF 0 /* ISB option: correction off */
#define	ISBOPT_TABLE 1 /* ISB option: table file */
#define	MAXRECTYP 100 /* max number of receiver types */
#define	PHASE_CYCLE (-0.25) /* default L2C 1/4 cycle phase shift */

Typedefs
typedef struct nav_s	nav_t

Functions
int	satno (int sys, int prn)
	Convert satellite system+prn/slot number to satellite number.
int	satsys (int sat, int *prn)
	Convert satellite number to satellite system.
int	satid2no (const char *id)
	Convert satellite id to satellite number.
void	satno2id (int sat, char *id)
	Convert satellite number to satellite id.
double	sat2freq (int sat, uint8_t code, const nav_t *nav)
	Convert satellite and obs code to carrier frequency.
int	satsys_bd2 (int sat, int *prn)
	Distinguish BDS-2 from BDS-3.
int	set_bds2prn (const char *str)
	Set the BDS-2 satellites in BeiDou PRN 1-18.
int	is_bds2prn (int prn)
	Test whether a BeiDou PRN is BDS-2 (see set_bds2prn()).
int	set_bds3igso (const char *str)
	Set the BDS-3 IGSO satellites (excluded as PPP-AR reference satellite).
int	is_bds3igso (int prn)
	Test whether a BeiDou PRN is listed as BDS-3 IGSO (see set_bds3igso()).
int	bds_gen (int prn)
	BeiDou generation of a PRN.
int	freq_idx2freq_num (int sys, int freq_idx)
	Convert frequency index to frequency number using obsdef table.
int	freq_num2freq_idx (int sys, int freq_num)
	Convert frequency number to frequency index using obsdef table.
double	freq_num2freq (int sys, int freq_num, int fcn)
	Convert frequency number to frequency in Hz.
int	freq_num2ant_idx (int sys, int freq_num)
	Convert frequency number to antenna PCV index.
int	freq_idx2ant_idx (int sys, int freq_idx)
	Convert frequency index to antenna PCV index.
void	set_obsdef (int sys, const int *freq_nums)
	Rearrange obsdef table for a satellite system by frequency numbers.
void	reset_obsdef (void)
	Reset all obsdef tables to their pristine default frequency layout.
void	apply_pppsig (const int *pppsig)
	Apply PPP signal selection options to obsdef tables.
void	apply_claslib_ppprtk_obsdef (void)
	Apply the upstream claslib PPP-RTK observation slot layout.
void	uniqnav (nav_t *nav)
	Unique ephemerides in navigation data.
int	readnav (const char file, nav_t nav)
	Read navigation data from file.
int	savenav (const char file, const nav_t nav)
	Save navigation data to file.
void	freenav (nav_t *nav, int opt)
	Free navigation data memory.
int	satpos (gtime_t time, gtime_t teph, int sat, int ephopt, const nav_t nav, double rs, double dts, double var, int *svh)
	Compute satellite position, velocity and clock.
void	satposs (gtime_t teph, const obsd_t obs, int n, const nav_t nav, int ephopt, double rs, double dts, double var, int svh)
	Compute satellite positions, velocities and clocks.
int	peph2pos (gtime_t time, int sat, const nav_t nav, int opt, double rs, double dts, double var)
	Compute satellite position/clock with precise ephemeris/clock.
void	satantoff (gtime_t time, const double rs, int sat, const nav_t nav, double *dant)
	Compute satellite antenna phase center offset in ecef.
void	readsp3 (const char file, nav_t nav, int opt)
	Read sp3 precise ephemeris file.
int	readsap (const char file, gtime_t time, nav_t nav)
	Read satellite antenna parameters.
int	readdcb (const char file, nav_t nav, const sta_t *sta)
	Read differential code bias (DCB) parameters.
int	satexclude (int sat, double var, int svh, const struct prcopt_t *opt)
	Test excluded satellite.

Detailed Description

MRTKLIB Navigation Module — Navigation data types and satellite/nav utility functions.

This header provides the core navigation data structures extracted from rtklib.h with zero algorithmic changes. It includes pcv_t, peph_t, pclk_t, TEC/SBAS/SSR types, the central nav_t aggregation struct, and satellite number/system conversion functions.

Note: Functions declared here are implemented in mrtk_nav.c.

Definition in file mrtk_nav.h.

Macro Definition Documentation

◆ ISBOPT_OFF

#define ISBOPT_OFF 0 /* ISB option: correction off */

Definition at line 348 of file mrtk_nav.h.

◆ ISBOPT_TABLE

#define ISBOPT_TABLE 1 /* ISB option: table file */

Definition at line 349 of file mrtk_nav.h.

Referenced by chk_isb(), clas_osr_zdres(), execses(), and zdres().

◆ MAXRECTYP

#define MAXRECTYP 100 /* max number of receiver types */

Definition at line 350 of file mrtk_nav.h.

Referenced by readL2C().

◆ PHASE_CYCLE

#define PHASE_CYCLE (-0.25) /* default L2C 1/4 cycle phase shift */

Definition at line 351 of file mrtk_nav.h.

Referenced by readL2C().

Typedef Documentation

◆ nav_t

typedef struct nav_s nav_t

Function Documentation

◆ apply_claslib_ppprtk_obsdef()

void apply_claslib_ppprtk_obsdef ( void )

Apply the upstream claslib PPP-RTK observation slot layout.

Definition at line 635 of file mrtk_nav.c.

References MAXFREQ, set_obsdef(), SYS_GAL, SYS_GPS, and SYS_QZS.

Here is the call graph for this function:

◆ apply_pppsig()

void apply_pppsig ( const int * pppsig )

Apply PPP signal selection options to obsdef tables.

Parameters

[in] pppsig Signal selection array [5]: GPS,QZS,GAL,BDS2,BDS3

Definition at line 539 of file mrtk_nav.c.

References MAXFREQ, set_obsdef(), SYS_BD2, SYS_CMP, SYS_GAL, SYS_GPS, and SYS_QZS.

Here is the call graph for this function:

◆ bds_gen()

int bds_gen ( int prn )

BeiDou generation of a PRN.

Parameters

[in] prn BeiDou PRN

Returns: BDSGEN_2, BDSGEN_3, or 0 (invalid PRN)

Definition at line 273 of file mrtk_nav.c.

References bdsgen_, BDSGEN_3, MAXPRNCMP, MINPRNBDS3, and MINPRNCMP.

Referenced by is_bds2prn().

Here is the caller graph for this function:

◆ freenav()

void freenav	(	nav_t *	nav,
		int	opt )

Free navigation data memory.

Parameters

[in,out]	nav	Navigation data
[in]	opt	Option (0x01:eph, 0x02:geph, 0x04:seph, 0x08:peph, 0x10:pclk, 0x20:alm, 0x40:tec)

Definition at line 1118 of file mrtk_nav.c.

References nav_s::alm, nav_s::eph, nav_s::eph_prev, free, nav_s::geph, nav_s::n, nav_s::na, nav_s::namax, nav_s::nc, nav_s::ncmax, nav_s::ne, nav_s::nemax, nav_s::ng, nav_s::ngmax, nav_s::nmax, nav_s::ns, nav_s::nsmax, nav_s::nt, nav_s::ntmax, nav_s::pclk, nav_s::peph, nav_s::pppiono, nav_s::seph, and nav_s::tec.

◆ freq_idx2ant_idx()

int freq_idx2ant_idx	(	int	sys,
		int	freq_idx )

Convert frequency index to antenna PCV index.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	freq_idx	Frequency index (0,1,2,...)

Returns: Antenna PCV index (0..NFREQPCV-1) (NFREQPCV: error)

Definition at line 743 of file mrtk_nav.c.

References freq_idx2freq_num(), and freq_num2ant_idx().

Referenced by corr_meas().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ freq_idx2freq_num()

int freq_idx2freq_num	(	int	sys,
		int	freq_idx )

Convert frequency index to frequency number using obsdef table.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	freq_idx	Frequency index (0,1,2,...)

Returns: Frequency number (1,2,5,...) (0: error)

Definition at line 649 of file mrtk_nav.c.

References obsdef_t::freq_num, get_obsdef(), and MAXFREQ.

Referenced by ddres(), freq_idx2ant_idx(), and sat_lambda().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ freq_num2ant_idx()

int freq_num2ant_idx	(	int	sys,
		int	freq_num )

Convert frequency number to antenna PCV index.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	freq_num	Frequency number (1,2,5,...)

Returns: Antenna PCV index (0..NFREQPCV-1) (NFREQPCV: error)

Definition at line 710 of file mrtk_nav.c.

References NFREQPCV, SYS_BD2, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, and SYS_SBS.

Referenced by freq_idx2ant_idx().

Here is the caller graph for this function:

◆ freq_num2freq()

double freq_num2freq	(	int	sys,
		int	freq_num,
		int	fcn )

Convert frequency number to frequency in Hz.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	freq_num	Frequency number (1,2,5,...)
[in]	fcn	GLONASS frequency channel number (-7..6)

Returns: Frequency (Hz) (0.0: error)

Definition at line 680 of file mrtk_nav.c.

References DFRQ1_GLO, DFRQ2_GLO, obsdef_t::freq_hz, get_obsdef(), MAXFREQ, and SYS_GLO.

Referenced by code2freq(), and sat_lambda().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ freq_num2freq_idx()

int freq_num2freq_idx	(	int	sys,
		int	freq_num )

Convert frequency number to frequency index using obsdef table.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	freq_num	Frequency number (1,2,5,...)

Returns: Frequency index (0,1,2,...) (-1: error)

Definition at line 661 of file mrtk_nav.c.

References get_obsdef(), and MAXFREQ.

Referenced by code2freq_idx().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ is_bds2prn()

int is_bds2prn ( int prn )

Test whether a BeiDou PRN is BDS-2 (see set_bds2prn()).

Parameters

[in] prn BeiDou PRN

Returns: 1: BDS-2, 0: BDS-3 or out of range

Definition at line 249 of file mrtk_nav.c.

References bds_gen(), and BDSGEN_2.

Referenced by satno(), and satsys_bd2().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ is_bds3igso()

int is_bds3igso ( int prn )

Test whether a BeiDou PRN is listed as BDS-3 IGSO (see set_bds3igso()).

Parameters

[in] prn BeiDou PRN

Returns: 1: listed, 0: not listed or out of range

Definition at line 267 of file mrtk_nav.c.

References bds3igso_, MAXPRNCMP, and MINPRNCMP.

Referenced by is_bds3_igso().

Here is the caller graph for this function:

◆ peph2pos()

int peph2pos	(	gtime_t	time,
		int	sat,
		const nav_t *	nav,
		int	opt,
		double *	rs,
		double *	dts,
		double *	var )

Compute satellite position/clock with precise ephemeris/clock.

Parameters

[in]	time	Time (GPST)
[in]	sat	Satellite number
[in]	nav	Navigation data
[in]	opt	Sat position option (0:center of mass, 1:antenna phase center)
[out]	rs	Sat position and velocity (ecef) {x,y,z,vx,vy,vz} (m\|m/s)
[out]	dts	Sat clock {bias,drift} (s\|s/s)
[out]	var	Sat position and clock error variance (m^2) (NULL: no output)

Returns: Status (1:ok, 0:error or data outage)

Definition at line 864 of file mrtk_peph.c.

References CLIGHT, dot(), MAXSAT, pephclk(), pephpos(), satantoff(), time_str(), timeadd(), and trace().

Referenced by satpos().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ readdcb()

int readdcb	(	const char *	file,
		nav_t *	nav,
		const sta_t *	sta )

Read differential code bias (DCB) parameters.

Parameters

[in]	file	DCB parameters file (wild-card * expanded)
[in,out]	nav	Navigation data
[in]	sta	Station info data to import receiver DCB (NULL: no use)

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

Definition at line 583 of file mrtk_peph.c.

References nav_s::cbias, expath(), free, malloc, MAXEXFILE, MAXSAT, readdcbf(), and trace().

Referenced by execses().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ readnav()

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

Read navigation data from file.

Parameters

[in]	file	File path
[out]	nav	Navigation data

Returns: Status (1:ok, 0:no file)

Definition at line 985 of file mrtk_nav.c.

References eph_t::A, geph_t::acc, geph_t::age, eph_t::cic, eph_t::cis, eph_t::code, eph_t::crc, eph_t::crs, eph_t::cuc, eph_t::cus, eph_t::deln, geph_t::dtaun, eph_t::e, nav_s::eph, eph_t::f0, eph_t::f1, eph_t::f2, eph_t::fit, eph_t::flag, geph_t::frq, geph_t::gamn, nav_s::geph, eph_t::i0, eph_t::idot, eph_t::iodc, eph_t::iode, geph_t::iode, nav_s::ion_gps, eph_t::M0, eph_t::omg, eph_t::OMG0, eph_t::OMGd, geph_t::pos, eph_t::sat, geph_t::sat, satid2no(), satsys(), eph_t::sva, geph_t::sva, eph_t::svh, geph_t::svh, SYS_GLO, geph_t::taun, eph_t::tgd, gtime_t::time, eph_t::toc, eph_t::toe, geph_t::toe, eph_t::toes, geph_t::tof, trace(), eph_t::ttr, nav_s::utc_gps, and geph_t::vel.

Here is the call graph for this function:

◆ readsap()

int readsap	(	const char *	file,
		gtime_t	time,
		nav_t *	nav )

Read satellite antenna parameters.

Parameters

[in]	file	Antenna parameter file
[in]	time	Time (GPST)
[in,out]	nav	Navigation data

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

Definition at line 508 of file mrtk_peph.c.

References free, MAXSAT, pcvs_t::pcv, nav_s::pcvs, readpcv(), searchpcv(), time_str(), and trace().

Here is the call graph for this function:

◆ readsp3()

void readsp3	(	const char *	file,
		nav_t *	nav,
		int	opt )

Read sp3 precise ephemeris file.

Parameters

[in]	file	SP3 precise ephemeris file (wild-card * expanded)
[in,out]	nav	Navigation data
[in]	opt	Options (1:only observed + 2:only predicted + 4:not combined)

Definition at line 450 of file mrtk_peph.c.

References combpeph(), expath(), free, malloc, MAXEXFILE, MAXSAT, nav_s::ne, readsp3b(), readsp3h(), and trace().

Referenced by decodefile(), and readpreceph().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ reset_obsdef()

void reset_obsdef ( void )

Reset all obsdef tables to their pristine default frequency layout.

Note: #186: restores the full multi-band tables so a repeated/changed signal selection (e.g. an rtkrcv restart, or switching to correction=igs which skips apply_pppsig()) does not inherit a previously trimmed layout.

Definition at line 483 of file mrtk_nav.c.

References obsdef_BD2, obsdef_BD2_def, obsdef_BDS, obsdef_BDS_def, obsdef_GAL, obsdef_GAL_def, obsdef_GLO, obsdef_GLO_def, obsdef_GPS, obsdef_GPS_def, obsdef_IRN, obsdef_IRN_def, obsdef_QZS, obsdef_QZS_def, obsdef_SBS, obsdef_SBS_def, and save_obsdef_defaults().

Here is the call graph for this function:

◆ sat2freq()

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

Convert satellite and obs code to carrier frequency.

Parameters

[in]	sat	Satellite number
[in]	code	Obs code (CODE_???)
[in]	nav	Navigation data for GLONASS (NULL: not used)

Returns: Carrier frequency (Hz) (0.0: error)

Definition at line 244 of file mrtk_obs.c.

◆ satantoff()

void satantoff	(	gtime_t	time,
		const double *	rs,
		int	sat,
		const nav_t *	nav,
		double *	dant )

Compute satellite antenna phase center offset in ecef.

Parameters

[in]	time	Time (GPST)
[in]	rs	Satellite position and velocity (ecef) {x,y,z,vx,vy,vz} (m\|m/s)
[in]	sat	Satellite number
[in]	nav	Navigation data
[out]	dant	Satellite antenna phase center offset (ecef) {dx,dy,dz} (m)

Definition at line 785 of file mrtk_peph.c.

References CODE_L1C, CODE_L2C, cross3(), freq_idx2ant_idx(), freq_idx2freq_num(), freq_num2freq(), gpst2utc(), normv3(), pcv_t::off, nav_s::pcvs, sat2freq(), satsys_bd2(), SQR, sunmoonpos(), SYS_GLO, time_str(), and trace().

Referenced by peph2pos(), and satpos_ssr().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ satexclude()

int satexclude	(	int	sat,
		double	var,
		int	svh,
		const struct prcopt_t *	opt )

Test excluded satellite.

Parameters

[in]	sat	Satellite number
[in]	var	Variance of ephemeris (m^2)
[in]	svh	SV health flag (-1: correction not available)
[in]	opt	Processing options (NULL: not used)

Returns: Status (1:excluded, 0:not excluded)

Definition at line 1169 of file mrtk_nav.c.

References prcopt_t::exsats, MAX_VAR_EPH, prcopt_t::navsys, satsys(), SYS_CMP, SYS_GLO, SYS_QZS, and trace().

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ satid2no()

int satid2no ( const char * id )

Convert satellite id to satellite number.

Parameters

[in] id Satellite id (nn, Gnn, Rnn, Enn, Jnn, Cnn, Inn or Snn)

Returns: Satellite number (0: error)

Definition at line 753 of file mrtk_nav.c.

Referenced by readnav().

Here is the caller graph for this function:

◆ satno()

int satno	(	int	sys,
		int	prn )

Convert satellite system+prn/slot number to satellite number.

Parameters

[in]	sys	Satellite system (SYS_GPS, SYS_GLO, ...)
[in]	prn	Satellite prn/slot number

Returns: Satellite number (0: error)

Definition at line 58 of file mrtk_nav.c.

References is_bds2prn(), MAXPRNCMP, MAXPRNGAL, MAXPRNGLO, MAXPRNGPS, MAXPRNIRN, MAXPRNLEO, MAXPRNQZS, MAXPRNSBS, MINPRNBDS3, MINPRNCMP, MINPRNGAL, MINPRNGLO, MINPRNGPS, MINPRNIRN, MINPRNLEO, MINPRNQZS, MINPRNSBS, NSATCMP, NSATGAL, NSATGLO, NSATGPS, NSATIRN, NSATLEO, NSATQZS, SYS_BD2, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_LEO, SYS_QZS, and SYS_SBS.

Referenced by convsbs(), decode_alm_gps(), decode_alm_qzs(), decode_bdsephemerisb(), decode_bdsnav(), decode_bnx_01_01(), decode_bnx_01_02(), decode_bnx_01_03(), decode_bnx_01_04(), decode_bnx_01_05(), decode_bnx_01_06(), decode_bnx_01_07(), decode_bnx_01_14(), decode_bnx_7f_05(), decode_creseph(), decode_cresgloeph(), decode_cresgloraw(), decode_cresraw(), decode_cresraw2(), decode_eph(), decode_gal_fnav_eph(), decode_gal_inav_eph(), decode_galephemerisb(), decode_galinavephemerisb(), decode_galnav(), decode_gloephem(), decode_gloephemerisb(), decode_glonav(), decode_glostr_eph(), decode_gpsephemb(), decode_gpsnav(), decode_lcliono(), decode_lD(), decode_navicephemerisb(), decode_nD(), decode_nd(), decode_NE(), decode_NN(), decode_qzsrawl6(), decode_qzssephemerisb(), decode_qzssrawephemb(), decode_qzssrawsubframeb(), decode_rangeb(), decode_rangecmpb(), decode_rawephemb(), decode_repb(), decode_rgeb(), decode_rged(), decode_rxmraw(), decode_rxmrawx(), decode_rxmsfrb(), decode_rxmsfrbx(), decode_sbstype1(), decode_sbstype9(), decode_SI(), decode_ss2eph(), decode_ss2meas(), decode_ssr1(), decode_ssr2(), decode_ssr3(), decode_ssr4(), decode_ssr5(), decode_ssr6(), decode_ssr7(), decode_stat(), decode_stqbds(), decode_stqglo(), decode_stqgloe(), decode_stqgps(), decode_stqraw(), decode_stqrawx(), decode_trkd5(), decode_trkmeas(), decode_trksfrbx(), decode_type1(), decode_type1002(), decode_type1004(), decode_type1010(), decode_type1012(), decode_type1019(), decode_type1020(), decode_type1041(), decode_type1042(), decode_type1044(), decode_type1045(), decode_type1046(), decode_type17(), decode_type18(), decode_type19(), decode_WE(), decode_xf5raw(), decode_xf7eph(), DecodeBeidouEphemeris(), DecodeGalileoEphemeris(), DecodeGPSEphemeris(), DecodeQZSSEphemeris(), DecodeType17(), encode_lcliono(), nextsat(), outrnx_glo_fcn(), readrnxnavb(), readsp3b(), readsp3h(), satid2no(), save_msm_obs(), svid2sat(), svmask2nsatlist(), svmask2sat(), tle_pos(), and update_glofcn().

Here is the call graph for this function:

◆ satno2id()

void satno2id	(	int	sat,
		char *	id )

Convert satellite number to satellite id.

Parameters

[in]	sat	Satellite number
[out]	id	Satellite id (Gnn, Rnn, Enn, Jnn, Cnn, Inn or nnn)

Definition at line 817 of file mrtk_nav.c.

Referenced by savenav().

Here is the caller graph for this function:

◆ satpos()

int satpos	(	gtime_t	time,
		gtime_t	teph,
		int	sat,
		int	ephopt,
		const nav_t *	nav,
		double *	rs,
		double *	dts,
		double *	var,
		int *	svh )

Compute satellite position, velocity and clock.

Parameters

[in]	time	Time (GPST)
[in]	teph	Time to select ephemeris (GPST)
[in]	sat	Satellite number
[in]	ephopt	Ephemeris option (EPHOPT_???)
[in]	nav	Navigation data
[out]	rs	Sat position and velocity (ecef) {x,y,z,vx,vy,vz} (m\|m/s)
[out]	dts	Sat clock {bias,drift} (s\|s/s)
[out]	var	Sat position and clock error variance (m^2)
[out]	svh	Sat health flag (-1:correction not available)

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

Definition at line 891 of file mrtk_eph.c.

References EPHOPT_BRDC, EPHOPT_PREC, EPHOPT_SBAS, EPHOPT_SSRAPC, EPHOPT_SSRCOM, ephpos(), peph2pos(), satpos_sbas(), satpos_ssr(), time_str(), and trace().

Referenced by satposs(), and windupcorr().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ satposs()

void satposs	(	gtime_t	teph,
		const obsd_t *	obs,
		int	n,
		const nav_t *	nav,
		int	ephopt,
		double *	rs,
		double *	dts,
		double *	var,
		int *	svh )

Compute satellite positions, velocities and clocks.

Parameters

[in]	teph	Time to select ephemeris (GPST)
[in]	obs	Observation data
[in]	n	Number of observation data
[in]	nav	Navigation data
[in]	ephopt	Ephemeris option (EPHOPT_???)
[out]	rs	Satellite positions and velocities (ecef)
[out]	dts	Satellite clocks
[out]	var	Sat position and clock error variances (m^2)
[out]	svh	Sat health flag (-1:correction not available)

Definition at line 940 of file mrtk_eph.c.

References CLIGHT, ephclk(), MAXOBS, satpos(), SQR, STD_BRDCCLK, time_str(), timeadd(), and trace().

Referenced by clas_ssr2osr(), intpres(), intpres(), pntpos(), ppp_rtk_pos(), relpos(), and relposvrs().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ satsys()

int satsys	(	int	sat,
		int *	prn )

Convert satellite number to satellite system.

Parameters

[in]	sat	Satellite number (1-MAXSAT)
[in,out]	prn	Satellite prn/slot number (NULL: no output)

Returns: Satellite system (SYS_GPS, SYS_GLO, ...)

Definition at line 117 of file mrtk_nav.c.

Referenced by readnav(), satexclude(), satno2id(), and satsys_bd2().

Here is the caller graph for this function:

◆ satsys_bd2()

int satsys_bd2	(	int	sat,
		int *	prn )

Distinguish BDS-2 from BDS-3.

Parameters

[in]	sat	Satellite number
[out]	prn	PRN number (NULL: not output)

Returns: Satellite system (SYS_CMP for BDS-3, SYS_BD2 for BDS-2)

Definition at line 159 of file mrtk_nav.c.

References is_bds2prn(), satsys(), SYS_BD2, SYS_CMP, and SYS_NONE.

Referenced by decode_obsdata(), rescode(), and sat2freq().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ savenav()

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

Save navigation data to file.

Parameters

[in]	file	File path
[in]	nav	Navigation data

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

Definition at line 1058 of file mrtk_nav.c.

References eph_t::A, geph_t::acc, geph_t::age, eph_t::cic, eph_t::cis, eph_t::code, eph_t::crc, eph_t::crs, eph_t::cuc, eph_t::cus, eph_t::deln, geph_t::dtaun, eph_t::e, nav_s::eph, eph_t::f0, eph_t::f1, eph_t::f2, eph_t::fit, eph_t::flag, geph_t::frq, geph_t::gamn, nav_s::geph, eph_t::i0, eph_t::idot, eph_t::iodc, eph_t::iode, geph_t::iode, nav_s::ion_gps, eph_t::M0, MAXPRNGLO, MAXSAT, eph_t::omg, eph_t::OMG0, eph_t::OMGd, geph_t::pos, eph_t::sat, geph_t::sat, satno2id(), eph_t::sva, geph_t::sva, eph_t::svh, geph_t::svh, geph_t::taun, eph_t::tgd, gtime_t::time, eph_t::toc, eph_t::toe, geph_t::toe, eph_t::toes, geph_t::tof, trace(), eph_t::ttr, nav_s::utc_gps, and geph_t::vel.

Here is the call graph for this function:

◆ set_bds2prn()

int set_bds2prn ( const char * str )

Set the BDS-2 satellites in BeiDou PRN 1-18.

Since the BeiDou PRN reassignment (2026-04-10 to 04-21) BDS-3 satellites are also on PRN 1-18. A PRN 1-18 is BDS-2 only when listed here; PRN >= 19 is always BDS-3. The setting is process-global and affects satsys_bd2(), satno(SYS_BD2, prn) and all their callers, including RINEX reading.

Parameters

[in] str Satellite list, e.g. "C09,C10" or "C01-C18" ("" or NULL: no BDS-2)

Returns: Number of satellites set (-1: invalid list; no BDS-2 is set)

Definition at line 231 of file mrtk_nav.c.

References bdsgen_, BDSGEN_2, BDSGEN_3, MAXPRNCMP, MINPRNBDS3, MINPRNCMP, NBDSTBL, and parse_bdslist().

Referenced by set_bdsopt().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ set_bds3igso()

int set_bds3igso ( const char * str )

Set the BDS-3 IGSO satellites (excluded as PPP-AR reference satellite).

Parameters

[in] str Satellite list, e.g. "C06-C08" or "C38,C39,C40" ("" or NULL: C06-C08)

Returns: Number of satellites set (-1: invalid list; the default C06-C08 is set)

Definition at line 251 of file mrtk_nav.c.

References bds3igso_, MAXPRNCMP, NBDSTBL, and parse_bdslist().

Referenced by set_bdsopt().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ set_obsdef()

void set_obsdef	(	int	sys,
		const int *	freq_nums )

Rearrange obsdef table for a satellite system by frequency numbers.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	freq_nums	Array of frequency numbers [MAXFREQ] (0=unused)

Definition at line 502 of file mrtk_nav.c.

References obsdef_t::freq_hz, obsdef_t::freq_num, get_obsdef(), get_obsdef_default(), MAXFREQ, and save_obsdef_defaults().

Referenced by apply_claslib_ppprtk_obsdef(), apply_pppsig(), and mrtk_sigcfg_to_obsdef().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ uniqnav()

void uniqnav ( nav_t * nav )

Unique ephemerides in navigation data.

Parameters

[in,out] nav Navigation data

Definition at line 971 of file mrtk_nav.c.

References nav_s::n, nav_s::ng, nav_s::ns, trace(), uniqeph(), uniqgeph(), and uniqseph().

Referenced by readobsnav().

Here is the call graph for this function:

Here is the caller graph for this function:

Classes

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

◆ ISBOPT_OFF

◆ ISBOPT_TABLE

◆ MAXRECTYP

◆ PHASE_CYCLE

Typedef Documentation

◆ nav_t

Function Documentation

◆ apply_claslib_ppprtk_obsdef()

◆ apply_pppsig()

◆ bds_gen()

◆ freenav()

◆ freq_idx2ant_idx()

◆ freq_idx2freq_num()

◆ freq_num2ant_idx()

◆ freq_num2freq()

◆ freq_num2freq_idx()

◆ is_bds2prn()

◆ is_bds3igso()

◆ peph2pos()

◆ readdcb()

◆ readnav()

◆ readsap()

◆ readsp3()

◆ reset_obsdef()

◆ sat2freq()

◆ satantoff()

◆ satexclude()

◆ satid2no()

◆ satno()

◆ satno2id()

◆ satpos()

◆ satposs()

◆ satsys()

◆ satsys_bd2()

◆ savenav()

◆ set_bds2prn()

◆ set_bds3igso()

◆ set_obsdef()

◆ uniqnav()