MRTKLIB Observation Module — Implementation. More...

#include "mrtklib/mrtk_obs.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_opt.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_obs.c:

Classes
struct	sig_priority_entry_t

Macros
#define	PI 3.1415926535897932 /* pi */
#define	R2D (180.0 / PI) /* rad to deg */
#define	SYS_NONE 0x00 /* navigation system: none */
#define	SYS_GPS 0x01 /* navigation system: GPS */
#define	SYS_SBS 0x02 /* navigation system: SBAS */
#define	SYS_GLO 0x04 /* navigation system: GLONASS */
#define	SYS_GAL 0x08 /* navigation system: Galileo */
#define	SYS_QZS 0x10 /* navigation system: QZSS */
#define	SYS_CMP 0x20 /* navigation system: BeiDou */
#define	SYS_IRN 0x40 /* navigation system: NavIC */
#define	SYS_LEO 0x80 /* navigation system: LEO */
#define	SYS_BD2 0x100 /* navigation system: BeiDou-2 */
#define	SYS_ALL 0xFF /* navigation system: all */
#define	MAXFREQ 7 /* max NFREQ */
#define	FREQ1 1.57542E9 /* L1/E1/B1C frequency (Hz) */
#define	FREQ2 1.22760E9 /* L2 frequency (Hz) */
#define	FREQ5 1.17645E9 /* L5/E5a/B2a frequency (Hz) */
#define	FREQ6 1.27875E9 /* E6/L6 frequency (Hz) */
#define	FREQ7 1.20714E9 /* E5b frequency (Hz) */
#define	FREQ8 1.191795E9 /* E5a+b frequency (Hz) */
#define	FREQ9 2.492028E9 /* S frequency (Hz) */
#define	FREQ1_GLO 1.60200E9 /* GLONASS G1 base frequency (Hz) */
#define	DFRQ1_GLO 0.56250E6 /* GLONASS G1 bias frequency (Hz/n) */
#define	FREQ2_GLO 1.24600E9 /* GLONASS G2 base frequency (Hz) */
#define	DFRQ2_GLO 0.43750E6 /* GLONASS G2 bias frequency (Hz/n) */
#define	FREQ3_GLO 1.202025E9 /* GLONASS G3 frequency (Hz) */
#define	FREQ1a_GLO 1.600995E9 /* GLONASS G1a frequency (Hz) */
#define	FREQ2a_GLO 1.248060E9 /* GLONASS G2a frequency (Hz) */
#define	FREQ1_CMP 1.561098E9 /* BDS B1I frequency (Hz) */
#define	FREQ2_CMP 1.20714E9 /* BDS B2I/B2b frequency (Hz) */
#define	FREQ3_CMP 1.26852E9 /* BDS B3 frequency (Hz) */

Functions
int	satsys (int sat, int *prn)
double	timediff (gtime_t t1, gtime_t t2)
double	time2gpst (gtime_t t, int *week)
static int	cmpobs (const void p1, const void p2)
int	testsnr (int base, int idx, double el, double snr, const snrmask_t *mask)
	Test SNR mask.
int	testelmask (const double azel, const int16_t elmask)
	Test elevation mask.
uint8_t	obs2code (const char *obs)
	Convert obs code type string to obs code.
char *	code2obs (uint8_t code)
	Convert obs code to obs code string.
int	code2freq_num (uint8_t code)
	Extract frequency number from obs code.
int	code2freq_idx (int sys, uint8_t code)
	Convert system and obs code to frequency index (obsdef-based).
double	code2freq (int sys, uint8_t code, int fcn)
	Convert system and obs code to carrier frequency.
double	sat2freq (int sat, uint8_t code, const nav_t *nav)
	Convert satellite and obs code to carrier frequency.
int	getcodepri (int sys, uint8_t code, const char *opt)
	Get code priority for multiple codes in a frequency.
int	sortobs (obs_t *obs)
	Sort observation data by time, receiver, and satellite.
void	signal_replace (obsd_t obs, int idx, char f, char c)
	Replace signal type in observation data.
int	screent (gtime_t time, gtime_t ts, gtime_t te, double tint)
	Screen data by time range and interval.
void	freeobs (obs_t *obs)
	Free observation data memory.
double	mrtk_band2freq_hz (mrtk_band_t band)
	Convert physical band to base carrier frequency (Hz).
mrtk_band_t	mrtk_rinex_freq_to_band (int sys, int rinex_freq_id)
	Convert RINEX frequency digit to physical band for a given system.
void	mrtk_use_claslib_qzs_l1_priority (int on)
	Toggle the claslib-compatible QZSS L1 signal priority (C>S>L>X>Z).
const uint8_t *	mrtk_get_signal_priority (int sys, mrtk_band_t band)
	Get priority-ordered code list for a (system, band) pair.
int	mrtk_band_to_freq_num (int sys, mrtk_band_t band)
	Convert physical band back to RINEX frequency number for a given system.
int	mrtk_parse_signal_str (const char str, int sys, mrtk_band_t band, uint8_t code)
	Parse a RINEX3-style signal string (e.g., "G1C") into components.
static int	sys2sigcfg_idx (int sys)
int	mrtk_sigcfg_from_signals (const char *sigs, int nsig, mrtk_sigcfg_t cfg, int *nf)
	Build per-constellation signal config from a signal string array.
int	mrtk_sigcfg_to_obsdef (const mrtk_sigcfg_t *cfg)
	Apply signal config to obsdef tables (bridge to existing system).
int	mrtk_sigcfg_freq_idx (int sys, uint8_t code, const mrtk_sigcfg_t *cfg, int nex)
	Resolve the observation slot for a decoded (sys, code) from sigcfg.

Variables
static char *	obscodes []
static const sig_priority_entry_t	SIG_PRIORITY_TABLE []
static const uint8_t	QZS_L1_PRIORITY_CLASLIB [MRTK_MAX_SIG_PRIORITY]
static int	qzs_l1_claslib = 0

Detailed Description

MRTKLIB Observation Module — Implementation.

All functions and static data in this file are cut-and-paste extractions from the legacy rtkcmn.c with zero algorithmic changes.

Definition in file mrtk_obs.c.

Macro Definition Documentation

◆ DFRQ1_GLO

#define DFRQ1_GLO 0.56250E6 /* GLONASS G1 bias frequency (Hz/n) */

Definition at line 75 of file mrtk_obs.c.

Referenced by decode_xf5raw(), freq_num2freq(), gen_obs_glo(), and gloicbcorr().

◆ DFRQ2_GLO

#define DFRQ2_GLO 0.43750E6 /* GLONASS G2 bias frequency (Hz/n) */

Definition at line 77 of file mrtk_obs.c.

Referenced by freq_num2freq(), gen_obs_glo(), and gloicbcorr().

◆ FREQ1

#define FREQ1 1.57542E9 /* L1/E1/B1C frequency (Hz) */

Definition at line 67 of file mrtk_obs.c.

Referenced by clas_osr_compensatedisp(), clas_osr_zdres(), ddres(), decode_cresraw(), decode_cresraw2(), decode_rxmraw(), decode_ss2meas(), decode_type1002(), decode_type1004(), decode_xf5raw(), DecodeType17(), gen_obs_gps(), get_cssr_latest_iono(), has_code2lam(), iondelay(), mrtk_band2freq_hz(), ppp_res(), rescode(), residual_test(), residual_test(), sat_lambda(), set_cssr_bank_trop(), and udiono_ppp().

◆ FREQ1_CMP

#define FREQ1_CMP 1.561098E9 /* BDS B1I frequency (Hz) */

Definition at line 81 of file mrtk_obs.c.

Referenced by mrtk_band2freq_hz().

◆ FREQ1_GLO

#define FREQ1_GLO 1.60200E9 /* GLONASS G1 base frequency (Hz) */

Definition at line 74 of file mrtk_obs.c.

Referenced by decode_xf5raw(), gen_obs_glo(), and mrtk_band2freq_hz().

◆ FREQ1a_GLO

#define FREQ1a_GLO 1.600995E9 /* GLONASS G1a frequency (Hz) */

Definition at line 79 of file mrtk_obs.c.

◆ FREQ2

#define FREQ2 1.22760E9 /* L2 frequency (Hz) */

Definition at line 68 of file mrtk_obs.c.

Referenced by clas_osr_compensatedisp(), clas_osr_zdres(), decode_cresraw2(), decode_type1004(), DecodeType17(), gen_obs_gps(), get_cssr_latest_iono(), has_code2lam(), mrtk_band2freq_hz(), residual_test(), residual_test(), sat_lambda(), and set_cssr_bank_trop().

◆ FREQ2_CMP

#define FREQ2_CMP 1.20714E9 /* BDS B2I/B2b frequency (Hz) */

Definition at line 82 of file mrtk_obs.c.

Referenced by mrtk_band2freq_hz().

◆ FREQ2_GLO

#define FREQ2_GLO 1.24600E9 /* GLONASS G2 base frequency (Hz) */

Definition at line 76 of file mrtk_obs.c.

Referenced by gen_obs_glo(), and mrtk_band2freq_hz().

◆ FREQ2a_GLO

#define FREQ2a_GLO 1.248060E9 /* GLONASS G2a frequency (Hz) */

Definition at line 80 of file mrtk_obs.c.

◆ FREQ3_CMP

#define FREQ3_CMP 1.26852E9 /* BDS B3 frequency (Hz) */

Definition at line 83 of file mrtk_obs.c.

Referenced by mrtk_band2freq_hz().

◆ FREQ3_GLO

#define FREQ3_GLO 1.202025E9 /* GLONASS G3 frequency (Hz) */

Definition at line 78 of file mrtk_obs.c.

Referenced by mrtk_band2freq_hz().

◆ FREQ5

#define FREQ5 1.17645E9 /* L5/E5a/B2a frequency (Hz) */

Definition at line 69 of file mrtk_obs.c.

Referenced by has_code2lam(), mrtk_band2freq_hz(), and sat_lambda().

◆ FREQ6

#define FREQ6 1.27875E9 /* E6/L6 frequency (Hz) */

Definition at line 70 of file mrtk_obs.c.

Referenced by has_code2lam(), mrtk_band2freq_hz(), and sat_lambda().

◆ FREQ7

#define FREQ7 1.20714E9 /* E5b frequency (Hz) */

Definition at line 71 of file mrtk_obs.c.

Referenced by has_code2lam(), mrtk_band2freq_hz(), and sat_lambda().

◆ FREQ8

#define FREQ8 1.191795E9 /* E5a+b frequency (Hz) */

Definition at line 72 of file mrtk_obs.c.

Referenced by has_code2lam(), mrtk_band2freq_hz(), and sat_lambda().

◆ FREQ9

#define FREQ9 2.492028E9 /* S frequency (Hz) */

Definition at line 73 of file mrtk_obs.c.

Referenced by mrtk_band2freq_hz().

◆ MAXFREQ

#define MAXFREQ 7 /* max NFREQ */

Definition at line 65 of file mrtk_obs.c.

Referenced by apply_claslib_ppprtk_obsdef(), apply_pppsig(), freq_idx2freq_num(), freq_num2freq(), freq_num2freq_idx(), mrtk_sigcfg_to_obsdef(), and set_obsdef().

◆ PI

#define PI 3.1415926535897932 /* pi */

Definition at line 50 of file mrtk_obs.c.

◆ R2D

#define R2D (180.0 / PI) /* rad to deg */

Definition at line 51 of file mrtk_obs.c.

Referenced by antmodel(), antmodel_s(), calc_3points_weight(), clas_get_grid_index(), clas_osr_zdres(), const_iono_corr(), corr_iono_distwgt(), corr_trop_distwgt(), decode_cssr_atmos(), decode_cssr_grid(), decode_lcliono(), decode_lcltrop(), decode_type1005(), decode_type1006(), dump_stas(), encode_lcliono(), encode_lcltrop(), exc_sat_par(), exc_sat_sd(), gen_sat_sd(), geoidh(), get_mops(), get_site(), gettriangledd(), interptec(), iondelay(), ionocorr(), iontec(), miono_get_corr(), nmf(), outnmea_gga(), outnmea_gsv(), outnmea_rmc(), outpos(), outprcopts(), outrpos(), outsolstat(), ppp_res(), ppp_rtk_pos(), pppoutstat(), ppprtk_outstat(), relposvrs(), rescode(), rtkoutstat(), rtksvrmark(), sbsioncorr(), sbstropcorr(), searchigp(), selpersta(), set_grid_data(), sysopts2buff(), testelmask(), testsnr(), tide_pl(), tide_pole(), tide_solid(), tropcorr(), tropmapf(), udiono_ppp(), zdres(), and zdres().

◆ SYS_ALL

#define SYS_ALL 0xFF /* navigation system: all */

Definition at line 63 of file mrtk_obs.c.

Referenced by outrnxnavh(), and set_sysmask().

◆ SYS_BD2

#define SYS_BD2 0x100 /* navigation system: BeiDou-2 */

Definition at line 62 of file mrtk_obs.c.

Referenced by apply_pppsig(), decode_obsdata(), exc_sat_par(), freq_num2ant_idx(), gen_sat_sd(), get_obsdef(), get_obsdef_default(), getcodepri(), ppp_res(), readrnxobsb(), rescode(), satno(), satsys_bd2(), and update_states().

◆ SYS_CMP

#define SYS_CMP 0x20 /* navigation system: BeiDou */

Definition at line 59 of file mrtk_obs.c.

◆ SYS_GAL

#define SYS_GAL 0x08 /* navigation system: Galileo */

Definition at line 57 of file mrtk_obs.c.

◆ SYS_GLO

#define SYS_GLO 0x04 /* navigation system: GLONASS */

Definition at line 56 of file mrtk_obs.c.

◆ SYS_GPS

#define SYS_GPS 0x01 /* navigation system: GPS */

Definition at line 54 of file mrtk_obs.c.

◆ SYS_IRN

#define SYS_IRN 0x40 /* navigation system: NavIC */

Definition at line 60 of file mrtk_obs.c.

◆ SYS_LEO

#define SYS_LEO 0x80 /* navigation system: LEO */

Definition at line 61 of file mrtk_obs.c.

Referenced by code2sys(), satid2no(), satno(), satno2id(), and satsys().

◆ SYS_NONE

#define SYS_NONE 0x00 /* navigation system: none */

Definition at line 53 of file mrtk_obs.c.

◆ SYS_QZS

#define SYS_QZS 0x10 /* navigation system: QZSS */

Definition at line 58 of file mrtk_obs.c.

◆ SYS_SBS

#define SYS_SBS 0x02 /* navigation system: SBAS */

Definition at line 55 of file mrtk_obs.c.

Function Documentation

◆ cmpobs()

int cmpobs	(	const void *	p1,
		const void *	p2 )

static

Definition at line 107 of file mrtk_obs.c.

References DTTOL, obsd_t::rcv, obsd_t::sat, gtime_t::time, obsd_t::time, and timediff().

Referenced by sortobs().

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◆ code2freq()

double code2freq	(	int	sys,
		uint8_t	code,
		int	fcn )

extern

Convert system and obs code to carrier frequency.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	code	Obs code (CODE_???)
[in]	fcn	Frequency channel number for GLONASS

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

Definition at line 236 of file mrtk_obs.c.

References code2freq_num(), and freq_num2freq().

Referenced by decode_bnx_7f_05_obs(), decode_measepoch(), decode_rxmrawx(), decode_type1010(), decode_type1012(), decode_xd(), decode_xP(), decode_xp(), gen_msm_sat(), gen_msm_sig(), readfcbf(), sat2freq(), and save_msm_obs().

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◆ code2freq_idx()

int code2freq_idx	(	int	sys,
		uint8_t	code )

extern

Convert system and obs code to frequency index (obsdef-based).

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	code	Obs code (CODE_???)

Returns: Frequency index (-1: error)

Definition at line 225 of file mrtk_obs.c.

References code2freq_num(), and freq_num2freq_idx().

Referenced by code_on_same_freq(), decode_bnx_7f_05_obs(), decode_track_stat(), mrtk_sigcfg_freq_idx(), save_msm_obs(), set_index(), setopt_obstype(), sig2idx(), sig2idx(), sig_idx(), and sort_obstype().

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◆ code2freq_num()

int code2freq_num ( uint8_t code )

extern

Extract frequency number from obs code.

Parameters

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

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

Definition at line 201 of file mrtk_obs.c.

References code2obs().

Referenced by clas_osr_zdres(), code2freq(), code2freq_idx(), getcodepri(), and mrtk_sigcfg_freq_idx().

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◆ code2obs()

char * code2obs ( uint8_t code )

extern

Convert obs code to obs code string.

Parameters

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

Returns: Obs code string ("1C","1P",...)

Definition at line 190 of file mrtk_obs.c.

References CODE_NONE, MAXCODE, and obscodes.

Referenced by code2freq_num(), code2sigs(), corr_meas(), decode_mcssr_cb(), detslp_code(), detslp_code(), getcodepri(), obsindex(), ppp_note_autosig(), ppp_res(), sat_lambda(), scan_file(), set_index(), setopt_obstype(), signal_replace(), and to_sigid().

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◆ freeobs()

void freeobs ( obs_t * obs )

extern

Free observation data memory.

Parameters

[in,out] obs Observation data

Definition at line 433 of file mrtk_obs.c.

References obs_t::data, free, obs_t::n, and obs_t::nmax.

◆ getcodepri()

int getcodepri	(	int	sys,
		uint8_t	code,
		const char *	opt )

extern

Get code priority for multiple codes in a frequency.

Parameters

[in]	sys	System (SYS_???)
[in]	code	Obs code (CODE_???)
[in]	opt	Code options (NULL:no option)

Returns: Priority (15:highest-1:lowest, 0:error)

Definition at line 276 of file mrtk_obs.c.

References code2freq_num(), code2obs(), MRTK_BAND_UNKNOWN, mrtk_get_signal_priority(), MRTK_MAX_SIG_PRIORITY, mrtk_rinex_freq_to_band(), SYS_BD2, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, and SYS_SBS.

Referenced by decode_bnx_7f_05_obs(), set_index(), sigindex(), and sort_obstype().

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◆ mrtk_band2freq_hz()

double mrtk_band2freq_hz ( mrtk_band_t band )

extern

Convert physical band to base carrier frequency (Hz).

Parameters

[in] band Physical frequency band

Returns: Base carrier frequency (Hz), 0.0 on error. For GLONASS G1/G2, returns the base frequency without FDMA offset.

Definition at line 766 of file mrtk_obs.c.

References FREQ1, FREQ1_CMP, FREQ1_GLO, FREQ2, FREQ2_CMP, FREQ2_GLO, FREQ3_CMP, FREQ3_GLO, FREQ5, FREQ6, FREQ7, FREQ8, FREQ9, MRTK_BAND_BDS_B1C, MRTK_BAND_BDS_B1I, MRTK_BAND_BDS_B2a, MRTK_BAND_BDS_B2ab, MRTK_BAND_BDS_B2b, MRTK_BAND_BDS_B3, MRTK_BAND_GAL_E1, MRTK_BAND_GAL_E5a, MRTK_BAND_GAL_E5ab, MRTK_BAND_GAL_E5b, MRTK_BAND_GAL_E6, MRTK_BAND_GLO_G1, MRTK_BAND_GLO_G2, MRTK_BAND_GLO_G3, MRTK_BAND_GPS_L1, MRTK_BAND_GPS_L2, MRTK_BAND_GPS_L5, MRTK_BAND_IRN_L5, MRTK_BAND_IRN_S, MRTK_BAND_QZS_L1, MRTK_BAND_QZS_L2, MRTK_BAND_QZS_L5, MRTK_BAND_QZS_L6, MRTK_BAND_SBS_L1, and MRTK_BAND_SBS_L5.

◆ mrtk_band_to_freq_num()

int mrtk_band_to_freq_num	(	int	sys,
		mrtk_band_t	band )

extern

Convert physical band back to RINEX frequency number for a given system.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	band	Physical frequency band

Returns: RINEX frequency number (1,2,5,...) or 0 on error

Definition at line 938 of file mrtk_obs.c.

References MRTK_BAND_BDS_B1C, MRTK_BAND_BDS_B1I, MRTK_BAND_BDS_B2a, MRTK_BAND_BDS_B2ab, MRTK_BAND_BDS_B2b, MRTK_BAND_BDS_B3, MRTK_BAND_GAL_E1, MRTK_BAND_GAL_E5a, MRTK_BAND_GAL_E5ab, MRTK_BAND_GAL_E5b, MRTK_BAND_GAL_E6, MRTK_BAND_GLO_G1, MRTK_BAND_GLO_G2, MRTK_BAND_GLO_G3, MRTK_BAND_GPS_L1, MRTK_BAND_GPS_L2, MRTK_BAND_GPS_L5, MRTK_BAND_IRN_L5, MRTK_BAND_IRN_S, MRTK_BAND_QZS_L1, MRTK_BAND_QZS_L2, MRTK_BAND_QZS_L5, MRTK_BAND_QZS_L6, MRTK_BAND_SBS_L1, MRTK_BAND_SBS_L5, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, and SYS_SBS.

Referenced by mrtk_sigcfg_freq_idx(), and mrtk_sigcfg_to_obsdef().

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◆ mrtk_get_signal_priority()

const uint8_t * mrtk_get_signal_priority	(	int	sys,
		mrtk_band_t	band )

extern

Get priority-ordered code list for a (system, band) pair.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	band	Physical frequency band

Returns: Pointer to priority-ordered code array (MRTK_MAX_SIG_PRIORITY elements), or NULL if no match

Definition at line 914 of file mrtk_obs.c.

References MRTK_BAND_MAX, MRTK_BAND_QZS_L1, MRTK_BAND_UNKNOWN, qzs_l1_claslib, QZS_L1_PRIORITY_CLASLIB, SIG_PRIORITY_TABLE, and SYS_QZS.

Referenced by getcodepri().

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◆ mrtk_parse_signal_str()

int mrtk_parse_signal_str	(	const char *	str,
		int *	sys,
		mrtk_band_t *	band,
		uint8_t *	code )

extern

Parse a RINEX3-style signal string (e.g., "G1C") into components.

Parameters

[in]	str	Signal string (3 chars: {sys}{freq}{attr})
[out]	sys	Satellite system (SYS_???)
[out]	band	Physical frequency band
[out]	code	Observation code (CODE_???)

Returns: 0: success, -1: error

Definition at line 1039 of file mrtk_obs.c.

References CODE_NONE, MRTK_BAND_UNKNOWN, mrtk_rinex_freq_to_band(), obs2code(), SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, and SYS_SBS.

Referenced by mrtk_sigcfg_from_signals().

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◆ mrtk_rinex_freq_to_band()

mrtk_band_t mrtk_rinex_freq_to_band	(	int	sys,
		int	rinex_freq_id )

extern

Convert RINEX frequency digit to physical band for a given system.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	rinex_freq_id	RINEX frequency digit (1,2,3,4,5,6,7,8,9)

Returns: Physical band (MRTK_BAND_UNKNOWN on error)

Definition at line 806 of file mrtk_obs.c.

References MRTK_BAND_BDS_B1C, MRTK_BAND_BDS_B1I, MRTK_BAND_BDS_B2a, MRTK_BAND_BDS_B2ab, MRTK_BAND_BDS_B2b, MRTK_BAND_BDS_B3, MRTK_BAND_GAL_E1, MRTK_BAND_GAL_E5a, MRTK_BAND_GAL_E5ab, MRTK_BAND_GAL_E5b, MRTK_BAND_GAL_E6, MRTK_BAND_GLO_G1, MRTK_BAND_GLO_G2, MRTK_BAND_GLO_G3, MRTK_BAND_GPS_L1, MRTK_BAND_GPS_L2, MRTK_BAND_GPS_L5, MRTK_BAND_IRN_L5, MRTK_BAND_IRN_S, MRTK_BAND_QZS_L1, MRTK_BAND_QZS_L2, MRTK_BAND_QZS_L5, MRTK_BAND_QZS_L6, MRTK_BAND_SBS_L1, MRTK_BAND_SBS_L5, MRTK_BAND_UNKNOWN, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, and SYS_SBS.

Referenced by getcodepri(), and mrtk_parse_signal_str().

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◆ mrtk_sigcfg_freq_idx()

int mrtk_sigcfg_freq_idx	(	int	sys,
		uint8_t	code,
		const mrtk_sigcfg_t *	cfg,
		int	nex )

extern

Resolve the observation slot for a decoded (sys, code) from sigcfg.

#189: lets [positioning].signals (sigcfg) drive raw-decoder code selection, so e.g. GLONASS L2C/A can be placed in the iono-free 2nd frequency without the legacy -RL2C receiver option. obsdef is band-level (cannot distinguish L2C from L2P); sigcfg carries the per-band preferred code, which this consults.

Parameters

[in]	sys	Satellite system (SYS_???)
[in]	code	Observation code (CODE_???) just decoded
[in]	cfg	Per-constellation signal config array [MRTK_NSYS]
[in]	nex	Number of extra observation slots available (NEXOBS)

Returns: main slot 0..NFREQ-1 (code selected for its band); -1 to drop (code not selected, or its band not configured for this system); MRTK_SIGCFG_NOOPINION if this system has no sigcfg entry.

Definition at line 1224 of file mrtk_obs.c.

References mrtk_signal_t::band, code2freq_idx(), code2freq_num(), mrtk_band_to_freq_num(), MRTK_SIGCFG_NOOPINION, mrtk_sigcfg_t::nsig, mrtk_signal_t::preferred_code, mrtk_sigcfg_t::sig, and sys2sigcfg_idx().

Referenced by sig2idx().

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◆ mrtk_sigcfg_from_signals()

int mrtk_sigcfg_from_signals	(	const char **	sigs,
		int	nsig,
		mrtk_sigcfg_t *	cfg,
		int *	nf )

extern

Build per-constellation signal config from a signal string array.

Parameters

[in]	sigs	Array of signal strings (e.g., "G1C", "E5Q")
[in]	nsig	Number of signal strings
[out]	cfg	Per-constellation signal config array [MRTK_NSYS]
[out]	nf	Derived number of frequencies (max signals per constellation)

Returns: 0: success, -1: error

Definition at line 1128 of file mrtk_obs.c.

References mrtk_signal_t::band, MRTK_MAXSIG_PER_SYS, MRTK_NSYS, mrtk_parse_signal_str(), mrtk_sigcfg_t::nsig, mrtk_signal_t::preferred_code, mrtk_sigcfg_t::sig, sys2sigcfg_idx(), and trace().

Referenced by buff2sysopts().

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◆ mrtk_sigcfg_to_obsdef()

int mrtk_sigcfg_to_obsdef ( const mrtk_sigcfg_t * cfg )

extern

Apply signal config to obsdef tables (bridge to existing system).

Parameters

[in] cfg Per-constellation signal config array [MRTK_NSYS]

Returns: 0: success, -1: error

Definition at line 1187 of file mrtk_obs.c.

References MAXFREQ, mrtk_band_to_freq_num(), MRTK_NSYS, mrtk_sigcfg_t::nsig, set_obsdef(), SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, SYS_SBS, and trace().

Referenced by buff2sysopts().

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◆ mrtk_use_claslib_qzs_l1_priority()

void mrtk_use_claslib_qzs_l1_priority ( int on )

extern

Toggle the claslib-compatible QZSS L1 signal priority (C>S>L>X>Z).

Enable only for CLAS processing; upstream claslib and MADOCALIB disagree on the QZSS L1 order, so the claslib order must not affect other engines.

Parameters

[in] on 1: claslib order, 0: MRTK default order

Definition at line 906 of file mrtk_obs.c.

References qzs_l1_claslib.

◆ obs2code()

uint8_t obs2code ( const char * obs )

extern

Convert obs code type string to obs code.

Parameters

[in] obs Obs code string ("1C","1P","1Y",...)

Returns: Obs code (CODE_???)

Definition at line 173 of file mrtk_obs.c.

References CODE_NONE, and obscodes.

Referenced by mrtk_parse_signal_str(), outrnx_phase_shift(), readbsnx(), save_msm_obs(), set_index(), and setopt_phshift().

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◆ sat2freq()

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

extern

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.

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 corr_meas(), decode_cresgloraw(), decode_rangeb(), decode_rangecmpb(), gfmeas(), gfobs(), iflc_freq2_idx(), miono_delay(), mwmeas(), ppp_res(), prange(), rescode(), resdop(), sat_lambda(), sat_wavelengths(), satantoff(), udbias(), udbias_ppp(), udiono_ppp(), and zdres_sat().

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◆ satsys()

int satsys	(	int	sat,
		int *	prn )

extern

Definition at line 117 of file mrtk_nav.c.

◆ screent()

int screent	(	gtime_t	time,
		gtime_t	ts,
		gtime_t	te,
		double	tint )

extern

Screen data by time range and interval.

Parameters

[in]	time	Time to check (GPST)
[in]	ts	Start time (GPST) (ts.time==0: no start limit)
[in]	te	End time (GPST) (te.time==0: no end limit)
[in]	tint	Time interval (s) (0.0: no interval limit)

Returns: 1:on, 0:off

Definition at line 424 of file mrtk_obs.c.

References DTTOL, gtime_t::time, time2gpst(), and timediff().

Referenced by avepos(), convnav(), convsbs(), inputsol(), outsolexs(), outsols(), readbnxfp(), readmsgs(), readrnxobs(), and readsolstatdata().

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◆ signal_replace()

void signal_replace	(	obsd_t *	obs,
		int	idx,
		char	f,
		char *	c )

extern

Replace signal type in observation data.

Parameters

[in,out]	obs	Observation data record
[in]	idx	Frequency index
[in]	f	Frequency character
[in,out]	c	Signal code string

Definition at line 388 of file mrtk_obs.c.

References obsd_t::code, code2obs(), obsd_t::D, obsd_t::L, obsd_t::LLI, obsd_t::P, and obsd_t::SNR.

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◆ sortobs()

int sortobs ( obs_t * obs )

extern

Sort observation data by time, receiver, and satellite.

Parameters

[in,out] obs Observation data to sort

Returns: Number of epochs

Definition at line 350 of file mrtk_obs.c.

References cmpobs(), obs_t::data, DTTOL, obs_t::n, obsd_t::rcv, obsd_t::sat, obsd_t::time, timediff(), and trace().

Referenced by readobsnav(), and update_obs().

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◆ sys2sigcfg_idx()

int sys2sigcfg_idx ( int sys )

static

Definition at line 1097 of file mrtk_obs.c.

References SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, and SYS_SBS.

Referenced by mrtk_sigcfg_freq_idx(), and mrtk_sigcfg_from_signals().

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◆ testelmask()

int testelmask	(	const double *	azel,
		const int16_t *	elmask )

extern

Test elevation mask.

Parameters

[in]	azel	Azimuth/elevation angle {az,el} (rad)
[in]	elmask	Elevation mask vector (360 x 1) (0.1 deg)

Returns: Status (1:masked, 0:unmasked)

Definition at line 160 of file mrtk_obs.c.

References R2D.

Referenced by zdres().

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◆ testsnr()

int testsnr	(	int	base,
		int	idx,
		double	el,
		double	snr,
		const snrmask_t *	mask )

extern

Test SNR mask.

Parameters

[in]	base	Rover or base-station (0:rover, 1:base station)
[in]	idx	Frequency index (0:L1, 1:L2, 2:L3,...)
[in]	el	Elevation angle (rad)
[in]	snr	C/N0 (dBHz)
[in]	mask	SNR mask

Returns: Status (1:masked, 0:unmasked)

Definition at line 132 of file mrtk_obs.c.

References snrmask_t::ena, snrmask_t::mask, and R2D.

Referenced by clas_osr_zdres(), corr_meas(), snrmask(), zdres_sat(), and zdres_sat().

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◆ time2gpst()

double time2gpst	(	gtime_t	t,
		int *	week )

extern

Definition at line 181 of file mrtk_time.c.

Referenced by screent().

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◆ timediff()

double timediff	(	gtime_t	t1,
		gtime_t	t2 )

extern

Definition at line 279 of file mrtk_time.c.

Referenced by cmpobs(), screent(), and sortobs().

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Variable Documentation

◆ obscodes

char* obscodes[]

static

Initial value:

= {
    
 
    "",   "1C", "1P", "1W", "1Y", "1M", "1N", "1S", "1L", "1E", 
    "1A", "1B", "1X", "1Z", "2C", "2D", "2S", "2L", "2X", "2P", 
    "2W", "2Y", "2M", "2N", "5I", "5Q", "5X", "7I", "7Q", "7X", 
    "6A", "6B", "6C", "6X", "6Z", "6S", "6L", "8L", "8Q", "8X", 
    "2I", "2Q", "6I", "6Q", "3I", "3Q", "3X", "1I", "1Q", "5A", 
    "5B", "5C", "9A", "9B", "9C", "9X", "1D", "5D", "5P", "5Z", 
    "6E", "7D", "7P", "7Z", "8D", "8P", "4A", "4B", "4X", "6D", 
    "6P", ""                                                    
}

Definition at line 89 of file mrtk_obs.c.

Referenced by code2obs(), obs2code(), and set_index().

◆ qzs_l1_claslib

int qzs_l1_claslib = 0

static

Definition at line 901 of file mrtk_obs.c.

Referenced by mrtk_get_signal_priority(), and mrtk_use_claslib_qzs_l1_priority().

◆ QZS_L1_PRIORITY_CLASLIB

const uint8_t QZS_L1_PRIORITY_CLASLIB[MRTK_MAX_SIG_PRIORITY]

static

Initial value:

= {
    CODE_L1C, CODE_L1S, CODE_L1L, CODE_L1X, CODE_L1Z,
}

Definition at line 898 of file mrtk_obs.c.

Referenced by mrtk_get_signal_priority().

◆ SIG_PRIORITY_TABLE

const sig_priority_entry_t SIG_PRIORITY_TABLE[]

static

Definition at line 453 of file mrtk_obs.c.

Referenced by mrtk_get_signal_priority().

Classes

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ DFRQ1_GLO

◆ DFRQ2_GLO

◆ FREQ1

◆ FREQ1_CMP

◆ FREQ1_GLO

◆ FREQ1a_GLO

◆ FREQ2

◆ FREQ2_CMP

◆ FREQ2_GLO

◆ FREQ2a_GLO

◆ FREQ3_CMP

◆ FREQ3_GLO

◆ FREQ5

◆ FREQ6

◆ FREQ7

◆ FREQ8

◆ FREQ9

◆ MAXFREQ

◆ PI

◆ R2D

◆ SYS_ALL

◆ SYS_BD2

◆ SYS_CMP

◆ SYS_GAL

◆ SYS_GLO

◆ SYS_GPS

◆ SYS_IRN

◆ SYS_LEO

◆ SYS_NONE

◆ SYS_QZS

◆ SYS_SBS

Function Documentation

◆ cmpobs()

◆ code2freq()

◆ code2freq_idx()

◆ code2freq_num()

◆ code2obs()

◆ freeobs()

◆ getcodepri()

◆ mrtk_band2freq_hz()

◆ mrtk_band_to_freq_num()

◆ mrtk_get_signal_priority()

◆ mrtk_parse_signal_str()

◆ mrtk_rinex_freq_to_band()

◆ mrtk_sigcfg_freq_idx()

◆ mrtk_sigcfg_from_signals()

◆ mrtk_sigcfg_to_obsdef()

◆ mrtk_use_claslib_qzs_l1_priority()

◆ obs2code()

◆ sat2freq()

◆ satsys()

◆ screent()

◆ signal_replace()

◆ sortobs()

◆ sys2sigcfg_idx()

◆ testelmask()

◆ testsnr()

◆ time2gpst()

◆ timediff()

Variable Documentation

◆ obscodes

◆ qzs_l1_claslib

◆ QZS_L1_PRIORITY_CLASLIB

◆ SIG_PRIORITY_TABLE