MRTKLIB Precise Ephemeris Module — Earth rotation parameter I/O, precise ephemeris/clock computation, and satellite antenna offset functions. More...

#include "mrtklib/mrtk_peph.h"
#include <stdio.h>
#include <stdlib.h>
#include "mrtklib/mrtk_antenna.h"
#include "mrtklib/mrtk_astro.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_sys.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	CLIGHT 299792458.0 /* speed of light (m/s) */
#define	OMGE 7.2921151467E-5 /* earth angular velocity (IS-GPS) (rad/s) */
#define	SQR(x)
#define	SYS_NONE 0x00
#define	SYS_GPS 0x01
#define	SYS_SBS 0x02
#define	SYS_GLO 0x04
#define	SYS_GAL 0x08
#define	SYS_QZS 0x10
#define	SYS_CMP 0x20
#define	SYS_IRN 0x40
#define	SYS_LEO 0x80
#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	FREQ7 1.20714E9 /* E5b frequency (Hz) */
#define	FREQ9 2.492028E9 /* S frequency (Hz) */
#define	FREQ1_CMP 1.561098E9 /* BDS B1I frequency (Hz) */
#define	FREQ2_CMP 1.20714E9 /* BDS B2I/B2b frequency (Hz) */
#define	NMAX 10 /* order of polynomial interpolation */
#define	MAXDTE 900.0 /* max time difference to ephem time (s) */
#define	EXTERR_CLK 1E-3 /* extrapolation error for clock (m/s) */
#define	EXTERR_EPH 5E-7 /* extrapolation error for ephem (m/s^2) */

Functions
int	satsys_bd2 (int sat, int *prn)
int	freq_idx2freq_num (int sys, int freq_idx)
double	freq_num2freq (int sys, int freq_num, int fcn)
int	freq_idx2ant_idx (int sys, int freq_idx)
int	readerp (const char file, erp_t erp)
	Read earth rotation parameters from IGS ERP file (ver.2).
int	geterp (const erp_t erp, gtime_t time, double erpv)
	Get earth rotation parameter values at specified time.
static int	code2sys (char code)
static int	readsp3h (FILE fp, gtime_t time, char type, int sats, double bfact, char tsys)
static int	addpeph (nav_t nav, peph_t peph)
static void	readsp3b (FILE fp, char type, int sats, int ns, double bfact, char tsys, int index, int opt, nav_t *nav)
static int	cmppeph (const void p1, const void p2)
static void	combpeph (nav_t *nav, int opt)
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.
static int	readdcbf (const char file, nav_t nav, const sta_t *sta)
int	readdcb (const char file, nav_t nav, const sta_t *sta)
	Read differential code bias (DCB) parameters.
static double	interppol (const double x, double y, int n)
static int	pephpos (gtime_t time, int sat, const nav_t nav, double rs, double dts, double vare, double *varc)
static int	pephclk (gtime_t time, int sat, const nav_t nav, double dts, double *varc)
void	satantoff (gtime_t time, const double rs, int sat, const nav_t nav, double *dant)
	Compute satellite antenna phase center offset in ecef.
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.

Detailed Description

MRTKLIB Precise Ephemeris Module — Earth rotation parameter I/O, precise ephemeris/clock computation, and satellite antenna offset functions.

This file contains the ERP functions extracted from rtkcmn.c, plus all precise ephemeris functions absorbed from preceph.c with zero algorithmic changes (pure cut-and-paste).

Definition in file mrtk_peph.c.

Macro Definition Documentation

◆ AS2R

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

Definition at line 53 of file mrtk_peph.c.

◆ CLIGHT

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

Definition at line 54 of file mrtk_peph.c.

◆ D2R

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

Definition at line 52 of file mrtk_peph.c.

◆ EXTERR_CLK

#define EXTERR_CLK 1E-3 /* extrapolation error for clock (m/s) */

Definition at line 82 of file mrtk_peph.c.

Referenced by pephclk(), and pephpos().

◆ EXTERR_EPH

#define EXTERR_EPH 5E-7 /* extrapolation error for ephem (m/s^2) */

Definition at line 83 of file mrtk_peph.c.

Referenced by pephpos().

◆ FREQ1

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

Definition at line 71 of file mrtk_peph.c.

◆ FREQ1_CMP

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

Definition at line 76 of file mrtk_peph.c.

◆ FREQ2

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

Definition at line 72 of file mrtk_peph.c.

◆ FREQ2_CMP

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

Definition at line 77 of file mrtk_peph.c.

◆ FREQ5

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

Definition at line 73 of file mrtk_peph.c.

◆ FREQ7

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

Definition at line 74 of file mrtk_peph.c.

◆ FREQ9

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

Definition at line 75 of file mrtk_peph.c.

◆ MAXDTE

#define MAXDTE 900.0 /* max time difference to ephem time (s) */

Definition at line 81 of file mrtk_peph.c.

Referenced by pephclk(), and pephpos().

◆ NMAX

#define NMAX 10 /* order of polynomial interpolation */

Definition at line 80 of file mrtk_peph.c.

Referenced by pephpos().

◆ OMGE

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

Definition at line 55 of file mrtk_peph.c.

◆ PI

#define PI 3.1415926535897932 /* pi */

Definition at line 51 of file mrtk_peph.c.

◆ SQR

#define SQR ( x )

Value:

((x) * (x))

Definition at line 57 of file mrtk_peph.c.

Referenced by pephclk(), pephpos(), and satantoff().

◆ SYS_CMP

#define SYS_CMP 0x20

Definition at line 66 of file mrtk_peph.c.

◆ SYS_GAL

#define SYS_GAL 0x08

Definition at line 64 of file mrtk_peph.c.

◆ SYS_GLO

#define SYS_GLO 0x04

Definition at line 63 of file mrtk_peph.c.

◆ SYS_GPS

#define SYS_GPS 0x01

Definition at line 61 of file mrtk_peph.c.

◆ SYS_IRN

#define SYS_IRN 0x40

Definition at line 67 of file mrtk_peph.c.

◆ SYS_LEO

#define SYS_LEO 0x80

Definition at line 68 of file mrtk_peph.c.

◆ SYS_NONE

#define SYS_NONE 0x00

Definition at line 60 of file mrtk_peph.c.

◆ SYS_QZS

#define SYS_QZS 0x10

Definition at line 65 of file mrtk_peph.c.

◆ SYS_SBS

#define SYS_SBS 0x02

Definition at line 62 of file mrtk_peph.c.

Function Documentation

◆ addpeph()

int addpeph	(	nav_t *	nav,
		peph_t *	peph )

static

Definition at line 272 of file mrtk_peph.c.

References free, nav_s::ne, nav_s::nemax, nav_s::peph, and trace().

Referenced by readsp3b().

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◆ cmppeph()

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

static

Definition at line 392 of file mrtk_peph.c.

References peph_t::index, gtime_t::time, peph_t::time, and timediff().

Referenced by combpeph().

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◆ code2sys()

int code2sys ( char code )

static

Definition at line 201 of file mrtk_peph.c.

References SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_LEO, SYS_NONE, and SYS_QZS.

Referenced by readsp3b(), and readsp3h().

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◆ combpeph()

void combpeph	(	nav_t *	nav,
		int	opt )

static

Definition at line 398 of file mrtk_peph.c.

References cmppeph(), MAXSAT, nav_s::ne, norm(), nav_s::peph, peph_t::pos, peph_t::std, peph_t::time, timediff(), trace(), peph_t::vel, and peph_t::vst.

Referenced by readsp3().

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◆ freq_idx2ant_idx()

int freq_idx2ant_idx	(	int	sys,
		int	freq_idx )

extern

Definition at line 743 of file mrtk_nav.c.

Referenced by satantoff().

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◆ freq_idx2freq_num()

int freq_idx2freq_num	(	int	sys,
		int	freq_idx )

extern

Definition at line 649 of file mrtk_nav.c.

Referenced by satantoff().

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◆ freq_num2freq()

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

extern

Definition at line 680 of file mrtk_nav.c.

Referenced by satantoff().

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◆ geterp()

int geterp	(	const erp_t *	erp,
		gtime_t	time,
		double *	erpv )

extern

Get earth rotation parameter values at specified time.

Parameters

[in]	erp	Earth rotation parameters
[in]	time	Time (GPST)
[out]	erpv	ERP values {xp,yp,ut1_utc,lod} (rad,rad,s,s/d)

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

Definition at line 146 of file mrtk_peph.c.

References erp_t::data, epoch2time(), gpst2utc(), erpd_t::lod, erpd_t::mjd, erp_t::n, timediff(), trace(), erpd_t::ut1_utc, erpd_t::xp, erpd_t::xpr, erpd_t::yp, and erpd_t::ypr.

Referenced by clas_osr_zdres(), and tidedisp().

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◆ interppol()

double interppol	(	const double *	x,
		double *	y,
		int	n )

static

Definition at line 614 of file mrtk_peph.c.

Referenced by pephpos().

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◆ peph2pos()

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

extern

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().

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◆ pephclk()

int pephclk	(	gtime_t	time,
		int	sat,
		const nav_t *	nav,
		double *	dts,
		double *	varc )

static

Definition at line 717 of file mrtk_peph.c.

References CLIGHT, pclk_t::clk, EXTERR_CLK, MAXDTE, nav_s::nc, nav_s::pclk, SQR, pclk_t::std, pclk_t::time, time_str(), timediff(), and trace().

Referenced by peph2pos().

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◆ pephpos()

int pephpos	(	gtime_t	time,
		int	sat,
		const nav_t *	nav,
		double *	rs,
		double *	dts,
		double *	vare,
		double *	varc )

static

Definition at line 625 of file mrtk_peph.c.

References CLIGHT, EXTERR_CLK, EXTERR_EPH, interppol(), MAXDTE, nav_s::ne, NMAX, norm(), OMGE, nav_s::peph, peph_t::pos, SQR, peph_t::std, peph_t::time, time_str(), timediff(), and trace().

Referenced by peph2pos().

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◆ readdcb()

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

extern

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().

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◆ readdcbf()

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

static

Definition at line 527 of file mrtk_peph.c.

References nav_s::cbias, CLIGHT, MAXRCV, nav_s::rbias, satid2no(), str2num(), and trace().

Referenced by readdcb().

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◆ readerp()

int readerp	(	const char *	file,
		erp_t *	erp )

extern

Read earth rotation parameters from IGS ERP file (ver.2).

Parameters

[in]	file	IGS ERP file path
[out]	erp	Earth rotation parameters

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

Definition at line 99 of file mrtk_peph.c.

References AS2R, erp_t::data, free, erpd_t::lod, erpd_t::mjd, erp_t::n, erp_t::nmax, trace(), erpd_t::ut1_utc, erpd_t::xp, erpd_t::xpr, erpd_t::yp, and erpd_t::ypr.

Referenced by execses().

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◆ readsap()

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

extern

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().

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◆ readsp3()

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

extern

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().

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◆ readsp3b()

void readsp3b	(	FILE *	fp,
		char	type,
		int *	sats,
		int	ns,
		double *	bfact,
		char *	tsys,
		int	index,
		int	opt,
		nav_t *	nav )

static

Definition at line 290 of file mrtk_peph.c.

References addpeph(), code2sys(), peph_t::cov, peph_t::index, MAXSAT, peph_t::pos, satno(), peph_t::std, str2num(), str2time(), SYS_GPS, SYS_QZS, SYS_SBS, peph_t::time, trace(), utc2gpst(), peph_t::vco, peph_t::vel, and peph_t::vst.

Referenced by readsp3().

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◆ readsp3h()

int readsp3h	(	FILE *	fp,
		gtime_t *	time,
		char *	type,
		int *	sats,
		double *	bfact,
		char *	tsys )

static

Definition at line 226 of file mrtk_peph.c.

References code2sys(), MAXSAT, satno(), str2num(), str2time(), and trace().

Referenced by readsp3().

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◆ satantoff()

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

extern

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().

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◆ satsys_bd2()

int satsys_bd2	(	int	sat,
		int *	prn )

extern

Definition at line 159 of file mrtk_nav.c.

Referenced by satantoff().

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Macros

Functions

Detailed Description

Macro Definition Documentation

◆ AS2R

◆ CLIGHT

◆ D2R

◆ EXTERR_CLK

◆ EXTERR_EPH

◆ FREQ1

◆ FREQ1_CMP

◆ FREQ2

◆ FREQ2_CMP

◆ FREQ5

◆ FREQ7

◆ FREQ9

◆ MAXDTE

◆ NMAX

◆ OMGE

◆ PI

◆ SQR

◆ SYS_CMP

◆ SYS_GAL

◆ SYS_GLO

◆ SYS_GPS

◆ SYS_IRN

◆ SYS_LEO

◆ SYS_NONE

◆ SYS_QZS

◆ SYS_SBS

Function Documentation

◆ addpeph()

◆ cmppeph()

◆ code2sys()

◆ combpeph()

◆ freq_idx2ant_idx()

◆ freq_idx2freq_num()

◆ freq_num2freq()

◆ geterp()

◆ interppol()

◆ peph2pos()

◆ pephclk()

◆ pephpos()

◆ readdcb()

◆ readdcbf()

◆ readerp()

◆ readsap()

◆ readsp3()

◆ readsp3b()

◆ readsp3h()

◆ satantoff()

◆ satsys_bd2()