PPP-RTK positioning engine. More...

#include "mrtklib/mrtk_ppp_rtk.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_atmos.h"
#include "mrtklib/mrtk_clas.h"
#include "mrtklib/mrtk_const.h"
#include "mrtklib/mrtk_coords.h"
#include "mrtklib/mrtk_eph.h"
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_lambda.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_time.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_ppp_rtk.c:

Macros
#define	SQR(x)
#define	SQRT(x)
#define	MIN(x, y)
#define	MAXREF 2 /* max iterations searching reference sat */
#define	VAR_POS SQR(30.0) /* initial variance of receiver pos (m^2) */
#define	VAR_VEL SQR(1.0) /* initial variance of receiver vel (m/s)^2 */
#define	VAR_ACC SQR(1.0) /* initial variance of receiver acc (m/ss)^2 */
#define	VAR_GRA SQR(0.001) /* gradient variance (m^2) */
#define	INIT_ZWD 0.001 /* initial ZWD (m) */
#define	BASELEN 1000.0 /* baseline length for iono update (m) */
#define	MAXPBCORSSR 20.0 /* max phase bias correction of SSR (m) */
#define	VARHOLDAMB 0.001 /* hold-ambiguity constraint variance */
#define	ALPHAAR_DEFAULT 3 /* F-test significance index (5%) */
#define	MINAMB_DEFAULT 2 /* minimum ambiguities for AR */
#define	MAXOBSLOSS_DEFAULT 300.0 /* max obs gap to reset states (s) */
#define	LAM_CARR_L1 (CLIGHT / FREQ1)
#define	LAM_CARR_L2 (CLIGHT / FREQ2)
#define	LAM_CARR_L5 (CLIGHT / FREQ5)
#define	NF_RTK(opt)
#define	NP_RTK(opt)
#define	NI_RTK(opt)
#define	NT_RTK(opt)
#define	NR_RTK(opt)
#define	NB_RTK(opt)
#define	NX_RTK(opt)
#define	II_RTK(s, opt)
#define	IT_RTK(opt)
#define	IB_RTK(s, f, opt)

Enumerations
enum	ddres_order { FST = 1 , SND , TRD }

Functions
static void	load_ppp_osr_cpc (clas_osr_ctx_t ctx, const double cpc, const gtime_t *pt0)
static void	save_ppp_osr_cpc (const clas_osr_ctx_t ctx, double cpc, gtime_t *pt0)
static uint8_t	obs_code_for_freq (int sat, int f)
	Return default observation code for frequency index and system.
static double	sat_lambda (int sat, int f, const nav_t *nav)
	Compute satellite-specific wavelength for frequency index.
static double	varerr (int sat, int sys, double el, int type, const prcopt_t *opt)
	Compute measurement error variance.
static void	initx (rtk_t *rtk, double xi, double var, int i)
	Initialize a state and its covariance.
static void	udpos_ppp (rtk_t rtk, const obsd_t obs, int n, double tt)
	Temporal update of position states.
static void	udtrop (rtk_t *rtk, double tt)
	Temporal update of tropospheric parameters.
static void	udion (rtk_t rtk, double tt, double bl, const obsd_t obs, int ns)
	Temporal update of ionospheric parameters.
static void	detslp_ll (rtk_t rtk, const obsd_t obs, int n)
	Detect cycle slip by LLI flag.
static double	gfmeas_L1L2 (const obsd_t obs, const nav_t nav)
	L1/L2 geometry-free phase measurement.
static double	gfmeas_L1L5 (const obsd_t obs, const nav_t nav)
	L1/L5 geometry-free phase measurement.
static void	detslp_gf (rtk_t rtk, const obsd_t obs, int n, const nav_t *nav)
	Detect cycle slip by geometry-free phase jump.
static void	udbias_ppp (rtk_t rtk, double tt, const obsd_t obs, int n, const nav_t *nav)
	Temporal update of phase biases.
static void	udstate_ppp (rtk_t rtk, const obsd_t obs, int n, const nav_t *nav)
	Temporal update of all PPP-RTK states.
static double	prectrop2 (gtime_t time, const double pos, int r, const double azel, const prcopt_t opt, const double x, double *dtdx)
	Compute precise tropospheric delay for KF.
static int	validobs (int i, int f, int nf, double *y)
	Check if zero-difference observation is valid.
static void	ddcov (const int nb, int n, const double Ri, const double Rj, int nv, double R)
	Build DD covariance from SD variances.
static int	test_sys (int sys, int m, int qzsmodear, int code)
	Test if satellite system matches group index.
static int	residual_test (rtk_t rtk, const int vflg, const double v, const double Q, int iv, const int m, int ns, const int flg)
	Validate residuals and reject outliers.
static int	filter2_ (rtk_t rtk, const double x, const double P, const double H, const double v, const double R, const int n, const int m, double xp, double Pp, double Qp, const int vflg, const int flg)
	Inner KF measurement update with residual test.
static int	filter2 (rtk_t rtk, double x, double P, const double H, const double v, const double R, const int n, const int m, const int *vflg, const int flg)
	KF measurement update with state compaction.
static int	check_same_fac (const clas_ctx_t *clas)
	Test whether the two L6 channels currently carry the same facility.
static int	valid_zd_sig (rtk_t rtk, const obsd_t obs, const nav_t nav, double y, int nf, int f, int i, int j, int m, int sati, int satj, int sysi, int sysj, double lami, double *lamj)
	Check that a satellite yields a usable zero-difference signal.
static void	set_init_pb (rtk_t rtk, const nav_t nav, const obsd_t *obs, int n, int f, int satj)
	Re-initialize the phase-bias state of one satellite from phase-code.
static int	ddres (rtk_t rtk, const nav_t nav, double x, double pbslip, const double P, const obsd_t obs, double y, double e, double azel, int n, double v, double H, double R, int *vflg, int niter, int pch, int order)
	Compute DD residuals and measurement matrix, merging L6 channels.
static int	ddmat (rtk_t rtk, double D, int indI, int indJ)
	Build SD-to-DD transformation matrix D.
static void	restamb (rtk_t rtk, const double bias, int nb, double *xa)
	Restore SD ambiguities from DD fixed values.
static void	holdamb (rtk_t rtk, const double xa)
	Hold fixed ambiguities via pseudomeasurement constraint.
static void	elsort (rtk_t rtk, const obsd_t obs, int isat, double el, int n)
	Sort satellites by elevation angle (ascending) for partial AR.
static double	sddop (const rtk_t rtk, const double H, const int *vflg, double elmask, int nv)
static double	zddop (const rtk_t rtk, const double azel, const obsd_t *obs, double elmask, int n)
static double	calpdop (const rtk_t rtk, const double H, const double azel, const int vflg, const obsd_t *obs, double elmask, int n, int nv)
static int	resamb_LAMBDA (rtk_t rtk, double bias, double *xa)
	Resolve integer ambiguity by LAMBDA.
int	ppprtk_outstat (rtk_t rtk, char buff)
	Write PPP-RTK solution status to buffer.
int	ppp_rtk_nx (const prcopt_t *opt)
	Compute number of estimated states for PPP-RTK.
int	ppp_rtk_na (const prcopt_t *opt)
	Compute number of non-ambiguity states for PPP-RTK.
static void	check_clas_facility (nav_t nav, const clas_ctx_t clas, const clas_grid_t grid, const prcopt_t opt)
void	ppp_rtk_pos (rtk_t rtk, const obsd_t obs, int n, nav_t *nav)
	PPP-RTK positioning for one epoch (CLAS).
void	rtkinit_ppp_rtk (rtk_t rtk, const prcopt_t opt)
	Initialize RTK control struct for PPP-RTK positioning.
void	rtkfree_ppp_rtk (rtk_t *rtk)
	Free RTK control struct for PPP-RTK positioning.

Variables
static const double	lam_carr [3] = { (CLIGHT / FREQ1) , (CLIGHT / FREQ2) , (CLIGHT / FREQ5) }
static const double	chisqr [100]
static const double	qf [6][60]
struct {
int refsat [5 2 2 *6+1]
int refsat2 [5 2 6+1]
double cpc [SSR_CH_NUM][MAXSAT *5]
gtime_t pt0 [SSR_CH_NUM][MAXSAT]
int use_ch [5][MAXSAT+1]
int pre_use_ch [5][MAXSAT+1]
clas_osr_ctx_t osr_ctx
double chisq
double * Qp
int Qp_nx
int float_count
int cntdiffp
int floatcnt_reset
int initialized
}	prtk_ctx

Detailed Description

PPP-RTK positioning engine.

References: [1] claslib ppprtk.c — upstream PPP-RTK implementation [2] claslib rtkcmn.c — upstream filter2/residual_test [6] MacMillan et al., Atmospheric gradients and the VLBI terrestrial and celestial reference frames, Geophys. Res. Let., 1997

Notes:

Ported from upstream claslib ppprtk.c as an independent positioning engine. Uses double-differencing (DD) with CLAS grid corrections, unlike the undifferenced PPP engine in mrtk_ppp.c.
Dual-channel (l6mrg) processing merges the two L6 transmit patterns: residuals are computed per channel and combined in ddres(), which picks a channel per satellite and, when the channels carry different facilities, resets the phase bias of a satellite that switches channel. With l6mrg off the engine runs on channel 0 only.

Definition in file mrtk_ppp_rtk.c.

Macro Definition Documentation

◆ ALPHAAR_DEFAULT

#define ALPHAAR_DEFAULT 3 /* F-test significance index (5%) */

Definition at line 77 of file mrtk_ppp_rtk.c.

Referenced by resamb_LAMBDA().

◆ BASELEN

#define BASELEN 1000.0 /* baseline length for iono update (m) */

Definition at line 71 of file mrtk_ppp_rtk.c.

Referenced by udstate_ppp().

◆ IB_RTK

#define IB_RTK	(	s,
		f,
		opt )

Value:

(NR_RTK(opt) + MAXSAT * (f) + (s) - 1) /* bias state index */

NR_RTK

#define NR_RTK(opt)

Definition mrtk_clas_osr.c:72

MAXSAT

#define MAXSAT

Definition mrtk_coords.c:45

Definition at line 109 of file mrtk_ppp_rtk.c.

Referenced by ddres(), holdamb(), restamb(), set_init_pb(), and udbias_ppp().

◆ II_RTK

#define II_RTK	(		s,
			opt )

Value:

(NP_RTK(opt) + (s) - 1) /* iono state index */

NP_RTK

#define NP_RTK(opt)

Definition mrtk_clas_osr.c:65

Definition at line 107 of file mrtk_ppp_rtk.c.

Referenced by ddres(), ppp_rtk_pos(), ppprtk_outstat(), and udion().

◆ INIT_ZWD

#define INIT_ZWD 0.001 /* initial ZWD (m) */

Definition at line 69 of file mrtk_ppp_rtk.c.

Referenced by relposvrs(), udtrop(), udtrop(), and udtrop().

◆ IT_RTK

#define IT_RTK ( opt )

Value:

(NP_RTK(opt) + NI_RTK(opt)) /* trop state index */

NI_RTK

#define NI_RTK(opt)

Definition mrtk_clas_osr.c:66

Definition at line 108 of file mrtk_ppp_rtk.c.

Referenced by ddres(), ppprtk_outstat(), prectrop2(), and udtrop().

◆ LAM_CARR_L1

#define LAM_CARR_L1 (CLIGHT / FREQ1)

Definition at line 82 of file mrtk_ppp_rtk.c.

◆ LAM_CARR_L2

#define LAM_CARR_L2 (CLIGHT / FREQ2)

Definition at line 83 of file mrtk_ppp_rtk.c.

◆ LAM_CARR_L5

#define LAM_CARR_L5 (CLIGHT / FREQ5)

Definition at line 84 of file mrtk_ppp_rtk.c.

◆ MAXOBSLOSS_DEFAULT

#define MAXOBSLOSS_DEFAULT 300.0 /* max obs gap to reset states (s) */

Definition at line 79 of file mrtk_ppp_rtk.c.

Referenced by ppp_rtk_pos().

◆ MAXPBCORSSR

#define MAXPBCORSSR 20.0 /* max phase bias correction of SSR (m) */

Definition at line 73 of file mrtk_ppp_rtk.c.

◆ MAXREF

#define MAXREF 2 /* max iterations searching reference sat */

Definition at line 62 of file mrtk_ppp_rtk.c.

Referenced by ddres(), ddres(), ppp_rtk_pos(), and relposvrs().

◆ MIN

#define MIN	(		x,
			y )

Value:

((x) <= (y) ? (x) : (y))

Definition at line 60 of file mrtk_ppp_rtk.c.

◆ MINAMB_DEFAULT

#define MINAMB_DEFAULT 2 /* minimum ambiguities for AR */

Definition at line 78 of file mrtk_ppp_rtk.c.

Referenced by resamb_LAMBDA().

◆ NB_RTK

#define NB_RTK ( opt )

Value:

(MAXSAT * NF_RTK(opt))

NF_RTK

#define NF_RTK(opt)

Definition mrtk_clas_osr.c:64

Definition at line 103 of file mrtk_ppp_rtk.c.

◆ NF_RTK

#define NF_RTK ( opt )

Value:

((opt)->nf)

Definition at line 98 of file mrtk_ppp_rtk.c.

Referenced by ddmat(), ddres(), holdamb(), ppp_rtk_pos(), restamb(), and udbias_ppp().

◆ NI_RTK

#define NI_RTK ( opt )

Value:

(((opt)->ionoopt == IONOOPT_EST || (opt)->ionoopt == IONOOPT_EST_ADPT) ? MAXSAT : 0)

IONOOPT_EST

#define IONOOPT_EST

Definition mrtk_opt.h:96

IONOOPT_EST_ADPT

#define IONOOPT_EST_ADPT

Definition mrtk_opt.h:100

Definition at line 100 of file mrtk_ppp_rtk.c.

Referenced by udpos_ppp().

◆ NP_RTK

#define NP_RTK ( opt )

Value:

((opt)->dynamics == 0 ? 3 : 9)

Definition at line 99 of file mrtk_ppp_rtk.c.

Referenced by ppp_rtk_pos(), residual_test(), and udpos_ppp().

◆ NR_RTK

#define NR_RTK ( opt )

Value:

(NP_RTK(opt) + NI_RTK(opt) + NT_RTK(opt))

NT_RTK

#define NT_RTK(opt)

Definition mrtk_ppp_rtk.c:101

Definition at line 102 of file mrtk_ppp_rtk.c.

Referenced by ppp_rtk_na().

◆ NT_RTK

#define NT_RTK ( opt )

Value:

((opt)->tropopt < TROPOPT_EST ? 0 : ((opt)->tropopt < TROPOPT_ESTG ? 1 : 3))

TROPOPT_EST

#define TROPOPT_EST

Definition mrtk_opt.h:105

TROPOPT_ESTG

#define TROPOPT_ESTG

Definition mrtk_opt.h:106

Definition at line 101 of file mrtk_ppp_rtk.c.

◆ NX_RTK

#define NX_RTK ( opt )

Value:

(NR_RTK(opt) + NB_RTK(opt))

NB_RTK

#define NB_RTK(opt)

Definition mrtk_ppp_rtk.c:103

Definition at line 104 of file mrtk_ppp_rtk.c.

Referenced by ppp_rtk_nx().

◆ SQR

#define SQR ( x )

Value:

((x) * (x))

Definition at line 58 of file mrtk_ppp_rtk.c.

Referenced by ddres(), ppp_rtk_pos(), residual_test(), set_init_pb(), udbias_ppp(), udion(), udpos_ppp(), and udtrop().

◆ SQRT

#define SQRT ( x )

Value:

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

Definition at line 59 of file mrtk_ppp_rtk.c.

◆ VAR_ACC

#define VAR_ACC SQR(1.0) /* initial variance of receiver acc (m/ss)^2 */

Definition at line 67 of file mrtk_ppp_rtk.c.

◆ VAR_GRA

#define VAR_GRA SQR(0.001) /* gradient variance (m^2) */

Definition at line 68 of file mrtk_ppp_rtk.c.

◆ VAR_POS

#define VAR_POS SQR(30.0) /* initial variance of receiver pos (m^2) */

Definition at line 65 of file mrtk_ppp_rtk.c.

◆ VAR_VEL

#define VAR_VEL SQR(1.0) /* initial variance of receiver vel (m/s)^2 */

Definition at line 66 of file mrtk_ppp_rtk.c.

◆ VARHOLDAMB

#define VARHOLDAMB 0.001 /* hold-ambiguity constraint variance */

Definition at line 76 of file mrtk_ppp_rtk.c.

Referenced by holdamb().

Enumeration Type Documentation

◆ ddres_order

enum ddres_order

Order in which ddres() is called within one ppp_rtk_pos() epoch

Enumerator
FST
SND
TRD

Definition at line 1439 of file mrtk_ppp_rtk.c.

Function Documentation

◆ calpdop()

double calpdop	(	const rtk_t *	rtk,
		const double *	H,
		const double *	azel,
		const int *	vflg,
		const obsd_t *	obs,
		double	elmask,
		int	n,
		int	nv )

static

Definition at line 2258 of file mrtk_ppp_rtk.c.

References rtk_t::opt, prcopt_t::refdop, sddop(), and zddop().

Referenced by ppp_rtk_pos().

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◆ check_clas_facility()

void check_clas_facility	(	nav_t *	nav,
		const clas_ctx_t *	clas,
		const clas_grid_t *	grid,
		const prcopt_t *	opt )

static

Definition at line 2500 of file mrtk_ppp_rtk.c.

References clas_ctx_t::current, clas_corr_t::facility, nav_s::filreset, prcopt_t::l6mrg, SSR_CH_NUM, and clas_corr_t::use.

Referenced by ppp_rtk_pos().

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◆ check_same_fac()

int check_same_fac ( const clas_ctx_t * clas )

static

Test whether the two L6 channels currently carry the same facility.

When both channels carry the same facility, either of them can supply any satellite, so the reference satellite and each non-reference satellite may pick their channel independently. With different facilities the two correction sets are not interchangeable and the DD has to be kept within one channel unless a common reference satellite exists.

Mirrors upstream check_same_fac(), which compares the facility id of the two CurrentCSSR entries directly.

Parameters

[in] clas CLAS context

Returns: 1 if both channels report the same facility, 0 otherwise

Definition at line 1456 of file mrtk_ppp_rtk.c.

References clas_ctx_t::current, and clas_corr_t::facility.

Referenced by ddres().

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◆ ddcov()

void ddcov	(	const int *	nb,
		int	n,
		const double *	Ri,
		const double *	Rj,
		int	nv,
		double *	R )

static

Build DD covariance from SD variances.

Parameters

[in]	nb	Block sizes array
[in]	n	Number of blocks
[in]	Ri	Reference satellite variances
[in]	Rj	Non-reference satellite variances
[in]	nv	Total number of DD observations
[out]	R	DD covariance matrix (nv x nv)

Definition at line 1062 of file mrtk_ppp_rtk.c.

Referenced by ddres().

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◆ ddmat()

int ddmat	(	rtk_t *	rtk,
		double *	D,
		int *	indI,
		int *	indJ )

static

Build SD-to-DD transformation matrix D.

Parameters

[in,out]	rtk	RTK control struct
[out]	D	Transformation matrix (nx x nx)
[out]	indI	Reference satellite bias indices
[out]	indJ	Non-reference satellite bias indices

Returns: Number of DD ambiguities (nb)

Definition at line 1977 of file mrtk_ppp_rtk.c.

References ssat_t::azel, ssat_t::code, prcopt_t::elmaskar, ssat_t::fix, prcopt_t::glomodear, ssat_t::lock, MAXSAT, rtk_t::na, NF_RTK, rtk_t::nx, rtk_t::opt, prcopt_t::qzsmodear, ssat_t::slip, rtk_t::ssat, ssat_t::sys, test_sys(), trace(), tracemat(), ssat_t::vsat, and rtk_t::x.

Referenced by resamb_LAMBDA().

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◆ ddres()

int ddres	(	rtk_t *	rtk,
		const nav_t *	nav,
		double *	x,
		double **	pbslip,
		const double *	P,
		const obsd_t *	obs,
		double **	y,
		double *	e,
		double *	azel,
		int	n,
		double *	v,
		double *	H,
		double *	R,
		int *	vflg,
		int	niter,
		int	pch,
		int	order )

static

Compute DD residuals and measurement matrix, merging L6 channels.

With opt->l6mrg set, residuals of both L6 channels are supplied and merged: the reference satellite is preferentially one that both channels observe, each non-reference satellite is assigned to a channel (priority channel for l6mrg==1, load-balanced otherwise) with a fallback to the other channel, and a satellite that changes channel has its phase bias re-initialized — only when the channels carry different facilities: same-facility channels share the correction basis, so a switch does not break phase-bias continuity. With l6mrg clear only y[0]/pbslip[0] are read and the merge logic is bypassed.

Parameters

[in,out]	rtk	RTK control struct
[in]	nav	Navigation data
[in]	x	State vector
[in,out]	pbslip	Per-channel phase bias slip corrections (NULL for postfit)
[in]	P	Covariance matrix (may be NULL)
[in]	obs	Observation data
[in]	y	Per-channel ZD residuals
[in]	e	Line-of-sight vectors (3*n)
[in]	azel	Azimuth/elevation (2*n)
[in]	n	Number of observations
[out]	v	DD residuals
[out]	H	Measurement matrix (may be NULL)
[out]	R	Measurement covariance
[out]	vflg	Residual flags
[in]	niter	Reference satellite search iteration
[in]	pch	Priority L6 channel
[in]	order	Call order within the epoch (FST/SND/TRD)

Returns: Number of DD residuals

Definition at line 1597 of file mrtk_ppp_rtk.c.

References check_same_fac(), nav_s::clas_ctx, ssat_t::code, ddcov(), ecef2pos(), free, freq_idx2freq_num(), FST, prcopt_t::glomodear, IB_RTK, II_RTK, ionmapf(), prcopt_t::ionoopt, IONOOPT_EST, IONOOPT_EST_ADPT, IT_RTK, prcopt_t::l6mrg, lam_carr, mat(), MAXREF, MAXSAT, prcopt_t::mode, NF_RTK, rtk_t::nx, rtk_t::opt, PMODE_DGPS, prectrop2(), prtk_ctx, prcopt_t::qzsmodear, ssat_t::resc, ssat_t::resp, obsd_t::sat, set_init_pb(), rtk_t::sol, SQR, rtk_t::ssat, nav_s::ssr_ch, SSR_CH_NUM, ssat_t::sys, ssr_t::t0, test_sys(), sol_t::time, time_str(), timediff(), trace(), prcopt_t::tropopt, TROPOPT_EST, TROPOPT_ESTG, valid_zd_sig(), validobs(), varerr(), ssat_t::vs, and ssat_t::vsat.

Referenced by ppp_rtk_pos().

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◆ detslp_gf()

void detslp_gf	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int	n,
		const nav_t *	nav )

static

Detect cycle slip by geometry-free phase jump.

Parameters

[in,out]	rtk	RTK control struct
[in]	obs	Observation data
[in]	n	Number of observations
[in]	nav	Navigation data

Definition at line 804 of file mrtk_ppp_rtk.c.

References ssat_t::gf, gfmeas_L1L2(), gfmeas_L1L5(), MAXOBS, prcopt_t::nf, rtk_t::opt, obsd_t::sat, ssat_t::slip, rtk_t::ssat, prcopt_t::thresslip, and trace().

Referenced by udbias_ppp().

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◆ detslp_ll()

void detslp_ll	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int	n )

static

Detect cycle slip by LLI flag.

Parameters

[in,out]	rtk	RTK control struct
[in]	obs	Observation data
[in]	n	Number of observations

Definition at line 751 of file mrtk_ppp_rtk.c.

References MAXOBS, prcopt_t::nf, rtk_t::opt, obsd_t::sat, ssat_t::slip, rtk_t::ssat, and trace().

Referenced by udbias_ppp().

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◆ elsort()

void elsort	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int *	isat,
		double *	el,
		int	n )

static

Sort satellites by elevation angle (ascending) for partial AR.

Parameters

[in]	rtk	RTK control struct
[in]	obs	Observation data array
[out]	isat	Sorted satellite numbers
[out]	el	Sorted elevation angles (rad)
[in]	n	Number of observations

Definition at line 2178 of file mrtk_ppp_rtk.c.

References ssat_t::azel, obsd_t::sat, and rtk_t::ssat.

Referenced by ppp_rtk_pos().

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◆ filter2()

int filter2	(	rtk_t *	rtk,
		double *	x,
		double *	P,
		const double *	H,
		const double *	v,
		const double *	R,
		const int	n,
		const int	m,
		const int *	vflg,
		const int	flg )

static

KF measurement update with state compaction.

Compacts the state vector to exclude zero/invalid states before calling the inner filter, then maps results back.

Parameters

[in,out]	rtk	RTK control struct
[in,out]	x	State vector (n)
[in,out]	P	Covariance matrix (n x n)
[in]	H	Observation matrix (n x m)
[in]	v	Residual vector (m)
[in]	R	Measurement noise (m x m)
[in]	n	Number of states
[in]	m	Number of measurements
[in]	vflg	Residual flags
[in]	flg	Stage flag

Returns: 0 on success, non-zero on error

Definition at line 1370 of file mrtk_ppp_rtk.c.

References filter2_(), free, imat(), prcopt_t::ionoopt, IONOOPT_EST_ADPT, mat(), rtk_t::opt, prcopt_t::prnadpt, prtk_ctx, and zeros().

Referenced by ppp_rtk_pos().

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◆ filter2_()

int filter2_	(	rtk_t *	rtk,
		const double *	x,
		const double *	P,
		const double *	H,
		const double *	v,
		const double *	R,
		const int	n,
		const int	m,
		double *	xp,
		double *	Pp,
		double *	Qp,
		const int *	vflg,
		const int	flg )

static

Inner KF measurement update with residual test.

Parameters

[in,out]	rtk	RTK control struct
[in]	x	State vector (n)
[in]	P	Covariance matrix (n x n)
[in]	H	Observation matrix (n x m)
[in]	v	Residual vector (m)
[in]	R	Measurement noise (m x m)
[in]	n	Number of states
[in]	m	Number of measurements
[out]	xp	Updated state vector (n)
[out]	Pp	Updated covariance (n x n)
[in]	vflg	Residual flags
[in]	flg	Stage flag (0:prefit, 1+:postfit)

Returns: 0 on success, non-zero on error

Definition at line 1268 of file mrtk_ppp_rtk.c.

References eye(), free, imat(), prcopt_t::ionoopt, IONOOPT_EST_ADPT, mat(), matcpy(), matinv(), matmul(), rtk_t::opt, prcopt_t::prnadpt, prtk_ctx, Qp, residual_test(), and trace().

Referenced by filter2().

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◆ gfmeas_L1L2()

double gfmeas_L1L2	(	const obsd_t *	obs,
		const nav_t *	nav )

static

L1/L2 geometry-free phase measurement.

Definition at line 772 of file mrtk_ppp_rtk.c.

References obsd_t::L, obsd_t::sat, and sat_lambda().

Referenced by detslp_gf().

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◆ gfmeas_L1L5()

double gfmeas_L1L5	(	const obsd_t *	obs,
		const nav_t *	nav )

static

L1/L5 geometry-free phase measurement.

Definition at line 784 of file mrtk_ppp_rtk.c.

References obsd_t::L, obsd_t::sat, and sat_lambda().

Referenced by detslp_gf().

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◆ holdamb()

void holdamb	(	rtk_t *	rtk,
		const double *	xa )

static

Hold fixed ambiguities via pseudomeasurement constraint.

Parameters

[in,out]	rtk	RTK control struct
[in]	xa	Fixed state vector

Definition at line 2110 of file mrtk_ppp_rtk.c.

References ssat_t::azel, ssat_t::code, prcopt_t::elmaskhold, filter(), ssat_t::fix, free, prcopt_t::glomodear, IB_RTK, mat(), MAXSAT, rtk_t::na, NF_RTK, rtk_t::nx, rtk_t::opt, rtk_t::P, prcopt_t::qzsmodear, rtk_t::ssat, ssat_t::sys, test_sys(), trace(), VARHOLDAMB, prcopt_t::varholdamb, ssat_t::vsat, rtk_t::x, and zeros().

Referenced by ppp_rtk_pos().

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◆ initx()

void initx	(	rtk_t *	rtk,
		double	xi,
		double	var,
		int	i )

static

Initialize a state and its covariance.

Parameters

[in,out]	rtk	RTK control struct
[in]	xi	Initial state value
[in]	var	Initial variance
[in]	i	State index

Definition at line 384 of file mrtk_ppp_rtk.c.

References rtk_t::nx, rtk_t::P, and rtk_t::x.

Referenced by set_init_pb(), udbias_ppp(), udion(), udpos_ppp(), and udtrop().

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◆ load_ppp_osr_cpc()

void load_ppp_osr_cpc	(	clas_osr_ctx_t *	ctx,
		const double *	cpc,
		const gtime_t *	pt0 )

static

Definition at line 199 of file mrtk_ppp_rtk.c.

References cpc, clas_osr_ctx_t::cpctmp, MAXSAT, pt0, and clas_osr_ctx_t::pt0tmp.

Referenced by ppp_rtk_pos().

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◆ obs_code_for_freq()

uint8_t obs_code_for_freq	(	int	sat,
		int	f )

static

Return default observation code for frequency index and system.

Parameters

[in]	sat	Satellite number
[in]	f	Frequency index (0=L1, 1=L2, 2=L5)

Returns: Observation code (CODE_L*)

Definition at line 235 of file mrtk_ppp_rtk.c.

References CODE_L1C, CODE_L2I, CODE_L2W, CODE_L5Q, CODE_L6I, CODE_L7I, satsys(), SYS_CMP, SYS_GAL, SYS_GPS, and SYS_QZS.

Referenced by sat_lambda().

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◆ ppp_rtk_na()

int ppp_rtk_na ( const prcopt_t * opt )

extern

Compute number of non-ambiguity states for PPP-RTK.

Parameters

[in] opt Processing options

Returns: Number of non-ambiguity states (position + iono + trop)

Definition at line 2498 of file mrtk_ppp_rtk.c.

References NR_RTK.

Referenced by rtkinit().

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◆ ppp_rtk_nx()

int ppp_rtk_nx ( const prcopt_t * opt )

extern

Compute number of estimated states for PPP-RTK.

Parameters

[in] opt Processing options

Returns: Total number of states

Definition at line 2496 of file mrtk_ppp_rtk.c.

References NX_RTK.

Referenced by rtkinit().

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◆ ppp_rtk_pos()

void ppp_rtk_pos	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int	n,
		nav_t *	nav )

extern

PPP-RTK positioning for one epoch (CLAS).

Main entry point for the CLAS PPP-RTK positioning engine. Uses double-differencing with CLAS grid corrections (STEC, ZWD) and iterative Kalman filter with LAMBDA integer ambiguity resolution.

Uses CLAS grid corrections with a short CSSR backup fallback matching claslib.

Parameters

[in,out]	rtk	RTK control/result struct
[in]	obs	Observation data for epoch
[in]	n	Number of observations
[in,out]	nav	Navigation data (includes SSR via nav->ssr_ch[][])

Definition at line 2540 of file mrtk_ppp_rtk.c.

References prcopt_t::afgainion, prcopt_t::afgainpva, sol_t::age, prcopt_t::arfilter, prcopt_t::armaxdelsat, ARMODE_FIXHOLD, calpdop(), check_clas_facility(), clas_backup_current(), clas_backup_valid(), clas_bank_get_close(), clas_check_grid_status(), clas_clear_current(), nav_s::clas_ctx, clas_get_grid_index(), clas_osr_satcorr_update(), clas_osr_zdres(), clas_restore_backup(), clas_update_global(), clas_update_local(), clas_ctx_t::current, ddres(), prcopt_t::dynamics, ecef2pos(), prcopt_t::elmaskar, prcopt_t::elmaskhold, elsort(), nav_s::filreset, filter2(), ssat_t::fix, prcopt_t::floatcnt, prcopt_t::forgetion, prcopt_t::forgetpva, free, FST, clas_ctx_t::grid, prcopt_t::gridsel, holdamb(), II_RTK, prcopt_t::ionoopt, IONOOPT_EST_ADPT, obsd_t::L, clas_ctx_t::l6buf, prcopt_t::l6mrg, load_ppp_osr_cpc(), ssat_t::lock, mat(), matcpy(), prcopt_t::maxdiffp, prcopt_t::maxinno_ext, MAXOBS, MAXOBSLOSS_DEFAULT, prcopt_t::maxobsloss_s, prcopt_t::maxpdopar, prcopt_t::maxpdophold, MAXREF, MAXSAT, prcopt_t::minfix, prcopt_t::minlock, prcopt_t::mode, prcopt_t::modear, rtk_t::na, clas_grid_t::network, prcopt_t::nf, NF_RTK, rtk_t::nfix, prcopt_t::niter, norm(), NP_RTK, NR_RTK, sol_t::ns, rtk_t::nx, rtk_t::opt, ssat_t::outc, rtk_t::P, rtk_t::Pa, ssat_t::ph, PMODE_DGPS, prcopt_t::poserrcnt, prcopt_t::posopt, prcopt_t::prnadpt, prtk_ctx, ssat_t::pt, rtk_t::Q, sol_t::qr, R2D, sol_t::ratio, obsd_t::rcv, prcopt_t::regularly, resamb_LAMBDA(), sol_t::rr, obsd_t::sat, prcopt_t::sateph, satposs(), satsys(), save_ppp_osr_cpc(), set_ssr_ch_idx(), ssat_t::slip, ssat_t::slipc, SND, obsd_t::SNR, ssat_t::snr, rtk_t::sol, SOLQ_DGPS, SOLQ_FIX, SOLQ_FLOAT, SOLQ_NONE, SOLQ_SINGLE, SQR, rtk_t::ssat, nav_s::ssr_ch, SSR_CH_NUM, sol_t::stat, ssat_t::sys, ssr_t::t0, prcopt_t::thresar, clas_l6buf_t::time, gtime_t::time, obsd_t::time, sol_t::time, time2gpst(), time_str(), timediff(), trace(), tracemat(), TRD, rtk_t::tt, udstate_ppp(), ssat_t::vsat, rtk_t::x, rtk_t::xa, and zeros().

Referenced by rtkpos().

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◆ ppprtk_outstat()

int ppprtk_outstat	(	rtk_t *	rtk,
		char *	buff )

extern

Write PPP-RTK solution status to buffer.

PPP-RTK uses a different state layout from standard PPP (no clock states, iono at NP, trop at NP+NI). This function outputs state information using the correct PPP-RTK indices (II_RTK, IT_RTK, IB_RTK).

Parameters

[in,out]	rtk	RTK control/result struct
[out]	buff	Output buffer

Returns: Number of bytes written

Definition at line 2423 of file mrtk_ppp_rtk.c.

References ssat_t::azel, prcopt_t::dynamics, ecef2enu(), ecef2pos(), II_RTK, prcopt_t::ionoopt, IONOOPT_EST, IONOOPT_EST_ADPT, IT_RTK, MAXSAT, rtk_t::nx, rtk_t::opt, rtk_t::P, R2D, sol_t::rr, satno2id(), rtk_t::sol, SOLQ_FIX, SQRT, rtk_t::ssat, sol_t::stat, sol_t::time, time2gpst(), prcopt_t::tropopt, TROPOPT_EST, TROPOPT_ESTG, ssat_t::vs, rtk_t::x, and rtk_t::xa.

Referenced by pppoutstat().

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◆ prectrop2()

double prectrop2	(	gtime_t	time,
		const double *	pos,
		int	r,
		const double *	azel,
		const prcopt_t *	opt,
		const double *	x,
		double *	dtdx )

static

Compute precise tropospheric delay for KF.

Parameters

[in]	time	Observation time
[in]	pos	Receiver position (lat/lon/hgt)
[in]	r	Unused (receiver index, always 0)
[in]	azel	Azimuth/elevation (rad)
[in]	opt	Processing options
[in]	x	State vector
[out]	dtdx	Partial derivatives [3]

Returns: Tropospheric delay (m)

Definition at line 1008 of file mrtk_ppp_rtk.c.

References IT_RTK, tropmapf(), prcopt_t::tropopt, and TROPOPT_ESTG.

Referenced by ddres().

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◆ resamb_LAMBDA()

int resamb_LAMBDA	(	rtk_t *	rtk,
		double *	bias,
		double *	xa )

static

Resolve integer ambiguity by LAMBDA.

Parameters

[in,out]	rtk	RTK control struct
[out]	bias	DD fixed ambiguity biases
[out]	xa	Fixed state vector

Returns: Number of resolved ambiguities (0 = failed)

Definition at line 2280 of file mrtk_ppp_rtk.c.

References prcopt_t::alphaar, ALPHAAR_DEFAULT, ARMODE_OFF, ddmat(), free, lambda(), mat(), matinv(), matmul(), MAXOBS, prcopt_t::minamb, MINAMB_DEFAULT, prcopt_t::mode, prcopt_t::modear, rtk_t::na, rtk_t::nx, rtk_t::opt, rtk_t::P, rtk_t::Pa, PMODE_DGPS, qf, sol_t::ratio, restamb(), rtk_t::sol, trace(), tracemat(), rtk_t::x, rtk_t::xa, and zeros().

Referenced by ppp_rtk_pos(), and relposvrs().

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◆ residual_test()

int residual_test	(	rtk_t *	rtk,
		const int *	vflg,
		const double *	v,
		const double *	Q,
		int *	iv,
		const int	m,
		int *	ns,
		const int	flg )

static

Validate residuals and reject outliers.

Parameters

[in,out]	rtk	RTK control struct
[in]	vflg	Residual flags (sat/type/freq encoded)
[in]	v	Residual vector
[in]	Q	Innovation covariance matrix (m x m)
[out]	iv	Indices of valid residuals
[in]	m	Total number of residuals
[out]	ns	Count per frequency/type
[in]	flg	Stage flag (0:prefit, 1:postfit float, 2:postfit fix)

Returns: Number of valid residuals

Definition at line 1123 of file mrtk_ppp_rtk.c.

References chisqr, free, FREQ1, FREQ2, lam_carr, prcopt_t::maxinno, prcopt_t::maxinno_ext, MAXSAT, prcopt_t::nf, NP_RTK, rtk_t::opt, ssat_t::outc, prtk_ctx, ssat_t::rejc, SQR, rtk_t::ssat, trace(), ssat_t::vsat, and zeros().

Referenced by filter2_().

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◆ restamb()

void restamb	(	rtk_t *	rtk,
		const double *	bias,
		int	nb,
		double *	xa )

static

Restore SD ambiguities from DD fixed values.

Parameters

[in,out]	rtk	RTK control struct
[in]	bias	DD ambiguity biases
[in]	nb	Number of DD ambiguities
[out]	xa	Fixed state vector

Definition at line 2055 of file mrtk_ppp_rtk.c.

References ssat_t::code, ssat_t::fix, prcopt_t::glomodear, IB_RTK, ssat_t::lock, MAXSAT, rtk_t::na, NF_RTK, rtk_t::nx, rtk_t::opt, prcopt_t::qzsmodear, rtk_t::ssat, ssat_t::sys, test_sys(), trace(), rtk_t::x, and rtk_t::xa.

Referenced by resamb_LAMBDA().

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◆ rtkfree_ppp_rtk()

void rtkfree_ppp_rtk ( rtk_t * rtk )

extern

Free RTK control struct for PPP-RTK positioning.

Parameters

[in,out] rtk RTK control struct

Definition at line 3223 of file mrtk_ppp_rtk.c.

References prtk_ctx, and trace().

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◆ rtkinit_ppp_rtk()

void rtkinit_ppp_rtk	(	rtk_t *	rtk,
		const prcopt_t *	opt )

extern

Initialize RTK control struct for PPP-RTK positioning.

Parameters

[in,out]	rtk	RTK control struct
[in]	opt	Processing options

Definition at line 3205 of file mrtk_ppp_rtk.c.

References prtk_ctx, and trace().

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◆ sat_lambda()

double sat_lambda	(	int	sat,
		int	f,
		const nav_t *	nav )

static

Compute satellite-specific wavelength for frequency index.

Uses direct obs code to frequency mapping, bypassing obsdef tables which may be rearranged by apply_pppsig() for MADOCA PPP signal selection.

Parameters

[in]	sat	Satellite number
[in]	f	Frequency index (0,1,2)
[in]	nav	Navigation data (unused, kept for API compatibility)

Returns: Wavelength in meters, or 0.0 if invalid

Definition at line 274 of file mrtk_ppp_rtk.c.

References CLIGHT, code2obs(), FREQ1, FREQ2, FREQ5, FREQ6, FREQ7, FREQ8, freq_idx2freq_num(), freq_num2freq(), nav_s::glo_fcn, obs_code_for_freq(), satsys(), and SYS_GLO.

Referenced by gfmeas_L1L2(), gfmeas_L1L5(), set_init_pb(), udbias_ppp(), and valid_zd_sig().

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◆ save_ppp_osr_cpc()

void save_ppp_osr_cpc	(	const clas_osr_ctx_t *	ctx,
		double *	cpc,
		gtime_t *	pt0 )

static

Definition at line 212 of file mrtk_ppp_rtk.c.

References cpc, clas_osr_ctx_t::cpctmp, MAXSAT, pt0, and clas_osr_ctx_t::pt0tmp.

Referenced by ppp_rtk_pos().

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◆ sddop()

double sddop	(	const rtk_t *	rtk,
		const double *	H,
		const int *	vflg,
		double	elmask,
		int	nv )

static

Definition at line 2211 of file mrtk_ppp_rtk.c.

References ssat_t::azel, free, mat(), matinv(), matmul(), rtk_t::nx, rtk_t::ssat, and ssat_t::vsat.

Referenced by calpdop().

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◆ set_init_pb()

void set_init_pb	(	rtk_t *	rtk,
		const nav_t *	nav,
		const obsd_t *	obs,
		int	n,
		int	f,
		int	satj )

static

Re-initialize the phase-bias state of one satellite from phase-code.

Used when a satellite switches L6 channel: the accumulated bias belongs to the previous channel's correction set and must not carry over. Mirrors the second half of udbias_ppp(), restricted to a single satellite.

Parameters

[in,out]	rtk	RTK control struct
[in]	nav	Navigation data
[in]	obs	Observation data
[in]	n	Number of observations
[in]	f	Frequency index
[in]	satj	Satellite to reset

Definition at line 1523 of file mrtk_ppp_rtk.c.

References free, IB_RTK, initx(), obsd_t::L, ssat_t::lock, prcopt_t::minlock, rtk_t::opt, obsd_t::P, ssat_t::pbreset, obsd_t::sat, sat_lambda(), SQR, rtk_t::ssat, prcopt_t::std, trace(), rtk_t::x, and zeros().

Referenced by ddres().

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◆ test_sys()

int test_sys	(	int	sys,
		int	m,
		int	qzsmodear,
		int	code )

static

Test if satellite system matches group index.

Parameters

[in]	sys	Satellite system (SYS_*)
[in]	m	Group index (0:GPS/SBS, 1:GLO, 2:GAL, 3:BDS, 4:QZS, 5:GPS-L2C)
[in]	qzsmodear	QZSS AR mode (0:off, 1:on, 2:gps-qzs)
[in]	code	Observation code indicator (CODE_*)

Returns: 1 if match, 0 otherwise

Definition at line 1089 of file mrtk_ppp_rtk.c.

References CODE_L2X, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, and SYS_SBS.

Referenced by ddidx(), ddmat(), ddmat(), ddres(), holdamb(), restamb(), and valid_zd_sig().

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◆ udbias_ppp()

void udbias_ppp	(	rtk_t *	rtk,
		double	tt,
		const obsd_t *	obs,
		int	n,
		const nav_t *	nav )

static

Temporal update of phase biases.

Parameters

[in,out]	rtk	RTK control struct
[in]	tt	Time step (s)
[in]	obs	Observation data
[in]	n	Number of observations
[in]	nav	Navigation data

Definition at line 856 of file mrtk_ppp_rtk.c.

References ARMODE_INST, detslp_gf(), detslp_ll(), free, IB_RTK, initx(), prcopt_t::ionoopt, IONOOPT_IFLC, obsd_t::L, ssat_t::lock, MAXOBS, prcopt_t::maxout, MAXSAT, prcopt_t::minlock, prcopt_t::modear, prcopt_t::nf, NF_RTK, rtk_t::nx, rtk_t::opt, ssat_t::outc, obsd_t::P, rtk_t::P, ssat_t::pbreset, prcopt_t::prn, prtk_ctx, obsd_t::sat, sat_lambda(), ssat_t::slip, SQR, rtk_t::ssat, prcopt_t::std, trace(), rtk_t::x, and zeros().

Referenced by udstate_ppp().

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◆ udion()

void udion	(	rtk_t *	rtk,
		double	tt,
		double	bl,
		const obsd_t *	obs,
		int	ns )

static

Temporal update of ionospheric parameters.

Parameters

[in,out]	rtk	RTK control struct
[in]	tt	Time step (s)
[in]	bl	Baseline length (m)
[in]	obs	Observation data
[in]	ns	Number of observations

Definition at line 679 of file mrtk_ppp_rtk.c.

References ssat_t::azel, clas_osr_selfreqpair(), II_RTK, initx(), prcopt_t::ionoopt, IONOOPT_EST_ADPT, prcopt_t::maxout, MAXSAT, prcopt_t::nf, rtk_t::nx, rtk_t::opt, ssat_t::outc, rtk_t::P, prcopt_t::prn, prcopt_t::prnionomax, rtk_t::Q, obsd_t::sat, SQR, rtk_t::ssat, prcopt_t::std, trace(), and rtk_t::x.

Referenced by udstate_ppp().

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◆ udpos_ppp()

void udpos_ppp	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int	n,
		double	tt )

static

Temporal update of position states.

Parameters

[in,out]	rtk	RTK control struct
[in]	obs	Observation data
[in]	n	Number of observations
[in]	tt	Time step (s)

Definition at line 403 of file mrtk_ppp_rtk.c.

References covecef(), prcopt_t::dynamics, ecef2pos(), eye(), free, initx(), mat(), matcpy(), matmul(), prcopt_t::mode, NI_RTK, norm(), NP_RTK, rtk_t::nx, rtk_t::opt, rtk_t::P, PMODE_PPP_FIXED, prcopt_t::prn, sol_t::rr, prcopt_t::ru, rtk_t::sol, SQR, prcopt_t::stats_prnposith, prcopt_t::stats_prnpositv, prcopt_t::stats_tconstiono, trace(), VAR_ACC, VAR_POS, VAR_VEL, and rtk_t::x.

Referenced by udstate_ppp().

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◆ udstate_ppp()

void udstate_ppp	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int	n,
		const nav_t *	nav )

static

Temporal update of all PPP-RTK states.

Parameters

[in,out]	rtk	RTK control struct
[in]	obs	Observation data
[in]	n	Number of observations
[in]	nav	Navigation data

Definition at line 971 of file mrtk_ppp_rtk.c.

References BASELEN, prcopt_t::ionoopt, IONOOPT_EST, rtk_t::opt, trace(), prcopt_t::tropopt, TROPOPT_EST, rtk_t::tt, udbias_ppp(), udion(), udpos_ppp(), and udtrop().

Referenced by ppp_rtk_pos().

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◆ udtrop()

void udtrop	(	rtk_t *	rtk,
		double	tt )

static

Temporal update of tropospheric parameters.

Parameters

[in,out]	rtk	RTK control struct
[in]	tt	Time step (s)

Definition at line 643 of file mrtk_ppp_rtk.c.

References INIT_ZWD, initx(), IT_RTK, rtk_t::nx, rtk_t::opt, rtk_t::P, prcopt_t::prn, SQR, prcopt_t::std, trace(), prcopt_t::tropopt, TROPOPT_ESTG, rtk_t::tt, VAR_GRA, and rtk_t::x.

Referenced by udstate_ppp().

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◆ valid_zd_sig()

int valid_zd_sig	(	rtk_t *	rtk,
		const obsd_t *	obs,
		const nav_t *	nav,
		double *	y,
		int	nf,
		int	f,
		int	i,
		int	j,
		int	m,
		int	sati,
		int *	satj,
		int *	sysi,
		int *	sysj,
		double *	lami,
		double *	lamj )

static

Check that a satellite yields a usable zero-difference signal.

Validates the candidate non-reference satellite j against the reference satellite i for system m and frequency f on one L6 channel's residual vector, and reports the satellite/system/wavelength pair on success.

Parameters

[in]	rtk	RTK control struct
[in]	obs	Observation data
[in]	nav	Navigation data
[in]	y	ZD residuals of the channel under test
[in]	nf	Number of frequencies
[in]	f	Frequency index (f<nf: phase, f>=nf: code)
[in]	i	Reference satellite observation index
[in]	j	Candidate satellite observation index
[in]	m	System loop index
[in]	sati	Reference satellite number
[out]	satj	Candidate satellite number
[out]	sysi	Reference satellite system
[out]	sysj	Candidate satellite system
[out]	lami	Reference satellite wavelength (m)
[out]	lamj	Candidate satellite wavelength (m)

Returns: 1 if the pair is usable, 0 otherwise

Definition at line 1482 of file mrtk_ppp_rtk.c.

References ssat_t::code, rtk_t::opt, prcopt_t::qzsmodear, obsd_t::sat, sat_lambda(), rtk_t::ssat, ssat_t::sys, test_sys(), and validobs().

Referenced by ddres().

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◆ validobs()

int validobs	(	int	i,
		int	f,
		int	nf,
		double *	y )

static

Check if zero-difference observation is valid.

Parameters

[in]	i	Observation index
[in]	f	Frequency index (0..nf*2-1)
[in]	nf	Number of frequencies
[in]	y	ZD residual array

Returns: 1 if valid, 0 otherwise

Definition at line 1045 of file mrtk_ppp_rtk.c.

Referenced by ddres(), ddres(), and valid_zd_sig().

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◆ varerr()

double varerr	(	int	sat,
		int	sys,
		double	el,
		int	type,
		const prcopt_t *	opt )

static

Compute measurement error variance.

Parameters

[in]	sat	Satellite number
[in]	sys	Satellite system
[in]	el	Elevation angle (rad)
[in]	type	Measurement type (0:phase, 1:code, 2:iono, 3:trop)
[in]	opt	Processing options

Returns: Variance (m^2)

Definition at line 334 of file mrtk_ppp_rtk.c.

References EFACT_CMP, EFACT_GAL, EFACT_GLO, EFACT_GPS, EFACT_IRN, EFACT_QZS, EFACT_SBS, prcopt_t::eratio, prcopt_t::err, prcopt_t::ionoopt, IONOOPT_EST, IONOOPT_EST_ADPT, IONOOPT_IFLC, prcopt_t::stats_erriono, prcopt_t::stats_errtrop, SYS_CMP, SYS_GAL, SYS_GLO, SYS_IRN, SYS_QZS, SYS_SBS, prcopt_t::tropopt, and TROPOPT_EST.

Referenced by ddres().

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◆ zddop()

double zddop	(	const rtk_t *	rtk,
		const double *	azel,
		const obsd_t *	obs,
		double	elmask,
		int	n )

static

Definition at line 2238 of file mrtk_ppp_rtk.c.

References dops(), free, mat(), obsd_t::sat, rtk_t::ssat, and ssat_t::vsat.

Referenced by calpdop().

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Variable Documentation

◆ chisq

double chisq

Definition at line 181 of file mrtk_ppp_rtk.c.

◆ chisqr

const double chisqr[100]

static

Initial value:

= {
    10.8, 13.8, 16.3, 18.5, 20.5, 22.5, 24.3, 26.1, 27.9, 29.6, 31.3, 32.9, 34.5, 36.1, 37.7, 39.3, 40.8,
    42.3, 43.8, 45.3, 46.8, 48.3, 49.7, 51.2, 52.6, 54.1, 55.5, 56.9, 58.3, 59.7, 61.1, 62.5, 63.9, 65.2,
    66.6, 68.0, 69.3, 70.7, 72.1, 73.4, 74.7, 76.0, 77.3, 78.6, 80.0, 81.3, 82.6, 84.0, 85.4, 86.7, 88.0,
    89.3, 90.6, 91.9, 93.3, 94.7, 96.0, 97.4, 98.7, 100,  101,  102,  103,  104,  105,  107,  108,  109,
    110,  112,  113,  114,  115,  116,  118,  119,  120,  122,  123,  125,  126,  127,  128,  129,  131,
    132,  133,  134,  135,  137,  138,  139,  140,  142,  143,  144,  145,  147,  148,  149}

Definition at line 114 of file mrtk_ppp_rtk.c.

Referenced by residual_test(), residual_test(), and valsol().

◆ cntdiffp

int cntdiffp

Definition at line 191 of file mrtk_ppp_rtk.c.

Referenced by relposvrs().

◆ cpc

double cpc[SSR_CH_NUM][MAXSAT *5]

Definition at line 167 of file mrtk_ppp_rtk.c.

Referenced by clas_osr_adjust_cpc(), load_ppp_osr_cpc(), and save_ppp_osr_cpc().

◆ float_count

int float_count

Definition at line 188 of file mrtk_ppp_rtk.c.

◆ floatcnt_reset

int floatcnt_reset

Definition at line 194 of file mrtk_ppp_rtk.c.

◆ initialized

int initialized

Definition at line 196 of file mrtk_ppp_rtk.c.

◆ lam_carr

const double lam_carr[3] = { (CLIGHT / FREQ1) , (CLIGHT / FREQ2) , (CLIGHT / FREQ5) }

static

Definition at line 86 of file mrtk_ppp_rtk.c.

Referenced by ddres(), ddres(), residual_test(), and residual_test().

◆ osr_ctx

clas_osr_ctx_t osr_ctx

Definition at line 178 of file mrtk_ppp_rtk.c.

Referenced by clas_osr_compensatedisp(), clas_osr_corrmeas(), clas_osr_zdres(), and clas_ssr2osr().

◆ pre_use_ch

int pre_use_ch[5][MAXSAT+1]

Definition at line 175 of file mrtk_ppp_rtk.c.

Referenced by ddres().

◆ [struct]

struct { ... } prtk_ctx

Referenced by ddres(), filter2(), filter2_(), ppp_rtk_pos(), residual_test(), rtkfree_ppp_rtk(), rtkinit_ppp_rtk(), and udbias_ppp().

◆ pt0

gtime_t pt0[SSR_CH_NUM][MAXSAT]

Definition at line 168 of file mrtk_ppp_rtk.c.

Referenced by load_ppp_osr_cpc(), and save_ppp_osr_cpc().

◆ qf

const double qf[6][60]

static

Definition at line 125 of file mrtk_ppp_rtk.c.

Referenced by resamb_LAMBDA().

◆ Qp

double* Qp

Definition at line 184 of file mrtk_ppp_rtk.c.

Referenced by filter2_(), filter2_(), and relposvrs().

◆ Qp_nx

int Qp_nx

Definition at line 185 of file mrtk_ppp_rtk.c.

◆ refsat

int refsat[5 *2 *2 *6+1]

Definition at line 162 of file mrtk_ppp_rtk.c.

Referenced by ddres().

◆ refsat2

int refsat2[5 *2 *6+1]

Definition at line 163 of file mrtk_ppp_rtk.c.

Referenced by ddres().

◆ use_ch

int use_ch[5][MAXSAT+1]

Definition at line 174 of file mrtk_ppp_rtk.c.

Referenced by ddres().

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ ALPHAAR_DEFAULT

◆ BASELEN

◆ IB_RTK

◆ II_RTK

◆ INIT_ZWD

◆ IT_RTK

◆ LAM_CARR_L1

◆ LAM_CARR_L2

◆ LAM_CARR_L5

◆ MAXOBSLOSS_DEFAULT

◆ MAXPBCORSSR

◆ MAXREF

◆ MIN

◆ MINAMB_DEFAULT

◆ NB_RTK

◆ NF_RTK

◆ NI_RTK

◆ NP_RTK

◆ NR_RTK

◆ NT_RTK

◆ NX_RTK

◆ SQR

◆ SQRT

◆ VAR_ACC

◆ VAR_GRA

◆ VAR_POS

◆ VAR_VEL

◆ VARHOLDAMB

Enumeration Type Documentation

◆ ddres_order

Function Documentation

◆ calpdop()

◆ check_clas_facility()

◆ check_same_fac()

◆ ddcov()

◆ ddmat()

◆ ddres()

◆ detslp_gf()

◆ detslp_ll()

◆ elsort()

◆ filter2()

◆ filter2_()

◆ gfmeas_L1L2()

◆ gfmeas_L1L5()

◆ holdamb()

◆ initx()

◆ load_ppp_osr_cpc()

◆ obs_code_for_freq()

◆ ppp_rtk_na()

◆ ppp_rtk_nx()

◆ ppp_rtk_pos()

◆ ppprtk_outstat()

◆ prectrop2()

◆ resamb_LAMBDA()

◆ residual_test()

◆ restamb()

◆ rtkfree_ppp_rtk()

◆ rtkinit_ppp_rtk()

◆ sat_lambda()

◆ save_ppp_osr_cpc()

◆ sddop()

◆ set_init_pb()

◆ test_sys()

◆ udbias_ppp()

◆ udion()

◆ udpos_ppp()

◆ udstate_ppp()

◆ udtrop()

◆ valid_zd_sig()

◆ validobs()

◆ varerr()

◆ zddop()

Variable Documentation

◆ chisq