#include "mrtklib/mrtk_rtkpos.h"
#include <math.h>
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_antenna.h"
#include "mrtklib/mrtk_atmos.h"
#include "mrtklib/mrtk_bias_sinex.h"
#include "mrtklib/mrtk_bits.h"
#include "mrtklib/mrtk_clas.h"
#include "mrtklib/mrtk_const.h"
#include "mrtklib/mrtk_coords.h"
#include "mrtklib/mrtk_fcb.h"
#include "mrtklib/mrtk_lambda.h"
#include "mrtklib/mrtk_madoca.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_peph.h"
#include "mrtklib/mrtk_ppp.h"
#include "mrtklib/mrtk_ppp_rtk.h"
#include "mrtklib/mrtk_spp.h"
#include "mrtklib/mrtk_sys.h"
#include "mrtklib/mrtk_tides.h"
#include "mrtklib/mrtk_trace.h"
#include "mrtklib/mrtk_vrs.h"

Include dependency graph for mrtk_rtkpos.c:

Macros
#define	CLIGHT 299792458.0 /* speed of light (m/s) */
#define	D2R (3.1415926535897932384626433832795 / 180.0)
#define	R2D (180.0 / 3.1415926535897932384626433832795)
#define	FREQ1 1.57542E9 /* L1/E1/B1C frequency (Hz) */
#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: IRNSS */
#define	EFACT_GPS 1.0 /* error factor: GPS */
#define	EFACT_GLO 1.5 /* error factor: GLONASS */
#define	EFACT_SBS 3.0 /* error factor: SBAS */
#define	INT_SWAP_STAT 86400.0 /* swap interval of solution status (s) */
#define	SSR_VENDOR_L6 0 /* SSR vendor: L6 */
#define	SSR_VENDOR_RTCM 1 /* SSR vendor: RTCM */
#define	MAXAGESSRL6 60.0 /* max age of SSR L6 (s) */
#define	SQR(x)
#define	SQRT(x)
#define	MIN(x, y)
#define	ROUND(x)
#define	VAR_POS SQR(30.0) /* initial variance of receiver pos (m^2) */
#define	VAR_VEL SQR(10.0) /* initial variance of receiver vel ((m/s)^2) */
#define	VAR_ACC SQR(10.0) /* initial variance of receiver acc ((m/ss)^2) */
#define	VAR_HWBIAS SQR(1.0) /* initial variance of h/w bias ((m/MHz)^2) */
#define	VAR_GRA SQR(0.001) /* initial variance of gradient (m^2) */
#define	INIT_ZWD 0.15 /* initial zwd (m) */
#define	PRN_HWBIAS 1E-6 /* process noise of h/w bias (m/MHz/sqrt(s)) */
#define	GAP_RESION 120 /* gap to reset ionosphere parameters (epochs) */
#define	MAXACC 30.0 /* max accel for doppler slip detection (m/s^2) */
#define	VAR_HOLDAMB 0.001 /* constraint to hold ambiguity (cycle^2) */
#define	TTOL_MOVEB (1.0 + 2 * DTTOL)
#define	NF(opt)
#define	NP(opt)
#define	NI(opt)
#define	NT(opt)
#define	NL(opt)
#define	NB(opt)
#define	NR(opt)
#define	NX(opt)
#define	II(s, opt)
#define	IT(r, opt)
#define	IL(f, opt)
#define	IB(s, f, opt)

Functions
int	miono_get_corr (const double rr, nav_t nav)
int	rtkopenstat (const char *file, int level)
	Open solution status file and set output level.
void	rtkclosestat (void)
	Close solution status file.
int	rtkoutstat (rtk_t rtk, char buff)
	Write solution status to buffer.
static void	swapsolstat (void)
static void	outsolstat (rtk_t *rtk)
static void	errmsg (rtk_t rtk, const char format,...)
static double	sdobs (const obsd_t *obs, int i, int j, int k)
static double	gfobs (const obsd_t obs, int i, int j, int k, const nav_t nav)
static int	seliflc (int optnf, int sys)
static double	varerr (int sat, int sys, double el, double snr_rover, double snr_base, double bl, double dt, int f, const prcopt_t *opt)
static double	baseline (const double ru, const double rb, double *dr)
static void	initx (rtk_t *rtk, double xi, double var, int i)
static int	selsat (const obsd_t obs, double azel, int nu, int nr, const prcopt_t opt, int sat, int iu, int ir)
static void	udpos (rtk_t *rtk, double tt)
static void	udion (rtk_t rtk, double tt, double bl, const int sat, int ns)
static void	udtrop (rtk_t *rtk, double tt, double bl)
static void	udrcvbias (rtk_t *rtk, double tt)
static void	detslp_code (rtk_t rtk, const obsd_t obs, int i, int rcv)
static void	detslp_ll (rtk_t rtk, const obsd_t obs, int i, int rcv)
static void	detslp_gf (rtk_t rtk, const obsd_t obs, int i, int j, const nav_t *nav)
static void	detslp_dop (rtk_t rtk, const obsd_t obs, const int ix, int ns, int rcv, const nav_t nav)
static void	udbias (rtk_t rtk, double tt, const obsd_t obs, const int sat, const int iu, const int ir, int ns, const nav_t nav)
static void	udstate (rtk_t rtk, const obsd_t obs, const int sat, const int iu, const int ir, int ns, const nav_t nav)
static void	zdres_sat (int base, double r, const obsd_t obs, const nav_t nav, const double azel, const double dant, const prcopt_t opt, double y, double *freq)
static int	zdres (int base, const obsd_t obs, int n, const double rs, const double dts, const double var, const int svh, const nav_t nav, const double rr, const prcopt_t opt, int index, double y, double e, double azel, double freq)
static int	validobs (int i, int j, int f, int nf, double *y)
static void	ddcov (const int nb, int n, const double Ri, const double Rj, int nv, double R)
static int	constbl (rtk_t rtk, const double x, const double P, double v, double H, double Ri, double *Rj, int index)
static double	prectrop (gtime_t time, const double pos, int r, const double azel, const prcopt_t opt, const double x, double *dtdx)
static int	test_sys (int sys, int m)
static int	ddres (rtk_t rtk, const nav_t nav, const obsd_t obs, double dt, const double x, const double P, const int sat, double y, double e, double azel, double freq, const int iu, const int ir, int ns, double v, double H, double R, int vflg)
static double	intpres (gtime_t time, const obsd_t obs, int n, const nav_t nav, rtk_t rtk, double y)
static int	ddidx (rtk_t rtk, int ix, int gps, int glo, int sbs)
static void	restamb (rtk_t rtk, const double bias, double *xa)
static void	holdamb (rtk_t rtk, const double xa)
static int	resamb_LAMBDA (rtk_t rtk, double bias, double *xa, int gps, int glo, int sbs)
static int	manage_amb_LAMBDA (rtk_t rtk, double bias, double xa, const int sat, int nf, int ns)
static int	valpos (rtk_t rtk, const double v, const double R, const int vflg, int nv, double thres)
static int	relpos (rtk_t rtk, const obsd_t obs, int nu, int nr, const nav_t *nav)
void	rtkinit (rtk_t rtk, const prcopt_t opt)
	Initialize RTK control struct.
void	rtkfree (rtk_t *rtk)
	Free memory for RTK control struct.
static void	udsatcb (gtime_t gt, nav_t nav, osb_t biaosb, const prcopt_t *popt)
static void	udsatpb (gtime_t gt, nav_t nav, osb_t biaosb, osb_t fcbosb, const prcopt_t popt)
static void	udstacb (gtime_t gt, nav_t nav, osb_t biaosb, const prcopt_t *popt)
static void	udbiass (gtime_t gt, prcopt_t popt, nav_t nav)
int	rtkpos (mrtk_ctx_t ctx, rtk_t rtk, const obsd_t obs, int n, nav_t nav)
	Compute rover position by precise positioning.

Variables
static const double	ar_poly_coeffs [3][5]
static int	statlevel = 0
static FILE *	fp_stat = NULL
static char	file_stat [1024] = ""
static gtime_t	time_stat = {0}

Macro Definition Documentation

◆ CLIGHT

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

Definition at line 46 of file mrtk_rtkpos.c.

◆ D2R

#define D2R (3.1415926535897932384626433832795 / 180.0)

Definition at line 47 of file mrtk_rtkpos.c.

◆ EFACT_GLO

#define EFACT_GLO 1.5 /* error factor: GLONASS */

Definition at line 61 of file mrtk_rtkpos.c.

Referenced by varerr(), varerr(), varerr(), varerr(), and varerr().

◆ EFACT_GPS

#define EFACT_GPS 1.0 /* error factor: GPS */

Definition at line 60 of file mrtk_rtkpos.c.

Referenced by varerr(), varerr(), varerr(), varerr(), and varerr().

◆ EFACT_SBS

#define EFACT_SBS 3.0 /* error factor: SBAS */

Definition at line 62 of file mrtk_rtkpos.c.

Referenced by varerr(), varerr(), varerr(), varerr(), and varerr().

◆ FREQ1

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

Definition at line 49 of file mrtk_rtkpos.c.

◆ GAP_RESION

#define GAP_RESION 120 /* gap to reset ionosphere parameters (epochs) */

Definition at line 87 of file mrtk_rtkpos.c.

◆ IB

#define IB	(	s,
		f,
		opt )

Value:

(NR(opt) + MAXSAT * (f) + (s) - 1) /* phase bias (s:satno,f:freq) */

MAXSAT

#define MAXSAT

Definition mrtk_coords.c:45

NR

#define NR(opt)

Definition mrtk_ppp.c:222

Definition at line 109 of file mrtk_rtkpos.c.

Referenced by ddres(), holdamb(), restamb(), and udbias().

◆ II

#define II	(		s,
			opt )

Value:

(NP(opt) + (s) - 1) /* ionos (s:satellite no) */

NP

#define NP(opt)

Definition mrtk_ppp.c:212

Definition at line 106 of file mrtk_rtkpos.c.

Referenced by ddres(), rtkoutstat(), and udion().

◆ IL

#define IL	(		f,
			opt )

Value:

(NP(opt) + NI(opt) + NT(opt) + (f)) /* receiver h/w bias */

NI

#define NI(opt)

Definition mrtk_ppp.c:219

NT

#define NT(opt)

Definition mrtk_ppp_iono.c:63

Definition at line 108 of file mrtk_rtkpos.c.

Referenced by rtkoutstat(), and udrcvbias().

◆ INIT_ZWD

#define INIT_ZWD 0.15 /* initial zwd (m) */

Definition at line 84 of file mrtk_rtkpos.c.

◆ INT_SWAP_STAT

#define INT_SWAP_STAT 86400.0 /* swap interval of solution status (s) */

Definition at line 64 of file mrtk_rtkpos.c.

Referenced by swapsolstat().

◆ IT

#define IT	(		r,
			opt )

Value:

(NP(opt) + NI(opt) + NT(opt) / 2 * (r)) /* tropos (r:0=rov,1:ref) */

Definition at line 107 of file mrtk_rtkpos.c.

Referenced by ddres(), prectrop(), rtkoutstat(), and udtrop().

◆ MAXACC

#define MAXACC 30.0 /* max accel for doppler slip detection (m/s^2) */

Definition at line 88 of file mrtk_rtkpos.c.

◆ MAXAGESSRL6

#define MAXAGESSRL6 60.0 /* max age of SSR L6 (s) */

Definition at line 67 of file mrtk_rtkpos.c.

Referenced by udsatcb(), and udsatpb().

◆ MIN

#define MIN	(		x,
			y )

Value:

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

Definition at line 76 of file mrtk_rtkpos.c.

Referenced by detslp_dop().

◆ NB

#define NB ( opt )

Value:

((opt)->mode <= PMODE_DGPS ? 0 : MAXSAT * NF(opt))

PMODE_DGPS

#define PMODE_DGPS

Definition mrtk_opt.h:46

NF

#define NF(opt)

Definition mrtk_ppp.c:211

Definition at line 101 of file mrtk_rtkpos.c.

◆ NF

#define NF ( opt )

Value:

((opt)->ionoopt == IONOOPT_IFLC ? 1 : (opt)->nf)

IONOOPT_IFLC

#define IONOOPT_IFLC

Definition mrtk_opt.h:95

Definition at line 96 of file mrtk_rtkpos.c.

Referenced by ddidx(), ddres(), holdamb(), intpres(), outsolstat(), restamb(), rtkoutstat(), udbias(), varerr(), zdres(), and zdres_sat().

◆ NI

#define NI ( opt )

Value:

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

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 98 of file mrtk_rtkpos.c.

◆ NL

#define NL ( opt )

Value:

((opt)->glomodear != 2 ? 0 : NFREQGLO)

NFREQGLO

#define NFREQGLO

Definition mrtk_foundation.h:47

Definition at line 100 of file mrtk_rtkpos.c.

◆ NP

#define NP ( opt )

Value:

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

Definition at line 97 of file mrtk_rtkpos.c.

◆ NR

#define NR ( opt )

Value:

(NP(opt) + NI(opt) + NT(opt) + NL(opt))

NL

#define NL(opt)

Definition mrtk_rtkpos.c:100

Definition at line 102 of file mrtk_rtkpos.c.

Referenced by relpos(), and rtkinit().

◆ NT

#define NT ( opt )

Value:

((opt)->tropopt < TROPOPT_EST ? 0 : ((opt)->tropopt < TROPOPT_ESTG ? 2 : 6))

TROPOPT_EST

#define TROPOPT_EST

Definition mrtk_opt.h:105

TROPOPT_ESTG

#define TROPOPT_ESTG

Definition mrtk_opt.h:106

Definition at line 99 of file mrtk_rtkpos.c.

◆ NX

#define NX ( opt )

Value:

(NR(opt) + NB(opt))

NB

#define NB(opt)

Definition mrtk_ppp.c:223

Definition at line 103 of file mrtk_rtkpos.c.

Referenced by rtkinit().

◆ PRN_HWBIAS

#define PRN_HWBIAS 1E-6 /* process noise of h/w bias (m/MHz/sqrt(s)) */

Definition at line 86 of file mrtk_rtkpos.c.

Referenced by udrcvbias(), and udrcvbias().

◆ R2D

#define R2D (180.0 / 3.1415926535897932384626433832795)

Definition at line 48 of file mrtk_rtkpos.c.

◆ ROUND

#define ROUND ( x )

Value:

(int)floor((x) + 0.5)

Definition at line 77 of file mrtk_rtkpos.c.

◆ SQR

#define SQR ( x )

Value:

((x) * (x))

Definition at line 74 of file mrtk_rtkpos.c.

Referenced by constbl(), ddres(), udbias(), udion(), udpos(), udrcvbias(), udtrop(), varerr(), and zdres_sat().

◆ SQRT

#define SQRT ( x )

Value:

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

Definition at line 75 of file mrtk_rtkpos.c.

Referenced by valpos().

◆ SSR_VENDOR_L6

#define SSR_VENDOR_L6 0 /* SSR vendor: L6 */

Definition at line 65 of file mrtk_rtkpos.c.

Referenced by udsatcb().

◆ SSR_VENDOR_RTCM

#define SSR_VENDOR_RTCM 1 /* SSR vendor: RTCM */

Definition at line 66 of file mrtk_rtkpos.c.

Referenced by decode_ssr1(), decode_ssr2(), decode_ssr3(), decode_ssr4(), decode_ssr5(), decode_ssr6(), decode_ssr7(), udsatcb(), and udsatpb().

◆ SYS_CMP

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

Definition at line 57 of file mrtk_rtkpos.c.

◆ SYS_GAL

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

Definition at line 55 of file mrtk_rtkpos.c.

◆ SYS_GLO

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

Definition at line 54 of file mrtk_rtkpos.c.

◆ SYS_GPS

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

Definition at line 52 of file mrtk_rtkpos.c.

◆ SYS_IRN

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

Definition at line 58 of file mrtk_rtkpos.c.

◆ SYS_NONE

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

Definition at line 51 of file mrtk_rtkpos.c.

◆ SYS_QZS

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

Definition at line 56 of file mrtk_rtkpos.c.

◆ SYS_SBS

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

Definition at line 53 of file mrtk_rtkpos.c.

◆ TTOL_MOVEB

#define TTOL_MOVEB (1.0 + 2 * DTTOL)

Definition at line 92 of file mrtk_rtkpos.c.

Referenced by rtkpos().

◆ VAR_ACC

#define VAR_ACC SQR(10.0) /* initial variance of receiver acc ((m/ss)^2) */

Definition at line 81 of file mrtk_rtkpos.c.

◆ VAR_GRA

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

Definition at line 83 of file mrtk_rtkpos.c.

◆ VAR_HOLDAMB

#define VAR_HOLDAMB 0.001 /* constraint to hold ambiguity (cycle^2) */

Definition at line 90 of file mrtk_rtkpos.c.

Referenced by holdamb().

◆ VAR_HWBIAS

#define VAR_HWBIAS SQR(1.0) /* initial variance of h/w bias ((m/MHz)^2) */

Definition at line 82 of file mrtk_rtkpos.c.

Referenced by udrcvbias(), and udrcvbias().

◆ VAR_POS

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

Definition at line 79 of file mrtk_rtkpos.c.

◆ VAR_VEL

#define VAR_VEL SQR(10.0) /* initial variance of receiver vel ((m/s)^2) */

Definition at line 80 of file mrtk_rtkpos.c.

Function Documentation

◆ baseline()

double baseline	(	const double *	ru,
		const double *	rb,
		double *	dr )

static

Definition at line 479 of file mrtk_rtkpos.c.

References norm().

Referenced by ddres(), and udstate().

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◆ constbl()

int constbl	(	rtk_t *	rtk,
		const double *	x,
		const double *	P,
		double *	v,
		double *	H,
		double *	Ri,
		double *	Rj,
		int	index )

static

Definition at line 1176 of file mrtk_rtkpos.c.

References prcopt_t::baseline, norm(), rtk_t::nx, rtk_t::opt, rtk_t::rb, SQR, and trace().

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

Definition at line 1157 of file mrtk_rtkpos.c.

References trace(), and tracemat().

Referenced by ddres().

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◆ ddidx()

int ddidx	(	rtk_t *	rtk,
		int *	ix,
		int	gps,
		int	glo,
		int	sbs )

static

Definition at line 1523 of file mrtk_rtkpos.c.

References ssat_t::azel, prcopt_t::bdsmodear, prcopt_t::elmaskar, ssat_t::fix, ssat_t::lock, MAXSAT, rtk_t::na, NF, rtk_t::opt, satsys(), ssat_t::slip, rtk_t::ssat, ssat_t::sys, SYS_SBS, test_sys(), trace(), 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,
		const obsd_t *	obs,
		double	dt,
		const double *	x,
		const double *	P,
		const int *	sat,
		double *	y,
		double *	e,
		double *	azel,
		double *	freq,
		const int *	iu,
		const int *	ir,
		int	ns,
		double *	v,
		double *	H,
		double *	R,
		int *	vflg )

static

Definition at line 1266 of file mrtk_rtkpos.c.

References baseline(), CLIGHT, constbl(), ddcov(), ecef2pos(), errmsg(), free, FREQ1, IB, II, ionmapf(), prcopt_t::ionoopt, IONOOPT_EST, IONOOPT_IFLC, IT, LLI_HALFC, mat(), prcopt_t::maxinno, MAXSAT, prcopt_t::mode, NF, rtk_t::nx, rtk_t::opt, PMODE_DGPS, PMODE_MOVEB, prectrop(), rtk_t::rb, ssat_t::rejc, ssat_t::resc, ssat_t::resp, SNR_UNIT, rtk_t::sol, SQR, rtk_t::ssat, prcopt_t::std, ssat_t::sys, test_sys(), sol_t::time, trace(), tracemat(), prcopt_t::tropopt, TROPOPT_EST, TROPOPT_ESTG, validobs(), varerr(), and ssat_t::vsat.

Referenced by relpos().

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◆ detslp_code()

void detslp_code	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int	i,
		int	rcv )

static

Definition at line 713 of file mrtk_rtkpos.c.

References obsd_t::code, code2obs(), CODE_NONE, ssat_t::codeprev, errmsg(), prcopt_t::nf, rtk_t::opt, obsd_t::sat, ssat_t::slip, and rtk_t::ssat.

Referenced by udbias().

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◆ detslp_dop()

void detslp_dop	(	rtk_t *	rtk,
		const obsd_t *	obs,
		const int *	ix,
		int	ns,
		int	rcv,
		const nav_t *	nav )

static

Definition at line 819 of file mrtk_rtkpos.c.

References obsd_t::D, DTTOL, errmsg(), obsd_t::L, MAXSAT, MIN, prcopt_t::nf, rtk_t::opt, ssat_t::ph, ssat_t::pt, obsd_t::sat, ssat_t::slip, rtk_t::ssat, prcopt_t::thresdop, timediff(), and trace().

Referenced by udbias().

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◆ detslp_gf()

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

static

Definition at line 783 of file mrtk_rtkpos.c.

References errmsg(), ssat_t::gf, gfobs(), prcopt_t::nf, rtk_t::opt, obsd_t::sat, ssat_t::slip, rtk_t::ssat, prcopt_t::thresslip, and trace().

Referenced by udbias().

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◆ detslp_ll()

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

static

Definition at line 735 of file mrtk_rtkpos.c.

References DTTOL, errmsg(), getbitu(), ssat_t::half, obsd_t::LLI, prcopt_t::nf, rtk_t::opt, ssat_t::pt, obsd_t::sat, setbitu(), ssat_t::slip, rtk_t::ssat, timediff(), trace(), and rtk_t::tt.

Referenced by udbias().

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◆ errmsg()

void errmsg	(	rtk_t *	rtk,
		const char *	format,
			... )

static

Definition at line 382 of file mrtk_rtkpos.c.

References rtk_t::errbuf, MAXERRMSG, rtk_t::neb, rtk_t::sol, sol_t::time, time2str(), and trace().

Referenced by ddres(), detslp_code(), detslp_dop(), detslp_gf(), detslp_ll(), holdamb(), relpos(), resamb_LAMBDA(), rtkinit(), rtkpos(), rtksvrstart(), and valpos().

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◆ gfobs()

double gfobs	(	const obsd_t *	obs,
		int	i,
		int	j,
		int	k,
		const nav_t *	nav )

static

Definition at line 403 of file mrtk_rtkpos.c.

References CLIGHT, sat2freq(), and sdobs().

Referenced by detslp_gf().

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◆ holdamb()

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

static

Definition at line 1621 of file mrtk_rtkpos.c.

References ARMODE_FIXHOLD, ssat_t::azel, prcopt_t::elmaskhold, errmsg(), filter(), ssat_t::fix, free, rtk_t::holdamb, IB, mat(), MAXSAT, prcopt_t::minholdsats, prcopt_t::modear, rtk_t::na, NF, rtk_t::nx, rtk_t::opt, rtk_t::P, rtk_t::ssat, ssat_t::sys, test_sys(), trace(), VAR_HOLDAMB, rtk_t::x, and zeros().

Referenced by relpos().

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◆ initx()

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

static

Definition at line 487 of file mrtk_rtkpos.c.

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

Referenced by udbias(), udion(), udpos(), udrcvbias(), and udtrop().

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◆ intpres()

double intpres	(	gtime_t	time,
		const obsd_t *	obs,
		int	n,
		const nav_t *	nav,
		rtk_t *	rtk,
		double *	y )

static

Definition at line 1475 of file mrtk_rtkpos.c.

References DTTOL, MAXOBS, prcopt_t::maxtdiff, NF, rtk_t::opt, rtk_t::rb, prcopt_t::sateph, satposs(), timediff(), trace(), and zdres().

Referenced by relpos().

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◆ manage_amb_LAMBDA()

int manage_amb_LAMBDA	(	rtk_t *	rtk,
		double *	bias,
		double *	xa,
		const int *	sat,
		int	nf,
		int	ns )

static

Definition at line 1811 of file mrtk_rtkpos.c.

References prcopt_t::arfilter, ARMODE_OFF, ssat_t::azel, prcopt_t::elmin, rtk_t::excsat, ssat_t::fix, GLO_ARMODE_FIXHOLD, prcopt_t::glomodear, prcopt_t::gpsmodear, rtk_t::holdamb, ssat_t::lock, prcopt_t::mindropsats, prcopt_t::minlock, prcopt_t::mode, prcopt_t::modear, prcopt_t::navsys, rtk_t::nb_ar, rtk_t::nx, rtk_t::opt, rtk_t::P, PMODE_DGPS, sol_t::prev_ratio1, sol_t::prev_ratio2, sol_t::ratio, resamb_LAMBDA(), rtk_t::sol, rtk_t::ssat, SYS_GLO, SYS_SBS, sol_t::thres, prcopt_t::thresar, trace(), and ssat_t::vsat.

Referenced by relpos().

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◆ miono_get_corr()

int miono_get_corr	(	const double *	rr,
		nav_t *	nav )

extern

Definition at line 174 of file mrtk_ppp_iono.c.

References pppiono_t::corr, pppiono_corr_t::dly, ecef2pos(), MAXSAT, miono_delay(), miono_sel_area(), miono_std_stecura(), nav_s::pppiono, R2D, miono_area_t::sat, miono_sat_t::sqi, pppiono_corr_t::std, miono_sat_t::t0, pppiono_corr_t::t0, gtime_t::time, and trace().

Referenced by rtkpos().

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◆ outsolstat()

void outsolstat ( rtk_t * rtk )

static

Definition at line 338 of file mrtk_rtkpos.c.

References ssat_t::azel, ssat_t::fix, fp_stat, ssat_t::lock, MAXSAT, MAXSOLMSG, prcopt_t::mode, NF, rtk_t::opt, ssat_t::outc, PMODE_DGPS, R2D, ssat_t::rejc, ssat_t::resc, ssat_t::resp, rtkoutstat(), satno2id(), ssat_t::slip, ssat_t::slipc, ssat_t::snr, SNR_UNIT, rtk_t::sol, SOLQ_NONE, rtk_t::ssat, sol_t::stat, statlevel, swapsolstat(), sol_t::time, time2gpst(), trace(), ssat_t::vs, and ssat_t::vsat.

Referenced by rtkpos().

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◆ prectrop()

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

static

Definition at line 1223 of file mrtk_rtkpos.c.

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

Referenced by ddres().

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◆ relpos()

int relpos	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int	nu,
		int	nr,
		const nav_t *	nav )

static

Definition at line 1958 of file mrtk_rtkpos.c.

References ARMODE_FIXHOLD, prcopt_t::baseline, ddres(), prcopt_t::dynamics, errmsg(), filter(), free, holdamb(), prcopt_t::intpref, intpres(), prcopt_t::ionoopt, IONOOPT_IFLC, obsd_t::L, ssat_t::lock, manage_amb_LAMBDA(), mat(), matcpy(), MAXOBS, MAXSAT, prcopt_t::minfix, prcopt_t::mode, prcopt_t::modear, rtk_t::na, prcopt_t::nf, rtk_t::nfix, prcopt_t::niter, NR, sol_t::ns, rtk_t::nx, rtk_t::opt, ssat_t::outc, rtk_t::P, rtk_t::Pa, ssat_t::ph, PMODE_DGPS, PMODE_MOVEB, ssat_t::pt, sol_t::qr, sol_t::qv, rtk_t::rb, obsd_t::rcv, sol_t::rr, obsd_t::sat, prcopt_t::sateph, satposs(), satsys(), selsat(), ssat_t::slip, ssat_t::slipc, obsd_t::SNR, ssat_t::snr, rtk_t::sol, SOLQ_DGPS, SOLQ_FIX, SOLQ_FLOAT, SOLQ_NONE, rtk_t::ssat, sol_t::stat, ssat_t::sys, obsd_t::time, timediff(), trace(), tracemat(), udstate(), valpos(), ssat_t::vsat, rtk_t::x, rtk_t::xa, zdres(), and zeros().

Referenced by rtkpos().

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◆ resamb_LAMBDA()

int resamb_LAMBDA	(	rtk_t *	rtk,
		double *	bias,
		double *	xa,
		int	gps,
		int	glo,
		int	sbs )

static

Definition at line 1675 of file mrtk_rtkpos.c.

References ar_poly_coeffs, ddidx(), errmsg(), free, imat(), lambda(), mat(), matinv(), matmul(), prcopt_t::minfixsats, rtk_t::na, rtk_t::nb_ar, rtk_t::nx, rtk_t::opt, rtk_t::P, rtk_t::Pa, sol_t::ratio, restamb(), rtk_t::sol, sol_t::thres, prcopt_t::thresar, trace(), tracemat(), rtk_t::x, and rtk_t::xa.

Referenced by manage_amb_LAMBDA().

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◆ restamb()

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

static

Definition at line 1588 of file mrtk_rtkpos.c.

References ssat_t::fix, IB, MAXSAT, rtk_t::na, NF, rtk_t::nx, rtk_t::opt, rtk_t::ssat, ssat_t::sys, test_sys(), trace(), rtk_t::x, and rtk_t::xa.

Referenced by resamb_LAMBDA().

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◆ rtkclosestat()

void rtkclosestat ( void )

extern

Close solution status file.

Definition at line 219 of file mrtk_rtkpos.c.

References file_stat, fp_stat, statlevel, and trace().

Referenced by closeses(), and execses().

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◆ rtkfree()

void rtkfree ( rtk_t * rtk )

extern

Free memory for RTK control struct.

Parameters

[in,out] rtk RTK control/result struct

Definition at line 2261 of file mrtk_rtkpos.c.

References free, rtk_t::na, rtk_t::nx, rtk_t::P, rtk_t::Pa, rtk_t::Q, trace(), rtk_t::x, and rtk_t::xa.

Referenced by procpos(), rtksvrfree(), and rtksvrstart().

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◆ rtkinit()

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

extern

Initialize RTK control struct.

Parameters

[in,out]	rtk	RTK control/result struct
[in]	opt	Positioning options

Definition at line 2206 of file mrtk_rtkpos.c.

References rtk_t::ambc, prcopt_t::bds2prn, prcopt_t::bds3igso, rtk_t::errbuf, errmsg(), rtk_t::excsat, rtk_t::holdamb, MAXERRMSG, MAXSAT, prcopt_t::mode, rtk_t::na, rtk_t::nb_ar, rtk_t::neb, rtk_t::nfix, NR, NX, rtk_t::nx, rtk_t::opt, rtk_t::P, rtk_t::Pa, PMODE_FIXED, PMODE_PPP_RTK, PMODE_VRS_RTK, ppp_rtk_na(), ppp_rtk_nx(), pppnx(), rtk_t::prev_qr, rtk_t::Q, rtk_t::rb, set_bdsopt(), rtk_t::sol, rtk_t::ssat, sol_t::thres, prcopt_t::thresar, trace(), rtk_t::tt, rtk_t::x, rtk_t::xa, and zeros().

Referenced by procpos(), rtksvrinit(), and rtksvrstart().

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◆ rtkopenstat()

int rtkopenstat	(	const char *	file,
		int	level )

extern

Open solution status file and set output level.

Parameters

[in]	file	RTK status file path
[in]	level	RTK status level (0: off)

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

Definition at line 193 of file mrtk_rtkpos.c.

References file_stat, fp_stat, reppath(), statlevel, time_stat, timeget(), trace(), and utc2gpst().

Referenced by execses().

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◆ rtkoutstat()

int rtkoutstat	(	rtk_t *	rtk,
		char *	buff )

extern

Write solution status to buffer.

Parameters

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

Returns: Number of bytes written

Definition at line 230 of file mrtk_rtkpos.c.

References ssat_t::azel, sol_t::dtr, prcopt_t::dynamics, ecef2enu(), ecef2pos(), prcopt_t::glomodear, II, IL, prcopt_t::ionoopt, IONOOPT_EST, IT, MAXSAT, prcopt_t::mode, rtk_t::na, NF, rtk_t::opt, PMODE_DGPS, PMODE_PPP_KINEMA, pppoutstat(), R2D, sol_t::rr, satno2id(), rtk_t::sol, SOLQ_NONE, 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 outsolstat(), and writesol().

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◆ rtkpos()

int rtkpos	(	mrtk_ctx_t *	ctx,
		rtk_t *	rtk,
		const obsd_t *	obs,
		int	nobs,
		nav_t *	nav )

extern

Compute rover position by precise positioning.

Parameters

[in,out]	rtk	RTK control/result struct
[in]	obs	Observation data for an epoch
[in]	nobs	Number of observation data
[in,out]	nav	Navigation messages

Returns: Status (0: no solution, 1: valid solution)

Definition at line 2686 of file mrtk_rtkpos.c.

References sol_t::age, nav_s::clas_ctx, clas_ssr2osr(), prcopt_t::dynamics, prcopt_t::enhanced_spp_seed, EPHOPT_BRDC, prcopt_t::err, errmsg(), nav_s::filreset, prcopt_t::floatcnt, prcopt_t::l6mrg, MAXOBS, prcopt_t::maxtdiff, miono_get_corr(), prcopt_t::mode, sol_t::ns, rtk_t::opt, prcopt_t::outsingle, outsolstat(), PMODE_MOVEB, PMODE_PPP_KINEMA, PMODE_PPP_RTK, PMODE_SINGLE, PMODE_SSR2OSR, PMODE_SSR2OSR_FIXED, PMODE_VRS_RTK, pntpos(), POSOPT_RINEX, ppp_rtk_pos(), pppos(), prcopt_t::rb, rtk_t::rb, obsd_t::rcv, prcopt_t::refpos, prcopt_t::rejeminsat, prcopt_t::rejethres, relpos(), relposvrs(), prcopt_t::robust, prcopt_t::robustk, sol_t::rr, prcopt_t::sateph, SEEDENH_BASE, SEEDENH_ROBUST, rtk_t::sol, solb, SOLQ_FLOAT, SOLQ_NONE, SOLQ_PPP, rtk_t::ssat, sol_t::stat, prcopt_t::tdcp, prcopt_t::tdcpjump, prcopt_t::thresdop, gtime_t::time, obsd_t::time, sol_t::time, time_str(), timediff(), trace(), traceobs(), rtk_t::tt, TTOL_MOVEB, udbiass(), and rtk_t::x.

Referenced by procpos(), and rtksvrthread().

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◆ sdobs()

double sdobs	(	const obsd_t *	obs,
		int	i,
		int	j,
		int	k )

static

Definition at line 397 of file mrtk_rtkpos.c.

References obsd_t::P.

Referenced by gfobs(), and udbias().

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◆ seliflc()

int seliflc	(	int	optnf,
		int	sys )

static

Definition at line 417 of file mrtk_rtkpos.c.

References SYS_GAL.

Referenced by udbias(), and zdres_sat().

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◆ selsat()

int selsat	(	const obsd_t *	obs,
		double *	azel,
		int	nu,
		int	nr,
		const prcopt_t *	opt,
		int *	sat,
		int *	iu,
		int *	ir )

static

Definition at line 495 of file mrtk_rtkpos.c.

References prcopt_t::elmin, obsd_t::sat, and trace().

Referenced by relpos().

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◆ swapsolstat()

void swapsolstat ( void )

static

Definition at line 315 of file mrtk_rtkpos.c.

References file_stat, fp_stat, INT_SWAP_STAT, reppath(), time2gpst(), time_stat, timeget(), trace(), and utc2gpst().

Referenced by outsolstat().

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◆ test_sys()

int test_sys	(	int	sys,
		int	m )

static

Definition at line 1246 of file mrtk_rtkpos.c.

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

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

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◆ udbias()

void udbias	(	rtk_t *	rtk,
		double	tt,
		const obsd_t *	obs,
		const int *	sat,
		const int *	iu,
		const int *	ir,
		int	ns,
		const nav_t *	nav )

static

Definition at line 877 of file mrtk_rtkpos.c.

References ARMODE_INST, CLIGHT, detslp_code(), detslp_dop(), detslp_gf(), detslp_ll(), free, ssat_t::half, IB, initx(), prcopt_t::ionoopt, IONOOPT_IFLC, obsd_t::LLI, ssat_t::lock, prcopt_t::maxout, MAXSAT, prcopt_t::minlock, prcopt_t::modear, NF, prcopt_t::nf, rtk_t::nx, rtk_t::opt, ssat_t::outc, rtk_t::P, prcopt_t::prn, ssat_t::rejc, sat2freq(), sdobs(), seliflc(), ssat_t::slip, SQR, rtk_t::ssat, prcopt_t::std, ssat_t::sys, trace(), rtk_t::x, and zeros().

Referenced by udstate().

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◆ udbiass()

void udbiass	(	gtime_t	gt,
		prcopt_t *	popt,
		nav_t *	nav )

static

Definition at line 2534 of file mrtk_rtkpos.c.

References nav_s::biapath, calloc, nav_s::fcbpath, free, osb_t::gt, prcopt_t::maxbiasdt, nav_s::pr_biapath, nav_s::pr_fcbpath, readbsnx(), readfcb(), reppath(), osb_t::rsatcb, osb_t::rsyscb, osb_t::scb, osb_t::spb, prcopt_t::staname, time_str(), timediff(), trace(), udfcb_sat(), udosb_sat(), udosb_station(), udsatcb(), udsatpb(), udstacb(), osb_t::vrsatcb, osb_t::vrsyscb, osb_t::vscb, and osb_t::vspb.

Referenced by rtkpos().

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◆ udion()

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

static

Definition at line 638 of file mrtk_rtkpos.c.

References ssat_t::azel, GAP_RESION, II, initx(), MAXSAT, rtk_t::nx, rtk_t::opt, ssat_t::outc, rtk_t::P, prcopt_t::prn, SQR, rtk_t::ssat, prcopt_t::std, trace(), and rtk_t::x.

Referenced by udstate().

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◆ udpos()

void udpos	(	rtk_t *	rtk,
		double	tt )

static

Definition at line 515 of file mrtk_rtkpos.c.

References covecef(), prcopt_t::dynamics, ecef2pos(), eye(), free, imat(), initx(), mat(), matmul(), prcopt_t::mode, norm(), rtk_t::nx, rtk_t::opt, rtk_t::P, PMODE_FIXED, PMODE_STATIC, prcopt_t::prn, sol_t::rr, prcopt_t::ru, rtk_t::sol, SQR, trace(), VAR_ACC, VAR_POS, VAR_VEL, and rtk_t::x.

Referenced by udstate().

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◆ udrcvbias()

void udrcvbias	(	rtk_t *	rtk,
		double	tt )

static

Definition at line 692 of file mrtk_rtkpos.c.

References IL, initx(), prcopt_t::minfix, rtk_t::na, rtk_t::nfix, NFREQGLO, rtk_t::nx, rtk_t::opt, rtk_t::P, rtk_t::Pa, PRN_HWBIAS, sol_t::ratio, rtk_t::sol, SQR, prcopt_t::thresar, trace(), VAR_HWBIAS, rtk_t::x, and rtk_t::xa.

Referenced by udstate().

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◆ udsatcb()

void udsatcb	(	gtime_t	gt,
		nav_t *	nav,
		osb_t *	biaosb,
		const prcopt_t *	popt )

static

Definition at line 2278 of file mrtk_rtkpos.c.

References nav_s::cbias, ssr_t::cbias, CODE_L1C, CODE_L2C, CODE_NONE, osb_t::gt, MAXAGESSRL6, prcopt_t::maxbiasdt, MAXCODE, MAXSAT, mcssr_sel_biascode(), nav_s::osb, prcopt_t::pppsatcb, prcopt_t::rtcmopt, satsys(), osb_t::scb, nav_s::ssr_ch, SSR_VENDOR_L6, SSR_VENDOR_RTCM, ssr_t::t0, time_str(), timediff(), trace(), ssr_t::vendor, and osb_t::vscb.

Referenced by udbiass().

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◆ udsatpb()

void udsatpb	(	gtime_t	gt,
		nav_t *	nav,
		osb_t *	biaosb,
		osb_t *	fcbosb,
		const prcopt_t *	popt )

static

Definition at line 2374 of file mrtk_rtkpos.c.

References CODE_NONE, osb_t::gt, MAXAGESSRL6, prcopt_t::maxbiasdt, MAXCODE, MAXSAT, mcssr_sel_biascode(), nav_s::osb, ssr_t::pbias, prcopt_t::pppsatpb, prcopt_t::rtcmopt, satsys(), osb_t::spb, nav_s::ssr_ch, SSR_VENDOR_RTCM, ssr_t::t0, time_str(), timediff(), trace(), ssr_t::vendor, and osb_t::vspb.

Referenced by udbiass().

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◆ udstacb()

void udstacb	(	gtime_t	gt,
		nav_t *	nav,
		osb_t *	biaosb,
		const prcopt_t *	popt )

static

Definition at line 2483 of file mrtk_rtkpos.c.

References osb_t::gt, prcopt_t::maxbiasdt, MAXBSNXSYS, MAXCODE, MAXSAT, nav_s::osb, osb_t::rsatcb, osb_t::rsyscb, time_str(), timediff(), trace(), osb_t::vrsatcb, and osb_t::vrsyscb.

Referenced by udbiass().

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◆ udstate()

void udstate	(	rtk_t *	rtk,
		const obsd_t *	obs,
		const int *	sat,
		const int *	iu,
		const int *	ir,
		int	ns,
		const nav_t *	nav )

static

Definition at line 999 of file mrtk_rtkpos.c.

References baseline(), prcopt_t::glomodear, prcopt_t::ionoopt, IONOOPT_EST, prcopt_t::mode, prcopt_t::navsys, rtk_t::opt, PMODE_DGPS, rtk_t::rb, SYS_GLO, trace(), prcopt_t::tropopt, TROPOPT_EST, rtk_t::tt, udbias(), udion(), udpos(), udrcvbias(), udtrop(), and rtk_t::x.

Referenced by relpos().

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◆ udtrop()

void udtrop	(	rtk_t *	rtk,
		double	tt,
		double	bl )

static

Definition at line 664 of file mrtk_rtkpos.c.

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

Referenced by udstate().

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◆ validobs()

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

static

Definition at line 1151 of file mrtk_rtkpos.c.

Referenced by ddres().

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◆ valpos()

int valpos	(	rtk_t *	rtk,
		const double *	v,
		const double *	R,
		const int *	vflg,
		int	nv,
		double	thres )

static

Definition at line 1935 of file mrtk_rtkpos.c.

References errmsg(), SQRT, and trace().

Referenced by relpos().

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◆ varerr()

double varerr	(	int	sat,
		int	sys,
		double	el,
		double	snr_rover,
		double	snr_base,
		double	bl,
		double	dt,
		int	f,
		const prcopt_t *	opt )

static

Definition at line 418 of file mrtk_rtkpos.c.

References CLIGHT, EFACT_CMP, EFACT_GAL, EFACT_GLO, EFACT_GPS, EFACT_IRN, EFACT_QZS, EFACT_SBS, prcopt_t::eratio, prcopt_t::err, prcopt_t::ionoopt, IONOOPT_IFLC, NF, prcopt_t::sclkstab, SQR, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, and SYS_SBS.

Referenced by ddres().

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◆ zdres()

int zdres	(	int	base,
		const obsd_t *	obs,
		int	n,
		const double *	rs,
		const double *	dts,
		const double *	var,
		const int *	svh,
		const nav_t *	nav,
		const double *	rr,
		const prcopt_t *	opt,
		int	index,
		double *	y,
		double *	e,
		double *	azel,
		double *	freq )

static

Definition at line 1077 of file mrtk_rtkpos.c.

References prcopt_t::antdel, antmodel(), CLIGHT, D2R, ecef2pos(), prcopt_t::elmaskopt, prcopt_t::elmin, nav_s::erp, geodist(), gpst2utc(), NF, NFREQPCV, norm(), prcopt_t::odisp, prcopt_t::pcvr, prcopt_t::posopt, R2D, satazel(), satexclude(), testelmask(), prcopt_t::tidecorr, tidedisp(), trace(), tracemat(), tropmapf(), tropmodel(), and zdres_sat().

Referenced by intpres(), and relpos().

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◆ zdres_sat()

void zdres_sat	(	int	base,
		double	r,
		const obsd_t *	obs,
		const nav_t *	nav,
		const double *	azel,
		const double *	dant,
		const prcopt_t *	opt,
		double *	y,
		double *	freq )

static

Definition at line 1027 of file mrtk_rtkpos.c.

References CLIGHT, obsd_t::code, prcopt_t::ionoopt, IONOOPT_IFLC, obsd_t::L, NF, obsd_t::P, obsd_t::sat, sat2freq(), satsys(), seliflc(), obsd_t::SNR, SNR_UNIT, prcopt_t::snrmask, SQR, and testsnr().

Referenced by zdres().

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Variable Documentation

◆ ar_poly_coeffs

const double ar_poly_coeffs[3][5]

static

Initial value:

= {
    {-1.94058448e-01, -7.79023476e+00, 1.24231120e+02, -4.03126050e+02, 3.50413202e+02},
    {6.42237302e-01, -8.39813962e+00, 2.92107285e+01, -2.37577308e+01, -1.14307128e+00},
    {-2.22600390e-02, 3.23169103e-01, -1.39837429e+00, 2.19282996e+00, -5.34583971e-02}}

Definition at line 113 of file mrtk_rtkpos.c.

Referenced by resamb_LAMBDA().

◆ file_stat

char file_stat[1024] = ""

static

Definition at line 121 of file mrtk_rtkpos.c.

Referenced by rtkclosestat(), rtkopenstat(), and swapsolstat().

◆ fp_stat

FILE* fp_stat = NULL

static

Definition at line 120 of file mrtk_rtkpos.c.

◆ statlevel

int statlevel = 0

static

Definition at line 119 of file mrtk_rtkpos.c.

Referenced by outsolstat(), rtkclosestat(), and rtkopenstat().

◆ time_stat

gtime_t time_stat = {0}

static

Definition at line 122 of file mrtk_rtkpos.c.

Referenced by rtkopenstat(), and swapsolstat().

Macros

Functions

Variables

Macro Definition Documentation

◆ CLIGHT

◆ D2R

◆ EFACT_GLO

◆ EFACT_GPS

◆ EFACT_SBS

◆ FREQ1

◆ GAP_RESION

◆ IB

◆ II

◆ IL

◆ INIT_ZWD

◆ INT_SWAP_STAT

◆ IT

◆ MAXACC

◆ MAXAGESSRL6

◆ MIN

◆ NB

◆ NF

◆ NI

◆ NL

◆ NP

◆ NR

◆ NT

◆ NX

◆ PRN_HWBIAS

◆ R2D

◆ ROUND

◆ SQR

◆ SQRT

◆ SSR_VENDOR_L6

◆ SSR_VENDOR_RTCM

◆ SYS_CMP

◆ SYS_GAL

◆ SYS_GLO

◆ SYS_GPS

◆ SYS_IRN

◆ SYS_NONE

◆ SYS_QZS

◆ SYS_SBS

◆ TTOL_MOVEB

◆ VAR_ACC

◆ VAR_GRA

◆ VAR_HOLDAMB

◆ VAR_HWBIAS

◆ VAR_POS

◆ VAR_VEL

Function Documentation

◆ baseline()

◆ constbl()

◆ ddcov()

◆ ddidx()

◆ ddres()

◆ detslp_code()

◆ detslp_dop()

◆ detslp_gf()

◆ detslp_ll()

◆ errmsg()

◆ gfobs()

◆ holdamb()

◆ initx()

◆ intpres()

◆ manage_amb_LAMBDA()

◆ miono_get_corr()

◆ outsolstat()

◆ prectrop()

◆ relpos()

◆ resamb_LAMBDA()

◆ restamb()

◆ rtkclosestat()

◆ rtkfree()

◆ rtkinit()

◆ rtkopenstat()

◆ rtkoutstat()

◆ rtkpos()

◆ sdobs()

◆ seliflc()