mrtk_rtkpos.h File Reference

MRTKLIB RTK Positioning Module — relative and precise positioning. More...

#include "mrtklib/mrtk_context.h"
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_opt.h"
#include "mrtklib/mrtk_sol.h"
#include "mrtklib/mrtk_time.h"

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Classes
struct	ambc_t
struct	rtk_t

Functions
void	rtkinit (rtk_t *rtk, const prcopt_t *opt)
	Initialize RTK control struct.
void	rtkfree (rtk_t *rtk)
	Free memory for RTK control struct.
int	rtkpos (mrtk_ctx_t *ctx, rtk_t *rtk, const obsd_t *obs, int nobs, nav_t *nav)
	Compute rover position by precise positioning.
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.

Detailed Description

MRTKLIB RTK Positioning Module — relative and precise positioning.

This header provides the RTK control structure (rtk_t) and functions for relative positioning (DGPS/RTK) and precise point positioning (PPP).

Note

Functions declared here are implemented in mrtk_rtkpos.c.

Definition in file mrtk_rtkpos.h.

Function Documentation

rtkclosestat()

void rtkclosestat

(

void

)

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

)

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 )

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 )

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 )

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 )

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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