mrtk_rtkpos.h

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/*------------------------------------------------------------------------------
 * mrtk_rtkpos.h : RTK positioning type definitions and functions
 *
 * Copyright (C) 2026 H.SHIONO (MRTKLIB Project)
 * Copyright (C) 2023-2025 Cabinet Office, Japan
 * Copyright (C) 2024-2025 Lighthouse Technology & Consulting Co. Ltd.
 * Copyright (C) 2023-2025 Japan Aerospace Exploration Agency
 * Copyright (C) 2023-2025 TOSHIBA ELECTRONIC TECHNOLOGIES CORPORATION
 * Copyright (C) 2015- Mitsubishi Electric Corp.
 * Copyright (C) 2014 Geospatial Information Authority of Japan
 * Copyright (C) 2014 T.SUZUKI
 * Copyright (C) 2007-2023 T.TAKASU
 *
 * SPDX-License-Identifier: BSD-2-Clause
 *----------------------------------------------------------------------------*/
/**
 * @file mrtk_rtkpos.h
 * @brief 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.
 */
#ifndef MRTK_RTKPOS_H
#define MRTK_RTKPOS_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#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"
 
typedef struct {        /* ambiguity control type */
    gtime_t epoch[4];   /* last epoch */
    int n[4];           /* number of epochs */
    double LC[4];       /* linear combination average */
    double LCv[4];      /* linear combination variance */
    int fixcnt;         /* fix count */
    char flags[MAXSAT]; /* fix flags */
} ambc_t;
 
typedef struct {            /* RTK control/result type */
    sol_t sol;              /* RTK solution */
    double rb[6];           /* base position/velocity (ecef) (m|m/s) */
    int nx, na;             /* number of float states/fixed states */
    double tt;              /* time difference between current and previous (s) */
    double *x, *P;          /* float states and their covariance */
    double* Q;              /* process noise covariance (adaptive filter) */
    double *xa, *Pa;        /* fixed states and their covariance */
    int nfix;               /* number of continuous fixes of ambiguity */
    double com_bias;        /* common bias offset for phase-bias initialization */
    ambc_t ambc[MAXSAT];    /* ambibuity control */
    ssat_t ssat[MAXSAT];    /* satellite status */
    int neb;                /* bytes in error message buffer */
    char errbuf[MAXERRMSG]; /* error message buffer */
    prcopt_t opt;           /* processing options */
    int miono_info[2];      /* MADOCA-PPP iono info (0:region id, 1:area No.) */
    double prev_qr[6];      /* previous position variance/covariance (m^2) */
    int excsat;             /* index of next satellite to exclude for partial AR */
    int nb_ar;              /* number of DD ambiguities used for AR last epoch */
    char holdamb;           /* fix-and-hold has occurred at least once */
} rtk_t;
 
/**
 * @brief Initialize RTK control struct.
 * @param[in,out] rtk  RTK control/result struct
 * @param[in]     opt  Positioning options
 */
void rtkinit(rtk_t* rtk, const prcopt_t* opt);
 
/**
 * @brief Free memory for RTK control struct.
 * @param[in,out] rtk  RTK control/result struct
 */
void rtkfree(rtk_t* rtk);
 
/**
 * @brief Compute rover position by precise positioning.
 * @param[in,out] rtk  RTK control/result struct
 * @param[in]     obs  Observation data for an epoch
 * @param[in]     nobs Number of observation data
 * @param[in,out] nav  Navigation messages
 * @return Status (0: no solution, 1: valid solution)
 */
int rtkpos(mrtk_ctx_t* ctx, rtk_t* rtk, const obsd_t* obs, int nobs, nav_t* nav);
 
/**
 * @brief Open solution status file and set output level.
 * @param[in] file  RTK status file path
 * @param[in] level RTK status level (0: off)
 * @return Status (1: ok, 0: error)
 */
int rtkopenstat(const char* file, int level);
 
/**
 * @brief Close solution status file.
 */
void rtkclosestat(void);
 
/**
 * @brief Write solution status to buffer.
 * @param[in,out] rtk  RTK control/result struct
 * @param[out]    buff Output buffer
 * @return Number of bytes written
 */
int rtkoutstat(rtk_t* rtk, char* buff);
 
#ifdef __cplusplus
}
#endif
 
#endif /* MRTK_RTKPOS_H */