#include "mrtklib/mrtk_sol.h"
#include <ctype.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_coords.h"
#include "mrtklib/mrtk_sys.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_sol.c:

Macros
#define	SYS_NONE 0x00
#define	SYS_GPS 0x01
#define	SYS_SBS 0x02
#define	SYS_GLO 0x04
#define	SYS_GAL 0x08
#define	SYS_QZS 0x10
#define	SYS_CMP 0x20
#define	SYS_IRN 0x40
#define	COMMENTH "%"
#define	MSG_DISCONN "$DISCONNECT"
#define	SQR(x)
#define	SQRT(x)
#define	NMEA_TID "GN" /* NMEA talker ID for RMC and GGA sentences */
#define	MAXFIELD 64 /* max number of fields in a record */
#define	MAXNMEA 256 /* max length of nmea sentence */
#define	KNOT2M 0.514444444 /* m/knot */

Functions
double	dms2deg (const double *dms)
void	deg2dms (double deg, double *dms, int ndec)
double	norm (const double *a, int n)
void	covecef (const double pos, const double Q, double *P)
void	enu2ecef (const double pos, const double e, double *r)
gtime_t	gpst2time (int week, double sec)
double	geoidh (const double *pos)
static const char *	opt2sep (const solopt_t *opt)
static int	tonum (char buff, const char sep, double *v)
static double	sqvar (double covar)
static double	dmm2deg (double dmm)
static void	septime (double t, double t1, double t2, double *t3)
static void	soltocov (const sol_t sol, double P)
static void	covtosol (const double P, sol_t sol)
static void	soltocov_vel (const sol_t sol, double P)
static void	covtosol_vel (const double P, sol_t sol)
static int	decode_nmearmc (char *val, int n, sol_t sol)
static int	decode_nmeazda (char *val, int n, sol_t sol)
static int	decode_nmeagga (char *val, int n, sol_t sol)
static int	test_nmea (const char *buff)
static int	test_solstat (const char *buff)
static int	decode_nmea (char buff, sol_t sol)
static char *	decode_soltime (char buff, const solopt_t opt, gtime_t *time)
static int	decode_solxyz (char buff, const solopt_t opt, sol_t *sol)
static int	decode_solllh (char buff, const solopt_t opt, sol_t *sol)
static int	decode_solenu (char buff, const solopt_t opt, sol_t *sol)
static int	decode_solsss (char buff, sol_t sol)
static int	decode_solgsi (char buff, const solopt_t opt, sol_t *sol)
static int	decode_solpos (char buff, const solopt_t opt, sol_t *sol)
static void	decode_refpos (char buff, const solopt_t opt, double *rb)
static int	decode_sol (char buff, const solopt_t opt, sol_t sol, double rb)
static void	decode_solopt (char buff, solopt_t opt)
static void	readsolopt (FILE fp, solopt_t opt)
int	inputsol (uint8_t data, gtime_t ts, gtime_t te, double tint, int qflag, const solopt_t opt, solbuf_t solbuf)
	Input solution data from stream.
static int	readsoldata (FILE fp, gtime_t ts, gtime_t te, double tint, int qflag, const solopt_t opt, solbuf_t *solbuf)
static int	cmpsol (const void p1, const void p2)
static int	sort_solbuf (solbuf_t *solbuf)
int	readsolt (char files[], int nfile, gtime_t ts, gtime_t te, double tint, int qflag, solbuf_t solbuf)
	Read solutions from files with time filter.
int	readsol (char files[], int nfile, solbuf_t sol)
	Read solutions from files.
int	addsol (solbuf_t solbuf, const sol_t sol)
	Add solution to buffer.
sol_t *	getsol (solbuf_t *solbuf, int index)
	Get solution from buffer.
void	initsolbuf (solbuf_t *solbuf, int cyclic, int nmax)
	Initialize solution buffer.
void	freesolbuf (solbuf_t *solbuf)
	Free solution buffer memory.
void	freesolstatbuf (solstatbuf_t *solstatbuf)
	Free solution status buffer memory.
static int	cmpsolstat (const void p1, const void p2)
static int	sort_solstat (solstatbuf_t *statbuf)
static int	decode_solstat (char buff, solstat_t stat)
static void	addsolstat (solstatbuf_t statbuf, const solstat_t stat)
static int	readsolstatdata (FILE fp, gtime_t ts, gtime_t te, double tint, solstatbuf_t statbuf)
int	readsolstatt (char files[], int nfile, gtime_t ts, gtime_t te, double tint, solstatbuf_t statbuf)
	Read solution status from files with time filter.
int	readsolstat (char files[], int nfile, solstatbuf_t statbuf)
	Read solution status from files.
static int	outecef (uint8_t buff, const char s, const sol_t sol, const solopt_t opt)
static int	outpos (uint8_t buff, const char s, const sol_t sol, const solopt_t opt)
static int	outenu (uint8_t buff, const char s, const sol_t sol, const double rb, const solopt_t *opt)
int	outnmea_rmc (uint8_t buff, const sol_t sol)
	Output NMEA RMC sentence.
int	outnmea_gga (uint8_t buff, const sol_t sol)
	Output NMEA GGA sentence.
int	outnmea_gsa (uint8_t buff, const sol_t sol, const ssat_t *ssat)
	Output NMEA GSA sentence.
int	outnmea_gsv (uint8_t buff, const sol_t sol, const ssat_t *ssat)
	Output NMEA GSV sentence.
int	outprcopts (uint8_t buff, const prcopt_t opt)
	Output processing options to buffer.
int	outsolheads (uint8_t buff, const solopt_t opt)
	Output solution header to buffer.
static double	sol_std (const sol_t *sol)
int	outsols (uint8_t buff, const sol_t sol, const double rb, const solopt_t opt)
	Output solution to buffer.
int	outsolexs (uint8_t buff, const sol_t sol, const ssat_t ssat, const solopt_t opt)
	Output solution extended data to buffer.
void	outprcopt (FILE fp, const prcopt_t opt)
	Output processing options to file.
void	outsolhead (FILE fp, const solopt_t opt)
	Output solution header to file.
void	outsol (FILE fp, const sol_t sol, const double rb, const solopt_t opt)
	Output solution to file.
void	outsolex (FILE fp, const sol_t sol, const ssat_t ssat, const solopt_t opt)
	Output solution extended data to file.

Variables
static const double	PI = 3.1415926535897932
static const double	D2R = 3.1415926535897932 / 180.0
static const double	R2D = 180.0 / 3.1415926535897932
static const double	RE_WGS84 = 6378137.0
static const double	FE_WGS84 = 1.0 / 298.257223563
static const int	nmea_sys []
static const char *	nmea_tid []
static const int	nmea_sid []
static const int	nmea_solq []

Macro Definition Documentation

◆ COMMENTH

#define COMMENTH "%"

Definition at line 43 of file mrtk_sol.c.

◆ KNOT2M

#define KNOT2M 0.514444444 /* m/knot */

Definition at line 64 of file mrtk_sol.c.

Referenced by outnmea_rmc().

◆ MAXFIELD

#define MAXFIELD 64 /* max number of fields in a record */

Definition at line 61 of file mrtk_sol.c.

Referenced by decode_nmea(), decode_refpos(), decode_solenu(), decode_solgsi(), decode_solllh(), decode_soltime(), decode_solxyz(), and tonum().

◆ MAXNMEA

#define MAXNMEA 256 /* max length of nmea sentence */

Definition at line 62 of file mrtk_sol.c.

◆ MSG_DISCONN

#define MSG_DISCONN "$DISCONNECT"

Definition at line 44 of file mrtk_sol.c.

Referenced by inputsol().

◆ NMEA_TID

#define NMEA_TID "GN" /* NMEA talker ID for RMC and GGA sentences */

Definition at line 60 of file mrtk_sol.c.

Referenced by outnmea_gga(), and outnmea_rmc().

◆ SQR

#define SQR ( x )

Value:

((x) < 0.0 ? -(x) * (x) : (x) * (x))

Definition at line 57 of file mrtk_sol.c.

Referenced by decode_solenu(), decode_solllh(), decode_solsss(), and decode_solxyz().

◆ SQRT

#define SQRT ( x )

Value:

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

Definition at line 58 of file mrtk_sol.c.

Referenced by outenu(), outpos(), and sol_std().

◆ SYS_CMP

#define SYS_CMP 0x20

Definition at line 34 of file mrtk_sol.c.

◆ SYS_GAL

#define SYS_GAL 0x08

Definition at line 32 of file mrtk_sol.c.

◆ SYS_GLO

#define SYS_GLO 0x04

Definition at line 31 of file mrtk_sol.c.

◆ SYS_GPS

#define SYS_GPS 0x01

Definition at line 29 of file mrtk_sol.c.

◆ SYS_IRN

#define SYS_IRN 0x40

Definition at line 35 of file mrtk_sol.c.

◆ SYS_NONE

#define SYS_NONE 0x00

Definition at line 28 of file mrtk_sol.c.

◆ SYS_QZS

#define SYS_QZS 0x10

Definition at line 33 of file mrtk_sol.c.

◆ SYS_SBS

#define SYS_SBS 0x02

Definition at line 30 of file mrtk_sol.c.

Function Documentation

◆ addsol()

int addsol	(	solbuf_t *	solbuf,
		const sol_t *	sol )

Add solution to buffer.

Parameters

[in,out]	solbuf	Solution buffer
[in]	sol	Solution data

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

Definition at line 1017 of file mrtk_sol.c.

References solbuf_t::cyclic, solbuf_t::data, solbuf_t::end, free, solbuf_t::n, solbuf_t::nmax, solbuf_t::start, and trace().

Referenced by inputsol().

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◆ addsolstat()

void addsolstat	(	solstatbuf_t *	statbuf,
		const solstat_t *	stat )

static

Definition at line 1213 of file mrtk_sol.c.

References solstatbuf_t::data, free, solstatbuf_t::n, solstatbuf_t::nmax, and trace().

Referenced by readsolstatdata().

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◆ cmpsol()

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

static

Definition at line 930 of file mrtk_sol.c.

References gtime_t::time, sol_t::time, and timediff().

Referenced by sort_solbuf().

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◆ cmpsolstat()

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

static

Definition at line 1131 of file mrtk_sol.c.

References gtime_t::time, solstat_t::time, and timediff().

Referenced by sort_solstat().

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◆ covecef()

void covecef	(	const double *	pos,
		const double *	Q,
		double *	P )

extern

Definition at line 202 of file mrtk_coords.c.

Referenced by decode_solllh().

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◆ covtosol()

void covtosol	(	const double *	P,
		sol_t *	sol )

static

Definition at line 132 of file mrtk_sol.c.

References sol_t::qr.

Referenced by decode_solenu(), decode_solllh(), and decode_solxyz().

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◆ covtosol_vel()

void covtosol_vel	(	const double *	P,
		sol_t *	sol )

static

Definition at line 150 of file mrtk_sol.c.

References sol_t::qv.

Referenced by decode_solllh(), and decode_solxyz().

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◆ decode_nmea()

int decode_nmea	(	char *	buff,
		sol_t *	sol )

static

Definition at line 369 of file mrtk_sol.c.

References decode_nmeagga(), decode_nmearmc(), decode_nmeazda(), MAXFIELD, and trace().

Referenced by decode_sol().

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◆ decode_nmeagga()

int decode_nmeagga	(	char **	val,
		int	n,
		sol_t *	sol )

static

Definition at line 262 of file mrtk_sol.c.

References sol_t::age, D2R, dmm2deg(), epoch2time(), nmea_solq, sol_t::ns, pos2ecef(), sol_t::rr, septime(), SOLQ_NONE, sol_t::stat, gtime_t::time, sol_t::time, time2epoch(), time_str(), timeadd(), timediff(), trace(), sol_t::type, and utc2gpst().

Referenced by decode_nmea().

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◆ decode_nmearmc()

int decode_nmearmc	(	char **	val,
		int	n,
		sol_t *	sol )

static

Definition at line 159 of file mrtk_sol.c.

References D2R, dmm2deg(), epoch2time(), sol_t::ns, pos2ecef(), sol_t::rr, septime(), SOLQ_DGPS, SOLQ_SINGLE, sol_t::stat, sol_t::time, time_str(), trace(), sol_t::type, and utc2gpst().

Referenced by decode_nmea().

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◆ decode_nmeazda()

int decode_nmeazda	(	char **	val,
		int	n,
		sol_t *	sol )

static

Definition at line 231 of file mrtk_sol.c.

References epoch2time(), sol_t::ns, septime(), sol_t::time, time_str(), trace(), and utc2gpst().

Referenced by decode_nmea().

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◆ decode_refpos()

void decode_refpos	(	char *	buff,
		const solopt_t *	opt,
		double *	rb )

static

Definition at line 755 of file mrtk_sol.c.

References D2R, solopt_t::degf, dms2deg(), MAXFIELD, opt2sep(), pos2ecef(), solopt_t::posf, SOLF_XYZ, tonum(), and trace().

Referenced by decode_sol().

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◆ decode_sol()

int decode_sol	(	char *	buff,
		const solopt_t *	opt,
		sol_t *	sol,
		double *	rb )

static

Definition at line 783 of file mrtk_sol.c.

References COMMENTH, decode_nmea(), decode_refpos(), decode_solpos(), decode_solsss(), test_nmea(), test_solstat(), and trace().

Referenced by inputsol().

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◆ decode_solenu()

int decode_solenu	(	char *	buff,
		const solopt_t *	opt,
		sol_t *	sol )

static

Definition at line 634 of file mrtk_sol.c.

References sol_t::age, covtosol(), MAXFIELD, MAXSOLQ, sol_t::ns, opt2sep(), sol_t::ratio, sol_t::rr, SOLQ_NONE, SQR, sol_t::stat, tonum(), trace(), and sol_t::type.

Referenced by decode_solpos().

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◆ decode_solgsi()

int decode_solgsi	(	char *	buff,
		const solopt_t *	opt,
		sol_t *	sol )

static

Definition at line 712 of file mrtk_sol.c.

References MAXFIELD, sol_t::rr, SOLQ_FIX, sol_t::stat, tonum(), and trace().

Referenced by decode_solpos().

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◆ decode_solllh()

int decode_solllh	(	char *	buff,
		const solopt_t *	opt,
		sol_t *	sol )

static

Definition at line 542 of file mrtk_sol.c.

References sol_t::age, covecef(), covtosol(), covtosol_vel(), D2R, solopt_t::degf, dms2deg(), enu2ecef(), MAXFIELD, MAXSOLQ, sol_t::ns, opt2sep(), pos2ecef(), sol_t::ratio, sol_t::rr, SOLQ_NONE, SQR, sol_t::stat, tonum(), trace(), and sol_t::type.

Referenced by decode_solpos().

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◆ decode_solopt()

void decode_solopt	(	char *	buff,
		solopt_t *	opt )

static

Definition at line 807 of file mrtk_sol.c.

References COMMENTH, solopt_t::degf, solopt_t::posf, solopt_t::sep, SOLF_ENU, SOLF_GSIF, SOLF_LLH, SOLF_XYZ, solopt_t::times, TIMES_GPST, TIMES_JST, TIMES_UTC, and trace().

Referenced by readsolopt().

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◆ decode_solpos()

int decode_solpos	(	char *	buff,
		const solopt_t *	opt,
		sol_t *	sol )

static

Definition at line 729 of file mrtk_sol.c.

References decode_solenu(), decode_solgsi(), decode_solllh(), decode_soltime(), decode_solxyz(), solopt_t::posf, SOLF_ENU, SOLF_GSIF, SOLF_LLH, SOLF_XYZ, sol_t::time, and trace().

Referenced by decode_sol().

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◆ decode_solsss()

int decode_solsss	(	char *	buff,
		sol_t *	sol )

static

Definition at line 686 of file mrtk_sol.c.

References sol_t::age, sol_t::dtr, gpst2time(), norm(), sol_t::ns, sol_t::qr, sol_t::ratio, sol_t::rr, SOLQ_NONE, SQR, sol_t::stat, sol_t::thres, sol_t::time, trace(), and sol_t::type.

Referenced by decode_sol().

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◆ decode_solstat()

int decode_solstat	(	char *	buff,
		solstat_t *	stat )

static

Definition at line 1167 of file mrtk_sol.c.

References solstat_t::az, D2R, solstat_t::el, solstat_t::flag, solstat_t::frq, gpst2time(), solstat_t::lock, solstat_t::outc, solstat_t::rejc, solstat_t::resc, solstat_t::resp, solstat_t::sat, satid2no(), solstat_t::slipc, solstat_t::snr, SNR_UNIT, solstat_t::time, and trace().

Referenced by readsolstatdata().

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◆ decode_soltime()

char * decode_soltime	(	char *	buff,
		const solopt_t *	opt,
		gtime_t *	time )

static

Definition at line 397 of file mrtk_sol.c.

References epoch2time(), gpst2time(), MAXFIELD, solopt_t::posf, solopt_t::sep, SOLF_GSIF, SOLF_STAT, timeadd(), solopt_t::times, TIMES_JST, TIMES_UTC, trace(), and utc2gpst().

Referenced by decode_solpos().

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◆ decode_solxyz()

int decode_solxyz	(	char *	buff,
		const solopt_t *	opt,
		sol_t *	sol )

static

Definition at line 465 of file mrtk_sol.c.

References sol_t::age, covtosol(), covtosol_vel(), MAXFIELD, MAXSOLQ, sol_t::ns, opt2sep(), sol_t::ratio, sol_t::rr, SOLQ_NONE, SQR, sol_t::stat, tonum(), trace(), and sol_t::type.

Referenced by decode_solpos().

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◆ deg2dms()

void deg2dms	(	double	deg,
		double *	dms,
		int	ndec )

extern

Definition at line 63 of file mrtk_coords.c.

Referenced by outnmea_gga(), outnmea_rmc(), and outpos().

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◆ dmm2deg()

double dmm2deg ( double dmm )

static

Definition at line 114 of file mrtk_sol.c.

Referenced by decode_nmeagga(), and decode_nmearmc().

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◆ dms2deg()

double dms2deg ( const double * dms )

extern

Definition at line 86 of file mrtk_coords.c.

Referenced by decode_refpos(), and decode_solllh().

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◆ enu2ecef()

void enu2ecef	(	const double *	pos,
		const double *	e,
		double *	r )

extern

Definition at line 175 of file mrtk_coords.c.

Referenced by decode_solllh().

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◆ freesolbuf()

void freesolbuf ( solbuf_t * solbuf )

Free solution buffer memory.

Parameters

[in,out] solbuf Solution buffer

Definition at line 1111 of file mrtk_sol.c.

References solbuf_t::data, solbuf_t::end, free, solbuf_t::n, solbuf_t::nb, solbuf_t::nmax, solbuf_t::rb, solbuf_t::start, and trace().

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◆ freesolstatbuf()

void freesolstatbuf ( solstatbuf_t * solstatbuf )

Free solution status buffer memory.

Parameters

[in,out] solstatbuf Solution status buffer

Definition at line 1123 of file mrtk_sol.c.

References solstatbuf_t::data, free, solstatbuf_t::n, solstatbuf_t::nmax, and trace().

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◆ geoidh()

double geoidh ( const double * pos )

extern

Definition at line 268 of file mrtk_geoid.c.

Referenced by outnmea_gga(), and outpos().

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◆ getsol()

sol_t * getsol	(	solbuf_t *	solbuf,
		int	index )

Get solution from buffer.

Parameters

[in,out]	solbuf	Solution buffer
[in]	index	Solution index (0 to n-1)

Returns: Solution data pointer (NULL: out of range)

Definition at line 1060 of file mrtk_sol.c.

References solbuf_t::data, solbuf_t::nmax, solbuf_t::start, and trace().

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◆ gpst2time()

gtime_t gpst2time	(	int	week,
		double	sec )

extern

Definition at line 165 of file mrtk_time.c.

Referenced by decode_solsss(), decode_solstat(), and decode_soltime().

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◆ initsolbuf()

void initsolbuf	(	solbuf_t *	solbuf,
		int	cyclic,
		int	nmax )

Initialize solution buffer.

Parameters

[out]	solbuf	Solution buffer
[in]	cyclic	Cyclic buffer flag (0:off, 1:on)
[in]	nmax	Max number of solutions (0:default)

Definition at line 1078 of file mrtk_sol.c.

References solbuf_t::cyclic, solbuf_t::data, solbuf_t::end, malloc, solbuf_t::n, solbuf_t::nb, solbuf_t::nmax, solbuf_t::rb, solbuf_t::start, solbuf_t::time, and trace().

Referenced by readsolt().

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◆ inputsol()

int inputsol	(	uint8_t	data,
		gtime_t	ts,
		gtime_t	te,
		double	tint,
		int	qflag,
		const solopt_t *	opt,
		solbuf_t *	solbuf )

Input solution data from stream.

Parameters

[in]	data	Stream data byte
[in]	ts	Start time (GPST)
[in]	te	End time (GPST)
[in]	tint	Time interval (s)
[in]	qflag	Quality flag (0:all)
[in]	opt	Solution options
[in,out]	solbuf	Solution buffer

Returns: Status (0:no data, 1:new solution)

Definition at line 874 of file mrtk_sol.c.

References addsol(), solbuf_t::buff, decode_sol(), MAXSOLMSG, MSG_DISCONN, solbuf_t::nb, solbuf_t::rb, screent(), sol_t::stat, sol_t::time, solbuf_t::time, and trace().

Referenced by readsoldata().

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◆ norm()

double norm	(	const double *	a,
		int	n )

extern

Definition at line 165 of file mrtk_mat.c.

Referenced by decode_solsss(), and outnmea_rmc().

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◆ opt2sep()

const char * opt2sep ( const solopt_t * opt )

static

Definition at line 85 of file mrtk_sol.c.

References solopt_t::sep.

Referenced by decode_refpos(), decode_solenu(), decode_solllh(), decode_solxyz(), outecef(), outenu(), outpos(), outsolheads(), and outsols().

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◆ outecef()

int outecef	(	uint8_t *	buff,
		const char *	s,
		const sol_t *	sol,
		const solopt_t *	opt )

static

Definition at line 1301 of file mrtk_sol.c.

References sol_t::age, sol_t::ns, opt2sep(), solopt_t::outvel, sol_t::qr, sol_t::qv, sol_t::ratio, sol_t::rr, SQRT, sqvar(), sol_t::stat, and trace().

Referenced by outsols().

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◆ outenu()

int outenu	(	uint8_t *	buff,
		const char *	s,
		const sol_t *	sol,
		const double *	rb,
		const solopt_t *	opt )

static

Definition at line 1366 of file mrtk_sol.c.

References sol_t::age, covenu(), ecef2enu(), ecef2pos(), sol_t::ns, opt2sep(), sol_t::ratio, sol_t::rr, soltocov(), SQRT, sqvar(), sol_t::stat, and trace().

Referenced by outsols().

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◆ outnmea_gga()

int outnmea_gga	(	uint8_t *	buff,
		const sol_t *	sol )

Output NMEA GGA sentence.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data

Returns: Number of output bytes

Definition at line 1447 of file mrtk_sol.c.

References sol_t::age, deg2dms(), ecef2pos(), geoidh(), gpst2utc(), nmea_solq, NMEA_TID, sol_t::ns, R2D, sol_t::rr, gtime_t::sec, SOLQ_NONE, sol_t::stat, gtime_t::time, sol_t::time, time2epoch(), and trace().

Referenced by outsols(), and strsendnmea().

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◆ outnmea_gsa()

int outnmea_gsa	(	uint8_t *	buff,
		const sol_t *	sol,
		const ssat_t *	ssat )

Output NMEA GSA sentence.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data
[in]	ssat	Satellite status

Returns: Number of output bytes

Definition at line 1493 of file mrtk_sol.c.

References ssat_t::azel, dops(), MAXSAT, nmea_sid, nmea_sys, nmea_tid, satsys(), sol_t::stat, SYS_GLO, SYS_QZS, SYS_SBS, and trace().

Referenced by outsolexs().

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◆ outnmea_gsv()

int outnmea_gsv	(	uint8_t *	buff,
		const sol_t *	sol,
		const ssat_t *	ssat )

Output NMEA GSV sentence.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data
[in]	ssat	Satellite status

Returns: Number of output bytes

Definition at line 1552 of file mrtk_sol.c.

References ssat_t::azel, MAXSAT, nmea_sys, nmea_tid, R2D, satsys(), ssat_t::snr, SNR_UNIT, SYS_GLO, SYS_QZS, SYS_SBS, and trace().

Referenced by outsolexs().

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◆ outnmea_rmc()

int outnmea_rmc	(	uint8_t *	buff,
		const sol_t *	sol )

Output NMEA RMC sentence.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data

Returns: Number of output bytes

Definition at line 1390 of file mrtk_sol.c.

References deg2dms(), ecef2enu(), ecef2pos(), gpst2utc(), KNOT2M, NMEA_TID, norm(), R2D, sol_t::rr, gtime_t::sec, SOLQ_DGPS, SOLQ_FIX, SOLQ_FLOAT, SOLQ_NONE, SOLQ_PPP, SOLQ_SBAS, sol_t::stat, gtime_t::time, sol_t::time, time2epoch(), and trace().

Referenced by outsols().

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◆ outpos()

int outpos	(	uint8_t *	buff,
		const char *	s,
		const sol_t *	sol,
		const solopt_t *	opt )

static

Definition at line 1325 of file mrtk_sol.c.

References sol_t::age, covenu(), deg2dms(), solopt_t::degf, ecef2enu(), ecef2pos(), geoidh(), solopt_t::height, sol_t::ns, opt2sep(), solopt_t::outvel, R2D, sol_t::ratio, sol_t::rr, soltocov(), soltocov_vel(), SQRT, sqvar(), sol_t::stat, and trace().

Referenced by outsols().

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◆ outprcopt()

void outprcopt	(	FILE *	fp,
		const prcopt_t *	opt )

Output processing options to file.

Parameters

[in]	fp	Output file pointer
[in]	opt	Processing options

Definition at line 1871 of file mrtk_sol.c.

References MAXSOLMSG, outprcopts(), and trace().

Referenced by outheader().

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◆ outprcopts()

int outprcopts	(	uint8_t *	buff,
		const prcopt_t *	opt )

Output processing options to buffer.

Parameters

[out]	buff	Output buffer
[in]	opt	Processing options

Returns: Number of output bytes

Definition at line 1609 of file mrtk_sol.c.

References prcopt_t::antdel, prcopt_t::anttype, prcopt_t::arsys, prcopt_t::baseline, COMMENTH, prcopt_t::dynamics, prcopt_t::elmin, prcopt_t::ionoopt, prcopt_t::mode, prcopt_t::modear, prcopt_t::navsys, prcopt_t::nf, PMODE_DGPS, PMODE_FIXED, PMODE_KINEMA, PMODE_MOVEB, PMODE_PPP_FIXED, PMODE_SINGLE, R2D, prcopt_t::sateph, prcopt_t::soltype, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, SYS_SBS, prcopt_t::thresar, prcopt_t::tidecorr, trace(), and prcopt_t::tropopt.

Referenced by outprcopt().

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◆ outsol()

void outsol	(	FILE *	fp,
		const sol_t *	sol,
		const double *	rb,
		const solopt_t *	opt )

Output solution to file.

Parameters

[in]	fp	Output file pointer
[in]	sol	Solution data
[in]	rb	Reference position (ecef) (m)
[in]	opt	Solution options

Definition at line 1905 of file mrtk_sol.c.

References MAXSOLMSG, outsols(), and trace().

Referenced by combres(), and procpos().

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◆ outsolex()

void outsolex	(	FILE *	fp,
		const sol_t *	sol,
		const ssat_t *	ssat,
		const solopt_t *	opt )

Output solution extended data to file.

Parameters

[in]	fp	Output file pointer
[in]	sol	Solution data
[in]	ssat	Satellite status
[in]	opt	Solution options

Definition at line 1924 of file mrtk_sol.c.

References MAXSOLMSG, outsolexs(), and trace().

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◆ outsolexs()

int outsolexs	(	uint8_t *	buff,
		const sol_t *	sol,
		const ssat_t *	ssat,
		const solopt_t *	opt )

Output solution extended data to buffer.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data
[in]	ssat	Satellite status
[in]	opt	Solution options

Returns: Number of output bytes

Definition at line 1841 of file mrtk_sol.c.

References solopt_t::maxsolstd, solopt_t::nmeaintv, outnmea_gsa(), outnmea_gsv(), solopt_t::posf, screent(), sol_std(), SOLF_NMEA, sol_t::time, and trace().

Referenced by outsolex(), and writesol().

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◆ outsolhead()

void outsolhead	(	FILE *	fp,
		const solopt_t *	opt )

Output solution header to file.

Parameters

[in]	fp	Output file pointer
[in]	opt	Solution options

Definition at line 1887 of file mrtk_sol.c.

References MAXSOLMSG, outsolheads(), and trace().

Referenced by outheader().

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◆ outsolheads()

int outsolheads	(	uint8_t *	buff,
		const solopt_t *	opt )

Output solution header to buffer.

Parameters

[out]	buff	Output buffer
[in]	opt	Solution options

Returns: Number of output bytes

Definition at line 1683 of file mrtk_sol.c.

References COMMENTH, solopt_t::datum, solopt_t::degf, solopt_t::height, opt2sep(), solopt_t::outhead, solopt_t::outvel, solopt_t::posf, SOLF_ENU, SOLF_GSIF, SOLF_LLH, SOLF_NMEA, SOLF_STAT, SOLF_XYZ, solopt_t::timef, solopt_t::times, solopt_t::timeu, and trace().

Referenced by outsolhead(), and writesolhead().

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◆ outsols()

int outsols	(	uint8_t *	buff,
		const sol_t *	sol,
		const double *	rb,
		const solopt_t *	opt )

Output solution to buffer.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data
[in]	rb	Reference position (ecef) (m)
[in]	opt	Solution options

Returns: Number of output bytes

Definition at line 1770 of file mrtk_sol.c.

References gpst2utc(), solopt_t::maxsolstd, solopt_t::nmeaintv, norm(), opt2sep(), outecef(), outenu(), outnmea_gga(), outnmea_rmc(), outpos(), solopt_t::posf, screent(), sol_std(), SOLF_ENU, SOLF_LLH, SOLF_NMEA, SOLF_XYZ, SOLQ_NONE, sol_t::stat, sol_t::time, time2gpst(), time2str(), timeadd(), solopt_t::timef, solopt_t::times, TIMES_JST, TIMES_UTC, solopt_t::timeu, and trace().

Referenced by outsol(), and writesol().

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◆ readsol()

int readsol	(	char *	files[],
		int	nfile,
		solbuf_t *	sol )

Read solutions from files.

Parameters

[in]	files	Solution file paths
[in]	nfile	Number of files
[out]	sol	Solution buffer

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

Definition at line 1004 of file mrtk_sol.c.

References readsolt(), and trace().

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◆ readsoldata()

int readsoldata	(	FILE *	fp,
		gtime_t	ts,
		gtime_t	te,
		double	tint,
		int	qflag,
		const solopt_t *	opt,
		solbuf_t *	solbuf )

static

Definition at line 917 of file mrtk_sol.c.

References inputsol(), solbuf_t::n, and trace().

Referenced by readsolt().

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◆ readsolopt()

void readsolopt	(	FILE *	fp,
		solopt_t *	opt )

static

Definition at line 852 of file mrtk_sol.c.

References decode_solopt(), MAXSOLMSG, and trace().

Referenced by readsolt().

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◆ readsolstat()

int readsolstat	(	char *	files[],
		int	nfile,
		solstatbuf_t *	statbuf )

Read solution status from files.

Parameters

[in]	files	Solution status file paths
[in]	nfile	Number of files
[out]	statbuf	Solution status buffer

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

Definition at line 1293 of file mrtk_sol.c.

References readsolstatt(), and trace().

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◆ readsolstatdata()

int readsolstatdata	(	FILE *	fp,
		gtime_t	ts,
		gtime_t	te,
		double	tint,
		solstatbuf_t *	statbuf )

static

Definition at line 1232 of file mrtk_sol.c.

References addsolstat(), decode_solstat(), MAXSOLMSG, solstatbuf_t::n, screent(), solstat_t::time, and trace().

Referenced by readsolstatt().

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◆ readsolstatt()

int readsolstatt	(	char *	files[],
		int	nfile,
		gtime_t	ts,
		gtime_t	te,
		double	tint,
		solstatbuf_t *	statbuf )

Read solution status from files with time filter.

Parameters

[in]	files	Solution status file paths
[in]	nfile	Number of files
[in]	ts	Start time (GPST)
[in]	te	End time (GPST)
[in]	tint	Time interval (s)
[out]	statbuf	Solution status buffer

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

Definition at line 1261 of file mrtk_sol.c.

References solstatbuf_t::data, solstatbuf_t::n, solstatbuf_t::nmax, readsolstatdata(), sort_solstat(), and trace().

Referenced by readsolstat().

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◆ readsolt()

int readsolt	(	char *	files[],
		int	nfile,
		gtime_t	ts,
		gtime_t	te,
		double	tint,
		int	qflag,
		solbuf_t *	sol )

Read solutions from files with time filter.

Parameters

[in]	files	Solution file paths
[in]	nfile	Number of files
[in]	ts	Start time (GPST) (ts.time==0: no limit)
[in]	te	End time (GPST) (te.time==0: no limit)
[in]	tint	Time interval (s) (0.0: no limit)
[in]	qflag	Quality flag (0:all)
[out]	sol	Solution buffer

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

Definition at line 978 of file mrtk_sol.c.

References initsolbuf(), readsoldata(), readsolopt(), solopt_default, sort_solbuf(), and trace().

Referenced by readsol().

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◆ septime()

void septime	(	double	t,
		double *	t1,
		double *	t2,
		double *	t3 )

static

Definition at line 116 of file mrtk_sol.c.

Referenced by decode_nmeagga(), decode_nmearmc(), and decode_nmeazda().

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◆ sol_std()

double sol_std ( const sol_t * sol )

static

Definition at line 1752 of file mrtk_sol.c.

References sol_t::qr, and SQRT.

Referenced by outsolexs(), and outsols().

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◆ soltocov()

void soltocov	(	const sol_t *	sol,
		double *	P )

static

Definition at line 123 of file mrtk_sol.c.

References sol_t::qr.

Referenced by outenu(), and outpos().

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◆ soltocov_vel()

void soltocov_vel	(	const sol_t *	sol,
		double *	P )

static

Definition at line 141 of file mrtk_sol.c.

References sol_t::qv.

Referenced by outpos().

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◆ sort_solbuf()

int sort_solbuf ( solbuf_t * solbuf )

static

Definition at line 936 of file mrtk_sol.c.

References cmpsol(), solbuf_t::data, solbuf_t::end, free, solbuf_t::n, solbuf_t::nmax, solbuf_t::start, sol_t::time, timediff(), and trace().

Referenced by readsolt().

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◆ sort_solstat()

int sort_solstat ( solstatbuf_t * statbuf )

static

Definition at line 1137 of file mrtk_sol.c.

References cmpsolstat(), solstatbuf_t::data, free, solstatbuf_t::n, solstatbuf_t::nmax, solstat_t::time, timediff(), and trace().

Referenced by readsolstatt().

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◆ sqvar()

double sqvar ( double covar )

static

Definition at line 112 of file mrtk_sol.c.

Referenced by outecef(), outenu(), and outpos().

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◆ test_nmea()

int test_nmea ( const char * buff )

static

Definition at line 350 of file mrtk_sol.c.

Referenced by decode_sol().

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◆ test_solstat()

int test_solstat ( const char * buff )

static

Definition at line 360 of file mrtk_sol.c.

Referenced by decode_sol().

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◆ tonum()

int tonum	(	char *	buff,
		const char *	sep,
		double *	v )

static

Definition at line 94 of file mrtk_sol.c.

References MAXFIELD.

Referenced by decode_refpos(), decode_solenu(), decode_solgsi(), decode_solllh(), and decode_solxyz().

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Variable Documentation

◆ D2R

const double D2R = 3.1415926535897932 / 180.0

static

Definition at line 38 of file mrtk_sol.c.

◆ FE_WGS84

const double FE_WGS84 = 1.0 / 298.257223563

static

Definition at line 41 of file mrtk_sol.c.

◆ nmea_sid

const int nmea_sid[]

static

Initial value:

= {

1, 2, 3, 4, 5, 6, 0}

Definition at line 70 of file mrtk_sol.c.

Referenced by outnmea_gsa().

◆ nmea_solq

const int nmea_solq[]

static

Initial value:

= {
                                
                                SOLQ_NONE,  SOLQ_SINGLE, SOLQ_DGPS, SOLQ_PPP,  SOLQ_FIX,
                                SOLQ_FLOAT, SOLQ_DR,     SOLQ_NONE, SOLQ_NONE, SOLQ_NONE}

Definition at line 72 of file mrtk_sol.c.

Referenced by decode_nmeagga(), and outnmea_gga().

◆ nmea_sys

const int nmea_sys[]

static

Initial value:

= {

0x01 | 0x02 , 0x04 , 0x08 , 0x20 , 0x10 , 0x40 , 0}

Definition at line 66 of file mrtk_sol.c.

Referenced by outnmea_gsa(), and outnmea_gsv().

◆ nmea_tid

const char* nmea_tid[]

static

Initial value:

= {

"GP", "GL", "GA", "GB", "GQ", "GI", ""}

Definition at line 68 of file mrtk_sol.c.

Referenced by outnmea_gsa(), and outnmea_gsv().

◆ PI

const double PI = 3.1415926535897932

static

Definition at line 37 of file mrtk_sol.c.

◆ R2D

const double R2D = 180.0 / 3.1415926535897932

static

Definition at line 39 of file mrtk_sol.c.

◆ RE_WGS84

const double RE_WGS84 = 6378137.0

static

Definition at line 40 of file mrtk_sol.c.

Macros

Functions

Variables

Macro Definition Documentation

◆ COMMENTH

◆ KNOT2M

◆ MAXFIELD

◆ MAXNMEA

◆ MSG_DISCONN

◆ NMEA_TID

◆ SQR

◆ SQRT

◆ SYS_CMP

◆ SYS_GAL

◆ SYS_GLO

◆ SYS_GPS

◆ SYS_IRN

◆ SYS_NONE

◆ SYS_QZS

◆ SYS_SBS

Function Documentation

◆ addsol()

◆ addsolstat()

◆ cmpsol()

◆ cmpsolstat()

◆ covecef()

◆ covtosol()

◆ covtosol_vel()

◆ decode_nmea()

◆ decode_nmeagga()

◆ decode_nmearmc()

◆ decode_nmeazda()

◆ decode_refpos()

◆ decode_sol()

◆ decode_solenu()

◆ decode_solgsi()

◆ decode_solllh()

◆ decode_solopt()

◆ decode_solpos()

◆ decode_solsss()

◆ decode_solstat()

◆ decode_soltime()

◆ decode_solxyz()

◆ deg2dms()

◆ dmm2deg()

◆ dms2deg()

◆ enu2ecef()

◆ freesolbuf()

◆ freesolstatbuf()

◆ geoidh()

◆ getsol()

◆ gpst2time()

◆ initsolbuf()

◆ inputsol()

◆ norm()

◆ opt2sep()

◆ outecef()

◆ outenu()

◆ outnmea_gga()

◆ outnmea_gsa()

◆ outnmea_gsv()

◆ outnmea_rmc()

◆ outpos()

◆ outprcopt()

◆ outprcopts()

◆ outsol()

◆ outsolex()

◆ outsolexs()

◆ outsolhead()

◆ outsolheads()

◆ outsols()

◆ readsol()

◆ readsoldata()

◆ readsolopt()

◆ readsolstat()

◆ readsolstatdata()

◆ readsolstatt()

◆ readsolt()

◆ septime()

◆ sol_std()