#include "mrtklib/mrtk_spp.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_atmos.h"
#include "mrtklib/mrtk_coords.h"
#include "mrtklib/mrtk_eph.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_trace.h"

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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	SYS_BD2 0x100
#define	SQR(x)
#define	NT 7 /* # of estimated time system (gps,glo,gal,bds3,irn,qzs,bds2) */
#define	NX (3 + NT) /* # of estimated parameters */
#define	MAXITR 10 /* max number of iteration for point pos */
#define	ERR_CBIAS 0.3 /* code bias error Std (m) */
#define	ERR_TDCP 0.03 /* #116 P4: TDCP phase-rate error Std (m/s) */
#define	MIN_EL (5.0 * D2R) /* min elevation for measurement error (rad) */

Functions
static double	varerr (const prcopt_t *opt, double el, double snr, int sys)
static double	gettgd (int sat, const nav_t *nav, int type)
static int	iflc_freq2_idx (const obsd_t obs, const nav_t nav, const prcopt_t *opt)
static int	snrmask (const obsd_t obs, const double azel, const prcopt_t *opt)
static double	prange (const obsd_t obs, const nav_t nav, const prcopt_t opt, double var)
static int	rescode (int iter, const obsd_t obs, int n, const double rs, const double dts, const double vare, const int svh, const nav_t nav, const double x, const prcopt_t opt, double v, double H, double var, double azel, int vsat, double resp, int ns, const int outp)
static int	valsol (const double azel, const int vsat, int n, const prcopt_t opt, const double v, int nv, int nx, char *msg)
static void	exclsat (const obsd_t obs, const double resp, const prcopt_t opt, int n, const int vsat, int *outp)
static double	igg3_weight (double rt, double k0, double k1)
static int	cmp_dbl (const void a, const void b)
static double	median_abs (const double x, int n, double work)
static int	estpos (const obsd_t obs, int n, const double rs, const double dts, const double vare, const int svh, const nav_t nav, const prcopt_t opt, sol_t sol, double azel, int vsat, double resp, char msg)
static int	raim_fde (const obsd_t obs, int n, const double rs, const double dts, const double vare, const int svh, const nav_t nav, const prcopt_t opt, sol_t sol, double azel, int vsat, double resp, char msg)
static void	spp_detslp (const obsd_t obs, int n, const ssat_t ssat, double thresdop, int *slip)
static int	resdop (const obsd_t obs, int n, const double rs, const double dts, const nav_t nav, const double rr, const double x, const double azel, const int vsat, double err, const ssat_t ssat, const int slip, int tdcp, double v, double H)
static int	estvel (const obsd_t obs, int n, const double rs, const double dts, const nav_t nav, const prcopt_t opt, sol_t sol, const double azel, const int vsat, const ssat_t ssat, const int slip)
int	pntpos (mrtk_ctx_t ctx, const obsd_t obs, int n, const nav_t nav, const prcopt_t opt, sol_t sol, double azel, ssat_t ssat, char msg)
	Compute receiver position, velocity, clock bias by single-point positioning with pseudorange and doppler observables.

Variables
static const double	CLIGHT = 299792458.0
static const double	D2R = 3.1415926535897932 / 180.0
static const double	R2D = 180.0 / 3.1415926535897932
static const double	OMGE = 7.2921151467E-5
static const double	FREQ1 = 1.57542E9
static const double	FREQ2 = 1.22760E9
static const double	FREQ5 = 1.17645E9
static const double	FREQ7 = 1.20714E9
static const double	FREQ9 = 2.492028E9
static const double	FREQ1_GLO = 1.60200E9
static const double	FREQ2_GLO = 1.24600E9
static const double	FREQ1_CMP = 1.561098E9
static const double	FREQ2_CMP = 1.20714E9
static const double	EFACT_GPS = 1.0
static const double	EFACT_GLO = 1.5
static const double	EFACT_SBS = 3.0
const double	chisqr [100]

Macro Definition Documentation

◆ ERR_CBIAS

#define ERR_CBIAS 0.3 /* code bias error Std (m) */

Definition at line 77 of file mrtk_spp.c.

Referenced by prange().

◆ ERR_TDCP

#define ERR_TDCP 0.03 /* #116 P4: TDCP phase-rate error Std (m/s) */

Definition at line 78 of file mrtk_spp.c.

Referenced by resdop().

◆ MAXITR

#define MAXITR 10 /* max number of iteration for point pos */

Definition at line 76 of file mrtk_spp.c.

Referenced by estpos(), and estvel().

◆ MIN_EL

#define MIN_EL (5.0 * D2R) /* min elevation for measurement error (rad) */

Definition at line 79 of file mrtk_spp.c.

◆ NT

#define NT 7 /* # of estimated time system (gps,glo,gal,bds3,irn,qzs,bds2) */

Definition at line 74 of file mrtk_spp.c.

◆ NX

#define NX (3 + NT) /* # of estimated parameters */

Definition at line 75 of file mrtk_spp.c.

◆ SQR

#define SQR ( x )

Value:

((x) * (x))

Definition at line 72 of file mrtk_spp.c.

Referenced by prange(), raim_fde(), rescode(), and varerr().

◆ SYS_BD2

#define SYS_BD2 0x100

Definition at line 57 of file mrtk_spp.c.

◆ SYS_CMP

#define SYS_CMP 0x20

Definition at line 55 of file mrtk_spp.c.

◆ SYS_GAL

#define SYS_GAL 0x08

Definition at line 53 of file mrtk_spp.c.

◆ SYS_GLO

#define SYS_GLO 0x04

Definition at line 52 of file mrtk_spp.c.

◆ SYS_GPS

#define SYS_GPS 0x01

Definition at line 50 of file mrtk_spp.c.

◆ SYS_IRN

#define SYS_IRN 0x40

Definition at line 56 of file mrtk_spp.c.

◆ SYS_NONE

#define SYS_NONE 0x00

Definition at line 49 of file mrtk_spp.c.

◆ SYS_QZS

#define SYS_QZS 0x10

Definition at line 54 of file mrtk_spp.c.

◆ SYS_SBS

#define SYS_SBS 0x02

Definition at line 51 of file mrtk_spp.c.

Function Documentation

◆ cmp_dbl()

int cmp_dbl	(	const void *	a,
		const void *	b )

static

Definition at line 469 of file mrtk_spp.c.

Referenced by median_abs().

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◆ estpos()

int estpos	(	const obsd_t *	obs,
		int	n,
		const double *	rs,
		const double *	dts,
		const double *	vare,
		const int *	svh,
		const nav_t *	nav,
		const prcopt_t *	opt,
		sol_t *	sol,
		double *	azel,
		int *	vsat,
		double *	resp,
		char *	msg )

static

Definition at line 486 of file mrtk_spp.c.

References sol_t::age, CLIGHT, sol_t::dtr, EPHOPT_SBAS, exclsat(), free, igg3_weight(), lsq(), mat(), MAXITR, MAXSAT, median_abs(), norm(), sol_t::ns, NT, NX, prcopt_t::posopt, sol_t::qr, sol_t::ratio, prcopt_t::rejeminsat, prcopt_t::rejethres, rescode(), prcopt_t::robust, prcopt_t::robustk, sol_t::rr, prcopt_t::sateph, SOLQ_SBAS, SOLQ_SINGLE, sol_t::stat, sol_t::time, timeadd(), trace(), sol_t::type, and valsol().

Referenced by pntpos(), and raim_fde().

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◆ estvel()

int estvel	(	const obsd_t *	obs,
		int	n,
		const double *	rs,
		const double *	dts,
		const nav_t *	nav,
		const prcopt_t *	opt,
		sol_t *	sol,
		const double *	azel,
		const int *	vsat,
		const ssat_t *	ssat,
		const int *	slip )

static

Definition at line 810 of file mrtk_spp.c.

References prcopt_t::err, free, lsq(), mat(), matcpy(), MAXITR, norm(), sol_t::qv, resdop(), sol_t::rr, prcopt_t::tdcp, and trace().

Referenced by pntpos().

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◆ exclsat()

void exclsat	(	const obsd_t *	obs,
		const double *	resp,
		const prcopt_t *	opt,
		int	n,
		const int *	vsat,
		int *	outp )

static

Definition at line 430 of file mrtk_spp.c.

References MAXOBS, MAXSAT, prcopt_t::rejethres, obsd_t::sat, and trace().

Referenced by estpos().

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◆ gettgd()

double gettgd	(	int	sat,
		const nav_t *	nav,
		int	type )

static

Definition at line 106 of file mrtk_spp.c.

References CLIGHT, geph_t::dtaun, nav_s::eph, nav_s::geph, nav_s::n, nav_s::ng, eph_t::sat, geph_t::sat, satsys(), SYS_GLO, and eph_t::tgd.

Referenced by prange().

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◆ iflc_freq2_idx()

int iflc_freq2_idx	(	const obsd_t *	obs,
		const nav_t *	nav,
		const prcopt_t *	opt )

static

Definition at line 133 of file mrtk_spp.c.

References obsd_t::code, CORR_IGS, CORR_QZS_CLAS, prcopt_t::correction, prcopt_t::ionoopt, IONOOPT_IFLC, obsd_t::P, obsd_t::sat, sat2freq(), satsys(), SYS_GAL, and SYS_SBS.

Referenced by prange(), and snrmask().

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◆ igg3_weight()

double igg3_weight	(	double	rt,
		double	k0,
		double	k1 )

static

Definition at line 457 of file mrtk_spp.c.

Referenced by estpos().

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◆ median_abs()

double median_abs	(	const double *	x,
		int	n,
		double *	work )

static

Definition at line 474 of file mrtk_spp.c.

References cmp_dbl().

Referenced by estpos().

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◆ pntpos()

int pntpos	(	mrtk_ctx_t *	ctx,
		const obsd_t *	obs,
		int	n,
		const nav_t *	nav,
		const prcopt_t *	opt,
		sol_t *	sol,
		double *	azel,
		ssat_t *	ssat,
		char *	msg )

Compute receiver position, velocity, clock bias by single-point positioning with pseudorange and doppler observables.

Parameters

[in]	ctx	Runtime context (NULL = use global)
[in]	obs	Observation data
[in]	n	Number of observation data
[in]	nav	Navigation data
[in]	opt	Processing options
[in,out]	sol	Solution
[in,out]	azel	Azimuth/elevation angle (rad) (NULL: no output)
[in,out]	ssat	Satellite status (NULL: no output)
[out]	msg	Error message for error exit

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

Definition at line 865 of file mrtk_spp.c.

References ssat_t::azel, DTTOL, estpos(), estvel(), free, prcopt_t::ionoopt, IONOOPT_BRDC, IONOOPT_IFLC, obsd_t::L, mat(), matcpy(), MAXOBS, MAXSAT, prcopt_t::mode, prcopt_t::nf, norm(), PMODE_SINGLE, prcopt_t::posopt, raim_fde(), ssat_t::resc, ssat_t::resp, sol_t::rr, obsd_t::sat, prcopt_t::sateph, satposs(), obsd_t::SNR, ssat_t::snr, SOLQ_NONE, ssat_t::sph, spp_detslp(), ssat_t::spt, 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(), prcopt_t::tropopt, TROPOPT_SAAS, ssat_t::vs, and zeros().

Referenced by avepos(), rtkpos(), rtksvrthread(), and setopt_apppos().

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◆ prange()

double prange	(	const obsd_t *	obs,
		const nav_t *	nav,
		const prcopt_t *	opt,
		double *	var )

static

Definition at line 162 of file mrtk_spp.c.

References nav_s::cbias, obsd_t::code, CODE_L1C, CODE_L1P, CODE_L2C, CODE_L2I, ERR_CBIAS, getseleph(), gettgd(), iflc_freq2_idx(), prcopt_t::ionoopt, IONOOPT_IFLC, obsd_t::P, obsd_t::sat, sat2freq(), satsys(), SQR, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, and SYS_QZS.

Referenced by rescode().

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◆ raim_fde()

int raim_fde	(	const obsd_t *	obs,
		int	n,
		const double *	rs,
		const double *	dts,
		const double *	vare,
		const int *	svh,
		const nav_t *	nav,
		const prcopt_t *	opt,
		sol_t *	sol,
		double *	azel,
		int *	vsat,
		double *	resp,
		char *	msg )

static

Definition at line 608 of file mrtk_spp.c.

References estpos(), free, imat(), malloc, mat(), matcpy(), obsd_t::sat, satno2id(), SQR, time2str(), time_str(), trace(), and zeros().

Referenced by pntpos().

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◆ rescode()

int rescode	(	int	iter,
		const obsd_t *	obs,
		int	n,
		const double *	rs,
		const double *	dts,
		const double *	vare,
		const int *	svh,
		const nav_t *	nav,
		const double *	x,
		const prcopt_t *	opt,
		double *	v,
		double *	H,
		double *	var,
		double *	azel,
		int *	vsat,
		double *	resp,
		int *	ns,
		const int *	outp )

static

Definition at line 256 of file mrtk_spp.c.

References CLIGHT, ecef2pos(), prcopt_t::elmin, FREQ1, geodist(), ionocorr(), prcopt_t::ionoopt, MAXOBS, MAXSAT, NT, NX, prange(), R2D, obsd_t::sat, sat2freq(), satazel(), satexclude(), satsys_bd2(), SNR_UNIT, snrmask(), SQR, SYS_BD2, SYS_CMP, SYS_GAL, SYS_GLO, SYS_IRN, SYS_QZS, obsd_t::time, time_str(), trace(), tropcorr(), prcopt_t::tropopt, and varerr().

Referenced by estpos().

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◆ resdop()

int resdop	(	const obsd_t *	obs,
		int	n,
		const double *	rs,
		const double *	dts,
		const nav_t *	nav,
		const double *	rr,
		const double *	x,
		const double *	azel,
		const int *	vsat,
		double	err,
		const ssat_t *	ssat,
		const int *	slip,
		int	tdcp,
		double *	v,
		double *	H )

static

Definition at line 743 of file mrtk_spp.c.

References CLIGHT, obsd_t::D, dot(), DTTOL, ecef2pos(), ERR_TDCP, obsd_t::L, matmul(), MAXOBS, norm(), OMGE, obsd_t::sat, sat2freq(), ssat_t::sph, timediff(), trace(), and xyz2enu().

Referenced by estvel().

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◆ snrmask()

int snrmask	(	const obsd_t *	obs,
		const double *	azel,
		const prcopt_t *	opt )

static

Definition at line 149 of file mrtk_spp.c.

References iflc_freq2_idx(), prcopt_t::ionoopt, IONOOPT_IFLC, obsd_t::SNR, SNR_UNIT, prcopt_t::snrmask, and testsnr().

Referenced by rescode().

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◆ spp_detslp()

void spp_detslp	(	const obsd_t *	obs,
		int	n,
		const ssat_t *	ssat,
		double	thresdop,
		int *	slip )

static

Definition at line 706 of file mrtk_spp.c.

References obsd_t::D, DTTOL, obsd_t::L, obsd_t::LLI, MAXOBS, obsd_t::sat, ssat_t::sph, and timediff().

Referenced by pntpos().

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◆ valsol()

int valsol	(	const double *	azel,
		const int *	vsat,
		int	n,
		const prcopt_t *	opt,
		const double *	v,
		int	nv,
		int	nx,
		char *	msg )

static

Definition at line 395 of file mrtk_spp.c.

References chisqr, dops(), dot(), prcopt_t::elmin, prcopt_t::ign_chierr, prcopt_t::maxgdop, MAXOBS, and trace().

Referenced by estpos().

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◆ varerr()

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

static

Definition at line 82 of file mrtk_spp.c.

References EFACT_GLO, EFACT_GPS, EFACT_SBS, prcopt_t::err, prcopt_t::ionoopt, IONOOPT_IFLC, MIN_EL, SQR, SYS_GLO, and SYS_SBS.

Referenced by rescode().

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Variable Documentation

◆ chisqr

const double chisqr[100]

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 62 of file mrtk_spp.c.

◆ CLIGHT

const double CLIGHT = 299792458.0

static

Definition at line 30 of file mrtk_spp.c.

◆ D2R

const double D2R = 3.1415926535897932 / 180.0

static

Definition at line 31 of file mrtk_spp.c.

◆ EFACT_GLO

const double EFACT_GLO = 1.5

static

Definition at line 46 of file mrtk_spp.c.

◆ EFACT_GPS

const double EFACT_GPS = 1.0

static

Definition at line 45 of file mrtk_spp.c.

◆ EFACT_SBS

const double EFACT_SBS = 3.0

static

Definition at line 47 of file mrtk_spp.c.

◆ FREQ1

const double FREQ1 = 1.57542E9

static

Definition at line 35 of file mrtk_spp.c.

◆ FREQ1_CMP

const double FREQ1_CMP = 1.561098E9

static

Definition at line 42 of file mrtk_spp.c.

◆ FREQ1_GLO

const double FREQ1_GLO = 1.60200E9

static

Definition at line 40 of file mrtk_spp.c.

◆ FREQ2

const double FREQ2 = 1.22760E9

static

Definition at line 36 of file mrtk_spp.c.

◆ FREQ2_CMP

const double FREQ2_CMP = 1.20714E9

static

Definition at line 43 of file mrtk_spp.c.

◆ FREQ2_GLO

const double FREQ2_GLO = 1.24600E9

static

Definition at line 41 of file mrtk_spp.c.

◆ FREQ5

const double FREQ5 = 1.17645E9

static

Definition at line 37 of file mrtk_spp.c.

◆ FREQ7

const double FREQ7 = 1.20714E9

static

Definition at line 38 of file mrtk_spp.c.

◆ FREQ9

const double FREQ9 = 2.492028E9

static

Definition at line 39 of file mrtk_spp.c.

◆ OMGE

const double OMGE = 7.2921151467E-5

static

Definition at line 33 of file mrtk_spp.c.

◆ R2D

const double R2D = 180.0 / 3.1415926535897932

static

Definition at line 32 of file mrtk_spp.c.

Macros

Functions

Variables

Macro Definition Documentation

◆ ERR_CBIAS

◆ ERR_TDCP

◆ MAXITR

◆ MIN_EL

◆ NT

◆ NX

◆ SQR

◆ SYS_BD2

◆ SYS_CMP

◆ SYS_GAL

◆ SYS_GLO

◆ SYS_GPS

◆ SYS_IRN

◆ SYS_NONE

◆ SYS_QZS

◆ SYS_SBS

Function Documentation

◆ cmp_dbl()

◆ estpos()

◆ estvel()

◆ exclsat()

◆ gettgd()

◆ iflc_freq2_idx()

◆ igg3_weight()

◆ median_abs()

◆ pntpos()

◆ prange()

◆ raim_fde()

◆ rescode()

◆ resdop()

◆ snrmask()

◆ spp_detslp()

◆ valsol()

◆ varerr()

Variable Documentation

◆ chisqr

◆ CLIGHT

◆ D2R

◆ EFACT_GLO

◆ EFACT_GPS

◆ EFACT_SBS

◆ FREQ1

◆ FREQ1_CMP

◆ FREQ1_GLO

◆ FREQ2

◆ FREQ2_CMP

◆ FREQ2_GLO

◆ FREQ5

◆ FREQ7

◆ FREQ9

◆ OMGE

◆ R2D