VRS-RTK positioning engine. More...

#include "mrtklib/mrtk_vrs.h"
#include <math.h>
#include <stdarg.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_antenna.h"
#include "mrtklib/mrtk_atmos.h"
#include "mrtklib/mrtk_clas.h"
#include "mrtklib/mrtk_const.h"
#include "mrtklib/mrtk_context.h"
#include "mrtklib/mrtk_coords.h"
#include "mrtklib/mrtk_eph.h"
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_lambda.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_opt.h"
#include "mrtklib/mrtk_rtkpos.h"
#include "mrtklib/mrtk_sol.h"
#include "mrtklib/mrtk_tides.h"
#include "mrtklib/mrtk_time.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_vrs.c:

Macros
#define	MAXREF 2 /* max iteration of searching reference sat */
#define	SQR(x)
#define	MAXITER 20 /* max iteration of PAR */
#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(1.0) /* initial variance of receiver acc ((m/s)^2) */
#define	VAR_ACC SQR(1.0) /* 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	POSL1 1 /* L1 single freq positioning */
#define	POSL1L2 2 /* L1+L2 dual freq positioning */
#define	POSL1L5 3 /* L1+L5 dual freq positioning */
#define	POSL1L2L5 4 /* L1+L2+L5 triple freq positioning */
#define	POSL1L5_L2 5 /* L1+L5(or L2) dual freq positioning */
#define	LAM_CARR_L1 (CLIGHT / FREQ1)
#define	LAM_CARR_L2 (CLIGHT / FREQ2)
#define	LAM_CARR_L5 (CLIGHT / FREQ5)
#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)
#define	ITT(opt)

Enumerations
enum	ddres_order { FST = 1 , SND , TRD }

Functions
static uint8_t	obs_code_for_freq_vrs (int sat, int f)
static double	sat_lambda (int sat, int f, const nav_t *nav)
static void	clearsatcorr (void)
static void	errmsg (rtk_t rtk, const char format,...)
static double	varerr (int sat, int sys, double el, 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, int ch)
static int	selfreqpair (const int sat, const prcopt_t opt, const obsd_t obs)
static void	udpos (rtk_t rtk, const obsd_t obs, double tt)
static void	udion (rtk_t rtk, double tt, double bl, const obsd_t obs, int ns)
static void	udtrop (rtk_t *rtk, double tt, double bl)
static void	udrcvbias (rtk_t *rtk, double tt)
static double	gfmeasL1L2 (const obsd_t obs, const nav_t nav)
static double	gfmeasL1L5 (const obsd_t obs, const nav_t nav)
static void	detslp_ll (rtk_t rtk, const obsd_t obs, int n)
static void	detslp_gf (rtk_t rtk, const obsd_t obs, int n, const nav_t *nav)
static void	udbias_ppp (rtk_t rtk, double tt, const obsd_t obs, int n, const nav_t *nav)
static void	udstate (rtk_t rtk, const obsd_t obs, int nu, 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)
static int	zdres (rtk_t rtk, int base, const obsd_t obs, int n, const double rs, const double dts, const int svh, const nav_t nav, const double rr, const prcopt_t opt, int index, double y, double e, double *azel)
static int	validobs (int iu, int ir, int jj, 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 double	prectrop (gtime_t time, const double pos, int r, const double azel, const prcopt_t opt, const double x, double *dtdx)
static double	gloicbcorr (int sat1, int sat2, const prcopt_t *opt, double lam1, double lam2, int f)
static int	test_sys (int sys, int m, int qzsmodear, int code)
static int	check_same_fac (const obsd_t *obs, int ir[][MAXSAT])
static int	get_iriu_index (int sati, int ns, const int *sat)
static int	valid_zd_sig (rtk_t rtk, const obsd_t obs, const nav_t nav, double y, int nf, int f, int j, int m, int ch, int sati, int iu[][MAXSAT], int ir[][MAXSAT], int sat[][MAXSAT], int ff, int ns, int satj, int jj, int sysi, int sysj, double lami, double lamj)
static void	set_init_pb (rtk_t rtk, const nav_t nav, const obsd_t *obs, int n, int f, int satj)
static int	ddres (rtk_t rtk, const nav_t nav, double dt, const double x, const double P, const obsd_t obs, int n, int sat[][MAXSAT], double y, double e, double azel, int iu[][MAXSAT], int ir[][MAXSAT], int ns, double v, double H, double R, int vflg, int niter, int order)
static double	intpres (gtime_t time, const obsd_t obs, int n, const nav_t nav, rtk_t rtk, int ch, double y)
static int	ddmat (rtk_t rtk, double D)
static void	restamb (rtk_t rtk, const double bias, int nb, double *xa)
static void	holdamb (rtk_t rtk, const double xa)
static int	resamb_LAMBDA (rtk_t rtk, double bias, double *xa)
static void	elsort (rtk_t rtk, const obsd_t obs, int isat, double el, const int n)
static double	sddop (const rtk_t rtk, const double H, const int *vflg, const double elmask, const int nv)
static double	zddop (const rtk_t rtk, const double azel, const obsd_t *obs, const double elmask, const int n)
static double	calpdop (const rtk_t rtk, const double H, const double azel, const int vflg, const obsd_t *obs, const double elmask, const int n, const int nv)
static void	resetfilterflag (nav_t *nav)
static void	check_vrs_facility (nav_t nav, const obsd_t obs, int nu, int *nr, int l6mrg)
static int	residual_test (rtk_t rtk, const int vflg, const double v, const double Q, int iv, const int m, int ns, const int flg)
static int	filter2_ (rtk_t rtk, const double x, const double P, const double H, const double v, const double R, const int n, const int m, double xp, double Pp, double Qp, const int vflg, const int flg)
static int	filter2 (rtk_t rtk, double x, double P, double Q, const double H, const double v, const double R, const int n, const int m, const int vflg, const int flg)
int	relposvrs (rtk_t rtk, const obsd_t obs, int nu, int nr, nav_t nav)
	VRS-RTK relative positioning.

Variables
static const double	lam_carr [3] = { (CLIGHT / FREQ1) , (CLIGHT / FREQ2) , (CLIGHT / FREQ5) }
static const double	chisqr [100]
static const double	qfrtk [6][60]
static double	vrs_chisq = 0.0

Detailed Description

VRS-RTK positioning engine.

Notes:

Ported from upstream claslib/src/rtkvrs.c with zero algorithmic changes.
VRS uses double-differenced RTK with LAMBDA PAR and fix-and-hold.
VRS observations are pre-generated by ssr2osr utility.

Definition in file mrtk_vrs.c.

Macro Definition Documentation

◆ GAP_RESION

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

Definition at line 67 of file mrtk_vrs.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 103 of file mrtk_vrs.c.

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

◆ 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 100 of file mrtk_vrs.c.

Referenced by ddres(), relposvrs(), 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 102 of file mrtk_vrs.c.

Referenced by ddres(), and udrcvbias().

◆ INIT_ZWD

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

Definition at line 64 of file mrtk_vrs.c.

◆ IT

#define IT	(		r,
			opt )

Value:

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

Definition at line 101 of file mrtk_vrs.c.

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

◆ ITT

#define ITT ( opt )

Value:

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

Definition at line 104 of file mrtk_vrs.c.

Referenced by relposvrs().

◆ LAM_CARR_L1

#define LAM_CARR_L1 (CLIGHT / FREQ1)

Definition at line 83 of file mrtk_vrs.c.

◆ LAM_CARR_L2

#define LAM_CARR_L2 (CLIGHT / FREQ2)

Definition at line 84 of file mrtk_vrs.c.

◆ LAM_CARR_L5

#define LAM_CARR_L5 (CLIGHT / FREQ5)

Definition at line 85 of file mrtk_vrs.c.

◆ MAXACC

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

Definition at line 68 of file mrtk_vrs.c.

◆ MAXITER

#define MAXITER 20 /* max iteration of PAR */

Definition at line 54 of file mrtk_vrs.c.

◆ MAXREF

#define MAXREF 2 /* max iteration of searching reference sat */

Definition at line 51 of file mrtk_vrs.c.

◆ MIN

#define MIN	(		x,
			y )

Value:

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

Definition at line 56 of file mrtk_vrs.c.

◆ 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 95 of file mrtk_vrs.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 90 of file mrtk_vrs.c.

Referenced by ddmat(), ddres(), holdamb(), intpres(), restamb(), udbias_ppp(), 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 92 of file mrtk_vrs.c.

◆ NL

#define NL ( opt )

Value:

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

NFREQGLO

#define NFREQGLO

Definition mrtk_foundation.h:47

Definition at line 94 of file mrtk_vrs.c.

◆ NP

#define NP ( opt )

Value:

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

Definition at line 91 of file mrtk_vrs.c.

Referenced by relposvrs(), residual_test(), and udpos().

◆ 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 96 of file mrtk_vrs.c.

◆ 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 93 of file mrtk_vrs.c.

◆ NX

#define NX ( opt )

Value:

(NR(opt) + NB(opt))

NB

#define NB(opt)

Definition mrtk_ppp.c:223

Definition at line 97 of file mrtk_vrs.c.

◆ POSL1

#define POSL1 1 /* L1 single freq positioning */

Definition at line 76 of file mrtk_vrs.c.

◆ POSL1L2

#define POSL1L2 2 /* L1+L2 dual freq positioning */

Definition at line 77 of file mrtk_vrs.c.

◆ POSL1L2L5

#define POSL1L2L5 4 /* L1+L2+L5 triple freq positioning */

Definition at line 79 of file mrtk_vrs.c.

◆ POSL1L5

#define POSL1L5 3 /* L1+L5 dual freq positioning */

Definition at line 78 of file mrtk_vrs.c.

◆ POSL1L5_L2

#define POSL1L5_L2 5 /* L1+L5(or L2) dual freq positioning */

Definition at line 80 of file mrtk_vrs.c.

◆ PRN_HWBIAS

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

Definition at line 66 of file mrtk_vrs.c.

◆ ROUND

#define ROUND ( x )

Value:

(int)floor((x) + 0.5)

Definition at line 57 of file mrtk_vrs.c.

◆ SQR

#define SQR ( x )

Value:

((x) * (x))

Definition at line 53 of file mrtk_vrs.c.

Referenced by ddres(), relposvrs(), residual_test(), udion(), udpos(), udrcvbias(), and udtrop().

◆ SQRT

#define SQRT ( x )

Value:

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

Definition at line 55 of file mrtk_vrs.c.

◆ TTOL_MOVEB

#define TTOL_MOVEB (1.0 + 2 * DTTOL)

Definition at line 72 of file mrtk_vrs.c.

◆ VAR_ACC

#define VAR_ACC SQR(1.0) /* initial variance of receiver acc ((m/ss)^2) */

Definition at line 61 of file mrtk_vrs.c.

◆ VAR_GRA

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

Definition at line 63 of file mrtk_vrs.c.

◆ VAR_HOLDAMB

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

Definition at line 70 of file mrtk_vrs.c.

◆ VAR_HWBIAS

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

Definition at line 62 of file mrtk_vrs.c.

◆ VAR_POS

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

Definition at line 59 of file mrtk_vrs.c.

◆ VAR_VEL

#define VAR_VEL SQR(1.0) /* initial variance of receiver acc ((m/s)^2) */

Definition at line 60 of file mrtk_vrs.c.

Enumeration Type Documentation

◆ ddres_order

enum ddres_order

Enumerator
FST
SND
TRD

Definition at line 106 of file mrtk_vrs.c.

Function Documentation

◆ baseline()

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

static

Definition at line 244 of file mrtk_vrs.c.

References norm().

Referenced by ddres(), and udstate().

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◆ calpdop()

double calpdop	(	const rtk_t *	rtk,
		const double *	H,
		const double *	azel,
		const int *	vflg,
		const obsd_t *	obs,
		const double	elmask,
		const int	n,
		const int	nv )

static

Definition at line 1879 of file mrtk_vrs.c.

References rtk_t::opt, prcopt_t::refdop, sddop(), and zddop().

Referenced by relposvrs().

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◆ check_same_fac()

int check_same_fac	(	const obsd_t *	obs,
		int	ir[][MAXSAT] )

static

Definition at line 1061 of file mrtk_vrs.c.

References MAXSAT.

Referenced by ddres().

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◆ check_vrs_facility()

void check_vrs_facility	(	nav_t *	nav,
		const obsd_t *	obs,
		int	nu,
		int *	nr,
		int	l6mrg )

static

Definition at line 1897 of file mrtk_vrs.c.

References obsd_t::facility, nav_s::filreset, SSR_CH_NUM, and trace().

Referenced by relposvrs().

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◆ clearsatcorr()

void clearsatcorr ( void )

static

Definition at line 190 of file mrtk_vrs.c.

Referenced by resetfilterflag().

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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 989 of file mrtk_vrs.c.

References trace(), and tracemat().

Referenced by ddres().

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◆ ddmat()

int ddmat	(	rtk_t *	rtk,
		double *	D )

static

Definition at line 1527 of file mrtk_vrs.c.

References ssat_t::azel, prcopt_t::bdsmodear, ssat_t::code, prcopt_t::elmaskar, ssat_t::fix, prcopt_t::glomodear, ssat_t::lock, MAXSAT, rtk_t::na, NF, rtk_t::nx, rtk_t::opt, prcopt_t::qzsmodear, ssat_t::slip, rtk_t::ssat, ssat_t::sys, test_sys(), trace(), tracemat(), 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,
		double *	dt,
		const double *	x,
		const double *	P,
		const obsd_t *	obs,
		int	n,
		int	sat[][MAXSAT],
		double *	y,
		double *	e,
		double *	azel,
		int	iu[][MAXSAT],
		int	ir[][MAXSAT],
		int *	ns,
		double *	v,
		double *	H,
		double *	R,
		int *	vflg,
		int	niter,
		int	order )

static

Definition at line 1152 of file mrtk_vrs.c.

References baseline(), check_same_fac(), CLIGHT, ssat_t::code, ddcov(), ecef2pos(), free, FST, get_iriu_index(), gloicbcorr(), prcopt_t::glomodear, IB, II, IL, ionmapf(), prcopt_t::ionoopt, IONOOPT_EST, IONOOPT_EST_ADPT, IONOOPT_IFLC, IT, prcopt_t::l6mrg, lam_carr, mat(), MAXREF, MAXSAT, prcopt_t::mode, NF, NFREQGLO, rtk_t::nx, rtk_t::opt, PMODE_DGPS, prcopt_t::posopt, pre_use_ch, prectrop(), prcopt_t::qzsmodear, rtk_t::rb, refsat, refsat2, ssat_t::resc, ssat_t::resp, obsd_t::sat, set_init_pb(), rtk_t::sol, SQR, rtk_t::ssat, SSR_CH_NUM, ssat_t::sys, SYS_GLO, SYS_QZS, test_sys(), sol_t::time, time2gpst(), time_str(), trace(), prcopt_t::tropopt, TROPOPT_EST, TROPOPT_ESTG, use_ch, valid_zd_sig(), validobs(), validobs(), varerr(), and ssat_t::vsat.

Referenced by relposvrs().

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◆ detslp_gf()

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

static

Definition at line 697 of file mrtk_vrs.c.

References ssat_t::gf, gfmeasL1L2(), gfmeasL1L5(), MAXOBS, prcopt_t::nf, rtk_t::opt, obsd_t::sat, ssat_t::slip, rtk_t::ssat, prcopt_t::thresslip, and trace().

Referenced by udbias_ppp().

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◆ detslp_ll()

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

static

Definition at line 680 of file mrtk_vrs.c.

References MAXOBS, prcopt_t::nf, rtk_t::opt, obsd_t::sat, ssat_t::slip, rtk_t::ssat, and trace().

Referenced by udbias_ppp().

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◆ elsort()

void elsort	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int *	isat,
		double *	el,
		const int	n )

static

Definition at line 1794 of file mrtk_vrs.c.

References ssat_t::azel, obsd_t::sat, and rtk_t::ssat.

Referenced by relposvrs().

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◆ errmsg()

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

static

Definition at line 193 of file mrtk_vrs.c.

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

Referenced by holdamb(), relposvrs(), and resamb_LAMBDA().

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◆ filter2()

int filter2	(	rtk_t *	rtk,
		double *	x,
		double *	P,
		double *	Q,
		const double *	H,
		const double *	v,
		const double *	R,
		const int	n,
		const int	m,
		const int *	vflg,
		const int	flg )

static

Definition at line 2115 of file mrtk_vrs.c.

References filter2_(), free, imat(), prcopt_t::ionoopt, IONOOPT_EST_ADPT, mat(), rtk_t::opt, and prcopt_t::prnadpt.

Referenced by relposvrs().

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◆ filter2_()

int filter2_	(	rtk_t *	rtk,
		const double *	x,
		const double *	P,
		const double *	H,
		const double *	v,
		const double *	R,
		const int	n,
		const int	m,
		double *	xp,
		double *	Pp,
		double *	Qp,
		const int *	vflg,
		const int	flg )

static

Definition at line 2039 of file mrtk_vrs.c.

References eye(), free, imat(), prcopt_t::ionoopt, IONOOPT_EST_ADPT, mat(), matcpy(), matinv(), matmul(), rtk_t::opt, prcopt_t::prnadpt, Qp, residual_test(), trace(), and vrs_chisq.

Referenced by filter2().

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◆ get_iriu_index()

int get_iriu_index	(	int	sati,
		int	ns,
		const int *	sat )

static

Definition at line 1065 of file mrtk_vrs.c.

Referenced by ddres(), and valid_zd_sig().

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◆ gfmeasL1L2()

double gfmeasL1L2	(	const obsd_t *	obs,
		const nav_t *	nav )

static

Definition at line 661 of file mrtk_vrs.c.

References obsd_t::L, obsd_t::sat, and sat_lambda().

Referenced by detslp_gf().

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◆ gfmeasL1L5()

double gfmeasL1L5	(	const obsd_t *	obs,
		const nav_t *	nav )

static

Definition at line 670 of file mrtk_vrs.c.

References obsd_t::L, obsd_t::sat, and sat_lambda().

Referenced by detslp_gf().

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◆ gloicbcorr()

double gloicbcorr	(	int	sat1,
		int	sat2,
		const prcopt_t *	opt,
		double	lam1,
		double	lam2,
		int	f )

static

Definition at line 1031 of file mrtk_vrs.c.

References CLIGHT, DFRQ1_GLO, DFRQ2_GLO, exterr_t::ena, prcopt_t::exterr, exterr_t::gloicb, prcopt_t::nf, and NFREQGLO.

Referenced by ddres().

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◆ holdamb()

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

static

Definition at line 1625 of file mrtk_vrs.c.

References ssat_t::azel, ssat_t::code, prcopt_t::elmaskhold, errmsg(), filter(), ssat_t::fix, free, IB, mat(), MAXSAT, rtk_t::na, NF, rtk_t::nx, rtk_t::opt, rtk_t::P, prcopt_t::qzsmodear, rtk_t::ssat, ssat_t::sys, test_sys(), trace(), prcopt_t::varholdamb, ssat_t::vsat, rtk_t::x, and zeros().

Referenced by relposvrs().

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◆ initx()

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

static

Definition at line 252 of file mrtk_vrs.c.

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

Referenced by relposvrs(), set_init_pb(), udbias_ppp(), 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,
		int	ch,
		double *	y )

static

Definition at line 1478 of file mrtk_vrs.c.

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

Referenced by relposvrs().

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◆ obs_code_for_freq_vrs()

uint8_t obs_code_for_freq_vrs	(	int	sat,
		int	f )

static

Definition at line 153 of file mrtk_vrs.c.

References CODE_L1C, CODE_L2I, CODE_L2S, CODE_L2W, CODE_L5Q, CODE_L6I, CODE_L7I, satsys(), SYS_CMP, SYS_GAL, SYS_GPS, and SYS_QZS.

Referenced by sat_lambda().

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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 1008 of file mrtk_vrs.c.

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

Referenced by ddres().

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◆ relposvrs()

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

extern

VRS-RTK relative positioning.

Performs double-differenced RTK positioning using rover observations and pre-generated virtual reference station observations with CLAS SSR orbit/clock corrections.

Parameters

[in,out]	rtk	RTK control/result struct
[in]	obs	Observation data (rover + VRS base, sorted by rcv)
[in]	nu	Number of rover observations (rcv=1)
[in]	nr	Number of base observations per channel [nr[0], nr[1]]
[in,out]	nav	Navigation data (SSR corrections)

Returns: 1 if solution updated, 0 otherwise

Definition at line 2163 of file mrtk_vrs.c.

References prcopt_t::afgainion, prcopt_t::afgainpva, prcopt_t::armaxdelsat, ARMODE_FIXHOLD, calpdop(), check_vrs_facility(), cntdiffp, ddres(), prcopt_t::elmaskar, prcopt_t::elmaskhold, elsort(), errmsg(), nav_s::filreset, filter2(), ssat_t::fix, prcopt_t::forgetion, prcopt_t::forgetpva, free, FST, holdamb(), II, INIT_ZWD, initx(), prcopt_t::intpref, intpres(), nav_s::invtrop, prcopt_t::ionoopt, IONOOPT_EST_ADPT, IONOOPT_IFLC, ITT, obsd_t::L, prcopt_t::l6mrg, ssat_t::lock, mat(), matcpy(), prcopt_t::maxdiffp, MAXOBS, prcopt_t::maxpdopar, prcopt_t::maxpdophold, MAXREF, MAXSAT, prcopt_t::minfix, prcopt_t::mode, prcopt_t::modear, rtk_t::na, prcopt_t::nf, rtk_t::nfix, prcopt_t::niter, norm(), NP, 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_FIXED, prcopt_t::poserrcnt, prcopt_t::posopt, prcopt_t::prn, prcopt_t::prnadpt, ssat_t::pt, rtk_t::Q, Qp, sol_t::qr, R2D, sol_t::ratio, rtk_t::rb, obsd_t::rcv, prcopt_t::regularly, resamb_LAMBDA(), resamb_LAMBDA(), resetfilterflag(), sol_t::rr, prcopt_t::ru, obsd_t::sat, prcopt_t::sateph, satposs(), satsys(), selsat(), ssat_t::slip, ssat_t::slipc, SND, obsd_t::SNR, ssat_t::snr, rtk_t::sol, SOLQ_DGPS, SOLQ_FIX, SOLQ_FLOAT, SOLQ_NONE, SOLQ_SINGLE, SQR, rtk_t::ssat, SSR_CH_NUM, sol_t::stat, prcopt_t::std, ssat_t::sys, gtime_t::time, obsd_t::time, sol_t::time, time2gpst(), time_str(), timediff(), trace(), tracemat(), TRD, prcopt_t::tropopt, TROPOPT_EST, TROPOPT_ESTG, udstate(), vrs_chisq, 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 )

static

Definition at line 1672 of file mrtk_vrs.c.

References prcopt_t::alphaar, ARMODE_OFF, ddmat(), errmsg(), free, lambda(), mat(), matinv(), matmul(), prcopt_t::mode, prcopt_t::modear, rtk_t::na, rtk_t::nx, rtk_t::opt, rtk_t::P, rtk_t::Pa, PMODE_DGPS, qfrtk, sol_t::ratio, restamb(), rtk_t::sol, prcopt_t::thresar, trace(), tracemat(), rtk_t::x, rtk_t::xa, and zeros().

Referenced by relposvrs().

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◆ resetfilterflag()

void resetfilterflag ( nav_t * nav )

static

Definition at line 1892 of file mrtk_vrs.c.

References clearsatcorr(), and nav_s::filreset.

Referenced by relposvrs().

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◆ residual_test()

int residual_test	(	rtk_t *	rtk,
		const int *	vflg,
		const double *	v,
		const double *	Q,
		int *	iv,
		const int	m,
		int *	ns,
		const int	flg )

static

Definition at line 1918 of file mrtk_vrs.c.

References chisqr, free, FREQ1, FREQ2, lam_carr, prcopt_t::maxinno_ext, MAXSAT, prcopt_t::nf, NP, rtk_t::opt, ssat_t::outc, ssat_t::rejc, SQR, rtk_t::ssat, trace(), vrs_chisq, ssat_t::vsat, and zeros().

Referenced by filter2_().

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◆ restamb()

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

static

Definition at line 1591 of file mrtk_vrs.c.

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

Referenced by resamb_LAMBDA().

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◆ sat_lambda()

double sat_lambda	(	int	sat,
		int	f,
		const nav_t *	nav )

static

Definition at line 181 of file mrtk_vrs.c.

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

Referenced by gfmeasL1L2(), gfmeasL1L5(), set_init_pb(), udbias_ppp(), valid_zd_sig(), zdres(), and zdres_sat().

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◆ sddop()

double sddop	(	const rtk_t *	rtk,
		const double *	H,
		const int *	vflg,
		const double	elmask,
		const int	nv )

static

Definition at line 1827 of file mrtk_vrs.c.

References ssat_t::azel, free, mat(), matinv(), matmul(), rtk_t::nx, rtk_t::ssat, and ssat_t::vsat.

Referenced by calpdop().

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◆ selfreqpair()

int selfreqpair	(	const int	sat,
		const prcopt_t *	opt,
		const obsd_t *	obs )

static

Definition at line 291 of file mrtk_vrs.c.

References obsd_t::L, obsd_t::P, POSL1, POSL1L2L5, POSL1L5, POSL1L5_L2, prcopt_t::posopt, satsys(), and SYS_GAL.

Referenced by udion(), 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,
		int	ch )

static

Definition at line 260 of file mrtk_vrs.c.

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

Referenced by relposvrs().

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◆ set_init_pb()

void set_init_pb	(	rtk_t *	rtk,
		const nav_t *	nav,
		const obsd_t *	obs,
		int	n,
		int	f,
		int	satj )

static

Definition at line 1109 of file mrtk_vrs.c.

References rtk_t::com_bias, free, IB, initx(), obsd_t::L, ssat_t::lock, prcopt_t::minlock, rtk_t::opt, obsd_t::P, ssat_t::pbreset, obsd_t::sat, sat_lambda(), SQR, rtk_t::ssat, prcopt_t::std, trace(), rtk_t::x, and zeros().

Referenced by ddres().

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◆ test_sys()

int test_sys	(	int	sys,
		int	m,
		int	qzsmodear,
		int	code )

static

Definition at line 1043 of file mrtk_vrs.c.

References CODE_L2X, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, and SYS_SBS.

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

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◆ udbias_ppp()

void udbias_ppp	(	rtk_t *	rtk,
		double	tt,
		const obsd_t *	obs,
		int	n,
		const nav_t *	nav )

static

Definition at line 736 of file mrtk_vrs.c.

References ARMODE_INST, rtk_t::com_bias, detslp_gf(), detslp_ll(), free, IB, initx(), prcopt_t::ionoopt, IONOOPT_IFLC, obsd_t::L, ssat_t::lock, MAXOBS, prcopt_t::maxout, MAXSAT, prcopt_t::minlock, prcopt_t::modear, NF, prcopt_t::nf, rtk_t::nx, rtk_t::opt, ssat_t::outc, obsd_t::P, rtk_t::P, ssat_t::pbreset, prcopt_t::prn, obsd_t::sat, sat_lambda(), ssat_t::slip, SQR, rtk_t::ssat, prcopt_t::std, trace(), rtk_t::x, and zeros().

Referenced by udstate().

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◆ udion()

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

static

Definition at line 556 of file mrtk_vrs.c.

References ssat_t::azel, II, initx(), prcopt_t::ionoopt, IONOOPT_EST_ADPT, prcopt_t::maxout, MAXSAT, prcopt_t::nf, rtk_t::nx, rtk_t::opt, ssat_t::outc, rtk_t::P, prcopt_t::prn, prcopt_t::prnionomax, rtk_t::Q, obsd_t::sat, selfreqpair(), 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,
		const obsd_t *	obs,
		double	tt )

static

Definition at line 313 of file mrtk_vrs.c.

References prcopt_t::beta, covecef(), prcopt_t::dynamics, ecef2pos(), eye(), free, initx(), prcopt_t::ionoopt, IONOOPT_EST, mat(), matcpy(), matmul(), MAXSAT, prcopt_t::mode, norm(), NP, rtk_t::nx, rtk_t::opt, rtk_t::P, PMODE_FIXED, prcopt_t::prn, prcopt_t::prnadpt, rtk_t::Q, sol_t::rr, prcopt_t::ru, rtk_t::sol, SQR, prcopt_t::stats_prnposith, prcopt_t::stats_prnpositv, 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 641 of file mrtk_vrs.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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◆ udstate()

void udstate	(	rtk_t *	rtk,
		const obsd_t *	obs,
		int	nu,
		const nav_t *	nav )

static

Definition at line 830 of file mrtk_vrs.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_ppp(), udion(), udpos(), udrcvbias(), udtrop(), and rtk_t::x.

Referenced by relposvrs().

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◆ udtrop()

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

static

Definition at line 613 of file mrtk_vrs.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, rtk_t::tt, VAR_GRA, and rtk_t::x.

Referenced by udstate().

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◆ valid_zd_sig()

int valid_zd_sig	(	rtk_t *	rtk,
		const obsd_t *	obs,
		const nav_t *	nav,
		double *	y,
		int	nf,
		int	f,
		int	j,
		int	m,
		int	ch,
		int	sati,
		int	iu[][MAXSAT],
		int	ir[][MAXSAT],
		int	sat[][MAXSAT],
		int *	ff,
		int *	ns,
		int *	satj,
		int *	jj,
		int *	sysi,
		int *	sysj,
		double *	lami,
		double *	lamj )

static

Definition at line 1075 of file mrtk_vrs.c.

References ssat_t::code, get_iriu_index(), MAXSAT, rtk_t::opt, prcopt_t::qzsmodear, obsd_t::sat, sat_lambda(), rtk_t::ssat, ssat_t::sys, test_sys(), and validobs().

Referenced by ddres().

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◆ validobs()

int validobs	(	int *	iu,
		int *	ir,
		int	jj,
		int	f,
		int	nf,
		double *	y )

static

Definition at line 974 of file mrtk_vrs.c.

Referenced by ddres(), and valid_zd_sig().

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◆ varerr()

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

static

Definition at line 208 of file mrtk_vrs.c.

References exterr_t::cerr, CLIGHT, EFACT_GLO, EFACT_GPS, EFACT_SBS, exterr_t::ena, prcopt_t::eratio, prcopt_t::err, prcopt_t::exterr, prcopt_t::ionoopt, IONOOPT_IFLC, NF, exterr_t::perr, prcopt_t::sclkstab, SYS_GAL, SYS_GLO, and SYS_SBS.

Referenced by ddres().

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◆ zddop()

double zddop	(	const rtk_t *	rtk,
		const double *	azel,
		const obsd_t *	obs,
		const double	elmask,
		const int	n )

static

Definition at line 1856 of file mrtk_vrs.c.

References dops(), free, mat(), obsd_t::sat, rtk_t::ssat, and ssat_t::vsat.

Referenced by calpdop().

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◆ zdres()

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

static

Definition at line 895 of file mrtk_vrs.c.

References prcopt_t::antdel, antmodel(), sft_t::bias, CLIGHT, D2R, ecef2pos(), prcopt_t::elmin, nav_s::erp, geodist(), gpst2utc(), ISBOPT_TABLE, isL2C(), sft_t::n, NF, NFREQPCV, norm(), prcopt_t::odisp, prcopt_t::pcvr, prcopt_t::phasshft, prcopt_t::posopt, R2D, sft_t::rectyp, prcopt_t::rectype, sat_lambda(), satazel(), satexclude(), nav_s::sfts, prcopt_t::tidecorr, tidedisp(), trace(), tracemat(), tropmapf(), tropmodel(), and zdres_sat().

Referenced by intpres(), and relposvrs().

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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 )

static

Definition at line 857 of file mrtk_vrs.c.

References obsd_t::L, NF, obsd_t::P, obsd_t::sat, sat_lambda(), selfreqpair(), obsd_t::SNR, prcopt_t::snrmask, and testsnr().

Referenced by zdres().

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Variable Documentation

◆ chisqr

const double chisqr[100]

static

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, 81.4, 82.7, 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,  111,  112,  113,  114,  115,  116,  118,  119,  120,  121,  122,  123,  124,  125,  126,  127,
    128,  129,  130,  131,  132,  133,  134,  135,  136,  137,  138,  139,  140,  141,  142}

Definition at line 109 of file mrtk_vrs.c.

◆ lam_carr

const double lam_carr[3] = { (CLIGHT / FREQ1) , (CLIGHT / FREQ2) , (CLIGHT / FREQ5) }

static

Definition at line 87 of file mrtk_vrs.c.

◆ qfrtk

const double qfrtk[6][60]

static

Definition at line 118 of file mrtk_vrs.c.

Referenced by resamb_LAMBDA().

◆ vrs_chisq

double vrs_chisq = 0.0

static

Definition at line 187 of file mrtk_vrs.c.

Referenced by filter2_(), relposvrs(), and residual_test().

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ GAP_RESION

◆ IB

◆ II

◆ IL

◆ INIT_ZWD

◆ IT

◆ ITT

◆ LAM_CARR_L1

◆ LAM_CARR_L2

◆ LAM_CARR_L5

◆ MAXACC

◆ MAXITER

◆ MAXREF

◆ MIN

◆ NB

◆ NF

◆ NI

◆ NL

◆ NP

◆ NR

◆ NT

◆ NX

◆ POSL1

◆ POSL1L2

◆ POSL1L2L5

◆ POSL1L5

◆ POSL1L5_L2

◆ PRN_HWBIAS

◆ ROUND

◆ SQR

◆ SQRT

◆ TTOL_MOVEB

◆ VAR_ACC

◆ VAR_GRA

◆ VAR_HOLDAMB

◆ VAR_HWBIAS

◆ VAR_POS

◆ VAR_VEL

Enumeration Type Documentation

◆ ddres_order

Function Documentation

◆ baseline()

◆ calpdop()

◆ check_same_fac()

◆ check_vrs_facility()

◆ clearsatcorr()

◆ ddcov()

◆ ddmat()

◆ ddres()

◆ detslp_gf()

◆ detslp_ll()

◆ elsort()

◆ errmsg()

◆ filter2()

◆ filter2_()

◆ get_iriu_index()

◆ gfmeasL1L2()

◆ gfmeasL1L5()

◆ gloicbcorr()

◆ holdamb()

◆ initx()

◆ intpres()

◆ obs_code_for_freq_vrs()

◆ prectrop()

◆ relposvrs()

◆ resamb_LAMBDA()

◆ resetfilterflag()

◆ residual_test()

◆ restamb()

◆ sat_lambda()

◆ sddop()

◆ selfreqpair()

◆ selsat()

◆ set_init_pb()