RTKLIB专题学习(四)---单点定位实现初识（二）

RTKLIB专题学习(四)—单点定位实现初识（二）
今天我们来继续学习RTKLIB中单点定位的调用情况，上一篇在这里：RTKLIB专题学习(四)—单点定位实现初识（一）
1.上篇说到了调用procpos的函数是execses；execses中调用的函数有readtec读取电离层数据文件函数；readerp读取erp数据文件函数；readobsnav读取观测值和导航文件函数；readdcb读取DCB文件函数；setpcv设置天线参数函数；readotl读取海洋潮汐数据文件函数
2.然后呢，调用execses函数的是execses_r函数，该函数是为每一个接收机执行处理的部分

/* execute processing session for each rover ---------------------------------*/
static int execses_r(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
                     const solopt_t *sopt, const filopt_t *fopt, int flag,
                     char **infile, const int *index, int n, char *outfile,
                     const char *rov)
{
    gtime_t t0={0};
    int i,stat=0;
    char *ifile[MAXINFILE],ofile[1024],*rov_,*p,*q,s[64]="";
    
    trace(3,"execses_r: n=%d outfile=%s\n",n,outfile);
    
    for (i=0;i<n;i++) if (strstr(infile[i],"%r")) break;
    
    if (i<n) { /* include rover keywords */
        if (!(rov_=(char *)malloc(strlen(rov)+1))) return 0;
        strcpy(rov_,rov);
        
        for (i=0;i<n;i++) {
            if (!(ifile[i]=(char *)malloc(1024))) {
                free(rov_); for (;i>=0;i--) free(ifile[i]);
                return 0;
            }
        }
        for (p=rov_;;p=q+1) { /* for each rover */
            if ((q=strchr(p,' '))) *q='\0';
            
            if (*p) {
                strcpy(proc_rov,p);
                if (ts.time) time2str(ts,s,0); else *s='\0';
                if (checkbrk("reading    : %s",s)) {
                    stat=1;
                    break;
                }
                for (i=0;i<n;i++) reppath(infile[i],ifile[i],t0,p,"");
                reppath(outfile,ofile,t0,p,"");
                
                /* execute processing session */
                stat=execses(ts,te,ti,popt,sopt,fopt,flag,ifile,index,n,ofile);
            }
            if (stat==1||!q) break;
        }
        free(rov_); for (i=0;i<n;i++) free(ifile[i]);
    }
    else {
        /* execute processing session */
        stat=execses(ts,te,ti,popt,sopt,fopt,flag,infile,index,n,outfile);
    }
    return stat;
}

3.然后呢，调用execses_r的是execses_b，该部分是执行基站的处理，没有基站就直接处理接收机的文件

/* post-processing positioning -------------------------------------------------
* post-processing positioning
* args   : gtime_t ts       I   processing start time (ts.time==0: no limit)
*        : gtime_t te       I   processing end time   (te.time==0: no limit)
*          double ti        I   processing interval  (s) (0:all)
*          double tu        I   processing unit time (s) (0:all)
*          prcopt_t *popt   I   processing options
*          solopt_t *sopt   I   solution options
*          filopt_t *fopt   I   file options
*          char   **infile  I   input files (see below)
*          int    n         I   number of input files
*          char   *outfile  I   output file ("":stdout, see below)
*          char   *rov      I   rover id list        (separated by " ")
*          char   *base     I   base station id list (separated by " ")
* return : status (0:ok,0>:error,1:aborted)
* notes  : input files should contain observation data, navigation data, precise 
*          ephemeris/clock (optional), sbas log file (optional), ssr message
*          log file (optional) and tec grid file (optional). only the first 
*          observation data file in the input files is recognized as the rover
*          data.
*
*          the type of an input file is recognized by the file extention as ]
*          follows:
*              .sp3,.SP3,.eph*,.EPH*: precise ephemeris (sp3c)
*              .sbs,.SBS,.ems,.EMS  : sbas message log files (rtklib or ems)
*              .rtcm3,.RTCM3        : ssr message log files (rtcm3)
*              .*i,.*I              : tec grid files (ionex)
*              others               : rinex obs, nav, gnav, hnav, qnav or clock
*
*          inputs files can include wild-cards (*). if an file includes
*          wild-cards, the wild-card expanded multiple files are used.
*
*          inputs files can include keywords. if an file includes keywords,
*          the keywords are replaced by date, time, rover id and base station
*          id and multiple session analyses run. refer reppath() for the
*          keywords.
*
*          the output file can also include keywords. if the output file does
*          not include keywords. the results of all multiple session analyses
*          are output to a single output file.
*
*          ssr corrections are valid only for forward estimation.
*-----------------------------------------------------------------------------*/
extern int postpos(gtime_t ts, gtime_t te, double ti, double tu,
                   const prcopt_t *popt, const solopt_t *sopt,
                   const filopt_t *fopt, char **infile, int n, char *outfile,
                   const char *rov, const char *base)
{
    gtime_t tts,tte,ttte;
    double tunit,tss;
    int i,j,k,nf,stat=0,week,flag=1,index[MAXINFILE]={0};
    char *ifile[MAXINFILE],ofile[1024],*ext;
    
    trace(3,"postpos : ti=%.0f tu=%.0f n=%d outfile=%s\n",ti,tu,n,outfile);
    
    /* open processing session */
    if (!openses(popt,sopt,fopt,&navs,&pcvss,&pcvsr)) return -1;
    
    if (ts.time!=0&&te.time!=0&&tu>=0.0) {
        if (timediff(te,ts)<0.0) {
            showmsg("error : no period");
            closeses(&navs,&pcvss,&pcvsr);
            return 0;
        }
        for (i=0;i<MAXINFILE;i++) {
            if (!(ifile[i]=(char *)malloc(1024))) {
                for (;i>=0;i--) free(ifile[i]);
                closeses(&navs,&pcvss,&pcvsr);
                return -1;
            }
        }
        if (tu==0.0||tu>86400.0*MAXPRCDAYS) tu=86400.0*MAXPRCDAYS;
        settspan(ts,te);
        tunit=tu<86400.0?tu:86400.0;
        tss=tunit*(int)floor(time2gpst(ts,&week)/tunit);
        
        for (i=0;;i++) { /* for each periods */
            tts=gpst2time(week,tss+i*tu);
            tte=timeadd(tts,tu-DTTOL);
            if (timediff(tts,te)>0.0) break;
            if (timediff(tts,ts)<0.0) tts=ts;
            if (timediff(tte,te)>0.0) tte=te;
            
            strcpy(proc_rov ,"");
            strcpy(proc_base,"");
            if (checkbrk("reading    : %s",time_str(tts,0))) {
                stat=1;
                break;
            }
            for (j=k=nf=0;j<n;j++) {
                
                ext=strrchr(infile[j],'.');
                
                if (ext&&(!strcmp(ext,".rtcm3")||!strcmp(ext,".RTCM3"))) {
                    strcpy(ifile[nf++],infile[j]);
                }
                else {
                    /* include next day precise ephemeris or rinex brdc nav */
                    ttte=tte;
                    if (ext&&(!strcmp(ext,".sp3")||!strcmp(ext,".SP3")||
                              !strcmp(ext,".eph")||!strcmp(ext,".EPH"))) {
                        ttte=timeadd(ttte,3600.0);
                    }
                    else if (strstr(infile[j],"brdc")) {
                        ttte=timeadd(ttte,7200.0);
                    }
                    nf+=reppaths(infile[j],ifile+nf,MAXINFILE-nf,tts,ttte,"","");
                }
                while (k<nf) index[k++]=j;
                
                if (nf>=MAXINFILE) {
                    trace(2,"too many input files. trancated\n");
                    break;
                }
            }
            if (!reppath(outfile,ofile,tts,"","")&&i>0) flag=0;
            
            /* execute processing session */
            stat=execses_b(tts,tte,ti,popt,sopt,fopt,flag,ifile,index,nf,ofile,
                           rov,base);
            
            if (stat==1) break;
        }
        for (i=0;i<MAXINFILE;i++) free(ifile[i]);
    }
    else if (ts.time!=0) {
        for (i=0;i<n&&i<MAXINFILE;i++) {
            if (!(ifile[i]=(char *)malloc(1024))) {
                for (;i>=0;i--) free(ifile[i]);
                return -1;
            }
            reppath(infile[i],ifile[i],ts,"","");
            index[i]=i;
        }
        reppath(outfile,ofile,ts,"","");
        
        /* execute processing session */
        stat=execses_b(ts,te,ti,popt,sopt,fopt,1,ifile,index,n,ofile,rov,
                       base);
        
        for (i=0;i<n&&i<MAXINFILE;i++) free(ifile[i]);
    }
    else {
        for (i=0;i<n;i++) index[i]=i;
        
        /* execute processing session */
        stat=execses_b(ts,te,ti,popt,sopt,fopt,1,infile,index,n,outfile,rov,
                       base);
    }
    /* close processing session */
    closeses(&navs,&pcvss,&pcvsr);
    
    return stat;
}

4.最后呢，就是主函数调用postpos啦，主函数需要自己写出来，网络上有很多，这里面我把我的给大家发出来：

/* show message --------------------------------------------------------------*/
extern int showmsg(const char* format, ...)
{
	va_list arg;
	va_start(arg, format); vfprintf(stderr, format, arg); va_end(arg);
	fprintf(stderr, "\r");
	return 0;
}
extern void settspan(gtime_t ts, gtime_t te) {}
extern void settime(gtime_t time) {}

/* print help ----------------------------------------------------------------*/
static void printhelp(void)
{
	int i;
	for (i = 0; i < (int)(sizeof(help) / sizeof(*help)); i++) fprintf(stderr, "%s\n", help[i]);
	exit(0);
}
/* rnx2rtkp main -------------------------------------------------------------*/
int main(int argc, char** argv)
{
	int i, n, ret,x;
	double tint = 0;       /* 求解时间间隔(0:默认) */
	gtime_t ts = { 0 }, te = { 0 }; /* 历元时段始末控制变量 */
	char* infile[MAXFILE], outfile[MAXSTRPATH] = { '\0' };
	char resultpath[MAXSTRPATH] = "E:\\rtklib\\rtklib-test1\\202202\\"; /* 结果输出路径 */
	char sep = (char)FILEPATHSEP;
	prcopt_t prcopt = prcopt_default; /* 默认处理选项设置 */
	solopt_t solopt = solopt_default; /* 默认求解格式设置 */
	sol_t solt;
	filopt_t filopt = { /* 参数文件路径设置 */
		"E:\\rtklib\\rtklib-test1\\data\\igs14.atx", /* 卫星天线参数文件 */
		"", /* 接收机天线参数文件 */
		"", /* 测站位置文件 */
		"", /* 扩展大地水准面数据文件 */
		"", /* 电离层数据文件 */
		"", /* DCB数据文件 */
		"", /* 地球自转参数文件 */
		"", /* 海洋潮汐负荷文件 */
	};
	char infile_[MAXFILE][MAXSTRPATH] = {
		"E:\\rtklib\\rtklib-test1\\202202\\AJAC00FRA_R_20220020000_01D_30S_MO.21o",
		"E:\\rtklib\\rtklib-test1\\202202\\BRDC00IGS_R_20220020000_01D_MN.rnx ",
		"",
		"",
		"",
		"",
		"",
		""
	};
	long t1, t2;
	double eps[] = { 2022,1,2,0,0,0 }, epe[] = { 2022,1,3,0,0,0 }; /* 设置计算的历元时段 */
	ts = epoch2time(eps); te = epoch2time(epe);

	for (i = 0, n = 0; i < MAXFILE; i++)
		if (strcmp(infile_[i], "")) infile[n++] = &infile_[i][0];

	sprintf(outfile, "%s%c", resultpath, sep);//设置输出路径

	/* 自定义求解格式 --------------------------------------------------------*/
	solopt.posf = SOLF_XYZ;   /* 选择输出的坐标格式，经纬度或是XYZ坐标等 */
	solopt.times = TIMES_GPST; /* 控制输出解的时间系统类型 */
	solopt.degf = 0;         /* 输出经纬度格式(0:°, 1:°′″) */
	solopt.outhead = 1;         /* 是否输出头文件(0:否,1:是) */
	solopt.outopt = 1;         /* 是否输出prcopt变量(0:否,1:是) */
	solopt.height = 1;         /* 高程(0:椭球高,1:大地高) */
	solopt.sstat = 2;

	/* 自定义处理选项设置-PPP ----------------------------------------------------*/
	//prcopt.mode = PMODE_PPP_STATIC; /* PPP静态处理 */
	//prcopt.modear = 4;     /* 求解模糊度类型 */
	//prcopt.sateph = EPHOPT_PREC;      /* 使用精密星历 */
	//prcopt.ionoopt = IONOOPT_IFLC;     /* 使用双频消电离层组合模型 */
	/* 自定义处理选项设置-SPP ----------------------------------------------------*/
	prcopt.mode = PMODE_SINGLE; /* SPP动态处理 */
	prcopt.modear = 0;     /* 求解模糊度类型 */
	prcopt.sateph = EPHOPT_BRDC;      /* 使用广播星历 */
	prcopt.ionoopt = IONOOPT_BRDC;     /* 使用广播电离层参数 */
	prcopt.tropopt = TROPOPT_EST;      /* 使用对流层天顶延迟估计模型 */
	prcopt.tidecorr = 0; /* 地球潮汐改正选项(0:关闭,1:固体潮,2:固体潮+?+极移) */
	prcopt.posopt[0] = 0; /* 卫星天线模型 */
	prcopt.posopt[1] = 0; /* 接收机天线模型 */
	prcopt.posopt[2] = 0; /* 相位缠绕改正 */
	prcopt.posopt[3] = 0; /* 排除掩星 */
	prcopt.posopt[4] = 0; /* 求解接收机坐标出错后的检查选项 */
	prcopt.navsys = SYS_GPS|SYS_CMP; /* 处理的导航系统 */
	sprintf(outfile, "%s%cAJAC-spp-kf1.pos", resultpath, sep); /* 输出结果名称 */
	//prcopt.nf = 2;       /* 参与计算的载波频率个数 */	
	prcopt.elmin = 10.0 * D2R;/* 卫星截止高度角 */
	prcopt.soltype = 0;       /* 求解类型(0:向前滤波,1:向后滤波,2:混合滤波) */

	/*rtk*/
	solt.stat = SOLQ_SINGLE;
	t1 = clock();
	ret = postpos(ts, te, tint, 0.0, &prcopt, &solopt, &filopt, infile, n, outfile, "", "");
	t2 = clock();

	if (!ret) fprintf(stderr, "%40s\r", "");

	printf("\n * The total time for running the program: %6.3f seconds\n%c", (double)(t2 - t1) / CLOCKS_PER_SEC, '\0');
	printf("Press any key to exit!\n");
	getchar();
	return ret;
}

单点定位实现的初始部分结束啦，接下来就进入单点定位的进阶部分！