RTKLIB学习（4）

动态相对定位求流动站位置

在动态相对定位中，参考站A的接收机固定在基线向量已知的点上，流动站接收机是移动的，需要确定其在任意历元的位置。下面主要介绍相对定位的处理过程，调用的函数是procpos(postpos.c.)。
在函数procpos中，首先调用函数inputobs（postpos.c）函数来输入每一历元的观测数据和星历数据，然后再调用rtkpos(rtkpos.c)函数来进行精密定位。
下面主要讲述在函数rtkpos中处理数据的具体流程。

1. 码伪距单点定位求流动站的近似坐标pntpos
2. 载波相位动态相对定位relpos(rtkpos.c)

relpos

所在文件：rtkpos.c

调用

relpos(rtk,obs,nu,nr,nav);

函数定义

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

功能说明：

输入观测数据和导航数据，通过精密定位计算移动站的位置

参数说明

/* precise positioning----------------------------
* input observation data and navigation message, compute rover position by precise positioning
* args   : 
* rtk_t *rtk       IO  rtk control/result struct
*      rtk->sol       IO  solution
*      .time      O   solution time
*      .rr[]      IO  rover position/velocity (I:fixed mode,O:single mode)
*      .dtr[0]    O   receiver clock bias (s)
*      .dtr[1]    O   receiver glonass-gps time offset (s)
*      .Qr[]      O   rover position covarinace
*      .stat      O   solution status (SOLQ_???)
*      .ns        O   number of valid satellites
*      .age       O   age of differential差分时间 (s)
*      .ratio     O   ratio factor for ambiguity validation
*      rtk->rb[]      IO  base station position/velocit        (I:relative mode,O:moving-base mode)
*      rtk->nx        I   number of all states
*      rtk->na        I   number of integer states
*      rtk->ns        O   number of valid satellite
*      rtk->tt        O   time difference between current and previous (s)
*      rtk->x[]   IO  float states pre-filter and post-filter
*      rtk->P[]   IO  float covariance pre-filter and post-filter
*      rtk->xa[]  O   fixed states after AR
*      rtk->Pa[]  O   fixed covariance after AR
*      rtk->ssat[s]   IO  sat(s+1) status
*         .sys    O   system (SYS_???)
*         .az[r]  O   azimuth angle   (rad)(r=0:rover,1:base)
*         .el[r]  O   elevation angle (rad) (r=0:rover,1:base)
*         .vs[r]  O   data valid single  (r=0:rover,1:base)
*         .resp[f]  O  freq(f+1) pseudorange residual (m)
*         .resc[f]  O  freq(f+1) carrier-phase residual (m)
*         .vsat[f]  O  freq(f+1) data vaild (0:invalid,1:valid)
*         .fix[f]  O  freq(f+1) ambiguity flag                               (0:nodata,1:float,2:fix,3:hold)
*         .slip[f]  O  freq(f+1) slip flag (bit8-7:rcv1 LLI, bit6-5:rcv2 LLI, bit2:parity unknown, bit1:slip)
*         .lock[f]  IO  freq(f+1) carrier lock count
*         .outc[f]  IO  freq(f+1) carrier outage count
*         .slipc[f]  IO  freq(f+1) cycle slip count
*         .rejc[f]   IO  freq(f+1) data reject count
*         .gf        IO  geometry-free phase (L1-L2) (m)
*         .gf2       IO  geometry-free phase (L1-L5) (m)
*   rtk->nfix      IO  number of continuous fixes of ambiguity
*   rtk->neb       IO  bytes of error message buffer
*   rtk->errbuf    IO  error message buffer
*   rtk->tstr      O   time string for debug
*   rtk->opt       I   processing options
*   obsd_t *obs      I   observation data for an epoch
*                  obs[i].rcv=1:rover,2:reference sorted by receiver and satellte
*   int    n         I   number of observation data
*   nav_t  *nav      I   navigation messages
* return: status (0:no solution,1:valid solution)
* notes: before calling function, base station position rtk->sol.rb[] should be properly set for relative mode except for moving-baseline
*--------------------------------------------*/