RTKLIB中伪距单点定位的函数(一）

procpo

目录

procpos

rtkinit:rtkinit(&rtk,popt);

inputobs：nobs=inputobs(obs,rtk.sol.stat,popt）

satsys：satsys(obs[i].sat,NULL)

corr_phase_bias_ssr： corr_phase_bias_ssr(obs,n,&navs);

rtkpos：

outsol：

---

/* process positioning -------------------------------------------------------*/
static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt,
                    int mode)

rtkinit:rtkinit(&rtk,popt);

函数作用：初始化rtk_t rtk

rtk_t结构体如下：

typedef struct {        /* RTK control/result type */
    sol_t  sol;         /* RTK solution 定位解算内容*/
    double rb[6];       /* base position/velocity (ecef) (m|m/s) 基站位置、速度*/
    int nx,na;          /* number of float states/fixed states 流动站或者固定站数量*/
    double tt;          /* time difference between current and previous (s) 当前历元和上一历元的时间之差*/
    double *x, *P;      /* float states and their covariance流动站和他们的变化量 */
    double *xa,*Pa;     /* fixed states and their covariance基准站和他们的变化量 */
    int nfix;           /* number of continuous fixes of ambiguity */
    ambc_t ambc[MAXSAT]; /* ambibuity control 模糊度控制*/
    ssat_t ssat[MAXSAT]; /* satellite status 卫星状态 */
    int neb;            /* bytes in error message buffer 错误信息缓冲区的字节*/
    char errbuf[MAXERRMSG]; /* error message buffer错误信息缓冲区 */
    prcopt_t opt;       /* processing options 配置文件中setting选项*/
} rtk_t;

其中,sol_t结构体如下：

typedef struct {        /* solution type */
    gtime_t time;       /* time (GPST)时间 */
    double rr[6];       /* position/velocity (m|m/s)接收机位置/速度 */
                        /* {x,y,z,vx,vy,vz} or {e,n,u,ve,vn,vu} */
    float  qr[6];       /* position variance/covariance (m^2) 接收机位置变化量*/
                        /* {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} or */
                        /* {c_ee,c_nn,c_uu,c_en,c_nu,c_ue} */
    float  qv[6];       /* velocity variance/covariance (m^2/s^2) 速度变化量*/
    double dtr[6];      /* receiver clock bias to time systems (s)对于时间系统的接收机钟差 */
    uint8_t type;       /* type (0:xyz-ecef,1:enu-baseline) 站心坐标系或者空间直角坐标系*/
    uint8_t stat;       /* solution status (SOLQ_???) */
    uint8_t ns;         /* number of valid satellites 有效卫星数*/
    float age;          /* age of differential (s) */
    float ratio;        /* AR ratio factor for valiation */
    float thres;        /* AR ratio threshold for valiation */
} sol_t;

stat为定位方法：

#define SOLQ_NONE   0                   /* solution status: no solution */
#define SOLQ_FIX    1                   /* solution status: fix */
#define SOLQ_FLOAT  2                   /* solution status: float */
#define SOLQ_SBAS   3                   /* solution status: SBAS */
#define SOLQ_DGPS   4                   /* solution status: DGPS/DGNSS */
#define SOLQ_SINGLE 5                   /* solution status: single */
#define SOLQ_PPP    6                   /* solution status: PPP */
#define SOLQ_DR     7                   /* solution status: dead reconing */
#define MAXSOLQ     7                   /* max number of solution status */

inputobs：nobs=inputobs(obs,rtk.sol.stat,popt）

while ((nobs=inputobs(obs,rtk.sol.stat,popt))>=0) {
//对每个历元的观测数据进行处理
}

函数作用：获取当前历元观测的卫星数nobs以及当前历元各卫星的观测数据记录obs[MAXOBS*2]

函数设计的全局变量如下：

static int iobsu =0;            /* current rover observation data index流动站当前历元索引 */
static int iobsr =0;            /* current reference observation data index基准站当前历元索引 */
static int isbs  =0;            /* current sbas message index SBAS信息索引*/
static int revs  =0;            /* analysis direction (0:forward,1:backward) 前向/反向滤波*/

static int aborts=0;            /* abort status */

satsys：satsys(obs[i].sat,NULL)

函数作用：排除不可用的卫星。

问题：n是什么？

        for (i=n=0;i<nobs;i++) {
            if ((satsys(obs[i].sat,NULL)&popt->navsys)&&
                popt->exsats[obs[i].sat-1]!=1) obs[n++]=obs[i];
        }
        if (n<=0) continue;

corr_phase_bias_ssr： corr_phase_bias_ssr(obs,n,&navs);

函数作用：载波相位偏差纠正？

       /* carrier-phase bias correction */
        if (!strstr(popt->pppopt,"-ENA_FCB")) {//载波相位偏差纠正
            corr_phase_bias_ssr(obs,n,&navs);
        }

rtkpos：

  if (!rtkpos(&rtk,obs,n,&navs)) continue;

outsol：

函数作用：将定位结果保存到.pos文件中

outsol——outsols——

           if (!solstatic) {
                outsol(fp,&rtk.sol,rtk.rb,sopt);//将定位结果保存到.pos文件中
            }

* output solution body --------------------------------------------------------
* output solution body to file
* args   : FILE   *fp       I   output file pointer
*          sol_t  *sol      I   solution
*          double *rb       I   base station position {x,y,z} (ecef) (m)
*          solopt_t *opt    I   solution options
* return : none
*-----------------------------------------------------------------------------*/
extern void outsol(FILE *fp, const sol_t *sol, const double *rb,
                   const solopt_t *opt)
{
    uint8_t buff[MAXSOLMSG+1];
    int n;
    
    trace(3,"outsol  :\n");
    
    if ((n=outsols(buff,sol,rb,opt))>0) {
        fwrite(buff,n,1,fp);
    }
}
/* output solution body --------------------------------------------------------
* output solution body to buffer
* args   : uint8_t *buff    IO  output buffer
*          sol_t  *sol      I   solution
*          double *rb       I   base station position {x,y,z} (ecef) (m)
*          solopt_t *opt    I   solution options
* return : number of output bytes
*-----------------------------------------------------------------------------*/
extern int outsols(uint8_t *buff, const sol_t *sol, const double *rb,
                   const solopt_t *opt)
{
    gtime_t time,ts={0};
    double gpst;
    int week,timeu;
    const char *sep=opt2sep(opt);
    char s[64];
    uint8_t *p=buff;
    
    trace(3,"outsols :\n");
    
    /* suppress output if std is over opt->maxsolstd */
    if (opt->maxsolstd>0.0&&sol_std(sol)>opt->maxsolstd) {
        return 0;
    }
    if (opt->posf==SOLF_NMEA) {
        if (opt->nmeaintv[0]<0.0) return 0;
        if (!screent(sol->time,ts,ts,opt->nmeaintv[0])) return 0;
    }
    if (sol->stat<=SOLQ_NONE||(opt->posf==SOLF_ENU&&norm(rb,3)<=0.0)) {
        return 0;
    }
    timeu=opt->timeu<0?0:(opt->timeu>20?20:opt->timeu);
    
    time=sol->time;
    if (opt->times>=TIMES_UTC) time=gpst2utc(time);
    if (opt->times==TIMES_JST) time=timeadd(time,9*3600.0);
    
    if (opt->timef) time2str(time,s,timeu);
    else {
        gpst=time2gpst(time,&week);
        if (86400*7-gpst<0.5/pow(10.0,timeu)) {
            week++;
            gpst=0.0;
        }
        sprintf(s,"%4d%.16s%*.*f",week,sep,6+(timeu<=0?0:timeu+1),timeu,gpst);
    }
    switch (opt->posf) {
        case SOLF_LLH:  p+=outpos (p,s,sol,opt);   break;
        case SOLF_XYZ:  p+=outecef(p,s,sol,opt);   break;
        case SOLF_ENU:  p+=outenu(p,s,sol,rb,opt); break;
        case SOLF_NMEA: p+=outnmea_rmc(p,sol);
                        p+=outnmea_gga(p,sol); break;
    }
    return p-buff;
}