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rinex.c
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/*------------------------------------------------------------------------------
* rinex.c : rinex functions
*
* Copyright (C) 2007-2014 by T.TAKASU, All rights reserved.
*
* reference :
* [1] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 2.11, December 10, 2007
* [2] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.00, November 28, 2007
* [3] IS-GPS-200D, Navstar GPS Space Segment/Navigation User Interfaces,
* 7 March, 2006
* [4] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 2.12, June 23, 2009
* [5] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.01, June 22, 2009
* [6] J.Ray and W.Gurtner, RINEX extentions to handle clock information
* version 3.02, September 2, 2010
* [7] RINEX The Receiver Independent Exchange Format Version 3.02,
* International GNSS Service (IGS), RINEX Working Group and Radio
* Technical Commission for Maritime Services Special Committee 104
* (RTCM-SC104), December 10, 2012
*
* version : $Revision:$
* history : 2006/01/16 1.0 new
* 2007/03/14 1.1 read P1 if no obstype of C1
* 2007/04/27 1.2 add readrnxt() function
* 2007/05/25 1.3 add support of file path with wild-card (*)
* add support of compressed files
* 2007/11/02 1.4 support sbas/geo satellite
* support doppler observables
* support rinex bug of week handover
* add rinex obs/nav output functions
* 2008/06/16 1.5 export readrnxf(), add compress()
* separate sortobs(), uniqeph(), screent()
* 2008/10/28 1.6 fix bug on reading rinex obs header types of observ
* 2009/04/09 1.7 support rinex 2.11
* change api of outrnxobsh(),outrnxobsb(),outrnxnavb()
* 2009/06/02 1.8 add api outrnxgnavb()
* 2009/08/15 1.9 support glonass
* add slip save/restore functions
* 2010/03/03 1.10 fix bug of array access by disabled satellite
* 2010/07/21 1.11 support rinex ver.2.12, 3.00
* support rinex extension for qzss
* support geo navigation messages
* added api:
* setrnxcodepri(),outrnxhnavh(),outrnxhnavb(),
* changed api:
* readrnx(),readrnxt(),outrnxnavh(),outrnxgnavh()
* 2010/05/29 1.12 fix bug on skipping invalid satellite data
* fix bug on frequency number overflow
* output P1 instead of C1 if rnxopt.rcvopt=-L1P
* output C2 instead of P2 if rnxopt.rcvopt=-L2C
* change api:
* outrnxgnavh(),outrnxhnavh(),readrnx(),
* readrnxt()
* add api:
* outrnxlnavh(), outrnxqnav()
* move uniqeph(),uniqgeph,uniqseph()
* 2010/08/19 1.13 suppress warning
* 2012/03/01 1.14 add function to read cnes widelane fcb in rnxclk
* support compass rinex nav
* change api: setcodepri()
* 2012/10/17 1.15 support ver.2.12, ver.3.01
* add api init_rnxctr(),free_rnxctr(),open_rnxctr(),
* input_rnxctr()
* change api readrnxt(),readrnx()
* delete api setrnxcodepri()
* fix bug on message frama time in v.3 glonass nav
* 2013/02/09 1.16 add reading geph.iode derived from toe
* 2013/02/23 1.17 support rinex 3.02 (ref [7])
* change api outrnxobsh()
* add api outrnxcnavh()
* fix bug on output of fit interval
* 2013/05/08 1.18 fix bug on reading glo and geo nav in rinex 3
* 2013/09/01 1.19 fix bug on reading galileo "C1" in rinex 2.12
* 2013/12/16 1.20 reject C1 for 2.12
* 2014/05/26 1.21 fix bug on reading gps "C2" in rinex 2.11 or 2.12
* fix problem on type imcompatibility
* support beidou
* 2014/08/29 1.22 fix bug on reading gps "C2" in rinex 2.11 or 2.12
* 2014/10/20 1.23 recognize "C2" in 2.12 as "C2W" instead of "C2D"
* 2014/12/07 1.24 add read rinex option -SYS=...
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
static const char rcsid[]="$Id:$";
/* constants/macros ----------------------------------------------------------*/
#define SQR(x) ((x)*(x))
#define NUMSYS 6 /* number of systems */
#define MAXRNXLEN (16*MAXOBSTYPE+4) /* max rinex record length */
#define MAXPOSHEAD 1024 /* max head line position */
#define MINFREQ_GLO -7 /* min frequency number glonass */
#define MAXFREQ_GLO 13 /* max frequency number glonass */
#define NINCOBS 262144 /* inclimental number of obs data */
static const int navsys[]={ /* satellite systems */
SYS_GPS,SYS_GLO,SYS_GAL,SYS_QZS,SYS_SBS,SYS_CMP,0
};
static const char syscodes[]="GREJSC"; /* satellite system codes */
static const char obscodes[]="CLDS"; /* obs type codes */
static const char frqcodes[]="125678"; /* frequency codes */
static const double ura_eph[]={ /* ura values (ref [3] 20.3.3.3.1.1) */
2.4,3.4,4.85,6.85,9.65,13.65,24.0,48.0,96.0,192.0,384.0,768.0,1536.0,
3072.0,6144.0,0.0
};
/* type definition -----------------------------------------------------------*/
typedef struct { /* signal index type */
int n; /* number of index */
int frq[MAXOBSTYPE]; /* signal frequency (1:L1,2:L2,...) */
int pos[MAXOBSTYPE]; /* signal index in obs data (-1:no) */
unsigned char pri [MAXOBSTYPE]; /* signal priority (15-0) */
unsigned char type[MAXOBSTYPE]; /* type (0:C,1:L,2:D,3:S) */
unsigned char code[MAXOBSTYPE]; /* obs code (CODE_L??) */
double shift[MAXOBSTYPE]; /* phase shift (cycle) */
} sigind_t;
/* set string without tail space ---------------------------------------------*/
static void setstr(char *dst, const char *src, int n)
{
char *p=dst;
const char *q=src;
while (*q&&q<src+n) *p++=*q++;
*p--='\0';
while (p>=dst&&*p==' ') *p--='\0';
}
/* adjust time considering week handover -------------------------------------*/
static gtime_t adjweek(gtime_t t, gtime_t t0)
{
double tt=timediff(t,t0);
if (tt<-302400.0) return timeadd(t, 604800.0);
if (tt> 302400.0) return timeadd(t,-604800.0);
return t;
}
/* adjust time considering week handover -------------------------------------*/
static gtime_t adjday(gtime_t t, gtime_t t0)
{
double tt=timediff(t,t0);
if (tt<-43200.0) return timeadd(t, 86400.0);
if (tt> 43200.0) return timeadd(t,-86400.0);
return t;
}
/* time string for ver.3 (yyyymmdd hhmmss UTC) -------------------------------*/
static void timestr_rnx(char *str)
{
gtime_t time;
double ep[6];
time=timeget();
time.sec=0.0;
time2epoch(time,ep);
sprintf(str,"%04.0f%02.0f%02.0f %02.0f%02.0f%02.0f UTC",ep[0],ep[1],ep[2],
ep[3],ep[4],ep[5]);
}
/* satellite to satellite code -----------------------------------------------*/
static int sat2code(int sat, char *code)
{
int prn;
switch (satsys(sat,&prn)) {
case SYS_GPS: sprintf(code,"G%2d",prn-MINPRNGPS+1); break;
case SYS_GLO: sprintf(code,"R%2d",prn-MINPRNGLO+1); break;
case SYS_GAL: sprintf(code,"E%2d",prn-MINPRNGAL+1); break;
case SYS_SBS: sprintf(code,"S%2d",prn-100); break;
case SYS_QZS: sprintf(code,"J%2d",prn-MINPRNQZS+1); break;
case SYS_CMP: sprintf(code,"C%2d",prn-MINPRNCMP+1); break;
default: return 0;
}
return 1;
}
/* ura index to ura value (m) ------------------------------------------------*/
static double uravalue(int sva)
{
return 0<=sva&&sva<15?ura_eph[sva]:32767.0;
}
/* ura value (m) to ura index ------------------------------------------------*/
static int uraindex(double value)
{
int i;
for (i=0;i<15;i++) if (ura_eph[i]>=value) break;
return i;
}
/* initialize station parameter ----------------------------------------------*/
static void init_sta(sta_t *sta)
{
int i;
*sta->name ='\0';
*sta->marker ='\0';
*sta->antdes ='\0';
*sta->antsno ='\0';
*sta->rectype='\0';
*sta->recver ='\0';
*sta->recsno ='\0';
sta->antsetup=sta->itrf=sta->deltype=0;
for (i=0;i<3;i++) sta->pos[i]=0.0;
for (i=0;i<3;i++) sta->del[i]=0.0;
sta->hgt=0.0;
}
/*------------------------------------------------------------------------------
* input rinex functions
*-----------------------------------------------------------------------------*/
/* convert rinex obs type ver.2 -> ver.3 -------------------------------------*/
static void convcode(double ver, int sys, const char *str, char *type)
{
strcpy(type," ");
if (!strcmp(str,"P1")) { /* ver.2.11 GPS L1PY,GLO L2P */
if (sys==SYS_GPS) sprintf(type,"%c1W",'C');
else if (sys==SYS_GLO) sprintf(type,"%c1P",'C');
}
else if (!strcmp(str,"P2")) { /* ver.2.11 GPS L2PY,GLO L2P */
if (sys==SYS_GPS) sprintf(type,"%c2W",'C');
else if (sys==SYS_GLO) sprintf(type,"%c2P",'C');
}
else if (!strcmp(str,"C1")) { /* ver.2.11 GPS L1C,GLO L1C/A */
if (ver>=2.12) ; /* reject C1 for 2.12 */
else if (sys==SYS_GPS) sprintf(type,"%c1C",'C');
else if (sys==SYS_GLO) sprintf(type,"%c1C",'C');
else if (sys==SYS_GAL) sprintf(type,"%c1X",'C'); /* ver.2.12 */
else if (sys==SYS_QZS) sprintf(type,"%c1C",'C');
else if (sys==SYS_SBS) sprintf(type,"%c1C",'C');
}
else if (!strcmp(str,"C2")) {
if (sys==SYS_GPS) {
if (ver>=2.12) sprintf(type,"%c2W",'C'); /* L2P(Y) */
else sprintf(type,"%c2X",'C'); /* L2C */
}
else if (sys==SYS_GLO) sprintf(type,"%c2C",'C');
else if (sys==SYS_QZS) sprintf(type,"%c2X",'C');
else if (sys==SYS_CMP) sprintf(type,"%c1X",'C'); /* ver.2.12 B1 */
}
else if (ver>=2.12&&str[1]=='A') { /* ver.2.12 L1C/A */
if (sys==SYS_GPS) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_GLO) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_SBS) sprintf(type,"%c1C",str[0]);
}
else if (ver>=2.12&&str[1]=='B') { /* ver.2.12 GPS L1C */
if (sys==SYS_GPS) sprintf(type,"%c1X",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c1X",str[0]);
}
else if (ver>=2.12&&str[1]=='C') { /* ver.2.12 GPS L2C */
if (sys==SYS_GPS) sprintf(type,"%c2X",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c2X",str[0]);
}
else if (ver>=2.12&&str[1]=='D') { /* ver.2.12 GLO L2C/A */
if (sys==SYS_GLO) sprintf(type,"%c2C",str[0]);
}
else if (ver>=2.12&&str[1]=='1') { /* ver.2.12 GPS L1PY,GLO L1P */
if (sys==SYS_GPS) sprintf(type,"%c1W",str[0]);
else if (sys==SYS_GLO) sprintf(type,"%c1P",str[0]);
else if (sys==SYS_GAL) sprintf(type,"%c1X",str[0]); /* tentative */
else if (sys==SYS_CMP) sprintf(type,"%c1X",str[0]); /* extension */
}
else if (ver<2.12&&str[1]=='1') {
if (sys==SYS_GPS) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_GLO) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_GAL) sprintf(type,"%c1X",str[0]); /* tentative */
else if (sys==SYS_QZS) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_SBS) sprintf(type,"%c1C",str[0]);
}
else if (str[1]=='2') {
if (sys==SYS_GPS) sprintf(type,"%c2W",str[0]);
else if (sys==SYS_GLO) sprintf(type,"%c2P",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c2X",str[0]);
else if (sys==SYS_CMP) sprintf(type,"%c1X",str[0]); /* ver.2.12 B1 */
}
else if (str[1]=='5') {
if (sys==SYS_GPS) sprintf(type,"%c5X",str[0]);
else if (sys==SYS_GAL) sprintf(type,"%c5X",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c5X",str[0]);
else if (sys==SYS_SBS) sprintf(type,"%c5X",str[0]);
}
else if (str[1]=='6') {
if (sys==SYS_GAL) sprintf(type,"%c6X",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c6X",str[0]);
else if (sys==SYS_CMP) sprintf(type,"%c6X",str[0]); /* ver.2.12 B3 */
}
else if (str[1]=='7') {
if (sys==SYS_GAL) sprintf(type,"%c7X",str[0]);
else if (sys==SYS_CMP) sprintf(type,"%c7X",str[0]); /* ver.2.12 B2 */
}
else if (str[1]=='8') {
if (sys==SYS_GAL) sprintf(type,"%c8X",str[0]);
}
trace(3,"convcode: ver=%.2f sys=%2d type= %s -> %s\n",ver,sys,str,type);
}
/* decode obs header ---------------------------------------------------------*/
static void decode_obsh(FILE *fp, char *buff, double ver, int *tsys,
char tobs[][MAXOBSTYPE][4], nav_t *nav, sta_t *sta)
{
/* default codes for unknown code */
const char *defcodes[]={
"CWX ", /* GPS: L125___ */
"CC ", /* GLO: L12____ */
"X XXXX", /* GAL: L1_5678 */
"CXXX ", /* QZS: L1256__ */
"C X ", /* SBS: L1_5___ */
"X XX " /* BDS: L1__67_ */
};
double del[3];
int i,j,k,n,nt,prn,fcn;
const char *p;
char *label=buff+60,str[4];
trace(4,"decode_obsh: ver=%.2f\n",ver);
if (strstr(label,"MARKER NAME" )) {
if (sta) setstr(sta->name,buff,60);
}
else if (strstr(label,"MARKER NUMBER" )) { /* opt */
if (sta) setstr(sta->marker,buff,20);
}
else if (strstr(label,"MARKER TYPE" )) ; /* ver.3 */
else if (strstr(label,"OBSERVER / AGENCY" )) ;
else if (strstr(label,"REC # / TYPE / VERS" )) {
if (sta) {
setstr(sta->recsno, buff, 20);
setstr(sta->rectype,buff+20,20);
setstr(sta->recver, buff+40,20);
}
}
else if (strstr(label,"ANT # / TYPE" )) {
if (sta) {
setstr(sta->antsno,buff ,20);
setstr(sta->antdes,buff+20,20);
}
}
else if (strstr(label,"APPROX POSITION XYZ" )) {
if (sta) {
for (i=0,j=0;i<3;i++,j+=14) sta->pos[i]=str2num(buff,j,14);
}
}
else if (strstr(label,"ANTENNA: DELTA H/E/N")) {
if (sta) {
for (i=0,j=0;i<3;i++,j+=14) del[i]=str2num(buff,j,14);
sta->del[2]=del[0]; /* h */
sta->del[0]=del[1]; /* e */
sta->del[1]=del[2]; /* n */
}
}
else if (strstr(label,"ANTENNA: DELTA X/Y/Z")) ; /* opt ver.3 */
else if (strstr(label,"ANTENNA: PHASECENTER")) ; /* opt ver.3 */
else if (strstr(label,"ANTENNA: B.SIGHT XYZ")) ; /* opt ver.3 */
else if (strstr(label,"ANTENNA: ZERODIR AZI")) ; /* opt ver.3 */
else if (strstr(label,"ANTENNA: ZERODIR XYZ")) ; /* opt ver.3 */
else if (strstr(label,"CENTER OF MASS: XYZ" )) ; /* opt ver.3 */
else if (strstr(label,"SYS / # / OBS TYPES" )) { /* ver.3 */
if (!(p=strchr(syscodes,buff[0]))) {
trace(2,"invalid system code: sys=%c\n",buff[0]);
return;
}
i=(int)(p-syscodes);
n=(int)str2num(buff,3,3);
for (j=nt=0,k=7;j<n;j++,k+=4) {
if (k>58) {
if (!fgets(buff,MAXRNXLEN,fp)) break;
k=7;
}
if (nt<MAXOBSTYPE-1) setstr(tobs[i][nt++],buff+k,3);
}
*tobs[i][nt]='\0';
/* change beidou B1 code: 3.02 draft -> 3.02 */
if (i==5) {
for (j=0;j<nt;j++) if (tobs[i][j][1]=='2') tobs[i][j][1]='1';
}
/* if unknown code in ver.3, set default code */
for (j=0;j<nt;j++) {
if (tobs[i][j][2]) continue;
if (!(p=strchr(frqcodes,tobs[i][j][1]))) continue;
tobs[i][j][2]=defcodes[i][(int)(p-frqcodes)];
trace(2,"set default for unknown code: sys=%c code=%s\n",buff[0],
tobs[i][j]);
}
}
else if (strstr(label,"WAVELENGTH FACT L1/2")) ; /* opt ver.2 */
else if (strstr(label,"# / TYPES OF OBSERV" )) { /* ver.2 */
n=(int)str2num(buff,0,6);
for (i=nt=0,j=10;i<n;i++,j+=6) {
if (j>58) {
if (!fgets(buff,MAXRNXLEN,fp)) break;
j=10;
}
if (nt>=MAXOBSTYPE-1) continue;
if (ver<=2.99) {
setstr(str,buff+j,2);
convcode(ver,SYS_GPS,str,tobs[0][nt]);
convcode(ver,SYS_GLO,str,tobs[1][nt]);
convcode(ver,SYS_GAL,str,tobs[2][nt]);
convcode(ver,SYS_QZS,str,tobs[3][nt]);
convcode(ver,SYS_SBS,str,tobs[4][nt]);
convcode(ver,SYS_CMP,str,tobs[5][nt]);
}
nt++;
}
*tobs[0][nt]='\0';
}
else if (strstr(label,"SIGNAL STRENGTH UNIT")) ; /* opt ver.3 */
else if (strstr(label,"INTERVAL" )) ; /* opt */
else if (strstr(label,"TIME OF FIRST OBS" )) {
if (!strncmp(buff+48,"GPS",3)) *tsys=TSYS_GPS;
else if (!strncmp(buff+48,"GLO",3)) *tsys=TSYS_UTC;
else if (!strncmp(buff+48,"GAL",3)) *tsys=TSYS_GAL;
else if (!strncmp(buff+48,"QZS",3)) *tsys=TSYS_QZS; /* ver.3.02 */
else if (!strncmp(buff+48,"BDT",3)) *tsys=TSYS_CMP; /* ver.3.02 */
}
else if (strstr(label,"TIME OF LAST OBS" )) ; /* opt */
else if (strstr(label,"RCV CLOCK OFFS APPL" )) ; /* opt */
else if (strstr(label,"SYS / DCBS APPLIED" )) ; /* opt ver.3 */
else if (strstr(label,"SYS / PCVS APPLIED" )) ; /* opt ver.3 */
else if (strstr(label,"SYS / SCALE FACTOR" )) ; /* opt ver.3 */
else if (strstr(label,"SYS / PHASE SHIFTS" )) ; /* ver.3.01 */
else if (strstr(label,"GLONASS SLOT / FRQ #")) { /* ver.3.02 */
if (nav) {
for (i=0,p=buff+4;i<8;i++,p+=8) {
if (sscanf(p,"R%2d %2d",&prn,&fcn)<2) continue;
if (1<=prn&&prn<=MAXPRNGLO) nav->glo_fcn[prn-1]=fcn+8;
}
}
}
else if (strstr(label,"GLONASS COD/PHS/BIS" )) { /* ver.3.02 */
if (nav) {
for (i=0,p=buff;i<4;i++,p+=13) {
if (strncmp(p+1,"C1C",3)) nav->glo_cpbias[0]=str2num(p,5,8);
else if (strncmp(p+1,"C1P",3)) nav->glo_cpbias[1]=str2num(p,5,8);
else if (strncmp(p+1,"C2C",3)) nav->glo_cpbias[2]=str2num(p,5,8);
else if (strncmp(p+1,"C2P",3)) nav->glo_cpbias[3]=str2num(p,5,8);
}
}
}
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
if (nav) nav->leaps=(int)str2num(buff,0,6);
}
else if (strstr(label,"# OF SALTELLITES" )) ; /* opt */
else if (strstr(label,"PRN / # OF OBS" )) ; /* opt */
}
/* decode nav header ---------------------------------------------------------*/
static void decode_navh(char *buff, nav_t *nav)
{
int i,j;
char *label=buff+60;
trace(4,"decode_navh:\n");
if (strstr(label,"ION ALPHA" )) { /* opt ver.2 */
if (nav) {
for (i=0,j=2;i<4;i++,j+=12) nav->ion_gps[i]=str2num(buff,j,12);
}
}
else if (strstr(label,"ION BETA" )) { /* opt ver.2 */
if (nav) {
for (i=0,j=2;i<4;i++,j+=12) nav->ion_gps[i+4]=str2num(buff,j,12);
}
}
else if (strstr(label,"DELTA-UTC: A0,A1,T,W")) { /* opt ver.2 */
if (nav) {
for (i=0,j=3;i<2;i++,j+=19) nav->utc_gps[i]=str2num(buff,j,19);
for (;i<4;i++,j+=9) nav->utc_gps[i]=str2num(buff,j,9);
}
}
else if (strstr(label,"IONOSPHERIC CORR" )) { /* opt ver.3 */
if (nav) {
if (!strncmp(buff,"GPSA",4)) {
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gps[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"GPSB",4)) {
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gps[i+4]=str2num(buff,j,12);
}
else if (!strncmp(buff,"GAL",3)) {
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gal[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"QZSA",4)) { /* v.3.02 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_qzs[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"QZSB",4)) { /* v.3.02 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_qzs[i+4]=str2num(buff,j,12);
}
else if (!strncmp(buff,"BDSA",4)) { /* v.3.02 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_cmp[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"BDSB",4)) { /* v.3.02 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_cmp[i+4]=str2num(buff,j,12);
}
}
}
else if (strstr(label,"TIME SYSTEM CORR" )) { /* opt ver.3 */
if (nav) {
if (!strncmp(buff,"GPUT",4)) {
nav->utc_gps[0]=str2num(buff, 5,17);
nav->utc_gps[1]=str2num(buff,22,16);
nav->utc_gps[2]=str2num(buff,38, 7);
nav->utc_gps[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"GLUT",4)) {
nav->utc_glo[0]=str2num(buff, 5,17);
nav->utc_glo[1]=str2num(buff,22,16);
}
else if (!strncmp(buff,"GAUT",4)) { /* v.3.02 */
nav->utc_gal[0]=str2num(buff, 5,17);
nav->utc_gal[1]=str2num(buff,22,16);
nav->utc_gal[2]=str2num(buff,38, 7);
nav->utc_gal[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"QZUT",4)) { /* v.3.02 */
nav->utc_qzs[0]=str2num(buff, 5,17);
nav->utc_qzs[1]=str2num(buff,22,16);
nav->utc_qzs[2]=str2num(buff,38, 7);
nav->utc_qzs[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"BDUT",4)) { /* v.3.02 */
nav->utc_cmp[0]=str2num(buff, 5,17);
nav->utc_cmp[1]=str2num(buff,22,16);
nav->utc_cmp[2]=str2num(buff,38, 7);
nav->utc_cmp[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"SBUT",4)) { /* v.3.02 */
nav->utc_cmp[0]=str2num(buff, 5,17);
nav->utc_cmp[1]=str2num(buff,22,16);
nav->utc_cmp[2]=str2num(buff,38, 7);
nav->utc_cmp[3]=str2num(buff,45, 5);
}
}
}
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
if (nav) nav->leaps=(int)str2num(buff,0,6);
}
}
/* decode gnav header --------------------------------------------------------*/
static void decode_gnavh(char *buff, nav_t *nav)
{
char *label=buff+60;
trace(4,"decode_gnavh:\n");
if (strstr(label,"CORR TO SYTEM TIME" )) ; /* opt */
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
if (nav) nav->leaps=(int)str2num(buff,0,6);
}
}
/* decode geo nav header -----------------------------------------------------*/
static void decode_hnavh(char *buff, nav_t *nav)
{
char *label=buff+60;
trace(4,"decode_hnavh:\n");
if (strstr(label,"CORR TO SYTEM TIME" )) ; /* opt */
else if (strstr(label,"D-UTC A0,A1,T,W,S,U" )) ; /* opt */
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
if (nav) nav->leaps=(int)str2num(buff,0,6);
}
}
/* read rinex header ---------------------------------------------------------*/
static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys,
char tobs[][MAXOBSTYPE][4], nav_t *nav, sta_t *sta)
{
double bias;
char buff[MAXRNXLEN],*label=buff+60;
int i=0,block=0,sat;
trace(3,"readrnxh:\n");
*ver=2.10; *type=' '; *sys=SYS_GPS; *tsys=TSYS_GPS;
while (fgets(buff,MAXRNXLEN,fp)) {
if (strlen(buff)<=60) continue;
else if (strstr(label,"RINEX VERSION / TYPE")) {
*ver=str2num(buff,0,9);
*type=*(buff+20);
/* satellite system */
switch (*(buff+40)) {
case ' ':
case 'G': *sys=SYS_GPS; *tsys=TSYS_GPS; break;
case 'R': *sys=SYS_GLO; *tsys=TSYS_UTC; break;
case 'E': *sys=SYS_GAL; *tsys=TSYS_GAL; break; /* v.2.12 */
case 'S': *sys=SYS_SBS; *tsys=TSYS_GPS; break;
case 'J': *sys=SYS_QZS; *tsys=TSYS_QZS; break; /* v.3.02 */
case 'C': *sys=SYS_CMP; *tsys=TSYS_CMP; break; /* v.2.12 */
case 'M': *sys=SYS_NONE; *tsys=TSYS_GPS; break; /* mixed */
default :
trace(2,"not supported satellite system: %c\n",*(buff+40));
break;
}
continue;
}
else if (strstr(label,"PGM / RUN BY / DATE")) continue;
else if (strstr(label,"COMMENT")) { /* opt */
/* read cnes wl satellite fractional bias */
if (strstr(buff,"WIDELANE SATELLITE FRACTIONAL BIASES")||
strstr(buff,"WIDELANE SATELLITE FRACTIONNAL BIASES")) {
block=1;
}
else if (block) {
/* cnes/cls grg clock */
if (!strncmp(buff,"WL",2)&&(sat=satid2no(buff+3))&&
sscanf(buff+40,"%lf",&bias)==1) {
nav->wlbias[sat-1]=bias;
}
/* cnes ppp-wizard clock */
else if ((sat=satid2no(buff+1))&&sscanf(buff+6,"%lf",&bias)==1) {
nav->wlbias[sat-1]=bias;
}
}
continue;
}
/* file type */
switch (*type) {
case 'O': decode_obsh(fp,buff,*ver,tsys,tobs,nav,sta); break;
case 'N': decode_navh (buff,nav); break;
case 'G': decode_gnavh(buff,nav); break;
case 'H': decode_hnavh(buff,nav); break;
case 'J': decode_navh (buff,nav); break; /* extension */
case 'L': decode_navh (buff,nav); break; /* extension */
}
if (strstr(label,"END OF HEADER")) return 1;
if (++i>=MAXPOSHEAD&&*type==' ') break; /* no rinex file */
}
return 0;
}
/* decode obs epoch ----------------------------------------------------------*/
static int decode_obsepoch(FILE *fp, char *buff, double ver, gtime_t *time,
int *flag, int *sats)
{
int i,j,n;
char satid[8]="";
trace(4,"decode_obsepoch: ver=%.2f\n",ver);
if (ver<=2.99) { /* ver.2 */
if ((n=(int)str2num(buff,29,3))<=0) return 0;
/* epoch flag: 3:new site,4:header info,5:external event */
*flag=(int)str2num(buff,28,1);
if (3<=*flag&&*flag<=5) return n;
if (str2time(buff,0,26,time)) {
trace(2,"rinex obs invalid epoch: epoch=%26.26s\n",buff);
return 0;
}
for (i=0,j=32;i<n;i++,j+=3) {
if (j>=68) {
if (!fgets(buff,MAXRNXLEN,fp)) break;
j=32;
}
if (i<MAXOBS) {
strncpy(satid,buff+j,3);
sats[i]=satid2no(satid);
}
}
}
else { /* ver.3 */
if ((n=(int)str2num(buff,32,3))<=0) return 0;
*flag=(int)str2num(buff,31,1);
if (3<=*flag&&*flag<=5) return n;
if (buff[0]!='>'||str2time(buff,1,28,time)) {
trace(2,"rinex obs invalid epoch: epoch=%29.29s\n",buff);
return 0;
}
}
trace(4,"decode_obsepoch: time=%s flag=%d\n",time_str(*time,3),*flag);
return n;
}
/* decode obs data -----------------------------------------------------------*/
static int decode_obsdata(FILE *fp, char *buff, double ver, int mask,
sigind_t *index, obsd_t *obs)
{
sigind_t *ind;
double val[MAXOBSTYPE]={0};
unsigned char lli[MAXOBSTYPE]={0};
char satid[8]="";
int i,j,n,m,stat=1,p[MAXOBSTYPE],k[16],l[16];
trace(4,"decode_obsdata: ver=%.2f\n",ver);
if (ver>2.99) { /* ver.3 */
strncpy(satid,buff,3);
obs->sat=(unsigned char)satid2no(satid);
}
if (!obs->sat) {
trace(4,"decode_obsdata: unsupported sat sat=%s\n",satid);
stat=0;
}
else if (!(satsys(obs->sat,NULL)&mask)) {
stat=0;
}
/* read obs data fields */
switch (satsys(obs->sat,NULL)) {
case SYS_GLO: ind=index+1; break;
case SYS_GAL: ind=index+2; break;
case SYS_QZS: ind=index+3; break;
case SYS_SBS: ind=index+4; break;
case SYS_CMP: ind=index+5; break;
default: ind=index ; break;
}
for (i=0,j=ver<=2.99?0:3;i<ind->n;i++,j+=16) {
if (ver<=2.99&&j>=80) { /* ver.2 */
if (!fgets(buff,MAXRNXLEN,fp)) break;
j=0;
}
if (stat) {
val[i]=str2num(buff,j,14)+ind->shift[i];
lli[i]=(unsigned char)str2num(buff,j+14,1)&3;
}
}
if (!stat) return 0;
for (i=0;i<NFREQ+NEXOBS;i++) {
obs->P[i]=obs->L[i]=0.0; obs->D[i]=0.0f;
obs->SNR[i]=obs->LLI[i]=obs->code[i]=0;
}
/* assign position in obs data */
for (i=n=m=0;i<ind->n;i++) {
p[i]=ver<=2.11?ind->frq[i]-1:ind->pos[i];
if (ind->type[i]==0&&p[i]==0) k[n++]=i; /* C1? index */
if (ind->type[i]==0&&p[i]==1) l[m++]=i; /* C2? index */
}
if (ver<=2.11) {
/* if multiple codes (C1/P1,C2/P2), select higher priority */
if (n>=2) {
if (val[k[0]]==0.0&&val[k[1]]==0.0) {
p[k[0]]=-1; p[k[1]]=-1;
}
else if (val[k[0]]!=0.0&&val[k[1]]==0.0) {
p[k[0]]=0; p[k[1]]=-1;
}
else if (val[k[0]]==0.0&&val[k[1]]!=0.0) {
p[k[0]]=-1; p[k[1]]=0;
}
else if (ind->pri[k[1]]>ind->pri[k[0]]) {
p[k[1]]=0; p[k[0]]=NEXOBS<1?-1:NFREQ;
}
else {
p[k[0]]=0; p[k[1]]=NEXOBS<1?-1:NFREQ;
}
}
if (m>=2) {
if (val[l[0]]==0.0&&val[l[1]]==0.0) {
p[l[0]]=-1; p[l[1]]=-1;
}
else if (val[l[0]]!=0.0&&val[l[1]]==0.0) {
p[l[0]]=1; p[l[1]]=-1;
}
else if (val[l[0]]==0.0&&val[l[1]]!=0.0) {
p[l[0]]=-1; p[l[1]]=1;
}
else if (ind->pri[l[1]]>ind->pri[l[0]]) {
p[l[1]]=1; p[l[0]]=NEXOBS<2?-1:NFREQ+1;
}
else {
p[l[0]]=1; p[l[1]]=NEXOBS<2?-1:NFREQ+1;
}
}
}
/* save obs data */
for (i=0;i<ind->n;i++) {
if (p[i]<0||val[i]==0.0) continue;
switch (ind->type[i]) {
case 0: obs->P[p[i]]=val[i]; obs->code[p[i]]=ind->code[i]; break;
case 1: obs->L[p[i]]=val[i]; obs->LLI [p[i]]=lli[i]; break;
case 2: obs->D[p[i]]=(float)val[i]; break;
case 3: obs->SNR[p[i]]=(unsigned char)(val[i]*4.0+0.5); break;
}
}
trace(4,"decode_obsdata: time=%s sat=%2d\n",time_str(obs->time,0),obs->sat);
return 1;
}
/* save slips ----------------------------------------------------------------*/
static void saveslips(unsigned char slips[][NFREQ], obsd_t *data)
{
int i;
for (i=0;i<NFREQ;i++) {
if (data->LLI[i]&1) slips[data->sat-1][i]|=1;
}
}
/* restore slips -------------------------------------------------------------*/
static void restslips(unsigned char slips[][NFREQ], obsd_t *data)
{
int i;
for (i=0;i<NFREQ;i++) {
if (slips[data->sat-1][i]&1) data->LLI[i]|=1;
slips[data->sat-1][i]=0;
}
}
/* add obs data --------------------------------------------------------------*/
static int addobsdata(obs_t *obs, const obsd_t *data)
{
obsd_t *obs_data;
if (obs->nmax<=obs->n) {
if (obs->nmax<=0) obs->nmax=NINCOBS; else obs->nmax*=2;
if (!(obs_data=(obsd_t *)realloc(obs->data,sizeof(obsd_t)*obs->nmax))) {
trace(1,"addobsdata: memalloc error n=%dx%d\n",sizeof(obsd_t),obs->nmax);
free(obs->data); obs->data=NULL; obs->n=obs->nmax=0;
return -1;
}
obs->data=obs_data;
}
obs->data[obs->n++]=*data;
return 1;
}
/* set system mask -----------------------------------------------------------*/
static int set_sysmask(const char *opt)
{
const char *p;
int mask=SYS_NONE;
if (!(p=strstr(opt,"-SYS="))) return SYS_ALL;
for (p+=5;*p&&*p!=' ';p++) {
switch (*p) {
case 'G': mask|=SYS_GPS; break;
case 'R': mask|=SYS_GLO; break;
case 'E': mask|=SYS_GAL; break;
case 'J': mask|=SYS_QZS; break;
case 'C': mask|=SYS_CMP; break;
case 'S': mask|=SYS_SBS; break;
}
}
return mask;
}
/* set signal index ----------------------------------------------------------*/
static void set_index(double ver, int sys, const char *opt,
char tobs[MAXOBSTYPE][4], sigind_t *ind)
{
const char *p;
char str[8],*optstr="";
double shift;
int i,j,k,n;
for (i=n=0;*tobs[i];i++,n++) {
ind->code[i]=obs2code(tobs[i]+1,ind->frq+i);
ind->type[i]=(p=strchr(obscodes,tobs[i][0]))?(int)(p-obscodes):0;
ind->pri[i]=getcodepri(sys,ind->code[i],opt);
ind->pos[i]=-1;
/* frequency index for beidou */
if (sys==SYS_CMP) {
if (ind->frq[i]==5) ind->frq[i]=2; /* B2 */
else if (ind->frq[i]==4) ind->frq[i]=3; /* B3 */
}
}
/* parse phase shift options */
switch (sys) {
case SYS_GPS: optstr="-GL%2s=%lf"; break;
case SYS_GLO: optstr="-RL%2s=%lf"; break;
case SYS_GAL: optstr="-EL%2s=%lf"; break;
case SYS_QZS: optstr="-JL%2s=%lf"; break;
case SYS_SBS: optstr="-SL%2s=%lf"; break;
case SYS_CMP: optstr="-CL%2s=%lf"; break;
}
for (p=opt;p&&(p=strchr(p,'-'));p++) {
if (sscanf(p,optstr,str,&shift)<2) continue;
for (i=0;i<n;i++) {
if (strcmp(code2obs(ind->code[i],NULL),str)) continue;
ind->shift[i]=shift;
trace(2,"phase shift: sys=%2d tobs=%s shift=%.3f\n",sys,
tobs[i],shift);
}
}
/* assign index for highest priority code */
for (i=0;i<NFREQ;i++) {
for (j=0,k=-1;j<n;j++) {
if (ind->frq[j]==i+1&&ind->pri[j]&&(k<0||ind->pri[j]>ind->pri[k])) {
k=j;
}
}
if (k<0) continue;
for (j=0;j<n;j++) {
if (ind->code[j]==ind->code[k]) ind->pos[j]=i;
}
}
/* assign index of extended obs data */
for (i=0;i<NEXOBS;i++) {
for (j=0;j<n;j++) {
if (ind->code[j]&&ind->pri[j]&&ind->pos[j]<0) break;
}
if (j>=n) break;
for (k=0;k<n;k++) {
if (ind->code[k]==ind->code[j]) ind->pos[k]=NFREQ+i;
}
}
for (i=0;i<n;i++) {
if (!ind->code[i]||!ind->pri[i]||ind->pos[i]>=0) continue;
trace(4,"reject obs type: sys=%2d, obs=%s\n",sys,tobs[i]);
}
ind->n=n;
#if 0 /* for debug */
for (i=0;i<n;i++) {
trace(2,"set_index: sys=%2d,tobs=%s code=%2d pri=%2d frq=%d pos=%d shift=%5.2f\n",
sys,tobs[i],ind->code[i],ind->pri[i],ind->frq[i],ind->pos[i],
ind->shift[i]);
}
#endif
}
/* read rinex obs data body --------------------------------------------------*/
static int readrnxobsb(FILE *fp, const char *opt, double ver,
char tobs[][MAXOBSTYPE][4], int *flag, obsd_t *data)
{
gtime_t time={0};
sigind_t index[6]={{0}};
char buff[MAXRNXLEN];
int i=0,n=0,nsat=0,sats[MAXOBS]={0},mask;
/* set system mask */
mask=set_sysmask(opt);
/* set signal index */
set_index(ver,SYS_GPS,opt,tobs[0],index );
set_index(ver,SYS_GLO,opt,tobs[1],index+1);
set_index(ver,SYS_GAL,opt,tobs[2],index+2);
set_index(ver,SYS_QZS,opt,tobs[3],index+3);
set_index(ver,SYS_SBS,opt,tobs[4],index+4);
set_index(ver,SYS_CMP,opt,tobs[5],index+5);
/* read record */
while (fgets(buff,MAXRNXLEN,fp)) {
/* decode obs epoch */
if (i==0) {
if ((nsat=decode_obsepoch(fp,buff,ver,&time,flag,sats))<=0) {
continue;
}
}
else if (*flag<=2||*flag==6) {
data[n].time=time;
data[n].sat=(unsigned char)sats[i-1];
/* decode obs data */
if (decode_obsdata(fp,buff,ver,mask,index,data+n)&&n<MAXOBS) n++;
}
if (++i>nsat) return n;
}
return -1;
}
/* read rinex obs ------------------------------------------------------------*/
static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint,
const char *opt, int rcv, double ver, int tsys,
char tobs[][MAXOBSTYPE][4], obs_t *obs)
{
obsd_t *data;
unsigned char slips[MAXSAT][NFREQ]={{0}};
int i,n,flag=0,stat=0;
trace(4,"readrnxobs: rcv=%d ver=%.2f tsys=%d\n",rcv,ver,tsys);
if (!obs||rcv>MAXRCV) return 0;
if (!(data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))) return 0;
/* read rinex obs data body */
while ((n=readrnxobsb(fp,opt,ver,tobs,&flag,data))>=0&&stat>=0) {
for (i=0;i<n;i++) {
/* utc -> gpst */
if (tsys==TSYS_UTC) data[i].time=utc2gpst(data[i].time);
/* save cycle-slip */
saveslips(slips,data+i);
}
/* screen data by time */
if (n>0&&!screent(data[0].time,ts,te,tint)) continue;
for (i=0;i<n;i++) {
/* restore cycle-slip */
restslips(slips,data+i);
data[i].rcv=(unsigned char)rcv;
/* save obs data */
if ((stat=addobsdata(obs,data+i))<0) break;
}
}
trace(4,"readrnxobs: nobs=%d stat=%d\n",obs->n,stat);
free(data);