rtklib 2.4.2 p8

kira115 · Jun 29, 2014 · 0acd857 · 0acd857
1 parent 1a0c91e
commit 0acd857
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diff --git a/app/rtkpost/postmain.cpp b/app/rtkpost/postmain.cpp
@@ -709,8 +709,8 @@ int __fastcall TMainForm::ExecProc(void)
     if (InputFile3->Text!="") {
         strcpy(infile[n++],InputFile3_Text.c_str());
     }
-    else if ((prcopt.navsys&SYS_GPS)&&!ObsToNav(InputFile1_Text.c_str(),infile[n++])) {
-        showmsg("error: no gps navigation data");
+    else if (!ObsToNav(InputFile1_Text.c_str(),infile[n++])) {
+        showmsg("error: no navigation data");
         return 0;
     }
     if (InputFile4_Text!="") {

diff --git a/bin/convbin.exe b/bin/convbin.exe
diff --git a/bin/pos2kml.exe b/bin/pos2kml.exe
diff --git a/bin/rnx2rtkp.exe b/bin/rnx2rtkp.exe
diff --git a/bin/rtkconv.exe b/bin/rtkconv.exe
diff --git a/bin/rtkget.exe b/bin/rtkget.exe
diff --git a/bin/rtklaunch.exe b/bin/rtklaunch.exe
diff --git a/bin/rtknavi.exe b/bin/rtknavi.exe
diff --git a/bin/rtknavi_mkl.exe b/bin/rtknavi_mkl.exe
diff --git a/bin/rtkplot.exe b/bin/rtkplot.exe
diff --git a/bin/rtkpost.exe b/bin/rtkpost.exe
diff --git a/bin/rtkpost_mkl.exe b/bin/rtkpost_mkl.exe
diff --git a/bin/srctblbrows.exe b/bin/srctblbrows.exe
diff --git a/bin/strsvr.exe b/bin/strsvr.exe
diff --git a/data/TLE_GNSS_SATNO.txt b/data/TLE_GNSS_SATNO.txt
@@ -10,14 +10,15 @@
 #          2013/01/06  1.3  switch R08 satellite from 743 to 701
 #          2013/02/23  1.4  switch R08 satellite from 701 to 743
 #          2014/04/09  1.5  switch G27,G30,R02
+#          2014/06/10  1.5  switch G06, decommission G09
 #
 G32  20959U  90103A  # GPS BIIA-10 (PRN 32)    
 G26  22014U  92039A  # GPS BIIA-14 (PRN 26)    
 #G27  22108U  92058A  # GPS BIIA-15 (PRN 27)    
-G09  22700U  93042A  # GPS BIIA-21 (PRN 09)    
+#G09  22700U  93042A  # GPS BIIA-21 (PRN 09)    
 #G30  22779U  93054A  # GPS BIIA-22 (PRN 30)    
 G04  22877U  93068A  # GPS BIIA-23 (PRN 04)    
-G06  23027U  94016A  # GPS BIIA-24 (PRN 06)    
+#G06  23027U  94016A  # GPS BIIA-24 (PRN 06)    
 G03  23833U  96019A  # GPS BIIA-25 (PRN 03)    
 G10  23953U  96041A  # GPS BIIA-26 (PRN 10)    
 G13  24876U  97035A  # GPS BIIR-2  (PRN 13)    
@@ -45,6 +46,7 @@ G01  37753U  11036A  # GPS BIIF-2  (PRN 01)
 G24  38833U  12053A  # GPS BIIF-3  (PRN 24)    
 G27  39166U  13023A  # GPS BIIF-4  (PRN 27)    
 G30  39533U  14008A  # GPS BIIF-5  (PRN 30)    
+G06  39741U  14026A  # GPS BIIF-6  (PRN 06)    
 
 #R08 28509U  04053B  # COSMOS 2413 (712)       
 #R17 28915U  05050A  # COSMOS 2419 (714)       

diff --git a/data/ubx_m8n_bds_raw_1hz.cmd b/data/ubx_m8n_bds_raw_1hz.cmd
@@ -0,0 +1,16 @@
+!UBX CFG-GNSS 0 32 32 1 6 16 16 0 0
+!UBX CFG-GNSS 0 32 32 1 3 16 16 0 1
+!UBX CFG-MSG 3 16 0 0 0 1 0 0
+!UBX CFG-MSG 3 15 0 0 0 1 0 0
+!UBX CFG-MSG 1 32 0 0 0 1 0 0
+
+
+
+
+
+
+
+@
+!UBX CFG-MSG 3 16 0 0 0 0 0 0
+!UBX CFG-MSG 3 15 0 0 0 0 0 0
+!UBX CFG-MSG 1 32 0 0 0 0 0 0

diff --git a/data/ubx_m8n_glo_raw_1hz.cmd b/data/ubx_m8n_glo_raw_1hz.cmd
@@ -0,0 +1,16 @@
+!UBX CFG-GNSS 0 32 32 1 3 16 16 0 0
+!UBX CFG-GNSS 0 32 32 1 6 16 16 0 1
+!UBX CFG-MSG 3 16 0 0 0 1 0 0
+!UBX CFG-MSG 3 15 0 0 0 1 0 0
+!UBX CFG-MSG 1 32 0 0 0 1 0 0
+
+
+
+
+
+
+
+@
+!UBX CFG-MSG 3 16 0 0 0 0 0 0
+!UBX CFG-MSG 3 15 0 0 0 0 0 0
+!UBX CFG-MSG 1 32 0 0 0 0 0 0

diff --git a/src/convrnx.c b/src/convrnx.c
@@ -537,7 +537,7 @@ static void set_obstype(int format, rnxopt_t *opt)
     };
     /* supported codes by others */
     const unsigned char codes_other[6][8]={
-        {CODE_L1C},{CODE_L1C},{0},{0},{CODE_L1C}
+        {CODE_L1C},{CODE_L1C},{CODE_L1C},{CODE_L1C},{CODE_L1C},{CODE_L1I}
     };
     const unsigned char *codes;
     int i;

diff --git a/src/postpos.c b/src/postpos.c
@@ -1,7 +1,7 @@
 /*------------------------------------------------------------------------------
 * postpos.c : post-processing positioning
 *
-*          Copyright (C) 2007-2013 by T.TAKASU, All rights reserved.
+*          Copyright (C) 2007-2014 by T.TAKASU, All rights reserved.
 *
 * version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
 * history : 2007/05/08  1.0  new
@@ -24,6 +24,7 @@
 *           2011/09/15  1.11 add function reading stec file
 *           2012/02/01  1.12 support keyword expansion of rtcm ssr corrections
 *           2013/03/11  1.13 add function reading otl and erp data
+*           2014/06/29  1.14 fix problem on overflow of # of satellites
 *-----------------------------------------------------------------------------*/
 #include "rtklib.h"
 
@@ -207,8 +208,8 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
                 if (timediff(obss.data[i].time,obss.data[iobsu].time)>DTTOL) break;
         }
         nr=nextobsf(&obss,&iobsr,2);
-        for (i=0;i<nu&&n<MAXOBS;i++) obs[n++]=obss.data[iobsu+i];
-        for (i=0;i<nr&&n<MAXOBS;i++) obs[n++]=obss.data[iobsr+i];
+        for (i=0;i<nu&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsu+i];
+        for (i=0;i<nr&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsr+i];
         iobsu+=nu;
 
         /* update sbas corrections */
@@ -264,8 +265,8 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
                 if (timediff(obss.data[i].time,obss.data[iobsu].time)<-DTTOL) break;
         }
         nr=nextobsb(&obss,&iobsr,2);
-        for (i=0;i<nu&&n<MAXOBS;i++) obs[n++]=obss.data[iobsu-nu+1+i];
-        for (i=0;i<nr&&n<MAXOBS;i++) obs[n++]=obss.data[iobsr-nr+1+i];
+        for (i=0;i<nu&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsu-nu+1+i];
+        for (i=0;i<nr&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsr-nr+1+i];
         iobsu-=nu;
 
         /* update sbas corrections */
@@ -295,7 +296,7 @@ static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt,
     gtime_t time={0};
     sol_t sol={{0}};
     rtk_t rtk;
-    obsd_t obs[MAXOBS];
+    obsd_t obs[MAXOBS*2]; /* for rover and base */
     double rb[3]={0};
     int i,nobs,n,solstatic,pri[]={0,1,2,3,4,5,1,6};
 

diff --git a/src/rcv/crescent.c b/src/rcv/crescent.c
@@ -21,6 +21,7 @@
 *           2013/02/23 1.6 fix memory access violation problem on arm
 *           2014/05/13 1.7 support bin65 and bin66
 *                          add receiver option -TTCORR
+*           2014/06/21 1.8 move decode_glostr() to rcvraw.c
 *-----------------------------------------------------------------------------*/
 #include "rtklib.h"
 
@@ -470,77 +471,6 @@ static int decode_cresgloraw(raw_t *raw)
     raw->obs.n=n;
     return 1;
 }
-/* get sign-magnitude bits ---------------------------------------------------*/
-static double getbitg(const unsigned char *buff, int pos, int len)
-{
-    double value=getbitu(buff,pos+1,len-1);
-    return getbitu(buff,pos,1)?-value:value;
-}
-/* decode glonass ephemeris strings ------------------------------------------*/
-static int decode_glostr(raw_t *raw, int sat, int frq, geph_t *geph)
-{
-    double tow,tod,tof,toe;
-    unsigned char *str;
-    int i=1,n1,n2,n3,n4,P,P1,P2,P3,P4,tk_h,tk_m,tk_s,tb,ln,NT,slot,M,week;
-
-    /* s1=str[0-9],s2=str[10-19],s3=str[20-29],s4=str[30-39],... */
-    str=raw->subfrm[sat-1];
-    n1          =getbitu(str,i, 4);           i+= 4+2;
-    P1          =getbitu(str,i, 2);           i+= 2;
-    tk_h        =getbitu(str,i, 5);           i+= 5;
-    tk_m        =getbitu(str,i, 6);           i+= 6;
-    tk_s        =getbitu(str,i, 1)*30;        i+= 1;
-    geph->vel[0]=getbitg(str,i,24)*P2_20*1E3; i+=24;
-    geph->acc[0]=getbitg(str,i, 5)*P2_30*1E3; i+= 5;
-    geph->pos[0]=getbitg(str,i,27)*P2_11*1E3; i+=27+4;
-    n2          =getbitu(str,i, 4);           i+= 4;
-    geph->svh   =getbitu(str,i, 3);           i+= 3;
-    P2          =getbitu(str,i, 1);           i+= 1;
-    tb          =getbitu(str,i, 7);           i+= 7+5;
-    geph->vel[1]=getbitg(str,i,24)*P2_20*1E3; i+=24;
-    geph->acc[1]=getbitg(str,i, 5)*P2_30*1E3; i+= 5;
-    geph->pos[1]=getbitg(str,i,27)*P2_11*1E3; i+=27+4;
-    n3          =getbitu(str,i, 4);           i+= 4;
-    P3          =getbitu(str,i, 1);           i+= 1;
-    geph->gamn  =getbitg(str,i,11)*P2_40;     i+=11+1;
-    P           =getbitu(str,i, 2);           i+= 2;
-    ln          =getbitu(str,i, 1);           i+= 1;
-    geph->vel[2]=getbitg(str,i,24)*P2_20*1E3; i+=24;
-    geph->acc[2]=getbitg(str,i, 5)*P2_30*1E3; i+= 5;
-    geph->pos[2]=getbitg(str,i,27)*P2_11*1E3; i+=27+4;
-    n4          =getbitu(str,i, 4);           i+= 4;
-    geph->taun  =getbitg(str,i,22)*P2_30;     i+=22;
-    geph->dtaun =getbitg(str,i, 5)*P2_30;     i+= 5;
-    geph->age   =getbitu(str,i, 5);           i+= 5+14;
-    P4          =getbitu(str,i, 1);           i+= 1;
-    geph->sva   =getbitu(str,i, 4);           i+= 4+3;
-    NT          =getbitu(str,i,11);           i+=11;
-    slot        =getbitu(str,i, 5);           i+= 5;
-    M           =getbitu(str,i, 2);
-
-    if (n1!=1||n2!=2||n3!=3||n4!=4) {
-        trace(2,"decode_glostr: str no error no=%d %d %d %d\n",n1,n2,n3,n4);
-        return 0;
-    }
-    if (sat!=satno(SYS_GLO,slot)) {
-        trace(2,"decode_glostr: slot no error sat=%2d slot=%2d\n",sat,slot);
-        return 0;
-    }
-    geph->sat=sat;
-    geph->frq=frq;
-    geph->iode=tb;
-    tow=time2gpst(gpst2utc(raw->time),&week);
-    tod=fmod(tow,86400.0); tow-=tod;
-    tof=tk_h*3600.0+tk_m*60.0+tk_s-10800.0; /* lt->utc */
-    if      (tof<tod-43200.0) tof+=86400.0;
-    else if (tof>tod+43200.0) tof-=86400.0;
-    geph->tof=utc2gpst(gpst2time(week,tow+tof));
-    toe=tb*900.0-10800.0; /* lt->utc */
-    if      (toe<tod-43200.0) toe+=86400.0;
-    else if (toe>tod+43200.0) toe-=86400.0;
-    geph->toe=utc2gpst(gpst2time(week,tow+toe)); /* utc->gpst */
-    return 1;
-}
 /* decode bin 65 glonass ephemeris -------------------------------------------*/
 static int decode_cresgloeph(raw_t *raw)
 {
@@ -572,7 +502,9 @@ static int decode_cresgloeph(raw_t *raw)
         memcpy(raw->subfrm[sat-1]+10*i,str,10);
     }
     /* decode glonass ephemeris strings */
-    if (!decode_glostr(raw,sat,frq,&geph)) return -1;
+    geph.tof=raw->time;
+    if (!decode_glostr(raw->subfrm[sat-1],&geph)||geph.sat!=sat) return -1;
+    geph.frq=frq;
 
     if (!strstr(raw->opt,"-EPHALL")) {
         if (geph.iode==raw->nav.geph[prn-1].iode) return 0; /* unchanged */

diff --git a/src/rcv/javad.c b/src/rcv/javad.c
@@ -25,6 +25,7 @@
 *           2013/02/23 1.6 fix memory access violation problem on arm
 *           2013/05/08 1.7 fix bug on week number of galileo ephemeris
 *           2014/05/23 1.8 support beidou
+*           2014/06/23 1.9 support [lD] for glonass raw navigation data
 *-----------------------------------------------------------------------------*/
 #include "rtklib.h"
 
@@ -856,7 +857,7 @@ static int decode_L2nav(unsigned char *buff, int len, int sat, raw_t *raw)
         trace(2,"javad *d sat=%2d L2 CNAV preamble error preamb=%02X\n",preamb);
         return -1;
     }
-    trace(2,"L2CNAV: sat=%2d prn=%2d msgid=%2d tow=%6d alert=%d\n",sat,prn,
+    trace(3,"L2CNAV: sat=%2d prn=%2d msgid=%2d tow=%6d alert=%d\n",sat,prn,
           msgid,tow,alert);
 
     return 0;
@@ -883,7 +884,7 @@ static int decode_L5nav(unsigned char *buff, int len, int sat, raw_t *raw)
         trace(2,"javad *d sat=%2d L5 CNAV preamble error preamb=%02X\n",preamb);
         return -1;
     }
-    trace(2,"L5CNAV: sat=%2d prn=%2d msgid=%2d tow=%6d alert=%d\n",sat,prn,
+    trace(3,"L5CNAV: sat=%2d prn=%2d msgid=%2d tow=%6d alert=%d\n",sat,prn,
           msgid,tow,alert);
 
     return 0;
@@ -971,12 +972,62 @@ static int decode_LD(raw_t *raw)
 
     return 0;
 }
-/* decode [ID] glonass raw navigation data -----------------------------------*/
-static int decode_ID(raw_t *raw)
+/* decode [lD] glonass raw navigation data -----------------------------------*/
+static int decode_lD(raw_t *raw)
 {
-    trace(2,"javad ID not supported\n");
+    geph_t geph={0};
+    unsigned char *p=raw->buff+5;
+    char *msg;
+    int i,sat,prn,frq,time,type,len,id;
 
-    return 0;
+    if (!checksum(raw->buff,raw->len)) {
+        trace(2,"javad lD checksum error: len=%d\n",raw->len);
+        return -1;
+    }
+    trace(3,"decode_lD: prn=%3d\n",U1(p));
+
+    prn =U1(p); p+=1;
+    frq =I1(p); p+=1;
+    time=U4(p); p+=4;
+    type=U1(p); p+=1;
+    len =U1(p); p+=1;
+
+    if (raw->len!=14+len*4) {
+        trace(2,"javad lD length error: len=%d\n",raw->len);
+        return -1;
+    }
+    if (raw->outtype) {
+        msg=raw->msgtype+strlen(raw->msgtype);
+        sprintf(msg," prn=%2d frq=%2d time=%7d type=%d",prn,frq,time,type);
+    }
+    if (!(sat=satno(SYS_GLO,prn))) {
+        trace(2,"javad lD satellite error: prn=%d\n",prn);
+        return 0;
+    }
+    if (type!=0) {
+        trace(3,"javad lD type not supported: type=%d\n",type);
+        return 0;
+    }
+    if ((id=(U4(p)>>20)&0xF)<1) return 0;
+
+    /* get 77 bit (25x3+2) in frame without hamming and time mark */
+    for (i=0;i<4;i++) {
+        setbitu(raw->subfrm[sat-1]+(id-1)*10,i*25,i<3?25:2,
+                U4(p+4*i)>>(i<3?0:23));
+    }
+    if (id!=4) return 0;
+
+    /* decode glonass ephemeris strings */
+    geph.tof=raw->time;
+    if (!decode_glostr(raw->subfrm[sat-1],&geph)||geph.sat!=sat) return -1;
+    geph.frq=frq;
+
+    if (!strstr(raw->opt,"-EPHALL")) {
+        if (geph.iode==raw->nav.geph[prn-1].iode) return 0; /* unchanged */
+    }
+    raw->nav.geph[prn-1]=geph;
+    raw->ephsat=sat;
+    return 2;
 }
 /* decode [WD] waas raw navigation data --------------------------------------*/
 static int decode_WD(raw_t *raw)
@@ -1567,7 +1618,7 @@ static int decode_javad(raw_t *raw)
     if (!strncmp(p,"ED",2)) return decode_nd(raw,SYS_GAL); /* raw navigation data */
     if (!strncmp(p,"cd",2)) return decode_nd(raw,SYS_CMP); /* raw navigation data */
     if (!strncmp(p,"LD",2)) return decode_LD(raw); /* glonass raw navigation data */
-    if (!strncmp(p,"ID",2)) return decode_ID(raw); /* glonass raw navigation data */
+    if (!strncmp(p,"lD",2)) return decode_lD(raw); /* glonass raw navigation data */
     if (!strncmp(p,"WD",2)) return decode_WD(raw); /* sbas raw navigation data */
 
     if (!strncmp(p,"TC",2)) return decode_TC(raw); /* CA/L1 continuous track time */

diff --git a/src/rcv/novatel.c b/src/rcv/novatel.c
@@ -1048,7 +1048,7 @@ static int decode_bdsephemerisb(raw_t *raw)
     eph.ttr=raw->time;
 
     if (!strstr(raw->opt,"-EPHALL")) {
-        if (raw->nav.eph[eph.sat-1].iode==eph.iode) return 0; /* unchanged */
+        if (timediff(raw->nav.eph[eph.sat-1].toe,eph.toe)==0.0) return 0; /* unchanged */
     }
     raw->nav.eph[eph.sat-1]=eph;
     raw->ephsat=eph.sat;