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postpos.c
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/*------------------------------------------------------------------------------
* postpos.c : post-processing positioning
*
* Copyright (C) 2007-2018 by T.TAKASU, All rights reserved.
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/05/08 1.0 new
* 2008/06/16 1.1 support binary inputs
* 2009/01/02 1.2 support new rtk positioing api
* 2009/09/03 1.3 fix bug on combined mode of moving-baseline
* 2009/12/04 1.4 fix bug on obs data buffer overflow
* 2010/07/26 1.5 support ppp-kinematic and ppp-static
* support multiple sessions
* support sbas positioning
* changed api:
* postpos()
* deleted api:
* postposopt()
* 2010/08/16 1.6 fix bug sbas message synchronization (2.4.0_p4)
* 2010/12/09 1.7 support qzss lex and ssr corrections
* 2011/02/07 1.8 fix bug on sbas navigation data conflict
* 2011/03/22 1.9 add function reading g_tec file
* 2011/08/20 1.10 fix bug on freez if solstatic=single and combined
* 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
* 2015/03/23 1.15 fix bug on ant type replacement by rinex header
* fix bug on combined filter for moving-base mode
* 2018/01/29 1.16 fix problem on ssr orbit and clock inconsistency
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
static const char rcsid[]="$Id: postpos.c,v 1.1 2008/07/17 21:48:06 ttaka Exp $";
#define MIN(x,y) ((x)<(y)?(x):(y))
#define SQRT(x) ((x)<=0.0?0.0:sqrt(x))
#define MAXPRCDAYS 100 /* max days of continuous processing */
#define MAXINFILE 1000 /* max number of input files */
/* constants/global variables ------------------------------------------------*/
static pcvs_t pcvss={0}; /* receiver antenna parameters */
static pcvs_t pcvsr={0}; /* satellite antenna parameters */
static obs_t obss={0}; /* observation data */
static nav_t navs={0}; /* navigation data */
static sbs_t sbss={0}; /* sbas messages */
static lex_t lexs={0}; /* lex messages */
static sta_t stas[MAXRCV]; /* station infomation */
static int nepoch=0; /* number of observation epochs */
static int iobsu =0; /* current rover observation data index */
static int iobsr =0; /* current reference observation data index */
static int isbs =0; /* current sbas message index */
static int ilex =0; /* current lex message index */
static int revs =0; /* analysis direction (0:forward,1:backward) */
static int aborts=0; /* abort status */
static sol_t *solf; /* forward solutions */
static sol_t *solb; /* backward solutions */
static double *rbf; /* forward base positions */
static double *rbb; /* backward base positions */
static int isolf=0; /* current forward solutions index */
static int isolb=0; /* current backward solutions index */
static char proc_rov [64]=""; /* rover for current processing */
static char proc_base[64]=""; /* base station for current processing */
static char rtcm_file[1024]=""; /* rtcm data file */
static char rtcm_path[1024]=""; /* rtcm data path */
static rtcm_t rtcm; /* rtcm control struct */
static FILE *fp_rtcm=NULL; /* rtcm data file pointer */
/* show message and check break ----------------------------------------------*/
static int checkbrk(const char *format, ...)
{
va_list arg;
char buff[1024],*p=buff;
if (!*format) return showmsg("");
va_start(arg,format);
p+=vsprintf(p,format,arg);
va_end(arg);
if (*proc_rov&&*proc_base) sprintf(p," (%s-%s)",proc_rov,proc_base);
else if (*proc_rov ) sprintf(p," (%s)",proc_rov );
else if (*proc_base) sprintf(p," (%s)",proc_base);
return showmsg(buff);
}
/* output reference position -------------------------------------------------*/
static void outrpos(FILE *fp, const double *r, const solopt_t *opt)
{
double pos[3],dms1[3],dms2[3];
const char *sep=opt->sep;
trace(3,"outrpos :\n");
if (opt->posf==SOLF_LLH||opt->posf==SOLF_ENU) {
ecef2pos(r,pos);
if (opt->degf) {
deg2dms(pos[0]*R2D,dms1);
deg2dms(pos[1]*R2D,dms2);
fprintf(fp,"%3.0f%s%02.0f%s%08.5f%s%4.0f%s%02.0f%s%08.5f%s%10.4f",
dms1[0],sep,dms1[1],sep,dms1[2],sep,dms2[0],sep,dms2[1],
sep,dms2[2],sep,pos[2]);
}
else {
fprintf(fp,"%13.9f%s%14.9f%s%10.4f",pos[0]*R2D,sep,pos[1]*R2D,
sep,pos[2]);
}
}
else if (opt->posf==SOLF_XYZ) {
fprintf(fp,"%14.4f%s%14.4f%s%14.4f",r[0],sep,r[1],sep,r[2]);
}
}
/* output header -------------------------------------------------------------*/
static void outheader(FILE *fp, char **file, int n, const prcopt_t *popt,
const solopt_t *sopt)
{
const char *s1[]={"GPST","UTC","JST"};
gtime_t ts,te;
double t1,t2;
int i,j,w1,w2;
char s2[32],s3[32];
trace(3,"outheader: n=%d\n",n);
if (sopt->posf==SOLF_NMEA) return;
if (sopt->outhead) {
if (!*sopt->prog) {
fprintf(fp,"%s program : RTKLIB ver.%s\n",COMMENTH,VER_RTKLIB);
}
else {
fprintf(fp,"%s program : %s\n",COMMENTH,sopt->prog);
}
for (i=0;i<n;i++) {
fprintf(fp,"%s inp file : %s\n",COMMENTH,file[i]);
}
for (i=0;i<obss.n;i++) if (obss.data[i].rcv==1) break;
for (j=obss.n-1;j>=0;j--) if (obss.data[j].rcv==1) break;
if (j<i) {fprintf(fp,"\n%s no rover obs data\n",COMMENTH); return;}
ts=obss.data[i].time;
te=obss.data[j].time;
t1=time2gpst(ts,&w1);
t2=time2gpst(te,&w2);
if (sopt->times>=1) ts=gpst2utc(ts);
if (sopt->times>=1) te=gpst2utc(te);
if (sopt->times==2) ts=timeadd(ts,9*3600.0);
if (sopt->times==2) te=timeadd(te,9*3600.0);
time2str(ts,s2,1);
time2str(te,s3,1);
fprintf(fp,"%s obs start : %s %s (week%04d %8.1fs)\n",COMMENTH,s2,s1[sopt->times],w1,t1);
fprintf(fp,"%s obs end : %s %s (week%04d %8.1fs)\n",COMMENTH,s3,s1[sopt->times],w2,t2);
}
if (sopt->outopt) {
outprcopt(fp,popt);
}
if (PMODE_DGPS<=popt->mode&&popt->mode<=PMODE_FIXED&&popt->mode!=PMODE_MOVEB) {
fprintf(fp,"%s ref pos :",COMMENTH);
outrpos(fp,popt->rb,sopt);
fprintf(fp,"\n");
}
if (sopt->outhead||sopt->outopt) fprintf(fp,"%s\n",COMMENTH);
outsolhead(fp,sopt);
}
/* search next observation data index ----------------------------------------*/
static int nextobsf(const obs_t *obs, int *i, int rcv)
{
double tt;
int n;
for (;*i<obs->n;(*i)++) if (obs->data[*i].rcv==rcv) break;
for (n=0;*i+n<obs->n;n++) {
tt=timediff(obs->data[*i+n].time,obs->data[*i].time);
if (obs->data[*i+n].rcv!=rcv||tt>DTTOL) break;
}
return n;
}
static int nextobsb(const obs_t *obs, int *i, int rcv)
{
double tt;
int n;
for (;*i>=0;(*i)--) if (obs->data[*i].rcv==rcv) break;
for (n=0;*i-n>=0;n++) {
tt=timediff(obs->data[*i-n].time,obs->data[*i].time);
if (obs->data[*i-n].rcv!=rcv||tt<-DTTOL) break;
}
return n;
}
/* input rtcm3 ssr corrections -----------------------------------------------*/
static void input_ssr(gtime_t time, rtcm_t *rtcm, nav_t *nav, FILE *fp)
{
int i, stat;
while (timediff(rtcm->time, time) < 0.0) {
if ((stat = input_rtcm3f(rtcm, fp)) < -1) return;
if (stat == 10) { /* ssr correction */
for (i = 0; i < MAXSAT; i++) {
if (!rtcm->ssr[i].update) continue;
if (rtcm->ssr[i].iod[0] != rtcm->ssr[i].iod[1] ||
timediff(time, rtcm->ssr[i].t0[0]) < -1E-3) continue;
nav->ssr[i] = rtcm->ssr[i];
rtcm->ssr[i].update = 0;
}
}
}
}
/* input obs data, navigation messages and sbas correction -------------------*/
static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
{
gtime_t time={0};
char path[1024];
int i,nu,nr,n=0;
trace(3,"infunc : revs=%d iobsu=%d iobsr=%d isbs=%d\n",revs,iobsu,iobsr,isbs);
if (0<=iobsu&&iobsu<obss.n) {
settime((time=obss.data[iobsu].time));
if (checkbrk("processing : %s Q=%d",time_str(time,0),solq)) {
aborts=1; showmsg("aborted"); return -1;
}
}
if (!revs) { /* input forward data */
if ((nu=nextobsf(&obss,&iobsu,1))<=0) return -1;
if (popt->intpref) {
for (;(nr=nextobsf(&obss,&iobsr,2))>0;iobsr+=nr)
if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)>-DTTOL) break;
}
else {
for (i=iobsr;(nr=nextobsf(&obss,&i,2))>0;iobsr=i,i+=nr)
if (timediff(obss.data[i].time,obss.data[iobsu].time)>DTTOL) break;
}
nr=nextobsf(&obss,&iobsr,2);
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 */
while (isbs<sbss.n) {
time=gpst2time(sbss.msgs[isbs].week,sbss.msgs[isbs].tow);
if (getbitu(sbss.msgs[isbs].msg,8,6)!=9) { /* except for geo nav */
sbsupdatecorr(sbss.msgs+isbs,&navs);
}
if (timediff(time,obs[0].time)>-1.0-DTTOL) break;
isbs++;
}
/* update lex corrections */
while (ilex<lexs.n) {
if (lexupdatecorr(lexs.msgs+ilex,&navs,&time)) {
if (timediff(time,obs[0].time)>-1.0-DTTOL) break;
}
ilex++;
}
/* update rtcm corrections */
if (*rtcm_file) {
/* open or swap rtcm file */
reppath(rtcm_file,path,obs[0].time,"","");
if (strcmp(path,rtcm_path)) {
strcpy(rtcm_path,path);
if (fp_rtcm) fclose(fp_rtcm);
fp_rtcm=fopen(path,"rb");
if (fp_rtcm) {
rtcm.time=obs[0].time;
input_rtcm3f(&rtcm,fp_rtcm);
trace(2,"rtcm file open: %s\n",path);
}
}
if (fp_rtcm) {
input_ssr(obs[0].time, &rtcm, &navs, fp_rtcm);
}
}
}
else { /* input backward data */
if ((nu=nextobsb(&obss,&iobsu,1))<=0) return -1;
if (popt->intpref) {
for (;(nr=nextobsb(&obss,&iobsr,2))>0;iobsr-=nr)
if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)<DTTOL) break;
}
else {
for (i=iobsr;(nr=nextobsb(&obss,&i,2))>0;iobsr=i,i-=nr)
if (timediff(obss.data[i].time,obss.data[iobsu].time)<-DTTOL) break;
}
nr=nextobsb(&obss,&iobsr,2);
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 */
while (isbs>=0) {
time=gpst2time(sbss.msgs[isbs].week,sbss.msgs[isbs].tow);
if (getbitu(sbss.msgs[isbs].msg,8,6)!=9) { /* except for geo nav */
sbsupdatecorr(sbss.msgs+isbs,&navs);
}
if (timediff(time,obs[0].time)<1.0+DTTOL) break;
isbs--;
}
/* update lex corrections */
while (ilex>=0) {
if (lexupdatecorr(lexs.msgs+ilex,&navs,&time)) {
if (timediff(time,obs[0].time)<1.0+DTTOL) break;
}
ilex--;
}
}
return n;
}
/* process positioning -------------------------------------------------------*/
static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt,
int mode)
{
gtime_t time={0};
sol_t sol={{0}};
rtk_t rtk;
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};
trace(3,"procpos : mode=%d\n",mode);
solstatic=sopt->solstatic&&
(popt->mode==PMODE_STATIC||popt->mode==PMODE_PPP_STATIC);
rtkinit(&rtk,popt);
rtcm_path[0]='\0';
while ((nobs=inputobs(obs,rtk.sol.stat,popt))>=0) {
/* exclude satellites */
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;
if (!rtkpos(&rtk,obs,n,&navs)) continue;
if (mode==0) { /* forward/backward */
if (!solstatic) {
outsol(fp,&rtk.sol,rtk.rb,sopt);
}
else if (time.time==0||pri[rtk.sol.stat]<=pri[sol.stat]) {
sol=rtk.sol;
for (i=0;i<3;i++) rb[i]=rtk.rb[i];
if (time.time==0||timediff(rtk.sol.time,time)<0.0) {
time=rtk.sol.time;
}
}
}
else if (!revs) { /* combined-forward */
if (isolf>=nepoch) return;
solf[isolf]=rtk.sol;
for (i=0;i<3;i++) rbf[i+isolf*3]=rtk.rb[i];
isolf++;
}
else { /* combined-backward */
if (isolb>=nepoch) return;
solb[isolb]=rtk.sol;
for (i=0;i<3;i++) rbb[i+isolb*3]=rtk.rb[i];
isolb++;
}
}
if (mode==0&&solstatic&&time.time!=0.0) {
sol.time=time;
outsol(fp,&sol,rb,sopt);
}
rtkfree(&rtk);
}
/* validation of combined solutions ------------------------------------------*/
static int valcomb(const sol_t *solf, const sol_t *solb)
{
double dr[3],var[3];
int i;
char tstr[32];
trace(3,"valcomb :\n");
/* compare forward and backward solution */
for (i=0;i<3;i++) {
dr[i]=solf->rr[i]-solb->rr[i];
var[i]=solf->qr[i]+solb->qr[i];
}
for (i=0;i<3;i++) {
if (dr[i]*dr[i]<=16.0*var[i]) continue; /* ok if in 4-sigma */
time2str(solf->time,tstr,2);
trace(2,"degrade fix to float: %s dr=%.3f %.3f %.3f std=%.3f %.3f %.3f\n",
tstr+11,dr[0],dr[1],dr[2],SQRT(var[0]),SQRT(var[1]),SQRT(var[2]));
return 0;
}
return 1;
}
/* combine forward/backward solutions and output results ---------------------*/
static void combres(FILE *fp, const prcopt_t *popt, const solopt_t *sopt)
{
gtime_t time={0};
sol_t sols={{0}},sol={{0}};
double tt,Qf[9],Qb[9],Qs[9],rbs[3]={0},rb[3]={0},rr_f[3],rr_b[3],rr_s[3];
int i,j,k,solstatic,pri[]={0,1,2,3,4,5,1,6};
trace(3,"combres : isolf=%d isolb=%d\n",isolf,isolb);
solstatic=sopt->solstatic&&
(popt->mode==PMODE_STATIC||popt->mode==PMODE_PPP_STATIC);
for (i=0,j=isolb-1;i<isolf&&j>=0;i++,j--) {
if ((tt=timediff(solf[i].time,solb[j].time))<-DTTOL) {
sols=solf[i];
for (k=0;k<3;k++) rbs[k]=rbf[k+i*3];
j++;
}
else if (tt>DTTOL) {
sols=solb[j];
for (k=0;k<3;k++) rbs[k]=rbb[k+j*3];
i--;
}
else if (solf[i].stat<solb[j].stat) {
sols=solf[i];
for (k=0;k<3;k++) rbs[k]=rbf[k+i*3];
}
else if (solf[i].stat>solb[j].stat) {
sols=solb[j];
for (k=0;k<3;k++) rbs[k]=rbb[k+j*3];
}
else {
sols=solf[i];
sols.time=timeadd(sols.time,-tt/2.0);
if ((popt->mode==PMODE_KINEMA||popt->mode==PMODE_MOVEB)&&
sols.stat==SOLQ_FIX) {
/* degrade fix to float if validation failed */
if (!valcomb(solf+i,solb+j)) sols.stat=SOLQ_FLOAT;
}
for (k=0;k<3;k++) {
Qf[k+k*3]=solf[i].qr[k];
Qb[k+k*3]=solb[j].qr[k];
}
Qf[1]=Qf[3]=solf[i].qr[3];
Qf[5]=Qf[7]=solf[i].qr[4];
Qf[2]=Qf[6]=solf[i].qr[5];
Qb[1]=Qb[3]=solb[j].qr[3];
Qb[5]=Qb[7]=solb[j].qr[4];
Qb[2]=Qb[6]=solb[j].qr[5];
if (popt->mode==PMODE_MOVEB) {
for (k=0;k<3;k++) rr_f[k]=solf[i].rr[k]-rbf[k+i*3];
for (k=0;k<3;k++) rr_b[k]=solb[j].rr[k]-rbb[k+j*3];
if (smoother(rr_f,Qf,rr_b,Qb,3,rr_s,Qs)) continue;
for (k=0;k<3;k++) sols.rr[k]=rbs[k]+rr_s[k];
}
else {
if (smoother(solf[i].rr,Qf,solb[j].rr,Qb,3,sols.rr,Qs)) continue;
}
sols.qr[0]=(float)Qs[0];
sols.qr[1]=(float)Qs[4];
sols.qr[2]=(float)Qs[8];
sols.qr[3]=(float)Qs[1];
sols.qr[4]=(float)Qs[5];
sols.qr[5]=(float)Qs[2];
}
if (!solstatic) {
outsol(fp,&sols,rbs,sopt);
}
else if (time.time==0||pri[sols.stat]<=pri[sol.stat]) {
sol=sols;
for (k=0;k<3;k++) rb[k]=rbs[k];
if (time.time==0||timediff(sols.time,time)<0.0) {
time=sols.time;
}
}
}
if (solstatic&&time.time!=0.0) {
sol.time=time;
outsol(fp,&sol,rb,sopt);
}
}
/* read prec ephemeris, sbas data, lex data, tec grid and open rtcm ----------*/
static void readpreceph(char **infile, int n, const prcopt_t *prcopt,
nav_t *nav, sbs_t *sbs, lex_t *lex)
{
seph_t seph0={0};
int i;
char *ext;
trace(3,"readpreceph: n=%d\n",n);
nav->ne=nav->nemax=0;
nav->nc=nav->ncmax=0;
sbs->n =sbs->nmax =0;
lex->n =lex->nmax =0;
/* read precise ephemeris files */
for (i=0;i<n;i++) {
if (strstr(infile[i],"%r")||strstr(infile[i],"%b")) continue;
readsp3(infile[i],nav,0);
}
/* read precise clock files */
for (i=0;i<n;i++) {
if (strstr(infile[i],"%r")||strstr(infile[i],"%b")) continue;
readrnxc(infile[i],nav);
}
/* read sbas message files */
for (i=0;i<n;i++) {
if (strstr(infile[i],"%r")||strstr(infile[i],"%b")) continue;
sbsreadmsg(infile[i],prcopt->sbassatsel,sbs);
}
/* read lex message files */
for (i=0;i<n;i++) {
if (strstr(infile[i],"%r")||strstr(infile[i],"%b")) continue;
lexreadmsg(infile[i],0,lex);
}
/* allocate sbas ephemeris */
nav->ns=nav->nsmax=NSATSBS*2;
if (!(nav->seph=(seph_t *)malloc(sizeof(seph_t)*nav->ns))) {
showmsg("error : sbas ephem memory allocation");
trace(1,"error : sbas ephem memory allocation");
return;
}
for (i=0;i<nav->ns;i++) nav->seph[i]=seph0;
/* set rtcm file and initialize rtcm struct */
rtcm_file[0]=rtcm_path[0]='\0'; fp_rtcm=NULL;
for (i=0;i<n;i++) {
if ((ext=strrchr(infile[i],'.'))&&
(!strcmp(ext,".rtcm3")||!strcmp(ext,".RTCM3"))) {
strcpy(rtcm_file,infile[i]);
init_rtcm(&rtcm);
break;
}
}
}
/* free prec ephemeris and sbas data -----------------------------------------*/
static void freepreceph(nav_t *nav, sbs_t *sbs, lex_t *lex)
{
int i;
trace(3,"freepreceph:\n");
free(nav->peph); nav->peph=NULL; nav->ne=nav->nemax=0;
free(nav->pclk); nav->pclk=NULL; nav->nc=nav->ncmax=0;
free(nav->seph); nav->seph=NULL; nav->ns=nav->nsmax=0;
free(sbs->msgs); sbs->msgs=NULL; sbs->n =sbs->nmax =0;
free(lex->msgs); lex->msgs=NULL; lex->n =lex->nmax =0;
for (i=0;i<nav->nt;i++) {
free(nav->tec[i].data);
free(nav->tec[i].rms );
}
free(nav->tec ); nav->tec =NULL; nav->nt=nav->ntmax=0;
#ifdef EXTSTEC
stec_free(nav);
#endif
if (fp_rtcm) fclose(fp_rtcm);
free_rtcm(&rtcm);
}
/* read obs and nav data -----------------------------------------------------*/
static int readobsnav(gtime_t ts, gtime_t te, double ti, char **infile,
const int *index, int n, const prcopt_t *prcopt,
obs_t *obs, nav_t *nav, sta_t *sta)
{
int i,j,ind=0,nobs=0,rcv=1;
trace(3,"readobsnav: ts=%s n=%d\n",time_str(ts,0),n);
obs->data=NULL; obs->n =obs->nmax =0;
nav->eph =NULL; nav->n =nav->nmax =0;
nav->geph=NULL; nav->ng=nav->ngmax=0;
nav->seph=NULL; nav->ns=nav->nsmax=0;
nepoch=0;
for (i=0;i<n;i++) {
if (checkbrk("")) return 0;
if (index[i]!=ind) {
if (obs->n>nobs) rcv++;
ind=index[i]; nobs=obs->n;
}
/* read rinex obs and nav file */
if (readrnxt(infile[i],rcv,ts,te,ti,prcopt->rnxopt[rcv<=1?0:1],obs,nav,
rcv<=2?sta+rcv-1:NULL)<0) {
checkbrk("error : insufficient memory");
trace(1,"insufficient memory\n");
return 0;
}
}
if (obs->n<=0) {
checkbrk("error : no obs data");
trace(1,"no obs data\n");
return 0;
}
if (nav->n<=0&&nav->ng<=0&&nav->ns<=0) {
checkbrk("error : no nav data");
trace(1,"no nav data\n");
return 0;
}
/* sort observation data */
nepoch=sortobs(obs);
/* delete duplicated ephemeris */
uniqnav(nav);
/* set time span for progress display */
if (ts.time==0||te.time==0) {
for (i=0; i<obs->n;i++) if (obs->data[i].rcv==1) break;
for (j=obs->n-1;j>=0;j--) if (obs->data[j].rcv==1) break;
if (i<j) {
if (ts.time==0) ts=obs->data[i].time;
if (te.time==0) te=obs->data[j].time;
settspan(ts,te);
}
}
return 1;
}
/* free obs and nav data -----------------------------------------------------*/
static void freeobsnav(obs_t *obs, nav_t *nav)
{
trace(3,"freeobsnav:\n");
free(obs->data); obs->data=NULL; obs->n =obs->nmax =0;
free(nav->eph ); nav->eph =NULL; nav->n =nav->nmax =0;
free(nav->geph); nav->geph=NULL; nav->ng=nav->ngmax=0;
free(nav->seph); nav->seph=NULL; nav->ns=nav->nsmax=0;
}
/* average of single position ------------------------------------------------*/
static int avepos(double *ra, int rcv, const obs_t *obs, const nav_t *nav,
const prcopt_t *opt)
{
obsd_t data[MAXOBS];
gtime_t ts={0};
sol_t sol={{0}};
int i,j,n=0,m,iobs;
char msg[128];
trace(3,"avepos: rcv=%d obs.n=%d\n",rcv,obs->n);
for (i=0;i<3;i++) ra[i]=0.0;
for (iobs=0;(m=nextobsf(obs,&iobs,rcv))>0;iobs+=m) {
for (i=j=0;i<m&&i<MAXOBS;i++) {
data[j]=obs->data[iobs+i];
if ((satsys(data[j].sat,NULL)&opt->navsys)&&
opt->exsats[data[j].sat-1]!=1) j++;
}
if (j<=0||!screent(data[0].time,ts,ts,1.0)) continue; /* only 1 hz */
if (!pntpos(data,j,nav,opt,&sol,NULL,NULL,msg)) continue;
for (i=0;i<3;i++) ra[i]+=sol.rr[i];
n++;
}
if (n<=0) {
trace(1,"no average of base station position\n");
return 0;
}
for (i=0;i<3;i++) ra[i]/=n;
return 1;
}
/* station position from file ------------------------------------------------*/
static int getstapos(const char *file, char *name, double *r)
{
FILE *fp;
char buff[256],sname[256],*p,*q;
double pos[3];
trace(3,"getstapos: file=%s name=%s\n",file,name);
if (!(fp=fopen(file,"r"))) {
trace(1,"station position file open error: %s\n",file);
return 0;
}
while (fgets(buff,sizeof(buff),fp)) {
if ((p=strchr(buff,'%'))) *p='\0';
if (sscanf(buff,"%lf %lf %lf %s",pos,pos+1,pos+2,sname)<4) continue;
for (p=sname,q=name;*p&&*q;p++,q++) {
if (toupper((int)*p)!=toupper((int)*q)) break;
}
if (!*p) {
pos[0]*=D2R;
pos[1]*=D2R;
pos2ecef(pos,r);
fclose(fp);
return 1;
}
}
fclose(fp);
trace(1,"no station position: %s %s\n",name,file);
return 0;
}
/* antenna phase center position ---------------------------------------------*/
static int antpos(prcopt_t *opt, int rcvno, const obs_t *obs, const nav_t *nav,
const sta_t *sta, const char *posfile)
{
double *rr=rcvno==1?opt->ru:opt->rb,del[3],pos[3],dr[3]={0};
int i,postype=rcvno==1?opt->rovpos:opt->refpos;
char *name;
trace(3,"antpos : rcvno=%d\n",rcvno);
if (postype==1) { /* average of single position */
if (!avepos(rr,rcvno,obs,nav,opt)) {
showmsg("error : station pos computation");
return 0;
}
}
else if (postype==2) { /* read from position file */
name=stas[rcvno==1?0:1].name;
if (!getstapos(posfile,name,rr)) {
showmsg("error : no position of %s in %s",name,posfile);
return 0;
}
}
else if (postype==3) { /* get from rinex header */
if (norm(stas[rcvno==1?0:1].pos,3)<=0.0) {
showmsg("error : no position in rinex header");
trace(1,"no position position in rinex header\n");
return 0;
}
/* antenna delta */
if (stas[rcvno==1?0:1].deltype==0) { /* enu */
for (i=0;i<3;i++) del[i]=stas[rcvno==1?0:1].del[i];
del[2]+=stas[rcvno==1?0:1].hgt;
ecef2pos(stas[rcvno==1?0:1].pos,pos);
enu2ecef(pos,del,dr);
}
else { /* xyz */
for (i=0;i<3;i++) dr[i]=stas[rcvno==1?0:1].del[i];
}
for (i=0;i<3;i++) rr[i]=stas[rcvno==1?0:1].pos[i]+dr[i];
}
return 1;
}
/* open procssing session ----------------------------------------------------*/
static int openses(const prcopt_t *popt, const solopt_t *sopt,
const filopt_t *fopt, nav_t *nav, pcvs_t *pcvs, pcvs_t *pcvr)
{
char *ext;
trace(3,"openses :\n");
/* read satellite antenna parameters */
if (*fopt->satantp&&!(readpcv(fopt->satantp,pcvs))) {
showmsg("error : no sat ant pcv in %s",fopt->satantp);
trace(1,"sat antenna pcv read error: %s\n",fopt->satantp);
return 0;
}
/* read receiver antenna parameters */
if (*fopt->rcvantp&&!(readpcv(fopt->rcvantp,pcvr))) {
showmsg("error : no rec ant pcv in %s",fopt->rcvantp);
trace(1,"rec antenna pcv read error: %s\n",fopt->rcvantp);
return 0;
}
/* read dcb parameters */
if (*fopt->dcb) {
readdcb(fopt->dcb,nav);
}
/* read ionosphere data file */
if (*fopt->iono&&(ext=strrchr(fopt->iono,'.'))) {
if (strlen(ext)==4&&(ext[3]=='i'||ext[3]=='I')) {
readtec(fopt->iono,nav,0);
}
#ifdef EXTSTEC
else if (!strcmp(ext,".stec")||!strcmp(ext,".STEC")) {
stec_read(fopt->iono,nav);
}
#endif
}
/* open geoid data */
if (sopt->geoid>0&&*fopt->geoid) {
if (!opengeoid(sopt->geoid,fopt->geoid)) {
showmsg("error : no geoid data %s",fopt->geoid);
trace(2,"no geoid data %s\n",fopt->geoid);
}
}
/* read erp data */
if (*fopt->eop) {
if (!readerp(fopt->eop,&nav->erp)) {
showmsg("error : no erp data %s",fopt->eop);
trace(2,"no erp data %s\n",fopt->eop);
}
}
return 1;
}
/* close procssing session ---------------------------------------------------*/
static void closeses(nav_t *nav, pcvs_t *pcvs, pcvs_t *pcvr)
{
trace(3,"closeses:\n");
/* free antenna parameters */
free(pcvs->pcv); pcvs->pcv=NULL; pcvs->n=pcvs->nmax=0;
free(pcvr->pcv); pcvr->pcv=NULL; pcvr->n=pcvr->nmax=0;
/* close geoid data */
closegeoid();
/* free erp data */
free(nav->erp.data); nav->erp.data=NULL; nav->erp.n=nav->erp.nmax=0;
/* close solution statistics and debug trace */
rtkclosestat();
traceclose();
}
/* set antenna parameters ----------------------------------------------------*/
static void setpcv(gtime_t time, prcopt_t *popt, nav_t *nav, const pcvs_t *pcvs,
const pcvs_t *pcvr, const sta_t *sta)
{
pcv_t *pcv;
double pos[3],del[3];
int i,j,mode=PMODE_DGPS<=popt->mode&&popt->mode<=PMODE_FIXED;
char id[64];
/* set satellite antenna parameters */
for (i=0;i<MAXSAT;i++) {
if (!(satsys(i+1,NULL)&popt->navsys)) continue;
if (!(pcv=searchpcv(i+1,"",time,pcvs))) {
satno2id(i+1,id);
trace(3,"no satellite antenna pcv: %s\n",id);
continue;
}
nav->pcvs[i]=*pcv;
}
for (i=0;i<(mode?2:1);i++) {
if (!strcmp(popt->anttype[i],"*")) { /* set by station parameters */
strcpy(popt->anttype[i],sta[i].antdes);
if (sta[i].deltype==1) { /* xyz */
if (norm(sta[i].pos,3)>0.0) {
ecef2pos(sta[i].pos,pos);
ecef2enu(pos,sta[i].del,del);
for (j=0;j<3;j++) popt->antdel[i][j]=del[j];
}
}
else { /* enu */
for (j=0;j<3;j++) popt->antdel[i][j]=stas[i].del[j];
}
}
if (!(pcv=searchpcv(0,popt->anttype[i],time,pcvr))) {
trace(2,"no receiver antenna pcv: %s\n",popt->anttype[i]);
*popt->anttype[i]='\0';
continue;
}
strcpy(popt->anttype[i],pcv->type);
popt->pcvr[i]=*pcv;
}
}
/* read ocean tide loading parameters ----------------------------------------*/
static void readotl(prcopt_t *popt, const char *file, const sta_t *sta)
{
int i,mode=PMODE_DGPS<=popt->mode&&popt->mode<=PMODE_FIXED;
for (i=0;i<(mode?2:1);i++) {
readblq(file,sta[i].name,popt->odisp[i]);
}
}
/* write header to output file -----------------------------------------------*/
static int outhead(const char *outfile, char **infile, int n,
const prcopt_t *popt, const solopt_t *sopt)
{
FILE *fp=stdout;
trace(3,"outhead: outfile=%s n=%d\n",outfile,n);
if (*outfile) {
createdir(outfile);
if (!(fp=fopen(outfile,"w"))) {
showmsg("error : open output file %s",outfile);
return 0;
}
}
/* output header */
outheader(fp,infile,n,popt,sopt);
if (*outfile) fclose(fp);
return 1;
}
/* open output file for append -----------------------------------------------*/
static FILE *openfile(const char *outfile)
{
trace(3,"openfile: outfile=%s\n",outfile);
return !*outfile?stdout:fopen(outfile,"a");
}
/* execute processing session ------------------------------------------------*/
static int execses(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)
{
FILE *fp;
prcopt_t popt_=*popt;
char tracefile[1024],statfile[1024];
trace(3,"execses : n=%d outfile=%s\n",n,outfile);
/* open debug trace */
if (flag&&sopt->trace>0) {
if (*outfile) {
strcpy(tracefile,outfile);
strcat(tracefile,".trace");
}
else {
strcpy(tracefile,fopt->trace);
}
traceclose();
traceopen(tracefile);
tracelevel(sopt->trace);
}
/* read obs and nav data */
if (!readobsnav(ts,te,ti,infile,index,n,&popt_,&obss,&navs,stas)) return 0;
/* set antenna paramters */
if (popt_.mode!=PMODE_SINGLE) {
setpcv(obss.n>0?obss.data[0].time:timeget(),&popt_,&navs,&pcvss,&pcvsr,
stas);
}
/* read ocean tide loading parameters */
if (popt_.mode>PMODE_SINGLE&&fopt->blq) {
readotl(&popt_,fopt->blq,stas);
}
/* rover/reference fixed position */
if (popt_.mode==PMODE_FIXED) {
if (!antpos(&popt_,1,&obss,&navs,stas,fopt->stapos)) {
freeobsnav(&obss,&navs);
return 0;
}
}
else if (PMODE_DGPS<=popt_.mode&&popt_.mode<=PMODE_STATIC) {
if (!antpos(&popt_,2,&obss,&navs,stas,fopt->stapos)) {
freeobsnav(&obss,&navs);
return 0;
}
}
/* open solution statistics */
if (flag&&sopt->sstat>0) {
strcpy(statfile,outfile);
strcat(statfile,".stat");
rtkclosestat();
rtkopenstat(statfile,sopt->sstat);
}
/* write header to output file */
if (flag&&!outhead(outfile,infile,n,&popt_,sopt)) {
freeobsnav(&obss,&navs);
return 0;
}
iobsu=iobsr=isbs=ilex=revs=aborts=0;
if (popt_.mode==PMODE_SINGLE||popt_.soltype==0) {
if ((fp=openfile(outfile))) {
procpos(fp,&popt_,sopt,0); /* forward */
fclose(fp);
}
}
else if (popt_.soltype==1) {
if ((fp=openfile(outfile))) {
revs=1; iobsu=iobsr=obss.n-1; isbs=sbss.n-1; ilex=lexs.n-1;
procpos(fp,&popt_,sopt,0); /* backward */
fclose(fp);
}
}
else { /* combined */
solf=(sol_t *)malloc(sizeof(sol_t)*nepoch);
solb=(sol_t *)malloc(sizeof(sol_t)*nepoch);
rbf=(double *)malloc(sizeof(double)*nepoch*3);
rbb=(double *)malloc(sizeof(double)*nepoch*3);
if (solf&&solb) {
isolf=isolb=0;
procpos(NULL,&popt_,sopt,1); /* forward */
revs=1; iobsu=iobsr=obss.n-1; isbs=sbss.n-1; ilex=lexs.n-1;
procpos(NULL,&popt_,sopt,1); /* backward */
/* combine forward/backward solutions */
if (!aborts&&(fp=openfile(outfile))) {
combres(fp,&popt_,sopt);
fclose(fp);
}
}
else showmsg("error : memory allocation");
free(solf);
free(solb);
free(rbf);
free(rbb);
}
/* free obs and nav data */
freeobsnav(&obss,&navs);
return aborts?1:0;