rtklib.h

Go to the documentation of this file.

/*!
 * \file rtklib.h
 * \brief main header file for the rtklib library
 * \authors <ul>
 *          <li> 2007-2013, T. Takasu
 *          <li> 2017, Javier Arribas
 *          <li> 2017, Carles Fernandez
 *          </ul>
 *
 * This is a derived work from RTKLIB http://www.rtklib.com/
 * The original source code at https://github.com/tomojitakasu/RTKLIB is
 * released under the BSD 2-clause license with an additional exclusive clause
 * that does not apply here. This additional clause is reproduced below:
 *
 * " The software package includes some companion executive binaries or shared
 * libraries necessary to execute APs on Windows. These licenses succeed to the
 * original ones of these software. "
 *
 * Neither the executive binaries nor the shared libraries are required by, used
 * or included in GNSS-SDR.
 *
 * -----------------------------------------------------------------------------
 * Copyright (C) 2007-2013, T. Takasu
 * Copyright (C) 2017, Javier Arribas
 * Copyright (C) 2017, Carles Fernandez
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-2-Clause
 *
 * -----------------------------------------------------------------------------
 */

#ifndef GNSS_SDR_RTKLIB_H
#define GNSS_SDR_RTKLIB_H

#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
#include "gnss_obs_codes.h"
#include <cctype>
#include <cmath>
#include <cstdarg>
#include <cstdint>
#include <cstdlib>
#include <netinet/in.h>
#include <pthread.h>
#include <string>

/** \addtogroup PVT
 * \{ */
/** \addtogroup RTKLIB_Library algorithms_libs_rtklib
 * Our version of the RTKLIB core library (see http://www.rtklib.com/)
 * \{ */


/* macros --------------------------------------------------------------------*/

#define dev_t int
#define socket_t int
#define closesocket close
#define lock_t pthread_mutex_t
#define initlock(f) pthread_mutex_init(f, NULL)
#define rtk_lock(f) pthread_mutex_lock(f)
#define rtk_unlock(f) pthread_mutex_unlock(f)

#define VER_RTKLIB "2.4.2"
#define NTRIP_AGENT "RTKLIB/" VER_RTKLIB
#define NTRIP_CLI_PORT 2101                       /* default ntrip-client connection port */
#define NTRIP_SVR_PORT 80                         /* default ntrip-server connection port */
#define NTRIP_MAXRSP 32768                        /* max size of ntrip response */
#define NTRIP_MAXSTR 256                          /* max length of mountpoint string */
#define NTRIP_RSP_OK_CLI "ICY 200 OK\r\n"         /* ntrip response: client */
#define NTRIP_RSP_OK_SVR "OK\r\n"                 /* ntrip response: server */
#define NTRIP_RSP_SRCTBL "SOURCETABLE 200 OK\r\n" /* ntrip response: source table */
#define NTRIP_RSP_TBLEND "ENDSOURCETABLE"
#define NTRIP_RSP_HTTP "HTTP/"  /* ntrip response: http */
#define NTRIP_RSP_ERROR "ERROR" /* ntrip response: error */

#define FTP_CMD "wget" /* ftp/http command */

const int TINTACT = 200;        //!<  period for stream active (ms)
const int SERIBUFFSIZE = 4096;  //!<  serial buffer size (bytes)
const int TIMETAGH_LEN = 64;    //!<  time tag file header length
const int MAXCLI = 32;          //!<  max client connection for tcp svr
const int MAXSTATMSG = 32;      //!<  max length of status message

const int FTP_TIMEOUT = 30;  //!< ftp/http timeout (s)
const int MAXRAWLEN = 4096;  //!< max length of receiver raw message
const int MAXSOLBUF = 256;   //!< max number of solution buffer
const int MAXSBSMSG = 32;    //!< max number of SBAS msg in RTK server
const int MAXOBSBUF = 128;   //!< max number of observation data buffer

const int FILEPATHSEP = '/';
const double RE_WGS84 = 6378137.0;              //!< earth semimajor axis (WGS84) (m)
const double FE_WGS84 = (1.0 / 298.257223563);  //!< earth flattening (WGS84)

const double HION = 350000.0;    //!<  ionosphere height (m)
const double PRN_HWBIAS = 1e-6;  //!<  process noise of h/w bias (m/MHz/sqrt(s))

const double INT_SWAP_STAT = 86400.0;  //!<  swap interval of solution status file (s)
const double INT_SWAP_TRAC = 86400.0;  //!<  swap interval of trace file (s)

const unsigned int POLYCRC32 = 0xEDB88320u;  //!<  CRC32 polynomial
const unsigned int POLYCRC24Q = 0x1864CFBu;  //!<  CRC24Q polynomial

const int PMODE_SINGLE = 0;      //!<  positioning mode: single
const int PMODE_DGPS = 1;        //!<  positioning mode: DGPS/DGNSS
const int PMODE_KINEMA = 2;      //!<  positioning mode: kinematic
const int PMODE_STATIC = 3;      //!<  positioning mode: static
const int PMODE_MOVEB = 4;       //!<  positioning mode: moving-base
const int PMODE_FIXED = 5;       //!<  positioning mode: fixed
const int PMODE_PPP_KINEMA = 6;  //!<  positioning mode: PPP-kinemaric
const int PMODE_PPP_STATIC = 7;  //!<  positioning mode: PPP-static
const int PMODE_PPP_FIXED = 8;   //!<  positioning mode: PPP-fixed

const int SOLF_LLH = 0;   //!<  solution format: lat/lon/height
const int SOLF_XYZ = 1;   //!<  solution format: x/y/z-ecef
const int SOLF_ENU = 2;   //!<  solution format: e/n/u-baseline
const int SOLF_NMEA = 3;  //!<  solution format: NMEA-183
const int SOLF_STAT = 4;  //!<  solution format: solution status
const int SOLF_GSIF = 5;  //!<  solution format: GSI F1/F2

const int SOLQ_NONE = 0;    //!<  solution status: no solution
const int SOLQ_FIX = 1;     //!<  solution status: fix
const int SOLQ_FLOAT = 2;   //!<  solution status: float
const int SOLQ_SBAS = 3;    //!<  solution status: SBAS
const int SOLQ_DGPS = 4;    //!<  solution status: DGPS/DGNSS
const int SOLQ_SINGLE = 5;  //!<  solution status: single
const int SOLQ_PPP = 6;     //!<  solution status: PPP
const int SOLQ_DR = 7;      //!<  solution status: dead reckoning
const int MAXSOLQ = 7;      //!<  max number of solution status

const int TIMES_GPST = 0;  //!<  time system: gps time
const int TIMES_UTC = 1;   //!<  time system: utc
const int TIMES_JST = 2;   //!<  time system: jst


const double ERR_SAAS = 0.3;    //!<  saastamoinen model error std (m)
const double ERR_BRDCI = 0.5;   //!<  broadcast iono model error factor
const double ERR_CBIAS = 0.3;   //!<  code bias error std (m)
const double REL_HUMI = 0.7;    //!<  relative humidity for saastamoinen model
const double GAP_RESION = 120;  //!<  default gap to reset ionos parameters (ep)

const int MAXFREQ = 7;  //!<  max NFREQ

const int MAXLEAPS = 64;     //!<  max number of leap seconds table
const double DTTOL = 0.005;  //!<  tolerance of time difference (s)

const int NFREQ = 3;     //!<   number of carrier frequencies
const int NFREQGLO = 2;  //!<   number of carrier frequencies of GLONASS
const int NEXOBS = 0;    //!<  number of extended obs codes
const int MAXANT = 64;   //!<  max length of station name/antenna type

const int MINPRNGPS = 1;                          //!<   min satellite PRN number of GPS
const int MAXPRNGPS = 32;                         //!<   max satellite PRN number of GPS
const int NSATGPS = (MAXPRNGPS - MINPRNGPS + 1);  //!<   number of GPS satellites
const int NSYSGPS = 1;

const int SYS_NONE = 0x00;  //!<   navigation system: none
const int SYS_GPS = 0x01;   //!<   navigation system: GPS
const int SYS_SBS = 0x02;   //!<   navigation system: SBAS
const int SYS_GLO = 0x04;   //!<   navigation system: GLONASS
const int SYS_GAL = 0x08;   //!<   navigation system: Galileo
const int SYS_QZS = 0x10;   //!<   navigation system: QZSS
const int SYS_BDS = 0x20;   //!<   navigation system: BeiDou
const int SYS_IRN = 0x40;   //!<   navigation system: IRNS
const int SYS_LEO = 0x80;   //!<   navigation system: LEO
const int SYS_ALL = 0xFF;   //!<   navigation system: all


#define ENAGLO
#ifdef ENAGLO
const int MINPRNGLO = 1;                          //!<   min satellite slot number of GLONASS
const int MAXPRNGLO = 27;                         //!<   max satellite slot number of GLONASS
const int NSATGLO = (MAXPRNGLO - MINPRNGLO + 1);  //!<   number of GLONASS satellites
const int NSYSGLO = 1;
#else
const int MINPRNGLO = 0;
const int MAXPRNGLO = 0;
const int NSATGLO = 0;
const int NSYSGLO = 0;
#endif


const int MINPRNGAL = 1;                          //!<   min satellite PRN number of Galileo
const int MAXPRNGAL = 36;                         //!<   max satellite PRN number of Galileo
const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1);  //!<   number of Galileo satellites
const int NSYSGAL = 1;

const int MAXPRNQZS = 199;  //!<   max satellite PRN number of QZSS
const int MINPRNQZS = 193;  //!<   min satellite PRN number of QZSS
#ifdef ENAQZS
const int MINPRNQZS_S = 183;                      //!<   min satellite PRN number of QZSS SAIF
const int MAXPRNQZS_S = 189;                      //!<   max satellite PRN number of QZSS SAIF
const int NSATQZS = (MAXPRNQZS - MINPRNQZS + 1);  //!<   number of QZSS satellites
const int NSYSQZS = 1;
#else
const int MINPRNQZS_S = 0;
const int NSATQZS = 0;
const int NSYSQZS = 0;
#endif

#define ENABDS
#ifdef ENABDS
const int MINPRNBDS = 1;                          //!<   min satellite sat number of BeiDou
const int MAXPRNBDS = 37;                         //!<   max satellite sat number of BeiDou
const int NSATBDS = (MAXPRNBDS - MINPRNBDS + 1);  //!<   number of BeiDou satellites
const int NSYSBDS = 1;
#else
const int MINPRNBDS = 0;
const int MAXPRNBDS = 0;
const int NSATBDS = 0;
const int NSYSBDS = 0;
#endif

const int MINPRNIRN = 1;  //!<   min satellite sat number of IRNSS
const int MAXPRNIRN = 7;  //!<   max satellite sat number of IRNSS
#ifdef ENAIRN
const int NSATIRN = (MAXPRNIRN - MINPRNIRN + 1);  //!<   number of IRNSS satellites
const int NSYSIRN = 1;
#else
const int NSATIRN = 0;
const int NSYSIRN = 0;
#endif

const int MINPRNLEO = 1;   //!<   min satellite sat number of LEO
const int MAXPRNLEO = 10;  //!<   max satellite sat number of LEO */
#ifdef ENALEO
const int NSATLEO = (MAXPRNLEO - MINPRNLEO + 1);  //!<   number of LEO satellites
const int NSYSLEO = 1;
#else
const int NSATLEO = 0;
const int NSYSLEO = 0;
#endif

const int NSYS = (NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS + NSYSIRN + NSYSLEO);  //!< number of systems

const int MINPRNSBS = 120;                        //!<   min satellite PRN number of SBAS
const int MAXPRNSBS = 142;                        //!<   max satellite PRN number of SBAS
const int NSATSBS = (MAXPRNSBS - MINPRNSBS + 1);  //!<   number of SBAS satellites

const int MAXSAT = (NSATGPS + NSATGLO + NSATGAL + NSATQZS + NSATBDS + NSATIRN + NSATSBS + NSATLEO);

const int MAXSTA = 255;

#ifndef MAXOBS
const int MAXOBS = 64;  //!<    max number of obs in an epoch
#endif

const int MAXRCV = 64;               //!<    max receiver number (1 to MAXRCV)
const int MAXOBSTYPE = 64;           //!<    max number of obs type in RINEX
const double MAXDTOE = 7200.0;       //!<    max time difference to GPS Toe (s)
const double MAXDTOE_QZS = 7200.0;   //!<    max time difference to QZSS Toe (s)
const double MAXDTOE_GAL = 10800.0;  //!<    max time difference to Galileo Toe (s)
const double MAXDTOE_BDS = 21600.0;  //!<    max time difference to BeiDou Toe (s)
const double MAXDTOE_GLO = 1800.0;   //!<    max time difference to GLONASS Toe (s)
const double MAXDTOE_SBS = 360.0;    //!<    max time difference to SBAS Toe (s)
const double MAXDTOE_S = 86400.0;    //!<    max time difference to ephem toe (s) for other
const double MAXGDOP = 300.0;        //!<    max GDOP

const int MAXSBSURA = 8;  //!<    max URA of SBAS satellite
const int MAXBAND = 10;   //!<    max SBAS band of IGP
const int MAXNIGP = 201;  //!<    max number of IGP in SBAS band
const int MAXNGEO = 4;    //!<    max number of GEO satellites

const int MAXSOLMSG = 8191;  //!<    max length of solution message
const int MAXERRMSG = 4096;  //!<    max length of error/warning message

const int IONOOPT_OFF = 0;   //!<    ionosphere option: correction off
const int IONOOPT_BRDC = 1;  //!<    ionosphere option: broadcast model
const int IONOOPT_SBAS = 2;  //!<    ionosphere option: SBAS model
const int IONOOPT_IFLC = 3;  //!<    ionosphere option: L1/L2 or L1/L5 iono-free LC
const int IONOOPT_EST = 4;   //!<    ionosphere option: estimation
const int IONOOPT_TEC = 5;   //!<    ionosphere option: IONEX TEC model
const int IONOOPT_QZS = 6;   //!<    ionosphere option: QZSS broadcast model
const int IONOOPT_LEX = 7;   //!<    ionosphere option: QZSS LEX ionospehre
const int IONOOPT_STEC = 8;  //!<    ionosphere option: SLANT TEC model

const int TROPOPT_OFF = 0;   //!<    troposphere option: correction off
const int TROPOPT_SAAS = 1;  //!<    troposphere option: Saastamoinen model
const int TROPOPT_SBAS = 2;  //!<    troposphere option: SBAS model
const int TROPOPT_EST = 3;   //!<    troposphere option: ZTD estimation
const int TROPOPT_ESTG = 4;  //!<    troposphere option: ZTD+grad estimation
const int TROPOPT_COR = 5;   //!<    troposphere option: ZTD correction
const int TROPOPT_CORG = 6;  //!<    troposphere option: ZTD+grad correction


const int EPHOPT_BRDC = 0;    //!<    ephemeris option: broadcast ephemeris
const int EPHOPT_PREC = 1;    //!<    ephemeris option: precise ephemeris
const int EPHOPT_SBAS = 2;    //!<    ephemeris option: broadcast + SBAS
const int EPHOPT_SSRAPC = 3;  //!<    ephemeris option: broadcast + SSR_APC
const int EPHOPT_SSRCOM = 4;  //!<    ephemeris option: broadcast + SSR_COM
const int EPHOPT_LEX = 5;     //!<    ephemeris option: QZSS LEX ephemeris

const double EFACT_GPS = 1.0;  //!<    error factor: GPS
const double EFACT_GLO = 1.5;  //!<    error factor: GLONASS
const double EFACT_GAL = 1.0;  //!<    error factor: Galileo
const double EFACT_QZS = 1.0;  //!<    error factor: QZSS
const double EFACT_BDS = 1.0;  //!<    error factor: BeiDou
const double EFACT_IRN = 1.5;  //!<    error factor: IRNSS
const double EFACT_SBS = 3.0;  //!<    error factor: SBAS

const int MAXEXFILE = 1024;        //!<    max number of expanded files
const double MAXSBSAGEF = 30.0;    //!<    max age of SBAS fast correction (s)
const double MAXSBSAGEL = 1800.0;  //!<    max age of SBAS long term corr (s)

const int ARMODE_OFF = 0;        //!< AR mode: off
const int ARMODE_CONT = 1;       //!< AR mode: continuous
const int ARMODE_INST = 2;       //!< AR mode: instantaneous
const int ARMODE_FIXHOLD = 3;    //!< AR mode: fix and hold
const int ARMODE_PPPAR = 4;      //!< AR mode: PPP-AR
const int ARMODE_PPPAR_ILS = 5;  //!< AR mode: AR mode: PPP-AR ILS
const int ARMODE_WLNL = 6;
const int ARMODE_TCAR = 7;


const int POSOPT_RINEX = 3;   //!< pos option: rinex header pos
const int MAXSTRPATH = 1024;  //!<  max length of stream path
const int MAXSTRMSG = 1024;   //!<  max length of stream message

using fatalfunc_t = void(const char *);  //!<  fatal callback function type

// clang-format off
#define STR_MODE_R 0x1  /* stream mode: read */
#define STR_MODE_W 0x2  /* stream mode: write */
#define STR_MODE_RW 0x3 /* stream mode: read/write */

#define STR_NONE 0     /* stream type: none */
#define STR_SERIAL 1   /* stream type: serial */
#define STR_FILE 2     /* stream type: file */
#define STR_TCPSVR 3   /* stream type: TCP server */
#define STR_TCPCLI 4   /* stream type: TCP client */
#define STR_UDP 5      /* stream type: UDP stream */
#define STR_NTRIPSVR 6 /* stream type: NTRIP server */
#define STR_NTRIPCLI 7 /* stream type: NTRIP client */
#define STR_FTP 8      /* stream type: ftp */
#define STR_HTTP 9     /* stream type: http */

#define NP_PPP(opt) ((opt)->dynamics ? 9 : 3)                                                                    /* number of pos solution */
#define IC_PPP(s, opt) (NP_PPP(opt) + (s))                                                                       /* state index of clocks (s=0:gps,1:glo) */
#define IT_PPP(opt) (IC_PPP(0, opt) + NSYS)                                                                      /* state index of tropos */
#define NR_PPP(opt) (IT_PPP(opt) + ((opt)->tropopt < TROPOPT_EST ? 0 : ((opt)->tropopt == TROPOPT_EST ? 1 : 3))) /* number of solutions */
#define IB_PPP(s, opt) (NR_PPP(opt) + (s)-1)                                                                     /* state index of phase bias */
#define NX_PPP(opt) (IB_PPP(MAXSAT, opt) + 1)                                                                    /* number of estimated states */
// clang-format on

#define NF_RTK(opt) ((opt)->ionoopt == IONOOPT_IFLC ? 1 : (opt)->nf)
#define NP_RTK(opt) ((opt)->dynamics == 0 ? 3 : 9)
#define NI_RTK(opt) ((opt)->ionoopt != IONOOPT_EST ? 0 : MAXSAT)
#define NT_RTK(opt) ((opt)->tropopt < TROPOPT_EST ? 0 : ((opt)->tropopt < TROPOPT_ESTG ? 2 : 6))
#define NL_RTK(opt) ((opt)->glomodear != 2 ? 0 : NFREQGLO)
#define NB_RTK(opt) ((opt)->mode <= PMODE_DGPS ? 0 : MAXSAT * NF_RTK(opt))
#define NR_RTK(opt) (NP_RTK(opt) + NI_RTK(opt) + NT_RTK(opt) + NL_RTK(opt))
#define NX_RTK(opt) (NR_RTK(opt) + NB_RTK(opt))

typedef struct
{                /* time struct */
    time_t time; /* time (s) expressed by standard time_t */
    double sec;  /* fraction of second under 1 s */
} gtime_t;


typedef struct
{                                       /* observation data record */
    gtime_t time;                       /* receiver sampling time (GPST) */
    unsigned char sat, rcv;             /* satellite/receiver number */
    unsigned char SNR[NFREQ + NEXOBS];  /* signal strength (0.25 dBHz) */
    unsigned char LLI[NFREQ + NEXOBS];  /* loss of lock indicator */
    unsigned char code[NFREQ + NEXOBS]; /* code indicator (CODE_???) */
    double L[NFREQ + NEXOBS];           /* observation data carrier-phase (cycle) */
    double P[NFREQ + NEXOBS];           /* observation data pseudorange (m) */
    float D[NFREQ + NEXOBS];            /* observation data doppler frequency (Hz) */
} obsd_t;


typedef struct
{                 /* observation data */
    int n, nmax;  /* number of obervation data/allocated */
    obsd_t *data; /* observation data records */
} obs_t;


typedef struct
{                    /* earth rotation parameter data type */
    double mjd;      /* mjd (days) */
    double xp, yp;   /* pole offset (rad) */
    double xpr, ypr; /* pole offset rate (rad/day) */
    double ut1_utc;  /* ut1-utc (s) */
    double lod;      /* length of day (s/day) */
} erpd_t;


typedef struct
{                 /* earth rotation parameter type */
    int n, nmax;  /* number and max number of data */
    erpd_t *data; /* earth rotation parameter data */
} erp_t;


typedef struct
{                          /* antenna parameter type */
    int sat;               /* satellite number (0:receiver) */
    char type[MAXANT];     /* antenna type */
    char code[MAXANT];     /* serial number or satellite code */
    gtime_t ts, te;        /* valid time start and end */
    double off[NFREQ][3];  /* phase center offset e/n/u or x/y/z (m) */
    double var[NFREQ][19]; /* phase center variation (m) */
                           /* el=90,85,...,0 or nadir=0,1,2,3,... (deg) */
} pcv_t;


typedef struct
{                /* antenna parameters type */
    int n, nmax; /* number of data/allocated */
    pcv_t *pcv;  /* antenna parameters data */
} pcvs_t;


typedef struct
{                /* almanac type */
    int sat;     /* satellite number */
    int svh;     /* sv health (0:ok) */
    int svconf;  /* as and sv config */
    int week;    /* GPS/QZS: gps week, GAL: galileo week */
    gtime_t toa; /* Toa */
                 /* SV orbit parameters */
    double A, e, i0, OMG0, omg, M0, OMGd;
    double toas;   /* Toa (s) in week */
    double f0, f1; /* SV clock parameters (af0,af1) */
} alm_t;


typedef struct
{                          /* GPS/QZS/GAL broadcast ephemeris type */
    int sat;               /* satellite number */
    int iode, iodc;        /* IODE,IODC */
    int sva;               /* SV accuracy (URA index) */
    int svh;               /* SV health (0:ok) */
    int week;              /* GPS/QZS: gps week, GAL: galileo week */
    int code;              /* GPS/QZS: code on L2, GAL/BDS: data sources */
    int flag;              /* GPS/QZS: L2 P data flag, BDS: nav type */
    gtime_t toe, toc, ttr; /* Toe,Toc,T_trans */
                           /* SV orbit parameters */
    double A, e, i0, OMG0, omg, M0, deln, OMGd, idot;
    double crc, crs, cuc, cus, cic, cis;
    double toes;       /* Toe (s) in week */
    double fit;        /* fit interval (h) */
    double f0, f1, f2; /* SV clock parameters (af0,af1,af2) */
    double tgd[4];     /* group delay parameters */
                       /* GPS/QZS:tgd[0]=TGD */
                       /* GAL    :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */
                       /* BDS    :tgd[0]=BGD1,tgd[1]=BGD2 */
    double isc[4];     /* GPS    :isc[0]=ISCL1, isc[1]=ISCL2, isc[2]=ISCL5I, isc[3]=ISCL5Q */
    double Adot, ndot; /* Adot,ndot for CNAV */
} eph_t;


typedef struct
{                      /* GLONASS broadcast ephemeris type */
    int sat;           /* satellite number */
    int iode;          /* IODE (0-6 bit of tb field) */
    int frq;           /* satellite frequency number */
    int svh, sva, age; /* satellite health, accuracy, age of operation */
    gtime_t toe;       /* epoch of epherides (gpst) */
    gtime_t tof;       /* message frame time (gpst) */
    double pos[3];     /* satellite position (ecef) (m) */
    double vel[3];     /* satellite velocity (ecef) (m/s) */
    double acc[3];     /* satellite acceleration (ecef) (m/s^2) */
    double taun, gamn; /* SV clock bias (s)/relative freq bias */
    double dtaun;      /* delay between L1 and L2 (s) */
} geph_t;


typedef struct
{                          /* precise ephemeris type */
    gtime_t time;          /* time (GPST) */
    int index;             /* ephemeris index for multiple files */
    double pos[MAXSAT][4]; /* satellite position/clock (ecef) (m|s) */
    float std[MAXSAT][4];  /* satellite position/clock std (m|s) */
    double vel[MAXSAT][4]; /* satellite velocity/clk-rate (m/s|s/s) */
    float vst[MAXSAT][4];  /* satellite velocity/clk-rate std (m/s|s/s) */
    float cov[MAXSAT][3];  /* satellite position covariance (m^2) */
    float vco[MAXSAT][3];  /* satellite velocity covariance (m^2) */
} peph_t;


typedef struct
{                          /* precise clock type */
    gtime_t time;          /* time (GPST) */
    int index;             /* clock index for multiple files */
    double clk[MAXSAT][1]; /* satellite clock (s) */
    float std[MAXSAT][1];  /* satellite clock std (s) */
} pclk_t;


typedef struct
{                    /* SBAS ephemeris type */
    int sat;         /* satellite number */
    gtime_t t0;      /* reference epoch time (GPST) */
    gtime_t tof;     /* time of message frame (GPST) */
    int sva;         /* SV accuracy (URA index) */
    int svh;         /* SV health (0:ok) */
    double pos[3];   /* satellite position (m) (ecef) */
    double vel[3];   /* satellite velocity (m/s) (ecef) */
    double acc[3];   /* satellite acceleration (m/s^2) (ecef) */
    double af0, af1; /* satellite clock-offset/drift (s,s/s) */
} seph_t;


typedef struct
{                   /* norad two line element data type */
    char name[32];  /* common name */
    char alias[32]; /* alias name */
    char satno[16]; /* satellite catalog number */
    char satclass;  /* classification */
    char desig[16]; /* international designator */
    gtime_t epoch;  /* element set epoch (UTC) */
    double ndot;    /* 1st derivative of mean motion */
    double nddot;   /* 2st derivative of mean motion */
    double bstar;   /* B* drag term */
    int etype;      /* element set type */
    int eleno;      /* element number */
    double inc;     /* orbit inclination (deg) */
    double OMG;     /* right ascension of ascending node (deg) */
    double ecc;     /* eccentricity */
    double omg;     /* argument of perigee (deg) */
    double M;       /* mean anomaly (deg) */
    double n;       /* mean motion (rev/day) */
    int rev;        /* revolution number at epoch */
} tled_t;


typedef struct
{                 /* norad two line element type */
    int n, nmax;  /* number/max number of two line element data */
    tled_t *data; /* norad two line element data */
} tle_t;


typedef struct
{                   /* TEC grid type */
    gtime_t time;   /* epoch time (GPST) */
    int ndata[3];   /* TEC grid data size {nlat,nlon,nhgt} */
    double rb;      /* earth radius (km) */
    double lats[3]; /* latitude start/interval (deg) */
    double lons[3]; /* longitude start/interval (deg) */
    double hgts[3]; /* heights start/interval (km) */
    double *data;   /* TEC grid data (tecu) */
    float *rms;     /* RMS values (tecu) */
} tec_t;


typedef struct
{                           /* satellite fcb data type */
    gtime_t ts, te;         /* start/end time (GPST) */
    double bias[MAXSAT][3]; /* fcb value   (cyc) */
    double std[MAXSAT][3];  /* fcb std-dev (cyc) */
} fcbd_t;


typedef struct
{                          /* SBAS message type */
    int week, tow;         /* reception time */
    int prn;               /* SBAS satellite PRN number */
    unsigned char msg[29]; /* SBAS message (226bit) padded by 0 */
} sbsmsg_t;


typedef struct
{                   /* SBAS messages type */
    int n, nmax;    /* number of SBAS messages/allocated */
    sbsmsg_t *msgs; /* SBAS messages */
} sbs_t;


typedef struct
{               /* SBAS fast correction type */
    gtime_t t0; /* time of applicability (TOF) */
    double prc; /* pseudorange correction (PRC) (m) */
    double rrc; /* range-rate correction (RRC) (m/s) */
    double dt;  /* range-rate correction delta-time (s) */
    int iodf;   /* IODF (issue of date fast corr) */
    short udre; /* UDRE+1 */
    short ai;   /* degradation factor indicator */
} sbsfcorr_t;


typedef struct
{                      /* SBAS long term satellite error correction type */
    gtime_t t0;        /* correction time */
    int iode;          /* IODE (issue of date ephemeris) */
    double dpos[3];    /* delta position (m) (ecef) */
    double dvel[3];    /* delta velocity (m/s) (ecef) */
    double daf0, daf1; /* delta clock-offset/drift (s,s/s) */
} sbslcorr_t;


typedef struct
{                     /* SBAS satellite correction type */
    int sat;          /* satellite number */
    sbsfcorr_t fcorr; /* fast correction */
    sbslcorr_t lcorr; /* long term correction */
} sbssatp_t;


typedef struct
{                          /* SBAS satellite corrections type */
    int iodp;              /* IODP (issue of date mask) */
    int nsat;              /* number of satellites */
    int tlat;              /* system latency (s) */
    sbssatp_t sat[MAXSAT]; /* satellite correction */
} sbssat_t;


typedef struct
{                   /* SBAS ionospheric correction type */
    gtime_t t0;     /* correction time */
    short lat, lon; /* latitude/longitude (deg) */
    short give;     /* GIVI+1 */
    float delay;    /* vertical delay estimate (m) */
} sbsigp_t;


typedef struct
{                       /* IGP band type */
    short x;            /* longitude/latitude (deg) */
    const short *y;     /* latitudes/longitudes (deg) */
    unsigned char bits; /* IGP mask start bit */
    unsigned char bite; /* IGP mask end bit */
} sbsigpband_t;


typedef struct
{                          /* SBAS ionospheric corrections type */
    int iodi;              /* IODI (issue of date ionos corr) */
    int nigp;              /* number of igps */
    sbsigp_t igp[MAXNIGP]; /* ionospheric correction */
} sbsion_t;


typedef struct
{                /* DGPS/GNSS correction type */
    gtime_t t0;  /* correction time */
    double prc;  /* pseudorange correction (PRC) (m) */
    double rrc;  /* range rate correction (RRC) (m/s) */
    int iod;     /* issue of data (IOD) */
    double udre; /* UDRE */
} dgps_t;


typedef struct
{                             /* SSR correction type */
    gtime_t t0[6];            /* epoch time (GPST) {eph,clk,hrclk,ura,bias,pbias} */
    double udi[6];            /* SSR update interval (s) */
    int iod[6];               /* iod ssr {eph,clk,hrclk,ura,bias,pbias} */
    int iode;                 /* issue of data */
    int iodcrc;               /* issue of data crc for beidou/sbas */
    int ura;                  /* URA indicator */
    int refd;                 /* sat ref datum (0:ITRF,1:regional) */
    double deph[3];           /* delta orbit {radial,along,cross} (m) */
    double ddeph[3];          /* dot delta orbit {radial,along,cross} (m/s) */
    double dclk[3];           /* delta clock {c0,c1,c2} (m,m/s,m/s^2) */
    double hrclk;             /* high-rate clock corection (m) */
    float cbias[MAXCODE];     /* code biases (m) */
    double pbias[MAXCODE];    /* phase biases (m) */
    float stdpb[MAXCODE];     /* std-dev of phase biases (m) */
    double yaw_ang, yaw_rate; /* yaw angle and yaw rate (deg,deg/s) */
    unsigned char update;     /* update flag (0:no update,1:update) */
} ssr_t;


typedef struct
{                           /* QZSS LEX message type */
    int prn;                /* satellite PRN number */
    int type;               /* message type */
    int alert;              /* alert flag */
    unsigned char stat;     /* signal tracking status */
    unsigned char snr;      /* signal C/N0 (0.25 dBHz) */
    unsigned int ttt;       /* tracking time (ms) */
    unsigned char msg[212]; /* LEX message data part 1695 bits */
} lexmsg_t;


typedef struct
{                   /* QZSS LEX messages type */
    int n, nmax;    /* number of LEX messages and allocated */
    lexmsg_t *msgs; /* LEX messages */
} lex_t;


typedef struct
{                         /* QZSS LEX ephemeris type */
    gtime_t toe;          /* epoch time (GPST) */
    gtime_t tof;          /* message frame time (GPST) */
    int sat;              /* satellite number */
    unsigned char health; /* signal health (L1,L2,L1C,L5,LEX) */
    unsigned char ura;    /* URA index */
    double pos[3];        /* satellite position (m) */
    double vel[3];        /* satellite velocity (m/s) */
    double acc[3];        /* satellite acceleration (m/s2) */
    double jerk[3];       /* satellite jerk (m/s3) */
    double af0, af1;      /* satellite clock bias and drift (s,s/s) */
    double tgd;           /* TGD */
    double isc[8];        /* ISC */
} lexeph_t;


typedef struct
{                      /* QZSS LEX ionosphere correction type */
    gtime_t t0;        /* epoch time (GPST) */
    double tspan;      /* valid time span (s) */
    double pos0[2];    /* reference position {lat,lon} (rad) */
    double coef[3][2]; /* coefficients lat x lon (3 x 2) */
} lexion_t;


typedef struct
{                       /* stec data type */
    gtime_t time;       /* time (GPST) */
    unsigned char sat;  /* satellite number */
    double ion;         /* slant ionos delay (m) */
    float std;          /* std-dev (m) */
    float azel[2];      /* azimuth/elevation (rad) */
    unsigned char flag; /* fix flag */
} stec_t;


typedef struct
{                  /* trop data type */
    gtime_t time;  /* time (GPST) */
    double trp[3]; /* zenith tropos delay/gradient (m) */
    float std[3];  /* std-dev (m) */
} trop_t;


typedef struct
{                                  /* ppp corrections type */
    int nsta;                      /* number of stations */
    char stas[MAXSTA][8];          /* station names */
    double rr[MAXSTA][3];          /* station ecef positions (m) */
    int ns[MAXSTA], nsmax[MAXSTA]; /* number of stec data */
    int nt[MAXSTA], ntmax[MAXSTA]; /* number of trop data */
    stec_t *stec[MAXSTA];          /* stec data */
    trop_t *trop[MAXSTA];          /* trop data */
} pppcorr_t;


typedef struct
{                                 /* navigation data type */
    int n, nmax;                  /* number of broadcast ephemeris */
    int ng, ngmax;                /* number of glonass ephemeris */
    int ns, nsmax;                /* number of sbas ephemeris */
    int ne, nemax;                /* number of precise ephemeris */
    int nc, ncmax;                /* number of precise clock */
    int na, namax;                /* number of almanac data */
    int nt, ntmax;                /* number of tec grid data */
    int nf, nfmax;                /* number of satellite fcb data */
    eph_t *eph;                   /* GPS/QZS/GAL ephemeris */
    geph_t *geph;                 /* GLONASS ephemeris */
    seph_t *seph;                 /* SBAS ephemeris */
    peph_t *peph;                 /* precise ephemeris */
    pclk_t *pclk;                 /* precise clock */
    alm_t *alm;                   /* almanac data */
    tec_t *tec;                   /* tec grid data */
    fcbd_t *fcb;                  /* satellite fcb data */
    erp_t erp;                    /* earth rotation parameters */
    double utc_gps[4];            /* GPS delta-UTC parameters {A0,A1,T,W} */
    double utc_glo[4];            /* GLONASS UTC GPS time parameters */
    double utc_gal[4];            /* Galileo UTC GPS time parameters */
    double utc_qzs[4];            /* QZS UTC GPS time parameters */
    double utc_cmp[4];            /* BeiDou UTC parameters */
    double utc_irn[4];            /* IRNSS UTC parameters */
    double utc_sbs[4];            /* SBAS UTC parameters */
    double ion_gps[8];            /* GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
    double ion_gal[4];            /* Galileo iono model parameters {ai0,ai1,ai2,0} */
    double ion_qzs[8];            /* QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
    double ion_cmp[8];            /* BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
    double ion_irn[8];            /* IRNSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
    int leaps;                    /* leap seconds (s) */
    double lam[MAXSAT][NFREQ];    /* carrier wave lengths (m) */
    double cbias[MAXSAT][3];      /* satellite dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
    double rbias[MAXRCV][2][3];   /* receiver dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
    double wlbias[MAXSAT];        /* wide-lane bias (cycle) */
    double glo_cpbias[4];         /* glonass code-phase bias {1C,1P,2C,2P} (m) */
    char glo_fcn[MAXPRNGLO + 1];  /* glonass frequency channel number + 8 */
    pcv_t pcvs[MAXSAT];           /* satellite antenna pcv */
    sbssat_t sbssat;              /* SBAS satellite corrections */
    sbsion_t sbsion[MAXBAND + 1]; /* SBAS ionosphere corrections */
    dgps_t dgps[MAXSAT];          /* DGPS corrections */
    ssr_t ssr[MAXSAT];            /* SSR corrections */
    lexeph_t lexeph[MAXSAT];      /* LEX ephemeris */
    lexion_t lexion;              /* LEX ionosphere correction */
    pppcorr_t pppcorr;            /* ppp corrections */
} nav_t;


typedef struct
{                         /* station parameter type */
    char name[MAXANT];    /* marker name */
    char marker[MAXANT];  /* marker number */
    char antdes[MAXANT];  /* antenna descriptor */
    char antsno[MAXANT];  /* antenna serial number */
    char rectype[MAXANT]; /* receiver type descriptor */
    char recver[MAXANT];  /* receiver firmware version */
    char recsno[MAXANT];  /* receiver serial number */
    int antsetup;         /* antenna setup id */
    int itrf;             /* ITRF realization year */
    int deltype;          /* antenna delta type (0:enu,1:xyz) */
    double pos[3];        /* station position (ecef) (m) */
    double del[3];        /* antenna position delta (e/n/u or x/y/z) (m) */
    double hgt;           /* antenna height (m) */
} sta_t;


typedef struct
{                       /* solution type */
    gtime_t time;       /* time (GPST) */
    double rr[6];       /* position/velocity (m|m/s) */
                        /* {x,y,z,vx,vy,vz} or {e,n,u,ve,vn,vu} */
    float qr[6];        /* position variance/covariance (m^2) */
                        /* {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} */
    double dtr[6];      /* receiver clock bias to time systems (s) */
    unsigned char type; /* type (0:xyz-ecef,1:enu-baseline) */
    unsigned char stat; /* solution status (SOLQ_???) */
    unsigned char ns;   /* number of valid satellites */
    float age;          /* age of differential (s) */
    float ratio;        /* AR ratio factor for validation */
    float thres;        /* AR ratio threshold for validation */
} sol_t;


typedef struct
{                                      /* solution buffer type */
    int n, nmax;                       /* number of solution/max number of buffer */
    int cyclic;                        /* cyclic buffer flag */
    int start, end;                    /* start/end index */
    gtime_t time;                      /* current solution time */
    sol_t *data;                       /* solution data */
    double rb[3];                      /* reference position {x,y,z} (ecef) (m) */
    unsigned char buff[MAXSOLMSG + 1]; /* message buffer */
    int nb;                            /* number of byte in message buffer */
} solbuf_t;


typedef struct
{                         /* solution status type */
    gtime_t time;         /* time (GPST) */
    unsigned char sat;    /* satellite number */
    unsigned char frq;    /* frequency (1:L1,2:L2,...) */
    float az, el;         /* azimuth/elevation angle (rad) */
    float resp;           /* pseudorange residual (m) */
    float resc;           /* carrier-phase residual (m) */
    unsigned char flag;   /* flags: (vsat<<5)+(slip<<3)+fix */
    unsigned char snr;    /* signal strength (0.25 dBHz) */
    unsigned short lock;  /* lock counter */
    unsigned short outc;  /* outage counter */
    unsigned short slipc; /* slip counter */
    unsigned short rejc;  /* reject counter */
} solstat_t;


typedef struct
{                    /* solution status buffer type */
    int n, nmax;     /* number of solution/max number of buffer */
    solstat_t *data; /* solution status data */
} solstatbuf_t;


typedef struct
{                                                /* RTCM control struct type */
    int staid;                                   /* station id */
    int stah;                                    /* station health */
    int seqno;                                   /* sequence number for rtcm 2 or iods msm */
    int outtype;                                 /* output message type */
    gtime_t time;                                /* message time */
    gtime_t time_s;                              /* message start time */
    obs_t obs;                                   /* observation data (uncorrected) */
    nav_t nav;                                   /* satellite ephemerides */
    sta_t sta;                                   /* station parameters */
    dgps_t *dgps;                                /* output of dgps corrections */
    ssr_t ssr[MAXSAT];                           /* output of ssr corrections */
    char msg[128];                               /* special message */
    char msgtype[256];                           /* last message type */
    char msmtype[6][128];                        /* msm signal types */
    int obsflag;                                 /* obs data complete flag (1:ok,0:not complete) */
    int ephsat;                                  /* update satellite of ephemeris */
    double cp[MAXSAT][NFREQ + NEXOBS];           /* carrier-phase measurement */
    unsigned short lock[MAXSAT][NFREQ + NEXOBS]; /* lock time */
    unsigned short loss[MAXSAT][NFREQ + NEXOBS]; /* loss of lock count */
    gtime_t lltime[MAXSAT][NFREQ + NEXOBS];      /* last lock time */
    int nbyte;                                   /* number of bytes in message buffer */
    int nbit;                                    /* number of bits in word buffer */
    int len;                                     /* message length (bytes) */
    unsigned char buff[1200];                    /* message buffer */
    unsigned int word;                           /* word buffer for rtcm 2 */
    unsigned int nmsg2[100];                     /* message count of RTCM 2 (1-99:1-99,0:other) */
    unsigned int nmsg3[400];                     /* message count of RTCM 3 (1-299:1001-1299,300-399:2000-2099,0:other) */
    char opt[256];                               /* RTCM dependent options */
} rtcm_t;


typedef struct
{                    /* download url type */
    char type[32];   /* data type */
    char path[1024]; /* url path */
    char dir[1024];  /* local directory */
    double tint;     /* time interval (s) */
} url_t;


typedef struct
{                        /* option type */
    const char *name;    /* option name */
    int format;          /* option format (0:int,1:double,2:string,3:enum) */
    void *var;           /* pointer to option variable */
    const char *comment; /* option comment/enum labels/unit */
} opt_t;


typedef struct
{                              /* extended receiver error model */
    int ena[4];                /* model enabled */
    double cerr[4][NFREQ * 2]; /* code errors (m) */
    double perr[4][NFREQ * 2]; /* carrier-phase errors (m) */
    double gpsglob[NFREQ];     /* gps-glonass h/w bias (m) */
    double gloicb[NFREQ];      /* glonass interchannel bias (m/fn) */
} exterr_t;


typedef struct
{                          /* SNR mask type */
    int ena[2];            /* enable flag {rover,base} */
    double mask[NFREQ][9]; /* mask (dBHz) at 5,10,...85 deg */
} snrmask_t;


typedef struct
{                                 /* processing options type */
    int mode;                     /* positioning mode (PMODE_???) */
    int soltype;                  /* solution type (0:forward,1:backward,2:combined) */
    int nf;                       /* number of frequencies (1:L1,2:L1+L2,3:L1+L2+L5) */
    int navsys;                   /* navigation system */
    double elmin;                 /* elevation mask angle (rad) */
    snrmask_t snrmask;            /* SNR mask */
    int sateph;                   /* satellite ephemeris/clock (EPHOPT_???) */
    int modear;                   /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
    int glomodear;                /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
    int bdsmodear;                /* BeiDou AR mode (0:off,1:on) */
    int maxout;                   /* obs outage count to reset bias */
    int minlock;                  /* min lock count to fix ambiguity */
    int minfix;                   /* min fix count to hold ambiguity */
    int armaxiter;                /* max iteration to resolve ambiguity */
    int ionoopt;                  /* ionosphere option (IONOOPT_???) */
    int tropopt;                  /* troposphere option (TROPOPT_???) */
    int dynamics;                 /* dynamics model (0:none,1:velociy,2:accel) */
    int tidecorr;                 /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
    int niter;                    /* number of filter iteration */
    int codesmooth;               /* code smoothing window size (0:none) */
    int intpref;                  /* interpolate reference obs (for post mission) */
    int sbascorr;                 /* SBAS correction options */
    int sbassatsel;               /* SBAS satellite selection (0:all) */
    int rovpos;                   /* rover position for fixed mode */
    int refpos;                   /* base position for relative mode */
                                  /* (0:pos in prcopt,  1:average of single pos, */
                                  /*  2:read from file, 3:rinex header, 4:rtcm pos) */
    double eratio[NFREQ];         /* code/phase error ratio */
    double err[5];                /* measurement error factor */
                                  /* [0]:reserved */
                                  /* [1-3]:error factor a/b/c of phase (m) */
                                  /* [4]:doppler frequency (hz) */
    double std[3];                /* initial-state std [0]bias,[1]iono [2]trop */
    double prn[6];                /* process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv [5] pos */
    double sclkstab;              /* satellite clock stability (sec/sec) */
    double thresar[8];            /* AR validation threshold */
    double elmaskar;              /* elevation mask of AR for rising satellite (deg) */
    double elmaskhold;            /* elevation mask to hold ambiguity (deg) */
    double thresslip;             /* slip threshold of geometry-free phase (m) */
    double maxtdiff;              /* max difference of time (sec) */
    double maxinno;               /* reject threshold of innovation (m) */
    double maxgdop;               /* reject threshold of gdop */
    double baseline[2];           /* baseline length constraint {const,sigma} (m) */
    double ru[3];                 /* rover position for fixed mode {x,y,z} (ecef) (m) */
    double rb[3];                 /* base position for relative mode {x,y,z} (ecef) (m) */
    char anttype[2][MAXANT];      /* antenna types {rover,base} */
    double antdel[2][3];          /* antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
    pcv_t pcvr[2];                /* receiver antenna parameters {rov,base} */
    unsigned char exsats[MAXSAT]; /* excluded satellites (1:excluded,2:included) */
    int maxaveep;                 /* max averaging epoches */
    int initrst;                  /* initialize by restart */
    int outsingle;                /* output single by dgps/float/fix/ppp outage */
    char rnxopt[2][256];          /* rinex options {rover,base} */
    int posopt[6];                /* positioning options */
    int syncsol;                  /* solution sync mode (0:off,1:on) */
    double odisp[2][6 * 11];      /* ocean tide loading parameters {rov,base} */
    exterr_t exterr;              /* extended receiver error model */
    int freqopt;                  /* disable L2-AR */
    char pppopt[256];             /* ppp option */
} prcopt_t;


typedef struct
{                       /* solution options type */
    int posf;           /* solution format (SOLF_???) */
    int times;          /* time system (TIMES_???) */
    int timef;          /* time format (0:sssss.s,1:yyyy/mm/dd hh:mm:ss.s) */
    int timeu;          /* time digits under decimal point */
    int degf;           /* latitude/longitude format (0:ddd.ddd,1:ddd mm ss) */
    int outhead;        /* output header (0:no,1:yes) */
    int outopt;         /* output processing options (0:no,1:yes) */
    int datum;          /* datum (0:WGS84,1:Tokyo) */
    int height;         /* height (0:ellipsoidal,1:geodetic) */
    int geoid;          /* geoid model (0:EGM96,1:JGD2000) */
    int solstatic;      /* solution of static mode (0:all,1:single) */
    int sstat;          /* solution statistics level (0:off,1:states,2:residuals) */
    int trace;          /* debug trace level (0:off,1-5:debug) */
    double nmeaintv[2]; /* nmea output interval (s) (<0:no,0:all) */
                        /* nmeaintv[0]:gprmc,gpgga,nmeaintv[1]:gpgsv */
    char sep[64];       /* field separator */
    char prog[64];      /* program name */
    double maxsolstd;   /* max std-dev for solution output (m) (0:all) */
} solopt_t;


typedef struct
{                              /* satellite status type */
    unsigned char sys;         /* navigation system */
    unsigned char vs;          /* valid satellite flag single */
    double azel[2];            /* azimuth/elevation angles {az,el} (rad) */
    double resp[NFREQ];        /* residuals of pseudorange (m) */
    double resc[NFREQ];        /* residuals of carrier-phase (m) */
    unsigned char vsat[NFREQ]; /* valid satellite flag */
    unsigned char snr[NFREQ];  /* signal strength (0.25 dBHz) */
    unsigned char fix[NFREQ];  /* ambiguity fix flag (1:fix,2:float,3:hold) */
    unsigned char slip[NFREQ]; /* cycle-slip flag */
    unsigned char half[NFREQ]; /* half-cycle valid flag */
    int lock[NFREQ];           /* lock counter of phase */
    unsigned int outc[NFREQ];  /* obs outage counter of phase */
    unsigned int slipc[NFREQ]; /* cycle-slip counter */
    unsigned int rejc[NFREQ];  /* reject counter */
    double gf;                 /* geometry-free phase L1-L2 (m) */
    double gf2;                /* geometry-free phase L1-L5 (m) */
    double mw;                 /* MW-LC (m) */
    double phw;                /* phase windup (cycle) */
    gtime_t pt[2][NFREQ];      /* previous carrier-phase time */
    double ph[2][NFREQ];       /* previous carrier-phase observable (cycle) */
} ssat_t;


typedef struct
{                       /* ambiguity control type */
    gtime_t epoch[4];   /* last epoch */
    int n[4];           /* number of epochs */
    double LC[4];       /* linear combination average */
    double LCv[4];      /* linear combination variance */
    int fixcnt;         /* fix count */
    char flags[MAXSAT]; /* fix flags */
} ambc_t;


typedef struct
{                           /* RTK control/result type */
    sol_t sol;              /* RTK solution */
    double rb[6];           /* base position/velocity (ecef) (m|m/s) */
    int nx, na;             /* number of float states/fixed states */
    double tt;              /* time difference between current and previous (s) */
    double *x, *P;          /* float states and their covariance */
    double *xa, *Pa;        /* fixed states and their covariance */
    int nfix;               /* number of continuous fixes of ambiguity */
    ambc_t ambc[MAXSAT];    /* ambiguity control */
    ssat_t ssat[MAXSAT];    /* satellite status */
    int neb;                /* bytes in error message buffer */
    char errbuf[MAXERRMSG]; /* error message buffer */
    prcopt_t opt;           /* processing options */
} rtk_t;


typedef struct half_cyc_tag
{                              /* half-cycle correction list type */
    unsigned char sat;         /* satellite number */
    unsigned char freq;        /* frequency number (0:L1,1:L2,2:L5) */
    unsigned char valid;       /* half-cycle valid flag */
    char corr;                 /* half-cycle corrected (x 0.5 cyc) */
    gtime_t ts, te;            /* time start, time end */
    struct half_cyc_tag *next; /* pointer to next correction */
} half_cyc_t;


typedef struct
{                             /* stream type */
    int type;                 /* type (STR_???) */
    int mode;                 /* mode (STR_MODE_?) */
    int state;                /* state (-1:error,0:close,1:open) */
    unsigned int inb, inr;    /* input bytes/rate */
    unsigned int outb, outr;  /* output bytes/rate */
    unsigned int tick, tact;  /* tick/active tick */
    unsigned int inbt, outbt; /* input/output bytes at tick */
    lock_t lock;              /* lock flag */
    void *port;               /* type dependent port control struct */
    char path[MAXSTRPATH];    /* stream path */
    char msg[MAXSTRMSG];      /* stream message */
} stream_t;


typedef struct
{              /* serial control type */
    dev_t dev; /* serial device */
    int error; /* error state */
} serial_t;


typedef struct
{                              /* file control type */
    FILE *fp;                  /* file pointer */
    FILE *fp_tag;              /* file pointer of tag file */
    FILE *fp_tmp;              /* temporary file pointer for swap */
    FILE *fp_tag_tmp;          /* temporary file pointer of tag file for swap */
    char path[MAXSTRPATH];     /* file path */
    char openpath[MAXSTRPATH]; /* open file path */
    int mode;                  /* file mode */
    int timetag;               /* time tag flag (0:off,1:on) */
    int repmode;               /* replay mode (0:master,1:slave) */
    int offset;                /* time offset (ms) for slave */
    gtime_t time;              /* start time */
    gtime_t wtime;             /* write time */
    unsigned int tick;         /* start tick */
    unsigned int tick_f;       /* start tick in file */
    unsigned int fpos;         /* current file position */
    double start;              /* start offset (s) */
    double speed;              /* replay speed (time factor) */
    double swapintv;           /* swap interval (hr) (0: no swap) */
    lock_t lock;               /* lock flag */
} file_t;


typedef struct
{                            /* tcp control type */
    int state;               /* state (0:close,1:wait,2:connect) */
    char saddr[256];         /* address string */
    int port;                /* port */
    struct sockaddr_in addr; /* address resolved */
    socket_t sock;           /* socket descriptor */
    int tcon;                /* reconnect time (ms) (-1:never,0:now) */
    unsigned int tact;       /* data active tick */
    unsigned int tdis;       /* disconnect tick */
} tcp_t;


typedef struct
{                      /* tcp server type */
    tcp_t svr;         /* tcp server control */
    tcp_t cli[MAXCLI]; /* tcp client controls */
} tcpsvr_t;


typedef struct
{                /* tcp cilent type */
    tcp_t svr;   /* tcp server control */
    int toinact; /* inactive timeout (ms) (0:no timeout) */
    int tirecon; /* reconnect interval (ms) (0:no reconnect) */
} tcpcli_t;


typedef struct
{                                     /* ntrip control type */
    int state;                        /* state (0:close,1:wait,2:connect) */
    int type;                         /* type (0:server,1:client) */
    int nb;                           /* response buffer size */
    char url[256];                    /* url for proxy */
    char mntpnt[256];                 /* mountpoint */
    char user[256];                   /* user */
    char passwd[256];                 /* password */
    char str[NTRIP_MAXSTR];           /* mountpoint string for server */
    unsigned char buff[NTRIP_MAXRSP]; /* response buffer */
    tcpcli_t *tcp;                    /* tcp client */
} ntrip_t;


typedef struct
{              /* ftp download control type */
    int state; /* state (0:close,1:download,2:complete,3:error) */
    int proto; /* protocol (0:ftp,1:http) */
    int error; /* error code (0:no error,1-10:wget error, */
    /*            11:no temp dir,12:uncompact error) */
    char addr[1024];  /* download address */
    char file[1024];  /* download file path */
    char user[256];   /* user for ftp */
    char passwd[256]; /* password for ftp */
    char local[1024]; /* local file path */
    int topts[4];     /* time options {poff,tint,toff,tretry} (s) */
    gtime_t tnext;    /* next retry time (gpst) */
    pthread_t thread; /* download thread */
} ftp_t;


typedef struct
{                                                /* receiver raw data control type */
    gtime_t time;                                /* message time */
    gtime_t tobs;                                /* observation data time */
    obs_t obs;                                   /* observation data */
    obs_t obuf;                                  /* observation data buffer */
    nav_t nav;                                   /* satellite ephemerides */
    sta_t sta;                                   /* station parameters */
    int ephsat;                                  /* sat number of update ephemeris (0:no satellite) */
    sbsmsg_t sbsmsg;                             /* SBAS message */
    char msgtype[256];                           /* last message type */
    unsigned char subfrm[MAXSAT][380];           /* subframe buffer */
    lexmsg_t lexmsg;                             /* LEX message */
    double lockt[MAXSAT][NFREQ + NEXOBS];        /* lock time (s) */
    double icpp[MAXSAT], off[MAXSAT], icpc;      /* carrier params for ss2 */
    double prCA[MAXSAT], dpCA[MAXSAT];           /* L1/CA pseudrange/doppler for javad */
    unsigned char halfc[MAXSAT][NFREQ + NEXOBS]; /* half-cycle add flag */
    char freqn[MAXOBS];                          /* frequency number for javad */
    int nbyte;                                   /* number of bytes in message buffer */
    int len;                                     /* message length (bytes) */
    int iod;                                     /* issue of data */
    int tod;                                     /* time of day (ms) */
    int tbase;                                   /* time base (0:gpst,1:utc(usno),2:glonass,3:utc(su) */
    int flag;                                    /* general purpose flag */
    int outtype;                                 /* output message type */
    unsigned char buff[MAXRAWLEN];               /* message buffer */
    char opt[256];                               /* receiver dependent options */
    double receive_time;                         /* RT17: Reiceve time of week for week rollover detection */
    unsigned int plen;                           /* RT17: Total size of packet to be read */
    unsigned int pbyte;                          /* RT17: How many packet bytes have been read so far */
    unsigned int page;                           /* RT17: Last page number */
    unsigned int reply;                          /* RT17: Current reply number */
    int week;                                    /* RT17: week number */
    unsigned char pbuff[255 + 4 + 2];            /* RT17: Packet buffer */
} raw_t;


typedef struct
{                               /* RTK server type */
    int state;                  /* server state (0:stop,1:running) */
    int cycle;                  /* processing cycle (ms) */
    int nmeacycle;              /* NMEA request cycle (ms) (0:no req) */
    int nmeareq;                /* NMEA request (0:no,1:nmeapos,2:single sol) */
    double nmeapos[3];          /* NMEA request position (ecef) (m) */
    int buffsize;               /* input buffer size (bytes) */
    int format[3];              /* input format {rov,base,corr} */
    solopt_t solopt[2];         /* output solution options {sol1,sol2} */
    int navsel;                 /* ephemeris select (0:all,1:rover,2:base,3:corr) */
    int nsbs;                   /* number of sbas message */
    int nsol;                   /* number of solution buffer */
    rtk_t rtk;                  /* RTK control/result struct */
    int nb[3];                  /* bytes in input buffers {rov,base} */
    int nsb[2];                 /* bytes in soulution buffers */
    int npb[3];                 /* bytes in input peek buffers */
    unsigned char *buff[3];     /* input buffers {rov,base,corr} */
    unsigned char *sbuf[2];     /* output buffers {sol1,sol2} */
    unsigned char *pbuf[3];     /* peek buffers {rov,base,corr} */
    sol_t solbuf[MAXSOLBUF];    /* solution buffer */
    unsigned int nmsg[3][10];   /* input message counts */
    raw_t raw[3];               /* receiver raw control {rov,base,corr} */
    rtcm_t rtcm[3];             /* RTCM control {rov,base,corr} */
    gtime_t ftime[3];           /* download time {rov,base,corr} */
    char files[3][MAXSTRPATH];  /* download paths {rov,base,corr} */
    obs_t obs[3][MAXOBSBUF];    /* observation data {rov,base,corr} */
    nav_t nav;                  /* navigation data */
    sbsmsg_t sbsmsg[MAXSBSMSG]; /* SBAS message buffer */
    stream_t stream[8];         /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
    stream_t *moni;             /* monitor stream */
    unsigned int tick;          /* start tick */
    pthread_t thread;           /* server thread */
    int cputime;                /* CPU time (ms) for a processing cycle */
    int prcout;                 /* missing observation data count */
    lock_t lock;                /* lock flag */
} rtksvr_t;

typedef struct
{                               /* multi-signal-message header type */
    unsigned char iod;          /* issue of data station */
    unsigned char time_s;       /* cumulative session transmitting time */
    unsigned char clk_str;      /* clock steering indicator */
    unsigned char clk_ext;      /* external clock indicator */
    unsigned char smooth;       /* divergence free smoothing indicator */
    unsigned char tint_s;       /* soothing interval */
    unsigned char nsat, nsig;   /* number of satellites/signals */
    unsigned char sats[64];     /* satellites */
    unsigned char sigs[32];     /* signals */
    unsigned char cellmask[64]; /* cell mask */
} msm_h_t;


const double CHISQR[100] = {/* chi-sqr(n) (alpha=0.001) */
    10.8, 13.8, 16.3, 18.5, 20.5, 22.5, 24.3, 26.1, 27.9, 29.6,
    31.3, 32.9, 34.5, 36.1, 37.7, 39.3, 40.8, 42.3, 43.8, 45.3,
    46.8, 48.3, 49.7, 51.2, 52.6, 54.1, 55.5, 56.9, 58.3, 59.7,
    61.1, 62.5, 63.9, 65.2, 66.6, 68.0, 69.3, 70.7, 72.1, 73.4,
    74.7, 76.0, 77.3, 78.6, 80.0, 81.3, 82.6, 84.0, 85.4, 86.7,
    88.0, 89.3, 90.6, 91.9, 93.3, 94.7, 96.0, 97.4, 98.7, 100,
    101, 102, 103, 104, 105, 107, 108, 109, 110, 112,
    113, 114, 115, 116, 118, 119, 120, 122, 123, 125,
    126, 127, 128, 129, 131, 132, 133, 134, 135, 137,
    138, 139, 140, 142, 143, 144, 145, 147, 148, 149};


const double LAM_CARR[MAXFREQ] = {/* carrier wave length (m) */
    SPEED_OF_LIGHT_M_S / FREQ1, SPEED_OF_LIGHT_M_S / FREQ2, SPEED_OF_LIGHT_M_S / FREQ5, SPEED_OF_LIGHT_M_S / FREQ6, SPEED_OF_LIGHT_M_S / FREQ7,
    SPEED_OF_LIGHT_M_S / FREQ8, SPEED_OF_LIGHT_M_S / FREQ9};

const int STRFMT_RTCM2 = 0;   /* stream format: RTCM 2 */
const int STRFMT_RTCM3 = 1;   /* stream format: RTCM 3 */
const int STRFMT_SP3 = 16;    /* stream format: SP3 */
const int STRFMT_RNXCLK = 17; /* stream format: RINEX CLK */
const int STRFMT_SBAS = 18;   /* stream format: SBAS messages */
const int STRFMT_NMEA = 19;   /* stream format: NMEA 0183 */
// const solopt_t solopt_default;   /* default solution output options */

const int MAXSTRRTK = 8; /* max number of stream in RTK server */

/** \} */
/** \} */
#endif  // GNSS_SDR_RTKLIB_H