rtklib.h File Reference

main header file for the rtklib library More...

#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>

Go to the source code of this file.

Classes
struct	gtime_t
struct	obsd_t
struct	obs_t
struct	erpd_t
struct	erp_t
struct	pcv_t
struct	pcvs_t
struct	alm_t
struct	eph_t
struct	geph_t
struct	peph_t
struct	pclk_t
struct	seph_t
struct	tled_t
struct	tle_t
struct	tec_t
struct	fcbd_t
struct	sbsmsg_t
struct	sbs_t
struct	sbsfcorr_t
struct	sbslcorr_t
struct	sbssatp_t
struct	sbssat_t
struct	sbsigp_t
struct	sbsigpband_t
struct	sbsion_t
struct	dgps_t
struct	ssr_t
struct	lexmsg_t
struct	lex_t
struct	lexeph_t
struct	lexion_t
struct	stec_t
struct	trop_t
struct	pppcorr_t
struct	nav_t
struct	sta_t
struct	sol_t
struct	solbuf_t
struct	solstat_t
struct	solstatbuf_t
struct	rtcm_t
struct	url_t
struct	opt_t
struct	exterr_t
struct	snrmask_t
struct	prcopt_t
struct	solopt_t
struct	ssat_t
struct	ambc_t
struct	rtk_t
struct	half_cyc_tag
struct	stream_t
struct	serial_t
struct	file_t
struct	tcp_t
struct	tcpsvr_t
struct	tcpcli_t
struct	ntrip_t
struct	ftp_t
struct	raw_t
struct	rtksvr_t
struct	msm_h_t

Macros
#define	dev_t   int
#define	socket_t   int
#define	closesocket   close
#define	lock_t   pthread_mutex_t
#define	initlock(f)
#define	rtk_lock(f)
#define	rtk_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 */
#define	ENAGLO
#define	ENAQZS
#define	ENABDS
#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)
#define	IC_PPP(s, opt)
#define	IT_PPP(opt)
#define	NR_PPP(opt)
#define	IB_PPP(s, opt)
#define	NX_PPP(opt)
#define	NF_RTK(opt)
#define	NP_RTK(opt)
#define	NI_RTK(opt)
#define	NT_RTK(opt)
#define	NL_RTK(opt)
#define	NB_RTK(opt)
#define	NR_RTK(opt)
#define	NX_RTK(opt)

Typedefs
using	fatalfunc_t = void(const char *)
	fatal callback function type
typedef struct half_cyc_tag	half_cyc_t

Variables
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
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
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 = 202
	max satellite PRN number of QZSS
const int	MINPRNQZS = 193
	min satellite PRN number of QZSS
const int	MINPRNQZS_S = 183
	min satellite PRN number of QZSS SAIF
const int	MAXPRNQZS_S = 191
	max satellite PRN number of QZSS SAIF
const int	NSATQZS = (MAXPRNQZS - MINPRNQZS + 1)
	number of QZSS satellites
const int	NSYSQZS = 1
const int	MINPRNBDS = 1
	min satellite sat number of BeiDou
const int	MAXPRNBDS = 63
	max satellite sat number of BeiDou
const int	NSATBDS = (MAXPRNBDS - MINPRNBDS + 1)
	number of BeiDou satellites
const int	NSYSBDS = 1
const int	MINPRNIRN = 1
	min satellite sat number of IRNSS
const int	MAXPRNIRN = 7
	max satellite sat number of IRNSS
const int	NSATIRN = 0
const int	NSYSIRN = 0
const int	MINPRNLEO = 1
	min satellite sat number of LEO
const int	MAXPRNLEO = 10
	max satellite sat number of LEO *‍/
const int	NSATLEO = 0
const int	NSYSLEO = 0
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
const int	MAXOBS = 64
	max number of obs in an epoch
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
const double	CHISQR [100]
const double	LAM_CARR [MAXFREQ]
const int	STRFMT_RTCM2 = 0
const int	STRFMT_RTCM3 = 1
const int	STRFMT_SP3 = 16
const int	STRFMT_RNXCLK = 17
const int	STRFMT_SBAS = 18
const int	STRFMT_NMEA = 19
const int	MAXSTRRTK = 8

Detailed Description

main header file for the rtklib library

Authors

• 2007-2013, T. Takasu
• 2017, Javier Arribas
• 2017-2023, Carles Fernandez

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.

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Copyright (C) 2007-2013, T. Takasu Copyright (C) 2017, Javier Arribas Copyright (C) 2017-2023, Carles Fernandez All rights reserved.

SPDX-License-Identifier: BSD-2-Clause

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Definition in file rtklib.h.