rtklib_rtkcmn.h File Reference

rtklib common functions More...

#include "rtklib.h"
#include <cstddef>
#include <string>
#include <boost/filesystem/operations.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/filesystem/path_traits.hpp>
#include <boost/system/error_code.hpp>

Go to the source code of this file.

Macros
#define	Rx(t, X)
#define	Ry(t, X)
#define	Rz(t, X)

Functions
char *	strncpy_no_trunc (char *out, size_t outsz, const char *in, size_t insz)
void	fatalerr (const char *format,...)
int	satno (int sys, int prn)
int	satsys (int sat, int *prn)
int	satid2no (const char *id)
std::string	satno2id (int sat)
int	satexclude (int sat, int svh, const prcopt_t *opt)
int	testsnr (int base, int freq, double el, double snr, const snrmask_t *mask)
unsigned char	obs2code (const char *obs, int *freq)
char *	code2obs (unsigned char code, int *freq)
void	setcodepri (int sys, int freq, const char *pri)
int	getcodepri (int sys, unsigned char code, const char *opt)
unsigned int	getbitu (const unsigned char *buff, int pos, int len)
int	getbits (const unsigned char *buff, int pos, int len)
void	setbitu (unsigned char *buff, int pos, int len, unsigned int data)
void	setbits (unsigned char *buff, int pos, int len, int data)
unsigned int	rtk_crc32 (const unsigned char *buff, int len)
unsigned int	rtk_crc24q (const unsigned char *buff, int len)
unsigned short	rtk_crc16 (const unsigned char *buff, int len)
int	decode_word (unsigned int word, unsigned char *data)
double *	mat (int n, int m)
int *	imat (int n, int m)
double *	zeros (int n, int m)
double *	eye (int n)
double	dot (const double *a, const double *b, int n)
double	norm_rtk (const double *a, int n)
void	cross3 (const double *a, const double *b, double *c)
int	normv3 (const double *a, double *b)
void	matcpy (double *A, const double *B, int n, int m)
void	matmul (const char *tr, int n, int k, int m, double alpha, const double *A, const double *B, double beta, double *C)
int	matinv (double *A, int n)
int	solve (const char *tr, const double *A, const double *Y, int n, int m, double *X)
int	lsq (const double *A, const double *y, int n, int m, double *x, double *Q)
int	filter_ (const double *x, const double *P, const double *H, const double *v, const double *R, int n, int m, double *xp, double *Pp)
int	filter (double *x, double *P, const double *H, const double *v, const double *R, int n, int m)
int	smoother (const double *xf, const double *Qf, const double *xb, const double *Qb, int n, double *xs, double *Qs)
void	matfprint (const double A[], int n, int m, int p, int q, FILE *fp)
void	matsprint (const double A[], int n, int m, int p, int q, std::string &buffer)
void	matprint (const double A[], int n, int m, int p, int q)
double	str2num (const char *s, int i, int n)
int	str2time (const char *s, int i, int n, gtime_t *t)
gtime_t	epoch2time (const double *ep)
void	time2epoch (gtime_t t, double *ep)
gtime_t	gpst2time (int week, double sec)
double	time2gpst (gtime_t t, int *week)
gtime_t	gst2time (int week, double sec)
double	time2gst (gtime_t t, int *week)
gtime_t	bdt2time (int week, double sec)
double	time2bdt (gtime_t t, int *week)
gtime_t	timeadd (gtime_t t, double sec)
double	timediff (gtime_t t1, gtime_t t2)
double	timediffweekcrossover (gtime_t t1, gtime_t t2)
gtime_t	timeget ()
void	timeset (gtime_t t)
int	read_leaps_text (FILE *fp)
int	read_leaps_usno (FILE *fp)
int	read_leaps (const char *file)
gtime_t	gpst2utc (gtime_t t)
gtime_t	utc2gpst (gtime_t t)
gtime_t	gpst2bdt (gtime_t t)
gtime_t	bdt2gpst (gtime_t t)
double	time2sec (gtime_t time, gtime_t *day)
double	utc2gmst (gtime_t t, double ut1_utc)
void	time2str (gtime_t t, char *s, int n)
char *	time_str (gtime_t t, int n)
double	time2doy (gtime_t t)
int	adjgpsweek (int week, bool pre_2009_file=false)
unsigned int	tickget ()
void	sleepms (int ms)
void	deg2dms (double deg, double *dms, int ndec)
void	deg2dms (double deg, double *dms)
double	dms2deg (const double *dms)
void	ecef2pos (const double *r, double *pos)
void	pos2ecef (const double *pos, double *r)
void	xyz2enu (const double *pos, double *E)
void	ecef2enu (const double *pos, const double *r, double *e)
void	enu2ecef (const double *pos, const double *e, double *r)
void	covenu (const double *pos, const double *P, double *Q)
void	covecef (const double *pos, const double *Q, double *P)
void	ast_args (double t, double *f)
void	nut_iau1980 (double t, const double *f, double *dpsi, double *deps)
void	eci2ecef (gtime_t tutc, const double *erpv, double *U, double *gmst)
int	decodef (char *p, int n, double *v)
void	addpcv (const pcv_t *pcv, pcvs_t *pcvs)
int	readngspcv (const char *file, pcvs_t *pcvs)
int	readantex (const char *file, pcvs_t *pcvs)
int	readpcv (const char *file, pcvs_t *pcvs)
pcv_t *	searchpcv (int sat, const char *type, gtime_t time, const pcvs_t *pcvs)
void	readpos (const char *file, const char *rcv, double *pos)
int	readblqrecord (FILE *fp, double *odisp)
int	readblq (const char *file, const char *sta, double *odisp)
int	readerp (const char *file, erp_t *erp)
int	geterp (const erp_t *erp, gtime_t time, double *erpv)
int	cmpeph (const void *p1, const void *p2)
void	uniqeph (nav_t *nav)
int	cmpgeph (const void *p1, const void *p2)
void	uniqgeph (nav_t *nav)
int	cmpseph (const void *p1, const void *p2)
void	uniqseph (nav_t *nav)
void	uniqnav (nav_t *nav)
int	cmpobs (const void *p1, const void *p2)
int	sortobs (obs_t *obs)
int	screent (gtime_t time, gtime_t ts, gtime_t te, double tint)
int	readnav (const char *file, nav_t *nav)
int	savenav (const char *file, const nav_t *nav)
void	freeobs (obs_t *obs)
void	freenav (nav_t *nav, int opt)
void	traceopen (const char *file)
void	traceclose ()
void	tracelevel (int level)
void	traceswap ()
void	trace (int level, const char *format,...)
void	tracet (int level, const char *format,...)
void	tracemat (int level, const double *A, int n, int m, int p, int q)
void	traceobs (int level, const obsd_t *obs, int n)
int	execcmd (const char *cmd)
void	createdir (fs::path const &path)
int	reppath (std::string const &path, std::string &rpath, gtime_t time, const char *rov, const char *base)
double	satwavelen (int sat, int frq, const nav_t *nav)
double	geodist (const double *rs, const double *rr, double *e)
double	satazel (const double *pos, const double *e, double *azel)
void	dops (int ns, const double *azel, double elmin, double *dop)
double	ionmodel (gtime_t t, const double *ion, const double *pos, const double *azel)
double	ionmapf (const double *pos, const double *azel)
double	ionppp (const double *pos, const double *azel, double re, double hion, double *posp)
double	tropmodel (gtime_t time, const double *pos, const double *azel, double humi)
double	interpc (const double coef[], double lat)
double	mapf (double el, double a, double b, double c)
double	nmf (gtime_t time, const double pos[], const double azel[], double *mapfw)
double	tropmapf (gtime_t time, const double pos[], const double azel[], double *mapfw)
double	interpvar (double ang, const double *var)
void	antmodel (const pcv_t *pcv, const double *del, const double *azel, int opt, double *dant)
void	antmodel_s (const pcv_t *pcv, double nadir, double *dant)
void	sunmoonpos_eci (gtime_t tut, double *rsun, double *rmoon)
void	sunmoonpos (gtime_t tutc, const double *erpv, double *rsun, double *rmoon, double *gmst)
void	csmooth (obs_t *obs, int ns)
int	rtk_uncompress (const char *file, char *uncfile)
int	expath (const char *path, char *paths[], int nmax)
void	windupcorr (gtime_t time, const double *rs, const double *rr, double *phw)

Detailed Description

rtklib common functions

Authors

• 2007-2013, T. Takasu
• 2017, Javier Arribas
• 2017, 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, Carles Fernandez All rights reserved.

SPDX-License-Identifier: BSD-2-Clause

References : [1] IS-GPS-200M, Navstar GPS Space Segment/Navigation User Interfaces, May, 2021 [2] RTCA/DO-229C, Minimum operational performance standards for global positioning system/wide area augmentation system airborne equipment, RTCA inc, November 28, 2001 [3] M.Rothacher, R.Schmid, ANTEX: The Antenna Exchange Format Version 1.4, 15 September, 2010 [4] A.Gelb ed., Applied Optimal Estimation, The M.I.T Press, 1974 [5] A.E.Niell, Global mapping functions for the atmosphere delay at radio wavelengths, Journal of geophysical research, 1996 [6] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format Version 3.00, November 28, 2007 [7] J.Kouba, A Guide to using International GNSS Service (IGS) products, May 2009 [8] China Satellite Navigation Office, BeiDou navigation satellite system signal in space interface control document, open service signal B1I (version 1.0), Dec 2012 [9] J.Boehm, A.Niell, P.Tregoning and H.Shuh, Global Mapping Function (GMF): A new empirical mapping function base on numerical weather model data, Geophysical Research Letters, 33, L07304, 2006 [10] GLONASS/GPS/Galileo/Compass/SBAS NV08C receiver series BINR interface protocol specification ver.1.3, August, 2012

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Definition in file rtklib_rtkcmn.h.

Macro Definition Documentation

Rx

#define Rx	(		t,
			X )

Value:

do                                               \
    {                                            \
        (X)[0] = 1.0;                            \
        (X)[1] = (X)[2] = (X)[3] = (X)[6] = 0.0; \
        (X)[4] = (X)[8] = cos(t);                \
        (X)[7] = sin(t);                         \
        (X)[5] = -(X)[7];                        \
    }                                            \
while (0)

Definition at line 85 of file rtklib_rtkcmn.h.

Ry

#define Ry	(		t,
			X )

Value:

do                                               \
    {                                            \
        (X)[4] = 1.0;                            \
        (X)[1] = (X)[3] = (X)[5] = (X)[7] = 0.0; \
        (X)[0] = (X)[8] = cos(t);                \
        (X)[2] = sin(t);                         \
        (X)[6] = -(X)[2];                        \
    }                                            \
while (0)

Definition at line 96 of file rtklib_rtkcmn.h.

Rz

#define Rz	(		t,
			X )

Value:

do                                               \
    {                                            \
        (X)[8] = 1.0;                            \
        (X)[2] = (X)[5] = (X)[6] = (X)[7] = 0.0; \
        (X)[0] = (X)[4] = cos(t);                \
        (X)[3] = sin(t);                         \
        (X)[1] = -(X)[3];                        \
    }                                            \
while (0)

Definition at line 107 of file rtklib_rtkcmn.h.