[TOC]
-
配置文件包含了文件选项（filopt_t ）、结果输出选项（solopt_t ）、解算方式选项（prcopt_t ）三大块，用于实时和后处理定位解算程序 RTKNAVI、RTKPOST、RTKRCV、RNX2RTKP。
-
文件中都以键值对 Keyword = Value 形式记录不同的配置项。
-
对于枚举选项，可选值是选项序号 (0,1,2,...) 或选项字符串 (off, on, ...)。
-
以 # 开头的行和行中#之后的文本被视为注释。
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} */
uint8_t 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} */
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 outvel; /* output velocity 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 { /* file options type */
char satantp[MAXSTRPATH]; /* satellite antenna parameters file */
char rcvantp[MAXSTRPATH]; /* receiver antenna parameters file */
char stapos [MAXSTRPATH]; /* station positions file */
char geoid [MAXSTRPATH]; /* external geoid data file */
char iono [MAXSTRPATH]; /* ionosphere data file */
char dcb [MAXSTRPATH]; /* dcb data file */
char eop [MAXSTRPATH]; /* eop data file */
char blq [MAXSTRPATH]; /* ocean tide loading blq file */
char tempdir[MAXSTRPATH]; /* ftp/http temporaly directory */
char geexe [MAXSTRPATH]; /* google earth exec file */
char solstat[MAXSTRPATH]; /* solution statistics file */
char trace [MAXSTRPATH]; /* debug trace file */
} filopt_t;-
系统配置选项表：系统配置选项序号表，每条都是一个字符串，“选项序号：选项字符串，选项序号：选项字符串...”
#define SWTOPT "0:off,1:on" #define MODOPT "0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static,8:ppp-fixed" #define FRQOPT "1:l1,2:l1+2,3:l1+2+3,4:l1+2+3+4,5:l1+2+3+4+5" #define TYPOPT "0:forward,1:backward,2:combined" #define IONOPT "0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc" #define TRPOPT "0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad" #define EPHOPT "0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom" #define NAVOPT "1:gps+2:sbas+4:glo+8:gal+16:qzs+32:bds+64:navic" #define GAROPT "0:off,1:on" #define SOLOPT "0:llh,1:xyz,2:enu,3:nmea" #define TSYOPT "0:gpst,1:utc,2:jst" #define TFTOPT "0:tow,1:hms" #define DFTOPT "0:deg,1:dms" #define HGTOPT "0:ellipsoidal,1:geodetic" #define GEOOPT "0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000" #define STAOPT "0:all,1:single" #define STSOPT "0:off,1:state,2:residual" #define ARMOPT "0:off,1:continuous,2:instantaneous,3:fix-and-hold" #define POSOPT "0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw" #define TIDEOPT "0:off,1:on,2:otl" #define PHWOPT "0:off,1:on,2:precise"
opt_t 数组 sysopts：存所有的选项
- 第一个值为选项名。
- 第二个为选项内容格式，0int、1double、2string、3enum。
- 第三个值为指向存配置选项内容（prcopt_t、solopt_t、filopt_t、antpos_t结构体内的字段）的指针。
- 第四个值为选项的表示形式，格式、系统配置选项序号表。
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;-
开头的静态变量，配置选项缓冲区
static prcopt_t prcopt_; static solopt_t solopt_; static filopt_t filopt_; static int antpostype_[2]; static double elmask_,elmaskar_,elmaskhold_; static double antpos_[2][3]; static char exsats_[1024]; static char snrmask_[NFREQ][1024];
static void chop(char *str)
{
char *p;
if ((p=strchr(str,'#'))) *p='\0'; /* comment */
for (p=str+strlen(str)-1;p>=str&&!isgraph((int)*p);p--) *p='\0';
}- 如时间类型选项表：“0:gpst,1:utc,2:jst”，用enum2str()把0转为gpst，用str2enum()把gpst转为0.
static int enum2str(char *s, const char *comment, int val)
{
char str[32],*p,*q;
int n;
n=sprintf(str,"%d:",val); //把val选项序号转为字符串，并用n记录长度
if (!(p=strstr(comment,str))) { //在系统配置选项序号表查找val序号，P指针移动到对应位置
return sprintf(s,"%d",val); //找不到直接把val号转成字符串返回
}
if (!(q=strchr(p+n,','))&&!(q=strchr(p+n,')'))) { //如果后面找不到“，”和“）”，那p+n以后的字符串就是选项序号要转为的选项字符串
strcpy(s,p+n);
return (int)strlen(p+n);
}
strncpy(s,p+n,q-p-n); s[q-p-n]='\0'; //在p+n后面找到“，”位置为q，则选项序号要转为的字符串为p+n到q前
return (int)(q-p-n);
}static int str2enum(const char *str, const char *comment, int *val)
{
const char *p;
char s[32];
for (p=comment;;p++) {
if (!(p=strstr(p,str))) break;
if (*(p-1)!=':') continue;
for (p-=2;'0'<=*p&&*p<='9';p--) ;
return sscanf(p+1,"%d",val)==1;
}
sprintf(s,"%.30s:",str);
if ((p=strstr(comment,s))) { /* number */
return sscanf(p,"%d",val)==1;
}
return 0;
}在opt_t数组中根据配置选项名找对应选项，找到了返回对应指针。
extern opt_t *searchopt(const char *name, const opt_t *opts)
{
int i;
trace(3,"searchopt: name=%s\n",name);
for (i=0;*opts[i].name;i++) {
if (strstr(opts[i].name,name)) return (opt_t *)(opts+i);
}
return NULL;
}传入字符串，根据选项内容格式，把字符串转为对应的opt值。
extern int str2opt(opt_t *opt, const char *str)
{
switch (opt->format) {
case 0: *(int *)opt->var=atoi(str); break;
case 1: *(double *)opt->var=atof(str); break;
case 2: strcpy((char *)opt->var,str); break;
case 3: return str2enum(str,opt->comment,(int *)opt->var);
default: return 0;
}
return 1;
}extern int opt2buf(const opt_t *opt, char *buff)
{
char *p=buff;
int n;
trace(3,"opt2buf : name=%s\n",opt->name);
p+=sprintf(p,"%-18s =",opt->name);
p+=opt2str(opt,p);
if (*opt->comment) {
if ((n=(int)(buff+30-p))>0) p+=sprintf(p,"%*s",n,"");
p+=sprintf(p," # (%s)",opt->comment);
}
return (int)(p-buff);
}之后还要用getsysopts()函数。
extern int loadopts(const char *file, opt_t *opts)
{
FILE *fp; //创建文件指针
opt_t *opt;
char buff[2048],*p;
int n=0;
trace(3,"loadopts: file=%s\n",file);
if (!(fp=fopen(file,"r"))) { //以读的方式打开文件
trace(1,"loadopts: options file open error (%s)\n",file);
return 0;
}
while (fgets(buff,sizeof(buff),fp)) { //循环用fgets读取文件，每次读buff-1=2048个字符，到buff中
n++;
chop(buff); //去除fgets带来的/0
if (buff[0]=='\0') continue; //如果没有内容，直接进行下一次循环
if (!(p=strstr(buff,"="))) { //如果找不到=，就输出错误
fprintf(stderr,"invalid option %s (%s:%d)\n",buff,file,n);
continue;
}
*p++='\0';
chop(buff); //去除#后的注释
if (!(opt=searchopt(buff,opts))) continue; //在opt_t数组中根据配置选项名找对应选项
if (!str2opt(opt,p)) { //传入字符串，根据选项内容格式，把字符串转为对应的opt值
fprintf(stderr,"invalid option value %s (%s:%d)\n",buff,file,n);
continue;
}
}
fclose(fp); //关闭文件
return 1;
}之后还要用setsysopts()函数。
extern int saveopts(const char *file, const char *mode, const char *comment,
const opt_t *opts)
{
FILE *fp;
char buff[2048];
int i;
trace(3,"saveopts: file=%s mode=%s\n",file,mode);
if (!(fp=fopen(file,mode))) {
trace(1,"saveopts: options file open error (%s)\n",file);
return 0;
}
if (comment) fprintf(fp,"# %s\n\n",comment);
for (i=0;*opts[i].name;i++) {
opt2buf(opts+i,buff);
fprintf(fp,"%s\n",buff);
}
fclose(fp);
return 1;
}extern void resetsysopts(void)
{
int i,j;
trace(3,"resetsysopts:\n");
prcopt_=prcopt_default;
solopt_=solopt_default;
filopt_.satantp[0]='\0';
filopt_.rcvantp[0]='\0';
filopt_.stapos [0]='\0';
filopt_.geoid [0]='\0';
filopt_.dcb [0]='\0';
filopt_.blq [0]='\0';
filopt_.solstat[0]='\0';
filopt_.trace [0]='\0';
for (i=0;i<2;i++) antpostype_[i]=0;
elmask_=15.0;
elmaskar_=0.0;
elmaskhold_=0.0;
for (i=0;i<2;i++) for (j=0;j<3;j++) {
antpos_[i][j]=0.0;
}
exsats_[0] ='\0';
}把选项缓冲区中antpostype_ ,elmask_,elmaskar_,elmaskhold_ ,antpos_ ,exsats_ ,snrmask_ 中的值转到antpostype_ 、prcopt_ 等结构体中。
static void buff2sysopts(void)
{
double pos[3],*rr;
char buff[1024],*p,*id;
int i,j,sat,*ps;
prcopt_.elmin =elmask_ *D2R;
prcopt_.elmaskar =elmaskar_ *D2R;
prcopt_.elmaskhold=elmaskhold_*D2R;
for (i=0;i<2;i++) {
ps=i==0?&prcopt_.rovpos:&prcopt_.refpos;
rr=i==0?prcopt_.ru:prcopt_.rb;
if (antpostype_[i]==0) { /* lat/lon/hgt */
*ps=0;
pos[0]=antpos_[i][0]*D2R;
pos[1]=antpos_[i][1]*D2R;
pos[2]=antpos_[i][2];
pos2ecef(pos,rr);
}
else if (antpostype_[i]==1) { /* xyz-ecef */
*ps=0;
rr[0]=antpos_[i][0];
rr[1]=antpos_[i][1];
rr[2]=antpos_[i][2];
}
else *ps=antpostype_[i]-1;
}
/* excluded satellites */
for (i=0;i<MAXSAT;i++) prcopt_.exsats[i]=0;
if (exsats_[0]!='\0') {
strcpy(buff,exsats_);
for (p=strtok(buff," ");p;p=strtok(NULL," ")) {
if (*p=='+') id=p+1; else id=p;
if (!(sat=satid2no(id))) continue;
prcopt_.exsats[sat-1]=*p=='+'?2:1;
}
}
/* snrmask */
for (i=0;i<NFREQ;i++) {
for (j=0;j<9;j++) prcopt_.snrmask.mask[i][j]=0.0;
strcpy(buff,snrmask_[i]);
for (p=strtok(buff,","),j=0;p&&j<9;p=strtok(NULL,",")) {
prcopt_.snrmask.mask[i][j++]=atof(p);
}
}
/* number of frequency (4:L1+L5) */
if (prcopt_.nf==4) {
prcopt_.nf=3;
prcopt_.freqopt=1;
}
}static void sysopts2buff(void)
{
double pos[3],*rr;
char id[32],*p;
int i,j,sat,*ps;
elmask_ =prcopt_.elmin *R2D;
elmaskar_ =prcopt_.elmaskar *R2D;
elmaskhold_=prcopt_.elmaskhold*R2D;
for (i=0;i<2;i++) {
ps=i==0?&prcopt_.rovpos:&prcopt_.refpos;
rr=i==0?prcopt_.ru:prcopt_.rb;
if (*ps==0) {
antpostype_[i]=0;
ecef2pos(rr,pos);
antpos_[i][0]=pos[0]*R2D;
antpos_[i][1]=pos[1]*R2D;
antpos_[i][2]=pos[2];
}
else antpostype_[i]=*ps+1;
}
/* excluded satellites */
exsats_[0]='\0';
for (sat=1,p=exsats_;sat<=MAXSAT&&p-exsats_<(int)sizeof(exsats_)-32;sat++) {
if (prcopt_.exsats[sat-1]) {
satno2id(sat,id);
p+=sprintf(p,"%s%s%s",p==exsats_?"":" ",
prcopt_.exsats[sat-1]==2?"+":"",id);
}
}
/* snrmask */
for (i=0;i<NFREQ;i++) {
snrmask_[i][0]='\0';
p=snrmask_[i];
for (j=0;j<9;j++) {
p+=sprintf(p,"%s%.0f",j>0?",":"",prcopt_.snrmask.mask[i][j]);
}
}
/* number of frequency (4:L1+L5) */
if (prcopt_.nf==3&&prcopt_.freqopt==1) {
prcopt_.nf=4;
prcopt_.freqopt=0;
}
}opt_t转到porcopt_t/solopt_t/filopt_t ，先用loadopts()函数从文件中读。
先用saveopts()函数。
extern void getsysopts(prcopt_t *popt, solopt_t *sopt, filopt_t *fopt)
{
trace(3,"getsysopts:\n");
buff2sysopts();
if (popt) *popt=prcopt_;
if (sopt) *sopt=solopt_;
if (fopt) *fopt=filopt_;
}extern void setsysopts(const prcopt_t *prcopt, const solopt_t *solopt,
const filopt_t *filopt)
{
trace(3,"setsysopts:\n");
resetsysopts();
if (prcopt) prcopt_=*prcopt;
if (solopt) solopt_=*solopt;
if (filopt) filopt_=*filopt;
sysopts2buff();
}在 rtklib.h 中加入 #define TRACE，启用 trace ，不定义则将 trace 函数全赋空值：
static FILE *fp_trace=NULL; //trace的文件指针
static char file_trace[1024]; //trace文件名
static int level_trace=0; //trace等级（1-5)，等级越高输出的信息越多
static uint32_t tick_trace=0; //以毫米计的系统时间，在tracet()中用到：fprintf(fp_trace,"%d %9.3f: ",level,(tickget()-tick_trace)/1000.0);
static gtime_t time_trace={0}; //打开trace的时间，获取的系统时间，并转为GPST
static lock_t lock_trace; //trace的进程锁extern void trace(int level, const char *format, ...)
{
va_list ap;
//如果trace等级小于1，写入错误信息到屏幕stderr
/* print error message to stderr */
if (level<=1) {
va_start(ap,format); vfprintf(stderr,format,ap); va_end(ap);
}
//如果fp_trace为空，或当前trace操作等级高于设置的level_trace，直接返回
if (!fp_trace||level>level_trace) return;
traceswap(); //如果需要，分文件
fprintf(fp_trace,"%d ",level); //先写入trace等级
va_start(ap,format); vfprintf(fp_trace,format,ap); va_end(ap); //再写入传入的trace格式化字符串
fflush(fp_trace); //缓冲区内容写入文件,清空文件缓冲区
}相比于trace多写入了trace开始后的秒数（ms级精度）
extern void tracet(int level, const char *format, ...)
{
va_list ap;
if (!fp_trace||level>level_trace) return;
traceswap();
fprintf(fp_trace,"%d %9.3f: ",level,(tickget()-tick_trace)/1000.0); //相比于trace，多写入了trace开始后的秒数
va_start(ap,format); vfprintf(fp_trace,format,ap); va_end(ap);
fflush(fp_trace);
}extern void traceclose(void)
{
if (fp_trace&&fp_trace!=stderr) fclose(fp_trace); //关闭trace文件描述符
fp_trace=NULL; //将文件指针置空
file_trace[0]='\0';
}-
调用
utc2gpst(timeget())获取系统时间time，赋值给time_trace。 -
调用
reppath()替换传入trace路径的替换符。 -
以读的方式创建trace文件，创建失败就用stderr当trace文件。
-
调用
tickget()，获取以毫米计的系统时间赋值给tick_trace， -
调用
initlock()初始化lock_trace 。extern void traceopen(const char *file) { gtime_t time=utc2gpst(timeget()); //获取系统时间，并转为GPST char path[1024]; reppath(file,path,time,"",""); //替换file替换到path[] //以w方式打开文件，文件不存则创建，存在则重写，返回文件描述符fp_trace，失败就指向stderr if (!*path||!(fp_trace=fopen(path,"w"))) fp_trace=stderr; strcpy(file_trace,file); tick_trace=tickget(); time_trace=time; initlock(&lock_trace); }
extern void tracelevel(int level)
{
level_trace=level;
}static void traceswap(void)
{
gtime_t time=utc2gpst(timeget()); //获取系统时间
char path[1024];
lock(&lock_trace); //上锁
//如果当前系统时间,如果当前时间的周内秒和当前trace文件的time_trace差距小于一天，直接return
if ((int)(time2gpst(time ,NULL)/INT_SWAP_TRAC)==
(int)(time2gpst(time_trace,NULL)/INT_SWAP_TRAC)) {
unlock(&lock_trace); //解锁，return
return;
}
//如果差别大，创建一个新的trace文件
time_trace=time;
if (!reppath(file_trace,path,time,"","")) {
unlock(&lock_trace);
return;
}
if (fp_trace) fclose(fp_trace);
if (!(fp_trace=fopen(path,"w"))) {
fp_trace=stderr;
}
unlock(&lock_trace); //解锁
}调用matfprint()，将矩阵写入文件，列优先顺序
extern void matfprint(const double A[], int n, int m, int p, int q, FILE *fp)
{
int i,j;
for (i=0;i<n;i++) { //列
for (j=0;j<m;j++) //行
fprintf(fp," %*.*f",p,q,A[i+j*n]);
fprintf(fp,"\n"); //换行
}
}遍历obsd_t数组obs，输出信息
typedef struct { /* observation data record */
gtime_t time; /* receiver sampling time (GPST) */
uint8_t sat,rcv; /* satellite/receiver number */
uint16_t SNR[NFREQ+NEXOBS]; /* signal strength (0.001 dBHz) */ //信噪比
uint8_t LLI[NFREQ+NEXOBS]; /* loss of lock indicator */ //周跳
uint8_t 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;extern void traceobs(int level, const obsd_t *obs, int n)
{
char str[64],id[16];
int i;
if (!fp_trace||level>level_trace) return;
for (i=0;i<n;i++) {
time2str(obs[i].time,str,3); //时间
satno2id(obs[i].sat,id); //卫星ID（Gnn、Cnn、Rnn。。。）
fprintf(fp_trace," (%2d) %s %-3s rcv%d %13.3f %13.3f %13.3f %13.3f %d %d %d %d %3.1f %3.1f\n",
i+1,str,id,obs[i].rcv,obs[i].L[0],obs[i].L[1],obs[i].P[0],
obs[i].P[1],obs[i].LLI[0],obs[i].LLI[1],obs[i].code[0],
obs[i].code[1],obs[i].SNR[0]*SNR_UNIT,obs[i].SNR[1]*SNR_UNIT);
}
fflush(fp_trace);
}写入nav->eph、nav->ion_gps/ion_gal/ion_bds电离层信息、星历数据的的信息。
-
tracegnav():写入nav->geph星历信息。
-
tracehnav():写入nav->seph信息。
-
tracepeph() 写入nav->peph 精密星历信息
-
tracepclk():写入nav->pclk 精密钟差信息
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 */
eph_t *eph; /* GPS/QZS/GAL/BDS/IRN 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 */
erp_t erp; /* earth rotation parameters */
double utc_gps[8]; /* GPS delta-UTC parameters {A0,A1,Tot,WNt,dt_LS,WN_LSF,DN,dt_LSF} */
double utc_glo[8]; /* GLONASS UTC time parameters {tau_C,tau_GPS} */
double utc_gal[8]; /* Galileo UTC parameters */
double utc_qzs[8]; /* QZS UTC parameters */
double utc_cmp[8]; /* BeiDou UTC parameters */
double utc_irn[9]; /* IRNSS UTC parameters {A0,A1,Tot,...,dt_LSF,A2} */
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 glo_fcn[32]; /* GLONASS FCN + 8 */
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) */
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 */
} nav_t;在 skytraq.c 和 ublox.c 中被调用。
extern void traceb(int level, const uint8_t *p, int n)
{
int i;
if (!fp_trace||level>level_trace) return;
for (i=0;i<n;i++) fprintf(fp_trace,"%02X%s",*p++,i%8==7?" ":"");
fprintf(fp_trace,"\n");
}
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} */
float qv[6]; /* velocity variance/covariance (m^2/s^2) */
double dtr[6]; /* receiver clock bias to time systems (s) */
uint8_t type; /* type (0:xyz-ecef,1:enu-baseline) */
uint8_t stat; /* solution status (SOLQ_???) */
uint8_t ns; /* number of valid satellites */
float age; /* age of differential (s) */
float ratio; /* AR ratio factor for valiation */
float thres; /* AR ratio threshold for valiation */
} sol_t;time：结果时间。rr：结果位置速度，可以存 ECEF 下的 XYZ，也可以存 ENU。qr：结果位置的协方差，协方差阵右上和左下是对称的，所以存 6 个元素就行。qv：结果速度协方差。dtr：接收机钟差。type：标识结果是 ECEF 还是 ENU。stat：结果种类（单点解、浮点解、固定解）。ns：有效卫星数。age：差分龄期，相对定位基准站流动站时间差。ratio：模糊度固定阈值。thres：模糊度固定阈值。
typedef struct { /* solution status type */
gtime_t time; /* time (GPST) */
uint8_t sat; /* satellite number */
uint8_t frq; /* frequency (1:L1,2:L2,...) */
float az,el; /* azimuth/elevation angle (rad) */
float resp; /* pseudorange residual (m) */
float resc; /* carrier-phase residual (m) */
uint8_t flag; /* flags: (vsat<<5)+(slip<<3)+fix */
uint16_t snr; /* signal strength (*SNR_UNIT dBHz) */
uint16_t lock; /* lock counter */
uint16_t outc; /* outage counter */
uint16_t slipc; /* slip counter */
uint16_t rejc; /* reject counter */
} solstat_t;- time：结果时间
- sat：连续卫星编号 satellite number
- frq：频率号
- az,el：高度角、方位角
- resp：伪距残差
- resc：载波相位残差
- flag：
- snr：
- lock：
- outc：
- slipc：
- rejc：
- 如果指定了文件输出路径 outfile，递归创建结构文件，没指定则输出到终端，然后以写的方式打开结果文件。
- 调用
outheader写文件头内容，写完之后关闭文件。
static int outhead(const char *outfile, char **infile, int n,
const prcopt_t *popt, const solopt_t *sopt)
{
FILE *fp=stdout; // fp 默认初始为stdout
trace(3,"outhead: outfile=%s n=%d\n",outfile,n);
if (*outfile) {
createdir(outfile); //递归的创建文件夹
if (!(fp=fopen(outfile,"wb"))) { //wb：以写的方式打开二进制文件
showmsg("error : open output file %s",outfile);
return 0;
}
}
/* output header */
outheader(fp,infile,n,popt,sopt);
if (*outfile) fclose(fp);
return 1;
}-
如果是 NMEA、STAT 格式的结果，不需要输出文件头，直接返回
-
调用
outprcopt()输出处理选项 -
相对定位模式调用
outrpos()输出基准站坐标 -
调用
outsolhead()，其通过调用outsolheads()输出结果字段头，如：p+=sprintf(p,"%14s%s%14s%s%14s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s" "%s%6s%s%6s", "x-ecef(m)",sep,"y-ecef(m)",sep,"z-ecef(m)",sep,"Q",sep,"ns", sep,"sdx(m)",sep,"sdy(m)",sep,"sdz(m)",sep,"sdxy(m)",sep, "sdyz(m)",sep,"sdzx(m)",sep,"age(s)",sep,"ratio");
extern void outsol(FILE *fp, const sol_t *sol, const double *rb,
const solopt_t *opt)
{
uint8_t buff[MAXSOLMSG+1];
int n;
trace(3,"outsol :\n");
if ((n=outsols(buff,sol,rb,opt))>0) {
fwrite(buff,n,1,fp);
}
}outsol() 调用 outsols()，然后通过调用 outpos()、outecef()、outenu()、outnmea_rmc()、outnmea_gga() 来输出对应形式的结果