/* predict states of ekf -----------------------------------------------------*/
static void ekf_pred(ekf_t *ekf, double *F, double *Q, int ix, int nx)
{
double *A;
int i;
A=mat(ekf->nx,nx);
/* x(ix)=F*x(ix) */
matmul("NN",nx,1,nx,1.0,F,ekf->x+ix,0.0,A);
matcpy(ekf->x+ix,A,nx,1);
/* P(ix,:)=F*P(ix,:); P(:,ix)=P(:,ix)*F' */
for (i=0;i<ekf->nx;i++) {
matmul("NN",nx,1,nx,1.0,F,ekf->P+ekf->nx*i+ix,0.0,A);
matcpy(ekf->P+ekf->nx*i+ix,A,nx,1);
}
matmul("NT",ekf->nx,nx,nx,1.0,ekf->P+ekf->nx*ix,F,0.0,A);
matcpy(ekf->P+ekf->nx*ix,A,ekf->nx,nx);
/* P(ix,ix)+=diag(Q) */
for (i=0;i<nx;i++) {
ekf->P[(ix+i)*(ekf->nx+1)]+=Q[i];
}
free(A);
}
//Matrix Inverse
cmatrix inv(cmatrix input){
if(input.rows!=input.cols){
fprintf(stderr, "Error in function 'inv': input rows and cols do not match\nPossible reasons:\n'input' was not a square matrix\n");
exit(1);
}
int i, j, index, zero, indexzero;
double complex tempvector[input.rows], multi, detnum=1, detdenom=1;
//Copy input so as not to overwrite entries, initialize 'temp' to identity matrix
cmatrix output = identity(input.rows);
cmatrix temp = matcpy(input);
for(index=0, indexzero=0;index<temp.rows;index++){
for(i=index;i<temp.rows;i++)if(temp.entries[i][index]==0){
for(j=i, zero=i;j<temp.rows;j++) if(temp.entries[j][index]!=0) zero=j;
for(j=indexzero;j<index;j++) if(temp.entries[j][index]!=0) zero=j;
if(i!=zero) detnum*=-1;
for(j=0;j<temp.rows;j++) tempvector[j]=temp.entries[i][j];
for(j=0;j<temp.rows;j++) temp.entries[i][j]=temp.entries[zero][j];
for(j=0;j<temp.rows;j++) temp.entries[zero][j]=tempvector[j];
for(j=0;j<temp.rows;j++) tempvector[j]=output.entries[i][j];
for(j=0;j<temp.rows;j++) output.entries[i][j]=output.entries[zero][j];
for(j=0;j<temp.rows;j++) output.entries[zero][j]=tempvector[j];
}
if(temp.entries[index][index]!=0) for (indexzero=index+1, i=0; i<temp.rows; i++) if(i!=index && temp.entries[i][index]!=0){
multi=temp.entries[index][index];
detdenom*=temp.entries[i][index]*multi;
for (j=0; j<temp.rows; j++){
output.entries[index][j]*=temp.entries[i][index];
temp.entries[index][j]*=temp.entries[i][index];
}
for (j=0; j<temp.rows; j++){
output.entries[i][j]*=multi;
temp.entries[i][j]*=multi;
}
for (j=0; j<temp.rows; j++){
output.entries[i][j]-=output.entries[index][j];
temp.entries[i][j]-=temp.entries[index][j];
}
}
}
for(index=0;index<temp.rows;index++) if(temp.entries[index][index]!=0){
for(j=0, multi=temp.entries[index][index];j<temp.rows;j++){
temp.entries[index][j]/=multi;
output.entries[index][j]/=multi;
} //final division
detnum*=multi;
}
for(i=0;i<temp.rows;i++)for(j=0;j<temp.rows;j++) if(temp.entries[i][j]==0) temp.entries[i][j]=cabs(temp.entries[i][j]);
for(i=0;i<temp.rows;i++) if(temp.entries[i][i]==0) detnum=0;
return output;
}
/* initialize states of ekf --------------------------------------------------*/
static void ekf_init(ekf_t *ekf, const double *xi, double *Pi, int ix, int nx)
{
int i,j;
/* x(ix)=xi */
matcpy(ekf->x+ix,xi,nx,1);
/* P(ix,:)=0; P(ix,:)=0; P(ix,ix)=diag(Pi) */
for (i=0;i<nx;i++) for (j=0;j<ekf->nx;j++) {
ekf->P[ix+i+ekf->nx*j]=ekf->P[j+ekf->nx*(ix+i)]=j==ix+i?Pi[i]:0.0;
}
}
/* set approx position -------------------------------------------------------*/
static void setapppos(strfile_t *str, rnxopt_t *opt)
{
prcopt_t prcopt=prcopt_default;
sol_t sol={{0}};
char msg[128];
prcopt.navsys=opt->navsys;
/* point positioning with last obs data */
if (!pntpos(str->obs->data,str->obs->n,str->nav,&prcopt,&sol,NULL,NULL,
msg)) {
trace(2,"point position error (%s)\n",msg);
return;
}
matcpy(opt->apppos,sol.rr,3,1);
}
/* matcpy() */
void utest6(void)
{
double *a=mat(100,200),*b=zeros(100,200),c=0.0;
int i,j;
for (i=0;i<100;i++) {
for (j=0;j<200;j++) {
a[i+j*100]=(c+=1.0);
}
}
matcpy(b,a,100,200);
for (i=0,c=0.0;i<100;i++) {
for (j=0;j<200;j++) {
assert(a[i+j*100]==b[i+j*100]);
}
}
free(a); free(b);
}
int main ( int argc, char * argv [] ){
matrix_t A=matinit();
matrix_t B=matinit();
matrix_t C=matinit();
loadByName("testfiles/input.mat", "a", &A);
loadByName("testfiles/input.mat", "b", &B);
printf("Matriz A:\n");
matprint(A);
putchar('\n');
printf("Matriz B:\n");
matprint(B);
putchar('\n');
C=convolution(A,B);
if( C.height==0 ){
return 1;
}
printf("\nMatriz C:\n");
matprint(C);
putchar('\n');
saveByName("testfiles/output.mat", "c", &C);
//TEST probar si funciona el copiar:
matrix_t D = matinit();
D.height=0;
D.width=0;
matcpy(&D, &C);
printf("\nMatriz D:\n");
matprint(D);
matfree(&D);
matfree(&C);
matfree(&A);
matfree(&B);
return 0;
}
//Determinant
double complex det(cmatrix input){
if(input.rows!=input.cols){
fprintf(stderr, "Error in function 'det': input rows and cols do not match\nPossible reasons:\n'input' was not a square matrix\n");
exit(1);
}
int i, j, index, zero, indexzero;
double complex tempvector[input.rows], multi, detnum=1, detdenom=1;
//Copy input so as not to overwrite entries
cmatrix temp = matcpy(input);
for(index=0, indexzero=0;index<temp.rows;index++){
//bring rows with a zero in column 'index' down to the bottom (ignoring rows above 'index' as they have already been used.
for(i=index;i<temp.rows;i++)if(temp.entries[i][index]==0){
for(j=i, zero=i;j<temp.rows;j++) if(temp.entries[j][index]!=0) zero=j;
for(j=indexzero;j<index;j++) if(temp.entries[j][index]!=0) zero=j;
if(i!=zero) detnum*=-1;
for(j=0;j<temp.rows;j++) tempvector[j]=temp.entries[i][j];
for(j=0;j<temp.rows;j++) temp.entries[i][j]=temp.entries[zero][j];
for(j=0;j<temp.rows;j++) temp.entries[zero][j]=tempvector[j];
}
//if there is a leading 1, then use it to remove all leading 1s below
if(temp.entries[index][index]!=0) for (indexzero=index+1, i=0; i<temp.rows; i++) if(i!=index && temp.entries[i][index]!=0){
multi=temp.entries[index][index];
detdenom*=temp.entries[i][index]*multi;
for (j=0; j<temp.rows; j++) temp.entries[index][j]*=temp.entries[i][index];
for (j=0; j<temp.rows; j++) temp.entries[i][j]*=multi;
for (j=0; j<temp.rows; j++) temp.entries[i][j]-=temp.entries[index][j];
}
}
//ensure that there are all no
for(index=0;index<temp.rows;index++) if(temp.entries[index][index]!=0){
for(j=0, multi=temp.entries[index][index];j<temp.rows;j++) temp.entries[index][j]/=multi; //final division
detnum*=multi;
}
//get rid of -0
for(i=0;i<temp.rows;i++)for(j=0;j<temp.rows;j++) if(temp.entries[i][j]==0) temp.entries[i][j]=cabs(temp.entries[i][j]);
//if there is an entry without a leading 1, then the matrix is degenerate an the determinant is 0.
for(i=0;i<temp.rows;i++) if(temp.entries[i][i]==0) detnum=0;
return detnum/detdenom;
}
//0:ok, !0: not ok
static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
const nav_t *nav,char **msg)
{
prcopt_t *opt=&rtk->opt;
gtime_t time=obs[0].time;
double *rs,*dts,*var,*y,*e,*azel,*v,*H,*R,*bias,dt;
double *xp,*Pp,*xa;
int i,n=nu+nr,ns,ny,nv,sat[MAX_SAT],iu[MAX_SAT],ir[MAX_SAT];
int info,vflg[MAX_OBS*2+1],svh[MAX_OBS*2];
int stat=SOLQ_FLOAT;
dt=timediff(time,obs[nu].time);
rs=mat(6,n);
dts=mat(2,n);
var=mat(1,n);
y=mat(2,n);
e=mat(3,n);
azel=zeros(2,n);
if ((!rs)||(!dts)||(!var)||(!y)||(!e)||(!azel))
{
#ifdef _DEBUG_MSG
(*msg)+=sprintf(*msg,"relpos mat error 1\n");
#endif
free(rs);
free(dts);
free(var);
free(y);
free(e);
free(azel);
return -1;
}
for (i=0; i<MAX_SAT; i++)
{
rtk->ssat[i].vsat = rtk->ssat[i].snr=0;
}
/* satellite positions/clocks*/
satposs(time,obs,n,nav,rs,dts,var,svh,msg); //da tinh trong pntpos rui**************************
/* undifferenced residuals for base station */
if (zdres(1,obs+nu,nr,rs+nu*6,dts+nu*2,svh+nu,nav,rtk->rb,opt,1,
y+nu*2,e+nu*3,azel+nu*2)) //*****************************************
{
#ifdef _DEBUG_MSG
(*msg)+=sprintf(*msg,"initial base station position error\n");
#endif
free(rs);
free(dts);
free(var);
free(y);
free(e);
free(azel);
return -1;
}//*********************88
/* select common satellites between rover and base-station */
if ((ns=selsat(obs,azel,nu,nr,opt,sat,iu,ir,msg))<=0) {//check!!!!!!!!!!!!!!!*************************************
#ifdef _DEBUG_MSG
(*msg)+=sprintf(*msg,"no common satellite\n");
#endif
free(rs);
free(dts);
free(var);
free(y);
free(e);
free(azel);
return -1;
}
// if (ns>7)
// ns=7;
// (*msg)+=sprintf(*msg,"common satellite:%d\n",ns);
/* temporal update of states *///***************************************************************************
udstate(rtk,obs,sat,iu,ir,ns,nav,msg);//*********************************************
xp=mat(rtk->nx,1);
Pp=zeros(rtk->nx,rtk->nx);
xa=mat(rtk->nx,1);
matcpy(xp,rtk->x,rtk->nx,1);
ny=ns*2+2;
v=mat(ny,1);
H=zeros(rtk->nx,ny);
R=mat(ny,ny);
bias=mat(rtk->nx,1);
if ((!xp)||(!Pp)||(!xa)||(!v)||(!H)||(!R)||(!bias))
{
#ifdef _DEBUG_MSG
(*msg)+=sprintf(*msg,"relpos mat error 2\n");
#endif
free(rs);
free(dts);
free(var);
free(y);
free(e);
free(azel);
free(xp);
free(Pp);
free(xa);
free(v);
free(H);
free(R);
free(bias);
return -1;
}
//*************************************************8
for (i=0; i<NITER; i++) {
/* undifferenced residuals for rover */
if (zdres(0,obs,nu,rs,dts,svh,nav,xp,opt,0,y,e,azel)) {
#ifdef _DEBUG_MSG
(*msg)+=sprintf(*msg,"rover initial position error\n");
#endif
stat=SOLQ_NONE;
break;
}
//*************************
/* double-differenced residuals and partial derivatives */
if ((nv=ddres(rtk,nav,dt,xp,Pp,sat,y,e,azel,iu,ir,ns,v,H,R,vflg,msg))<1) {
#ifdef _DEBUG_MSG
(*msg)+=sprintf(*msg,"no double-differenced residual\n");
#endif
stat=SOLQ_NONE;
break;
}
/* kalman filter measurement update */
matcpy(Pp,rtk->P,rtk->nx,rtk->nx);
if ((info=filter(xp,Pp,H,v,R,rtk->nx,nv))) {
#ifdef _DEBUG_MSG
(*msg)+=sprintf(*msg,"filter error (info=%d)\n",info);
#endif
stat=SOLQ_NONE;
break;
}
}
//***************************
if (stat!=SOLQ_NONE&&(!zdres(0,obs,nu,rs,dts,svh,nav,xp,opt,0,y,e,azel))) {
/* post-fit residuals for float solution */
nv=ddres(rtk,nav,dt,xp,Pp,sat,y,e,azel,iu,ir,ns,v,NULL,R,vflg,msg);
/* validation of float solution */
if (!valpos(rtk,v,R,vflg,nv,4.0,msg)) {//0:ok,!0:not ok
/* update state and covariance matrix */
matcpy(rtk->x,xp,rtk->nx,1);
matcpy(rtk->P,Pp,rtk->nx,rtk->nx);
/* update ambiguity control struct */
rtk->sol.ns=0;
for (i=0; i<ns; i++)
{
if (!rtk->ssat[sat[i]-1].vsat) continue;
rtk->ssat[sat[i]-1].lock++;
rtk->ssat[sat[i]-1].outc=0;
rtk->sol.ns++; /* valid satellite count by L1 */
}
/* lack of valid satellites */
if (rtk->sol.ns<4) stat=SOLQ_NONE;
}
else stat=SOLQ_NONE;
}
/* resolve integer ambiguity by LAMBDA */
if (stat!=SOLQ_NONE&&(resamb_LAMBDA(rtk,bias,xa,msg)>1)) {
if (!zdres(0,obs,nu,rs,dts,svh,nav,xa,opt,0,y,e,azel)) {
/* post-fit reisiduals for fixed solution */
nv=ddres(rtk,nav,dt,xa,NULL,sat,y,e,azel,iu,ir,ns,v,NULL,R,vflg,msg);
/* validation of fixed solution */
if (!valpos(rtk,v,R,vflg,nv,4.0,msg)) {
/* hold integer ambiguity */
if (++rtk->nfix>=rtk->opt.minfix&&
rtk->opt.modear==ARMODE_FIXHOLD) {
holdamb(rtk,xa,msg);
}
stat=SOLQ_FIX;
}
}
}
/* save solution status */
if (stat==SOLQ_FIX) {
for (i=0; i<3; i++) {
rtk->sol.rr[i]=rtk->xa[i];
rtk->sol.qr[i]=(float)rtk->Pa[i+i*rtk->na];
}
rtk->sol.qr[3]=(float)rtk->Pa[1];
rtk->sol.qr[4]=(float)rtk->Pa[1+2*rtk->na];
rtk->sol.qr[5]=(float)rtk->Pa[2];
}
else {
for (i=0; i<3; i++) {
rtk->sol.rr[i]=rtk->x[i];
rtk->sol.qr[i]=(float)rtk->P[i+i*rtk->nx];
}
rtk->sol.qr[3]=(float)rtk->P[1];
rtk->sol.qr[4]=(float)rtk->P[1+2*rtk->nx];
rtk->sol.qr[5]=(float)rtk->P[2];
rtk->nfix=0;
}
for (i=0; i<n; i++) {
if (obs[i].L==0.0) continue;
rtk->ssat[obs[i].sat-1].pt[obs[i].rcv-1]=obs[i].time;
rtk->ssat[obs[i].sat-1].ph[obs[i].rcv-1]=obs[i].L;
}
for (i=0; i<ns; i++) {
/* output snr of rover receiver */
rtk->ssat[sat[i]-1].snr=obs[iu[i]].SNR;
}
for (i=0; i<MAX_SAT; i++) {
if (rtk->ssat[i].fix==2&&stat!=SOLQ_FIX) rtk->ssat[i].fix=1;
if (rtk->ssat[i].slip&1) rtk->ssat[i].slipc++;
}
free(rs);
free(dts);
free(var);
free(y);
free(e);
free(azel);
free(xp);
free(Pp);
free(xa);
free(v);
free(H);
free(R);
free(bias);
if (stat!=SOLQ_NONE) rtk->sol.stat=stat;
return stat==SOLQ_NONE;
}
/* phase and code residuals --------------------------------------------------*/
static int res_ppp(int iter, const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const double *x, rtk_t *rtk, double *v,
double *H, double *R, double *azel)
{
prcopt_t *opt=&rtk->opt;
double r,rr[3],disp[3],pos[3],e[3],meas[2],dtdx[3],dantr[NFREQ]={0};
double dants[NFREQ]={0},var[MAXOBS*2],dtrp=0.0,vart=0.0,varm[2]={0};
int i,j,k,sat,sys,nv=0,nx=rtk->nx,brk,tideopt;
trace(3,"res_ppp : n=%d nx=%d\n",n,nx);
for (i=0;i<MAXSAT;i++) rtk->ssat[i].vsat[0]=0;
for (i=0;i<3;i++) rr[i]=x[i];
/* earth tides correction */
if (opt->tidecorr) {
tideopt=opt->tidecorr==1?1:7; /* 1:solid, 2:solid+otl+pole */
tidedisp(gpst2utc(obs[0].time),rr,tideopt,&nav->erp,opt->odisp[0],
disp);
for (i=0;i<3;i++) rr[i]+=disp[i];
}
ecef2pos(rr,pos);
for (i=0;i<n&&i<MAXOBS;i++) {
sat=obs[i].sat;
if (!(sys=satsys(sat,NULL))||!rtk->ssat[sat-1].vs) continue;
/* geometric distance/azimuth/elevation angle */
if ((r=geodist(rs+i*6,rr,e))<=0.0||
satazel(pos,e,azel+i*2)<opt->elmin) continue;
/* excluded satellite? */
if (satexclude(obs[i].sat,svh[i],opt)) continue;
/* tropospheric delay correction */
if (opt->tropopt==TROPOPT_SAAS) {
dtrp=tropmodel(obs[i].time,pos,azel+i*2,REL_HUMI);
vart=SQR(ERR_SAAS);
}
else if (opt->tropopt==TROPOPT_SBAS) {
dtrp=sbstropcorr(obs[i].time,pos,azel+i*2,&vart);
}
else if (opt->tropopt==TROPOPT_EST||opt->tropopt==TROPOPT_ESTG) {
dtrp=prectrop(obs[i].time,pos,azel+i*2,opt,x+IT(opt),dtdx,&vart);
}
else if (opt->tropopt==TROPOPT_COR||opt->tropopt==TROPOPT_CORG) {
dtrp=prectrop(obs[i].time,pos,azel+i*2,opt,x,dtdx,&vart);
}
/* satellite antenna model */
if (opt->posopt[0]) {
satantpcv(rs+i*6,rr,nav->pcvs+sat-1,dants);
}
/* receiver antenna model */
antmodel(opt->pcvr,opt->antdel[0],azel+i*2,opt->posopt[1],dantr);
/* phase windup correction */
if (opt->posopt[2]) {
windupcorr(rtk->sol.time,rs+i*6,rr,&rtk->ssat[sat-1].phw);
}
/* ionosphere and antenna phase corrected measurements */
if (!corrmeas(obs+i,nav,pos,azel+i*2,&rtk->opt,dantr,dants,
rtk->ssat[sat-1].phw,meas,varm,&brk)) {
continue;
}
/* satellite clock and tropospheric delay */
r+=-CLIGHT*dts[i*2]+dtrp;
trace(5,"sat=%2d azel=%6.1f %5.1f dtrp=%.3f dantr=%6.3f %6.3f dants=%6.3f %6.3f phw=%6.3f\n",
sat,azel[i*2]*R2D,azel[1+i*2]*R2D,dtrp,dantr[0],dantr[1],dants[0],
dants[1],rtk->ssat[sat-1].phw);
for (j=0;j<2;j++) { /* for phase and code */
if (meas[j]==0.0) continue;
for (k=0;k<nx;k++) H[k+nx*nv]=0.0;
v[nv]=meas[j]-r;
for (k=0;k<3;k++) H[k+nx*nv]=-e[k];
if (sys!=SYS_GLO) {
v[nv]-=x[IC(0,opt)];
H[IC(0,opt)+nx*nv]=1.0;
}
else {
v[nv]-=x[IC(1,opt)];
H[IC(1,opt)+nx*nv]=1.0;
}
if (opt->tropopt>=TROPOPT_EST) {
for (k=0;k<(opt->tropopt>=TROPOPT_ESTG?3:1);k++) {
H[IT(opt)+k+nx*nv]=dtdx[k];
}
}
if (j==0) {
v[nv]-=x[IB(obs[i].sat,opt)];
H[IB(obs[i].sat,opt)+nx*nv]=1.0;
}
var[nv]=varerr(obs[i].sat,sys,azel[1+i*2],j,opt)+varm[j]+vare[i]+vart;
if (j==0) rtk->ssat[sat-1].resc[0]=v[nv];
else rtk->ssat[sat-1].resp[0]=v[nv];
/* test innovation */
#if 0
if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno) {
#else
if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno&&sys!=SYS_GLO) {
#endif
trace(2,"ppp outlier rejected %s sat=%2d type=%d v=%.3f\n",
time_str(obs[i].time,0),sat,j,v[nv]);
rtk->ssat[sat-1].rejc[0]++;
continue;
}
if (j==0) rtk->ssat[sat-1].vsat[0]=1;
nv++;
}
}
for (i=0;i<nv;i++) for (j=0;j<nv;j++) {
R[i+j*nv]=i==j?var[i]:0.0;
}
trace(5,"x=\n"); tracemat(5,x, 1,nx,8,3);
trace(5,"v=\n"); tracemat(5,v, 1,nv,8,3);
trace(5,"H=\n"); tracemat(5,H,nx,nv,8,3);
trace(5,"R=\n"); tracemat(5,R,nv,nv,8,5);
return nv;
}
/* number of estimated states ------------------------------------------------*/
extern int pppnx(const prcopt_t *opt)
{
return NX(opt);
}
/* precise point positioning -------------------------------------------------*/
extern void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
{
const prcopt_t *opt=&rtk->opt;
double *rs,*dts,*var,*v,*H,*R,*azel,*xp,*Pp;
int i,nv,info,svh[MAXOBS],stat=SOLQ_SINGLE;
trace(3,"pppos : nx=%d n=%d\n",rtk->nx,n);
rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel=zeros(2,n);
for (i=0;i<MAXSAT;i++) rtk->ssat[i].fix[0]=0;
/* temporal update of states */
udstate_ppp(rtk,obs,n,nav);
trace(4,"x(0)="); tracemat(4,rtk->x,1,NR(opt),13,4);
/* satellite positions and clocks */
satposs(obs[0].time,obs,n,nav,rtk->opt.sateph,rs,dts,var,svh);
/* exclude measurements of eclipsing satellite */
if (rtk->opt.posopt[3]) {
testeclipse(obs,n,nav,rs);
}
xp=mat(rtk->nx,1); Pp=zeros(rtk->nx,rtk->nx);
matcpy(xp,rtk->x,rtk->nx,1);
nv=n*rtk->opt.nf*2; v=mat(nv,1); H=mat(rtk->nx,nv); R=mat(nv,nv);
for (i=0;i<rtk->opt.niter;i++) {
/* phase and code residuals */
if ((nv=res_ppp(i,obs,n,rs,dts,var,svh,nav,xp,rtk,v,H,R,azel))<=0) break;
/* measurement update */
matcpy(Pp,rtk->P,rtk->nx,rtk->nx);
if ((info=filter(xp,Pp,H,v,R,rtk->nx,nv))) {
trace(2,"ppp filter error %s info=%d\n",time_str(rtk->sol.time,0),
info);
break;
}
trace(4,"x(%d)=",i+1); tracemat(4,xp,1,NR(opt),13,4);
stat=SOLQ_PPP;
}
if (stat==SOLQ_PPP) {
/* postfit residuals */
res_ppp(1,obs,n,rs,dts,var,svh,nav,xp,rtk,v,H,R,azel);
/* update state and covariance matrix */
matcpy(rtk->x,xp,rtk->nx,1);
matcpy(rtk->P,Pp,rtk->nx,rtk->nx);
/* ambiguity resolution in ppp */
if (opt->modear==ARMODE_PPPAR||opt->modear==ARMODE_PPPAR_ILS) {
if (pppamb(rtk,obs,n,nav,azel)) stat=SOLQ_FIX;
}
/* update solution status */
rtk->sol.ns=0;
for (i=0;i<n&&i<MAXOBS;i++) {
if (!rtk->ssat[obs[i].sat-1].vsat[0]) continue;
rtk->ssat[obs[i].sat-1].lock[0]++;
rtk->ssat[obs[i].sat-1].outc[0]=0;
rtk->ssat[obs[i].sat-1].fix [0]=4;
rtk->sol.ns++;
}
rtk->sol.stat=stat;
for (i=0;i<3;i++) {
rtk->sol.rr[i]=rtk->x[i];
rtk->sol.qr[i]=(float)rtk->P[i+i*rtk->nx];
}
rtk->sol.qr[3]=(float)rtk->P[1];
rtk->sol.qr[4]=(float)rtk->P[2+rtk->nx];
rtk->sol.qr[5]=(float)rtk->P[2];
rtk->sol.dtr[0]=rtk->x[IC(0,opt)];
rtk->sol.dtr[1]=rtk->x[IC(1,opt)]-rtk->x[IC(0,opt)];
for (i=0;i<n&&i<MAXOBS;i++) {
rtk->ssat[obs[i].sat-1].snr[0]=MIN(obs[i].SNR[0],obs[i].SNR[1]);
}
for (i=0;i<MAXSAT;i++) {
if (rtk->ssat[i].slip[0]&3) rtk->ssat[i].slipc[0]++;
}
}
free(rs); free(dts); free(var); free(azel);
free(xp); free(Pp); free(v); free(H); free(R);
}
/* str2str -------------------------------------------------------------------*/
int main(int argc, char **argv)
{
static char cmd[MAXRCVCMD]="";
const char ss[]={'E','-','W','C','C'};
strconv_t *conv[MAXSTR]={NULL};
double pos[3],stapos[3]={0},off[3]={0};
char *paths[MAXSTR],s[MAXSTR][MAXSTRPATH]={{0}},*cmdfile="";
char *local="",*proxy="",*msg="1004,1019",*opt="",buff[256],*p;
char strmsg[MAXSTRMSG]="",*antinfo="",*rcvinfo="";
char *ant[]={"","",""},*rcv[]={"","",""};
int i,j,n=0,dispint=5000,trlevel=0,opts[]={10000,10000,2000,32768,10,0,30};
int types[MAXSTR]={STR_FILE,STR_FILE},stat[MAXSTR]={0},byte[MAXSTR]={0};
int bps[MAXSTR]={0},fmts[MAXSTR]={0},sta=0;
for (i=0;i<MAXSTR;i++) paths[i]=s[i];
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-in")&&i+1<argc) {
if (!decodepath(argv[++i],types,paths[0],fmts)) return -1;
}
else if (!strcmp(argv[i],"-out")&&i+1<argc&&n<MAXSTR-1) {
if (!decodepath(argv[++i],types+n+1,paths[n+1],fmts+n+1)) return -1;
n++;
}
else if (!strcmp(argv[i],"-p")&&i+3<argc) {
pos[0]=atof(argv[++i])*D2R;
pos[1]=atof(argv[++i])*D2R;
pos[2]=atof(argv[++i]);
pos2ecef(pos,stapos);
}
else if (!strcmp(argv[i],"-o")&&i+3<argc) {
off[0]=atof(argv[++i]);
off[1]=atof(argv[++i]);
off[2]=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-msg")&&i+1<argc) msg=argv[++i];
else if (!strcmp(argv[i],"-opt")&&i+1<argc) opt=argv[++i];
else if (!strcmp(argv[i],"-sta")&&i+1<argc) sta=atoi(argv[++i]);
else if (!strcmp(argv[i],"-d" )&&i+1<argc) dispint=atoi(argv[++i]);
else if (!strcmp(argv[i],"-s" )&&i+1<argc) opts[0]=atoi(argv[++i]);
else if (!strcmp(argv[i],"-r" )&&i+1<argc) opts[1]=atoi(argv[++i]);
else if (!strcmp(argv[i],"-n" )&&i+1<argc) opts[5]=atoi(argv[++i]);
else if (!strcmp(argv[i],"-f" )&&i+1<argc) opts[6]=atoi(argv[++i]);
else if (!strcmp(argv[i],"-c" )&&i+1<argc) cmdfile=argv[++i];
else if (!strcmp(argv[i],"-a" )&&i+1<argc) antinfo=argv[++i];
else if (!strcmp(argv[i],"-i" )&&i+1<argc) rcvinfo=argv[++i];
else if (!strcmp(argv[i],"-l" )&&i+1<argc) local=argv[++i];
else if (!strcmp(argv[i],"-x" )&&i+1<argc) proxy=argv[++i];
else if (!strcmp(argv[i],"-t" )&&i+1<argc) trlevel=atoi(argv[++i]);
else if (*argv[i]=='-') printhelp();
}
if (n<=0) n=1; /* stdout */
for (i=0;i<n;i++) {
if (fmts[i+1]<=0) continue;
if (fmts[i+1]!=STRFMT_RTCM3) {
fprintf(stderr,"unsupported output format\n");
return -1;
}
if (fmts[0]<0) {
fprintf(stderr,"specify input format\n");
return -1;
}
if (!(conv[i]=strconvnew(fmts[0],fmts[i+1],msg,sta,sta!=0,opt))) {
fprintf(stderr,"stream conversion error\n");
return -1;
}
strcpy(buff,antinfo);
for (p=strtok(buff,","),j=0;p&&j<3;p=strtok(NULL,",")) ant[j++]=p;
strcpy(conv[i]->out.sta.antdes,ant[0]);
strcpy(conv[i]->out.sta.antsno,ant[1]);
conv[i]->out.sta.antsetup=atoi(ant[2]);
strcpy(buff,rcvinfo);
for (p=strtok(buff,","),j=0;p&&j<3;p=strtok(NULL,",")) rcv[j++]=p;
strcpy(conv[i]->out.sta.rectype,rcv[0]);
strcpy(conv[i]->out.sta.recver ,rcv[1]);
strcpy(conv[i]->out.sta.recsno ,rcv[2]);
matcpy(conv[i]->out.sta.pos,pos,3,1);
matcpy(conv[i]->out.sta.del,off,3,1);
}
signal(SIGTERM,sigfunc);
signal(SIGINT ,sigfunc);
signal(SIGHUP ,SIG_IGN);
signal(SIGPIPE,SIG_IGN);
strsvrinit(&strsvr,n+1);
if (trlevel>0) {
traceopen(TRFILE);
tracelevel(trlevel);
}
fprintf(stderr,"stream server start\n");
strsetdir(local);
strsetproxy(proxy);
if (*cmdfile) readcmd(cmdfile,cmd,0);
/* start stream server */
if (!strsvrstart(&strsvr,opts,types,paths,conv,*cmd?cmd:NULL,stapos)) {
fprintf(stderr,"stream server start error\n");
return -1;
}
for (intrflg=0;!intrflg;) {
/* get stream server status */
strsvrstat(&strsvr,stat,byte,bps,strmsg);
/* show stream server status */
for (i=0,p=buff;i<MAXSTR;i++) p+=sprintf(p,"%c",ss[stat[i]+1]);
fprintf(stderr,"%s [%s] %10d B %7d bps %s\n",
time_str(utc2gpst(timeget()),0),buff,byte[0],bps[0],strmsg);
sleepms(dispint);
}
if (*cmdfile) readcmd(cmdfile,cmd,1);
/* stop stream server */
strsvrstop(&strsvr,*cmd?cmd:NULL);
for (i=0;i<n;i++) {
strconvfree(conv[i]);
}
if (trlevel>0) {
traceclose();
}
fprintf(stderr,"stream server stop\n");
return 0;
}
/* set approx position -------------------------------------------------------*/
static void setapppos(strfile_t *str, rnxopt_t *opt)
{
prcopt_t prcopt=prcopt_default;
sol_t sol={{0}};
char msg[128];
prcopt.navsys=opt->navsys;
/* point positioning with last obs data */
#ifdef WAAS_STUDY
if (!pntpos(str->obs->data,str->obs->n,str->nav,&prcopt,&sol,NULL,NULL,
NULL,msg)) {
#else
if (!pntpos(str->obs->data,str->obs->n,str->nav,&prcopt,&sol,NULL,NULL,
msg)) {
#endif
trace(2,"point position error (%s)\n",msg);
return;
}
matcpy(opt->apppos,sol.rr,3,1);
}
/* show status message -------------------------------------------------------*/
static int showstat(int sess, gtime_t ts, gtime_t te, int *n)
{
const char type[]="ONGHQLSE";
char msg[1024]="",*p=msg,s[64];
int i;
if (sess>0) {
p+=sprintf(p,"(%d) ",sess);
}
if (ts.time!=0) {
time2str(ts,s,0);
p+=sprintf(p,"%s",s);
}
if (te.time!=0&&timediff(te,ts)>0.9) {
time2str(te,s,0);
p+=sprintf(p,"-%s",s+5);
}
p+=sprintf(p,": ");
for (i=0;i<NOUTFILE+1;i++) {
if (n[i]==0) continue;
p+=sprintf(p,"%c=%d%s",type[i],n[i],i<NOUTFILE?" ":"");
}
return showmsg(msg);
}
/* rinex converter for single-session ----------------------------------------*/
static int convrnx_s(int sess, int format, rnxopt_t *opt, const char *file,
char **ofile)
{
FILE *ofp[NOUTFILE]={NULL};
strfile_t *str;
gtime_t ts={0},te={0},tend={0},time={0};
unsigned char slips[MAXSAT][NFREQ+NEXOBS]={{0}};
int i,j,nf,type,n[NOUTFILE+1]={0},abort=0;
char path[1024],*paths[NOUTFILE],s[NOUTFILE][1024];
char *epath[MAXEXFILE]={0},*staid=*opt->staid?opt->staid:"0000";
trace(3,"convrnx_s: sess=%d format=%d file=%s ofile=%s %s %s %s %s %s %s\n",
sess,format,file,ofile[0],ofile[1],ofile[2],ofile[3],ofile[4],
ofile[5],ofile[6]);
/* replace keywords in input file */
if (reppath(file,path,opt->ts,staid,"")<0) {
showmsg("no time for input file: %s",file);
return 0;
}
/* expand wild-cards in input file */
for (i=0;i<MAXEXFILE;i++) {
if (!(epath[i]=(char *)malloc(1024))) {
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
return 0;
}
}
nf=expath(path,epath,MAXEXFILE);
if (format==STRFMT_RTCM2||format==STRFMT_RTCM3) time=opt->trtcm;
if (opt->scanobs) {
/* scan observation types */
if (!scan_obstype(format,epath[0],opt,&time)) return 0;
}
else {
/* set observation types by format */
set_obstype(format,opt);
}
if (!(str=gen_strfile(format,opt->rcvopt,time))) {
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
return 0;
}
time=opt->ts.time?opt->ts:(time.time?timeadd(time,TSTARTMARGIN):time);
/* replace keywords in output file */
for (i=0;i<NOUTFILE;i++) {
paths[i]=s[i];
if (reppath(ofile[i],paths[i],time,staid,"")<0) {
showmsg("no time for output path: %s",ofile[i]);
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
free_strfile(str);
return 0;
}
}
/* open output files */
if (!openfile(ofp,paths,path,opt,str->nav)) {
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
free_strfile(str);
return 0;
}
for (i=0;i<nf&&!abort;i++) {
/* open stream file */
if (!open_strfile(str,epath[i])) continue;
/* input message */
for (j=0;(type=input_strfile(str))>=-1;j++) {
if (j%11==1&&(abort=showstat(sess,te,te,n))) break;
/* avioid duplicated if overlapped data */
if (tend.time&&timediff(str->time,tend)<=0.0) continue;
/* convert message */
switch (type) {
case 1: convobs(ofp,opt,str,n,slips); break;
case 2: convnav(ofp,opt,str,n); break;
case 3: convsbs(ofp,opt,str,n); break;
case 31: convlex(ofp,opt,str,n); break;
case -1: n[NOUTFILE]++; break; /* error */
}
te=str->time; if (ts.time==0) ts=te;
/* set approx position */
if (type==1&&!opt->autopos&&norm(opt->apppos,3)<=0.0) {
setapppos(str,opt);
}
if (opt->te.time&&timediff(te,opt->te)>10.0) break;
}
/* close stream file */
close_strfile(str);
tend=te; /* end time of a file */
}
/* set receiver and antenna information to option */
if (format==STRFMT_RTCM2||format==STRFMT_RTCM3) {
rtcm2opt(&str->rtcm,opt);
}
else if (format==STRFMT_RINEX) {
rnx2opt(&str->rnx,opt);
}
/* close output files */
closefile(ofp,opt,str->nav);
/* remove empty output files */
for (i=0;i<NOUTFILE;i++) {
if (ofp[i]&&n[i]<=0) remove(ofile[i]);
}
if (ts.time>0) showstat(sess,ts,te,n);
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
free_strfile(str);
if (opt->tstart.time==0) opt->tstart=opt->ts;
if (opt->tend .time==0) opt->tend =opt->te;
return abort?-1:1;
}
/* raim fde (failure detection and exclution) -------------------------------*/
static int raim_fde(const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const prcopt_t *opt, sol_t *sol,
double *azel, int *vsat, double *resp, char *msg)
{
obsd_t *obs_e;
sol_t sol_e={{0}};
char tstr[32],name[16],msg_e[128];
double *rs_e,*dts_e,*vare_e,*azel_e,*resp_e,rms_e,rms=100.0;
int i,j,k,nvsat,stat=0,*svh_e,*vsat_e,sat=0;
trace(3,"raim_fde: %s n=%2d\n",time_str(obs[0].time,0),n);
if (!(obs_e=(obsd_t *)malloc(sizeof(obsd_t)*n))) return 0;
rs_e = mat(6,n); dts_e = mat(2,n); vare_e=mat(1,n); azel_e=zeros(2,n);
svh_e=imat(1,n); vsat_e=imat(1,n); resp_e=mat(1,n);
for (i=0;i<n;i++) {
/* satellite exclution */
for (j=k=0;j<n;j++) {
if (j==i) continue;
obs_e[k]=obs[j];
matcpy(rs_e +6*k,rs +6*j,6,1);
matcpy(dts_e+2*k,dts+2*j,2,1);
vare_e[k]=vare[j];
svh_e[k++]=svh[j];
}
/* estimate receiver position without a satellite */
if (!estpos(obs_e,n-1,rs_e,dts_e,vare_e,svh_e,nav,opt,&sol_e,azel_e,
vsat_e,resp_e,msg_e)) {
trace(3,"raim_fde: exsat=%2d (%s)\n",obs[i].sat,msg);
continue;
}
for (j=nvsat=0,rms_e=0.0;j<n-1;j++) {
if (!vsat_e[j]) continue;
rms_e+=SQR(resp_e[j]);
nvsat++;
}
if (nvsat<5) {
trace(3,"raim_fde: exsat=%2d lack of satellites nvsat=%2d\n",
obs[i].sat,nvsat);
continue;
}
rms_e=sqrt(rms_e/nvsat);
trace(3,"raim_fde: exsat=%2d rms=%8.3f\n",obs[i].sat,rms_e);
if (rms_e>rms) continue;
/* save result */
for (j=k=0;j<n;j++) {
if (j==i) continue;
matcpy(azel+2*j,azel_e+2*k,2,1);
vsat[j]=vsat_e[k];
resp[j]=resp_e[k++];
}
stat=1;
*sol=sol_e;
sat=obs[i].sat;
rms=rms_e;
vsat[i]=0;
strcpy(msg,msg_e);
}
if (stat) {
time2str(obs[0].time,tstr,2); satno2id(sat,name);
trace(2,"%s: %s excluded by raim\n",tstr+11,name);
}
free(obs_e);
free(rs_e ); free(dts_e ); free(vare_e); free(azel_e);
free(svh_e); free(vsat_e); free(resp_e);
return stat;
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
FILE *fp=stdout;
pcvs_t pcvs={0};
nav_t nav={0};
obs_t obs={0};
sta_t sta={{0}};
pcv_t *pcv=NULL;
gtime_t ts={0},te={0};
double eps[6]={0},epe[6]={0},rr[3]={0},tint=30.0;
char *ifile[32],*ofile="",*afile="",*dfile="",ant[64]="";
int i,j,n=0;
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-ts")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",eps,eps+1,eps+2);
sscanf(argv[++i],"%lf:%lf:%lf",eps+3,eps+4,eps+5);
}
else if (!strcmp(argv[i],"-te")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",epe,epe+1,epe+2);
sscanf(argv[++i],"%lf:%lf:%lf",epe+3,epe+4,epe+5);
}
else if (!strcmp(argv[i],"-ti")&&i+1<argc) {
tint=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-r")&&i+3<argc) {
for (j=0;j<3;j++) rr[j]=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-o")&&i+1<argc) ofile=argv[++i];
else if (!strcmp(argv[i],"-a")&&i+1<argc) afile=argv[++i];
else if (!strcmp(argv[i],"-d")&&i+1<argc) dfile=argv[++i];
else ifile[n++]=argv[i];
}
/* open output file */
if (*ofile&&!(fp=fopen(ofile,"w"))) {
fprintf(stderr,"output file open error: %s\n",ofile);
return -1;
}
if (eps[2]>=1.0) ts=epoch2time(eps);
if (epe[2]>=1.0) te=epoch2time(epe);
/* read rinex obs/nav */
for (i=0;i<n;i++) {
fprintf(stderr,"reading: %s\n",ifile[i]);
readrnxt(ifile[i],1,ts,te,0.0,"",&obs,&nav,&sta);
if (*sta.antdes) strcpy(ant,sta.antdes);
if (norm(sta.pos,3)>0.0) matcpy(rr,sta.pos,3,1);
}
if (!sortobs(&obs)) {
fprintf(stderr,"no observation data\n");
return -1;
}
uniqnav(&nav);
/* read antenna file */
if (*afile&&*ant) {
if (!readpcv(afile,&pcvs)) {
fprintf(stderr,"antenna file open error: %s\n",afile);
return -1;
}
/* search pcv */
if (!(pcv=searchpcv(0,ant,obs.data[0].time,&pcvs))) {
fprintf(stderr,"no antenna parmeter: %s\n",ant);
}
}
/* read p1-c1 dcb parameters */
if (*dfile) readdcb(dfile,&nav);
/* set p1-p2 dcb parameters */
for (i=0;i<MAXSAT;i++) {
for (j=0;j<nav.n;j++) {
if (nav.eph[j].sat!=i+1) continue;
nav.cbias[i][0]=nav.eph[j].tgd[0]*CLIGHT;
break;
}
}
/* estimate ionosphere parameters */
est_iono(&obs,&nav,pcv,rr,tint,fp);
fclose(fp);
if (*ofile) fprintf(stderr,"output: %s\n",ofile);
return 0;
}
// update observation data index, azimuth/elevation, satellite list ---------
void __fastcall TPlot::UpdateObs(int nobs)
{
AnsiString s;
prcopt_t opt=prcopt_default;
gtime_t time;
sol_t sol={0};
double pos[3],rr[3],e[3],azel[MAXOBS*2]={0},rs[6],dts[2],var;
int i,j,k,svh,per,per_=-1;
char msg[128],name[16];
trace(3,"UpdateObs\n");
delete [] IndexObs; IndexObs=NULL;
delete [] Az; Az=NULL;
delete [] El; El=NULL;
NObs=0;
if (nobs<=0) return;
IndexObs=new int[nobs+1];
Az=new double[Obs.n];
El=new double[Obs.n];
opt.err[0]=900.0;
ReadWaitStart();
ShowLegend(NULL);
for (i=0;i<Obs.n;i=j) {
time=Obs.data[i].time;
for (j=i;j<Obs.n;j++) {
if (timediff(Obs.data[j].time,time)>TTOL) break;
}
IndexObs[NObs++]=i;
for (k=0;k<j-i;k++) {
azel[k*2]=azel[1+k*2]=0.0;
}
if (RcvPos==0) {
pntpos(Obs.data+i,j-i,&Nav,&opt,&sol,azel,NULL,msg);
matcpy(rr,sol.rr,3,1);
ecef2pos(rr,pos);
}
else {
if (RcvPos==1) { // lat/lon/height
for (k=0;k<3;k++) pos[k]=OOPos[k];
pos2ecef(pos,rr);
}
else { // rinex header position
for (k=0;k<3;k++) rr[k]=Sta.pos[k];
ecef2pos(rr,pos);
}
for (k=0;k<j-i;k++) {
azel[k*2]=azel[1+k*2]=0.0;
if (!satpos(time,time,Obs.data[i+k].sat,EPHOPT_BRDC,&Nav,rs,dts,
&var,&svh)) continue;
if (geodist(rs,rr,e)>0.0) satazel(pos,e,azel+k*2);
}
}
// satellite azel by tle data
for (k=0;k<j-i;k++) {
if (azel[k*2]!=0.0||azel[1+k*2]!=0.0) continue;
satno2id(Obs.data[i+k].sat,name);
if (!tle_pos(time,name,"","",&TLEData,NULL,rs)) continue;
if (geodist(rs,rr,e)>0.0) satazel(pos,e,azel+k*2);
}
for (k=0;k<j-i;k++) {
Az[i+k]=azel[ k*2];
El[i+k]=azel[1+k*2];
if (Az[i+k]<0.0) Az[i+k]+=2.0*PI;
}
per=(i+1)*100/Obs.n;
if (per!=per_) {
ShowMsg(s.sprintf("updating azimuth/elevation... (%d%%)",(per_=per)));
Application->ProcessMessages();
}
}
IndexObs[NObs]=Obs.n;
UpdateSatList();
ReadWaitEnd();
}
// generate visibility data ----------------------------------------------------
void __fastcall TPlot::GenVisData(void)
{
gtime_t time,ts,te;
obsd_t data={{0}};
sta_t sta={0};
double tint,r,pos[3],rr[3],rs[6],e[3],azel[2];
int i,j,nobs=0;
char name[16];
trace(3,"GenVisData\n");
ClearObs();
SimObs=1;
ts=TimeStart;
te=TimeEnd;
tint=TimeInt;
matcpy(pos,OOPos,3,1);
pos2ecef(pos,rr);
ReadWaitStart();
ShowLegend(NULL);
ShowMsg("generating satellite visibility...");
Application->ProcessMessages();
for (time=ts;timediff(time,te)<=0.0;time=timeadd(time,tint)) {
for (i=0;i<MAXSAT;i++) {
satno2id(i+1,name);
if (!tle_pos(time,name,"","",&TLEData,NULL,rs)) continue;
if ((r=geodist(rs,rr,e))<=0.0) continue;
if (satazel(pos,e,azel)<=0.0) continue;
if (Obs.n>=Obs.nmax) {
Obs.nmax=Obs.nmax<=0?4096:Obs.nmax*2;
Obs.data=(obsd_t *)realloc(Obs.data,sizeof(obsd_t)*Obs.nmax);
if (!Obs.data) {
Obs.n=Obs.nmax=0;
break;
}
}
data.time=time;
data.sat=i+1;
for (j=0;j<NFREQ;j++) {
data.P[j]=data.L[j]=0.0;
data.code[j]=CODE_NONE;
}
data.code[0]=CODE_L1C;
Obs.data[Obs.n++]=data;
}
if (++nobs>=MAX_SIMOBS) break;
}
if (Obs.n<=0) {
ReadWaitEnd();
ShowMsg("no satellite visibility");
return;
}
UpdateObs(nobs);
Caption="Satellite Visibility (Predicted)";
BtnSol1->Down=true;
time2gpst(Obs.data[0].time,&Week);
SolIndex[0]=SolIndex[1]=ObsIndex=0;
if (PlotType<PLOT_OBS||PLOT_DOP<PlotType) {
UpdateType(PLOT_OBS);
}
else {
UpdatePlotType();
}
FitTime();
ReadWaitEnd();
UpdateObsType();
UpdateTime();
UpdatePlot();
}