/* output solution status for PPP --------------------------------------------*/
extern void pppoutsolstat(rtk_t *rtk, int level, FILE *fp)
{
ssat_t *ssat;
double tow,pos[3],vel[3],acc[3];
int i,j,week,nfreq=1;
char id[32];
if (level<=0||!fp) return;
trace(3,"pppoutsolstat:\n");
tow=time2gpst(rtk->sol.time,&week);
/* receiver position */
fprintf(fp,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
rtk->sol.stat,rtk->x[0],rtk->x[1],rtk->x[2],0.0,0.0,0.0);
/* receiver velocity and acceleration */
if (rtk->opt.dynamics) {
ecef2pos(rtk->sol.rr,pos);
ecef2enu(pos,rtk->x+3,vel);
ecef2enu(pos,rtk->x+6,acc);
fprintf(fp,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],acc[0],acc[1],acc[2],
0.0,0.0,0.0,0.0,0.0,0.0);
}
/* receiver clocks */
i=IC(0,&rtk->opt);
fprintf(fp,"$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
week,tow,rtk->sol.stat,1,rtk->x[i]*1E9/CLIGHT,rtk->x[i+1]*1E9/CLIGHT,
0.0,0.0);
/* tropospheric parameters */
if (rtk->opt.tropopt==TROPOPT_EST||rtk->opt.tropopt==TROPOPT_ESTG) {
i=IT(&rtk->opt);
fprintf(fp,"$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
1,rtk->x[i],0.0);
}
if (rtk->opt.tropopt==TROPOPT_ESTG) {
i=IT(&rtk->opt);
fprintf(fp,"$TRPG,%d,%.3f,%d,%d,%.5f,%.5f,%.5f,%.5f\n",week,tow,
rtk->sol.stat,1,rtk->x[i+1],rtk->x[i+2],0.0,0.0);
}
if (rtk->sol.stat==SOLQ_NONE||level<=1) return;
/* residuals and status */
for (i=0;i<MAXSAT;i++) {
ssat=rtk->ssat+i;
if (!ssat->vs) continue;
satno2id(i+1,id);
for (j=0;j<nfreq;j++) {
fprintf(fp,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D,
ssat->resp[j],ssat->resc[j],ssat->vsat[j],ssat->snr[j]*0.25,
ssat->fix[j],ssat->slip[j]&3,ssat->lock[j],ssat->outc[j],
ssat->slipc[j],ssat->rejc[j]);
}
}
}
// save snr and mp -------------------------------------------------------------
void __fastcall TPlot::SaveSnrMp(AnsiString file)
{
FILE *fp;
AnsiString ObsTypeText=ObsType2->Text;
gtime_t time;
double tow;
char sat[32],mp[32],tstr[64],*tlabel,*code=ObsTypeText.c_str()+1;
int i,j,k,week;
trace(3,"SaveSnrMp: file=%s\n",file.c_str());
if (!(fp=fopen(file.c_str(),"w"))) return;
tlabel=TimeLabel<=1?"TIME (GPST)":(TimeLabel<=2?"TIME (UTC)":"TIME (JST)");
sprintf(mp,"%s MP(m)",ObsTypeText.c_str());
fprintf(fp,"%% %-*s %6s %8s %8s %9s %10s\n",TimeLabel==0?13:19,tlabel,"SAT",
"AZ(deg)","EL(deg)","SNR(dBHz)",mp);
for (i=0;i<MAXSAT;i++) {
if (SatMask[i]||!SatSel[i]) continue;
satno2id(i+1,sat);
for (j=0;j<Obs.n;j++) {
if (Obs.data[j].sat!=i+1) continue;
for (k=0;k<NFREQ+NEXOBS;k++) {
if (strstr(code2obs(Obs.data[j].code[k],NULL),code)) break;
}
if (k>=NFREQ+NEXOBS) continue;
time=Obs.data[j].time;
if (TimeLabel==0) {
tow=time2gpst(time,&week);
sprintf(tstr,"%4d %9.1f ",week,tow);
}
else if (TimeLabel==1) {
time2str(time,tstr,1);
}
else if (TimeLabel==2) {
time2str(gpst2utc(time),tstr,1);
}
else {
time2str(timeadd(gpst2utc(time),9*3600.0),tstr,1);
}
fprintf(fp,"%s %6s %8.1f %8.1f %9.2f %10.4f\n",tstr,sat,Az[j]*R2D,
El[j]*R2D,Obs.data[j].SNR[k]*0.25,!Mp[k]?0.0:Mp[k][j]);
}
}
fclose(fp);
}
/* tle_pos() accuracy --------------------------------------------------------*/
static void utest3(void)
{
const char *file1="../data/tle/brdc3050.12*";
const char *file2="../data/tle/TLE_GNSS_20121101.txt";
const char *file3="../data/tle/igs17127.erp";
const double ep[6]={2012,10,31,0,0,0};
nav_t nav={0};
erp_t erp={0};
tle_t tle={0};
gtime_t time;
char sat[32];
double rs1[6],rs2[6],ds[6],dts[2],var;
int i,j,k,stat,svh;
readrnx(file1,0,"",NULL,&nav,NULL);
assert(nav.n>0);
stat=readerp(file3,&erp);
assert(stat);
stat=tle_read(file2,&tle);
assert(stat);
for (i=0;i<MAXSAT;i++) {
satno2id(i+1,sat);
fprintf(OUT,"SAT=%s\n",sat);
for (j=0;j<96;j++) {
time=timeadd(epoch2time(ep),900.0*j);
if (!satpos(time,time,i+1,EPHOPT_BRDC,&nav,rs1,dts,&var,&svh)) continue;
if (satsys(i+1,NULL)==SYS_QZS) svh&=0xFE;
if (svh) continue;
stat=tle_pos(time,sat,"","",&tle,&erp,rs2);
assert(stat);
for (k=0;k<3;k++) ds[k]=rs2[k]-rs1[k];
fprintf(OUT,"%6.0f %11.3f %11.3f %11.3f %11.3f\n",900.0*j,
ds[0]/1e3,ds[1]/1e3,ds[2]/1e3,norm(ds,3)/1e3);
assert(norm(ds,3)/1e3<300.0);
}
fprintf(OUT,"\n");
}
fprintf(OUT,"%s utest3 : OK\n",__FILE__);
}
/* output ionosphere parameters ----------------------------------------------*/
static void out_iono(gtime_t time, const ekf_t *ekf, const sstat_t *sstat,
FILE *fp)
{
double tow;
char id[64];
int sat,week;
tow=time2gpst(time,&week);
for (sat=1;sat<=MAXSAT;sat++) {
if (sstat[sat-1].time.time==0||
timediff(time,sstat[sat-1].time)>MAXGAP_IONO) continue;
satno2id(sat,id);
fprintf(fp,"%s %4d %6.0f %-3s %d %8.4f %9.6f %7.4f %6.1f %5.1f %7.3f %11.3f\n",
STEC_RID,week,tow,id,sstat[sat-1].slip,
ekf->x[II(sat)],ekf->x[II(sat)+1],
sqrt(ekf->P[II(sat)*(ekf->nx+1)]),sstat[sat-1].azel[0]*R2D,
sstat[sat-1].azel[1]*R2D, sstat[sat-1].PG,sstat[sat-1].LG);
}
}
/* options to system options buffer ------------------------------------------*/
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]);
}
}
}
/* set antenna parameters ----------------------------------------------------*/
static void setpcv(gtime_t time, prcopt_t *popt, nav_t *nav, const pcvs_t *pcvs,
const pcvs_t *pcvr, const sta_t *sta)
{
pcv_t *pcv;
double pos[3],del[3];
int i,j,mode=PMODE_DGPS<=popt->mode&&popt->mode<=PMODE_FIXED;
char id[64];
/* set satellite antenna parameters */
for (i=0;i<MAXSAT;i++) {
if (!(satsys(i+1,NULL)&popt->navsys)) continue;
if (!(pcv=searchpcv(i+1,"",time,pcvs))) {
satno2id(i+1,id);
trace(2,"no satellite antenna pcv: %s\n",id);
continue;
}
nav->pcvs[i]=*pcv;
}
for (i=0;i<(mode?2:1);i++) {
if (!strcmp(popt->anttype[i],"*")) { /* set by station parameters */
strcpy(popt->anttype[i],sta[i].antdes);
if (sta[i].deltype==1) { /* xyz */
if (norm(sta[i].pos,3)>0.0) {
ecef2pos(sta[i].pos,pos);
ecef2enu(pos,sta[i].del,del);
for (j=0;j<3;j++) popt->antdel[i][j]=del[j];
}
}
else { /* enu */
for (j=0;j<3;j++) popt->antdel[i][j]=stas[i].del[j];
}
}
if (!(pcv=searchpcv(0,popt->anttype[i],time,pcvr))) {
trace(2,"no receiver antenna pcv: %s\n",popt->anttype[i]);
*popt->anttype[i]='\0';
continue;
}
strcpy(popt->anttype[i],pcv->type);
popt->pcvr[i]=*pcv;
}
}
// update satellite-list pull-down menu -------------------------------------
void __fastcall TPlot::UpdateSatList(void)
{
int i,j,sys,sysp=0,sat,smask[MAXSAT]={0};
char s[8];
trace(3,"UpdateSatList\n");
for (i=0;i<2;i++) for (j=0;j<SolStat[i].n;j++) {
sat=SolStat[i].data[j].sat;
if (1<=sat&&sat<=MAXSAT) smask[sat-1]=1;
}
for (j=0;j<Obs.n;j++) {
sat=Obs.data[j].sat;
if (1<=sat&&sat<=MAXSAT) smask[sat-1]=1;
}
SatList->Items->Clear();
SatList->Items->Add("ALL");
for (sat=1;sat<=MAXSAT;sat++) {
if (SatMask[sat-1]||!smask[sat-1]) continue;
if ((sys=satsys(sat,NULL))==sysp) continue;
switch ((sysp=sys)) {
case SYS_GPS: strcpy(s,"G"); break;
case SYS_GLO: strcpy(s,"R"); break;
case SYS_GAL: strcpy(s,"E"); break;
case SYS_QZS: strcpy(s,"J"); break;
case SYS_CMP: strcpy(s,"C"); break;
case SYS_SBS: strcpy(s,"S"); break;
}
SatList->Items->Add(s);
}
for (sat=1;sat<=MAXSAT;sat++) {
if (SatMask[sat-1]||!smask[sat-1]) continue;
satno2id(sat,s);
SatList->Items->Add(s);
}
SatList->ItemIndex=0;
UpdateSatSel();
}
//---------------------------------------------------------------------------
void __fastcall TOptDialog::LoadOpt(AnsiString file)
{
int itype[]={STR_SERIAL,STR_TCPCLI,STR_TCPSVR,STR_NTRIPCLI,STR_FILE,STR_FTP,STR_HTTP};
int otype[]={STR_SERIAL,STR_TCPCLI,STR_TCPSVR,STR_NTRIPSVR,STR_FILE};
TEdit *editu[]={RovPos1,RovPos2,RovPos3};
TEdit *editr[]={RefPos1,RefPos2,RefPos3};
AnsiString s;
char buff[1024]="",*p,id[32];
int sat;
prcopt_t prcopt=prcopt_default;
solopt_t solopt=solopt_default;
filopt_t filopt={""};
resetsysopts();
if (!loadopts(file.c_str(),sysopts)||
!loadopts(file.c_str(),rcvopts)) return;
getsysopts(&prcopt,&solopt,&filopt);
for (int i=0;i<8;i++) {
MainForm->StreamC[i]=strtype[i]!=STR_NONE;
MainForm->Stream[i]=STR_NONE;
for (int j=0;j<(i<3?7:5);j++) {
if (strtype[i]!=(i<3?itype[j]:otype[j])) continue;
MainForm->Stream[i]=j;
break;
}
if (i<5) MainForm->Format[i]=strfmt[i];
if (strtype[i]==STR_SERIAL) {
MainForm->Paths[i][0]=strpath[i];
}
else if (strtype[i]==STR_FILE) {
MainForm->Paths[i][2]=strpath[i];
}
else if (strtype[i]<=STR_NTRIPCLI) {
MainForm->Paths[i][1]=strpath[i];
}
else if (strtype[i]<=STR_HTTP) {
MainForm->Paths[i][3]=strpath[i];
}
}
MainForm->NmeaReq=nmeareq;
MainForm->NmeaPos[0]=nmeapos[0];
MainForm->NmeaPos[1]=nmeapos[1];
SbasSatE ->Text =s.sprintf("%d",prcopt.sbassatsel);
PosMode ->ItemIndex =prcopt.mode;
Freq ->ItemIndex =prcopt.nf>NFREQ-1?NFREQ-1:prcopt.nf-1;
Solution ->ItemIndex =prcopt.soltype;
ElMask ->Text =s.sprintf("%.0f",prcopt.elmin*R2D);
DynamicModel ->ItemIndex =prcopt.dynamics;
TideCorr ->ItemIndex =prcopt.tidecorr;
IonoOpt ->ItemIndex =prcopt.ionoopt;
TropOpt ->ItemIndex =prcopt.tropopt;
SatEphem ->ItemIndex =prcopt.sateph;
ExSatsE ->Text ="";
for (sat=1,p=buff;sat<=MAXSAT;sat++) {
if (!prcopt.exsats[sat-1]) continue;
satno2id(sat,id);
p+=sprintf(p,"%s%s%s",p==buff?"":" ",prcopt.exsats[sat-1]==2?"+":"",id);
}
ExSatsE ->Text =buff;
NavSys1 ->Checked =prcopt.navsys&SYS_GPS;
NavSys2 ->Checked =prcopt.navsys&SYS_GLO;
NavSys3 ->Checked =prcopt.navsys&SYS_GAL;
NavSys4 ->Checked =prcopt.navsys&SYS_QZS;
NavSys5 ->Checked =prcopt.navsys&SYS_SBS;
NavSys6 ->Checked =prcopt.navsys&SYS_CMP;
PosOpt1 ->Checked =prcopt.posopt[0];
PosOpt2 ->Checked =prcopt.posopt[1];
PosOpt3 ->Checked =prcopt.posopt[2];
PosOpt4 ->Checked =prcopt.posopt[3];
PosOpt5 ->Checked =prcopt.posopt[4];
AmbRes ->ItemIndex =prcopt.modear;
GloAmbRes ->ItemIndex =prcopt.glomodear;
ValidThresAR ->Text =s.sprintf("%.1f",prcopt.thresar[0]);
OutCntResetAmb->Text =s.sprintf("%d" ,prcopt.maxout );
FixCntHoldAmb->Text =s.sprintf("%d" ,prcopt.minfix );
LockCntFixAmb->Text =s.sprintf("%d" ,prcopt.minlock );
ElMaskAR ->Text =s.sprintf("%.0f",prcopt.elmaskar*R2D);
ElMaskHold ->Text =s.sprintf("%.0f",prcopt.elmaskhold*R2D);
MaxAgeDiff ->Text =s.sprintf("%.1f",prcopt.maxtdiff );
RejectGdop ->Text =s.sprintf("%.1f",prcopt.maxgdop );
RejectThres ->Text =s.sprintf("%.1f",prcopt.maxinno );
SlipThres ->Text =s.sprintf("%.3f",prcopt.thresslip);
NumIter ->Text =s.sprintf("%d", prcopt.niter );
SyncSol ->ItemIndex =prcopt.syncsol;
BaselineLen ->Text =s.sprintf("%.3f",prcopt.baseline[0]);
BaselineSig ->Text =s.sprintf("%.3f",prcopt.baseline[1]);
BaselineConst->Checked =prcopt.baseline[0]>0.0;
SolFormat ->ItemIndex =solopt.posf;
TimeFormat ->ItemIndex =solopt.timef==0?0:solopt.times+1;
TimeDecimal ->Text =s.sprintf("%d",solopt.timeu);
LatLonFormat ->ItemIndex =solopt.degf;
FieldSep ->Text =solopt.sep;
OutputHead ->ItemIndex =solopt.outhead;
OutputOpt ->ItemIndex =solopt.outopt;
OutputDatum ->ItemIndex =solopt.datum;
OutputHeight ->ItemIndex =solopt.height;
OutputGeoid ->ItemIndex =solopt.geoid;
NmeaIntv1 ->Text =s.sprintf("%.2g",solopt.nmeaintv[0]);
NmeaIntv2 ->Text =s.sprintf("%.2g",solopt.nmeaintv[1]);
DebugTrace ->ItemIndex =solopt.trace;
DebugStatus ->ItemIndex =solopt.sstat;
MeasErrR1 ->Text =s.sprintf("%.1f",prcopt.eratio[0]);
MeasErrR2 ->Text =s.sprintf("%.3f",prcopt.eratio[1]);
MeasErr2 ->Text =s.sprintf("%.3f",prcopt.err[1]);
MeasErr3 ->Text =s.sprintf("%.3f",prcopt.err[2]);
MeasErr4 ->Text =s.sprintf("%.3f",prcopt.err[3]);
MeasErr5 ->Text =s.sprintf("%.3f",prcopt.err[4]);
SatClkStab ->Text =s.sprintf("%.2E",prcopt.sclkstab);
PrNoise1 ->Text =s.sprintf("%.2E",prcopt.prn[0]);
PrNoise2 ->Text =s.sprintf("%.2E",prcopt.prn[1]);
PrNoise3 ->Text =s.sprintf("%.2E",prcopt.prn[2]);
PrNoise4 ->Text =s.sprintf("%.2E",prcopt.prn[3]);
PrNoise5 ->Text =s.sprintf("%.2E",prcopt.prn[4]);
RovAntPcv ->Checked =*prcopt.anttype[0];
RefAntPcv ->Checked =*prcopt.anttype[1];
RovAnt ->Text =prcopt.anttype[0];
RefAnt ->Text =prcopt.anttype[1];
RovAntE ->Text =s.sprintf("%.4f",prcopt.antdel[0][0]);
RovAntN ->Text =s.sprintf("%.4f",prcopt.antdel[0][1]);
RovAntU ->Text =s.sprintf("%.4f",prcopt.antdel[0][2]);
RefAntE ->Text =s.sprintf("%.4f",prcopt.antdel[1][0]);
RefAntN ->Text =s.sprintf("%.4f",prcopt.antdel[1][1]);
RefAntU ->Text =s.sprintf("%.4f",prcopt.antdel[1][2]);
RovPosTypeP ->ItemIndex =prcopt.rovpos==0?0:3;
RefPosTypeP ->ItemIndex =prcopt.refpos==0?0:3;
RovPosTypeF =RovPosTypeP->ItemIndex;
RefPosTypeF =RefPosTypeP->ItemIndex;
SetPos(RovPosTypeP->ItemIndex,editu,prcopt.ru);
SetPos(RefPosTypeP->ItemIndex,editr,prcopt.rb);
SatPcvFile ->Text =filopt.satantp;
AntPcvFile ->Text =filopt.rcvantp;
StaPosFile ->Text =filopt.stapos;
GeoidDataFile->Text =filopt.geoid;
DCBFile ->Text =filopt.dcb;
LocalDir ->Text =filopt.tempdir;
ReadAntList();
UpdateEnable();
}
/* 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;
}
/* initialize sdr channel struct -----------------------------------------------
* set value to sdr channel struct
* args : int chno I channel number (1,2,...)
* int sys I system type (SYS_***)
* int prn I PRN number
* int ctype I code type (CTYPE_***)
* int dtype I data type (DTYPEI or DTYPEIQ)
* int ftype I front end type (FTYPE1 or FTYPE2)
* double f_cf I center (carrier) frequency (Hz)
* double f_sf I sampling frequency (Hz)
* double f_if I intermidiate frequency (Hz)
* sdrch_t *sdr I/0 sdr channel struct
* return : int 0:okay -1:error
*-----------------------------------------------------------------------------*/
extern int initsdrch(int chno, int sys, int prn, int ctype, int dtype,
int ftype, double f_cf, double f_sf, double f_if,
sdrch_t *sdr)
{
int i;
short *rcode;
sdr->no=chno;
sdr->sys=sys;
sdr->prn=prn;
sdr->sat=satno(sys,prn);
sdr->ctype=ctype;
sdr->dtype=dtype;
sdr->ftype=ftype;
sdr->f_sf=f_sf;
sdr->f_if=f_if;
sdr->ti=1/f_sf;
/* code generation */
if (!(sdr->code=gencode(prn,ctype,&sdr->clen,&sdr->crate))) {
SDRPRINTF("error: gencode\n"); return -1;
}
sdr->ci=sdr->ti*sdr->crate;
sdr->ctime=sdr->clen/sdr->crate;
sdr->nsamp=(int)(f_sf*sdr->ctime);
sdr->nsampchip=(int)(sdr->nsamp/sdr->clen);
satno2id(sdr->sat,sdr->satstr);
/* set carrier frequency */
if (ctype==CTYPE_G1) {
sprintf(sdr->satstr,"R%d",prn); /* frequency number instead of PRN */
sdr->f_cf=FREQ1_GLO+DFRQ1_GLO*prn; /* FDMA */
sdr->foffset=DFRQ1_GLO*prn; /* FDMA */
} else if (sdrini.fend==FEND_FRTLSDR) {
sdr->foffset=f_cf*sdrini.rtlsdrppmerr*1e-6;
} else {
sdr->f_cf=f_cf; /* carrier frequency */
sdr->foffset=0.0; /* frequency offset */
}
/* for BeiDou B1I */
if (ctype==CTYPE_B1I) sdr->nsampchip*=2; /* for BOC code */
/* acqisition struct */
initacqstruct(sys,ctype,prn,&sdr->acq);
sdr->acq.nfft=2*sdr->nsamp;//calcfftnum(2*sdr->nsamp,0);
/* memory allocation */
if (!(sdr->acq.freq=(double*)malloc(sizeof(double)*sdr->acq.nfreq))) {
SDRPRINTF("error: initsdrch memory alocation\n"); return -1;
}
/* doppler search frequency */
for (i=0;i<sdr->acq.nfreq;i++)
sdr->acq.freq[i]=sdr->f_if+((i-(sdr->acq.nfreq-1)/2)*sdr->acq.step)
+sdr->foffset;
/* tracking struct */
if (inittrkstruct(sdr->sat,ctype,sdr->ctime,&sdr->trk)<0) return -1;
/* navigation struct */
if (initnavstruct(sys,ctype,prn,&sdr->nav)<0) {
return -1;
}
/* memory allocation */
if (!(rcode=(short *)sdrmalloc(sizeof(short)*sdr->acq.nfft)) ||
!(sdr->xcode=cpxmalloc(sdr->acq.nfft))) {
SDRPRINTF("error: initsdrch memory alocation\n"); return -1;
}
/* other code generation */
for (i=0;i<sdr->acq.nfft;i++) rcode[i]=0; /* zero padding */
rescode(sdr->code,sdr->clen,0,0,sdr->ci,sdr->nsamp,rcode); /* resampling */
cpxcpx(rcode,NULL,1.0,sdr->acq.nfft,sdr->xcode); /* FFT for acquisition */
cpxfft(NULL,sdr->xcode,sdr->acq.nfft);
sdrfree(rcode);
return 0;
}
static jobject RtkCommon_get_sat_id(JNIEnv* env, jclass clazz, jint sat_no)
{
char sat_id[16];
satno2id(sat_no, sat_id);
return (*env)->NewStringUTF(env, sat_id);
}
// 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();
}
