diff --git a/app/rtkrcv/rtkrcv.c b/app/rtkrcv/rtkrcv.c
index 6d78916f7e73bcba647434e7e9b2a4cf28d3207d..114b539fcb5820694539660670548fcfba8eb431 100644
--- a/app/rtkrcv/rtkrcv.c
+++ b/app/rtkrcv/rtkrcv.c
@@ -632,11 +632,12 @@ static void prstatus(vt_t *vt)
"single","DGPS","kinematic","static","static-start","moving-base","fixed",
"PPP-kinema","PPP-static"
};
- const char *freq[]={"-","L1","L1+L2","L1+L2+L5","","",""};
+ gtime_t eventime={0};
+ const char *freq[]={"-","L1","L1+L2","L1+L2+E5b","L1+L2+E5b+L5","",""};
rtcm_t rtcm[3];
- int i,j,n,thread,cycle,state,rtkstat,nsat0,nsat1,prcout,nave;
+ int i,j,n,thread,cycle,state,rtkstat,nsat0,nsat1,prcout,rcvcount,tmcount,timevalid,nave;
int cputime,nb[3]={0},nmsg[3][10]={{0}};
- char tstr[64],s[1024],*p;
+ char tstr[64],tmstr[64],s[1024],*p;
double runtime,rt[3]={0},dop[4]={0},rr[3],bl1=0.0,bl2=0.0;
double azel[MAXSAT*2],pos[3],vel[3],*del;
@@ -650,6 +651,8 @@ static void prstatus(vt_t *vt)
rtkstat=svr.rtk.sol.stat;
nsat0=svr.obs[0][0].n;
nsat1=svr.obs[1][0].n;
+ rcvcount = svr.raw[0].obs.rcvcount;
+ tmcount = svr.raw[0].obs.tmcount;
cputime=svr.cputime;
prcout=svr.prcout;
nave=svr.nave;
@@ -663,6 +666,11 @@ static void prstatus(vt_t *vt)
rt[1]=floor(runtime/60.0); rt[2]=runtime-rt[1]*60.0;
}
for (i=0;i<3;i++) rtcm[i]=svr.rtcm[i];
+ if (svr.raw[0].obs.data != NULL) {
+ timevalid = svr.raw[0].obs.data[0].timevalid;
+ eventime = svr.raw[0].obs.data[0].eventime;
+ }
+ time2str(eventime,tmstr,9);
rtksvrunlock(&svr);
for (i=n=0;i<MAXSAT;i++) {
@@ -763,7 +771,9 @@ static void prstatus(vt_t *vt)
}
vt_printf(vt,"%-28s: %.3f\n","baseline length float (m)",bl1);
vt_printf(vt,"%-28s: %.3f\n","baseline length fixed (m)",bl2);
- vt_printf(vt,"%-28s: %d\n","monitor port",moniport);
+ vt_printf(vt,"%-28s: %s\n","last time mark",tmcount ? tmstr : "-");
+ vt_printf(vt,"%-28s: %d\n","receiver time mark count",rcvcount);
+ vt_printf(vt,"%-28s: %d\n","rtklib time mark count",tmcount);
}
/* print satellite -----------------------------------------------------------*/
static void prsatellite(vt_t *vt, int nf)
diff --git a/src/convrnx.c b/src/convrnx.c
index 4cf6816c7ba28e013aca377bfddbe935948f3819..04cc73d51562c1e31ba2618a1568cc80a430e04a 100644
--- a/src/convrnx.c
+++ b/src/convrnx.c
@@ -1004,7 +1004,7 @@ static void convobs(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *staid,
}
}
/* output rinex obs */
- outrnxobsb(ofp[0],opt,str->obs);
+ outrnxobsb(ofp[0],opt,str->obs->data,str->obs->n,str->obs->flag);
/* n[NOUTFILE+1] - count of events converted to rinex */
if (str->obs->flag == 5)
n[NOUTFILE+1]++;
diff --git a/src/pntpos.c b/src/pntpos.c
index 9892c6ab6916ca05b7119984df79f9b3e241ef46..fdfbe1313b509e52707fe21114f620d880d35078 100644
--- a/src/pntpos.c
+++ b/src/pntpos.c
@@ -431,6 +431,7 @@ static int raim_fde(const obsd_t *obs, int n, const double *rs,
resp[j]=resp_e[k++];
}
stat=1;
+ sol_e.eventime = sol->eventime;
*sol=sol_e;
sat=obs[i].sat;
rms=rms_e;
@@ -550,6 +551,7 @@ extern int pntpos(const obsd_t *obs, int n, const nav_t *nav,
trace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n);
sol->time=obs[0].time; msg[0]='\0';
+ sol->eventime = obs[0].eventime;
rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel_=zeros(2,n); resp=mat(1,n);
diff --git a/src/postpos.c b/src/postpos.c
index 3b29d1f32c4ab7e60ca52a58d6633044c176a321..38fdbffb472bb8dda5832092817c8ff37d601748 100644
--- a/src/postpos.c
+++ b/src/postpos.c
@@ -31,7 +31,7 @@
* add function to read satellite fcb
* add function to read stec and troposphere file
* add keyword replacement in dcb, erp and ionos file
-* 2015/11/13 1.17 add support of L5 antenna phase center paramters
+* 2015/11/13 1.17 add support of L5 antenna phase center parameters
* add *.stec and *.trp file for ppp correction
* 2015/11/26 1.18 support opt->freqopt(disable L2)
* 2016/01/12 1.19 add carrier-phase bias correction by ssr
@@ -56,12 +56,14 @@ static obs_t obss={0}; /* observation data */
static nav_t navs={0}; /* navigation data */
static sbs_t sbss={0}; /* sbas messages */
static lex_t lexs={0}; /* lex messages */
-static sta_t stas[MAXRCV]; /* station infomation */
+static sta_t stas[MAXRCV]; /* station information */
static int nepoch=0; /* number of observation epochs */
+static int nitm =0; /* number of invalid time marks */
static int iobsu =0; /* current rover observation data index */
static int iobsr =0; /* current reference observation data index */
static int isbs =0; /* current sbas message index */
static int ilex =0; /* current lex message index */
+static int iitm =0; /* current invalid time mark index */
static int revs =0; /* analysis direction (0:forward,1:backward) */
static int aborts=0; /* abort status */
static sol_t *solf; /* forward solutions */
@@ -74,6 +76,7 @@ static char proc_rov [64]=""; /* rover for current processing */
static char proc_base[64]=""; /* base station for current processing */
static char rtcm_file[1024]=""; /* rtcm data file */
static char rtcm_path[1024]=""; /* rtcm data path */
+static gtime_t invalidtm[100]={{0}};/* invalid time marks */
static rtcm_t rtcm; /* rtcm control struct */
static FILE *fp_rtcm=NULL; /* rtcm data file pointer */
@@ -256,7 +259,7 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
if (timediff(obss.data[i].time,obss.data[iobsu].time)>DTTOL) break;
}
nr=nextobsf(&obss,&iobsr,2);
- if (nr<=0) {
+ if (nr<=0) { /* remove this for event logging??? */
nr=nextobsf(&obss,&iobsr,2);
}
for (i=0;i<nu&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsu+i];
@@ -320,6 +323,59 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
}
return n;
}
+/* output to file message of invalid time mark -------------------------------*/
+static void outinvalidtm(FILE *fptm, const solopt_t *opt, const gtime_t tm)
+{
+ gtime_t time = tm;
+ double gpst;
+ int week,timeu;
+ char s[100];
+
+ timeu=opt->timeu<0?0:(opt->timeu>20?20:opt->timeu);
+
+ if (opt->times>=TIMES_UTC) time=gpst2utc(time);
+ if (opt->times==TIMES_JST) time=timeadd(time,9*3600.0);
+
+ if (opt->timef) time2str(time,s,timeu);
+ else {
+ gpst=time2gpst(time,&week);
+ if (86400*7-gpst<0.5/pow(10.0,timeu)) {
+ week++;
+ gpst=0.0;
+ }
+ sprintf(s,"%4d %*.*f",week,6+(timeu<=0?0:timeu+1),timeu,gpst);
+ }
+ strcat(s, " Q=0, Time mark is not valid\n");
+
+ fwrite(s,strlen(s),1,fptm);
+}
+/* fill structure sol_t for time mark ----------------------------------------*/
+static sol_t fillsoltm(const sol_t solold, const sol_t solnew, const gtime_t tm)
+{
+ gtime_t t1={0},t2={0};
+ sol_t sol=solold;
+ int i=0;
+
+ if (solold.stat == 0 || solnew.stat == 0) {
+ sol.stat = 0;
+ } else {
+ sol.stat = (solold.stat > solnew.stat) ? solold.stat : solnew.stat;
+ }
+ sol.ns = (solold.ns < solnew.ns) ? solold.ns : solnew.ns;
+ sol.ratio = (solold.ratio < solnew.ratio) ? solold.ratio : solnew.ratio;
+
+ /* interpolation position and speed of time mark */
+ t1 = solold.time;
+ t2 = solnew.time;
+ sol.time = tm;
+
+ for (i=0;i<6;i++)
+ {
+ sol.rr[i] = solold.rr[i] + timediff(tm,t1) / timediff(t2,t1) * (solnew.rr[i] - solold.rr[i]);
+ }
+
+ return sol;
+}
/* carrier-phase bias correction by fcb --------------------------------------*/
static void corr_phase_bias_fcb(obsd_t *obs, int n, const nav_t *nav)
{
@@ -353,14 +409,14 @@ static void corr_phase_bias_ssr(obsd_t *obs, int n, const nav_t *nav)
}
}
/* process positioning -------------------------------------------------------*/
-static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt, rtk_t *rtk,
- int mode)
+static void procpos(FILE *fp, FILE *fptm, const prcopt_t *popt, const solopt_t *sopt,
+ rtk_t *rtk, int mode)
{
gtime_t time={0};
- sol_t sol={{0}};
+ sol_t sol={{0}},oldsol={{0}},newsol={{0}};
obsd_t obs[MAXOBS*2]; /* for rover and base */
double rb[3]={0};
- int i,nobs,n,solstatic,pri[]={0,1,2,3,4,5,1,6};
+ int i,nobs,n,solstatic,num=0,pri[]={0,1,2,3,4,5,1,6};
trace(3,"procpos : mode=%d\n",mode);
@@ -395,7 +451,16 @@ static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt, rtk_t
for (i=0;i<n;i++) obs[i].L[1]=obs[i].P[1]=0.0;
}
#endif
- if (!rtkpos(rtk,obs,n,&navs)) continue;
+ if (!rtkpos(rtk,obs,n,&navs)) {
+ if (rtk->sol.eventime.time != 0) {
+ if (mode == 0) {
+ outinvalidtm(fptm, sopt, rtk->sol.eventime);
+ } else if (!revs) {
+ invalidtm[nitm++] = rtk->sol.eventime;
+ }
+ }
+ continue;
+ }
if (mode==0) { /* forward/backward */
if (!solstatic) {
@@ -408,6 +473,16 @@ static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt, rtk_t
time=rtk->sol.time;
}
}
+ /* check time mark */
+ if (rtk->sol.eventime.time != 0)
+ {
+ newsol = fillsoltm(oldsol,rtk->sol,rtk->sol.eventime);
+ num++;
+ if (!solstatic && mode == 0) {
+ outsol(fptm,&newsol,rb,sopt);
+ }
+ }
+ oldsol = rtk->sol;
}
else if (!revs) { /* combined-forward */
if (isolf>=nepoch) return;
@@ -452,12 +527,12 @@ static int valcomb(const sol_t *solf, const sol_t *solb)
return 1;
}
/* combine forward/backward solutions and output results ---------------------*/
-static void combres(FILE *fp, const prcopt_t *popt, const solopt_t *sopt)
+static void combres(FILE *fp, FILE *fptm, const prcopt_t *popt, const solopt_t *sopt)
{
gtime_t time={0};
- sol_t sols={{0}},sol={{0}};
+ sol_t sols={{0}},sol={{0}},oldsol={{0}},newsol={{0}};
double tt,Qf[9],Qb[9],Qs[9],rbs[3]={0},rb[3]={0},rr_f[3],rr_b[3],rr_s[3];
- int i,j,k,solstatic,pri[]={0,1,2,3,4,5,1,6};
+ int i,j,k,solstatic,num=0,pri[]={0,1,2,3,4,5,1,6};
trace(3,"combres : isolf=%d isolb=%d\n",isolf,isolb);
@@ -552,6 +627,20 @@ static void combres(FILE *fp, const prcopt_t *popt, const solopt_t *sopt)
time=sols.time;
}
}
+ if (iitm < nitm && timediff(invalidtm[iitm],sols.time)<0.0)
+ {
+ outinvalidtm(fptm,sopt,invalidtm[iitm]);
+ iitm++;
+ }
+ if (sols.eventime.time != 0)
+ {
+ newsol = fillsoltm(oldsol,sols,sols.eventime);
+ num++;
+ if (!solstatic) {
+ outsol(fptm,&newsol,rb,sopt);
+ }
+ }
+ oldsol = sols;
}
if (solstatic&&time.time!=0.0) {
sol.time=time;
@@ -974,15 +1063,33 @@ static FILE *openfile(const char *outfile)
return !*outfile?stdout:fopen(outfile,"a");
}
+/* Name time marks file ------------------------------------------------------*/
+static void namefiletm(char *outfiletm, const char *outfile)
+{
+ int i;
+
+ for (i=strlen(outfile);i>0;i--) {
+ if (outfile[i] == '.') {
+ break;
+ }
+ }
+ /* if no file extension, then name time marks file as name of outfile + _events.pos */
+ if (i == 0) {
+ i = strlen(outfile);
+ }
+ strncpy(outfiletm, outfile, i);
+ strcat(outfiletm, "_events.pos");
+}
/* execute processing session ------------------------------------------------*/
static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
const solopt_t *sopt, const filopt_t *fopt, int flag,
char **infile, const int *index, int n, char *outfile)
{
- FILE *fp;
+ FILE *fp,*fptm;
rtk_t rtk;
prcopt_t popt_=*popt;
- char tracefile[1024],statfile[1024],path[1024],*ext;
+ solopt_t tmsopt = *sopt;
+ char tracefile[1024],statfile[1024],path[1024],*ext,outfiletm[1024]={0};
trace(3,"execses : n=%d outfile=%s\n",n,outfile);
@@ -1023,7 +1130,7 @@ static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
reppath(fopt->dcb,path,ts,"","");
readdcb(path,&navs,stas);
}
- /* set antenna paramters */
+ /* set antenna parameters */
if (popt_.mode!=PMODE_SINGLE) {
setpcv(obss.n>0?obss.data[0].time:timeget(),&popt_,&navs,&pcvss,&pcvsr,
stas);
@@ -1061,19 +1168,26 @@ static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
freeobsnav(&obss,&navs);
return 0;
}
+ /* name time events file */
+ namefiletm(outfiletm,outfile);
+ /* write header to file with time marks */
+ outhead(outfiletm,infile,n,&popt_,&tmsopt);
+
iobsu=iobsr=isbs=ilex=revs=aborts=0;
if (popt_.mode==PMODE_SINGLE||popt_.soltype==0) {
- if ((fp=openfile(outfile))) {
- procpos(fp,&popt_,sopt,&rtk,0); /* forward */
+ if ((fp=openfile(outfile)) && (fptm=openfile(outfiletm))) {
+ procpos(fp,fptm,&popt_,sopt,&rtk,0); /* forward */
fclose(fp);
+ fclose(fptm);
}
}
else if (popt_.soltype==1) {
- if ((fp=openfile(outfile))) {
+ if ((fp=openfile(outfile)) && (fptm=openfile(outfiletm))) {
revs=1; iobsu=iobsr=obss.n-1; isbs=sbss.n-1; ilex=lexs.n-1;
- procpos(fp,&popt_,sopt,&rtk,0); /* backward */
+ procpos(fp,fptm,&popt_,sopt,&rtk,0); /* backward */
fclose(fp);
+ fclose(fptm);
}
}
else { /* combined */
@@ -1084,14 +1198,15 @@ static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
if (solf&&solb) {
isolf=isolb=0;
- procpos(NULL,&popt_,sopt,&rtk,1); /* forward */
+ procpos(NULL,NULL,&popt_,sopt,&rtk,1); /* forward */
revs=1; iobsu=iobsr=obss.n-1; isbs=sbss.n-1; ilex=lexs.n-1;
- procpos(NULL,&popt_,sopt,&rtk,1); /* backward */
+ procpos(NULL,NULL,&popt_,sopt,&rtk,1); /* backward */
/* combine forward/backward solutions */
- if (!aborts&&(fp=openfile(outfile))) {
- combres(fp,&popt_,sopt);
+ if (!aborts&&(fp=openfile(outfile)) && (fptm=openfile(outfiletm))) {
+ combres(fp,fptm,&popt_,sopt);
fclose(fp);
+ fclose(fptm);
}
}
else showmsg("error : memory allocation");
@@ -1235,7 +1350,7 @@ static int execses_b(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
* observation data file in the input files is recognized as the rover
* data.
*
-* the type of an input file is recognized by the file extention as ]
+* the type of an input file is recognized by the file extension as ]
* follows:
* .sp3,.SP3,.eph*,.EPH*: precise ephemeris (sp3c)
* .sbs,.SBS,.ems,.EMS : sbas message log files (rtklib or ems)
diff --git a/src/rcv/swiftnav.c b/src/rcv/swiftnav.c
index 07fd6b5560b3890efc1d8d9aae9d115923d1be10..04bae7b7d35425e5159e8b84c2cca2aaaf4e978c 100644
--- a/src/rcv/swiftnav.c
+++ b/src/rcv/swiftnav.c
@@ -296,9 +296,9 @@ static int flushobuf(raw_t *raw) {
trace(3, "flushobuf: n=%d\n", raw->obuf.n);
/* copy events from data buffer */
- if (raw->obuf.eventime.time>0) {
- raw->obs.eventime = raw->obuf.eventime;
- raw->obs.timevalid = raw->obuf.timevalid;
+ if (raw->obuf.data[0].eventime.time>0) {
+ raw->obs.data[0].eventime = raw->obuf.data[0].eventime;
+ raw->obs.data[0].timevalid = raw->obuf.data[0].timevalid;
raw->obs.flag = raw->obuf.flag;
raw->obs.rcvcount = raw->obuf.rcvcount;
raw->obs.tmcount=raw->obuf.tmcount;
@@ -315,8 +315,8 @@ static int flushobuf(raw_t *raw) {
raw->obs.n = n;
/* clear events from data buffer */
- raw->obuf.eventime = time0;
- raw->obuf.flag = raw->obuf.timevalid=0;
+ raw->obuf.data[0].eventime = time0;
+ raw->obuf.flag = raw->obuf.data[0].timevalid=0;
raw->obuf.rcvcount = raw->obuf.tmcount=0;
/* clear observation data buffer */
@@ -1173,9 +1173,9 @@ static int decode_event(raw_t *raw) {
/* write to event variables */
eventime = gpst2time(wn,tow*1E-3+ns_residual*1E-9);
raw->obuf.flag = 5; /* event flag */
- raw->obuf.eventime = eventime;
+ raw->obuf.data[0].eventime = eventime;
raw->obuf.tmcount++;
- raw->obuf.timevalid = (flags & 0x02)>>1;
+ raw->obuf.data[0].timevalid = (flags & 0x02)>>1;
return 0;
}
diff --git a/src/rcv/ublox.c b/src/rcv/ublox.c
index c1b329caa4d0b1d6859ffde04c7132b09d78c990..7575527918d01b7fd386c178b1361eb599323e2e 100644
--- a/src/rcv/ublox.c
+++ b/src/rcv/ublox.c
@@ -1108,10 +1108,10 @@ static int decode_timtm2(raw_t *raw)
{
eventime = gpst2time(wnF,towMsF*1E-3+towSubMsF*1E-9);
raw->obs.flag = 5; /* Event flag */
- raw->obs.eventime = eventime;
+ raw->obs.data[0].eventime = eventime;
raw->obs.rcvcount = count;
raw->obs.tmcount++;
- raw->obs.timevalid = time;
+ raw->obs.data[0].timevalid = time;
} else {
raw->obs.flag = 0;
}
diff --git a/src/rinex.c b/src/rinex.c
index a04c8e0d72a5e184481db66da5f779fb9e8deaa6..7cca82c46eb6420c620e8a1d5d42ea0af2e0c67d 100644
--- a/src/rinex.c
+++ b/src/rinex.c
@@ -645,11 +645,17 @@ static int decode_obsepoch(FILE *fp, char *buff, double ver, gtime_t *time,
trace(4,"decode_obsepoch: ver=%.2f\n",ver);
if (ver<=2.99) { /* ver.2 */
- if ((n=(int)str2num(buff,29,3))<=0) return 0;
+ /* if ((n=(int)str2num(buff,29,3))<=0) return 0; */
/* epoch flag: 3:new site,4:header info,5:external event */
*flag=(int)str2num(buff,28,1);
+ if (*flag == 5) {
+ str2time(buff,0,26,time);
+ }
+
+ if ((n=(int)str2num(buff,29,3))<=0) return 0;
+
if (3<=*flag&&*flag<=5) return n;
if (str2time(buff,0,26,time)) {
@@ -668,10 +674,16 @@ static int decode_obsepoch(FILE *fp, char *buff, double ver, gtime_t *time,
}
}
else { /* ver.3 */
- if ((n=(int)str2num(buff,32,3))<=0) return 0;
+ /* if ((n=(int)str2num(buff,32,3))<=0) return 0; */
*flag=(int)str2num(buff,31,1);
+ if (*flag == 5) {
+ str2time(buff,1,28,time);
+ }
+
+ if ((n=(int)str2num(buff,32,3))<=0) return 0;
+
if (3<=*flag&&*flag<=5) return n;
if (buff[0]!='>'||str2time(buff,1,28,time)) {
@@ -956,9 +968,13 @@ static int readrnxobsb(FILE *fp, const char *opt, double ver, int *tsys,
/* decode obs epoch */
if (i==0) {
- if ((nsat=decode_obsepoch(fp,buff,ver,&time,flag,sats))<=0) {
+ if ((nsat=decode_obsepoch(fp,buff,ver,&time,flag,sats))<=0 && (*flag != 5)) {
continue;
}
+ if (*flag == 5) {
+ data[0].eventime = time;
+ return 0;
+ }
}
else if (*flag<=2||*flag==6) {
@@ -982,6 +998,7 @@ static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint,
const char *opt, int rcv, double ver, int *tsys,
char tobs[][MAXOBSTYPE][4], obs_t *obs, sta_t *sta)
{
+ gtime_t eventime={0};
obsd_t *data;
unsigned char slips[MAXSAT][NFREQ]={{0}};
int i,n,flag=0,stat=0;
@@ -994,6 +1011,16 @@ static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint,
/* read rinex obs data body */
while ((n=readrnxobsb(fp,opt,ver,tsys,tobs,&flag,data,sta))>=0&&stat>=0) {
+
+ if (flag == 5) {
+ eventime = data[0].eventime;
+ n = readrnxobsb(fp,opt,ver,tsys,tobs,&flag,data,sta);
+ }
+
+ for (i=0;i<n;i++) data[i].eventime = eventime;
+ /* set to zero eventime for the next iteration */
+ eventime.time = 0;
+ eventime.sec = 0;
for (i=0;i<n;i++) {
@@ -1710,7 +1737,7 @@ extern void free_rnxctr(rnxctr_t *rnx)
free(rnx->nav.seph); rnx->nav.seph=NULL; rnx->nav.ns=0;
}
/* open rinex data -------------------------------------------------------------
-* fetch next rinex message and input a messsage from file
+* fetch next rinex message and input a message from file
* args : rnxctr_t *rnx IO rinex control struct
* FILE *fp I file pointer
* return : status (-2: end of file, 0: no message, 1: input observation data,
@@ -1876,7 +1903,7 @@ extern int outrnxobsh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
else { /* ver.3 */
if (opt->navsys==SYS_GPS) sys="G: GPS";
else if (opt->navsys==SYS_GLO) sys="R: GLONASS";
- else if (opt->navsys==SYS_GAL) sys="E: Galileo";
+ else if (opt->navsys==SYS_GAL) sys="E: Galielo";
else if (opt->navsys==SYS_QZS) sys="J: QZSS"; /* ver.3.02 */
else if (opt->navsys==SYS_CMP) sys="C: BeiDou"; /* ver.3.02 */
else if (opt->navsys==SYS_IRN) sys="I: IRNSS"; /* ver.3.03 */
@@ -2039,13 +2066,13 @@ static int obsindex(double ver, int sys, const unsigned char *code,
return -1;
}
/* output rinex event time ---------------------------------------------------*/
-static void outrinexevent(FILE *fp, const rnxopt_t *opt, const obs_t *obs,
+static void outrinexevent(FILE *fp, const rnxopt_t *opt, const obsd_t *obs,
const double epdiff)
{
int n;
double epe[6];
- time2epoch(obs->eventime,epe);
+ time2epoch(obs[0].eventime,epe);
n = obs->timevalid ? 0 : 1;
if (opt->rnxver<=2.99) { /* ver.2 */
@@ -2068,21 +2095,22 @@ static void outrinexevent(FILE *fp, const rnxopt_t *opt, const obs_t *obs,
* int flag I epoch flag (0:ok,1:power failure,>1:event flag)
* return : status (1:ok, 0:output error)
*-----------------------------------------------------------------------------*/
-extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obs_t *obs)
+extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
+ int flag)
{
const char *mask;
double epdiff,ep[6];
char sats[MAXOBS][4]={""};
int i,j,k,m,ns,sys,ind[MAXOBS],s[MAXOBS]={0};
- trace(3,"outrnxobsb: n=%d\n",obs->n);
+ trace(3,"outrnxobsb: n=%d\n",n);
- time2epoch(obs->data[0].time,ep);
+ time2epoch(obs[0].time,ep);
- for (i=ns=0;i<obs->n&&ns<MAXOBS;i++) {
- sys=satsys(obs->data[i].sat,NULL);
- if (!(sys&opt->navsys)||opt->exsats[obs->data[i].sat-1]) continue;
- if (!sat2code(obs->data[i].sat,sats[ns])) continue;
+ for (i=ns=0;i<n&&ns<MAXOBS;i++) {
+ sys=satsys(obs[i].sat,NULL);
+ if (!(sys&opt->navsys)||opt->exsats[obs[i].sat-1]) continue;
+ if (!sat2code(obs[i].sat,sats[ns])) continue;
switch (sys) {
case SYS_GPS: s[ns]=0; break;
case SYS_GLO: s[ns]=1; break;
@@ -2098,8 +2126,8 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obs_t *obs)
/* if epoch of event less than epoch of observation, then first output
time mark, else first output observation record */
- epdiff = timediff(obs->data[0].time,obs->eventime);
- if (obs->flag == 5 && epdiff >= 0) {
+ epdiff = timediff(obs[0].time,obs[0].eventime);
+ if (flag == 5 && epdiff >= 0) {
outrinexevent(fp, opt, obs, epdiff);
}
@@ -2116,7 +2144,7 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obs_t *obs)
ep[0],ep[1],ep[2],ep[3],ep[4],ep[5],0,ns,"");
}
for (i=0;i<ns;i++) {
- sys=satsys(obs->data[ind[i]].sat,NULL);
+ sys=satsys(obs[ind[i]].sat,NULL);
if (opt->rnxver<=2.99) { /* ver.2 */
m=0;
@@ -2133,7 +2161,7 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obs_t *obs)
if (j%5==0) fprintf(fp,"\n");
}
/* search obs data index */
- if ((k=obsindex(opt->rnxver,sys,obs->data[ind[i]].code,opt->tobs[m][j],
+ if ((k=obsindex(opt->rnxver,sys,obs[ind[i]].code,opt->tobs[m][j],
mask))<0) {
outrnxobsf(fp,0.0,-1,-1);
continue;
@@ -2141,16 +2169,16 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obs_t *obs)
/* output field */
switch (opt->tobs[m][j][0]) {
case 'C':
- case 'P': outrnxobsf(fp,obs->data[ind[i]].P[k],-1,obs->data[ind[i]].qualP[k]); break;
- case 'L': outrnxobsf(fp,obs->data[ind[i]].L[k],obs->data[ind[i]].LLI[k],obs->data[ind[i]].qualL[k]); break;
- case 'D': outrnxobsf(fp,obs->data[ind[i]].D[k],-1,-1); break;
- case 'S': outrnxobsf(fp,obs->data[ind[i]].SNR[k]*0.25,-1,-1); break;
+ case 'P': outrnxobsf(fp,obs[ind[i]].P[k],-1,obs[ind[i]].qualP[k]); break;
+ case 'L': outrnxobsf(fp,obs[ind[i]].L[k],obs[ind[i]].LLI[k],obs[ind[i]].qualL[k]); break;
+ case 'D': outrnxobsf(fp,obs[ind[i]].D[k],-1,-1); break;
+ case 'S': outrnxobsf(fp,obs[ind[i]].SNR[k]*0.25,-1,-1); break;
}
}
if (opt->rnxver>2.99&&fprintf(fp,"\n")==EOF) return 0;
}
- if (obs->flag == 5 && epdiff < 0) {
+ if (flag == 5 && epdiff < 0) {
outrinexevent(fp, opt, obs, epdiff);
}
diff --git a/src/rtklib.h b/src/rtklib.h
index f2307fbcf4719d1a05fc79781bdc15420eeaf3fc..6d0f261bdf40c3e15dd6e397ab16e0bba68eccf2 100644
--- a/src/rtklib.h
+++ b/src/rtklib.h
@@ -349,6 +349,9 @@ extern "C" {
#define PMODE_PPP_STATIC 8 /* positioning mode: PPP-static */
#define PMODE_PPP_FIXED 9 /* positioning mode: PPP-fixed */
+#define SOLT_XYZ 0 /* solution type: x/y/z-ecef */
+#define SOLT_ENU 1 /* solution type: e/n/u-baseline */
+
#define SOLF_LLH 0 /* solution format: lat/lon/height */
#define SOLF_XYZ 1 /* solution format: x/y/z-ecef */
#define SOLF_ENU 2 /* solution format: e/n/u-baseline */
@@ -545,6 +548,8 @@ typedef struct { /* time struct */
typedef struct { /* observation data record */
gtime_t time; /* receiver sampling time (GPST) */
+ gtime_t eventime; /* time of event (GPST) */
+ int timevalid; /* time is valid (Valid GNSS fix) for time mark */
unsigned char sat,rcv; /* satellite/receiver number */
unsigned char SNR [NFREQ+NEXOBS]; /* signal strength (0.25 dBHz) */
unsigned char LLI [NFREQ+NEXOBS]; /* loss of lock indicator */
@@ -557,12 +562,10 @@ typedef struct { /* observation data record */
} obsd_t;
typedef struct { /* observation data */
- gtime_t eventime; /* time of event (GPST) */
- int timevalid; /* time is valid (Valid GNSS fix) for time mark */
+ int n,nmax; /* number of obervation data/allocated */
int flag; /* epoch flag (0:ok,1:power failure,>1:event flag) */
int rcvcount; /* count of rcv event */
int tmcount; /* time mark count */
- int n,nmax; /* number of obervation data/allocated */
obsd_t *data; /* observation data records */
} obs_t;
@@ -931,6 +934,7 @@ typedef struct { /* station parameter type */
typedef struct { /* solution type */
gtime_t time; /* time (GPST) */
+ gtime_t eventime; /* time of event (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) */
@@ -1613,7 +1617,7 @@ EXPORT int readrnxt(const char *file, int rcv, gtime_t ts, gtime_t te,
sta_t *sta);
EXPORT int readrnxc(const char *file, nav_t *nav);
EXPORT int outrnxobsh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
-EXPORT int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obs_t *obs);
+EXPORT int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obsd, int n, int flag);
EXPORT int outrnxnavh (FILE *fp, const rnxopt_t *opt, const nav_t *nav);
EXPORT int outrnxgnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
EXPORT int outrnxhnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);