chisquare check if raim

src/pntpos.c

@@ -335,7 +335,7 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs,
 /* validate solution ---------------------------------------------------------*/
 static int valsol(const double *azel, const int *vsat, int n,
                   const prcopt_t *opt, const double *v, int nv, int nx,
-                  char *msg)
+                  char *msg, int chi_sq_check)
 {
     double azels[MAXOBS*2],dop[4],vv;
     int i,ns;
@@ -346,7 +346,7 @@ static int valsol(const double *azel, const int *vsat, int n,
     vv=dot(v,v,nv);
     if (nv>nx&&vv>chisqr[nv-nx-1]) {
         sprintf(msg,"Warning: large chi-square error nv=%d vv=%.1f cs=%.1f",nv,vv,chisqr[nv-nx-1]);
-        /* return 0; */ /* threshold too strict for all use cases, report error but continue on */
+        if (chi_sq_check) return 0; /* threshold too strict for all use cases, report error but continue on */
     }
     /* large gdop check */
     for (i=ns=0;i<n;i++) {
@@ -362,11 +362,12 @@ static int valsol(const double *azel, const int *vsat, int n,
     }
     return 1;
 }
+
 /* estimate receiver position ------------------------------------------------*/
 static int estpos(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, const ssat_t *ssat, sol_t *sol, double *azel,
-                  int *vsat, double *resp, char *msg)
+                  int *vsat, double *resp, char *msg, int chi_sq_check)
 {
     double x[NX]={0},dx[NX],Q[NX*NX],*v,*H,*var,sig;
     int i,j,k,info,stat,nv,ns;
@@ -416,7 +417,7 @@ static int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
             sol->age=sol->ratio=0.0;
             
             /* validate solution */
-            if ((stat=valsol(azel,vsat,n,opt,v,nv,NX,msg))) {
+            if ((stat=valsol(azel,vsat,n,opt,v,nv,NX,msg,chi_sq_check))) {
                 sol->stat=opt->sateph==EPHOPT_SBAS?SOLQ_SBAS:SOLQ_SINGLE;
             }
             free(v); free(H); free(var);
@@ -461,7 +462,7 @@ static int raim_fde(const obsd_t *obs, int n, const double *rs,
         }
         /* estimate receiver position without a satellite */
         if (!estpos(obs_e,n-1,rs_e,dts_e,vare_e,svh_e,nav,opt,ssat,&sol_e,azel_e,
-                    vsat_e,resp_e,msg_e)) {
+                    vsat_e,resp_e,msg_e,1)) {
             trace(3,"raim_fde: exsat=%2d (%s)\n",obs[i].sat,msg);
             continue;
         }
@@ -633,7 +634,7 @@ extern int pntpos(const obsd_t *obs, int n, const nav_t *nav,
     satposs(sol->time,obs,n,nav,opt_.sateph,rs,dts,var,svh);
     
     /* estimate receiver position with pseudorange */
-    stat=estpos(obs,n,rs,dts,var,svh,nav,&opt_,ssat,sol,azel_,vsat,resp,msg);
+    stat=estpos(obs,n,rs,dts,var,svh,nav,&opt_,ssat,sol,azel_,vsat,resp,msg,n>=6&&opt->posopt[4]);// check chi-square if afterwards RAIM can be called
     
     /* raim fde */
     if (!stat&&n>=6&&opt->posopt[4]) {