From cd2b42b1ce9039860ee439566498020618e51cc6 Mon Sep 17 00:00:00 2001
From: Tim Everett <tim.everett3@gmail.com>
Date: Wed, 18 Dec 2019 11:44:22 -0700
Subject: [PATCH] - Add option to create CSV file of raw measurements in
RTKCONV (set trace level to 1) - Move RTKCONV trace file to output file
location and change name to match output file name - Minor fixes,
improvements, and cleanup
---
app/convbin/convbin.c | 2 +-
app/rtkconv/convmain.cpp | 7 ++++---
app/rtkconv/convmain.dfm | Bin 19082 -> 36939 bytes
src/pntpos.c | 2 +-
src/rinex.c | 11 +++++++++++
src/rtkcmn.c | 4 ++++
src/rtklib.h | 11 ++++++-----
src/rtkpos.c | 16 ++++++++++++++--
8 files changed, 41 insertions(+), 12 deletions(-)
diff --git a/app/convbin/convbin.c b/app/convbin/convbin.c
index d3c7e70..3ae7410 100644
--- a/app/convbin/convbin.c
+++ b/app/convbin/convbin.c
@@ -561,7 +561,7 @@ int main(int argc, char **argv)
fprintf(stderr,"input format can not be recognized\n");
return -1;
}
- sprintf(opt.prog,"%s %s",PRGNAME,VER_RTKLIB);
+ sprintf(opt.prog,"%s %s %s",PRGNAME,VER_RTKLIB,PATCH_LEVEL);
sprintf(opt.comment[0],"log: %-55.55s",ifile);
sprintf(opt.comment[1],"format: %s",formatstrs[format]);
if (*opt.rcvopt) {
diff --git a/app/rtkconv/convmain.cpp b/app/rtkconv/convmain.cpp
index eede251..369f9af 100644
--- a/app/rtkconv/convmain.cpp
+++ b/app/rtkconv/convmain.cpp
@@ -38,7 +38,6 @@ TMainWindow *MainWindow;
#define PRGNAME "RTKCONV" // program name
#define MAXHIST 20 // max number of histories
#define TSTARTMARGIN 60.0 // time margin for file name replacement
-#define TRACEFILE "rtkconv.trace" // trace file
static int abortf=0;
@@ -788,7 +787,7 @@ void __fastcall TMainWindow::ConvertFile(void)
AnsiString OutFile9_Text=OutFile9->Text;
int i,format,sat;
char file[1024]="",*ofile[9],ofile_[9][1024]={""},msg[256],*p;
- char buff[256],tstr[32];
+ char buff[256],tstr[32],tracefile[1024];
double RNXVER[]={2.10,2.11,2.12,3.00,3.01,3.02,3.03};
FILE *fp;
@@ -927,7 +926,9 @@ void __fastcall TMainWindow::ConvertFile(void)
Message ->Caption="";
if (TraceLevel>0) {
- traceopen(TRACEFILE);
+ strcpy(tracefile,ofile[0]);
+ strcat(tracefile,".trace");
+ traceopen(tracefile);
tracelevel(TraceLevel);
}
// convert to rinex
diff --git a/app/rtkconv/convmain.dfm b/app/rtkconv/convmain.dfm
index 2014eaa50577a7d5dec2f5e9cc538cb58c4e6fd6..96a5f160616c083279e88cc59837221722d1d602 100644
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BU*-S+
diff --git a/src/pntpos.c b/src/pntpos.c
index 630cee0..274e4bc 100644
--- a/src/pntpos.c
+++ b/src/pntpos.c
@@ -309,7 +309,7 @@ static int valsol(const double *azel, const int *vsat, int n,
/* chi-square validation of residuals */
vv=dot(v,v,nv);
if (nv>nx&&vv>chisqr[nv-nx-1]) {
- sprintf(msg,"chi-square error nv=%d vv=%.1f cs=%.1f",nv,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 */
}
/* large gdop check */
diff --git a/src/rinex.c b/src/rinex.c
index a55abc5..9761b3b 100644
--- a/src/rinex.c
+++ b/src/rinex.c
@@ -2200,6 +2200,17 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
case 'S': outrnxobsf(fp,obs[ind[i]].SNR[k]*0.25,-1,-1); break;
}
}
+
+ /* set trace level to 1 generate CSV file of raw observations */
+ if (gettracelevel()==1) {
+ trace(1,",%16.2f,%3d,%13.2f,%13.2f,%9.2f,%2.0f,%1d,%1d,%13.2f,%13.2f,%9.2f,%2.0f,%1d,%1d\n",
+ obs[0].time.time + obs[0].time.sec, obs[ind[i]].sat,
+ obs[ind[i]].P[0], obs[ind[i]].L[0], obs[ind[i]].D[0],
+ obs[ind[i]].SNR[0]*0.25, obs[ind[i]].LLI[0], obs[ind[i]].qualL[0],
+ obs[ind[i]].P[1], obs[ind[i]].L[1], obs[ind[i]].D[1],
+ obs[ind[i]].SNR[1]*0.25, obs[ind[i]].LLI[1], obs[ind[i]].qualL[1]);
+ }
+
if (opt->rnxver>2.99&&fprintf(fp,"\n")==EOF) return 0;
}
diff --git a/src/rtkcmn.c b/src/rtkcmn.c
index c94ef3b..da621ba 100644
--- a/src/rtkcmn.c
+++ b/src/rtkcmn.c
@@ -2946,6 +2946,10 @@ extern void tracelevel(int level)
{
level_trace=level;
}
+extern int gettracelevel(void)
+{
+ return level_trace;
+}
extern void trace(int level, const char *format, ...)
{
va_list ap;
diff --git a/src/rtklib.h b/src/rtklib.h
index f6c39a4..2c6a4a0 100644
--- a/src/rtklib.h
+++ b/src/rtklib.h
@@ -80,21 +80,21 @@ extern "C" {
#define MAXFREQ 6 /* max NFREQ */
-#define FREQL1 1.57542E9 /* L1/E1/B1 frequency (Hz) */
+#define FREQL1 1.57542E9 /* L1/E1 frequency (Hz) */
#define FREQL2 1.22760E9 /* L2 frequency (Hz) */
#define FREQE5b 1.20714E9 /* E5b frequency (Hz) */
#define FREQL5 1.17645E9 /* L5/E5a frequency (Hz) */
#define FREQE6 1.27875E9 /* E6/LEX frequency (Hz) */
-#define FREQE5ab 1.191795E9 /* E5a+b/B2 frequency (Hz) */
+#define FREQE5ab 1.191795E9 /* E5a+b frequency (Hz) */
#define FREQs 2.492028E9 /* S frequency (Hz) */
+#define FREQ1_CMP 1.561098E9 /* BeiDou B1 frequency (Hz) */
+#define FREQ2_CMP 1.20714E9 /* BeiDou B2 frequency (Hz) */
+#define FREQ3_CMP 1.26852E9 /* BeiDou B3 frequency (Hz) */
#define FREQ1_GLO 1.60200E9 /* GLONASS G1 base frequency (Hz) */
#define DFRQ1_GLO 0.56250E6 /* GLONASS G1 bias frequency (Hz/n) */
#define FREQ2_GLO 1.24600E9 /* GLONASS G2 base frequency (Hz) */
#define DFRQ2_GLO 0.43750E6 /* GLONASS G2 bias frequency (Hz/n) */
#define FREQ3_GLO 1.202025E9 /* GLONASS G3 frequency (Hz) */
-#define FREQ1_CMP 1.561098E9 /* BeiDou B1 frequency (Hz) */
-#define FREQ2_CMP 1.20714E9 /* BeiDou B2 frequency (Hz) */
-#define FREQ3_CMP 1.26852E9 /* BeiDou B3 frequency (Hz) */
#define EFACT_GPS 1.0 /* error factor: GPS */
#define EFACT_GLO 1.5 /* error factor: GLONASS */
@@ -1564,6 +1564,7 @@ EXPORT void tracehnav(int level, const nav_t *nav);
EXPORT void tracepeph(int level, const nav_t *nav);
EXPORT void tracepclk(int level, const nav_t *nav);
EXPORT void traceb (int level, const unsigned char *p, int n);
+EXPORT int gettracelevel(void);
/* platform dependent functions ----------------------------------------------*/
EXPORT int execcmd(const char *cmd);
diff --git a/src/rtkpos.c b/src/rtkpos.c
index 9ed662f..f1e8f2c 100644
--- a/src/rtkpos.c
+++ b/src/rtkpos.c
@@ -413,6 +413,7 @@ static double varerr(int sat, int sys, double el, double snr_rover, double snr_b
frq=f%nf;code=f<nf?0:1;
+ /* extended error model, not currently used */
switch (sys) {
case SYS_GPS: i = 0; break;
case SYS_GLO: i = 1; break;
@@ -420,7 +421,6 @@ static double varerr(int sat, int sys, double el, double snr_rover, double snr_b
default: i = 0; break;
}
- /* extended error model, not currently used */
if (code && opt->exterr.ena[0]) { /* code */
a = opt->exterr.cerr[i][ frq * 2];
b = opt->exterr.cerr[i][1+frq * 2];
@@ -431,6 +431,7 @@ static double varerr(int sat, int sys, double el, double snr_rover, double snr_b
b = opt->exterr.perr[i][1+frq * 2];
if (sys == SYS_SBS) {a *= EFACT_SBS; b *= EFACT_SBS;}
}
+
else { /* normal error model */
if (opt->rcvstds&& obs->qualL[frq]!='\0'&&obs->qualP[frq]!='\0') {
/* include err ratio and measurement std (P or L) from receiver */
@@ -441,7 +442,11 @@ static double varerr(int sat, int sys, double el, double snr_rover, double snr_b
switch (sys) {
case SYS_GPS: fact *= EFACT_GPS; break;
case SYS_GLO: fact *= EFACT_GLO; break;
+ case SYS_GAL: fact *= EFACT_GAL; break;
case SYS_SBS: fact *= EFACT_SBS; break;
+ case SYS_QZS: fact *= EFACT_QZS; break;
+ case SYS_CMP: fact *= EFACT_CMP; break;
+ case SYS_IRN: fact *= EFACT_IRN; break;
default: fact *= EFACT_GPS; break;
}
@@ -1684,6 +1689,7 @@ static int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa,int gps,int glo,in
prcopt_t *opt=&rtk->opt;
int i,j,ny,nb,info,nx=rtk->nx,na=rtk->na;
double *D,*DP,*y,*Qy,*b,*db,*Qb,*Qab,*QQ,s[2],var=0;
+ double QQb[MAXSAT];
trace(3,"resamb_LAMBDA : nx=%d\n",nx);
@@ -1722,10 +1728,16 @@ static int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa,int gps,int glo,in
matmul("NN",ny,ny,nx,1.0,DP,D ,0.0,Qy); /* Qy=DP'*D */
/* phase-bias covariance (Qb) and real-parameters to bias covariance (Qab) */
- for (i=0;i<nb;i++) for (j=0;j<nb;j++) Qb [i+j*nb]=Qy[na+i+(na+j)*ny];
+ for (i=0;i<nb;i++) {
+ QQb[i]= Qy[na+i+(na+i)*ny];
+ for (j=0;j<nb;j++) {
+ Qb [i+j*nb]=Qy[na+i+(na+j)*ny];
+ }
+ }
for (i=0;i<na;i++) for (j=0;j<nb;j++) Qab[i+j*na]=Qy[ i+(na+j)*ny];
trace(3,"N(0)= "); tracemat(3,y+na,1,nb,7,2);
+ trace(3,"Qb = "); tracemat(3,QQb,1,nb,7,5);
/* lambda/mlambda integer least-square estimation */
/* return best integer solutions */
--
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