diff --git a/RTKLib.pri b/RTKLib.pri
index f41bcf6ed644be8f121912911720b4b8d12d3318..7952b911d9e998bc553f133a58f7eea51f6808a9 100644
--- a/RTKLib.pri
+++ b/RTKLib.pri
@@ -1,5 +1,5 @@
-DEFINES += _RTLDLL NO_STRICT TRACE ENAGLO ENAQZS ENAGAL ENACMP ENAIRN NFREQ=3 NEXOBS=3 EXTLEX
+DEFINES += _RTLDLL NO_STRICT TRACE ENAGLO ENAQZS ENAGAL ENACMP ENAIRN NFREQ=4 NEXOBS=3 EXTLEX
win32{
DEFINES += WIN32
diff --git a/app/rnx2rtkp/gcc/makefile b/app/rnx2rtkp/gcc/makefile
index 0a0a31e7ba8596df2faada2d6586ad79b9c3c232..c82380b5a2ceab808376bd8739c714b24a1fa2e7 100644
--- a/app/rnx2rtkp/gcc/makefile
+++ b/app/rnx2rtkp/gcc/makefile
@@ -3,9 +3,7 @@
BINDIR = /usr/local/bin
SRC = ../../../src
-#OPTS = -DTRACE -DENAGLO -DENAQZS -DENAGAL -DENACMP -DENAIRN -DNFREQ=3
-OPTS = -DTRACE -DENAGLO -DENAGAL -DENACMP -DNFREQ=4 -DNEXOBS=3
-#OPTS = -DENAGLO -DENAQZS -DENAGAL -DENACMP -DNFREQ=2
+OPTS = -DTRACE -DENAGLO -DENAQZS -DENAGAL -DENACMP -DNFREQ=4 -DNEXOBS=3
# for no lapack
CFLAGS = -Wall -O3 -ansi -pedantic -Wno-unused-but-set-variable -I$(SRC) $(OPTS) -g
diff --git a/app/rtkconv/rtkconv.cbproj b/app/rtkconv/rtkconv.cbproj
index c3c5ef13bbd2af94b8f6401d45ce6a56513ab24f..add20ff00fa5fcccb81f0faaab5e1f7b6fa1c2d8 100644
--- a/app/rtkconv/rtkconv.cbproj
+++ b/app/rtkconv/rtkconv.cbproj
@@ -89,9 +89,9 @@
<VerInfo_Locale>1033</VerInfo_Locale>
<Manifest_File>$(BDS)\bin\default_app.manifest</Manifest_File>
<VerInfo_IncludeVerInfo>true</VerInfo_IncludeVerInfo>
- <BCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;ENACMP;NEXOBS=3;NFREQ=3;$(BCC_Defines)</BCC_Defines>
- <BRCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NEXOBS=3;NFREQ=3;$(BRCC_Defines)</BRCC_Defines>
- <TASM_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NEXOBS=3;NFREQ=3;$(TASM_Defines)</TASM_Defines>
+ <BCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;ENACMP;NEXOBS=3;NFREQ=4;$(BCC_Defines)</BCC_Defines>
+ <BRCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NEXOBS=3;NFREQ=4;$(BRCC_Defines)</BRCC_Defines>
+ <TASM_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NEXOBS=3;NFREQ=4;$(TASM_Defines)</TASM_Defines>
<BCC_UserSuppliedOptions> -tWM</BCC_UserSuppliedOptions>
<OutputExt>exe</OutputExt>
<AppEnableRuntimeThemes>true</AppEnableRuntimeThemes>
diff --git a/app/rtkplot/plotinfo.cpp b/app/rtkplot/plotinfo.cpp
index c01e00f5f74d81de2c8d4e06c780fc16853cc519..9d849d9a762df622536a273d63265ce5fb94e44f 100644
--- a/app/rtkplot/plotinfo.cpp
+++ b/app/rtkplot/plotinfo.cpp
@@ -319,7 +319,7 @@ void __fastcall TPlot::UpdateObsType(void)
{
AnsiString s;
char *codes[MAXCODE+1];
- const char *freqs[]={"L1","L2","E5b","L5","E6","E5ab"};
+ const char *freqs[]={"L1","L2/E5b","L5","E6","E5ab"};
int i,j,n=0,cmask[MAXCODE+1]={0},fmask[6]={0};
trace(3,"UpdateObsType\n");
diff --git a/app/rtkplot/rtkplot.cbproj b/app/rtkplot/rtkplot.cbproj
index 9b6bcbf25af9f88bc504ef70060a6415366645c7..02a0bc87202f7118f7ded3f24295aab4e058acfc 100644
--- a/app/rtkplot/rtkplot.cbproj
+++ b/app/rtkplot/rtkplot.cbproj
@@ -82,9 +82,9 @@
<PropertyGroup Condition="'$(Base_Win32)'!=''">
<AppEnableRuntimeThemes>true</AppEnableRuntimeThemes>
<OutputExt>exe</OutputExt>
- <TASM_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NFREQ=3;NEXOBS=3;$(TASM_Defines)</TASM_Defines>
- <BCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;ENACMP;ENAIRN;NFREQ=3;NEXOBS=3;$(BCC_Defines)</BCC_Defines>
- <BRCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NFREQ=3;NEXOBS=3;$(BRCC_Defines)</BRCC_Defines>
+ <TASM_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NFREQ=4;NEXOBS=3;$(TASM_Defines)</TASM_Defines>
+ <BCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;$(BCC_Defines)</BCC_Defines>
+ <BRCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NFREQ=4;NEXOBS=3;$(BRCC_Defines)</BRCC_Defines>
<BCC_UserSuppliedOptions> -tWM</BCC_UserSuppliedOptions>
<DCC_Namespace>Winapi;System.Win;Data.Win;Datasnap.Win;Web.Win;Soap.Win;Xml.Win;Bde;$(DCC_Namespace)</DCC_Namespace>
<IncludePath>$(BDSINCLUDE)\windows\vcl;$(IncludePath)</IncludePath>
diff --git a/app/srctblbrows/srctblbrows.cbproj b/app/srctblbrows/srctblbrows.cbproj
index 3d412c20cdcddf4f61bdbc3c789587ebc1e6880e..ab0a261e7032156a464acabffc38464b10fc8bf8 100644
--- a/app/srctblbrows/srctblbrows.cbproj
+++ b/app/srctblbrows/srctblbrows.cbproj
@@ -101,7 +101,7 @@
<TASM_Defines>_RTLDLL;WIN32;TRACE;$(TASM_Defines)</TASM_Defines>
<BCC_UserSuppliedOptions> -tWM</BCC_UserSuppliedOptions>
<BRCC_Defines>_RTLDLL;WIN32;TRACE;$(BRCC_Defines)</BRCC_Defines>
- <BCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NFREQ=3;$(BCC_Defines)</BCC_Defines>
+ <BCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NFREQ=4;$(BCC_Defines)</BCC_Defines>
<DCC_Namespace>Winapi;System.Win;Data.Win;Datasnap.Win;Web.Win;Soap.Win;Xml.Win;Bde;$(DCC_Namespace)</DCC_Namespace>
<IncludePath>$(BDSINCLUDE)\windows\vcl;$(IncludePath)</IncludePath>
<VerInfo_IncludeVerInfo>true</VerInfo_IncludeVerInfo>
diff --git a/src/options.c b/src/options.c
index b3737ba942fa81b8daccfa52b082976d39a3de84..1d18d4188e3651924d6fa9659c12e0ddfe054a15 100644
--- a/src/options.c
+++ b/src/options.c
@@ -136,6 +136,7 @@ EXPORT opt_t sysopts[]={
{"stats-weightmode",3, (void *)&prcopt_.weightmode, WEIGHTOPT},
{"stats-eratio1", 1, (void *)&prcopt_.eratio[0], "" },
{"stats-eratio2", 1, (void *)&prcopt_.eratio[1], "" },
+ {"stats-eratio5", 1, (void *)&prcopt_.eratio[2], "" },
{"stats-errphase", 1, (void *)&prcopt_.err[1], "m" },
{"stats-errphaseel",1, (void *)&prcopt_.err[2], "m" },
{"stats-errphasebl",1, (void *)&prcopt_.err[3], "m/10km"},
diff --git a/src/rtkcmn.c b/src/rtkcmn.c
index d2d0e9c975fb9bc5358272e484a07c642f3f17ab..5af0b14fdd9940862d4ed4c51f136af31d211fa1 100644
--- a/src/rtkcmn.c
+++ b/src/rtkcmn.c
@@ -184,7 +184,7 @@ const double chisqr[100]={ /* chi-sqr(n) (alpha=0.001) */
138 ,139 ,140 ,142 ,143 ,144 ,145 ,147 ,148 ,149
};
const double lam_carr[MAXFREQ]={ /* carrier wave length (m) */
- CLIGHT/FREQL1,CLIGHT/FREQL2,CLIGHT/FREQE5b,CLIGHT/FREQL5,CLIGHT/FREQE6,
+ CLIGHT/FREQL1,CLIGHT/FREQL2,CLIGHT/FREQL5,CLIGHT/FREQE6,
CLIGHT/FREQE5ab,CLIGHT/FREQs
};
const prcopt_t prcopt_default={ /* defaults processing options */
@@ -273,13 +273,13 @@ static unsigned char obsfreqs_cmp[]={
static char codepris[7][MAXFREQ][16]={ /* code priority table */
/* L1/E1/B1 L2/B2 E5b/B3 L5/E5a/L3 E6/LEX E5(a+b) S */
- {"CPYWMNSL","CLPYWMNDSX","IQX" ,"IQX" ,"" ,"" ,"" }, /* GPS */
- {"PC" ,"PC" ,"IQX" ,"IQX" ,"" ,"" ,"" }, /* GLO */
- {"CABXZ" ,"" ,"IQX" ,"IQX" ,"ABCXZ" ,"IQX" ,"" }, /* GAL */
- {"CSLXZ" ,"SLX" ,"IQX" ,"IQX" ,"SLX" ,"" ,"" }, /* QZS */
- {"C" ,"" ,"IQX" ,"IQX" ,"" ,"" ,"" }, /* SBS */
- {"IQX" ,"IQX" ,"IQX" ,"IQX" ,"IQX" ,"" ,"" }, /* BDS */
- {"" ,"" ,"ABCX" ,"ABCX" ,"" ,"" ,"ABCX"} /* IRN */
+ {"CPYWMNSL","CLPYWMNDSX","IQX" ,"" ,"" ,"" }, /* GPS */
+ {"PC" ,"PC" ,"IQX" ,"" ,"" ,"" }, /* GLO */
+ {"CABXZ" ,"" ,"IQX" ,"ABCXZ" ,"IQX" ,"" }, /* GAL */
+ {"CSLXZ" ,"SLX" ,"IQX" ,"SLX" ,"" ,"" }, /* QZS */
+ {"C" ,"" ,"IQX" ,"" ,"" ,"" }, /* SBS */
+ {"IQX" ,"IQX" ,"IQX" ,"IQX" ,"" ,"" }, /* BDS */
+ {"" ,"" ,"ABCX" ,"" ,"" ,"ABCX"} /* IRN */
};
static fatalfunc_t *fatalfunc=NULL; /* fatal callback function */
@@ -647,7 +647,7 @@ extern void setcodepri(int sys, int freq, const char *pri)
trace(3,"setcodepri:sys=%d freq=%d pri=%s\n",sys,freq,pri);
if (freq<=0||MAXFREQ<freq) return;
- if (sys&SYS_GPS) strcpy(codepris[0][freq-1],pri);
+ if (sys&SYS_GPS) strcpy(codepris[0][freq-1],pri);
if (sys&SYS_GLO) strcpy(codepris[1][freq-1],pri);
if (sys&SYS_GAL) strcpy(codepris[2][freq-1],pri);
if (sys&SYS_QZS) strcpy(codepris[3][freq-1],pri);
diff --git a/src/rtklib.h b/src/rtklib.h
index 2abdfe5cd8078dba5bf19a700d1633d0f57e522b..f8cc401e4f6c21fb1606f45a991f2779d439b5fc 100644
--- a/src/rtklib.h
+++ b/src/rtklib.h
@@ -78,7 +78,7 @@ extern "C" {
#define HION 350000.0 /* ionosphere height (m) */
-#define MAXFREQ 7 /* max NFREQ */
+#define MAXFREQ 6 /* max NFREQ */
#define FREQL1 1.57542E9 /* L1/E1/B1 frequency (Hz) */
#define FREQL2 1.22760E9 /* L2 frequency (Hz) */
diff --git a/src/rtkpos.c b/src/rtkpos.c
index bfd77e991e269f822afc33e55cde99a923c20d06..29ae04d4e38772449250c9b1f269a98ddb33a7a0 100644
--- a/src/rtkpos.c
+++ b/src/rtkpos.c
@@ -788,7 +788,7 @@ static void udbias(rtk_t *rtk, double tt, const obsd_t *obs, const int *sat,
const int *iu, const int *ir, int ns, const nav_t *nav)
{
double cp,pr,cp1,cp2,pr1,pr2,*bias,offset,lami,lam1,lam2,C1,C2;
- int i,j,f,slip,reset,nf=NF(&rtk->opt),sysi;
+ int i,j,f,slip,rejc,reset,nf=NF(&rtk->opt),sysi;
trace(3,"udbias : tt=%.3f ns=%d\n",tt,ns);
@@ -832,14 +832,16 @@ static void udbias(rtk_t *rtk, double tt, const obsd_t *obs, const int *sat,
rtk->ssat[i-1].lock[f]=-rtk->opt.minlock;
}
}
- /* reset phase-bias state if detecting cycle slip */
+ /* reset phase-bias state if detecting cycle slip or outlier */
for (i=0;i<ns;i++) {
j=IB(sat[i],f,&rtk->opt);
rtk->P[j+j*rtk->nx]+=rtk->opt.prn[0]*rtk->opt.prn[0]*fabs(tt);
slip=rtk->ssat[sat[i]-1].slip[f];
+ rejc=rtk->ssat[sat[i]-1].rejc[f];
if (rtk->opt.ionoopt==IONOOPT_IFLC) slip|=rtk->ssat[sat[i]-1].slip[1];
- if (rtk->opt.modear==ARMODE_INST||!(slip&1)) continue;
+ if (rtk->opt.modear==ARMODE_INST||(!(slip&1)&&rejc<2)) continue;
rtk->x[j]=0.0;
+ rtk->ssat[sat[i]-1].rejc[f]=0;
rtk->ssat[sat[i]-1].lock[f]=-rtk->opt.minlock;
/* retain icbiases for GLONASS sats */
if (rtk->ssat[sat[i]-1].sys!=SYS_GLO) rtk->ssat[sat[i]-1].icbias[f]=0;
@@ -1212,7 +1214,7 @@ static int ddres(rtk_t *rtk, const nav_t *nav, const obsd_t *obs, double dt, con
double *H, double *R, int *vflg)
{
prcopt_t *opt=&rtk->opt;
- double bl,dr[3],posu[3],posr[3],didxi=0.0,didxj=0.0,*im,icb;
+ double bl,dr[3],posu[3],posr[3],didxi=0.0,didxj=0.0,*im,icb,threshadj;
double *tropr,*tropu,*dtdxr,*dtdxu,*Ri,*Rj,lami,lamj,fi,fj,df,*Hi=NULL;
int i,j,k,m,f,frq,code,nv=0,nb[NFREQ*4*2+2]={0},b=0,sysi,sysj,nf=NF(opt);
@@ -1361,15 +1363,20 @@ static int ddres(rtk_t *rtk, const nav_t *nav, const obsd_t *obs, double dt, con
else rtk->ssat[sat[j]-1].resc[frq]=v[nv]; /* carrier phase */
/* if residual too large, flag as outlier */
- if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno) {
- if (!code) {
- rtk->ssat[sat[i]-1].rejc[frq]++;
- rtk->ssat[sat[j]-1].rejc[frq]++;
+ k=IB(sat[j],frq,opt);
+ if (rtk->P[k+rtk->nx*k]<SQR(rtk->opt.std[0]/2)) { /* skip check if bias just intialized */
+ threshadj=code?1:opt->eratio[frq]; /* adjust threshold by error stdev ratio */
+ if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno/threshadj) {
+ if (!code) {
+ rtk->ssat[sat[j]-1].vsat[frq]=0;
+ rtk->ssat[sat[j]-1].rejc[frq]++;
+ }
+ errmsg(rtk,"outlier rejected (sat=%3d-%3d %s%d v=%.3f)\n",
+ sat[i],sat[j],code?"P":"L",frq+1,v[nv]);
+ continue;
}
- errmsg(rtk,"outlier rejected (sat=%3d-%3d %s%d v=%.3f)\n",
- sat[i],sat[j],code?"P":"L",frq+1,v[nv]);
- continue;
}
+
/* single-differenced measurement error variances */
Ri[nv] = varerr(sat[i], sysi, azel[1+iu[i]*2],
0.25 * rtk->ssat[sat[i]-1].snr_rover[frq],