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Support Wide Lane Ambiguity Resolution #646

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Support Wide Lane Ambiguity Resolution #646

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3243afe
Wide-lane ambiguity fixing for multi-constellation, L1/L2 or L1/L5.
dgburr Feb 18, 2022
0123f7d
Add new command-line arguments to rnx2rtkp to enable post-processing of
dgburr Feb 18, 2022
c1f64f1
New options for RTKPOST:
dgburr Feb 18, 2022
d0f0c82
Improvements for RTKNAVI (#77)
ebethon Mar 18, 2022
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49 changes: 33 additions & 16 deletions app/consapp/rnx2rtkp/rnx2rtkp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ static const char *help[]={
"",
" usage: rnx2rtkp [option]... file file [...]",
"",
" Read RINEX OBS/NAV/GNAV/HNAV/CLK, SP3, SBAS message log files and ccompute ",
" Read RINEX OBS/NAV/GNAV/HNAV/CLK, SP3, SBAS message log files and compute ",
" receiver (rover) positions and output position solutions.",
" The first RINEX OBS file shall contain receiver (rover) observations. For the",
" relative mode, the second RINEX OBS file shall contain reference",
Expand Down Expand Up @@ -57,16 +57,22 @@ static const char *help[]={
" -c forward/backward combined solutions [off]",
" -i instantaneous integer ambiguity resolution [off]",
" -h fix and hold for integer ambiguity resolution [off]",
" -w widelane integer ambiguity resolution [off]",
" -e output x/y/z-ecef position [latitude/longitude/height]",
" -a output e/n/u-baseline [latitude/longitude/height]",
" -n output NMEA-0183 GGA sentence [off]",
" -g output latitude/longitude in the form of ddd mm ss.ss' [ddd.ddd]",
" -t output time in the form of yyyy/mm/dd hh:mm:ss.ss [sssss.ss]",
" -u output time in utc [gpst]",
" -z output single point position when unable to compute",
" DGPS/float/fix/PPP position",
" -d col number of decimals in time [3]",
" -s sep field separator [' ']",
" -r x y z reference (base) receiver ecef pos (m) [average of single pos]",
" rover receiver ecef pos (m) for fixed or ppp-fixed mode",
" -rb mode reference (base) receiver position mode (1:average of single pos,",
" 2:read from file,3:read from RINEX header,6:read from RINEX header",
" and subsequent site occupancy events) [1]",
" -l lat lon hgt reference (base) receiver latitude/longitude/height (deg/m)",
" rover latitude/longitude/height for fixed or ppp-fixed mode",
" -y level output soltion status (0:off,1:states,2:residuals) [0]",
Expand Down Expand Up @@ -99,16 +105,18 @@ int main(int argc, char **argv)
gtime_t ts={0},te={0};
double tint=0.0,es[]={2000,1,1,0,0,0},ee[]={2000,12,31,23,59,59},pos[3];
int i,j,n,ret;
char *infile[MAXFILE],*outfile="",*p;

prcopt.mode =PMODE_KINEMA;
char *infile[MAXFILE] = {[0 ... (MAXFILE-1)] = ""};
char *outfile = "";
char *p = NULL;

prcopt.mode = PMODE_KINEMA;
prcopt.navsys=0;
prcopt.refpos=1;
prcopt.glomodear=1;
solopt.timef=0;
sprintf(solopt.prog ,"%s ver.%s %s",PROGNAME,VER_RTKLIB,PATCH_LEVEL);
sprintf(filopt.trace,"%s.trace",PROGNAME);

/* load options from configuration file */
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-k")&&i+1<argc) {
Expand Down Expand Up @@ -136,12 +144,12 @@ int main(int argc, char **argv)
else if (!strcmp(argv[i],"-sys")&&i+1<argc) {
for (p=argv[++i];*p;p++) {
switch (*p) {
case 'G': prcopt.navsys|=SYS_GPS;
case 'R': prcopt.navsys|=SYS_GLO;
case 'E': prcopt.navsys|=SYS_GAL;
case 'J': prcopt.navsys|=SYS_QZS;
case 'C': prcopt.navsys|=SYS_CMP;
case 'I': prcopt.navsys|=SYS_IRN;
case 'G': prcopt.navsys|=SYS_GPS; break;
case 'R': prcopt.navsys|=SYS_GLO; break;
case 'E': prcopt.navsys|=SYS_GAL; break;
case 'J': prcopt.navsys|=SYS_QZS; break;
case 'C': prcopt.navsys|=SYS_CMP; break;
case 'I': prcopt.navsys|=SYS_IRN; break;
}
if (!(p=strchr(p,','))) break;
}
Expand All @@ -152,21 +160,27 @@ int main(int argc, char **argv)
else if (!strcmp(argv[i],"-d")&&i+1<argc) solopt.timeu=atoi(argv[++i]);
else if (!strcmp(argv[i],"-b")) prcopt.soltype=1;
else if (!strcmp(argv[i],"-c")) prcopt.soltype=2;
else if (!strcmp(argv[i],"-i")) prcopt.modear=2;
else if (!strcmp(argv[i],"-h")) prcopt.modear=3;
else if (!strcmp(argv[i],"-i")) prcopt.modear=ARMODE_INST;
else if (!strcmp(argv[i],"-h")) {
if (prcopt.modear!=ARMODE_WL) prcopt.modear=ARMODE_FIXHOLD;
prcopt.wlmodear=1;
}
else if (!strcmp(argv[i],"-t")) solopt.timef=1;
else if (!strcmp(argv[i],"-u")) solopt.times=TIMES_UTC;
else if (!strcmp(argv[i],"-z")) prcopt.outsingle=1;
else if (!strcmp(argv[i],"-e")) solopt.posf=SOLF_XYZ;
else if (!strcmp(argv[i],"-a")) solopt.posf=SOLF_ENU;
else if (!strcmp(argv[i],"-n")) solopt.posf=SOLF_NMEA;
else if (!strcmp(argv[i],"-g")) solopt.degf=1;
else if (!strcmp(argv[i],"-w")) prcopt.modear=ARMODE_WL;
else if (!strcmp(argv[i],"-r")&&i+3<argc) {
prcopt.refpos=prcopt.rovpos=0;
prcopt.refpos=prcopt.rovpos=POSOPT_POS;
for (j=0;j<3;j++) prcopt.rb[j]=atof(argv[++i]);
matcpy(prcopt.ru,prcopt.rb,3,1);
}
else if (!strcmp(argv[i],"-rb")&&i+1<argc) prcopt.refpos=atoi(argv[++i]);
else if (!strcmp(argv[i],"-l")&&i+3<argc) {
prcopt.refpos=prcopt.rovpos=0;
prcopt.refpos=prcopt.rovpos=POSOPT_POS;
for (j=0;j<3;j++) pos[j]=atof(argv[++i]);
for (j=0;j<2;j++) pos[j]*=D2R;
pos2ecef(pos,prcopt.rb);
Expand All @@ -180,12 +194,15 @@ int main(int argc, char **argv)
if (!prcopt.navsys) {
prcopt.navsys=SYS_GPS|SYS_GLO;
}
if (prcopt.modear==ARMODE_WL&&(prcopt.navsys&SYS_CMP)) {
prcopt.bdsmodear=0;
}
if (n<=0) {
showmsg("error : no input file");
return -2;
}
ret=postpos(ts,te,tint,0.0,&prcopt,&solopt,&filopt,infile,n,outfile,"","");

if (!ret) fprintf(stderr,"%40s\r","");
return ret;
}
160 changes: 160 additions & 0 deletions app/consapp/rtkrcv/conf/rtk_skylark_l1l5.conf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,160 @@
# rtkrcv options (2022/02/09 22:11:36, v.2.4.3 b34)

console-passwd =admin
console-timetype =gpst # (0:gpst,1:utc,2:jst,3:tow)
console-soltype =dms # (0:dms,1:deg,2:xyz,3:enu,4:pyl)
console-solflag =1 # (0:off,1:std+2:age/ratio/ns)
inpstr1-type =ntripcli # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
inpstr2-type =ntripcli # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
inpstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
inpstr1-path =username:[email protected]:2101/STFU00USA0
# SWIFT: Skylark host may vary depending on geographic region and frequency range
inpstr2-path =username:[email protected]:2101/CRS
inpstr3-path =
inpstr1-format =rtcm3 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17)
inpstr2-format =rtcm3 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17)
inpstr3-format =rtcm3 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17)
inpstr2-nmeareq =single # (0:off,1:latlon,2:single)
inpstr2-nmealat =0 # (deg)
inpstr2-nmealon =0 # (deg)
inpstr2-nmeahgt =0 # (m)
outstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
outstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
outstr1-path =
outstr2-path =
outstr1-format =xyz # (0:llh,1:xyz,2:enu,3:nmea,4:stat)
outstr2-format =llh # (0:llh,1:xyz,2:enu,3:nmea,4:stat)
logstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
logstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
logstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
logstr1-path =
logstr2-path =
logstr3-path =
misc-svrcycle =10 # (ms)
misc-timeout =10000 # (ms)
misc-reconnect =10000 # (ms)
misc-nmeacycle =5000 # (ms)
misc-buffsize =32768 # (bytes)
misc-navmsgsel =all # (0:all,1:rover,2:base,3:corr)
misc-proxyaddr =
misc-fswapmargin =30 # (s)
misc-startcmd =
misc-stopcmd =
file-cmdfile1 =
file-cmdfile2 =
file-cmdfile3 =
pos1-posmode =kinematic # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static,8:ppp-fixed)
# SWIFT: l1+2 for L1/L2, l1+2+3 for L1/L5
pos1-frequency =l1+2+3 # (1:l1,2:l1+2,3:l1+2+3,4:l1+2+3+4,5:l1+2+3+4+5)
pos1-soltype =forward # (0:forward,1:backward,2:combined)
pos1-elmask =15 # (deg)
pos1-snrmask_r =off # (0:off,1:on)
pos1-snrmask_b =off # (0:off,1:on)
pos1-snrmask_L1 =0,0,0,0,0,0,0,0,0
pos1-snrmask_L2 =0,0,0,0,0,0,0,0,0
pos1-snrmask_L5 =0,0,0,0,0,0,0,0,0
pos1-dynamics =off # (0:off,1:on)
pos1-tidecorr =off # (0:off,1:on,2:otl)
pos1-ionoopt =brdc # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc)
pos1-tropopt =saas # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
pos1-sateph =brdc # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
pos1-posopt1 =on # (0:off,1:on)
pos1-posopt2 =on # (0:off,1:on)
pos1-posopt3 =on # (0:off,1:on,2:precise)
pos1-posopt4 =on # (0:off,1:on)
pos1-posopt5 =on # (0:off,1:on)
pos1-posopt6 =off # (0:off,1:on)
pos1-exclsats =C02 # (prn ...)
pos1-navsys =41 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:bds+64:navic)
pos2-armode =wide-lane # (0:off,1:continuous,2:instantaneous,3:fix-and-hold,4:WLNL,5:TCAR,6:wide-lane)
# SWIFT: only enable for static positioning mode
pos2-wlarmode =off # (0:off,1:on)
pos2-gloarmode =off # (0:off,1:on)
pos2-bdsarmode =off # (0:off,1:on)
pos2-arthres =3
pos2-arthres1 =0.9999
pos2-arthres2 =0.25
pos2-arthres3 =0.1
pos2-arthres4 =0.05
pos2-arlockcnt =30
pos2-arelmask =0 # (deg)
pos2-arminfix =30
pos2-armaxiter =1
pos2-elmaskhold =0 # (deg)
pos2-aroutcnt =30
pos2-maxage =30 # (s)
pos2-syncsol =off # (0:off,1:on)
pos2-slipthres =0.05 # (m)
pos2-rejionno =30 # (m)
pos2-rejgdop =30
pos2-niter =1
pos2-baselen =0 # (m)
pos2-basesig =0 # (m)
out-solformat =xyz # (0:llh,1:xyz,2:enu,3:nmea)
out-outhead =off # (0:off,1:on)
out-outopt =off # (0:off,1:on)
out-outvel =off # (0:off,1:on)
out-timesys =gpst # (0:gpst,1:utc,2:jst)
out-timeform =tow # (0:tow,1:hms)
out-timendec =3
out-degform =dms # (0:deg,1:dms)
out-fieldsep =
out-outsingle =on # (0:off,1:on)
out-maxsolstd =0 # (m)
out-height =geodetic # (0:ellipsoidal,1:geodetic)
out-geoid =internal # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
out-solstatic =all # (0:all,1:single)
out-nmeaintv1 =0 # (s)
out-nmeaintv2 =0 # (s)
out-outstat =state # (0:off,1:state,2:residual)
stats-eratio1 =100
stats-eratio2 =100
stats-errphase =0.01 # (m)
stats-errphaseel =0.01 # (m)
stats-errphasebl =0 # (m/10km)
stats-errdoppler =1 # (Hz)
stats-stdbias =30 # (m)
stats-stdiono =0.03 # (m)
stats-stdtrop =0.3 # (m)
stats-prnaccelh =10 # (m/s^2)
stats-prnaccelv =10 # (m/s^2)
stats-prnbias =0.0001 # (m)
stats-prniono =0.001 # (m)
stats-prntrop =0.0001 # (m)
stats-prnpos =0 # (m)
stats-clkstab =5e-12 # (s/s)
ant1-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw,7:rinexdynamic)
ant1-pos1 =90 # (deg|m)
ant1-pos2 =0 # (deg|m)
ant1-pos3 =-6335367.6285 # (m|m)
ant1-anttype =
ant1-antdele =0 # (m)
ant1-antdeln =0 # (m)
ant1-antdelu =0 # (m)
ant2-postype =rtcm # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw,7:rinexdynamic)
ant2-pos1 =0 # (deg|m)
ant2-pos2 =0 # (deg|m)
ant2-pos3 =0 # (m|m)
ant2-anttype =
ant2-antdele =0 # (m)
ant2-antdeln =0 # (m)
ant2-antdelu =0 # (m)
ant2-maxaveep =3600
ant2-initrst =on # (0:off,1:on)
misc-timeinterp =off # (0:off,1:on)
misc-sbasatsel =0 # (0:all)
misc-rnxopt1 =
misc-rnxopt2 =
misc-pppopt =
file-satantfile =
file-rcvantfile =
file-staposfile =
file-geoidfile =
file-ionofile =
file-dcbfile =
file-eopfile =
file-blqfile =
file-tempdir =
file-geexefile =
file-solstatfile =
file-tracefile =
2 changes: 2 additions & 0 deletions app/winapp/rtknavi/navimain.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2453,6 +2453,7 @@ void __fastcall TMainForm::LoadOpt(void)
PrcOpt.dynamics =ini->ReadInteger("prcopt", "dynamics", 0);
PrcOpt.tidecorr =ini->ReadInteger("prcopt", "tidecorr", 0);
PrcOpt.modear =ini->ReadInteger("prcopt", "modear", 1);
PrcOpt.wlmodear =ini->ReadInteger("prcopt", "wlmodear", 0);
PrcOpt.glomodear=ini->ReadInteger("prcopt", "glomodear", 0);
PrcOpt.bdsmodear=ini->ReadInteger("prcopt", "bdsmodear", 0);
PrcOpt.maxout =ini->ReadInteger("prcopt", "maxout", 5);
Expand Down Expand Up @@ -2701,6 +2702,7 @@ void __fastcall TMainForm::SaveOpt(void)
ini->WriteInteger("prcopt", "dynamics", PrcOpt.dynamics );
ini->WriteInteger("prcopt", "tidecorr", PrcOpt.tidecorr );
ini->WriteInteger("prcopt", "modear", PrcOpt.modear );
ini->WriteInteger("prcopt", "wlmodear", PrcOpt.wlmodear );
ini->WriteInteger("prcopt", "glomodear", PrcOpt.glomodear );
ini->WriteInteger("prcopt", "bdsmodear", PrcOpt.bdsmodear );
ini->WriteInteger("prcopt", "maxout", PrcOpt.maxout );
Expand Down
31 changes: 28 additions & 3 deletions app/winapp/rtknavi/naviopt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -405,7 +405,15 @@ void __fastcall TOptDialog::GetOpt(void)
IonoOpt ->ItemIndex=PrcOpt.ionoopt;
TropOpt ->ItemIndex=PrcOpt.tropopt;
SatEphem ->ItemIndex=PrcOpt.sateph;
AmbRes ->ItemIndex=PrcOpt.modear;
if(PrcOpt.modear>ARMODE_FIXHOLD) {
if(PrcOpt.wlmodear==0) {
AmbRes ->ItemIndex =4;
} else {
AmbRes ->ItemIndex =5;
}
} else {
AmbRes ->ItemIndex =PrcOpt.modear;
}
GloAmbRes ->ItemIndex=PrcOpt.glomodear;
BdsAmbRes ->ItemIndex=PrcOpt.bdsmodear;
ValidThresAR ->Text =s.sprintf("%.1f",PrcOpt.thresar[0]);
Expand Down Expand Up @@ -533,6 +541,11 @@ void __fastcall TOptDialog::SetOpt(void)
PrcOpt.tropopt =TropOpt ->ItemIndex;
PrcOpt.sateph =SatEphem ->ItemIndex;
PrcOpt.modear =AmbRes ->ItemIndex;
PrcOpt.wlmodear=0;
if(AmbRes->ItemIndex>3) {
PrcOpt.modear=ARMODE_WL;
if(AmbRes->ItemIndex==5) PrcOpt.wlmodear=1;
}
PrcOpt.glomodear =GloAmbRes ->ItemIndex;
PrcOpt.bdsmodear =BdsAmbRes ->ItemIndex;
PrcOpt.thresar[0]=str2dbl(ValidThresAR->Text);
Expand Down Expand Up @@ -720,8 +733,15 @@ void __fastcall TOptDialog::LoadOpt(AnsiString file)
PosOpt4 ->Checked =prcopt.posopt[3];
PosOpt5 ->Checked =prcopt.posopt[4];
PosOpt6 ->Checked =prcopt.posopt[5];

AmbRes ->ItemIndex =prcopt.modear;
if(prcopt.modear>ARMODE_FIXHOLD) {
if(prcopt.wlmodear==0) {
AmbRes ->ItemIndex =4;
} else {
AmbRes ->ItemIndex =5;
}
} else {
AmbRes ->ItemIndex =prcopt.modear;
}
GloAmbRes ->ItemIndex =prcopt.glomodear;
BdsAmbRes ->ItemIndex =prcopt.bdsmodear;
ValidThresAR ->Text =s.sprintf("%.1f",prcopt.thresar[0]);
Expand Down Expand Up @@ -937,6 +957,11 @@ void __fastcall TOptDialog::SaveOpt(AnsiString file)
prcopt.posopt[5]=PosOpt6->Checked;

prcopt.modear =AmbRes ->ItemIndex;
prcopt.wlmodear=0;
if(AmbRes->ItemIndex>3) {
prcopt.modear=ARMODE_WL;
if(AmbRes->ItemIndex==5) prcopt.wlmodear=1;
}
prcopt.glomodear=GloAmbRes ->ItemIndex;
prcopt.bdsmodear=BdsAmbRes ->ItemIndex;
prcopt.thresar[0]=str2dbl(ValidThresAR->Text);
Expand Down
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