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源码解读，自己总结，自己看看
1 代码整体框架
1.1 RTK算法结构体
1.1.1 rtklib.h 头文件
该头文件定义了所使用到的常量、结构体、函数声明等，在其他源代码中均有使用
rnx2rtkp.c等有使用
关于PI的定义，弧度转化等
结构体的定义
函数声明
1.1.2 gtime_t 结构体 时间结构
typedef struct {
time_t time; /*（秒）有符号 64 位整数数据类型*/
double sec; /* 时间的(秒)小数部分*/
} gtime_t;
1.1.3 obsd_t
用来存储某个历元中的某个卫星的观测值
typedef struct {
gtime_t time; /* 接收机所用时间 */
unsigned char sat,rcv;
unsigned char SNR [NFREQ+NEXOBS]; /* 信噪比，信号强度*/
unsigned char LLI [NFREQ+NEXOBS]; /* loss of lock indicator */
unsigned char code[NFREQ+NEXOBS]; /* code indicator (CODE_???) 卫星编码*/
double L[NFREQ+NEXOBS]; /* observation data carrier-phase (cycle) 载波*/
double P[NFREQ+NEXOBS]; /* observation data pseudorange (m) 伪距*/
float D[NFREQ+NEXOBS]; /* observation data doppler frequency (Hz) 多普勒*/
} obsd_t;
CODE 卫星编码，rtklib将GPS/GLONASS/BDS等卫星统一进行的编码
1.1.4 obs_t 结构体
该结构体存储的是所有的观测值数据。与上面的"obsd_t"呼应
typedef struct {
int n,nmax; /* number of obervation data/allocated */
obsd_t *data; /* observation data records */
} obs_t;
n代表实际存储的观测值结构体的个数，nmax代表的是最多存储多少个观测值结构体，如果超过最大个数，需要重新开辟内存空间。
1.1.5 nav_t 星历数据结构体
存全部的星历数据，历书数据、精密星历、TEC格网、广播星历电离层参数、DGPS、SSR改正等信息
typedef struct { /* navigation data type */int n,nmax; /* number of broadcast ephemeris */int ng,ngmax; /* number of glonass ephemeris */int ns,nsmax; /* number of sbas ephemeris */int ne,nemax; /* number of precise ephemeris */int nc,ncmax; /* number of precise clock */int na,namax; /* number of almanac data */int nt,ntmax; /* number of tec grid data */int nn,nnmax; /* number of stec grid data */eph_t *eph; /* GPS/QZS/GAL ephemeris */geph_t *geph; /* GLONASS ephemeris */seph_t *seph; /* SBAS ephemeris */peph_t *peph; /* precise ephemeris */pclk_t *pclk; /* precise clock */alm_t *alm; /* almanac data */tec_t *tec; /* tec grid data */stec_t *stec; /* stec grid data */erp_t erp; /* earth rotation parameters */double utc_gps[4]; /* GPS delta-UTC parameters {A0,A1,T,W} */double utc_glo[4]; /* GLONASS UTC GPS time parameters */double utc_gal[4]; /* Galileo UTC GPS time parameters */double utc_qzs[4]; /* QZS UTC GPS time parameters */double utc_cmp[4]; /* BeiDou UTC parameters */double utc_sbs[4]; /* SBAS UTC parameters */double ion_gps[8]; /* GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */double ion_gal[4]; /* Galileo iono model parameters {ai0,ai1,ai2,0} */double ion_qzs[8]; /* QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */double ion_cmp[8]; /* BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */int leaps; /* leap seconds (s) */double lam[MAXSAT][NFREQ]; /* carrier wave lengths (m) */double cbias[MAXSAT][3]; /* code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) */double wlbias[MAXSAT]; /* wide-lane bias (cycle) */double glo_cpbias[4]; /* glonass code-phase bias {1C,1P,2C,2P} (m) */char glo_fcn[MAXPRNGLO+1]; /* glonass frequency channel number + 8 */pcv_t pcvs[MAXSAT]; /* satellite antenna pcv */sbssat_t sbssat; /* SBAS satellite corrections */sbsion_t sbsion[MAXBAND+1]; /* SBAS ionosphere corrections */dgps_t dgps[MAXSAT]; /* DGPS corrections */ssr_t ssr[MAXSAT]; /* SSR corrections */lexeph_t lexeph[MAXSAT]; /* LEX ephemeris */lexion_t lexion; /* LEX ionosphere correction */
} nav_t;//所有星历总的结构体1.1.6 sol_t：结果结构体
定位/解算结果的参数
typedef struct { gtime_t time; //GPST时间double rr[6]; /* 位置、速度结果 (m|m/s) *//* {x,y,z,vx,vy,vz} or {e,n,u,ve,vn,vu} */float qr[6]; /* 位置估计协方差阵 (m^2) *//* {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} or *//* {c_ee,c_nn,c_uu,c_en,c_nu,c_ue} */float qv[6]; /* 速度估计协方差阵 (m^2/s^2) */double dtr[6]; /* receiver clock bias to time systems (s) */uint8_t type; /* type (0:xyz-ecef,1:enu-baseline) */uint8_t stat; /* solution status (SOLQ_???) */uint8_t ns; //有效卫星数float age; //差分龄期float ratio; //模糊度固定Ratio值float thres; //模糊度固定的Ratio阈值
} sol_t;SOLQ 参数，定位模式的选择，解的类型状态
1.1.7 eph_t
存储了卫星星历中的卫星参数，主要是开普勒参数
typedef struct { /* GPS/QZS/GAL broadcast ephemeris type */int sat; /* satellite number */int iode,iodc; /* IODE,IODC */int sva; /* SV accuracy (URA index) */int svh; /* SV health (0:ok) */int week; /* GPS/QZS: gps week, GAL: galileo week */int code; /* GPS/QZS: code on L2, GAL/CMP: data sources */int flag; /* GPS/QZS: L2 P data flag, CMP: nav type */gtime_t toe,toc,ttr; /* Toe,Toc,T_trans *//* SV orbit parameters */double A,e,i0,OMG0,omg,M0,deln,OMGd,idot;double crc,crs,cuc,cus,cic,cis;double toes; /* Toe (s) in week */double fit; /* fit interval (h) */double f0,f1,f2; /* SV clock parameters (af0,af1,af2) */double tgd[4]; /* group delay parameters *//* GPS/QZS:tgd[0]=TGD *//* GAL :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 *//* CMP :tgd[0]=BGD1,tgd[1]=BGD2 */double Adot,ndot; /* Adot,ndot for CNAV */
} eph_t;1.1.8 prcopt_t 配置存储
算法处理选项结构体
typedef struct { /* processing options type 处理类型 */int mode; /* positioning mode (PMODE_???) 单点定位/基线啥的 处理类型 */int soltype; /* solution type (0:forward 前向,1:backward 后向,2:combined 都有) */int nf; /* number of frequencies (1:L1,2:L1+L2,3:L1+L2+L5) 处理频率*/int navsys; /* navigation system */double elmin; /* elevation mask angle (rad) 高度截至角 */snrmask_t snrmask; /* SNR mask 信噪比*/int sateph; /* satellite ephemeris/clock (EPHOPT_???) 星历的配置*/int modear; /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) 模糊度固定模式*/int glomodear; /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */int bdsmodear; /* BeiDou AR mode (0:off,1:on) */int maxout; /* obs outage count to reset bias */int minlock; /* min lock count to fix ambiguity */int minfix; /* min fix count to hold ambiguity */int ionoopt; /* ionosphere option (IONOOPT_???) */int tropopt; /* troposphere option (TROPOPT_???) */int dynamics; /* dynamics model (0:none,1:velociy,2:accel) */int tidecorr; /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */int niter; /* number of filter iteration */int codesmooth; /* code smoothing window size (0:none) */int intpref; /* interpolate reference obs (for post mission) */int sbascorr; /* SBAS correction options */int sbassatsel; /* SBAS satellite selection (0:all) */int rovpos; /* rover position for fixed mode */int refpos; /* base position for relative mode *//* (0:pos in prcopt, 1:average of single pos, *//* 2:read from file, 3:rinex header, 4:rtcm pos) */double eratio[NFREQ]; /* code/phase error ratio */double err[5]; /* measurement error factor *//* [0]:reserved *//* [1-3]:error factor a/b/c of phase (m) *//* [4]:doppler frequency (hz) */double std[3]; /* initial-state std [0]bias,[1]iono [2]trop */double prn[5]; /* process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv */double sclkstab; /* satellite clock stability (sec/sec) */double thresar[4]; /* AR validation threshold */double elmaskar; /* elevation mask of AR for rising satellite (deg) */double elmaskhold; /* elevation mask to hold ambiguity (deg) */double thresslip; /* slip threshold of geometry-free phase (m) */double maxtdiff; /* max difference of time (sec) */double maxinno; /* reject threshold of innovation (m) */double maxgdop; /* reject threshold of gdop */double baseline[2]; /* baseline length constraint {const,sigma} (m) */double ru[3]; /* rover position for fixed mode {x,y,z} (ecef) (m) */double rb[3]; /* base position for relative mode {x,y,z} (ecef) (m) */char anttype[2][MAXANT]; /* antenna types {rover,base} */double antdel[2][3]; /* antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */pcv_t pcvr[2]; /* receiver antenna parameters {rov,base} */unsigned char exsats[MAXSAT]; /* excluded satellites (1:excluded,2:included) */char rnxopt[2][256]; /* rinex options {rover,base} */int posopt[6]; /* positioning options */int syncsol; /* solution sync mode (0:off,1:on) */double odisp[2][6*11]; /* ocean tide loading parameters {rov,base} */exterr_t exterr; /* extended receiver error model */
} prcopt_t;1.1.9 输出文件结构体
设置输出结果的格式
typedef struct { /* solution options type 输出文件类型，例如有哪些要输出、用哪个椭球体*/int posf; /* solution format (SOLF_???) */int times; /* time system (TIMES_???) */int timef; /* time format (0:sssss.s,1:yyyy/mm/dd hh:mm:ss.s) */int timeu; /* time digits under decimal point */int degf; /* latitude/longitude format (0:ddd.ddd,1:ddd mm ss) */int outhead; /* output header (0:no,1:yes) */int outopt; /* output processing options (0:no,1:yes) */int datum; /* datum (0:WGS84,1:Tokyo) */int height; /* height (0:ellipsoidal,1:geodetic) */int geoid; /* geoid model (0:EGM96,1:JGD2000) */int solstatic; /* solution of static mode (0:all,1:single) */int sstat; /* solution statistics level (0:off,1:states,2:residuals) */int trace; /* debug trace level (0:off,1-5:debug) */double nmeaintv[2]; /* nmea output interval (s) (<0:no,0:all) *//* nmeaintv[0]:gprmc,gpgga,nmeaintv[1]:gpgsv */char sep[64]; /* field separator */char prog[64]; /* program name */
} solopt_t;1.1.10 ssat_t 卫星状态控制结构体（过程信息）
typedef struct { /* satellite status type */uint8_t sys; //卫星导航系统uint8_t vs; //有效卫星单一标志double azel[2]; //方位角，高度角double resp[NFREQ]; //伪距残差double resc[NFREQ]; //载波相位残差uint8_t vsat[NFREQ]; //有效卫星标志uint16_t snr[NFREQ]; //信噪比uint8_t fix [NFREQ]; //模糊度的状态，浮点解、固定解uint8_t slip[NFREQ]; /* cycle-slip flag */ uint8_t half[NFREQ]; /* half-cycle valid flag */int lock [NFREQ]; /* lock counter of phase */uint32_t outc [NFREQ]; //载波中断计数uint32_t slipc[NFREQ]; /* cycle-slip counter */uint32_t rejc [NFREQ]; /* reject counter */double gf[NFREQ-1]; /* geometry-free phase (m) */double mw[NFREQ-1]; /* MW-LC (m) */double phw; /* phase windup (cycle) */gtime_t pt[2][NFREQ]; /* previous carrier-phase time */double ph[2][NFREQ]; /* previous carrier-phase observable (cycle) */
} ssat_t;
1.1.11 rtk_t：rtk控制结构体
typedef struct { /* RTK control/result type */sol_t sol; //结果结构体 double rb[6]; //基准站位置、速度int nx,na; //na为除模糊度外参数数、nx为加上模糊度参数数double tt; //当前历元和先前历元时间差double *x, *P; //浮点解和协方差double *xa,*Pa; //固定解和协方差int nfix; //number of continuous fixes of ambiguityambc_t ambc[MAXSAT]; //模糊度控制结构体数组ssat_t ssat[MAXSAT]; //卫星状态控制结构体数组int neb; //错误信息的缓冲区长度char errbuf[MAXERRMSG];//错误信息缓冲区prcopt_t opt; //处理选项
} rtk_t;1.2 satno() 卫星编码函数
按照HPS、GLONASS、GAL等卫星依次往后编号
extern int satno (int sys, int prn);
extern int satno(int sys, int prn)
{if (prn<=0) return 0;switch (sys) {case SYS_GPS:if (prn<MINPRNGPS||MAXPRNGPS<prn) return 0;return prn-MINPRNGPS+1; //如果是GPS的X卫星，重新编号就是...case SYS_GLO:if (prn<MINPRNGLO||MAXPRNGLO<prn) return 0;return NSATGPS+prn-MINPRNGLO+1; //如果是GLOSS的X卫星，在GPS卫星基础上编号，续case SYS_GAL:if (prn<MINPRNGAL||MAXPRNGAL<prn) return 0;return NSATGPS+NSATGLO+prn-MINPRNGAL+1;case SYS_QZS:if (prn<MINPRNQZS||MAXPRNQZS<prn) return 0;return NSATGPS+NSATGLO+NSATGAL+prn-MINPRNQZS+1;case SYS_CMP:if (prn<MINPRNCMP||MAXPRNCMP<prn) return 0;return NSATGPS+NSATGLO+NSATGAL+NSATQZS+prn-MINPRNCMP+1;case SYS_LEO:if (prn<MINPRNLEO||MAXPRNLEO<prn) return 0;return NSATGPS+NSATGLO+NSATGAL+NSATQZS+NSATCMP+prn-MINPRNLEO+1;case SYS_SBS:if (prn<MINPRNSBS||MAXPRNSBS<prn) return 0;return NSATGPS+NSATGLO+NSATGAL+NSATQZS+NSATCMP+NSATLEO+prn-MINPRNSBS+1;}return 0;
}参数16进制向二进制转换有规律#define SYS_NONE 0x00 /* navigation system: none */
#define SYS_GPS 0x01 /* navigation system: GPS 1*/
#define SYS_SBS 0x02 /* navigation system: SBAS 10*/
#define SYS_GLO 0x04 /* navigation system: GLONASS 100*/
#define SYS_GAL 0x08 /* navigation system: Galileo 1000*/
#define SYS_QZS 0x10 /* navigation system: QZSS 16^1=16 10000*/
#define SYS_CMP 0x20 /* navigation system: BeiDou */
#define SYS_IRN 0x40 /* navigation system: IRNSS */
#define SYS_LEO 0x80 /* navigation system: LEO */
#define SYS_ALL 0xFF /* navigation system: all */
1.3 rtkpos() 接口调用逻辑
该函数处理的是单个历元的所有卫星观测值数据，实现单历元定位，我们需要多次调用处理全部数据。我们在VS中查看调用层级
Main( )函数中调用postpos( )函数，postpos( )调用execses_b( )进行基准站的处理，基准站下遍历每个流动站(execses_r)，数据处理使得对应的基准站和流动站结合起来，将处理好结合的流动站/基准站数据进行调用execses( )函数进行定位，procpos( )遍历基准站/流动站每个历元，每个历元数据使用rtkpos( )进行处理实现单历元定位
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